On Fri, Oct 14, 2016 at 08:11:38AM -0500, Charles Steinkuehler wrote:
> Setup a Mesa card with a periodic timer that triggers a capture of the
> current position and generates an interrupt (the Mesa VHDL code
> already supports this).  In the servo thread, instead of waiting on a
> software timer, you wait on the hardware interrupt.

linxucnc doesn't support threads that wait for a hardware interrupt yet, pull
requests are welcome though.

given the state of linuxcnc, peter has done something interesting in hostmot2:
the FPGA has a PLL that samples encoders shortly before it anticipates getting
a read request.  this substantially reduces jitter in position feedback.


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