ColorCNC Colorlight 5A-75E/5A-75B as FPGA controller board

1. When I go into the module folder and run poetry install it complains, that I need litexcnc (^1.0.0). 
   To solve this, remove the line 'litexcnc = "^1.0.0" from the file pyproject.toml. The re-add litexcnc with the following command poetry add "git+https://github.com/Peter-van-Tol/LiteX-CNC#11-add-external-extensions-to-litexcnc[cli]"
2. When you have the latest commit of the above mentioned branch, your source file will be automatically detected. However, this requires a split between the configuration and the firmware. This is required because otherwise Litex is required on your CNC, which is quiet a hefty import, while it is not used for the driver, but only for the firmware. 

sudo -E env PATH=$PATH litexcnc install_driver

OUTPUT:
INFO: Retrieving main driver to compile...
Copying file 'watchdog.c'
Copying file 'watchdog.h'
Copying file 'halcompile.py'
Copying file 'wallclock.h'
Copying file '__init__.py'
Copying file 'wallclock.c'
Copying file 'litexcnc.h'
Copying file 'litexcnc.c'
Copying file 'pos2vel.h'
Copying file 'pos2vel.c'
INFO: Retrieving modules to compile...
Copying file 'litexcnc_encoder.c'
Copying file 'litexcnc_encoder.h'
Copying file 'litexcnc_gpio.c'
Copying file 'litexcnc_gpio.h'
Copying file 'litexcnc_pwm.c'
Copying file 'litexcnc_pwm.h'
Copying file 'litexcnc_stepgen.c'
Copying file 'litexcnc_stepgen.h'
Copying file 'litexcnc_toolerator.c'
Copying file 'litexcnc_toolerator.h'
INFO: Retrieving board drivers to compile...
Copying file 'litexcnc_eth.c'
Copying file 'litexcnc_eth.h'
Copying file 'etherbone.c'
Copying file 'etherbone.h'
INFO: Compiling LitexCNC driver...
Compiling realtime litexcnc.c
litexcnc.c: In function ‘litexcnc_register’:
litexcnc.c:492:1: warning: label ‘fail0’ defined but not used [-Wunused-label]
 fail0:
 ^~~~~
Linking litexcnc.so
cp litexcnc.so /usr/lib/linuxcnc/modules/
Compiling realtime pos2vel.c
Linking pos2vel.so
cp pos2vel.so /usr/lib/linuxcnc/modules/
Compiling realtime litexcnc_encoder.c
Linking litexcnc_encoder.so
cp litexcnc_encoder.so /usr/lib/linuxcnc/modules/
Compiling realtime litexcnc_gpio.c
Linking litexcnc_gpio.so
cp litexcnc_gpio.so /usr/lib/linuxcnc/modules/
Compiling realtime litexcnc_pwm.c
Linking litexcnc_pwm.so
cp litexcnc_pwm.so /usr/lib/linuxcnc/modules/
Compiling realtime litexcnc_stepgen.c
Linking litexcnc_stepgen.so
cp litexcnc_stepgen.so /usr/lib/linuxcnc/modules/
Compiling realtime litexcnc_toolerator.c
Linking litexcnc_toolerator.so
cp litexcnc_toolerator.so /usr/lib/linuxcnc/modules/
Compiling realtime litexcnc_eth.c
Linking litexcnc_eth.so
cp litexcnc_eth.so /usr/lib/linuxcnc/modules/
INFO: LitexCNC driver installed

halcmd: loadrt litexcnc
Note: Using POSIX realtime
litexcnc: Loading Litex CNC driver version 1.1.0
litexcnc: Loading and registering default modules:
litexcnc: Registered module gpio
litexcnc: Registered module pwm
litexcnc: Registered module encoder
halcmd: loadrt litexcnc_toolerator
litexcnc: Loading Litex toolerator module driver version 1.0.0
litexcnc: Registered module toolerator

• the driver files will get an __init__.py file in the folder. The purpose of this file is to list all source and header-files for the driver. This makes manual bookkeeping in the config a lot easier. Also, this prevents the import of the config models completely; which makes it possible to combine the config and firmware again. The split felt unnatural to me, as the config only acts on the firmware.
• the command install_driver will get an option to select which parts to install. This can speed up the development of new modules, as changes to 1 module does not require a complete recompilation.
• the HAL component litexcnc will get an optional parameter extras, which will enable loading extra modules by their name. For example the toolerator can be called with loadrt litexcnc extras="toolerator". This will spare you an extra line in your HAL-file .
• the HAL component litexcnc will get an optional parameter connection, which allows you to directly connect to your board by the connection string. The connection string consists out of the protocol (currently only eth) and then the address with a semi-colon as a separator. An example would be loadrt litexcnc connection="eth:10.0.0.10". This function can be combined with the earlier mentioned extras, so for my Emco 5 CNC, it would become loadrt litexcncextras="toolerator"  connection="eth:10.0.0.10".

wuyatom wrote:

[code]
net x-index-enable => pid.x.index-enable <= joint.0.index-enable => [LITEXCNC](NAME).encoder.00.index_enable
net x-enable      pid.x.enable  <= joint.0.amp-enable-out  => [LITEXCNC](NAME).stepgen.00.enable => [LITEXCNC](NAME).gpio.j11:1.out
        
net x-pos-cmd       joint.0.motor-pos-cmd => pid.x.command
net x-vel-fb        [LITEXCNC](NAME).encoder.00.velocity => pid.x.feedback-deriv
net axis.0.motor-pos-fb <= [LITEXCNC](NAME).encoder.00.position => pid.x.feedback
net x-output       pid.x.output => [LITEXCNC](NAME).stepgen.00.velocity-cmd
[code]
Is there a problem with the syntax of my encoder connection? I don't know whether there is a problem with my hal or my hardware connection
 

• add your machine config, so we can try to replicate your error;
• give a description of what the machine should do;
• give a description of what the machine is actually doing.

• T = 0 cycle: LinuxCNC reads the FPGA and thus encoder position, which is the current position;
• T = 0.1 cycle:  LinuxCNC processes the information and determines how fast the motor should move to get to the wanted position;
• T = 0.5 cycle: The data is then send to the FPGA, together with an apply time. From this timestamp the movement is started and this will be in the future;
• T = 0.5 cycle: The FPGA processes the data, but is not moving yet as it awaits the apply time.
• T = 0.9 cycle: The FPGA commands the steppers to move
• T = 1.0 cycle: .... the process starts again.

• have to close the loop in the FPGA;
• have to make a module which can predicted the position at the start of the next cycle.

TOLP2 wrote:

To run litexcnc in your poetry environment, please use:

sudo -E env PATH=$PATH poetry run litexcnc install_driver
 

oj@VMLinuxCNC:~$ sudo -E env PATH=$PATH poetry run litexcnc install_driver
[sudo] Passwort für oj: 

/home/oj/src/litexcnc does not contain any element

wuyatom wrote:

I think the input of 5A-75E is connected to the encoder output interface of the servo driver to achieve full closed-loop control 

File Attachment:

File Name: file_0191eb5.hal
File Size:11 KB

 

File Attachment:

File Name: file_15cfcd5.ini
File Size:5 KB

 

File Attachment:

File Name: 5a-75e_v7....2-26.txt
File Size:5 KB

net xpos-fb  <= [LITEXCNC](NAME).stepgen.00.position_prediction
net xpos-fb  => joint.0.motor-pos-fb