#linuxcnc-devel | Logs for 2014-04-16

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[01:23:44] <memleak> well this sucks.. i forked RTAI (again) to try and get everything working again like how i had everything a few months ago, and it works, but now it's just magic again because i don't know what changed caused the fix.
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[02:31:26] <skunkworks> memleak: you just back away slowly
[02:45:08] <memleak> skunkworks, no kidding!
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[02:45:40] <memleak> will push tree to github momentarily
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[02:49:29] <memleak> i didnt realize this until i made that fork but all current RTAI code does not work with linuxcnc
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[02:55:29] <memleak> everything except 4.0 tarball and vulcano branch but vulcano and 4.0 tar does not have 3.10 kernel support or any of the fancy scheduler stuff so i'll be working on that, then when thats done ill have an ISO ready
[02:56:42] <memleak> ISO will have whatever the latest 3.10 kernel is at the time of release, plus extra latency patches currently not included in github or upstream RTAI
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[09:44:34] <memleak> i see linuxcnc is not used to kernel 3.10's new version.h thingy.. include/generated/uapi/linux/version.h ;)
[09:46:07] <memleak> ah.. in order for kernel 3.10 and newer support i'll need a linuxcnc developer volunteer. 3.10 changed the way /proc works and linuxcnc/src/hal/hal_lib.c is borked
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[09:56:02] <memleak> https://github.com/NTULINUX/RTAI (biggest problem is make clean and make distclean which honestly isn't the worst thing to be battling right now)
[09:58:03] <memleak> this commit broke linuxcnc but was required for 3.10 kernel support: https://github.com/NTULINUX/RTAI/commit/aaf9ddfbaa7d347fa520bc925a60d190c06649da
[09:59:58] <memleak> pastebin.ca/2696861 <- linuxcnc compilation errors
[10:01:25] <memleak> once that's fixed we can start worrying about chasing kernels 3.12 3.14 etc (if that's the only problem linuxcnc has with 3.10 kernel that is...)
[10:02:43] <memleak> 3.10.37 RTAI kernel patch itself has been added to that RTAI tree btw
[10:11:13] <memleak> testsuite works so the scheduler and all is fine!
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[10:11:17] <memleak> YES!
[10:14:19] <memleak> pastebin.ca/2696865
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[13:20:39] <memleak> who wrote most of the rtapi code btw?
[13:20:53] <memleak> the stuff in master v2.x i mean^
[13:22:21] <memleak> i recall a few people in here asking about newer kernels and now that i have something, i just need the linuxcnc tree to be modified accordingly.
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[13:41:37] <skunkworks__> memleak: so rtai support for 3.1x?
[13:43:14] <memleak> skunkworks_, yes, perfectly on the RTAI side but linuxcnc is throwing errors due to the way 3.10 deals with /proc
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[13:43:50] <memleak> skunkworks__, pastebin.ca/2696861
[13:44:26] <memleak> i had to make these changes to RTAI userspace in order to get it to work: https://github.com/NTULINUX/RTAI/commit/aaf9ddfbaa7d347fa520bc925a60d190c06649da
[13:44:42] <memleak> (on the RTAI side of course)
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[13:45:47] <memleak> the shabbyx fork and upstream have too much code for me to deal with so i trimmed it down several MBs and really only included the necessary stuff for linuxcnc on x86
[13:46:27] <memleak> i broke make clean and make distclean so until i fix that, i suggest git clean -fd
[13:47:17] <memleak> i rather be battling with autotools and kconfig than the scheduler :)
[13:47:53] <memleak> if i can get people to take care of the linuxcnc side of things i can get 3.12 running too given enough time
[13:48:59] <memleak> i believe PCW wanted 3.12 or 3.14 because of his new intel chipset
[13:52:02] <skunkworks__> yes - the video drivers suck for < 3.1
[13:52:10] <skunkworks__> that would be awesome!
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[13:52:29] <skunkworks__> we could have realtime linux running on 14.04 without too much work
[13:52:39] <skunkworks__> (sim runs just fine)
[13:53:30] <memleak> how much work would it be to update the proc stuff in linuxcnc?
[13:53:59] <skunkworks__> 1fps on 12.04
[13:54:07] <memleak> XD
[13:54:08] <cradek> I bet nobody knows that any better than you do
[13:54:12] <skunkworks__> memleak: sorry - I don't speak developer...
[13:54:26] <memleak> cradek, i dont know anything about the linuxcnc source code.
[13:54:44] <skunkworks__> memleak: what did you do to get it to work?
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[13:55:50] <memleak> the kernel side of things you mean?
[13:57:22] <skunkworks__> no - I though you had got linuxcnc to run... (like you had fixed the proc)
[13:57:37] <skunkworks__> (didn't look at the pastebin)
[13:57:45] <memleak> yes, the pastebin.
[13:58:21] <memleak> i fixed proc for RTAI and kernel
[13:59:11] <memleak> took a mix of paolo's patches, took some code from adeos and modified it to make it work with RTAI, had to rebase it though off of the latest 3.10 kernel to ensure stability
[14:00:37] <skunkworks__> sounds scary :)
[14:00:49] <seb_kuzminsky> skunkworks__: did you get linuxcnc sim working on 14.04? how did you fix the tclstubs problem?
[14:01:10] <memleak> i did it all in one night so not really..
[14:02:17] <memleak> proc for linuxcnc will be hosed until someone who knows linuxcnc will fix it. i would if i knew how but im the village idiot when it comes to the linuxcnc tree
[14:02:27] <skunkworks__> tclstubs? oh - I didn't. forgot about that.. that still doesn't work.. :(
[14:02:43] <seb_kuzminsky> heh
[14:03:07] <cradek> it looks really isolated in rtapi_proc.h
[14:03:18] <cradek> I don't think there's any real "tree" knowledge needed
[14:03:19] <skunkworks__> the only thing I noticed was 'show hal configuration' doesn't work
[14:03:32] <cradek> I still suspect you know more about it than anybody else
[14:03:57] <cradek> have you found something that says how the proc interface changed?
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[14:05:15] <memleak> it's all in the one single commit on github, exact syntax and everything
[14:05:46] <memleak> i made the commit history as cleanly as possible in case i'd run into this exact issue i'm facing right now
[14:06:25] <cradek> do you mean https://github.com/NTULINUX/RTAI/commit/aaf9ddfbaa7d347fa520bc925a60d190c06649da
[14:06:40] <memleak> yes
[14:07:04] <memleak> only and only the necessary proc changes are in there
[14:10:03] <memleak> the changes to hal_32.c would be most relevant
[14:10:31] <cradek> oh good, that's one of the comprehensible parts
[14:11:35] <memleak> XD
[14:12:34] <memleak> lines specifically 1481 / 1483 to be exact
[14:17:05] <cradek> unfortunately I can't do anything more than point you at the code like I did - I have no way to run/test any changes and I'm not going to guess and push for you to try
[14:17:22] <cradek> maybe someone else can help if you don't want to make the changes
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[14:19:51] <memleak> in cases like these my changes are always wrong. i fix compiling errors but open up another pandora's box later on that only other people seem to fall into.
[14:20:28] <cradek> fortunately with buildbot we can easily see whether we broke old versions - I bet that's the main pitfall to worry about here
[14:20:59] <memleak> ah yes, retaining compatibility with non 3.10 kernels is way over my head, let me say that right now.
[14:21:52] <memleak> i didnt even do that to the RTAI tree, i got it working and started jumping in joy.
[14:23:00] <memleak> an RTAI tree for every new kernel.. *_*
[14:23:23] <cradek> ugh
[14:24:32] <memleak> ill try a few things out on the linuxcnc tree later on, it's 9:30am here, no sleep so im not really in the mood for anymore C
[14:24:55] <cradek> yikes, sleep first!
[14:25:02] <cradek> no coffee until after sleep
[14:26:02] <memleak> meanwhile right next to me are three red bulls and a cup of coffee
[14:26:57] <memleak> i have no motivation to work during the day, only throughout the night, its weird.
[14:27:45] <cradek> thanks for all your rtai work, it really helps our project
[14:28:00] <seb_kuzminsky> yeah, thanks memleak!
[14:28:32] <memleak> no problem! i do it for myself too.
[14:29:19] <memleak> i think a few days ago i was talking about PREEMPT_RT not being fast enough for what we were doing so, gotta do whatcha gotta do!
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[14:31:33] <skunkworks__> seb_kuzminsky: I just find vauge references to the tclStubsPtr error - like you have to point directly to libtclstubs8.6.a (or
[14:31:34] <skunkworks__> whatever version is installed).
[14:31:51] <skunkworks__> https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=724830
[14:32:25] <memleak> and im going ice skating soon.. probably under the worst conditions right now, eh?
[14:40:12] <skunkworks__> memleak: still ice around chicago?
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[14:42:28] <memleak> it snowed i think yesterday for about 30 mins, heh
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[14:51:50] <cradek> seb_kuzminsky: ooh your wiki page
[14:52:36] <seb_kuzminsky> it's not done yet...
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[15:03:04] <skunkworks__> I already posted it on all the forums...
[15:03:18] <skunkworks__> ;)
[15:03:26] <seb_kuzminsky> heh
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[21:01:17] <PCW> skunkworks_ 7I76E 2 KHz for a day so far with a newer preemt_rt kernel, getting better...
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[21:24:44] <skunkworks_> PCW: awesome - what platform?
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[21:31:28] <micges1> PCW: mesa 5i24-25 will have 0x15 flash id?
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[21:42:26] <andypugh> micges: Any ideas? I am out of my depth: http://www.linuxcnc.org/index.php/english/forum/49-basic-configuration/27724-homing-a-dual-motor-for-one-axis-gantry-machine/46009
[21:42:48] <micges> looking...
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[21:49:13] <cradek> is he trying to do index homing?
[21:53:45] <micges> andypugh: should work this way
[21:56:09] <micges> andypugh: I'll try ja4 gantry in an hour
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[22:04:54] <PCW> skunkworks_ Gigabyte J1800
[22:07:41] <PCW> micges, currently they have 0x14 id (16 Mbit)
[22:09:11] <andypugh> I am not sure what homing type he is looking at. He did seem interested in doing a version of gantry homing that worked for him, which seemed like a good start.
[22:09:22] <PCW> we use 16 Mbit pretty much every where now (so we just have to buy one type)
[22:09:23] <PCW> If we start using bigger FPGAs like XC6SLX45 we will need to go to 32 Mbit (0x15 ID)
[22:09:55] <andypugh> <ponder> Can the homing code look for clues in the kins section?
[22:14:50] <micges> PCW: I see
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[22:24:30] <PCW> no, IC
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[22:25:23] <seb_kuzminsky> andypugh: i think it doesn't currently
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[23:01:36] <andypugh> seb_kuzminsky: I know that it doesn’t currently, and I suspect that it is probably better to explicitly deefine behaviour rather than have the software make a best-guess.
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[23:17:33] <micges> andypugh: lcnc must be set in teleop mode after homing, then gentrivkins will work
[23:18:29] <andypugh> micges: I though that the whole point of gentrivkins was that it was trivial kins with no joint mode?
[23:18:30] <micges> Axis won't let me do that, it must patched in some way
[23:19:18] <micges> yes. but lcnc is default in joint mode regardless
[23:20:22] <micges> I just patched gui, but I didn't think of any acceptable solution for this
[23:20:45] <andypugh> That’s really disappointing.
[23:21:06] <andypugh> I _thought_ JA4 and gentrivins was a solution, not a problem.
[23:22:04] <micges> ja4 isn't finished
[23:23:34] <micges> hold on, I've got idea for simple fix for this
[23:36:41] <micges> andypugh: see lst post in thread
[23:36:51] <micges> works ok
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[23:46:13] <andypugh> Great,
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[23:47:15] <andypugh> I have been a fan of JA4 for years, I do think that it needs a concerted push. it should be merged after 2.6, even if it breaks Master, in my opinion. Not that my opinion matters.
[23:49:18] <cradek> fwiw, I agree with you
[23:50:06] <cradek> also rob's planner
[23:50:16] <cradek> not sure how much they will conflict -- probably not too bad
[23:50:56] <andypugh> Apparently not at all, the Splitters already have both.
[23:52:19] <CaptHindsight_> PCW: are the 7i90's ready for testing?
[23:52:20] <skunkworks_> spinter has ja4? I don't think so..
[23:52:43] <skunkworks_> I thought it had jog while paused and robs planner
[23:53:52] <CaptHindsight_> PCW: memleak is working on updating RTAI, will your drivers work with RTAI?
[23:54:19] <andypugh> skunkworks_: You might be right. I have kind-of backed away from both.
[23:54:57] <skunkworks_> I am about 90% sure ;)
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[23:56:29] <micges> I'm 100% sure machinekit doesn't have ja4 (yet)