I thought it might be helpful to overview our understanding of the
current process. Hopefully the gurus will straighten out any errors I
make here - but a least it's a talking point.
This is a very simplified description of the two processes running to
turn gcode into machine motion. I didn't include tool I/O etc or manual
commands. Basic auto or MDI process.
task (userspace- runs continuously)
-calls interpreter to read gcode line
-interp updates an internal settings structure
- if the line has a motion command adds it to queue.
- updates status on some things (not in sync with machine)
repeat
Motion (realtime - runs continuously)
-reads queue for next command
-updates status on some things (in sync with machine)
-reads HAL inputs for motion/spindle
- plans trajectory (adjusts for overrides/threading etc)
-outputs HAL pins for motion/spindle
repeat
Once we know this is rightish then we can expand on it.
Hopefully in the end I can pull together some enough for documents for
the future so more people can get involved. It also is helping wrap my
head around linuxcnc internals.
Chris
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