Backport new hm2_modbus driver to 2.9 branch.

Author: BsAtHome

configs/by_interface/mesa/hm2-modbus/.gitignore

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+*.mbccb

configs/by_interface/mesa/hm2-modbus/7i96s-modbus-bldc.ini

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+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               HM2-Stepper+Modbus+BLDC
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+#DISPLAY =               tklinuxcnc
+DISPLAY =              axis
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0500
+# Path to help file
+HELP_FILE =             tklinuxcnc.txt
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.5
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+# Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python3
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE =        hm2-stepper.var
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+[HAL]
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE =		hm2-stepper-eth-modbus.hal
+HALFILE =		brushless-dc-motor-driver.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+
+[HALUI]
+#No Content
+
+[TRAJ]
+COORDINATES =           X Y Z
+#HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+MAX_LINEAR_VELOCITY = 100
+
+[EMCIO]
+# tool table file
+TOOL_TABLE =            tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
+
+[JOINT_0]
+# 
+# Step timing is 40 us steplen + 40 us stepspace
+# That gives 80 us step period = 12.5 KHz step freq
+#
+# Bah, even software stepping can handle that, hm2 doesn't buy you much with
+# such slow steppers.
+#
+# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
+#
+# This gives a maxvel of 12.5/1 = 12.5 ips
+#
+TYPE =              LINEAR
+MAX_VELOCITY =       10
+MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
+BACKLASH =           0.000
+# scale is 200 steps/rev * 5 revs/inch
+SCALE =           1000
+MIN_LIMIT =             -10.0
+MAX_LIMIT =             10.0
+FERROR =     0.050
+MIN_FERROR = 0.005
+#HOME =                  0.000
+#HOME_OFFSET =           0.10
+#HOME_SEARCH_VEL =       0.10
+#HOME_LATCH_VEL =        -0.01
+#HOME_USE_INDEX =        YES
+#HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# these are in nanoseconds
+DIRSETUP   =              200
+DIRHOLD    =              200
+STEPLEN    =              40000
+STEPSPACE  =              40000
+
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
+
+[JOINT_1]
+TYPE =              LINEAR
+MAX_VELOCITY =       10
+MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
+BACKLASH =           0.000
+SCALE = 1000
+MIN_LIMIT =             -10.0
+MAX_LIMIT =             10.0
+FERROR =     0.050
+MIN_FERROR = 0.005
+#HOME =                  0.000
+#HOME_OFFSET =           0.10
+#HOME_SEARCH_VEL =       0.10
+#HOME_LATCH_VEL =        -0.01
+#HOME_USE_INDEX =        YES
+#HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# these are in nanoseconds
+DIRSETUP   =              200
+DIRHOLD    =              200
+STEPLEN    =              40000
+STEPSPACE  =              40000
+
+[AXIS_Z]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
+
+[JOINT_2]
+TYPE =              LINEAR
+MAX_VELOCITY =      10
+MAX_ACCELERATION =  20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
+BACKLASH =           0.000
+SCALE = 1000
+MIN_LIMIT =             -10.0
+MAX_LIMIT =             10.0
+FERROR =     0.050
+MIN_FERROR = 0.005
+#HOME =                  0.000
+#HOME_OFFSET =           0.10
+#HOME_SEARCH_VEL =       0.10
+#HOME_LATCH_VEL =        -0.01
+#HOME_USE_INDEX =        YES
+#HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         0
+# these are in nanoseconds
+DIRSETUP   =              200
+DIRHOLD    =              200
+STEPLEN    =              40000
+STEPSPACE  =              40000
+
+[HOSTMOT2]
+DRIVER=hm2_eth
+BOARD_IP=10.10.10.10
+BOARD=7i96s
+CONFIG=""
+
+[MODBUS]
+PORTS="hm2_7i96s.0.pktuart.0"
+MBCCBS="brushless-dc-motor-driver.mbccb"