HAL Driver for Raspberry PI GPIOs

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29 Oct 2019 00:03 #149022 by joao404
Hello,

I am using LinuxCNC directly on a Raspberry Pi 3B+ to control a little robotarm MK2. Because I wasn't able to find a proper driver for the gpios of the Pi, i used this Arduino based solution( github.com/dewy721/EMC-2-Arduino ) to control the stepper motors and servos. But this shows as expected only poor results.
I am currently writting a HAL driver for the gpios of Pi based on the hal_parport.c and the libgpiod. Is libgpiod in this case a good solution or are there faster ways to write and read pins and of better use in case of realtime?

I put the code for free use at github.com/joao404/HAL2PI . At the moment the reset function and inverted datasignals are not finished.

If someone knows a better existing solution or has some notes about my coding it would be nice to get some feedback.

Greetings
Marcel
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29 Oct 2019 14:50 #149052 by pl7i92
there are lots of projekts alredy running so you may not need a Haldriver
look on the search field and giv it a try
Raspberry Pi

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29 Oct 2019 19:28 #149071 by Mike_Eitel
I myself would love to have something like a hal_pi_gpio in standard distro. Similar to the bb version.
Not for real machine, i'm a pure fan of Mesa, but for playing with Pi4 this would be nice.
Mike

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29 Oct 2019 22:44 #149079 by joao404
Hi,

I found one project at erste.de/linuxCNC_raspberry_PI4.html (bottom part) which uses WiringPi and a file called hal_gpio.c which you can download from linuxcnc.org.

Marcel

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01 Nov 2019 13:26 #149355 by andypugh

joao404 wrote: If someone knows a better existing solution


If you get version 2.8 / uspace then you should be able to use the hal_pi_gpio component that was recently added.

github.com/LinuxCNC/linuxcnc/commit/e0dc...52586d505f4b9bcda60d

Scroll to the last file on that page to see sample HAL-file usage.
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12 Feb 2020 15:03 - 12 Feb 2020 15:07 #157180 by twoflowers
I have made a small tool to calculate the "loadrt hal_pi_gpio dir=... exclude=..."-line. Hope it helps.
Example: hal_pi_gpio-calculator.sh 17:27:22 2:3:4:12:14:15:18
--> loadrt hal_pi_gpio dir=78855 exclude=32394232

Enjoy :)

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Last edit: 12 Feb 2020 15:07 by twoflowers.
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