Motenc

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_motenc

During loading (or attempted loading) the driver prints some usefull debugging message to the kernel log, which can be viewed with dmesg.

Up to 4 boards may be used in one system.

1. 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 baord, so it may be non-zero even if there is only one board.

(s32) motenc.<board>.enc-<channel>-count — Encoder position, in counts.
(float) motenc.<board>.enc-<channel>-position — Encoder position, in user units.
(bit) motenc.<board>.enc-<channel>-index — Current status of index pulse input.
(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.
(bit) motenc.<board>.enc-<channel>-latch-index — If this pin is true, the driver will reset the counter on the next index pulse.
(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.
(float) motenc.<board>.dac-<channel>-value — Analog output value for DAC (in user units, see -gain and -offset)
(float) motenc.<board>.adc-<channel>-value — Analog input value read by ADC (in user units, see -gain and -offset)
(bit) motenc.<board>.in-<channel> — State of digital input pin, see canonical digital input.
(bit) motenc.<board>.in-<channel>-not — Inverted state of digital input pin, see canonical digital input.
(bit) motenc.<board>.out-<channel> — Value to be written to digital output, seen canonical digital output.
(bit) motenc.<board>.estop-in — Dedicated estop input, more details needed.
(bit) motenc.<board>.estop-in-not — Inverted state of dedicated estop input.
(bit) motenc.<board>.watchdog-reset — Bidirectional, - Set TRUE to reset watchdog once, is automatically cleared.

2. Parameters

(float) motenc.<board>.enc-<channel>-scale — The number of counts / user unit (to convert from counts to units).
(float) motenc.<board>.dac-<channel>-offset — Sets the DAC offset.
(float) motenc.<board>.dac-<channel>-gain — Sets the DAC gain (scaling).
(float) motenc.<board>.adc-<channel>-offset — Sets the ADC offset.
(float) motenc.<board>.adc-<channel>-gain — Sets the ADC gain (scaling).
(bit) motenc.<board>.out-<channel>-invert — Inverts a digital output, see canonical digital output.

(u32) motenc.<board>.watchdog-control — Configures the watchdog. The value may be a bitwise OR of the following values:

  [width="90%", options="header"]
  |========================================
  |Bit # | Value | Meaning
  |0 | 1 | Timeout is 16ms if set, 8ms if unset
  |2 | 4 | Watchdog is enabled
   |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).
- (u32) motenc.<board>.led-view -- Maps some of the I/O to onboard LEDs?

3. Functions

(funct) motenc.<board>.encoder-read — Reads all encoder counters.
(funct) motenc.<board>.adc-read — Reads the analog-to-digital converters.
(funct) motenc.<board>.digital-in-read — Reads digital inputs.
(funct) motenc.<board>.dac-write — Writes the voltages to the DACs.
(funct) motenc.<board>.digital-out-write — Writes digital outputs.
(funct) motenc.<board>.misc-update — Updates misc stuff.