I got it working. At least with X axis. I have to do some pid and servo tuning, but at least the position feedback is working.
In the .ini file I have: CONFIG=pru=0 num_stepgens=3 num_encoders=3 disabled=0 and in .hal file: setp hpg.encoder.00.chan.00.A-pin 7 setp hpg.encoder.00.chan.00.B-pin 5 setp hpg.encoder.00.chan.00.scale [AXIS_0]ENCODER_SCALE net motor.00.pos-fb <= hpg.encoder.00.chan.00.position axis.0.motor-pos-fb pid.0.feedback And I didn't understand at first where I can get the number (A-pin 7 and B-pin 5). They can be found in the pinmux.ods file (https://github.com/cdsteinkuehler/beaglebone-black-pinmux/blob/hal_pru_generic/pinmux.ods) from column K A P9:25 -> pr1_pru0_pru_r31_1 -> 1 B P9:27 -> pr1_pru0_pru_r31_5 -> 5 lauantai 18. marraskuuta 2023 klo 17.37.50 UTC+2 cdstein...@gmail.com kirjoitti: > By default, the step/dir pins use GPIO access which is valid for either > PRU core. The encoder signals, however, need to be direct PRU inputs, so > the pins chosen and the pinmux setup will need to be valid for the specific > PRU core you choose to run the driver. You setup the pin multiplexing > outside of Machinekit/HAL, typically with a device-tree overlay, or the > universal pinmux overlay and config-pin utility. > > Some details on pin selection can be found in the PRU driver man page: > > https://www.machinekit.io/docs/man/man9/hal_pru_generic/ > > On Friday, November 17, 2023 at 3:25:37 AM UTC-6 Antti wrote: > >> Hello >> >> I have made my DIY CNC milling machine with BBB and DIY cape. I used >> ARM.BeagleBone.Xylotex setup as base and modified that to work with my >> machine. >> I used old Omron servo drivers and motors with DIR and STEP signals. It >> kinda works but now I'd like to add feedback signals from servos to BBB >> (2048 pls/rev). >> >> So there is quadrature signals from X, Y and Z. I'm planning to use these >> pins P9:25, P9:27, P9:28, P9:29, P9:30, P9:31 >> I have understood that these pins are in PRU0 and first I have to config >> the those as "pruin" in setup.sh file? >> >> Then the ini-file now: >> [PRUCONF] >> DRIVER=hal_pru_generic >> CONFIG=pru=1 num_stepgens=3 >> PRUBIN=xenomai/pru_generic.bin >> >> so can I change it to: >> CONFIG=pru=0 num_stepgens=3 num_encoders=3 >> >> And how to I do the HAL wiring? >> >> Here is the pins that are in use now: >> P8.07 out # gpio2.2 Enable System >> P8.10 in # gpio2.4 XLIM >> P8.11 out # gpio1.13 X_Dir >> P8.12 out # gpio1.12 X_Step >> P8.13 out # gpio0.23 PWM0/SPINDLE >> P8.14 in # gpio0.26 YLIM >> P8.15 out # gpio1.15 Y_Dir >> P8.16 out # gpio1.14 Y_Step >> P8.18 in # gpio2.1 ZLIM >> P9.15 out # gpio1.16 Z_Step >> P9.23 out # gpio1.17 Z_Dir >> P8.09 in # gpio2.5 STOPin >> Are these step/dir signals used by PRU 1? Or can I use these with PRU 0? >> >> -- 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/99a5241c-0209-41d5-b809-63f6a27c60fbn%40googlegroups.com.
