bbb, hal_pru_generic, encoder ... what I'm missing?
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Juergen Gnoss
Jan 16, 2020, 10:45:31 AM1/16/20
to Machinekit
Hello folks,
I try to get an encoder to work on a beaglebone black using hal_pru_generic.
If I rotate the encoder the encoder component doesn't say anything.
I'm sure I'm missing something but I've no clue what.
here my setup:
bbb, no cape hardware attached.
******************************
OS, kernel, overlays
******************************
machinekit@beaglebone:/opt$ sudo scripts/tools/version.sh
git:/opt/scripts/:[66b9438a789ce79859aa5489de9d952b6242d526]
eeprom:[A335BNLT000C1716BBBG0543]
model:[TI_AM335x_BeagleBone_Black]
dogtag:[Machinekit Debian Image 2019-12-16]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot 2019.04-00002-g3d8c979660]:[location: dd MBR]
bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot 2019.04-00002-g3d8c979660]:[location: dd MBR]
UBOOT: Booted Device-Tree:[am335x-boneblack-uboot-univ.dts]
UBOOT: Loaded Overlay:[AM335X-PRU-UIO-00A0]
UBOOT: Loaded Overlay:[BB-ADC-00A0]
UBOOT: Loaded Overlay:[BB-BONE-eMMC1-01-00A0]
kernel:[4.19.82-bone-rt-r41]
/boot/uEnv.txt Settings:
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[disable_uboot_overlay_video=1]
uboot_overlay_options:[disable_uboot_overlay_audio=1]
uboot_overlay_options:[disable_uboot_overlay_wireless=1]
uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo]
uboot_overlay_options:[enable_uboot_cape_universal=1]
pkg check: to individually upgrade run: [sudo apt install --only-upgrade <pkg>]
pkg:[bb-cape-overlays]:[4.14.20191218.0-0rcnee0~stretch+20191218]
pkg:[bb-wl18xx-firmware]:[1.20190227.1-0rcnee0~stretch+20190227]
pkg:[kmod]:[23-2rcnee1~stretch+20171005]
WARNING:pkg:[librobotcontrol]:[NOT_INSTALLED]
pkg:[firmware-ti-connectivity]:[20180825+dfsg-1rcnee1~stretch+20181217]
groups:[machinekit : machinekit adm kmem dialout cdrom floppy audio dip video plugdev users systemd-journal i2c bluetooth netdev gpio pwm eqep remoteproc admin spi docker tisdk weston-launch xenomai cloud9ide]
cmdline:[console=ttyO0,115200n8 bone_capemgr.uboot_capemgr_enabled=1 root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 rng_core.default_quality=100 quiet console=tty0 console=ttyO0,115200n8]
dmesg | grep remote
[ 1.208558] remoteproc remoteproc0: wkup_m3 is available
[ 1.323638] remoteproc remoteproc0: powering up wkup_m3
[ 1.323657] remoteproc remoteproc0: Booting fw image am335x-pm-firmware.elf, size 217168
[ 1.325717] remoteproc remoteproc0: remote processor wkup_m3 is now up
dmesg | grep pru
dmesg | grep pinctrl-single
[ 0.772313] pinctrl-single 44e10800.pinmux: 142 pins, size 568
dmesg | grep gpio-of-helper
[ 0.784074] gpio-of-helper ocp:cape-universal: ready
lsusb
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
END
*********************
Pinmux Settings
*********************
machinekit@beaglebone:~$ for i in 27 28 29 30 31 41; do config-pin -q P9_$i; done;
P9_27 Mode: pruin
P9_28 Mode: pruin
P9_29 Mode: pruin
P9_30 Mode: pruin
P9_31 Mode: pruin
P9_41 Mode: pruin
*********************
machinekit config
*********************
**********************
.ini file
**********************
[PRUCONF]
DRIVER=hal_pru_generic
PRUBIN=rt-preempt/pru_generic.bin
CONFIG=pru=0 halname=hpg num_stepgens=1 num_encoders=2
###############################################################################
# Hardware Abstraction Layer section
###############################################################################
[EMC]
# Name of machine, for use with display, etc.
MACHINE = elLeadscrew
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
#DEBUG = 0x00000003
#DEBUG = 0x00000007
###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
# Name of display program, e.g., tkemc
DISPLAY = axis
#DISPLAY = tkemc
#DISPLAY = gscreen
# Touchy currently won't work without some hardware buttons/jog-wheel
#DISPLAY = touchy
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.200
# Path to help file
HELP_FILE = tklinucnc.txt
# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = MACHINE
# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
# Prefix to be used
#PROGRAM_PREFIX = /home/machinekit/machinekit/nc_files/
#PROGRAM_PREFIX = ../../../nc_files/
PROGRAM_PREFIX = /home/machinekit/machinekit/nc_files
# Introductory graphic
INTRO_GRAPHIC = machinekit.gif
INTRO_TIME = 5
# Increments for the JOG section
INCREMENTS = 10 1 0.1 0.01
#PYVCP = 3D.Temps.panel.xml
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
###############################################################################
# Task controller section
###############################################################################
[TASK]
# Name of task controller program, e.g., milltask
TASK = milltask
# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.010
###############################################################################
# Part program interpreter section
###############################################################################
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = pru-stepper.var
###############################################################################
# Motion control section
###############################################################################
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
###############################################################################
# Hardware Abstraction Layer section
###############################################################################
[HAL]
# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
# list of hal config files to run through halcmd
# files are executed in the order in which they appear
HALFILE = enctest.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
HALUI = halui
###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
AXES = 1
COORDINATES = X
MAX_ANGULAR_VELOCITY = 45.00
DEFAULT_ANGULAR_VELOCITY = 4.50
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 20.00
MAX_LINEAR_VELOCITY = 200.00
###############################################################################
# Axes sections
###############################################################################
[AXIS_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 3000.0
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 240.0
STEPGEN_MAX_ACC = 3600.0
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE = -160
MIN_LIMIT = -1.0
MAX_LIMIT = 220.0
FERROR = 1.0
MIN_FERROR = 0.25
HOME = 0.000
HOME_OFFSET = 0.00
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
# Set to zero if you don't have physical home/limit switches
# Set to the desired homing and latch velocity if you have switches
# See: https://github.com/machinekit/machinekit-docs
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
[EMCIO]
# Name of IO controller program, e.g., io
EMCIO = io
# cycle time, in seconds
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = tool.tbl
****************************************
.hal file
****************************************
# Launch the setup script to make sure hardware setup looks good
loadusr -w ./setup.sh
loadusr -w config-pin -f ./enctest.bbio
# ###################################
# Core EMC/HAL Loads
# ###################################
# kinematics
loadrt trivkins
# trajectory planner
loadrt tp
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES tp=tp kins=trivkins
# load low-level drivers
loadrt hal_bb_gpio output_pins=826,914,923 input_pins=817
loadrt [PRUCONF](DRIVER) prucode=$(HAL_RTMOD_DIR)/[PRUCONF](PRUBIN) [PRUCONF](CONFIG)
# ################################################
# THREADS
# ################################################
# hpg = [PRUCONF](DRIVER)
addf hpg.capture-position servo-thread
addf bb_gpio.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf hpg.update servo-thread
addf bb_gpio.write servo-thread
# ######################################################
# Axis-of-motion Specific Configs (not the GUI)
# ######################################################
# ################
# X [0] Axis
# ################
# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE
net emcmot.00.enable <= axis.0.amp-enable-out
net emcmot.00.enable => hpg.stepgen.00.enable
# position command and feedback
net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd
net emcmot.00.pos-cmd => hpg.stepgen.00.position-cmd
net motor.00.pos-fb <= hpg.stepgen.00.position-fb
net motor.00.pos-fb => axis.0.motor-pos-fb
# timing parameters
setp hpg.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hpg.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hpg.stepgen.00.steplen [AXIS_0]STEPLEN
setp hpg.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hpg.stepgen.00.position-scale [AXIS_0]SCALE
setp hpg.stepgen.00.maxvel [AXIS_0]STEPGEN_MAX_VEL
setp hpg.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAX_ACC
#setp hpg.stepgen.00.step_type 0
# P8.43 PRU1.out2
setp hpg.stepgen.00.steppin 813
# P8.44 PRU1.out4
setp hpg.stepgen.00.dirpin 812
# ##################################################
# Standard I/O - EStop, Enables, Limit Switches, Etc
# ##################################################
# Create estop signal chain
# Drive software estop to hardware
net estop-out iocontrol.0.user-enable-out => bb_gpio.p8.out-26
setp bb_gpio.p8.out-26.invert 1
# Monitor estop input from hardware
net estop-loop bb_gpio.p8.in-17 => iocontrol.0.emc-enable-in
setp bb_gpio.p8.in-17.invert 1
# 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
# Axis enable signal (active low)
net emcmot.00.enable => bb_gpio.p9.out-14
setp bb_gpio.p9.out-14.invert 1
# Machine power
# Use halui.machine.is-on instead?
net emcmot.00.enable => bb_gpio.p9.out-23
# ##################################################
# Encoder stuff
# ##################################################
setp hpg.encoder.00.chan.00.A-pin 2927
setp hpg.encoder.00.chan.00.B-pin 2928
setp hpg.encoder.00.chan.00.index-pin 2929
*********************************
END configs
*********************************
after start axis
this setup produces steps and dir on P8_13 and P8-12 as expected
in hal config (from axis) i can see that
hpg.encoder.00.chan.00.A-pin
hpg.encoder.00.chan.00.B-pin
hpg.encoder.00.chan.00.index-pin
are set correctly, but on rotating the encoder nothing happend to the encoder component
Thanks for any hints
Ju
Message has been deleted
Juergen Gnoss
Jan 16, 2020, 10:47:59 PM1/16/20
to Machinekit
OK, for the after world, I found what was wrong
description in the following post
The encoder component doesn't like the pin scheme I used, there has to go the pru pin numbers
changed
setp hpg.encoder.00.chan.00.A-pin 2927
setp hpg.encoder.00.chan.00.B-pin 2928
setp hpg.encoder.00.chan.00.index-pin 2929
to
setp hpg.encoder.00.chan.00.A-pin 5
setp hpg.encoder.00.chan.00.B-pin 3
setp hpg.encoder.00.chan.00.index-pin 1
did the trick
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