Paul Keeton wrote: > An update on the IO issue. Maybe this will help someone else........ > > I have been working on this problem for the past few days and made no > progress until this evening. I now have the outputs working as they should. > This is what is required to make the Mesa 5i20 100% gpio with the first pin > being the example for all outputs you are going to use. The plan was to add > two 24 point opto racks. One for Outputs, One for Inputs. The output rack > plugs into the P2 header on the M5i20 and the ins two P3. This leaves P4 > open for future upgrades to the machine. I am using a Motenc-lite for the > servos and the operators panel I/O. I found that loading the hostmot driver > and parameters thru the motenc_io.hal file locks the PC up cold. The only > recovery is to kill the power and start over. So I wrote a file .hal called > mesagpio.hal to handle all of the field I/O. Here is an excerpt from that > file. > > #Load the hostmot2 driver > loadrt hostmot2 > > #Load the config and set all pins to GPIO > loadrt hm2_pci config="firmware=hm2/5i20/SVST8_4.BIT num_encoders=0 > num_pwmgens=0 num_stepgens=0" > > addf hm2_5i20.0.read servo-thread 1 > addf hm2_5i20.0.write servo-thread 1 > addf hm2_5i20.0.read_gpio servo-thread 1 > addf hm2_5i20.0.write_gpio servo-thread 1 > addf hm2_5i20.0.pet_watchdog servo-thread 1 > > setp hm2_5i20.0.gpio.000.is_output 1 > setp hm2_5i20.0.gpio.000.is_opendrain 1 > setp hm2_5i20.0.gpio.000.invert_output 1 > linksp mainstart <= classicladder.0.out-04 > linksp mainstart => hm2_5i20.0.gpio.000.out
That little hal snippet looks pretty good. Two bits of feedback: 1. No need to run both the read() and the read_gpio() function, and no need to run both the write() and write_gpio() function. read() reads everything including gpios, and read_gpio() only reads gpios. write() writes everything including gpios, and write_gpio() only writes gpios. 2. linksp works, but is deprecated. Consider using net instead. > Would anyone know why it locks up when loading thru the io.hal file? It > seems to do fine when loading thru it's own hal file. I don't have the > servos running yet though. Will this be an issue using the 2 different > boards (Motenc-Lite and Mesa 5i20) in the same control? I only used the > Motenc because we purchased it a year ago for a dropped project. Hate to see > good hardware go to waste! I dont know why it would lock up, but i'd love to find out! I would expect a system with both a hostmot2 5i20 and a motenc should work just fine, shouldn't be a problem. Does the motenc sample config (without hostmot2 stuff added) work? > "The attached documents may contain technical data within the definition of > the International Traffic in Arms Regulations (ITAR), and are subject to the > export control laws of the U.S. Government. Transfer of this data by any > means to a foreign person, whether in the U.S. or abroad without an export > license or other approval from the U.S. Department of State, is prohibited." You know this is an open list with plenty of non-US subscribers, right? -- Sebastian Kuzminsky ------------------------------------------------------------------------------ SOLARIS 10 is the OS for Data Centers - provides features such as DTrace, Predictive Self Healing and Award Winning ZFS. Get Solaris 10 NOW http://p.sf.net/sfu/solaris-dev2dev _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
