On Fri, 28 Aug 2009, John Figie wrote:
Date: Fri, 28 Aug 2009 18:23:28 -0700 (PDT)
From: John Figie <[email protected]>
Reply-To: "Enhanced Machine Controller (EMC)"
<[email protected]>
To: emc-users <[email protected]>
Subject: [Emc-users] m5i20 watchdog is biting
Hi, I think I am real close to getting this to work but...
I am having 2 problems with emc2, I don't know if they are related but I
suspect that they are:
1) I have created a test.hal file that I have been using without emc2 so that I can test
my I/O, run servos open loop, and tune my PID gains. This file runs fine except the
first time I run it after a cold boot of the computer. After a cold boot and loading the
file into hal using "halrun -I -f test.hal" the watchdog.has.bit always starts
as TRUE and the I/O does not work. If I exit hal and then rerun the command everything
is fine and I can control the I/O. Or, if I don't exit and just reset the bit in hal then
everything is fine from that point on until I turn off the computer.
2) I have made a m5i20.ini file for my machine and another hal file made from
test.hal so that I can run emc2. When I start emc2 using m5i20.ini the
initialization seems to load the stuff in the hal file without errors but then
has problems starting. I get an error:
"Invalid configuration of axes is preventing emc from starting"
Looking at the dmesg output I see something about the watchdog.bit that
Doesn't look good:
[11773.532552] hm2_5i20.0: initialized AnyIO board at 0000:00:09.0
[11774.744518] hm2/hm2_5i20.0: Watchdog has bit! (set the .has-bit pin to False
to resume)
[11893.995647] hm2/hm2_5i20.0: trying to recover from IO error or Watchdog bite
[11893.995653] hm2/hm2_5i20.0: error recover successful!
[11942.947460] hm2_5i20.0: dropping AnyIO board at 0000:00:09.0
[11942.947468] hm2/hm2_5i20.0: unregistered
I have tried a number of things to fix this but have been unsuccessful.
Part of my problem may be that I don't really completely understand what goes on in hal. When I "addf
hm2_5i20.0.pet_watchdog servo-thread" when does this actually start running periodically? I am assuming
after the "start" in hal, but even though I "setp hm2_5i20.0.watchdog.has_bit FALSE" just
before the start, it still doesn't seem to work correctly.
I have placed the m5i20.ini at http://pastebin.ca/1546296
bridgeportS2I2.hal + dmesg output is http://www.pastebin.ca/1546441
Any help will be appreciated
John Figie
Doe you still have the problem is the watchdog is set for long time (say 1
second)?
With your 16 mS timeout, maybe the watchdog is biting before the
initialization is complete.
Dont know what the driver does, but a good method for the driver would be to
set the watchdog to a medium value (say 1 second during initialization) and
then set it to the users selected value the first time its
petted.
If the problem is getting bitten during initialization, this is really a
driver issue, but there may be some clever HAL workaround to reset the
watchdog timeout to a shorter value once the servo loop is running...
Peter Wallace
Mesa Electronics
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