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[09:12:14] <KGB-linuxcnc> 03git 05master c20e22f 06emc2 10src/emc/rs274ngc/interp_namedparams.cc * interp/namedparams: correct access for unlinked pins
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[14:35:20] <riz_> Hello
[14:37:21] <riz_> When hal_export_funct is used, I noticed that it passes the first argument (arg) to the function that you are exporting. But where is period provided? I notice din the ini file when addf is used to add a hal function to a thread that you specify <thread>. Is this thread the period that is being passed to the hal function as a second argument?
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[15:18:35] <KGB-linuxcnc> 03jthornton 05v2.5_branch 400451a 06emc2 10docs/src/common/python-interface.txt * Docs: add constants
[15:18:35] <KGB-linuxcnc> 03jthornton 05v2.5_branch fd1e6b8 06emc2 10src/hal/components/thc.comp * Docs: make description hardware generic
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[16:17:30] <mhaberler> Charles just got the hm2 stepper with an 5i25 to work with Xenomai and userland PCI I/O!
[16:22:26] <mhaberler> riz: around?
[16:23:17] <mhaberler> riz_: the functions are assembled in a chain (halcmd addf threadfunc) and the chain is associated with a thread
[16:23:36] <mhaberler> the thread has a period; she calls the threadfunctions in the chain in turn
[16:23:39] <riz_> yes
[16:24:05] <mhaberler> right, it's the static period set in periodN= in motion or threads
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[16:24:39] <mhaberler> the other argument is an instance pointer passed through
[16:24:58] <riz_> That is what I assumed, but I could not understand how it is actually passed in code
[16:25:11] <riz_> I can just take it for what it is though haha
[16:26:11] <mhaberler> this is where it all happens: the thread calls the functions in turn:
http://git.mah.priv.at/gitweb/emc2-dev.git/blob/cb531920f74e38e6d8ba3da6866798a31cf10804:/src/hal/hal_lib.c#l2660
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[16:27:11] <mhaberler> lines 2669-2704 make this thing tick, everthing in HAL + motion is executed from there
[16:29:02] <riz_> ok I see now
[16:36:02] <skunkworks> mhaberler, that is awesome!
[16:36:18] <skunkworks> (5i25)
[16:37:17] <mhaberler> I'm going to convert my mill/lathe PC to Xenomai as soon as the 5i20 works too
[16:38:01] <mhaberler> somebody has to jump into the bloodbath first and it better be me;)
[16:40:19] <skunkworks> heh - We have a 5i20 machine - but I would want a bit more testing before throwing it on the k&t. :)
[16:40:37] <skunkworks> it would be nice to run 12.04...
[16:40:44] <cncbasher> i'll convert if the 7i43 can be shoe horned in
[16:42:56] <mhaberler> the PCI stuff is all the same so I assume eventually most/all cards will work; Charles just needs to complete the configuration stuff; for now he hardwired the 5i25
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[16:52:40] <awallin> I will have one of the new cards, a 3x20 on PCIE also soon. I wonder if this is something I will be able to hack on my own... or wait for charles or someone else to help
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[16:58:16] <mhaberler> I would think if there is normal hm2 support for it, it shouldnt be too hard; I hope we get away with a conditional include and maybe some linker option/library and without actually rewriting code (nb: hope)
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[17:04:14] <awallin> I'm hoping to play with custom firmware also.. I hope..
[17:06:23] <L84Supper> does this pretty much put EMC on the path of Xenomai now vs RTAI?
[17:07:39] <awallin> yes, just hw drivers missing right now if I understand correctly
[17:08:08] <awallin> for xenomai on x86 that is. ARM is another story
[17:08:41] <L84Supper> xenomai was already working with EMC on ARM
[17:09:42] <L84Supper> http://code.google.com/p/miniemc2/ I haven't looked at this for a while
[17:09:50] <awallin> I guess we need people brave enough to run and debug this on real machines soon
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[17:10:41] <awallin> does the miniemc2 dev hang out here or on the list? how many people use that?
[17:10:45] <cncbasher> i have miniemc2 working on a arm running simple steppers
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[17:12:34] <JT-Shop> clicking on
http://linuxcnc.org/index.php/english/component/mospjirc/ embedded java client results in Direct Access to this location is not allowed.
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[17:19:45] <L84Supper> http://www.youtube.com/watch?v=w3Ls5ta7eg8 was the source for this posted anywhere?
[17:19:57] <L84Supper> pico-sam9g45 port
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[17:23:04] <mhaberler> L84Supper: an alternative I'd say
[17:23:11] <kb8wmc> awallin: I downloaded your newest updated component for your temperature controller, I am having problems compiling 'frequency2temperature' and get 2 errors related to mixed declarations and code...The first error occurs at line 55 "error: implicit declaration of function 'log' "; the second occurs at line 62 "warning: ISO C90 forbids mixed declarations and code"...does this have to do with...
[17:23:13] <kb8wmc> ...using an incorrect compiler?
[17:24:09] <mhaberler> awallin: never seen Sergey out here; he does reply to mail though
[17:27:22] <awallin> kb8wmc: yes, I heard that from someone else too. I compiled&tested on 12.04lts + xenomai. if you are on 10.04lts then the problem is an older compiler that has different math functions included by default.
[17:28:15] <awallin> I should probably install 10.04lts in a VM and test things there too. it's probably just a matter of one #include line to find&use log()
[17:28:53] <L84Supper> http://elinux.org/images/3/3a/Real-Time_Linux_in_Industrial_Appliances.pdf interesting comparisons on hardware
[17:28:53] <kb8wmc> awallin: aha, thanks, what compiler should I be using and where to get it?....and BTW, thanks much for all your efforts....
[17:30:10] <awallin> hmm, I'm on 12.10 now and that has gcc 4.7.2. you could try with that, if it's available for 10.04lts. but it may also be the C standard library perhaps?
[17:30:39] <awallin> you would need to get the linuxcnc makefiles and/or "comp" to use the newer compiler somehow
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[17:31:47] <awallin> or if you are really interested, look at a diff between rtapi_math.h between mhaberler's rtos branch and what is in v2.5_branch
[17:32:40] <kb8wmc> awallin: hmmm, I will have a look and see if it is available for 10.04....
[17:34:09] <awallin> or maybe just #include <math.h> at the start of the comp will do it?
[17:35:39] <riz_> So, is thread_task(void *arg) responsible for thread scheduling?
[17:36:42] <kb8wmc> awallin: gcc 4.7.2 does not appear to be available from the 10.04 repository...
[17:38:46] <kb8wmc> awallin: then to compile it would be: comp #include <math.h> --install frequency2temperature.comp ?
[17:47:05] <riz_> Within a thread, such as servothread I see that you specify an order which the functions that are added to the thread should run in, but can you specify a length of time that each function can run before the next function is called, or does each function run until completion, only allowing the next functin within the thread to execute once the previous function has been processed?
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[17:56:27] <jepler> kb8wmc, awallin: I don't actually have a working 10.04lts system to test with, but based on the discussion I think these changes may allow the component to be built on 10.04.
http://pastebin.com/Jk5carCt
[17:56:50] <L84Supper> paolo.mantegazza recently said he was going to still get RTAI working with 3.x kernels
[17:57:09] <mhaberler> good
[17:57:13] <mhaberler> one more choice
[17:57:17] <L84Supper> yes
[17:57:37] <L84Supper> nice to have the flexibility
[17:58:06] <kb8wmc> jepler: thanks will give it a go and see what happens
[17:58:50] <mhaberler> I think the support effort is considerable for tracking mainline; one can tell by the number of rt-preempt patches coming out for major releases
[17:59:43] <mhaberler> since he relies on the ipipe patches it will pretty much have to be 3.2 as well
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[18:11:34] <kb8wmc> jepler: hmmm, I still receive error involving ....is it possible that the line "T = 1.0/ (T0 + (1.0/B) * log(R/R0) )" should call out 'log(0)'?
[18:13:05] <kb8wmc> error points to that specific line
[18:17:28] <jepler> it's the addition of this line that is supposed to resolve the error about the line with log:
[18:17:31] <jepler> +extern double log(double);
[18:17:37] <jepler> (well, the "+" denotes that it is an addition...)
[18:19:23] <jepler> I verified that my version compiles against 1:2.5.1.140.gfd1e6b8 on Ubuntu 10.04.3 LTS with kernel 2.6.32-122-rtai
[18:19:40] <jepler> I put my modified comp file here:
http://emergent.unpythonic.net/files/sandbox/frequency2temperature.comp
[18:24:17] <jepler> also someone who knows the math could double check that frequency=75 should give temperature=206.6:
http://pastebin.com/EixsWPRG
[18:26:41] <kb8wmc> jepler: awallin: got it to compile properly without errors or warnings
[18:29:24] <kb8wmc> although I did not add the line "@@ -50,18 +52,20 @@ const double R1 = 3500;" as I am not sure exactly where to add it in...
[18:29:29] <mhaberler> L84Supper: re youtube/ Pico-SAM9G45 port: yes I got in touch with Volkan, and he provided some diffs for rtapi; we eventually didnt use them:
http://git.mah.priv.at/gitweb/emc2-dev.git/shortlog/refs/heads/xenomai-rtapi-volkan
[18:30:06] <mhaberler> he uses a proprietary fpga backend which he didnt disclose
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[18:31:04] <mhaberler> we took some ideas from the miniemc2 code but not the 'fast stepper' scheme
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[18:38:32] <jepler> kb8wmc: in a diff, the "@@" lines are guides to the line numbers where the modifications are performed. Lines starting "+" are additions, and lines starting "-" are deletions.
[18:38:54] <jepler> so it's good you didn't add the "@@" line, as it is not intended to be added
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[18:47:46] <riz_> Does anyone know where the function ZERO_EMC_POSE can be found? I see it being called but cannot find where the function is written...
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[18:48:03] <kb8wmc> jepler: rgr that....tnx for that info, and thanks for your time walking me through this
[18:56:14] <riz_> nevermind found it. seems to be a macro
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