If you just need a charge pump signal, use the PWM function on the PRU
(alternately, you could use a stepgen instance, but that's more code
overhead).
On 4/13/2021 11:56 AM, John Dammeyer wrote:
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: [email protected] [mailto:[email protected]] 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)
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Charles Steinkuehler
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