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please, could you also put the 'dogleg' dependency on the repo?

You are right, it wouldn't be a problem for configuration only. But I'm using the module to use the TMC5160 without step/dir signals, so I need a fast communication.

I received my RPi5 this week-end and had to change some parts of my code to make it work. Also, with the RPi4, I could control the CS pin "outside" the SPI routine, and use how many pins I wanted to. With the RPi5, this does not appear to be possible. So I will need to make some more changes in the code. I will probably keep the freedom of CS pin choice for RPi4 and use the dedicated CS pins per channel on RPi5.

Hi,

Not sure if this is the correct place to post, as I'm actually not a Remora user but someone trying to use the source code for a LCNC to TMC5160 communication module.

I downloaded the latest official RPi 5 image and could not get a SPI communication with my TMC5160 drivers. I had to force the "rp1" variable to "true" in the code and then found out that my device-tree doesn't have the "soc" folder the script was looking for, but a "soc@107c000000". It seems like there are 2 different dtb files available, the bcm2712d0-rpi-5-b.dtb and the bcm2712-rpi-5-b.dtb. Can someone explain me the difference?

I also had a look in the new spix driver that hm2 component uses, and it reads /proc/device-tree/compatible to detect the board type. Might it be a bit more robust to dtb files changes?
hm2.spix.c:

// Read the 'compatible' string-list from the device-tree
    buflen = spix_read_file("/proc/device-tree/compatible", buf, sizeof(buf));
    if(buflen < 0) {
        LL_ERR("Failed to read platform identity.\n");
        return buflen;    // negative errno from read_file()
    }

    // Decompose the device-tree buffer into a string-list with the pointers to
    // each string in dtcs. Don't go beyond the buffer's size.
    memset(dtcs, 0, sizeof(dtcs));
    for(i = 0, cptr = buf; i < DTC_MAX && cptr; i++) {
        dtcs = cptr;
        j = strlen(cptr);
        if((cptr - buf) + j + 1 < buflen)
            cptr += j + 1;
        else
            cptr = NULL;
    }

spix_rpi5.c:

for(i = 0; dtcs != NULL; i++) {
        if(!strcmp(dtcs, DTC_RPI_MODEL_5B) || !strcmp(dtcs, DTC_RPI_MODEL_5CM)) {
            break;    // Found our supported board
        }
    }

Thanks for your help.

I am closely watching this too. I was trying to make work external homing on Delta B3 servos, but it did not work, no matter how I connected hal pins.
The closest I got was, when I was able to home drive, but it jumped back to original position (if the following error was large enough).

I hope that i am understanding what your asking correctly. The motor is driven by a CL driver from stepper online. I have the motor wired to the stepgen 3 on the board  7i96 and the encoder to the encoder area on the board. Data sheet attached.

my assumption is that there is feed back from the encoder i just can't seem to find our what channels to listen to so i can tune it in. 

 

Yes, it is a differential signal.
I am attaching a screen manual from the servopack.
 
 Two servos are Delta asda-b2 750w and one on the z axis is the Chinese a1-svd 750w and in total there are such symptoms on each axis.
The encoder cable is shielded and a separate analog cable is also shielded, the shield is only connected to the servopack.
Maybe I need to use resistors?

 

Thanks for all the work!
At a first glance I'm a bit confused what you are doing in your test. Why are you using equations 17..20 and 44?

In my opinion the workflow should be like this.
1. eq 25, 26 or 29,30 depending on type of segments (line or arc)
2. eq 31, 32, 33 to calculate the transformation matrix T
3. eq 35 calculate the transformed derivatives
4. eq 39 calculate theta_1,0, _2,0, _1,4 and _2,4
5. eq 40 calculate kappa_1,0, _2,0, _1,4 and _2,4
6. eq 43,42 calculate c_1,0, _2,0, _1,4 and _2,4
7. dogleg to calculate gamma_1,1, _2,1 and s1
8. eq 45 to calculate the rest.

I'll have a more in depth look tomorrow.

azim4411 wrote:

can we use mesa with the existing ferrocontrol motors?
And what mesa cards do we need in total?

You came here to ask for help on something very complicated and very time consuming, yet you did not even bother to spend 10 minutes of your time to have a look through the topic!!!! WTH???
That is very disrespectful to us as we spend a lot of our very valuable time posting and helping others here.
Read the topic, everything is there in great details.

Homing is now driving out to the limit switches.
I've set x axis (joint(0):-
HOME_SEQUENCE = 2
HOME_SEARCH_VEL = -100
HOME_LATCH_VEL = 10
HOME_USE_INDEX = YES
HOME_OFFSET = 5.08
HOME = 25.4
But not returning to the index.


Thanks