Best HAL function 2 contol bits for S32 in, 1 of 4 out?

I have two rotary switches, each switch has 2 outputs driving inputs on a MESA card as 00,01,10,11

Switch #1 is used to select MPG increment 0, 0.0001", 0.001", 0.01"  I'm using a MUX4 to control that. No problem with this.

Switch#2 is for selection of where the MPG ticks   ( net encoder-counts  <= hm2_7i96s.0.inm.00.enc1-count ),gets routed, so to either:
X, Z, C (Compound), or N(None), so....
axis.x.jog-counts
axis.z.jog-counts
anglejog.counts-in
or to nowhere when position N is selected






 

Typically this is done by by connecting the MPG count to all axis
and selectively enabling jogging on the desired axis

PCW wrote:

Typically this is done by by connecting the MPG count to all axis
and selectively enabling jogging on the desired axis
 

Thanks for that. I'm almost there.....

I have two rotary switches, each switch has 2 outputs driving inputs on a MESA card as 00,01,10,11

Switch #1 is used to select MPG increment 0, 0.0001", 0.001", 0.01"  I'm using a MUX4 to control that. No problem with this.

Switch#2 is for selection of where the MPG ticks   ( net encoder-counts  <= hm2_7i96s.0.inm.00.enc1-count ),gets routed, so to either:
X, Z, C (Compound), or N(None), so....
axis.x.jog-counts
axis.z.jog-counts
anglejog.counts-in
or to nowhere when position N is selected

I now have the rotary switch working for: none, X or Z by simply enabling jogging for X or Z as required. For Compound action I can simply enable both X and Z when in compound mode.

Final hurdle is that I have two S32 source signals:
   1) The MPG signal called (encoder-counts), for non-compound moves. Configured and working as net encoder-counts => axis.x.jog-counts
   2) The modified by anglejog MPG signal for compound moves called (angle_x). I can't simply configure as net angle-x => axis.x.jog-counts

 HAL does not allow two sources to drive one output pin. I'm guessing that mux_generic might be the best solution, to allow choosing the source signal for axis.x.jog-counts?

Assuming mux_generic is the best solution, I need a little help configuring mux_generic:
  - I assume I would add it to the servo-thread?   loadrt mux_generic config="??????"
  - the other pins are a bit fuzzy, looks like I need to specify:
     mux-gen.00.in-s32
     mux-gen.00.out-s32
    
I'm not sure how to:
a)  assign encoder-counts and angle_x to the two inputs of the multiplexer?
b)  route the output of the multiplexer to axis.x.jog-counts?
c)  define the control bit that will select the desired input?

   Your help is appreciated.

Normally the MPG encoder count goes to all Axis jog count pins,
so no routing of the counts is needed.

This is required so that LinuxCNC can track the current MPG count
and only apply changes to the enabled axis.
 

PCW wrote:

Normally the MPG encoder count goes to all Axis jog count pins,
so no routing of the counts is needed.

This is required so that LinuxCNC can track the current MPG count
and only apply changes to the enabled axis.
 
 

The problem is that when using anglejog for emulated compound movement (X+Z), the MPG ticks get processed by anglejog and then analogjog outputs the sin and cos values that are to be fed to; axis.x.jog-counts, and axis.z.jog-counts, however in HAL,  axis.x.jog-counts, and axis.z.jog-counts are already being driven by the raw (non sin and cos values) from the MPG for non compound/anglejog use.

axis.x.jog-counts, and axis.z.jog-counts, can't be driven by both the MPG and anglejog

net encoder-counts  <= hm2_7i96s.0.inm.00.enc1-count
net encoder-counts => axis.x.jog-counts
net encoder-counts => axis.z.jog-counts
net encoder-counts => anglejog.counts-in
net angle_x <= anglejog.coscounts
###net angle_x => axis.x.jog-counts  can't do this!!!
net angle_z <= anglejog.sincounts
###net angle_z => axis.z.jog-counts  can't do this!!!


 

I would think that could be done with 2 mux2 components
(1 for X and 1 for Z) that select between anglejog outputs
when anglejog is enabled and direct MPG counts when
anglejog is not selected.

PCW wrote:

I would think that could be done with 2 mux2 components
(1 for X and 1 for Z) that select between anglejog outputs
when anglejog is enabled and direct MPG counts when
anglejog is not selected.

Agreed I will need two, one for X and one for Z, however mux2 works with floating point numbers, and the MPG counts are S32, so I don't think I can use mux2

mux_generic seems like it should work because you can select the data type, however I need a little help configuring mux_generic:
  - I assume I would add it to the servo-thread?   loadrt mux_generic config="??????"
  - the other pins are a bit fuzzy, looks like I need to specify:
     mux-gen.00.in-s32
     mux-gen.00.out-s32
    
I'm not sure how to:
a)  assign encoder-counts and angle_x to the two inputs of the multiplexer?
b)  route the output of the multiplexer to axis.x.jog-counts?
c)  define the control bit that will select the desired input? 

   Your help is appreciated.

I think its something like:

loadrt mux_generic config="ss2,ss2"

addf mux-gen.00 servo thread
addf mux-gen.01 servo thread

And the main created pins are:

mux-gen.00.sel-bit-00
mux-gen.00.in-s32-00
mux-gen.00.in-s32-00
mux-gen.00.out-s32

mux-gen.01.sel-bit-00
mux-gen.01.in-s32-00
mux-gen.01.in-s32-00
mux-gen.01.out-s32

The select pin for both would connect to the angle jog enable
so the two muxes select either the output of anglejog (when
anglejog is selected) or the raw MPG count (when anglejog is not
selected)  The outputs of the muxes go to the appropriate
joint jog count pins.

An alternative approach is to create a custom mux2u32.comp component by adapting the existing mux2.comp—replacing its float data types with u32. Once modified, you can compile it with halcompile and integrate it  into your local LinuxCNC.