HAL Driver for Raspberry PI GPIOs

juscious
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6 years 5 months ago #166670 by juscious

Replied by juscious on topic HAL Driver for Raspberry PI GPIOs

Thanks again !

Wouldnt managed myself to do so much. You are a savior

. Changed to hal_pi_gpio. Seems like everything works, getting some weird end stop errors, but from this point everything is manageable.

Anyways, i will analyze, and actually i have a task of doing SCARA robot control using LinuxCNC via RPI GPIO. Now feeling quite comfortable.

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twoflowers
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6 years 5 months ago #166677 by twoflowers

Replied by twoflowers on topic HAL Driver for Raspberry PI GPIOs

Oh, I had erratic endstop triggering, too. I used software debouncing and they were gone. Here is the hal-file with debouncing - sorry, the last config was an old backup. Please test:

Attachment not found

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Markyd
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6 years 3 months ago #175120 by Markyd

Replied by Markyd on topic HAL Driver for Raspberry PI GPIOs

Apologies for what will be a really basic question; how do I run LinuxCNC with / load the hal_pi_gpio hal file? I've installed linucCNC to my rpi4 but I'm now stuck. I want to try gpio before forking out for a mesa board such as the 7i96.

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twoflowers
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6 years 3 months ago #175125 by twoflowers

Replied by twoflowers on topic HAL Driver for Raspberry PI GPIOs

Feel free to start with my forum.linuxcnc.org/media/kunena/attachme...17065/rpi3b-mill.tgz - it's just the configs, so it'll work on RPI4, too. But you will need to build the kernel + linuxcnc from git (there's a section in the wiki on how to do that - if you don't find tit, drop me a line).

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tommylight
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6 years 3 months ago #175126 by tommylight

Replied by tommylight on topic HAL Driver for Raspberry PI GPIOs

Do not know for kernel, but you do not have to build Linuxcnc from GIT on the RPI, there are ready made debs for ARMF here
buildbot.linuxcnc.or/dists

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Markyd
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6 years 3 months ago #175128 by Markyd

Replied by Markyd on topic HAL Driver for Raspberry PI GPIOs

Thanks for the the files. The bit I'm stuck with is what to do with the files, where do i put them and how do i tell linuxCNC to use them. I'm an absolute beginner to LinuxCNC and all the tutorials I've looked at seem to start with Stepconf which I assume i can't use if i want to use the GPIO port?

Can I work from the version of linuxcnc I have already installed (I used this tutorial gnipsel.com/linuxcnc/uspace/rpi4-rt.html ) ?

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tommylight
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6 years 3 months ago #175131 by tommylight

Replied by tommylight on topic HAL Driver for Raspberry PI GPIOs

Download the attachment, extract it, open the folder, right click on the file with the .ini extension, choose "open with", on the list of apps near the bottom enter linuxcnc.

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Markyd
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5 years 10 months ago #192526 by Markyd

Replied by Markyd on topic HAL Driver for Raspberry PI GPIOs

I eventually got this up and running, thanks to everyone's assistance.

I'm having problems trying to invert the enable pin and can't for the life of me work out what I'm doing wrong. I have the following

Code:

net xenable => hal_pi_gpio.pin-29-out
setp hal_pi_gpio.pin-29-out.invert_output TRUE

net xstep stepgen.0.step => hal_pi_gpio.pin-32-out
net ystep stepgen.1.step => hal_pi_gpio.pin-23-out
net zstep stepgen.2.step => hal_pi_gpio.pin-36-out


net xdir  stepgen.0.dir  => hal_pi_gpio.pin-24-out
net ydir  stepgen.1.dir  => hal_pi_gpio.pin-19-out
net zdir  stepgen.2.dir  => hal_pi_gpio.pin-40-out

but get a 'parameter or pin not found' error when loading the HAL file. What am i doing wrong?

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tommylight
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5 years 10 months ago #192530 by tommylight

Replied by tommylight on topic HAL Driver for Raspberry PI GPIOs

Try
setp hal_pi_gpio.pin-29.invert_output TRUE
And show us the error, otherwise we can just guess.

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Markyd
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5 years 10 months ago #192532 by Markyd

Replied by Markyd on topic HAL Driver for Raspberry PI GPIOs

This is the error. I assume the relevant bit is "parameter or pin 'hal_pi_gpio.pin-29.invert_output' not found". I've tried lots of variations and no luck

Code:

Error report created by /usr/lib/tcltk/linuxcnc/show_errors.tcl:

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.8.0
Machine configuration directory is '/home/pi/linuxcnc/configs/Harrison_Vert_Mill'
Machine configuration file is 'Harrison_Vert_Mill.ini'
INIFILE=/home/pi/linuxcnc/configs/Harrison_Vert_Mill/Harrison_Vert_Mill.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=X Y Z
KINEMATICS=trivkins
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
twopass:invoked with <> options
twopass:found ./Harrison_Vert_Mill.hal
twopass:found ./custom.hal
twopass:pass0: loadusr -W hal_manualtoolchange
twopass: Error in file ./Harrison_Vert_Mill.hal:
    setting parameter 'hal_pi_gpio.pin-29.invert_output' to 'TRUE'
parameter or pin 'hal_pi_gpio.pin-29.invert_output' not found
Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
3852
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

And this is how it appears in the HAL file

Code:

setp hal_pi_gpio.pin-29.invert_output TRUE
net xenable => hal_pi_gpio.pin-29-out
	

net xstep stepgen.0.step => hal_pi_gpio.pin-32-out
net ystep stepgen.1.step => hal_pi_gpio.pin-23-out
net zstep stepgen.2.step => hal_pi_gpio.pin-36-out

# i use GPIO 14,15,18 for xdir ydir zdir, thats rpin 
net xdir  stepgen.0.dir  => hal_pi_gpio.pin-24-out
net ydir  stepgen.1.dir  => hal_pi_gpio.pin-19-out
net zdir  stepgen.2.dir  => hal_pi_gpio.pin-40-out

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