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Brother TC-225 Retrofit and Robot integration
5 years 6 months ago #204736
by andypugh
Replied by andypugh on topic Brother TC-225 Retrofit and Robot integration
Here is a debian package of the latest build.
You can install with
The ./ in front of the file name is a hint to apt-get to look for a local file rather than look on the repositories.
You can install with
Code:
sudo apt-get install ./mesaflash_3.4.0~pre1-1_amd64.deb
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5 years 6 months ago #204737
by andypugh
You don't even need those.
You can get a basic connection to your card with
That won't actually do anything without a realtime thread running. (which you can also do from the command line)
Replied by andypugh on topic Brother TC-225 Retrofit and Robot integration
timfaber wrote: Now i think this shouldn't stop me from continuing. Tried to make myself familiar with the hal and ini concept. if i understand correctly the hal file connects certain components with signals and the ini file has your parameters stored which the hal file references. Now are these two file in the most basic form all you need to run linuxcnc?
You don't even need those.
You can get a basic connection to your card with
Code:
halrun
loadrt hostmot2
loadrt hm2_eth board_ip=10.10.10.10
show pin
That won't actually do anything without a realtime thread running. (which you can also do from the command line)
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5 years 6 months ago #204746
by timfaber
That didn't work for me
Used this instead, dont know if it did the trick?
Replied by timfaber on topic Brother TC-225 Retrofit and Robot integration
andypugh wrote: Here is a debian package of the latest build.
You can install withThe ./ in front of the file name is a hint to apt-get to look for a local file rather than look on the repositories.Code:sudo apt-get install ./mesaflash_3.4.0~pre1-1_amd64.deb
That didn't work for me
Code:
timfaber@Brother:~$ sudo apt-get install /mesaflash_3.4.0~pre1-1_amd64.deb
Reading package lists... Done
E: Unsupported file /mesaflash_3.4.0~pre1-1_amd64.deb given on commandline
Used this instead, dont know if it did the trick?
Code:
timfaber@Brother:~$ sudo dpkg -i ./mesaflash_3.4.0~pre1-1_amd64.deb
(Reading database ... 93359 files and directories currently installed.)
Preparing to unpack .../mesaflash_3.4.0~pre1-1_amd64.deb ...
Unpacking mesaflash (3.4.0~pre1-1) over (3.4.0~pre1-1) ...
Setting up mesaflash (3.4.0~pre1-1) ...
Processing triggers for man-db (2.8.5-2) ...
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5 years 6 months ago #204747
by timfaber
Replied by timfaber on topic Brother TC-225 Retrofit and Robot integration
Any idea what im doing wrong trying the start linuxcnc
it seems to stop at
Code:
timfaber@Brother:~$ linuxcnc /home/timfaber/linuxcnc/configs/brother/basic7i97.ini
LINUXCNC - 2.8.1
Machine configuration directory is '/home/timfaber/linuxcnc/configs/brother'
Machine configuration file is 'basic7i97.ini'
Starting LinuxCNC...
emc/iotask/ioControl.cc 702: can't load tool table.
Found file(REL): ./basic7i97.hal
Note: Using POSIX realtime
hm2: loading Mesa HostMot2 driver version 0.15
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 10.10.10.10: INFO: Hardware address (MAC): 00:60:1b:17:00:0f
hm2_eth: discovered 7I97
hm2/hm2_7i97.0: Low Level init 0.15
hm2/hm2_7i97.0: Smart Serial Firmware Version 43
hm2/hm2_7i97.0: 51 I/O Pins used:
hm2/hm2_7i97.0: IO Pin 000 (TB3-04): PWMGen #0, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0: IO Pin 001 (TB3-08): PWMGen #1, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0: IO Pin 002 (TB3-12): PWMGen #2, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0: IO Pin 003 (TB3-16): PWMGen #3, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0: IO Pin 004 (TB3-20): PWMGen #4, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0: IO Pin 005 (AN_ENA4): PWMGen #4, pin Not-Enable (Output)
hm2/hm2_7i97.0: IO Pin 006 (TB3-24): PWMGen #5, pin Out0 (PWM or Up) (Output)
hm2/hm2_7i97.0: IO Pin 007 (AN_ENA5): PWMGen #5, pin Not-Enable (Output)
hm2/hm2_7i97.0: IO Pin 008 (AN-ENA0..3): PWMGen #0, pin Not-Enable (Output)
hm2/hm2_7i97.0: IO Pin 009 (TB1-01/TB1-09): Muxed Encoder #0, pin Muxed A (Input)
hm2/hm2_7i97.0: IO Pin 010 (TB1-04/TB1-12): Muxed Encoder #0, pin Muxed B (Input)
hm2/hm2_7i97.0: IO Pin 011 (TB1-07/TB1-15): Muxed Encoder #0, pin Muxed Index (Input)
hm2/hm2_7i97.0: IO Pin 012 (TB1-17/TB2-01): Muxed Encoder #1, pin Muxed A (Input)
hm2/hm2_7i97.0: IO Pin 013 (TB1-20/TB2-04): Muxed Encoder #1, pin Muxed B (Input)
hm2/hm2_7i97.0: IO Pin 014 (TB1-23/TB2-07): Muxed Encoder #1, pin Muxed Index (Input)
hm2/hm2_7i97.0: IO Pin 015 (TB2-09/TB2-17): Muxed Encoder #2, pin Muxed A (Input)
hm2/hm2_7i97.0: IO Pin 016 (TB2-12/TB2-20): Muxed Encoder #2, pin Muxed B (Input)
hm2/hm2_7i97.0: IO Pin 017 (TB2-15/TB2-23): Muxed Encoder #2, pin Muxed Index (Input)
hm2/hm2_7i97.0: IO Pin 018 (Internal EncMux): Muxed Encoder Select #0, pin Mux Select 0 (Output)
hm2/hm2_7i97.0: IO Pin 019 (TB5-13/TB5-14): SSR #0, pin Out-00 (Output)
hm2/hm2_7i97.0: IO Pin 020 (TB5-15/TB5-16): SSR #0, pin Out-01 (Output)
hm2/hm2_7i97.0: IO Pin 021 (TB5-17/TB5-18): SSR #0, pin Out-02 (Output)
hm2/hm2_7i97.0: IO Pin 022 (TB5-19/TB5-20): SSR #0, pin Out-03 (Output)
hm2/hm2_7i97.0: IO Pin 023 (TB5-21/TB5-22): SSR #0, pin Out-04 (Output)
hm2/hm2_7i97.0: IO Pin 024 (TB5-23/TB5-24): SSR #0, pin Out-05 (Output)
hm2/hm2_7i97.0: IO Pin 025 (Internal InMux0): SSR #0, pin AC Ref (internal) (Output)
hm2/hm2_7i97.0: IO Pin 026 (Internal InMux1): InMux Input Mux #0, pin addr0 (Output)
hm2/hm2_7i97.0: IO Pin 027 (Internal InMux2): InMux Input Mux #0, pin addr1 (Output)
hm2/hm2_7i97.0: IO Pin 028 (Internal InMux3): InMux Input Mux #0, pin addr2 (Output)
hm2/hm2_7i97.0: IO Pin 029 (Internal InMuxData): InMux Input Mux #0, pin addr3 (Output)
hm2/hm2_7i97.0: IO Pin 030 (TB4-15/TB4-16): InMux Input Mux #0, pin muxdata (Input)
hm2/hm2_7i97.0: IO Pin 031 (TB4-17/TB4-18): IOPort
hm2/hm2_7i97.0: IO Pin 032 (TB4-17/TB4-18): IOPort
hm2/hm2_7i97.0: IO Pin 033 (P1-01): IOPort
hm2/hm2_7i97.0: IO Pin 034 (P1-02): IOPort
hm2/hm2_7i97.0: IO Pin 035 (P1-03): IOPort
hm2/hm2_7i97.0: IO Pin 036 (P1-04): IOPort
hm2/hm2_7i97.0: IO Pin 037 (P1-05): IOPort
hm2/hm2_7i97.0: IO Pin 038 (P1-06): IOPort
hm2/hm2_7i97.0: IO Pin 039 (P1-07): IOPort
hm2/hm2_7i97.0: IO Pin 040 (P1-08): IOPort
hm2/hm2_7i97.0: IO Pin 041 (P1-09): IOPort
hm2/hm2_7i97.0: IO Pin 042 (P1-11): IOPort
hm2/hm2_7i97.0: IO Pin 043 (P1-13): IOPort
hm2/hm2_7i97.0: IO Pin 044 (P1-15): IOPort
hm2/hm2_7i97.0: IO Pin 045 (P1-17): IOPort
hm2/hm2_7i97.0: IO Pin 046 (P1-19): IOPort
hm2/hm2_7i97.0: IO Pin 047 (P1-21): IOPort
hm2/hm2_7i97.0: IO Pin 048 (P1-23): IOPort
hm2/hm2_7i97.0: IO Pin 049 (P1-25): IOPort
hm2/hm2_7i97.0: registered
./basic7i97.hal:225: Unknown command '3600'
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
Could not open command file 'shutdown.hal'
hm2_eth: in hm2_eth_reset
hm2_eth: HostMot2 ethernet driver unloaded
hm2: unloading
Note: Using POSIX realtime
LinuxCNC terminated with an error. You can find more information in the log:
/home/timfaber/linuxcnc_debug.txt
and
/home/timfaber/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal
it seems to stop at
./basic7i97.hal:225: Unknown command '3600'
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5 years 6 months ago #204750
by timfaber
Replied by timfaber on topic Brother TC-225 Retrofit and Robot integration
Went around back to my control cabinet where the mesa card is, found that CR11 (init) was red (yellow according to the manual). " in normal operation CR11 and CR12 will be off. If either is on after power-up thereis a problem with configuring the FPGA" Maybe this is the reason why mesaflash cant find the board. Now to figure out what the problem is
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5 years 6 months ago #204752
by andypugh
Not the same command. You missed out the dot in the dot-slash
Replied by andypugh on topic Brother TC-225 Retrofit and Robot integration
timfaber wrote:
Code:sudo apt-get install ./mesaflash_3.4.0~pre1-1_amd64.debCode:timfaber@Brother:~$ sudo apt-get install /mesaflash_3.4.0~pre1-1_amd64.deb
Not the same command. You missed out the dot in the dot-slash
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5 years 6 months ago #204754
by andypugh
What does line 225 of basic7i97.hal say? (At a guess, there is a spurious linefeed)
Replied by andypugh on topic Brother TC-225 Retrofit and Robot integration
timfaber wrote: it seems to stop at
./basic7i97.hal:225: Unknown command '3600'
What does line 225 of basic7i97.hal say? (At a guess, there is a spurious linefeed)
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5 years 6 months ago #204761
by timfaber
Replied by timfaber on topic Brother TC-225 Retrofit and Robot integration
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5 years 6 months ago #204777
by tommylight
Use of dpkg is not advised as it does not check for dependencies in some cases.
Replied by tommylight on topic Brother TC-225 Retrofit and Robot integration
Missing . in front of the / in the apt-get line.timfaber wrote: That didn't work for me
Code:timfaber@Brother:~$ sudo apt-get install /mesaflash_3.4.0~pre1-1_amd64.deb
Used this instead, dont know if it did the trick?Code:timfaber@Brother:~$ sudo dpkg -i ./mesaflash_3.4.0~pre1-1_amd64.deb
Use of dpkg is not advised as it does not check for dependencies in some cases.
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5 years 6 months ago #204778
by timfaber
Replied by timfaber on topic Brother TC-225 Retrofit and Robot integration
Been digging a bit more in the docs and my hal file, came up with some things still a bit unclear to me.
readhmi gave me the following:
and now inparticular:
Now does IO 0 get referenced in here(below)? and why are there 4 pins on IO 8 and how are they enabled idividually in the hal file?
readhmi gave me the following:
Code:
timfaber@Brother:~$ mesaflash --device ethernet --addr 10.10.10.10 --readhmid
Configuration Name: HOSTMOT2
General configuration information:
BoardName : MESA7I97
FPGA Size: 9 KGates
FPGA Pins: 144
Number of IO Ports: 3
Width of one I/O port: 17
Clock Low frequency: 100.0000 MHz
Clock High frequency: 200.0000 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 3 of IOPort in configuration
Version: 0
Registers: 5
BaseAddress: 1000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: MuxedQCount
There are 6 of MuxedQCount in configuration
Version: 3
Registers: 5
BaseAddress: 3600
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: MuxedQCountSel
There are 1 of MuxedQCountSel in configuration
Version: 0
Registers: 0
BaseAddress: 0000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: SSerial
There are 1 of SSerial in configuration
Version: 0
Registers: 6
BaseAddress: 5B00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 64 bytes
Module: PWM
There are 6 of PWM in configuration
Version: 0
Registers: 5
BaseAddress: 4100
ClockFrequency: 200.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: SSR
There are 1 of SSR in configuration
Version: 0
Registers: 2
BaseAddress: 7D00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: InMux
There are 1 of InMux in configuration
Version: 0
Registers: 5
BaseAddress: 8000
ClockFrequency: 100.000 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
Configuration pin-out:
IO Connections for TB1/TB2/TB3
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
TB3-4 0 IOPort PWM 0 PWM (Out)
TB3-8 1 IOPort PWM 1 PWM (Out)
TB3-12 2 IOPort PWM 2 PWM (Out)
TB3-16 3 IOPort PWM 3 PWM (Out)
TB3-20 4 IOPort PWM 4 PWM (Out)
TB3-20 5 IOPort PWM 4 /Enable (Out)
TB3-24 6 IOPort PWM 5 PWM (Out)
TB3-24 7 IOPort PWM 5 /Enable (Out)
TB3-4,8,12,16 8 IOPort PWM 0 /Enable (Out)
TB1-1,2,9,10 9 IOPort MuxedQCount 0 MuxQ-A (In)
TB1-4,5,12,13 10 IOPort MuxedQCount 0 MuxQ-B (In)
TB1-7,8,15,16 11 IOPort MuxedQCount 0 MuxQ-IDX (In)
TB1-17,18,TB2 1,2 12 IOPort MuxedQCount 1 MuxQ-A (In)
TB1-20,21,TB2-4,5 13 IOPort MuxedQCount 1 MuxQ-B (In)
TB1-23,24,TB2-7,8 14 IOPort MuxedQCount 1 MuxQ-IDX (In)
TB2-9,10,17,18 15 IOPort MuxedQCount 2 MuxQ-A (In)
TB2-12,13,20,21 16 IOPort MuxedQCount 2 MuxQ-B (In)
IO Connections for TB4/TB5
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
TB2-15,16,23,24 17 IOPort MuxedQCount 2 MuxQ-IDX (In)
Internal 18 IOPort MuxedQCountSel 0 MuxSel0 (Out)
TB5-13,14 19 IOPort SSR 0 Out-00 (Out)
TB5-15,16 20 IOPort SSR 0 Out-01 (Out)
TB5-17,18 21 IOPort SSR 0 Out-02 (Out)
TB5-19,20 22 IOPort SSR 0 Out-03 (Out)
TB5-21,22 23 IOPort SSR 0 Out-04 (Out)
TB5-23,24 24 IOPort SSR 0 Out-05 (Out)
Internal 25 IOPort SSR 0 AC Ref (Out)
Internal 26 IOPort InMux 0 Addr0 (Out)
Internal 27 IOPort InMux 0 Addr1 (Out)
Internal 28 IOPort InMux 0 Addr2 (Out)
Internal 29 IOPort InMux 0 Addr3 (Out)
Internal 30 IOPort InMux 0 Data0 (In)
TB4-15,16 31 IOPort SSerial 0 RXData0 (In)
TB4-17,18 32 IOPort SSerial 0 TXData0 (Out)
Internal 33 IOPort SSerial 0 TXEn0 (Out)
IO Connections for P1
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
P1-01/DB25-01 34 IOPort None
P1-02/DB25-14 35 IOPort None
P1-03/DB25-02 36 IOPort None
P1-04/DB25-15 37 IOPort None
P1-05/DB25-03 38 IOPort None
P1-06/DB25-16 39 IOPort None
P1-07/DB25-04 40 IOPort None
P1-08/DB25-17 41 IOPort None
P1-09/DB25-05 42 IOPort None
P1-11/DB25-06 43 IOPort None
P1-13/DB25-07 44 IOPort None
P1-15/DB25-08 45 IOPort None
P1-17/DB25-09 46 IOPort None
P1-19/DB25-10 47 IOPort None
P1-21/DB25-11 48 IOPort None
P1-23/DB25-12 49 IOPort None
P1-25/DB25-13 50 IOPort None
Code:
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
TB3-4 0 IOPort PWM 0 PWM (Out)
TB3-8 1 IOPort PWM 1 PWM (Out)
TB3-12 2 IOPort PWM 2 PWM (Out)
TB3-16 3 IOPort PWM 3 PWM (Out)
TB3-20 4 IOPort PWM 4 PWM (Out)
TB3-20 5 IOPort PWM 4 /Enable (Out)
TB3-24 6 IOPort PWM 5 PWM (Out)
TB3-24 7 IOPort PWM 5 /Enable (Out)
TB3-4,8,12,16 8 IOPort PWM 0 /Enable (Out)
TB1-1,2,9,10 9 IOPort MuxedQCount 0 MuxQ-A (In)
TB1-4,5,12,13 10 IOPort MuxedQCount 0 MuxQ-B (In)
TB1-7,8,15,16 11 IOPort MuxedQCount 0 MuxQ-IDX (In)
TB1-17,18,TB2 1,2 12 IOPort MuxedQCount 1 MuxQ-A (In)
TB1-20,21,TB2-4,5 13 IOPort MuxedQCount 1 MuxQ-B (In)
TB1-23,24,TB2-7,8 14 IOPort MuxedQCount 1 MuxQ-IDX (In)
TB2-9,10,17,18 15 IOPort MuxedQCount 2 MuxQ-A (In)
TB2-12,13,20,21 16 IOPort MuxedQCount 2 MuxQ-B (In)
Code:
# ---PWM Generator signals/setup---
setp [HMOT](CARD0).pwmgen.00.output-type 1 #PWM pin0
setp [HMOT](CARD0).pwmgen.00.offset-mode 1 # offset mode so 50% = 0
setp [HMOT](CARD0).pwmgen.00.scale [JOINT_0]OUTPUT_SCALE
net x-output => [HMOT](CARD0).pwmgen.00.value
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-enable <= joint.0.amp-enable-out
# enable first 4 PWMGens on x-enable
net x-enable => [HMOT](CARD0).pwmgen.00.enable
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