updates

config/hal/0-base.hal → config/hal/01-modules.hal

@@ -4,32 +4,18 @@ loadusr -W hal_manualtoolchange
 loadrt [KINS](KINEMATICS)
 loadrt [EMCMOT](EMCMOT) servo_period_nsec=[EMCMOT](SERVO_PERIOD) num_joints=[KINS](JOINTS)
 loadrt pid names=pid.x,pid.y,pid.z debug=1
-loadrt hostmot2
-loadrt [HM2](DRIVER) board_ip=[HM2](IPADDRESS) config="sserial_port_0=20000000"
-
-setp hm2_7i97.0.dpll.01.timer-us -50
-setp hm2_7i97.0.watchdog.timeout_ns 5000000
-
-addf hm2_7i97.0.read        servo-thread
-addf motion-command-handler servo-thread
-addf motion-controller      servo-thread
-addf pid.x.do-pid-calcs     servo-thread
-addf pid.y.do-pid-calcs     servo-thread
-addf pid.z.do-pid-calcs     servo-thread
-addf hm2_7i97.0.write       servo-thread
 
 loadrt odometer             names=lube.odometer
 loadrt estop_latch          names=estop.latch
-
 loadrt and2                 names=tool-change.and
 loadrt or2                  names=lube.or,buttons.or.resume,buttons.or.pause,buttons.or.run,buttons.or.stop,spindle.on.or,spindle.off.or
 loadrt not                  names=estop.not.0,estop.not.1,tool-change.not
-
 loadrt lowpass              names=feed-pot.lowpass
 loadrt ilowpass             names=jog.lowpass.x,jog.lowpass.y,jog.lowpass.z
 loadrt scale                names=jog.scale.x,jog.scale.y,jog.scale.z,feed-pot.scale,spindle-pot.scale,jog-pot.scale
-
 loadrt encoder              names=spindle.encoder
 loadrt near                 names=spindle.near
-
 loadrt conv_float_s32       names=feed-pot.conv
+
+addf motion-command-handler servo-thread
+addf motion-controller      servo-thread

config/hal/02-7i97.hal

@@ -0,0 +1,8 @@
+loadrt [HM2](DRIVER) board_ip=[HM2](IPADDRESS) config="sserial_port_0=20000000"
+loadrt hostmot2
+
+setp hm2_7i97.0.dpll.01.timer-us    -50
+setp hm2_7i97.0.watchdog.timeout_ns 5000000
+
+addf hm2_7i97.0.read                servo-thread
+addf hm2_7i97.0.write               servo-thread

config/hal/11-sserial.hal → config/hal/03-7i84.hal

@@ -1,28 +1,20 @@
 # inputs 0 -> 31
 
+net buttons.set-x-zero              <= hm2_7i97.0.7i84.0.0.input-05     => halui.mdi-command-05
+net buttons.stop                    <= hm2_7i97.0.7i84.0.0.input-06
+net buttons.run                     <= hm2_7i97.0.7i84.0.0.input-07
 net buttons.rpm-is-set              <= hm2_7i97.0.7i84.0.0.input-09
-
 net buttons.set-spindle-off         <= hm2_7i97.0.7i84.0.0.input-10
 net buttons.set-spindle-on          <= hm2_7i97.0.7i84.0.0.input-11
-
 net buttons.tool-change             <= hm2_7i97.0.7i84.0.0.input-12
 net buttons.tool-change-completed   <= hm2_7i97.0.7i84.0.0.input-13
-
 net buttons.force-lubricator        <= hm2_7i97.0.7i84.0.0.input-16
-
-net buttons.set-x-zero              <= hm2_7i97.0.7i84.0.0.input-05     => halui.mdi-command-05
 net buttons.set-z-zero              <= hm2_7i97.0.7i84.0.0.input-17     => halui.mdi-command-07
-
+net buttons.program-step            <= hm2_7i97.0.7i84.0.0.input-19     => halui.program.step 
 net buttons.home-all                <= hm2_7i97.0.7i84.0.0.input-20     => halui.home-all
-
 net buttons.set-y-zero              <= hm2_7i97.0.7i84.0.0.input-21     => halui.mdi-command-06
-
-net buttons.resume                  <= hm2_7i97.0.7i84.0.0.input-23
 net buttons.pause                   <= hm2_7i97.0.7i84.0.0.input-22
-net buttons.run                     <= hm2_7i97.0.7i84.0.0.input-07
-net buttons.stop                    <= hm2_7i97.0.7i84.0.0.input-06
-net buttons.program-step            <= hm2_7i97.0.7i84.0.0.input-19     => halui.program.step 
-
+net buttons.resume                  <= hm2_7i97.0.7i84.0.0.input-23
 
 # outputs 0->15 (0->5 are red, 6->11 are green)
 

config/hal/4-estop.hal → config/hal/04-estop.hal

@@ -15,4 +15,3 @@ net estop.internal-estop-not        => estop.not.1.in
 net estop.internal-estop            <= estop.not.1.out
 
 net maho-inputs.power-on            => iocontrol.0.emc-enable-in
-net maho-inputs.power-on            => hm2_7i97.0.ssr.00.out-00       

config/hal/2-maho-outputs.hal → config/hal/05-maho-outputs.hal

@@ -1,4 +1,4 @@
-# LINUXCNC INPUTS - 19X7 / MAHO OUTPUTS
+# LINUXCNC INPUTS - 19X7 / MAHO OUTPUTS (00 to 15)
 
 net maho-outputs.handwheel-x      <= hm2_7i97.0.inmux.00.input-03
 net maho-outputs.handwheel-z      <= hm2_7i97.0.inmux.00.input-04

config/hal/1-axis-x.hal → config/hal/07-axis-x.hal

@@ -1,3 +1,5 @@
+addf pid.x.do-pid-calcs     servo-thread
+
 setp pid.x.Pgain [JOINT_0](P)
 setp pid.x.Igain [JOINT_0](I)
 setp pid.x.Dgain [JOINT_0](D)

config/hal/1-axis-y.hal → config/hal/07-axis-y.hal

@@ -1,3 +1,5 @@
+addf pid.y.do-pid-calcs     servo-thread
+
 setp pid.y.Pgain [JOINT_1](P)
 setp pid.y.Igain [JOINT_1](I)
 setp pid.y.Dgain [JOINT_1](D)

config/hal/1-axis-z.hal → config/hal/07-axis-z.hal

@@ -1,3 +1,5 @@
+addf pid.z.do-pid-calcs     servo-thread
+
 setp pid.z.Pgain [JOINT_2](P)
 setp pid.z.Igain [JOINT_2](I)
 setp pid.z.Dgain [JOINT_2](D)

config/hal/09-tool-change.hal

@@ -0,0 +1,27 @@
+addf tool-change.not                servo-thread
+addf tool-change.and                servo-thread
+
+net buttons.tool-change-completed   => hal_manualtoolchange.change_button
+
+net tool-change.tool-change         <= iocontrol.0.tool-change          => hal_manualtoolchange.change
+
+net tool-change.tool-changed        <= hal_manualtoolchange.changed     => iocontrol.0.tool-changed
+net tool-change.tool-number         <= iocontrol.0.tool-prep-number     => hal_manualtoolchange.number
+net tool-change.tool-prepare-loop   <= iocontrol.0.tool-prepare         => iocontrol.0.tool-prepared
+
+# This should prevent a tool change while the spindle is running
+# Maybe I should prevent a tool change while the program is running
+# (In need to monitor the status of the hal variables, is-running, is-paused etc)
+
+net spindle.is-on                   <= spindle.0.on
+net spindle.is-on                   => tool-change.not.in
+net spindle.is-on                   => whb.halui.spindle.is-on
+
+net spindle.is-off                  <= tool-change.not.out
+net spindle.is-off                  => tool-change.and.in0
+
+net buttons.tool-change             => tool-change.and.in1
+
+net maho-inputs.tool-release        <= tool-change.and.out
+net maho-inputs.tool-release        => spindle.0.inhibit
+net maho-inputs.tool-release        => motion.feed-inhibit

config/hal/13-spindle.hal → config/hal/20-spindle.hal

@@ -1,27 +1,28 @@
 addf spindle.on.or               servo-thread
 addf spindle.off.or              servo-thread
 
-# addf spindle.encoder.update-counters    base-thread
-# addf spindle.encoder.capture-position   servo-thread
-# setp spindle.encoder.position-scale     4
+addf spindle.encoder.update-counters    base-thread
+addf spindle.encoder.capture-position   servo-thread
+setp spindle.encoder.position-scale     4
 
-# addf spindle.near servo-thread
-# setp spindle.counter-mode               true
-# setp spindle.near.scale                 1.02
+addf spindle.near servo-thread
+setp spindle.counter-mode               true
+setp spindle.near.scale                 1.03
 
 net maho-inputs.spindle-cw      <= spindle.0.reverse
 net maho-inputs.spindle-ccw     <= spindle.0.forward
 
-# net spindle.position            <= encoder.0.position               => spindle.0.revs
+net spindle.position            <= spindle.encoder.position         => spindle.0.revs
 
-# net spindle.velocity            <= encoder.0.velocity               => spindle.0.speed-in          
-# net spindle.velocity            => near.0.in2
+net spindle.velocity            <= spindle.encoder.velocity               
+net spindle.velocity            => spindle.0.speed-in          
+net spindle.velocity            => spindle.near.in2
 
-# net spindle.phase-a             <= hm2_7i97.0.inmux.00.input-12     => encoder.0.phase-A
-# net spindle.commanded-speed     <= spindle.0.speed-out-rps-abs      => near.0.in1
-# net spindle.at-speed            <= near.0.out                       => spindle.0.at-speed
+net spindle.phase-a             <= hm2_7i97.0.inmux.00.input-12     => spindle.encoder.phase-A
+net spindle.commanded-speed     <= spindle.0.speed-out-rps-abs      => spindle.near.in1
+net spindle.at-speed            <= spindle.near.out                 => spindle.0.at-speed
 
-net spindle-on                  => whb.halui.spindle.is-on
+net spindle.is-on               => whb.halui.spindle.is-on
 
 net buttons.set-spindle-on      => spindle.on.or.in0
 net pendant.spindle.on          <= whb.halui.spindle.start          => spindle.on.or.in1     

config/maho.ini

@@ -40,28 +40,28 @@ SUBROUTINE_PATH = /home/pmakris/linuxcnc/subroutines
 
 [HAL]
 HALUI = halui
-HALFILE = hal/0-base.hal
-HALFILE = hal/1-axis-x.hal
-HALFILE = hal/1-axis-y.hal
-HALFILE = hal/1-axis-z.hal
-HALFILE = hal/2-maho-outputs.hal
-HALFILE = hal/3-maho-inputs.hal
-HALFILE = hal/4-estop.hal
-HALFILE = hal/5-limits.hal
-HALFILE = hal/7-lube.hal
-HALFILE = hal/9-tool-change.hal
-HALFILE = hal/10-coolant.hal
-HALFILE = hal/11-sserial.hal
-HALFILE = hal/12-panel-feed-override.hal
-HALFILE = hal/12-panel-jog-speed.hal
-HALFILE = hal/12-panel-spindle-speeed.hal
-HALFILE = hal/13-spindle.hal
-HALFILE = hal/20-xhc-whb04b-6.hal
-HALFILE = hal/21-xhc-whb04b-6-axis-x.hal
-HALFILE = hal/22-xhc-whb04b-6-axis-y.hal
-HALFILE = hal/23-xhc-whb04b-6-axis-z.hal
-HALFILE = hal/24-xhc-whb04b-6-mdi.hal
-
+HALFILE = hal/01-modules.hal
+HALFILE = hal/02-7i97.hal
+HALFILE = hal/03-7i84.hal
+HALFILE = hal/04-estop.hal
+HALFILE = hal/05-maho-inputs.hal
+HALFILE = hal/05-maho-outputs.hal
+HALFILE = hal/07-axis-x.hal
+HALFILE = hal/07-axis-y.hal
+HALFILE = hal/07-axis-z.hal
+HALFILE = hal/08-limits.hal
+HALFILE = hal/09-tool-change.hal
+HALFILE = hal/16-coolant.hal
+HALFILE = hal/19-lube.hal
+HALFILE = hal/20-spindle.hal
+HALFILE = hal/30-panel-feed-override.hal
+HALFILE = hal/30-panel-jog-speed.hal
+HALFILE = hal/30-panel-spindle-speed.hal
+HALFILE = hal/50-xhc-whb04b-6.hal
+HALFILE = hal/51-xhc-whb04b-6-axis-x.hal
+HALFILE = hal/52-xhc-whb04b-6-axis-y.hal
+HALFILE = hal/53-xhc-whb04b-6-axis-z.hal
+HALFILE = hal/54-xhc-whb04b-6-mdi.hal
 
 POSTGUI_HALFILE = panel.hal