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[00:25:30] <andypugh> Anyone want to at least watch the other channel? Someone has been looking at the code and doesn’t like it. I am not sure that he doesn’t have the wrong end of the stick, but with the right nudges perhaps he could b useful.
[00:27:16] <Tom_itx> it's logged in case you missed it
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[00:58:36] <andypugh> <vent> So he knows more about coding than any of us, and he knows more about running a machine shop than Stuart@MPM
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[01:30:50] <jepler> we need more guys like that
[01:31:03] <jepler> they'd be able to solve a mdi remapping sequence number o-word bug for breakfast
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[01:38:10] <andypugh> Oooh, Should I set him on to it? :-)
[01:38:29] <cradek> couldn't hurt
[01:38:58] <andypugh> I am thinking the same. We ever get a fix or some humility.
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[01:54:37] <jepler> pcw_home: is a 9x9 lookup table (9 bits in, 9 bits out) look-up table feasible in fpgas? that's just a modest block ram, right?
[01:56:08] * jepler is reading about "single-track circuit codes". With 9 sensors and one specially-encoded track, you can find an absolute angular position at a resolution of 1/504 rotations
[01:56:16] <andypugh> I thought you were a coder, but you just used the number 9!
[01:56:43] <andypugh> Ah, those things are super-clever
[01:57:43] <pcw_home> Yeah fits in one blockram on most any FPGA even Spartan2
[01:57:52] <jepler> doing the decoding in hal at 1kHz would probably even be enough, if you go .5 revolution / ms, that's 30krpm..
[01:58:02] <andypugh> Though Renishaw have a neater thing. It’s a barcode and a camera. The visible barcode says where on the circle it is, the pixel-position of the barcode gives you very many more bits of resolution.
[01:59:08] <andypugh> I once (but only once) found the name for that encoding, where given n samples of N marks you can say where you are in the sequence.
[02:00:08] <jepler> length 17 = 131070 codes per revolution, should be enough for anybody
[02:00:08] <jepler> afk
[02:00:28] <pcw_home> the XC6SLX9 has 32 2Kx9 (or 1Kx18 etc ) BlockRAMs
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[02:11:00] <jepler> andypugh: I remember john k had done some back of the envelope calculations about the kind of code you are referring to
[02:11:46] <jepler> he wanted to have the code on a linear scale with enough resolution that knowing the coarse position from this code + seeing index pulse on an encoder was enough to get absolute position
[02:11:54] <jepler> -> home in just a few revolutions of the motor, anywhere on the table
[02:11:55] <andypugh> http://www.renishaw.com/en/resolute-absolute-encoder-system-with-rexa-rotary-angle-ring--10852
[02:12:00] <andypugh> No index
[02:12:27] <andypugh> I was sent one by Renishaw to write a HAL driver, but it got lost in the post :-(
[02:13:39] <jepler> the output of a LFSR has the property that you can tell where you are in the the sequence of length 2^n from just n (or maybe n+1) consecutive codes
[02:15:04] <andypugh> LFSR?
[02:15:17] <jepler> https://en.wikipedia.org/wiki/Linear_feedback_shift_register
[02:16:32] <jepler> the value from the single sensor is the 0/1 which keeps blinking and getting shifted in from the right
[02:17:20] <jepler> what I don't know about LFSRs is if there's an easy way to transform from the 4-bit register value to the angle in that circle
[02:17:38] <jepler> or if you're stuck using a LUT which would be pretty big if you want a few million positions
[02:18:13] <pcw_home> Played with a particular variant in the 70s (1024 length single xor) this makes nice music (fractal patterns)
[02:19:54] <jepler> of course I'd get stuck on the way to actually fabricating any of these things
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[02:45:25] <pcw_home> the binary length single xor generates a Sierpinsky triangle (which sounds nice)
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[02:47:17] <pcw_home> binary length single xor LFSR I mean
[02:49:09] <pcw_home> if the length is close to binary ( say 2^1+1 ) the pattern slowly turns into white noise like a normal LFSR PRBS gen
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[02:54:09] <jepler> and then suddenly and for unknown reasons I am reading
https://en.wikipedia.org/wiki/Man_or_boy_test
[02:54:51] <jepler> .. goodnight
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[03:37:43] <seb_kuzminsky> i agree with andypugh, 2.6 isn't "news" any more
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[14:56:05] <KGB-linuxcnc> 03Sebastian Kuzminsky 052.6 a045a3e 06linuxcnc 10debian/configure packaging: accept linux 3.4-9-rtai-686-pae as a "known" kernel * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=a045a3e
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[15:15:47] <seb_kuzminsky> speaking of things that are not news any more
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[15:36:12] <skunkworks> seb_kuzminsky: rob pushed some fixes for the trajectory planner overage. I have been testing and no issues so far
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[15:40:42] <seb_kuzminsky> groovy
[15:40:54] * seb_kuzminsky looks at the 2.7 todo list
[15:41:41] <archivist> last item...ship it?
[15:42:39] <Tom_itx> the todone list is getting longer
[15:45:58] <seb_kuzminsky> last time i spoke with rob he said he wanted to rename or at least document the new kink ratio variable, but that's not in his branch yet
[15:46:50] <seb_kuzminsky> skunkworks: are you happy with gcode constraints & run speed? you had found some problem with 2-axis configs, but that got fixed, right?
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[15:47:45] <Tom_itx> what about the toolchange bug?
[15:48:08] <seb_kuzminsky> do you mean the recent buildbot failure in the t0 test?
[15:48:21] <seb_kuzminsky> or the remap bug any found?
[15:48:22] <cradek> the mdi-remap problem
[15:48:27] <seb_kuzminsky> yeah
[15:48:28] <Tom_itx> i believe so... the one andy's comp brought to surface
[15:48:33] <seb_kuzminsky> right
[15:48:57] <seb_kuzminsky> i think that's a real bug we need to fix, but it's not a regression between 2.6 and 2.7 so i dont think we should hold up 2.7 for it
[15:49:48] <seb_kuzminsky> i made the 2.6-remap-bug branch to do the fix in, once someone decides to take it on
[15:50:00] <Tom_itx> is andy's comp gonna be in 7?
[15:50:04] <Tom_itx> 2.7
[15:50:27] <Tom_itx> maybe it should come with a warning in the docs if so
[15:50:38] <Tom_itx> that seems to be the only thing that discovered it
[15:50:49] <seb_kuzminsky> the carousel comp shouldn't go in, because it doesn't work (because of this pre-existing bug, not because of anything andy did wrong)
[15:50:58] <Tom_itx> ok
[15:51:35] <seb_kuzminsky> i'm fine with adding new comps, drivers, and configs to a stable branch, because they won't destabilize things for people who dont use the new thing
[15:52:05] <seb_kuzminsky> so if/when we fix the remap bug, andy's carousel comp and remap trickery will magically start working, and then we can merge it (even if it's after 2.7.0)
[15:52:17] <Tom_itx> that's why i mentioned the warining maybe instead of holding it out
[15:52:28] <Tom_itx> few will use it early on
[15:52:39] <jepler> seb_kuzminsky: I believe jepler/arm-atomics is suitable to go into 2.7, but it is only to fix rare testsuite failures on arm, really
[15:52:47] <Tom_itx> those that did could have a head start on example setups for it
[15:53:00] <seb_kuzminsky> rob's branch has a commit in it that lacks SoB, and so can't be pushed to our repo. i asked him to add it, but haven't heard back
[15:53:12] <seb_kuzminsky> i'd prefer not to sign that commit off myself, because then our branch and his will diverge
[15:53:42] <seb_kuzminsky> jepler: i'd like arm-atomics in 2.7, to start getting more runtime on it
[15:55:25] <jepler> seb_kuzminsky: OK, will merge tonight.
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[15:59:15] <skunkworks> seb_kuzminsky: yes - the 2 bug was also fixed
[16:04:10] <skunkworks> * 2 axis bug
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[16:05:17] <seb_kuzminsky> thanks guys
[16:05:50] <seb_kuzminsky> jthornton sounds like he wants to work on the docs a little more
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[17:48:08] <skunkworks> I emailed rob. (he has to be getting sick of me...)
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[18:35:18] <PCW> 4 hm2_eth cards seem OK at 3 KHz (going from 3 to 4 cards added about 14 usec to the average servo thread time)
[18:35:51] <skunkworks> wow
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[18:42:27] <PCW> eventually I will run out of margin for reading the sserial inputs. n the H97 the max servo thread time
[18:42:28] <PCW> with 4 cards is about 200 usec so at 3 KHz, all sserial devices must answer back in 133 usec
[18:46:28] <jthornton> yes, I have a bit more to do on the docs
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[19:31:59] <seb_kuzminsky> jthornton: ok, cool
[19:32:07] <seb_kuzminsky> thanks for working on that
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[20:17:22] <skunksleep> seb_kuzminsky: rogge was wondering about the status of the liblinuxcnc? (Is that the right branch for ui interface)
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[20:30:23] <cradek> skunksleep: you're the least-efficient irc gateway I can imagine
[20:30:51] <skunksleep> Sorry.. What?
[20:32:18] <cradek> you relay messages in and out of irc for people who don't participate in irc, and that is a very inefficient way for them to use irc
[20:32:24] <jepler> skunksleep: it's on its own branch and nowhere near finished. branch name (origin/)liblinuxcnc-ui
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[20:34:15] <skunksleep> jepler: thanks. cradek: agreed
[20:35:13] <skunksleep> jepler: I assume at this point it would go into master vs 2.7
[20:35:18] <jepler> skunksleep: absolutely
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[20:59:26] <skunkworks> if someone wanted to look at that branch - is it pretty selfe explainatory? hmm when did spell checking quit on chatzilla
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[21:03:44] <seb_kuzminsky> skunkworks: i think it's pretty clear, for a work-in-progress
[21:04:24] <seb_kuzminsky> why is drogge interested in it? ask him and let me know what he says
[21:04:32] <seb_kuzminsky> j/k
[21:05:46] <cradek> skunksleep: seb wants you to ask drogge what's up and report back here. thanks in advance.
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[21:07:53] <skunkworks> heh - he is interested in it because they could then create closed source frontends (you guys actually talked about it when you all discussed the pathpilot roll out)
[21:09:06] <skunkworks> * a closed soure..
[21:09:12] <skunkworks> source
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[21:18:56] <PCW> jepler: did you see that I have 4 hm2_eth cards running from a single MAC at 3 KHz?
[21:18:58] <PCW> So a 8 card max is probably OK (well maybe crazy but possible timing wise)
[21:19:52] <jepler> PCW: 3kHz? wow
[21:20:07] <jepler> I can bump the max board count up at any time, it's just a #define in the C source
[21:20:21] <PCW> yeah only 14 usec more for the 4th card
[21:21:46] <PCW> now with 10GE....
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[22:05:43] <jepler> skunkworks: it's important to notice that in its current incarnation, liblinuxcnc-ui is not particularly likely to be free of depending on GPL code. In the plan outlined in
http://mid.gmane.org/20141019130635.GA32102%40unpythonic.net this would be possible with the implementation of step 2, where we introduce a new IPC system and take care that the client side is not a derivative work of GPL code
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[22:18:25] <seb_kuzminsky> jepler, would you tell skunkworks to suggest to drogge that they should drop their closed-source nightmares and embrace the open-source world
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[23:06:53] <jepler> seb_kuzminsky: no, I don't want to cause trouble
[23:19:09] <seb_kuzminsky> awesome, chris lesiak reviewed the arm-atomics code
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[23:46:46] * jepler goes to read
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