Mesa modbus and pktUart

git clone https://github.com/LinuxCNC/linuxcnc.git linuxcnc-dev cd linuxcnc-dev/src sudo apt install automake ./autogen.sh sudo apt-get install libmodbus-dev sudo apt-get install libusb-1.0-0-dev sudo apt-get install yapps2 sudo apt-get install intltool sudo apt-get install libboost sudo apt install devscripts sudo apt install dh-python libudev-dev tcl8.6-dev tk8.6-dev asciidoc dblatex sudo apt install libreadline-gplv2-dev docbook-xsl dvipng ghostscript graphviz sudo apt install groff imagemagick inkscape python-lxml source-highlight sudo apt install texlive-extra-utils texlive-font-utils texlive-fonts-recommended sudo apt install texlive-lang-cyrillic texlive-lang-french texlive-lang-german sudo apt install texlive-lang-polish texlive-lang-spanish texlive-latex-recommended sudo apt install w3c-linkchecker xsltproc python-dev python-tk libxmu-dev sudo apt install libglu1-mesa-dev libgtk2.0-dev intltool libboost-python-dev sudo apt install libmodbus-dev libusb-1.0-0-dev desktop-file-utils yapps2 sudo apt install python-yapps bwidget libtk-img mesa-utils tclx8.4 sudo apt install tcl-tclreadline python-configobj python-gtkglext1 sudo apt install python-xlib gstreamer0.10-plugins-base netcat sudo apt install python-pil python-glade2 python-pil.imagetk sudo apt install python-gst-1.0 w3c-linkchecker libxmu-dev libtirpc-dev sudo apt install gdebi gdebi-core sudo apt install libreadline-dev sudo apt install libeditreadline-dev sudo apt install libxmu-headers sudo apt install libxmu-dev ./configure --with-realtime=uspace make sudo make setuid source ../scripts/rip-environment cd ~/linuxcnc-dev/bin (edit modcompile to use ../src instead of src else it will not find makefile.modinc) ./modcompile mesa_modbus_A5_Driver.mod

Debug file information: Note: Using POSIX non-realtime mesa_modbus_A5_Driver: dlopen: /usr/lib/linuxcnc/modules/mesa_modbus_A5_Driver.so: undefined symbol: hm2_pktuart_setup_rx ./Lathe_7i92T_0.hal:10: waitpid failed /usr/bin/rtapi_app mesa_modbus_A5_Driver ./Lathe_7i92T_0.hal:10: /usr/bin/rtapi_app exited without becoming ready ./Lathe_7i92T_0.hal:10: insmod for mesa_modbus_A5_Driver failed, returned -1 2759 Stopping realtime threads Unloading hal components Note: Using POSIX non-realtime

// Lichuan A5 AC Servo Drive Driver #define MAX_MSG_LEN 16   // may be increased if necessary to max 251 #define DEBUG 1 static const hm2_modbus_chan_descriptor_t channels[] = { /*  {TYPE,     FUNC, ADDR,   COUNT, pin_name} */     {HAL_U32,   3,   0x9C8, 1,     "speed-actual"},     {HAL_U32,   3,   0x9C9, 1,     "speed-instruction"},     {HAL_U32,   3,   0x9CA, 1,     "torque-instruction"},     {HAL_U32,   3,   0x9D4, 1,     "avg-load-rate"},     {HAL_U32,   3,   0x9E0, 1,     "phase-current"},     {HAL_U32,   3,   0x9E2, 1,     "bus-voltage"},     {HAL_U32,   3,   0x9E3, 1,     "tempreture"},     {HAL_U32,   6,   0x4CB, 1,     "set-speed"}, };

donno@linuxcnc:~/Desktop $ mesaflash --device 7i92T --addr 192.168.1.121 --readhmid Configuration Name: HOSTMOT2 General configuration information:   BoardName : MESA7I92   FPGA Size: 20 KGates   FPGA Pins: 256   Number of IO Ports: 2   Width of one I/O port: 17   Clock Low frequency: 100.0000 MHz   Clock High frequency: 175.0000 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 2 of IOPort in configuration   Version: 0   Registers: 5   BaseAddress: 1000   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: QCount   There are 2 of QCount in configuration   Version: 2   Registers: 5   BaseAddress: 3000   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: StepGen   There are 10 of StepGen in configuration   Version: 2   Registers: 10   BaseAddress: 2000   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: PWM   There are 2 of PWM in configuration   Version: 0   Registers: 5   BaseAddress: 4100   ClockFrequency: 175.000 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   Module: PktUARTTX   There are 1 of PktUARTTX in configuration   Version: 0   Registers: 4   BaseAddress: 6100   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes   Module: PktUARTRX   There are 1 of PktUARTRX in configuration   Version: 0   Registers: 4   BaseAddress: 6500   ClockFrequency: 100.000 MHz   Register Stride: 256 bytes   Instance Stride: 4 bytes Configuration pin-out: IO Connections for P2 DB25 pin#             I/O   Pri. func    Sec. func        Chan     Sec. Pin func   Sec. Pin Dir  1                      0   IOPort       PWM              0        PWM             (Out) 14                      1   IOPort       StepGen          0        Step/Table1     (Out)  2                      2   IOPort       StepGen          0        Dir/Table2      (Out) 15                      3   IOPort       StepGen          1        Step/Table1     (Out)  3                      4   IOPort       StepGen          1        Dir/Table2      (Out) 16                      5   IOPort       None             4                      6   IOPort       None            17                      7   IOPort       None             5                      8   IOPort       None             6                      9   IOPort       QCount           0        Quad-A          (In)  7                     10   IOPort       QCount           0        Quad-B          (In)  8                     11   IOPort       QCount           0        Quad-IDX        (In)  9                     12   IOPort       None            10                     13   IOPort       None            11                     14   IOPort       None            12                     15   IOPort       None            13                     16   IOPort       None            IO Connections for P1 DB25 pin#             I/O   Pri. func    Sec. func        Chan     Sec. Pin func   Sec. Pin Dir  1                     17   IOPort       PktUARTRX        0        RXData          (In) 14                     18   IOPort       PktUARTTX        0        TXData          (Out)  2                     19   IOPort       PktUARTTX        0        TXEna           (Out) 15                     20   IOPort       None             3                     21   IOPort       None            16                     22   IOPort       None             4                     23   IOPort       None            17                     24   IOPort       None             5                     25   IOPort       None             6                     26   IOPort       None             7                     27   IOPort       None             8                     28   IOPort       None             9                     29   IOPort       None            10                     30   IOPort       None            11                     31   IOPort       None            12                     32   IOPort       None            13                     33   IOPort       None  

# Generated by PNCconf at Mon Aug 28 20:19:10 2023 # Using LinuxCNC version:  Master (2.9) # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_eth board_ip="192.168.1.121" config="num_encoders=1 num_pwmgens=0 num_stepgens=2" loadrt mesa_modbus_A5_Driver names=hm2_7i92.0.pktuart.0 setp    hm2_7i92.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.z,pid.s loadrt abs names=abs.spindle loadrt lowpass names=lowpass.spindle loadrt scale names=scale.spindle loadrt near addf hm2_7i92.0.read          servo-thread addf motion-command-handler   servo-thread addf motion-controller        servo-thread addf pid.x.do-pid-calcs       servo-thread addf pid.z.do-pid-calcs       servo-thread addf pid.s.do-pid-calcs       servo-thread addf scale.spindle            servo-thread addf abs.spindle              servo-thread addf lowpass.spindle          servo-thread addf near.0                   servo-thread addf hm2_7i92.0.write         servo-thread addf mesa_modbus_A5_Driver      servo-thread setp hm2_7i92.0.dpll.01.timer-us -50 setp hm2_7i92.0.stepgen.timer-number 1 # external output signals # --- DOUT-00 --- setp hm2_7i92.0.gpio.000.is_output true net dout-00  =>     hm2_7i92.0.gpio.000.out # --- SPINDLE-ENABLE --- setp hm2_7i92.0.gpio.005.is_output true net spindle-enable  =>     hm2_7i92.0.gpio.005.out # --- SPINDLE-CW --- setp hm2_7i92.0.gpio.006.is_output true net spindle-cw  =>     hm2_7i92.0.gpio.006.out # --- SPINDLE-CCW --- setp hm2_7i92.0.gpio.007.is_output true net spindle-ccw  =>     hm2_7i92.0.gpio.007.out # --- COOLANT-MIST --- setp hm2_7i92.0.gpio.008.is_output true net coolant-mist  =>     hm2_7i92.0.gpio.008.out # --- DOUT-01 --- setp hm2_7i92.0.gpio.013.is_output true net dout-01  =>     hm2_7i92.0.gpio.013.out # --- DOUT-02 --- setp hm2_7i92.0.gpio.015.is_output true net dout-02  =>     hm2_7i92.0.gpio.015.out # --- DOUT-03 --- setp hm2_7i92.0.gpio.016.is_output true net dout-03  =>     hm2_7i92.0.gpio.016.out # --- ESTOP-OUT --- setp hm2_7i92.0.gpio.030.is_output true net estop-out  =>     hm2_7i92.0.gpio.030.out # --- MACHINE-IS-ENABLED --- setp hm2_7i92.0.gpio.032.is_output true net machine-is-enabled  =>     hm2_7i92.0.gpio.032.out # --- SPINDLE-ENABLE --- setp hm2_7i92.0.gpio.033.is_output true net spindle-enable  =>     hm2_7i92.0.gpio.033.out # external input signals # --- HOME-X --- net home-x     <=  hm2_7i92.0.gpio.012.in # --- HOME-Z --- net home-z     <=  hm2_7i92.0.gpio.014.in # --- DIN-00 --- net din-00     <=  hm2_7i92.0.gpio.019.in # --- DIN-01 --- net din-01     <=  hm2_7i92.0.gpio.020.in # --- DIN-02 --- net din-02     <=  hm2_7i92.0.gpio.021.in # --- DIN-03 --- net din-03     <=  hm2_7i92.0.gpio.022.in # --- ESTOP-EXT --- net estop-ext     <=  hm2_7i92.0.gpio.023.in # --- PROBE-IN --- net probe-in     <=  hm2_7i92.0.gpio.024.in #******************* #  AXIS X JOINT 0 #******************* setp   pid.x.Pgain     [JOINT_0]P setp   pid.x.Igain     [JOINT_0]I setp   pid.x.Dgain     [JOINT_0]D setp   pid.x.bias      [JOINT_0]BIAS setp   pid.x.FF0       [JOINT_0]FF0 setp   pid.x.FF1       [JOINT_0]FF1 setp   pid.x.FF2       [JOINT_0]FF2 setp   pid.x.deadband  [JOINT_0]DEADBAND setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT setp   pid.x.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp   pid.x.maxerror 0.012700 net x-index-enable  =>  pid.x.index-enable net x-enable        =>  pid.x.enable net x-pos-cmd       =>  pid.x.command net x-pos-fb        =>  pid.x.feedback net x-output        <=  pid.x.output # Step Gen signals/setup setp   hm2_7i92.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP setp   hm2_7i92.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD setp   hm2_7i92.0.stepgen.00.steplen         [JOINT_0]STEPLEN setp   hm2_7i92.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE setp   hm2_7i92.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE setp   hm2_7i92.0.stepgen.00.step_type        0 setp   hm2_7i92.0.stepgen.00.control-type     1 setp   hm2_7i92.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL setp   hm2_7i92.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd    <= joint.0.motor-pos-cmd net x-vel-cmd    <= joint.0.vel-cmd net x-output     => hm2_7i92.0.stepgen.00.velocity-cmd net x-pos-fb     <= hm2_7i92.0.stepgen.00.position-fb net x-pos-fb     => joint.0.motor-pos-fb net x-enable     <= joint.0.amp-enable-out net x-enable     => hm2_7i92.0.stepgen.00.enable # ---setup home / limit switch signals--- net home-x     =>  joint.0.home-sw-in net x-neg-limit     =>  joint.0.neg-lim-sw-in net x-pos-limit     =>  joint.0.pos-lim-sw-in #******************* #  AXIS Z JOINT 1 #******************* setp   pid.z.Pgain     [JOINT_1]P setp   pid.z.Igain     [JOINT_1]I setp   pid.z.Dgain     [JOINT_1]D setp   pid.z.bias      [JOINT_1]BIAS setp   pid.z.FF0       [JOINT_1]FF0 setp   pid.z.FF1       [JOINT_1]FF1 setp   pid.z.FF2       [JOINT_1]FF2 setp   pid.z.deadband  [JOINT_1]DEADBAND setp   pid.z.maxoutput [JOINT_1]MAX_OUTPUT setp   pid.z.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp   pid.z.maxerror 0.012700 net z-index-enable  =>  pid.z.index-enable net z-enable        =>  pid.z.enable net z-pos-cmd       =>  pid.z.command net z-pos-fb        =>  pid.z.feedback net z-output        <=  pid.z.output # Step Gen signals/setup setp   hm2_7i92.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP setp   hm2_7i92.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD setp   hm2_7i92.0.stepgen.01.steplen         [JOINT_1]STEPLEN setp   hm2_7i92.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE setp   hm2_7i92.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE setp   hm2_7i92.0.stepgen.01.step_type        0 setp   hm2_7i92.0.stepgen.01.control-type     1 setp   hm2_7i92.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL setp   hm2_7i92.0.stepgen.01.maxvel           [JOINT_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd    <= joint.1.motor-pos-cmd net z-vel-cmd    <= joint.1.vel-cmd net z-output     => hm2_7i92.0.stepgen.01.velocity-cmd net z-pos-fb     <= hm2_7i92.0.stepgen.01.position-fb net z-pos-fb     => joint.1.motor-pos-fb net z-enable     <= joint.1.amp-enable-out net z-enable     => hm2_7i92.0.stepgen.01.enable # ---setup home / limit switch signals--- net home-z     =>  joint.1.home-sw-in net z-neg-limit     =>  joint.1.neg-lim-sw-in net z-pos-limit     =>  joint.1.pos-lim-sw-in #******************* #  SPINDLE #******************* setp   pid.s.Pgain     [SPINDLE_0]P setp   pid.s.Igain     [SPINDLE_0]I setp   pid.s.Dgain     [SPINDLE_0]D setp   pid.s.bias      [SPINDLE_0]BIAS setp   pid.s.FF0       [SPINDLE_0]FF0 setp   pid.s.FF1       [SPINDLE_0]FF1 setp   pid.s.FF2       [SPINDLE_0]FF2 setp   pid.s.deadband  [SPINDLE_0]DEADBAND setp   pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT setp   pid.s.error-previous-target true net spindle-index-enable  =>  pid.s.index-enable net spindle-enable        =>  pid.s.enable net spindle-vel-cmd-rpm-abs     => pid.s.command net spindle-vel-fb-rpm-abs      => pid.s.feedback net spindle-output        <=  pid.s.output # ---Encoder feedback signals/setup--- setp    hm2_7i92.0.encoder.00.counter-mode 0 setp    hm2_7i92.0.encoder.00.filter 1 setp    hm2_7i92.0.encoder.00.index-invert 0 setp    hm2_7i92.0.encoder.00.index-mask 0 setp    hm2_7i92.0.encoder.00.index-mask-invert 0 setp    hm2_7i92.0.encoder.00.scale  [SPINDLE_0]ENCODER_SCALE net spindle-revs             <=   hm2_7i92.0.encoder.00.position net spindle-vel-fb-rps       <=   hm2_7i92.0.encoder.00.velocity net spindle-vel-fb-rpm       <=   hm2_7i92.0.encoder.00.velocity-rpm net spindle-index-enable     <=>  hm2_7i92.0.encoder.00.index-enable # ---setup spindle control signals--- net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs net spindle-vel-cmd-rpm        <=  spindle.0.speed-out net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs net spindle-enable             <=  spindle.0.on net spindle-cw                 <=  spindle.0.forward net spindle-ccw                <=  spindle.0.reverse net spindle-brake              <=  spindle.0.brake net spindle-revs               =>  spindle.0.revs net spindle-at-speed           =>  spindle.0.at-speed net spindle-vel-fb-rps         =>  spindle.0.speed-in net spindle-index-enable      <=>  spindle.0.index-enable # ---Setup spindle at speed signals--- net spindle-vel-cmd-rps    =>  near.0.in1 net spindle-vel-fb-rps         =>  near.0.in2 net spindle-at-speed       <=  near.0.out setp near.0.scale 1.000000 setp near.0.difference 0.166667 #  Use ACTUAL spindle velocity from spindle encoder #  spindle-velocity bounces around so we filter it with lowpass #  spindle-velocity is signed so we use absolute component to remove sign #  ACTUAL velocity is in RPS not RPM so we scale it. setp     scale.spindle.gain 60 setp     lowpass.spindle.gain 1.000000 net spindle-vel-fb-rps        =>     scale.spindle.in net spindle-fb-rpm               scale.spindle.out       =>   abs.spindle.in net spindle-fb-rpm-abs           abs.spindle.out         =>   lowpass.spindle.in net spindle-fb-rpm-abs-filtered  lowpass.spindle.out   #****************************** # connect miscellaneous signals #****************************** #  ---HALUI signals--- net axis-select-x  halui.axis.x.select net jog-x-pos      halui.axis.x.plus net jog-x-neg      halui.axis.x.minus net jog-x-analog   halui.axis.x.analog net x-is-homed     halui.joint.0.is-homed net axis-select-z  halui.axis.z.select net jog-z-pos      halui.axis.z.plus net jog-z-neg      halui.axis.z.minus net jog-z-analog   halui.axis.z.analog net z-is-homed     halui.joint.1.is-homed net jog-selected-pos      halui.axis.selected.plus net jog-selected-neg      halui.axis.selected.minus net spindle-manual-cw     halui.spindle.0.forward net spindle-manual-ccw    halui.spindle.0.reverse net spindle-manual-stop   halui.spindle.0.stop net machine-is-on         halui.machine.is-on net jog-speed             halui.axis.jog-speed net MDI-mode              halui.mode.is-mdi #  ---coolant signals--- net coolant-mist      <=  iocontrol.0.coolant-mist net coolant-flood     <=  iocontrol.0.coolant-flood #  ---probe signal--- net probe-in     =>  motion.probe-input #  ---motion control signals--- net in-position               <=  motion.in-position net machine-is-enabled        <=  motion.motion-enabled #  ---digital in / out signals--- net dout-00     <=  motion.digital-out-00 net dout-01     <=  motion.digital-out-01 net dout-02     <=  motion.digital-out-02 net dout-03     <=  motion.digital-out-03 net din-00     =>  motion.digital-in-00 net din-01     =>  motion.digital-in-01 net din-02     =>  motion.digital-in-02 net din-03     =>  motion.digital-in-03 #  ---estop signals--- net estop-out     <=  iocontrol.0.user-enable-out net estop-ext     =>  iocontrol.0.emc-enable-in #  ---manual tool change signals--- net tool-change-request    <= iocontrol.0.tool-change net tool-change-confirmed  => iocontrol.0.tool-changed net tool-number            <= iocontrol.0.tool-prep-number #  ---Use external manual tool change dialog--- loadusr -W hal_manualtoolchange net tool-change-request    =>  hal_manualtoolchange.change net tool-change-confirmed  <=  hal_manualtoolchange.changed net tool-number            =>  hal_manualtoolchange.number #  ---ignore tool prepare requests--- net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared