Hi Andy,
please make "struct haldata_t {} *haldata = 0;" static too.
You don't want duplicates:
--------------------------------------
result = hal_pin_float_new("taperkins.fKcount", HAL_OUT,
&(haldata->fKcount), comp_id);
if(result < 0) goto error;
result = hal_pin_float_new("taperkins.rKcount", HAL_OUT,
&(haldata->rKcount), comp_id);
if(result < 0) goto error;
-----------------------------------
Good luck,
Alex.
25.06.2010 04:53, Andy Pugh пишет:
> On 24 June 2010 15:03, Neil Baylis <[email protected]> wrote:
>
>> If changing/removing some unrelated line of code fixes a problem, then I
>> usually suspect one of two things: a) It's a race condition, and you changed
>> the timing, or b) You changed the memory layout, and corruption (e.g. due to
>> wild pointer) that was occurring at a vital location is now occurring at an
>> innocuous location.
>>
> I have been up till 2am or later for about the last week staring at
> the same 200 lines of code, and I am losing heart.
>
> Could somebody else look at it please ( http://www.pastebin.org/357256
> ) and see if you can spot where I have a pointer wrong? (or, indeed,
> where I might be causing a race condition).
>
> It is probably worth reiterating that it works exactly as expected on
> a sim configuration.
>
> Note that line 53 is commented out as that causes the
> stepgen.0.feedback to drift. (even with the stepgen.0.position-dmd
> left unconnected in HAL. All the more odd as the C axis doesn't have a
> stepgen, I only included it so that the AXIS preview would look right)
>
> I am printing the joint positions as they come back into control.c
> from from inversekins, but as fowardkins is running all the time I am
> (hopefully) only printing that if it comes back as a NaN and I am not
> seeing that.
>
> (I am assuming that the RT delay is not the problem, that is because I
> need the SMI patch, but that seems to disappear from rtapi.conf every
> time you re-compile, and I can't be bothered putting it back)
>
> Unrecognized line skipped: POC FMS LEN DIAM COMMENT
> RTAPI: ERROR: Unexpected realtime delay on task 1
> This Message will only display once per session.
> Run the Latency Test and resolve before continuing.
>
> Unexpected realtime delay: check dmesg for details.
>
> j0 -0.001341 j1 -0.001341 j2 -0.001162 j3 0.000018 j4 0.000000 j5 3.141587
>
> emc/task/taskintf.cc 611: Error on axis 0, command number 184
> Exceeded positive soft limit on joint 0
> abs_ferror = nan and ferror_limit = nan. joint = -0.000358
>
> joint 0 following error
> j0 140.260302 j1 140.260302 j2 -0.008184 j3 -106.717689 j4 0.777232 j5
> 3.141547
>
> emc/task/taskintf.cc 611: Error on axis 0, command number 202
> Exceeded positive soft limit on joint 0
> abs_ferror = nan and ferror_limit = nan. joint = -0.000537
>
> joint 0 following error
> j0 101.772044 j1 101.772044 j2 -0.002109 j3 -10.853862 j4 0.533877 j5 3.141572
>
> emc/task/taskintf.cc 611: Error on axis 0, command number 220
> Exceeded positive soft limit on joint 0
> abs_ferror = nan and ferror_limit = nan. joint = -0.000716
>
> joint 0 following error
> j0 101.770702 j1 101.770702 j2 -0.003164 j3 -10.853880 j4 0.533877 j5 3.141562
>
> emc/task/taskintf.cc 611: Error on axis 0, command number 238
> Exceeded positive soft limit on joint 0
> abs_ferror = nan and ferror_limit = nan. joint = -0.000896
>
> joint 0 following error
> j0 101.769361 j1 101.769361 j2 -0.004218 j3 -10.853898 j4 0.533877 j5 3.141552
>
> emc/task/taskintf.cc 611: Error on axis 0, command number 256
> Exceeded positive soft limit on joint 0
> abs_ferror = nan and ferror_limit = nan. joint = -0.001075
>
> joint 0 following error
> j0 101.768020 j1 101.768020 j2 -0.005273 j3 -10.853916 j4 0.533877 j5 3.141542
>
> emc/task/taskintf.cc 611: Error on axis 0, command number 274
> Exceeded positive soft limit on joint 0
> abs_ferror = nan and ferror_limit = nan. joint = -0.001254
>
> joint 0 following error
> j0 101.766679 j1 101.766679 j2 -0.006328 j3 -10.853934 j4 0.533877 j5 3.141532
>
> emc/task/taskintf.cc 611: Error on axis 0, command number 292
> Exceeded positive soft limit on joint 0
> abs_ferror = nan and ferror_limit = nan. joint = -0.001433
>
> joint 0 following error
>
>
>
>
------------------------------------------------------------------------------
ThinkGeek and WIRED's GeekDad team up for the Ultimate
GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the
lucky parental unit. See the prize list and enter to win:
http://p.sf.net/sfu/thinkgeek-promo
_______________________________________________
Emc-developers mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/emc-developers
