# IT'S OK
loadrt arisc out=PA12,PA11,PA6,PA13
# IT'S OK
loadrt arisc in=PA12,PA11,PA6,PA13
# 4 channels (0,1,2,3) with control by position
loadrt arisc pwm=p,p,p,p
# 3 channels, controlled by position (0), speed (1) and frequency (2)
loadrt arisc pwm=p,v,f
# IT'S OK
loadrt arisc encoders=3
Examples:
# 2 input pins, 1 output pin, 4 PWM channels, 3 encoder channels
loadrt arisc in=PA12,PA11 out=PD14 pwm=p,p,p,f encoders=3
# no input pins, 3 output pins, 3 PWM channels, no encoder channels
loadrt arisc out=PA12,PA11,PD14 pwm=p,p,p
| arisc.gpio.X-out | (bit, out) | output pin. |
| arisc.gpio.X-out-not | (bit, out) | output pin, inverted. |
| arisc.gpio.X-in | (bit, in) | input pin. |
| arisc.gpio.X-in-out | (bit, in) | input pin, inverted. |
| arisc.gpio.X-pull | (s32, in) | pin pull down (-1), pull up (1) or without (0). |
| arisc.gpio.X-multi-drive-level | (u32, in) | pin multi-drive (open drain) level (0..3). |
Replace the X chars with GPIO pin name,
listed in the output/input list.
Examples:
loadrt arisc out=PA12,PA11,PA6,PA13 in=PA14,PA1,PA0
# --- IT'S OK ---
net xstep => arisc.gpio.PA12-out
net xdir => arisc.gpio.PA11-out-not
net ystep => arisc.gpio.PA6-out
net ydir => arisc.gpio.PA13-out
net home-x <= arisc.gpio.PA14-in
net home-y <= arisc.gpio.PA1-in-not
net home-z <= arisc.gpio.PA0-in
setp arisc.gpio.PA12-pull -1 # pull down PA12 to the GND
setp arisc.gpio.PA12-multi-drive-level 1
# --- ERROR ---
net xstep => arisc.gpio.PA36-out # there's no such pin
net xdir => arisc.gpio.3-out # there's no such pin
net ystep => arisc.gpio.PA14-in # there's no such pin
net ydir => arisc.gpio.A13-out # there's no such pin
net home-x <= arisc.gpio.PA12-out # there's no such pin
net home-y <= arisc.gpio.57-in # there's no such pin
net home-z <= arisc.gpio.P0-out # there's no such pin
| arisc.gpio.read | (float:no) | updates all input pins state. |
| arisc.gpio.write | (float:no) | updates all output pins state. |
Examples:
loadrt motion base_period_nsec=50000 servo_period_nsec=1000000 num_joints=1
loadrt arisc out=PA12,PA11 in=PA6,PA13
addf arisc.gpio.read base-thread # read all used pins state
addf arisc.gpio.write base-thread # write all used pins state
| arisc.pwm.N.enable | (bit, in) | channel ON/OFF (1/0). Default is 0. |
| · · · | ||
| arisc.pwm.N.pwm-port | (u32, in) | GPIO port number (0..7) for PWM signal. |
| arisc.pwm.N.pwm-pin | (u32, in) | GPIO pin number (0..23) for the PWM signal. |
| arisc.pwm.N.pwm-invert | (bit, in) | invert the PWM signal? (0/1). Default is 0. |
| · · · | ||
| arisc.pwm.N.dir-port | (u32, in) | GPIO port number (0..7) for PWM signal. |
| arisc.pwm.N.dir-pin | (u32, in) | GPIO pin number (0..23) for the DIR signal. |
| arisc.pwm.N.dir-invert | (bit, in) | invert the DIR signal? (0/1). Default is 0. |
| arisc.pwm.N.dir-hold | (u32, io) | minimal pause (in nanoseconds) between last PWM pulse and a DIR signal change. Default is 50000 ns. |
| arisc.pwm.N.dir-setup | (u32, io) | minimal pause (in nanoseconds) between DIR signal change and next PWM pulse. Default is 50000 ns. |
| · · · | ||
| arisc.pwm.N.dc-cmd | (float, in) | desired duty cycle (-1..1). 1 = 100%. Default is 0. |
| arisc.pwm.N.dc-min | (float, io) | minimum duty cycle. If dc-fb < dc-min, real duty cycle will be set to dc-min. Default is -1. |
| arisc.pwm.N.dc-max | (float, io) | maximum duty cycle. If dc-fb > dc-max, real duty cycle will be set to dc-max. Default is 1. |
| arisc.pwm.N.dc-max-t | (u32, io) | maximum time (in nanoseconds) of a PWM pulse duration. If value is 0, value is ignored. Default is 0. |
| arisc.pwm.N.dc-offset | (float, io) | simple offset for the desired duty cycle value. Default is 0. |
| arisc.pwm.N.dc-scale | (float, io) | simple scale multiplier for the desired duty cycle value. Default is 1. |
| arisc.pwm.N.dc-fb | (float, out) | real duty cycle feedback = dc-cmd / dc-scale + dc-offset. Then value will be limited by the dc-min, dc-max and dc-max-t values. |
| · · · | ||
| arisc.pwm.N.freq-cmd | (float, io) | desired PWM frequency (in Hz). Default is 0. |
| arisc.pwm.N.freq-min | (float, io) | minimum PWM frequency (in Hz). If freq-fb < freq-min, real frequency will be set to 0. Default is 50 Hz. |
| arisc.pwm.N.freq-max | (float, io) | maximum PWM frequency (in Hz). If freq-fb > freq-max, real frequency will be set to freq-max. Default is 500000 Hz. |
| arisc.pwm.N.freq-fb | (float, out) | real PWM frequency feedback. |
| · · · | ||
| arisc.pwm.N.vel-cmd | (float, in) | desired velocity (in movement units/second). Default is 0. |
| arisc.pwm.N.vel-scale | (float, in) | simple scale multiplier for the desired velocity value. Default is 1. |
| arisc.pwm.N.vel-fb | (float, out) | real velocity feedback (in movement units/second). |
| · · · | ||
| arisc.pwm.N.pos-cmd | (float, in) | desired position (in movement units). Default is 0. |
| arisc.pwm.N.pos-scale | (float, in) | number of PWM pulses per movement unit. Default is 1. |
| arisc.pwm.N.pos-fb | (float, out) | real position feedback in movement units. |
| · · · | ||
| arisc.pwm.N.counts | (s32, out) | real position feedback in PWM pulses. |
Replace N with channel number (0..15).
Examples:
loadrt motion base_period_nsec=50000 servo_period_nsec=1000000 num_joints=1
loadrt arisc pwm=p
setp arisc.pwm.0.pos-scale [AXIS_0]SCALE
setp arisc.pwm.0.pwm-port 0 # 0=PA
setp arisc.pwm.0.pwm-pin 12 # PA12
setp arisc.pwm.0.pwm-invert 0
setp arisc.pwm.0.dir-port 0 # 0=PA
setp arisc.pwm.0.dir-pin 11 # PA11
setp arisc.pwm.0.dir-invert 0
net x-enable arisc.pwm.0.enable joint.0.amp-enable-out
net x-pos-cmd arisc.pwm.0.pos-cmd joint.0.motor-pos-cmd
| arisc.pwm.read | (float:yes) | updates all feedback pin values for the all channels. |
| arisc.pwm.write | (float:yes) | updates real frequency values for the all channels. |
Examples:
loadrt motion base_period_nsec=50000 servo_period_nsec=1000000 num_joints=1
loadrt arisc pwm=p
addf arisc.pwm.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf arisc.pwm.write servo-thread
| arisc.encoder.N.enable | (bit, in) | channel ON/OFF (1/0). Default is 0. |
| · · · | ||
| arisc.encoder.N.counter-mode | (bit, io) | Enables counter mode. When 1, the counter counts each rising edge of the phase-A input, ignoring the value on phase-B. This is useful for counting the output of a single channel (non-quadrature) sensor. When 0, it counts in quadrature mode. Default is 0. |
| · · · | ||
| arisc.encoder.N.x4-mode | (bit, io) | Enables times-4 mode. When 1, the counter counts each edge of the quadrature waveform (four counts per full cycle). When 0, it only counts once per full cycle. In counter-mode, this parameter is ignored. Default is 1. |
| · · · | ||
| arisc.encoder.N.index-enable | (bit, io) | When 1, counts and position are reset to zero on the next rising edge of INDEX (Z). At the same time, index-enable is reset to zero to indicate that the rising edge has occurred. Default is 0. |
| · · · | ||
| arisc.encoder.N.reset | (bit, in) | When 1, counts and pos are reset to zero immediately. Default is 0. |
| · · · | ||
| arisc.encoder.N.A-port | (u32, in) | GPIO port number (0..7) for the phase A signal. |
| arisc.encoder.N.A-pin | (u32, in) | GPIO pin number (0..23) for the phase A signal. |
| arisc.encoder.N.A-invert | (bit, in) | invert phase A signal? (0/1). Default is 0. |
| arisc.encoder.N.A-all-edges | (bit, in) | trigger phase A signal on any voltage edge? (0/1) This HAL pin uses only when counter-mode is enabled. Default is 0. |
| · · · | ||
| arisc.encoder.N.B-port | (u32, in) | GPIO port number (0..7) for the phase B signal. |
| arisc.encoder.N.B-pin | (u32, in) | GPIO pin number (0..23) for the phase B signal. |
| · · · | ||
| arisc.encoder.N.Z-port | (u32, in) | GPIO port number (0..7) for the INDEX signal. |
| arisc.encoder.N.Z-pin | (u32, in) | GPIO pin number (0..23) for the INDEX signal. |
| arisc.encoder.N.Z-invert | (bit, in) | invert INDEX signal? (0/1). Default is 0. |
| arisc.encoder.N.Z-all-edges | (bit, in) | trigger INDEX signal on any voltage edge? (0/1) Default is 0. |
| · · · | ||
| arisc.encoder.N.pos-scale | (float, in) | number of encoder pulses per movement unit. Default is 1. |
| arisc.encoder.N.pos | (float, out) | real position feedback in movement units. |
| arisc.encoder.N.vel | (float, out) | real velocity feedback (in movement units/second). |
| arisc.encoder.N.vel-rpm | (float, out) | real velocity feedback (in revolutions/minute). |
| arisc.encoder.N.counts | (s32, out) | real position feedback in encoder pulses. |
Replace N with channel number (0..7).
Examples:
loadrt arisc encoders=1
setp arisc.encoder.0.pos-scale [AXIS_0]SCALE
setp arisc.encoder.0.A-port 0 # 0=PA
setp arisc.encoder.0.A-pin 12 # PA12
setp arisc.encoder.0.B-port 0 # 0=PA
setp arisc.encoder.0.B-pin 11 # PA11
setp arisc.encoder.0.Z-port 0 # 0=PA
setp arisc.encoder.0.Z-pin 6 # PA6
net x-enc-en arisc.encoder.0.enable joint.0.amp-enable-out
net x-pos-fb arisc.encoder.0.pos joint.0.motor-pos-fb
| arisc.encoder.read | (float:yes) | updates all feedback pin values for the all channels. |
Examples:
loadrt motion base_period_nsec=50000 servo_period_nsec=1000000 num_joints=1
loadrt arisc encoders=1
addf arisc.encoder.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread