PCW, do you know of any documentation or hal examples for bspi?
All I found was some talk here and there about the 7i65. I'm trying to see if without having a hal component available yet if there is some way to verify that the 7i92 is grabbing data from the ADCs and maybe mess with the CS pins. Not sure if Andy is looking at this thread but it would be good to have some kind of guidance for my friend who is planning on writing the component.
Right now all I have is this in my hal file. I can't figure out what functions need to be added or if the functions are exposed by the component rather than the bspi driver. The BSPI pins do show up in the terminal when loading but that's about all I can see
Code:
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config="num_encoders=0 num_pwmgens=2 num_stepgens=6 num_bspis=1"
setp hm2_7i92.0.pwmgen.pwm_frequency 1000
setp hm2_7i92.0.pwmgen.pdm_frequency 6000000
setp hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.b
addf hm2_7i92.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.a.do-pid-calcs servo-thread
addf pid.b.do-pid-calcs servo-thread
addf hm2_7i92.0.write servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
setp hm2_7i92.0.stepgen.timer-number 1
Also, I came across this when I was looking for info:
hm2_<BoardType>.<BoardNum>.read_gpioRead the GPIO input pins. Note that the effect of this function is a subset of the effect of the .read() function described above. Normally only .read() is used. The only reason to call this function is if you want to do GPIO things in a faster-than-servo thread. (This function is not available on the 7i43 due to limitations of the EPP bus.)
I have a different machine that could benefit from being able to read an input pin and less importantly write an output pin as fast as possible running a 7i96. Would this actually be useful? I'd assume this has to exist in a faster thread than the servo, like a base thread?
