Motenc Driver
Vital Systems Motenc-100 and Motenc-LITE
The Vital Systems Motenc-100 and Motenc-LITE are 8- and 4-channel servo control boards. The Motenc-100 provides 8 quadrature encoder counters, 8 analog inputs, 8 analog outputs, 64 (68?) digital inputs, and 32 digital outputs. The Motenc-LITE has only 4 encoder counters, 32 digital inputs and 16 digital outputs, but it still has 8 analog inputs and 8 analog outputs. The driver automatically identifies the installed board and exports the appropriate HAL objects.
Installing:
loadrt hal_motencDuring loading (or attempted loading) the driver prints some useful debugging messages to the kernel log, which can be viewed with dmesg.
Up to 4 boards may be used in one system.
Pins
In the following pins, parameters, and functions, <board> is the board ID. According to the naming conventions the first board should always have an ID of zero. However this driver sets the ID based on a pair of jumpers on the board, so it may be non-zero even if there is only one board.
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'(s32) motenc.<board>.enc-<channel>-count' - Encoder position, in counts.
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'(float) motenc.<board>.enc-<channel>-position' - Encoder position, in user units.
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'(bit) motenc.<board>.enc-<channel>-index' - Current status of index pulse input.
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'(bit) motenc.<board>.enc-<channel>-idx-latch' - Driver sets this pin true when it latches an index pulse (enabled by latch-index). Cleared by clearing latch-index.
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'(bit) motenc.<board>.enc-<channel>-latch-index' - If this pin is true, the driver will reset the counter on the next index pulse.
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'(bit) motenc.<board>.enc-<channel>-reset-count' - If this pin is true, the counter will immediately be reset to zero, and the pin will be cleared.
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'(float) motenc.<board>.dac-<channel>-value' - Analog output value for DAC (in user units, see -gain and -offset)
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'(float) motenc.<board>.adc-<channel>-value' - Analog input value read by ADC (in user units, see -gain and -offset)
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'(bit) motenc.<board>.in-<channel>' - State of digital input pin, see canonical digital input.
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'(bit) motenc.<board>.in-<channel>-not' - Inverted state of digital input pin, see canonical digital input.
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'(bit) motenc.<board>.out-<channel>' - Value to be written to digital output, seen canonical digital output.
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'(bit) motenc.<board>.estop-in' - Dedicated estop input, more details needed.
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'(bit) motenc.<board>.estop-in-not' - Inverted state of dedicated estop input.
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'(bit) motenc.<board>.watchdog-reset' - Bidirectional, - Set TRUE to reset watchdog once, is automatically cleared.
Parameters
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'(float) motenc.<board>.enc-<channel>-scale' - The number of counts / user unit (to convert from counts to units).
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'(float) motenc.<board>.dac-<channel>-offset' - Sets the DAC offset.
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'(float) motenc.<board>.dac-<channel>-gain' - Sets the DAC gain (scaling).
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'(float) motenc.<board>.adc-<channel>-offset' - Sets the ADC offset.
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'(float) motenc.<board>.adc-<channel>-gain' - Sets the ADC gain (scaling).
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'(bit) motenc.<board>.out-<channel>-invert' - Inverts a digital output, see canonical digital output.
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'(u32) motenc.<board>.watchdog-control' - Configures the watchdog. The value may be a bitwise OR of the following values:
| Bit # | Value | Meaning |
|---|---|---|
0 |
1 |
Timeout is 16ms if set, 8ms if unset |
1 |
2 |
|
2 |
4 |
Watchdog is enabled |
3 |
8 |
|
4 |
16 |
Watchdog is automatically reset by DAC writes (the HAL dac-write function) |
Typically, the useful values are 0 (watchdog disabled) or 20 (8ms watchdog enabled, cleared by dac-write).
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'(u32) motenc.<board>.led-view' - Maps some of the I/O to onboard LEDs.
Functions
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'(funct) motenc.<board>.encoder-read' - Reads all encoder counters.
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'(funct) motenc.<board>.adc-read' - Reads the analog-to-digital converters.
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'(funct) motenc.<board>.digital-in-read' - Reads digital inputs.
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'(funct) motenc.<board>.dac-write' - Writes the voltages to the DACs.
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'(funct) motenc.<board>.digital-out-write' - Writes digital outputs.
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'(funct) motenc.<board>.misc-update' - Updates misc stuff.