[LinuxCNC/linuxcnc Issue#282] Test Axis of stepconf moves the axis when not told to ( after a little jog ) About GRBL HAL

Issue #282 | 状态: 已关闭 | 作者: TurBoss | 创建时间: 2017-06-12

Here are the steps I follow to reproduce the issue:

1. Launch stepconf and configure a machine with one or more axis/joints
2. in the axis parameters page click on “Test Axis”
3. Wait 30 secs or so

This is what I expected to happen:

Nothing

This is what happened instead:

The motor moves one step each 30 seconds

It worked properly before this:

New install so no previous tests but in 2.8 from sources and from buildbot is OK

Information about my hardware and software:

Debian GNU/Linux 7.11 (wheezy)
Linux cnc28 3.4-9-rtai-686-pae #1 SMP PREEMPT Debian 3.4.55-4linuxcnc i686 GNU/Linux

LinuxCNC 2.79 from the repo with Axis

my interface is a pcie parport with the WCH382

Debug information:

http://dpaste.com/3C21GCW
two hallcmd show all calls in the paste without any jog done

I’m not sure if is my parport card or a bug please confirm
Thanks

#1 – TurBoss 于 2017-06-12

“turboss@turbo-box:~$ ssh jauria@192.168.10.136 jauria@192.168.10.136's password: Linux lcnc 3.4-9-rtai-686-pae #1 SMP PREEMPT Debian 3.4.55-4linuxcnc i686


The programs included with the Debian GNU/Linux system are free software;

the exact distribution terms for each program are described in the

individual files in /usr/share/doc/*/copyright.
Debian GNU/Linux comes with ABSOLUTELY NO WARRANTY, to the extent

permitted by applicable law.

Last login: Tue Jun 13 01:56:21 2017 from turbo-box-3.local

jauria@lcnc:~$ halcmd show all

Loaded HAL Components:

ID      Type  Name                                            PID   State

    11  User  halcmd4259                                       4259 ready

     9  RT    __slow                                                ready

     8  RT    __fast                                                ready

     7  RT    threads                                               ready

     3  User  halcmd4154                                       4154 ready

     6  RT    hal_parport                                           ready

     5  RT    stepgen                                               ready

     4  RT    steptest                                              ready

Component Pins: Owner Type Dir Value Name 8 s32 OUT 5088 fast.time 6 bit IN FALSE parport.0.pin-01-out 6 bit IN FALSE parport.0.pin-02-out <== step 6 bit IN FALSE parport.0.pin-03-out <== dir 6 bit IN FALSE parport.0.pin-04-out 6 bit IN FALSE parport.0.pin-05-out 6 bit IN FALSE parport.0.pin-06-out 6 bit IN FALSE parport.0.pin-07-out 6 bit IN FALSE parport.0.pin-08-out 6 bit IN FALSE parport.0.pin-09-out 6 bit OUT FALSE parport.0.pin-10-in 6 bit OUT FALSE parport.0.pin-10-in-not 6 bit OUT FALSE parport.0.pin-11-in 6 bit OUT FALSE parport.0.pin-11-in-not 6 bit OUT FALSE parport.0.pin-12-in 6 bit OUT FALSE parport.0.pin-12-in-not 6 bit OUT FALSE parport.0.pin-13-in 6 bit OUT FALSE parport.0.pin-13-in-not 6 bit IN FALSE parport.0.pin-14-out 6 bit OUT FALSE parport.0.pin-15-in 6 bit OUT FALSE parport.0.pin-15-in-not 6 bit IN FALSE parport.0.pin-16-out 6 bit IN FALSE parport.0.pin-17-out 6 s32 OUT 0 parport.0.read.time 6 s32 OUT 228 parport.0.reset.time 6 s32 OUT 4716 parport.0.write.time 6 s32 OUT 0 parport.read-all.time 6 s32 OUT 0 parport.write-all.time 9 s32 OUT 1236 slow.time 5 s32 OUT 593 stepgen.0.counts 5 bit OUT FALSE stepgen.0.dir ==> dir 5 bit IN TRUE stepgen.0.enable 5 float IN 29.63179 stepgen.0.position-cmd <== cmd 5 float OUT 29.63179 stepgen.0.position-fb ==> fb 5 bit OUT FALSE stepgen.0.step ==> step 5 s32 OUT 216 stepgen.capture-position.time 5 s32 OUT 432 stepgen.make-pulses.time 5 s32 OUT 564 stepgen.update-freq.time 4 float IN 15 steptest.0.amplitude 4 s32 IN 0 steptest.0.dir 4 bit IN FALSE steptest.0.jog-minus 4 bit IN FALSE steptest.0.jog-plus 4 float IN 0 steptest.0.maxaccel 4 float IN 10 steptest.0.maxvel 4 s32 IN 0 steptest.0.pause 4 float OUT 29.6318 steptest.0.position-cmd ==> cmd 4 float IN 29.6318 steptest.0.position-fb <== fb 4 bit IN FALSE steptest.0.run 4 float OUT 0 steptest.0.run-high 4 float OUT 0 steptest.0.run-low 4 float OUT 0 steptest.0.run-start 4 float OUT 0 steptest.0.run-target 4 bit OUT FALSE steptest.0.running 4 s32 OUT 264 steptest.0.time Pin Aliases: Alias Original Name Signals: Type Value Name (linked to) float 29.6318 cmd ==> stepgen.0.position-cmd <== steptest.0.position-cmd bit FALSE dir ==> parport.0.pin-03-out <== stepgen.0.dir float 29.6318 fb <== stepgen.0.position-fb ==> steptest.0.position-fb bit FALSE step ==> parport.0.pin-02-out <== stepgen.0.step Parameters: Owner Type Dir Value Name 8 s32 RW 15480 fast.tmax 6 u32 RW 0x00000000 parport.0.debug1 6 u32 RW 0x00000000 parport.0.debug2 6 bit RW FALSE parport.0.pin-01-out-invert 6 bit RW FALSE parport.0.pin-01-out-reset 6 bit RW FALSE parport.0.pin-02-out-invert 6 bit RW TRUE parport.0.pin-02-out-reset 6 bit RW FALSE parport.0.pin-03-out-invert 6 bit RW FALSE parport.0.pin-03-out-reset 6 bit RW FALSE parport.0.pin-04-out-invert 6 bit RW FALSE parport.0.pin-04-out-reset 6 bit RW FALSE parport.0.pin-05-out-invert 6 bit RW FALSE parport.0.pin-05-out-reset 6 bit RW FALSE parport.0.pin-06-out-invert 6 bit RW FALSE parport.0.pin-06-out-reset 6 bit RW FALSE parport.0.pin-07-out-invert 6 bit RW FALSE parport.0.pin-07-out-reset 6 bit RW FALSE parport.0.pin-08-out-invert 6 bit RW FALSE parport.0.pin-08-out-reset 6 bit RW FALSE parport.0.pin-09-out-invert 6 bit RW FALSE parport.0.pin-09-out-reset 6 bit RW FALSE parport.0.pin-14-out-invert 6 bit RW FALSE parport.0.pin-14-out-reset 6 bit RW FALSE parport.0.pin-16-out-invert 6 bit RW FALSE parport.0.pin-16-out-reset 6 bit RW FALSE parport.0.pin-17-out-invert 6 bit RW FALSE parport.0.pin-17-out-reset 6 s32 RW 0 parport.0.read.tmax 6 bit RO FALSE parport.0.read.tmax-increased 6 u32 RW 0x000007D0 parport.0.reset-time 6 s32 RW 3204 parport.0.reset.tmax 6 bit RO FALSE parport.0.reset.tmax-increased 6 s32 RW 15132 parport.0.write.tmax 6 bit RO FALSE parport.0.write.tmax-increased 6 s32 RW 0 parport.read-all.tmax 6 bit RO FALSE parport.read-all.tmax-increased 6 s32 RW 0 parport.write-all.tmax 6 bit RO FALSE parport.write-all.tmax-increased 9 s32 RW 3792 slow.tmax 5 u32 RW 0x00018683 stepgen.0.dirhold 5 u32 RW 0x00018683 stepgen.0.dirsetup 5 float RO 0.06491338 stepgen.0.frequency 5 float RW 750 stepgen.0.maxaccel 5 float RW 10 stepgen.0.maxvel 5 float RW 20 stepgen.0.position-scale 5 s32 RO 593 stepgen.0.rawcounts 5 u32 RW 0x00018683 stepgen.0.steplen 5 u32 RW 0x00000000 stepgen.0.stepspace 5 s32 RW 972 stepgen.capture-position.tmax 5 bit RO FALSE stepgen.capture-position.tmax-increased 5 s32 RW 1560 stepgen.make-pulses.tmax 5 bit RO FALSE stepgen.make-pulses.tmax-increased 5 s32 RW 2316 stepgen.update-freq.tmax 5 bit RO FALSE stepgen.update-freq.tmax-increased 4 float RO 0 steptest.0.elapsed 4 float RW 0.05 steptest.0.epsilon 4 s32 RW 1032 steptest.0.tmax 4 bit RO FALSE steptest.0.tmax-increased Parameter Aliases: Alias Original Name Exported Functions: Owner CodeAddr Arg FP Users Name 00006 f8566000 f8bc3210 NO 0 parport.0.read 00006 f85662a0 f8bc3210 NO 1 parport.0.reset 00006 f85663a0 f8bc3210 NO 1 parport.0.write 00006 f85660f0 f8bc3210 NO 0 parport.read-all 00006 f8566570 f8bc3210 NO 0 parport.write-all 00005 f8c2d350 f8bc3130 YES 1 stepgen.capture-position 00005 f8c2d000 f8bc3130 NO 1 stepgen.make-pulses 00005 f8c2d430 f8bc3130 YES 1 stepgen.update-freq 00004 f83cc000 f8bc30c8 YES 1 steptest.0 Realtime Threads: Period FP Name ( Time, Max-Time ) 999710 YES slow ( 1056, 3792 ) 1 stepgen.capture-position 2 steptest.0 3 stepgen.update-freq 99971 NO fast ( 4944, 15480 ) 1 stepgen.make-pulses 2 parport.0.write 3 parport.0.reset`

`jauria@lcnc:~$ halcmd show all Loaded HAL Components: ID Type Name PID State 11 User halcmd4260 4260 ready 9 RT __slow ready 8 RT __fast ready 7 RT threads ready 3 User halcmd4154 4154 ready 6 RT hal_parport ready 5 RT stepgen ready 4 RT steptest ready

Component Pins: Owner Type Dir Value Name 8 s32 OUT 6360 fast.time 6 bit IN FALSE parport.0.pin-01-out 6 bit IN FALSE parport.0.pin-02-out <== step 6 bit IN FALSE parport.0.pin-03-out <== dir 6 bit IN FALSE parport.0.pin-04-out 6 bit IN FALSE parport.0.pin-05-out 6 bit IN FALSE parport.0.pin-06-out 6 bit IN FALSE parport.0.pin-07-out 6 bit IN FALSE parport.0.pin-08-out 6 bit IN FALSE parport.0.pin-09-out 6 bit OUT FALSE parport.0.pin-10-in 6 bit OUT FALSE parport.0.pin-10-in-not 6 bit OUT FALSE parport.0.pin-11-in 6 bit OUT FALSE parport.0.pin-11-in-not 6 bit OUT FALSE parport.0.pin-12-in 6 bit OUT FALSE parport.0.pin-12-in-not 6 bit OUT FALSE parport.0.pin-13-in 6 bit OUT FALSE parport.0.pin-13-in-not 6 bit IN FALSE parport.0.pin-14-out 6 bit OUT FALSE parport.0.pin-15-in 6 bit OUT FALSE parport.0.pin-15-in-not 6 bit IN FALSE parport.0.pin-16-out 6 bit IN FALSE parport.0.pin-17-out 6 s32 OUT 0 parport.0.read.time 6 s32 OUT 180 parport.0.reset.time 6 s32 OUT 5316 parport.0.write.time 6 s32 OUT 0 parport.read-all.time 6 s32 OUT 0 parport.write-all.time 9 s32 OUT 1140 slow.time 5 s32 OUT 594 stepgen.0.counts 5 bit OUT FALSE stepgen.0.dir ==> dir 5 bit IN TRUE stepgen.0.enable 5 float IN 29.67822 stepgen.0.position-cmd <== cmd 5 float OUT 29.67822 stepgen.0.position-fb ==> fb 5 bit OUT FALSE stepgen.0.step ==> step 5 s32 OUT 228 stepgen.capture-position.time 5 s32 OUT 384 stepgen.make-pulses.time 5 s32 OUT 648 stepgen.update-freq.time 4 float IN 15 steptest.0.amplitude 4 s32 IN 0 steptest.0.dir 4 bit IN FALSE steptest.0.jog-minus 4 bit IN FALSE steptest.0.jog-plus 4 float IN 0 steptest.0.maxaccel 4 float IN 10 steptest.0.maxvel 4 s32 IN 0 steptest.0.pause 4 float OUT 29.67822 steptest.0.position-cmd ==> cmd 4 float IN 29.67822 steptest.0.position-fb <== fb 4 bit IN FALSE steptest.0.run 4 float OUT 0 steptest.0.run-high 4 float OUT 0 steptest.0.run-low 4 float OUT 0 steptest.0.run-start 4 float OUT 0 steptest.0.run-target 4 bit OUT FALSE steptest.0.running 4 s32 OUT 240 steptest.0.time Pin Aliases: Alias Original Name Signals: Type Value Name (linked to) float 29.67822 cmd ==> stepgen.0.position-cmd <== steptest.0.position-cmd bit FALSE dir ==> parport.0.pin-03-out <== stepgen.0.dir float 29.67822 fb <== stepgen.0.position-fb ==> steptest.0.position-fb bit FALSE step ==> parport.0.pin-02-out <== stepgen.0.step Parameters: Owner Type Dir Value Name 8 s32 RW 15480 fast.tmax 6 u32 RW 0x00000000 parport.0.debug1 6 u32 RW 0x00000000 parport.0.debug2 6 bit RW FALSE parport.0.pin-01-out-invert 6 bit RW FALSE parport.0.pin-01-out-reset 6 bit RW FALSE parport.0.pin-02-out-invert 6 bit RW TRUE parport.0.pin-02-out-reset 6 bit RW FALSE parport.0.pin-03-out-invert 6 bit RW FALSE parport.0.pin-03-out-reset 6 bit RW FALSE parport.0.pin-04-out-invert 6 bit RW FALSE parport.0.pin-04-out-reset 6 bit RW FALSE parport.0.pin-05-out-invert 6 bit RW FALSE parport.0.pin-05-out-reset 6 bit RW FALSE parport.0.pin-06-out-invert 6 bit RW FALSE parport.0.pin-06-out-reset 6 bit RW FALSE parport.0.pin-07-out-invert 6 bit RW FALSE parport.0.pin-07-out-reset 6 bit RW FALSE parport.0.pin-08-out-invert 6 bit RW FALSE parport.0.pin-08-out-reset 6 bit RW FALSE parport.0.pin-09-out-invert 6 bit RW FALSE parport.0.pin-09-out-reset 6 bit RW FALSE parport.0.pin-14-out-invert 6 bit RW FALSE parport.0.pin-14-out-reset 6 bit RW FALSE parport.0.pin-16-out-invert 6 bit RW FALSE parport.0.pin-16-out-reset 6 bit RW FALSE parport.0.pin-17-out-invert 6 bit RW FALSE parport.0.pin-17-out-reset 6 s32 RW 0 parport.0.read.tmax 6 bit RO FALSE parport.0.read.tmax-increased 6 u32 RW 0x000007D0 parport.0.reset-time 6 s32 RW 3204 parport.0.reset.tmax 6 bit RO FALSE parport.0.reset.tmax-increased 6 s32 RW 15132 parport.0.write.tmax 6 bit RO FALSE parport.0.write.tmax-increased 6 s32 RW 0 parport.read-all.tmax 6 bit RO FALSE parport.read-all.tmax-increased 6 s32 RW 0 parport.write-all.tmax 6 bit RO FALSE parport.write-all.tmax-increased 9 s32 RW 3792 slow.tmax 5 u32 RW 0x00018683 stepgen.0.dirhold 5 u32 RW 0x00018683 stepgen.0.dirsetup 5 float RO 0.06491338 stepgen.0.frequency 5 float RW 750 stepgen.0.maxaccel 5 float RW 10 stepgen.0.maxvel 5 float RW 20 stepgen.0.position-scale 5 s32 RO 594 stepgen.0.rawcounts 5 u32 RW 0x00018683 stepgen.0.steplen 5 u32 RW 0x00000000 stepgen.0.stepspace 5 s32 RW 972 stepgen.capture-position.tmax 5 bit RO FALSE stepgen.capture-position.tmax-increased 5 s32 RW 1560 stepgen.make-pulses.tmax 5 bit RO FALSE stepgen.make-pulses.tmax-increased 5 s32 RW 2316 stepgen.update-freq.tmax 5 bit RO FALSE stepgen.update-freq.tmax-increased 4 float RO 0 steptest.0.elapsed 4 float RW 0.05 steptest.0.epsilon 4 s32 RW 1032 steptest.0.tmax 4 bit RO FALSE steptest.0.tmax-increased Parameter Aliases: Alias Original Name Exported Functions: Owner CodeAddr Arg FP Users Name 00006 f8566000 f8bc3210 NO 0 parport.0.read 00006 f85662a0 f8bc3210 NO 1 parport.0.reset 00006 f85663a0 f8bc3210 NO 1 parport.0.write 00006 f85660f0 f8bc3210 NO 0 parport.read-all 00006 f8566570 f8bc3210 NO 0 parport.write-all 00005 f8c2d350 f8bc3130 YES 1 stepgen.capture-position 00005 f8c2d000 f8bc3130 NO 1 stepgen.make-pulses 00005 f8c2d430 f8bc3130 YES 1 stepgen.update-freq 00004 f83cc000 f8bc30c8 YES 1 steptest.0 Realtime Threads: Period FP Name ( Time, Max-Time ) 999710 YES slow ( 948, 3792 ) 1 stepgen.capture-position 2 steptest.0 3 stepgen.update-freq 99971 NO fast ( 4944, 15480 ) 1 stepgen.make-pulses 2 parport.0.write 3 parport.0.reset jauria@lcnc:~$``

#2 - SebKuzminsky 于 2017-06-12

Note how in the first "show all", the stepgen.position-cmd and .counts are fairly large, because the user jogged. In the second "show all", the user waited for the stepper to take a single un-commanded step (~30 seconds after the end of the jog) and the .position-cmd and .counts both show the step was commanded.

The bug seems to be that steptest doesn't go to 0 velocity after a jog ends.

#3 - TurBoss 于 2017-06-13

After testing I can confirm that this is fixed

upgraded no bug
downgraded hit bug again
upgraded and seems fixed

Thanks!

#4 - SebKuzminsky 于 2017-06-14

My fix introduced another problem. I have a real fix, I'll pick push it later tonight.

#5 - TurBoss 于 2017-06-14

Hello

Where i can find the associated deb file
I'm searching here :
http://buildbot.linuxcnc.org/dists/wheezy/scratch-rt/binary-i386/

Thanks

#6 - SebKuzminsky 于 2017-06-14

@TurBoss The fix is in 2.7 now, no need to use the scratch repo any more. If you do a normal upgrade using the buildbot's normal deb archive and you get version v2.7.9-1-g63a2eca9cc or newer you'll get the fix.

The fix I pushed to 2.7 is a little different from the fix you tested. This second attempt at the fix worked much better in my testing, i'd like to hear your feeback on it.

#7 - TurBoss 于 2017-06-14

after 30 mins nothing happened so this is fixed no other strange things shown

Thaks

原始Issue: https://github.com/LinuxCNC/linuxcnc/issues/282