Pokeys_homecomp EncoderSearch / Encoder Arm Topic: Pos_Fb Following errors

andypugh
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7 years 10 months ago #122004 by andypugh

Replied by andypugh on topic Pokeys

Erikcnc wrote: I could try to remove 'show pin' and check if its realy that issue.

It might just be that "show pin" uses up a couple of mS of CPU time

Another thing, those arrows are they have a function? Does it make a difirents how you insert them? ( <= or => )

No, they are optional, for human legibility.

About those potentiometers, i set them as analog input with the pokeys software.
I have to check how i can see values insted of I/0 dots.

Halmeter (From the "Machine" menu in Axis) will show you the value of a HAL pin or parameter.
You can keep choosing the option and open several.

Other GUIs get it in other ways, except for Touchy where you need to open a terminal and type "halcmd loadusr halmeter" (and that works on all GUIs and none)#

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Erikcnc
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7 years 10 months ago #122133 by Erikcnc

Replied by Erikcnc on topic Pokeys

So i checkt if there was a value i can read.
The issue is that the pin i use (45, 46, and 47) are bit type. So, i see that they are constand TRUE.

I set these pins in Pokeys software as analog.

In linuxcnc they have to be a FLOAT type output. How can i change this?

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andypugh
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7 years 10 months ago #122134 by andypugh

Replied by andypugh on topic Pokeys

You should see some pins called "ain"

Code:

pin out unsigned ain-# [3];

something like pokeys.0.ain-0
They are unsigned int rather than float, to convert to float you would need to convert to float then scale them.

If I was doing it I would modify the HAL component to output scaled float.

change the line above to

Code:

pin out float ain-# [3];

And add

Code:

pin in float analog-scale-# [3];

Then change this

Code:

for(i=0;i<3;i++)ain(i)=dev->Pins[i+44].AnalogValue;

Code:

for(i=0;i<3;i++)ain(i)=(dev->Pins[i+44].AnalogValue * analog_scale(i)) /4096.0 ;

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Erikcnc
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7 years 9 months ago #124681 by Erikcnc

Replied by Erikcnc on topic Pokeys

Hi Andy,

After some other projects i would like to give this another try.
so, i understanding that the comp file should look like this.

Code:

component pokeys "PoKeys IO driver, by Mit Zot";

option userspace yes;


pin out bit in-# [55];
pin out fload ain-# [3];
pin out bit err;
pin in unsigned devSerial;
pin out bit alive;
pin in float analog-scale-# [3];

license "GPL";
;;

#include "PoKeysLib.h"
#include <unistd.h>   /* UNIX standard function definitions */

sPoKeysDevice * dev=0;
int i=0;

void user_mainloop(void) 
{ 
   
    while(0xb){
       FOR_ALL_INSTS() {

	 while(dev == NULL)dev = PK_ConnectToDeviceWSerial(devSerial, 38163);  //waits for usb device
	
	
	 alive=1; 
	 if ((PK_DigitalIOGet(dev) == PK_OK) && (PK_AnalogIOGet(dev) == PK_OK)){  //gets IO data and checks return value 
		err=0;
		for(i=0;i<54;i++)in(i)=!dev->Pins[i].DigitalValueGet;           //just transfers values
		for(i=0;i<3;i++)ain(i)=dev->Pins[i+44].AnalogValue * analog_scale(i)) /4096.0 ;
	 }
         else{             		  //on connection error
		PK_DisconnectDevice(dev);
		dev=NULL;  		  //tries to reconnect
		err=1;
		for(i=0;i<54;i++)in(i)=0;
		for(i=0;i<3;i++)ain(i)=0;
	 }
	 alive=0;
	usleep(40000); 
        }
    }

    exit(0);
}

does this looks correct?

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andypugh
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7 years 9 months ago #124704 by andypugh

Replied by andypugh on topic Pokeys

It's been a long time. Just try it, does it work? If not, what is the error message?

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xaxxes
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7 years 1 week ago #148549 by xaxxes

Replied by xaxxes on topic Pokeys

Hello.
I've modified the pokeys.comp from the first post to use the pins as outputs (for LEDs). With LinuxCNC I can set the outputs HIGH and LOW but the output on the PoKeys-board (PoKeys56U) does not work. (With the PoKey software for windows the output works fine.)

I added the follwing lines:
pin in bit out-# [55];
for(i=0;i<55;i++)dev->Pins.DigitalValueSet=out(i);
PK_DigitalIOSet(dev);

pokeys.comp

Code:

component pokeys "PoKeys IO driver, by Mit Zot";

option userspace yes;


pin out bit in-# [55];
pin out unsigned ain-# [3];
pin out bit err;
pin in bit out-# [55];
pin in unsigned devSerial;
pin out bit alive;

license "GPL";
;;

#include "PoKeysLib.h"
#include <unistd.h>   /* UNIX standard function definitions */

sPoKeysDevice * dev=0;
int i=0;

void user_mainloop(void) 
{ 
   
    while(0xb){
       FOR_ALL_INSTS() {

	 while(dev == NULL)dev = PK_ConnectToDeviceWSerial(devSerial, 2000);  //waits for usb device
	
	
	 alive=1; 
	 if ((PK_DigitalIOGet(dev) == PK_OK) && (PK_AnalogIOGet(dev) == PK_OK)){  //gets IO data and checks return value 
		err=0;
		for(i=0;i<54;i++)in(i)=!dev->Pins[i].DigitalValueGet;           //just transfers values
		for(i=0;i<54;i++)dev->Pins[i].DigitalValueSet=out(i);     
		PK_DigitalIOSet(dev);
		for(i=0;i<3;i++)ain(i)=dev->Pins[i+44].AnalogValue;
	 }
         else{             		  //on connection error
		PK_DisconnectDevice(dev);
		dev=NULL;  		  //tries to reconnect
		err=1;
		for(i=0;i<54;i++)in(i)=0;
		for(i=0;i<3;i++)ain(i)=0;
	 }
	 alive=0;
	usleep(40000); 
        }
    }

    exit(0);
}

What is wrong/missing?
thanks

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andypugh
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7 years 4 days ago #148854 by andypugh

Replied by andypugh on topic Pokeys

Did it compile with no errors?

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xaxxes
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7 years 3 days ago #148868 by xaxxes

Replied by xaxxes on topic Pokeys

Hi. I get one error. But this error i also get with the pokeys.comp from the first post

error:

Code:

In file included from ./pokeys.comp:16:0:
./PoKeysLib.h:65:0: warning: ignoring #pragma warning  [-Wunknown-pragmas]
 #pragma warning(disable:4996)

Thank you

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andypugh
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7 years 1 day ago #149059 by andypugh

Replied by andypugh on topic Pokeys

That's just a warning, so doesn't explain the problem.

At this point I think I would be adding "printf" statements in the setup code, just to be sure that I really am running the code I am compiling...

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KRAD-AT
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6 years 6 months ago #162762 by KRAD-AT

Replied by KRAD-AT on topic Problem after compiling pokeys.comp

Hello,

I am trying to get a pokeys 57e to work as my bob.
I have set up a linux mint with a master branch of linuxcnc and i am tryling to make the component for pokeys.
I am following the instructions in the first post of this topic and it works including the halcompile.

But the next step does not work:

Code:

gcc -Wall  -Os -g -I. -I/usr/include/libusb-1.0 -I/usr/include -L/usr/lib/ -L/usr/lib/arm-linux-gnueabihf/ -lPoKeys -lusb-1.0 -I/usr/realtime-3.4-9-rtai-686-pae/include -I. -I/usr/realtime-3.4-9-rtai-686-pae/include -I/usr/include/i386-linux-gnu -U_FORTIFY_SOURCE -D_FORTIFY_SOURCE=0 -fno-math-errno -funsafe-math-optimizations -fno-rounding-math -fno-signaling-nans -fcx-limited-range -mhard-float -DRTAI=3 -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -DRTAPI -D_GNU_SOURCE -Drealtime -D__MODULE__ -I/usr/include/linuxcnc -Wframe-larger-than=2560 -URTAPI -U__MODULE__ -DULAPI -Os  -o pokeys ./pokeys.c -Wl,-rpath,/lib -L/lib -llinuxcnchal

I have no Idea what to do next. Can anyone help me?

Thank you!

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