first working user servo with makefile that downloads it
This commit is contained in:
@@ -36,7 +36,7 @@
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//Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
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//Enc 7: Test Stepper: ssi_enc multiturn 1 rev = 4096 enc_step
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$$$***
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//$$$***
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//!common()
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!common(PhaseFreq=20000,PhasePerServo=4)
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//!common(PhaseFreq=40000)
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@@ -1,35 +1,7 @@
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scp -r root@SAROP11-CPPM-MOT6871:/opt/ppmac .
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scp -r root@SAROP11-CPPM-MOT6871:/usr/local/xenomai/lib xenomai
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scp -r root@SAROP11-CPPM-MOT6871:/usr/lib .
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LIB='-L ppmac/libppmac/ -Lxenomai -lppmac -lxenomai -lpthread_rt -lpthread -lrt -ldl'
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LIB='-L/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac -lppmac -L/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/usr/local/xenomai-2.6.2.1/lib -lxenomai -lpthread_rt -lpthread -lrt -ldl'
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/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc -g main.o $LIB -o main
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export LD_LIBRARY_PATH=/opt/ppmac/libppmac/
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Motor[4].Ctrl=Sys.ServoCtrl
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Motor[4].Ctrl=UserAlgo.ServoCtrlAddr[0]
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UserAlgo.ServoCtrlAddr[0]=$....
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Motor[4].IpbGain=2.9192927
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UserAlgo.ServoCtrlAddr[4]=$a1108068
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usrflash/Project/Bin/Debug/usralgo.so
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usrflash/Project/Bin/Debug/usralgo.ko
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Helpfull Deltatau lines
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-----------------------
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cat /opt/ppmac/projpp/projpp_help.txt
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cat /opt/ppmac/projpp/projpp_help.txt
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root@:/# projpp -l
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$$$***
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@@ -70,19 +42,6 @@ cat /proc/kallsyms | grep MyUserAlgoFunctionName (e.g. cat /proc/kallsyms | grep
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UserAlgo.ServoCtrlAddr[4] = $a47e4068
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Motor[4].Ctrl =UserAlgo.ServoCtrlAddr[4].a
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build usralgo.ko
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----------------
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The sources are from C:\Documents and Settings\user\Desktop\scratch\PowerBrick_LVUserServoLoop\PowerBrick_LVUserServoLoop\C Language\Realtime Routines
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The Makefile was build with informations from the .../Realtime Routines/.usralgo.o.cmd etc. files
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rootfs files are on the powerbrick or in C:\DeltaTau\Power PMAC IDE\compilers\opt -> powerpc-465-rootfs.tar.gz
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On the powerbrick the kernel sources are not installed -> therefore the rootfs from the IDE is needed
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Make usralgo.ko
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Sample Kernel Module
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--------------------
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@@ -90,17 +49,18 @@ Sample Kernel Module
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http://www.thegeekstuff.com/2013/07/write-linux-kernel-module/
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https://linux.die.net/lkmpg/x121.html
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cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/usrServo/sampleKernelModule
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Do a module on Ubuntu works.
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-> path usrServo/sampleKernelModul
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ln -sfT Makefile.Ubuntu Makefile
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make clean
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make
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dmesg
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insmod /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/usrServo/sampleKernelModule/hello.ko
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insmod /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/usrServo/sampleKernelModule/hello.ko
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rmmod hello.ko
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dmesg
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Try to do a module for PowerBrick:
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Do a module for PowerBrick:
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uncompress powerpc-465-rootfs.tar.gz (from PMAC IDE) to /opt -> /opt/powerpc-465-rootfs/usr/include/ etc.
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compile fixdep, modpost
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cd /opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/scripts/basic
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@@ -111,25 +71,37 @@ Try to do a module for PowerBrick:
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make clean
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make
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scp hello.ko root@SAROP11-CPPM-MOT6871:/tmp
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dmesg
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insmod /tmp/hello.ko
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rmmod hello.ko
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dmesg
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Build test the user Servo kernel module
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---------------------------------------
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The sources are from C:\Documents and Settings\user\Desktop\scratch\PowerBrick_LVUserServoLoop\PowerBrick_LVUserServoLoop\C Language\Realtime Routines
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The Makefile calls the Lernel Makefile in /opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/Makefile
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it generates files as .usralgo.o.cmd etc.
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rootfs files are on the powerbrick or in C:\DeltaTau\Power PMAC IDE\compilers\opt -> powerpc-465-rootfs.tar.gz
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On the powerbrick the kernel sources are not installed -> therefore the rootfs from the IDE is needed (uncompressed to /opt/powerpc-465-rootfs)
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Build test the Servo kernel module
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----------------------------------
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cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/usrServo
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make clean
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make
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scp usralgo.ko root@SAROP11-CPPM-MOT6871:/tmp
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build usralgo.ko (or copy from IDE after build)
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******** UP TO HERE IT WORKED ***********
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scp usralgo.ko root@SAROP11-CPPM-MOT6871:/tmp
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insmod /opt/ppmac/usrflash/Project/Bin/Debug/usralgo.ko
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rmmod usralgo
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insmod /tmp/usralgo.ko
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cat /proc/kallsyms | grep user_pid_ctrl
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>>>> a35e812c T user_pid_ctrl [usralgo]
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UserAlgo.ServoCtrlAddr[4] = $a35e812c
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Motor[4].Ctrl =UserAlgo.ServoCtrlAddr[4].a
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286 dmesg
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287 rmmod hello.ko
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@@ -152,3 +124,45 @@ rmmod usralgo
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insmod /mypath/usralgo.ko (e.g. insmod /opt/ppmac/usrflash/Project/Bin/Debug/usralgo.ko)
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cat /proc/kallsyms | grep MyUserAlgoFunctionName (e.g. cat /proc/kallsyms | grep user_pid_ctrl)
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SCRATCH
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-------
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scp -r root@SAROP11-CPPM-MOT6871:/opt/ppmac .
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scp -r root@SAROP11-CPPM-MOT6871:/usr/local/xenomai/lib xenomai
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scp -r root@SAROP11-CPPM-MOT6871:/usr/lib .
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LIB='-L ppmac/libppmac/ -Lxenomai -lppmac -lxenomai -lpthread_rt -lpthread -lrt -ldl'
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LIB='-L/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac -lppmac -L/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/usr/local/xenomai-2.6.2.1/lib -lxenomai -lpthread_rt -lpthread -lrt -ldl'
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INC='-I/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac -I/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac'
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/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc -g $INC -c main.c -o main.o
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/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc -g main.o $LIB -o main
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scp main root@SAROP11-CPPM-MOT6871:/tmp
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export LD_LIBRARY_PATH=/opt/ppmac/libppmac/
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./main
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Motor[4].Ctrl=Sys.ServoCtrl
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Motor[4].Ctrl=UserAlgo.ServoCtrlAddr[0]
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UserAlgo.ServoCtrlAddr[0]=$....
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Motor[4].IpbGain=2.9192927
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UserAlgo.ServoCtrlAddr[4]=$a1108068
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usrflash/Project/Bin/Debug/usralgo.so
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usrflash/Project/Bin/Debug/usralgo.ko
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1
src/sampleKernelModule/Makefile
Symbolic link
1
src/sampleKernelModule/Makefile
Symbolic link
@@ -0,0 +1 @@
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Makefile.Deltatau
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18
src/setUsrServo/Makefile
Normal file
18
src/setUsrServo/Makefile
Normal file
@@ -0,0 +1,18 @@
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INC=-I/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac -I/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac
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LIB=-L/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac -lppmac -L/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/usr/local/xenomai-2.6.2.1/lib -lxenomai -lpthread_rt -lpthread -lrt -ldl
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CC=/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc
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LD=$(CC)
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all: setUsrServo
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setUsrServo.o: setUsrServo.c
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$(CC) -g $(INC) -c setUsrServo.c -o setUsrServo.o
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setUsrServo: setUsrServo.o
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$(LD) -g $(LIB) setUsrServo.o -o setUsrServo
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scp setUsrServo root@SAROP11-CPPM-MOT6871:/tmp
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clean:
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rm setUsrServo setUsrServo.o
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BIN
src/setUsrServo/main
Executable file
BIN
src/setUsrServo/main
Executable file
Binary file not shown.
BIN
src/setUsrServo/main.o
Normal file
BIN
src/setUsrServo/main.o
Normal file
Binary file not shown.
BIN
src/setUsrServo/setUsrServo
Executable file
BIN
src/setUsrServo/setUsrServo
Executable file
Binary file not shown.
61
src/setUsrServo/setUsrServo.c
Normal file
61
src/setUsrServo/setUsrServo.c
Normal file
@@ -0,0 +1,61 @@
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#include <stdio.h>
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//http://forums.deltatau.com/showthread.php?tid=24 ->examples to write directly to shared memory
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#include "RtGpShm.h" // Global Rt/Gp Shared memory pointers
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#include "pRtGpShm.h" // Global Rt/Gp Shared memory pointers
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//extern "C"
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//{
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void mydbg(char* s, int a, int b);
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//}
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main()
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{
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int i;
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int status;
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char buf[256];
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printf("hello\n");
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printf("there\n");
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InitLibrary();
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for (i=0;i<256;i++)
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{
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printf("hello %d\n",i);
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snprintf(buf,sizeof(buf),"Gate3[0].GpioData[0].16.8=%d\n",i);
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status=Command(buf); //ppmac gplib function
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printf("%s ->%d\n",buf,status);
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//mydbg("gugus", i, 2*i);
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usleep(10000);
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}
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{
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int i;
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struct SHM *p; // Pointer to shared memory
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p=pshm;
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printf("Sys.ServoCtrl 0x%p\n",p->ServoCtrl);
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//p->Motor[4].Servo.Kp=123.f;
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printf("Motor[4].Servo.Kp %f\n",p->Motor[4].Servo.Kp);
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printf("Motor[4].Ctrl 0x%p\n",p->Motor[4].Ctrl);
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printf("UserAlgo.ServoCtrlName[4] %s\n",p->UserAlgo.ServoCtrlName[4]);
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printf("UserAlgo.ServoCtrlAddr[4] %x\n",p->UserAlgo.ServoCtrlAddr[4]);
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printf("Motor[4].UserPhase 0x%p\n",p->Motor[4].UserPhase);
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printf("Motor[4].UserServo 0x%p\n",p->Motor[4].UserServo);
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//for(i=0;i<8;i++)
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//{
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// printf("UserAlgo.ServoName %s\n",p->UserAlgo.ServoName[i]);
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// printf("UserAlgo.ServoAddr %x\n",p->UserAlgo.ServoAddr[i]);
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// printf("UserAlgo.ServoCtrlName %s\n",p->UserAlgo.ServoCtrlName[i]);
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// printf("UserAlgo.ServoCtrlAddr %x\n",p->UserAlgo.ServoCtrlAddr[i]);
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//}
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strcpy(p->UserAlgo.ServoCtrlName[4],"user_pid_ctrl");
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p->UserAlgo.ServoCtrlAddr[4]= 0xa35e012c;
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//p->Motor[4].Ctrl=0x123456;
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//UserAlgo
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}
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CloseLibrary();
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}
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BIN
src/setUsrServo/setUsrServo.o
Normal file
BIN
src/setUsrServo/setUsrServo.o
Normal file
Binary file not shown.
@@ -1,21 +1,21 @@
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#------------------------------------------------------------------------------
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# Copyright (C) Delta Tau Data Systems Inc., 2007
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# All rights reserved.
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#
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#
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# Generic makefile for any c realtime C plc 0, user servo or user phase
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# For a new project change the following
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#
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#
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# 1.) usralgo-objs should be assigned the 'C' source code files that need to be compiled
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# 2.) issue the command 'make depend' the first time a project is created and
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# (every time an additional 'C' file is added to the project the command
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# (every time an additional 'C' file is added to the project the command
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# 'make depend' must be issued)
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# 3.) issue the command make clean
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# 3.) issue the command make clean
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# 4.) issue the command make
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#
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# Notes
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# --------
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# Change DTDEBUG above to -O2 for release w/ optimization
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# Change DTDEBUG above to -g3 for debug
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# Change DTDEBUG above to -g3 for debug
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# arm,i386,i385hv,ppc460-2,ppc460-1,ppc405
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#------------------------------------------------------------------------------
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@@ -44,8 +44,8 @@ endif
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#RTPMACINCLUDEDIR=/usr/local/dtlibs/rtpmac
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#LIBPPMACINCLUDEDIR=/usr/local/dtlibs/libppmac
|
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#THESE PATHS MUST BE ABSOLUTE !
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RTPMACINCLUDEDIR=/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/usrServo/ppmac/rtpmac/
|
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LIBPPMACINCLUDEDIR=/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/usrServo/ppmac/libppmac/
|
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RTPMACINCLUDEDIR=/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac/
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LIBPPMACINCLUDEDIR=/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac/
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export ARCH
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export CROSS_COMPILE
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@@ -70,10 +70,16 @@ KBUILD_EXTRA_SYMBOLS := /usr/local/dtlibs/libppmac/Module.symvers
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#all::
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# cp -f /usr/local/usralgo/usralgomain.c $(PWD)
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all:
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# $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
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$(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules V=1
|
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$(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
|
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scp usralgo.ko root@SAROP11-CPPM-MOT6871:/tmp
|
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scp pp_proj.ini root@SAROP11-CPPM-MOT6871:/var/ftp/usrflash/Project/Configuration/pp_proj.ini
|
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scp pp_proj.ini root@SAROP11-CPPM-MOT6871:/tmp/pp_proj.ini
|
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ssh root@SAROP11-CPPM-MOT6871 projpp
|
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|
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# $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules V=1
|
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# mv -f usralgo.ko ../../bin/Debug/
|
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|
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|
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#modules:
|
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# @echo "$(CFLAGS)"
|
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|
||||
@@ -90,4 +96,4 @@ clean::
|
||||
rm -rf .runinfo .tmp* .*.o.d .*.o.cmd .*.cmd *.o *.ko *.mod.c *.i *.so Module.symvers modules.order
|
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|
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dbg:
|
||||
@echo PATH $(PATH)
|
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@echo PATH $(PATH)
|
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106
usrServo/pp_proj.h → src/usrServo/pp_proj.h
Normal file → Executable file
106
usrServo/pp_proj.h → src/usrServo/pp_proj.h
Normal file → Executable file
@@ -186,110 +186,4 @@ double GetEnumPtrArrayVar(enum ptrMarray var, unsigned index)
|
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// ***** Standard default mode *****
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#endif
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#endif
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//Kinematic defines for CfromScript
|
||||
#define FWD_KIN 0
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#define INV_KIN 1
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#define RT_PLC 2
|
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#define BG_PLC 3
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#define RT_PROG 4
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#define KinPosMotor L
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#define KinVelMotor R
|
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#define KinEnaAxisA 0x1
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#define KinPosAxisA C[0]
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#define KinVelAxisA C[32]
|
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#define KinEnaAxisB 0x2
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#define KinPosAxisB C[1]
|
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#define KinVelAxisB C[33]
|
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#define KinEnaAxisC 0x4
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#define KinPosAxisC C[2]
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#define KinVelAxisC C[34]
|
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#define KinEnaAxisU 0x8
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#define KinPosAxisU C[3]
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#define KinVelAxisU C[35]
|
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#define KinEnaAxisV 0x10
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#define KinPosAxisV C[4]
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#define KinVelAxisV C[36]
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#define KinEnaAxisW 0x20
|
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#define KinPosAxisW C[5]
|
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#define KinVelAxisW C[37]
|
||||
#define KinEnaAxisX 0x40
|
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#define KinPosAxisX C[6]
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#define KinVelAxisX C[38]
|
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#define KinEnaAxisY 0x80
|
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#define KinPosAxisY C[7]
|
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#define KinVelAxisY C[39]
|
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#define KinEnaAxisZ 0x100
|
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#define KinPosAxisZ C[8]
|
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#define KinVelAxisZ C[40]
|
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#define KinEnaAxisAA 0x200
|
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#define KinPosAxisAA C[9]
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#define KinVelAxisAA C[41]
|
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#define KinEnaAxisBB 0x400
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#define KinPosAxisBB C[10]
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#define KinVelAxisBB C[42]
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#define KinEnaAxisCC 0x800
|
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#define KinPosAxisCC C[11]
|
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#define KinVelAxisCC C[43]
|
||||
#define KinEnaAxisDD 0x1000
|
||||
#define KinPosAxisDD C[12]
|
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#define KinVelAxisDD C[44]
|
||||
#define KinEnaAxisEE 0x2000
|
||||
#define KinPosAxisEE C[13]
|
||||
#define KinVelAxisEE C[45]
|
||||
#define KinEnaAxisFF 0x4000
|
||||
#define KinPosAxisFF C[14]
|
||||
#define KinVelAxisFF C[46]
|
||||
#define KinEnaAxisGG 0x8000
|
||||
#define KinPosAxisGG C[15]
|
||||
#define KinVelAxisGG C[47]
|
||||
#define KinEnaAxisHH 0x10000
|
||||
#define KinPosAxisHH C[16]
|
||||
#define KinVelAxisHH C[48]
|
||||
#define KinEnaAxisLL 0x20000
|
||||
#define KinPosAxisLL C[17]
|
||||
#define KinVelAxisLL C[49]
|
||||
#define KinEnaAxisMM 0x40000
|
||||
#define KinPosAxisMM C[18]
|
||||
#define KinVelAxisMM C[50]
|
||||
#define KinEnaAxisNN 0x80000
|
||||
#define KinPosAxisNN C[19]
|
||||
#define KinVelAxisNN C[51]
|
||||
#define KinEnaAxisOO 0x100000
|
||||
#define KinPosAxisOO C[20]
|
||||
#define KinVelAxisOO C[52]
|
||||
#define KinEnaAxisPP 0x200000
|
||||
#define KinPosAxisPP C[21]
|
||||
#define KinVelAxisPP C[53]
|
||||
#define KinEnaAxisQQ 0x400000
|
||||
#define KinPosAxisQQ C[22]
|
||||
#define KinVelAxisQQ C[54]
|
||||
#define KinEnaAxisRR 0x800000
|
||||
#define KinPosAxisRR C[23]
|
||||
#define KinVelAxisRR C[55]
|
||||
#define KinEnaAxisSS 0x1000000
|
||||
#define KinPosAxisSS C[24]
|
||||
#define KinVelAxisSS C[56]
|
||||
#define KinEnaAxisTT 0x2000000
|
||||
#define KinPosAxisTT C[25]
|
||||
#define KinVelAxisTT C[57]
|
||||
#define KinEnaAxisUU 0x4000000
|
||||
#define KinPosAxisUU C[26]
|
||||
#define KinVelAxisUU C[58]
|
||||
#define KinEnaAxisVV 0x8000000
|
||||
#define KinPosAxisVV C[27]
|
||||
#define KinVelAxisVV C[59]
|
||||
#define KinEnaAxisWW 0x10000000
|
||||
#define KinPosAxisWW C[28]
|
||||
#define KinVelAxisWW C[60]
|
||||
#define KinEnaAxisXX 0x20000000
|
||||
#define KinPosAxisXX C[29]
|
||||
#define KinVelAxisXX C[61]
|
||||
#define KinEnaAxisYY 0x40000000
|
||||
#define KinPosAxisYY C[30]
|
||||
#define KinVelAxisYY C[62]
|
||||
#define KinEnaAxisZZ 0x80000000
|
||||
#define KinPosAxisZZ C[31]
|
||||
#define KinVelAxisZZ C[63]
|
||||
#define KinAxisUsed D[0]
|
||||
#define KinVelEna D[0]
|
||||
#endif //_PP_PROJ_H_
|
||||
5
src/usrServo/pp_proj.ini
Executable file
5
src/usrServo/pp_proj.ini
Executable file
@@ -0,0 +1,5 @@
|
||||
# This section loads all Power PMAC programs & is run through the pre-processor/CmdProcessor. It is a sample project default load.
|
||||
[RTUSRCCODE]
|
||||
usrrtmodule=/tmp/usralgo.ko
|
||||
ServoCtrlName4=user_pid_ctrl
|
||||
|
||||
@@ -63,8 +63,8 @@ double user_pid_ctrl( struct MotorData *Mptr)
|
||||
Mptr->Servo.Integrator+=Mptr->PosError*Mptr->Servo.Ki; // I term
|
||||
ctrl_out+=Mptr->Servo.Integrator;
|
||||
// Combine
|
||||
if (ctrl_out>10)ctrl_out=10;
|
||||
if (ctrl_out<-10)ctrl_out=-10;
|
||||
if (ctrl_out>150)ctrl_out=150;
|
||||
if (ctrl_out<-150)ctrl_out=-150;
|
||||
return ctrl_out;
|
||||
}
|
||||
else {
|
||||
@@ -1,47 +0,0 @@
|
||||
|
||||
LIB='-L/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac -lppmac -L/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/usr/local/xenomai-2.6.2.1/lib -lxenomai -lpthread_rt -lpthread -lrt -ldl'
|
||||
|
||||
#/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc -g main.o $LIB -o main
|
||||
#
|
||||
CC=/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc
|
||||
|
||||
HOST=SAROP11-CPPM-MOT6871
|
||||
|
||||
ppmac:
|
||||
scp -r root@$(HOST):/opt/ppmac .
|
||||
xenomai:
|
||||
scp -r root@$(HOST):/usr/local/xenomai/lib xenomai
|
||||
lib:
|
||||
scp -r root@$(HOST):/usr/lib .
|
||||
|
||||
powerpc-465-rootfs:
|
||||
tar -xvf powerpc-465-rootfs.tar.gz
|
||||
|
||||
prerequisites: ppmac xenomai lib
|
||||
|
||||
usralgo.ko: usralgo.mod.o usralgo.o usrcode.o
|
||||
powerpc-meau-linux-gnu-gcc -r -nostdlib -T /opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/scripts/module-common.lds arch/powerpc/lib/crtsavres.o -o /REALTI~1/usralgo.ko /REALTI~1/usralgo.o /REALTI~1/usralgo.mod.o
|
||||
|
||||
usralgo.mod.o:
|
||||
powerpc-meau-linux-gnu-gcc -Wp,-MD,/REALTI~1/.usralgo.mod.o.d -nostdinc -isystem /usr/local/lib/gcc/powerpc-meau-linux-gnu/4.6.4/include -I/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/arch/powerpc/include -Iarch/powerpc/include/generated -Iinclude -include /opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/include/linux/kconfig.h -D__KERNEL__ -Iarch/powerpc -Wall -Wundef -Wstrict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -Werror-implicit-function-declaration -Wno-format-security -fno-delete-null-pointer-checks -O2 -msoft-float -pipe -Iarch/powerpc -ffixed-r2 -mmultiple -mno-altivec -mno-spe -mspe=no -funit-at-a-time -fno-dwarf2-cfi-asm -mno-string -Wa,-m405 -Wframe-larger-than=1024 -fno-stack-protector -Wno-unused-but-set-variable -fomit-frame-pointer -g -Wdeclaration-after-statement -Wno-pointer-sign -fno-strict-overflow -fconserve-stack -DCC_HAVE_ASM_GOTO -O2 -DCONFIG_460EX -D_GNU_SOURCE -D_REENTRANT -D__XENO__ -mhard-float -I/usr/local/dtlibs/rtpmac -I/usr/local/dtlibs/libppmac -I/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include -I/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include/posix -I/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/include/xenomai -I/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/include/xenomai/posix -I/opt/powerpc-465-rootfs/usr/lib/gcc/powerpc-linux-gnu/4.6/include --sysroot=/opt/powerpc-465-rootfs -D"KBUILD_STR(s)=\#s" -D"KBUILD_BASENAME=KBUILD_STR(usralgo.mod)" -D"KBUILD_MODNAME=KBUILD_STR(usralgo)" -DMODULE -c -o /REALTI~1/usralgo.mod.o /REALTI~1/usralgo.mod.c
|
||||
|
||||
usralgo.o:
|
||||
powerpc-meau-linux-gnu-gcc -nostdlib -r -o /REALTI~1/usralgo.o /REALTI~1/usralgomain.o /REALTI~1/usrcode.o
|
||||
|
||||
usrcode.o: powerpc-465-rootfs
|
||||
$(CC) -nostdinc \
|
||||
-Ipowerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/arch/powerpc/include \
|
||||
-Ipowerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/include \
|
||||
-include powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/include/linux/kconfig.h \
|
||||
-D__KERNEL__ -Iarch/powerpc \
|
||||
-Wall -Wundef -Wstrict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -Werror-implicit-function-declaration -Wno-format-security -fno-delete-null-pointer-checks -O2 -msoft-float -pipe -Iarch/powerpc -ffixed-r2 -mmultiple -mno-altivec -mno-spe -mspe=no -funit-at-a-time -mno-string -Wa,-m405 -fno-stack-protector -fomit-frame-pointer -g -Wdeclaration-after-statement -Wno-pointer-sign -fno-strict-overflow \
|
||||
-DCC_HAVE_ASM_GOTO -O2 -DCONFIG_460EX -D_GNU_SOURCE -D_REENTRANT -D__XENO__ -mhard-float \
|
||||
-Ippmac/rtpmac -Ippmac/libppmac\
|
||||
-Ipowerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include -Ipowerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include/posix -Ipowerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/include/xenomai -Ipowerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/include/xenomai/posix -Ipowerpc-465-rootfs/usr/lib/gcc/powerpc-linux-gnu/4.6/include \
|
||||
--sysroot=powerpc-465-rootfs -DMODULE -D"KBUILD_STR(s)=\#s" -D"KBUILD_BASENAME=KBUILD_STR(usrcode)" -D"KBUILD_MODNAME=KBUILD_STR(usralgo)" \
|
||||
-c -o usrcode.o usrcode.c
|
||||
# powerpc-meau-linux-gnu-gcc -Wp,-MD,/REALTI~1/.usrcode.o.d -nostdinc -isystem /usr/local/lib/gcc/powerpc-meau-linux-gnu/4.6.4/include -I/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/arch/powerpc/include -Iarch/powerpc/include/generated -Iinclude -include /opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/include/linux/kconfig.h -D__KERNEL__ -Iarch/powerpc -Wall -Wundef -Wstrict-prototypes -Wno-trigraphs -fno-strict-aliasing -fno-common -Werror-implicit-function-declaration -Wno-format-security -fno-delete-null-pointer-checks -O2 -msoft-float -pipe -Iarch/powerpc -ffixed-r2 -mmultiple -mno-altivec -mno-spe -mspe=no -funit-at-a-time -fno-dwarf2-cfi-asm -mno-string -Wa,-m405 -Wframe-larger-than=1024 -fno-stack-protector -Wno-unused-but-set-variable -fomit-frame-pointer -g -Wdeclaration-after-statement -Wno-pointer-sign -fno-strict-overflow -fconserve-stack -DCC_HAVE_ASM_GOTO -O2 -DCONFIG_460EX -D_GNU_SOURCE -D_REENTRANT -D__XENO__ -mhard-float -I/usr/local/dtlibs/rtpmac -I/usr/local/dtlibs/libppmac -I/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include -I/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include/posix -I/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/include/xenomai -I/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/include/xenomai/posix -I/opt/powerpc-465-rootfs/usr/lib/gcc/powerpc-linux-gnu/4.6/include --sysroot=/opt/powerpc-465-rootfs -DMODULE -D"KBUILD_STR(s)=\#s" -D"KBUILD_BASENAME=KBUILD_STR(usrcode)" -D"KBUILD_MODNAME=KBUILD_STR(usralgo)" -c -o /REALTI~1/usrcode.o /REALTI~1/usrcode.c
|
||||
|
||||
debug:
|
||||
echo CC: $(CC)
|
||||
echo CPP: $(CPP)
|
||||
@@ -1,231 +0,0 @@
|
||||
#------------------------------------------------------------------------------
|
||||
# Copyright (C) Delta Tau Data Systems Inc., 2007
|
||||
# All rights reserved.
|
||||
#
|
||||
# Generic makefile for any c user mode plc
|
||||
# For a new project change the following
|
||||
#
|
||||
# 1.) PROG should be assigned the name of the desired executable program
|
||||
# 2.) SRCS should be assigned the 'C' source code files that need to be compiled
|
||||
# 3.) issue the command 'make depend' the first time a project is created and
|
||||
# (every time an additional 'C' file is added to the project the command
|
||||
# 'make depend' must be issued)
|
||||
# 4.) issue the command make clean
|
||||
# 5.) issue the command make
|
||||
#
|
||||
# Notes
|
||||
# --------
|
||||
# Change DTDEBUG above to -O2 for release w/ optimization
|
||||
# Change DTDEBUG above to -g3 for debug
|
||||
# PMAC_ARCH value can be one of the following
|
||||
# arm,i386,i385hv,ppc460-2,ppc460-1,ppc405
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
PMAC_ARCH=ppc465-2
|
||||
|
||||
ifeq ($(PMAC_ARCH),arm)
|
||||
ARCH=arm
|
||||
CROSS_COMPILE=arm-omron-linux-gnueabihf-
|
||||
KDIR=/opt/arm-rootfs/usr/src/linux-3.14.28
|
||||
KSRC=/opt/arm-rootfs/usr/src/linux-3.14.28
|
||||
CC=arm-omron-linux-gnueabihf-gcc
|
||||
AS=arm-omron-linux-gnueabihf-as
|
||||
LD=arm-omron-linux-gnueabihf-gcc
|
||||
INCLUDE=/opt/arm-rootfs/usr/lib/gcc/arm-linux-gnueabihf/4.6/include
|
||||
XENOMAI_INC_DIR=/opt/arm-rootfs/usr/xenomai/include
|
||||
XENOMAI_LIB_DIR=/opt/arm-rootfs/usr/xenomai/lib
|
||||
LIBMATHDIR=/usr/local/dtlibs/libmath
|
||||
RPATH=-Wl,-rpath-link,/opt/arm-rootfs/lib/arm-linux-gnueabihf
|
||||
LIBMATH_RPATH=-Wl,-rpath,/opt/ppmac/libmath
|
||||
ROOTFS_DIR=/opt/arm-rootfs
|
||||
LIBS= -shared -lrt -lpthread -lppmac -lpthread_rt -lm -lmath -L$(LIBMATHDIR)
|
||||
endif
|
||||
|
||||
ifeq ($(PMAC_ARCH),arm-usermode)
|
||||
ARCH=arm
|
||||
CROSS_COMPILE=arm-omron-linux-gnueabihf-
|
||||
KDIR=/opt/arm-rootfs/usr/src/linux-3.14.28
|
||||
KSRC=/opt/arm-rootfs/usr/src/linux-3.14.28
|
||||
CC=arm-omron-linux-gnueabihf-gcc
|
||||
AS=arm-omron-linux-gnueabihf-as
|
||||
LD=arm-omron-linux-gnueabihf-gcc
|
||||
INCLUDE=/opt/arm-rootfs/usr/lib/gcc/arm-linux-gnueabihf/4.6/include
|
||||
#XENOMAI_INC_DIR=/opt/arm-rootfs/usr/xenomai/include
|
||||
XENOMAI_LIB_DIR=/opt/arm-rootfs/usr/xenomai/lib
|
||||
#LIBMATHDIR=/usr/local/dtlibs/libmath
|
||||
RPATH=-Wl,-rpath-link,/opt/arm-rootfs/lib/arm-linux-gnueabihf
|
||||
#LIBMATH_RPATH=-Wl,-rpath,/opt/ppmac/libmath
|
||||
ROOTFS_DIR=/opt/arm-rootfs
|
||||
LIBS= -shared -lrt -lppmac -lm -lpthread_rt -lxenomai
|
||||
endif
|
||||
|
||||
ifeq ($(PMAC_ARCH),i386)
|
||||
ARCH=i386
|
||||
CROSS_COMPILE=i686-meau-linux-gnu-
|
||||
KDIR=/opt/i386-linux-rootfs/usr/src/linux-headers-3.14.28-xenomai-2.6.4
|
||||
KSRC=/opt/i386-linux-rootfs/usr/src/linux-headers-3.14.28-xenomai-2.6.4
|
||||
CC=i686-meau-linux-gnu-gcc
|
||||
AS=i686-meau-linux-gnu-as
|
||||
LD=i686-meau-linux-gnu-gcc
|
||||
INCLUDE=/opt/i386-linux-rootfs/usr/lib/gcc/i686-linux-gnu/4.6/include
|
||||
XENOMAI_INC_DIR=/opt/i386-linux-rootfs/usr/include/xenomai
|
||||
XENOMAI_LIB_DIR=/opt/i386-linux-rootfs/usr/lib
|
||||
LIBMATHDIR=/usr/local/dtlibs/libmath
|
||||
RPATH=-Wl,-rpath-link,/opt/i386-linux-rootfs/lib/i386-linux-gnu
|
||||
LIBMATH_RPATH=-Wl,-rpath,/opt/ppmac/libmath
|
||||
ROOTFS_DIR=/opt/i386-linux-rootfs
|
||||
LIBS= -shared -lrt -lpthread -lppmac -lpthread_rt -lm -lmath -L$(LIBMATHDIR)
|
||||
endif
|
||||
|
||||
ifeq ($(PMAC_ARCH),i386-usermode)
|
||||
ARCH=i386
|
||||
CROSS_COMPILE=i686-meau-linux-gnu-
|
||||
KDIR=/opt/i386-linux-rootfs/usr/src/linux-headers-3.14.28-xenomai-2.6.4
|
||||
KSRC=/opt/i386-linux-rootfs/usr/src/linux-headers-3.14.28-xenomai-2.6.4
|
||||
CC=i686-meau-linux-gnu-gcc
|
||||
AS=i686-meau-linux-gnu-as
|
||||
LD=i686-meau-linux-gnu-gcc
|
||||
INCLUDE=/opt/i386-linux-rootfs/usr/lib/gcc/i686-linux-gnu/4.6/include
|
||||
XENOMAI_INC_DIR=/opt/i386-linux-rootfs/usr/include/xenomai
|
||||
XENOMAI_LIB_DIR=/opt/i386-linux-rootfs/usr/lib
|
||||
#LIBMATHDIR=/usr/local/dtlibs/libmath
|
||||
RPATH=-Wl,-rpath-link,/opt/i386-linux-rootfs/lib/i386-linux-gnu
|
||||
#LIBMATH_RPATH=-Wl,-rpath,/opt/ppmac/libmath
|
||||
ROOTFS_DIR=/opt/i386-linux-rootfs
|
||||
LIBS= -shared -lrt -lpthread -lppmac -lpthread_rt -lm
|
||||
endif
|
||||
|
||||
ifeq ($(PMAC_ARCH),i386hv)
|
||||
ARCH=i386
|
||||
CROSS_COMPILE=i686-meau-linux-gnu-
|
||||
KDIR=/opt/i386-preemptrt-rootfs/usr/src/linux-3.8.13
|
||||
KSRC=/opt/i386-preemptrt-rootfs/usr/src/linux-3.8.13
|
||||
CC=i686-meau-linux-gnu-gcc
|
||||
AS=i686-meau-linux-gnu-as
|
||||
LD=i686-meau-linux-gnu-gcc
|
||||
INCLUDE=/opt/i386-preemptrt-rootfs/usr/lib/gcc/i686-redhat-linux/4.4.4/include
|
||||
#XENOMAI_INC_DIR=/opt/i386-linux-rootfs/usr/include/xenomai
|
||||
XENOMAI_LIB_DIR=/opt/i386-preemptrt-rootfs/lib
|
||||
LIBMATHDIR=/usr/local/dtlibs/libmath
|
||||
LIBMATH_RPATH=-Wl,-rpath,/opt/ppmac/libmath
|
||||
ROOTFS_DIR=/opt/i386-preemptrt-rootfs
|
||||
LIBS= -shared -lrt -lpthread -lppmac -lmath -L$(LIBMATHDIR)
|
||||
endif
|
||||
|
||||
ifeq ($(PMAC_ARCH),i386hv-usermode)
|
||||
ARCH=i386
|
||||
CROSS_COMPILE=i686-meau-linux-gnu-
|
||||
KDIR=/opt/i386-preemptrt-rootfs/usr/src/linux-3.8.13
|
||||
KSRC=/opt/i386-preemptrt-rootfs/usr/src/linux-3.8.13
|
||||
CC=i686-meau-linux-gnu-gcc
|
||||
AS=i686-meau-linux-gnu-as
|
||||
LD=i686-meau-linux-gnu-gcc
|
||||
INCLUDE=/opt/i386-preemptrt-rootfs/usr/lib/gcc/i686-redhat-linux/4.4.4/include
|
||||
#XENOMAI_INC_DIR=/opt/i386-linux-rootfs/usr/include/xenomai
|
||||
XENOMAI_LIB_DIR=/opt/i386-preemptrt-rootfs/lib
|
||||
#LIBMATHDIR=/usr/local/dtlibs/libmath
|
||||
#LIBMATH_RPATH=-Wl,-rpath,/opt/ppmac/libmath
|
||||
ROOTFS_DIR=/opt/i386-preemptrt-rootfs
|
||||
LIBS= -shared -lrt -lpthread -lppmac -lm
|
||||
endif
|
||||
|
||||
ifeq ($(PMAC_ARCH),ppc465-2)
|
||||
ARCH=powerpc
|
||||
CROSS_COMPILE=powerpc-meau-linux-gnu-
|
||||
KDIR=/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp
|
||||
KSRC=/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp
|
||||
CC=powerpc-meau-linux-gnu-gcc
|
||||
AS=powerpc-meau-linux-gnu-as
|
||||
LD=powerpc-meau-linux-gnu-gcc
|
||||
#STRIP=i686-meau-linux-gnu-strip
|
||||
INCLUDE=/opt/powerpc-465-rootfs/usr/lib/gcc/powerpc-linux-gnu/4.6/include
|
||||
XENOMAI_INC_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include
|
||||
XENOMAI_LIB_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/lib
|
||||
RPATH=-Wl,-rpath-link,/opt/powerpc-465-rootfs/lib/powerpc-linux-gnu
|
||||
ROOTFS_DIR=/opt/powerpc-465-rootfs
|
||||
LIBS= -shared -lrt -lpthread -lppmac -lpthread_rt -lm
|
||||
endif
|
||||
|
||||
ifeq ($(PMAC_ARCH),ppc465-1)
|
||||
ARCH=powerpc
|
||||
CROSS_COMPILE=powerpc-meau-linux-gnu-
|
||||
KDIR=/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp
|
||||
KSRC=/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp
|
||||
CC=powerpc-meau-linux-gnu-gcc
|
||||
AS=powerpc-meau-linux-gnu-as
|
||||
LD=powerpc-meau-linux-gnu-gcc
|
||||
#STRIP=i686-meau-linux-gnu-strip
|
||||
INCLUDE=/opt/powerpc-465-rootfs/usr/lib/gcc/powerpc-linux-gnu/4.6/include
|
||||
XENOMAI_INC_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include
|
||||
XENOMAI_LIB_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/lib
|
||||
RPATH=-Wl,-rpath-link,/opt/powerpc-465-rootfs/lib/powerpc-linux-gnu
|
||||
ROOTFS_DIR=/opt/powerpc-465-rootfs
|
||||
LIBS= -shared -lrt -lpthread -lppmac -lpthread_rt -lm
|
||||
endif
|
||||
|
||||
ifeq ($(PMAC_ARCH),ppc405)
|
||||
ARCH=powerpc
|
||||
CROSS_COMPILE=powerpc-405-linux-gnu-
|
||||
KDIR=/opt/powerpc-405-rootfs/usr/src/linux-2.6.30.3-xeno-2.5.6
|
||||
KSRC=/opt/powerpc-405-rootfs/usr/src/linux-2.6.30.3-xeno-2.5.6
|
||||
CC=powerpc-405-linux-gnu-gcc
|
||||
AS=powerpc-405-linux-gnu-as
|
||||
LD=powerpc-405-linux-gnu-gcc
|
||||
INCLUDE=/usr/local/powerpc-405-linux-gnu/include
|
||||
XENOMAI_INC_DIR=/opt/powerpc-405-rootfs/usr/local/xenomai-2.5.6/include
|
||||
XENOMAI_LIB_DIR=/opt/powerpc-405-rootfs/usr/local/xenomai-2.5.6/lib
|
||||
LIB_DIR=/opt/powerpc-405-rootfs/lib
|
||||
ROOTFS_DIR=/opt/powerpc-405-rootfs
|
||||
LIBS= -shared -lrt -lpthread -lppmac -lpthread_rt -lm -L$(LIB_DIR)
|
||||
endif
|
||||
|
||||
RTPMACINCLUDEDIR=/usr/local/dtlibs/rtpmac
|
||||
LIBPPMACINCLUDEDIR=/usr/local/dtlibs/libppmac
|
||||
export ARCH
|
||||
export CROSS_COMPILE
|
||||
|
||||
CFLAGS = -mhard-float -funsigned-char --sysroot=$(ROOTFS_DIR) \
|
||||
-I$(RTPMACINCLUDEDIR) -I$(LIBPPMACINCLUDEDIR) -I$(XENOMAI_INC_DIR) -I$(XENOMAI_INC_DIR)/posix -I$(LIBMATHDIR) \
|
||||
-D_GNU_SOURCE -D_REENTRANT -D__XENO__ -fPIC
|
||||
DTDEBUG = -g3
|
||||
|
||||
LDFLAGS = $(LIBS) --sysroot=$(ROOTFS_DIR) \
|
||||
\
|
||||
-L../../Bin/Debug/ \
|
||||
-L$(XENOMAI_LIB_DIR) -L$(LIBPPMACINCLUDEDIR) \
|
||||
-Wl,-rpath,/var/ftp/usrflash/Project/C\ Language/Libraries \
|
||||
-Wl,-rpath,/var/ftp/usrflash/Project/Bin/Debug \
|
||||
-Wl,-rpath,/opt/ppmac/libppmac \
|
||||
-Wl,-z,defs \
|
||||
$(LIBMATH_RPATH) \
|
||||
$(RPATH)
|
||||
|
||||
RM = rm -f
|
||||
PROG = ../../Bin/Debug/usralgo.so
|
||||
SRCS = \
|
||||
usrcode.c
|
||||
|
||||
OBJS = $(SRCS:.c=.o)
|
||||
|
||||
# now comes a meta-rule for compiling any C source file.
|
||||
$(PROG): $(OBJS)
|
||||
$(LD) -o $(PROG) $(OBJS) $(LDFLAGS)
|
||||
|
||||
%.o: %.c clean
|
||||
$(CC) $(CFLAGS) $(DTDEBUG) -c $<
|
||||
|
||||
|
||||
bclean:
|
||||
$(RM) $(PROG) $(OBJS) *.log
|
||||
|
||||
clean:
|
||||
$(RM) $(PROG) $(OBJS)
|
||||
|
||||
depend:
|
||||
$(RM) ../../Bin/Debug/dependencyko.lst
|
||||
makedepend -f- -- $(CFLAGS) -- $(SRCS) > ../Bin/Debug/dependencyko.lst
|
||||
|
||||
#ifneq ($(MAKECMDGOALS),depend)
|
||||
#include ../Bin/Debug/dependencyko.lst
|
||||
#endif
|
||||
|
||||
@@ -1,21 +0,0 @@
|
||||
#include <linux/module.h>
|
||||
#include <linux/vermagic.h>
|
||||
#include <linux/compiler.h>
|
||||
|
||||
MODULE_INFO(vermagic, VERMAGIC_STRING);
|
||||
|
||||
struct module __this_module
|
||||
__attribute__((section(".gnu.linkonce.this_module"))) = {
|
||||
.name = KBUILD_MODNAME,
|
||||
.init = init_module,
|
||||
#ifdef CONFIG_MODULE_UNLOAD
|
||||
.exit = cleanup_module,
|
||||
#endif
|
||||
.arch = MODULE_ARCH_INIT,
|
||||
};
|
||||
|
||||
static const char __module_depends[]
|
||||
__used
|
||||
__attribute__((section(".modinfo"))) =
|
||||
"depends=";
|
||||
|
||||
Reference in New Issue
Block a user