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[00:38:14] <linuxcnc-build> Hey! build 0000.checkin #2277 is complete: Success [3build successful]
[00:38:15] <linuxcnc-build> Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/0000.checkin/builds/2277
[00:38:17] <linuxcnc-build> build forced [ETA 1h02m10s]
[00:38:17] <linuxcnc-build> I'll give a shout when the build finishes
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[01:40:59] <KGB-linuxcnc> 03Sebastian Kuzminsky 052.6 485f9a8 06linuxcnc 10VERSION 10debian/changelog Update changelog & VERSION for 2.6.0 * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=485f9a8
[01:40:59] <KGB-linuxcnc> 03Sebastian Kuzminsky 05signed tags 6b85a5a 06linuxcnc 03v2.6.0 LinuxCNC v2.6.0 (tagged commit: 485f9a8) * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=6b85a5a
[01:41:27] <seb_kuzminsky> yeah that's right
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[02:17:22] <linuxcnc-build> Hey! build 0000.checkin #2278 is complete: Success [3build successful]
[02:17:22] <linuxcnc-build> Build details are at
http://buildbot.linuxcnc.org/buildbot/builders/0000.checkin/builds/2278
[02:18:37] <skunkworks_> logger[psha]:
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[02:59:08] <jepler> seb_kuzminsky: oh yeah, that's right
[03:00:28] <seb_kuzminsky> if the buildbot manages not to fall over for like 30 more minutes i'm gonna go smoke a cigarette
[03:00:58] <seb_kuzminsky> i've got all the wiki updates and the email all queued up, ready to go
[03:01:14] <seb_kuzminsky> i've got my asbestos underpants on
[03:01:18] <seb_kuzminsky> i'm ready to release!
[03:03:27] <skunkworks_> asbestos? you need to move to kevlar...
[03:04:27] <seb_kuzminsky> heh
[03:04:32] <seb_kuzminsky> nomex maybe
[03:05:52] <skunkworks_> Am I hearing a mumble release?
[03:07:36] <seb_kuzminsky> yep
[03:11:52] <seb_kuzminsky> so i've been trying to follow this release checklist:
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ReleaseCheckList
[03:12:02] <seb_kuzminsky> who can update the www.linuxcnc.org front page? not i
[03:12:08] <seb_kuzminsky> and the irc channel topic
[03:12:34] <seb_kuzminsky> do we still care about putting, what, tarballs? on sourceforge? (i dont)
[03:16:13] <jepler> seb_kuzminsky: I don't think we did that for 2.5 at all
[03:16:51] <jepler> I think I can change the channel topics if you want me to .. but you've got about 30 seconds to say "yes"; I'm off to bed.
[03:18:36] -!- mode/#linuxcnc-devel [+v seb_kuzminsky] by ChanServ
[03:19:17] <jepler> seb_kuzminsky: actually, you should now be able to use chanserv to set the topic of #linuxcnc and #linuxcnc-devel
[03:20:17] <seb_kuzminsky> thanks jeff
[03:20:18] <jepler> something like: /msg chanserv topic #linuxcnc <seb_kuzminsky> i've got my asbestos underpants on
[03:20:26] <seb_kuzminsky> uhm ok
[03:21:39] ChanServ changed topic of
#linuxcnc-devel to:
http://linuxcnc.org | 2.6.0 extruding right now! Stand by!
[03:23:15] <jepler> 'night
[03:23:20] <jepler> heh
[03:25:49] <seb_kuzminsky> goodnight! :-)
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[03:43:21] <seb_kuzminsky> http://buildbot.linuxcnc.org/buildbot/builders/3001.dsc-lucid/builds/1810/steps/setproperty_2/logs/property%20changes
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[04:00:38] <skunkworks_> Yay! great work!
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[04:31:09] <seb_kuzminsky> wow, it worked, i can't believe it
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[04:51:07] ChanServ changed topic of
#linuxcnc-devel to:
http://linuxcnc.org | Latest release: 2.6.0
[04:54:04] <seb_kuzminsky> Get:3
http://linuxcnc.org/ precise/2.6-sim linuxcnc-doc-en all 1:2.6.0 [10.7 MB]
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[11:01:06] <skunkworks> jepler, master has been running a day so far with no issues. (both 7i80 and 5i25)
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[12:30:01] <cradek> yay!! thanks seb!
[12:32:31] <skunkworks> now what?
[12:33:19] <skunkworks> Is the new tp in 2.6?
[12:33:30] <skunkworks> (sorry)
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[12:59:18] <jepler> now we get 2.7 ready!
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[14:25:10] <cradek> the wheezy image in the usual place is updated with 2.6.0 etc
[14:25:45] <cradek> seb_kuzminsky: thanks for doing the release, this is great.
[14:27:15] <cradek> (whoops, I guess I lost the change of the Z positive limit on sim/axis)
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[14:31:55] <jepler> if only that would turn out to be the worst bug in 2.6, we could retire.
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[14:52:52] <cradek> seems I had it on timeguy/proposed, which seb rebased. he must've not fetched it.
[14:56:03] <cradek> seb_kuzminsky:
http://timeguy.com/gitweb?p=linuxcnc.git;a=log;h=refs/heads/proposed
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[15:00:20] <ssi> so what does the new TP do better than the old?
[15:00:47] <cradek> programs made up of lots of very short segments
[15:00:52] <cradek> it can run them faster
[15:01:00] <ssi> CV mode essentially?
[15:01:04] <ssi> as opposed to exact stop?
[15:01:08] <cradek> as long as they are only in xyz
[15:01:12] <ssi> gotcha
[15:01:41] <cradek> we have always had "CV" but the V can be higher for these kinds of programs with the new planner
[15:01:53] <ssi> ok
[15:01:58] <ssi> is it a lookahead thing?
[15:02:00] <cradek> I don't know where the idea of "CV" vs not "CV" came from
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[15:04:04] <ssi> I feel like years ago I read that linuxcnc didn't have anything but an exact stop planner
[15:04:14] <cradek> that has never been the case
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[15:04:23] <ssi> yeah I may be misremembering, or misunderstood at the time
[15:05:01] <cradek> we have always had blending, way back to the first days of emc1 in the 90s
[15:07:34] <skunkworks_> in effect linuxcnc went from a look ahead of 1 to a look ahead of X
[15:08:04] <cradek> but that's not true either. we blend many moves together with the NCD
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[15:08:25] <pcw_home> If i understand it correctly, the old planner limited velocity so that it could
[15:08:26] <pcw_home> always do an exact stop at the end of the current move
[15:08:54] <ssi> pcw_home: yeah that's what I remember hearing
[15:08:57] <skunkworks_> pcw_home, I think *next move...
[15:09:12] <skunkworks_> but cradek would probably have a better handle on that.
[15:09:17] <pcw_home> (which might some NCD merged segments)
[15:09:47] <cradek> I don't think you can make it any simpler than: some kinds of programs made up of very short segments can now run faster.
[15:09:58] <pcw_home> :-)
[15:10:22] <cradek> questions like Is it lookahead? Is it CV? do not make it clearer, and they may validate mistaken assumptions
[15:12:37] <ssi> understandable, but "some kind of programs made up of very short segments can now run faster" is couched in very vague, CYA terms
[15:12:49] <ssi> "sometimes maybe this will be inexplicably and imperceptibly better possibly"
[15:12:52] <cradek> heh
[15:13:00] <cradek> but it's true because it's complicated
[15:13:45] <cradek> it's certainly not inexplicable or imperceptible
[15:14:10] <cradek> but it doesn't speed up all programs made of short segments, and it doesn't speed up any programs made up of long segments
[15:14:24] * cradek shrugs
[15:15:32] <cradek> I suspect most people won't notice it (unless there are new bugs) but some people who use cam to make auto-generated gcode made up of very short moves will notice their programs run faster.
[15:15:45] <ssi> can I make an assumption that it works better on short segments that are closer to colinear, obtuse angles, and not as well on short segments with more acute angles between them?
[15:16:29] <cradek> I don't think so, no
[15:16:32] <ssi> ok
[15:16:37] <ssi> I'll kindly shut up then
[15:16:44] <cradek> instead, go try it :-)
[15:17:40] <skunkworks_> it tries to go as fast as it can with the machine constraints/tolerence selected.. (while blending segements with arcs)
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[15:17:51] <skunkworks_> :)
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[15:18:16] <cradek> yes it's true the blends (for xyz only moves) are a different shape now
[15:18:24] <cradek> they're now circular
[15:18:53] <cradek> but you'd probably never notice that
[15:21:35] <ssi> and ja5 has the new TP, but ja4 doesn't?
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[15:23:43] <skunkworks_> rob gave a nice talk on what he did in the planner..
[15:23:52] <skunkworks_> ssi, did you see that?
[15:23:56] <ssi> no
[15:26:02] <skunkworks_> https://www.youtube.com/watch?v=4ObCqXilbrA
[15:26:27] <skunkworks_> oops no
[15:27:25] <skunkworks_> ^ that was machinekit infrastruction by john
[15:27:33] <skunkworks_> here
https://www.youtube.com/watch?v=412N5A-N8Fc
[15:27:38] <ssi> yeah I've been wanting to watch the machinekit tasks
[15:27:39] <ssi> talks
[15:28:55] <seb_kuzminsky> cradek: oh yeah, i remember we talked about that splash screen patch
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[15:29:31] <pcw_home> Heres a puzzler: someone on the forum has endless trouble with ini/hal file parsing specifically
[15:29:33] <pcw_home> loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG) part
[15:29:34] <pcw_home> He says the parens and not mentioned in the docs and maybe cause a problem but the
[15:29:36] <pcw_home> hm2-servo .hal and hm2-stepper.hal example files have always had them and I've never seen a problem
[15:29:55] <skunkworks_> dos line endings?
[15:29:58] <pcw_home> parens are not mentioned
[15:30:14] <pcw_home> he says no
[15:30:24] <pcw_home> only edited with gedit
[15:31:52] <ssi> skunkworks_: thanks, this is good
[15:32:05] <seb_kuzminsky> cradek: when i fetched proposed from timeguy.com i got 0aa1630, which does not include the splash patch
[15:32:30] <seb_kuzminsky> (when i fetched just now i got 3ce952d, which does include it)
[15:32:46] <cradek> seb_kuzminsky: the evidence was gone, because when I saw you took those changes I deleted the branch (day or two ago)
[15:32:54] <cradek> seb_kuzminsky: I made a new proposed branch this morning
[15:33:10] <cradek> seb_kuzminsky: it's no big deal at all
[15:34:10] <seb_kuzminsky> git never forgets the evidence ;-)
[15:34:15] <seb_kuzminsky> agreed, no big deal
[15:34:53] <seb_kuzminsky> i'll check out the new proposed branch for 2.6.1, which should be soon, since andy pointed out i jumped the gun and didnt wait for his lathe-fanucy fix
[15:35:13] <cradek> release early, release often
[15:35:21] <seb_kuzminsky> yep :-)
[15:36:22] <seb_kuzminsky> pcw_home: i see that the [SECTION](VARIABLE) syntax is not described in the INI Configuration docs
[15:37:18] <seb_kuzminsky> it's described in the halcmd manpage:
http://linuxcnc.org/docs/2.6/html/man/man1/halcmd.1.html#SUBSTITUTION
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[15:37:43] <seb_kuzminsky> which sort of makes sense since it's halcmd that's reading the .hal file that has that syntax in it
[15:38:12] <seb_kuzminsky> this is not the first time all our different kinds of config files, with their different syntaxes and documentation files, have caused confusion
[15:38:26] <pcw_home> OK thanks
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[15:39:55] <pcw_home> I still don't really understand his problem (since I am unable to duplicate it)
[15:41:03] <seb_kuzminsky> yeah that's strange
[15:41:26] <seb_kuzminsky> pcw_home: got a link to the forum thread?
[15:41:59] <jepler> http://www.linuxcnc.org/index.php/english/forum/27-driver-boards/28103-firmw
[15:47:30] <pcw_home> if I was less lazy I'd have him post his HAL/INI files that he says dont work and try them here
[15:47:40] <jepler> I know there's a thing when you are using the "two pass" halfile feature, or using .tcl files as hal files, because Tcl quoting and halcmd quoting are not quite the same
[15:49:02] <jepler> y="a b" parses as two words, because Tcl only treats a quote at the beginning of a word as special
[15:49:11] <jepler> while halcmd parses it as one word
[15:50:20] <jepler> this difference ends up being more or less transparent with kernel realtime, because insmod does its own parsing when an argument contains a quote mark -- it pastes argv together with whitespace and then parses it again, or at least that's the black-box impression I have
[15:50:32] <jepler> while rtapi_app doesn't, because that's obviously nuts
[15:52:39] <pcw_home> in this case we are both using Preemt-RT but I'm not clear what linuxcnc version he is using
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[15:56:49] <mozmck> regarding ssi's question about ja5 vs ja4 - wasn't ja something merged into master as well?
[15:57:14] <cradek> nope, not yet
[15:57:27] <mozmck> ok, remembered wrong then.
[15:57:37] <cradek> we wanted to, but our testing at sams showed it doesn't quite work well enough yet
[15:57:38] <mozmck> what is different in jaX?
[15:57:51] <cradek> in particular configs with missing axes (like lathes) seemed totally broken
[15:57:52] <jepler> mozmck: higher numbers are better :)
[15:58:25] <pcw_home> Dosn't that break most hal files because of pin name changes also?
[15:58:26] <cradek> the newest ja branch is rebased on the new master which includes the new tp, so ja needed a lot of rework
[15:58:34] <mozmck> :) I see.
[15:58:35] <cradek> pcw_home: yes but there's a config-updater
[15:59:21] <mozmck> what is the main change with ja - why does it exist?
[15:59:29] <pcw_home> right, think I remember Andy was working on that
[15:59:48] <jepler> mozmck: jaX is to improve linuxcnc on machines with nontrivial kinematics
[15:59:52] <cradek> the idea of joints and axes is currently muddled, which causes trouble for gantrys and lots of other nontrivkins machines
[16:00:01] <cradek> it sorts that all out
[16:00:38] <mozmck> I see. Or you mean - it will sort it all out when it works ;)
[16:01:00] <jepler> the branch has been rebased onto newer versions of linuxcnc from time to time, and that's when it gets a higher number
[16:01:01] <cradek> it also adds some glaring things that are missing in nontrivkins machines today, such as the ability to incremental jog
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[16:03:05] <ssi> the big thing that seems missing in ja right now is the ability to switch from free to teleop mode properly
[16:03:35] <ssi> I have two gantry machines now, and both use a .axisrc chunk of python that can switch them into teleop mode automatically whenever it sees all the axes are homed
[16:03:48] <ssi> but I have no way to switch back OUT, and if I need to rehome I have to kill linuxcnc and restart
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[16:13:47] <cradek> what do you mean by "properly"?
[16:14:05] <ssi> well, for instance gantrykins on master had a free/world menu option
[16:14:08] <cradek> you can switch at will
[16:14:08] <ssi> but ja doesn't
[16:14:17] <ssi> and I couldn't find any hal pins to make the switch
[16:14:18] <cradek> ???
[16:14:23] <cradek> sure it does
[16:14:35] <ssi> I don't have any way to look right now
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[16:19:02] <KGB-linuxcnc> 03Sebastian Kuzminsky 052.6 e03f459 06linuxcnc 10docs/man/man1/halcmd.1 10docs/man/man1/halrun.1 10docs/man/man1/haltcl.1 use easier-to-type bugtracker URL in some manpages * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=e03f459
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[16:35:31] <ssi> skunkworks_: this video makes me not want to write a tp :(
[16:37:44] <skunkworks_> pretty interesting huh.. I like how he aproximated arc-arc and arc-line blends..
[16:37:48] <ssi> yeah
[16:38:18] <skunkworks_> instead of solving 3 quadradic equations
[16:38:25] <ssi> I have an interest in finite-jerk planning, but watching this video, I'm pretty sure I don't have the math to do it :)
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[16:58:38] <alex_joni> seb_kuzminsky: great stuff with 2.6.0.. thanks a lot!
[17:00:49] <seb_kuzminsky> alex_joni: Thanks! I'm pretty excited that it's out finally :-)
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[17:10:36] <alex_joni> heh.. though I'm eager for some 2.7 features :D
[17:11:17] <alex_joni> mainly jaX
[17:11:26] <seb_kuzminsky> me too! now all we need is a 2.7 release manager
[17:11:42] <seb_kuzminsky> jaX is not in master yet, and afaik no one is addressing the identified issues with it
[17:11:45] <ssi> haha ready to give it up already?! :D
[17:12:02] <alex_joni> ssi: one release branch is a lot of work
[17:12:05] <ssi> yeah I know
[17:12:15] <ssi> is there a list of the ja issues somewhere?
[17:12:20] <alex_joni> seb_kuzminsky: identified issues?
[17:12:23] <alex_joni> what ssi said
[17:13:47] <alex_joni> one thing I remember was a lack of checking limits (vel/accel) before a move
[17:14:05] <alex_joni> and maybe scale moves so they don't exceed limits
[17:15:41] <alex_joni> and iirc jogwheels weren't completely done (carthesian mode iirc)
[17:16:21] <ssi> I'm happy to try to get involved in ja if I can, as I have a significant investment in it with two machines running it now
[17:16:41] <ssi> but I'd have to get my bearings and find a foothold in it
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[17:18:40] <pcw_home> dont slip on your bearings :-)
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[17:18:57] <ssi> :D
[17:19:26] <ssi> lemme try to cram more bad metaphors into my conversation!
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[17:27:00] <pcw_home> seb_kuzminsky: other hostmot2 additions in 2.6 are absolute encoders (SSI,BISS, Fanuc type 1 + associated DPLL module)
[17:27:01] <pcw_home> and encoder patches (encoder error enable, filter time setting, muxed encoder cable skew adjust)
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[17:27:10] <skunkworks_> https://www.youtube.com/watch?v=uoSBVNUO2LU
[17:27:58] <skunkworks_> got to love it.. 'Similes and Metaphors are similar but nothing more....'
[17:38:00] <seb_kuzminsky> pcw_home: wanna add it to the wiki?
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Released_2.6.X
[17:39:49] <pcw_home> Yeah I can
[17:40:41] <pcw_home> hmm manual needs the encoder additions
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[17:55:23] <skunkworks_> don't you have people for that?
[17:55:23] <skunkworks_> :)
[17:55:23] <pcw_home> Ha!
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[18:03:31] <cradek> and ... it wouldn't be a very useful addition for threading
[18:04:13] <skunkworks_> I can't think of a real good reason...
[18:04:38] <pcw_home> back and forth threading?
[18:04:55] <cradek> threading tools don't cut very well upside-down
[18:05:23] <pcw_home> details
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[18:12:10] <ssi> it's useful on a manual machine, but I don't see a use for cnc
[18:17:27] <archivist> tap in the carriage should be possible as it is the same sequence as a mill really
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[18:28:22] <ssi> two different moves
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[18:32:53] <cradek> [finally watching this TP video] he doesn't mention inside->outside and outside->inside arc-arc blends
[18:34:03] <cradek> just in->in and out->out
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[18:42:44] <ssi> I'm at a point where he's talking about generalizing to 9D, and how arc-arc and arc-line blending in 9D is messy
[18:42:52] <ssi> I can't even imagine what an arc move on a rotary axis looks like heh
[18:44:48] <cradek> yeah I think the manual says "these kinds of moves are hardly ever used"
[18:45:32] <Tom_itx> maybe for some odd gear cut?
[18:45:42] * Tom_itx doesn't know either
[18:45:44] <ssi> heheh
[18:46:52] <Tom_itx> straight end cut while it's rotating?
[18:47:42] <cradek> I can imagine chamfering a hole on a 5-axis using a move like that
[18:47:58] <ssi> true
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[18:50:17] <Tom_itx> you see youtube videos of convoluted 5 axis moves all the time. especially from MFG that wanna impress
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[18:54:30] <cradek> oh my, a lecture about edm and how gcode isn't what you want for it
[18:54:42] <Tom_itx> hah
[18:54:47] <Tom_itx> on the list?
[18:55:04] <cradek> no, in this video
[18:56:02] <Tom_itx> i failed to click
[18:57:22] <skunkworks_> cradek, what did you think of it?
[18:57:29] <cradek> not done yet
[18:57:49] <cradek> too bad it's in video form :-(
[18:59:07] <cradek> ok Q&A and I can't hear the questions
[18:59:13] <cradek> so I guess I'll stop here
[18:59:18] <cradek> it was informative
[18:59:37] <cradek> my only new thought is I'm curious about the conspicuously-missing arc cases
[19:01:33] <cradek> I wish his diagrams and explanations were in git with the code
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[19:13:12] <seb_kuzminsky> it'd be a good addition to the Code Notes
[19:18:51] <cradek> (oh man, that one guy)
[19:21:10] <skunkworks_> ?
[19:23:07] <seb_kuzminsky> oh yeah, that guy?
[19:23:16] <seb_kuzminsky> the one with the stuff
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[19:38:05] <skunkworks_> jepler, 24+ hours..
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[19:47:38] <memleak> jepler, you've really been working away at that new userspace rtos API i can't wait to test it out with bleeding edge kernel and hardware
[19:48:52] <memleak> 64-bit here btw :)
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[20:15:42] <tjtr33> hey thanks to all for the new release!
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[20:38:31] <jepler> memleak: I've been running sim on 64-bit systems for years, I think the major bugs are worked out.
[20:43:31] <seb_kuzminsky> there may still be 64-bit driver bugs lurking
[20:43:53] <cradek> but we fixed the last one we knew about
[20:44:00] <seb_kuzminsky> jepler & andy fixed one in witchita last summer iirc
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[21:00:35] <jepler> and there were at least two in hm2-eth but they surfaced right away
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[22:21:06] <jepler> bummer, the "odroid"'s ethernet is internally connected via usb
[22:21:10] <jepler> (odroid u3)
[22:23:15] <seb_kuzminsky> the usb link is faster than the ethernet link
[22:23:24] <seb_kuzminsky> oh, you care about latency...
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[22:25:05] <jepler> yeah
[22:26:49] <skunkworks_> that sucks
[22:27:01] <skunkworks_> is there spi on the odroid?
[22:27:06] <seb_kuzminsky> yes
[22:28:20] <jepler> another board I was looking at, cubietruck, seems to have the ethernet connected directly to the CPU's "emac" (Embedded MAC?) block.
[22:28:36] <seb_kuzminsky> skunkworks_:
http://www.hardkernel.com/main/products/prdt_info.php?g_code=G138745696275&tab_idx=2
[22:28:52] <CaptHindsight> yes, on the A10 cubieboard and A20 cubie2 and truck versions
[22:28:56] <jepler> as far as I can find, nobody's built a -rt kernel for either cubietruck or odroid u3
[22:29:25] <CaptHindsight> we have preempt_rt running on the A10's and A20's
[22:29:34] <jepler> CaptHindsight: how's the latency?
[22:29:35] <CaptHindsight> A10 had a xenomai port
[22:30:27] <CaptHindsight> memleak is getting back on that but last week latency was >100K with preempt_RT but last Feb we were ~80uS
[22:30:55] <CaptHindsight> so he's going back over the configs
[22:31:20] <CaptHindsight> what's more exciting is the Exynos performance
[22:32:47] <CaptHindsight> allwinner has a new A80 8 core but since they joined linaro they have ignored the open community at
https://github.com/linux-sunxi/
[22:35:22] <CaptHindsight> https://www.osadl.org/Latency-plot-of-system-in-rack-9-slot.qa-latencyplot-r9s8.0.html imx.6
[22:38:54] <CaptHindsight> Exynos has no detailed open data sheets, allwinner has open data sheets on the A10 and A20, imx.6 has open data sheets
[22:39:50] <jepler> yeah, it's a pain for a hobbyist
[22:40:24] <CaptHindsight> xenomai on the allwinner A13 (same core as others)
http://www.xenomai.org/pipermail/xenomai/2013-February/027801.html
[22:41:01] <jepler> xenomai doesn't make pthreads userspace software have good latency, though, does it?
[22:41:19] <jepler> I just wrote one rtapi implementation, I don't want to do another one the very next month
[22:41:46] <seb_kuzminsky> and i dont want to tackle another kernel just yet...
[22:42:12] <seb_kuzminsky> linuxcnc devs are lazy bastards
[22:43:09] <jepler> It's the only virtue we have
[22:43:30] <CaptHindsight> we either get good docs and poor performance, or no docs but good performance, or can't get parts but good performance and docs
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[22:43:49] <CaptHindsight> "it'a always something"
[22:44:34] <CaptHindsight> if we get 80uS back on the A20 that will be fine with an FPGA
[22:46:04] <CaptHindsight> and with all the preempt_RT debug tools plus xenomai is going to base itself on preemot_rt and now Paolo is using xenomai source in RTAI
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[22:47:35] <jepler> yeah, though peter seems to favor 500us servo periods, so 40µs would sound better than 80µs
[22:48:35] <jepler> but of course, half as much latency always sounds twice as good
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[22:51:19] <CaptHindsight> PPC QorIQ 2020 @1200 MHz 56uS preempt_rt
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[23:43:44] <jepler> hm, the odroid makers have a -rt kernel, but I'm not sure which device(s) it is intended for. Last updated in April, apparently.
https://github.com/hardkernel/linux/tree/odroid-3.8.y-rt
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[23:48:50] <jepler> answer: there are defconfigs for odroidx and odroidx2
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