On Monday 09 October 2017 13:55:37 John Dammeyer wrote: But the rk3328 is the Rock64.
> Is this discussion that mentions rk3328 still about still BeagleBone > Black or a different ARM based device. Maybe for that the subject > line should change? > > I looked at the Xylotex pin map and I can see only one SPI port that > is available although the pin use is commented out in the HAL. > For I/O expansion I'm interested in using the Homann Designs MODIO > board since I have one. Peter Homann tells me that several people > have ported it to EMC2. > > I also have a CBB-Serial CAN/Serial 232/485 Cape from Logic Supply. > With Controller Area Network (CAN) I'd have access to CANopen > hardware. > > I found the site with the files and I've downloaded the various > folders. The makefiles will need some work to change paths from EMC2/. > . . etc. but it looks like it would work if UART1 P9-24, P9-26 are > used. > > However, my CBB-Serial uses P9-24, P9-26 for CAN and P9-21, P9-22 for > UART2. > > > So it should be possible to use some of the cape except that P9-15, > which is Z_Step, is use for RS485 direction which implies probably > only RS232 MODBUS. Assuming those can be disabled in the CBB-Serial > configuration. That will be a set of questions for the BBB group > since the EEROMs on each Cape select which device tree information to > use. > > Still, Effectively, unlimited within reason I/O expansion is easily > available with a Beagle. Thats one of the draws to the relatively inexpensive mesa 7i90, 72 gpio's minus whats used for the "canned" functions. I have quite a bit of stuff wired up on the Sheldon now and still have nearly 40 pins left to use. And it can be driven from a parport but the data rate is slower, estimated at 1/5th the speed of the spi. Interestingly, in trolling thru the 4.9 kernel sources withe a make menuconfig, I tripped over a driver that makes a parport out of some of the gpio pins on the arm64's. I may build it as a module and see if its fast enough the next time I make a new kernel. Now that would be a hoot! Cobbling up a gpio to db 25 connection kit will be a chore and take a while though. The what if's looking down this path are endless, John. I need more room to play (and time too) than I have, darn it. Now, right now, I need the command line option to make "make" about 100x as verbose so I can trace an attempted build of a rock64 version of hm2_rpspi to see where its failing. This is not a heck of a lot to go on: rock64@rock64:~/linuxcnc-dev/src$ make Reading 190/190 dependency files Done reading dependencies Reading 197/198 realtime dependency files Done reading realtime dependencies Linking ../rtlib/hm2_rkspi.so ld: no input files Makefile:997: recipe for target '../rtlib/hm2_rkspi.so' failed make: *** [../rtlib/hm2_rkspi.so] Error 1 I need to see whats up that leads to the link error. > John > > > From CBB-Serial Cape: > Signal name Header Pin Pin Mode Comments > UART4_RTS(1) P8_33 output UART4 > request-to-send > UART4_CTS(1) P8_35 input UART4 clear-to-send > UART2_CTS(1) P8_37 input UART4 clear-to-send > UART2_RTS(1) P8_38 output UART2 > request-to-send > ON_SW P9_9 input Trigger power on > UART4_RX(2) P9_11 RS232 input ±1.6 - ±12V on IDC10 > / screw terminal > UART4_TX(2) P9_13 RS232 output ±5.4V out IDC10 / > screw terminal > UART4_RX(2) P9_11 serial in from RS485 -7 - +12V > common-mode voltage on receiver > UART4_TX(2) P9_13 serial out to RS485 Standard RS485 5V > differential driver output > GPIO1_6 P9_15 digital output for software RS485 > RE/DE control > UART2_TX P9_21 RS232 output ±5.4V out IDC10 / > screw terminal > UART2_RX P9_22 RS232 input ±1.6 - ±12V on IDC10 > / screw terminal > DCAN1_RX P9_24 serial in from CAN bus -27 - > +40V common-mode voltage on bus > DCAN1_TX P9_26 serial out to CAN bus 3V max > driver differential output voltage > NOTES: > 1. These pins are shared with the HDMI driver and are disabled by > default. See Enabling Flow Control below > 2. UART4 is shared between the RS232 converter and the RS485 driver, > its function is selected with jumper > > From DB-25/26 Cape: > Enable System P8.07 out > STOPin P8.09 in > XLIM P8.10 in > X_Dir P8.11 out > X_Step P8.12 out > PWM0/SPINDLE P8.13 out > YLIM P8.14 in > Y_Dir P8.15 out > Y_Step P8.16 out > ZLIM P8.18 in > PWM1 P8.19 out > PWM2 P9.14 out > Z_Step P9.15 out > Z_Dir P9.23 out > #SCS P9.17 out > #SDI P9.18 in > #SDO P9.21 out > #SCK P9.22 out > A_Dir P9.13 out > A_Step P9.11 out > > > -----Original Message----- > > From: Gene Heskett [mailto:ghesk...@shentel.net] > > Sent: October-09-17 9:36 AM > > To: emc-users@lists.sourceforge.net > > Subject: Re: [Emc-users] MachineKit on the BeagleBone Black > > > > On Monday 09 October 2017 11:45:58 Nicklas Karlsson wrote: > > > > > There ARM M is tiny and dirt cheap and is very good for > > > > > real-time work. I have a robot with four motors and encoders > > > > > and get 44,000 interrupts per second > > > > > and much better real time latencies then from any Linux based > > > > > solution on any platform. > > > > > > > > > > My solution for robot control is a hierarchy with ARM M for > > > > > the lowest level, then > > > > > Raspberry Pi 3 connected by high speed serial. > > > > > > Right now I am at this point with high speed serial communication > > > to ARM for the lowest level. > > > > > > > I did succeed in building a fully rt-preempt 4.9 kernel on it > > > > today, took about 4 hours, but I've not yet attempted to boot it > > > > as I saw some stuff go by during the build (when I wasn't > > > > checking my eyelids for leaks :) that I yet need to turn off. I > > > > think, other than fine tuning the kernel build, that convincing > > > > the hm2_rpspi driver that it should run on the rock's rk3328, > > > > arm64 quad core SoC, running at up to 1.5GHz should be the last > > > > major hurdle to making linuxcnc run on it, ... > > > > > > Happen to know how many SPI ports there may be? > > > > This driver that Bertho Stultans wrote, can do 5. Over 2 pin groups > > IIRC. However since I was the lab rat, only the SPI1 set has been > > extensively tested. > > > > From the bottom of the pi's 7i90-axis.ini file: > > [HOSTMOT2] > > DRIVER = hm2_rpspi > > BOARD = 7i90 > > CONFIG = "num_encoders=4 num_pwmgens=2 num_stepgens=4" > > ----------------------------- > > and from the top of the .hal file: > > # hostmot2 driver > > loadrt hostmot2 > > > > # load low-level driver > > loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG) > > spiclk_rate=41666 spiclk_rate_rd=25000 > > ----------- > > The above is all one line > > the "rates" are the write, and read, clock rates, corresponding IIRC > > to a 41 megabaud write to the 7i90 rate, and a slower 25 megabaud > > rate for reading back the data from the 7i90. > > > > Both of those rates could probably be improved with stronger, as in > > faster rise and fall times in the pi's pin drivers, they are a tad > > puny. > > > > The interconnect cable between the pi and the 7i90 is only about an > > inch long, achieved by mounting the pi upside down on 1" tall nylon > > standoffs and the header connections aligned with the 26 pin socket > > on the 7i90. Just in case, an old video card fan is mounted under > > the pi, running on the pi's 5 volt supply. > > > > The 7i90 is the bottom of the stack in that box as there's 3 > > 7i42TA's stacked over the 7i90, between the 7i90 and the real world. > > Stops all that noise & overvoltage BS that blew several 7i90's by > > the time I understood that I just couldn't put it in the same box > > with the stepper & vfd stuffs. In a separate box, the noise is quite > > low, and not sufficient to effect operations in any way. > > > > > Regards Nicklas Karlsson > > > > Cheers Nicklas, Gene Heskett > > -- > > "There are four boxes to be used in defense of liberty: > > soap, ballot, jury, and ammo. Please use in that order." > > -Ed Howdershelt (Author) > > Genes Web page <http://geneslinuxbox.net:6309/gene> > > ---------------------------------------------------------------------- >------ -- > > > Check out the vibrant tech community on one of the world's most > > engaging tech sites, Slashdot.org! http://sdm.link/slashdot > > _______________________________________________ > > Emc-users mailing list > > Emc-users@lists.sourceforge.net > > https://lists.sourceforge.net/lists/listinfo/emc-users > > ---------------------------------------------------------------------- >-------- Check out the vibrant tech community on one of the world's > most engaging tech sites, Slashdot.org! http://sdm.link/slashdot > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users LCNC on Rock64Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) Genes Web page <http://geneslinuxbox.net:6309/gene> ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
