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grblHAL / iMXRT1062

grblHAL driver for NXP iMXRT1062 (Teensy 4.x)
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How to input Motor Fault signal? #51

Closed karoria closed 1 year ago

karoria commented 1 year ago

Hi @terjeio

Enabling #define MOTOR_FAULT_ENABLE 1 and defining its pin in custom board map doesn't work for me to take Motor Fault input. Is there anything else I am missing? I am using a little older version of grblHAL as I am finding difficulties to compile and run latest code. My startup messages are here for your quick reference:

[VER:1.1f.20220123:] [OPT:VNMSL+,35,1024,5,0] [NEWOPT:ENUMS,RT+,ES,TC,SED,ETH,FTP,SD] [FIRMWARE:grblHAL] [NVS STORAGE:*FLASH] [DRIVER:iMXRT1062] [DRIVER VERSION:220111] [DRIVER OPTIONS:USB.2] [BOARD:BOARD_VALAY] [AUX IO:0,2,0,0] [IP:192.168.0.77] [NETCON:Websocket] [PLUGIN:WebUI v0.02] [PLUGIN:SDCARD v1.05] ok

BTW, I need functionality similar to Estop for Motor Fault. Just the console message should state that the Alarm is caused by motor fault and not by Estop.

terjeio commented 1 year ago

The signal has to be added to the driver.c input pin handling code (in several places).

karoria commented 1 year ago

Okay. Thanks.

karoria commented 1 year ago

Hi @terjeio Thanks for your continuous support. I got the Motor Fault signal working with changes in driver.c as instructed. Now I want to invert the signal. My present $14 setting is 78, so I have to add 256 to it (as motor fault is on bit 8) which makes it 334. But somehow, it doesn't accept $14=334 with a message "Error 52: undefined". Any clues?

terjeio commented 1 year ago

You have to tell the core that the signal is available here by adding:

hal.signals_cap.motor_fault = On;

Hopefully this will work...

karoria commented 1 year ago

Thanks @terjeio . It worked!