#linuxcnc3 | Logs for 2012-10-30

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[22:40:25] <micges> mhaberler: ahoy
[22:40:39] <mhaberler> hi!
[22:40:42] <mhaberler> alive?
[22:40:50] <micges> yeah
[22:41:05] <micges> just needed earn some money ;)
[22:41:12] <mhaberler> goof
[22:41:14] <mhaberler> good
[22:41:24] <mhaberler> not goof ;)
[22:41:29] <micges> :)
[22:41:45] <micges> in few days I'll finish it and back to lcnc hacking
[22:42:03] <mhaberler> I got draw into this configure-for-preempt-and-xenomai thing
[22:42:52] <micges> and?
[22:43:03] <mhaberler> and configure etc is not something I want to carry over - it is an impenetrable mess
[22:43:33] <micges> agree
[22:45:01] <mhaberler> it looks like the xenomai folks are heading fully for usermode rt, and deprecate the kernel rt mode
[22:45:25] <micges> I saw it
[22:45:45] <micges> I have no idea how will this impact lcnc port
[22:46:23] <mhaberler> well there are two options for xenomai, user rt threads ala rtapi_app, and kernel threads pretty much like rtai
[22:46:52] <mhaberler> the latter is a tad faster, but I dont think it matters a lot - folks dying for steppers should get an fpga board
[22:47:02] <micges> my rtnet works also finished in userspace rt
[22:47:35] <mhaberler> btw saw an interesting semi-related project: http://article.gmane.org/gmane.network.etherlab.user/1618/match=
[22:48:03] <mhaberler> https://github.com/latproc/latproc - basically a FSM language with ethercat tacked on
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[22:49:21] <micges> nice
[22:50:42] <micges> how is xenomai port going?
[22:51:05] <mhaberler> well Amit is a bit dragged by real life, but he'll get back to it
[22:51:33] <mhaberler> I'm 80% done with the userland port and 50% with the kernel threads port (or so)
[22:52:39] <mhaberler> xenomai has no kernel math like rtai_math.. cloning the rtai module.. fighting Submakefile to compile with custom flags.. its really two thirds fighting configuration
[22:53:28] <mhaberler> some things I just dont get.. there's a gazillion of modules which links in MATHSTUB - wtf not just add it to *one* module and be done with it..
[22:54:44] <mhaberler> some stuff is ridiculous.. ULAPI srcs are part of liblinuxcnchal. fine. definition & how to compile: spread over *4* Makefiles in different dirs
[22:54:59] <micges> there is plenty of those
[22:55:20] <mhaberler> some stuff comes through config.h.. some through a gazillion of extra CFLAGS - now what.. why?
[22:55:33] <mhaberler> it is baroque
[22:56:04] <micges> yes it is
[22:56:24] <mhaberler> anyway, step 1 of l3 will be to excerpt rtapi and hal and dump configure.in etc for good, and start over
[22:56:37] <micges> skeleton was created in 2004 and probably fixed only since then
[22:57:22] <mhaberler> obviously the idea was to have the superbright ├╝ber-Makefile
[22:57:53] <mhaberler> thats' where it is.. nobody touch it with a 10-foot pole
[22:59:47] <mhaberler> another useless feature: two sets of .h files - one for build, one for tack-on modules.. why not one..
[23:02:19] <mhaberler> anyway.. I'm ranting. Stop that.
[23:02:48] <mhaberler> I'd be curious in your rtnet / 7i80 thing
[23:03:03] <mhaberler> got me a 7i80.. wonder how good that might perform
[23:03:55] <micges> suprisingly good/fast
[23:04:24] <mhaberler> do you have a snapshot in a repo somewhere?
[23:04:40] <micges> load/unload stacks and driver is tricky
[23:04:47] <micges> nope
[23:05:04] <mhaberler> you could push to git.mah.priv.at
[23:05:23] <micges> even so I didn't tracked after 4th change of concept
[23:06:04] <mhaberler> so how does that work, is udp update triggered cyclically or by change or what
[23:06:06] <micges> I'll push it somewhere when it will barely working
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[23:07:10] <micges> driver is master and it ask/update board 1k times per sec
[23:07:37] <micges> like normal pci boards
[23:08:25] <mhaberler> the driver.. is that a user process, or kernel module?
[23:08:48] <micges> no idea yet
[23:09:33] <micges> I mean ask/recv will be in rt thread but now I don't have idea if from user or kernel space
[23:10:08] <micges> there is no docs, examples, comments
[23:10:39] <micges> there is only one person who can answer some questions
[23:10:53] <mhaberler> rtnet.. I need to look into this, maybe thats a useful base for the zmq kernel stuff
[23:11:03] <mhaberler> but that works now, so better no extra deps
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[23:12:54] <micges> I saw that you've tested few small arm platforms
[23:13:14] <micges> did you found sth interesting?
[23:15:14] <micges> cheap?
[23:15:32] <mhaberler> well the raspberry wont be that great a platform as-is, but arm cpu+fpga would be a great combo
[23:16:57] <mhaberler> I think we need to watch the 'new CPU' space.. there are chips around the corner with dozens of cores, and it's not entirely clear to me how/if one should make use of that for rt apps
[23:19:31] <micges> I'm not talking about rt olny, also as a cheap portable devel platform
[23:19:50] <micges> with less that 9 weeks of arrival time ;)
[23:21:33] <mhaberler> well if you dont to play with arm/xenomai and a bit of gpio wiggling, the rpi is fine - runs off USB power
[23:22:12] <mhaberler> the usb is kinda kludgy, needs a lot of irq processing 8000times/sec
[23:22:58] <mhaberler> really makes a dent in latency
[23:23:37] <mhaberler> anyway, I need to wrap this port/config thing up and get back to planning..
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