Remora HAL Component

ctrl_type[JOINTS]

loadrt remora ctrl_type=p,v

Option to configure the control type for individual joints
Options are “p” for Position type control and “v” for Velocity type control
Default is p

chip_type

loadrt remora chip_type=STM

Note: This option is made obsolete by seperating components based on chip type
Option to configure for the chip type used on your controller board.
Options are LPC and STM
Default is LPC

SPI_clk_div

loadrt remora chip_type=STM SPI_clk_div=32

Option for setting the SPI clock divider
Avaiable options are
128   3.125MHz on RPI3
64    6.250MHz on RPI3
32    12.5MHz on RPI3
16     25MHz on RPI3
Defaults are based on chip type. generally used for trouble shooting and fine tuning.

PRU_base_freq

loadrt remora chip_type=STM SPI_clk_div=32 PRU_base_freq=40000

Option for setting the PRU frequency
Default is 40000
This will be based on your specific chip type and the frequency it runs
This must match your MCU base thread frequency if you have changed it in your Remora config.txt file

*SPIenable;

#example

*SPIreset;

#example

*PRUreset;

#example

SPIresetOld;

#example

*SPIstatus;

#example

*stepperEnable[JOINTS];

#example

pos_mode[JOINTS];

#example

*pos_cmd[JOINTS];

#example

pin: position command (position units)

*vel_cmd[JOINTS];

#example

pin: velocity command (position units/sec)

*pos_fb[JOINTS]

#example

pin: position feedback (position units)

*count[JOINTS]

#example

pin: psition feedback (raw counts)

pos_scale[JOINTS]

#example

param: steps per position unit

freq[JOINTS]

#example

param: frequency command sent to PRU

*freq_cmd[JOINTS]

#example

pin: frequency command monitoring, available in LinuxCNC

maxvel[JOINTS]

#example

param: max velocity, (pos units/sec)

maxaccel[JOINTS]

setp remora.joint.1.maxaccel    [JOINT_1]STEPGEN_MAXACCEL

param: max accel (pos units/sec^2)

*pgain[JOINTS]

setp remora.joint.2.pgain [JOINT_0]P_GAIN

Remora internal stepgen Pgain value

*ff1gain[JOINTS]

setp remora.joint.0.ff1gain [JOINT_0]FF1_GAIN

Remora internal stepgen FF1gain value

*deadband[JOINTS]

setp remora.joint.1.deadband 0.01

Remora internal stepgen deadband value

Defaults to 1 step

old_pos_cmd[JOINTS]

#example

previous position command (counts)

old_pos_cmd_raw[JOINTS]

#example

previous position command (counts)

old_scale[JOINTS]

#example

stored scale value

scale_recip[JOINTS]

#example

reciprocal value used for scaling

prev_cmd[JOINTS];

#example

cmd_d[JOINTS]

#example

command derivative

*setPoint[VARIABLES]

remora.SP.4

Remora set point variables include PWM, and RC servo

0..5

*processVariable[VARIABLES]

remora.PV.1

Remora process variables include Encoder modules, thermister input,

0..5

*outputs[DIGITAL_OUTPUTS]

remora.output.05

Remora output pins 00…15

*inputs[DIGITAL_INPUTS]

remora.input.05

Remora input pins 00…15