drivers.lyx

CNC 的开放码,EMC2 V2.2.8版

loadFpga
\family default 
\series default 
 is 1 (the default) the driver will load the FPGA configuration on startup.
 If it is 0, the driver assumes the configuration is already loaded.
 
\family typewriter 
\series bold 
dacRate
\family default 
\series default 
 sets the carrier frequency for the PWM outputs, in Hz.
 The default is 32000, for 32KHz PWM.
 Valid values are from 1 to 32226.
 The driver prints some useful debugging message to the kernel log, which
 can be viewed with 
\family typewriter 
\series bold 
dmesg
\family default 
\series default 
.
\layout Standard

Up to 4 boards may be used in one system.
\layout Subsection

Pins
\layout Standard

In the following pins, parameters, and functions, <board> is the board ID.
 According to the naming conventions the first board should always have
 an ID of zero, however this driver uses the PCI board ID, so it may be
 non-zero even if there is only one board.
\layout Itemize


\family typewriter 
\noun on 
(s32
\noun default 
) m5i20.<board>.enc-<channel>-count 
\family default 
-- Encoder position, in counts.
\layout Itemize


\family typewriter 
(
\noun on 
float
\noun default 
) m5i20.<board>.enc-<channel>-position 
\family default 
-- Encoder position, in user units.
\layout Itemize


\family typewriter 
\noun on 
(bit) 
\noun default 
m5i20.<board>.enc-<channel>-index
\family default 
 -- Current status of index pulse input?
\layout Itemize


\family typewriter 
\noun on 
(bit)
\noun default 
 m5i20.<board>.enc-<channel>-index-enable 
\family default 
-- when 
\noun on 
true
\noun default 
, and an index pulse appears on the encoder input, reset counter to zero
 and clear 
\family typewriter 
index-enable
\family default 
.
\layout Itemize


\family typewriter 
\noun on 
(bit) 
\noun default 
m5i20.<board>.enc-<channel>-reset
\family default 
 -- When true, counter is forced to zero.
\layout Itemize


\family typewriter 
\noun on 
(bit) 
\noun default 
m5i20.<board>.dac-<channel>-enable
\family default 
 -- Enables DAC if true.
 DAC outputs zero volts if false?
\layout Itemize


\family typewriter 
\noun on 
(float) 
\noun default 
m5i20.<board>.dac-<channel>-value
\family default 
 -- Analog output value for PWM 
\begin_inset Quotes eld
\end_inset 

DAC
\begin_inset Quotes erd
\end_inset 

 (in user units, see 
\family typewriter 
-scale
\family default 
 and 
\family typewriter 
-offset
\family default 
)
\layout Itemize


\family typewriter 
\noun on 
(bit) 
\noun default 
m5i20.<board>.in-<channel>
\family default 
 -- State of digital input pin, see canonical digital input.
\layout Itemize


\family typewriter 
\noun on 
(bit) 
\noun default 
m5i20.<board>.in-<channel>-not
\family default 
 -- Inverted state of digital input pin, see canonical digital input.
\layout Itemize


\family typewriter 
\noun on 
(bit) 
\noun default 
m5i20.<board>.out-<channel>
\family default 
 -- Value to be written to digital output, see canonical digital output.
\layout Itemize


\family typewriter 
\noun on 
(bit) 
\noun default 
m5i20.<board>.estop-in
\family default 
 -- Dedicated estop input, more details needed.
\layout Itemize


\family typewriter 
\noun on 
(bit) 
\noun default 
m5i20.<board>.estop-in-not
\family default 
 -- Inverted state of dedicated estop input.
\layout Itemize


\family typewriter 
\noun on 
(bit) 
\noun default 
m5i20.<board>.watchdog-reset
\family default 
 -- Bidirectional, - Set TRUE to reset watchdog once, is automatically cleared.
 If bit value 16 is set in 
\family typewriter 
watchdog-control
\family default 
 then this value is not used, and the hardware watchdog is cleared every
 time the 
\family typewriter 
dac-write
\family default 
 function is executed.
\layout Subsection

Parameters
\layout Itemize


\family typewriter 
\noun on 
(float) 
\noun default 
m5i20.<board>.enc-<channel>-scale
\family default 
 -- The number of counts / user unit (to convert from counts to units).
\layout Itemize


\family typewriter 
(
\noun on 
float
\noun default 
) m5i20.<board>.dac-<channel>-offset 
\family default 
-- Sets the DAC offset.
\layout Itemize


\family typewriter 
(
\noun on 
float
\noun default 
) m5i20.<board>.dac-<channel>-gain 
\family default 
-- Sets the DAC gain (scaling).
\layout Itemize


\family typewriter 
(
\noun on 
bit
\noun default 
) m5i20.<board>.dac-<channel>-interlaced 
\family default 
-- Sets the DAC to interlaced mode.
 Use this mode if you are filtering the PWM to generate an anaolg voltage.
\begin_inset Foot
collapsed true

\layout Standard

With normal 10 bit PWM, 50% duty cycle would be 512 cycles on and 512 cycles
 off = ca 30 kHz with 33 MHz reference counter.
 With fully interleaved PWM this would be 1 cycle on, 1 cycle off for 1024
 cycles (16.66 MHz if the PWM reference counter runs at 33 MHz) = much easier
 to filter.
 The 5I20 configuration interlace is somewhat between non and fully interlaced
 (to make it easy to filter but not have as many transistions as fully interleav
ed).
\end_inset 


\layout Itemize


\family typewriter 
(
\noun on 
bit
\noun default 
) m5i20.<board>.out-<channel>-invert 
\family default 
-- Inverts a digital output, see canonical digital output.
\layout Itemize


\family typewriter 
(
\noun on 
u32
\noun default 
) m5i20.<board>.watchdog-control
\family default 
 -- Configures the watchdog.
 The value may be a bitwise OR of the following values:
\newline 

\begin_inset  Tabular
<lyxtabular version="3" rows="3" columns="3">
<features>
<column alignment="center" valignment="top" leftline="true" width="0">
<column alignment="center" valignment="top" leftline="true" width="0">
<column alignment="center" valignment="top" leftline="true" rightline="true" width="0">
<row topline="true" bottomline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Bit #
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Value
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

Meaning
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

0
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

1
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

Watchdog is enabled
\end_inset 
</cell>
</row>
<row topline="true" bottomline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

1
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

2
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

Watchdog is automatically reset by DAC writes (the HAL 
\family typewriter 
dac-write
\family default 
 function)
\end_inset 
</cell>
</row>
</lyxtabular>

\end_inset 

 Typically, the useful values are 0 (watchdog disabled) or 3 (watchdog enabled,
 cleared by 
\family typewriter 
dac-write
\family default 
).
\layout Itemize


\family typewriter 
(
\noun on 
u32
\noun default 
) m5i20.<board>.led-view
\family default 
 -- Maps some of the I/O to onboard LEDs.
 See table below.
\layout Subsection

Functions
\layout Itemize


\family typewriter 
\noun on 
(funct) 
\noun default 
m5i20.<board>.encoder-read
\family default 
 -- Reads all encoder counters.
\layout Itemize


\family typewriter 
\noun on 
(funct)
\noun default 
 m5i20.<board>.digital-in-read 
\family default 
-- Reads digital inputs.
\layout Itemize


\family typewriter 
\noun on 
(funct) 
\noun default 
m5i20.<board>.dac-write 
\family default 
-- Writes the voltages (PWM duty cycles) to the 
\begin_inset Quotes eld
\end_inset 

DACs
\begin_inset Quotes erd
\end_inset 

.
\layout Itemize


\family typewriter 
\noun on 
(funct)
\noun default 
 m5i20.<board>.digital-out-write 
\family default 
-- Writes digital outputs.
\layout Itemize


\family typewriter 
\noun on 
(funct) 
\noun default 
m5i20.<board>.misc-update
\family default 
 -- Writes watchdog timer configuration to hardware.
 Resets watchdog timer.
 Updates E-stop pin (more info needed).
 Updates onboard LEDs.
 
\layout Subsection

Connector pinout
\layout Standard

The Hostmot-4 FPGA configuration has the following pinout.
 There are three 50-pin ribbon cable connectors on the card: P2, P3, and
 P4.
 There are also 8 status LEDs.
\layout Subsubsection

Connector P2
\layout Standard


\begin_inset  Tabular
<lyxtabular version="3" rows="27" columns="2">
<features>
<column alignment="center" valignment="top" leftline="true" width="0">
<column alignment="center" valignment="top" leftline="true" rightline="true" width="0">
<row topline="true" bottomline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

m5i20 card connector P2
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

Function/HAL-pin
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

1
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

enc-01 A input
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

3
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

enc-01 B input
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

5
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

enc-00 A input
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

7
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

enc-00 B input
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

9
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

enc-01 index input
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

11
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

enc-00 index input
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

13
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

dac-01 output
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

15
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

dac-00 output
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

17
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard