#emc-devel | Logs for 2011-03-14

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[18:46:50] <pcw_home> Anyone know if there is a high resolution clock available to the servo thread? (with cheap access)
[18:46:52] <pcw_home>
[18:48:34] <cradek> we have rtapi_get_clocks and rtapi_get_time
[18:48:52] <cradek> iirc rtapi_get_time is very slow (converting from clocks to ns)
[18:49:21] <cradek> rtapi_get_clocks is fast
[18:50:04] <cradek> rtapi_get_clocks is just an rdtsc instruction
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[18:53:14] <pcw_home> I was wondered what up with the problems people are having with our hardware stepgen
[18:53:16] <pcw_home> thinking maybe its latency related. It should be possible to make a velocity mode stepgen fairtly robust
[18:53:18] <pcw_home> against latency issues but may require that it know the actual latency (which I now realize doesnt need an extra timer)
[18:53:31] <pcw_home> wondering whats
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[18:53:55] <cradek> I didn't know there were still problems
[18:54:31] <pcw_home> On the forum problems with 10.04 and 2.5/2.6
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[19:05:34] <cradek> have you extracted any actual data? halscope plots?
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[19:06:44] <cradek> Problem is basetread + mesa stepgen..... [no basethread, no following error problem]
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[19:08:21] <cradek> he says his jitter > 60000
[19:09:09] <cradek> if he occasionally has a servo period twice as long as most, it's sure true he'll have extra steps during that time
[19:09:39] <cradek> is that the whole problem? (I don't see how you can fix it except by fixing the latency)
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[19:25:56] <PCW> I think the problem is there without the base thread. I suspect the change in the .ini file that allows unlimited acceleration in the stepgen is the cause of the sensitivity to latency
[19:31:21] <andypugh> You are discussing mduzi?
[19:31:30] <cradek> I think it's likely to be his 10x worse latency causing the problem
[19:31:45] <cradek> those errors are given for a reason
[19:31:46] <PCW> If there is no acceleration, even a 500 uSec latency on a 1mS thread a should do no harm (with an ideal smart velocity mode stepgen)
[19:31:47] <PCW> it comes down to who do you trust, the hardware stepgen or the thread dispatch (with latency), yes mduzi. radek, etc
[19:33:06] <cradek> I don't know how it all works, but if you're moving for twice as long as you expect, you're going to overshoot, you can't help it (and no acceleration is required at all)
[19:33:48] <cradek> have you seen his dmesg where it reports the difference in clocks that triggers the latency warning?
[19:33:49] <andypugh> How far can you over-shoot in 60uS though?
[19:34:56] <PCW> not really you really (physically) did not overshoot, you only think you did
[19:36:32] <andypugh> Granted, but the difference between the commanded position and the position reported by the stepgen has to be > ferror limits to trigger the f_error message.
[19:36:41] <cradek> what do you mean? it's generating steps the whole time your computer is taking a coffee break, isn't it?
[19:37:24] <cradek> andypugh: he might be getting 2ms delays - without seeing his dmesg we have no idea
[19:37:31] <PCW> because the velocity is constant you sample the world 60 usec late but the position and step count are still correct for the (60 usec later ) time
[19:39:15] <cradek> sure sampled position is the correct state of the world - but it's different from commanded/expected position. isn't that exactly what the ferror means happened?
[19:39:29] <cradek> (sorry if I'm being dense)
[19:40:46] <PCW> the only real errors you have are dependent on acceleration (and if you have bad latency the actual hardware stepgen count is a better reference of where you should be than expected position)
[19:41:16] <andypugh> His latency test shows 60,000. That admittedly tells us nothing about the latency when the problem happens. However, as latency problems are only reported once, we might not see the critical one in dmesg anyway.
[19:41:40] <cradek> andypugh: you can plot the ongoing servo periods with halscope
[19:42:28] <cradek> has he reported using 2.4.6 on both OSes with different results?
[19:43:04] <cradek> I mean with the same config, of course
[19:43:46] <PCW> Right I am assuming latency its not much worse than 60 usec, but I do think that the current stepgen driver may have problems if
[19:43:48] <PCW> 1. you have fairly bad latency
[19:43:50] <andypugh> I think that might be asking rather a lot. I suspect that he is only doing LiveCD installs.
[19:43:50] <PCW> 2. stepgen accelleration is not limited
[19:45:23] <andypugh> FWIW my lathe is running 2.5 with a 7i43 and has _horrible_ latency (300,000) because I haven't bothered putting the SMI fix back in after the last recompile. No f-errors so far.
[19:46:01] <PCW> But Ill bet you dont use the sample .ini file
[19:46:01] <cradek> I can't fathom why you'd update 4 machines at the same time, instead of trying one first
[19:46:45] <cradek> I don't feel like we've got a methodical troubleshooter on our hands, and I hate guessing what's wrong. :-/
[19:49:13] <andypugh> No, would you like me to try the sample ini?
[19:49:21] <PCW> Speaking of guessing the 5i20.ini file was changed in Sept 2010, I wonder if thats related
[19:50:01] <PCW> I mean hm2-step.ini or whatever its called
[19:50:59] <PCW> andypugh do you have the stepgens maxaccel value set?
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[19:53:14] <andypugh> Yes
[19:53:29] <andypugh> I can comment out those lines.
[19:53:50] <andypugh> (In fact, I am just about to do some machining, so the machine is on and ready to go)
[19:54:01] <PCW> or set it to 0 (I think thats the same)
[19:54:10] <andypugh> ok
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[20:04:35] <andypugh_garage> No problem so far
[20:05:03] <andypugh_garage> Oddly not even the usual latency eror message...
[20:06:20] <PCW> this is with 10.04 and 2.5?
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[20:06:53] <andypugh_garage> No this is with 8.4 and 2.5 unortunately
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[20:07:37] <andypugh_garage> And I just had the latency warning but the machine was not moving ate the time
[20:08:49] <andypugh_garage> This makes little sense though
[20:08:53] <andypugh_garage> In recent history there were
[20:08:53] <andypugh_garage> 2280842, 2790420, 2789950, 2790116, and 3299526
[20:08:53] <andypugh_garage> elapsed clocks between calls to the motion controller.
[20:08:53] <andypugh_garage> This time, there were 2790844 which is so anomalously
[20:08:54] <andypugh_garage> large that it probably signifies a problem with your
[20:08:54] <andypugh_garage> realtime configuration. For the rest of this run of
[20:08:54] <andypugh_garage> EMC, this message will be suppressed.
[20:09:14] <andypugh_garage> Loos totally avearge to me!
[20:14:00] <PCW> strange, well I will suggest setting maxacell to a reasonable number and see if that helps
[20:16:16] <cradek> shortest to longest (22 to 32) is a pretty big variation
[20:16:50] <andypugh_garage> cradek: Aye but it seems to complain about the wrong one
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[20:17:34] <andypugh_garage> The experiment is to assume that they keep on happening and hope for one during a rapid
[20:18:14] <andypugh_garage> trouble is the spike is once every 64 seconds
[20:21:31] <PCW> I do worry about the unlimited acceleration (stepgen maxaccel = 0) on a machine with poor latency
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[20:26:20] <PCW> OK now RADEK is saying that the software stepgen has the same issue
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[20:32:18] <cradek> so if he would fix the latency problem, the latency error would go away and his stepgens would work right again
[20:33:45] <cradek> andypugh_garage: have you seen evidence that the problem is every 64 seconds (implicating SMI) or is that a guess?
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[20:47:56] <PCW> even with good latency seems to be broken:
[20:47:58] <PCW> http://www.linuxcnc.org/component/option,com_kunena/Itemid,20/func,view/catid,10/id,7681/limit,6/limitstart,30/lang,english/
[20:48:54] <cradek> judging from the window borders, that's ubuntu 8
[20:49:02] <cradek> you are not getting good, consistent information
[20:49:34] <cradek> ubuntu 8 is where he said (some version???) worked right
[20:49:53] <andypugh_garage> When I investigated it was definitely 64 seconds and fixed with the SMI patch. I am only trying to replicate the other problem here my latency is nown-cause and known-fix
[20:50:23] <cradek> do you have the same hardware he does?
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[21:31:05] <andypugh> Sorry, looks like I timed-out.
[21:31:21] <andypugh> Different hardware, 7i43 rather that 5i20
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[21:54:20] <jepler> the cycle counts are a circular buffer. There's no way to tell just from the numbers which item in the recent history was actually the most recent
[21:54:30] <jepler> but I'm guessing it's the first one shown
[21:55:03] <jepler> 2.79 megacycles is probably the typical value
[21:55:11] <seb_kuzminsky> hi jeff!
[21:55:14] <seb_kuzminsky> long time no see
[21:55:15] <jepler> then in one cycle it was above, about 3.3 megacycles
[21:55:46] <jepler> but that was not quite enough to trip the 120% threshhold
[21:56:03] <jepler> the next cycle was short, because rtai is still trying to give accurate timing on average
[21:56:23] <jepler> but that didn't warn, because the test is for this value being larger than historical values
[21:56:37] <jepler> the next cycle came in at 2790844 which was more than 1.2*2280842
[21:56:55] <jepler> it's probably not too hard to change the code that prints the warning so that the samples are in the order oldest-to-newest
[21:57:03] <jepler> instead of this: cycles[0], cycles[1], cycles[2], cycles[3], cycles[4]);
[21:57:30] <jepler> you'd have cycles[index], cycles[(index+1)%CYCLE_HISTORY] and so on
[21:58:09] <jepler> seb_kuzminsky: hello
[21:58:22] <jepler> I've been a bit antisocial lately, I guess
[21:59:13] <seb_kuzminsky> been doing anything fun?
[21:59:48] <jepler> not really. I started on a crossword grid filler but then didn't touch it for a week
[21:59:58] <jepler> it did successfully find 4x4 and 5x5 word squares, though..
[22:00:14] <seb_kuzminsky> heh
[22:00:16] <jepler> brewed some beer
[22:00:24] <jepler> cursed the cold (though the weather's good today)
[22:01:12] <seb_kuzminsky> yum
[22:03:05] -!- x_ [x_!~ddd@cac47.neoplus.adsl.tpnet.pl] has joined #emc-devel
[22:03:07] <seb_kuzminsky> i scored this today from the awesom local metal recycler: http://imgbin.org/index.php?page=image&id=3607
[22:03:27] <seb_kuzminsky> 100 lbs of 6061 1/2" plate for $100
[22:03:29] <seb_kuzminsky> :-)
[22:03:54] <jepler> ooh
[22:03:57] <seb_kuzminsky> also some 1/8" sheet
[22:04:17] <jepler> of course, I'd need a big boy machine to use any of that
[22:04:37] <seb_kuzminsky> how about a mori seki jr? ;-)
[22:04:52] x_ is now known as micges
[22:05:39] <jepler> of course, I'd need a shop to have any place to put that
[22:10:13] <JT-Shop> jepler: what kind of beer did you brew? something new lately
[22:12:09] <Jymmm> near
[22:17:15] <JT-Shop> seb_kuzminsky: that is some nice plate Kaiser Precision is usually nice and flat
[22:18:26] <seb_kuzminsky> yeah it looks great :-)
[22:18:39] <seb_kuzminsky> didn't even get banged up too badly by the recycling guys
[22:18:54] <seb_kuzminsky> they put away the nice-looking pieces for us hobbyists
[22:26:26] <jepler> JT-Shop: so far, a brown ale and a red ale
[22:26:44] <jepler> just from malt extract kits, so it's like chating
[22:28:52] <JT-Shop> extract kits are not too bad... did they include some steeping grains to go along with the extract?
[22:29:24] <jepler> yes, and some hop pellets to boil
[22:29:46] <JT-Shop> I like ale and wheat beer the best
[22:29:59] <JT-Shop> they have more flavor IMHO
[22:30:20] <jepler> yeah, I also enjoy wheat beer
[22:33:02] <JT-Shop> like one of the Monty Python guys said "American beer is like having sex in a canoe"
[22:33:25] <JT-Shop> "it f***ing close to water"
[22:33:41] <JT-Shop> it is
[22:33:53] <jepler> bbl
[22:34:55] <PCW> Well that's nice I cant duplicate the stepgen troubles with my test monkey
[22:35:16] <seb_kuzminsky> JT-Shop: back when I brewed a lot, i made mostly ESBs
[22:35:27] <seb_kuzminsky> like an IPA, but with more malt to offset the hoppiness
[22:35:38] <seb_kuzminsky> somewhere between an IPA and a stout, maybe
[22:36:25] <seb_kuzminsky> PCW: i've duplicated the "ferror with an empty base thread" problem, but all the others i have not been able to reproduce
[22:36:33] <JT-Shop> those are good too, I don't like the IPA too much it's just too hoppy for me
[22:42:21] <JT-Shop> seb_kuzminsky: have you seen my stove top all grain brewing method?
[22:42:57] <seb_kuzminsky> no, but i'd like to!
[22:43:15] <JT-Shop> http://suburb.semo.net/jet1024/BeerHome.htm
[22:43:48] <JT-Shop> I've not migrated to my new web site yet but there are two links on that page for stove top brewing
[22:44:06] <seb_kuzminsky> yeah i see
[22:44:07] <seb_kuzminsky> cool :-)
[22:44:59] <seb_kuzminsky> towards the end of my brewing mania i got really into cold hopping (misnamed "dry hopping") - it really gets those light fragrant hops flavors out without making the beer too bitter
[22:47:00] <JT-Shop> I need to brew some this spring... I can boil up to 20 gallons if the need arises, but usually just do 10 gallons at a time or 2 gallons on the stove
[22:47:31] <JT-Shop> I love the way the house smells while boiling the wort
[22:47:49] <PCW> I can't get even the empty basethread thing to mess up
[22:48:16] <JT-Shop> do you need me to try anything here?
[22:48:35] <JT-Shop> I have 5i20's on two machines
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[22:55:51] <PCW> OK I can duplicate the empty basethread problem
[22:57:09] <PCW> JT-Shop do you have stepper machine with 10.04 and > 2.46 that seems to be where the problems are
[22:57:42] <JT-Shop> one sec let me see what the plasma is
[22:58:12] <JT-Shop> nope it is still 8.04
[22:59:06] <PCW> bleeding edge...
[22:59:35] <JT-Shop> hey, it works :)
[22:59:42] <JT-Shop> and works well
[23:00:03] <micges> PCW: I can test it tomorrow, have few machines with 10.04 and 2.6.0
[23:04:50] <micges> PCW: also, do we know what firmware version mduzi and radekb using?
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[23:17:01] <PCW> Stepgen Firmware has not changed for at least 2 years
[23:17:45] <PCW> oops he left
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[23:18:29] <PCW> I meant 2.5 is bleeding edge...
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