initial commit

README.md

@@ -1,2 +1,84 @@
 # hal-cia402
-linuxcnc hal interface for CiA402 Drives
+HAL Interface for CiA402 Devices,
+
+this component acts as a glue layer between hardware to Hal modules like Ethercat, CAN-Bus or others.
+It translates raw IO Data from the PDOs to the common linuxcnc Hal pin structure and has build in logic
+for the CiA402 State Control, feedback handling, external homing and build in scaling functions.
+
+It delivers two functions: read_all and write_all.
+
+
+The concept of integration in the correspondending task should be as following: 
+
+
+
+  ###################      ###########       #########     ############      #####################
+  #HARDWARE INPUT   #      # CiA402  #       #Motion #     #  CiA402  #      #  Hardware Output  #
+  #  like           #-->>--#read_all #-->>>--#Pids   #-->--#write_all #-->>--#        like       #
+  #Ethercat read_all#      #  etc.   #       #       #     #          #      # Ethercat write_all#
+  ###################      ###########       #########     ############      #####################
+
+
+
+
+Hal Example:
+
+
+  #########
+  # Setup
+  #########
+  loadrt [KINS]KINEMATICS
+  loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+  (loadusr -W lcec_conf ethercat-conf.xml)
+  loadrt lcec
+  loadrt cia402 count=3
+  loadrt pid names=x-pid,y-pid,z-pid
+
+  ##########################
+  # Functions servo-thread
+  ##########################
+  addf lcec.read-all servo-thread
+  addf cia402.0.read-all servo-thread
+  addf cia402.1.read-all servo-thread
+  addf cia402.2.read-all servo-thread
+
+  addf motion/ PIDs / PCL / etc .
+
+  addf cia402.0.write-all servo-thread
+  addf cia402.1.write-all servo-thread
+  addf cia402.2.write-all servo-thread
+  addf lcec.write-all servo-thread
+  #########################################
+  #nets .....
+
+
+Modes of Operation: 
+
+  By default the component is set to CSP Mode, CSV Mode could be selected with an: 
+  
+    setp cia402.0.csp-mode 0  in hal.
+
+  Mode changing in runtime is currently not supported, to avoid
+  unwanted behaviour.
+
+Homing:
+
+  For using the servo drives internal homing procedure configure your
+  joint homing to  Home on Index Pulse only and connect the components
+  home input to the motion index-enable Pin:
+
+    HOME_SEARCH_VEL = 0.0
+    HOME_LATCH_VEL = 0.2  (Any value but zero, the homing speed is predetermined by the drives configured speed
+    HOME_USE_INDEX = TRUE
+
+  If you are using PIDs, don't forget to connect the PIDs index-enable pin.
+
+
+Flexibility:
+
+  Even though this component exports many pins, you can choose which functions you want to use:
+
+  If you would like to use the CiA State Machine, connect Statusword and Controlword.
+  For single use of the scaling function connect only the fb and cmd pins from position or velocity.
+  If no Drives homing is needed, let the Pins unconnected.
+