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[16:17:15] <stfwi> Hi guys, can I ask a quick question: I am interested in using or porting the motion control to an embedded ARM controller. Are there already related projects running that I could contribute to?
[16:17:57] <awallin> linuxcnc uses the rtai real-time kernel. I think that is the stumbling block for linuxcnc on ARM
[16:18:14] <awallin> there is some work on porting rtai to ARM, but I'm not sure how ready that is
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[16:18:30] <stfwi> Thanks for this quick reply
[16:20:02] <awallin> hm
https://www.rtai.org/ does list a number of ARM processors. I don't know if anyone has compiled&run LinuxCNC on ARM sucessufully..
[16:23:56] <stfwi> Thanks for this
[16:26:51] <stfwi> To give you a context: I have to admit I am new to EMC, rtapi and the linux hal system, but have experiences in embedded motion control. I thought about building a TrajGen, Coord and axis closed loop on a beagle bone system, attached via LAN - and saw that the components are already implemented in EMC - so why make work trice :)
[16:28:16] <stfwi> Is there then an EMC3 in development? I think some C code would definitely worth to be ported into a class based structure, e.g. polymorph kinetics and axis decls
[16:30:15] <awallin> linuxcnc is the new name. there's always development going on. I think the plan might be that 2.5 will be released for ubuntu 12.04lts
[16:30:40] <awallin> the codebase is certainly a good mix of c, c++, python, etc :)
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[16:32:29] <stfwi> Jepp :)
[16:32:38] <awallin> fwiw the Intel atom D525 boards have quite good real-time performance and are popular. The ARM-adventure is a two step process: 1) get rtai ported and linuxcnc to run 2) check if the real-time performance is any good. if not, :(
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[16:39:00] <stfwi> :)
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[17:33:09] <jepler> the realtime portions of linuxcnc are designed to execute as linux kernel modules, which means that C++ is not suitable.
[17:39:44] <stfwi> Wow, one second, kernel mods have to be C binaries, not just the interface calls?
[17:46:08] <stfwi> OK .. 1992 was the try to port the kernel to cpp, got it :)
[17:50:50] <jepler> linux kernel headers and the kernel module build system are both hostile to c++.
[17:52:15] <jepler> we've already got enough issues that prevent us from jumping to current kernel versions (namely that rtai support is lagging), I'd hate to pile a fragile C++-to-kernel shim on top of it
[17:54:55] <stfwi> I see
[18:00:13] <stfwi> Are there probably ways around this? The thing why I am sticking there a bit is, that the code base contains lot of good features, which are worth to be ported somehow. As embedded devices with hardware components like ADC, PWM and QEP/qdec get cheap enough for hobbyists, a kind of platform independent "liib-emc" that is wrapped to specific HAL, RT modules get more and more interesting ...
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[18:27:56] <IchGuckLive> hi all at devel 2.5 G2 G3 is there a chance to get another parameter into as a helx downmill for start woudt be good
[18:28:52] <IchGuckLive> IJK is used R and P also Q that definse the Z increment down per circle
[18:31:20] <IchGuckLive> so G17 G2 X10 Y10 Z-5 R0.05 Q0.1 -> woudt end in a circeling down at x10y10 from actuell Zposicion at zdown increment 0,1 and a radius of 0,05
[18:32:18] <IchGuckLive> but this code woudt be equal to G12/G13 iso standard
[18:33:09] <IchGuckLive> http://wiki.linuxcnc.org/cgi-bin/wiki.pl?G12-13
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[18:45:54] <cradek> IchGuckLive: no more new features will be added to 2.5
[18:46:25] <IchGuckLive> ok is this all done in c code ?
[18:46:30] <cradek> IchGuckLive: also if you check the documentation at
http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G2-G3-Arc I think you'll find that you can already do the kind of motion you describe
[18:46:35] <IchGuckLive> or is it turned to pytho n
[18:48:13] <cradek> the interpreter is written in C++
[18:48:20] <cradek> C+=.5
[18:50:25] <IchGuckLive> ok i will see if i got the system in motion what is does
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