so i set the pin modes and it looks fine, i got a eQEP encoder setting but i dont see where the A and B pins are written (maybe the pins are these written in red?) and if so, should they look like this?: eQEP0A_in and eQEP0B_in
also where exactly go pin A (P9.92) and B (P9.27) on the cramps board (physical pins)? _______________________________________________ loadrt hal_arm335xQEP encoders="eQEP0" loadrt sum2 names=pid-correction loadrt abs names=abs-speed loadrt scale names=spindle-rps2rpm loadrt lowpass names=spindle-rpm-filter loadrt near names=spindle-at-speed-detect loadrt pid names=speed-pid loadrt limit1 names=pid-limit # ################################################ # THREADS # ################################################ addf hpg.capture-position servo-thread addf eqep.update servo-thread addf bb_gpio.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf hpg.update servo-thread addf bb_gpio.write servo-thread addf pid-correction servo-thread addf abs-speed servo-thread addf spindle-rps2rpm servo-thread addf spindle-rpm-filter servo-thread addf spindle-at-speed-detect servo-thread addf speed-pid.do-pid-calcs servo-thread addf pid-limit servo-thread # ################ # Spindle # ################ net spindle-at-speed motion.spindle-at-speed <= spindle-at-speed-detect.out setp spindle-at-speed-detect.scale 1.2 setp speed-pid.Pgain 1 setp speed-pid.Igain 0 setp speed-pid.Dgain 0 setp speed-pid.maxoutput 8160 setp speed-pid.deadband 5 # Spindle runs around 90 RPM faster than the commanded speed setp pid-correction.offset 0 setp hpg.pwmgen.00.pwm_period 1000000 setp hpg.pwmgen.00.out.00.scale 8160 setp hpg.pwmgen.00.out.00.pin 929 setp hpg.pwmgen.00.out.00.enable 1 setp hpg.pwmgen.00.out.00.value 0.0 # Stop pid output going negative setp pid-limit.min 0 # Scale RPS to RPM setp spindle-rps2rpm.gain 60 # Filter RPM for the display setp spindle-rpm-filter.gain 0.01 # Attach motion.spindle on to enable PID, PWM is always enabled due to a bug that # causes it to output at 100% when disabled! net spindle_enable motion.spindle-on => speed-pid.enable # Setup encoder (90 slot quad = 360) setp eQEP0.position-scale 400 net spindle_rev_count eQEP0.position => motion.spindle-revs motion.analog-in-01 net spindle_raw_velocity eQEP0.velocity => spindle-rps2rpm.in => motion.spindle-speed-in motion.analog-in-00 net spindle_index_enable eQEP0.index-enable <=> motion.spindle-index-enable #the name says index, i guess i dont need that or is it something else i need? # Attach the pid to scale, motion and sum net pid_feedback speed-pid.feedback <= spindle-rps2rpm.out => spindle-at-speed-detect.in2 => spindle-rpm-filter.in net pid_command speed-pid.command <= motion.spindle-speed-out => spindle-at-speed-detect.in1 => pid-correction.in0 net pid_output speed-pid.output => pid-limit.in net pid_output_ltd pid-limit.out => pid-correction.in1 net pwmgen_value abs-speed.in <= pid-correction.out net pwmgen_value-abs abs-speed.out => hpg.pwmgen.00.out.00.value # For display in pyvcp net smoothed_rpm spindle-rpm-filter.out Am Samstag, 24. September 2016 23:11:10 UTC+2 schrieb Charles Steinkuehler: > > On 9/24/2016 2:45 PM, Sag ich Dir nich wrote: > > to set a pin to input mode i have to add "942" to the hal file under > "loadrt" > > like so: > > > > # load low-level drivers > > loadrt hal_bb_gpio output_pins=816,822,823,824,825,826,914,923,925 > > input_pins=807,808,809,810,817,911,913,942 > > That is not where you need to make the change. You only need to add > the pin to the hal_bb_gpio driver if you need to use it as a GPIO pin > in HAL. > > You need to use the config-pin utility (typically in the setup.sh > script) to set the pinmux modes. Note that the .1 notation doesn't > work, so 50 is added to the pin value (ie: instead of 942 and 942.1, > you get 942 and 992). > > Just run: > > config-pin 942 input > config-pin 992 qep > > > You can see what modes are available for each pin with the -l switch: > > $ config-pin -l p992 > default gpio gpio_pu gpio_pd qep pruout pruin > > ...and query the current state with -q: > > $ config-pin -q p992 > P9_92 Mode: gpio Direction: in Value: 0 > > -- > Charles Steinkuehler > [email protected] <javascript:> > -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
