On 1/5/2014 8:57 AM, Thomas Studwell wrote: > I am currently using debian-7.2-machinekit-armhf-2013-12-02 image, > modified for the Xylotex BBB_DB25ee board and I want to change the > polarity of the Step pulses (3 axis). Is there a configuration setting > to do this? I tried updating my HAL to allocate the pins to GPIO so I > could invert with setp but then the stepgen was not happy with this... > > The PRU driver configuration is: > CONFIG=prucode=/home/linuxcnc/linuxcnc/rtlib/xenomai/pru_generic.bin > pru=1 num_stepgens=3
You can use a negative value for the position scale, which will move the motor the other direction. If you actually want the step pin inverted (ie: mostly high, with a step pulse causing the signal to go low), you'll have to tweak the code. This isn't currently supported in the PRU code (along with up/down mode, and a few other things you can do with a hostmot2 stepgen). Also, since the PRU is running the "base thread", instead of the ARM, you can't use HAL to play with the outputs like you could if it was a typical x86 system. Anything dealing with timings faster than the servo thread needs to be coded on the PRU. -- Charles Steinkuehler [email protected]
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