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[00:00:54] <CaptHindsight> http://www.nuigalway.ie/power_electronics/documents/md_ieee_trans_power_electronics_2003.pdf
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[00:04:09] <PCW> The trick (in my case) is that I can modulate the carrier to lower the average power usage since I will be using
[00:04:11] <PCW> this integrated on a FPGA board
[00:04:12] <PCW> (planar transformers are pretty power hungry so burst modulation for low power loads like MOSFET gates makes sense)
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[02:01:24] <seb_kuzminsky> cmorley: are you around? i just pushed the "Launch Keyboard" button in gscreen and i understand what you're talking about now
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[02:08:23] <seb_kuzminsky> i didn't know that gscreen (and gmoccapy) Popen onboard
[02:08:45] <seb_kuzminsky> that means we should Depend on onboard.deb, which would have alerted us to this problem as soon as we tried to run on wheezy
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[02:22:23] <seb_kuzminsky> cmorley: in wheezy, the following packages look like they provide on-screen keyboards (i haven't tried any of them): caribou, florence, kvkbd, literki, matchbox-keyboard, xvkbd
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[02:52:39] <memfrob> gles is more supported now than standard gl by linux now. more of the standard is there, plus egl and glamor use it now too
[02:52:55] <memfrob> its almost the new standard with mesa...
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[02:58:38] <memfrob> id love to help with the new GL interface :)
[02:58:56] <memfrob> i did a lot of mesa and Xorg development years ago
[02:59:23] <memfrob> love that stuff!
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[04:01:46] <seb_kuzminsky> hhhh333kkkk
[04:02:06] <seb_kuzminsky> oh, that's where the kvkbd key-presses went
[04:07:16] <seb_kuzminsky> i think i like matchbox-keyboard best of the ones i tried
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[11:56:03] <jepler> skunkworks: just once
[11:56:29] <skunkworks> jepler, is that good or bad...
[12:10:04] <jepler> skunkworks: it depends whether my strategy is to try to ignore it, or to try and fix it
[12:10:12] <jepler> if the strategy is ignore, then it's excellent news
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[12:14:59] <alex_joni> hi guys
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[12:21:18] <jepler> hi alex_joni
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[12:28:04] <skunkworks> alex_joni, How are things?
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[13:01:50] <skunkworks> jepler, I forget about the 'has to work 100%' as in the windows world - if something crashes once a week - it is an awesome application!
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[13:04:57] <alex_joni> skunkworks: busy ;)
[13:05:00] <alex_joni> jepler: hi
[13:11:46] <jepler> skunkworks: you should make sure alex_joni heard your news
[13:11:56] <jepler> alex_joni: I've been busy too, in good ways.
[13:12:02] <jepler> afk, in search of breakfast
[13:13:37] <skunkworks> oh yah! alex_joni - we are expecting our 2nd
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[14:17:09] <jepler> pcw_home: perhaps you already thought of this, but the next idrom format could explicitly give the location and size of TRAM
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[14:25:49] <cradek> about bug 391, I'd expect a watchdog bite to turn "off" (float?) all outputs, which should cause whatever estop chain you have to fire. I've always thought of this watchdog as a hardware-level thing.
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[14:28:01] <jepler> cradek: the hm2 watchdog does float all outputs
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[14:28:13] <jepler> cradek: but nothing in the sample config makes linuxcnc actually estop
[14:28:45] <jepler> on a servo system you'd at least get a following error, but you don't even get that since stepgens continue counting in this condition
[14:29:19] <jepler> so I think the bug is calling for the watchdog has-bit pin to be wired into the software estop chain
[14:32:20] <cradek> on a stepper system the machine would stop moving, right? because there is no output?
[14:32:42] <jepler> right, the motors stop but the GUI keeps going, showing that nothing is wrong
[14:32:50] <cradek> ok, I see
[14:33:00] <jepler> stepgen feedback positions keep updating, etc
[14:33:01] <cradek> I agree it would be better if the gui noticed
[14:33:41] <cradek> but on any real machine (with a real estop chain) it would notice soon enough, by sensing the hardware estop
[14:34:39] <cradek> hm2-stepper.hal:net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
[14:35:57] <jepler> so can we do better than that in the sample config, without making it worse for the sane user who actually adds a proper physical estop chain?
[14:36:35] <jepler> can we use an estop_latch component with the watchdog has-bit output pointing to the estop fault input?
[14:37:03] <cradek> I've never been sure how estop_latch works
[14:37:23] <cradek> I don't think you'll make it harder for sane users - they'll just not use the thing you set up
[14:37:29] <cradek> heh "sane"
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[15:01:32] <seb_kuzminsky> we currently use iocontrol.0.emc-enable-in to signal "external estop condition" to the controller, as in the loopback that cradek grepped above
[15:02:15] <seb_kuzminsky> how about if .emc-enable-in gets the AND of user-enable-out and watchdog.has-bit (and whatever else we want to be True for the machine to run)?
[15:02:16] <jepler> cradek: This documents my understanding of estop-latch:
http://pastie.org/9529618
[15:02:50] <jepler> seb_kuzminsky: a remaining problem is: how does watchdog.has-bit get cleared?
[15:03:04] <seb_kuzminsky> currently by hand, unforch
[15:03:38] <seb_kuzminsky> it's an exceptional situation, and it probably requires user intervention to unhork (for example, re-connecting an epp or spi cable)
[15:05:38] <seb_kuzminsky> jepler: your new estop_latch manpage is better
[15:05:59] <seb_kuzminsky> for some reason, the "use" down near the bottom rendered in green
[15:06:27] <jepler> seb_kuzminsky: funky syntax highlighting I guess.
[15:06:30] <seb_kuzminsky> also, it might be even clearer if you capitalized True and False throughout
[15:06:48] <seb_kuzminsky> also, if you replaced manpages with something that can display state machines graphically
[15:07:02] * seb_kuzminsky </snark>
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[15:43:35] <seb_kuzminsky> hi micges
[15:43:40] <micges> hi
[15:46:18] <micges> seb_kuzminsky: what's up
[15:46:18] <micges> ?
[15:49:03] <seb_kuzminsky> just sent you a github PR that makes mesaflash build on lucid
[15:49:26] <micges> ok
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[15:59:36] <micges> seb_kuzminsky: I hope to release mf 3.1 in about few weeks with idrom v4 support and spi support from jepler
[15:59:53] <jepler> either I'll work on SPI mesaflash this weekend or I won't.
[16:00:13] <jepler> if I don't get around to it, please don't hold a MF release for it. This only affects about one person in the universe, and that's me
[16:00:56] <micges> ok
[16:01:59] <micges> jepler: do you have still old 5i20 with pci setup eeprom problems?
[16:03:59] <jepler> micges: I resolved the eeprom problem on my 5i20
[16:04:02] <jepler> using some dos program
[16:04:25] <micges> mf 3.1 will do the same
[16:04:29] <jepler> oh that's cool
[16:05:10] <micges> just want you to test mf if you already know other way to fix it
[16:05:45] <micges> if that;s not a problem
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[16:55:50] <pcw_home> jepler: the hardware translation RAM should be brought in if present in the
[16:55:51] <pcw_home> module ID section but current its hardwired to some configs (EPP configs)
[16:55:53] <pcw_home> since its was never used I think Ive forgotten to add it in newer pinout files
[16:55:54] <pcw_home> even though the hardware is present
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[17:06:02] <zq> hm
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[17:07:23] <zq> 'comp_id' is the ID of the component that will 'own' the variable. Normally it
[17:07:26] <zq> should be the ID of the caller, but in some cases, a user mode component may be
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[17:07:29] <zq> doing setup for a realtime component...
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[17:07:59] <zq> so i came across that for the hal_pin_<type>_newf functions
[17:08:50] <zq> is there an actual case of one component allocating pins for another component?
[17:10:16] <zq> a cursory grep for hal_pin_*_newf shows that it's always called to allocate a pin for the same component
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[17:23:13] <jepler> zq: yeah I doubt there is
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[17:31:22] <zq> jepler: then why would a pointer (to a hal pin) itself need to reside in hal's shm?
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[17:31:27] <zq> shared memory, that is
[17:32:03] <jepler> zq: I don't know that offhand. Almost always, a pin is in a structure with a parameter; the parameter would have to be in hal's shm.
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[17:32:37] <jepler> oh of course: because "net" has to modify the pointer
[17:33:40] <zq> right, i missed that
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[17:53:36] <micges> pcw_home: I didn't have machine time to test stepgen + dpll but I will on monday ,also there will be scurve test on same machine on monday
[17:55:18] <pcw_home> I would expect to be a noticeable improvement only on Ethernet or maybe all Preemt-RT systems
[17:58:10] <micges> this is 5i25+7i76 so I could use 7i76e and get some rt-preempt kernel
[17:59:20] <pcw_home> yes
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[18:00:15] <pcw_home> I have been testing it with the 7I76E
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[19:31:56] <seb_kuzminsky> thanks micges-dev
[19:32:23] <micges-dev> thanks too
[19:33:06] <jepler> micges: what are you referring to when you said "scurve test"?
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[19:37:07] <micges-dev> jepler: I've extracted important part from araisrobo branch and applied it to master (before new tp merge)
[19:38:07] <micges-dev> it's mostly working, still got few acc spikes at scope to fix
[19:38:44] <micges-dev> but even so results on real machine are great
[19:38:50] <jepler> micges-dev: interesting. not that I'm likely to look at it anytime soon, is it in a published git branch?
[19:40:08] <micges-dev> I think most of changes are here:
http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=shortlog;h=refs/heads/araisrobo-scurve2
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[19:45:57] <jepler> ah OK
[19:46:02] <jepler> thanks!
[19:47:23] <jepler> For embedded systems, the FreeRTOS project that Andy mentioned on the mailing list looks interesting. Unfortunately, most of their documentation is paywalled.
[19:47:42] <cradek> uh
[19:50:00] <jepler> cradek: did you look at my revised estop-latch documentation?
http://pastie.org/9529618 (ignore syntax highlighting)
[19:51:13] <cradek> wow, that's shockingly clear
[19:51:42] <jepler> it also is about 3 times as long as the implementation :-P
[19:51:57] <cradek> that is not a count against it
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[19:52:59] <jepler> I'll test that I can set up a hm2-stepper software estop based on the docs I wrote
[19:53:19] <jepler> and if so I'll push at least the doc fixes to 2.6 if seb_kuzminsky doesn't mind
[19:53:26] <jepler> but he seemed to like the doc fixes too
[19:53:28] <cradek> cool, thanks
[19:53:41] <mozmck> Sometimes the decisions going into one line of code merit a page of explanation :)
[19:53:45] <jepler> I should tell him one caveat, though: the bit about the default value on the input pins is a change
[19:54:37] <jepler> before, ok-in defaulted to false when not connected
[19:54:58] <jepler> I also fixed fault-out to default to true; otherwise, it could have been false for a short time before the estop-latch function was executed once
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[20:29:12] <seb_kuzminsky> jepler: here's an open hardware pluto clone, not sure if this is relevant to your interests
[20:29:15] <seb_kuzminsky> git clone git://git.gag.com/hw/cncfpga; gschem cncfpga.sch
[20:30:56] <cradek> cool!
[20:31:10] <cradek> it looks hand-solderable
[20:31:16] <cradek> http://www.gag.com/homeshop/cncfpga/
[20:35:02] <seb_kuzminsky> cradek: it's by bdale garbee, of old-timey debian fame
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[20:52:07] <jepler> I wish I could buy everybody a reliable host to irc from
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[20:52:52] <jepler> then the channel would just fill up with people who forgot they ever set it up
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[20:54:34] <cradek> in perfect har-mon-y
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[21:11:36] <seb_kuzminsky> cradek, jepler: i cloned bdale's cncfpga repo and pushed it to github, and added issues for the things he said were wrong with the current board
[21:11:44] <seb_kuzminsky> https://github.com/SebKuzminsky/cncfpga
[21:11:59] <seb_kuzminsky> let me know if you want push access to that repo
[21:12:28] <seb_kuzminsky> the .sch file opened fine with gschem, and the .pcb file opened with pcb-gtk
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[21:13:18] <seb_kuzminsky> Bdale offered to "handle the logistics of having them made in small lots". he runs a business making and selling open-source hardware for high-power amateur rocketry
[21:15:22] <jepler> axis nearing two days of runtime on odroid with a hm2-spi configuration
[21:16:39] <jepler> read/write tmaxes are higher than in my standalone testing but no realtime delay messages
[21:17:14] <seb_kuzminsky> sweet
[21:20:26] <jepler> tmaxes after 1 day 19 hours:
http://paste.debian.net/119551/
[21:20:45] <jepler> obviously if those all hit at once I wouldn't be making my 1ms deadline
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[21:37:30] <PCW> Dont those tmaxes indicate that the servo thread is being interrupted?
[21:37:32] <PCW> It seems to me that the servo thread should disable any lower priority interrupts
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[21:39:55] <PCW> (ideally only interrupts from LinuxCNC interface hardware should be allowed when the thread is running)
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[21:43:43] <jepler> no interrupts (of the kind listed in /proc/interrupts) are delivered to CPU3 except GIC MCT (timer interrupt) and rescheduling interrupt.
[21:43:56] <PCW> i dont know if this opens up the possibility of deadlocks in the kernel but for example you can
[21:43:57] <PCW> see interference from video access even on RTAI systems in comps like PID that have no hardware access
[21:45:25] <jepler> though I don't know why so many rescheduling interrupts are delivered; looks like 2/ms. possibly something overlooked in spi is causing one reschedule per call.
[21:46:30] <jepler> interrupts are of course being delivered on the other CPUs, and code is running on them, so it interferes with things like memory bandwidth, shared caches, etc.
[21:46:52] <PCW> I suspect they should be blocked as well
[21:48:05] <jepler> hm something's not right
[21:48:14] <jepler> rtapi_app is not pinned to the last CPU core according to taskset
[21:48:38] <jepler> in fact it's not running with realtime priority
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[21:50:16] <jepler> that's unexpected
[21:51:40] <jepler> oh I was looking at the affinity of the main task
[21:51:44] <jepler> not the realtime threads
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[22:01:02] <seb_kuzminsky> jepler: can we close #389 now?
https://sourceforge.net/p/emc/bugs/389/
[22:01:16] <seb_kuzminsky> 615e8348 claims to fix it
[22:01:21] <seb_kuzminsky> (in 2.6)
[22:01:36] <jepler> seb_kuzminsky: I think dewey tested and committed his own version of the patch
[22:02:34] <seb_kuzminsky> i think so too
[22:02:37] <seb_kuzminsky> i'll close it then
[22:03:08] <jepler> thanks!
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[22:03:48] <jepler> seb_kuzminsky: did you see my disclosure above about slightly changing the estop_latch component (default values for unconnected pins)?
[22:09:18] <micges-dev> seb_kuzminsky: mesa 7i92 support can go to 2.6?
[22:10:21] <micges-dev> seb_kuzminsky: err sorry I messed up names, nm
[22:15:56] <jepler> seb_kuzminsky: so more concretely, here's the patch which I assume will apply to 2.6:
http://emergent.unpythonic.net/files/sandbox/0001-estop-latch-improve-documentation-set-default-pin-va.patch
[22:16:10] <jepler> seb_kuzminsky: and also for 2.6,
http://paste.debian.net/119557/
[22:19:33] <jepler> or to avoid the bad coloring
http://paste.debian.net/plain/119557
[22:19:44] <PCW> micges-dev: uspace is master only so no Ethernet for 2.6
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[22:20:13] <PCW> at least I think that's the situation
[22:20:35] <jepler> yes, no ethernet in 2.6.
[22:20:42] <micges-dev> yeah
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[22:22:02] <micges-dev> PCW: double dot bug is on sserial hal pins?
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[22:27:28] <PCW> yes
[22:27:46] <PCW> I think 7I76e only
[22:28:19] <PCW> something to do with the 5 character name
[22:29:33] <micges-dev> yep found it
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[22:40:11] <PCW> ohh and theres a "registred" somewhere
[22:41:28] <KGB-linuxcnc> 03Michael Geszkiewicz 05master 422c844 06linuxcnc 10src/hal/drivers/mesa-hostmot2/sserial.c hostmot2: support for up to 8 chars device names in sserial * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=422c844
[22:41:56] <micges-dev> I see it too
[22:42:27] <jepler> micges-dev: char name[21];
[22:42:36] <jepler> your patch doesn't change this, unless I overlooked something
[22:42:47] <jepler> micges-dev: also, a C++ tip
[22:43:12] <jepler> you can rtapi_snprintf(chan->name, sizeof(chan->name), ...) so that you don't have to change it in two places
[22:43:56] <micges-dev> right...
[22:44:03] <micges-dev> thanks
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[22:44:12] <jepler> the count given to snprintf includes the size for the string-terminating NUL
[22:46:04] <jepler> (before you had an array of 21 but a snprintf argument of 20, so not sure if this was a misconception)
[22:47:29] <micges-dev> it's not my code but I think it was for safety
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[23:15:16] <KGB-linuxcnc> 03Michael Geszkiewicz 05master 9d3c1d7 06linuxcnc 10src/hal/drivers/mesa-hostmot2/sserial.c 10src/hal/drivers/mesa-hostmot2/sserial.h hostmot2: properly support for up to 8 chars device names in sserial * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=9d3c1d7
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[23:22:43] <seb_kuzminsky> jepler:
http://paste.debian.net/plain/119557 looks good
[23:23:34] <KGB-linuxcnc> 03Michael Geszkiewicz 05master 0cdcb9b 06linuxcnc 10src/hal/drivers/mesa-hostmot2/hm2_eth.c hm2_eth: remove duplicated info about successfull hostmot2 registration * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=0cdcb9b
[23:23:41] <seb_kuzminsky> i guess hm2-servo would benefit less from a similar fix, since the encoder feedback will ferror and estop the machine that way
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[23:30:29] <seb_kuzminsky> jepler: oh, 119557 is against master, no wonder it doesn't apply to 2.6
[23:30:36] * seb_kuzminsky fixes the patch
[23:30:51] <PCW> one difference is that a wd bite would put you in estop even if not moving
[23:31:38] <micges-dev> PCW: do you have blinking led on io part on new 7i76s ?
[23:31:55] <PCW> No, no free pins
[23:32:28] <micges-dev> ah
[23:32:29] <PCW> :-(
[23:32:54] <PCW> when we move to STM :-)
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[23:41:55] <KGB-linuxcnc> 03Michael Geszkiewicz 05master bda8153 06linuxcnc 10src/hal/drivers/mesa-hostmot2/hm2_eth.c hm2_eth: add support for mesa 7i92 ethernet board * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=bda8153
[23:43:26] <PCW> Thanks!
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[23:50:07] <PCW> 5i25 configs updated to latest with ICAP cookie
[23:51:25] <PCW> updating 5I24 now (takes hours and hours)
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[23:53:36] <PCW> Monday Ill fix the Ethernet configs to have DPLL on anything with a stepgen
[23:53:58] <PCW> and 7I90 SPI
[23:55:25] <jepler> hours? why?!
[23:55:35] <jepler> oh are you talking the fpga firmware building?
[23:55:55] <PCW> Yes 50 or so bitfiles
[23:56:05] <PCW> I need a faster machine
[23:57:01] <jepler> at $DAY_JOB we all got 12-thread i7 machines. great for software development. probably great for fpga development.
[23:58:05] <PCW> Yeah I I should get a lower end I7 at least
[23:58:32] <micges-dev> what do you have now?
[23:58:39] <jepler> what's the state of multicore use in the xilinx tools? for hostmot2-firmware, I enabled use of build-level parallelism instead of thinking about that.