Table of Contents
1 Motenc
Vital Systems Motenc-100 and Motenc-LITE
The Vital Systems Motenc-100 and Motenc-LITE are 8- and 4-channel servo control boards. The Motenc-100 provides 8 quadrature encoder counters, 8 analog inputs, 8 analog outputs, 64 (68?) digital inputs, and 32 digital outputs. The Motenc-LITE has only 4 encoder counters, 32 digital inputs and 16 digital outputs, but it still has 8 analog inputs and 8 analog outputs. The driver automatically identifies the installed board and exports the appropriate HAL objects.
Installing:
loadrt hal_motenc
During loading (or attempted loading) the driver prints some usefull debugging message to the kernel log, which can be viewed with dmesg.
Up to 4 boards may be used in one system.
1.1 Pins
In the following pins, parameters, and functions, <board> is the board ID. According to the naming conventions the first board should always have an ID of zero. However this driver sets the ID based on a pair of jumpers on the baord, so it may be non-zero even if there is only one board.
- (s32) motenc.<board>.enc-<channel>-count -- Encoder position, in counts.
- (float) motenc.<board>.enc-<channel>-position -- Encoder position, in user units.
- (bit) motenc.<board>.enc-<channel>-index -- Current status of index pulse input.
- (bit) motenc.<board>.enc-<channel>-idx-latch -- Driver sets this pin true when it latches an index pulse (enabled by latch-index). Cleared by clearing latch-index.
- (bit) motenc.<board>.enc-<channel>-latch-index -- If this pin is true, the driver will reset the counter on the next index pulse.
- (bit) motenc.<board>.enc-<channel>-reset-count -- If this pin is true, the counter will immediately be reset to zero, and the pin will be cleared.
- (float) motenc.<board>.dac-<channel>-value -- Analog output value for DAC (in user units, see -gain and -offset)
- (float) motenc.<board>.adc-<channel>-value -- Analog input value read by ADC (in user units, see -gain and -offset)
- (bit) motenc.<board>.in-<channel> -- State of digital input pin, see canonical digital input.
- (bit) motenc.<board>.in-<channel>-not -- Inverted state of digital input pin, see canonical digital input.
- (bit) motenc.<board>.out-<channel> -- Value to be written to digital output, seen canonical digital output.
- (bit) motenc.<board>.estop-in -- Dedicated estop input, more details needed.
- (bit) motenc.<board>.estop-in-not -- Inverted state of dedicated estop input.
- (bit) motenc.<board>.watchdog-reset -- Bidirectional, - Set TRUE to reset watchdog once, is automatically cleared.
1.2 Parameters
- (float) motenc.<board>.enc-<channel>-scale -- The number of counts / user unit (to convert from counts to units).
- (float) motenc.<board>.dac-<channel>-offset -- Sets the DAC offset.
- (float) motenc.<board>.dac-<channel>-gain -- Sets the DAC gain (scaling).
- (float) motenc.<board>.adc-<channel>-offset -- Sets the ADC offset.
- (float) motenc.<board>.adc-<channel>-gain -- Sets the ADC gain (scaling).
- (bit) motenc.<board>.out-<channel>-invert -- Inverts a digital output, see canonical digital output.
- (u32) motenc.<board>.watchdog-control -- Configures the watchdog. The value may be a bitwise OR of the following values:
|
Bit # |
Value |
Meaning |
|
0 |
1 |
Timeout is 16ms if set, 8ms if unset |
|
2 |
4 |
Watchdog is enabled |
|
4 |
16 |
Watchdog is automatically reset by DAC writes (the HAL dac-write function) |
Typically, the useful values are 0 (watchdog disabled) or 20 (8ms watchdog enabled, cleared by dac-write).
- (u32) motenc.<board>.led-view -- Maps some of the I/O to onboard LEDs?
1.3 Functions
- (funct) motenc.<board>.encoder-read -- Reads all encoder counters.
- (funct) motenc.<board>.adc-read -- Reads the analog-to-digital converters.
- (funct) motenc.<board>.digital-in-read -- Reads digital inputs.
- (funct) motenc.<board>.dac-write -- Writes the voltages to the DACs.
- (funct) motenc.<board>.digital-out-write -- Writes digital outputs.
- (funct) motenc.<board>.misc-update -- Updates misc stuff.