Re: [Emc-developers] Announcement OpenCN release 2

[Nicklas Karlsson]

> ...
> Path Planning :
> 
>   *   Compressing of small G01 segments by cubic B-Splines
>   *   G^2 continuity between all curve types

G^2 continuity mean second derivative of position = acceleration is continuous?


Nicklas Karlsson


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Re: [Emc-developers] Announcement OpenCN release 2

[Nicklas Karlsson]

> dear LinuxCNC developers,
> 
> 
> 
> we are pleased to announce the release 2 of OpenCN with the following 
> features :
> 
> 
> 
> Framework :
> 
>   *   x86 and ARM (Raspberry Pi 4) HW platforms
>   *   Hard real time support with Xenomai/Cobalt in AMP configuration
>   *   Linux kernel 5.4 LTS
>   *   Stable EtherCAT Master @10 kHz with distributed clock running on a 
> dedicated CPU core
>   *   Externalized (remote TCP/IP) GUI based on Qt (Linux, Windows, Android)
>   *   Common code source for x86 and ARM

Seems really good, the way I want to build things, got my first real part 
machined last weekend.

> Path Planning :
> 
>   *   Compressing of small G01 segments by cubic B-Splines
>   *   G^2 continuity between all curve types
>   *   Feedrate planning with acceleration and jerk control for 3 axes
>   *   Detection of cusps and handling of exact stops
>   *   Robust path planning algorithms tested with large size G code files


Best regards Nicklas Karlsson


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Re: [Emc-developers] iocontrol.0.tool-prepare

[Nicklas Karlsson]

> On Sun, 17 May 2020 at 16:13, Reinhard  wrote:
> 
> > in ioControl.cc I found the note: "only valid when tool-prepare=TRUE", but
> > where do I have to enable that switch?
> > That pin is not mentioned in docs of ini-file nor in the man-page of 
> > iocontrol

(Bit, Out) TRUE when a Tn tool prepare is requested

Here is something about this pin 
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ToolChange at the "Prepare option" 
header.

> Did you really mean iocontrol.0.tool-prepare? That pin is mentioned in
> the manpage.
> http://linuxcnc.org/docs/2.7/html/man/man1/iocontrol.1.html


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Re: [Emc-developers] spindle status

[Nicklas Karlsson]

> On Thursday 14 May 2020 14:57:59 Chris Morley wrote:
> 
> > Well I dare say that a VFD counts as hardware.
> > I use serial data from my VFD for spindle RPM display.
> >
> > My point was though that to get actual RPM back to a gui you pretty
> > much use HAL and can't use NML (currently anyways).
> >
> > Chris
> 
> Unfortunately, the vfd's I have bought are totally w/o even the footprint 
> for a serial port on the pcb's.  And yes, I've looked.

The motor have encoder or some other kind of rotational sensor?


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Re: [Emc-developers] HAL memory leak?

[Nicklas Karlsson]

> Reading through hal_lib.c
> 
> This line seems wrong:
> 
> https://github.com/LinuxCNC/linuxcnc/blob/2.8/src/hal/hal_lib.c#L3406
> 
> In that there is a tmax parameter, and there is also a time _pin_. So
> the code can't just be enabled and expected to work.
> 
> It is called by thread_delete, and also as part of rtapi_app_exit. But
> I suspect that in the latter case the fact that the next thing that
> happens is rtapi_shmem_delete might make it unimportant.

Guess HAL memory should be allocated just once at startup and freed then exit. 
If memory is not freed then exit I think Linux will free it automatically.


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Re: [Emc-developers] Jogging feedback?

[Nicklas Karlsson]

> Hi,
> 
> I currently work on jogging controls and wonder: is there some info in status 
> area where I can get rid of current jogging actions?
> I found the commands to start or stop jogging, but no jog-fields in status 
> messages. 
> Did I miss something, or is there no feedback available?
> 
> Reinhard

Where are you looking? Inside Linuxcnc? Or in some kind of servo driver?


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Re: [Emc-developers] OpenCN forum + announcement of release v2

[Nicklas Karlsson]

> dear Reinhard, dear LinuxCNC developers,
> 
> 
> 
> I refer to the last phrase of Reinhard's email below.
> 
> 
> 
> We installed a forum for all questions related to OpenCN :
> 
> https://discourse.heig-vd.ch/c/opencn
> 
> You are welcome to input all issues, installation problems, etc.
> 
> 
> 
> Unfortunately we had to fork LinuxCNC because the real-time framework of 
> OpenCN differs a lot (Xenomai with asymmetric multi processing (AMP)).
> 
> 
> 
> We plan a release v2 of OpenCN by end of june 2020 with the following 
> features :
> 
> 
> 
> 1) Compressing of small G01 blocks by B-Splines
> 
> 2) Detection and handling of cusps in the trajectory, better handling of 
> feedrate near zero
> 
> 3) Linux 4.19 LTS
> 
> 4) remote GUI in order to eliminate intermittent jitter problems in EtherCAT 
> @10 kHz due to DMA access of GPU
> 
> 5) x86 and Raspberry Pi support
> 
> 6) bug removals and better stability

Sounds really good!

Got my first Ethercat servo board to run with good accuracy this weekend and 
got my first circuit board there I am really happy with design a few hours ago. 
Layout of circuit boards should be good for electrical and manufaturing 
reasons, they should also have enough clearance/creapage to fulfill safety 
standards if needed and circuits with reinforced safety certificates have been 
used, at least if they ordered with correct part number, no module, standard 
discretet transistors, it is standard circuit boards with some marginal to the 
minimum clerance and trace with tough thicker than standard copper might be 
needed. It should also be possible to fit in a box with power connectors on the 
sides, logic connectors and LEDs according to Ethercat standard on the top, 
this design should hopefully be suitable then mounted in a cabinet though 
cooling fin on the back might complicate it in case a large one is needed.

Regards Nicklas Karlsson


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Re: [Emc-developers] Third-Party GUIs

[Nicklas Karlsson]

> Hi,
> 
> On Sonntag, 3. Mai 2020, 10:43:12 CEST N wrote:
> > Reading manual. "motion -- accepts  NML motion commands" so I guees you want
> > some of these commands to come from your hardware buttons?
> 
> Well, my idea is to have hardware buttons for every command, so that the UI 
> is 
> just an infoboard.
> Don't know, whether it is possible, but I'm working on it.
> 
> cheers Reinhard

Machine I am working with now have real buttons on the old control system and 
are certain it is good this possibility is available in Linuxcnc. With inputs 
for digital and if needed analog signals it should be no problem get signal 
into Linuxcnc and also the other direction if needed.

Looking into the development manual for 2.9.0 the figure on page 4 is an 
overview over the arhictecture. Manual for motion state "motion -- accepts NML 
motion command" and it is possible to connect pins using .hal file but motion 
commands are hardwire to NML.

Not sure to which "component/block" buttons in GUI is connected but guess the 
most obvious would be to make them these pins available in .hal file so they 
could be connected just as any other pins.

It is already possible to add custom panels or similar with gtk hal widgets 
which show up as gladevcp.pinName in my configuration file.


Regards Nicklas Karlsson


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Re: [Emc-developers] Third-Party GUIs.

[Nicklas Karlsson]

Have been working on a missing piece, mostly hardware for a few years but 
finally start to reach a point there it is good enough.

> I think so too.
> 
> > On 2 May 2020, at 4:29 am, Chris Morley  wrote:
> > 
> > I think we should just worry about/concentrate on, linuxcnc rather then 
> > other projects.
> > 
> > 
> > From: andy pugh 
> > Sent: May 1, 2020 12:17 PM
> > To: EMC developers 
> > Subject: [Emc-developers] Third-Party GUIs.
> > 
> > I wonder if the docs should mention the GUIs that are made for
> > LinuxCNC but are not part of LinuxCNC?
> > 
> > I am thinking of
> > http://www.qtpyvcp.com/showcase/mill_vcps.html
> > And
> > https://github.com/DjangoReinhard/JCNCScreen
> > 
> > And maybe also PathPilot.
> > 
> > --
> > atp
> > "A motorcycle is a bicycle with a pandemonium attachment and is
> > designed for the especial use of mechanical geniuses, daredevils and
> > lunatics."
> > — George Fitch, Atlanta Constitution Newspaper, 1912
> > 
> > 
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> 
> 
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Re: [Emc-developers] Third-Party GUIs.

[Nicklas Karlsson]

Use this gtk interface and it works but must install older version of glade.

Still consider C++ a better option than python and I used both but if someone 
wrote in python I am of course a grateful user. Main reason for rather soft 
real time like GUI is static types so compiler could check pieces fit together 
before program is run.


> Actually I would just link to the QtPyVCP web site qtpyvcp.com
> 
> JT
> 
> On 5/1/2020 4:28 PM, Gene Heskett wrote:
> > On Friday 01 May 2020 16:38:01 John Thornton wrote:
> >
> >> Sounds like a good idea to me.
> >>
> >> JT
> > I think so too John, but verifying that all those extras are alive and
> > well is more than I'll ask our limited manpower to do, so just the
> > mention of something google should find s/b more than enough.
> >> On 5/1/2020 7:17 AM, andy pugh wrote:
> >>> I wonder if the docs should mention the GUIs that are made for
> >>> LinuxCNC but are not part of LinuxCNC?
> >>>
> >>> I am thinking of
> >>> http://www.qtpyvcp.com/showcase/mill_vcps.html
> >>> And
> >>> https://github.com/DjangoReinhard/JCNCScreen
> >>>
> >>> And maybe also PathPilot.
> >> ___
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> >> https://lists.sourceforge.net/lists/listinfo/emc-developers
> >
> > Cheers, Gene Heskett
> 
> 
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Re: [Emc-developers] Third-Party GUIs

[Nicklas Karlsson]

> Here are my thoughts on user interfaces.
> 
> Frankly I think that just a mention that users can make their own user 
> interface would be enough and how to do that using a universal user interface 
> method.  In my opinion all user interfaces should be removed from LinuxCnc 
> proper which will greatly reduce maintenance and upgrade problems.
> 
> As a example we’re still using Python 2.7 even though there has been talk 
> about upgrading it for years. Perhaps a totally new version of LinuxCnc 
> should be considered instead of adding more and more to the old. It does look 
> to me that Qtpyvcp will be the winner in user interfaces.

Would go for C or C++ or maybe ADA instead of python. As is now old version of 
GTK have to be used for custom panels, have one or two. Maybe sooner or later I 
get time, no night clubs ar open now and I decided I have more than enough 
courses from university.


Nicklas Karlsson


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Re: [Emc-developers] Booleans in INI files.

[Nicklas Karlsson]

{FALSE, TRUE} is common for booleans but do not know for linuxcnc.

> Some booleans in INI take "ON", for example TWOPASS.
> Others take "1" and "0"
> 
> There is a suggestion in the code that YES / NO / OFF / ON might be
> expected to work:
> https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/ini/emcIniFile.cc#L50
> 
> But I am not sure that it does, having experimented a little.
> 
> -- 
> atp
> "A motorcycle is a bicycle with a pandemonium attachment and is
> designed for the especial use of mechanical geniuses, daredevils and
> lunatics."
> — George Fitch, Atlanta Constitution Newspaper, 1912
> 
> 
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Re: [Emc-developers] Compile Warnings

[Nicklas Karlsson]

> On Sun, 22 Mar 2020 at 13:05, Nicklas Karlsson
>  wrote:
> 
> > Think the easiest is to increase HAL_NAME_LEN until there is no warnings. 
> > It feels a little bit ugly but expect it will work without problems.
> 
> Given that user comps or things like mb2hal that  pick parts of hal
> pin names from the INI file have no real limit to the input string
> length, "long enough" is likely to be extremely long.
> There are reasonable grounds for limiting the possible length of hal pin 
> names.

To increase the maximum length must be an easy fix but as you say to upper an 
upper limit is a problem.

Change functions to use dynamic memory allocation on heap, malloc(...) or 
similar require more work and may introduce memory leaks in case of an error.


None of the above solutions are perfect. Ideally then used inside a function 
programming language would support declaring variables of variable size, then 
memory would be automatically deallocated at end of function or block there it 
is declared, it also have an advantage for computer memory could be allocated 
on stack or with stack like memory allocation which is a choice of compiler. 
Good for both human and computer.


Regards Nicklas Karlsson


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Re: [Emc-developers] framebuffer xmotion

[Nicklas Karlsson]

> or here:  https://forum.qt.io/topic/61899/qt5-embedded-framebuffer-poor-gui/4
>  and than in stack :
> https://stackoverflow.com/questions/50236156/making-a-qt-gui-application-run-on-a-framebuffer-in-linux
> 
> 
> never interested first on these framebuffer  but seems quite old
> type and not very interesting because if you use qt on old pc or
> xxPI and other project, you can use QT framework as windows
> manager without all SO and drive Lcnc from these point, without start
> a complete linux SO. I think these way perform same result than use
> framebuffer (on same hardware) but with more feature.
If framebuffer is faster or use less resources and work equally well I would 
use it but to spend any development time on it I am in doubt.

> New version of QT like 12 or 14 is focused on embedded linux system
> ... so better is use it.

If doing something new I would use last version.


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Re: [Emc-developers] Compile Warnings

[Nicklas Karlsson]

> Compiling LinuxCNC at the moment gives an awful lot of warnings.
> 
> Many of them relate to packing (potentially) too many characters in to
> HAL pin names with snprintf.
> 
> Example:
> 
> hal/user_comps/mb2hal/mb2hal_hal.c:38:5: note: ‘snprintf’ output 13 or
> more bytes (assuming 60) into a destination of size 47
> 
>  snprintf(hal_pin_name, HAL_NAME_LEN, "%s.%s.num_errors",
> gbl.hal_mod_name, mb_tx->hal_tx_name);
> 
> It isn't wrong,
> https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/hal.h#L139
> #define HAL_NAME_LEN 47 /* length for pin, signal, etc, names */

Think the easiest is to increase HAL_NAME_LEN until there is no warnings. It 
feels a little bit ugly but expect it will work without problems.

I could see HAL_NAME_LEN is used locally within fuction to declare a char array 
with a fixed length. In C it is not with a variable for array size, it should 
be possible with stack like memory allocation instead of heap and think it is 
allowed in ADA the used for local variables within function if I remember 
correct. To use malloc(...) function instead may add memory leaks.

I conclude a warning in case number is to small might be the best solution 
available.


Regards Nicklas Karlsson


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Re: [Emc-developers] translate linuxcnc documentation into Chinese

[Nicklas Karlsson]

> hello, everyone.
> I am a newcomer from China
> I am very interested in this project, I now plan to translate its
> documentation into Chinese, I will start with "getting started"
> If I encounter difficulties in the translation process, hope to get
> everyone's help

很好。我说一点中文可是我的中文不好。


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Re: [Emc-developers] framebuffer xmotion

[Nicklas Karlsson]

> > My question:
> >
> > Will using the framebuffer (instead of X) make a better environment for 
> > LinuxCNC?
> 
> For low spec. computers, not having the overhead of X, is a bonus.  You'll
> also boot faster into linuxcnc.

That's nice.

> But, you won't be able to run other applications or utilities. ...

Maybe I do not want to anyway.

> need to write everything from scratch - X's OpenGL is used for the 3d.
> 
> > ( I am ankle deep in FB programming now and wondering if I should get in
> deeper or head for higher ground )
> 
> I played around with Qt and its option to use the framebuffer as the output
> device (with the command line option '-platform linuxfb:fb=/dev/fb0').
> Theoretically, you can write 1 Qt program that would work with X or FB. That
> proof of concept worked, but I didn't have time to take it further.

Then maybe not to much extra work is required to get it working.

But running in X work great so I do not care to much.


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Re: [Emc-developers] announcement OpenCN, a new fork of LinuxCNC --> Jerk control

[Nicklas Karlsson]

On Fri, 22 Nov 2019 23:50:39 +
Herzog Raoul  wrote:

> dear Gene,
> 
> I agree with you, OpenCN is not meant for stepper motor applications, since 
> there is no feedback control using encoders.

There are Ethercat nodes for stepper modes available to buy.

As Ethercat is a standard and rather common bus there are an ever increasing 
number of other devices available for actuation and measurement.


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Re: [Emc-developers] announcement OpenCN, a new fork of LinuxCNC --> Precalculations

[Nicklas Karlsson]

On Sat, 23 Nov 2019 11:41:23 +
Herzog Raoul  wrote:

> dear Andrew,
> 
> The RS274 interpreter is still the original, important concepts like HAL, 
> pins etc, are still there.
> 
> Even with high end drives, you cannot simply stream position data, the 
> reference signals for each drive *must* respect the physical constraints 
> regarding max jerk, max acceleration and max speed !
> 
> Important for understanding : there is NOT ANY trajectory planning INSIDE the 
> drive, only feedback loops and feedforward.

Read CANopen standard 402 which may alsoe be used over Ethercat and som drives 
may actually have trajectory planning but for syncronized motion I am certain 
trajectory MUST be done in Linuxcnc with some margin on the limits.


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Re: [Emc-developers] announcement OpenCN, a new fork of LinuxCNC --> Precalculations

[Nicklas Karlsson]

On Sat, 23 Nov 2019 10:15:53 +
Herzog Raoul  wrote:

> dear Nicklas,
> 
> there is no feedback control loop in OpenCN.
> Feedback and Feedforward is only inside the drives.

Agree, OpenCN only need to know the limitations. This could also be the case 
for LinuxCNC depending on configuration though this motion planning is as I 
understand better in OpenCN since it know more about the limitations, motor 
model/equations.

> We use TSD80E drives from the manufacturer Triamec 
> (https://www.triamec.com/de/triamec-servo-drives.html).
> The sampling frequency for the PWM, current control loop and position control 
> loop is 100 kHz !
> The setpoint values coming from EtherCat at a rate of 10 kHz are fine 
> interpolated in the drive and upsampled to 100 kHz.

Could be good to know about.

> One remark regarding our feedrate planning.
> At any time, at least one of the constraints is "active", meaning that either 
> the max jerk is delivered, or the max acceleration, or the max speed.

Or at position. If the corners fit this should be the case, have done this then 
jerk could be changed instantly, CANopen standard 402 have a few other smoother 
curves. No or less feedforward will also add more smoothness especially with 
low gains.

> Sometimes this is called "Bangbang", maybe a misleading term since there are 
> no jumps in acceleration.
> Time optimality automatically leads to this "Bangbang" property.

Bang control I tried, loud bang and inverter broken.


Regards Nicklas Karlsson


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Re: [Emc-developers] stretch boot problem.

[Nicklas Karlsson]

Have sometimes also experienced boot problems and today reinstalled a
computer with Ubunte with boot problem stuck half way thru with Debian.
Software in both distributions is very similar so it must be some small
problem. Waiting for start process I have seen but not this time.

Den tis 8 okt. 2019 kl 23:54 skrev Gene Heskett :

> I wrote a u-sd card with a pretty late April 2019 stretch. reset the
> video to full KMS or whatever its called, rebooted and got nice clean
> glxgears at about 45 fps full screen. Thats not half bad I said to
> myself, but needs a realtime kernel.  So I mounted my ssd's and cd'd to
> media/pi/workpi120/buildbot/linux and rebuilt and installed 4.19.76-rt
> over the top of a 4.14 something.
>
> Rebooted, but its now stuck about halfway thru the boot trace and deader
> than a door nail to any method of input. I was going to take a screen
> shot with my camera, but despite having had a hot usb cable plugged in
> for about 6 weeks, its telling me to charge the battery. So I plugged it
> in again and will give it half an hour. Hopefully someone can diagnose
> whats hanging it.  That was a hot reboot, not a power cycle.  And 4.19
> is a newer kernel than the 4.14 it was running.
>
> Bummer, new camera, and I just figured out that the battery must be
> removed and plugged into a wall wart for charging.  Some days it just
> doesn't pay to gnaw thru the straps and get up mornings to pee!
>
> Anyway, now that I know the 4.14.y does recognize the new video mode,
> I'll try with a 4.14.y-rt git clone next.  But if we don't figure out
> what to do about wayland, we're screwed.
>
> Words of encouragement needed. ;-)
>
> Cheers, Gene Heskett
> --
> "There are four boxes to be used in defense of liberty:
>  soap, ballot, jury, and ammo. Please use in that order."
> -Ed Howdershelt (Author)
> If we desire respect for the law, we must first make the law respectable.
>  - Louis D. Brandeis
> Genes Web page 
>
>
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Re: [Emc-developers] Motors left enabled after inversekinematics failure.

[Nicklas Karlsson]

> It is a bit worse than that, because e-stop won't function.  If I press
> e-stop, I get messages in my launching terminal like.
> 
>  
> 
> task: main loop to 0.107656 seconds

Push F1 and then holding down F2 until auto repeat is started produce about ten 
of these messages for me. Seems to happen every time but no really good 
statistics.


Nicklas Karlsson


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Re: [Emc-developers] Motors left enabled after inversekinematics failure.

[Nicklas Karlsson]

On Tue, 8 Oct 2019 08:23:29 +1100
"Frank Tkalcevic"  wrote:

> I'm using the latest master.
> 
>  
> 
> If I get an InverseKinematics failure (I'm playing with this at the moment),
> the power to the machine is cut (the power button on axis pops), but the
> motors are left enabled state, ie joint.0.amp-enable-out remains TRUE.

Sometimes experience problem motor are turned on then Linuxcnc is started but 
thought without further investigation problem was software in my driver or 
similar. Recover by pressing the buttons to move axis, think a few seconds is 
required and software in my driver is likely to be the problem, slowly working 
thru it but did not reach here yet.

> It is a bit worse than that, because e-stop won't function.  If I press
> e-stop, I get messages in my launching terminal like.
> 
>  
> 
> task: main loop to 0.107656 seconds

This message I get quite often and it happens often then I press the twor 
buttons in the upper left corner to start the axis motors.


Nicklas Karlsson


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Re: [Emc-developers] malloc in hal modules, methods of memory allocation

[Nicklas Karlsson]

> I am working on a hal module that may need a variable amount of memory 
> depending on it's configuration. Is it acceptable to use malloc in a hal 
> module? Should I use hal_malloc or is that specifically for pins?
> 
> Les

First choice:
Memory may be dynamically allocated within real time by using local variables 
though even though it is technically possible to dynamically vary size I am 
uncertain if it is possible in C/C++ but think it is in ADA. I am uncertain if 
compiler always use stack memory which may be different from ordinary memory, 
in a Micro controller it is usually the same memory although at a different 
memory location. This method of dynamic memory allocation is my first choice 
for several reasons but is not always possible to use.

Second choice:
If amount of memory is known then progam is compiled an ordinary variable not 
local to a function is a good choice. This is second choice because variable is 
not local though it may still be as local as possible if needed in more than 
one function.

Third choice:
If the amount of memory is known from configuration, at initialization or 
similar memory could be allocated before real time is started and it should be 
OK. If memory is allocated from heap in a real time thread then it is really 
hard to guarantee it will always be available and to put an upper bound on 
execution. I would expect problems sometimes if memory is allocated in a thread 
executed at a frequeny of for example 1kHz.


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Re: [Emc-developers] Link-time optimization in realtime objects

[Nicklas Karlsson]

> ...
> I think the only way to find out is to test it.
> On the face of it, short functions, repeatedly used, should benefit from it.

Then programming for Micro controller I quite often then there is no or little 
difference between different methods for other reasons check size of compiled 
code constructions to learn which one produce the smallest code. I would not be 
suprised if smaller code with fewer instructions also execute faster. Most of 
time difference in execution time and size is small and not very imortant 
though I still consider it good to learn otherwise optimizations might go the 
wrong way or constructions consuming quite large resources may be used without 
a good reason.

What is missing is a tool to calculate worst case execution time.


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Re: [Emc-developers] my keyboard problem has returned --> OT seriously unless hit by machine

[Nicklas Karlsson]

> Yea, you gotta watch out for hospital food it can be lethal... and what 
> a racket they have now.
> 
> JT

A lot of people die on hospital maybe it's the food huh. Been to night club, 
they put soft material on pillars so no one should hit their head.


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Re: [Emc-developers] my keyboard problem has returned

[Nicklas Karlsson]

Remember some kind of locking but are uncertain if keyboard was involved. I 
removed the graphics card and used builtin VGA connector, this solved the 
problem.


> Last evening I lost keyboard response again, but with this keyboard the 
> intergrated mouse, using the same dongle, continued to work.  And the 
> fix is simple with this keyboard, unplug the dongle and count to 5, plug 
> it back in. Then it will work again. uptime was about 4 days. The 
> realtime kernel does this more often, this is not the testing stretch 
> iso's kernel.
> gene@coyote:/etc$ uname -a
> Linux coyote 4.9.0-9-amd64 #1 SMP Debian 4.9.168-1+deb9u4 (2019-07-19) 
> x86_64 GNU/Linux
> 
> So I'm not convinced this is a good kernel to base a final stretch 
> release on.
> 
> 
> Cheers, Gene Heskett
> -- 
> "There are four boxes to be used in defense of liberty:
>  soap, ballot, jury, and ammo. Please use in that order."
> -Ed Howdershelt (Author)
> If we desire respect for the law, we must first make the law respectable.
>  - Louis D. Brandeis
> Genes Web page 
> 
> 
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Re: [Emc-developers] Parameter update rate

[Nicklas Karlsson]

You calculated the step rate?

It might be close to 1ms and in such sending position will give plenty of 
jitter, for example switching between two/three pulses in each period or 
probably worst case one or two pulses.

> Thanks Andy
> 
> Just to make sure that I understand it correctly.
> 
> If I read the position or velocity at every servo loop at say 1ms, and 
> my step rate is at 100khz, I must still work out the steps required 
> between every position given at the loop rate.
> 
> On 4/27/2019 12:18 PM, andy pugh wrote:
> > On Sat, 27 Apr 2019 at 09:49, Marius Liebenberg  
> > wrote:
> >
> >> At what rate is the velocity or position parameters of the StepGen
> >> updated? Is that rate constant?
> > It should be the servo thread rate, and constant.
> >
> >
> >
> 
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Re: [Emc-developers] EtherCAT, read esi *.xml file

[Nicklas Karlsson]

Parsing of ESI files, *.xml files would probably be A good idea. I ran 
hardcoded now and at a first glance it seems source code below also do this. I 
have seen siitool parse xml file and it would probably not be to hard to reuse 
code from this tool.

As position out and encoder in plus a few other signals is the only thing I 
need I stay with hardcoded right now but at the time I get the need for other 
signals buying an Ethercat module and add parsing of esi file I will probably 
do.




On Mon, 25 Mar 2019 13:56:48 +
andy pugh  wrote:

> Whilst I think we have decided that it is not possible to distribute
> an EtherCAT driver with LinuxCNC[1] it seems that some users are using
> it extensively and successfully.
> 
> Which leads me to wonder if we should include a section in the
> documentation about its use and where to download the enabling
> software?
> 
> [1] Though where the license-break is is not clear:
> Sascha's HAL driver is GPLv2:
> https://github.com/sittner/linuxcnc-ethercat but I seem to recall that
> actual use of EtherCAT involves an implied compliance with the
> Beckhoff terms.
> There is a summary here in an old machinekit discussion:
> https://groups.google.com/forum/#!search/machinekit$20beckhoff/machinekit/yxQxqNbMvtc/UsaYVfAarCsJ
> 
> -- 
> atp
> "A motorcycle is a bicycle with a pandemonium attachment and is
> designed for the especial use of mechanical geniuses, daredevils and
> lunatics."
> — George Fitch, Atlanta Constitution Newspaper, 1916
> 
> 
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Re: [Emc-developers] EtherCAT

[Nicklas Karlsson]

On Mon, 25 Mar 2019 13:56:48 +
andy pugh  wrote:

> Whilst I think we have decided that it is not possible to distribute
> an EtherCAT driver with LinuxCNC[1] it seems that some users are using
> it extensively and successfully.
> 
> Which leads me to wonder if we should include a section in the
> documentation about its use and where to download the enabling
> software?

I used soem on master and wrote my own driver though far from complete. Think 
it was some kind of the problem with kernel but do not remember for sure. Some 
kind of copyright notice from Beckhoff is holding me back from sharing it.

> [1] Though where the license-break is is not clear:
> Sascha's HAL driver is GPLv2:
> https://github.com/sittner/linuxcnc-ethercat but I seem to recall that
> actual use of EtherCAT involves an implied compliance with the
> Beckhoff terms.

I also remember something about this.


Nicklas Karlsson


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Re: [Emc-developers] removal of gedit as default editor

[Nicklas Karlsson]

Do not know if I like emacs but it seems to stick forever.

> On Sun, 17 Mar 2019 at 10:13, Gene Heskett  wrote:
> 
> > Reading the properties in synaptic, this seems like it might not be the
> > ideal, at least in my experience.
> 
> It's not ideal, but it is at least present on the LiveCD, whereas Gedit isn't.
> Currently we distribute sample configs which try to use an editor that
> isn't there if you press the "edit G-code" button in Axis.
> 
> -- 
> atp
> "A motorcycle is a bicycle with a pandemonium attachment and is
> designed for the especial use of mechanical geniuses, daredevils and
> lunatics."
> — George Fitch, Atlanta Constitution Newspaper, 1916
> 
> 
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Re: [Emc-developers] Principle of the HAL

[Nicklas Karlsson]

On Mon, 11 Mar 2019 08:32:58 +
Steve Better  wrote:

> Hello, everyone,
> 
>   I am curious about the principle of the HAL. I know that a HAL component 
> consists of threads and PINs which are in the Linux kernel space. EMC_MOT is 
> in the Linux kernel space too? How do the threads and PINs were wrapped? Is a 
> HAL component the same with the kernel module .ko?

Andy explained the pins. Pins are created during initialization by calling a 
function with among other things a string with the name used in the *.hal and a 
pointer to shared memory location.

A thread are a function called periodically. It copy data using the pointer 
created above to/from the shared memory location. The peridically called 
function also have to make sure whatever purpose of component is get done.



Nicklas Karlsson


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Re: [Emc-developers] [Emc-users] [EMC] NML_FILE = emc.nml

[Nicklas Karlsson]

On Sun, 9 Dec 2018 17:17:43 +0100
theman whosoldtheworld  wrote:

> most part of my gui is over dynamic memory obviusly. Istead shared_prt i
> prefer use array, vector or smart pointer  using thread or qthread and
> my preferred container for share data group around my app is vector declare
> in these manner :
> static std::vector VectorCoord;
> 
> for example for shared x,y,z coord to graphical OpenGl QgraphicaView (that
> show my robot model, moove equal to real robot), or modify these coor based
> a targhet position of my visionsistem (based on OpenCV3 C/c++ language
> mixed).
> 
> I undertand well you question?

Yes I think so. My prefer order of memory allocation is:
  1. Local variable, this is in sort of dynamic but deterministic most probably 
from stack.
  2. Memory allocated for program life time, may be local or global.
  3. Dynamic memory allocation.
(1.) and (2.) I think work well in real time while (3.) most likely have 
problem with determinism at least in the case a heap is used.

Your method of memory allocation seems good. I have often seen examples with 
malloc and typecast which does not feels good although there may be cases it is 
needed because of limited amount of stack.

> QTpyton is not very intersesting for my. Actually work a lot over QtQuick &
> QML. But I use normally c++ for shred data around gui and thread so java
> part is only for the graphical part of gui. In addiction i'am not a good
> programmer and with java i also bad. I study java for only 1 mounth 2 hours
> a day ... and my ability is only on connect button and other graphcal obj
> to main part of app.

As I remember in the development environment for QT it is no problem to use C++ 
for graphics and there is graphical editor to build GUI. I tried QT only and 
once and this case used C++.


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Re: [Emc-developers] [Emc-users] [EMC] NML_FILE = emc.nml

[Nicklas Karlsson]

On Wed, 5 Dec 2018 12:58:51 +0100
theman whosoldtheworld  wrote:

> Perfect ... you are in right ... problem solved finally.
> 
> you use keystick on nml file . you have a 3d printer? linear or delta?
> 
> I work on these project from 2017 but only 2/3 week per years and only
> during my lauch time (max 30min)  so my teaching about emc file
> ecosistem is bad. Every time a very little problem become big enough ... I
> do not know if I can ever offer you a beer for this ... but you deserve it
> ... maybe even two.
> 
> Hello and thanks
> 
> bkt

I tried the NML files a while ago in almost latest development version and got 
the impression server running the real time worked but had problem with the 
axis gui.

I do not thinkg it help but could dig out the files but probably not before 
sunday.


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Re: [Emc-developers] Broken mux test

[Nicklas Karlsson]

Standard seems to be undefined behaviour for overflow but I vaguely remember 
checking once with gcc it was saturated but not for other.
 
On Wed, 5 Dec 2018 10:46:59 +
andy pugh  wrote:

> I have managed to break the mux test by fixing a bug :-)
> 
> The two values sent to mux-gen.07 were 1e-11 and 5e9. One is almost
> zero, and the other is above the max for a u32.  The out-of-range case
> was tested for, and was clipped. But the code to set the value to an
> in-range value was missing from the component.
> 
> I see that the "expected" output from mux-gen.10 never changes
> (signed-to-bit). It might make sense to pass that a zero as one of the
> inputs to exercise it a little better?
> 
> Anyway, I will fix the test to check for actual correct behaviour tonight.
> 
> -- 
> atp
> "A motorcycle is a bicycle with a pandemonium attachment and is
> designed for the especial use of mechanical geniuses, daredevils and
> lunatics."
> — George Fitch, Atlanta Constitution Newspaper, 1916
> 
> 
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Re: [Emc-developers] Some comments on the makefile and dependencies (sudo make setuid)

[Nicklas Karlsson]

sudo make setuid

?

Put the "?" on line below to not confuse. Then adding file I hade problems to 
get them included first. It worked after manually adding them to some kind of 
Makefile but I suspect this is not the way it is supposed to be then using 
configure and that files should be scanned instead of adding each file 
manually. My knowledge about autotools and similar is however very limited.

> From the forum:
> 
> https://forum.linuxcnc.org/38-general-linuxcnc-questions/35569-rtapi-app-and-yapps2-problem-during-installation-linuxcnc-dev#121203
> 
> 
> -- 
> atp
> "A motorcycle is a bicycle with a pandemonium attachment and is designed
> for the especial use of mechanical geniuses, daredevils and lunatics."
> — George Fitch, Atlanta Constitution Newspaper, 1916
> 
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Re: [Emc-developers] New Stuff --> reverse run

[Nicklas Karlsson]

I tested reverse run it seems to works and think reverse run is a rather small 
change but are not totally sure.

> If there are no serious objections I also think that is a good idea.
> What about reverse-run which has been mentioned?  Is it as well tested and 
> used?
> 
> Moses
> 
> On 10/19/18 11:53 AM, andy pugh wrote:
> > On Tue, 2 Oct 2018 at 03:45, Moses McKnight  wrote:
> > 
> >> Andy asked about the multi-spindle stuff before the last discussion and I
> >> thought it should be fine to get in before the release.  I do think we 
> >> should
> >> probably freeze new features now - but I'm open to any suggestions on that 
> >> as well!
> > 
> > I have been running the "external offsets" branch since it was created
> > in February 2017 and have seen no issues.
> > It is a single patch
> > (https://github.com/LinuxCNC/linuxcnc/commit/0cab36566e8d368a11ac49cc03c63e75d91935a6)
> > I cherry-picked it last night and it applied cleanly to the latest
> > master and passed all runtests.
> > 
> > I think we should merge it immediately (assuming we want a little time
> > for multispindle to settle down, we might as well run them in
> > parallel)
> > 
> > 
> > --
> > atp
> > "A motorcycle is a bicycle with a pandemonium attachment and is
> > designed for the especial use of mechanical geniuses, daredevils and
> > lunatics."
> > — George Fitch, Atlanta Constitution Newspaper, 1916
> > 
> > 
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> 
> 
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Re: [Emc-developers] Interesting new GUI

[Nicklas Karlsson]

I think this link 
https://upload.wikimedia.org/wikipedia/commons/thumb/3/3e/Linux_graphics_drivers_Utah_GLX.svg/560px-Linux_graphics_drivers_Utah_GLX.svg.png
 show arhitecture.

X11 have an advantage it could be used over the network. Application could be 
run on any computer for example a powerful server stored in cellar or there 
heat i needed and server is run on computer with a display. X11 is normally 
used on Linux so it and is usually ready for use via SSH in Linux but enable 
X11 forwarding flag may be necessary. Server is also available for free for 
windows and it is very practical then having a file server somewhere.

Do anybody have enough insight into X11 protocol to tell if running linuxcnc 
X11 client on computer without display and X11 server on any ordinary computer 
might be a good idea?

Do anybody know if current version of QT or GTK which I think are the most 
common support rendering on Linux framebuffer hardware abstraction layer?
Are the Linux framebuffer hardware abstraction layer usually available?


Nicklas Karlsson


> https://www.youtube.com/watch?v=qyyjcHG_G4M
> 
> For embedded systems, writing direct to the framebuffer (apparently)
> and written in C.
> 
> Details here: 
> https://forum.linuxcnc.org/41-guis/35225-new-gui-for-embedded-systems?start=0#117403
> 
> -- 
> atp
> "A motorcycle is a bicycle with a pandemonium attachment and is
> designed for the especial use of mechanical geniuses, daredevils and
> lunatics."
> — George Fitch, Atlanta Constitution Newspaper, 1916
> 
> 
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Re: [Emc-developers] Interesting new GUI

[Nicklas Karlsson]

> https://www.youtube.com/watch?v=qyyjcHG_G4M
> 
> For embedded systems, writing direct to the framebuffer (apparently)
> and written in C.

I think there is not much wrong with C only a few things is missing and objects 
are solved by C++ if need is large enough. Then of course there is a question 
of available libraries.

> Details here: 
> https://forum.linuxcnc.org/41-guis/35225-new-gui-for-embedded-systems?start=0#117403

Read them, no dynamically linked library and work without X is nice. No or very 
limited knowledge in rtapi but I work professinaly so I might be able to help 
with something even though time is very limited.


Nicklas Karlsson


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Re: [Emc-developers] Breakout of HAL/ machinekits's HAL --> NML

[Nicklas Karlsson]

> Mick
> 
> I hope you don't mind I pushed this back to the list.
> 
> I too was hoping to make inroads for modularity, future proofing, and 
> lowering the bar for future developers.
Instead of NML there might be some kind of standard protocol to use to talk 
with machine running real time part? Or machine running g-code?


> I'm not an expert of course but the multi core approach did seem to make 
> sense for the future.
To run real time parts on simple micro controller and GUI on ordinary computer 
make a lot of sense.

> It was also conveniently already done and already modular.
It is modular with NML communication in between.

> I do appreciate, everyone's participation in the discussion.
> 
> I feel it's good to stop and ask these kinds of questions from time to time.
> 
> Chris M

I am still working on hardware but are pretty sure I nailed which physical 
buses I should use and suitable protocol. Then this is done I will continue 
with Linuxcnc, I have one or two drivers partly added.


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Re: [Emc-developers] New Stuff --> 2.8-pre

[Nicklas Karlsson]

On Wed, 19 Sep 2018 11:37:10 +0200
Rene Hopf via Emc-developers  wrote:

> I agree that 2.8-pre is very stable at the moment, and works great with 
> stretch.
> But as far as Im aware those features have already been tested by other 
> people.

I used during development for quite long time, I could rembember a few error 
messages but I guess this could be expected for development version.


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Re: [Emc-developers] [RTAI] rtapi_get_time() returns a constant, Ethercat mor generally

[Nicklas Karlsson]

I know there in scilab called ethercos and even though used for other purposes 
there might be useful information. My myself are on the path with soem/soes but 
currently working with hardware since I discovered drawbacks with the first 
chip i tried.


On Tue, 24 Jul 2018 16:26:30 +
Miceli Jean-Pierre  wrote:

> Hi all,
> 
> 
> I'm J-P working for the REDS institute (Reconfigurable  & Embedded Digital 
> Systems) from the HEIG-VD (School of Management and Engineering Vaud), 
> Switzerland.
> 
> 
> I started a project with LinuxCNC. As initial ramp-up with the src code, I 
> try to integrate the support for Beckhoff EL2252 digital outputs (EtherCAT 
> module, using LCEC HAL module).
> 
> 
> After some experiments, I found that RTAPI (rtapi_get_time) or RTAI 
> (rt_get_time() timer related functions are not working on my setup: they 
> return a constant value. I checked if the RT Timer was started (using RTAPI 
> and RTAI functions), all seems OK.
> 
> 
> Most probably, the configuration of the used HW timer is not correct.
> 
> Didi you already have this kind of issue ? Did you have any hints on how to 
> fix it ?
> 
> 
> Setup:
> 
>   *   LinuxCNC 2.7.13 install from the live CD
>   *   machine: Linux A23PC05-linuxCNC 3.4-9-rtai-686-pae #1 SMP PREEMPT 
> Debian 3.4.55-4linuxcnc i686 GNU/Linux
> 
> 
> Many thanks for your help
> J-P
> 
> 
> 
> 
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Re: [Emc-developers] [RTAI] rtapi_get_time() returns a constant --> rtai, networking?

[Nicklas Karlsson]

> Hi all,
> 
> 
> I'm J-P working for the REDS institute (Reconfigurable  & Embedded Digital 
> Systems) from the HEIG-VD (School of Management and Engineering Vaud), 
> Switzerland.
> 
> 
> I started a project with LinuxCNC. As initial ramp-up with the src code, I 
> try to integrate the support for Beckhoff EL2252 digital outputs (EtherCAT 
> module, using LCEC HAL module).
> 
> 
> After some experiments, I found that RTAPI (rtapi_get_time) or RTAI 
> (rt_get_time() timer related functions are not working on my setup: they 
> return a constant value. I checked if the RT Timer was started (using RTAPI 
> and RTAI functions), all seems OK.
> 
> 
> Most probably, the configuration of the used HW timer is not correct.
> 
> Didi you already have this kind of issue ? Did you have any hints on how to 
> fix it ?

I tried to use rt a while ago but have not yet get rtnet up and running. I have 
however tried soem Ethercat master and soes Ethercat slave and they work. I run 
soem Ethercat master within linuxcnc. I should solder and try another board 
before I continue with the hardware for the Ethercat board.

I discovered then using ordinary rt kernel that scheduling is good enough but 
then logging times of messages sent with Wireshark there sometimes is a delay 
of up to 5-10 milli seconds.

You got rtai and rtnet up and running?


> Many thanks for your help
No help right now, only new questions.



Regards Nicklas Karlsson

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Re: [Emc-developers] use python interface to develop a GUI?

[Nicklas Karlsson]

Probably but I tried several programming languages and does not like python for 
several reasons. I could write a list but do not think anybody would care 
anyway.

If I wrote I would probably chose C or maybe C++ or ADA for this purpose.

GTK and QT is common for user interfaces and since GTK have been used before 
this would be the first choice.


On Thu, 10 May 2018 17:21:53 +0700
Thắng Lê  wrote:

> I know python interface can read status and send command to linuxcnc. I
> would like to use it to create a new GUI. Is this way a right way?
> 
> -- 
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> Phone: (+84) 1222443855
> Email: lethang12...@gmail.com
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Re: [Emc-developers] GDPR, do we need to do anything?

[Nicklas Karlsson]

Only E-mail address is stored on server?


My personal opinion about protection of personal data below:

Then looking for a new woman I usually try to protect my private living address 
from the other males for safety reason. I however found companies are able to 
figure out my living address from E-mail address and postal zip code. I 
consider the risk low partly because of geographical distance but have read 
about shootings and explosive devices placed about two hour to the south where 
i often spend the weekends. I think it happened once a male person checked my 
telephone by calling at the same time as I talked to a woman, once this is 
known living address is known and my car is listed on map available anonymous 
access on Internet, I think it is a coincidence but during the same time period 
I got a funny problem on my car brakes and decided it is a rather good idea to 
remove telephone number from catalog so it could not be found if they know my 
name and village.

I am a little bit curios about reading personal identity information wireless 
from identity cards. If this is possible it would require some planning but if 
used could be a serious problem for police and guards, once identity is known, 
living address is known and other adult people living on address is available 
anonymous access on Internet. Even though it would be possible to use this 
instead of a bar fight about a girl I consider risk low because of the planning 
needed but for organized crime it would give the criminals the possibility to 
attack there living address or relatives, probably a dream for the mafia.

I also found owner of properties which usually are a worth quite a lot of money 
are available more or less anonymous access. Childs are only available on 
public maps on Internet if the have telephone number. Income is also available 
more or less anonymous access. Even though risk is low it does not feel like a 
good idea to make this kind of detailed economic information more or less 
anonymous access for black mailers.

An electronic identity mechanism called "bank-id" have also been introduced. It 
is safe for the other part but problem is it give complete access to everything 
you own including signing contracts and I did not find a method to keep this 
kind identity mechanism in a safe place. Although I did not read about it yet I 
guess to beat the code out of the owner is always an available option and with 
economic information anonymously available it could be a serious safety hazard 
for the owner.


I decided the best option is to spend the money as soon as possible then there 
is nothing to take. I have sent some persons and government agencies really bad 
sentences about the problem.

I know there is a religion there you could become an animal in your next lifer, 
what would you prefer. A big ass? Lay eggs? Or if you do not lay them yourself 
we squeeze them out.


Regards Nicklas Karlsson




On Thu, 10 May 2018 12:57:06 +0100
andy pugh <bodge...@gmail.com> wrote:

> https://en.wikipedia.org/wiki/General_Data_Protection_Regulation
> 
> I hadn't really given it much thought until the Octoprint developer
> said that it was proving to be a lot of trouble to her. (and that she
> might have to move to an EU hosting company)
> 
> -- 
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> "A motorcycle is a bicycle with a pandemonium attachment and is
> designed for the especial use of mechanical geniuses, daredevils and
> lunatics."
> — George Fitch, Atlanta Constitution Newspaper, 1916
> 
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Re: [Emc-developers] coding style

[Nicklas Karlsson]

On Sat, 05 May 2018 15:26:35 +0200
Rene Hopf  wrote:

> 
> 
> > On 5. May 2018, at 12:31, andy pugh  wrote:
> > 
> > On 5 May 2018 at 11:03, Nicklas SB Karlsson
> >  wrote:
> > 
> >> Some editors like emacs or builtin Eclise may fix this automatically, 
> >> select and press a button or two or menu item. Maybe there also is some 
> >> kind of command line driven tool so several files could be scanned at once.
> 
> but pepole use different editors, thats why ist best to have some independent 
> tool.

Yes and to use space instead of tab.

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Re: [Emc-developers] Ethercat driver --> LAN9252 6 bytes in 200µs

[Nicklas Karlsson]

On Sat, 10 Mar 2018 13:53:29 -0500
Gene Heskett <ghesk...@shentel.net> wrote:

> On Saturday 10 March 2018 12:42:56 Nicklas Karlsson wrote:
> 
> > I just discovered it take about 200µs to write six bytes of process
> > data in process RAM via SPI into the LAN9252 chip! It's horrible slow.
> > I can't figure out they think about then they make SPI protocol like
> > this.
> >
> > Write adresse(s) and read/write as many bytes as needed had been the
> > most obvious, now there are several commands and wait in between.
> >
> Wow! Thats time to call a surveyor and have him set stakes!
> 
> But from what little I've fooled with spi, on a pi 3b no less, its many*2 
> faster than that. I have it writing to a Mesa 7i90HD at 41 megabaud, and 
> reading the responses back from the 7i90HD at 25 megabaud. Sending and 
> receiving in 32 bit packets.

SPI is 5 or 10Mbit/s I think and faster is possible, problem is procedure 
needed to read and write data to process ram.

Distributed clock and real time data work perfect.

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Re: [Emc-developers] Ethercat driver --> LAN9252 6 bytes in 200µs

[Nicklas Karlsson]

I just discovered it take about 200µs to write six bytes of process data in 
process RAM via SPI into the LAN9252 chip! It's horrible slow. I can't figure 
out they think about then they make SPI protocol like this.

Write adresse(s) and read/write as many bytes as needed had been the most 
obvious, now there are several commands and wait in between.


On Fri, 2 Mar 2018 08:07:33 -0500
Kenneth Lerman <ler...@se-ltd.com> wrote:

> Change the species.
> 
> etherCAT becomes etherDOG
> 
> Ken
> 
> Kenneth Lerman
> 55 Main Street
> Newtown, CT 06470
> 
> 
> On Wed, Feb 21, 2018 at 4:51 PM, Nicklas Karlsson <
> nicklas.karlsso...@gmail.com> wrote:
> 
> > On Tue, 23 Jan 2018 08:17:52 -0500
> > Gene Heskett <ghesk...@shentel.net> wrote:
> >
> > > On Tuesday 23 January 2018 08:01:01 andy pugh wrote:
> > >
> > > > On 23 January 2018 at 03:26, Rod Webster <r...@vehiclemods.net.au>
> > > wrote:
> > > > > This link seems to confirm the Etherlab invocation is GPLv2 so you
> > > > > may be right!
> > > > > https://etherlab.org/en/ethercat/index.php
> > > >
> > > > Etherlab and SOEM are both GPL (or want to be)
> > > >
> > > > The problem is with Beckhoff who own the EtherCAT trademark and
> > > > technology.
> > >
> > > Then we need to come up with a new name for it, and this interface chip
> > > Nicklas has used offloads the technology aspect. So it seems to me that
> > > should cover those 2 items of concern. I haven't a clue what to use for
> > > a name and anything I would suggest would disqualify itself based on the
> > > clean room principle.
> >
> > I could name the file "ethercat.c", soem is in a sub folder and set up a
> > new repository on github? Or could I push somewhere else?
> >
> > I created a local fork but needed some method to configure devices and
> > decided a CANopen gateway may be a good solution, it is CiA 309 if I
> > remember correct.
> >
> >
> > Nicklas Karlsson
> >
> > 
> > --
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Re: [Emc-developers] Ethercat driver

[Nicklas Karlsson]

Smart serial is UART?

2018-01-18 9:40 GMT+01:00 andy pugh :

> On 17 January 2018 at 23:41, Gene Heskett  wrote:
>
>
> > I think this might be right up PCW's alley. He is already selling some
> > cards that expand via an rj45 jack.
>
>
> There is already at least one non-Mesa servo-drive that is controllable via
> the Mesa "Smart Serial" interface.
> Plug an STMBL drive into LinuxCNC and the HAL pins are all created
> automatically, just like for any other smart-serial device.
>
> But that isn't an answer for supporting existing EtherCAT devices with
> LinuxCNC.
>
>
> https://www.youtube.com/watch?v=seEV_i7o1NI
>
> --
> atp
> "A motorcycle is a bicycle with a pandemonium attachment and is designed
> for the especial use of mechanical geniuses, daredevils and lunatics."
> — George Fitch, Atlanta Constitution Newspaper, 1916
> 
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[Emc-developers] CiA® 309 series: Accessing CANopen via TCP

[Nicklas Karlsson]

This is what I envision for Linuxcnc 
https://www.can-cia.org/can-knowledge/canopen/cia309/ in a short feature but I 
will probably stay at SDO communication because this is what I need right now. 
It should be rather simple to implement and I am already half way there or do 
anybody know about already existend software for CiA 309 I could re-use?

Regards Nicklas SB Karlsson

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Re: [Emc-developers] Ethercat driver

[Nicklas Karlsson]

On Tue, 23 Jan 2018 08:17:52 -0500
Gene Heskett <ghesk...@shentel.net> wrote:

> On Tuesday 23 January 2018 08:01:01 andy pugh wrote:
> 
> > On 23 January 2018 at 03:26, Rod Webster <r...@vehiclemods.net.au> 
> wrote:
> > > This link seems to confirm the Etherlab invocation is GPLv2 so you
> > > may be right!
> > > https://etherlab.org/en/ethercat/index.php
> >
> > Etherlab and SOEM are both GPL (or want to be)
> >
> > The problem is with Beckhoff who own the EtherCAT trademark and
> > technology.
> 
> Then we need to come up with a new name for it, and this interface chip 
> Nicklas has used offloads the technology aspect. So it seems to me that 
> should cover those 2 items of concern. I haven't a clue what to use for 
> a name and anything I would suggest would disqualify itself based on the 
> clean room principle.

I could name the file "ethercat.c", soem is in a sub folder and set up a new 
repository on github? Or could I push somewhere else?

I created a local fork but needed some method to configure devices and decided 
a CANopen gateway may be a good solution, it is CiA 309 if I remember correct.


Nicklas Karlsson

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Re: [Emc-developers] Ethercat driver

[Nicklas Karlsson]

https://openethercatsociety.github.io/doc/soem/index.html
...
Features as of 1.2.0 :
Changed license to GPLv2 only. Adresses leagal concerns about master 
licensing.
...

So I guess it is OK.


On Wed, 17 Jan 2018 09:27:25 -0500
Dave Cole  wrote:

> The text below is at the end of the SOEM page from the link below.
> https://openethercatsociety.github.io/doc/soem/index.html
> 
> So how does this work??   The SOEM software itself is GPL, but if you 
> implement an Ethercat master, you need to get a license ??
> 
> That's an interesting approach.
> 
> If the SOEM code is all GPL, then how could adding GPL code to GPL code 
> result in something other than GPL code ?
> 
>  From a practical standpoint, I think we need to figure out how to get 
> networked drives connected to LinuxCNC if we want LinuxCNC to live on.
> At some point analog servo drive interfaces will become like 5 1/4" 
> floppy drives...    They were once common.
> 
> Dave
> 
>  >
> 
> SOEM is free software; you can redistribute it and/or modify it under 
> the terms of the GNU General Public License version 2 as published by 
> the Free Software Foundation.
> 
> SOEM is distributed in the hope that it will be useful, but WITHOUT ANY 
> WARRANTY; without even the implied warranty of MERCHANTABILITY or 
> FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for 
> more details.
> 
> As a special exception, if other files instantiate templates or use 
> macros or inline functions from this file, or you compile this file and 
> link it with other works to produce a work based on this file, this file 
> does not by itself cause the resulting work to be covered by the GNU 
> General Public License. However the source code for this file must still 
> be made available in accordance with section (3) of the GNU General 
> Public License.
> 
> This exception does not invalidate any other reasons why a work based on 
> this file might be covered by the GNU General Public License.
> 
> The EtherCAT Technology, the trade name and logo "EtherCAT" are the 
> intellectual property of, and protected by Beckhoff Automation GmbH. You 
> can use SOEM for the sole purpose of creating, using and/or selling or 
> otherwise distributing an EtherCAT network master provided that an 
> EtherCAT Master License is obtained from Beckhoff Automation GmbH.
> 
> In case you did not receive a copy of the EtherCAT Master License along 
> with SOEM write to Beckhoff Automation GmbH, Eiserstrasse 5, D-33415 
> Verl, Germany (www.beckhoff.com).
> 
> 
> 
> 
> On 1/16/2018 8:51 PM, Jeff Epler wrote:
> > Our policy is that any code added to LinuxCNC has to be compatible with
> > the license terms "GPL version 2 or any later version".
> > https://www.gnu.org/licenses/license-list.html#GPLCompatibleLicenses
> >
> > Anything that imposes a restriction on how the software can be used (for
> > example, if it is claimed that using the software requires an additional
> > license, as Beckhoff Automation GmbH reportedly does) cannot be
> > incorporated.
> >
> > For a rather old thread on exactly the same topic, see this one from
> > 2013:
> > https://sourceforge.net/p/emc/mailman/emc-developers/thread/20131022150751.GB2631%40unpythonic.net/
> >
> > Jeff
> >
> > --
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Re: [Emc-developers] current linuxcnc-dev

[Nicklas Karlsson]

On Sun, 4 Feb 2018 12:46:16 -0500
Gene Heskett <ghesk...@shentel.net> wrote:

> On Sunday 04 February 2018 12:22:23 Nicklas Karlsson wrote:
> 
> > > Greetings;
> > >
> > > I have a git pull/clone of master a/o Oct 9 2017, so its obviously
> > > out of date a bit. So I assume I have to make clean before I try to
> > > bring it up to Feb 4, 2018.
> >
> > I read the URL changed, know where it is now?
> >
> I'm a mushroom Nicklas :)

You want me to bite you?

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Re: [Emc-developers] current linuxcnc-dev

[Nicklas Karlsson]

> Greetings;
> 
> I have a git pull/clone of master a/o Oct 9 2017, so its obviously out of 
> date a bit. So I assume I have to make clean before I try to bring it up 
> to Feb 4, 2018.

I read the URL changed, know where it is now?

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Re: [Emc-developers] Genserkins

[Nicklas Karlsson]

On Wed, 24 Jan 2018 21:59:10 -0700
Sebastian Kuzminsky  wrote:

> On 01/24/2018 09:18 PM, Thắng Lê wrote:
> > Hi,
> > 
> > i'm trying to use Genserkins for redundancy robot. Since Genserkins is
> > using moore-penrose method to compute pseudoinverse that has problem at
> > singularities so i wanna replace it by singular value decomposition(SVD)
> > method to compute pseudoinverse.
> > 
> > I found out lapack library can compute SVD, is it posible use lapack in
> > linuxcnc?
> 
> In general, kinematics can not use any libraries.  The reason for this 
> is that kinematics run in the realtime mode of rtapi, which on the RTAI 
> platform runs in kernel space, where libraries are not accessible.

I would guess system calls are a problem and library is ordinary code, 
especially if statically linked but can't really answer about this. Then it may 
of course get hit by real time constraints.

> It's in the "EMCMOT" aka Motion box in this diagram:
> 
> http://linuxcnc.org/docs/devel/html/code/code-notes.html#_architecture_overview
> 
> 
> -- 
> Sebastian Kuzminsky

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Re: [Emc-developers] Ethercat driver

[Nicklas Karlsson]

> On 13 January 2018 at 15:06, Nicklas Karlsson <nicklas.karlsso...@gmail.com>
> wrote:
> 
> >
> > I checked out via git, how do I procede if I want to commit via git?
> 
> 
> You would push it to your own repository on github, then press the

I make my own repository, it's not enought with a personal fork?

> pull-request button on the LinuxCNC github.

You know there this button is?

> Though there are other ways, I believe.
> 
> Are you sure that your driver isn't limited in it's GPL-compliance by the
> terms of the EtherCAT license?

I decided since it already is freely available I would probably not be sued in 
case I push it with my personal changes as part of Linuxcnc.


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Re: [Emc-developers] Ethercat driver

[Nicklas Karlsson]

> On Tuesday 23 January 2018 08:01:01 andy pugh wrote:
> 
> > On 23 January 2018 at 03:26, Rod Webster  
> wrote:
> > > This link seems to confirm the Etherlab invocation is GPLv2 so you
> > > may be right!
> > > https://etherlab.org/en/ethercat/index.php
> >
> > Etherlab and SOEM are both GPL (or want to be)
> >
> > The problem is with Beckhoff who own the EtherCAT trademark and
> > technology.
> 
> Then we need to come up with a new name for it, and this interface chip 
> Nicklas has used offloads the technology aspect. So it seems to me that 
> should cover those 2 items of concern. I haven't a clue what to use for 
> a name and anything I would suggest would disqualify itself based on the 
> clean room principle.
> 
> Cheers, Gene Heskett

Ethernet cascaded shiftregister routing? Did not read the details but guess it 
come closes.

I made some local change so I guess I have to clone and start from a fresh copy 
before I could fork and commit. I feel relatively confident I should have 
nothing to fear so I should try to get it done soon.

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Re: [Emc-developers] Ethercat driver

[Nicklas Karlsson]

On Tue, 23 Jan 2018 08:38:43 +1300
Darren Conway  wrote:

> Hi
> 
> Has anyone considered asking Bekhoff for their view on this issue?

As is now I use LAN9252, maybe that will not get them in the right mood. 
Anybody with an Beckhoff device?

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Re: [Emc-developers] Ethercat driver

[Nicklas Karlsson]

On Mon, 22 Jan 2018 21:27:50 +0200
Andy Pugh <bodge...@gmail.com> wrote:

> 
> 
> > On 22 Jan 2018, at 21:08, Nicklas Karlsson <nicklas.karlsso...@gmail.com> 
> > wrote:
> > 
> > In source code I got from soem there is GNU license but somewhere I also 
> > found an exception, below so I am a little bit confused.
> 
> I have always been confused by this too. 
> 
> The worry is that if we distribute anything EtherCAT with LinuxCNC then we 
> obligate anyone who uses it to also seek a Bekhoff license. So that would 
> make our distribution not-GPL

That's a problem. ,,,

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Re: [Emc-developers] Ethercat driver

[Nicklas Karlsson]

On Tue, 16 Jan 2018 17:32:58 +0200
andy pugh <bodge...@gmail.com> wrote:

> On 13 January 2018 at 15:06, Nicklas Karlsson <nicklas.karlsso...@gmail.com>
> wrote:
> 
> >
> > I checked out via git, how do I procede if I want to commit via git?
> 
> 
> You would push it to your own repository on github, then press the
> pull-request button on the LinuxCNC github.
> 
> Though there are other ways, I believe.
> 
> Are you sure that your driver isn't limited in it's GPL-compliance by the
> terms of the EtherCAT license?

In source code I got from soem there is GNU license but somewhere I also found 
an exception, below so I am a little bit confused.

"The EtherCAT Technology, the trade name and logo "EtherCAT" are the 
intellectual
property of, and protected by Beckhoff Automation GmbH. You can use SOEM for the
sole purpose of creating, using and/or selling or otherwise distributing an
EtherCAT network master provided that an EtherCAT Master License is obtained
from Beckhoff Automation GmbH.

In case you did not receive a copy of the EtherCAT Master License along with
SOEM write to Beckhoff Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany
(www.beckhoff.com)."

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Re: [Emc-developers] Ethercat driver

[Nicklas Karlsson]

On Wed, 17 Jan 2018 19:56:21 -0500
Gene Heskett <ghesk...@shentel.net> wrote:

> On Wednesday 17 January 2018 17:20:47 Nicklas Karlsson wrote:
> 
> > On Wed, 17 Jan 2018 16:41:59 -0500
> >
> > Gene Heskett <ghesk...@shentel.net> wrote:
> > > On Wednesday 17 January 2018 11:10:53 Nicklas Karlsson wrote:
> > > > On Wed, 17 Jan 2018 09:27:25 -0500
> > > >
> > > > Dave Cole <linuxcncro...@gmail.com> wrote:
> > > > > The text below is at the end of the SOEM page from the link
> > > > > below. https://openethercatsociety.github.io/doc/soem/index.html
> > > > >
> > > > > So how does this work??   The SOEM software itself is GPL, but
> > > > > if you implement an Ethercat master, you need to get a license
> > > > > ??
> > > >
> > > > Why a license?
> > > >
> > > > I have nothing about sharing my work but copyright issues i
> > > > something different.
> > > >
> > > > Then in european union I read something about interoperability so
> > > > you are always allowed to make your own device to talk to other
> > > > device.
> > > >
> > > > > That's an interesting approach.
> > > > >
> > > > > If the SOEM code is all GPL, then how could adding GPL code to
> > > > > GPL code result in something other than GPL code ?
> > > > >
> > > > >  From a practical standpoint, I think we need to figure out how
> > > > > to get networked drives connected to LinuxCNC if we want
> > > > > LinuxCNC to live on. At some point analog servo drive interfaces
> > > > > will become like 5 1/4" floppy drives...    They were once
> > > > > common.
> > > >
> > > > Yes.
> > > >
> > > > Michael Büsch already implemented a profibus master. I have it
> > > > running against an IO module and millions of these kind of devices
> > > > have been sold. I think he implemented on Rasberry and I had some
> > > > timing issue before running on ordinary computer but have not
> > > > looked further because I have been busy with something really good
> > > > for servos and looking for a new woman.
> > > >
> > > > Bandwidth required to replace an analog signal may be surprisingly
> > > > high and for a control loop even though there are plenty of
> > > > bandwidth it need to split in many small messages. Ethercat solve
> > > > this problem in a similar way as cascade coupled shift registers.
> > > >
> > > >
> > > > Nicklas Karlsson
> > >
> > > I think this might be right up PCW's alley. He is already selling
> > > some cards that expand via an rj45 jack. Perhaps he could chime in
> > > here as to the advantages and disadvantages of adapting the firmware
> > > to be something like this, but call it something other than
> > > ethercat.
> > >
> > > Changing the subject a bit while I ramble, we have some amazingly
> > > cheap rs485 devices about, costing less than a buck each in bags
> > > from ebay.
> >
> > Yes rs485 is a cheap and a very good driver. UART however have limited
> > speed and not the least clock accuracy problem at higher speed. With a
> > device with as many UART ports as needed this might be a very good
> > solution, speed could also be adapted to cable length then long cables
> > are needed.
> >
> Then one good uart, something that can run in the multimegahertz speeds, 
> later 16550's can, and some and gates to send or receive from that rs485 
> channel might be a lowercost item. ...

One the new Micro controllers usually with a Cortex-M*- CPU is a cheap item 
available from below $1 per piece and upwards. They usually have both UARTs and 
SPI(s) but no really good bus could be built by them.

Ethercat is a good bus and a LAN9252 from around $8 will connect them.


Nicklas Karlsson

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Re: [Emc-developers] Ethercat driver

[Nicklas Karlsson]

On Wed, 17 Jan 2018 16:41:59 -0500
Gene Heskett <ghesk...@shentel.net> wrote:

> On Wednesday 17 January 2018 11:10:53 Nicklas Karlsson wrote:
> 
> > On Wed, 17 Jan 2018 09:27:25 -0500
> >
> > Dave Cole <linuxcncro...@gmail.com> wrote:
> > > The text below is at the end of the SOEM page from the link below.
> > > https://openethercatsociety.github.io/doc/soem/index.html
> > >
> > > So how does this work??   The SOEM software itself is GPL, but if
> > > you implement an Ethercat master, you need to get a license ??
> >
> > Why a license?
> >
> > I have nothing about sharing my work but copyright issues i something
> > different.
> >
> > Then in european union I read something about interoperability so you
> > are always allowed to make your own device to talk to other device.
> >
> > > That's an interesting approach.
> > >
> > > If the SOEM code is all GPL, then how could adding GPL code to GPL
> > > code result in something other than GPL code ?
> > >
> > >  From a practical standpoint, I think we need to figure out how to
> > > get networked drives connected to LinuxCNC if we want LinuxCNC to
> > > live on. At some point analog servo drive interfaces will become
> > > like 5 1/4" floppy drives...    They were once common.
> >
> > Yes.
> >
> > Michael Büsch already implemented a profibus master. I have it running
> > against an IO module and millions of these kind of devices have been
> > sold. I think he implemented on Rasberry and I had some timing issue
> > before running on ordinary computer but have not looked further
> > because I have been busy with something really good for servos and
> > looking for a new woman.
> >
> > Bandwidth required to replace an analog signal may be surprisingly
> > high and for a control loop even though there are plenty of bandwidth
> > it need to split in many small messages. Ethercat solve this problem
> > in a similar way as cascade coupled shift registers.
> >
> >
> > Nicklas Karlsson
> >
> I think this might be right up PCW's alley. He is already selling some 
> cards that expand via an rj45 jack. Perhaps he could chime in here as to 
> the advantages and disadvantages of adapting the firmware to be 
> something like this, but call it something other than ethercat.
> 
> Changing the subject a bit while I ramble, we have some amazingly cheap 
> rs485 devices about, costing less than a buck each in bags from ebay.

Yes rs485 is a cheap and a very good driver. UART however have limited speed 
and not the least clock accuracy problem at higher speed. With a device with as 
many UART ports as needed this might be a very good solution, speed could also 
be adapted to cable length then long cables are needed.

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Re: [Emc-developers] Ethercat driver

[Nicklas Karlsson]

On Wed, 17 Jan 2018 09:27:25 -0500
Dave Cole <linuxcncro...@gmail.com> wrote:

> The text below is at the end of the SOEM page from the link below.
> https://openethercatsociety.github.io/doc/soem/index.html
> 
> So how does this work??   The SOEM software itself is GPL, but if you 
> implement an Ethercat master, you need to get a license ??

Why a license?

I have nothing about sharing my work but copyright issues i something different.

Then in european union I read something about interoperability so you are 
always allowed to make your own device to talk to other device.

> That's an interesting approach.
> 
> If the SOEM code is all GPL, then how could adding GPL code to GPL code 
> result in something other than GPL code ?
> 
>  From a practical standpoint, I think we need to figure out how to get 
> networked drives connected to LinuxCNC if we want LinuxCNC to live on.
> At some point analog servo drive interfaces will become like 5 1/4" 
> floppy drives...    They were once common.

Yes.

Michael Büsch already implemented a profibus master. I have it running against 
an IO module and millions of these kind of devices have been sold. I think he 
implemented on Rasberry and I had some timing issue before running on ordinary 
computer but have not looked further because I have been busy with something 
really good for servos and looking for a new woman.

Bandwidth required to replace an analog signal may be surprisingly high and for 
a control loop even though there are plenty of bandwidth it need to split in 
many small messages. Ethercat solve this problem in a similar way as cascade 
coupled shift registers.


Nicklas Karlsson

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Re: [Emc-developers] Ethercat driver

[Nicklas Karlsson]

I will look into this.

2018-01-17 2:51 GMT+01:00 Jeff Epler :

> Our policy is that any code added to LinuxCNC has to be compatible with
> the license terms "GPL version 2 or any later version".
> https://www.gnu.org/licenses/license-list.html#GPLCompatibleLicenses
>
> Anything that imposes a restriction on how the software can be used (for
> example, if it is claimed that using the software requires an additional
> license, as Beckhoff Automation GmbH reportedly does) cannot be
> incorporated.
>
> For a rather old thread on exactly the same topic, see this one from
> 2013:
> https://sourceforge.net/p/emc/mailman/emc-developers/thread/
> 20131022150751.GB2631%40unpythonic.net/
>
> Jeff
>
> 
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Re: [Emc-developers] Ethercat driver

[Nicklas Karlsson]

> On 13 January 2018 at 15:06, Nicklas Karlsson <nicklas.karlsso...@gmail.com>
> wrote:
> 
> >
> > I checked out via git, how do I procede if I want to commit via git?
> 
> 
> You would push it to your own repository on github, then press the
> pull-request button on the LinuxCNC github.
> 
> Though there are other ways, I believe.
> 
> Are you sure that your driver isn't limited in it's GPL-compliance by the
> terms of the EtherCAT license?

I tried the tools possible to download from Beckhoff without registration since 
I fail registration because of lack of official company home page.

Software is basically "soem" 
https://openethercatsociety.github.io/doc/soem/index.html there I made som 
small modification to simple_test. main(...) was replaced with rtapi_main(...). 
Periodically run code where put in and exported with hel_export_funct(...). 
Some pins where added with a few rows of code to transfer data between these 
and ethercat data.

I think I get enough time to take a closer look this weekend.


Nicklas Karlsson

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[Emc-developers] Ethercat driver

[Nicklas Karlsson]

I made an Ethercat driver using a soem and it is in working condition although 
with hardcoded configuration. I intend to continue development but will 
probably spend a few days on slave nodes first.

I checked out via git, how do I procede if I want to commit via git?

There som extra files in sub directory to drivers and few extra lines in 
Makfile to make them compile.


Nicklas Karlsson

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Re: [Emc-developers] Mesa RS-422 hal example (canopen messages?)

[Nicklas Karlsson]

I have similar problem and plan to or actually already use CANopen messages. 
One or more messages of the form 16 bit cob id + 8 bytes payload and 16 bit 
modbus CRC at the en of the message(s). At least to start with I implement only 
the parts I need. Real time communication is usually implemented with all 
payload used for real time communication and there is SDO messages for 
configuration or similar.

I would be happy to share the little code I have and cooperate. I have still 
not checked the standards for sending CANopen messages over other medium than 
CAN networks and any comments about this would be appreciated.



Unless you already know it RS-422 is like ordinary UART with full duplex 
communication and and differential signals which make possible rather high 
communication speed although only between two nodes.


Regards Nicklas Karlsson



On Mon, 11 Sep 2017 13:40:09 +
"Marius Liebenberg" <mar...@mastercut.co.za> wrote:

> Hi
> I asked this on the EMC list but thought it should be more relevant 
> here.
> 
> I need to write a custom RS-422 protocol to control a plasma cutter. I 
> have a mesa 7i44 (amongst other's ) on the system.
> I have never used or seen any examples of how to communicate to custom 
> hardware via the RS-422 on the mesa cards. Is there anyone out there 
> that has some examples that I can look at to get started please?
> Or some advise will do as well thanks.
> 
> 
> 
> -
> Regards / Groete
> 
> Marius D. Liebenberg
> +27 82 698 3251
> +27 12 743 6064
> 
> 
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Re: [Emc-developers] Axis nml communication

[Nicklas Karlsson]

> >I am trying to run linuxcnc with remote communication via NML between
> >user interface and rest of the machine. I have read manual and could
> >see there is NML communication between user interface and rest of
> >machine, I have also been able to run server but not client.
> >
> >I know axis command is the user interface and have started to look at
> >the source code for this command, the question is do this axis command
> >also do the NML communication? Do anybody know the status if it is
> >possible to get this NML communication to run over TCP?
> 
> Axis uses the python module named "linuxcnc" to do its NML communication with 
> Task.  The source for that module is emcmodule.c if you want to look.
> 
> Also check out the linuxcncrsh-tcp test, which does NML over TCP.

I did not find linuxcncrsh-tcp just linuxcncrsh and running it happens nothing. 
I tried the options for: --port --name -ini and test but nothing happens, not 
even an error message. Connection with ncat is possible.

In emcmodule.cc I found emcSendCommand(...) and PyMethodDef table which I guess 
is used for sending commands called from python in the PyMethodDef table.

I just spent a few hours and will try to eat my way thru an hour or so a day. 
Axis does not give any hint of what is going on then running with an ini file, 
just start and stay at prompt so I guess I have better start to figure out 
where this command stop.


Nicklas Karlsson

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Re: [Emc-developers] Stretch-based LinuxCNC images ready for testing

[Nicklas Karlsson]

> > > In the event an RTAI kernel for Stretch reaches the point where it is
> > > good enough for linuxcnc.org to ship it, it should not be difficult to
> > > produce live images for it; it's a one-line change to the building
> > > scripts for these images to change the kernel, and a second one-line
> > > change to instal "linuxcnc" instead of "linuxcnc-uspace".
> > > 
> > > Jeff
> > 
> > I tried have tried it once, it worked but no ethernet, I think something 
> > was missing in the driver.
> > 
> > I will give raspberry or beagle bone a try for the real time part and add 
> > one more devices as user interface.
> 
> 
> I take the occasion to remember: Linuxcnc comes without the e1000e
> network driver, it is not available as a package so it must be compiled
> and installed by hand

The rtai need some kind of special handling or driver and the ordinary does not 
work. I guess this is to get the best real time performance. It should not 
block higher priority and it should be able to interrupt lower priority or send 
higher priority first.

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Re: [Emc-developers] Stretch-based LinuxCNC images ready for testing

[Nicklas Karlsson]

> Personally, I do not plan to work on an RTAI kernel.
> 
> In the event an RTAI kernel for Stretch reaches the point where it is
> good enough for linuxcnc.org to ship it, it should not be difficult to
> produce live images for it; it's a one-line change to the building
> scripts for these images to change the kernel, and a second one-line
> change to instal "linuxcnc" instead of "linuxcnc-uspace".
> 
> Jeff

I tried have tried it once, it worked but no ethernet, I think something was 
missing in the driver.

I will give raspberry or beagle bone a try for the real time part and add one 
more devices as user interface.

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Re: [Emc-developers] Stretch-based LinuxCNC images ready for testing

[Nicklas Karlsson]

I use this version of the kernel and have for a while, latencies seems good 
then running for a short while. I know I tested earlier and think something 
happened with like a few minutes in between.

I am working in the direction to run real time on something else than ordinary 
computer for several reasons. These small raspberry or beagle bones might be a 
good option for several reasons: Price, power consumption, to some degree 
needed space and a few more.

The tasks are few: emctask, emcmot, emcio and upstream communication. I have 
started to look in the code and think the GUI is the most complex part. As is 
now there is NML communication in between but machinekit i heard have replaced 
with 0MQ. I have only been able to run NML locally.


> So if I am reading your message correctly, preempt’s latencies are not 
> typically as good as RTAI?  Will there be an RTAI kernel for Stretch at some 
> point?   
> Thanks,
> -Tom
> 
> > On Jul 21, 2017, at 8:25 AM, Jeff Epler  wrote:
> > 
> > I've been working on a live+install image of Debian Stretch with
> > * The just-released LinuxCNC 2.7.10
> > * kernel 4.9.0-3-rt-amd64 or 4.9.0-3-rt-686-pae
> > * xfce desktop (same desktop we used on wheezy)
> > * goodies like hostmot2 firmwares, truetype-tracer, f-engrave
> > 
> > This image is based on the "PREEMPT RT" kernel, which typically
> > gives latencies good enough for FPGA-based systems, though often the
> > latency is too high for software encoder and stepgen systems.
> > Assuming you have a multi-core system, isolating the highest
> > numbered CPU with isolcpus=# on the kernel commandline may help
> > latency, just as with RTAI.
> > 
> > Unless you know your computer only supports 32-bit code, I recommend
> > using the -amd64 image, which works for both AMD and Intel 64-bit
> > CPUs.
> > 
> > Like the older images, you can either boot live to test your
> > hardware, or install to the hard disk, from the same iso image.
> > 
> > The Debian image is a "hybrid" iso, which means you can use the same
> > iso file for a USB stick or a DVD.  (The image is bigger than a
> > traditional CD, so you can't install from regular CD anymore.)
> > Instructions for writing the image to a USB stick from Windows and
> > Linux are here: 
> > 
> > http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Hybrid_Iso
> > 
> > **NOTE** the Ubuntu "startup disk creator" and unetbootin do NOT
> > handle hybrid images.  Use the above instructions instead, if you
> > want to install from USB.  To install from DVD you can use any
> > traditional method to write the iso image.
> > 
> > You can find it at the temporary URL
> > http://www.linuxcnc.org/testing-stretch-rtpreempt/
> > 
> > For more notes and for the scripts used to build these images,
> > see https://github.com/jepler/stretch-live-build
> > 
> > The github repository has an "issues" section.  Please use it only
> > to file bugs about the image itself, not about bugs in LinuxCNC,
> > even if the bug in LinuxCNC seems to be specific to Debian Stretch.
> > (but if you aren't sure, then file it in stretch-live-build and
> > we'll triage it)
> > 
> > Jeff
> > 
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Re: [Emc-developers] Hostmot2 UARTS

[Nicklas Karlsson]

> It has been possible to drive the UARTs for some years, but it isn't
> particularly easy.
> 
> You need to write a driver using .comp that converts the required HAL
> pins into bytes to be sent.
> 
> There is an example driver here:
> https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/drivers/mesa_uart.comp

I have also seen the name pkuart, it is one branch but not the other.

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Re: [Emc-developers] Gladevcp_gtk3 Branche --> Glade (confusion it is)

[Nicklas Karlsson]

On Tue, 18 Jul 2017 22:03:06 +
Chris Morley  wrote:

> 
> You need glade-gtk2 since about wheezy, previously glade-3 or glade was the 
> command - I think they like confusion.
> Chris M

Yes confusion it is. Then I saw the name glade-3 I concluded that was the newer 
version and used the other, it did not work despite some really ugly sentences. 
glade-3 work for me.

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Re: [Emc-developers] Gladevcp_gtk3 Branche --> Glade

[Nicklas Karlsson]

> On Tuesday 18 July 2017 09:34:25 Nicklas Karlsson wrote:
> 
> > On Tue, 18 Jul 2017 09:25:35 -0400
> >
> > Gene Heskett <ghesk...@shentel.net> wrote:
> > > On Tuesday 18 July 2017 01:38:26 Chris Morley wrote:
> > > > Gladevcp does not work with GTK3.When GTK switched to GTK3, the
> > > > GLADE editor also change formats.
> > > >
> > > > So one must add the backported GTK2 style GLADE editor too. For
> > > > wheezy we have a package IIRC. For Jessy I'm not sure if its
> > > > available or must be built.
> > >
> > > So on wheezy, it looks like the editor I want to use is glade-gtk2.
> > > And it looks like its working.
> >
> > You run ". scripts/rip-environment" and glade-3 not glade on the same
> > command line?

You do it on the computer you use to generate glade file, you run glade on an 
ordinary computer, linuxcnc must be installled but you do not have to run.

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Re: [Emc-developers] Gladevcp_gtk3 Branche --> Glade

[Nicklas Karlsson]

On Tue, 18 Jul 2017 09:25:35 -0400
Gene Heskett  wrote:

> On Tuesday 18 July 2017 01:38:26 Chris Morley wrote:
> 
> > Gladevcp does not work with GTK3.When GTK switched to GTK3, the GLADE
> > editor also change formats.
> >
> > So one must add the backported GTK2 style GLADE editor too. For wheezy
> > we have a package IIRC. For Jessy I'm not sure if its available or
> > must be built.
> >
> So on wheezy, it looks like the editor I want to use is glade-gtk2. And 
> it looks like its working.

You run ". scripts/rip-environment" and glade-3 not glade on the same command 
line?

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Re: [Emc-developers] Gladevcp_gtk3 Branche --> TKemc

[Nicklas Karlsson]

> TKemc is also used by some people, since it requires very 
> little X server resources.

I guess one single application cover the full screen is the most common then 
using machine.

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Re: [Emc-developers] Gladevcp_gtk3 Branche --> Glade format

[Nicklas Karlsson]

> Gladevcp does not work with GTK3.When GTK switched to GTK3, the GLADE editor 
> also change formats.
> 
> So one must add the backported GTK2 style GLADE editor too. For wheezy we 
> have a package IIRC. For Jessy I'm not sure if its available or must be built.

I think the new file format should be used.

I wrote a small application for configuration via UDP a month or two ago and 
used the new glade file format. I used "C++" but are not sure, ordinay "C" 
might be a better choice because of automatic signal connection.


Nicklas Karlsson

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Re: [Emc-developers] Gladevcp_gtk3 Branche

[Nicklas Karlsson]

> as we see this weekend on the german linuxcnc meeting, I will be pleased 
> to give you starting help.
> 
> I agree with others, that we should begin to port to Qt. Chris has done 
> a nice work so far on his branch:

You might be correct unless it end up with fancy graphics but horrible to use. 
I think someone mentioned something about C++ a short while ago.

Do anyone know if QT and C++ is tricky to use or if memory leaks and other 
problem i likely to happen which might cause need for restart with a few days 
in between?

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Re: [Emc-developers] ... --> G-code CAD preview

[Nicklas Karlsson]

> Maybe this would be something that could work.
> 
> http://www.gcad3d.org/
> 
> It is openGL and has NC interpreter for generating cad preview of G-Code.

CAD of preview of G-Code seems interesting but are not directly related to GTK. 
I am pretty sure opengl also could be used for QT. I vaguely remember some code 
I wrote with opengl calls as part of a university course and it did not use any 
other graphical toolkit, just rendered the picture. As I remember it opengl are 
functions use for 3D graphics.


Nicklas Karlsson

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Re: [Emc-developers] Gladevcp_gtk3 Branche

[Nicklas Karlsson]

C should work great with GTK. I think there is something glade and automic 
binding of functions which work in "C" but not "C++". I am not a friend of 
python but use it if necessary.


> On Mon, Jul 17, 2017, at 11:47 AM, andy pugh wrote:
> > On 17 July 2017 at 16:41, Rene Hopf  wrote:
> > 
> > > I think getting rid of gtk2 dependencies is an important step to remove 
> > > legacy deps, and move forward...
> > 
> > Maybe we should get rid of all of GTK and switch to something else.
> 
> Someone (definitely not me) will need to step forward to port HalScope to 
> another GUI platform.
> HalScope is an important tool, and is written in C (not C++) using GTK.

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Re: [Emc-developers] new BUS in the LinuxCNC family --> (Hostmot bus multiplier)

[Nicklas Karlsson]

> OK, I PROMISE this will be the last post on this off-topic 
> subject!

That's certainly a different bus, a people bus with serial numbered rows.

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Re: [Emc-developers] Halscope data file load

[Nicklas Karlsson]

> On Wed, Jun 21, 2017 at 11:38:42PM +0100, andy pugh wrote:
> > Looking at the code, I get the impression that the ability to load a saved
> > data file back into Halscope isn't implemented. Am I correct?
> 
> Yes

Maybe it could be loaded into octave or other software. Octave is a very good 
choice because there plenty of other functions available both for plotting and 
mathematics like for example digital filters.

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Re: [Emc-developers] QTvcp 4/5 opinions wanted.

[Nicklas Karlsson]

> On 04/18/2017 01:30 PM, Nicklas Karlsson wrote:
> > I bought an old CNC machine a while ago, I turned on the button and the 
> > text instantly displayed on the screen, how much time does it take today 
> > with a lot faster computer?
> >
> >
> Yes, my Allen-Bradley 7320 control, which I used before the 
> original EMC, was pretty close to "instant on".
> You pressed "control on", waited a second for some relays to 
> click, and then pressed "estop reset" and you could start 
> jogging before the CRT warmed up enough to give a display.  
> That is, if it came up.  It had a bad habit of dumping the 
> battery-backed memory every few weeks, so you had to reload 
> the executive from a laptop pretending to be a paper tape 
> reader.  Then, you had to load the part program from the laptop.
> 
> Well, LinuxCNC is SO MUCH more reliable, capable and usable, 
> that I never want to go back!  So, I don't really begrudge a 
> minute to boot up.  I can pump the lube handle and get a few 
> other things ready while Linux is booting.
> 
> Jon

I should change to linuxcnc but it still make me think, it have become slower.

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Re: [Emc-developers] QTvcp 4/5 opinions wanted.

[Nicklas Karlsson]

I bought an old CNC machine a while ago, I turned on the button and the text 
instantly displayed on the screen, how much time does it take today with a lot 
faster computer?



On Tue, 18 Apr 2017 08:55:58 +
Chris Morley  wrote:

> I've been working on a branch that would supply linuxcnc with a python QT 
> based vcp program.
> 
> This is capable of GLADEvcp type panels and operator screens including python 
> handler files.
> 
> Qt seems to be the future of GUIs
> 
> 
> The questions I am wonder on are:
> 
> 
> python 2 or 3 ?
> 
> 
> PYQT4 or 5 ?
> 
> 
> Currently it's built with python 2 and PYQT4.
> 
> 
> My personal opinion is that I see little reason to use python 3 yet - it 
> seems many libraries are slow to switch.
> 
> 
> QT5 is not available in wheezy but is available in Mint (a fairly common used 
> distribution)
> 
> Looks like debian Jessie has PYQT5 in both styles of python.
> 
> 
> So to use QT5 we would not be able to use QTvcp in wheezy and  i would need 
> some make file help
> 
> to juggle when to build and not.
> 
> 
> I haven't read any significant  differences between qt4/5 I just would like 
> to future proof the work.
> 
> it's really disappointing the debacle of GTK2 and 3.
> 
> 
> Opinions other comments?
> 
> 
> Chris M
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Re: [Emc-developers] problems running source build of 2.8 master

[Nicklas Karlsson]

No idea but I have used 2.8 master for quite a long time but is probably a few 
months since last time I updated.

On Sun, 05 Mar 2017 13:47:06 -0600
Jon Elson  wrote:

> Hello, all,
> 
> I'm working on the fix to the hal_ppmc driver discussed last 
> weekend.  So, first is to install a developer clone of the 
> master 2.8.0~pre1 version.  I did this, and found that some 
> things that worked before are broken.
> 
> First item is a loadrt command line option.
> 
> The command line (in univpwm_load.hal) is this :
> 
> loadrt hal_ppmc port_addr="0xecf8" timestamp="0x00"
> 
> And, I get this error :
> 
> Found file(REL): ./univpwm_load.hal
> Note: Using POSIX realtime
> timestamp=0x00: Invalid type character `*'
> ./univpwm_load.hal:13: waitpid failed 
> /home/elson/linuxcnc-2.8/bin/rtapi_app hal_ppmc
> ./univpwm_load.hal:13: 
> /home/elson/linuxcnc-2.8/bin/rtapi_app exited without 
> becoming ready
> ./univpwm_load.hal:13: insmod for hal_ppmc failed, returned -1
> Shutting down and cleaning up LinuxCNC...
> Note: Using POSIX realtime
> LinuxCNC terminated with an error.  You can find more 
> information in the log:
>  /home/elson/linuxcnc_debug.txt
> and
>  /home/elson/linuxcnc_print.txt
> as well as in the output of the shell command 'dmesg' and in 
> the terminal
> 
> ___
> 
> If I remove the timestamp="0x00" parameter from the command 
> line, the driver loads, and if I remove the hal code that 
> uses the pins exported by that option, then most of the 
> config seems to work. There is no asterisk character in the 
> command line, as the error line seems to suggest.  The port 
> address parameter is working properly.
> 
> Anybody have any idea what is causing this error?
> 
> The other thing I observed is that the jog pendant does not 
> work, but keyboard jogging does work.  I haven't done any 
> digging into why that might be.
> 
> Thanks,
> 
> Jon
> 
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Re: [Emc-developers] RTNET servo drive, Ethernet protocol, CANopen

[Nicklas Karlsson]

> CANopen sounds interesting. I'll have a look at it, a quick scan at
> wikipedia also shows IEEE 1451. It would be really nice if a drive would
> just present itself and all the variables would be available as pins.
> Using existing and open protocols is definitely preferred.

I have looked at profibus but do not find a way to access custom parameters but 
I might be wrong. Profibus is however very useful for other reasons in linuxcnc 
since millions of these devices have manufctured for example like simple IO 
modules but also motor drivers which might be useful for CNC machining or at 
least to drive the spindle.

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Re: [Emc-developers] RTNET servo drive, Ethernet protocol, CANopen

[Nicklas Karlsson]

>   As far as I understand PTP protocol is for very accurate clock
>   synchronization?
> 
> Which is exactly what I want.  Many microcontroller and network cards have
> support for this, it's also called IEEE 1588. There even are switches
> which re-timestamp so the jitter caused by the switch can be removed.
> I can't give the numbers of what I have at the moment, but the goal is
> to get the timing differences between the drives below 50ns.  What I'm
> using right now is just a quick and dirty method, so I can get the
> hardware up and running and fix potential mistakes in the next version.

I thought within 1% or so was good enough and was happy with that. Within 50ns 
is really good, is it complicated to implement on micro controller?


>   Here I am thinking about CANopen. PDOs used for real time protocol
>   is practically the same as sending a struct although byte order
>   is defined, there are no padding and there exists standard
>   communication profiles there the data is defined although it
>   is usually possible to change by configuration. SDO and EDS
>   electronic datasheet is however standardized so it is possible
>   to access standardized or custom parameters in micro controller
>   with a standard protocol.
> 
> CANopen sounds interesting. I'll have a look at it, a quick scan at
> wikipedia also shows IEEE 1451. It would be really nice if a drive would
> just present itself and all the variables would be available as pins.

Not exactly but not to far away. Usually there is default configuration for 
PDOs which might be sent periodically and possible to map values list of 
available values in dictionary to PDOs.

There is a standard IDs used for PDO which usually is used for real time 
communication, these are usually simple messages with only the real time data 
where message format identified by the ID. There are also standard IDs for SDO 
messages used to access the dictionary. A electronic datasheet *.eds file may 
be generated for the device and interpreted by a configuration file.

Even though there a standards for which dictionary entries should be available 
configuration may access custom entries. Nice thing is configuration tool will 
probably work with only the dictionary entries actually needed implemented 
although other management functionality will not. There are also standard 
communication profiles for example for motors which will work more 
automatically.


I do not about other similar protocol. It should fulfill the requirements for 
linuxcnc rather well, possibility for real time data and a standard 
configuration tool.


Nicklas Karlsson

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Re: [Emc-developers] RTNET servo drive, Ethernet protocol, CANopen

[Nicklas Karlsson]

>   Well actually not. A full period of jitter then using average
>   time over 100 samples is 1% or about if not exact 1/n=(100/n)%
>   of jitter. 
> 
> The ethernet controller of the processor has a clock with a very
> fine-grained control of the time. Currently this clock takes 3 seconds
> to lock to the PC clock. Once locked it is very stable ...  But there
> is also the PWM frequency, which determines the sampling time of the
> position and motor currents. I want all the drives to sample the position
> at exactly the same time. For this I want to sample just before the next
> data from the PC arrives. This way both the encoder data and the ethernet
> packet arrive simultaneously and the current control loop has everything
> up-to-date for the next computation.  After the current control loop
> has finished it sends the status back to the PC.

I make it a little bit different. PC and micro controller is running at 
slightly different clock so there is only a need to compensate for clock drift. 
I use micro controller internal clock  and use arrival times to compensate for 
the clock drift.

The problem is I have no way to make PC send Ethernet packets with an accurate 
clock but with this method it is running smoothly anyway although with some 
extra delay.


> What using the timer brings, is that it allows me to compensate for the
> delay from the sigwait to the actual sending of the packet. By
> reading the timer with timer_gettime.

My method compensate for all jitter in between clock used to trigger servo loop 
in PC to micro controller internal clock although with some extra delay.


>   I have done this for stepper and have also written about how
>   to do it with decimal point to reduce jitter then running servo
>   loop at similar rate as stepper pulses.
> 
>   What protocol do you use for Ethernet?

I use a slightly modified Hostmot2 driver, stepper generators have been 
modified to send/receive positions encoder style in both directions. I am 
pretty sure messages are sent via UDP.

I am however thinking about CANopen messages over Ethernet, probably via UDP/IP 
since the dictionary and SDO communication would be very useful for parameters 
and it may be used to set parameters manually without following a standard for 
the entries, only the SDO messages.

The thing with the CANopen dictionary is it have an electronic datasheet so 
that a configuration tool could be used to access named parameters in the 
device. The name is in the dictionary while the micro controller only use 
numbers. Do anybody know about any similar protocol which may be used on 
Ethernet?


> Currently it is an ad-hoc protocol over UDP. One port is used for
> the timing and the PC broadcasts sync packets. I want to change this
> protocol to PTP, but also use the hardware time-stamping of the ethernet
> controller on the PC. Both will take some effort ad will have to come
> after I've finished the mechanics. Currently there is no compensation
> for propagation delay which causes one drive to sample slightly earlier
> than the other, and swapping the ports on the switch causes the order
> to change. The delay is well below 1us, so not an issue for mechanical
> systems like milling machines and lathes.
> 
> Since the PTP protcol has to be mixed with the real-time control I need
> to do something with scheduling. The TDMA driver included in RTNET is not
> "suitable" because the UDP packets are tagged differently and the ethernet
> controller in the microcontroller is not able to do all the checks. I
> also use a switch, instead of a HUB which also makes the TDMA sub-optimal.
> The drives have a 100Mb link and the PC had 1Gb.

As far as I understand PTP protocol is for very accurate clock synchronization?


> The other port is the data for the control loop which is just a struct
> sent with every UDP packet, and changed at will.  If, for some reason,
> I want to add a protocol I'll use another port.

Here I am thinking about CANopen. PDOs used for real time protocol is 
practically the same as sending a struct although byte order is defined, there 
are no padding and there exists standard communication profiles there the data 
is defined although it is usually possible to change by configuration. SDO and 
EDS electronic datasheet is however standardized so it is possible to access 
standardized or custom parameters in micro controller with a standard protocol.


Regards Nicklas Karlsson

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Re: [Emc-developers] few or none user list / dev list messages

[Nicklas Karlsson]

No I am still alive though I am working all days so time is quite limited.

I am thinking about howto implement configuration of drivers, maybe CANopen 
over Ethernet and i needed possible UART/SPI. What is needed is essentially a 
standard message format for configuration and even though there there are 
demands on what dictionary entries should be available configuration tool will 
probably work fine even if only those entries used are implemented.

I tried to run one of my machines this weekend but below zero degree Celsius is 
really to cold to work with small cables.



On Wed, 1 Feb 2017 00:07:12 +0700
TJoseph Powderly  wrote:

> is the message list really this dead?
> meaning: not even one msg from gene for days?
> hard to believe!
> paranoia: is this a result of the new regime?
> if so, thanks for the (shared) memories (Bob Hope)
> regards tjtr33 tomp
> 
> 
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Re: [Emc-developers] Question about changes to homing and soft-limits

[Nicklas Karlsson]

> I have been proceeding with a number of retrofits
> I have come up with a couple of issues with a Brother T-217
> Firstly the tool change process is handled entirely by moving the z axis
> there are a number of cams at the top end of travel that grasp the tool,
> release the drawbar etc.
> Moving into this Z range during operation would be catastrophic, the tool
> would impact the tool changer fingers destroying them.
> 
> I would like to limit travel into this region during normal program
> execution but relax this during tool change operation.

This feels like some kind of extra hal logics. If I get everything correct 
there are limits for g-code movements during normal operataion. Then tool 
change is done either these limits have to be modified or other commands used 
for motion.

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Re: [Emc-developers] pin for the logical axis position

[Nicklas Karlsson]

If you search thru the pins for your cards in the hal configuration located in 
the machine menu while running linuxcnc maybe you find it.

On Thu, 19 Jan 2017 12:09:27 -0500
Curtis Dutton  wrote:

> I'm writing a laser rastering component, which I will share when it is
> working.
> 
> It scans across the x axis but I can't find the pin that corresponds to the
> value shown in the gui for the actual X value with all offsets etc...
> added.
> 
> The joint.pos-cmd, et all... is the absolute position on the physical
> joint, but I want the logical X value.
> 
> 
> Is there a hal pin that exposes that value? (I'm using the axis ui)
> 
> 
> Thanks,
>Curt
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Re: [Emc-developers] Moving "Simple G-Code Generators" to GitHub? --> find github

[Nicklas Karlsson]

> IMHO a very few users know what a github is much less how to get 
> something from there.

It could be solved by a row showing which command to run with which parameters 
including the URL.

> It seems to me that a much larger user base could 
> find these on the Forum or another menu choice at the linuxcnc.org main 
> page.

I have seen git could provide web access and a link to the correct directory 
would make it simple to find the files.


I see a problem they never get collected or uploaded somewhere. For geda there 
is gedsymbols, they are collected per user which make it simple for the 
uploaders but a little bit harder for the user. I guess the solution is to 
upload them per user and automatically make the accessible per category at 
least as good as the uploaders succeed to agree on categorization. They will 
probably all be marked as expected to contain bugs or similar.


Nicklas Karlsson

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Re: [Emc-developers] Moving "Simple G-Code Generators" to GitHub?

[Nicklas Karlsson]

Sounds likea a good idea, then they are collected somewhere. To include them in 
ordinary distribution is something different.

On Mon, 16 Jan 2017 21:38:27 +
Nicholas Humfrey  wrote:

> Hello,
> 
> Do you think it would be a good idea to move the "Simple LinuxCNC G-Code 
> Generators Written in Python" to GitHub? I looked and couldn't find them 
> there already. Perhaps the python scripts and documentation could go in 
> their own repo?
> 
> http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Simple_LinuxCNC_G-Code_Generators
> 
> It would make it easier to download them all, track changes and accept 
> improvements via Pull Requests.
> 
> I would be happy to help perform the move, if it is a good idea.
> 
> 
> nick.
> 
> 
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Re: [Emc-developers] NML message rate

[Nicklas Karlsson]

Me to but every now and then it take a little bit longer.

> TCP is pretty quick as well. I can easily get a round trip of less than 
> 1ms for small packets over a local network.

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Re: [Emc-developers] NML message rate

[Nicklas Karlsson]

> > As I understand it NML use TCP/IP and then you probably to not send a new 
> > jog command until previous finished.
> 
> As far as I know the communications between real-time and user space 
> uses shared memory rather than sockets. I don't know if that has any 
> effect on how fast I can throw data at the trajectory planner or not.

I guess shared memory is a very fast mechanism. TCP has builtin resend 
mechanism and are relatively complex compared to just send periodically so this 
is most certainly the problem.

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Re: [Emc-developers] Absolute homing with single-turn encoders.

[Nicklas Karlsson]

As I understand it position is already known from absolute encoder so there is 
no need to run machine to a switch is hit?


On Mon, 2 Jan 2017 22:00:41 +
andy pugh  wrote:

> Due to the lack of an M3 die that actually cuts a thread, and the fact
> that none of the places that sell dies on a bank holiday sell dies of
> a quality that I feel like buying, I spent today trying to make my
> lathe home without moving. (with a complicated setup on the lathe,
> maybe including a steady-rest, this can be a good feature)
> 
> The idea is that by saving the machine position to file I can then use
> the absolute single-turn resolver position for fine-position
> determination and the saved position to work out how many full turns
> need to be added to that.
> 
> Adding the resolver position to the full-turns position gives me a
> value that I can pass to motor-pos-fb (and, it turns out, pid.fb) such
> that when the "home" button is pressed with HOME_ABSOLUTE_ENCODER = 2
> set in the INI (a new feature, thanks Dewey) the machine adopts the
> current position as the true position.
> 
> I do this with a user-space python component (as it needs file system
> access) and it writes its own little file.
> 
> I am trying to determine if I can use the existing position.txt file.
> The file itself is ideal, my file ends up with exactly the same data,
> but I think that if that file exists then the values are copied
> directly into joint.N.motor-offset and that isn't _quite_ what I need.
> 
> -- 
> atp
> "A motorcycle is a bicycle with a pandemonium attachment and is
> designed for the especial use of mechanical geniuses, daredevils and
> lunatics."
> — George Fitch, Atlanta Constitution Newspaper, 1916
> 
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Re: [Emc-developers] Checking NML version --> Universal GUI, g-code?

[Nicklas Karlsson]

> > Ideally there should be a protocol version. Extra functions may be minor
> > numbers and changes to old major number or something similar.
> 
> That would be great but if it hasn't happened by now I doubt if it will 
> ever happen as it is only useful in limited circumstances.

Most probably but it should be very simple to implement, just a constant value 
possible to read.


> The aim for this project is to provide a universal open source 
> abstraction layer between control and GUI. As well as LinuxCNC I already 
> have most of the code for Mach3 and Eding CNC. MachineKit, UCCNC and 
> Mach4 are on the to-do list. Any GUI based on this library would be able 
> to run any control that has a suitable driver. As the protocol is 
> sockets based the GUI and control don't need to be on the same computer 
> or even using the same OS. I am pretty sure I can make it work for my 
> current fairly modest requirements but I have yet to see if it can be 
> made versatile enough to handle a full CNC GUI.

I could see linuxcnc EMCTASK impelement a g-code interpreter. Could the use 
interface run the hardware with g-code?

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Re: [Emc-developers] Checking NML version

[Nicklas Karlsson]

Ideally there should be a protocol version. Extra functions may be minor
numbers and changes to old major number or something similar.

2016-12-27 7:44 GMT+01:00 Frank Tkalcevic :

> I had the same problem.  A half solution was to check the size of the
> structures eg sizeof(EMC_STAT).  I only need to know if a binary has
> changed, and stop when there was a mismatch.
>
>
> -Original Message-
> From: Les Newell [mailto:les.new...@fastmail.co.uk]
> Sent: Wednesday, 21 December 2016 6:30 AM
> To: EMC developers
> Subject: [Emc-developers] Checking NML version
>
> I am writing an application that remotely controls LinuxCNC. I found
> linuxcncrsh was too slow and difficult to work with so I am writing a
> binary
> equivalent that is optimized for speed. So far so good. Now the problem is
> that I need to support a number of different LinuxCNC versions. The problem
> is that structures such as emcStatus change between some versions of
> LinuxCNC. Is there any way to check the current API version?
>
> Les
>
>
> 
> 
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Re: [Emc-developers] Checking NML version

[Nicklas Karlsson]

I am also interested in NML.

I think it will make perfect sense for my engraver. I could run machine 
connected over ordinary ethernet 
with ordinary kernel on computer I user for everything else but still have the 
ordinary user interface.

May also make sense for a 3D printer.


On Wed, 21 Dec 2016 21:14:50 +
Les Newell  wrote:

> Thanks for all of your suggestions. linuxcnc_var sounds quite handy. 
> Thanks. It looks like I'll have to build a test version of my comms 
> module under every version that I need to support and check the size of 
> emcStatus for each one. That way I can work out how many versions I need 
> to distribute. Hopefully I can write a script using linuxcnc_var to 
> decide which version of my comms module to run.
> 
> Looking to the future hopefully I can add it to the LinuxCNC source so I 
> won't have these issues with later versions of LCNC. The code that 
> connects to LCNC is GPL and the comms library will be LGPL or a more 
> permissive license.
> 
> Les
> 
> On 21/12/16 15:32, Dewey Garrett wrote:
> > The included script linuxcnc_var might be helpful:
> >
> > 
> > $ linuxcnc_var
> > Retrieve Linuxcnc Variables
> > Usage:
> >linuxcnc_var [ varname | all ]
> > Varnames supported:
> >LINUXCNCVERSION
> >REALTIME
> >RTS
> >HALLIB_DIR
> > Option 'all' returns varname=value for all supported varnames
> >
> > 
> > For remote to a host named t520 with a deb install
> > (setup authorized keys first for automatic login):
> >
> > $ ssh t520 linuxcnc_var LINUXCNCVERSION
> > 2.8.0~pre1
> >
> > 
> > When using a RIP, source rip-environment (in RIP root_dir/scripts)
> > first:
> >
> > $ ssh t520 source /home/git/linuxcnc-dev/scripts/rip-environment; 
> > linuxcnc_var LINUXCNCVERSION
> > 2.8.0~pre1
> >
> 
> 
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Re: [Emc-developers] Checking NML version

[Nicklas Karlsson]

> >  Is there any way to check the current
> > API version?
> 
> Not exactly the same thing, but there should at least be a 1:1
> mapping. You can get the current LinuxCNC version from G-code
> parameters.
> 
> #<_vmajor> - Major package version. If current version was 2.5.2 would
> return 2.5.
> 
> #<_vminor> - Minor package version. If current version was 2.6.2 it
> would return 0.2.
> 
> Though it might be just as difficult to get to those values remotely.

There are NML between GUI and EMCTASK with GCODE interpreter. There are also 
NML to lower level but at this level there is no G-code.

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