Thank you for your reply. Now i generated the device tree overlay to configured the P8_43 to Mode6 (pr1_pru1_pru_r31_2) and P8_44 to Mode6 (pr1_pru1_pru_r31_3). This was successful: $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep 8a8 pin 42 (PIN42) 44e108a8 00000016 pinctrl-single $cat /sys/kernel/debug/pinctrl/44e10800.pinmux-pinctrl-single/pins | grep 8ac pin 43 (PIN43) 44e108ac 00000016 pinctrl-single
i changed my .hal file to use pru1 and set the pins according to numbering scheme: loadrt hal_pru_generic prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=1 num_stepgens=1 halname=hpg setp hpg.stepgen.00.steppin 1843 setp hpg.stepgen.00.dirpin 1844 ...but i still see no output on the pins. I noticed there is also Mode5 PinMux option with the pr_pru_pru_r30 available. Should i use this mode? Regards Klemen On Tuesday, 16 May 2023 at 00:42:15 UTC+2 cha...@steinkuehler.net wrote: > You likely need to configure the pin multiplexing for the pins you wish > to use so they can be controlled by the PRU. This is typically done via > a device-tree overlay, or something like cape-universal and the > config-pin utility if you don't like making device-tree files: > > https://github.com/cdsteinkuehler/beaglebone-universal-io > > On 5/15/2023 1:18 PM, fogl wrote: > > > > Hello everybody, > > > > I am still trying to run the stepper motor with Machinekit. I configured > > the hal and i was expecting some step/dir signal on the output pins, but > > nothing happens (i am monitoring with the oscilloscope). > > > > I tried to generate steps by changing the hpg.stepgen.00.position-cmd > > signal. I could see the hpg.stepgen.00.position-fb signal that was > > folowing. So everything seems fine here. > > > > The problem seems to be in the output pin configuration. I tried > different > > kind of options: > > - to change the pru number from pru=0 to pru=1 > > - i tried to change the pin location > > > > Can you please suggest what could be the problem, > > Regards > > Klemen > > > > *my .hal configuration* > > loadrt threads name1=base-thread period1=100000 fp1=0 name2=servo-thread > > period2=1000000 fp2=1 > > > > loadrt hal_bb_gpio user_leds=0,1,2,3 > > loadrt hal_pru_generic > prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin > > pru=1 num_stepgens=1 halname=hpg > > loadrt siggen num_chan=1 > > > > addf bb_gpio.write base-thread > > addf bb_gpio.read base-thread > > > > addf siggen.0.update servo-thread > > addf hpg.capture-position servo-thread > > addf hpg.update servo-thread > > ddf bb_gpio.write base-thread > > addf bb_gpio.read base-thread > > > > addf siggen.0.update servo-thread > > addf hpg.capture-position servo-thread > > addf hpg.update servo-thread > > > > setp siggen.0.frequency 2 > > net ledlight siggen.0.clock => bb_gpio.userled3 > > > > > > > > # stepper timing parameters in nanoseconds > > setp hpg.stepgen.00.dirsetup 200 > > setp hpg.stepgen.00.dirhold 200 > > setp hpg.stepgen.00.steplen 1000 > > setp hpg.stepgen.00.stepspace 1000 > > > > setp hpg.stepgen.00.position-scale 20 > > setp hpg.stepgen.00.maxvel 200.0 > > setp hpg.stepgen.00.maxaccel 2000.0 > > > > #setp hpg.stepgen.00.step_type 0 > > # P8.12 GPIO1_12 0x4C > > # P8.11 GPIO1_13 0x4D > > # P8.43 PRU1.out2: 812 > > # P8.44 PRU1.out4: 813 > > setp hpg.stepgen.00.steppin 813 > > setp hpg.stepgen.00.dirpin 812 > > > > *halcmd: show pin hpg.* > > Component Pins: > > Comp Inst Type Dir Value Name > > Epsilon Flags linked to: > > 106 s32 OUT 7000 hpg.capture-position.time > > ---- > > 106 s32 I/O 13083 hpg.capture-position.tmax > > ---- > > 106 bit OUT FALSE hpg.capture-position.tmax-inc > > ---- > > 106 bit IN FALSE hpg.stepgen.00.control-type > > --l- > > 106 s32 OUT 45653 hpg.stepgen.00.counts > > --l- > > 106 float OUT -7707.206 hpg.stepgen.00.dbg_err_at_match > > 0.000010 --l- > > 106 float OUT 0 hpg.stepgen.00.dbg_ff_vel > > 0.000010 --l- > > 106 float OUT -7717.106 hpg.stepgen.00.dbg_pos_minus_prev_cmd > > 0.000010 --l- > > 106 float OUT 0.1 hpg.stepgen.00.dbg_s_to_match > > 0.000010 --l- > > 106 s32 OUT 5368709 hpg.stepgen.00.dbg_step_rate > > --l- > > 106 float OUT 200 hpg.stepgen.00.dbg_vel_error > > 0.000010 --l- > > 106 u32 IN 0x000000C8 hpg.stepgen.00.dirhold > > --l- > > 106 u32 IN 0x0000032C hpg.stepgen.00.dirpin > > --l- > > 106 u32 IN 0x000000C8 hpg.stepgen.00.dirsetup > > --l- > > 106 bit IN TRUE hpg.stepgen.00.enable > > --l- > > 106 float IN 2000 hpg.stepgen.00.maxaccel > > 0.000010 --l- > > 106 float IN 200 hpg.stepgen.00.maxvel > > 0.000010 --l- > > 106 float IN 0 hpg.stepgen.00.minvel > > 0.000010 --l- > > 106 float IN 10000 hpg.stepgen.00.position-cmd > > 0.000010 --l- > > 106 float OUT 2284.294 hpg.stepgen.00.position-fb > > 0.000010 --l- > > 106 float IN 20 hpg.stepgen.00.position-scale > > 0.000010 --l- > > 106 bit IN FALSE hpg.stepgen.00.stepinvert > > --l- > > 106 u32 IN 0x000003E8 hpg.stepgen.00.steplen > > --l- > > 106 u32 IN 0x0000032D hpg.stepgen.00.steppin > > --l- > > 106 u32 IN 0x000003E8 hpg.stepgen.00.stepspace > > --l- > > 106 s32 OUT 385815358 hpg.stepgen.00.test1 > > --l- > > 106 s32 OUT 45697 hpg.stepgen.00.test2 > > --l- > > 106 s32 OUT -1299849246 hpg.stepgen.00.test3 > > --l- > > 106 float IN 0 hpg.stepgen.00.velocity-cmd > > 0.000010 --l- > > 106 float OUT 200 hpg.stepgen.00.velocity-fb > > 0.000010 --l- > > > > 106 s32 OUT 8582 hpg.update.time > > ---- > > 106 s32 I/O 54414 hpg.update.tmax > > ---- > > 106 bit OUT FALSE hpg.update.tmax-inc > > ---- > > > > > > *$ uname -a* > > Linux beaglebone 4.19.120-bone-rt-r50 #1stretch PREEMPT RT Fri May 8 > > 22:45:31 UTC 2020 armv7l GNU/Linux > > > > *$ ls /proc/device-tree/chosen/overlays/* > > AM335X-PRU-UIO-00A0 BB-ADC-00A0 BB-BONE-eMMC1-01-00A0 > > BB-HDMI-TDA998x-00A0 name > > > > -- > Charles Steinkuehler > cha...@steinkuehler.net > -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. 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