MESA 5i25 with non-standard config and modified firmware

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16 Oct 2019 17:02 #148011 by vedatech
I am a novice at LinuxCNC setup trying to build an unusual 4+1 axis machine.
My required configuration is:
4 stepgen axes - X B C W and one stepgen used like a spindle (not in kinematics)

Currently I have:
1. A Mesa 6i25 running modified 5i25 firmware with 7 stepgens
mesaflash --device 5i25 --readhmid - finds card and shows correct stepgens configured
There are no attached breakout boards in this machine.

2. LINUXCNC - 2.9.0~pre
Linux 5.0.21-rt16 #1 SMP PREEMPT RT

3. RIP in ~/linuxcnc-dev
System runs examples like 'configs/sim/axis_9axis.ini' without any problems

4. I used pncconf to create a basic HAL/INI file set for XYZA and a mesa 5i25+7i76x2 -With One 7i76 as a starting point.
After editing the HAL/INI files to have my XBCW axes I selected them in Linuxcnc and get an error:
"Ini variable '[HMOT]CARD0.watchdog.timeout_ns' not found."
CARD0 is set to hm2_5i25.0 in the .ini file.

Looking into src/hal/drivers/mesa-hostmot2 I don't see any driver for 5i25. Do I have to build one? What is the easiest way to get the HAL file to work with this configuration? Can anyone tell me where to go from here?

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16 Oct 2019 17:16 #148016 by tommylight
Omit that line in the ini file and add this line to hal file, after loadrt hm2_pci something or another:
setp hm2_5i25.0.watchdog.timeout_ns 5000000

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16 Oct 2019 17:45 #148021 by vedatech
Thanks, that worked. I don't understand why the variable substitution didn't work.
Now I get a new error at the second (B) axis:
pin 'hm2_5i25.0.stepgen.04.dirsetup' not found
This seems to be due to associating B with joint_4. Changing .04.to .01. gets me past this error.
I thought I read in the manual that the joint numbering was fixed as XYXAB... = 01234...

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16 Oct 2019 17:53 #148023 by tommylight
Upload your hal and ini file so we can have a look.
Most probably you missed it while editing.

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16 Oct 2019 18:06 #148025 by vedatech
Here are the files. HAL has Joint_4 changed to joint_1 which fixed the previous error. The settings are just as they came out of PNCconf - I'll worry about that later.
Attachments:

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16 Oct 2019 18:18 #148028 by PCW

vedatech wrote: Thanks, that worked. I don't understand why the variable substitution didn't work.
Now I get a new error at the second ( B ) axis:
pin 'hm2_5i25.0.stepgen.04.dirsetup' not found
This seems to be due to associating B with joint_4. Changing .04.to .01. gets me past this error.
I thought I read in the manual that the joint numbering was fixed as XYXAB... = 01234...


The error: pin 'hm2_5i25.0.stepgen.04.dirsetup' not found
is expected because:
loadrt hm2_pci config=" num_encoders=0 num_pwmgens=1 num_stepgens=4"
only enables 4 stepgens (0..3)

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16 Oct 2019 19:39 #148038 by vedatech
That helps. Increasing stepgens to 7 fixed the error. Then I increase num_joints=9 which gets rid of errors on all axes except the last one, W, which gives:

hm2_5i25.0.stepgen.08.dirsetup - not found

Any ideas?

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16 Oct 2019 19:51 - 16 Oct 2019 19:53 #148039 by PCW
Yes, if you set num_stepgens to 7, you will have have 7 stepgens, 0..6
Last edit: 16 Oct 2019 19:53 by PCW.

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16 Oct 2019 20:03 #148041 by vedatech
Yes, I so have stepgens 0..6 in the 5i25 card, although only 4 are being used so far.

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16 Oct 2019 20:47 - 16 Oct 2019 20:48 #148046 by PCW
Right, so any access to a stepgen outside of the range
of 0..6 (like stepgen.08) is an error.

Note that there is no required correspondence at all
between joint #s and stepgen #s, that mapping is up to you...
Last edit: 16 Oct 2019 20:48 by PCW.

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