Mesa 7i43 / 7i49 / 7i37 FIrmware Needed

Recently I've gotten a touchprobe working on my 7i43 based Mill so with that working it's time to tackle the lathe again. On my Hardinge CHNC I'm using a 7i43-4, 7i49 resolver board, and a 7i37 I/O. I'm a bit lost as to what firmware to use. When I did my mill using a 7i43-2 / 7i33 / 7i37 I guessed end ended up finding a working firmware (hack I know). But I want to be sure I don't damage anything this time. Do I use any of the already installed firmwares or do I need to compile one? Or ask someone nicely to compile one for me?

Thanks,
- Scott Flanagan

I have a bit file for a 7i43 and resolver , i'll post it shortly just need to find it ...

Thanks for digging up the files, I appreciate the help. I placed them in the appropriate firmware directory but there are still some errors coming up and I'm not sure how to proceed?

The line near the end:
[ 81.913806] hm2/hm2_7i43.0: failed to reset fpga, aborting hm2_register
makes me think that it's having trouble talking to the fpga board. I'm using the computer from my cnc mill that successfully talks to a 7i43-2 board. So I think the error is somewhere in my hal maybe. Any input would be appreciated. Thanks,

-Scott

Output window below and hal/ini/dmesg output attached (hopefully)




Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.5.2
Machine configuration directory is '/home/lathe/linuxcnc/configs/lathe2'
Machine configuration file is 'lathe2.ini'
INIFILE=/home/lathe/linuxcnc/configs/lathe2/lathe2.ini
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
Killing task linuxcncsvr, PID=1412
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
Can not find -sec MOT -var MOT -num 1
Can not find -sec IO -var IO -num 1
Can not find -sec LINUXCNC -var NML_FILE -num 1
Can not find -sec EMC -var NML_FILE -num 1
insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/linuxcnc/hm2_7i43.ko': -1 Input/output error
lathe2.hal:9: exit value: 1
lathe2.hal:9: insmod failed, returned -1
See the output of 'dmesg' for more information.
1412
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[ 81.522664] I-pipe: Domain RTAI registered.
[ 81.522673] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 81.522676] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[ 81.522683] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 81.522685] PIPELINE layers:
[ 81.522689] fac04e20 9ac15d93 RTAI 200
[ 81.522692] c085cb20 0 Linux 100
[ 81.550999] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 81.551099] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[ 81.551105] RTAI[sched]: hard timer type/freq = APIC/12500308(Hz); default timing: periodic; linear timed lists.
[ 81.551109] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 3199616000 hz.
[ 81.551112] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[ 81.551186] RTAI[usi]: enabled.
[ 81.625162] RTAI[math]: loaded.
[ 81.819566] hm2: loading Mesa HostMot2 driver version 0.15
[ 81.824646] hm2_7i43: loading HostMot2 Mesa 7i43 driver version 0.3
[ 81.826764] hm2_7i43: /DONE is not low after CPLD reset!
[ 81.826802] hm2_7i43.0: firmware: requesting hm2/7i43-4/SVRM6.BIT
[ 81.913797] hm2_7i43: /DONE is not low after CPLD reset!
[ 81.913806] hm2/hm2_7i43.0: failed to reset fpga, aborting hm2_register
[ 81.913814] hm2_7i43.0: board at (ioaddr=0x0378, ioaddr_hi=0x0778, epp_wide ON) not found!
[ 82.381484] hm2: unloading
[ 82.460404] RTAI[math]: unloaded.
[ 82.510832] SCHED releases registered named ALIEN RTGLBH
[ 82.524276] RTAI[malloc]: unloaded.
[ 82.624027] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 82.627112] I-pipe: Domain RTAI unregistered.
[ 82.627122] RTAI[hal]: unmounted.

This indicates that there is no communication with the 7I43
Is the 7I43 jumpered for EPP mode?

(two red LEDS and one yellow LED before LinuxCNC starts)

Perhaps bad FPGA size?
"[ 81.826802] hm2_7i43.0: firmware: requesting hm2/7i43-4/SVRM6.BIT"

The bit file must be compiled for 7i43-2 (200k).

sorry thought you were using a 7i43-4 by your comments ..

anyhow attached here is the same version built for the 7i43-2
i cant test as i only have a 400k part here .. so you'll have to let me know if you have any problems.

You were originally right. I was using a 400k gate FPGA, it is my mill that uses a 200k gate, but thanks for the 200k one I have a spare 200k card I can use on the lathe as well. I went back and re-checked my jumper settings and I had misread the manual originally, it was set for USB mode on the FPGA. Switched it to EPP and I'm good to go! Now it's time to start trying to read resolvers. Thanks!

-Scott

Managed to read the I/O inputs on the 7i37 board last night! Still working on resolver issues. The resolvers are being powered by the 7i49 and are returning values but nothing is showing up in Axis. I probably have something wrong in my hal file. Will do more digging tonight looking through other people's HAL files for 7i49 setups. Thanks again everyone for the support.

-Scott

easy way is to post your hal and ini files . and let us know what your struggling with etc .


here's an example of the resolver part needed in your hal file

# ---Resolver feedback signals/setup---

setp hm2_7i43.0.resolver.00.velocity-scale 1 # mptor speed in RPS
setp hm2_7i43.0.resolver.00.scale [AXIS_0]ENCODER_SCALE
net x-pos-rawcounts <= hm2_7i43.0.resolver.00.rawcounts
# add pid.x.feedback
net x-pos-fb <= hm2_7i43.0.resolver.00.position => pid.0.feedback
net x-vel-fb <= hm2_7i43.0.resolver.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_7i43.0.resolver.00.index-enable

also make sure you have resolvers added here
loadrt hm2_7i43 config="firmware=hm2/7i43-4/SVRM6.BIT num_encoders=0 num_pwmgens=6 num_3pwmgens=0 num_stepgens=0 num_resolvers=3"

and dont forget your encoder scale in the ini file ... for example ENCODER_SCALE = 20000.0

hopfully that should do it

Dave

Dave,

Thanks for the feedback, I've been running my HAL file as generated from PNCCONFIG. The resolver section is as shown below (full hal/ini attached) . Everything was similar to your post with the exception of the => pid.0.feedback so I added that as pid.x.feedback to match my naming convention and it didn't fix anything. Because I'm trying everything I also swapped all my pid.x to pid.0 etc and tried it that way, no luck. Let me know if you have any other things to try. I did re-verify the resolver signals at the 7i49 and they look good. Thanks,

-Scott


loadrt hm2_7i43 config="firmware=hm2/7i43-4/SVRM6.BIT num_encoders=0 num_pwmgens=3 num_3pwmgens=0 num_stepgens=0 num_resolvers=3"

setp hm2_7i43.0.pwmgen.pwm_frequency 24000
setp hm2_7i43.0.pwmgen.pdm_frequency 6000000
setp hm2_7i43.0.watchdog.timeout_ns 10000000
loadrt pid names=pid.x,pid.z,pid.s


# ---Resolver feedback signals/setup---

setp hm2_7i43.0.resolver.00.velocity-scale 1 # mptor speed in RPS
setp hm2_7i43.0.resolver.00.scale [AXIS_0]RESOLVER_SCALE

net x-pos-rawcounts <= hm2_7i43.0.resolver.00.rawcounts
net x-pos-fb <= hm2_7i43.0.resolver.00.position => pid.x.feedback
net x-vel-fb <= hm2_7i43.0.resolver.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_7i43.0.resolver.00.index-enable