LinuxCNC S-Curve Accelerations

Hi,

I was just able to compile the scurve planner with the original linuxcnc Makefile system.

repository
Use the ./install script to install linuxcnc. It first installs the libscurve & libclothoid3d locally.

Then it just runs the axis_scurve_mm.ini config using scurve.

Hmm, interesting development.

Now a dev can make modifications to their needs, and merge it, if they want to.

I can't see why the new planner can't be put in its own folder under /src/emc together with its build system. Surely linuxcnc's make system can call another build environment. In fact some of the lcnc code is written in c++   

Have a look at the header files in src/emc/rs274ngc. Classs don't exist in C  

Hi Rod,

The planner is indeed in it's own folder under src/emc/planner link
It uses the original Makefile to build the planner.

If you use 2 different build systems we experienced a kind off linking errors. Resulting that
the motmod.so and liblinuxcnchal.so had to be recompiled by cmake. But the excact reason why
this is, is unknown for me.






 

I have not looked at this for a few years but I was interested in  state_tags which is a structure added to emcmot_command_t in motion.h

From memory, the data is duplicated into a class in the rs274ngc module which I assumed was to deal with the different compilers. So there must be a way. Such messy redundant code.....
 

Hi Rod,

You mean adding the cmake project into the original makelists.txt file and build it from there is the way to go?
I did not test that option.

I think the state_tags are just used to get or set the current states of the cnc. In my view it has nothing to do with
compilers.

Grotius wrote:

Hi Rod,

You mean adding the cmake project into the original makelists.txt file and build it from there is the way to go?
I did not test that option.
 

I don't know anything about make or cmake but yes, just use cmake for the emc/src/planner folder. 
I noticed that Linuxcnc uses submake files for each folder in src/emc but you don't seem to do that.
Also because you mention motmod.so and liblinuxcnchal.so I assume you have modified the code in other modules. If that is the case, is there a way that planner can specify what it needs to use at run time so these modules can be used with both tpmod and planner?

It would be so cool to incorporate this into the base code and if it is modular as the original designers of Linuxcnc intended, it wont break anything existing.. and  it becomes available to everybody.

Hi Rod,

Here is the submakefile that is used for the tpmod_scurve.
This repository uses the original makefile system to compile the scurve. It has no cmake build system.
It's quite straightforward. It can not be made simpler to incorporate into the source.

I was able to test the debian 13 image with cia402 ethercat drivers, i can home the machine but after a few jog movements i got following errors and couldn't move the machine until i restart linuxcnc, latency is the same as my config that can runs in LinuxCNC 2.9.4. the only time i was able to run a gcode it only made the first g0 movement.it shows all the time wired connection loss, the only wired connection is to the ethercat drivers. i can run the same machine on the same pc only booting in LinuxCNC 2.9.4. without any erros, so its not a hardware problem.

Hi Tia,

It seems the .img won't work ok.

Today i tried the scurve + ethercat on a desktop pc and it runned ok.
It's using a EK1100 + 3x EL2124 on a stepgen component.
Jog speed was around 15000 mm/min wich i find not optimal, but ok for ethercat.

The config:
1x linuxcnc iso from : linuxcnc.org/downloads/
1x ethercat installation : ethercat install
1x linuxcnc + scurve, using makefile build system : codeberg.org/skynet/linuxcnc
1x linuxcnc-ethercat, codeberg.org/skynet/linuxcnc-ethercat.git

Running the config : config link

Now i can not try the cia-402 component myself as i dont have the hardware for it.
But maybe you are able to try this again.

Great! Don't worry about the cia402.comp as it needs work to work with the homecomp features. In fact it needs rewriting  from scratch I think...