New project, litehm2: a hostmot2 port to linsn rv901t

Thank sensille
Comment out all the output and finally be able to start linuxcnc
Maybe I should modify the circuit of rv901t before running linuxcnc


 

rv901t_4out__3stepgen_2enc_1pwm, can you do a pre-firmware bit that will contain 6 outputs, 20 inputs, 6 stepgens, 6 encoder interfaces and 2 pwm generators.

Yes. Did you modify the board in the same way I did?
Do you want differential stepgen?

Thank sensille
Yes, I want differential stepgen, because it can better support servo motors,
I would like to try Ilya Koubatkin's retrofit method first and am also interested in your method

I built the bitstream, it is in the attachment. I only tested that mesaflash --readhmid still works with it, so please test carefully. It you want a different pinout or other function, please edit the attached conf file and send it to me, so I can compile a new bitstream for you. 
   

Thank sensille
The bit firmware can work normally, and the tool for modifying the circuit board is still on the way, so no further testing is possible

cnc@debian:~/linuxcnc/configs/litehm2_6040$ halrun -I -V HAL.hal
HAL: initializing hal_lib
HAL: initializing component 'halcmd2749'
smalloc_dn: shmem available 1048184
HAL: component 'halcmd2749' initialized, ID = 02
HAL: removing component 02
HAL: releasing RTAPI resources
HAL: component 02 removed, name = 'halcmd2749'
HAL: initializing hal_lib
/usr/bin/rtapi_app load hostmot2
HAL: initializing component 'halcmd2749'
smalloc_dn: shmem available 1048184
HAL: component 'halcmd2749' initialized, ID = 02
Note: Using POSIX realtime
hm2: loading Mesa HostMot2 driver version 0.15
HAL.hal:2: Component 'hostmot2' ready
HAL.hal:2: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 1048071
HAL.hal:2: Realtime module 'hostmot2' loaded
HAL: removing component 02
HAL: releasing RTAPI resources
HAL: component 02 removed, name = 'halcmd2749'
HAL: initializing hal_lib
/usr/bin/rtapi_app load hm2_eth board_ip="10.10.10.10" config=" num_encoders=6 num_pwmgens=2 num_stepgens=6 sserial_port_0=0000xx"
HAL: initializing component 'halcmd2749'
HAL: component 'halcmd2749' initialized, ID = 06
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 10.10.10.10: INFO: Hardware address (MAC): 24:1f:83:30:66:de
hm2_eth: Unrecognized ethernet board found: litehm2 -- port names will be wrong
hm2_eth: discovered litehm2
hm2/hm2_lite.0: Low Level init 0.15
hm2/hm2_lite.0: 72 I/O Pins used:
hm2/hm2_lite.0: IO Pin 000 (??-01): IOPort
hm2/hm2_lite.0: IO Pin 001 (??-03): IOPort
hm2/hm2_lite.0: IO Pin 002 (??-05): IOPort
hm2/hm2_lite.0: IO Pin 003 (??-07): IOPort
hm2/hm2_lite.0: IO Pin 004 (??-09): IOPort
hm2/hm2_lite.0: IO Pin 005 (??-11): IOPort
hm2/hm2_lite.0: IO Pin 006 (??-13): IOPort
hm2/hm2_lite.0: IO Pin 007 (??-15): IOPort
hm2/hm2_lite.0: IO Pin 008 (??-17): IOPort
hm2/hm2_lite.0: IO Pin 009 (??-19): IOPort
hm2/hm2_lite.0: IO Pin 010 (??-21): IOPort
hm2/hm2_lite.0: IO Pin 011 (??-23): IOPort
hm2/hm2_lite.0: IO Pin 012 (??-25): IOPort
hm2/hm2_lite.0: IO Pin 013 (??-27): IOPort
hm2/hm2_lite.0: IO Pin 014 (??-29): IOPort
hm2/hm2_lite.0: IO Pin 015 (??-31): IOPort
hm2/hm2_lite.0: IO Pin 016 (??-33): IOPort
hm2/hm2_lite.0: IO Pin 017 (??-35): IOPort
hm2/hm2_lite.0: IO Pin 018 (??-37): IOPort
hm2/hm2_lite.0: IO Pin 019 (??-39): IOPort
hm2/hm2_lite.0: IO Pin 020 (??-41): IOPort
hm2/hm2_lite.0: IO Pin 021 (??-43): IOPort
hm2/hm2_lite.0: IO Pin 022 (??-45): IOPort
hm2/hm2_lite.0: IO Pin 023 (??-47): IOPort
hm2/hm2_lite.0: IO Pin 024 (??-01): IOPort
hm2/hm2_lite.0: IO Pin 025 (??-03): IOPort
hm2/hm2_lite.0: IO Pin 026 (??-05): StepGen #0, pin Step (Output)
hm2/hm2_lite.0: IO Pin 027 (??-07): StepGen #0, pin Step (Output)
hm2/hm2_lite.0: IO Pin 028 (??-09): StepGen #0, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 029 (??-11): StepGen #0, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 030 (??-13): StepGen #1, pin Step (Output)
hm2/hm2_lite.0: IO Pin 031 (??-15): StepGen #1, pin Step (Output)
hm2/hm2_lite.0: IO Pin 032 (??-17): StepGen #1, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 033 (??-19): StepGen #1, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 034 (??-21): StepGen #2, pin Step (Output)
hm2/hm2_lite.0: IO Pin 035 (??-23): StepGen #2, pin Step (Output)
hm2/hm2_lite.0: IO Pin 036 (??-25): StepGen #2, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 037 (??-27): StepGen #2, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 038 (??-29): StepGen #3, pin Step (Output)
hm2/hm2_lite.0: IO Pin 039 (??-31): StepGen #3, pin Step (Output)
hm2/hm2_lite.0: IO Pin 040 (??-33): StepGen #3, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 041 (??-35): StepGen #3, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 042 (??-37): StepGen #4, pin Step (Output)
hm2/hm2_lite.0: IO Pin 043 (??-39): StepGen #4, pin Step (Output)
hm2/hm2_lite.0: IO Pin 044 (??-41): StepGen #4, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 045 (??-43): StepGen #4, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 046 (??-45): StepGen #5, pin Step (Output)
hm2/hm2_lite.0: IO Pin 047 (??-47): StepGen #5, pin Step (Output)
hm2/hm2_lite.0: IO Pin 048 (??-01): StepGen #5, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 049 (??-03): StepGen #5, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 050 (??-05): PWMGen #0, pin Out0 (PWM or Up) (Output)
hm2/hm2_lite.0: IO Pin 051 (??-07): PWMGen #0, pin Out1 (Dir or Down) (Output)
hm2/hm2_lite.0: IO Pin 052 (??-09): PWMGen #1, pin Out0 (PWM or Up) (Output)
hm2/hm2_lite.0: IO Pin 053 (??-11): PWMGen #1, pin Out1 (Dir or Down) (Output)
hm2/hm2_lite.0: IO Pin 054 (??-13): Encoder #0, pin A (Input)
hm2/hm2_lite.0: IO Pin 055 (??-15): Encoder #0, pin B (Input)
hm2/hm2_lite.0: IO Pin 056 (??-17): Encoder #0, pin Index (Input)
hm2/hm2_lite.0: IO Pin 057 (??-19): Encoder #1, pin A (Input)
hm2/hm2_lite.0: IO Pin 058 (??-21): Encoder #1, pin B (Input)
hm2/hm2_lite.0: IO Pin 059 (??-23): Encoder #1, pin Index (Input)
hm2/hm2_lite.0: IO Pin 060 (??-25): Encoder #2, pin A (Input)
hm2/hm2_lite.0: IO Pin 061 (??-27): Encoder #2, pin B (Input)
hm2/hm2_lite.0: IO Pin 062 (??-29): Encoder #2, pin Index (Input)
hm2/hm2_lite.0: IO Pin 063 (??-31): Encoder #3, pin A (Input)
hm2/hm2_lite.0: IO Pin 064 (??-33): Encoder #3, pin B (Input)
hm2/hm2_lite.0: IO Pin 065 (??-35): Encoder #3, pin Index (Input)
hm2/hm2_lite.0: IO Pin 066 (??-37): Encoder #4, pin A (Input)
hm2/hm2_lite.0: IO Pin 067 (??-39): Encoder #4, pin B (Input)
hm2/hm2_lite.0: IO Pin 068 (??-41): Encoder #4, pin Index (Input)
hm2/hm2_lite.0: IO Pin 069 (??-43): Encoder #5, pin A (Input)
hm2/hm2_lite.0: IO Pin 070 (??-45): Encoder #5, pin B (Input)
hm2/hm2_lite.0: IO Pin 071 (??-47): Encoder #5, pin Index (Input)
hm2/hm2_lite.0: registered
HAL.hal:3: Component 'hm2_eth' ready
HAL.hal:3: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 971164
HAL.hal:3: Realtime module 'hm2_eth' loaded
HAL.hal:4: setting parameter 'hm2_lite.0.watchdog.timeout_ns' to '5000000'
HAL.hal:4: Parameter 'hm2_lite.0.watchdog.timeout_ns' set to 5000000
HAL: removing component 06
HAL: releasing RTAPI resources
HAL: component 06 removed, name = 'halcmd2749'
HAL: initializing hal_lib
/usr/bin/rtapi_app load pid names=pid.x,pid.y,pid.z,pid.s
HAL: initializing component 'halcmd2749'
HAL: component 'halcmd2749' initialized, ID = 09
HAL.hal:5: Component 'pid' ready
HAL.hal:5: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 952673
HAL.hal:5: Realtime module 'pid' loaded
HAL: removing component 09
HAL: releasing RTAPI resources
HAL: component 09 removed, name = 'halcmd2749'
HAL: initializing hal_lib
/usr/bin/rtapi_app load mux4
HAL: initializing component 'halcmd2749'
HAL: component 'halcmd2749' initialized, ID = 12
HAL.hal:6: Component 'mux4' ready
HAL.hal:6: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 951295
HAL.hal:6: Realtime module 'mux4' loaded
HAL: removing component 12
HAL: releasing RTAPI resources
HAL: component 12 removed, name = 'halcmd2749'
HAL: initializing hal_lib
/usr/bin/rtapi_app load mult2
HAL: initializing component 'halcmd2749'
HAL: component 'halcmd2749' initialized, ID = 15
HAL.hal:7: Component 'mult2' ready
HAL.hal:7: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 950383
HAL.hal:7: Realtime module 'mult2' loaded
HAL: removing component 15
HAL: releasing RTAPI resources
HAL: component 15 removed, name = 'halcmd2749'
HAL: initializing hal_lib
HAL: initializing component 'halcmd2749'
HAL: component 'halcmd2749' initialized, ID = 18
/usr/bin/rtapi_app load estop_latch
HAL.hal:8: Component 'estop_latch' ready
HAL.hal:8: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 949099
HAL.hal:8: Realtime module 'estop_latch' loaded
HAL: removing component 18
HAL: releasing RTAPI resources
HAL: component 18 removed, name = 'halcmd2749'
HAL: initializing hal_lib
/usr/bin/rtapi_app load or2 count=3
HAL: initializing component 'halcmd2749'
HAL: component 'halcmd2749' initialized, ID = 21
HAL.hal:9: Component 'or2' ready
HAL.hal:9: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 946615
HAL.hal:9: Realtime module 'or2' loaded
HAL: adding function 'hm2_lite.0.read' to thread 'servo-thread'
HAL: ERROR: thread 'servo-thread' not found
HAL.hal:11: addf failed
HAL: removing component 21
HAL: releasing RTAPI resources
HAL: component 21 removed, name = 'halcmd2749'