bartool/mayo-mill-probasic
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dzialajaca konfiguracja

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bartool
2026-06-07 17:16:29 +02:00
parent 8a166698ce
commit a3870cb152
3 changed files with 98 additions and 26 deletions
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6
mayo-mill-remora.hal
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@@ -6,7 +6,7 @@ loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EM
# load the Remora real-time component
loadrt remora-eth PRU_base_freq=75000
loadrt remora-eth-3.0 PRU_base_freq=75000
loadrt estop_latch names=estop_latch
loadrt and2 names=run_and,step_and
@@ -43,7 +43,7 @@ loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EM
net user-request-enable <= iocontrol.0.user-request-enable => remora.reset estop_latch.reset
#Halt is shared with motor alarms and is in the estop loop.
#estop_latch returns 'ok' when fault-in is false, ok-in is true, and reset changes from false to true.
net estop-fault_in remora.input.07 => estop_latch.fault-in
net estop-fault_in remora.input.03 => estop_latch.fault-in
net remora-status remora.status => estop_latch.ok-in
net estop-status estop_latch.ok-out => iocontrol.0.emc-enable-in
@@ -118,7 +118,7 @@ loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EM
# Probe
net probe-in motion.probe-input <= remora.input.08
net probe-in motion.probe-input <= remora.input.04
# Manual toolchange

46
remora_pico_config.json
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@@ -21,58 +21,58 @@
{
"Thread": "Base",
"Type": "Stepgen",
"Comment": "X - Joint 0 step generator",
"Comment": "X - Joint0",
"Joint Number": 0,
"Step Pin": "GP2",
"Direction Pin": "GP3"
"Step Pin": "GP02",
"Direction Pin": "GP03"
},
{
"Thread": "Base",
"Type": "Stepgen",
"Comment": "Y - Joint 1 step generator",
"Comment": "Y - Joint1",
"Joint Number": 1,
"Step Pin": "GP4",
"Direction Pin": "GP5"
"Step Pin": "GP04",
"Direction Pin": "GP05"
},
{
"Thread": "Base",
"Type": "Stepgen",
"Comment": "Z - Joint 2 step generator",
"Comment": "Z - Joint2",
"Joint Number": 2,
"Step Pin": "GP6",
"Direction Pin": "GP7"
"Step Pin": "GP06",
"Direction Pin": "GP07"
},
{
"Thread": "Servo",
"Type": "Digital Pin",
"Comment": "X axis limit/home switch",
"Comment": "X limit",
"Pin": "GP13",
"Mode": "Input",
"Data Bit": 0,
"Invert": "False"
"Invert": "True"
},
{
"Thread": "Servo",
"Type": "Digital Pin",
"Comment": "Y axis limit/home switch",
"Comment": "Y limit",
"Pin": "GP14",
"Mode": "Input",
"Data Bit": 1,
"Invert": "False"
"Invert": "True"
},
{
"Thread": "Servo",
"Type": "Digital Pin",
"Comment": "Z axis limit/home switch",
"Comment": "Z limit",
"Pin": "GP15",
"Mode": "Input",
"Data Bit": 2,
"Invert": "False"
"Invert": "True"
},
{
"Thread": "Servo",
"Type": "Digital Pin",
"Comment": "Emergency Stop switch",
"Comment": "E-Stop",
"Pin": "GP28",
"Mode": "Input",
"Data Bit": 3,
@@ -81,7 +81,7 @@
{
"Thread": "Servo",
"Type": "Digital Pin",
"Comment": "Versaprobe tool probe input",
"Comment": "Probe",
"Pin": "GP27",
"Mode": "Input",
"Data Bit": 4,
@@ -90,8 +90,8 @@
{
"Thread": "Servo",
"Type": "Digital Pin",
"Comment": "X axis driver enable pin",
"Pin": "GP9",
"Comment": "X enable",
"Pin": "GP09",
"Mode": "Output",
"Data Bit": 0,
"Invert": "False"
@@ -99,7 +99,7 @@
{
"Thread": "Servo",
"Type": "Digital Pin",
"Comment": "Y axis driver enable pin",
"Comment": "Y enable",
"Pin": "GP10",
"Mode": "Output",
"Data Bit": 1,
@@ -108,7 +108,7 @@
{
"Thread": "Servo",
"Type": "Digital Pin",
"Comment": "Z axis driver enable pin",
"Comment": "Z enable",
"Pin": "GP11",
"Mode": "Output",
"Data Bit": 2,
@@ -117,8 +117,8 @@
{
"Thread": "Servo",
"Type": "Digital Pin",
"Comment": "Spindle On command relay",
"Pin": "GP8",
"Comment": "Spindle",
"Pin": "GP08",
"Mode": "Output",
"Data Bit": 3,
"Invert": "True"

72
upload_config.py Normal file
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@@ -0,0 +1,72 @@
#!/usr/bin/env python3
import binascii
import sys
import math
import json
import tftpy
import time
if len(sys.argv) < 2:
print("usage: upload.py <config.txt>")
exit(-1)
# Check for a valid JSON formatted file, if ok upload to NVEM board via TFTP
with open(sys.argv[1], 'r') as jsonFile:
try:
testForValidJson = json.load(jsonFile)
print('Valid JSON config file, uploading to NVEM board')
except ValueError:
print('Incorrectly formatted JSON configuration file')
exit(-1)
# Load File
config = open(sys.argv[1], "rb").read()
# Compute length (in bytes and words)
jsonLength = len(config)
length = math.ceil(jsonLength / 4)
mod = jsonLength % 4
print('Config file length (words) =', length)
print('Config file length (bytes) =', jsonLength)
print('Remainder =', mod)
# add padding at end of file to ensure length is multiple of 4 bytes (word)
# to ensure correct CRC32 calculation
if mod > 0:
padding = [0 for i in range(4 - mod)]
print('Padding added = ', padding)
config = config + bytes(padding)
newLength = len(config)
print('Config file length with padding (bytes) =', newLength)
# Compute crc32
crc32 = binascii.crc32(config)
print('CRC-32 =',hex(crc32))
# Insert metadata
metadata = [0 for i in range(512)]
metadata[0] = crc32 & 0xff
metadata[1] = (crc32 >> 8) & 0xff
metadata[2] = (crc32 >> 16) & 0xff
metadata[3] = (crc32 >> 24) & 0xff
metadata[4] = length & 0xff
metadata[5] = (length >> 8) & 0xff
metadata[6] = (length >> 16) & 0xff
metadata[7] = (length >> 24) & 0xff
metadata[8] = jsonLength & 0xff
metadata[9] = (jsonLength >> 8) & 0xff
metadata[10] = (jsonLength >> 16) & 0xff
metadata[11] = (jsonLength >> 24) & 0xff
config = bytes(metadata) + config
open("/tmp/config.txt", "wb").write(config)
# Upload using TFTP, set large timeout
client = tftpy.TftpClient("10.10.10.10", 69)
client.upload("config", "/tmp/config.txt", timeout=30)