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[00:17:31] <PCW> if the encoder velocity issue is counts without timestamp changes, this should be fixable by setting the
[00:17:33] <PCW> encoder filter such that you cannot get 2 counts in the timestamp period
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[00:37:20] <jepler> linuxcnc chooses a pretty conservative reference clock for the timestamp, doesn't it? I'll have to go back and read that comment...
[00:39:18] <jepler> increasing the timestamp clock to 4MHz would also improve things, while still allowing the read to be 60% late on a 10ms servo thread (16.384us)
[00:42:46] <jepler> or maybe set it to be >= the filtered encoder max rate, so that nobody who turns on the filter can fall victim to it
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[00:47:50] <jepler> new 5i20 firmwrare works.
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[01:02:18] <seb_kuzminsky> that's awesome jepler
[01:03:25] <jepler> seb_kuzminsky: so you thought I should go ahead and merge all of jepler-proposed to master in hostmot2-firmware?
[01:06:32] <jepler> or should I stop deferring to you so much anyway and just do whatever I want?
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[01:09:16] <seb_kuzminsky> you know that stuff way better than i (since you did all the work and i just watched from the sidelines), so you should probably just do what you think is right
[01:09:44] <seb_kuzminsky> but fwiw, i looked at proposed-master in hm2.git and it all looks fine to me
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[01:10:49] <jepler> you might know more about whether I broke the packaging .. though it did make new packages for the newly supported cards so that's good
[01:10:53] <jepler> anyway, will merge
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[01:14:11] <KGB-linuxcnc> 03Jeff Epler 05master f0dee4a 06hostmot2-firmware 10build.py build: allow the build to consider ise version * 14http://git.linuxcnc.org/?p=hostmot2-firmware.git;a=commitdiff;h=f0dee4a
[01:14:55] <KGB-linuxcnc> 05jepler/proposed-master 220b389 06hostmot2-firmware 04. branch deleted * 14http://git.linuxcnc.org/?p=hostmot2-firmware.git;a=commitdiff;h=220b389
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[01:15:46] <jepler> you might be interested to know that "earthworm motifs" is an anagram of "hostmot firmware"
[01:17:22] <jepler> so's "haw, mom's retrofit"
[01:17:59] <jepler> and so's "whom it reformats"
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[01:30:40] <seb_kuzminsky> he's finally lost it
[01:30:43] <seb_kuzminsky> we all knew it was coming
[01:30:44] <seb_kuzminsky> now it's here
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[01:44:20] * jepler prefers to assume that seb_kuzminsky is talking about a flameout on the mailing list or something
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[01:50:36] <pcw_home> Yeah you can trade-off minimum sample rate for timestam resolution
[01:50:38] <pcw_home> (maybe ~10 MHz would be good as a default)
[01:51:27] <pcw_home> (good downto ~160 hz )
[01:54:00] <jepler> "odroid squeezes plastic" -> ooze discredits Paul Esq or perhaps liquid depresses zoo cat
[01:54:41] * jepler contemplates whether an fpga can help compute anagrams faster. probably not.
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[02:10:55] <skunkworks> My soul took a silken (my given name anagram)
[02:12:41] <jepler> ooh hey I can trigger the bug at will
[02:12:45] <jepler> hm2/hm2_7i90.0: (hal/drivers/mesa-hostmot2/encoder.c:999) uh-oh, encoder vel is broken with an edge
[02:19:43] <jepler> arduino program that regularly triggers the 'vel is broken with an edge' message:
http://emergent.unpythonic.net/files/sandbox/quad.ino
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[02:25:48] <pcw_home> Its probably more noticeble on the 7I90/7I80 because the default non-muxed encoder sample rate is all the way up (100 MHz)
[02:27:38] <pcw_home> well maybe not, dont know if micges sample frequency setting stuff is there
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[02:36:45] <skunkworks> I was seeing that error on the 7i80 when the ethernet comunication wasn't quite there yet.
[02:37:18] <skunkworks> I don't know if I had seen it in a while. (and I had tested reading quad from the printer port)
[02:37:47] <skunkworks> (and step/dir))
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[03:10:38] <pcw_home> if you are runninh master you can set the encoder sample rate down and that should eliminate the errors
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[05:06:53] <zq> jepler: what does your fpga toolchain consist of?
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[06:41:59] <NTU> just finished writing a bash script that compiles the kernel, RTAI, and linuxcnc for you
[06:43:05] <NTU> testing big generic rtai kernel right now before pushing
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[08:30:00] <NTU> few minor bugs to work out, no biggy.
[08:30:22] <NTU> will look at it the next few days. idea is to have generic 3.14 RTAI support
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[09:35:01] <automata> micges-dev: for hostmot2, is there any plan to support pktUart ?
[09:37:00] <micges-dev> probably yes but don't scheduled yet
[09:37:40] <micges-dev> let me see details..
[09:42:51] <micges-dev> automata: internals are easy, I wonder how hal interface should work for it
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[11:55:32] <jepler> zq:
http://git.linuxcnc.org/gitweb?p=hostmot2-firmware.git;a=summary is the source; seb_kuzminsky maintains a buildbot which builds packages from it.
[11:56:00] <jepler> zq: xilinx webpack is required -- I think version 13 and either version 10 or 9 is required to build all the firmwares
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[13:02:13] <mozmck> jepler: what does that mean? you need two versions of webpack to build all the firmware?
[13:03:36] <jepler> mozmck: xilinx supports different FPGA chips in different versions of webpack
[13:03:51] <jepler> mozmck: so for instance, version 9 is too old to have support for spartan6 devices
[13:03:58] <jepler> while version 13 is so new it drops support for spartan2 devices
[13:05:08] <jepler> luckily, different version numbers are installable at the same time
[13:05:22] <mozmck> ah, I see.
[13:05:31] <mozmck> I just installed 14.7
[13:06:08] <mozmck> I think I still have a working install of 10.1 too
[13:07:34] <jepler> in cards.py you would have to change the iseversions = to include 14
[13:07:49] <jepler> .. for whichever chipse version 14 supports
[13:07:58] <jepler> s/chipse/chips/
[13:08:40] <mozmck> ok, I need to load up some firmware and start learning hdl
[13:09:00] <jepler> if you want just one or a few bitfiles, you probably want to invoke build directoy, like ./build.py i90epp SVST8_4_72
[13:10:06] <skunkworks> I thought pcw said there are issues with some newer versions..
[13:10:28] <jepler> skunkworks: beyond them dropping support for some older family chips?
[13:10:33] <mozmck> ok, I'll look at it in all my spare time :P
[13:10:42] <jepler> mozmck: ah the spare time. hooray for that
[13:11:12] <mozmck> heh, it's getting less and less these days.
[13:13:00] <skunkworks> yes.. but maybe I am not remembering right
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[13:37:00] <pcw_home> I think everything after 13.1 or so is OK (for SP3 and >)
[13:37:16] <pcw_home> and >
[13:43:35] <pcw_home> Thought more about the 0 timestamp delta issue and
[13:43:36] <pcw_home> 1. its a correct representation of the encoder signals
[13:43:38] <pcw_home> 2. if you want to calculate velocity you should use 1/2 timestamp rate as time between edges
[13:43:39] <pcw_home> 3. you probably want to just skip velocity calculations since it most likely represents electrical noise or vibration
[13:44:06] <pcw_home> 1/2 timestamp period I mean
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[14:01:27] <jepler> pcw_home: is pins-per-connector something that is not in idromv3?
[14:05:43] <pcw_home> there's PortWidth which is the same
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[14:27:01] <KGB-linuxcnc> 03Jeff Epler 05master 13bce0f 06hostmot2-firmware 10idrom_tools.vhd 10pinmaker.vhd.in 10xmlrom.vhd.in improve data in .PIN, .xml files * 14http://git.linuxcnc.org/?p=hostmot2-firmware.git;a=commitdiff;h=13bce0f
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[15:00:49] <KGB-linuxcnc> 03Sebastian Kuzminsky 05master de8a3e2 06linuxcnc 10docs/man/man9/hostmot2.9 10src/hal/drivers/mesa-hostmot2/hm2_pci.c Merge remote-tracking branch 'origin/2.6' * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=de8a3e2
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[15:10:02] <cradek> duel boot
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[15:13:42] <seb_kuzminsky> is that when you install another operating system on the same hard drive and it overwrites the mbr so you can boot the first os?
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[15:43:00] <jepler> seb_kuzminsky: did you see I have an arduino program that, driving hostmot2 encoder inputs, triggers the "broken with an edge" message several times a minute?
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[15:45:24] <jepler> seb_kuzminsky:
http://emergent.unpythonic.net/files/sandbox/quad.ino
[15:46:01] <jepler> I think I was running with a 500us servo period; the longer delay may need to be modified to cause it with a 1ms servo period
[15:46:14] <cradek> wow
[15:46:24] <seb_kuzminsky> i saw it
[15:46:31] <seb_kuzminsky> very cool use of an arduino
[15:47:13] <seb_kuzminsky> i guess someone should fix that bug in the hm2 encoder driver now
[15:47:24] <jepler> possibly so
[15:47:34] <jepler> I think the best solution is to hold the encoder velocity estimate in that cycle
[15:47:57] <jepler> which I think mostly consists of just deleting the message
[15:48:28] <seb_kuzminsky> heh
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[15:56:01] <NTU> huh.. so RTAI determines 32-bit or 64-bit from the kernel config in the kernel source directory, not uname -m..
[15:56:29] <NTU> anyone experienced enough with autotools to change this?
[15:57:00] <NTU> cd RTAI && git grep CONFIG_X86_64
[15:57:40] <NTU> main files are configure.ac and various GNUmakefile.am
[15:57:44] <pcw_home> Yeah since getting that error means you have a 1000 to 1 velocity change in one servo period (at 1 KHz) it is probably best to ignore
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[16:49:21] <jepler> NTU: you have to delete this and replace it with the correct code
[16:49:21] <jepler> AC_MSG_CHECKING([for kernel architecture])
[16:49:21] <jepler> KERNEL_ARCH="`uname -m`"
[16:49:22] <jepler> AC_MSG_RESULT([$KERNEL_ARCH])
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[16:50:09] <jepler> but do you know the steps to find the correct value?
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[16:52:14] <jepler> AS_IF([grep ^CONFIG_X86_64 $kconfig], [KERNEL_ARCH=x86_64], [grep ...], ..., [AC_MSG_ERROR([Cannot guess KERNEL_ARCH from config])])
[16:52:17] <jepler> something like this I guess
[16:53:03] <cradek> what's the wrong behavior you're trying to fix?
[16:53:05] <jepler> probably grep -q
[16:53:23] <cradek> I don't understand
[16:53:25] <jepler> cradek: it builds rtai to match the running system (uname -m) not the kernel
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[16:53:31] <jepler> not the kernel you pointed configure at
[16:53:42] <cradek> oh ok
[16:53:48] <jepler> it could be you want to build rtai for arm, but your system has `uname -m` -> x86_64
[16:53:59] <jepler> until I looked at the source, I thought he was indicating the opposite
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[16:56:04] <jepler> NTU: documentation of AS_IF
http://www.gnu.org/software/autoconf/manual/autoconf.html#index-AS_005fIF-1573
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[18:20:36] <micges-dev> jepler: should encoder fix go to 2.6?
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[18:30:42] <micges-dev> seb_kuzminsky: propose of encoder fix:
http://pastebin.com/6Wmtye4N
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[18:45:03] <seb_kuzminsky> micges-dev: seems sane to me
[18:45:30] <micges-dev> seb_kuzminsky: ok to 2.6 ?
[18:45:31] <seb_kuzminsky> and it matches my understanding of the behavior pcw_home and jepler want
[18:46:30] <seb_kuzminsky> yes please. i'd like jepler and/or pcw_home to sign off on it (figuratively, not with a Signed-Off-By tag!), then please push to 2.6
[18:47:24] <micges-dev> ok
[18:51:08] <pcw_home> looks OK to me
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[19:12:05] <NTU> thanks jepler ill give that a shot later on tonigt
[19:15:18] <NTU> the problem is that hal_32.c and *_32.h headers in RTAI are included instead of hal-64.c w/ 64-bit headers if /usr/src/linux/.config is 32-bit
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[19:40:57] <seb_kuzminsky> hey Roguish
[19:41:31] <seb_kuzminsky> can you try your tabby ini file with the tip of the 2.6 branch? i think the bug you reported is fixed
[19:42:17] <Roguish> so, i need to do an update? right?
[19:43:13] <seb_kuzminsky> yeah
[19:43:35] <seb_kuzminsky> are you building your own linuxcnc from the git repo, or are you installing debian packages from the buildbot, or are you installing debian packages from www.linuxcnc.org?
[19:45:06] <Roguish> well, i started with the released hybrid.iso
[19:45:29] <Roguish> the executable is in /usr/bin/linuxcnc
[19:45:55] <Roguish> i did a git to get the source.
[19:46:14] <Roguish> but i don't recall if i compiled it
[19:46:55] <seb_kuzminsky> ok
[19:47:48] <Roguish> so, i think if I update with git and then compile, that should get the latest? right?
[19:47:49] <seb_kuzminsky> the the fix is only available via git or the buildbot, not from the normal released packages that the wheezy live+install image accesses by default
[19:47:57] <seb_kuzminsky> yes
[19:48:21] <seb_kuzminsky> you need to update your git clone with "git fetch origin", then check out the 2.6 branch with "git checkout 2.6", the build as usual from there
[19:48:36] <seb_kuzminsky> there are instructions on the wiki for how to build if you're note familiar with the process
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[19:57:24] <KGB-linuxcnc> 03Michael Geszkiewicz 052.6 b38797a 06linuxcnc 10src/hal/drivers/mesa-hostmot2/encoder.c hm2: fix long standing encoder velocity estimation error (thanks pcw and jepler) * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=b38797a
[19:59:54] <seb_kuzminsky> thanks micges-dev
[20:00:27] <micges-dev> welcome
[20:01:18] <cradek> yay!
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[20:05:11] <seb_kuzminsky> it's not every day that a 4.5-year-old bug gets fixed
[20:05:36] <seb_kuzminsky> embarrassing that the bug was just a miunderstanding on my part about signal timing :-/
[20:06:49] <jepler> seb_kuzminsky: as software gets older, the mean age of bugs at the time they are fixed also gets larger
[20:08:05] <micges-dev> seb_kuzminsky: you fixed it then, I was then simply not able to give enough data to locate source of divide by 0
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[20:12:32] <seb_kuzminsky> micges-dev: are you coming to the hackfest in houston in october?
[20:12:49] <micges-dev> no
[20:13:32] <seb_kuzminsky> bit of a long haul for you
[20:13:35] <seb_kuzminsky> maybe another time
[20:14:11] <micges-dev> yeah few km too far ;)
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[20:22:52] <seb_kuzminsky> Roguish: NOO not that button!!
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[21:23:01] <micges-dev> jepler: verification time: 1. with your read_page() patch, 2. without it:
http://pastebin.com/Civ1bVtZ
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[22:05:50] <skunkworks_> cradek: at 5ipm Y is doing this (audible..)
http://imagebin.org/319386
[22:05:57] <skunkworks_> it happens every rotation of the servo...
[22:06:34] <skunkworks_> (yah - that is only a little over .0001 of error.. :))
[22:07:12] <skunkworks_> it has groaned - since the tuning - but today it is worse..
[22:07:52] <skunkworks_> (server nor amp are getting warm...)
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[22:22:21] <skunkworks_> hmm - I wiggled the Y axis brake and it went away....
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[22:27:31] <skunkworks_> must have been dragging just enough to cause a groan..
[22:29:28] <seb_kuzminsky> so it works better if you dont apply the brake? :-P
[22:29:36] <skunkworks_> heh
[22:29:39] <skunkworks_> it is loose...
[22:29:49] <skunkworks_> I can wiggle it around and make it groan
[22:29:59] <skunkworks_> maybe it needs a little oil.. :)
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[22:30:36] <cradek> interesting
[22:30:46] <cradek> I touched it last, so it's my fault
[22:31:04] <seb_kuzminsky> 10 lashes with a cat5 cable
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[22:36:52] <cradek> https://www.youtube.com/watch?v=4nCIzPuLYJA
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[22:37:16] <skunkworks_> cradek: well - yah!
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[22:40:02] <skunkworks_> dad thinks it isn't adjusted right - it should center itself when deactivated
[22:40:10] <skunkworks_> (shouldn't drag)
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[22:41:37] <cradek> that sure sounds like a reasonable position to take
[22:42:08] <skunkworks_> he is usually right
[22:42:21] <skunkworks_> the machine has been running great
[22:43:37] <skunkworks_> I think (knock on wood) the latency issue with the motherboards and the latest live image was the audio.. I disabled it and so far it has been showing good latency (about 30min so far)
[22:44:10] <cradek> are you reinstalling it?
[22:46:09] <skunkworks_> test machine... dad had bought a few of the motherboards in the k&t for extras
[22:46:33] <skunkworks_> (just booting off of usb image)
[22:46:38] <cradek> smart
[22:47:43] <skunkworks_> well - just looked and now the latency went to 70us... (guess I didn't knock on wood
[22:47:44] <skunkworks_> )
[22:47:57] <skunkworks_> going to let it run some more
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[23:41:10] <jepler> micges-dev: cool!
[23:44:17] <micges-dev> jepler: most of your pull request is in repo
[23:46:02] <PCW> skunkworks_ I have added some stepgen configs for the 7I80 with DPLL and will put them up a bit later today
[23:53:01] <skunkworks_> pcw, cool!
[23:54:33] <jepler> micges-dev: not spi support itself?
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[23:56:39] <micges-dev> not yet, later today
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