Re: [Emc-users] question for Peter C. Wallace

[gene heskett]

On 9/19/23 20:12, Peter Wallace wrote:

On Tue, 19 Sep 2023, gene heskett wrote:


Date: Tue, 19 Sep 2023 19:23:23 -0400
From: gene heskett 
Reply-To: "Enhanced Machine Controller (EMC)"
    
To: "'Enhanced Machine Controller (EMC)'" 


Subject: [Emc-users] question for Peter C. Wallace

Greeting Peter;

I hope this finds you well.

I am installing a new A axis on my go704, and am trying to exercise it 
before moving 99% of the actual driver code code in from another 
machine with identical hdwe for its B axis.
I have loaded a siggen to use its triangular drive as input to the 
joint.03.position-cmd, with the amplitude set to 2.5 and this for the 
rest of the dummy code:


setp    hm2_5i25.0.stepgen.03.enable true #turn it on
setp    siggen.0.frequency 10
setp    siggen.0.amplitude 2.5
setp    hm2_5i25.0.stepgen.03.steplen 4000
setp    hm2_5i25.0.stepgen.03.stepspace 1
setp    hm2_5i25.0.stepgen.03.dirhold 6000
setp    hm2_5i25.0.stepgen.03.dirsetup 6000
net mtr-test


    <= siggen.0.triangle => 
hm2_5i25.0.stepgen.03.position-cmd


So tb2-20 to 23 on the 7i76D is supposed to be stepgen.03.outputs.

man siggen says it should be symmetrical if no offset is set. But dir 
on neither pin is anywhere near 50/50, closer to 5/95, and faster than 
the above 10 a sec by quite a bit, and the step terminals are a solid 
5 volt or zero volts, no activity at all.


This on a 4 channel storage scope with a 350MHz bandwidth. Siglent's 
best. That puppy doesn't miss a thing.


Did I miss a setp above?

Thanks Peter.

Cheers, Gene Heskett.
--
"There are four boxes to be used in defense of liberty:
soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author, 1940)
If we desire respect for the law, we must first make the law respectable.
- Louis D. Brandeis
Genes Web page 


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You would also need to set reasonable stepgen acceleration and
velocity limits.

In addition, It may be that because you have a non-differentiable
position command (Triangle wave) that you have started an
instability in the built in position mode, so a sine wave would
be a better test.

For best performance where the are possible large following
errors it's better to use the stepgens in velocity mode and
close the (local) position with a PID loop.

Another thing that has confused me, is the lack of a typical hal hookup 
example for each mode. Folks in the know throw that terminology 
difference out there, assuming everybody on the planet knows the 
difference but we don't.


Here is how two of these motors are configured on a 6040 mill:
#*
# Z axis stuff
#*
setphm2_5i25.0.stepgen.02.position-scale [JOINT_2]STEPSCALE
setphm2_5i25.0.stepgen.02.steplen[JOINT_2]STEPLEN
setphm2_5i25.0.stepgen.02.stepspace  [JOINT_2]STEPSPACE
setphm2_5i25.0.stepgen.02.dirhold[JOINT_2]DIRHOLD
setphm2_5i25.0.stepgen.02.dirsetup   [JOINT_2]DIRSETUP  
setphm2_5i25.0.stepgen.02.maxaccel   [JOINT_2]STEPGEN_MAXACCEL
net 	zpos-cmd 	<= joint.2.motor-pos-cmd => 
hm2_5i25.0.stepgen.02.position-cmd

net zpos-fb <= hm2_5i25.0.stepgen.02.position-fb => 
joint.2.motor-pos-fb
net zenable <= joint.2.amp-enable-out => 
hm2_5i25.0.stepgen.02.enable

#*
# A or B axis stuff
#*
# here I need a pullup to field power, say about 10k to 22k to give
# a true reading when unplugged.
net   b-prsnt <= hm2_5i25.0.7i76.0.0.input-09 # high is it plugged in?
# so first, go add that.

setphm2_5i25.0.stepgen.03.position-scale [JOINT_3]STEPSCALE
setphm2_5i25.0.stepgen.03.steplen[JOINT_3]STEPLEN
setphm2_5i25.0.stepgen.03.stepspace  [JOINT_3]STEPSPACE 
setphm2_5i25.0.stepgen.03.dirhold[JOINT_3]DIRHOLD
setphm2_5i25.0.stepgen.03.dirsetup   [JOINT_3]DIRSETUP
setphm2_5i25.0.stepgen.03.maxaccel   [JOINT_3]STEPGEN_MAXACCEL
#this work for A o B
net bpos-cmd <= joint.3.motor-pos-cmd => hm2_5i25.0.stepgen.03.position-cmd
net bpos-fb <= hm2_5i25.0.stepgen.03.position-fb => joint.3.motor-pos-fb
net benable <= joint.3.amp-enable-out => hm2_5i25.0.stepgen.03.enable

No PID's anyplace but it does beautiful work. 2 more of these 
stepper/servo's are moving my Sheldon lathe, no PID's there either.

And I think you'd call both Z & B position loops.

Take care & stay well, Peter.


Typical settings for the loop are

P = 1/servo period so 1000 for a 1 ms servo thread
FF1 = 1.000
FF2 = Time between Position read and velocity write
(say 20 us on a PCI card =.2, perhaps 200 usec on a
Ethernet card = .0002)



Peter Wallace
Mesa Electronics



Cheers, Gene Heskett.
--
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt 

Re: [Emc-users] question for Peter C. Wallace

[gene heskett]

On 9/19/23 20:12, Peter Wallace wrote:

On Tue, 19 Sep 2023, gene heskett wrote:


Date: Tue, 19 Sep 2023 19:23:23 -0400
From: gene heskett 
Reply-To: "Enhanced Machine Controller (EMC)"
    
To: "'Enhanced Machine Controller (EMC)'" 


Subject: [Emc-users] question for Peter C. Wallace

Greeting Peter;

I hope this finds you well.

I am installing a new A axis on my go704, and am trying to exercise it 
before moving 99% of the actual driver code code in from another 
machine with identical hdwe for its B axis.
I have loaded a siggen to use its triangular drive as input to the 
joint.03.position-cmd, with the amplitude set to 2.5 and this for the 
rest of the dummy code:


setp    hm2_5i25.0.stepgen.03.enable true #turn it on
setp    siggen.0.frequency 10
setp    siggen.0.amplitude 2.5
setp    hm2_5i25.0.stepgen.03.steplen 4000
setp    hm2_5i25.0.stepgen.03.stepspace 1
setp    hm2_5i25.0.stepgen.03.dirhold 6000
setp    hm2_5i25.0.stepgen.03.dirsetup 6000
net mtr-test


    <= siggen.0.triangle => 
hm2_5i25.0.stepgen.03.position-cmd


So tb2-20 to 23 on the 7i76D is supposed to be stepgen.03.outputs.

man siggen says it should be symmetrical if no offset is set. But dir 
on neither pin is anywhere near 50/50, closer to 5/95, and faster than 
the above 10 a sec by quite a bit, and the step terminals are a solid 
5 volt or zero volts, no activity at all.


This on a 4 channel storage scope with a 350MHz bandwidth. Siglent's 
best. That puppy doesn't miss a thing.


Did I miss a setp above?

Thanks Peter.

Cheers, Gene Heskett.
--
"There are four boxes to be used in defense of liberty:
soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author, 1940)
If we desire respect for the law, we must first make the law respectable.
- Louis D. Brandeis
Genes Web page 


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You would also need to set reasonable stepgen acceleration and
velocity limits.

In addition, It may be that because you have a non-differentiable
position command (Triangle wave) that you have started an
instability in the built in position mode, so a sine wave would
be a better test.

For best performance where the are possible large following
errors it's better to use the stepgens in velocity mode and
close the (local) position with a PID loop.

Typical settings for the loop are

P = 1/servo period so 1000 for a 1 ms servo thread
FF1 = 1.000
FF2 = Time between Position read and velocity write
(say 20 us on a PCI card =.2, perhaps 200 usec on a
Ethernet card = .0002)

No PID in this axis, it is a closed loop stepper/servo, PID is in 
controller and linuxcnc has no access to the encoder in the motor.


I am already using 4 of these motors in other machines, they get where 
you send them, if they can't get there they'll close an alarm contact 
and linuxcnc is e-stopped in the next millisecond.  they do have an 
error, but that error also controls the motor current, so unless really 
working hard, very little heat.  At normal working speed so quiet that 
you swear Casper the Ghost was turning the cranks.


So how do you hookup the feedback when there isn't any?  The man page 
says the frequency is in hertz or is that a typu and its nanoseconds?.


From the manpage:
 siggen.N.frequency float in
  The output frequency for signal generator N, in Hertz. 
The default value is 1.0 Hertz.


Thanks Peter.

Cheers, Gene Heskett.
--
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author, 1940)
If we desire respect for the law, we must first make the law respectable.
 - Louis D. Brandeis
Genes Web page 



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Re: [Emc-users] question for Peter C. Wallace

[Peter Wallace]

On Tue, 19 Sep 2023, gene heskett wrote:


Date: Tue, 19 Sep 2023 19:23:23 -0400
From: gene heskett 
Reply-To: "Enhanced Machine Controller (EMC)"

To: "'Enhanced Machine Controller (EMC)'" 
Subject: [Emc-users] question for Peter C. Wallace

Greeting Peter;

I hope this finds you well.

I am installing a new A axis on my go704, and am trying to exercise it before 
moving 99% of the actual driver code code in from another machine with 
identical hdwe for its B axis.
I have loaded a siggen to use its triangular drive as input to the 
joint.03.position-cmd, with the amplitude set to 2.5 and this for the rest of 
the dummy code:


setphm2_5i25.0.stepgen.03.enable true #turn it on
setpsiggen.0.frequency 10
setpsiggen.0.amplitude 2.5
setphm2_5i25.0.stepgen.03.steplen 4000
setphm2_5i25.0.stepgen.03.stepspace 1
setphm2_5i25.0.stepgen.03.dirhold 6000
setphm2_5i25.0.stepgen.03.dirsetup 6000
net 	mtr-test 




<= siggen.0.triangle => 
hm2_5i25.0.stepgen.03.position-cmd


So tb2-20 to 23 on the 7i76D is supposed to be stepgen.03.outputs.

man siggen says it should be symmetrical if no offset is set. But dir on 
neither pin is anywhere near 50/50, closer to 5/95, and faster than the above 
10 a sec by quite a bit, and the step terminals are a solid 5 volt or zero 
volts, no activity at all.


This on a 4 channel storage scope with a 350MHz bandwidth. Siglent's best. 
That puppy doesn't miss a thing.


Did I miss a setp above?

Thanks Peter.

Cheers, Gene Heskett.
--
"There are four boxes to be used in defense of liberty:
soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author, 1940)
If we desire respect for the law, we must first make the law respectable.
- Louis D. Brandeis
Genes Web page 


___
Emc-users mailing list
Emc-users@lists.sourceforge.net
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You would also need to set reasonable stepgen acceleration and
velocity limits.

In addition, It may be that because you have a non-differentiable
position command (Triangle wave) that you have started an
instability in the built in position mode, so a sine wave would
be a better test.

For best performance where the are possible large following
errors it's better to use the stepgens in velocity mode and
close the (local) position with a PID loop.

Typical settings for the loop are

P = 1/servo period so 1000 for a 1 ms servo thread
FF1 = 1.000
FF2 = Time between Position read and velocity write
(say 20 us on a PCI card =.2, perhaps 200 usec on a
Ethernet card = .0002)



Peter Wallace
Mesa Electronics


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Re: [Emc-users] Question for Peter C. Wallace

[Chris Albertson]

If you are looking for a small uP to use as a real-time controller, today
in 2017 its the ARM cortex M.   The range is wide enough that you can find
one to suit. At the low end there is nothing to be gained by going with
say, Atmel AVR or some other 8-bit chip and at the high end are some 32-bit
200MHz chips.

Cortex M does not run Linux and that is the good thing if doing real-time.
But still I'd NEVER write to the "bare metal".  Not only is that very time
consuming but then your code is forever tried to one specific chip.In
stead choose a good RTOS to run on the Cortex M.   This will come with a
very light weight hardware abstraction that will let you do things like
connect a timer output to a specific pin in a portable way

Yes you can work with only one loop to task but many times your work is
made easier and you introduce fewer bugs if you divide the job into
multiple tasks.   For example monitoring limit switches while generating
pluses and at the same time reading commands over a serial link and also
maybe even writing to a debug log file that lives on an SD card.

On my robot platforms I have 4 or 6 wheels each driven with a DC servo
motor from a LiPo battery.   The Cortex M gets commands from a Linux
powered Pi3.  The commands are in the form of translation and rotation
vectors.  The ARM M converts this to motor currents for each motor and
reads the motor encoders and create PWM for the motor h-bridge controllers.
  I'm using an RTOS and writing in C++.  The M4 under an RTOS is fast
enough to run 4 PID loops, generate PWM and service 11,000 interrupts per
second from four quadrature encoders and also read a 9-axis IMU, update a
small LCD status display and write to the debug log.

I have several different ARM M boards some M3 and some M4 from low to high
end from a couple different manufactures and the code moves between boards

I learned long ago that portability is impotent.  Suppliers change their
product  and you want to be able to take advantage of newer advances in uP
as they come out.



On Tue, Jun 13, 2017 at 8:31 AM, Nicklas Karlsson <
nicklas.karlsso...@gmail.com> wrote:

> > > Maybe there is no need for a linux kernel. Have you read the manual
> for the
> > > ARM CPU? Or what kind of CPU is it?
> >
> > RPI3 uses a quad-core ARMv8 (Cortex-A53) with all kinds of bells and
> > whistles. Have you read the manual for that core?
>
> No and I did not read the manual for the smaller cortex-m* cores either
> even though I use them daily.
>
> > I've been using many of those small ARM cores (M0...M4) from different
> > manufacturers and each is about a 1000 pages. The core in the RPI is
> > utterly more complex.
>
> I have only read manual for a few of the peripherals I use and that's
> enough.
>
> >
> > But, if that is not enough, there are so many internal and external
> > peripherals that you need to go through all other documentation too.
> > Designing and writing a bare-bone OS is an uphill battle and you do not
> > want to do that if there is no /extremely/ specific need.
> >
> > Linux provides an infrastructure that is very hard to write yourself,
> > like file-system, network, process- and memory-management to name a few.
> > Just consider the amount of dev-time that is put into Linux.
>
> In no doubt there are plenty of infra structure and if the infrastructure
> is needed there are not much choice. I think there is need for only one
> task and have been looking on some of the smaller micro controllers.
>
> 
> --
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-- 

Chris Albertson
Redondo Beach, California
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Re: [Emc-users] Question for Peter C. Wallace

[Nicklas Karlsson]

> > Maybe there is no need for a linux kernel. Have you read the manual for the
> > ARM CPU? Or what kind of CPU is it?
> 
> RPI3 uses a quad-core ARMv8 (Cortex-A53) with all kinds of bells and
> whistles. Have you read the manual for that core?

No and I did not read the manual for the smaller cortex-m* cores either even 
though I use them daily.

> I've been using many of those small ARM cores (M0...M4) from different
> manufacturers and each is about a 1000 pages. The core in the RPI is
> utterly more complex.

I have only read manual for a few of the peripherals I use and that's enough.

> 
> But, if that is not enough, there are so many internal and external
> peripherals that you need to go through all other documentation too.
> Designing and writing a bare-bone OS is an uphill battle and you do not
> want to do that if there is no /extremely/ specific need.
> 
> Linux provides an infrastructure that is very hard to write yourself,
> like file-system, network, process- and memory-management to name a few.
> Just consider the amount of dev-time that is put into Linux.

In no doubt there are plenty of infra structure and if the infrastructure is 
needed there are not much choice. I think there is need for only one task and 
have been looking on some of the smaller micro controllers.

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Re: [Emc-users] Question for Peter C. Wallace

[Bertho Stultiens]

On 06/13/2017 07:34 AM, Nicklas Karlsson wrote:
> Maybe there is no need for a linux kernel. Have you read the manual for the
> ARM CPU? Or what kind of CPU is it?

RPI3 uses a quad-core ARMv8 (Cortex-A53) with all kinds of bells and
whistles. Have you read the manual for that core?

I've been using many of those small ARM cores (M0...M4) from different
manufacturers and each is about a 1000 pages. The core in the RPI is
utterly more complex.

But, if that is not enough, there are so many internal and external
peripherals that you need to go through all other documentation too.
Designing and writing a bare-bone OS is an uphill battle and you do not
want to do that if there is no /extremely/ specific need.

Linux provides an infrastructure that is very hard to write yourself,
like file-system, network, process- and memory-management to name a few.
Just consider the amount of dev-time that is put into Linux.

Surely, there are other OSes, but it is all about support and a very
large community's effort to pool and combine resources.

-- 
Greetings Bertho

(disclaimers are disclaimed)

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Re: [Emc-users] Question for Peter C. Wallace

[Gene Heskett]

On Monday 12 June 2017 17:16:05 Bertho Stultiens wrote:

> On 06/12/2017 11:04 PM, Gene Heskett wrote:
> >> Do the real time threads work well on a raspberry?
> >
> > Definite sometimes, Nicklass. latency-test actually shows less
> > jitter with a stock kernel, but figures lie. I am getting joint
> > following errors with the stock kernel and 15 minute maximum uptimes
> > with what purports to be a realtime kernel.
> >
> > The stocker so far has just sat there and ducked everything I've
> > thrown at it.  So this particular rt build is a very fragile bust
> > IMNSHO. This kernel is crap: rpi3-kernel-4.9.30-rt20-v7+.tar.gz,
> > uptimes are as short as 30 seconds even with my air hose keeping
> > everything at ambient. And latency-test results in the 2 millisecond
> > jitter area.
>
> I think we should try 4.4.4-rt9-v7+. It looks like a stable version
> (currently running here).

I don't seem to have that one.  Hows the keyboard and mouse doing?

Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page 

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Re: [Emc-users] Question for Peter C. Wallace

[Bertho Stultiens]

On 06/12/2017 11:04 PM, Gene Heskett wrote:
>> Do the real time threads work well on a raspberry?
> Definite sometimes, Nicklass. latency-test actually shows less jitter 
> with a stock kernel, but figures lie. I am getting joint following 
> errors with the stock kernel and 15 minute maximum uptimes with what 
> purports to be a realtime kernel.
> 
> The stocker so far has just sat there and ducked everything I've thrown 
> at it.  So this particular rt build is a very fragile bust IMNSHO. This 
> kernel is crap: rpi3-kernel-4.9.30-rt20-v7+.tar.gz, uptimes are as short 
> as 30 seconds even with my air hose keeping everything at ambient. And 
> latency-test results in the 2 millisecond jitter area.

I think we should try 4.4.4-rt9-v7+. It looks like a stable version
(currently running here).

-- 
Greetings Bertho

(disclaimers are disclaimed)

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Re: [Emc-users] Question for Peter C. Wallace

[Gene Heskett]

On Monday 12 June 2017 14:02:28 Nicklas Karlsson wrote:

> > Hello Peter;
> >
> > I have a problem trying to run linuxcnc on a pi 3b.
> >
> > I think it could be solved if somehow, I could generate a
> > watchdog.has_bit=false coincident with enabling the machine, but
> > hals parser refuses to allow even a tristate_bit module to access
> > and reset the watchdog.
>
> I could vaguely remember a problem with the watchdog but can't
> remember how I solved it. I run 2.8.x and there is now word watchdog
> in neither the *.ini file nor the *.hal file.
>
> Do the real time threads work well on a raspberry?

Definite sometimes, Nicklass. latency-test actually shows less jitter 
with a stock kernel, but figures lie. I am getting joint following 
errors with the stock kernel and 15 minute maximum uptimes with what 
purports to be a realtime kernel.

The stocker so far has just sat there and ducked everything I've thrown 
at it.  So this particular rt build is a very fragile bust IMNSHO. This 
kernel is crap: rpi3-kernel-4.9.30-rt20-v7+.tar.gz, uptimes are as short 
as 30 seconds even with my air hose keeping everything at ambient. And 
latency-test results in the 2 millisecond jitter area.

Ambinent in the garage is mid-70's F. unless I leave the big door open 
too long. 90F outside in the shade ATM.

So what we need is an rtai patched kernel for armhf, that also see's all 
the mouse clicks and keyboard strokes.  Most of these so-called rt 
kernels make me click the mouse 1-3 times, then miss the keyup, and the 
keyboard is even worse missing 75% of both the keydown's and worse yet, 
keyup's. I'd had the backspace key wipe out 4 lines of hal code before I 
can get it stopped.  There's a good thing I don't have a tape running, 
some of the expletives are pretty incendiary when that happens for the 
3rd time in the same minute.

Thinking about breaking down and buying a udoo x86, but the kickstarter 
page looks like the only place.  They keep ballyhooing the $89 price 
tag, but a buy button can't be found. Its also too big w/o starting over 
with an even bigger box.

Has anyone here received theirs yet?

Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page 

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Re: [Emc-users] Question for Peter C. Wallace

[Bertho Stultiens]

On 06/12/2017 09:30 PM, Nicklas Karlsson wrote:
>> Lets just say that we're not that far yet...
>> From what I can tell, the initial start of linuxcnc results in a few
>> missed deadlines in the main task. But once all code is cached, it seems
>> to be fast enough. But time will tell.
> 
> I also one missed dead line during the initial start. I have nothing
> to compare against so I can't tell if this is the same for everyone
> else?

I just installed an MK kernel(*):
Linux picnc 4.4.4-rt9-v7+ #7 SMP PREEMPT RT Mon Mar 7 14:53:11 UTC 2016
armv7l GNU/Linux

It still results in some initial missed deadlines. However, as before,
once the system is running it is stable. It also seems that this kernel
is actually usable.

I was able to drag the lcnc window over the screen with the preview tab
visible and there were no additional missed deadlines. So, it seems that
we are getting closer.


(*) There are some hacks to get this kernel installed. The documentation
at states that you need an updated bootloader, which, of course, I
promptly ignored. Then you need to reorganize the /boot content a bit to
get the kernel running. The old bootloader has apparently some fixed
paths which it uses (like kernel7.img and overlays/).

-- 
Greetings Bertho

(disclaimers are disclaimed)

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Re: [Emc-users] Question for Peter C. Wallace

[Gene Heskett]

On Monday 12 June 2017 13:45:58 Peter C. Wallace wrote:

> On Mon, 12 Jun 2017, Gene Heskett wrote:
> > Date: Mon, 12 Jun 2017 12:07:15 -0400
> > From: Gene Heskett 
> > Reply-To: "Enhanced Machine Controller (EMC)"
> > 
> > To: "Enhanced Machine Controller (EMC)"
> >  Subject: [Emc-users] Question for
> > Peter C. Wallace
> >
> > Hello Peter;
> >
> > I have a problem trying to run linuxcnc on a pi 3b.
> >
> > I think it could be solved if somehow, I could generate a
> > watchdog.has_bit=false coincident with enabling the machine, but
> > hals parser refuses to allow even a tristate_bit module to access
> > and reset the watchdog.
> >
> > Have you a hal snippet that will do that?
> >
> > Thank you.
> >
> > Cheers, Gene Heskett
>
> I dont see any issue with clearing WD has bit:
>
>   halcmd net clearwd hm2_7i92.0.watchdog.has_bit
>   halcmd setp hm2_7i92.0.watchdog.timeout_ns 100 (this causes a WD

This is a 7i90, timeout_ns is not adjustable ANAICT.  Or it wasn't nearly 
a year ago the first time I tried, now it works. Thank you.

> bite) halcmd setp hm2_7i92.0.watchdog.timeout_ns 2000 (back to a
> value that wont bite) halcmd sets clearwd false  (this clears the WD)

And that works, now to arrange that its done whenever I enable the 
machine.  hal needs an if/then/else/endif command.  Badly.

Thank you Peter.

Cheers, Gene Heskett
-- 
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Re: [Emc-users] Question for Peter C. Wallace

[Nicklas Karlsson]

> Lets just say that we're not that far yet...
> 
> From what I can tell, the initial start of linuxcnc results in a few
> missed deadlines in the main task. But once all code is cached, it seems
> to be fast enough. But time will tell.

I also one missed dead line during the initial start. I have nothing to compare 
against so I can't tell if this is the same for everyone else?

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Re: [Emc-users] Question for Peter C. Wallace

[Bertho Stultiens]

On 06/12/2017 08:02 PM, Nicklas Karlsson wrote:
> Do the real time threads work well on a raspberry?

Lets just say that we're not that far yet...

>From what I can tell, the initial start of linuxcnc results in a few
missed deadlines in the main task. But once all code is cached, it seems
to be fast enough. But time will tell.


The realtime kernels I've compiled so far are unstable and crash
randomly (kernel issues). So we're trying to get it running on a non-rt
kernel first. If that somehow works without crashing, then we can
concentrate on the kernel issues. I've a message about a stable kernel
from MK, but it needs to be seen if it has responsive mouse/keyboard,
which has been another issue.

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Greetings Bertho

(disclaimers are disclaimed)

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Re: [Emc-users] Question for Peter C. Wallace

[Nicklas Karlsson]

> Hello Peter;
> 
> I have a problem trying to run linuxcnc on a pi 3b.
> 
> I think it could be solved if somehow, I could generate a 
> watchdog.has_bit=false coincident with enabling the machine, but hals 
> parser refuses to allow even a tristate_bit module to access and reset 
> the watchdog.

I could vaguely remember a problem with the watchdog but can't remember how I 
solved it. I run 2.8.x and there is now word watchdog in neither the *.ini file 
nor the *.hal file.

Do the real time threads work well on a raspberry?

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Re: [Emc-users] Question for Peter C. Wallace

[Peter C. Wallace]

On Mon, 12 Jun 2017, Gene Heskett wrote:


Date: Mon, 12 Jun 2017 12:07:15 -0400
From: Gene Heskett 
Reply-To: "Enhanced Machine Controller (EMC)"

To: "Enhanced Machine Controller (EMC)" 
Subject: [Emc-users] Question for Peter C. Wallace

Hello Peter;

I have a problem trying to run linuxcnc on a pi 3b.

I think it could be solved if somehow, I could generate a
watchdog.has_bit=false coincident with enabling the machine, but hals
parser refuses to allow even a tristate_bit module to access and reset
the watchdog.

Have you a hal snippet that will do that?

Thank you.

Cheers, Gene Heskett


I dont see any issue with clearing WD has bit:

 halcmd net clearwd hm2_7i92.0.watchdog.has_bit
 halcmd setp hm2_7i92.0.watchdog.timeout_ns 100 (this causes a WD bite)
 halcmd setp hm2_7i92.0.watchdog.timeout_ns 200 (back to a value that wont 
bite)
 halcmd sets clearwd false  (this clears the WD)




--
"There are four boxes to be used in defense of liberty:
soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page 

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Peter Wallace
Mesa Electronics

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