[Emc-commit] [LinuxCNC/linuxcnc] 51a5e8: External Offsets: Axis coordinate offset hal pins

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  Branch: refs/heads/dgarr/external_offsets
  Home:   https://github.com/LinuxCNC/linuxcnc
  Commit: 51a5e80f12c51bca68439af0f04baf0307c13fac
      https://github.com/LinuxCNC/linuxcnc/commit/51a5e80f12c51bca68439af0f04baf0307c13fac
  Author: Dewey Garrett <dga...@pa...>
  Date:   2017-09-10 (Sun, 10 Sep 2017)

  Changed paths:
    A configs/sim/axis/external_offsets/M111
    A configs/sim/axis/external_offsets/README
    A configs/sim/axis/external_offsets/circles.ngc
    A configs/sim/axis/external_offsets/dyn_demo.ngc
    A configs/sim/axis/external_offsets/dynamic_offsets.halscope
    A configs/sim/axis/external_offsets/dynamic_offsets.ini
    A configs/sim/axis/external_offsets/dynamic_offsets.txt
    A configs/sim/axis/external_offsets/dynamic_offsets_panel.hal
    A configs/sim/axis/external_offsets/dynamic_offsets_panel.xml
    A configs/sim/axis/external_offsets/eoffset.tbl
    A configs/sim/axis/external_offsets/eoffsets.hal
    A configs/sim/axis/external_offsets/eoffsets.ini
    A configs/sim/axis/external_offsets/eoffsets.ngc
    A configs/sim/axis/external_offsets/eoffsets.txt
    A configs/sim/axis/external_offsets/eoffsets_monitor.tcl
    A configs/sim/axis/external_offsets/eoffsets_panel.hal
    A configs/sim/axis/external_offsets/eoffsets_panel.xml
    A configs/sim/axis/external_offsets/hpid.hal
    A configs/sim/axis/external_offsets/hpid.halscope
    A configs/sim/axis/external_offsets/hpid.ini
    A configs/sim/axis/external_offsets/hpid.txt
    A configs/sim/axis/external_offsets/hpid_demo.ngc
    A configs/sim/axis/external_offsets/hpid_panel.hal
    A configs/sim/axis/external_offsets/hpid_panel.xml
    A configs/sim/axis/external_offsets/hpid_sub.ngc
    A configs/sim/axis/external_offsets/hpid_touchoff.ngc
    A configs/sim/axis/external_offsets/jwp_z.ini
    A configs/sim/axis/external_offsets/jwp_z.ngc
    A configs/sim/axis/external_offsets/jwp_z.txt
    A configs/sim/axis/external_offsets/jwp_z_panel.hal
    A configs/sim/axis/external_offsets/jwp_z_panel.xml
    A configs/sim/axis/external_offsets/opa.hal
    A configs/sim/axis/external_offsets/opa.ini
    A configs/sim/axis/external_offsets/opa.txt
    A configs/sim/axis/external_offsets/opa_demo.ngc
    A configs/sim/axis/external_offsets/opa_panel.hal
    A configs/sim/axis/external_offsets/opa_panel.xml
    A configs/sim/axis/external_offsets/queuebuster.ngc
    A configs/sim/axis/external_offsets/sim_torch.hal
    M docs/man/man9/motion.9
    M docs/src/Master_Documentation.txt
    M docs/src/Submakefile
    M docs/src/config/ini-config.txt
    M docs/src/index.tmpl
    A docs/src/motion/external-offsets.txt
    M src/emc/ini/iniaxis.cc
    M src/emc/ini/iniaxis.hh
    M src/emc/ini/inihal.cc
    M src/emc/motion/command.c
    M src/emc/motion/control.c
    M src/emc/motion/mot_priv.h
    M src/emc/motion/motion.c
    M src/emc/motion/motion.h
    M src/emc/nml_intf/canon.hh
    M src/emc/nml_intf/emc.hh
    M src/emc/nml_intf/emc_nml.hh
    M src/emc/rs274ngc/canonmodule.cc
    M src/emc/rs274ngc/gcodemodule.cc
    M src/emc/rs274ngc/rs274ngc_pre.cc
    M src/emc/sai/saicanon.cc
    M src/emc/task/emccanon.cc
    M src/emc/task/emctask.cc
    M src/emc/task/emctaskmain.cc
    M src/emc/task/taskintf.cc
    A src/hal/components/eoffset_per_angle.comp
    A src/hal/components/eoffset_pid.comp
    M tests/interp/compile/use-rs274.cc

  Log Message:
  -----------
  External Offsets: Axis coordinate offset hal pins

Docs: docs/src/motion/external-offsets.txt

Hal pins (input interface is similar to wheel jogging pins):
  axis.L.eoffset-enable   Input  (bit):   enable
  axis.L.eoffset-scale    Input  (float): scale factor
  axis.L.eoffset-counts   Input  (s32):   request is accumulated counts*scale
  axis.L.eoffset-clear    Input  (bit):   clear request
  axis.L.eoffset          Output (float): current external offset
  axis.L.eoffset-request  Output (float): requested external offset (debug pin)

  motion.eoffset-active   Output (bit):   non-zero external offsets applied
  motion.eoffset-limited  Output (bit):   limited by soft limit

Hal components:
    eoffset_per_angle.comp
    eoffset_pid.comp

Sim configs (configs/sim/axis/external_offsets/)
    eoffset_demo.ini    (XYZ ext offsets)
    jwp_z.ini           (jog-while-pause Z)
    dynamic_offsets.ini (dynamic Z)
    opa.ini             (X ext offset per C angle)
    hpid.ini            (torch height control using eoffset_pid)

Notes:
1) see docs/src/motion/external_offsets.txt for usage restrictions
   man updated: motion.9
   new manpage: offset_per_angle.9 (auto by halcompile)
   new manpage: eoffset_pid.9 (auto by halcompile)
2) In canon.hh, option:
     #undef  STOP_ON_SYNCH_IF_EXTERNAL_OFFSETS
     #define STOP_ON_SYNCH_IF_EXTERNAL_OFFSETS
   forces a stop on any synch() if non-zero external
   offsets.

   Use #undef for testing -- works for many cases but not for
   queue-busters within program loops (repeat,while,do-while)
   using gcodes (like g0,g1) that omit axis letters

3) In command.c, using ALT_EOFFSET_BEHAVIOR for cont/incr jogs

Signed-off-by: Dewey Garrett <dga...@pa...>

  Commit: dfaabd934beed200021c5d8a8a55af3a63e4995e
      https://github.com/LinuxCNC/linuxcnc/commit/dfaabd934beed200021c5d8a8a55af3a63e4995e
  Author: Dewey Garrett <dga...@pa...>
  Date:   2017-09-10 (Sun, 10 Sep 2017)

  Changed paths:
    M configs/sim/axis/external_offsets/hpid.hal
    M configs/sim/axis/external_offsets/hpid.txt
    M configs/sim/axis/external_offsets/hpid_touchoff.ngc
    M docs/src/motion/external-offsets.txt
    M src/emc/nml_intf/canon.hh
    M src/emc/rs274ngc/rs274ngc_pre.cc
    M src/emc/task/emccanon.cc
    M src/emc/task/emctaskmain.cc

  Log Message:
  -----------
  External Offsets: eliminate synch() restrictions

Prior synch() restrictions are eliminated by changing the
way that external offsets are removed from the current position
information used by the interpreter.

Note:
     Stopping on synch() with external offset applied may
     be enabled at compile-time using an option defined
     in nml_intf/canon.cc:
  #define STOP_ON_SYNCH_IF_EXTERNAL_OFFSETS
     This option will be removed in the future.

  Commit: fe22fdef352b801283ebb4aa6f587bb9e505b1ec
      https://github.com/LinuxCNC/linuxcnc/commit/fe22fdef352b801283ebb4aa6f587bb9e505b1ec
  Author: Dewey Garrett <dga...@pa...>
  Date:   2017-09-10 (Sun, 10 Sep 2017)

  Changed paths:
    R configs/sim/axis/external_offsets/hpid.hal
    M configs/sim/axis/external_offsets/hpid.ini
    M configs/sim/axis/external_offsets/hpid_panel.hal
    M configs/sim/axis/external_offsets/hpid_sub.ngc
    M configs/sim/axis/external_offsets/hpid_touchoff.ngc
    M docs/src/motion/external-offsets.txt
    A lib/hallib/hpid.hal

  Log Message:
  -----------
  External Offsets: hpid minor updates

1) remove redundant net define: E:mininum-vel
2) del sig with no source:  E:torch-is-on
   and use E:enable-in-a for led: pyvcp.torch-is-on
3) comments in ngc files
4) g38 note
5) [EMC]MACHINE name

  Commit: 0efe2c6178162a5704b100396eba0ce85e64119a
      https://github.com/LinuxCNC/linuxcnc/commit/0efe2c6178162a5704b100396eba0ce85e64119a
  Author: Dewey Garrett <dga...@pa...>
  Date:   2017-09-10 (Sun, 10 Sep 2017)

  Changed paths:
    M configs/sim/axis/external_offsets/README
    M configs/sim/axis/external_offsets/hpid.halscope
    M configs/sim/axis/external_offsets/hpid.ini
    M configs/sim/axis/external_offsets/hpid.txt
    A configs/sim/axis/external_offsets/hpid_demo-mm.ngc
    A configs/sim/axis/external_offsets/hpid_mm.ini
    M configs/sim/axis/external_offsets/sim_torch.hal
    M lib/hallib/hpid.hal
    M src/hal/components/eoffset_pid.comp

  Log Message:
  -----------
  External Offsets: mv hpid.hal to HALLIB_DIR

In order to support commonality in configurations using
the eoffset_pid component for height control, users are
encouraged to always use the provided library file:
  [HAL]HALFILE=LIB:hpid.hal.

This file:

  1) executes the loadrt and addf commands for a Z axis
     eoffset_pid component (zo)

  2) use inifile settings for important items:
       [AXIS_Z]HPID_PGAIN
       [AXIS_Z]HPID_IGAIN
       [AXIS_Z]HPID_DGAIN
       [AXIS_Z]HPID_K
       [AXIS_Z]HPID_FNUM
       [AXIS_Z]HPID_SIM_TOVOLTS_GAIN
       [AXIS_Z]HPID_SIM_TOVOLTS_OFFSET
       [AXIS_Z]HPID_SIM_TORCH_GAIN
       [AXIS_Z]HPID_SIM_TORCH_ARCWIDTH_WAIT

  3) Creates signals and makes mandatory connections to
     pins of motion.*,axis.z.*,and halui.*

  4) Creates signals that must be connected by additional
     *user* halfiles (E:arc-ok,E:feedback)

  5) Creates signals for optional usage in *user* halfiles

  6) Creates signals for debugging

Also:
  a) created an abbreivated mm sim (hpid_mm.ini) based
     on user rodw machine
  b) use OFFSET_AV_RATIO=0.5 (thanks rodw) and note
     special requirements in hpid*.ini

  Commit: 1433d407dad2bcfa4b5e2337d14d4859e96713fc
      https://github.com/LinuxCNC/linuxcnc/commit/1433d407dad2bcfa4b5e2337d14d4859e96713fc
  Author: Dewey Garrett <dga...@pa...>
  Date:   2017-09-10 (Sun, 10 Sep 2017)

  Changed paths:
    M configs/sim/axis/external_offsets/hpid.txt
    M configs/sim/axis/external_offsets/hpid_sub.ngc
    M configs/sim/axis/external_offsets/hpid_touchoff.ngc
    M lib/hallib/hpid.hal

  Log Message:
  -----------
  External Offsets: hpid.hal:dont use spindle cmds

This commit frees motion.spindle-on pin for user purposes

Torch-on (primary enable):
  was: E:enable-in-a <= motion.spindle-on       (M3/M5)
   is: E:enable-in-a <= motion.digital-out-00   (M64/M65 P0)

Arc-ok-verified (secondary enable):
  was: E:enable-in-b <= motion.spindle-out-00   (M64/M65 P0)
   is: E:enable-in-b <= motion.digital-out-01   (M64/M65 P1)

Note: user can increase motion.digital-out-* pin quantity
      with motmod param num_dio

  Commit: 31b334664e422c64dc28addc30537eae037f62f8
      https://github.com/LinuxCNC/linuxcnc/commit/31b334664e422c64dc28addc30537eae037f62f8
  Author: Dewey Garrett <dga...@pa...>
  Date:   2017-09-10 (Sun, 10 Sep 2017)

  Changed paths:
    M docs/src/motion/external-offsets.txt
    M lib/hallib/hpid.hal

  Log Message:
  -----------
  External Offsets: *.hal comments, minor docs update

  Commit: fa042e0bdac632c54c1e0a75c17facb313b49144
      https://github.com/LinuxCNC/linuxcnc/commit/fa042e0bdac632c54c1e0a75c17facb313b49144
  Author: Dewey Garrett <dga...@pa...>
  Date:   2017-09-10 (Sun, 10 Sep 2017)

  Changed paths:
    M configs/sim/axis/external_offsets/hpid.ini
    M configs/sim/axis/external_offsets/hpid.txt
    M configs/sim/axis/external_offsets/hpid_mm.ini
    M configs/sim/axis/external_offsets/sim_torch.hal
    M lib/hallib/hpid.hal
    M src/hal/components/eoffset_pid.comp

  Log Message:
  -----------
  External Offsets: use halui.machine.units-per-mm

  Commit: 62ca10a1da37bd9b0350ba4c1f7bbee351c565b2
      https://github.com/LinuxCNC/linuxcnc/commit/62ca10a1da37bd9b0350ba4c1f7bbee351c565b2
  Author: Dewey Garrett <dga...@pa...>
  Date:   2017-09-10 (Sun, 10 Sep 2017)

  Changed paths:
    R configs/sim/axis/external_offsets/hpid_demo-mm.ngc
    M configs/sim/axis/external_offsets/hpid_demo.ngc
    A configs/sim/axis/external_offsets/hpid_demo_mm.ngc
    M configs/sim/axis/external_offsets/hpid_mm.ini
    M configs/sim/axis/external_offsets/hpid_panel.xml
    M configs/sim/axis/external_offsets/hpid_sub.ngc

  Log Message:
  -----------
  External Offsets: enhance sim test for min vel

77: rebase to master at 0f4c690 Sun Sep 10 10:32:52 2017 -0600

1) hpid_sub.ngc: support two feedrates to facilitate testing
   of zo.minimum-vel
2) ensure enables are 0 before touchoff (in case of prior abort)
3) hpid_panel.xml: increase allowable pyvcp minimum-vel for
   mm examples
4) update mm file names for consistent naming

Compare: https://github.com/LinuxCNC/linuxcnc/compare/54fe091fb3e4...62ca10a1da37