Created
January 22, 2019 20:26
-
-
Save Bouni/ec66daa36e5047d5ec288bf0b8617f43 to your computer and use it in GitHub Desktop.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| # ####################################### | |
| # | |
| # HAL file for HostMot2 with 3 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/hm2/7i43/ | |
| # 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 | |
| # | |
| # 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 | |
| #autoconverted trivkins | |
| # motion controller | |
| loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS | |
| # standard components | |
| loadrt pid num_chan=4 | |
| # hostmot2 driver | |
| loadrt hostmot2 | |
| # load low-level driver | |
| loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG) | |
| setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 25000000 | |
| # ################################################ | |
| # THREADS | |
| # ################################################ | |
| addf hm2_[HOSTMOT2](BOARD).0.read servo-thread | |
| addf motion-command-handler servo-thread | |
| addf motion-controller servo-thread | |
| addf pid.0.do-pid-calcs servo-thread | |
| addf pid.1.do-pid-calcs servo-thread | |
| addf pid.2.do-pid-calcs servo-thread | |
| addf pid.3.do-pid-calcs servo-thread | |
| addf hm2_[HOSTMOT2](BOARD).0.write servo-thread | |
| #addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread | |
| # latch 50 usec before nominal read time: | |
| setp hm2_[HOSTMOT2](BOARD).0.dpll.01.timer-us -50 | |
| setp hm2_[HOSTMOT2](BOARD).0.stepgen.timer-number 1 | |
| # set packet read timeout to 20% of servo thread | |
| setp hm2_[HOSTMOT2](BOARD).0.packet-read-timeout 70 | |
| # ###################################################### | |
| # Axis-of-motion Specific Configs (not the GUI) | |
| # ###################################################### | |
| newsig Enable bit | |
| sets Enable TRUE | |
| # ################ | |
| # X [0] Axis | |
| # ################ | |
| setp pid.0.Pgain [JOINT_0]P | |
| setp pid.0.Igain [JOINT_0]I | |
| setp pid.0.Dgain [JOINT_0]D | |
| setp pid.0.bias [JOINT_0]BIAS | |
| setp pid.0.FF0 [JOINT_0]FF0 | |
| setp pid.0.FF1 [JOINT_0]FF1 | |
| setp pid.0.FF2 [JOINT_0]FF2 | |
| setp pid.0.deadband [JOINT_0]DEADBAND | |
| setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT | |
| net x-index-enable pid.0.index-enable <= joint.0.index-enable => hm2_[HOSTMOT2](BOARD).0.encoder.04.index-enable | |
| net x-enable pid.0.enable <= joint.0.amp-enable-out => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable | |
| net x-output pid.0.output => hm2_[HOSTMOT2](BOARD).0.stepgen.00.velocity-cmd | |
| net x-pos-cmd pid.0.command <= joint.0.motor-pos-cmd | |
| net x-vel-fb pid.0.feedback-deriv => hm2_[HOSTMOT2](BOARD).0.encoder.04.velocity | |
| net x-pos-fb pid.0.feedback <= joint.0.motor-pos-fb => hm2_[HOSTMOT2](BOARD).0.encoder.04.position | |
| 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.step_type 0 | |
| setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.control-type 1 | |
| 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.encoder.04.counter-mode 0 | |
| setp hm2_[HOSTMOT2](BOARD).0.encoder.04.filter 1 | |
| setp hm2_[HOSTMOT2](BOARD).0.encoder.04.index-invert 0 | |
| setp hm2_[HOSTMOT2](BOARD).0.encoder.04.index-mask 0 | |
| setp hm2_[HOSTMOT2](BOARD).0.encoder.04.index-mask-invert 0 | |
| setp hm2_[HOSTMOT2](BOARD).0.encoder.04.scale [JOINT_0]ENCODER_SCALE | |
| ## 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 pid.0.enable | |
| # | |
| # | |
| ## position command and feedback | |
| # | |
| #net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command | |
| # | |
| ##net emcmot.00.vel-cmd joint.0.vel-cmd => pid.0.command-deriv | |
| #net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb joint.0.motor-pos-fb pid.0.feedback | |
| #net motor.00.command pid.0.output hm2_[HOSTMOT2](BOARD).0.stepgen.00.velocity-cmd | |
| #setp pid.0.error-previous-target true | |
| # | |
| # | |
| ## 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 | |
| #setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.control-type 1 | |
| # | |
| ## set PID loop gains from inifile | |
| #setp pid.0.Pgain [JOINT_0]P | |
| #setp pid.0.Igain [JOINT_0]I | |
| #setp pid.0.Dgain [JOINT_0]D | |
| #setp pid.0.bias [JOINT_0]BIAS | |
| #setp pid.0.FF0 [JOINT_0]FF0 | |
| #setp pid.0.FF1 [JOINT_0]FF1 | |
| #setp pid.0.FF2 [JOINT_0]FF2 | |
| #setp pid.0.deadband [JOINT_0]DEADBAND | |
| #setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT | |
| ##setp pid.0.maxerror [JOINT_0]MAX_ERROR | |
| # ################ | |
| # Y [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 pid.1.enable | |
| # position command and feedback | |
| net emcmot.01.pos-cmd joint.1.motor-pos-cmd => pid.1.command | |
| #net emcmot.01.vel-cmd joint.1.vel-cmd => pid.1.command-deriv | |
| net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb joint.1.motor-pos-fb pid.1.feedback | |
| net motor.01.command pid.1.output hm2_[HOSTMOT2](BOARD).0.stepgen.01.velocity-cmd | |
| setp pid.1.error-previous-target true | |
| # 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 | |
| setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.control-type 1 | |
| # set PID loop gains from inifile | |
| setp pid.1.Pgain [JOINT_1]P | |
| setp pid.1.Igain [JOINT_1]I | |
| setp pid.1.Dgain [JOINT_1]D | |
| setp pid.1.bias [JOINT_1]BIAS | |
| setp pid.1.FF0 [JOINT_1]FF0 | |
| setp pid.1.FF1 [JOINT_1]FF1 | |
| setp pid.1.FF2 [JOINT_1]FF2 | |
| setp pid.1.deadband [JOINT_1]DEADBAND | |
| setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT | |
| #setp pid.1.maxerror [JOINT_1]MAX_ERROR | |
| # ################ | |
| # Z [2] Axis | |
| # ################ | |
| # axis enable chain | |
| newsig emcmot.02.enable bit | |
| sets emcmot.02.enable FALSE | |
| net emcmot.02.enable <= joint.2.amp-enable-out | |
| net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable pid.2.enable | |
| # position command and feedback | |
| net emcmot.02.pos-cmd joint.2.motor-pos-cmd => pid.2.command | |
| #net emcmot.02.vel-cmd joint.2.vel-cmd => pid.2.command-deriv | |
| net motor.02.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb joint.2.motor-pos-fb pid.2.feedback | |
| net motor.02.command pid.2.output hm2_[HOSTMOT2](BOARD).0.stepgen.02.velocity-cmd | |
| setp pid.2.error-previous-target true | |
| # timing parameters | |
| setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_2]DIRSETUP | |
| setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_2]DIRHOLD | |
| setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_2]STEPLEN | |
| setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_2]STEPSPACE | |
| setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_2]SCALE | |
| setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAX_VEL | |
| setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAX_ACC | |
| setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0 | |
| setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.control-type 1 | |
| # set PID loop gains from inifile | |
| setp pid.2.Pgain [JOINT_2]P | |
| setp pid.2.Igain [JOINT_2]I | |
| setp pid.2.Dgain [JOINT_2]D | |
| setp pid.2.bias [JOINT_2]BIAS | |
| setp pid.2.FF0 [JOINT_2]FF0 | |
| setp pid.2.FF1 [JOINT_2]FF1 | |
| setp pid.2.FF2 [JOINT_2]FF2 | |
| setp pid.2.deadband [JOINT_2]DEADBAND | |
| setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT | |
| #setp pid.2.maxerror [JOINT_2]MAX_ERROR | |
| # Spindle control | |
| # set PID loop gains from inifile | |
| setp pid.3.Pgain [SPINDLE_9]P | |
| setp pid.3.Igain [SPINDLE_9]I | |
| setp pid.3.Dgain [SPINDLE_9]D | |
| setp pid.3.bias [SPINDLE_9]BIAS | |
| setp pid.3.FF0 [SPINDLE_9]FF0 | |
| setp pid.3.FF1 [SPINDLE_9]FF1 | |
| setp pid.3.FF2 [SPINDLE_9]FF2 | |
| setp pid.3.deadband [SPINDLE_9]DEADBAND | |
| setp pid.3.maxoutput [SPINDLE_9]MAX_OUTPUT | |
| setp pid.3.maxerror [SPINDLE_9]MAX_ERROR | |
| #setp hm2_[HOSTMOT2](BOARD).0.7i76.0.0.spinout-scalemax [SPINDLE_9]SCALE | |
| #setp hm2_[HOSTMOT2](BOARD).0.7i76.0.0.spinout-minlim [SPINDLE_9]MINLIM | |
| #setp hm2_[HOSTMOT2](BOARD).0.7i76.0.0.spinout-maxlim [SPINDLE_9]MAXLIM | |
| net spindle-index-enable <=> hm2_[HOSTMOT2](BOARD).0.encoder.00.index-enable <=> spindle.0.index-enable | |
| # ################################################## | |
| # Standard I/O Block - EStop, Etc | |
| # ################################################## | |
| # create a signal for the estop loopback | |
| net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-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 | |
| ###### | |
| # ENDSCHALTER | |
| ###### | |
| net X-pos-lim hm2_7i96.0.gpio.004.in_not => joint.0.pos-lim-sw-in | |
| net X-neg-home-lim hm2_7i96.0.gpio.005.in_not => joint.0.neg-lim-sw-in joint.0.home-sw-in | |
| net Y-pos-home-lim hm2_7i96.0.gpio.002.in_not => joint.1.pos-lim-sw-in joint.1.home-sw-in | |
| net Y-neg-lim hm2_7i96.0.gpio.003.in_not => joint.1.neg-lim-sw-in | |
| net Z-pos-home-lim hm2_7i96.0.gpio.000.in_not => joint.2.pos-lim-sw-in joint.2.home-sw-in | |
| net Z-neg-lim hm2_7i96.0.gpio.001.in_not => joint.2.neg-lim-sw-in | |
| #### | |
| #POWER | |
| #### | |
| net valentin_power_on halui.machine.is-on => hm2_7i96.0.ssr.00.out-00 | |
| #### | |
| #E-STOP | |
| #### | |
| net valentin-e-stop hm2_7i96.0.gpio.006.in_not => halui.estop.activate |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment