Mesa modbus and pktUart

git clone https://github.com/LinuxCNC/linuxcnc.git linuxcnc-dev
cd linuxcnc-dev/src
sudo apt install automake
./autogen.sh
sudo apt-get install libmodbus-dev
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install yapps2
sudo apt-get install intltool
sudo apt-get install libboost
sudo apt install devscripts
sudo apt install dh-python libudev-dev tcl8.6-dev tk8.6-dev asciidoc dblatex
sudo apt install libreadline-gplv2-dev docbook-xsl dvipng ghostscript graphviz
sudo apt install groff imagemagick inkscape python-lxml source-highlight
sudo apt install texlive-extra-utils texlive-font-utils texlive-fonts-recommended
sudo apt install texlive-lang-cyrillic texlive-lang-french texlive-lang-german
sudo apt install texlive-lang-polish texlive-lang-spanish texlive-latex-recommended
sudo apt install w3c-linkchecker xsltproc python-dev python-tk libxmu-dev
sudo apt install libglu1-mesa-dev libgtk2.0-dev intltool libboost-python-dev
sudo apt install libmodbus-dev libusb-1.0-0-dev desktop-file-utils yapps2
sudo apt install python-yapps bwidget libtk-img mesa-utils tclx8.4
sudo apt install tcl-tclreadline python-configobj python-gtkglext1
sudo apt install python-xlib gstreamer0.10-plugins-base netcat
sudo apt install python-pil python-glade2 python-pil.imagetk
sudo apt install python-gst-1.0 w3c-linkchecker libxmu-dev libtirpc-dev
sudo apt install gdebi gdebi-core
sudo apt install libreadline-dev
sudo apt install libeditreadline-dev
sudo apt install libxmu-headers
sudo apt install libxmu-dev
./configure --with-realtime=uspace
make
sudo make setuid
source ../scripts/rip-environment
cd ~/linuxcnc-dev/bin
(edit modcompile to use ../src instead of src else it will not find makefile.modinc)
./modcompile mesa_modbus_A5_Driver.mod

Debug file information:
Note: Using POSIX non-realtime
mesa_modbus_A5_Driver: dlopen: /usr/lib/linuxcnc/modules/mesa_modbus_A5_Driver.so: undefined symbol: hm2_pktuart_setup_rx
./Lathe_7i92T_0.hal:10: waitpid failed /usr/bin/rtapi_app mesa_modbus_A5_Driver
./Lathe_7i92T_0.hal:10: /usr/bin/rtapi_app exited without becoming ready
./Lathe_7i92T_0.hal:10: insmod for mesa_modbus_A5_Driver failed, returned -1
2759
Stopping realtime threads
Unloading hal components
Note: Using POSIX non-realtime

// Lichuan A5 AC Servo Drive Driver
#define MAX_MSG_LEN 16   // may be increased if necessary to max 251
#define DEBUG 1

static const hm2_modbus_chan_descriptor_t channels[] = {
/*  {TYPE,     FUNC, ADDR,   COUNT, pin_name} */
    {HAL_U32,   3,   0x9C8, 1,     "speed-actual"},
    {HAL_U32,   3,   0x9C9, 1,     "speed-instruction"},
    {HAL_U32,   3,   0x9CA, 1,     "torque-instruction"},
    {HAL_U32,   3,   0x9D4, 1,     "avg-load-rate"},
    {HAL_U32,   3,   0x9E0, 1,     "phase-current"},
    {HAL_U32,   3,   0x9E2, 1,     "bus-voltage"},
    {HAL_U32,   3,   0x9E3, 1,     "tempreture"},
    {HAL_U32,   6,   0x4CB, 1,     "set-speed"},
};

donno@linuxcnc:~/Desktop $ mesaflash --device 7i92T --addr 192.168.1.121 --readhmid
Configuration Name: HOSTMOT2

General configuration information:

  BoardName : MESA7I92
  FPGA Size: 20 KGates
  FPGA Pins: 256
  Number of IO Ports: 2
  Width of one I/O port: 17
  Clock Low frequency: 100.0000 MHz
  Clock High frequency: 175.0000 MHz
  IDROM Type: 3
  Instance Stride 0: 4
  Instance Stride 1: 64
  Register Stride 0: 256
  Register Stride 1: 256

Modules in configuration:

  Module: DPLL
  There are 1 of DPLL in configuration
  Version: 0
  Registers: 7
  BaseAddress: 7000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: WatchDog
  There are 1 of WatchDog in configuration
  Version: 0
  Registers: 3
  BaseAddress: 0C00
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: IOPort
  There are 2 of IOPort in configuration
  Version: 0
  Registers: 5
  BaseAddress: 1000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: QCount
  There are 2 of QCount in configuration
  Version: 2
  Registers: 5
  BaseAddress: 3000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: StepGen
  There are 10 of StepGen in configuration
  Version: 2
  Registers: 10
  BaseAddress: 2000
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: PWM
  There are 2 of PWM in configuration
  Version: 0
  Registers: 5
  BaseAddress: 4100
  ClockFrequency: 175.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: LED
  There are 1 of LED in configuration
  Version: 0
  Registers: 1
  BaseAddress: 0200
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: PktUARTTX
  There are 1 of PktUARTTX in configuration
  Version: 0
  Registers: 4
  BaseAddress: 6100
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: PktUARTRX
  There are 1 of PktUARTRX in configuration
  Version: 0
  Registers: 4
  BaseAddress: 6500
  ClockFrequency: 100.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

Configuration pin-out:

IO Connections for P2
DB25 pin#             I/O   Pri. func    Sec. func        Chan     Sec. Pin func   Sec. Pin Dir

 1                      0   IOPort       PWM              0        PWM             (Out)
14                      1   IOPort       StepGen          0        Step/Table1     (Out)
 2                      2   IOPort       StepGen          0        Dir/Table2      (Out)
15                      3   IOPort       StepGen          1        Step/Table1     (Out)
 3                      4   IOPort       StepGen          1        Dir/Table2      (Out)
16                      5   IOPort       None           
 4                      6   IOPort       None           
17                      7   IOPort       None           
 5                      8   IOPort       None           
 6                      9   IOPort       QCount           0        Quad-A          (In)
 7                     10   IOPort       QCount           0        Quad-B          (In)
 8                     11   IOPort       QCount           0        Quad-IDX        (In)
 9                     12   IOPort       None           
10                     13   IOPort       None           
11                     14   IOPort       None           
12                     15   IOPort       None           
13                     16   IOPort       None           

IO Connections for P1
DB25 pin#             I/O   Pri. func    Sec. func        Chan     Sec. Pin func   Sec. Pin Dir

 1                     17   IOPort       PktUARTRX        0        RXData          (In)
14                     18   IOPort       PktUARTTX        0        TXData          (Out)
 2                     19   IOPort       PktUARTTX        0        TXEna           (Out)
15                     20   IOPort       None           
 3                     21   IOPort       None           
16                     22   IOPort       None           
 4                     23   IOPort       None           
17                     24   IOPort       None           
 5                     25   IOPort       None           
 6                     26   IOPort       None           
 7                     27   IOPort       None           
 8                     28   IOPort       None           
 9                     29   IOPort       None           
10                     30   IOPort       None           
11                     31   IOPort       None           
12                     32   IOPort       None           
13                     33   IOPort       None  

# Generated by PNCconf at Mon Aug 28 20:19:10 2023
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config="num_encoders=1 num_pwmgens=0 num_stepgens=2"
loadrt mesa_modbus_A5_Driver names=hm2_7i92.0.pktuart.0

setp    hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.z,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt scale names=scale.spindle
loadrt near

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.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf scale.spindle            servo-thread
addf abs.spindle              servo-thread
addf lowpass.spindle          servo-thread
addf near.0                   servo-thread
addf hm2_7i92.0.write         servo-thread
addf mesa_modbus_A5_Driver      servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
setp hm2_7i92.0.stepgen.timer-number 1

# external output signals

# --- DOUT-00 ---
setp hm2_7i92.0.gpio.000.is_output true
net dout-00  =>     hm2_7i92.0.gpio.000.out

# --- SPINDLE-ENABLE ---
setp hm2_7i92.0.gpio.005.is_output true
net spindle-enable  =>     hm2_7i92.0.gpio.005.out

# --- SPINDLE-CW ---
setp hm2_7i92.0.gpio.006.is_output true
net spindle-cw  =>     hm2_7i92.0.gpio.006.out

# --- SPINDLE-CCW ---
setp hm2_7i92.0.gpio.007.is_output true
net spindle-ccw  =>     hm2_7i92.0.gpio.007.out

# --- COOLANT-MIST ---
setp hm2_7i92.0.gpio.008.is_output true
net coolant-mist  =>     hm2_7i92.0.gpio.008.out

# --- DOUT-01 ---
setp hm2_7i92.0.gpio.013.is_output true
net dout-01  =>     hm2_7i92.0.gpio.013.out

# --- DOUT-02 ---
setp hm2_7i92.0.gpio.015.is_output true
net dout-02  =>     hm2_7i92.0.gpio.015.out

# --- DOUT-03 ---
setp hm2_7i92.0.gpio.016.is_output true
net dout-03  =>     hm2_7i92.0.gpio.016.out

# --- ESTOP-OUT ---
setp hm2_7i92.0.gpio.030.is_output true
net estop-out  =>     hm2_7i92.0.gpio.030.out

# --- MACHINE-IS-ENABLED ---
setp hm2_7i92.0.gpio.032.is_output true
net machine-is-enabled  =>     hm2_7i92.0.gpio.032.out

# --- SPINDLE-ENABLE ---
setp hm2_7i92.0.gpio.033.is_output true
net spindle-enable  =>     hm2_7i92.0.gpio.033.out


# external input signals

# --- HOME-X ---
net home-x     <=  hm2_7i92.0.gpio.012.in

# --- HOME-Z ---
net home-z     <=  hm2_7i92.0.gpio.014.in

# --- DIN-00 ---
net din-00     <=  hm2_7i92.0.gpio.019.in

# --- DIN-01 ---
net din-01     <=  hm2_7i92.0.gpio.020.in

# --- DIN-02 ---
net din-02     <=  hm2_7i92.0.gpio.021.in

# --- DIN-03 ---
net din-03     <=  hm2_7i92.0.gpio.022.in

# --- ESTOP-EXT ---
net estop-ext     <=  hm2_7i92.0.gpio.023.in

# --- PROBE-IN ---
net probe-in     <=  hm2_7i92.0.gpio.024.in


#*******************
#  AXIS X JOINT 0
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.x.maxerror 0.012700

net x-index-enable  =>  pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-pos-fb        =>  pid.x.feedback
net x-output        <=  pid.x.output

# Step Gen signals/setup

setp   hm2_7i92.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_7i92.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   hm2_7i92.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp   hm2_7i92.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   hm2_7i92.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_7i92.0.stepgen.00.step_type        0
setp   hm2_7i92.0.stepgen.00.control-type     1
setp   hm2_7i92.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_7i92.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd    <= joint.0.motor-pos-cmd
net x-vel-cmd    <= joint.0.vel-cmd
net x-output     => hm2_7i92.0.stepgen.00.velocity-cmd
net x-pos-fb     <= hm2_7i92.0.stepgen.00.position-fb
net x-pos-fb     => joint.0.motor-pos-fb
net x-enable     <= joint.0.amp-enable-out
net x-enable     => hm2_7i92.0.stepgen.00.enable

# ---setup home / limit switch signals---

net home-x     =>  joint.0.home-sw-in
net x-neg-limit     =>  joint.0.neg-lim-sw-in
net x-pos-limit     =>  joint.0.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 1
#*******************

setp   pid.z.Pgain     [JOINT_1]P
setp   pid.z.Igain     [JOINT_1]I
setp   pid.z.Dgain     [JOINT_1]D
setp   pid.z.bias      [JOINT_1]BIAS
setp   pid.z.FF0       [JOINT_1]FF0
setp   pid.z.FF1       [JOINT_1]FF1
setp   pid.z.FF2       [JOINT_1]FF2
setp   pid.z.deadband  [JOINT_1]DEADBAND
setp   pid.z.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.z.maxerror 0.012700

net z-index-enable  =>  pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-pos-fb        =>  pid.z.feedback
net z-output        <=  pid.z.output

# Step Gen signals/setup

setp   hm2_7i92.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_7i92.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD
setp   hm2_7i92.0.stepgen.01.steplen         [JOINT_1]STEPLEN
setp   hm2_7i92.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE
setp   hm2_7i92.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE
setp   hm2_7i92.0.stepgen.01.step_type        0
setp   hm2_7i92.0.stepgen.01.control-type     1
setp   hm2_7i92.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_7i92.0.stepgen.01.maxvel           [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.1.motor-pos-cmd
net z-vel-cmd    <= joint.1.vel-cmd
net z-output     => hm2_7i92.0.stepgen.01.velocity-cmd
net z-pos-fb     <= hm2_7i92.0.stepgen.01.position-fb
net z-pos-fb     => joint.1.motor-pos-fb
net z-enable     <= joint.1.amp-enable-out
net z-enable     => hm2_7i92.0.stepgen.01.enable

# ---setup home / limit switch signals---

net home-z     =>  joint.1.home-sw-in
net z-neg-limit     =>  joint.1.neg-lim-sw-in
net z-pos-limit     =>  joint.1.pos-lim-sw-in

#*******************
#  SPINDLE
#*******************

setp   pid.s.Pgain     [SPINDLE_0]P
setp   pid.s.Igain     [SPINDLE_0]I
setp   pid.s.Dgain     [SPINDLE_0]D
setp   pid.s.bias      [SPINDLE_0]BIAS
setp   pid.s.FF0       [SPINDLE_0]FF0
setp   pid.s.FF1       [SPINDLE_0]FF1
setp   pid.s.FF2       [SPINDLE_0]FF2
setp   pid.s.deadband  [SPINDLE_0]DEADBAND
setp   pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp   pid.s.error-previous-target true

net spindle-index-enable  =>  pid.s.index-enable
net spindle-enable        =>  pid.s.enable
net spindle-vel-cmd-rpm-abs     => pid.s.command
net spindle-vel-fb-rpm-abs      => pid.s.feedback
net spindle-output        <=  pid.s.output

# ---Encoder feedback signals/setup---

setp    hm2_7i92.0.encoder.00.counter-mode 0
setp    hm2_7i92.0.encoder.00.filter 1
setp    hm2_7i92.0.encoder.00.index-invert 0
setp    hm2_7i92.0.encoder.00.index-mask 0
setp    hm2_7i92.0.encoder.00.index-mask-invert 0
setp    hm2_7i92.0.encoder.00.scale  [SPINDLE_0]ENCODER_SCALE

net spindle-revs             <=   hm2_7i92.0.encoder.00.position
net spindle-vel-fb-rps       <=   hm2_7i92.0.encoder.00.velocity
net spindle-vel-fb-rpm       <=   hm2_7i92.0.encoder.00.velocity-rpm
net spindle-index-enable     <=>  hm2_7i92.0.encoder.00.index-enable

# ---setup spindle control signals---

net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  spindle.0.speed-out
net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
net spindle-enable             <=  spindle.0.on
net spindle-cw                 <=  spindle.0.forward
net spindle-ccw                <=  spindle.0.reverse
net spindle-brake              <=  spindle.0.brake
net spindle-revs               =>  spindle.0.revs
net spindle-at-speed           =>  spindle.0.at-speed
net spindle-vel-fb-rps         =>  spindle.0.speed-in
net spindle-index-enable      <=>  spindle.0.index-enable

# ---Setup spindle at speed signals---

net spindle-vel-cmd-rps    =>  near.0.in1
net spindle-vel-fb-rps         =>  near.0.in2
net spindle-at-speed       <=  near.0.out
setp near.0.scale 1.000000
setp near.0.difference 0.166667

#  Use ACTUAL spindle velocity from spindle encoder
#  spindle-velocity bounces around so we filter it with lowpass
#  spindle-velocity is signed so we use absolute component to remove sign
#  ACTUAL velocity is in RPS not RPM so we scale it.

setp     scale.spindle.gain 60
setp     lowpass.spindle.gain 1.000000
net spindle-vel-fb-rps        =>     scale.spindle.in
net spindle-fb-rpm               scale.spindle.out       =>   abs.spindle.in
net spindle-fb-rpm-abs           abs.spindle.out         =>   lowpass.spindle.in
net spindle-fb-rpm-abs-filtered  lowpass.spindle.out  

#******************************
# connect miscellaneous signals
#******************************

#  ---HALUI signals---

net axis-select-x  halui.axis.x.select
net jog-x-pos      halui.axis.x.plus
net jog-x-neg      halui.axis.x.minus
net jog-x-analog   halui.axis.x.analog
net x-is-homed     halui.joint.0.is-homed
net axis-select-z  halui.axis.z.select
net jog-z-pos      halui.axis.z.plus
net jog-z-neg      halui.axis.z.minus
net jog-z-analog   halui.axis.z.analog
net z-is-homed     halui.joint.1.is-homed
net jog-selected-pos      halui.axis.selected.plus
net jog-selected-neg      halui.axis.selected.minus
net spindle-manual-cw     halui.spindle.0.forward
net spindle-manual-ccw    halui.spindle.0.reverse
net spindle-manual-stop   halui.spindle.0.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.axis.jog-speed
net MDI-mode              halui.mode.is-mdi

#  ---coolant signals---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---probe signal---

net probe-in     =>  motion.probe-input

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

net dout-00     <=  motion.digital-out-00
net dout-01     <=  motion.digital-out-01
net dout-02     <=  motion.digital-out-02
net dout-03     <=  motion.digital-out-03
net din-00     =>  motion.digital-in-00
net din-01     =>  motion.digital-in-01
net din-02     =>  motion.digital-in-02
net din-03     =>  motion.digital-in-03
#  ---estop signals---

net estop-out     <=  iocontrol.0.user-enable-out
net estop-ext     =>  iocontrol.0.emc-enable-in

#  ---manual tool change signals---

net tool-change-request    <= iocontrol.0.tool-change
net tool-change-confirmed  => iocontrol.0.tool-changed
net tool-number            <= iocontrol.0.tool-prep-number

#  ---Use external manual tool change dialog---

loadusr -W hal_manualtoolchange
net tool-change-request    =>  hal_manualtoolchange.change
net tool-change-confirmed  <=  hal_manualtoolchange.changed
net tool-number            =>  hal_manualtoolchange.number

#  ---ignore tool prepare requests---
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared