Improved hostmot2(9) language and made its formatting more consistent

Converted bogus contraction to genitive and expand contractions to
make text easier to read.  Use double quotes consistently instead of
a mix of single and double quotes.  Picked double over single quotes as
it had most existing use.  Also adjusted the roff formatting to quiet
down po4a.

Author: petterreinholdtsen

docs/man/man9/hostmot2.9

@@ -55,7 +55,7 @@ Each I/O pin can be configured, at board-driver load time, to serve
 one of two purposes: either as a particular I/O pin of a particular
 Module instance (encoder, pwmgen, stepgen etc), or as a general purpose
 digital I/O pin.  By default all Module instances are enabled, and all the
-board's pins are used by the Module instances.
+boards pins are used by the Module instances.
 
 The user can disable Module instances at board-driver load time, by
 specifying a hostmot2 config string modparam.  Any pins which belong to
@@ -72,7 +72,7 @@ I/O section below.
 
 All the board-driver modules (hm2_pci, hm2_eth etc) accept a load-time
 modparam of type string array, named "config".  This array has one config
-string for each board the driver should use.  Each board's config string
+string for each board the driver should use.  Each boards config string
 is passed to and parsed by the hostmot2 driver when the board-driver
 registers the board.
 
@@ -86,8 +86,8 @@ For example, if your control computer has one 5i20 and one 5i23 you
 might load the hm2_pci driver with a HAL command (in halcmd) something
 like this:
 
-.B
 .nf
+.B
 loadrt hm2_pci config="firmware=hm2/5i20/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=3,firmware=hm2/5i23/SVSS8_8.BIT sserial_port_0=0000 num_encoders=4"
 .fi
 
@@ -132,7 +132,7 @@ Load the firmware specified by F into the FPGA on this board.  If no
 re-programmed but may continue to run a previously downloaded firmware.
 
 The requested firmware F is fetched by udev.  udev searches for the
-firmware in the system's firmware search path, usually /lib/firmware.
+firmware in the systems firmware search path, usually /lib/firmware.
 F typically has the form "hm2/<BoardType>/file.bit"; a typical value
 for F might be "hm2/5i20/SVST8_4.BIT".  The hostmot2 firmware files are
 supplied by the hostmot2\-firmware packages, available from linuxcnc.org and can
@@ -217,7 +217,7 @@ board. These are arranged in 1-4 ports of 1 to 8 channels.
 for example all inputs, or all outputs, or offering additional analogue input on
 some digital pins.
  To set the modes for port 0 use, for example \fBsserial_port_0=0120xxxx\fR
- A '0'in the string sets the corresponding port to mode 0, 1 to mode 1, and so
+ A "0" in the string sets the corresponding port to mode 0, 1 to mode 1, and so
 on up to mode 9. An "x" in any position disables that channel and makes the
 corresponding FPGA pins available as GPIO. 
  The string can be up to 8 characters long, and if it defines more
@@ -364,7 +364,7 @@ per minute.
 When this pin is True, the count and position pins are
 set to 0.  (The value of the velocity pin is not affected by this.)
 The driver does not reset this pin to FALSE after resetting the count
-to 0, that is the user's job.
+to 0, that is the users job.
 
 .TP
 (bit in/out) index\-enable
@@ -433,7 +433,7 @@ Parameters:
 
 .TP
 (float r/w) scale
-Converts from 'count' units to 'position' units.
+Converts from "count" units to "position" units.
 
 .TP
 (bit r/w) index\-invert
@@ -483,7 +483,7 @@ before reporting the encoder stopped.  This parameter is in seconds.
 Sets the hm2dpll timer instance to be used to latch encoder counts.  A setting
 of \-1 does not latch encoder counts.  A setting of 0 latches at the same time
 as the main hostmot2 read.  A setting of 1..4 uses a time offset from the main
-hostmot2 read according to the dpll's timer\-us setting.
+hostmot2 read according to the dplls timer\-us setting.
 
 Typically, timer\-us should be a negative number with a magnitude larger than
 the largest latency (e.g., \-100 for a system with mediocre latency, \-50 for a
@@ -718,7 +718,7 @@ counts per rev (16777216 counts).
 .TP
 (s32, out) rawcounts
 This is identical to the counts pin, except it is not
-reset by the 'index' or 'reset' pins. This is the pin which would be linked to
+reset by the "index" or "reset" pins. This is the pin which would be linked to
 the bldc HAL component if the resolver was being used to commutate a motor.
 
 .TP
@@ -798,7 +798,7 @@ In conjunction with \fBjoint-pos-fb\fR (qv) emulate absolute encoders.
 pwmgens have names like
 "hm2_\fI<BoardType>\fR.\fI<BoardNum>\fR.pwmgen.\fI<Instance>\fR".
 "Instance" is a two-digit number that corresponds to the HostMot2 pwmgen
-instance number.  There are 'num_pwmgens' instances, starting with 00.
+instance number.  There are "num_pwmgens" instances, starting with 00.
 
 So, for example, the HAL pin that enables output from the fourth pwmgen
 of the first 7i43 board is: hm2_7i43.0.pwmgen.03.enable (this assumes
@@ -819,7 +819,7 @@ Pins:
 .TP
 (bit input) enable
 If True, the pwmgen will set its Not\-Enable pin
-False and output its pulses.  If 'enable' is False, pwmgen will set its
+False and output its pulses.  If "enable" is False, pwmgen will set its
 Not\-Enable pin True and not output any signals.
 
 .TP
@@ -830,7 +830,7 @@ Parameters:
 
 .TP
 (float rw) scale
-Scaling factor to convert 'value' from arbitrary units
+Scaling factor to convert "value" from arbitrary units
 to duty cycle: dc = value / scale.  Duty cycle has an effective range
 of \-1.0 to +1.0 inclusive, anything outside that range gets clipped.
 The default scale is 1.0.
@@ -867,7 +867,7 @@ a 200 MHz clock, resulting in a 386 kHz max PWM frequency.  Other boards
 may have different clocks, resulting in different max PWM frequencies.
 If the user attempts to set the frequency too high, it will be clipped
 to the max supported frequency of the board.  Frequencies below about
-5 Hz are not terribly accurate, but above 5 Hz they're pretty close.
+5 Hz are not terribly accurate, but above 5 Hz they are pretty close.
 The default pwm_frequency is 20,000 Hz (20 kHz).
 
 .TP
@@ -1004,7 +1004,7 @@ scale in degrees for 1-2 mS servos with a full motion range of 90 degrees
 stepgens have names like
 "hm2_\fI<BoardType>\fR.\fI<BoardNum>\fR.stepgen.\fI<Instance>\fR".
 "Instance" is a two-digit number that corresponds to the HostMot2 stepgen
-instance number.  There are 'num_stepgens' instances, starting with 00.
+instance number.  There are "num_stepgens" instances, starting with 00.
 
 So, for example, the HAL pin that has the current position
 feedback from the first stepgen of the second 5i22 board is:
@@ -1117,8 +1117,8 @@ change if the step timings or position\-scale changes.  Defaults to 0.
 Maximum acceleration, in position units per second
 per second.  Defaults to 1.0.  If set to 0, the driver will not limit its
 acceleration at all - this requires that the position\-cmd or velocity\-cmd
-pin is driven in a way that does not exceed the machine's capabilities.
-This is probably what you want if you're going to be using the LinuxCNC
+pin is driven in a way that does not exceed the machines capabilities.
+This is probably what you want if you are going to be using the LinuxCNC
 trajectory planner to jog or run G-code.
 
 .TP
@@ -1179,7 +1179,7 @@ stage of the step sequence.
 Sets the hm2dpll timer instance to be used to latch stepgen counts.  A setting
 of \-1 does not latch stepgen counts.  A setting of 0 latches at the same time
 as the main hostmot2 read.  A setting of 1..4 uses a time offset from the main
-hostmot2 read according to the dpll's timer\-us setting.
+hostmot2 read according to the dplls timer\-us setting.
 
 Typically, timer\-us should be a negative number with a magnitude larger than
 the largest latency (e.g., \-100 for a system with mediocre latency, \-50 for a
@@ -1244,7 +1244,7 @@ and have a restricted HAL interface.
 GPIOs have names like "hm2_\fI<BoardType>\fR.\fI<BoardNum>\fR.gpio.\fI<IONum>\fR".
 IONum is a three-digit number.  The mapping from IONum to connector and
 pin-on-that-connector is written to the syslog when the driver loads,
-and it's documented in Mesa's manual for the Anything I/O boards.
+and it is documented in Mesas manual for the Anything I/O boards.
 
 So, for example, the HAL pin that has the current inverted input value
 read from GPIO 012 of the second 7i43 board is: hm2_7i43.1.gpio.012.in\-not
@@ -1311,7 +1311,7 @@ have this parameter.
 When a physical I/O pin is used by a special function, the related
 .BR is_output ", and " is_opendrain
 HAL parameters are aliased to the special function.  For instance, if gpio 1
-is taken over by pwmgen 0's first output, then aliases like
+is taken over by pwmgen 0s first output, then aliases like
 .B hm2_7i92.0.pwmgen.00.out0.invert_output
 (referring to
 .BR hm2_7i92.0.gpio.001.invert_output )
@@ -1338,7 +1338,7 @@ inms have names like
 "hm2_\fI<BoardType>\fR.\fI<BoardNum>\fR.inm.\fI<Instance>\fR".
 inmuxes have names like "hm2_\fI<BoardType>\fR.\fI<BoardNum>\fR.inmux.\fI<Instance>\fR".
 "Instance" is a two-digit number that corresponds to the HostMot2 inm or inmux
-instance number.  There are 'num_inms' or numx_inmuxs" instances, starting
+instance number.  There are "num_inms" or "numx_inmuxs" instances, starting
 with 00.
 
 Each instance reads between 8 and 32 input pins. inm and inmux are identical except
@@ -1416,7 +1416,7 @@ the LED.
 SSRs have names like
 "hm2_\fI<BoardType>\fR.\fI<BoardNum>\fR.ssr.\fI<Instance>\fR".
 "Instance" is a two-digit number that corresponds to the HostMot2 SSR
-instance number.  There are 'num_ssrs' instances, starting
+instance number.  There are "num_ssrs" instances, starting
 with 00.
 
 Each instance has a rate control pin and between 1 and 32 output pins.
@@ -1433,13 +1433,13 @@ Set to 0 to disable this SSR instance.
 
 .TP
 (bit in) out-NN
-The state of this SSR instance's NNth output.  Set to 0 to make
+The state of this SSR instances NNth output.  Set to 0 to make
 the output pins act like an open switch (no connection), set to 1 to
 make them act like a closed switch.
 
 .TP
 (bit in) invert-NN
-Inverts the state of this SSR instance's NNth output, defaults to 0. 
+Inverts the state of this SSR instances NNth output, defaults to 0.
 When invert-NN is set to 1, SSR output NN is closed when the out-NN 
 pin is 0 and open when the out-NN pin is 1
 
@@ -1448,7 +1448,7 @@ pin is 0 and open when the out-NN pin is 1
 OutMs have names like
 "hm2_\fI<BoardType>\fR.\fI<BoardNum>\fR.OutM.\fI<Instance>\fR".
 "Instance" is a two-digit number that corresponds to the HostMot2 OutM
-instance number.  There are 'num_outms' instances, starting
+instance number.  There are "num_outms" instances, starting
 with 00.
 
 Each instance has between 1 and 32 output pins.
@@ -1458,12 +1458,12 @@ Pins:
 
 .TP
 (bit in) out-NN
-The sets the state of this OutM instance's NNth output. Normally the output
+The sets the state of this OutM instances NNth output. Normally the output
 pin follows the state of this pin but may be inverted by the invert-nn hal pin 
 
 .TP
 (bit in) invert-NN
-Inverts the state of the this OutM instance's NNth output, defaults to 0. 
+Inverts the state of the this OutM instances NNth output, defaults to 0.
 When invert-NN is set to 1, OutM output NN is high when the out-NN 
 pin is 0 and low when the out-NN pin is 1
 
@@ -1563,7 +1563,7 @@ the first time by running the hm2 write() HAL function (see below), the
 watchdog wakes up.  From them on it must be petted periodically or it will
 bite.  Pet the watchdog by running the hm2 write() HAL function.
 
-When the watchdog bites, all the board's I/O pins are disconnected from
+When the watchdog bites, all the boards I/O pins are disconnected from
 their Module instances and become high-impedance inputs (pulled high),
 and all communication with the board stops.  The state of the HostMot2
 firmware modules is not disturbed (except for the configuration of the
@@ -1633,7 +1633,7 @@ to the address in .write_address, and .write_strobe is set back to False.
 .TP
 (bit in/out) dump_state
 This pin is normally False.  If it gets set to
-True the hostmot2 driver will write its representation of the board's
+True the hostmot2 driver will write its representation of the boards
 internal state to the syslog, and set the pin back to False.
 
 .SS Setting up Smart Serial devices 
@@ -1707,7 +1707,7 @@ hm2_7i43(9)
 hm2_7i90(9)
 .br
 
-Mesa's documentation for the Anything I/O boards, at 
+Mesas documentation for the Anything I/O boards, at 
 .UR
 http://www.mesanet.com
 .UE