Peter suggested a fix for the 5i20 stepgen problem. I've implemented
it, but I dont have access to the machine with my test hardware so this
is basically untested. It compiles...
If someone wants to try it out before I test it tonight, it's available
here (http or bzr):
Jon Elson wrote:
Sebastian Kuzminsky wrote:
If I disable the steppers on the 7i43 (with config=num_steppers=0) and
run it with 4 servo channels (and 24 accessible GPIOs), I get these figures:
read time=191, tmax=203
write time=190, tmax=239
That's about 1 KHz.
Very
Sebastian Kuzminsky wrote:
Jon Elson wrote:
Sebastian Kuzminsky wrote:
If I disable the steppers on the 7i43 (with config=num_steppers=0) and
run it with 4 servo channels (and 24 accessible GPIOs), I get these figures:
read time=191, tmax=203
write time=190, tmax=239
That's
Sebastian Kuzminsky wrote:
Yeah something's not right there, 190 us is way too long.
Hm, these numbers come from 'halcmd show param hm2_7i43.*.time', which I
thought was in nanoseconds, but looking at hal_lib.c I see that it's in
CPU clock cycles. Is that intentional?
In
Jon Elson wrote:
Sebastian Kuzminsky wrote:
Yeah something's not right there, 190 us is way too long.
Hm, these numbers come from 'halcmd show param hm2_7i43.*.time', which I
thought was in nanoseconds, but looking at hal_lib.c I see that it's in
CPU clock cycles. Is that intentional?
On Wednesday 13 August 2008, John Kasunich wrote:
Unfortunately, conversion from clocks to time is non-trivial, so we
simply report the results in clocks.
(get_cycles()*10^6)/cpu_khz
Is that non-trivial ??
The situation is getting worse, not better. In the name of progress, we
now have to
On Thursday 14 August 2008 03:23, Kirk Wallace wrote:
snipped
Are there other CPU's that would better cater to realtime? Some sort of
lean, fast RISC, not designed to cope with Windows upgrades.
There are a bunch out there, just look at the number of archs that debian is
available for. It
Sebastian,
I am getting close. I generated a single hal file for a two stepper and one
pwm configuration. Currently in the ini file I have it configured for only 2
axes and references only the single hal file. The error I am getting is a
following error any time I try to move an axis. I have
Eric H. Johnson wrote:
# set stepgen module accel limits - get values from ini file
# setp hm2_5i20.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
# setp hm2_5i20.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
# setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
I didn't read everything,
John,
I commented them out because it generated an error. I do not see pins for
maxaccel with hostmot2.
# set stepgen module accel limits - get values from ini file # setp
hm2_5i20.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL # setp
hm2_5i20.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
hm I am seeing something similar with the step generator. Its feedback
position never changes. no errors in dmesg.
(jmk, there's not (yet) an enable, or velocity or accel limit
pins/parameters in hm2--I imagine that's why the lines are commented
out)
[running in an interactive halrun]
halcmd:
Kirk Wallace wrote:
On Wed, 2008-08-13 at 12:03 -0500, Jon Elson wrote:
John Kasunich wrote:
Unfortunately, conversion from clocks to time is non-trivial, so we
simply report the results in clocks. The situation is getting worse,
not better. In the name of progress, we now have to deal
Jeff Epler wrote:
hm I am seeing something similar with the step generator. Its feedback
position never changes. no errors in dmesg.
Yes, I can reproduce this here - stepgen doesnt work on the 5i20. Sorry
guys... How embarassing. :-(
My test setup consists of a PC running emc2 TRUNK. It's
Peter, could you make the stepgen Rate register read/write, so I can
read back the command for sanity checking?
I'll do that sometime tommorow...
--
Sebastian Kuzminsky
Cryogenic travel has improved since then... I woke screaming in a
translucent box. “There, there,” said the box.
Sebastian Kuzminsky wrote:
My test setup consists of a PC running emc2 TRUNK. It's got a 7i43
plugged into a parport and a 5i20 on the PCI bus. The 7i43 has two
steppers on it, and the 5i20 has 3 servos on it.
This setup conspicuously doesnt test steppers on the 5i20 or servos on
the
Hi Sebastian
On Tuesday 12 August 2008, Sebastian Kuzminsky wrote:
Hm, looks like rt_spin_lock() and friends are not exported through rtapi.
Why would you want rtapi functions for spinlocks ?
It looks like it would be easy to add a bunch of functions (or maybe
preprocessor macros) to call
Sebastian,
I updated to the latest release, and started playing with hostmot2. I ran
the following commands under halcmd:
loadrt hostmot2
loadrt hm2_5i20 config=firmware=hm_5i20 num_stepgens=2 num_pwmgens=1
num_encoders=0
I then did a show pin, which returned no pins. Shouldn't I be seeing pins
Jon Elson wrote:
Sebastian Kuzminsky wrote:
Jon Elson wrote:
OK, same problem as my PPMC line, then. But, 1 KHz isn't fast
enough? Or, does handling the Mesa's 72 I/O points take a lot
longer than my 24?
I haven't done speed tests of the 7i43 with hostmot2 for a while, but i
think low
Sebastian Kuzminsky wrote:
Jon Elson wrote:
Sebastian Kuzminsky wrote:
Jon Elson wrote:
OK, same problem as my PPMC line, then. But, 1 KHz isn't fast
enough? Or, does handling the Mesa's 72 I/O points take a lot
longer than my 24?
I haven't done speed tests of the 7i43 with hostmot2 for
Jon Elson wrote:
John Kasunich wrote:
Jon Elson wrote:
One way out of this would be to have this GPIO on a separate EPP
port (unless the GPIO hardware is the same as the motion hardware).
We are talking about the Mesa FPGA based boards, with 72 I/O pins on one
board. So yes, the GPIO is
paul_c wrote:
On Sunday 10 August 2008, Sebastian Kuzminsky wrote:
It looks like rtai has semaphores but doesnt support blocking in the
kernel (no run queues). Maybe something like spinlocks could be built
around the non-blocking semaphore calls.
You want one of the rt_spinlock calls
On Sun, Aug 10, 2008 at 01:17:03AM -0400, Matt Shaver wrote:
1a. I couldn't get WebPACK to run on Linux because I'm on an x86_64 machine,
and it's ia32 only. There was the beginnings of 64 bit support (references
to non-existent directories in the install script), but even hacking the
install
On Sunday 10 August 2008, Matt Shaver wrote:
1b. I can't help but think that there is (buried under the IDE) a command
line VHDLbit-image compiler.
Command line interface is trivial enough to allow non-interactive builds..
e.g.:
#! /bin/bash
xst -ifn ${project}.xst -ofn ${project}.syr
ngdbuild
John Kasunich wrote:
The simple fact is that the EPP bus is NOT shareable between realtime
threads. That is only one of the reasons why (in my humble opinion) the
PCI based 5i2x family is so much better than the EPP based 7i43 family.
Yes, that's certainly a major reason the hal_ppmc.c
Sebastian,
Thanks. A couple more questions.
1 I assume I will have to build from source to use hostmot2?
2 On an m5i20, how do you use the general purpose I/O? I don't see, for
instance, the equivalents of:
addf m5i20.0.misc-update servo-thread 1
addf m5i20.0.digital-in-read servo-thread 1
addf
-users] Stepper configuration
Sebastian,
Thanks. A couple more questions.
1 I assume I will have to build from source to use hostmot2?
2 On an m5i20, how do you use the general purpose I/O? I don't see, for
instance, the equivalents of:
addf m5i20.0.misc-update servo-thread 1
addf m5i20.0
[EMAIL PROTECTED] wrote:
For now you have to build from source to get hostmot2. It will be in 2.2.6
when it comes out, which might be as early as this weekend.
Hostmot2 treats the board I/O pins differently than previous firmwares
drivers. High-level functions like stepgen, pwmgen,
John Kasunich wrote:
[EMAIL PROTECTED] wrote:
For now you have to build from source to get hostmot2. It will be in 2.2.6
when it comes out, which might be as early as this weekend.
Hostmot2 treats the board I/O pins differently than previous firmwares
drivers. High-level functions like
Sebastian Kuzminsky wrote:
John Kasunich wrote:
[EMAIL PROTECTED] wrote:
For now you have to build from source to get hostmot2. It will be in 2.2.6
when it comes out, which might be as early as this weekend.
Hostmot2 treats the board I/O pins differently than previous firmwares
drivers.
John Kasunich wrote:
Sebastian Kuzminsky wrote:
John Kasunich wrote:
What's a use case where it's valuable to read/write the modules separately?
Mostly something like the arrangement Kirk Wallace has - software
stepping, using the GPIO for the step pulses. You might ask why do
software
Not true. Threads are interruptable, based on priority. Fast threads
are higher priority than slow ones, under the assumption that the code
in a 1mS thread might take 200uS to execute, and a 25uS thread might
need to interrupt it and run a few uS worth of code several times.
Sounds like
one, and the solution to the problem JMK described is to compile another
firmware image.
--
Sebastian Kuzminsky
never be discouraged
just let your nerdy flourish
-Original Message-
From: Peter C. Wallace [EMAIL PROTECTED]
Subj: Re: [Emc-users] Stepper configuration
Date: Sat 2008 Aug
[EMAIL PROTECTED] wrote:
How valuable is it for hostmot2 to have stand-alone gpio access (for the PCI
cards only)? It seems like sort of a klunky interface.
The differentiating feature of hostmot2 is the flexible firmware, which
solves this problem very neatly. So I still think the
On Sat, 2008-08-09 at 13:17 -0400, John Kasunich wrote:
... snip
Mostly something like the arrangement Kirk Wallace has - software
stepping, using the GPIO for the step pulses. You might ask why do
software stepping when there is hardware stepping available? In many
cases that is a darned
John Kasunich wrote:
[EMAIL PROTECTED] wrote:
How valuable is it for hostmot2 to have stand-alone gpio access (for the PCI
cards only)? It seems like sort of a klunky interface.
The differentiating feature of hostmot2 is the flexible firmware, which
solves this problem very neatly. So I
: [Emc-users] Stepper configuration
I could add a threadsafe flag to the board driver struct, which gets
set by the board driver if the board I/O hardware is thread safe (PCI),
and cleared if it's not (EPP). The high-level hostmot2 driver would
examine this and only export the full read()/write
Sebastian Kuzminsky wrote:
I could add a threadsafe flag to the board driver struct, which gets
set by the board driver if the board I/O hardware is thread safe (PCI),
and cleared if it's not (EPP). The high-level hostmot2 driver would
examine this and only export the full read()/write()
Sebastian Kuzminsky wrote:
Sebastian Kuzminsky wrote:
I could add a threadsafe flag to the board driver struct, which gets
set by the board driver if the board I/O hardware is thread safe (PCI),
and cleared if it's not (EPP). The high-level hostmot2 driver would
examine this and only
On Sat, 9 Aug 2008, John Kasunich wrote:
Date: Sat, 09 Aug 2008 23:59:48 -0400
From: John Kasunich [EMAIL PROTECTED]
Reply-To: Enhanced Machine Controller (EMC)
emc-users@lists.sourceforge.net
To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net
Subject: Re: [Emc-users
On Sat, 2008-08-09 at 11:50 -0600, Sebastian Kuzminsky wrote:
John Kasunich wrote:
Sebastian Kuzminsky wrote:
John Kasunich wrote:
What's a use case where it's valuable to read/write the modules separately?
If I get the drift of this conversation (and that's always questionable)
I think
On Sun, 10 Aug 2008, Matt Shaver wrote:
Date: Sun, 10 Aug 2008 01:17:03 -0400
From: Matt Shaver [EMAIL PROTECTED]
To: Enhanced Machine Controller (EMC) emc-users@lists.sourceforge.net
Subject: Re: [Emc-users] Stepper configuration
On Sat, 2008-08-09 at 11:50 -0600, Sebastian Kuzminsky
Hi all,
I am trying my first stepper configuration, but also need a 5khz pwm, so I
am using the m5i20 controller rather than the other more typical stepper
configurations. I created a hybrid configuration which mostly works, except
the stepper motors are running much to slowly and stop moving
Eric H. Johnson wrote:
Hi all,
I am trying my first stepper configuration, but also need a 5khz pwm, so I
am using the m5i20 controller rather than the other more typical stepper
configurations. I created a hybrid configuration which mostly works, except
the stepper motors are running much
John,
Something does not compute here. If scale is 1280 (that means 1280
counts per inch), then at one step per millisecond, you should get 1000/1280
= about 0.8 inches per second, not 2.5.
Yes, I realized it as soon as I posted it, but the error wasn't big enough
to matter so I did not post
Eric H. Johnson wrote:
Do you know anything about hostmot2? I see it has step and pwm, but did not
see a sample configuration on how to use it. Is it completed or still a work
in progress?
hostmot2 is still a work in progress, but i think it's ready for more
widespread testing. I've added a
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