Been digging a bit more in the docs and my hal file, came up with some things still a bit unclear to me.
readhmi gave me the following:
Code:
timfaber@Brother:~$ mesaflash --device ethernet --addr 10.10.10.10 --readhmid
Configuration Name: HOSTMOT2
General configuration information:
BoardName : MESA7I97
FPGA Size: 9 KGates
FPGA Pins: 144
Number of IO Ports: 3
Width of one I/O port: 17
Clock Low frequency: 100.0000 MHz
Clock High frequency: 200.0000 MHz
IDROM Type: 3
Instance Stride 0: 4
Instance Stride 1: 64
Register Stride 0: 256
Register Stride 1: 256
Modules in configuration:
Module: DPLL
There are 1 of DPLL in configuration
Version: 0
Registers: 7
BaseAddress: 7000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: WatchDog
There are 1 of WatchDog in configuration
Version: 0
Registers: 3
BaseAddress: 0C00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: IOPort
There are 3 of IOPort in configuration
Version: 0
Registers: 5
BaseAddress: 1000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: MuxedQCount
There are 6 of MuxedQCount in configuration
Version: 3
Registers: 5
BaseAddress: 3600
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: MuxedQCountSel
There are 1 of MuxedQCountSel in configuration
Version: 0
Registers: 0
BaseAddress: 0000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: SSerial
There are 1 of SSerial in configuration
Version: 0
Registers: 6
BaseAddress: 5B00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 64 bytes
Module: PWM
There are 6 of PWM in configuration
Version: 0
Registers: 5
BaseAddress: 4100
ClockFrequency: 200.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: SSR
There are 1 of SSR in configuration
Version: 0
Registers: 2
BaseAddress: 7D00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: InMux
There are 1 of InMux in configuration
Version: 0
Registers: 5
BaseAddress: 8000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: LED
There are 1 of LED in configuration
Version: 0
Registers: 1
BaseAddress: 0200
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Configuration pin-out:
IO Connections for TB1/TB2/TB3
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
TB3-4 0 IOPort PWM 0 PWM (Out)
TB3-8 1 IOPort PWM 1 PWM (Out)
TB3-12 2 IOPort PWM 2 PWM (Out)
TB3-16 3 IOPort PWM 3 PWM (Out)
TB3-20 4 IOPort PWM 4 PWM (Out)
TB3-20 5 IOPort PWM 4 /Enable (Out)
TB3-24 6 IOPort PWM 5 PWM (Out)
TB3-24 7 IOPort PWM 5 /Enable (Out)
TB3-4,8,12,16 8 IOPort PWM 0 /Enable (Out)
TB1-1,2,9,10 9 IOPort MuxedQCount 0 MuxQ-A (In)
TB1-4,5,12,13 10 IOPort MuxedQCount 0 MuxQ-B (In)
TB1-7,8,15,16 11 IOPort MuxedQCount 0 MuxQ-IDX (In)
TB1-17,18,TB2 1,2 12 IOPort MuxedQCount 1 MuxQ-A (In)
TB1-20,21,TB2-4,5 13 IOPort MuxedQCount 1 MuxQ-B (In)
TB1-23,24,TB2-7,8 14 IOPort MuxedQCount 1 MuxQ-IDX (In)
TB2-9,10,17,18 15 IOPort MuxedQCount 2 MuxQ-A (In)
TB2-12,13,20,21 16 IOPort MuxedQCount 2 MuxQ-B (In)
IO Connections for TB4/TB5
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
TB2-15,16,23,24 17 IOPort MuxedQCount 2 MuxQ-IDX (In)
Internal 18 IOPort MuxedQCountSel 0 MuxSel0 (Out)
TB5-13,14 19 IOPort SSR 0 Out-00 (Out)
TB5-15,16 20 IOPort SSR 0 Out-01 (Out)
TB5-17,18 21 IOPort SSR 0 Out-02 (Out)
TB5-19,20 22 IOPort SSR 0 Out-03 (Out)
TB5-21,22 23 IOPort SSR 0 Out-04 (Out)
TB5-23,24 24 IOPort SSR 0 Out-05 (Out)
Internal 25 IOPort SSR 0 AC Ref (Out)
Internal 26 IOPort InMux 0 Addr0 (Out)
Internal 27 IOPort InMux 0 Addr1 (Out)
Internal 28 IOPort InMux 0 Addr2 (Out)
Internal 29 IOPort InMux 0 Addr3 (Out)
Internal 30 IOPort InMux 0 Data0 (In)
TB4-15,16 31 IOPort SSerial 0 RXData0 (In)
TB4-17,18 32 IOPort SSerial 0 TXData0 (Out)
Internal 33 IOPort SSerial 0 TXEn0 (Out)
IO Connections for P1
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
P1-01/DB25-01 34 IOPort None
P1-02/DB25-14 35 IOPort None
P1-03/DB25-02 36 IOPort None
P1-04/DB25-15 37 IOPort None
P1-05/DB25-03 38 IOPort None
P1-06/DB25-16 39 IOPort None
P1-07/DB25-04 40 IOPort None
P1-08/DB25-17 41 IOPort None
P1-09/DB25-05 42 IOPort None
P1-11/DB25-06 43 IOPort None
P1-13/DB25-07 44 IOPort None
P1-15/DB25-08 45 IOPort None
P1-17/DB25-09 46 IOPort None
P1-19/DB25-10 47 IOPort None
P1-21/DB25-11 48 IOPort None
P1-23/DB25-12 49 IOPort None
P1-25/DB25-13 50 IOPort None
and now inparticular:
Code:
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
TB3-4 0 IOPort PWM 0 PWM (Out)
TB3-8 1 IOPort PWM 1 PWM (Out)
TB3-12 2 IOPort PWM 2 PWM (Out)
TB3-16 3 IOPort PWM 3 PWM (Out)
TB3-20 4 IOPort PWM 4 PWM (Out)
TB3-20 5 IOPort PWM 4 /Enable (Out)
TB3-24 6 IOPort PWM 5 PWM (Out)
TB3-24 7 IOPort PWM 5 /Enable (Out)
TB3-4,8,12,16 8 IOPort PWM 0 /Enable (Out)
TB1-1,2,9,10 9 IOPort MuxedQCount 0 MuxQ-A (In)
TB1-4,5,12,13 10 IOPort MuxedQCount 0 MuxQ-B (In)
TB1-7,8,15,16 11 IOPort MuxedQCount 0 MuxQ-IDX (In)
TB1-17,18,TB2 1,2 12 IOPort MuxedQCount 1 MuxQ-A (In)
TB1-20,21,TB2-4,5 13 IOPort MuxedQCount 1 MuxQ-B (In)
TB1-23,24,TB2-7,8 14 IOPort MuxedQCount 1 MuxQ-IDX (In)
TB2-9,10,17,18 15 IOPort MuxedQCount 2 MuxQ-A (In)
TB2-12,13,20,21 16 IOPort MuxedQCount 2 MuxQ-B (In)
Now does IO 0 get referenced in here(below)? and why are there 4 pins on IO 8 and how are they enabled idividually in the hal file?
Code:
# ---PWM Generator signals/setup---
setp [HMOT](CARD0).pwmgen.00.output-type 1 #PWM pin0
setp [HMOT](CARD0).pwmgen.00.offset-mode 1 # offset mode so 50% = 0
setp [HMOT](CARD0).pwmgen.00.scale [JOINT_0]OUTPUT_SCALE
net x-output => [HMOT](CARD0).pwmgen.00.value
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-enable <= joint.0.amp-enable-out
# enable first 4 PWMGens on x-enable
net x-enable => [HMOT](CARD0).pwmgen.00.enable
