dzialajaca konfiguracja

mayo-mill-remora.hal

@@ -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
 

remora_pico_config.json

@@ -21,58 +21,58 @@
 		{
 			"Thread": "Base",
 			"Type": "Stepgen",
-			"Comment": "X - Joint 0 step generator",
+			"Comment": "X - Joint0",
 			"Joint Number": 0,
-			"Step Pin": "GP2",
+			"Step Pin": "GP02",
-			"Direction Pin": "GP3"
+			"Direction Pin": "GP03"
 		},
 		{
 			"Thread": "Base",
 			"Type": "Stepgen",
-			"Comment": "Y - Joint 1 step generator",
+			"Comment": "Y - Joint1",
 			"Joint Number": 1,
-			"Step Pin": "GP4",
+			"Step Pin": "GP04",
-			"Direction Pin": "GP5"
+			"Direction Pin": "GP05"
 		},
 		{
 			"Thread": "Base",
 			"Type": "Stepgen",
-			"Comment": "Z - Joint 2 step generator",
+			"Comment": "Z - Joint2",
 			"Joint Number": 2,
-			"Step Pin": "GP6",
+			"Step Pin": "GP06",
-			"Direction Pin": "GP7"
+			"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",
+			"Comment": "X enable",
-			"Pin": "GP9",
+			"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",
+			"Comment": "Spindle",
-			"Pin": "GP8",
+			"Pin": "GP08",
 			"Mode": "Output",
 			"Data Bit": 3,
 			"Invert": "True"

upload_config.py

@@ -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)