Hello everyone, I am working on and off again on writing my own machine controller, largely to understand LinuxCNC and related projects like MachineKit. For reference, here's the controller I wrote running a few years ago:
https://www.youtube.com/watch?v=qasLhuJFZNU I'm starting back up on the project. Right now it works very similar to LinuxCNC, a shared memory space, all HAL components running on a single controller. What I want to do is make a machine controller that could have conceivably worked on 80s MCUs, but also work on single desktop machine. The idea would be to have a distributed HAL that would function across multiple MCUs- but of course works in the degenerate case of a single machine/PC with shared memory space, as with LinuxCNC. For instance, there would be a main MCU which reads files, runs the GUI/HMI and handles the trajectory planning, homing, probing, tapping, etc. There would also be a dedicated MCU for each joint controller which is updating encoders and sensors, generating step pulses, closing servo loops, etc. My naive approach would be to have a registry of output signals which includes which MCU each actually resides on. So if a particular HAL component task is reading a signal that's already on the MCU it's running on, it's immediately returned- otherwise it pulls the data over a network layer (which could shared memory bus, RS485, ethernet, etc.) Is there something out there that does this? Maybe some kind of mutant hybrid between HAL/NML/SCADA? Of course this complicates things over simply using pointers to a single shared memory space. I also get the sense the linuxCNC group balks at this kind of idea, they want to keep it all on one machine in the interest of latency anyway. Just searching various machine controller project communities for where this kind of idea might be interesting. I would really like something like a Raspberry Pi tied into a MCU which does all the hard-RT/IO stuff, but not quite in the way Klipper does it. Klipper basically sends commands to be followed at some specific time stamp. That's actually pretty cool, but I want something that allows for more feedback and flexibility between the various systems. Anyhow, thanks in advance for your input. -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
