Things are not going well so I've attached the HAL file. I've spent several days on this trying all sorts of different things and finally just reducing the HAL file to as simple as possible. I don't know if the photos would make it through so here are links to them. Didn't have a USB stick handy to save them so I just photographed the entire scope. This one shows 50% PWM to the spindle as the yellow trace. http://www.autoartisans.com/beagle/PWM50_ChgPmp-1.jpg This one should be the same as the one above but isn't 50%. http://www.autoartisans.com/beagle/PWM50_ChgPmp-2.jpg In fact the PWM appears to oscillate at about 2 hz with the falling edge synchronized to either edge of the blue trace which is the charge pump output. I've simplified the HAL file as much as possible. It appears the PWM to the spindle is not being done in hardware and something is preventing it from staying at the requested 50%. It doesn't matter if it's set from AXIS or if I do this. setp hpg.pwmgen.00.out.00.value 25.0 I'm also not sure about this part: # load low-level drivers # Hex values of pins. $6B,$71,$77,$7E,$D6 $6D,$6E,$72,$76,$F1 loadrt hal_bb_gpio output_pins=107,113,119,126,214 input_pins=109,110,114,118,241 loadrt [PRUCONF](DRIVER) prucode=$(HAL_RTMOD_DIR)/[PRUCONF](PRUBIN) [PRUCONF](CONFIG) halname=hpg Depending on which machinekit and BBB web page I read the values for the output_pins have different numbers with the latest supposedly 813 for P8 Pin 13. Setting up the spindle pin I do use 813 which appears to work. However, again according to one of the web pages if I want the PRU to control this I'd use 1813 rather than 813 or 0813. However, no output appears when I use 1813. So I'm still missing something with a hardware generated (or PRU generated PWM that has a period of 1mS.) No matter what I do the PWM oscilates between 0 and 50% synchronized to the edges of the charge_pump. Any suggestions on what to do next? Thanks John From: [email protected] [mailto:[email protected]] On Behalf Of John Dammeyer Sent: April-13-21 8:26 PM To: 'Charles Steinkuehler'; [email protected] Subject: RE: [Machinekit] BBB and charge pump Making progress. Scope shows PWM and DIR on correct pin. Buttons work. + button however increases speed reported value above 3000 RPM when examined with HAL meter even though PWM reached 100% at 3000 RPM. (50 RPS) Still missing something. #(JCD) Add PWM Spindle control # ################ # Spindle # ################ # This output is on DB25-14 setp hpg.pwmgen.00.pwm_period 100000 setp hpg.pwmgen.00.out.00.pin 813 setp hpg.pwmgen.00.out.00.enable 1 setp hpg.pwmgen.00.out.00.scale 50.0 setp hpg.pwmgen.00.out.00.value 0 net spindle-enable <= motion.spindle-on net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd-rpm <= motion.spindle-speed-out net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs net spindle-cw <= motion.spindle-forward net spindle-ccw <= motion.spindle-reverse net spindle-brake <= motion.spindle-brake net spindle-revs => motion.spindle-revs net spindle-enable => hpg.pwmgen.00.out.00.enable net spindle-vel-cmd-rps => hpg.pwmgen.00.out.00.value # This output is on DB25-16 and is Spindle Direction. net spindle-ccw => bb_gpio.p8.out-19 # This output is on DB25-17 net charge-pump => bb_gpio.p9.out-14 > -----Original Message----- > From: [email protected] [mailto:[email protected]] On > Behalf Of John Dammeyer > Sent: April-13-21 7:46 PM > To: 'Charles Steinkuehler'; [email protected] > Subject: RE: [Machinekit] BBB and charge pump > > That's what I'm trying to get going now. Actually first the PWM for spindle > speed and then I'll create the second PWM for charge > pump. > > Having a lot of trouble with the PWM for the spindle. I've added what I > think are the correct motion.spindle- ... but all I can get on > the AXIS screen are the +/- and STOP button along with the BRAKE checkbox. > And the +/- buttons do flip the DB25-16 port pin so > that's all working. > > But the set speed button is missing and I can't seem to link to the PWM > value. Which means I'm missing something. I'm using my > MESA 7i92H as a guide although it's complicated by the extra ramping stuff I > have in there. > > What makes the speed button show up on the screen? > Thanks > John > > > > -----Original Message----- > > From: <mailto:[email protected]> [email protected] [ > > <mailto:[email protected]> mailto:[email protected]] On > > Behalf Of Charles Steinkuehler > > Sent: April-13-21 6:50 PM > > To: <mailto:[email protected]> [email protected] > > Subject: Re: [Machinekit] BBB and charge pump > > > > 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: <mailto:[email protected]> [email protected] > > >> [ <mailto:[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) > > >> > > >> > > >> -- > > >> website: <http://www.machinekit.io> http://www.machinekit.io blog: > > >> <http://blog.machinekit.io> http://blog.machinekit.io github: > > >> <https://github.com/machinekit> 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 <mailto:[email protected]> > > >> [email protected]. > > >> To view this discussion on the web visit > > >> > > >> <https://groups.google.com/d/msgid/machinekit/0a0a01d73018%245f04d6e0%241d0e84a0%24%40autoartisans.com> > > >> > > >> https://groups.google.com/d/msgid/machinekit/0a0a01d73018%245f04d6e0%241d0e84a0%24%40autoartisans.com. > > > > > > > -- > > Charles Steinkuehler > > <mailto:[email protected]> [email protected] > > > > -- > > website: <http://www.machinekit.io> http://www.machinekit.io blog: > > <http://blog.machinekit.io> http://blog.machinekit.io github: > > <https://github.com/machinekit> 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 <mailto:[email protected]> > > [email protected]. > > To view this discussion on the web visit > > <https://groups.google.com/d/msgid/machinekit/ed9b13ab-776c-8edf-0e25-> > > https://groups.google.com/d/msgid/machinekit/ed9b13ab-776c-8edf-0e25- > > 6393ff289bd3%40steinkuehler.net. > > -- > website: <http://www.machinekit.io> http://www.machinekit.io blog: > <http://blog.machinekit.io> http://blog.machinekit.io github: > <https://github.com/machinekit> 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 <mailto:[email protected]> > [email protected]. > To view this discussion on the web visit > > <https://groups.google.com/d/msgid/machinekit/0b3501d730d8%245b69d290%24123d77b0%24%40autoartisans.com> > > https://groups.google.com/d/msgid/machinekit/0b3501d730d8%245b69d290%24123d77b0%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 [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/0b4601d730dd%24ee043dc0%24ca0cb940%24%40autoartisans.com <https://groups.google.com/d/msgid/machinekit/0b4601d730dd%24ee043dc0%24ca0cb940%24%40autoartisans.com?utm_medium=email&utm_source=footer> .
-- 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 [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/00a301d733df%24644695b0%242cd3c110%24%40autoartisans.com.
XylotexG3616.hal
Description: Binary data
