hm I am seeing something similar with the step generator. Its feedback
position never changes. no errors in dmesg.
(jmk, there's not (yet) an enable, or velocity or accel limit
pins/parameters in hm2--I imagine that's why the lines are commented
out)
[running in an interactive halrun]
halcmd: save comp
# components
loadrt threads name1=th period1=1000000
loadrt hm2_5i20 config=firmware=hm2/5i20/SVST8_4.BIT
loadrt hostmot2 debug_idrom=1
halcmd: show pin hm2_5i20.0.stepgen.00.
Component Pins:
Owner Type Dir Value Name
4 s32 OUT 0 hm2_5i20.0.stepgen.00.counts
4 u32 OUT 00000000 hm2_5i20.0.stepgen.00.debug.accumulator
4 float OUT -1 hm2_5i20.0.stepgen.00.debug.error
4 u32 OUT 00989C66 hm2_5i20.0.stepgen.00.debug.rate
4 float IN 1 hm2_5i20.0.stepgen.00.position-cmd
4 float OUT 0 hm2_5i20.0.stepgen.00.position-fb
4 float OUT 0 hm2_5i20.0.stepgen.00.velocity-fb
halcmd: show param hm2_5i20.0.stepgen.00.
Parameters:
Owner Type Dir Value Name
4 float RW 0.00049149 hm2_5i20.0.stepgen.00.dirhold
4 float RW 0.00049149 hm2_5i20.0.stepgen.00.dirsetup
4 float RW 10000 hm2_5i20.0.stepgen.00.position-scale
4 float RW 0.00049149 hm2_5i20.0.stepgen.00.steplen
4 float RW 0.00049149 hm2_5i20.0.stepgen.00.stepspace
halcmd: show thread
Realtime Threads:
Period FP Name ( Time, Max-Time )
999849 YES th ( 529, 64009 )
1 hm2_5i20.0.read
2 hm2_5i20.0.write
3 hm2_5i20.0.pet_watchdog
Jeff
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