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= Motenc Driver
[[cha:montec-driver]] (((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_motenc
----
During 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.
* '(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.
== 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", cols="2*^1,^6"]
|========================================
|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).
* '(u32) motenc.<board>.led-view' - Maps some of the I/O to onboard LEDs.
== 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.
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