drivers.lyx

CNC 的开放码,EMC2 V2.2.8版

\layout Section


\begin_inset LatexCommand \label{sec:probe_parport}

\end_inset 

probe_parport
\layout Standard

In modern PCs, the parallel port may require plug and play (PNP) configuration
 before it can be used.
 The 
\family typewriter 
probe_parport
\family default 
 module performs configuration of any PNP ports present, and should be loaded
 before 
\family typewriter 
hal_parport
\family default 
.
 On machines without PNP ports, it may be loaded but has no effect.
\layout Subsection

Installing
\layout LyX-Code

loadrt probe_parport
\newline 
loadrt hal_parport ...
\layout Standard

If the Linux kernel prints a message similar to
\layout LyX-Code

parport: PnPBIOS parport detected.
\layout Standard

when the parport_pc module is loaded (
\family typewriter 
sudo modprobe -a parport_pc; sudo rmmod parport_pc) 
\family default 
then use of this module is probably required.
\layout Section


\begin_inset LatexCommand \label{sec:AX5214}

\end_inset 

AX5214H
\layout Standard

The Axiom Measurement & Control AX5214H is a 48 channel digital I/O board.
 It plugs into an ISA bus, and resembles a pair of 8255 chips.
\begin_inset Foot
collapsed true

\layout Standard

In fact it may be a pair of 8255 chips, but I'm not sure.
 If/when someone starts a driver for an 8255 they should look at the ax5214
 code, much of the work is already done.
\end_inset 

 
\layout Subsection

Installing
\layout LyX-Code

loadrt hal_ax5214h cfg="<config-string>"
\layout Standard

The config string consists of a hex port address, followed by an 8 character
 string of 
\begin_inset Quotes eld
\end_inset 

I
\begin_inset Quotes erd
\end_inset 

 and 
\begin_inset Quotes eld
\end_inset 

O
\begin_inset Quotes erd
\end_inset 

 which sets groups of pins as inputs and outputs.
 The first two character set the direction of the first two 8 bit blocks
 of pins (0-7 and 8-15).
 The next two set blocks of 4 pins (16-19 and 20-23).
 The pattern then repeats, two more blocks of 8 bits (24-31 and 32-39) and
 two blocks of 4 bits (40-43 and 44-47).
 If more than one board is installed, the data for the second board follows
 the first.
 As an example, the string 
\family typewriter 
\series bold 
"0x220 IIIOIIOO 0x300 OIOOIOIO"
\family default 
\series default 
 installs drivers for two boards.
 The first board is at address 0x220, and has 36 inputs (0-19 and 24-39)
 and 12 outputs (20-23 and 40-47).
 The second board is at address 0x300, and has 20 inputs (8-15, 24-31, and
 40-43) and 28 outputs (0-7.
 16-23, 32-39, and 44-47).
 Up to 8 boards may be used in one system.
\layout Subsection

Pins
\layout Itemize


\family typewriter 
\noun on 
(bit
\noun default 
) ax5214.<boardnum>.out-<pinnum> 
\family default 
-- Drives a physical output pin.
\layout Itemize


\family typewriter 
(
\noun on 
bit
\noun default 
) ax5214.<boardnum>.in-<pinnum>
\family default 
 -- Tracks a physical input pin.
\layout Itemize


\family typewriter 
(
\noun on 
bit
\noun default 
) ax5214.<boardnum>.in-<pinnum>-not
\family default 
 -- Tracks a physical input pin, inverted.
\layout Standard

For each pin, 
\family typewriter 
<boardnum>
\family default 
 is the board number (starts at zero), and 
\family typewriter 
<pinnum>
\family default 
 is the I/O channel number (0 to 47).
\layout Standard

Note that the driver assumes active LOW signals.
 This is so that modules such as OPTO-22 will work correctly (TRUE means
 output ON, or input energized).
 If the signals are being used directly without buffering or isolation the
 inversion needs to be accounted for.
 The 
\family typewriter 
in-
\family default 
 HAL pin is TRUE if the physical pin is low (OPTO-22 module energized),
 and FALSE if the physical pin is high (OPTO-22 module off).
 The 
\family typewriter 
in-<pinnum>-not
\family default 
 HAL pin is inverted -- it is FALSE if the physical pin is low (OPTO-22
 module energized).
 By connecting a signal to one or the other, the user can determine the
 state of the input.
\layout Subsection

Parameters
\layout Itemize


\family typewriter 
(
\noun on 
bit
\noun default 
) ax5214.<boardnum>.out-<pinnum>-invert
\family default 
 -- Inverts an output pin.
\layout Standard

The 
\family typewriter 
-invert
\family default 
 parameter determines whether an output pin is active high or active low.
 If 
\family typewriter 
-invert
\family default 
 is FALSE, setting the HAL 
\family typewriter 
out-
\family default 
 pin TRUE drives the physical pin low, turning ON an attached OPTO-22 module,
 and FALSE drives it high, turning OFF the OPTO-22 module.
 If 
\family typewriter 
-invert
\family default 
 is TRUE, then setting the HAL 
\family typewriter 
out-
\family default 
 pin TRUE will drive the physical pin high and turn the module OFF.
\layout Subsection

Functions
\layout Itemize


\family typewriter 
\noun on 
(funct) 
\noun default 
ax5214.<boardnum>.read
\family default 
 -- Reads all digital inputs on one board.
\layout Itemize


\family typewriter 
\noun on 
(funct) 
\noun default 
ax5214.<boardnum>.write 
\family default 
-- Writes all digital outputs on one board.
\layout Section


\begin_inset LatexCommand \label{sec:Servo-To-Go}

\end_inset 

Servo-To-Go
\layout Standard

The Servo-To-Go is one of the first PC motion control cards
\begin_inset Foot
collapsed true

\layout Standard

a motion control card usually is a board containing devices to control one
 or more axes (the control devices are usually DAC's to set an analog voltage,
 encoder counting chips for feedback, etc.)
\end_inset 

 supported by EMC.
 It is an ISA card and it exists in different flavours (all supported by
 this driver).
 The board includes up to 8 channels of quadrature encoder input, 8 channels
 of analog input and output, 32 bits digital I/O, an interval timer with
 interrupt and a watchdog.
\layout Subsection

Installing:
\layout LyX-Code

loadrt hal_stg [base=<address>] [num_chan=<nr>] [dio="<dio-string>"] [model=<mod
el>]
\layout Standard

The base address field is optional; if it's not provided the driver attempts
 to autodetect the board.
 The num_chan field is used to specify the number of channels available
 on the card, if not used the 8 axis version is assumed.
 The digital inputs/outputs configuration is determined by a config string
 passed to insmod when loading the module.
 The format consists of a four character string that sets the direction
 of each group of pins.
 Each character of the direction string is either "I" or "O".
 The first character sets the direction of port A (Port A - DIO.0-7), the
 next sets port B (Port B - DIO.8-15), the next sets port C (Port C - DIO.16-23),
 and the fourth sets port D (Port D - DIO.24-31).
 The model field can be used in case the driver doesn't autodetect the right
 card version
\begin_inset Foot
collapsed true

\layout Standard

hint: after starting up the driver, 'dmesg' can be consulted for messages
 relevant to the driver (e.g.
 autodetected version number and base address)
\end_inset 

.
 For example:
\layout LyX-Code

loadrt hal_stg base=0x300 num_chan=4 dio="IOIO"
\layout Standard

This example installs the stg driver for a card found at the base address
 of 0x300, 4 channels of encoder feedback, DAC's and ADC's, along with 32
 bits of I/O configured like this: the first 8 (Port A) configured as Input,
 the next 8 (Port B) configured as Output, the next 8 (Port C) configured
 as Input, and the last 8 (Port D) configured as Output
\layout LyX-Code

loadrt hal_stg
\layout Standard

This example installs the driver and attempts to autodetect the board address
 and board model, it installs 8 axes by default along with a standard I/O
 setup: Port A & B configured as Input, Port C & D configured as Output.
\layout Subsection

Pins
\layout Itemize


\family typewriter 
\noun on 
(s32
\noun default 
) stg.<channel>.counts 
\family default 
-- Tracks the counted encoder ticks.
\layout Itemize


\family typewriter 
(
\noun on 
float
\noun default 
) stg.<channel>.position
\family default 
 -- Outputs a converted position.
\layout Itemize


\family typewriter 
(
\noun on 
float
\noun default 
) stg.<channel>.dac-value 
\family default 
-- Drives the voltage for the corresponding DAC.
\layout Itemize


\family typewriter 
(
\noun on 
float
\noun default 
) stg.<channel>.adc-value
\family default 
 -- Tracks the measured voltage from the corresponding ADC.
\layout Itemize


\family typewriter 
\noun on 
(bit) 
\noun default 
stg.in-<pinnum>
\family default 
 -- Tracks a physical input pin.
\layout Itemize


\family typewriter 
\noun on 
(bit) 
\noun default 
stg.in-<pinnum>-not
\family default 
 -- Tracks a physical input pin, but inverted.
\layout Itemize


\family typewriter 
\noun on 
(bit) 
\noun default 
stg.out-<pinnum>
\family default 
 -- Drives a physical output pin
\layout Standard

For each pin, 
\family typewriter 
<channel>
\family default 
 is the axis number, and 
\family typewriter 
<pinnum>
\family default 
 is the logic pin number of the STG
\begin_inset Foot
collapsed true

\layout Standard

if IIOO is defined, there are 16 input pins (in-00 ..
 in-15) and 16 output pins (out-00 ..
 out-15), and they correspond to PORTs ABCD (in-00 is PORTA.0, out-15 is
 PORTD.7)
\end_inset 

.
\layout Standard

The 
\family typewriter 
in-
\family default 
 HAL pin is TRUE if the physical pin is high, and FALSE if the physical
 pin is low.
 The 
\family typewriter 
in-<pinnum>-not
\family default 
 HAL pin is inverted -- it is FALSE if the physical pin is high.
 By connecting a signal to one or the other, the user can determine the
 state of the input.
\layout Subsection

Parameters
\layout Itemize


\family typewriter 
\noun on 
(float) 
\noun default 
stg.<channel>.position-scale
\family default 
 -- The number of counts / user unit (to convert from counts to units).
\layout Itemize


\family typewriter 
(
\noun on 
float
\noun default 
) stg.<channel>.dac-offset 
\family default 
-- Sets the offset for the corresponding DAC.
\layout Itemize


\family typewriter 
(
\noun on 
float
\noun default 
) stg.<channel>.dac-gain
\family default 
 -- Sets the gain of the corresponding DAC.
\layout Itemize


\family typewriter 
(
\noun on 
float
\noun default 
) stg.<channel>.adc-offset
\family default 
 -- Sets the offset of the corresponding ADC.
\layout Itemize


\family typewriter 
(
\noun on 
float
\noun default 
) stg.<channel>.adc-gain
\family default 
 -- Sets the gain of the corresponding ADC.
\layout Itemize


\family typewriter 
(
\noun on 
bit
\noun default 
) stg.out-<pinnum>-invert
\family default 
 -- Inverts an output pin.
\layout Standard

The 
\family typewriter 
-invert
\family default 
 parameter determines whether an output pin is active high or active low.
 If 
\family typewriter 
-invert
\family default 
 is FALSE, setting the HAL 
\family typewriter 
out-
\family default 
 pin TRUE drives the physical pin high, and FALSE drives it low.
 If 
\family typewriter 
-invert
\family default 
 is TRUE, then setting the HAL 
\family typewriter 
out-
\family default 
 pin TRUE will drive the physical pin low.
\layout Subsection

Functions
\layout Itemize


\family typewriter 
\noun on 
(funct) 
\noun default 
stg.capture-position
\family default 
 -- Reads the encoder counters from the axis 
\family typewriter 
<channel>
\family default 
.
\layout Itemize


\family typewriter 
\noun on 
(funct) 
\noun default 
stg.write-dacs 
\family default 
-- Writes the voltages to the DACs.
\layout Itemize


\family typewriter 
\noun on 
(funct) 
\noun default 
stg.read-adcs
\family default 
 -- Reads the voltages from the ADCs.
\layout Itemize


\family typewriter 
\noun on 
(funct) 
\noun default 
stg.di-read
\family default 
 -- Reads physical 
\family typewriter 
in-
\family default 
 pins of all ports and updates all HAL 
\family typewriter 
in-
\family default 
 and 
\family typewriter 
in-<pinnum>-not
\family default 
 pins.
\layout Itemize


\family typewriter 
\noun on 
(funct) 
\noun default 
stg.do-write
\family default 
 -- Reads all HAL 
\family typewriter 
out-
\family default 
 pins and updates all physical output pins.
\layout Section

Mesa Electronics m5i20 
\begin_inset Quotes eld
\end_inset 

Anything I/O Card
\begin_inset Quotes erd
\end_inset 


\layout Standard

The Mesa Electronics m5i20 card consists of an FPGA that can be loaded with
 a wide variety of configurations, and has 72 pins that leave the PC.
 The assignment of the pins depends on the FPGA configuration.
 Currently there is a HAL driver for the 
\begin_inset Quotes eld
\end_inset 

4 axis host based motion control
\begin_inset Quotes erd
\end_inset 

 configuration, and this FPGA configurations is also provided with EMC2.
 It provides 8 encoder counters, 4 PWM outputs (normally used as DACs) and
 up to 48 digital I/O channels, 32 inputs and 16 outputs.
\begin_inset Foot
collapsed true

\layout Standard

Ideally the encoders, 
\begin_inset Quotes eld
\end_inset 

DACs
\begin_inset Quotes erd
\end_inset 

, and digital I/O would comply with the canonical interfaces defined earlier,
 but they don't.
 Fixing that is on the things-to-do list.
\end_inset 


\layout Standard

Installing:
\layout LyX-Code

loadrt hal_m5i20 [loadFpga=1|0] [dacRate=<rate>]
\layout Standard

If 
\family typewriter 
\series bold