Just an update. I have a 501.9 Hz square wave now coming out DB25-17. The simple answer was that I needed to change to
addf charge_pump.0 servo-thread The .0 was the issue. The next issue, and I'm not sure how to get around this is the servo thread is too slow and doing something like this: loadrt threads name1= fast-thread period1=100000 is not allowed. Probably because loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES tp=tp kins=trivkins loads 'motmod' which does what 'threads' does. I can try the standard parallel port generated version like: loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES But I'll have to dig deeper to see why that may or may not work. Unless someone has a better suggestion like doing it the way the MESA does with an extra step/dir interface. Next part is I also want 1kHz PWM. The MESA does this with hardware again. Can the BBB can do it with the PRU? If not it will have to also be done with a base thread of about 10KHz. John > -----Original Message----- > From: machinekit@googlegroups.com [mailto:machinekit@googlegroups.com] On > Behalf Of John Dammeyer > Sent: April-12-21 8:52 PM > To: 'Machinekit' > Subject: [Machinekit] BBB and charge pump > > I'm using the Xylotex DB25 cape for the BBB. I've been trying to add the > charge pump component without much luck. > In the HAL file I can do a > loadrt charge_pump > but an > addf charge_pump > fails with > function 'charge_pump' not found. > > If I leave that out and run MachineKit on the Beagle I do see > charge-pump.0.enable > charge-pump.0.out > charge-pump.0.out-2 > charge-pump.0.out-4 > charge-pump.0.func.time > charge-pump.0.func.tmax > charge-pump.0.func.tmax-inc > > But since the this HAL file only has a servo thread and no base thread is > there a way to get this to work? > > Ultimately I want the ChargePump output on DB25-17 working in the same way I > have the PC with MESA 7i92H > # DB25-10 actvive low ESTOP signal mapped to 7i92 pin 13 > # Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir > # 10 13 IOPort QCount 0 Quad-A (In) > estop-external-in (input) > > # MESA 7i92H P2 connections mapped to estop-external-in > net estop-external-in <= hm2_7i92.0.gpio.013.in_not > > # Stepper #4 is the charge pump on the MESA card and is enabled with the > estop-external -in > net estop-external-in => hm2_7i92.0.stepgen.04.enable > > which is output on DB25-17 from the MESA pin 7. > # 17 7 IOPort StepGen 4 Step/Table1 (Out) > Charge Pump frequency (output) > > > -- > 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 machinekit+unsubscr...@googlegroups.com. > To view this discussion on the web visit > https://groups.google.com/d/msgid/machinekit/0a0a01d73018%245f04d6e0%241d0e84a0%24%40autoartisans.com. -- 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 machinekit+unsubscr...@googlegroups.com. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/0a9d01d73085%24e9fe9c00%24bdfbd400%24%40autoartisans.com.
