Given the TP is supposed to be a stand alone module, why don't you deploy the
Tormach planner (lets call it TTP) to /src/emc/ttp and allow users to
experiment with it on real hardware by changing their ini file settings? If it
works out before the release of 2.10, you could optionally retire the
existing TP in 2.10 or in 2.11
Rod
On 2025-10-29 17:01, Robert Schöftner <[email protected]> wrote:
> Am Dienstag, dem 28.10.2025 um 23:34 +0000 schrieb andy pugh:
> > 2) Do away with HAL parameters. Convert them all to full pins.
> > In theory using parameters saves HAL shared memory as they are
> > meant to live in normal memory. In practice
> > nearly every HAL component puts both pins and parameters in HAL
> > shared memory, so this advantage is
> > not realised. René has a branch in which this has been done.
>
> Maybe it made sense in the 90ies with single core PCs with 16-ish MB
> RAM to limit unwappable memory-locked shared memory. OTOH even then, a
> CNC controller that runs into swap was a bad idea.
>
> Nowadays with low-end systems being 4-core 16GB RAM machines, i.e. 1000
> times the RAM and on-cpu caches as big as all memory of the 90ies
> machines, the need to conserve shared memory is not that pressing any
> more.
>
>
> I tested that branch in July but couldn't yet get it to work on real
> hardware (and then ran out of spare time). Implementation details of
> HAL pins make this change somewhat tricky. Converted code needs to
> allocate memory for the parameters, if such allocation is missing, some
> strange behaviour and crashes in the realtime part will result that are
> hard to debug. It seems to work in sim, completes the tests IIRC, but
> that branch needs testing on real hardware.
>
>
> --
> Robert Schöftner <[email protected]>
>
>
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