updates

petmakris · Jan 31, 2024 · 9db0469 · 9db0469
1 parent a2d4aa8
commit 9db0469
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Showing 3 changed files with 50 additions and 34 deletions.
diff --git a/config/hal/01-modules.hal b/config/hal/01-modules.hal
@@ -26,11 +26,9 @@ loadrt not                  names=estop.not.0,estop.not.1,tool-change.not
 loadrt lowpass              names=feed-pot.lowpass,jog-pot.lowpass
 loadrt ilowpass             names=jog.ilowpass.x,jog.ilowpass.y,jog.ilowpass.z
 loadrt scale                names=jog.scale.x,jog.scale.y,jog.scale.z,feed-pot.scale,spindle-pot.scale,jog-pot.scale
-
 
 loadrt limit1               names=jog-pot.limit
 
-loadrt encoder
-loadrt near                 names=spindle.near
+# loadrt near                 names=spindle.near
 loadrt conv_float_s32       names=feed-pot.conv
 
diff --git a/config/hal/20-spindle.hal b/config/hal/20-spindle.hal
@@ -1,34 +1,27 @@
 addf spindle.on.or                      servo-thread
 addf spindle.off.or                     servo-thread
 
-addf encoder.update-counters            servo-thread
-addf encoder.capture-position           servo-thread
+# addf spindle.near                       servo-thread
 
-# Note: 3 points on the horizontal spindle, but 6 because of the
-# 2:1 gearing ration between horizontal and vertical spindle
+setp hm2_7i97.0.encoder.05.counter-mode         1
+setp hm2_7i97.0.encoder.05.filter               1
+setp hm2_7i97.0.encoder.05.index-invert         0
+setp hm2_7i97.0.encoder.05.index-mask           0
+setp hm2_7i97.0.encoder.05.index-mask-invert    0
+setp hm2_7i97.0.encoder.05.scale                3
 
-setp encoder.0.position-scale             6
+# setp spindle.near.scale                         1.05
 
-addf spindle.near                       servo-thread
-setp encoder.0.counter-mode             true
-setp spindle.near.scale                 1.05
-
-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.velocity                    <= encoder.0.velocity               
-net spindle.velocity                    => spindle.0.speed-in          
-net spindle.velocity                    => spindle.near.in1
+net spindle.position                    <= hm2_7i97.0.encoder.05.position   => spindle.0.revs
+net spindle.velocity                    <= hm2_7i97.0.encoder.05.velocity
+net spindle.velocity                    => spindle.0.speed-in
+# net spindle.velocity                    => spindle.near.in1
 
 # To PyVCP
-net spindle.velocity-rpm                <= encoder.0.velocity-rpm
-
-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      => spindle.near.in2
-net spindle.at-speed                    <= spindle.near.out                 => spindle.0.at-speed
+net spindle.velocity-rpm                <= hm2_7i97.0.encoder.05.velocity-rpm
 
+# net spindle.commanded-speed             <= spindle.0.speed-out-rps-abs      => spindle.near.in2
+# net spindle.at-speed                    <= spindle.near.out                 => spindle.0.at-speed
 
 net spindle.is-on                       => whb.halui.spindle.is-on
 
@@ -43,6 +36,9 @@ net spindle.set-off                     <= spindle.off.or.out               => h
 net pendant.spindle.forward             <= whb.halui.spindle.forward        => halui.spindle.0.forward
 net pendant.spindle.reverse             <= whb.halui.spindle.reverse        => halui.spindle.0.reverse
 
+net maho-inputs.spindle-cw              <= spindle.0.reverse
+net maho-inputs.spindle-ccw             <= spindle.0.forward
+
 
 # net pendant.spindle.increase                 whb.halui.spindle.increase            halui.spindle.0.increase
 # net pendant.spindle.decrease                 whb.halui.spindle.decrease            halui.spindle.0.decrease

diff --git a/config/halshow.preferences b/config/halshow.preferences
@@ -5,19 +5,41 @@ placeFrames 0.272145144076841
 set ::ratio 0.272145144076841
 set ::old_w_leftf 503
 set ::watchlist {
-    sig+spindle.at-speed
-    sig+spindle.commanded-speed
-    sig+spindle.position
-    sig+spindle.velocity
-    sig+spindle.velocity-rpm
-    param+spindle.near.difference
-    pin+spindle.near.out
-    pin+spindle.near.in1
-    pin+spindle.near.in2
+    pin+hm2_7i97.0.encoder.05.count
+    pin+hm2_7i97.0.encoder.05.count-latched
+    pin+hm2_7i97.0.encoder.05.index-enable
+    pin+hm2_7i97.0.encoder.05.input-a
+    pin+hm2_7i97.0.encoder.05.input-b
+    pin+hm2_7i97.0.encoder.05.input-index
+    pin+hm2_7i97.0.encoder.05.position
+    pin+hm2_7i97.0.encoder.05.position-latched
+    pin+hm2_7i97.0.encoder.05.quad-error
+    pin+hm2_7i97.0.encoder.05.quad-error-enable
+    pin+hm2_7i97.0.encoder.05.rawcounts
+    pin+hm2_7i97.0.encoder.05.rawlatch
+    pin+hm2_7i97.0.encoder.05.reset
+    pin+hm2_7i97.0.encoder.05.velocity
+    pin+hm2_7i97.0.encoder.05.velocity-rpm
+    param+hm2_7i97.0.encoder.05.counter-mode
+    param+hm2_7i97.0.encoder.05.filter
+    param+hm2_7i97.0.encoder.05.index-invert
+    param+hm2_7i97.0.encoder.05.index-mask
+    param+hm2_7i97.0.encoder.05.index-mask-invert
+    param+hm2_7i97.0.encoder.05.scale
+    param+hm2_7i97.0.encoder.05.vel-timeout
+    pin+spindle.0.amp-fault-in
     pin+spindle.0.at-speed
+    pin+spindle.0.brake
     pin+spindle.0.forward
+    pin+spindle.0.index-enable
     pin+spindle.0.inhibit
+    pin+spindle.0.is-oriented
+    pin+spindle.0.locked
     pin+spindle.0.on
+    pin+spindle.0.orient
+    pin+spindle.0.orient-angle
+    pin+spindle.0.orient-fault
+    pin+spindle.0.orient-mode
     pin+spindle.0.reverse
     pin+spindle.0.revs
     pin+spindle.0.speed-cmd-rps