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[20:04:29] <andypugh> I am puzzled by C again.
[20:06:19] <andypugh> Can anybody explain src/emc/kinematics/tp.c lines 1245 et.seq? It appears to be using variables uninitialised, but presumably isn't.
[20:07:16] <andypugh> Ah, ok, module global. That seems wrong.
[20:08:20] <andypugh> That seems wrong. To do the DIO synchronous with motion, shouldn't it be using the tp->syncdio rather than the global?
[20:08:52] <andypugh> (I am looking at M67, but it would help to understand DIO first)
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[20:17:38] <psha> andypugh: thx for anwser on forum about gladevcp :)
[20:20:28] <psha> it seem that there is no such thing as tp->syncdio
[20:20:54] <andypugh> I thought I saw it in the struct
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[20:21:30] <psha> it's in TC_STRUCT
[20:21:31] <psha> not in TP
[20:21:32] <andypugh> tc.h 101
[20:21:57] <andypugh> Bear with me...
[20:22:53] <psha> however TP holds queue of TC's
[20:23:06] <psha> as you can see in 249 int tpAddRigidTap(TP_STRUCT *tp, EmcPose end, double vel, double ini_maxvel,
[20:23:21] <andypugh> yes, I mean tc->syncdio. tc is an element of tp, I think ( tc = tcqItem(&tp->queue, 0, period); )
[20:24:35] <andypugh> So, it looks like it might be meant to get tc from tp and index, and then use syncdio
[20:25:01] <andypugh> No, sorry, wrong index.
[20:25:14] <andypugh> (I need to stop thinking out loud)
[20:26:16] <psha> heh, why not
[20:26:51] <andypugh> tpToggleDIOs gets a TC_STRUCT and does the work there (tp.c:620)
[20:28:14] <psha> it's living in monster tpRunCycle
[20:28:28] <andypugh> Yes, I found it there.
[20:29:58] <psha> as i understand global syncdio is used to gather all changes needed and then they are stored in TC-local copy
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[20:30:14] <psha> see 324
[20:30:31] <andypugh> tpSetDout is called from command.c. It looks like it is meant to add a DIO change to the tp queue.
[20:30:36] <psha> and 435
[20:30:43] <psha> kind of
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[20:30:54] <psha> and 546
[20:30:55] <andypugh> Ah, yes.
[20:31:06] <psha> so you first record changes you need and then they are queued
[20:33:09] <psha> btw may you describe in brief what's problem?
[20:33:16] <andypugh> I haven't spotted it, but I guess there are two functions in there, one eating the queue and one making it?
[20:33:37] <andypugh> The underlying problem is that M67 doesn't do anything.
[20:34:28] <psha> M67 is analog IO or digital?
[20:34:49] <andypugh> Analogue, synced to motion.
[20:35:15] <psha> hm
[20:35:22] <psha> DIO's are not related to it?
[20:35:29] <andypugh> I think the reason it does nothing can be found in tpSetAout, tp.c:1241
[20:35:50] <psha> looks like :)
[20:35:59] <andypugh> I was trying to understand how DIO works, to figure out what is missing from AIO
[20:36:24] <psha> http://psha.org.ru/irc/%23emc-devel/2010-07-19.html#16:09:07
[20:36:27] <psha> :))
[20:36:34] <psha> found link...
[20:36:49] <psha> do you have test case?
[20:37:03] <psha> simple G-code that may be used to watch that it's working?
[20:37:37] <andypugh> Not yet.
[20:38:21] <andypugh> I was going to run some 4-quadrant circles with either an M67 or M68 to see the difference.
[20:38:40] <andypugh> (watchine velocities in Halscope)
[20:38:42] <psha> probably simplies way is to add extra couple of fields to syncdio struct
[20:38:50] <psha> instread of introducing syncaio_t
[20:38:58] <andypugh> syncio ?
[20:39:03] <psha> yes
[20:40:05] <psha> wait a bit, i'll take a look
[20:40:13] <andypugh> Well, it looks like cleverer folk than me have tried to fix it and failed :-(
[20:40:32] <psha> if you'll give me simple G-code example it would be great
[20:41:39] <andypugh> Let me see what I can do. I think I can run halscope and tkemc..
[20:42:03] <andypugh> (Axis is out, as I am ssh-ing)
[20:42:33] <andypugh> The emc2 machine is in a corner, with no input devices
[20:45:40] <psha> halscope not needed - just simple test case
[20:46:06] <psha> 5-10 lines of gcode
[20:46:19] <psha> i'm total noob in it...
[20:52:20] <andypugh> Well, I think Halscope is the only way to tell that the changes happen at the right time, and don't break blending like M68 does
[20:52:53] <psha> heh, first step is to ensure that they are changing :)
[20:53:08] <psha> what's M67 syntax?
[20:53:26] <andypugh> M67 E(channel) Q(value)
[20:54:00] <andypugh> Should set a value on motion.analog-out-{channel}
[20:57:07] <psha> M67 E0 Q10 G0 X10
[20:57:08] <psha> ?
[20:57:20] <psha> will set out-00 when X becomes 10?
[20:57:24] <psha> or when motion is started?
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[20:59:14] <andypugh> I think it should happen as soon as X starts moving. You could argue that (in that format) it should start changing at the beginning of the move, and hit the final value at the end of the move. But for the application that was requested (setting laser power for an engraver) I think an immediate change is called for.
[21:01:02] <psha> i think it should set value immidiatly
[21:01:04] <psha> but when?
[21:01:14] <psha> when digital synced is changed?
[21:01:15] <psha> on start?
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[21:03:11] <psha> hm, looks like it's working...
[21:03:20] <psha> what pin has axis velocity?
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[21:06:30] <andypugh> axis.N.vel?
[21:06:40] <andypugh> Just a minute
[21:07:23] <andypugh> axis.N.joint-vel-cmd
[21:12:00] <psha> fine
[21:12:34] <psha> with aio's there is small problem...
[21:13:23] <andypugh> They don't change?
[21:13:42] <andypugh> Well, they do with M68, not M67
[21:14:36] <psha> no
[21:14:42] <psha> they are cleared on next M67
[21:14:50] <psha> same as dio's
[21:14:56] <psha> wait a bit, i'll commit and push
[21:18:08] <psha> andypugh: may this one
[21:18:22] <psha> http://psha.org.ru/cgit/psha/emc2.git/commit/?h=m67-fix
[21:18:35] <psha> there are problems but at least it's working :)
[21:20:11] <psha> http://psha.org.ru/tmp/m67/
[21:20:17] <psha> gladevcp ui/hal files to check
[21:20:55] <psha> i've used G0 X10; M67 E0 Q10 G0 X0; M67 E1 Q-10 G0 X10;
[21:21:09] <psha> and now it's late here
[21:21:23] <andypugh> psha: Flushing the volatile struct is correct, once the new values are queued in a tc, I think?
[21:22:04] <psha> no
[21:22:13] <psha> consider you have two aio's
[21:22:18] <psha> first you set aio-00
[21:22:25] <psha> as in my commands
[21:22:48] <psha> if you flush you'll get aio-00 => 0, aio-01 => -10 in the beginning of third motion
[21:22:54] <psha> same behaviour is for DIO's
[21:23:40] <psha> only way to avoid this is to use bitmasks
[21:24:44] <andypugh> I need to look at the code, it isn't making much sense. I guess that the local struct is meant to maintain the notional state during the execution of the notional motion that defines the queue?
[21:25:12] <psha> heh, there is only flag that indicates that something has changed
[21:25:17] <psha> anychanged
[21:25:28] <psha> if it's set whole set of DIO's was overwritted with new values
[21:25:41] <psha> (and now AIO's too)
[21:25:59] <andypugh> So, yes, flushing seems wrong. The anychanged flag should be set by explicitly checking if any element has changed.
[21:26:05] <psha> probably we need AIO/DIO mask to ensure that only changed values are overwritten
[21:26:25] <psha> i'll fix this tomorrow
[21:26:36] <psha> + two masks (32 bit?)
[21:26:45] <andypugh> It's probably cheaper to write them all every time, but it has to be with valid data
[21:26:47] <psha> for dio and aio
[21:27:19] <andypugh> writing to HAL pins is cheap, one write to shared memory.
[21:27:48] <psha> maintaining correct state is not cheap ;)
[21:28:42] <psha> may you post it to emc-dev for review/discussion?
[21:29:18] <psha> i'll try to post mask-fix in followup as soon as possible
[21:29:38] <psha> generaly it's 10-15 minutes to fix it but with fresh head :)
[21:29:45] <andypugh> Lets get a complete working patch first, that passes the test etc.
[21:30:22] <andypugh> There has to be some subtle issue if dgarr and micges have all failed
[21:30:31] <psha> maybe
[21:30:37] <psha> but maybe they had no time ;)
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[21:33:37] <andypugh> The local struct holds the state. (as M67 commands come in one channel at a time).
[21:34:24] <andypugh> I don't think we need to check that any values have changed. If you see an M67, change the local state to suit, and write that to the queue.
[21:34:53] <andypugh> The issue is initialising the local state correctly.
[21:37:16] <psha> please refetch last commit, i've amended it
[21:38:35] <andypugh> OK, It wil take me a little while to remember how to add a remote.
[21:48:19] <psha> andypugh: ammended once more (v3)
[21:48:23] <psha> and added mask patch
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[21:49:44] <psha> http://psha.org.ru/cgit/psha/emc2.git/log/?h=m67-fix
[21:49:58] <psha> now it's working fine for me
[21:50:19] <psha> but i have to go to bed - need to wake up in ~5 hours... :(
[21:50:21] <psha> bb
[21:50:30] <psha> andypugh: ^^
[21:51:28] <andypugh> Goodnight
[21:51:29] <psha> since now it's working may you post it to dev list?
[21:51:34] <psha> bb
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