diff --git a/docs/README.adoc b/docs/README.adoc index 8a17f0dcf64..ef6db1bd0e4 100644 --- a/docs/README.adoc +++ b/docs/README.adoc @@ -10,7 +10,7 @@ files must be updated to add a new document file. The relevant pdf.adoc must be updated to include the new document in the pdf documentation. E.g., a new document belonging to the Master -Documentation requires an entry in src/Master_Documentation.adoc. +Documentation requires an entry in `src/Master_Documentation.adoc`. `docs.xml` is used to create the "previous" and "next" buttons at the top of each individual HTML document. It should generally match the order of @@ -23,7 +23,7 @@ generating translated files using the files in `docs/po/`. The main LinuxCNC Makefile can optionally build the documentation and other files in this directory tree. Use "--enable-build-documentation" -when invoking `src/configure`, and run "make" from src. +when invoking `src/configure`, and run "make" from `src`. == Notes about drawings diff --git a/docs/src/config/python-interface.adoc b/docs/src/config/python-interface.adoc index 807fd399342..88b19c18036 100644 --- a/docs/src/config/python-interface.adoc +++ b/docs/src/config/python-interface.adoc @@ -93,7 +93,7 @@ see <> for an example. current value of the analog input pins. *angular_units*:: '(returns float)' - -machine angular units per deg, reflects [TRAJ]ANGULAR_UNITS INI value. + machine angular units per deg, reflects [TRAJ]ANGULAR_UNITS INI value. *aout*:: '(returns tuple of floats)' - current value of the analog output pins. @@ -112,7 +112,7 @@ machine angular units per deg, reflects [TRAJ]ANGULAR_UNITS INI value. block delete current status. *call_level*:: '(returns integer)'` - - current subroutine depth. - 0 If not in a subroutine, Depth if not otherwise specified. + current subroutine depth. - 0 if not in a subroutine, depth if not otherwise specified. *command*:: '(returns string)' - currently executing command. diff --git a/docs/src/gui/qtdragon.adoc b/docs/src/gui/qtdragon.adoc index 81ee67bb434..c3708ad8e28 100644 --- a/docs/src/gui/qtdragon.adoc +++ b/docs/src/gui/qtdragon.adoc @@ -965,7 +965,9 @@ Setup steps include: * Enabling "Use Tool Sensor" under Settings. [IMPORTANT] -When fist setting up auto tool measurement, please use caution until you confirm tool change and probe locations - it is easy to break a tool/probe. Abort will be honoured while the probe is in motion. +When fist setting up auto tool measurement, please use caution +until you confirm tool change and probe locations - it is easy to break a tool/probe. +Abort will be honoured while the probe is in motion. Tool Measurement in QtDragon is organized into the following steps which will be explained in more detail in the following section: @@ -1008,13 +1010,15 @@ MAXPROBE distance needs to be high enough for the tool to touch the probe. The following setups need only be done once as long as they remain in effect: -. Under Probe Tool Screens: Insure reasonable values for "Rapid" and "Search," these are the speeds at which the probing will be performed and are in machine units per minute. + -. Under Probe Tool Screens: insure that "Tool Measure" is enabled (this is a button that must be highlighted) -. Under Settings: insure that "Use Tool Sensor" is enabled (this is a tick-box that must be checked) -. In the Tool Table: setup a tool for the spindle probe and insure that its Z offset is set to zero. +. Under Probe Tool Screens: Ensure reasonable values for "Rapid" and "Search," these are the speeds at which the probing will be performed and are in machine units per minute. + +. Under Probe Tool Screens: Ensure that "Tool Measure" is enabled (this is a button that must be highlighted) +. Under Settings: Ensure that "Use Tool Sensor" is enabled (this is a tick-box that must be checked) +. In the Tool Table: Set up a tool for the spindle probe and ensure that its Z offset is set to zero. [NOTE] -It is possible to use a non-zero tool length for the tool probe, but this requires extra steps and is easy to make mistakes. The following procedure assumes a zero tool probe length. +It is possible to use a non-zero tool length for the tool probe, +but this requires extra steps and is easy to make mistakes. +The following procedure assumes a zero tool probe length. ==== Procedure before starting a program diff --git a/docs/src/hal/halui-examples.adoc b/docs/src/hal/halui-examples.adoc index 05dc39f35e3..a25aa1dd005 100644 --- a/docs/src/hal/halui-examples.adoc +++ b/docs/src/hal/halui-examples.adoc @@ -10,8 +10,7 @@ :hal: {basebackend@docbook:'':hal} :ngc: {basebackend@docbook:'':ngc} -For any Halui examples to work you need to add the following line to the [HAL] -section of the ini file. +For any Halui examples to work you need to add the following line to the [HAL] section of the INI file. [source,{ini}] ---- @@ -23,14 +22,12 @@ HALUI = halui To connect a remote program start button to LinuxCNC you use the `halui.program.run` pin and the `halui.mode.auto` pin. -You have to insure that it is OK to run first by using the -`halui.mode.is-auto` pin. You do this with an `and2` -component. The following figure shows how this is done. -When the Remote Run Button is pressed it is connected to -both `halui.mode.auto` and `and2.0.in0`. If it is OK for -auto mode the pin `halui.mode.is-auto` will be on. -If both the inputs to the `and2.0` component are on the -`and2.0.out` will be on and this will start the program. +You have to ensure that it is OK to run first by using the `halui.mode.is-auto` pin. +You do this with an `and2` component. The following figure shows how this is done. +When the Remote Run Button is pressed it is connected to both `halui.mode.auto` and `and2.0.in0`. +If it is OK for auto mode the pin `halui.mode.is-auto` will be on. +If both the inputs to the `and2.0` component are on the `and2.0.out` will be on +and this will start the program. .Remote Start Example image::images/remote-start.png["Remote Start Example"] @@ -74,9 +71,8 @@ net ispaused halui.program.is paused => "your output pin" net resume halui.program.resume <= "your input pin" ---- -Your input and output pins are connected to the pins -wired to the other controller. They may be parallel port -pins or any other I/O pins that you have access to. +Your input and output pins are connected to the pins wired to the other controller. +They may be parallel port pins or any other I/O pins that you have access to. This system works in the following way. When an M0 is encountered in your G-code, the `halui.program.is-paused` diff --git a/docs/src/man/man1/gs2_vfd.1.adoc b/docs/src/man/man1/gs2_vfd.1.adoc index dfb6937d8f8..cae6e9c1a54 100644 --- a/docs/src/man/man1/gs2_vfd.1.adoc +++ b/docs/src/man/man1/gs2_vfd.1.adoc @@ -106,8 +106,8 @@ and writes to the GS2 via a modbus connection. from the VFD .speed-command (float, in):: - speed sent to VFD in RPM It is an error to send a speed faster than - the Motor Max RPM as set in the VFD + speed sent to VFD in RPM. It is an error to send a speed faster than + the Motor Max RPM as set in the VFD. .spindle-fwd (bit, in):: 1 for FWD and 0 for REV sent to VFD diff --git a/docs/src/man/man1/hy_vfd.1.adoc b/docs/src/man/man1/hy_vfd.1.adoc index 77dece4924f..bb2e8913184 100644 --- a/docs/src/man/man1/hy_vfd.1.adoc +++ b/docs/src/man/man1/hy_vfd.1.adoc @@ -81,7 +81,7 @@ You will need to log out and back in again for this to take effect. == OPTIONS -d, --device __:: - (default /dev/ttyS0) Set the name of the serial device node to use. + Set the name of the serial device node to use (defaults to /dev/ttyS0). -g, --debug:: Turn on debug messages. Note that if there are serial errors, this may @@ -91,80 +91,74 @@ You will need to log out and back in again for this to take effect. -y, --regdump:: Print the current value of all registers as soon as the VFD is enabled. --n, --name __:: - (default hy_vfd) Set the name of the HAL module. The HAL comp name - will be set to , and all pin and parameter names will begin - with . +-n, --name _string_:: + Sets the name of the HAL module. + The HAL comp name will be set to _string_, and all pin and parameter names will begin with _string_ (defaults to hy_vfd). --b, --bits __:: - (default 8) Set number of data bits to , where n must be from 5 to - 8 inclusive. This must match the setting in register PD165 of the - Huanyang VFD. +-b, --bits _n_:: + Set number of data bits to _n_, where n must be from 5 to 8 inclusive. + This must match the setting in register PD165 of the Huanyang VFD (defaults to 8). -p, --parity [even,odd,none]:: - (default odd) Set serial parity to even, odd, or none. This must match - the setting in register PD165 of the Huanyang VFD. + Set serial parity to even, odd, or none. This must match + the setting in register PD165 of the Huanyang VFD (default odd). --r, --rate __:: - (default 38400) Set baud rate to . It is an error if the rate is +-r, --rate _n_:: + Set baud rate to _n_. It is an error if the rate is not one of the following: 110, 300, 600, 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200. This must match the setting in register - PD164 of the Huanyang VFD. + PD164 of the Huanyang VFD (defaults to 38400). -s, --stopbits [1,2]:: - (default 1) Set serial stop bits to 1 or 2. This must match the - setting in register PD165 of the HuanyangVFD. + Set serial stop bits to 1 or 2. This must match the + setting in register PD165 of the HuanyangVFD (defaults to 1). --t, --target __:: - (default 1) Set HYCOMM target (slave) number. This must match the - device number you set on the Hyanyang VFD in register PD163. +-t, --target _n_:: + Set HYCOMM target (slave) number. This must match the device number + you set on the Hyanyang VFD in register PD163 (defaults to 1). --F, --max-frequency __:: - (default: read from VFD) If specified, program register PD005 of the - VFD with the specified max frequency of Hz (and use the same max +-F, --max-frequency _n_:: + If specified, program register PD005 of the + VFD with the specified max frequency of _n_ Hz (and use the same max frequency in the hy_vfd driver). If not specified, read the max - frequency to use from register PD005 of the VFD. + frequency to use from register PD005 of the VFD (default: read from VFD). --f, --min-frequency __:: - (default: read from VFD) If specified, program register PD011 of the - VFD with the specified minimum frequency of Hz (and use the same - minimum frequency in the hy_vfd driver). If not specified, read the - minimum frequency to use from register PD011 of the VFD. +-f, --min-frequency _n_:: + If specified, program register PD011 of the VFD with the specified minimum frequency + of Hz (and use the same minimum frequency in the hy_vfd driver). + If not specified, read the minimum frequency to use from register PD011 of the VFD (default: read from VFD). --V, --motor-voltage __:: - (default: read from VFD) If specified, program register PD141 of the - VFD with the specified max motor voltage of Volts. If not - specified, read the max motor voltage from register PD141 of the VFD. +-V, --motor-voltage _n_:: + If specified, program register PD141 of the VFD with the specified max motor voltage of _n_ Volts. + If not specified, read the max motor voltage from register PD141 of the VFD (default: read from VFD). --I, --motor-current __:: - (default: read from VFD) If specified, program register PD142 of the - VFD with the specified max motor current of Amps. If not - specified, read the max motor current from register PD142 of the VFD. +-I, --motor-current _n_:: + If specified, program register PD142 of the VFD with the specified max motor current of _n_ Amps. + If not specified, read the max motor current from register PD142 of the VFD (default: read from VFD). --S, --motor-speed __:: +-S, --motor-speed _n_:: (default: compute from value read from VFD P144) This command-line argument is the motor's max speed. If specified, compute the motor's speed at 50 Hz from this argument and from the motor's max frequency (from the --max-frequency argument or from P011 if --max-frequency is not specified) and program register PD144 of the VFD. If not specified, read the motor's speed at 50 Hz from register P144 of the - VFD, and use that and the max frequency to compute the motor's max - speed. + VFD, and use that and the max frequency to compute the motor's max speed. --P, --motor-poles __:: +-P, --motor-poles _n_:: (default: read value from VFD P143) This command-line argument is the number of poles in the motor. If specified, this value is sent to the VFD's register PD143. If not specified, the value is read from PD143 and reported on the corresponding HAL pin. --x, --register PD__nnn__=__mmm__ __:: +-x, --register PD__nnn__=__mmm__ _n_:: Set a specific register to a new value. Can be used to set up to 10 registers. Parameters will "stick" (but only after hy_vfd.enable has been set true) so to set more than ten parameters it is possible to repeatedly load the driver with a set of registers to set then enable (setp hy_vfd.enable 1) and unload (unload hy_vfd) the driver at a halrun(1) prompt. For example: + - loadusr -W hy_vfd -d /ttyUSB0 --register PD014=30 --register PD015=30 + `loadusr -W hy_vfd -d /ttyUSB0 --register PD014=30 --register PD015=30` + Will set both ramp1 times to 3 seconds. The values should be scaled according to the manual data. The example above uses values with a @@ -173,125 +167,54 @@ You will need to log out and back in again for this to take effect. == PINS -.enable:: - (bit, in) Enable communication from the hy_vfd driver to the VFD. - -.SetF:: - (float, out) - -.OutF:: - (float, out) - -.OutA:: - (float, out) - -.Rott:: - (float, out) - -.DCV:: - (float, out) - -.ACV:: - (float, out) - -.Cont:: - (float, out) - -.Tmp:: - (float, out) - -.spindle-forward:: - (bit, in) - -.spindle-reverse:: - (bin, in) - -.spindle-on:: - (bin, in) - -.CNTR:: - (float, out) - -.CNST:: - (float, out) - -.CNST-run:: - (bit, out) - -.CNST-jog:: - (bit, out) - -.CNST-command-rf:: - (bit, out) - -.CNST-running:: - (bit, out) - -.CNST-jogging:: - (bit, out) - -.CNST-running-rf:: - (bit, out) - -.CNST-bracking:: - (bit, out) - -.CNST-track-start:: - (bit, out) - -.speed-command:: - (float, in) - -.spindle-speed-fb:: - (float, out) Current spindle speed as reported by Huanyang VFD (rpm). - -.spindle-speed-fb-rps:: - (float, out) Current spindle speed as reported by Huanyang VFD (rps). - -.spindle-at-speed-tolerance:: - (float, in) Spindle speed error tolerance. If the actual spindle speed - is within .spindle-at-speed-tolerance of the commanded speed, then the - .spindle-at-speed pin will go True. The default - .spindle-at-speed-tolerance is 0.02, which means the actual speed must - be within 2% of the commanded spindle speed. - -.spindle-at-speed:: - (bit, out) True when the current spindle speed is within - .spindle-at-speed-tolerance of the commanded speed. - -.frequency-command:: - (float, out) - -.max-freq:: - (float, out) - -.base-freq:: - (float, out) - -.freq-lower-limit:: - (float, out) - -.rated-motor-voltage:: - (float, out) - -.rated-motor-current:: - (float, out) - -.rated-motor-rev:: - (float, out) - -.motor-poles:: - (u32, out) - -.hycomm-ok:: - (bit, out) - -.error-count:: - (s32, RO) - -.retval:: - (u32, R0) - +__.enable (bit, in):: + Enable communication from the hy_vfd driver to the VFD. +__.SetF (float, out):: +__.OutF (float, out):: +__.OutA (float, out):: +__.Rott (float, out):: +__.DCV (float, out):: +__.ACV (float, out):: +__.Cont (float, out):: +__.Tmp (float, out):: +__.spindle-forward (bit, in):: +__.spindle-reverse (bin, in):: +__.spindle-on (bin, in):: +__.CNTR (float, out):: +__.CNST (float, out):: +__.CNST-run (bit, out):: +__.CNST-jog (bit, out):: +__.CNST-command-rf (bit, out):: +__.CNST-running (bit, out):: +__.CNST-jogging (bit, out):: +__.CNST-running-rf (bit, out):: +__.CNST-bracking (bit, out):: +__.CNST-track-start (bit, out):: +__.speed-command (float, in):: +__.spindle-speed-fb (float, out):: + Current spindle speed as reported by Huanyang VFD (rpm). +__.spindle-speed-fb-rps (float, out):: + Current spindle speed as reported by Huanyang VFD (rps). +__.spindle-at-speed-tolerance (float, in):: + Spindle speed error tolerance. If the actual spindle speed is + within `.spindle-at-speed-tolerance` of the commanded speed, + then the `.spindle-at-speed pin` will go True. + The default `.spindle-at-speed-tolerance` is 0.02, which means + the actual speed must be within 2% of the commanded spindle speed. +__.spindle-at-speed (bit, out):: + True when the current spindle speed is within `.spindle-at-speed-tolerance` of the commanded speed. +__.frequency-command (float, out):: +__.max-freq (float, out):: +__.base-freq (float, out):: +__.freq-lower-limit (float, out):: +__.rated-motor-voltage (float, out):: +__.rated-motor-current (float, out):: +__.rated-motor-rev (float, out):: +__.motor-poles (u32, out):: +__.hycomm-ok (bit, out):: +__.error-count (s32, RO):: +__.retval (u32, R0):: + == AUTHOR Sebastian Kuzminsky diff --git a/docs/src/man/man1/linuxcncrsh.1.adoc b/docs/src/man/man1/linuxcncrsh.1.adoc index 1f2d4b0279d..f243b31a63c 100644 --- a/docs/src/man/man1/linuxcncrsh.1.adoc +++ b/docs/src/man/man1/linuxcncrsh.1.adoc @@ -194,7 +194,7 @@ Subcommands for *get* and *set* are: *ini* __ _
_:: Not currently implemented, do not use! - Should return the string value of __ in section
of the INI file. + Should return the string value of __ in section _
_ of the INI file. *debug* __:: With get, any parameter is ignored and the current integer value of @@ -327,18 +327,18 @@ _jog joint_number_ | _axis_letter_ __:: With get, returns the specified joint's actual position in absolute coordinates, excluding tool length offset. If no joint is specified, returns all joints' actual absolute position. -*pos_offset [{X|Y|Z|R|P|W}]* +*pos_offset [{X|Y|Z|R|P|W}]*:: With get, returns the position offset associated with the world coordinate provided. -*joint_limit [{0|1|...}]* +*joint_limit [{0|1|...}]*:: With get, returns limit status of the specified joint as "ok", "minsoft", "minhard", "maxsoft", or "maxhard". If no joint number is specified, returns the limit status of all joints. -*joint_fault [{0|1|...}]* +*joint_fault [{0|1|...}]*:: With get, returns the fault status of the specified joint as "ok" or "fault". If no joint number is specified, returns the fault status of all joints. -*joint_homed [{0|1|...}]* +*joint_homed [{0|1|...}]*:: With get, returns the homed status of the specified joint as "homed" or "not". If no joint number is specified, returns the homed status of all joints. diff --git a/docs/src/man/man1/mitsub_vfd.1.adoc b/docs/src/man/man1/mitsub_vfd.1.adoc index b5b9d2471b3..ccc713f0ab9 100644 --- a/docs/src/man/man1/mitsub_vfd.1.adoc +++ b/docs/src/man/man1/mitsub_vfd.1.adoc @@ -68,7 +68,7 @@ This driver assumes certain other VFD settings: - That the status bit 3 is up to speed. - That the status bit 7 is alarm. -Some models (eg E500) cannot monitor status. + +Some models, e.g. the E500, cannot monitor status. + You must set set the monitor pin to false. + In this case pins such as up-to-speed, amps, alarm and status bits are not useful. @@ -83,7 +83,7 @@ If false, request-status command will not be sent to VFD. Status, amps, power, motor-feedback, and alarm would then not be useful. _VFD_NAME_**.estop** (bit, in):: Set E-stop mode pin. This will stop the VFD. Restarting requires the run pin to cycle. -_VFD_NAME_**.fwd** (bit, out):: Up-to-speed status pin Motor is at requested speed within VFD's settings tolerance. +_VFD_NAME_**.fwd** (bit, out):: Up-to-speed status pin. Motor is at requested speed within VFD's settings tolerance. _VFD_NAME_**.alarm** (bit, out):: Alarm status pin _VFD_NAME_**.motor-cmd** (float, in):: The requested motor speed, in Hertz (Hz) _VFD_NAME_**.motor-fb** (float, out):: The motor feedback speed (from VFD) in Hertz (Hz) diff --git a/docs/src/man/man1/rs274.1.adoc b/docs/src/man/man1/rs274.1.adoc index 622783bd78a..b5ab1dca722 100644 --- a/docs/src/man/man1/rs274.1.adoc +++ b/docs/src/man/man1/rs274.1.adoc @@ -48,8 +48,9 @@ test.ngc test.tbl ---- -T1 P1 Z0.511 D0.125 ;1/8 end mill T2 P2 Z0.1 D0.0625 ;1/16 -end mill T3 P3 Z1.273 D0.201 ;#7 tap drill +T1 P1 Z0.511 D0.125 ;1/8 end mill +T2 P2 Z0.1 D0.0625 ;1/16 end mill +T3 P3 Z1.273 D0.201 ;#7 tap drill ---- command diff --git a/docs/src/man/man1/schedrmt.1.adoc b/docs/src/man/man1/schedrmt.1.adoc index 5ca90da256f..f397199c7a4 100644 --- a/docs/src/man/man1/schedrmt.1.adoc +++ b/docs/src/man/man1/schedrmt.1.adoc @@ -10,14 +10,21 @@ schedrmt - telnet based scheduler for LinuxCNC == DESCRIPTION -With -- --port Waits for socket connections (Telnet) on specified socket, without port uses default port 5007. -With -- --name __ Sets the server name to specified name for Hello. -With -- --connectpw __ Sets the connection password to _password_. Default 'EMC'. -With -- --enablepw __ Sets the enable password to _password_. Default 'EMCTOO'. -With -- --sessions Sets the maximum number of simultaneous connextions to max sessions. -Default is no limit (-1). -With -- --path Sets the base path to program (G-Code) files, default is "../../nc_files/". Make sure to include the final slash (/). -With -- -ini __, uses specified _INI file_ instead of default 'emc.ini'. +With -- --port:: + Waits for socket connections (Telnet) on specified socket, without port uses default port 5007. +With -- --name __:: + Sets the server name to specified name for Hello. +With -- --connectpw __:: + Sets the connection password to _password_. Default 'EMC'. +With -- --enablepw __:: + Sets the enable password to _password_. Default 'EMCTOO'. +With -- --sessions :: + Sets the maximum number of simultaneous connextions to max sessions. + Default is no limit (-1). +With -- --path:: + Sets the base path to program (G-Code) files, default is "../../nc_files/". Make sure to include the final slash (/). +With -- -ini __:: + Uses specified _INI file_ instead of default 'emc.ini'. There are six commands supported, for which the commands set and get contain LinuxCNC-specific sub-commands based on the commands supported by emcsh, but where the "emc_" prefix is omitted. @@ -71,7 +78,7 @@ INIFILE:: Returns the path and file name of the current configuration INI file. plat:: Returns the platform for which this was compiled, e.g., linux_2_0_36 -ini __ _
_:: Returns the string value of in section
, in EMC_INIFILE. +ini __ _
_:: Returns the string value of __ in section _
_, in EMC_INIFILE. debug {____}:: With get, returns the integer value of EMC_DEBUG, in the EMC. Note that it may not be true that the local EMC_DEBUG variable here (in emcsh and the GUIs that use it) is the same as the EMC_DEBUG value in the EMC. @@ -84,8 +91,8 @@ With no arg, returns the program queue status as "stop", "run", "pause" or "error". Otherwise, sends a command to set the current mode to "stop", "run" or "pause". -QStatus __ __ __ __:: Get only, -returns then number of programs in queue (Queue Size), the Tag id of the +QStatus __ __ __ __ (Get only):: +Returns then number of programs in queue (Queue Size), the Tag id of the first program in the queue, the Tag id of the last program in the queue, and the CRC of all of the Tag Ids in the queue. The actual calculation of the CRC is not important, the purpose is to be able to compare the diff --git a/docs/src/man/man1/sendkeys.1.adoc b/docs/src/man/man1/sendkeys.1.adoc index ed1ba6ef5ed..2be06abcb19 100644 --- a/docs/src/man/man1/sendkeys.1.adoc +++ b/docs/src/man/man1/sendkeys.1.adoc @@ -77,18 +77,18 @@ To generate keystrokes from other sources note that a keydown is simply `0xC0 & Connect to scancode generator. **sendkeys.**_N_**.current-event** s32 out:: - shows the current scancode without keyup / keydown markers. + Shows the current scancode without keyup / keydown markers. **sendkeys.**_N_**.init** bit in:: - set this pin TRUE once all the event parameters have been set. + Set this pin TRUE once all the event parameters have been set. == PARAMETERS **sendkeys.**_N_**.scan-event-_MM_** u32 in:: - assign the uinput event codes associated with each scancode. + Assign the uinput event codes associated with each scancode. **sendkeys.**_N_**.pin-event-_MM_** u32 in:: - assign the uinput codes associated with each HAL bit pin. + Assign the uinput codes associated with each HAL bit pin. == EXAMPLE diff --git a/docs/src/man/man1/tooledit.1.adoc b/docs/src/man/man1/tooledit.1.adoc index 212f3eeaa15..15f21589962 100644 --- a/docs/src/man/man1/tooledit.1.adoc +++ b/docs/src/man/man1/tooledit.1.adoc @@ -12,8 +12,6 @@ tooledit - tool table editor *tooledit* a graphical tool table editor -details: - == SEE ALSO linuxcnc(1) diff --git a/docs/src/man/man1/vfdb_vfd.1.adoc b/docs/src/man/man1/vfdb_vfd.1.adoc index 89a404b6d20..e976a02def3 100644 --- a/docs/src/man/man1/vfdb_vfd.1.adoc +++ b/docs/src/man/man1/vfdb_vfd.1.adoc @@ -188,9 +188,9 @@ MOTOR_HZ, MOTOR_RPM:: == USAGE -The vfdb_vfd driver takes precedence over panel control while it is enabled (see _.enable_ pin), effectively disabling the panel. -Clearing the _.enable_ pin re-enables the panel. -Pins and parameters can still be set, but will not be written to the VFD untile the .enable pin is set. +The vfdb_vfd driver takes precedence over panel control while it is enabled (see `.enable` pin), effectively disabling the panel. +Clearing the `.enable` pin re-enables the panel. +Pins and parameters can still be set, but will not be written to the VFD untile the `.enable` pin is set. Operating parameters are still read while bus control is disabled. Exiting the vfdb_vfd driver in a controlled way will release the VFD from the bus and restore panel control. diff --git a/docs/src/man/man1/vfs11_vfd.1.adoc b/docs/src/man/man1/vfs11_vfd.1.adoc index 2def67a99cd..21cfe4dabd6 100644 --- a/docs/src/man/man1/vfs11_vfd.1.adoc +++ b/docs/src/man/man1/vfs11_vfd.1.adoc @@ -52,38 +52,38 @@ This component reads and writes to the vfs11 via a Modbus connection. when drive is at commanded speed (see _speed-tolerance_ below) .current-load-percentage (float, out):: - reported from the VFD + Reported from the VFD. .dc-brake (bit, in):: - engage the DC brake. Also turns off spindle-on. + Engage the DC brake. Also turns off spindle-on. .enable (bit, in):: - enable the VFD. If false, all operating parameters are still read but + Enable the VFD. If false, all operating parameters are still read but control is released and panel control is enabled (subject to VFD setup). .err-reset (bit, in):: - reset errors (alarms a.k.a Trip and e-stop status). + Reset errors (alarms a.k.a Trip and e-stop status). Resetting the VFD may cause a 2-second delay until it's rebooted and Modbus is up again. .estop (bit, in):: - put the VFD into emergency-stopped status. + Put the VFD into emergency-stopped status. No operation possible until cleared with _err-reset_ or powercycling. .frequency-command (float, out):: - current target frequency in Hz as set through speed-command (which is in RPM), from the VFD + Current target frequency in Hz as set through speed-command (which is in RPM), from the VFD. .frequency-out (float, out):: - current output frequency of the VFD + Current output frequency of the VFD. .inverter-load-percentage (float, out):: - current load report from VFD + Current load report from VFD. .is-e-stopped (bit, out):: - the VFD is in emergency stop status (blinking "E" on panel). + The VFD is in emergency stop status (blinking "E" on panel). Use _err-reset_ to reboot the VFD and clear the e-stop status. .is-stopped (bit, out):: - true when the VFD reports 0 Hz output + True when the VFD reports 0 Hz output .jog-mode (bit, in):: 1 for ON and 0 for OFF, enables the VF-S11 'jog mode'. @@ -91,17 +91,17 @@ This component reads and writes to the vfs11 via a Modbus connection. This might be useful for spindle orientation. .max-rpm (float, R):: - actual RPM limit based on maximum frequency the VFD may generate, and the motors nameplate values. + Actual RPM limit based on maximum frequency the VFD may generate, and the motors nameplate values. For instance, if _nameplate-HZ_ is 50, and _nameplate-RPM__ is 1410, but the VFD may generate up to 80Hz, then _max-rpm_ would read as 2256 (80*1410/50). The frequency limit is read from the VFD at startup. To increase the upper frequency limit, the UL and FH parameters must be changed on the panel. See the VF-S11 manual for instructions how to set the maximum frequency. .modbus-ok (bit, out):: - true when the Modbus session is successfully established and the last 10 transactions returned without error. + True when the Modbus session is successfully established and the last 10 transactions returned without error. .motor-RPM (float, out):: - estimated current RPM value, from the VFD + Estimated current RPM value, from the VFD. .output-current-percentage (float, out):: from the VFD @@ -113,50 +113,50 @@ This component reads and writes to the vfs11 via a Modbus connection. from the VFD .speed-command (float, in):: - speed sent to VFD in RPM. It is an error to send a speed faster than the Motor Max RPM as set in the VFD + Speed sent to VFD in RPM. It is an error to send a speed faster than the Motor Max RPM as set in the VFD. .spindle-fwd (bit, in):: - 1 for FWD and 0 for REV, sent to VFD + 1 for FWD and 0 for REV, sent to VFD. .spindle-on (bit, in):: - 1 for ON and 0 for OFF sent to VFD, only on when running + 1 for ON and 0 for OFF sent to VFD, only on when running. .spindle-rev (bit, in):: - 1 for ON and 0 for OFF, only on when running + 1 for ON and 0 for OFF, only on when running. .max-speed (bit, in):: - ignore the loop-time parameter and run Modbus at maximum speed, at the expense of higher CPU usage. + Ignore the loop-time parameter and run Modbus at maximum speed, at the expense of higher CPU usage. Suggested use during spindle positioning. .status (s32, out):: Drive Status of the VFD (see the TOSVERT VF-S11 Communications Function Instruction Manual, register FD01). A bitmap. .trip-code (s32, out):: - trip code if VF-S11 is in tripped state. + Trip code if VF-S11 is in tripped state. .error-count (s32, RW):: - total number of transactions returning a Modbus error + Total number of transactions returning a Modbus error. == PARAMETERS .frequency-limit (float, RO):: - upper limit read from VFD setup. + Upper limit read from VFD setup. .loop-time (float, RW):: - how often the Modbus is polled (default interval 0.1 seconds) + How often the Modbus is polled (default interval 0.1 seconds) .nameplate-HZ (float, RW):: Nameplate Hz of motor (default 50). - Used to calculate target frequency (together with _nameplate-RPM_ ) for a target RPM value as given by speed-command. + Used to calculate target frequency (together with __nameplate-RPM__) for a target RPM value as given by speed-command. .nameplate-RPM (float, RW):: Nameplate RPM of motor (default 1410) .rpm-limit (float, RW):: - do-not-exceed soft limit for motor RPM (defaults to _nameplate-RPM_ ). + Do-not-exceed soft limit for motor RPM (defaults to __nameplate-RPM__). .tolerance (float, RW):: - speed tolerance (default 0.01) for determining whether spindle is at speed (0.01 meaning: output frequency is within 1% of target frequency) + Speed tolerance (default 0.01) for determining whether spindle is at speed (0.01 meaning: output frequency is within 1% of target frequency) == USAGE diff --git a/docs/src/man/man1/xhc-hb04.1.adoc b/docs/src/man/man1/xhc-hb04.1.adoc index 37242da306d..f32a51eb7e6 100644 --- a/docs/src/man/man1/xhc-hb04.1.adoc +++ b/docs/src/man/man1/xhc-hb04.1.adoc @@ -56,14 +56,18 @@ $ xhc-hb04 [options] == Options -*-h* list command line options and exit:: -*-I button-cfg-file* (see below for file format):: -*-H* run in real-time HAL mode (simulation mode is default):: -*-x* wait for pendant detection before creating HAL pins.:: -*-s *_ n_ _n_ is one of the following stepsize sequences:: - -1: 1,10,100,1000 (default) 2: 1,5,10,20 3: 1,10,100 4: 1,5,10,20,50,100 -5: 1,10,50,100,1000 The stepsize selected is always multiplied by 0.001 +*-h*:: list command line options and exit +*-I button-cfg-file*:: see below for file format +*-H*:: run in real-time HAL mode (simulation mode is default) +*-x*:: wait for pendant detection before creating HAL pins. +*-s* _n_:: _n_ is one of the following stepsize sequences ++ +1: 1,10,100,1000 (default) +2: 1,5,10,20 3: 1,10,100 +4: 1,5,10,20,50,100 +5: 1,10,50,100,1000 ++ +The stepsize selected is always multiplied by 0.001. == button-cfg-file format @@ -100,105 +104,102 @@ name to be assigned to the pin created for the button. Use the -H option to specify HAL mode and other options as required: -_loadusr -W _ *xhc-hb04* _-H [Options]_ +`loadusr -W` xhc-hb04 `-H` _[options]_ -Example: _loadusr -W _ *xhc-hb04* _-H -I path_to_cfg_file -s 2_ +Example: `loadusr -W xhc-hb04-H -I` _path_to_cfg_file_ `-s 2` == Input Pins (Control) -(bit in) _xhc-hb04.stepsize-up_:: +_xhc-hb04.stepsize-up (bit in):: A 1 pulse on this pin changes the stepsize to the next higher stepsize in the stepsize sequence specified in the xhc-hb04 (loadusr) command. -(bit in) _xhc-hb04.stepsize-down_:: +xhc-hb04.stepsize-down (bit in):: A 1 pulse on this pin changes the stepsize to the next lower stepsize in the stepsize sequence specified in the xhc-hb04 (loadusr) command. == Input Pins (to the pendant LCD display) -(float in) _xhc-hb04.[xyza].pos-absolute_:: +xhc-hb04.[xyza].pos-absolute (float in):: Absolute position display. The LCD display for pos-absolute is fixed format with a sign, 4 number digits and 3 fraction digits (+XXXX.XXX), - require: -9999.999 <= value <= 9999.999 (typically connect to: - halui.axis.N.pos-feedback). -(float in) _xhc-hb04.[xyza].pos-relative_:: + require: -9999.999 <= value <= 9999.999 + (typically connect to: `halui.axis.N.pos-feedback`). +xhc-hb04.[xyza].pos-relative (float in):: Relative position display (typically connect to: halui.axis.N.pos-relative). The LCD display for pos-relative is fixed format with a sign, 4 number digits and 3 fraction digits (+XXXX.XXX), require: -9999.999 <= value <= 9999.999. -(float in) _xhc-hb04.feed-override_:: +xhc-hb04.feed-override (float in):: Feed-override value. The float value is converted to a 16 bit integer and multiplied by 100 in order to display as percent, require: 0 <= - pinvalue <= 655 (typically connect to: halui.feed-override.value). -(float in) _xhc-hb04.feed-value_:: + pinvalue <= 655 (typically connect to: `halui.feed-override.value`). +xhc-hb04.feed-value (float in):: Current Feed-value (units/sec). The float value is converted to a 16 bit integer and multiplied by 60 in order to display as - units-per-minute, require: 0 <= pinvalue <= 1092 (65520 - units-per-minute) (typically connect to: motion.current-vel). -(float in) _xhc-hb04.spindle-override_:: + units-per-minute, require: 0 <= pinvalue <= 1092 (65520 units-per-minute) + (typically connect to: `motion.current-vel`). +xhc-hb04.spindle-override (float in):: Spindle-override value. The float value is converted to a 16 bit integer and multiplied by 100 in order to display as percent, require: - 0 <= pinvalue <= 655) (typically connect to: - halui.spindle-override.value). -(float in) _xhc-hb04.spindle-rps_:: - Spindle speed in RPS (revolutions per second). The float value is - converted to a 16 bit integer and multiplied by 60 in order to display - as RPMs, require: 0 <= pinvalue <= 1092 (65520 RPM) (typically connect - to: spindle.N.speed-out-rps-abs). -(bit in) _xhc-hb04.inch-icon_:: + 0 <= pinvalue <= 655) (typically connect to: `halui.spindle-override.value`). +xhc-hb04.spindle-rps (float in):: + Spindle speed in RPS (revolutions per second). + The float value is converted to a 16 bit integer and multiplied by 60 + in order to display as RPMs, require: 0 <= pinvalue <= 1092 (65520 RPM) + (typically connect to: `spindle.N.speed-out-rps-abs`). +xhc-hb04.inch-icon (bit in):: Use inch icon (default is mm): == Output Pins (Status) -(bit out) _xhc-hb04.sleeping_:: +xhc-hb04.sleeping (bit out):: True when the driver receives a pendant inactive (sleeping) message. -(bit out) _xhc-hb04.jog.enable-off_:: +xhc-hb04.jog.enable-off (bit out):: True when the pendant rotary selector switch is in the OFF position or when the pendant is sleeping. -(bit out) _xhc-hb04.enable-[xyza]_:: +xhc-hb04.enable-[xyza] (bit out):: True when the pendant rotary selector switch is in the [xyza] position and not sleeping. -(bit out) _xhc-hb04.enable-spindle-override_:: +xhc-hb04.enable-spindle-override (bit out):: True when the pendant rotary selector switch is in the Spindle position and not sleeping (typically connect to: halui.spindle-override-count-enable). -(bit out) _xhc-hb04.enable-feed-override_:: +xhc-hb04.enable-feed-override (bit out):: True when the pendant rotary selector switch is in the feed position and not sleeping (typically connect to: halui.feed-override-count-enable). -(bit out) _xhc-hb04.connected_:: +xhc-hb04.connected (bit out):: True when connection to the pendant is established over the USB interface. -(bit out) _xhc-hb04.require_pendant_:: +xhc-hb04.require_pendant (bit out):: True if driver started with the -x option. -(s32 out) _xhc-hb04.stepsize_:: +xhc-hb04.stepsize (s32 out):: Current stepsize in the stepsize sequence as controlled by the stepsize-up and/or stepsize-down pins. == Output Pins (for jogging using axis.N.jog-counts) -(s32 out) _xhc-hb04.jog.counts_:: - Number of counts of the wheel since start-up (50 counts per wheel - revolution) (typically connect to axis.N.jog-counts (lowpass filtering - may be helpful)). -(s32 out) _xhc-hb04.jog.counts-neg_:: - The value of the xhc-hb04.jog.counts multiplied by -1. -(float out) _xhc-hb04.jog.scale_:: - Value is the current stepsize multiplied by 0.001 (typically connect - to axis.N.jog-scale). +xhc-hb04.jog.counts (s32 out):: + Number of counts of the wheel since start-up (50 counts per wheel revolution) + (typically connect to `axis.N.jog-counts` (lowpass filtering may be helpful)). +xhc-hb04.jog.counts-neg (s32 out):: + The value of the `xhc-hb04.jog.counts` multiplied by -1. +xhc-hb04.jog.scale (float out):: + Value is the current stepsize multiplied by 0.001 (typically connect to `axis.N.jog-scale`). == Experimental: Pins for halui plus/minus jogging. These pins provide some support for non-trivkins, world mode jogging. -(float in) _xhc-hb04.jog.max-velocity_:: +xhc-hb04.jog.max-velocity (float in):: Connect to halui.max-velocity.value. -(float out) _xhc-hb04.jog.velocity_:: +xhc-hb04.jog.velocity (float out):: Connect to halui.jog-speed. -(bit out) _xhc-hb04.jog.plus-[xyza]_:: +xhc-hb04.jog.plus-[xyza] (bit out):: Connect to halui.jog.N.plus. -(bit out) _xhc-hb04.jog.minus-[xyza]_:: +xhc-hb04.jog.minus-[xyza] (bit out):: Connect to halui.jog.N.minus. -(float out) _xhc-hb04.jog.increment_:: +xhc-hb04.jog.increment (float out):: Debug pin -- abs(delta_pos). == Button output pins (for the 18 button, layout2 pendant) @@ -257,8 +258,7 @@ export LIBUSB_DEBUG=[2 | 3 | 4]; xhc-hb04 [options]:: == Sim Configs -The distribution includes several simulation configurations in the -directory: +The distribution includes several simulation configurations in the directory: .... /usr/share/doc/linuxcnc/examples/sample-configs/sim/axis/xhc-hb04/ @@ -284,18 +284,17 @@ The sim configs illustrate button connections that: 1) connect pendant stepsize-up button to the step input pin. 2) connect buttons to halui.* pins 3) connect buttons to motion.* pins -Another script is included to monitor the pendant and report loss of USB -connectivity. See the README and .txt files in the above directory for -usage. +Another script is included to monitor the pendant and report loss of USB connectivity. +See the README and .txt files in the above directory for usage. -*Note:* The sim configs use the AXIS GUI but the scripts are available +[Note] +The sim configs use the AXIS GUI but the scripts are available with any HAL configuration or GUI. The same scripts can be used to adapt the xhc-hb04 to existing configurations provided that the halui, motion, and axis.N pins needed are not otherwise claimed. Instructions are included in README file in the directory named above. -Use halcmd to display the pins and signals used by the xhc-hb04.tcl -script: +Use halcmd to display the pins and signals used by the xhc-hb04.tcl script: .... halcmd show pin xhc-hb04 (show all xhc-hb04 pins) diff --git a/docs/src/man/man3/hm2_uart_send.3hm2.adoc b/docs/src/man/man3/hm2_uart_send.3hm2.adoc index 9cdd1739d67..aa07b528a10 100644 --- a/docs/src/man/man3/hm2_uart_send.3hm2.adoc +++ b/docs/src/man/man3/hm2_uart_send.3hm2.adoc @@ -19,8 +19,8 @@ The UART FIFO is 64 bytes deep, attempts to transmit more than 64 bytes may have "name" is a unique string given to each UART during hostmot2 setup. The names of the available channels are printed to standard output during -the driver loading process and take the form: hm2_____.____.uart.____ -For example `hm2_5i23.0.uart.0`. +the driver loading process and take the form: hm2_____.____.uart.____, +for example `hm2_5i23.0.uart.0`. This function performs writes of data to the specified UART. It should be used inside a function in a realtime or non-realtime HAL component. diff --git a/docs/src/man/man3/undocumented.3rtapi.adoc b/docs/src/man/man3/undocumented.3rtapi.adoc index dbae60ccbea..a601329099d 100644 --- a/docs/src/man/man3/undocumented.3rtapi.adoc +++ b/docs/src/man/man3/undocumented.3rtapi.adoc @@ -6,4 +6,4 @@ undocumented - undocumented functions in RTAPI == SEE ALSO -The header file _rtapi.h_. Most RTAPI functions are documentated in that file. +The header file _rtapi.h_. Most RTAPI functions are documented in that file. diff --git a/docs/src/man/man9/hal_parport.9.adoc b/docs/src/man/man9/hal_parport.9.adoc index 049e67436bd..9588a98e51b 100644 --- a/docs/src/man/man9/hal_parport.9.adoc +++ b/docs/src/man/man9/hal_parport.9.adoc @@ -59,10 +59,10 @@ For each pin created, **_p_** is the port number, and **_n_** is the physical pin number in the 25 pin D-shell connector. For each physical output pin, the driver creates a single HAL pin, for -example: *parport.0.pin-14-out*. +example: `parport.0.pin-14-out`. For each physical input pin, the driver creates two HAL pins, for -example: **parport.0.pin-12-in** and *parport.0.pin-12-in-not*. +example: `parport.0.pin-12-in`and `parport.0.pin-12-in-not`. The **-in **HAL pin is TRUE if the physical pin is high, and FALSE if the physical pin is low. The **-in-not** HAL pin is inverted and is @@ -87,7 +87,7 @@ in the cfg="" string. **parport.**_p_**.pin--out-reset** (bit):: (only for out pins) TRUE if this pin should be reset when the .reset function is executed. -**parport.**_p_**.reset-time** (U32)*:: +**parport.**_p_**.reset-time** (u32)*:: The time (in nanoseconds) between a pin is set by write and reset by the reset function if it is enabled. @@ -102,11 +102,11 @@ in the cfg="" string. **parport.write-all** (funct):: Reads HAL -out pins of all ports and updates all physical output pins. **parport.**_p**.reset** (funct):: - Waits until __reset-time __has elapsed since the associated write, + Waits until __reset-time__ has elapsed since the associated write, then resets pins to values indicated by __-out-reset__ and __-out-invert__ settings. Reset must be later in the same thread as write. If __-out-reset__ is TRUE, then the reset function will set - the pin to the value of _-out-invert_. This can be used in conjunction + the pin to the value of _ -out-invert_ . This can be used in conjunction with stepgen's doublefreq to produce one step per period. The stepgen stepspace for that pin must be set to 0 to enable doublefreq. @@ -119,17 +119,17 @@ groups: data, control, and status. The data group consists of 8 output pins, the control group consists of 4 output pins, and the status group consists of 5 input pins. -In the early 1990's, the bidirectional parallel port was introduced, -which allows the data group to be used for output or input. The HAL -driver supports the bidirectional port, and allows the user to set the -data group as either input or output. If configured as _out_, a port -provides a total of 12 outputs and 5 inputs. If configured as _in_, it -provides 4 outputs and 13 inputs. +In the early 1990s, the bidirectional parallel port was introduced, +which allows the data group to be used for output or input. +The HAL driver supports the bidirectional port, +and allows the user to set the data group as either input or output. +If configured as "out", a port provides a total of 12 outputs and 5 inputs. +If configured as "in", it provides 4 outputs and 13 inputs. In some parallel ports, the control group pins are open collectors, -which may also be driven low by an external gate. On a board with open -collector control pins, if configured as _x_, it provides 8 outputs, and -9 inputs. +which may also be driven low by an external gate. +On a board with open collector control pins, +if configured as "x", it provides 8 outputs, and 9 inputs. In some parallel ports, the control group has push-pull drivers and cannot be used as an input. diff --git a/docs/src/man/man9/hm2_7i43.9.adoc b/docs/src/man/man9/hm2_7i43.9.adoc index b5f6fec034f..6dad644f519 100644 --- a/docs/src/man/man9/hm2_7i43.9.adoc +++ b/docs/src/man/man9/hm2_7i43.9.adoc @@ -51,34 +51,29 @@ To send the FPGA configuration from the PC, the board must be configured to get its firmware from the EPP port. To do this, jumpers W4 and W5 must both be down, ie toward the USB connector. -The board must be configured to power on whether or not the USB -interface is active. This is done by setting jumper W7 up, ie away from -the edge of the board. +The board must be configured to power on whether or not the USB interface is active. +This is done by setting jumper W7 up, ie away from the edge of the board. == Communicating with the board -The 7i43 communicates with the LinuxCNC computer over EPP, the Enhanced -Parallel Port. This provides about 1 MBps of throughput, and the -communication latency is very predictable and reasonably low. +The 7i43 communicates with the LinuxCNC computer over EPP, the Enhanced Parallel Port. +This provides about 1 Mbps of throughput, and the communication latency is very predictable and reasonably low. The parallel port must support EPP 1.7 or EPP 1.9. EPP 1.9 is preferred, but EPP 1.7 will work too. The EPP mode of the parallel port is sometimes a setting in the BIOS. -Note that the popular "NetMOS" aka "MosChip 9805" PCI parport cards *do* -not work. They do not meet the EPP spec, and cannot be reliably used -with the 7i43. You have to find another card, sorry. +Note that the popular "NetMOS" aka "MosChip 9805" PCI parport cards *do not work*. +They do not meet the EPP spec, and cannot be reliably used with the 7i43. +You have to find another card, sorry. -EPP is very reliable under normal circumstances, but bad cabling or -excessively long cabling runs may cause communication timeouts. The -driver exports a parameter named hm2_7i43..io_error to inform -HAL of this condition. When the driver detects an EPP timeout, it sets -io_error to True and stops communicating with the 7i43 board. Setting -io_error back to False makes the driver start trying to communicate with -the 7i43 again. +EPP is very reliable under normal circumstances, +but bad cabling or excessively long cabling runs may cause communication timeouts. +The driver exports a parameter named `hm2_7i43..io_error` to inform HAL of this condition. +When the driver detects an EPP timeout, it sets io_error to True and stops communicating with the 7i43 board. +Setting io_error back to False makes the driver start trying to communicate with the 7i43 again. -Access to the EPP bus is not threadsafe: only one realtime thread may -access the EPP bus. +Access to the EPP bus is not threadsafe: only one realtime thread may access the EPP bus. == SEE ALSO diff --git a/docs/src/man/man9/hm2_rpspi.9.adoc b/docs/src/man/man9/hm2_rpspi.9.adoc index 11d8c1a6f77..59bac498159 100644 --- a/docs/src/man/man9/hm2_rpspi.9.adoc +++ b/docs/src/man/man9/hm2_rpspi.9.adoc @@ -137,12 +137,13 @@ of noise throwing off the SoC's PLL(s), resulting in strange behaviour. For optimal performance on the Rpi3, you must disable the "ondemand" CPU frequency governor. You may add the following to your /etc/rc.local -file: echo -n 1200000 > -/sys/devices/system/cpu/cpufreq/policy0/scaling_min_freq echo -n -performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor +file: +``` +echo -n 1200000 > /sys/devices/system/cpu/cpufreq/policy0/scaling_min_freq +echo -n performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor +``` -Be sure to have a proper heatsink mounted on the SoC or it will get too -warm and crash. +Be sure to have a proper heatsink mounted on the SoC or it will get too warm and crashes. == SEE ALSO diff --git a/docs/src/man/man9/hostmot2.9.adoc b/docs/src/man/man9/hostmot2.9.adoc index 5bd54fffa41..4d363a23c82 100644 --- a/docs/src/man/man9/hostmot2.9.adoc +++ b/docs/src/man/man9/hostmot2.9.adoc @@ -23,7 +23,7 @@ Typically hostmot2 is loaded with no parameters unless debugging is required. When creating HAL pins for smart-serial devices name the pins by the board serial number rather than which board and port they are connected to. With this option set to 1 pins will have names like -*hm2_8i20.1234.current* rather than *hm2_5i23.0.8i20.0.1.current*. + `hm2_8i20.1234.current` rather than `hm2_5i23.0.8i20.0.1.current`. The identifier consists of the last 4 digits of the board serial number, which is normally on a sticker on the board. This will make configs less portable, but does mean that boards can be re-connected less carefully. @@ -797,12 +797,12 @@ ____ is a 2-digit number. There will be num_3pwmgens instances, starting at 00. Each instance allocates 7 output and one input pins on the Mesa card connectors. Outputs are: PWM A, PWM B, PWM C, /PWM A, /PWM B, /PWM C, Enable. The first three pins are the high side drivers, the -second three are their complementary low-side drivers. The enable bit is -intended to control the servo amplifier. The input bit is a fault bit, -typically wired to over-current detection. When set the PWM generator is -disabled. The three phase duty-cycles are individually controllable from --Scale to +Scale. Note that 0 corresponds to a 50% duty cycle and this -is the initialization value. +second three are their complementary low-side drivers. +The enable bit is intended to control the servo amplifier. +The input bit is a fault bit, typically wired to over-current detection. +When set, the PWM generator is disabled. +The three phase duty-cycles are individually controllable from -Scale to +Scale. +Note that 0 corresponds to a 50% duty cycle and this is the initialization value. *Pins:* @@ -815,8 +815,8 @@ enable (bit input):: When high the PWM is enabled as long as the fault bit is not set by the external fault input pin. When low the PWM is disabled, with both high- side and low-side drivers low. This is not the same as 0 output - (50% duty cycle on both sets of pins) or negative full scale (where - the low side drivers are "on" 100% of the time). + (50% duty cycle on both sets of pins) or negative full scale + (where the low side drivers are "on" 100% of the time). fault (bit output):: Indicates the status of the fault bit. This output latches high once set by the physical fault pin until the "enable" pin is set to high. @@ -1244,7 +1244,8 @@ input-slow (bit in):: If True, selects the long time constant filter for the corresponding input bit, if False the short time constant is used. -enc0-count,enc1-count,enc2-count,enc3-count (s32 out):: MPG counters 0 through 3. +enc0-count,enc1-count,enc2-count,enc3-count (s32 out):: + MPG counters 0 through 3. enc0-reset,enc1-reset,enc2-reset,enc3-reset (bit in):: Reset for MPG counters 0 through 3, count is forced to 0 if true. @@ -1295,7 +1296,7 @@ out-NN (bit in):: The state of this SSR instance's NNth output. Set to 0 to make the output pins act like an open switch (no connection), set to 1 to make them act like a closed switch. - invert-NN (bit in):: +invert-NN (bit in):: Inverts the state of this SSR instance's NNth output, defaults to 0. When invert-NN is set to 1, SSR output NN is closed when the out-NN pin is 0 and open when the out-NN pin is 1. @@ -1489,7 +1490,7 @@ the response to the read request to arrive from board 0. hm2_pci(9), hm2_eth(9), hm2_spi(9), hm2_rpspi(9), hm2_7i43(9), hm2_7i90(9) -Mesa's documentation for the Anything I/O boards, at link:[https://www.mesanet.com]. +Mesa's documentation for the Anything I/O boards, at https://www.mesanet.com. == LICENSE diff --git a/docs/src/man/man9/lcd.9.adoc b/docs/src/man/man9/lcd.9.adoc index 695d91c9545..f1ef5463cc2 100644 --- a/docs/src/man/man9/lcd.9.adoc +++ b/docs/src/man/man9/lcd.9.adoc @@ -60,7 +60,7 @@ differently-formatted pages, which may be selected with a HAL pin. wrap and omit the `\n` code. + `\t` Inserts a tab (actually 4 spaces in the current version rather than a -true tab.) +true tab). + `\`__NN__ inserts the character defined by the hexadecimal code __NN__. As the ',' character is used in the format string to separate LCD instances it must @@ -84,10 +84,9 @@ the default and is not strictly necessary. + "0" Pad the number to the specified width with the numeral 0. + -"+" Force display of a + symbol before positive numbers. This (like the -- sign) will appear immediately to the left of the digits for a -space-padded number and in the extreme left position for a 0-padded -number. +"+" Force display of a + symbol before positive numbers. +This (like the - sign) will appear immediately to the left of the digits for a +space-padded number and in the extreme left position for a 0-padded number. + "1234567890" A numerical entry (other than the leading 0 above) defines the total number of characters to display including the decimal @@ -108,38 +107,35 @@ many places of decimals to display. This entry is ignored in the case of integer formats. All the above modifiers are optional, but to specify a decimal precision -the decimal point must precede the precision, e.g., as in "%.3f". The -default decimal precision is 4. +the decimal point must precede the precision, e.g., as in "%.3f". +The default decimal precision is 4. The numerical formats supported are: -*%f %F* (for example, %+09.3f): These create a floating-point type HAL -pin. The example would be displayed in a 9-character field, with 3 -places of decimals, as a decimal separator, padded to the left with 0s -and with a sign displayed for both positive and negative. Conversely a -plain %f would be 6 digits of decimal, variable format width, with a -sign only shown for negative numbers. Both %f and %F create exactly the -same format. +*%f %F* (for example, %+09.3f): These create a floating-point type HAL pin. +The example would be displayed in a 9-character field, with 3 places of decimals, +as a decimal separator, padded to the left with 0s and with a sign displayed +for both positive and negative. Conversely a plain %f would be 6 digits of decimal, +variable format width, with a sign only shown for negative numbers. +Both %f and %F create exactly the same format. *%i %d* (For example %+ 4d): Creates a signed (s32) HAL pin. The example would display the value at a fixed 4 characters, space padded, width including the "+" giving a range of +999 to -999. %i and %d create identical output. -*%u* (for example %08u): Creates an unsigned (u32) HAL pin. The example -would be a fixed 8 characters wide, padded with zeros. +*%u* (for example %08u): Creates an unsigned (u32) HAL pin. +The example would be a fixed 8 characters wide, padded with zeros. -*%x, %X*: Creates an unsigned (u32) HAL pin and displays the value in -Hexadecimal. Both %x and %X display capital letters for digits ABCDEF. A -width may be specified, though the u32 HAL type is only 8 hex digits -wide. +*%x, %X*: Creates an unsigned (u32) HAL pin and displays the value in Hexadecimal. +Both %x and %X display capital letters for digits ABCDEF. +A width may be specified, though the u32 HAL type is only 8 hex digits wide. -*%o*: Creates an unsigned (u32) pin and displays the value in octal -representation. +*%o*: Creates an unsigned (u32) pin and displays the value in octal representation. *%c*: Creates a u32 HAL pin and displays the character corresponding to -the value of the pin. Values less than 32 (space) are suppressed. A -width specifier may be used, for example %20c might be used to create a +the value of the pin. Values less than 32 (space) are suppressed. +A width specifier may be used, for example %20c might be used to create a complete line of one character. *%b*: This specifier has no equivalent in printf. It creates a bit @@ -149,8 +145,7 @@ second when false. Note that the characters follow, not precede the "b", unlike the case with other formats. The characters may be "escaped" Hex values. For example "%b\FF " will display a solid black block if true, and a space if false and "%b\7F\7E" would display right-arrow for false -and left-arrow for true. An unexpected value of 'E' indicates a -formatting error. +and left-arrow for true. An unexpected value of 'E' indicates a formatting error. *Pages*: The page separator is the "|" (pipe) character (if the actual character is needed then \7C may be used). A "Page" in this context diff --git a/docs/src/man/man9/motion.9.adoc b/docs/src/man/man9/motion.9.adoc index c86adb5a226..38a5243138d 100644 --- a/docs/src/man/man9/motion.9.adoc +++ b/docs/src/man/man9/motion.9.adoc @@ -16,19 +16,17 @@ The limits for the following items are compile-time settings: Minimum is 1, if *num_dio* is not specified, it defaults to *DEFAULT_DIO*. *names_dout*:: A comma-separated list of names for digital output pins. - This parameter is mutually exclusive with *num_dio*, but can be - combined with *names_din*. A maximum of *EMCMOT_MAX_DIO* names can be - specified. The default digital output pin has names like - *motion.digital-out-00* whereas *names_dout=*_is-homing-x,is-homing-y_ - will create the HAL pins *motion.dout-is-homing-x* and - *motion.dout-is-homing-y*. + This parameter is mutually exclusive with *num_dio*, but can be combined with *names_din*. + A maximum of *EMCMOT_MAX_DIO* names can be specified. + The default digital output pin has names like *motion.digital-out-00* whereas *names_dout=*_is-homing-x,is-homing-y_ + will create the HAL pins `motion.dout-is-homing-x` and `motion.dout-is-homing-y`. *names_din*:: A comma-separated list of names for digital input pins. This parameter is mutually exclusive with *num_dio*, but can be combined with *names_dout*. A maximum of *EMCMOT_MAX_DIO* names can be specified. The default digital input pin has names like *motion.digital-in-00* whereas *names_din=*_homed-x,homed-y_ will - create the HAL pins *motion.din-homed-x* and *motion.din-homed-y*. + create the HAL pins `motion.din-homed-x` and `motion.din-homed-y`. *num_aio*:: Maximum number of analog IO pins is set by *EMCMOT_MAX_AIO*. @@ -39,29 +37,22 @@ The limits for the following items are compile-time settings: combined with *names_ain*. A maximum of *EMCMOT_MAX_AIO* names can be specified. The default analog output pin has names like *motion.analog-out-00* whereas *names_aout=*_feedrate1,feedrate2_ will - create the HAL pins *motion.aout-feedrate1* and - *motion.aout-feedrate2*. + create the HAL pins `motion.aout-feedrate1` and `motion.aout-feedrate2`. *names_ain*:: A comma-separated list of names for analog input pins. This parameter is mutually exclusive with *num_aio*, but can be combined with *names_aout*. A maximum of *EMCMOT_MAX_AIO* names can be specified. The default analog input pin has names like *motion.analog-in-00* whereas *names_ain=*_proxy1,proxy2_ will create - the HAL pins *motion.ain-proxy1* and *motion.ain-proxy2*. + the HAL pins `motion.ain-proxy1` and `motion.ain-proxy2`. *num_misc_error*:: Maximum number of extra error inputs is set by *EMCMOT_MAX_MISC_ERRORS*. - + - -*names_misc_errors*: A comma-separated list of names for extra error -inputs.:: - This parameter is mutually exclusive with num_misc_error. If using - num_misc_error the additional error input pins will have names like - *motion.misc-error-00* whereas *names_misc_errors=overtemp,undertemp* - will create hal pins *motion.err-overtemp* and - *motion.err-undertemp* -*num_spindles*:: Maximum number of spindles is set by EMCMOT_MAX_SPINDLES. - + +*names_misc_errors*:: A comma-separated list of names for extra error inputs. + This parameter is mutually exclusive with num_misc_error. + If using num_misc_error the additional error input pins will have names + like *motion.misc-error-00* whereas *names_misc_errors=overtemp,undertemp* + will create hal pins `motion.err-overtemp` and `motion.err-undertemp`. *num_spindles*:: Maximum number of spindles is set by *EMCMOT_MAX_SPINDLES*. @@ -193,26 +184,23 @@ Note: feed-inhibit applies to G-code commands -- not jogs. motion.adaptive-feed setting (if M52 active). Value is zero if motion.feed-hold or motion.feed-inhibit are asserted. *motion.feed-mm-per-minute* OUT FLOAT:: - Current feed rate in mm per minute for motion.motion-type feed(2) and - arc(3). Value is the mm equivalent of the G-code program F value - multiplied by the current feed override value and the - motion.adaptive-feed setting (if M52 active). Value is zero if - motion.feed-hold or motion.feed-inhibit are asserted. + Current feed rate in mm per minute for motion.motion-type feed(2) and arc(3). + Value is the mm equivalent of the G-code program F value multiplied by the + current feed override value and the motion.adaptive-feed setting (if M52 active). + Value is zero if motion.feed-hold or motion.feed-inhibit are asserted. *motion.feed-mm-per-second* OUT FLOAT:: - Current feed rate in mm per second for motion.motion-type feed(2) and - arc(3). Value is the mm equivalent of the G-code program F value - multiplied by the current feed override value and the - motion.adaptive-feed setting (if M52 active). Value is zero if - motion.feed-hold or motion.feed-inhibit are asserted. + Current feed rate in mm per second for motion.motion-type feed(2) and arc(3). + Value is the mm equivalent of the G-code program F value multiplied by the current feed override value + and the motion.adaptive-feed setting (if M52 active). + Value is zero if motion.feed-hold or motion.feed-inhibit are asserted. *motion.homing-inhibit* IN BIT:: - If this bit is TRUE, initiation of any joint homing move (including - "Home All") is disallowed and an error is reported. By default, homing - is allowed in joint mode whenever motion is enabled. + If this bit is TRUE, initiation of any joint homing move (including "Home All") + is disallowed and an error is reported. + By default, homing is allowed in joint mode whenever motion is enabled. *motion.is-all-homed* OUT BIT:: TRUE if all active joints is homed. *motion.jog-inhibit* IN BIT:: - If this bit is TRUE, jogging of any joint or axis is disallowed and an - error is reported. + If this bit is TRUE, jogging of any joint or axis is disallowed and an error is reported. *motion.jog-stop* IN BIT:: If any jog is active when the pin state changes to TRUE then that jog will be stopped following the associated acceleration values. @@ -222,12 +210,11 @@ Note: feed-inhibit applies to G-code commands -- not jogs. *motion.jog-is-active* OUT BIT:: TRUE if any joint or axis is jogging. *motion.in-position* OUT BIT:: - TRUE if the machine is in position (ie, not currently moving towards - the commanded position). + TRUE if the machine is in position (i.e., not currently moving towards the commanded position). **motion.misc-error-**_NN_ IN BIT:: - Extra error inputs for faults such as over-temperature sensors, low - coolant warnings, custom HAL component errors. If driven TRUE this - will disable a machine. Similar to spindle.amp-fault-in. + Extra error inputs for faults such as over-temperature sensors, + low coolant warnings, custom HAL component errors. + If driven TRUE this will disable a machine. Similar to spindle.amp-fault-in. *motion.motion-enabled* OUT BIT:: *motion.motion-type* OUT S32:: These values are from src/emc/nml_intf/motion_types.h. @@ -250,21 +237,20 @@ Note: feed-inhibit applies to G-code commands -- not jogs. *motion.on-soft-limit* OUT BIT:: *motion.probe-input* IN BIT:: - G38.n uses the value on this pin to determine when the probe has made - contact. TRUE for probe contact closed (touching), FALSE for probe - contact open. + G38.n uses the value on this pin to determine when the probe has made contact. + TRUE for probe contact closed (touching), FALSE for probe contact open. *motion.program-line* OUT S32:: - The current program line while executing. Zero if not running or - between lines while single stepping. + The current program line while executing. + Zero if not running or between lines while single stepping. *motion.requested-vel* OUT FLOAT:: - The current requested velocity in user units per second. This value is - the F-word setting from the G-code file, possibly reduced to - accommodate machine velocity and acceleration limits. The value on - this pin does not reflect the feed override or any other adjustments. + The current requested velocity in user units per second. + This value is the F-word setting from the G-code file, + possibly reduced to accommodate machine velocity and acceleration limits. + The value on this pin does not reflect the feed override or any other adjustments. *motion.servo.last-period* OUT U32:: The number of CPU clocks between invocations of the servo thread. - Typically, this number divided by the CPU speed gives the time in - seconds, and can be used to determine whether the realtime motion + Typically, this number divided by the CPU speed gives the time in seconds, + and can be used to determine whether the realtime motion controller is meeting its timing constraints *motion.switchkins-type* IN float:: Kinematics modules that define the functions kinematicsSwitchable() @@ -275,8 +261,7 @@ Note: feed-inhibit applies to G-code commands -- not jogs. *motion.teleop-mode* OUT BIT:: Motion mode is teleop (axis coordinate jogging available). *motion.tooloffset.L* OUT FLOAT:: - Current tool offset for each axis where (*L* is the axis letter, one - of: *x y z a b c u v w*) + Current tool offset for each axis where (*L* is the axis letter, one of: *x y z a b c u v w*) *motion.tp-reverse* OUT BIT:: Trajectory planning is reversed (reverse run) @@ -314,18 +299,18 @@ Note: feed-inhibit applies to G-code commands -- not jogs. Sets the distance moved for each count on "jog-counts", in machine units. **axis.**_L_**.jog-vel-mode** IN BIT:: - When FALSE (the default), the jogwheel operates in position mode. The - axis will move exactly jog-scale units for each count, regardless of + When FALSE (the default), the jogwheel operates in position mode. + The axis will move exactly jog-scale units for each count, regardless of how long that might take. When TRUE, the wheel operates in velocity mode - motion stops when the wheel stops, even if that means the commanded motion is not completed. **axis.**_L_**.kb-jog-active** OUT BIT:: (free planner axis jogging active (keyboard or halui)) **axis.**_L_**.pos-cmd** OUT FLOAT:: - The axis commanded position. There may be several offsets between the - axis and motor coordinates: backlash compensation, screw error - compensation, and home offsets. External offsets are reported - separately (axis.*L*.eoffset). + The axis commanded position. + There may be several offsets between the axis and motor coordinates: + Backlash compensation, screw error compensation, and home offsets. + External offsets are reported separately (axis._L_.eoffset). **axis.**_L_**.teleop-pos-cmd** OUT FLOAT:: **axis.**_L_**.teleop-tp-enable** OUT BIT:: TRUE when the "teleop planner" is enabled for this axis. @@ -348,13 +333,11 @@ Note: Pins marked *(DEBUG)* serve as debugging aids and are subject to change or **joint.**_N_**.amp-enable-out** OUT BIT:: TRUE if the amplifier for this joint should be enabled. **joint.**_N_**.amp-fault-in** IN BIT:: - Should be driven TRUE if an external fault is detected with the - amplifier for this joint. + Should be driven TRUE if an external fault is detected with the amplifier for this joint. **joint.**_N_**.backlash-corr** OUT FLOAT *(DEBUG)*:: Backlash or screw compensation raw value. **joint.**_N_**.backlash-filt** OUT FLOAT *(DEBUG)*:: - Backlash or screw compensation filtered value (respecting motion - limits). + Backlash or screw compensation filtered value (respecting motion limits). **joint.**_N_**.backlash-vel** OUT FLOAT *(DEBUG)*:: Backlash or screw compensation velocity. **joint.**_N_**.coarse-pos-cmd** OUT FLOAT *(DEBUG)*:: @@ -388,9 +371,8 @@ Note: Pins marked *(DEBUG)* serve as debugging aids and are subject to change or **joint.**_N_**.is-unlocked** IN BIT:: Indicates joint is unlocked (see JOINT UNLOCK PINS). **joint.**_N_**.jog-accel-fraction** IN FLOAT:: - Sets acceleration for wheel jogging to a fraction of the INI - max_acceleration for the joint. Values greater than 1 or less than - zero are ignored. + Sets acceleration for wheel jogging to a fraction of the INI max_acceleration for the joint. + Values greater than 1 or less than zero are ignored. **joint.**_N_**.jog-counts** IN S32:: Connect to the "counts" pin of an external encoder to use a physical jog wheel. **joint.**_N_**.jog-enable** IN BIT:: @@ -399,8 +381,8 @@ Note: Pins marked *(DEBUG)* serve as debugging aids and are subject to change or **joint.**_N_**.jog-scale** IN FLOAT:: Sets the distance moved for each count on "jog-counts", in machine units. **joint.**_N_**.jog-vel-mode** IN BIT:: - When FALSE (the default), the jogwheel operates in position mode. The - joint will move exactly jog-scale units for each count, regardless of + When FALSE (the default), the jogwheel operates in position mode. + The joint will move exactly jog-scale units for each count, regardless of how long that might take. When TRUE, the wheel operates in velocity mode - motion stops when the wheel stops, even if that means the commanded motion is not completed. @@ -453,15 +435,15 @@ Example: loadrt motmod ... **unlock_joints_mask=**0x38 creates unlock pins for j == SPINDLE PINS -(*M* is the spindle number (*0* ... *num_spindles-1*)) +(_M_ is the spindle number (*0* ... *num_spindles-1*)) **spindle.**_M_**.amp-fault-in** IN BIT:: Should be driven TRUE if an external fault is detected with the amplifier for this spindle. **spindle.**_M_**.at-speed** IN BIT:: - Motion will pause until this pin is TRUE, under the following - conditions: before the first feed move after each spindle start or - speed change; before the start of every chain of spindle-synchronized - moves; and if in CSS mode, at every rapid->feed transition. + Motion will pause until this pin is TRUE, under the following conditions: + Before the first feed move after each spindle start or speed change; + before the start of every chain of spindle-synchronized moves; + and if in CSS mode, at every rapid->feed transition. **spindle.**_M_**.brake** OUT BIT:: TRUE when the spindle brake should be applied. **spindle.**_M_**.forward** OUT BIT:: @@ -472,19 +454,20 @@ Example: loadrt motmod ... **unlock_joints_mask=**0x38 creates unlock pins for j **spindle.**_M_**.inhibit** IN BIT:: When TRUE, the spindle speed is set and held to 0. **spindle.**_M_**.is-oriented** IN BIT:: - Acknowledge pin for spindle-orient. Completes orient cycle. If - spindle-orient was true when spindle-is-oriented was asserted, the - spindle-orient pin is cleared and the spindle-locked pin is asserted. + Acknowledge pin for spindle-orient. Completes orient cycle. + If spindle-orient was true when spindle-is-oriented was asserted, + the spindle-orient pin is cleared and the spindle-locked pin is asserted. Also, the spindle-brake pin is asserted. **spindle.**_M_**.locked** OUT BIT:: Spindle orient complete pin. Cleared by any of M3, M4 or M5. **spindle.**_M_**.on** OUT BIT:: TRUE when spindle should rotate. **spindle.**_M_**.orient** OUT BIT:: - Indicates start of spindle orient cycle. Set by M19. Cleared by any of M3, M4 or M5. + Indicates start of spindle orient cycle. + Set by M19. Cleared by any of M3, M4 or M5. -If spindle-orient-fault is not zero during spindle-orient true, the M19 -command fails with an error message. +If spindle-orient-fault is not zero during spindle-orient true, +the M19 command fails with an error message. **spindle.**_M_**.orient-angle** OUT FLOAT:: Desired spindle orientation for M19. Value of the M19 R word parameter @@ -515,8 +498,7 @@ command fails with an error message. == MOTION PARAMETERS -Many of the parameters serve as debugging aids, and are subject to -change or removal at any time. +Many of the parameters serve as debugging aids, and are subject to change or removal at any time. *motion-command-handler.tmax* RW S32:: Show information about the execution time of these HAL functions in CPU clocks. @@ -527,6 +509,7 @@ change or removal at any time. Show information about the execution time of these HAL functions in CPU clocks. *motion-controller.tmax-increased* RO BIT:: + *motion.debug-*_*_:: These values are used for debugging purposes. @@ -539,9 +522,8 @@ Generally, these functions are both added to the servo-thread in the order shown The pin named *motion-command-handler.time* and parameters **motion-command-handler.tmax,tmax-increased**are created for this function. *motion-controller*:: - Runs the LinuxCNC motion controller. - The pin named *motion-controller.time* and parameters - *motion-controller.tmax,tmax-increased* are created for this function. + Runs the LinuxCNC motion controller. The pin named *motion-controller.time* and + parameters *motion-controller.tmax,tmax-increased* are created for this function. == BUGS diff --git a/docs/src/man/man9/sserial.9.adoc b/docs/src/man/man9/sserial.9.adoc index 82579f51132..aa4cc6ac549 100644 --- a/docs/src/man/man9/sserial.9.adoc +++ b/docs/src/man/man9/sserial.9.adoc @@ -182,7 +182,8 @@ for example `hm2_5i23.0.7i64.1.3.output-01`. *Pins:* -7i64.0.0.output-__NN__ (bit, in):: Writing a 1 or TRUE to this pin will enable output driver NN. +7i64.0.0.output-__NN__ (bit, in):: + Writing a 1 or TRUE to this pin will enable output driver _NN_. Note that the outputs are drivers (switches) rather than voltage outputs. The LED adjacent to the connector on the board shows the status. The output can be inverted by setting a parameter. @@ -227,7 +228,8 @@ whereas the smart-serial pins are associated with the 7I76 (`hm2_5i25.0.7i76.0.0 .7i76.0.0.nvbaudrate (u32 ro):: Indicates the vbaud rate. This probably should not be altered. -.7i76.0.0.nvunitnumber (u32 ro):: Indicates the serial number of the device and should match a sticker on the card. +.7i76.0.0.nvunitnumber (u32 ro):: + Indicates the serial number of the device and should match a sticker on the card. This can be useful for working out which card is which. .7i76.0.0.nvwatchdogtimeout (u32 ro):: The sserial remote watchdog timeout. diff --git a/docs/src/man/man9/weighted_sum.9.adoc b/docs/src/man/man9/weighted_sum.9.adoc index 88d07c1e273..dfd1593cad8 100644 --- a/docs/src/man/man9/weighted_sum.9.adoc +++ b/docs/src/man/man9/weighted_sum.9.adoc @@ -25,21 +25,21 @@ There is a limit of 8 weighted summers and each may have up to 16 input bits. == FUNCTIONS -*process_wsums (requires a floating point thread)*:: +*process_wsums* (requires a floating point thread):: Read all input values and update all output values. == PINS **wsum.**_N_**.bit.**_M_**.in** bit in:: - The _m_'th input of weighted summer _n_. + The __m__^th^ input of weighted summer _n_. **wsum.**_N_**.hold** bit in:: When TRUE, the _sum_ output does not change. When FALSE, the _sum_ output tracks the _bit_ inputs according to the weights and offset. **wsum.**_N_**.sum** signed out:: - The output of the weighted summer + The output of the weighted summer. **wsum.**_N_**.bit.**_M_**.weight** signed rw:: - The weight of the _m_'th input of weighted summer _n_. - The default value is 2^__m__. + The weight of the __m__^th^ input of weighted summer _n_. + The default value is 2^__m__^. **wsum.**_N_**.offset** signed rw:: The offset is added to the weights corresponding to all TRUE inputs to give the final sum.