hostmot2(9) Manual Page

This pin sets the triggering offset of the associated timer. There are 4 timers numbered 01 to 04, represented by the NN digits in the pin name. The units are microseconds (µs). Generally the value for reads will be negative, and positive for writes, so that input data is sampled prior to the main hostmot read and output data is written some time after the main hostmot2 read.

This pin sets the base frequency of the phase-locked loop. By default it will be set to the nominal frequency of the thread in which the PLL is running and will not normally need to be changed.

Indicates the phase error of the DPLL. If the number cycles by a large amount it is likely that the PLL has failed to achieve lock and adjustments will need to be made.

The filter time-constant for the PLL. The default value is a compromise between insensitivity to single-cycle variations and being resilient to changes to the Linux CLOCK_MONOTONIC timescale, which can instantly change by up to ±500ppm from its nominal value, usually by timekeeping software like ntpd and ntpdate. Default 2000 (0x7d0).

Sets the phase adjustment limit of the PLL. If the value is zero then the PLL will free-run at the base frequency independent of the servo thread rate. This is probably not what you want. Default 4194304 (0x400000) Units not known…​

Used internally by the driver, likely to disappear.

Prescale factor for the rate generator. Default 1.

Number of encoder counts since the previous reset. 32-bit truncation of the 64-bit internal counter; position is computed from the full-width internal value so it does not wrap.

Encoder position in position units (count / scale).

Encoder interpolated position in position units (count / scale). Only valid when velocity is approximately constant and the time between counts is less than the velocity timeout parameter value. Do not use for position control. Useful for spindle synchronized moves with low resolution encoders.

Encoder latched position in position units (count / scale).

Estimated encoder velocity in position units per second.

Estimated encoder velocity in position units per minute.

When this pin is True, the count and position pins are set to 0 (the value of the velocity pin is not affected by this). The driver does not reset this pin to FALSE after resetting the count to 0, that is the user’s job.

When this pin is set to True, (and no_clear_on_index is false) the count (and therefore also position) are reset to zero on the next Index (Phase-Z) pulse. At the same time, index-enable is reset to zero to indicate that the pulse has occurred.

When this pin is set to True, the count (and therefore also position) are NOT reset to zero on the next Index (Phase\-Z) pulse. On an index event the latched count and position will be set to indicate the count and position where the index occured.

When this pin is set to True, the encoder count (and therefore also position) are latched on the the next probe active edge. At the same time, probe-enable is reset to zero to indicate that latch event has occurred. (only present if supported by firmware)

If set to True, the rising edge of the probe input pin triggers the latch event (if probe-enable is True). If set to False, the falling edge triggers. (only present if supported by firmware)

Total number of encoder counts since the start, not adjusted for index or reset. Truncated view of the internal 64-bit counter.

Encoder count at latch event (index or probe). Truncated view of the internal 64-bit latched count.

Real time filtered values of A,B,Index encoder signals

When this pin is True quadrature error reporting is enabled. When False, existing quadrature errors are cleared and error reporting is disabled.

This bit indicates that a quadrature sequence error has been detected. It can only be set if the corresponding quad-error-enable bit is True.

This is the sample frequency that determines all standard encoder channels digital filter time constant (see filter parameter).

This is the sample frequency that determines all muxed encoder channels digital filter time constant (see filter parameter). This also sets the encoder multiplexing frequency.

This sets the muxed encoder sample time delay (in ns) from the multiplex signal. Setting this properly can increase the usable multiplex frequency and compensate for cable delays (suggested value is 3* cable length in feet +20).

When this pin is True the encoder timestamp counter frequency is ca. 10 MHz. When False the timestamp counter frequency is ca. 2 MHz. This should be set True for frequency counting applications to improve the resolution. It should be set False when servo thread periods longer than 1 ms are used.

Sets the hm2dpll timer instance to be used to latch encoder counts. A setting of -1 does not latch encoder counts. A setting of 0 latches at the same time as the main hostmot2 read. A setting of 1..4 uses a time offset from the main hostmot2 read according to the dpll’s timer-us setting.

Converts from "count" units to "position" units.

If set to True, the rising edge of the Index input pin triggers the Index event (if index-enable is True). If set to False, the falling edge triggers.

If set to True, the Index input pin only has an effect if the Index-Mask input pin is True (or False, depending on the index-mask-invert pin below).

If set to True, Index-Mask must be False for Index to have an effect. If set to False, the Index-Mask pin must be True.

Set to False (the default) for Quadrature. Set to True for Step/Dir (in which case Step is on the A pin and Dir is on the B pin).

If set to True (the default), the quadrature counter needs 15 sample clocks to register a change on any of the three input lines (any pulse shorter than this is rejected as noise). If set to False, the quadrature counter needs only 3 clocks to register a change. The default encoder sample clock runs at approximately 25 to 33 MHz but can be changed globally with the sample-frequency or muxed-sample-frequency pin.

When the encoder is moving slower than one pulse for each time that the driver reads the count from the FPGA (in the hm2_read() function), the velocity is harder to estimate. The driver can wait several iterations for the next pulse to arrive, all the while reporting the upper bound of the encoder velocity, which can be accurately guessed. This parameter specifies how long to wait for the next pulse, before reporting the encoder stopped. This parameter is in seconds.

This pin will be set "True" if the module was still transferring data when the value was read. When this problem exists there will also be a limited number of error messages printed to the UI. This pin should be used to monitor whether the problem has been addressed by config changes. Solutions to the problem depend on whether

Не создает никаких выводов, используется для игнорирования ненужных участков потока битов.

(bool, out) .<name>.
If any bits in the designated field width are non-zero then the HAL pin will be "True".
(bool, out) .<name>-not.
An inverted version of the above, the HAL pin will be "True" if all bits in the field are zero.

(real, out) .<name>. The value of the bits interpreted as an unsigned integer then scaled such that the pin value will equal the scalemax parameter value when all bits are high. (for example if the field is 8 bits wide and the scalmax parameter was 20 then a value of 255 would return 20, and 0 would return 0.

(real, out) .<name>.
The value of the bits interpreted as a 2s complement signed number then scaled similarly to the unsigned variant, except symmetrical around zero.

(bool, out) .<name>-NN.
The value of each individual bit in the data field. NN starts at 00 up to the number of bits in the field.
(bool, out) .<name>-NN-not.
An inverted version of the individual bit values.

(sint, out) .<name>.count.
The lower 32 bits of the total encoder counts. This value is reset both by the …​reset and the …​index-enable pins.
(sint, out) .<name>.rawcounts.
The lower 32 bits of the total encoder counts. The pin is not affected by reset and index.
(real, out) .<name>.position.
The encoder position in machine units. This is calculated from the full 64-bit buffers so will show a True value even after the counts pins have wrapped. It is zeroed by reset and index enable.
(bool, io) .<name>.index-enable.
When this pin is set "True" the module will wait until the raw encoder counts next passes through an integer multiple of the number of counts specified by counts-per-rev parameter and then it will zero the counts and position pins, and set the index-enable pin back to "False" as a signal to the system that "index" has been passed. this pin is used for spindle-synchronised motion and index-homing.
(bool, io) .<name>.reset.
When this pin is set high the counts and position pins are zeroed.

Некоторые энкодеры (включая Fanuc) размещают отсчеты неполных и полных оборотов энкодера в отдельных несмежных полях. Этот тег определяет старшие биты такого модуля энкодера. На канале может быть только один тег h и один тег l, поведение с несколькими такими каналами будет неопределенным.

Младшие биты (см. «h»)

Это модификатор, который указывает, что следующая строка формата закодирована в коде Грея. Это действительно только для энкодеров (e, h l) и типов данных unsigned (u).

Это модификатор, указывающий, что следующая строка формата является многооборотным энкодером. Это справедливо только для энкодеров (e, h l). Скачок положения энкодера более чем на половину полной шкалы интерпретируется как полный оборот и отсчеты переносятся. В случае многооборотного энкодера это может быть всего лишь сбой данных и приведет к необратимому смещению. Этот флаг гарантирует, что такие энкодеры никогда не будут выполнять перенос.

This parameter sets the SSI clock frequency. The units are kHz, so 500 will give a clock frequency of 500,000 Hz.

This parameter allocates the SSI module to a specific hm2dpll timer instance. This pin is only of use in firmwares which contain a hm2dpll function and will default to 1 in cases where there is such a function, and 0 if there is not. The pin can be used to disable reads of the encoder, by setting to a nonexistent timer number, or to 0.

Нет параметров.

Нет параметров.

(real, rw) .<name>-scalemax. The scaling factor for the channel.

(real, rw) .<name>-scalemax. The scaling factor for the channel.

Нет параметров.

(real, rw) .<name>.scale. The encoder scale in counts per machine unit. (uint, rw) .<name>.counts-per-rev. Used to emulate the index behaviour of an incremental+index encoder. This would normally be set to the actual counts per rev of the encoder, but can be any whole number of revs. Integer divisors or multipliers of the true PPR might be useful for index-homing. Non-integer factors might be appropriate where there is a synchronous drive ratio between the encoder and the spindle or ballscrew.

This pin will be set "True" if the module was still transferring data when the value was read. When this problem exists there will also be a limited number of error messages printed to the UI. This pin should be used to monitor whether the problem has been addressed by config changes. Solutions to the problem depend on whether the encoder read is being triggered by the hm2dpll phase-locked-loop timer (described above) or by the trigger-encoders function (described below).

indicates battery state

inverted version of above

The 0-1023 absolute output for motor commutation

The CRC checksum. Currently HAL has no way to use this

Отсчеты энкодера

Simulated index. Set by counts-per-rev parameter

Отсчеты масштабируются по параметру …​scale

Raw counts, unaffected by reset or index

If high/True then counts and position = 0

Indicates that the absolute position is not valid

Инвертированная версия

This pin indicates the angular position of the resolver. It is a number between 0 and 1 for each electrical rotation.

Calculated from the number of complete and partial revolutions since startup, reset, or index-reset multiplied by the scale parameter.

Calculated from the rotational velocity and the velocity-scale parameter. The default scale is electrical rotations per second.

Simply velocity scaled by a factor of 60 for convenience.

This pins outputs a simulated encoder count at 2²⁴ counts per rev (16777216 counts).

This is identical to the counts pin, except it is not reset by the "index" or "reset" pins. This is the pin which would be linked to the bldc HAL component if the resolver was being used to commutate a motor.

Resets the position and counts pins to zero immediately.

The Mesa resolver driver has the capability of emulating an absolute encoder using a position file (see the INI-config section of the manual) and the single-turn absolute operation of resolvers. At startup, and only if the use-position-file parameter is set to "True", the resolver driver will wait for a value to be written by the system to the axis.N.joint-pos-fb pin (which must be netted to this resolver pin) and will calculate the number of full turns that best matches the current resolver position. It will then pre-load the driver output with this offset. This should only be used on systems where axis movement in the unpowered state is unlikely. This feature will only work properly if the machine is initially homed to "index" and if the axis home positions are exactly zero.

When this pin is set high the position and counts pins will be reset the next time the resolver passes through the zero position. At the same time the pin is driven low to indicate to connected modules that the index has been seen, and that the counters have been reset.

Indicates an error in the particular channel. If this value is "True" then the reported position and velocity are invalid.

Масштаб позиции, в единицах станка на электрический оборот резольвера.

Коэффициент преобразования между скоростью вращения резольвера и скоростью станка. Значение 1 обычно дает скорость двигателя в об/сек, значение 0,01666667 дает (приблизительное) число об/мин.

The resolver component emulates an index at a fixed point in the sin/cos cycle. Some resolvers have multiple cycles per rev (often related to the number of pole-pairs on the attached motor). LinuxCNC requires an index once per revolution for proper threading etc. This parameter should be set to the number of cycles per rev of the resolver. CAUTION: Which pseudo-index is used will not necessarily be consistent between LinuxCNC runs. Do not expect to re-start a thread after restarting LinuxCNC. It is not appropriate to use this parameter for index-homing of axis drives.

This pin sets the excitation frequency for the resolver. This pin is module-level rather than instance-level as all resolvers share the same excitation frequency. Valid values are 10 (ca. 10 kHz), 5 (ca. 5 kHz) and 2.5 (ca. 2.5 kHz). The actual frequency depends on the FPGA frequency, and they correspond to CLOCK_LOW/5000, CLOCK_LOW/10000 and CLOCK_LOW/20000 respectively. The parameter will be set to the closest available of the three frequencies. A value of -1 (the default) indicates that the current setting should be retained.

In conjunction with joint-pos-fb (qv) emulate absolute encoders.

If True, the pwmgen will set its Not-Enable pin False and output its pulses. If "enable" is False, pwmgen will set its Not-Enable pin True and not output any signals.

The current pwmgen command value, in arbitrary units.

Scaling factor to convert "value" from arbitrary units to duty cycle: dc = value / scale. Duty cycle has an effective range of -1.0 to +1.0 inclusive, anything outside that range gets clipped. The default scale is 1.0.

This emulates the output_type load-time argument to the software pwmgen component. This parameter may be changed at runtime, but most of the time you probably want to set it at startup and then leave it alone. Accepted values are 1 (PWM on Out0 and Direction on Out1), 2 (Up on Out0 and Down on Out1), 3 (PDM mode, PDM on Out0 and Dir on Out1), and 4 (Direction on Out0 and PWM on Out1, "for locked antiphase").

When True, offset-mode modifies the PWM behavior so that a PWM value of 0 results in a 50% duty cycle PWM output, a -1 value results in a 0% duty cycle and +1 results in a 100% duty cycle (with default scaling). This mode is used by some PWM motor drives and PWM to analog converters. Typically the direction signal is not used in this mode.

When True, dither causes the PWM output to dither between two adjacent PWM register values at the PWM frequency. This increases the PWM resolution when used for analog output purposes, increasing the maximum resolution from 12 to 16 bits. Dither is only supported with PWMGen firmware version 1 or greater and only affects PWM outputs, not PDM outputs.

This specifies the PWM frequency, in Hz, of all the pwmgen instances running in the PWM modes (modes 1 and 2). This is the frequency of the variable-duty-cycle wave. Its effective range is from 1 Hz up to 386 kHz. Note that the max frequency is determined by the ClockHigh frequency of the Anything IO board; the 5I25 and 7I92 both have a 200 MHz clock, resulting in a 386 kHz max PWM frequency. Other boards may have different clocks, resulting in different max PWM frequencies. If the user attempts to set the frequency too high, it will be clipped to the max supported frequency of the board. Frequencies below about 5 Hz are not terribly accurate, but above 5 Hz they’re pretty close. The default pwm_frequency is 20,000 Hz (20 kHz).

This specifies the PDM frequency, in Hz, of all the pwmgen instances running in PDM mode (mode 3). This is the "pulse slot frequency"; the frequency at which the pdm generator in the AnyIO board chooses whether to emit a pulse or a space. Each pulse (and space) in the PDM pulse train has a duration of 1/pdm_frequency seconds. For example, setting the pdm_frequency to 2e6 (2 MHz) and the duty cycle to 50% results in a 1 MHz square wave, identical to a 1 MHz PWM signal with 50% duty cycle. The effective range of this parameter is from about 1525 Hz up to just under 200 MHz. Note that the max frequency is determined by the ClockHigh frequency of the Anything IO board; the 5I25 and 7I92 both have a 100 MHz clock, resulting in a 100 MHz max PDM frequency. Other boards may have different clocks, resulting in different max PDM frequencies. If the user attempts to set the frequency too high, it will be clipped to the max supported frequency of the board. The default pdm_frequency is 20,000 Hz (20 kHz).

The PWM command value for each phase, limited to +/- "scale". Defaults to zero which is 50% duty cycle on high-side and low-sidepins (but see the "deadtime" parameter).

When high the PWM is enabled as long as the fault bit is not set by the external fault input pin. When low the PWM is disabled, with both high- side and low-side drivers low. This is not the same as 0 output (50% duty cycle on both sets of pins) or negative full scale (where the low side drivers are "on" 100% of the time).

Indicates the status of the fault bit. This output latches high once set by the physical fault pin until the "enable" pin is set to high.

Sets the dead-time between the high-side driver turning off and the low-side driver turning on and vice-versa. Deadtime is subtracted from on time and added to off time symmetrically. For example with 20 kHz PWM (50 µs period), 50% duty cycle and zero dead time, the PWM and NPWM outputs would be square waves (NPWM being inverted from PWM) with high times of 25 µs. With the same settings but 1 µs of deadtime, the PWM and NPWM outputs would both have high times of 23 µs (25 - (2X 1 µs), 1 µs per edge). The value is specified in nanoseconds (ns) and defaults to a rather conservative 5000 ns. Setting this parameter to too low a value could be both expensive and dangerous as if both gates are open at the same time there is effectively a short circuit across the supply.

Sets the half-scale of the specified 3-phase PWM generator. PWM values from -scale to +scale are valid. Default is +/- 1.0

Sets the polarity of the fault input pin. A value of 1 means that a fault is triggered with the pin high, and 0 means that a fault it triggered when the pin is pulled low. Default 0, fault = low so that the PWM works with the fault pin unconnected.

Sets the time during the cycle when an ADC pulse is generated. 0 = start of PWM cycle and 1 = end. Not currently useful to LinuxCNC. Default is 0.5.

Устанавливает основную частоту ШИМ. Максимум составляет около 48 кГц, минимум — 1 кГц. По умолчанию 20 кГц.

Sets the pulse width of timer1 in ms. Default is 1 ms (1/1000 s).

Sets the pulse width of timer2 in ms. Default is 1 ms (1/1000 s).

Sets digital filter time constant for timer1’s external trigger input Filter time is in ms. Default filter time constant time is 0.1 ms. External trigger response will be delayed by the filter time setting.

Sets digital filter time constant for timer2’s external trigger input Filter time is in ms. Default filter time constant time is 0.1 ms. External trigger response will be delayed by the filter time setting.

Sets the frequency of the built in rate generator (in Hz)

Sets the trigger source for timer1,timer2 respectively. Trigger sources are:

0 Триггер отключен
1 Программный триггер: срабатывает, когда на контакте hal swtrigger1 установлено значение true
2 Внешнее оборудование: триггер
3 Триггер DPLL: запускается выбранным таймером DPLL
4 Триггер скорости: запускается встроенным генератором скорости.
5 Триггер timer1: запускается выходом timer1
6 Триггер timer2: запускается выходом timer2

When true, triggers timer1, timer2 respectively on the rising edge of the trigger source.

When true, triggers timer1, timer2 respectively on the falling edge of the trigger source.

When true, the associated timer is retriggerable, meaning the timer will reset to full time on a trigger event even during the output pulse period. When false the timer is not retriggerable, meaning it will ignore trigger events during the output pulse period.

Trigger enable for timer1 and timer2 respectively True to enable.

If true, resets timer1 and timer2 respectively, aborting any pulse in progress.

Pulse output status bits for timer1 and timer2.

External trigger input status bits for timer1 and timer2. These monitor the filtered inputs.

Software trigger inputs to trigger timer1 and timer2.

Input period in microseconds.

Input pulse width in microseconds.

Input duty cycle (width/period) scaling and offset are changeable.

Sets the scale of the duty cycle value, default is 100.

Sets an offset to the duty cycle value, added after scaling. Default is 0.

Количество periods/widths для усреднения. От 1 до 4095. Скорость обновления period, width, duty cycle, и frequency будет являться входной частотой/усреднения.

Входная частота в Гц.

Minimum input frequency in Hz, if input frequency is lower than this threshold, the valid bit will be cleared. .filtertc_us (real, in):: The periodm input in conditioned with a digital filter for noise rejection. The time constant of this filter is settable via this pin in units of microseconds. Pulses shorter than this time constant will not be recognized. .valid (bool, out):: The valid output bit is true when the input signal is present and the input frequency exceeds the minimum frequency setting. .invert (bool, io):: The invert bit sets the input polarity, when false, the input is direct which means the input high time determines the width. When set true, the input is inverted so the input low time determines the width. .input_status (bool, out):: The input_status bit reads the real time filtered input status (affected by invert pin).

Устанавливает частоту ШИМ ведущего RC. Максимум — 1 кГц, минимум — 0.01 Гц. По умолчанию 50 Гц.

Устанавливает ширину импульса для каждого канала в (ms/scale).

Устанавливает смещение ширины импульса для каждого канала в мс. Это значение будет установлено на 1,5 мс для сервоприводов 1-2 мс для 0 центрального положения.

Устанавливает масштабирование ширины импульса для каждого канала. Например, установка масштаба на 90 и смещения на 1,5 мс приведет к диапазону положения +-45 градусов и масштабу в градусах для сервоприводов 1-2 мс с полным диапазоном движения 90 градусов.

Target position of stepper motion, in arbitrary position units. This pin is only used when the stepgen is in position control mode (control-type=0). .velocity-cmd (real, in):: Target velocity of stepper motion, in arbitrary position units per second. This pin is only used when the stepgen is in velocity control mode (control-type=1).

Положение обратной связи в отсчетах (количество шагов).

Положение обратной связи в масштабированных единицах положения. Это похоже на «counts/position_scale», но имеет более точное разрешение, чем шаг.

latched-position в масштабированных единицах положения. Это похоже на «counts/position_scale», но имеет более точное разрешение, чем шаг.

Скорость обратной связи в произвольных единицах положения в секунду.

Этот контакт включает экземпляр генератора шагов. Если установлено значение True, экземпляр Stepgen работает должным образом. Если установлено значение False, шаги не генерируются, а velocity-fb немедленно переходит в 0. Если stepgen движется, когда enable переходит в false, он немедленно останавливается, не соблюдая предел maxaccel .

Resets position to 0 when True. Useful for step/dir controlled spindles when switching between spindle and joint modes. .control-type (bool, in):: Switches between position control mode (0) and velocity control mode (1). Defaults to position control (0). .index-enable (bool, io):: When this pin is set to True, the step count (and therefore also position) are reset to zero on the next stepgen index pulse. At the same time, index-enable is reset to zero to indicate that the pulse has occurred. .index-invert (bool, in):: If set to True, the rising edge of the index input pin triggers the position clear event (if index-enable is True). If set to False, the falling edge triggers. .probe-enable (bool, io):: When this pin is set to True, the step count (and therefore also position) are latched on the the next stepgen probe active edge. At the same time, probe-enable is reset to zero to indicate that a latch event has occurred. .probe-invert (bool, in):: If set to True, the rising edge of the probe input pin triggers the latch event (if probe-enable is True). If set to False, the falling edge triggers.

Converts from counts to position units. position = counts / position_scale

Maximum speed, in position units per second. If set to 0, the driver will always use the maximum possible velocity based on the current step timings and position-scale. The max velocity will change if the step timings or position-scale changes. Defaults to 0.

Maximum acceleration, in position units per second per second. Defaults to 1.0. If set to 0, the driver will not limit its acceleration at all. This requires that the position-cmd or velocity-cmd pin is driven in a way that does not exceed the machine’s capabilities. This is probably what you want if you are going to be using the LinuxCNC trajectory planner to jog or run G-code.

Duration of the step signal, in nanoseconds.

Minimum interval between step signals, in nanoseconds.

Minimum duration of stable Direction signal before a step begins, in nanoseconds.

Minimum duration of stable Direction signal after a step ends, in nanoseconds.

Output format, like the step_type modparam to the software stepgen(9) component: 0 = Step/Dir, 1 = Up/Down, 2 = Quadrature, 3+ = table-lookup mode. In this mode the step_type parameter determines how long the step sequence is. Additionally the stepgen_width parameter in the loadrt config string must be set to suit the number of pins per stepgen required. Any stepgen pins above this number will be available for GPIO. This mask defaults to 2. The maximum length is 16. Note that Table mode is not enabled in all firmwares but if you see GPIO pins between the stepgen instances in the dmesg/log hardware pin list then the option may be available.

This swaps the step and direction outputs on the selected stepgen. This parameter is only available if the firmware supports this option.

There are 4 table-data-N parameters, table-data-0 to table-data-3. These each contain 4 bytes corresponding to 4 stages in the step sequence. For example table-data-0 = 0x00000001 would set stepgen pin 0 (always called "Step" in the dmesg output) on the first phase of the step sequence, and table-data-4 = 0x20000000 would set stepgen pin 6 ("Table5Pin" in the dmesg output) on the 16th stage of the step sequence.

Sets the hm2dpll timer instance to be used to latch stepgen counts. This pin is global to the stepgen module and has no instance number in the name. A setting of -1 does not latch stepgen counts. A setting of 0 latches at the same time as the main hostmot2 read. A setting of 1..4 uses a time offset from the main hostmot2 read according to the dpll’s timer-us setting.

State (normal and inverted) of the hardware input pin. Both full GPIO pins and I/O pins used as inputs by active module instances have these pins.

Value to be written (possibly inverted) to the hardware output pin. Only full GPIO pins have this pin.

If set to 0, the GPIO is an input. The I/O pin is put in a high-impedance state (weakly pulled high), to be driven by other devices. The logic value on the I/O pin is available in the "in" and "in_not" HAL pins. Writes to the "out" HAL pin have no effect. If this parameter is set to 1, the GPIO is an output; its behavior then depends on the "is_opendrain" parameter. Only full GPIO pins have this parameter.

This parameter only has an effect if the "is_output" parameter is True. If this parameter is False, the GPIO behaves as a normal output pin: The I/O pin on the connector is driven to the value specified by the "out" HAL pin (possibly inverted), and the value of the "in" and "in_not" HAL pins is undefined. If this parameter is True, the GPIO behaves as an open-drain pin. Writing 0 to the "out" HAL pin drives the I/O pin low, writing 1 to the "out" HAL pin puts the I/O pin in a high-impedance state. In this high-impedance state the I/O pin floats (weakly pulled high), and other devices can drive the value; the resulting value on the I/O pin is available on the "in" and "in_not" pins. Only full GPIO pins and I/O pins used as outputs by active module instances have this parameter.

This parameter only has an effect if the "is_output" parameter is True. If this parameter is True, the output value of the GPIO will be the inverse of the value on the "out" HAL pin. Only full GPIO pins and I/O pins used as outputs by active module instances have this parameter.

Filtered input state.

Inverted filtered input state.

Unfiltered input state.

Inverted unfiltered input state. .input-MM-slow (bool, in):: If True, selects the long time constant filter for the corresponding input, if False the short time constant is used.

MPG counters 0 through 3. .enc0-reset, .enc1-reset, .enc2-reset, .enc3-reset (bool, in):: Reset for MPG counters 0 through 3, count is forced to 0 if true.

This sets the input scan rate in Hz. Default scan rate is 20 kHz (50 µs scan period).

This sets the fast time constant for all input pins. This is the time constant used when the .input-MM-slow pin for the corresponding input is False. The range is 0 to 63 scan periods and the default value is 5 = 250 µs at the default 20 kHz scan_rate.

This sets the slow time constant for all input pins. This is the time constant used when the .input-MM-slow pin for the corresponding input is True. The range is 0 to 1023 scan periods and the default value is 500 = 25 ms at the default 20 kHz scan_rate.

These set the MPG encoder operating modes to 4X when True and 1X when False.

This read only parameter specifies the number of inputs scanned by the module.

The pins are numbered from CR01 upwards with the name corresponding to the PCB silkscreen. Setting the bit to "True" or 1 lights the LED.

Set the internal frequency of the SSR instance, in Hz (approximate). The valid range is 25 kHz to 25 MHz. Values below the minimum will use the minimum, and values above the max will use the max. 1 MHz is a typical value, and appropriate for all Mesa cards, and is the default. Set to 0 to disable this SSR instance.

The state of this SSR instance’s NNth output. Set to 0 to make the output pins act like an open switch (no connection), set to 1 to make them act like a closed switch.

Inverts the state of this SSR instance’s NNth output, defaults to 0. When invert-NN is set to 1, SSR output NN is closed when the out-NN pin is 0 and open when the out-NN pin is 1.

The sets the state of this OutM instance’s NNth output. Normally the output pin follows the state of this pin but may be inverted by the invert-nn HAL pin.

Inverts the state of the this OutM instance’s NNth output, defaults to 0. When invert-NN is set to 1, OutM output NN is high when the out-NN pin is 0 and low when the out-NN pin is 1.

X and Y position commands. Full scale is +-posn_scale default full scale (set by posx-scale and posy-scale) is +- 1

Обратная связь по положению X и Y. Полная шкала +-posN_scale по умолчанию полная шкала +- 1. Это обратная связь от интерполятора, а не от гальванометра.

Команды скорости X и Y в единицах fullscale_position/second

Обратная связь по скорости X и Y в единицах fullscale_position/second

Команды ускорения X и Y в единицах fullscale_position/second²

This sets the full scale range of the position command and feedback, default is +- 1.0. .enable (bool, in):: When False, output data is 0, all interpolator values are set to 0 and overflow flags are cleared. Must be True for normal operation.

These set the galvanometer control bits. There 3 bits per channel in 16 bit mode but just 1 control bit in 18 bit mode, so values from 0..7 are valid in 16 bit mode but only 0 and 4 are valid in 18 bit mode. .commandx, .commandy (uint, in):: These set the raw 16 bit data sent to the galvanometer in command mode. .commandmodex, .commandmodey (bool, in):: When set, these enable the command mode where 16 bit command data is sent to the galvanometer. .18bitmodex, .18bitmodey (bool, in):: When True, these enable the 18 bit data mode for the respective channel. .posx-overflow, .posy-overflow (bool, out):: When true, these indicate an attempted position move beyond the full scale value. .velx-overflow, .vely-overflow (bool, out):: When True, these indicate an attempted velocity update move beyond the full scale value.

Необработанный 16-битный статус возврата от гальванометра.

Selects the DPLL timer number for pre-read sampling of the position and velocity registers. If set to -1, pre-read sampling is disabled. .write-timer-number (sint, in):: Selects the DPLL timer number for post write update of the position and velocity registers. If set to -1, post write update is disabled.

True if the watchdog has bit, False if the watchdog has not bit. If the watchdog has bit and the has_bit bit is True, the user can reset it to False to resume operation.

Watchdog timeout, in nanoseconds. This is initialized to 5,000,000 (5 milliseconds) at module load time. If more than this amount of time passes between calls to the hm2 write() function, the watchdog will bite.

The bottom 16 bits of this is used as the address to read from.

Each time the hm2_read() function is called, this pin is updated with the value at .read_address.

The bottom 16 bits of this is used as the address to write to.

This is the value to write to .write_address.

Each time the hm2_write() function is called, this pin is examined. If it is True, then value in .write_data is written to the address in .write_address, and .write_strobe is set back to False.

Обычно этот контакт имеет значение False. Если для него установлено значение True, драйвер hostmot2 запишет свое представление о внутреннем состоянии платы в системный журнал и снова установит для вывода значение False.