Hard estop during segment motion
Pierre Giusti
Hartley Sweeten
Pierre,
Did you also modify the pru-io-routines.hp CheckForEStop function based on you hardware configuration?
That routine currently needs to be hard coded based on the input you have your Estop connected to. The VGEN5 board has the Estop connected to IN_7_GPIO (GPIO_0_BASE | 27).
You will either need to modify the VGEN5 function or add a similar implementation to the CRAMPS function.
Hartley
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Pierre Giusti
Did you also modify the pru-io-routines.hp CheckForEStop function based on you hardware configuration?
That routine currently needs to be hard coded based on the input you have your Estop connected to. The VGEN5 board has the Estop connected to IN_7_GPIO (GPIO_0_BASE | 27).
You will either need to modify the VGEN5 function or add a similar implementation to the CRAMPS function.
Hartley
From: beagl...@googlegroups.com <beagl...@googlegroups.com> On Behalf Of Pierre Giusti
Sent: Wednesday, June 03, 2020 5:29 AM
To: beagleg-dev <beagl...@googlegroups.com>
Subject: Hard estop during segment motion
Hello everyone,
According to this commit : https://github.com/hzeller/beagleg/commit/9e947d2bb40480101f655c1b959f74ef375b6210 (Add support to the PRU code to check the EStop input before each step..), I thought that for all kind of command (G28, G0, G1, G2 ...) motion would be aborted (without any delay) if hard estop is triggered. It is not working for me with motion commands like G0, G1, G2 ...
However it is working during homing cycle : if I send a G28 command and then trigger estop then motion is aborted immediatly.
I'm not really confortable with PRU programming and I am not sure to understand well the implementation of CheckForEStop function in hardware configuration file pru-io-routines.hp so I try two compilations, one with pru-io-routines.hp based on CRAMPS implementation, and another based on VGEN5 where I change pin mapping according to my hardware.
In the first case hard estop works fine with homing but nothing happens with other motion commands, estop is not detected. Furthermore when beagleg is idle and estop triggered I can see estop log in console.
In the second case nothing happens anymore with any command (no motion), eventhough I can still see estop log in console.
Any help will be appreciated..!
Pierre
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Hartley Sweeten
Pierre,
Not sure what the issue is.
Please send a diff of your change.
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Le mercredi 3 juin 2020 17:15:14 UTC+2, Hartley Sweeten a écrit :
Pierre,
Did you also modify the pru-io-routines.hp CheckForEStop function based on you hardware configuration?
That routine currently needs to be hard coded based on the input you have your Estop connected to. The VGEN5 board has the Estop connected to IN_7_GPIO (GPIO_0_BASE | 27).
You will either need to modify the VGEN5 function or add a similar implementation to the CRAMPS function.
Hartley
From: beagl...@googlegroups.com <beagl...@googlegroups.com> On Behalf Of Pierre Giusti
Sent: Wednesday, June 03, 2020 5:29 AM
To: beagleg-dev <beagl...@googlegroups.com>
Subject: Hard estop during segment motion
Hello everyone,
According to this commit : https://github.com/hzeller/beagleg/commit/9e947d2bb40480101f655c1b959f74ef375b6210 (Add support to the PRU code to check the EStop input before each step..), I thought that for all kind of command (G28, G0, G1, G2 ...) motion would be aborted (without any delay) if hard estop is triggered. It is not working for me with motion commands like G0, G1, G2 ...
However it is working during homing cycle : if I send a G28 command and then trigger estop then motion is aborted immediatly.
I'm not really confortable with PRU programming and I am not sure to understand well the implementation of CheckForEStop function in hardware configuration file pru-io-routines.hp so I try two compilations, one with pru-io-routines.hp based on CRAMPS implementation, and another based on VGEN5 where I change pin mapping according to my hardware.
In the first case hard estop works fine with homing but nothing happens with other motion commands, estop is not detected. Furthermore when beagleg is idle and estop triggered I can see estop log in console.
In the second case nothing happens anymore with any command (no motion), eventhough I can still see estop log in console.
Any help will be appreciated..!
Pierre
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Pierre Giusti
18c18
< MOV r4, (IN_7_GPIO & 0xfffff000)
---
> MOV r4, (IN_4_GPIO & 0xfffff000)
22c22
< MOV r5, (IN_7_GPIO & 0x1f)
---
> MOV r5, (IN_4_GPIO & 0x1f)
Hartley Sweeten
Pierre,
Can you send your beagle-pin-mapping.h file?
Also, what is the active polarity of you Estop input. On VGEN5 it’s active level is HIGH (it’s a N/C switch to GND).
Hartley
From: beagl...@googlegroups.com <beagl...@googlegroups.com>
On Behalf Of Pierre Giusti
Sent: Wednesday, June 03, 2020 9:17 AM
To: beagleg-dev <beagl...@googlegroups.com>
Subject: Re: Hard estop during segment motion
Here is a diff between vgen5 original pru-io-routine.hp and mine :
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Pierre Giusti
// Motors
#define MOTOR_1_STEP_GPIO PIN_P9_31 // X_STEP
#define MOTOR_2_STEP_GPIO PIN_P9_29 // Y_STEP
#define MOTOR_3_STEP_GPIO PIN_P9_28 // Z_STEP
#define MOTOR_1_DIR_GPIO PIN_P9_27 // X_DIR
#define MOTOR_2_DIR_GPIO PIN_P9_41 // Y_DIR
#define MOTOR_3_DIR_GPIO PIN_P9_25 // Z_DIR
// Inputs (Available 1-9)
#define IN_1_GPIO PIN_P8_7 // IN0 - X home (min)
#define IN_2_GPIO PIN_P8_8 // IN1 - Y home (max)
#define IN_3_GPIO PIN_P8_9 // IN2 - Z home (max)
#define IN_4_GPIO PIN_P8_17 // IN3 - ESTOP
// Outputs (Available 1-16)
#define AUX_1_GPIO PIN_P8_18 // SPINDLE
switch_4 = active:low e-stop
Pierre,
Can you send your beagle-pin-mapping.h file?
Also, what is the active polarity of you Estop input. On VGEN5 it’s active level is HIGH (it’s a N/C switch to GND).
Hartley
From: beagl...@googlegroups.com <beagl...@googlegroups.com> On Behalf Of Pierre Giusti
Sent: Wednesday, June 03, 2020 9:17 AM
To: beagleg-dev <beagl...@googlegroups.com>
Subject: Re: Hard estop during segment motion
Here is a diff between vgen5 original pru-io-routine.hp and mine :
18c18
< MOV r4, (IN_7_GPIO & 0xfffff000)
---
> MOV r4, (IN_4_GPIO & 0xfffff000)
22c22
< MOV r5, (IN_7_GPIO & 0x1f)
---
> MOV r5, (IN_4_GPIO & 0x1f)
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Hartley Sweeten
Pierre,
The active low Estop is probably the problem. The PRU code doesn’t know about the switch_4 active state.
The estop detect in the PRU is kind of a hack for now. The PRU code needs to be hard-coded to correctly handle the input and state.
So, yes, changing the QBBC and a QBBS will probably fix your issue.
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Pierre Giusti
;;; -*- asm -*-
;;; Specific PRU routines.
;; Just use the generic ones.
#include "../../src/pru-generic-io-routines.hp"
// HARDCODED function to check the E-Stop input
// IN_7_GPIO (GPIO_0_BASE | 27) is the dedicated E-Stop input
//
// NOTE: two reads are done for a minimal debouce
//
// Available registers:
// r0 = used to return the E-Stop status (0=ok, 1=E-Stop active)
// r4 = Start adress of the GPIO registers : here 0x44e07000 (GPIO_0_BASE)
// r5 = Adress of the EStop input bit in register : 27(d)
// r6 = GPIO_DATAIN register adress
CheckForEStop:
/* Definitio of gpio read register and estop input bit adresses */
// Get the start adress of the gpio registers
// IN_4_GPIO = GPIO_0_BASE | 27(d) = 0x44e07000 | 27(d) = 0x44e0701b
MOV r4, (IN_4_GPIO & 0xfffff000)
// r4 = 0x44e07000
// If r4.w2 == 0 then no estop pin is defined so jump to estok_ok
QBEQ estop_ok, r4.w2, GPIO_NOT_MAPPED
// Define in r5 GPIO_DATAIN (gpio reading) register adress
MOV r5, GPIO_DATAIN
// r5 = 0x138
// Define in r4 the complete adress of gpio0 reading register (r4 + r5)
ADD r4, r4, r5
// r4 = 0x44e07000 + 0x138 = 0x44e07138
// Define in r5 the estop input bit adress
MOV r5, (IN_4_GPIO & 0x1f)
// r5 = 0x44e0701b & 0x1f = 0x1b (27d)
debounce:
/* Reading of the input (double check if estop_active) */
// Copy 4 bytes (starting from 0) from r4 to r6
LBBO r6, r4, 0, 4
// r6 = 0x44e07138
// Jump to estop_ok if bit at adress r5 in register at adress r6 is set.
// !! Warning !! Here we have an input with active state low so estop is not active
// when bit is set. If an active high input is used then change QBBS to QBBC
QBBS estop_ok, r6, r5
// If previous debounce loop has set r0 = 1 then jump to estop_active
// and exit debounce loop
QBEQ estop_active, r0, 1
// If both previous jump failed, first edge of estop input has been detected so
// set r0 = 1
MOV r0, 1
// Loop on debounce
JMP debounce
estop_ok:
// If estop input is not active make sure that r0 = 0
MOV r0, 0
estop_active:
// End of function
RET
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