From 83fc751305171c47242a3f94451482603f03fce3 Mon Sep 17 00:00:00 2001 From: bartoolina Date: Fri, 10 Jul 2026 11:59:03 +0200 Subject: [PATCH] podlaczone i test --- mesa.log | 126 ++++++++++++++++++++++++++++++++++++++++++++++++ test_inputs.hal | 28 +++++++++++ 2 files changed, 154 insertions(+) create mode 100644 mesa.log create mode 100644 test_inputs.hal diff --git a/mesa.log b/mesa.log new file mode 100644 index 0000000..bb79848 --- /dev/null +++ b/mesa.log @@ -0,0 +1,126 @@ +nc@mayo-mill:~$ mesaflash --readhmid --device 7i92t +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: 180.0000 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: 180.000 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 P2 +DB25 pin# I/O Pri. func Sec. func Chan Sec. Pin func Sec. Pin Dir + + 1 0 IOPort None +14 1 IOPort PWM 0 PWM (Out) + 2 2 IOPort StepGen 0 Step/Table1 (Out) +15 3 IOPort None + 3 4 IOPort StepGen 0 Dir/Table2 (Out) +16 5 IOPort StepGen 4 Step/Table1 (Out) + 4 6 IOPort StepGen 1 Step/Table1 (Out) +17 7 IOPort None + 5 8 IOPort StepGen 1 Dir/Table2 (Out) + 6 9 IOPort StepGen 2 Step/Table1 (Out) + 7 10 IOPort StepGen 2 Dir/Table2 (Out) + 8 11 IOPort StepGen 3 Step/Table1 (Out) + 9 12 IOPort StepGen 3 Dir/Table2 (Out) +10 13 IOPort QCount 0 Quad-A (In) +11 14 IOPort QCount 0 Quad-B (In) +12 15 IOPort QCount 0 Quad-IDX (In) +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 None +14 18 IOPort PWM 1 PWM (Out) + 2 19 IOPort StepGen 5 Step/Table1 (Out) +15 20 IOPort None + 3 21 IOPort StepGen 5 Dir/Table2 (Out) +16 22 IOPort StepGen 9 Step/Table1 (Out) + 4 23 IOPort StepGen 6 Step/Table1 (Out) +17 24 IOPort None + 5 25 IOPort StepGen 6 Dir/Table2 (Out) + 6 26 IOPort StepGen 7 Step/Table1 (Out) + 7 27 IOPort StepGen 7 Dir/Table2 (Out) + 8 28 IOPort StepGen 8 Step/Table1 (Out) + 9 29 IOPort StepGen 8 Dir/Table2 (Out) +10 30 IOPort QCount 1 Quad-A (In) +11 31 IOPort QCount 1 Quad-B (In) +12 32 IOPort QCount 1 Quad-IDX (In) +13 33 IOPort None diff --git a/test_inputs.hal b/test_inputs.hal new file mode 100644 index 0000000..b2f07c3 --- /dev/null +++ b/test_inputs.hal @@ -0,0 +1,28 @@ +# Testowy plik HAL do weryfikacji wejsc karty Mesa 7i92T/TF +# Uruchomienie: halrun -i -f test_inputs.hal + +# 1. Utworzenie watku czasu rzeczywistego (servo-thread, 1ms) +loadrt threads name1=servo-thread period1=1000000 + +# 2. Zaladowanie sterownika Mesa z wylaczonymi enkoderami (num_encoders=0) +# Dzieki temu piny 10, 11, 12 beda dzialac jako zwykle GPIO +loadrt hostmot2 +loadrt hm2_eth board_ip="192.168.1.121" config="num_encoders=0 num_stepgens=0" + +# 3. Przypisanie funkcji odczytu i zapisu karty do watku +addf hm2_7i92.0.read servo-thread +addf hm2_7i92.0.write servo-thread + +# 4. Utworzenie sygnalow testowych dla pieciu wejsc portu DB25 (P2) +net test-pin10 <= hm2_7i92.0.gpio.013.in +net test-pin11 <= hm2_7i92.0.gpio.014.in +net test-pin12 <= hm2_7i92.0.gpio.015.in +net test-pin13 <= hm2_7i92.0.gpio.016.in +net test-pin15 <= hm2_7i92.0.gpio.003.in + +# 5. Uruchomienie watku +start + +# Po uruchomieniu mozesz w konsoli halrun wpisac np.: +# show pin hm2_7i92.0.gpio +# watch pin hm2_7i92.0.gpio.013.in