LitexCNC: firmware and driver for 5A-75B and 5A-75E

Might be instructive to plot that commanded and feedback joint positions
when index enable goes false

Can someone explain how to change the HAL file like this post?
forum.linuxcnc.org/9-installing-linuxcnc...oder?start=20#291217

PCW wrote:

Might be instructive to plot that commanded and feedback joint positions
when index enable goes false

 

According to what I observed in halshow, position-cmd becomes zero immediately, but position-feedback and position-prediction stop after some change.

Ahh, I missed something, you would need to use encoder feedback for homing to index
unless your firmware supports stepgen homing to index (because the stepgen position
feedback is not zeroed on index)

PCW wrote:

Ahh, I missed something, you would need to use encoder feedback for homing to index
unless your firmware supports stepgen homing to index (because the stepgen position
feedback is not zeroed on index)

I did not understand exactly what to do
Can you explain more?

For this to work, you would have to have actual feedback from the encoder
(connected in hal) or firmware that supports a stepgen index input

It might be possible to do this in software (hal) but it would be fairly complex