4a897203bc
groff treats '-' (the character you get when you hit the "minus" key on the keyboard) as "hyphen", not as "minus". Thus it renders incorrectly in some locales, and line-wraps strangely. groff treats the two-character sequence "\-" as "minus", and the four-character sequence "\(hy" as "hyphen". Details here: https://lists.debian.org/debian-devel/2003/03/msg01481.html This commit replaces every instance of "-" in our manpages where the meaning is "minus" with "\-", so it works right. This fixes many lintian warnings.
87 lines
3 KiB
Groff
87 lines
3 KiB
Groff
.\" Copyright (c) 2014 Jeff Epler
|
|
.\"
|
|
.\" This is free documentation; you can redistribute it and/or
|
|
.\" modify it under the terms of the GNU General Public License as
|
|
.\" published by the Free Software Foundation; either version 2 of
|
|
.\" the License, or (at your option) any later version.
|
|
.\"
|
|
.\" The GNU General Public License's references to "object code"
|
|
.\" and "executables" are to be interpreted as the output of any
|
|
.\" document formatting or typesetting system, including
|
|
.\" intermediate and printed output.
|
|
.\"
|
|
.\" This manual is distributed in the hope that it will be useful,
|
|
.\" but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
.\" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
.\" GNU General Public License for more details.
|
|
.\"
|
|
.\" You should have received a copy of the GNU General Public
|
|
.\" License along with this manual; if not, write to the Free
|
|
.\" Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111,
|
|
.\" USA.
|
|
.TH HM2_SPI "9" "2008-05-13" "LinuxCNC Documentation" "HAL Component"
|
|
.de TQ
|
|
.br
|
|
.ns
|
|
.TP \\$1
|
|
..
|
|
|
|
.SH NAME
|
|
|
|
hm2_spi \- LinuxCNC HAL driver for the Mesa Electronics SPI Anything IO boards, with HostMot2 firmware.
|
|
.SH SYNOPSIS
|
|
|
|
.HP
|
|
.B loadrt hm2_spi [config=\fI"str[,str...]"\fB] [spidev_path=path[,path...]\fB] [spidev_rate=\fIrate[,rate...]\fB]
|
|
.RS 4
|
|
.TP
|
|
\fBconfig\fR [default: ""]
|
|
HostMot2 config strings, described in the hostmot2(9) manpage.
|
|
.TP
|
|
\fBspidev_path\fR [default: "/dev/spidev1.0"]
|
|
The path to the spi device node, a character special device in /dev
|
|
.TP
|
|
\fBspidev_rate\fR [default: 24000]
|
|
The desired rate of the SPI clock in kHz. If the exact specified clock is not
|
|
available, a lower clock is used. Due to shortcomings in the spidev API, it is
|
|
not possible for hal to report the actual clock used.
|
|
.SH DESCRIPTION
|
|
|
|
hm2_spi is a device driver that interfaces Mesa's SPI
|
|
based Anything I/O boards (with the HostMot2 firmware) to the LinuxCNC
|
|
HAL.
|
|
|
|
The supported boards are: 7I90HD.
|
|
|
|
The board must have a compatible firmware loaded on the board by the
|
|
mesaflash(1) program.
|
|
|
|
hm2_spi is only available when linuxcnc is configured with "uspace" realtime.
|
|
|
|
.SH INTERFACE CONFIGURATION
|
|
|
|
It is possible for one SPI bus to connect several devices; in this
|
|
configuration, a master device has several chip select lines. In order to meet
|
|
realtime deadlines, hm2_spi should be used on a dedicated SPI interface not
|
|
shared with any other slaves.
|
|
|
|
.SH REALTIME PERFORMANCE OF LINUX SPIDEV DRIVERS
|
|
|
|
As of kernel 3.8, most or all kernel SPI drivers do not achieve the high
|
|
realtime response rate required for a typical linuxcnc configuration. The
|
|
driver was tested with a modified version of the spi\-s3c64xx SPI driver on the
|
|
Odroid U3 platform. The patched kernel resides
|
|
.UR https://github.com/jepler/odroid\-linux/tree/odroid\-3.8.13\-rt
|
|
on github
|
|
.UE .
|
|
|
|
.SH SPI CLOCK RATES
|
|
The maximum SPI clock of the 7i90 is documented as 50MHz. Other elements of
|
|
the data path between HAL and the 7i90 may impose other limitations.
|
|
|
|
.SH SEE ALSO
|
|
|
|
hostmot2(9)
|
|
.SH LICENSE
|
|
|
|
GPL
|