Eric H. Johnson wrote:
> Sebastian,
>
> I updated to the latest release, and started playing with hostmot2. I ran the
> following commands under halcmd:
>
> loadrt hostmot2 loadrt hm2_5i20 config="firmware=hm_5i20 num_stepgens=2
> num_pwmgens=1 num_encoders=0"
>
> I then did a "show pin", which returned no pins. Shouldn't I be seeing pins
> at that point?
Excellent, thanks for trying it out! What you did looks almost right, the only
problem I see there is the firmware part of the config argument.
There are several hostmot2 firmwares available for the 5i20, and the
"firmware=" part needs to name a specific one, located where the driver can
find it. The hostmot2 driver uses the standard kernel firmware loading
mechanism, which means the firmware must be accessible in /lib/firmware.
The first step is putting the firmwares where the loader can find them:
If you installed EMC2 from the Debian package, the firmwares are already
there and you dont need to do anything.
If instead you checked out the CVS tree and are using run-in-place, you
need to symlink the hostmot2 firmware directory to /lib/firmware with a command
like this:
sudo ln -s
$HOME/my/emc2/sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
(change the source path to point to your actual sandbox)
Once that's done we can pick a firmware file to load. You can see the
available files by looking in /lib/firmware/hm2/5i20; each .BIT file is a
firmware file you can tell the driver to load. The firmwares available in
2.2.6 are:
0 [EMAIL PROTECTED] /home/seb> ls -1 /lib/firmware/hm2/5i20/*.BIT
/lib/firmware/hm2/5i20/SV12.BIT
/lib/firmware/hm2/5i20/SVST2_8.BIT
/lib/firmware/hm2/5i20/SVST8_4.BIT
"SV12" means 12 servo channels. "SVST2_8" means 2 servos and 8 steppers.
"SVST8_4" means 8 servos and 4 steppers. Either of the last two would work
with the rest of the config line you specified; let's say you want SVST8_4.BIT.
You'd use a loadrt line like this:
loadrt hm2_5i20 config="firmware=hm2/5i20/SVST8_4.BIT num_stepgens=2
num_pwmgens=1 num_encoders=0"
Give that a try and let me know how it goes. :-)
Oh yeah, and if it doesnt work, please attach the file /var/log/syslog to the
next email.
--
Sebastian Kuzminsky
Cryogenic travel has improved since then... I woke screaming in a
translucent box. “There, there,” said the box. “Everything will be all
right. Have some coffee.” -- Ken Macleod, "Who's afraid of Wolf 359"
<http://outofthiseos.typepad.com/blog/files/KenMacleodWhosAfraidofWolf359.htm>
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