Thanks Peter it really helps.
A few questions:
>
>
> A couple things:
>
> loadrt probe_parport
>
> should probably only be inserted for RTAI (and maybe only on EPP configs)
> It fails on uspace
>
I wonder if this would be considered a bug?
IIRC our docs say using probe_parport when not required is benign.
I guess if we can, we need to fix this with uspace or change our docs.
> PID stepgen works (tried on 7I76E, made a 5i25/7i76 config and replaced 5i25
> with 7I76E and changed driver line)
>
Does the 7i76E, in general come with the same firmware as the 7i76?
Is there also a 7i77E?
If so I will add that to pncconf's internal firmware.
I'm sure I can find a sample config to follow the driver line
or check the man page.
> if the DPLL module is present, the following lines can be added to reduce
> stepgen jitter:
>
> #add these lines if you have a DPLL module
> # set timer 1 to 50 usec before servo thread
> setp hm2_CARD.0.dpll.01.timer-us -50
> # enable DPLL timed latching of stepgen position
> setp hm2_CARD.0.stepgen.timer-number 1
>
> with the DPLL module you can have a much higher PID P term (since the
> sampling
> jitter is reduced by a factor of ~10 to 20 times)
>
> P = servo thread rate works well for me with DPLL (so 1000 for 1 KHz, 2000
> for
> 2 KHz etc)
>
How would one test for the DPLL module being present?
Is it depended on just using master or are there firmware updates to hardware
needed?
If DPLL is available is there any reason to NOT use it?
> >
> > Feel free to PM me on bug reports or suggestions.
> > Thanks.
> >
> > Chris M
> >
>
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