Re: Is EMC Working on RTL 2.2 at all?

[Ray Henry <rehenry-at-up.net>]

At 11:40 AM 6/20/2000 -0400, Fred wrote:
>
>EMC folks,
>
>I just built the EMC for RTL 2.2 yesterday. Here are my observations:
>
>1. I used Red Hat 6.2, which is kernel 2.2.14.
>
>2. I got the prepatched kernel source from rtlinux.org, for the 2.2a
>patch. I think this may be a patched 2.2.13 kernel; anyone know? I'm
>using linux_2_2_14/rtlinux_2_2 as the plat names for this.

I tried it one time and it said 2.2.14.  I'm using rtlinux-2.2 with the
2.2.13 kernel and it seems to work file.  Phil Wilshire thought that I'd
have no problem with the earlier kernel in this case.

>3. The default build (do nothing during the "make xconfig", just save
>and quit) compiles for SMP. This will define APIC_BASE, or something
>like this, that is needed at some point during the EMC compile. If
>you're getting this error during the EMC compile, set the SMP option
>during "make xconfig". There's a way to compile a uniprocessor kernel
>and not get this error, but I forget what we had to do and Will is out
>at the moment.
>
>4. The latest EMC release had a problem with steppermod.o and the PERIOD
>flag. During the insmod, a "parm_PERIOD" error popped up. This was due
>to a missing line in emcstepmot.c, which is correct in emcmot.c. Just
>above init_module(), you should have:
>
>MODULE_PARM(PERIOD, "i");
>MODULE_PARM(SHMEM_BASE_ADDRESS, "l");
>MODULE_PARM(STG_BASE_ADDRESS, "h");
>MODULE_PARM(PARPORT_IO_ADDRESS, "l");
>
>The first one, for PERIOD, was omitted in emcstepmot.c. I put it in but
>it's not in the release yet.

I recompiled a running EMC with this added line and got an error message
when I tried to start steppermod.o.  It was:

-----console-----
[root-at-localhost emc]# ./tk.run
Current platform is linux_2_2_14
Current real-time platform is rtlinux_2_2
inivar = plat/linux_2_2_14/bin/inivar
INIFILE = tk.ini
starting emc...
starting steppermod.o...plat/rtlinux_2_2/lib/steppermod.o: symbol for
parameter
PERIOD not found
can't install it               
-----

I did uncomment the PERIOD variable in the ini file.

I tried this compile because I was wondering if it would also fix the
problem that I have with trashing the ini file when I run steppermod.

>I built this for a laptop and was able to bring up the EMC, take it out
>of estop, and jog. I was running emcfreqmot.o, the frequency stepper
>algorithm, and I got a following error. The P gain was set high, 1000 I
>think, and the numbers moved a small amount before the following error
>kicked in. I'll have to check this again. If anyone notices this, let me
>know.

	P = 1000 is standard in the generic.ini

I hate to even suggest something this obvious but could it be the fact that
generic.ini defines: 

	OUTPUT_SCALE = 1.000 0.000

and with freqmod.o it needs to match the INPUT_SCALE.

>I'll get a new release up for 2.2.14 as soon as Will's disk vertebrae
>slip back into place.

OUCH!

Ray