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Hi,

i currently try to finalize the homing_comp for pokeys. it seem to basically work, but at the end where the sychronized axes should finish their homing. they are still shown as unhomed. (sometimes one of them got marked homed but never both of them)

 
 


Somehow it seems that i'm missing something, but i cannot figure out if i need to set a HAL flag or missed a step which is required to be done to finalize overall homing.

Can some one please point me in the direction where to look at? 

[TRAJ]
COORDINATES =  XXYZ

[JOINT_0] 
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -3

[JOINT_1]
HOME_OFFSET = 4.100000
HOME_SEARCH_VEL = -1.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -3

[JOINT_2]
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -3
HOME_LATCH_VEL = 1
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2

[JOINT_3]
HOME_OFFSET = 0.5
HOME_SEARCH_VEL = 3
HOME_LATCH_VEL = 1
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1


if it is required my home_comp can be found here github.com/zarfld/LinuxCnc_PokeysLibComp...pokeys_homecomp.comp

it basically comminicates with pokeys.comp by a status and a command signal using following enumerations for each joint seperately

typedef enum
{
    PK_PEAxisState_axSTOPPED = 0, // Axis is stopped
    PK_PEAxisState_axREADY = 1,   // Axis ready
    PK_PEAxisState_axRUNNING = 2, // Axis is running

    PK_PEAxisState_axHOMING_RESETTING = 8,   // Stopping the axis to reset the position counters
    PK_PEAxisState_axHOMING_BACKING_OFF = 9, // Backing off switch
    PK_PEAxisState_axHOME = 10,              // Axis is homed
    PK_PEAxisState_axHOMINGSTART = 11,       // Homing procedure is starting on axis
    PK_PEAxisState_axHOMINGSEARCH = 12,      // Homing procedure first step - going to home
    PK_PEAxisState_axHOMINGBACK = 13,        // Homing procedure second step - slow homing

    PK_PEAxisState_axPROBED = 14,      // Probing completed for this axis
    PK_PEAxisState_axPROBESTART = 15,  // Probing procedure is starting on axis
    PK_PEAxisState_axPROBESEARCH = 16, // Probing procedure - probing

    PK_PEAxisState_axERROR = 20, // Axis error
    PK_PEAxisState_axLIMIT = 30  // Axis limit tripped
} pokeys_home_state_t;

typedef enum
{
    PK_PEAxisCommand_axIDLE = 0,           // Axis  in IDLE
    PK_PEAxisCommand_axHOMINGSTART = 1,    // Start Homing procedure
    PK_PEAxisCommand_axHOMINGCANCEL = 2,   // Cancel Homing procedure
    PK_PEAxisCommand_axHOMINGFINALIZE = 3, // Finish Homing procedure
} pokeys_home_command_t;

I have been taking a look at panelui, however I can not finde any simple an clear example of how to set up a simple demo to get going is there such a thing like an easy to follow example?

I also have hard time to find information  wether the panelui can work in conjuction with a ui like QtDragon or not?

Kind regards/Stefan

I would have brought the JTAG signals out for initial programming of the FPGA and not shared the serial flash signals.
May sound cumbersome but programming only needs to be done once via JTAG, after that mesa flash does the job fine.
I've thought along the lines of Andy that it would be an interesting project.
From my 7c81 clone experience I think there is the possibility of being able to bring out an extra 17 pin port, for a total of 68 io. Tho this would require firmware changes, new custom board name and and such. Also I made some changes to mesa flash and the driver to suit.
One thing I have noted with the RPi5 is that it's more forgiving in relation the SPI cable length and "messiness", IE it will tolerate longer DuPont cables that an RPi4 would. I thought I would just mention this.
Apart from not having the skill to design a board to suit, nor anyone to help during the process is that I like having the boards seperate, just in case my butter fingers cause one the voltage translation chips to blow a smoke valve and damage the PCB. Honestly this is likely to be a rare event.
On the whole good luck and keep us informed. If you have any questions regarding the Linuxcnc image I'm happy to help.

Thank you for your reply. I have read it. My question is whether this encoder is BiSS and uses a standard protocol that can be decoded by LCNC, because I understand that some of these types of encoders use their own protocol.