hal pin not updated correctly on start up

[gmoccapy]

I have an external estop and a momentary switch to switch on my machine.
This is the relevant part of the hal file:

###############################################
#  Estop circuit and machine enable signals   #
#            connect them to pins             #
#           (c) Norbert Schechner             #
###############################################

# if the whatchdog has bit, we must enable estop
# that is why we include watchdog in our estop circuit
loadrt not          names=watchdog
addf   watchdog     servo-thread
net    dog_sig_in   watchdog.in                   <=   hm2_7i76e.0.watchdog.has_bit
net    dog_sig_out  watchdog.out                  =>   hm2_7i76e.0.7i76.0.0.output-08

# ESTOP Switch is between output-08 and input-20 to signal LinuxCNC estop is OK
# you may have to connect additional hardware to ensure security, like termal sensor switches, etc

# if OK we set an output to signal we are ready to enable the machine
# use output to enable the external allowing to enable the machine
net    estop_ext    iocontrol.0.emc-enable-in     <=   hm2_7i76e.0.7i76.0.0.input-20
net    estop_out    iocontrol.0.user-enable-out   =>   hm2_7i76e.0.7i76.0.0.output-09

# Enable button is connected between output-09 and input-21

# machine enable signals
# enable the servo amplifieres or stepper drivers with this output
net    ena-machine  hm2_7i76e.0.7i76.0.0.input-21 =>   halui.machine.on
net    enabled      motion.motion-enabled         =>   hm2_7i76e.0.7i76.0.0.output-10

Whatchdog.has_bit is connected to not.in
not.out to output-08
output-08 to estop-switch
estop-switch to input-20
input-20 to iocontrol.0.emc-enable-in
iocontrol.0.emc-enable-out to output-09
output-09 to momentary-switch
momentary-switch to input-21
input-21 to halui.machine.on

If I start the machine with pressed estop (estop circuit is open / broken)
and get out of estop, closing the circuit, output-09 get TRUE and I can use the momentary switch to enable my machine.

If I start my machine with ESTOP circuit being OK, then output-09 will not get hight, output-08 is hight. I need to push estop, release it again to update the hal pin state.

IMHO that behavior is not OK.

Norbert

[jepler]

@gmoccapy what component are you saying is buggy? What inputs or input-transitions does that component treat in a way you think is improper?

btw I fixed your markup. Use a line with just "~~~~" before and after code blocks, and remember you can "preview" before submitting and I believe you can also edit the text after submitting

[gmoccapy]

Hallo Jepler,

IMHO something with the hm2_eth driver is not OK, as it does not update the hal pin correctly, it only updates the outputs on a change, but that does not happen on start up.

Norbert

[pcw-mesa]

You really cannot use the FPGA I/O watchdog this way. If you have a watchdog event, its basically
fatal and you must restart LinuxCNC (you certainly cannot turn on output 8 since after a watchdog bite
All I/O will be disabled and in a OFF state

[gmoccapy]

@pcw-mesa,

OK I understand, but if I change the config to

setp hm2_7i76e.0.7i76.0.0.output-08 1

I have the same behavior, it should set input 20 to True if i start with estop circuit closed and through iocontrol.0.user... it should set output 09 to TRUE, but that does not happen!

Norbert

[pcw-mesa]

I can't duplicate this
any initial state of I/O gets copied properly to outputs
I have a test setup with 7I76E outputs looped back to 7I76E inputs with wires
(0 to 0, 1 to 1 etc) either starting condition works as expected:

setp hm2_7i76e.0.7i76.0.0.output-00 false
net io0 hm2_7i76e.0.7i76.0.0.input-00-not hm2_7i76e.0.7i76.0.0.output-01
net io1 hm2_7i76e.0.7i76.0.0.input-01-not hm2_7i76e.0.7i76.0.0.output-02
net io2 hm2_7i76e.0.7i76.0.0.input-02-not hm2_7i76e.0.7i76.0.0.output-03
net io3 hm2_7i76e.0.7i76.0.0.input-03-not hm2_7i76e.0.7i76.0.0.output-04
works
as does
setp hm2_7i76e.0.7i76.0.0.output-00 true
net io0 hm2_7i76e.0.7i76.0.0.input-00-not hm2_7i76e.0.7i76.0.0.output-01
net io1 hm2_7i76e.0.7i76.0.0.input-01-not hm2_7i76e.0.7i76.0.0.output-02
net io2 hm2_7i76e.0.7i76.0.0.input-02-not hm2_7i76e.0.7i76.0.0.output-03
net io3 hm2_7i76e.0.7i76.0.0.input-03-not hm2_7i76e.0.7i76.0.0.output-04

Do you check that output 9 is actually set in your failing case?

[gmoccapy]

I will do some more testing and come back to that issue.

Norbert

[gmoccapy]

Hallo,

I followed the signals in detail and found the problem to be iocontrol.

connected as described in first post!

If I start the machine with ESTOP enabled (open circuit)
the signal runs fine until iocontrol.0.emc-enable-in

So all OK here, now I close the ESTOP circuit (reset estop) and the signal runs through iocontrol to output-09, so that is fine!

If I start linuxcnc with ESTOP in restet mode (circuit closed) I do expect the signal to reach also output-09, but it only reaches iocontrol.0.emc-enable-in.

iocontrol.0.emc-enable-out does not get high!

opening and closing the ESTOP circuit solved the problem, but IMHO if in is hight, out should be hight too.

Bug or race conflict?

Norbert

[rene-dev]

probably closed by #2497