Re: [Machinekit] best way of making new hal modules

[schoone...@gmail.com]

On 11/09/18 22:58, mngr wrote: Hi, I have to declare some new HAL modules, which is the best way to do it? First one: when a security switch gets pressed I have to pause the printing and override actual temperature and position (move up of a cm), before resuming printing I need to wait for the temperature to be on point. My idea: defining a new "pause" button, outside of axis, and show it in a glade panel. this module will know the switch state and pause axis, and know temperature so it will resume axis only when it is possible. I looked in the guide, I guess I should do it in icomp, is it suited? or is there a better way? I have just included a 'watch' instantiated component into machinekit, along with a demo sim https://github.com/machinekit/machinekit/blob/master/src/hal/user_icomps/watch.c https://github.com/machinekit/machinekit/tree/master/configs/sim/axis/watch-demo-sim You may find it of use, in itself or as a guide, as I wrote it to get over the problem of monitoring a pin value without constantly calling halcmd and trying to parse the output. (which is what M109 in FDM does) The sim demo shows how to use it in a dummy FDM printer heater scenario, setting a pin or signal to the target value (eg. heater component) monitoring a pin value and setting an output pin and triggering a message in a pyvcp panel when it reaches a target value. Second one: this is more like a driver, I have to take the commanded position from axis, do some stepgen-magic things and send the velocity to the stepper controller via spi. (the point is sending something via spi, from a raspberry) What should I use to write this? Here (https://forum.linuxcnc.org/27-driver-boards/29742-pidicnc-control-system?start=50#115691) I have something very similar to what I want to do,after line 2300 (https://github.com/mngr0/stepgenspi/blob/master/pidi.c#L2306) there is the code to write directly on the registers for spi (code made for the raspberry). I guess that lot of common libraries for rpi-spi cannot work in real-time environment, what can be a clean way to implement that? I'll leave bit twiddling on a Pi to someone else to answer :) by the way, in the guide http://www.machinekit.io/docs/developing/writing-components/ there is a dead link at "Further info here" Looks like an old doc ref, I'll check later Probably see http://www.machinekit.io/docs/hal/instcomp_writing_a_component for a tutorial I wrote regards instcomp specifically mngr -- 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. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout. -- 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. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.