On 1/10/2014 9:33 AM, Charles Steinkuehler wrote: > On 1/10/2014 7:42 AM, Thomas Studwell wrote: >> > I can easily modify the PRU assembly and create a version that does > falling-edge step pulses for all step/dir generators. To use it, you > would simply point to the modified PRU binary in the HAL command that > loads the hal_pru_generic module. The longest part will be actually > testing the code to make sure it works as expected.
OK, here's the quick and dirty version of the PRU code that just inverts the step signal. I've verified it moves motors on my 3D printer and the default step state is high (the step pulse is a falling edge, followed very briefly by a return to the default high state). Just drop it in the linuxcnc/xenomai directory and adjust your ini/hal file to load the new file (pru_generic_fall.bin). The debugging files are included just in case you feel _really_ adventurous! :) cc'd directly to the two interested parties in case the list strips the attachment. If it does, and someone else is interested in a copy of this as well, just e-mail me directly. WARNING: This is for short-term use ONLY! I expect to have updated code that will support setting the step polarity via HAL within a week or two, along with many other changes that will require significant modification to any existing configurations (but will make pin numbering a whole lot more consistent and understandable!). -- Charles Steinkuehler char...@steinkuehler.net
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