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Adding a status tab for MESA card

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20 Jan 2018 17:26 #104747 by kor
Adding a status tab for MESA card was created by kor
Hi,
I decided to get familiar with the HAL and the user interface. As an exercise i devided to make a tab showing me the status of my mesa 7i76E input pins. (Which might help me later when I build the complete controll cabinett)
So I made a simple UI with glade having some status leds saved it as mesa7i76E.ui
<?xml version="1.0" encoding="UTF-8"?>
<interface>
  <requires lib="gtk+" version="2.24"/>
  <!-- interface-requires gladevcp 0.0 -->
  <!-- interface-naming-policy project-wide -->
  <object class="GtkWindow" id="window1">
    <property name="can_focus">False</property>
    <child>
      <object class="GtkTable" id="table1">
        <property name="visible">True</property>
        <property name="can_focus">False</property>
        <property name="n_rows">27</property>
        <property name="n_columns">8</property>
        <child>
          <object class="HAL_LED" id="LED_di05">
            <property name="visible">True</property>
            <property name="can_focus">False</property>
            <property name="led_blink_rate">0</property>
            <signal name="hal-pin-changed" handler="on_LED_di05_hal_pin_changed" swapped="no"/>
          </object>
          <packing>
            <property name="left_attach">6</property>
            <property name="right_attach">7</property>
            <property name="top_attach">21</property>
            <property name="bottom_attach">22</property>
          </packing>
        </child>
        <child>
          <object class="HAL_LED" id="LED_di08">
            <property name="visible">True</property>
            <property name="can_focus">False</property>
            <property name="led_blink_rate">0</property>
          </object>
          <packing>
            <property name="left_attach">6</property>
            <property name="right_attach">7</property>
            <property name="top_attach">18</property>
            <property name="bottom_attach">19</property>
          </packing>
        </child>
        <child>
          <object class="GtkLabel" id="label1">
            <property name="visible">True</property>
            <property name="can_focus">False</property>
            <property name="label" translatable="yes">TB6 di08</property>
          </object>
          <packing>
            <property name="left_attach">7</property>
            <property name="right_attach">8</property>
            <property name="top_attach">18</property>
            <property name="bottom_attach">19</property>
          </packing>
        </child>
        <child>
          <object class="GtkLabel" id="label2">
            <property name="visible">True</property>
            <property name="can_focus">False</property>
            <property name="label" translatable="yes">TB6 di05</property>
          </object>
          <packing>
            <property name="left_attach">7</property>
            <property name="right_attach">8</property>
            <property name="top_attach">21</property>
            <property name="bottom_attach">22</property>
          </packing>
        </child>
        <child>
          <object class="GtkLabel" id="label3">
            <property name="visible">True</property>
            <property name="can_focus">False</property>
            <property name="label" translatable="yes">TB6 ai00</property>
          </object>
          <packing>
            <property name="left_attach">7</property>
            <property name="right_attach">8</property>
            <property name="top_attach">26</property>
            <property name="bottom_attach">27</property>
          </packing>
        </child>
        <child>
          <placeholder/>
        </child>
       ...
        <child>
          <placeholder/>
        </child>
      </object>
    </child>
  </object>
</interface>

than I added those lines to the ini:
#my own panels
EMBED_TAB_NAME=7i76E
EMBED_TAB_COMMAND=halcmd loadusr -Wn gladevcp gladevcp -c vcp7i76 -x {XID} -u ./gladevcp/hitcounter.py ./mesa7i76E.ui
which made my tab appear :)
Afterwards I made a hal file called mesa7i76E.hal
# HAL commands for MESA7i76E VCP
net LED_di05    hm2_7i76e.0.7i76.0.0.input-05 <= vcp7i76.LED_di05
net LED_di05    hm2_7i76e.0.7i76.0.0.input-08 <= vcp7i76.LED_di08
and finally added the source mesa7i76E.hal to the postgui_call_list.hal
Well the pannel with the 2 leds is there, but it doesn t do anything. :(
did I miss a step or how can I simply show the status of an input pin in the gui?

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21 Jan 2018 11:23 #104772 by andypugh
Replied by andypugh on topic Adding a status tab for MESA card
If you check Machine->Show Hal Configuration does it appear that the connections have been made?

My suspicion is that the postgui call list isn't being called.

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21 Jan 2018 12:24 #104779 by kor
Replied by kor on topic Adding a status tab for MESA card
I have no idea how it should look.
So under the al configuration I found my vcp7i76 and the 2 LEDs.
for each LED it says owner: 52 Type: bit Dir: in Name: vcp7i76.LED_di0X
So I geuss you are right. But I don't know how it should look like and how to fix it.

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21 Jan 2018 12:26 #104780 by andypugh
Replied by andypugh on topic Adding a status tab for MESA card
Is your Postgut Hal file referenced in the INI file?

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21 Jan 2018 12:27 #104781 by kor
Replied by kor on topic Adding a status tab for MESA card
Yes in the ini under HAL it says POSTGUI_HALFILE = postgui_call_list.hal

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21 Jan 2018 12:44 #104783 by BigJohnT
Replied by BigJohnT on topic Adding a status tab for MESA card
In the show hal configuration add the two input pins to the watch window then toggle the inputs to see if you have it wired up right. If you don't see <== and a signal name after the pin name in the show window then your net line has not been read and no connection has been made. Attach your hal and ini files.

JT

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21 Jan 2018 12:45 #104784 by andypugh
Replied by andypugh on topic Adding a status tab for MESA card
Do you see the LED_di05 etc signals in the signals section of the HAL config?

You can also try adding the inputs and the leds to the “Watch” tab to make sure that they are actually changing state.

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21 Jan 2018 13:12 #104785 by kor
Replied by kor on topic Adding a status tab for MESA card
Sry bigJohnT I am completly new to this so I don't really now what you want me to do. I am doing this mainly to learn.
Here is my HAL
# Generated by PNCconf at Fri Jan 19 22:22:46 2018
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config="firmware=hm2/7i76/7i76e.BIT num_encoders=1 num_pwmgens=0 num_stepgens=2 sserial_port_0=00xxxx" 
setp    hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.z,pid.s

addf hm2_7i76e.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.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf hm2_7i76e.0.write         servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1

# external output signals


# external input signals


# --- MAX-Z ---
net max-z     <=  hm2_7i76e.0.7i76.0.0.input-04

# --- HOME-Z ---
net home-z     <=  hm2_7i76e.0.7i76.0.0.input-08

# --- CYCLE-START ---
net cycle-start     <=  hm2_7i76e.0.7i76.0.0.input-09

# --- ABORT ---
net abort     <=  hm2_7i76e.0.7i76.0.0.input-10

# --- SINGLE-STEP ---
net single-step     <=  hm2_7i76e.0.7i76.0.0.input-11

#*******************
#  JOINT X
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
setp   pid.x.maxerror .0005

net x-index-enable  <=> pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-vel-cmd       =>  pid.x.command-deriv
net x-pos-fb        =>  pid.x.feedback
net x-output        =>  pid.x.output

# Step Gen signals/setup

setp   hm2_7i76e.0.stepgen.01.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_7i76e.0.stepgen.01.dirhold         [JOINT_0]DIRHOLD
setp   hm2_7i76e.0.stepgen.01.steplen         [JOINT_0]STEPLEN
setp   hm2_7i76e.0.stepgen.01.stepspace       [JOINT_0]STEPSPACE
setp   hm2_7i76e.0.stepgen.01.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_7i76e.0.stepgen.01.step_type        0
setp   hm2_7i76e.0.stepgen.01.control-type     1
setp   hm2_7i76e.0.stepgen.01.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_7i76e.0.stepgen.01.maxvel           [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd    <= joint.0.motor-pos-cmd
net x-vel-cmd    <= joint.0.vel-cmd
net x-output     <= hm2_7i76e.0.stepgen.01.velocity-cmd
net x-pos-fb     <= hm2_7i76e.0.stepgen.01.position-fb
net x-pos-fb     => joint.0.motor-pos-fb
net x-enable     <= joint.0.amp-enable-out
net x-enable     => hm2_7i76e.0.stepgen.01.enable

# ---setup home / limit switch signals---

net x-home-sw     =>  joint.0.home-sw-in
net x-neg-limit     =>  joint.0.neg-lim-sw-in
net x-pos-limit     =>  joint.0.pos-lim-sw-in

#*******************
#  JOINT Z
#*******************

setp   pid.z.Pgain     [JOINT_1]P
setp   pid.z.Igain     [JOINT_1]I
setp   pid.z.Dgain     [JOINT_1]D
setp   pid.z.bias      [JOINT_1]BIAS
setp   pid.z.FF0       [JOINT_1]FF0
setp   pid.z.FF1       [JOINT_1]FF1
setp   pid.z.FF2       [JOINT_1]FF2
setp   pid.z.deadband  [JOINT_1]DEADBAND
setp   pid.z.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.z.error-previous-target true
setp   pid.z.maxerror .0005

net z-index-enable  <=> pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-vel-cmd       =>  pid.z.command-deriv
net z-pos-fb        =>  pid.z.feedback
net z-output        =>  pid.z.output

# Step Gen signals/setup

setp   hm2_7i76e.0.stepgen.00.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_7i76e.0.stepgen.00.dirhold         [JOINT_1]DIRHOLD
setp   hm2_7i76e.0.stepgen.00.steplen         [JOINT_1]STEPLEN
setp   hm2_7i76e.0.stepgen.00.stepspace       [JOINT_1]STEPSPACE
setp   hm2_7i76e.0.stepgen.00.position-scale  [JOINT_1]STEP_SCALE
setp   hm2_7i76e.0.stepgen.00.step_type        0
setp   hm2_7i76e.0.stepgen.00.control-type     1
setp   hm2_7i76e.0.stepgen.00.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_7i76e.0.stepgen.00.maxvel           [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.1.motor-pos-cmd
net z-vel-cmd    <= joint.1.vel-cmd
net z-output     <= hm2_7i76e.0.stepgen.00.velocity-cmd
net z-pos-fb     <= hm2_7i76e.0.stepgen.00.position-fb
net z-pos-fb     => joint.1.motor-pos-fb
net z-enable     <= joint.1.amp-enable-out
net z-enable     => hm2_7i76e.0.stepgen.00.enable

# ---setup home / limit switch signals---

net home-z     =>  joint.1.home-sw-in
net z-neg-limit     =>  joint.1.neg-lim-sw-in
net max-z     =>  joint.1.pos-lim-sw-in

#*******************
#  SPINDLE S
#*******************

setp   pid.s.Pgain     [SPINDLE_9]P
setp   pid.s.Igain     [SPINDLE_9]I
setp   pid.s.Dgain     [SPINDLE_9]D
setp   pid.s.bias      [SPINDLE_9]BIAS
setp   pid.s.FF0       [SPINDLE_9]FF0
setp   pid.s.FF1       [SPINDLE_9]FF1
setp   pid.s.FF2       [SPINDLE_9]FF2
setp   pid.s.deadband  [SPINDLE_9]DEADBAND
setp   pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp   pid.s.error-previous-target true

net spindle-index-enable  <=> pid.s.index-enable
net spindle-enable        =>  pid.s.enable
net spindle-vel-cmd-rpm     => pid.s.command
net spindle-vel-fb-rpm      => pid.s.feedback
net spindle-output        <=  pid.s.output

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs    <=  motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs    <=  motion.spindle-speed-out-abs
net spindle-enable             <=  motion.spindle-on
net spindle-cw                 <=  motion.spindle-forward
net spindle-ccw                <=  motion.spindle-reverse
net spindle-brake              <=  motion.spindle-brake
net spindle-revs               =>  motion.spindle-revs
net spindle-at-speed           =>  motion.spindle-at-speed
net spindle-vel-fb-rps         =>  motion.spindle-speed-in
net spindle-index-enable      <=>  motion.spindle-index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true


#******************************
# connect miscellaneous signals
#******************************

#  ---HALUI signals---

net axis-select-x  halui.axis.x.select
net jog-x-pos      halui.axis.x.plus
net jog-x-neg      halui.axis.x.minus
net jog-x-analog   halui.axis.x.analog
net x-is-homed     halui.joint.0.is-homed
net axis-select-z  halui.axis.z.select
net jog-z-pos      halui.axis.z.plus
net jog-z-neg      halui.axis.z.minus
net jog-z-analog   halui.axis.z.analog
net z-is-homed     halui.joint.1.is-homed
net jog-selected-pos      halui.axis.selected.plus
net jog-selected-neg      halui.axis.selected.minus
net spindle-manual-cw     halui.spindle.forward
net spindle-manual-ccw    halui.spindle.reverse
net spindle-manual-stop   halui.spindle.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.axis.jog-speed
net MDI-mode              halui.mode.is-mdi

#  ---coolant signals---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---probe signal---

net probe-in     =>  motion.probe-input

# ---jogwheel signals to mesa encoder - shared MPG---

net axis-selected-count     <=  hm2_7i76e.0.encoder.00.count

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

#  ---estop signals---

net estop-out     <=  iocontrol.0.user-enable-out
net estop-out     =>  iocontrol.0.emc-enable-in

#  ---manual tool change signals---

loadusr -W hal_manualtoolchange
net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change
net tool-change-confirmed   iocontrol.0.tool-changed      <=  hal_manualtoolchange.changed
net tool-number             iocontrol.0.tool-prep-number  =>  hal_manualtoolchange.number
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared
and here is my ini:
# Generated by PNCconf at Fri Jan 19 22:22:46 2018
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

[EMC]
MACHINE = my_Lathe_7i76E
DEBUG = 0
VERSION = 1.0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/kor/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
LATHE = 1
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz

#my own panels
EMBED_TAB_NAME=7i76E
EMBED_TAB_COMMAND=halcmd loadusr -Wn gladevcp gladevcp -c vcp7i76 -x {XID} -u ./gladevcp/hitcounter.py ./mesa7i76E.ui

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_eth
# BOARD0=7i76e

[HAL]
HALUI = halui
HALFILE = my_Lathe_7i76E.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 2
KINEMATICS = trivkins coordinates=XZ

[TRAJ]
COORDINATES =  X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 5.00
MAX_LINEAR_VELOCITY = 50.00
NO_FORCE_HOMING = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#********************

# Joint 0
[JOINT_0]
#********************
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 150.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 62.50
STEPGEN_MAXACCEL = 187.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 4000
DIRHOLD    = 4000
STEPLEN    = 4000
STEPSPACE  = 4000
STEP_SCALE = 400.0
MIN_LIMIT = -3000000.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
# Axis X
#********************
[AXIS_X]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 150.0
MIN_LIMIT = -3000000.0
MAX_LIMIT = 0.01


#********************

# Joint 1
[JOINT_1]
#********************
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 150.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 62.50
STEPGEN_MAXACCEL = 187.50
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 4000
DIRHOLD    = 4000
STEPLEN    = 4000
STEPSPACE  = 4000
STEP_SCALE = 400.0
MIN_LIMIT = -1e+11
MAX_LIMIT = 0.01
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
# Axis Z
#********************
[AXIS_Z]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 150.0
MIN_LIMIT = -1e+11
MAX_LIMIT = 0.01


#********************
# Spindle 
#********************
[SPINDLE_9]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000

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21 Jan 2018 13:15 #104786 by kor
Replied by kor on topic Adding a status tab for MESA card
Andy under show hal and Signals is a bunch of stuff but no LED_di05 or di08

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21 Jan 2018 14:02 #104788 by andypugh
Replied by andypugh on topic Adding a status tab for MESA card
Start LinuxCNC from the command line (command "linuxcnc") and see if you get any complaints about files that it can't find.

Also try calling your 7i76E.hal file directly, rather than with the "source" command in a call list. (ie replace the call_list file in the INI with the 7i76E file name)

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