The Joggy Thing vs. LinuxCNC 2.8

After getting the Sherline mostly working with LinuxCNC 2.8 and the Mesa 5I25 FPGA card, I updated the HAL code turning the Logitech gamepad into The Joggy Thing:

Sherline Mill - Logitech Gamepad Joggy Thing
Sherline Mill – Logitech Gamepad Joggy Thing

This required significantly more effort than I expected, mainly because I can no longer edit the Eagle schematics defining the HAL file. In the intervening years, Autodesk bought the Eagle EE CAD program, converted it into a subscription service, sutured it onto their Fusion 360 package, and priced the result far beyond my toy budget. While they do offer a free tier limited to “individuals for personal, non-commercial use”, schematics with only two sheets pretty much wipes out its value.

Because the EESchema part of Kicad can export its netlists as XML files, someone experienced in wrangling XSLT, perhaps using Python + lxml, could recreate the function of the Eagle ULP with Kicad schematics / netlists. I am not, however, that person, although it would certainly be a Learning Experience™ of the first water.

So I updated the automatically generated HAL file on hard mode with a text editor, which, given HAL’s limited debugging support, somewhat resembles juggling a greasy bowling ball, a full-throttle chainsaw, and a squalling baby in a poopy diaper.

The major conceptual problem was LinuxCNC’s recent separation of “axes” from “joints”, with resulting changes in both nomenclature and control. Eventually, I found some key hints in a very recent update to a LinuxCNC wiki entry describing a similar Logitech gamepad interface.

The basic Joggy Thing logic remains the same, with “analog” values from the joysticks now presented to both the halui.axis and halui.joint controls. The new trick of holding the pre-startup values (presumably zeros) with feedback around a multiplexer qualifies as a Moby Hack preventing a startup glitch from triggering an error having something to do with an E-stop.

The machine still runs away on X and Z at full throttle instantly after tapping the Machine-On button for the first time in the morning. Come to find out the gamepad starts up with all four joysticks jammed at -1 until the first activation of any axis or button, which I’m sure it always did, but something in HAL’s bowels now responds differently. More work will be required, although I think the simplest solution will involve holding everything inert until the logic sees a specific gamepad button.

The LinuxCNC HAL code as a GitHub Gist:

# HAL for Logitech Joggy Thing
####################################################
# Load realtime and userspace modules
loadusr -W hal_input -KA Dual
#loadrt logic count=1 personality=0x104
loadrt constant count=13
loadrt and2 count=17
loadrt conv_float_s32 count=1
loadrt flipflop count=4
loadrt mux2 count=1
loadrt mux4 count=5
loadrt not count=8
loadrt or2 count=13
loadrt scale count=7
loadrt timedelay count=1
loadrt toggle count=1
####################################################
# Hook functions into threads
#addf logic.0 servo-thread
addf constant.0 servo-thread
addf constant.1 servo-thread
addf constant.2 servo-thread
addf constant.3 servo-thread
addf constant.4 servo-thread
addf constant.5 servo-thread
addf constant.6 servo-thread
addf constant.7 servo-thread
addf constant.8 servo-thread
addf constant.9 servo-thread
addf constant.10 servo-thread
addf constant.11 servo-thread
addf constant.12 servo-thread
addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread
addf and2.3 servo-thread
addf and2.4 servo-thread
addf and2.5 servo-thread
addf and2.6 servo-thread
addf and2.7 servo-thread
addf and2.8 servo-thread
addf and2.9 servo-thread
addf and2.10 servo-thread
addf and2.11 servo-thread
addf and2.12 servo-thread
addf and2.13 servo-thread
addf and2.14 servo-thread
addf and2.15 servo-thread
addf and2.16 servo-thread
addf conv-float-s32.0 servo-thread
addf toggle.0 servo-thread
addf flipflop.0 servo-thread
addf flipflop.1 servo-thread
addf flipflop.2 servo-thread
addf flipflop.3 servo-thread
addf timedelay.0 servo-thread
addf or2.0 servo-thread
addf or2.1 servo-thread
addf or2.2 servo-thread
addf or2.3 servo-thread
addf or2.4 servo-thread
addf or2.5 servo-thread
addf or2.6 servo-thread
addf or2.7 servo-thread
addf or2.8 servo-thread
addf or2.9 servo-thread
addf or2.10 servo-thread
addf or2.11 servo-thread
addf or2.12 servo-thread
addf not.0 servo-thread
addf not.1 servo-thread
addf not.2 servo-thread
addf not.3 servo-thread
addf not.4 servo-thread
addf not.5 servo-thread
addf not.6 servo-thread
addf not.7 servo-thread
addf scale.0 servo-thread
addf scale.1 servo-thread
addf scale.2 servo-thread
addf scale.3 servo-thread
addf scale.4 servo-thread
addf scale.5 servo-thread
addf scale.6 servo-thread
addf mux2.0 servo-thread
addf mux4.0 servo-thread
addf mux4.1 servo-thread
addf mux4.2 servo-thread
addf mux4.3 servo-thread
addf mux4.4 servo-thread
####################################################
# Set constants
setp constant.0.value 0.1
setp constant.1.value 20
setp constant.2.value [TRAJ]MAX_LINEAR_VELOCITY
setp constant.3.value [TRAJ]MAX_ANGULAR_VELOCITY
setp constant.4.value 60
setp constant.5.value 0.50
setp constant.6.value 1.00
setp constant.7.value 0.10
setp constant.8.value 0.10
setp constant.9.value 0.0
setp constant.10.value -1.0
setp constant.11.value 0.020
setp constant.12.value 0.000
####################################################
# Connect Modules with nets
# both rear top buttons for e-stop, bottom right to reset
net estop-a input.0.btn-top2 and2.0.in0
net estop-b input.0.btn-base and2.0.in1
net n_13 and2.0.out halui.estop.activate
net reset-estop input.0.btn-base2 halui.estop.reset
# button to start manual mode (probably not needed with 2.8)
net manual-mode halui.mode.manual input.0.btn-base3
net program-resume halui.program.resume input.0.btn-base4
net n_14 or2.3.in0 input.0.btn-base5
net n_15 or2.3.in1 input.0.btn-base6
net n_16 toggle.0.in or2.3.out
net n_17 conv-float-s32.0.out input.0.abs-x-flat input.0.abs-y-flat input.0.abs-z-flat input.0.abs-rz-flat
net n_18 constant.1.out conv-float-s32.0.in
net n_19 constant.4.out scale.0.gain
net n_20 constant.5.out scale.1.gain
net n_21 constant.6.out scale.2.gain
net n_22 constant.7.out scale.3.gain
net n_23 scale.4.gain constant.8.out
net n_24 constant.0.out halui.axis.jog-deadband
net n_42 or2.7.in0 input.0.abs-x-is-pos
net n_43 or2.7.in1 input.0.abs-x-is-neg
net n_44 or2.8.in0 input.0.abs-y-is-pos
net n_45 or2.8.in1 input.0.abs-y-is-neg
net n_46 or2.9.in0 input.0.abs-z-is-pos
net n_47 or2.9.in1 input.0.abs-z-is-neg
net n_48 or2.10.in0 input.0.abs-rz-is-pos
net n_49 or2.10.in1 input.0.abs-rz-is-neg
net n_51 constant.10.out scale.5.gain scale.6.gain
net n_57 and2.1.out halui.axis.x.minus halui.joint.0.minus
net n_58 and2.2.out halui.axis.x.plus halui.joint.0.plus
net n_59 and2.3.out halui.axis.y.minus halui.joint.1.minus
net n_60 and2.4.out halui.axis.y.plus halui.joint.1.plus
net n_61 and2.5.out halui.axis.z.minus halui.joint.2.minus
net n_62 and2.6.out halui.axis.z.plus halui.joint.2.plus
net n_63 and2.7.out halui.axis.a.minus halui.joint.3.minus
net n_64 and2.8.out halui.axis.a.plus halui.joint.3.plus
# sort out jog speeds
net az-buttons-active or2.1.out or2.12.in1
net xy-buttons-active or2.5.out or2.12.in0
net any-buttons-active or2.12.out mux4.0.sel0 timedelay.0.in
net n_54 constant.11.out timedelay.0.on-delay
net n_55 constant.12.out timedelay.0.off-delay
net n_56 timedelay.0.out and2.1.in1 and2.2.in1 and2.3.in1 and2.4.in1 and2.5.in1 and2.6.in1 and2.7.in1 and2.8.in1
net jog-crawl toggle.0.out mux4.0.sel1
net knob-fast scale.1.out mux4.0.in0 scale.3.in
net button-fast scale.2.out mux4.0.in1 scale.4.in
net knob-crawl scale.3.out mux4.0.in2
net button-crawl scale.4.out mux4.0.in3
net jog-speed mux4.0.out halui.axis.jog-speed halui.joint.jog-speed
net angular_motion or2.11.out mux2.0.sel
net n_25 constant.2.out mux2.0.in0
net n_26 constant.3.out mux2.0.in1
net vel-per-second mux2.0.out scale.0.in
net vel-per-minute scale.0.out scale.1.in scale.2.in
net az-reset and2.14.out flipflop.2.reset flipflop.3.reset
net xy-reset and2.10.out flipflop.0.reset flipflop.1.reset
# hold jog speed unchanged until machine turns on
# mux S&H from https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Simple_Remote_Pendant
net jog-mux-enable halui.machine.is-on mux4.1.sel1 mux4.2.sel1 mux4.3.sel1 mux4.4.sel1
net axis-disabled-value constant.9.out mux4.1.in2 mux4.2.in2 mux4.3.in2 mux4.4.in2
net x-analog mux4.1.out mux4.1.in0 mux4.1.in1 halui.axis.x.analog halui.joint.0.analog
net y-analog mux4.2.out mux4.2.in0 mux4.2.in1 halui.axis.y.analog halui.joint.1.analog
net z-analog mux4.3.out mux4.3.in0 mux4.3.in1 halui.axis.z.analog halui.joint.2.analog
net a-analog mux4.4.out mux4.4.in0 mux4.4.in1 halui.axis.a.analog halui.joint.3.analog
#net x-amp-enable logic.0.in-00
#net y-amp-enable logic.0.in-01
#net z-amp-enable logic.0.in-02
#net a-amp-enable logic.0.in-03
net x-buttons-active or2.4.out or2.5.in0
net x-disable not.4.out and2.12.in1
net x-enable flipflop.0.out not.4.in mux4.1.sel0
net x-hat-minus or2.4.in1 input.0.abs-hat0x-is-neg and2.1.in0
net x-hat-plus or2.4.in0 input.0.abs-hat0x-is-pos and2.2.in0
net x-jog input.0.abs-x-position mux4.1.in3
net x-knob-active or2.7.out not.0.in and2.9.in0
net x-knob-inactive not.0.out and2.10.in0 and2.11.in0
net x-set and2.9.out flipflop.0.set
net y-buttons-active or2.6.out or2.5.in1
net y-disable not.5.out and2.9.in1
net y-enable flipflop.1.out not.5.in mux4.2.sel0
net y-hat-minus or2.6.in1 input.0.abs-hat0y-is-neg and2.4.in0
net y-hat-plus or2.6.in0 input.0.abs-hat0y-is-pos and2.3.in0
net y-jog input.0.abs-y-position scale.5.in
net y-jog-reversed scale.5.out mux4.2.in3
net y-knob-active not.1.in or2.8.out and2.11.in1
net y-knob-inactive not.1.out and2.10.in1
net y-select and2.12.in0 and2.11.out
net y-set flipflop.1.set and2.12.out
net z-button-minus or2.2.in0 input.0.btn-thumb and2.5.in0
net z-button-plus or2.2.in1 input.0.btn-top and2.6.in0
net z-buttons-active or2.2.out or2.1.in1
net z-disable not.6.out and2.16.in1
net z-enable not.6.in flipflop.2.out mux4.3.sel0
net z-jog input.0.abs-rz-position scale.6.in
net z-jog-reversed scale.6.out mux4.3.in3
net z-knob-active not.3.in or2.10.out and2.13.in0
net z-knob-inactive not.3.out and2.15.in0 and2.14.in0
net z-set and2.13.out flipflop.2.set
net a-button-minus or2.0.in0 input.0.btn-joystick and2.7.in0
net a-button-plus or2.0.in1 input.0.btn-thumb2 and2.8.in0
net a-buttons-active or2.0.out or2.1.in0 or2.11.in1
net a-disable not.7.out and2.13.in1
net a-enable or2.11.in0 flipflop.3.out not.7.in mux4.4.sel0
net a-jog input.0.abs-z-position mux4.4.in3
net a-knob-active or2.9.out not.2.in and2.15.in1
net a-knob-inactive not.2.out and2.14.in1
net a-select and2.16.in0 and2.15.out
net a-set flipflop.3.set and2.16.out
view raw joggy.hal hosted with ❤ by GitHub

3 thoughts on “The Joggy Thing vs. LinuxCNC 2.8

  1. No CNC until the budget stops gasping (a few construction projects–really want/need an ADA ramp when I can do it.), but I’m looking to do an install of JS8Call on a couple of machines while I’m gimped up.

    Nothing useful in precompiled X86_64, (AMD64 or ARM64 only, and the closest X86_64.rpm isn’t recognized as such by the rpm2tgz script) so it’s Trust the Source. Two of the three dependencies are easy, though I have some cleanup on aisle Qt (Qt4.7 and a couple of Qt5, though one supports a defunct package.) Still need to get and build the FFT package for the waterfall display. ‘Tis a cool package, but I’m not going to use a Win 10 machine for it.

    Wish I had a cooler story for the myriad times hospital staff asked about my knee blowout. “I was an idiot and used bad shoes on a slick surface. Then things got bad.” Not going to do anything tricky until I can shelve the strong painkillers, though.

    1. bad shoes on a slick surface

      I won’t tell the story about a relative, a scheduled hip replacement, a bird in a barn with a wet floor, and the other hip. Suffice it to say we can all deploy sufficient dumb to ruin the best-laid plans …

      1. Oof. I have some impressive bruises from a couple of post-ER falls (fainted the day after and had the knee flex with the brace out of position–tried to step over our dog.)
        No busted hips in the family and plan to keep it that way.

        Now, I gently tell the dog that though she’s 16 years old, she still has to move. Also maintain sugars as necessary.

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