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docs: translation-motivated changes #1995

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docs: translation-motivated changes
smoe Sep 3, 2022
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docs: build problem with grid and frame table arguments
smoe Sep 5, 2022
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6 changes: 3 additions & 3 deletions docs/src/hal/intro.adoc
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Expand Up @@ -320,12 +320,12 @@ does - that is determined by which functions are
connected to it. The real distinction is simply how often a thread
runs.

In LinuxCNC you might have a 50 µs thread and a 1 ms thread.
In LinuxCNC you might have a 50 µs thread and a 1 ms thread.
These would be created based on BASE_PERIOD and SERVO_PERIOD, the
actual times depend on the values in your ini file.
actual times depend on the values in your INI file.

The next step is to decide what each thread needs to do. Some of those
decisions are the same in (nearly) any LinuxCNC system--For instance,
decisions are the same in (nearly) any LinuxCNC system. For instance,
motion-command-handler is always added to servo-thread.

Other connections would be made by the integrator. These might include
Expand Down
10 changes: 5 additions & 5 deletions docs/src/hal/rtcomps.adoc
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Expand Up @@ -567,14 +567,14 @@ advanced tuning possibilities.
* '(float) pid.<loopnum>.FF1' - First order feedforward - output
proportional to derivative of command (velocity).
* '(float) pid.<loopnum>.FF2' - Second order feedforward - output
proportional to 2nd derivative
proportional to 2^nd^ derivative
of command (acceleration).
* '(float) pid.<loopnum>.deadband' - Amount of error that will be ignored
* '(float) pid.<loopnum>.maxerror' - Limit on error
* '(float) pid.<loopnum>.maxerrorI' - Limit on error integrator
* '(float) pid.<loopnum>.maxerrorD' - Limit on error derivative
* '(float) pid.<loopnum>.maxcmdD' - Limit on command derivative
* '(float) pid.<loopnum>.maxcmdDD' - Limit on command 2nd derivative
* '(float) pid.<loopnum>.maxcmdDD' - Limit on command 2^nd^ derivative
* '(float) pid.<loopnum>.maxoutput' - Limit on output value

All _max*_ limits are implemented so that if the value of this parameter
Expand All @@ -586,7 +586,7 @@ additional pins will be exported:
* '(float) pid.<loopnum>.errorI' - Integral of error.
* '(float) pid.<loopnum>.errorD' - Derivative of error.
* '(float) pid.<loopnum>.commandD' - Derivative of the command.
* '(float) pid.<loopnum>.commandDD' - 2nd derivative of the command.
* '(float) pid.<loopnum>.commandDD' - 2^nd^ derivative of the command.

=== Functions

Expand Down Expand Up @@ -743,8 +743,8 @@ halcmd: loadrt siggen [num_chan=<chans>]
If 'numchan' is not specified, one signal generator will be installed.
The maximum
number of generators is 16 (as defined by MAX_CHAN in siggen.c). Each
generator is completely independent. In the following descriptions,
<chan>:: is the number of a specific signal generator (the numbers
generator is completely independent. In the following descriptions is
<chan>:: the number of a specific signal generator (the numbers
start at 0).

.Unloading siggen
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110 changes: 56 additions & 54 deletions docs/src/hal/tools.adoc
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Expand Up @@ -13,10 +13,9 @@
[[sec:halcmd]]
== Halcmd

Halcmd is a command line tool for manipulating the HAL. There is a
rather complete man page for link:../man/man1/halcmd.1.html[halcmd], which will be installed if you
have installed LinuxCNC from either source or a package. The manpage
provides usage info:
Halcmd is a command line tool for manipulating the HAL.
There is a rather complete man page for link:../man/man1/halcmd.1.html[halcmd], which will be installed if you have installed LinuxCNC from either source or a package.
The manpage provides usage info:

----
man halcmd
Expand All @@ -39,7 +38,7 @@ usage, and is a good tutorial for halcmd.

Halmeter is a 'voltmeter' for the HAL. It lets you look at a pin,
signal, or parameter, and displays the current value of that item. It
is pretty simple to use. Start it by typing *halmeter* in an X
is pretty simple to use. Start it by typing `halmeter` in an X
windows shell. Halmeter is a GUI application. It will pop up
a small window, with two buttons labeled 'Select' and 'Exit'. Exit is
easy - it shuts down the program. Select pops up a larger window, with
Expand All @@ -55,13 +54,11 @@ convenient if you want to look at a number of different items quickly.

You can have many halmeters running at the same time, if you want to
monitor several items. If you want to launch a halmeter without tying
up a shell window, type 'halmeter &' to run it in the background.
You can also make halmeter start
displaying a specific item immediately, by adding 'pin|sig|par[am]
<name>' to the command line. It will display the pin, signal, or
parameter
<name> as soon as it starts. (If there is no such item, it will simply
start normally.) And finally, if you specify an item to display, you
up a shell window, type `halmeter &` to run it in the background.
You can also make halmeter start displaying a specific item immediately, by adding 'pin|sig|par[am] <name>' to the command line.
It will display the pin, signal, or parameter <name> as soon as it starts -
if there is no such item, it will simply start normally.
And finally, if you specify an item to display, you
can add '-s' before the pin|sig|param to tell halmeter to use a small
window. The item name will be displayed in the title bar instead of
under the value, and there will be no buttons. Useful when you want a
Expand All @@ -82,7 +79,7 @@ For example:
loadusr halmeter pin hm2.0.stepgen.00.velocity-fb -g 0 500
----

See the man page for more options. See section <<sec:halmeter,Halmeter>>.
See the man page for more options and the section <<sec:halmeter,Halmeter>>.

.Halmeter selection window
image::images/hal-meter01.png["Halmeter selection window"]
Expand All @@ -95,10 +92,11 @@ image::images/hal-meter02.png["Halmeter watch window"]
Halshow (<<cha:halshow,complete usage description>>)
can be started from the command line to show details for selected
components, pins, parameters, signals, functions, and threads of a running HAL.
The WATCH tab provides a continuous display of selected pin, parameters, and
signal items. The File menu provides buttons to 1) save the watch items to
a watch list and to load and existing watch list. The watch list items can
also be loaded automatically on startup. For command line usage:
The WATCH tab provides a continuous display of selected pin, parameters, and signal items.
The File menu provides buttons to 1) save the watch items to
a watch list and to load and existing watch list.
The watch list items can also be loaded automatically on startup.
For command line usage:

----
halshow --help
Expand All @@ -110,8 +108,8 @@ Usage:
--iformat format_string_for_int

Notes:
Create watchfile in halshow using: 'File/Save Watch List'
linuxcnc must be running for standalone usage
Create watchfile in halshow using: 'File/Save Watch List'.
LinuxCNC must be running for standalone usage.
----

LinuxCNC must be running for standalone usage.
Expand Down Expand Up @@ -180,14 +178,14 @@ writable pins, parameters or signals.
--help (this text)
--title title_string (window title, default: sim_pin)

Note: LinuxCNC (or a standalone Hal application) must be running
Note: LinuxCNC (or a standalone HAL application) must be running
A named item can specify a pin, param, or signal
The item must be writable, e.g.:
pin: IN or I/O (and not connected to a signal with a writer)
param: RW
signal: connected to a writable pin

Hal item types bit,s32,u32,float are supported
HAL item types bit,s32,u32,float are supported

When a bit item is specified, a pushbutton is created
to manage the item in one of three manners specified
Expand Down Expand Up @@ -219,7 +217,7 @@ image::images/sim_pin.png["sim_pin Window"]

== Simulate Probe

simulate_probe is a simple gui to simulate activation of the pin motion.probe-input.
`simulate_probe` is a simple GUI to simulate activation of the pin motion.probe-input.
Usage:

----
Expand All @@ -229,44 +227,47 @@ simulate_probe &
.`simulate_probe` Window
image::images/simulate_probe.png["simulate_probe Window"]

== Hal Histogram
== HAL Histogram

hal-histogram is a command line utility to display histograms for hal pins.
`hal-histogram` is a command line utility to display histograms for HAL pins.

.`hal-histogram` Usage
----
Usage:
.Usage:
hal-histogram --help | -?
or
hal-histogram [Options] [pinname]

Options:
--minvalue minvalue (minimum bin, default: 0)
--binsize binsize (binsize, default: 100)
--nbins nbins (number of bins, default: 50)

--logscale 0|1 (y axis log scale, default: 1)
--text note (text display, default: "" )
--show (show count of undisplayed nbins, default off)
--verbose (progress and debug, default off)

Notes:
1) LinuxCNC (or another Hal application) must be running
2) If no pinname is specified, default is: motion-command-handler.time
3) This app may be opened for 5 pins
4) pintypes float, s32, u32, bit are supported
5) The pin must be associated with a thread supporting floating point
For a base thread, this may require using:
loadrt motmod ... base_thread_fp=1
----
.Options:
[width="90%",options="header"]
//[grid=false,frame=false]
|===
|Option |Value |Description
|--minvalue|minvalue|minimum bin, default: 0
|--binsize |binsize |binsize, default: 100
|--nbins |nbins |number of bins, default: 50
| | |
|--logscale|0/1 |y axis log scale, default: 1
|--text |note |text display, default: ""
|--show | |show count of undisplayed nbins, default off
|--verbose | |progress and debug, default off
|===

.Notes:
1. LinuxCNC (or another HAL application) must be running
2. If no pinname is specified, default is: motion-command-handler.time
3. This app may be opened for 5 pins
4. pintypes float, s32, u32, bit are supported
5. The pin must be associated with a thread supporting floating point
For a base thread, this may require using
`loadrt motmod ... base_thread_fp=1` .

.`hal-histogram` Window
image::images/hal-histogram.png["hal-histogram Window"]

== Halreport

halreport is a command-line utility that generates a report about hal
connections for a running LinuxCNC (or other hal) application. The
`halreport` is a command-line utility that generates a report about HAL
connections for a running LinuxCNC (or other HAL) application. The
report shows all signal connections and flags potential problems.
Information included:

Expand All @@ -293,7 +294,7 @@ or
----

To generate the report for every LinuxCNC startup, include halreport
and an output filename as an [APPLICATIONS]APP entry in the ini file.
and an output filename as an [APPLICATIONS]APP entry in the INI file.

.`halreport` Example
[source,{ini}]
Expand All @@ -315,7 +316,7 @@ critical input pins that it connects to.
For routine signal paths that handle switch inputs, user-space
pins, etc., the addf-ordering is often not critical. Moreover,
the timing of user-space pin value changes cannot be controlled
or guaranteed at the intervals typically employed for hal threads.
or guaranteed at the intervals typically employed for HAL threads.

Example report file excerpts showing a pid loop for a hostmot2
stepgen operated in velocity mode on a trivkins machine with
Expand All @@ -340,8 +341,7 @@ SIG: motor-cmd-0
(=hm2_7i92.0.stepgen.00.velocity-cmd)
----

In the example above, the HALFILE uses halcmd aliases to simplify pin names
for an hostmot2 fpga board with commands like:
In the example above, the HALFILE uses halcmd aliases to simplify pin names for an hostmot2 FPGA board with commands like:

[source,{hal}]
----
Expand All @@ -353,8 +353,10 @@ alias pin hm2_7i92.0.stepgen.00.position-fb h.00.position-fb
Questionable component function detection may occur for

. unsupported (deprecated) components,
. user-created components that use multiple functions or unconventional function naming, or
. GUI-created userspace components that lack distinguishing characteristics such as a prefix based on the GUI program name.
. user-created components that use multiple functions or
unconventional function naming, or
. GUI-created userspace components that lack distinguishing
characteristics such as a prefix based on the GUI program name.

Questionable functions are tagged with a question mark "?".
====
Expand All @@ -364,7 +366,7 @@ Component pins that cannot be associated with a known thread
function report the function as "Unknown".

[NOTE]
halreport generates a connections report for a running hal
halreport generates a connections report for a running HAL
application to aid in designing and verifying connections. Pin
types and current values are not shown. For this information use
applications like halshow, halmeter, halscope or the 'show'
Expand Down