On Tuesday 27 December 2016 06:57:50 andy pugh wrote:
> On 27 December 2016 at 10:32, Gene Heskett <[email protected]>
wrote:
> > HAL: ERROR: function 'estop_latch.0' not found
>
> addf estop-latch.0 servo-thread
Its there, Andy, but you snipped it. But apparently hal didn't do the
loadrt above it. The question is why didn't it squawk on the loadrt if
there was something wrong with it? The whole file is attached. This file
also has a bad configuration that I inherited from the sample I
imported, as pressing the machine enable is not resetting the
watchdog.has_bit state. So once its fired, the only recovery is an lcnc
restart.
But I've got to find and fix the source of the noise thats putzing with
the spi bus, throwing data errors at me, in a time cycle of about 3
seconds per burst of noise.
This file is horribly incomplete because I've had so many other problems
getting the pi properly configured. I finally got x running on it
yesterday, but the glx acceleration is still bailing out.
Cheers, Gene Heskett
--
"There are four boxes to be used in defense of liberty:
soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page <http://geneslinuxbox.net:6309/gene>
# #######################################
# hm2-7i90-stepper.hal 12.27.2016 05:05:38
# HAL file for HostMot2 with 2 steppers
#
# Derived from Ted Hyde's original hm2-servo config
#
# Based up work and discussion with Seb & Peter & Jeff
# GNU license references - insert here. www.linuxcnc.org
#
#
# ########################################
# Firmware files are in /lib/firmware/hm2/7i90/
# Must symlink the hostmot2 firmware directory of sanbox to
# /lib/firmware before running EMC2...
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware
/lib/firmware/hm2
# But there is not a emc2-sandbox in my hoime directory, so all this is bullshit
# See also:
#
<http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
#
# #####################################################################
# ###################################
# Core EMC/HAL Loads
# ###################################
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
num_joints=[KINS]JOINTS
# hostmot2 driver
loadrt hostmot2
# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
# load estop latch component
loadrt estop_latch count=2
loadrt limit3 names=spindle-accel-ramp
loadrt abs names=spindle-abs
# ################################################
# THREADS
# ################################################
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf spindle-abs
servo-thread
addf spindle-accel-ramp
servo-thread
addf motion-controller servo-thread
addf estop_latch.0 servo-thread
# revel in the free time here from not having to run PID's
# every bit of the processing MUST BE DONE
# between the above read, and the below write.
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################
# ################
# X [0] Axis
# ################
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable <= joint.0.amp-enable-out
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
# position command and feedback
net emcmot.00.pos-cmd <= joint.0.motor-pos-cmd
net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
net motor.00.pos-fb => joint.0.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
# ################
# Z [1] Axis
# ################
# axis enable chain
newsig emcmot.01.enable bit
sets emcmot.01.enable FALSE
net emcmot.01.enable <= joint.1.amp-enable-out
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable
# position command and feedback
net emcmot.01.pos-cmd <= joint.1.motor-pos-cmd
net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd
net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
net motor.01.pos-fb => joint.1.motor-pos-fb
# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
#################################################################################
# Setup vfd drive enable yadda yadda, building down from top down forward first
#
# The SpinX1 only needs pwm and dir I think, but might need an ena(ble)
#################################################################################
# start with SpinX1's dir
setp hm2_[HOSTMOT2](BOARD).0.gpio.071.is_output 1
setp hm2_[HOSTMOT2](BOARD).0.gpio.071.invert_output 1
setp hm2_[HOSTMOT2](BOARD).0.gpio.071.is_opendrain 1
# is now dir on P3-47 Not used, move jumpers as its all done in the SpinX1
net reverse_vfd <= motion.spindle-reverse =>
hm2_[HOSTMOT2](BOARD).0.gpio.071.out
##################################
# and the spinX1 needs an enable #
##################################
setp hm2_[HOSTMOT2](BOARD).0.gpio.070.is_output 1
setp hm2_[HOSTMOT2](BOARD).0.gpio.070.invert_output 1
setp hm2_[HOSTMOT2](BOARD).0.gpio.070.is_opendrain 1
# net line moved to combined with enable_vfd below
#######################################
# Hook pwmgen.00 to the spindle speed #
#######################################
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale [SPINDLE_9]PWMGEN_S_SCALE
# no scale loaded atm setp scale.s_scale.gain [SPINDLE_9]PWMGEN_S_SCALE
# This is P1-41 and I need a scale module here I expect
setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency [SPINDLE_9]PWMGEN_S_FREQ
###########################################################
# make vfd pwm drive unidirectional, fwd/rev handles that #
###########################################################
setp spindle-accel-ramp.maxv [SPINDLE_9]MAXV
setp spindle-accel-ramp.maxa [SPINDLE_9]MAXA
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps =>
spindle-accel-ramp.in
net spindle-accell <= spindle-accel-ramp.out => spindle-abs.in
net spindle-unispeed <= spindle-abs.out =>
hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
# needed, dunno
# P3-45 now, move connection
net enable_vfd <= motion.spindle-on =>
hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable hm2_[HOSTMOT2](BOARD).0.gpio.070.out
# ##################################################
# Standard I/O Block - EStop, Etc
# ##################################################
setp estop_latch.0.ok-in true
# A basic estop loop that only includes the hostmot watchdog.
net user-enable <= iocontrol.0.user-request-enable =>
estop-latch.0.reset
net enable-latch <= estop-latch.0.ok-out
=> iocontrol.0.emc-enable-in
net watchdog <= hm2_[HOSTMOT2](BOARD).0.watchdog.has_bit =>
estop-latch.0.fault-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
------------------------------------------------------------------------------
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