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first working user servo with makefile that downloads it

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This commit is contained in:
zamofing_t
2017-01-09 13:28:07 +01:00
parent 9756485f5a
commit 3519c559a1
21 changed files with 173 additions and 473 deletions
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2
cfg/mx-stage.cfg
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@@ -36,7 +36,7 @@
//Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor) //Mot 7: Test Stepper: Vextra PK244M 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 7: Test Stepper: ssi_enc multiturn 1 rev = 4096 enc_step //Enc 7: Test Stepper: ssi_enc multiturn 1 rev = 4096 enc_step
$$$*** //$$$***
//!common() //!common()
!common(PhaseFreq=20000,PhasePerServo=4) !common(PhaseFreq=20000,PhasePerServo=4)
//!common(PhaseFreq=40000) //!common(PhaseFreq=40000)

118
usrServo/Readme.md → src/Readme.md
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@@ -1,31 +1,3 @@
scp -r root@SAROP11-CPPM-MOT6871:/opt/ppmac .
scp -r root@SAROP11-CPPM-MOT6871:/usr/local/xenomai/lib xenomai
scp -r root@SAROP11-CPPM-MOT6871:/usr/lib .
LIB='-L ppmac/libppmac/ -Lxenomai -lppmac -lxenomai -lpthread_rt -lpthread -lrt -ldl'
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 $LIB -o main
export LD_LIBRARY_PATH=/opt/ppmac/libppmac/
Motor[4].Ctrl=Sys.ServoCtrl
Motor[4].Ctrl=UserAlgo.ServoCtrlAddr[0]
UserAlgo.ServoCtrlAddr[0]=$....
Motor[4].IpbGain=2.9192927
UserAlgo.ServoCtrlAddr[4]=$a1108068
usrflash/Project/Bin/Debug/usralgo.so
usrflash/Project/Bin/Debug/usralgo.ko
Helpfull Deltatau lines Helpfull Deltatau lines
----------------------- -----------------------
@@ -70,19 +42,6 @@ cat /proc/kallsyms | grep MyUserAlgoFunctionName (e.g. cat /proc/kallsyms | grep
UserAlgo.ServoCtrlAddr[4] = $a47e4068 UserAlgo.ServoCtrlAddr[4] = $a47e4068
Motor[4].Ctrl =UserAlgo.ServoCtrlAddr[4].a Motor[4].Ctrl =UserAlgo.ServoCtrlAddr[4].a
build usralgo.ko
----------------
The sources are from C:\Documents and Settings\user\Desktop\scratch\PowerBrick_LVUserServoLoop\PowerBrick_LVUserServoLoop\C Language\Realtime Routines
The Makefile was build with informations from the .../Realtime Routines/.usralgo.o.cmd etc. files
rootfs files are on the powerbrick or in C:\DeltaTau\Power PMAC IDE\compilers\opt -> powerpc-465-rootfs.tar.gz
On the powerbrick the kernel sources are not installed -> therefore the rootfs from the IDE is needed
Make usralgo.ko
Sample Kernel Module Sample Kernel Module
-------------------- --------------------
@@ -90,8 +49,9 @@ Sample Kernel Module
http://www.thegeekstuff.com/2013/07/write-linux-kernel-module/ http://www.thegeekstuff.com/2013/07/write-linux-kernel-module/
https://linux.die.net/lkmpg/x121.html https://linux.die.net/lkmpg/x121.html
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/usrServo/sampleKernelModule
Do a module on Ubuntu works. Do a module on Ubuntu works.
-> path usrServo/sampleKernelModul
ln -sfT Makefile.Ubuntu Makefile ln -sfT Makefile.Ubuntu Makefile
make clean make clean
make make
@@ -100,7 +60,7 @@ Do a module on Ubuntu works.
rmmod hello.ko rmmod hello.ko
dmesg dmesg
Try to do a module for PowerBrick: Do a module for PowerBrick:
uncompress powerpc-465-rootfs.tar.gz (from PMAC IDE) to /opt -> /opt/powerpc-465-rootfs/usr/include/ etc. uncompress powerpc-465-rootfs.tar.gz (from PMAC IDE) to /opt -> /opt/powerpc-465-rootfs/usr/include/ etc.
compile fixdep, modpost compile fixdep, modpost
cd /opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/scripts/basic cd /opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/scripts/basic
@@ -111,25 +71,37 @@ Try to do a module for PowerBrick:
make clean make clean
make make
scp hello.ko root@SAROP11-CPPM-MOT6871:/tmp scp hello.ko root@SAROP11-CPPM-MOT6871:/tmp
dmesg
insmod /tmp/hello.ko
rmmod hello.ko
dmesg
Build test the user Servo kernel module
---------------------------------------
The sources are from C:\Documents and Settings\user\Desktop\scratch\PowerBrick_LVUserServoLoop\PowerBrick_LVUserServoLoop\C Language\Realtime Routines
The Makefile calls the Lernel Makefile in /opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/Makefile
it generates files as .usralgo.o.cmd etc.
rootfs files are on the powerbrick or in C:\DeltaTau\Power PMAC IDE\compilers\opt -> powerpc-465-rootfs.tar.gz
On the powerbrick the kernel sources are not installed -> therefore the rootfs from the IDE is needed (uncompressed to /opt/powerpc-465-rootfs)
Build test the Servo kernel module
----------------------------------
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/usrServo cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/usrServo
make clean make clean
make make
scp usralgo.ko root@SAROP11-CPPM-MOT6871:/tmp scp usralgo.ko root@SAROP11-CPPM-MOT6871:/tmp
build usralgo.ko (or copy from IDE after build)
******** UP TO HERE IT WORKED *********** rmmod usralgo
insmod /opt/ppmac/usrflash/Project/Bin/Debug/usralgo.ko
insmod /tmp/usralgo.ko insmod /tmp/usralgo.ko
cat /proc/kallsyms | grep user_pid_ctrl
>>>> a35e812c T user_pid_ctrl [usralgo]
UserAlgo.ServoCtrlAddr[4] = $a35e812c
Motor[4].Ctrl =UserAlgo.ServoCtrlAddr[4].a
286 dmesg 286 dmesg
287 rmmod hello.ko 287 rmmod hello.ko
@@ -152,3 +124,45 @@ rmmod usralgo
insmod /mypath/usralgo.ko (e.g. insmod /opt/ppmac/usrflash/Project/Bin/Debug/usralgo.ko) insmod /mypath/usralgo.ko (e.g. insmod /opt/ppmac/usrflash/Project/Bin/Debug/usralgo.ko)
cat /proc/kallsyms | grep MyUserAlgoFunctionName (e.g. cat /proc/kallsyms | grep user_pid_ctrl) cat /proc/kallsyms | grep MyUserAlgoFunctionName (e.g. cat /proc/kallsyms | grep user_pid_ctrl)
SCRATCH
-------
scp -r root@SAROP11-CPPM-MOT6871:/opt/ppmac .
scp -r root@SAROP11-CPPM-MOT6871:/usr/local/xenomai/lib xenomai
scp -r root@SAROP11-CPPM-MOT6871:/usr/lib .
LIB='-L ppmac/libppmac/ -Lxenomai -lppmac -lxenomai -lpthread_rt -lpthread -lrt -ldl'
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'
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'
/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc -g $INC -c main.c -o main.o
/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc -g main.o $LIB -o main
scp main root@SAROP11-CPPM-MOT6871:/tmp
export LD_LIBRARY_PATH=/opt/ppmac/libppmac/
./main
Motor[4].Ctrl=Sys.ServoCtrl
Motor[4].Ctrl=UserAlgo.ServoCtrlAddr[0]
UserAlgo.ServoCtrlAddr[0]=$....
Motor[4].IpbGain=2.9192927
UserAlgo.ServoCtrlAddr[4]=$a1108068
usrflash/Project/Bin/Debug/usralgo.so
usrflash/Project/Bin/Debug/usralgo.ko

1
src/sampleKernelModule/Makefile Symbolic link
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@@ -0,0 +1 @@
Makefile.Deltatau

0
usrServo/sampleKernelModule/Makefile.Deltatau → src/sampleKernelModule/Makefile.Deltatau
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0
usrServo/sampleKernelModule/Makefile.Ubuntu → src/sampleKernelModule/Makefile.Ubuntu
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0
usrServo/sampleKernelModule/hello.c → src/sampleKernelModule/hello.c
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18
src/setUsrServo/Makefile Normal file
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@@ -0,0 +1,18 @@
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
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
CC=/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc
LD=$(CC)
all: setUsrServo
setUsrServo.o: setUsrServo.c
$(CC) -g $(INC) -c setUsrServo.c -o setUsrServo.o
setUsrServo: setUsrServo.o
$(LD) -g $(LIB) setUsrServo.o -o setUsrServo
scp setUsrServo root@SAROP11-CPPM-MOT6871:/tmp
clean:
rm setUsrServo setUsrServo.o

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src/setUsrServo/main Executable file
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src/setUsrServo/main.o Normal file
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src/setUsrServo/setUsrServo Executable file
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61
src/setUsrServo/setUsrServo.c Normal file
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@@ -0,0 +1,61 @@
#include <stdio.h>
//http://forums.deltatau.com/showthread.php?tid=24 ->examples to write directly to shared memory
#include "RtGpShm.h" // Global Rt/Gp Shared memory pointers
#include "pRtGpShm.h" // Global Rt/Gp Shared memory pointers
//extern "C"
//{
void mydbg(char* s, int a, int b);
//}
main()
{
int i;
int status;
char buf[256];
printf("hello\n");
printf("there\n");
InitLibrary();
for (i=0;i<256;i++)
{
printf("hello %d\n",i);
snprintf(buf,sizeof(buf),"Gate3[0].GpioData[0].16.8=%d\n",i);
status=Command(buf); //ppmac gplib function
printf("%s ->%d\n",buf,status);
//mydbg("gugus", i, 2*i);
usleep(10000);
}
{
int i;
struct SHM *p; // Pointer to shared memory
p=pshm;
printf("Sys.ServoCtrl 0x%p\n",p->ServoCtrl);
//p->Motor[4].Servo.Kp=123.f;
printf("Motor[4].Servo.Kp %f\n",p->Motor[4].Servo.Kp);
printf("Motor[4].Ctrl 0x%p\n",p->Motor[4].Ctrl);
printf("UserAlgo.ServoCtrlName[4] %s\n",p->UserAlgo.ServoCtrlName[4]);
printf("UserAlgo.ServoCtrlAddr[4] %x\n",p->UserAlgo.ServoCtrlAddr[4]);
printf("Motor[4].UserPhase 0x%p\n",p->Motor[4].UserPhase);
printf("Motor[4].UserServo 0x%p\n",p->Motor[4].UserServo);
//for(i=0;i<8;i++)
//{
// printf("UserAlgo.ServoName %s\n",p->UserAlgo.ServoName[i]);
// printf("UserAlgo.ServoAddr %x\n",p->UserAlgo.ServoAddr[i]);
// printf("UserAlgo.ServoCtrlName %s\n",p->UserAlgo.ServoCtrlName[i]);
// printf("UserAlgo.ServoCtrlAddr %x\n",p->UserAlgo.ServoCtrlAddr[i]);
//}
strcpy(p->UserAlgo.ServoCtrlName[4],"user_pid_ctrl");
p->UserAlgo.ServoCtrlAddr[4]= 0xa35e012c;
//p->Motor[4].Ctrl=0x123456;
//UserAlgo
}
CloseLibrary();
}

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src/setUsrServo/setUsrServo.o Normal file
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14
usrServo/Makefile → src/usrServo/Makefile
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@@ -44,8 +44,8 @@ endif
#RTPMACINCLUDEDIR=/usr/local/dtlibs/rtpmac #RTPMACINCLUDEDIR=/usr/local/dtlibs/rtpmac
#LIBPPMACINCLUDEDIR=/usr/local/dtlibs/libppmac #LIBPPMACINCLUDEDIR=/usr/local/dtlibs/libppmac
#THESE PATHS MUST BE ABSOLUTE ! #THESE PATHS MUST BE ABSOLUTE !
RTPMACINCLUDEDIR=/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/usrServo/ppmac/rtpmac/ RTPMACINCLUDEDIR=/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac/
LIBPPMACINCLUDEDIR=/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/usrServo/ppmac/libppmac/ LIBPPMACINCLUDEDIR=/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac/
export ARCH export ARCH
export CROSS_COMPILE export CROSS_COMPILE
@@ -70,10 +70,16 @@ KBUILD_EXTRA_SYMBOLS := /usr/local/dtlibs/libppmac/Module.symvers
#all:: #all::
# cp -f /usr/local/usralgo/usralgomain.c $(PWD) # cp -f /usr/local/usralgo/usralgomain.c $(PWD)
all: all:
# $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
$(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules V=1 scp usralgo.ko root@SAROP11-CPPM-MOT6871:/tmp
scp pp_proj.ini root@SAROP11-CPPM-MOT6871:/var/ftp/usrflash/Project/Configuration/pp_proj.ini
scp pp_proj.ini root@SAROP11-CPPM-MOT6871:/tmp/pp_proj.ini
ssh root@SAROP11-CPPM-MOT6871 projpp
# $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules V=1
# mv -f usralgo.ko ../../bin/Debug/ # mv -f usralgo.ko ../../bin/Debug/
#modules: #modules:
# @echo "$(CFLAGS)" # @echo "$(CFLAGS)"

106
usrServo/pp_proj.h → src/usrServo/pp_proj.h Normal file → Executable file
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@@ -186,110 +186,4 @@ double GetEnumPtrArrayVar(enum ptrMarray var, unsigned index)
// ***** Standard default mode ***** // ***** Standard default mode *****
#endif #endif
#endif #endif
//Kinematic defines for CfromScript
#define FWD_KIN 0
#define INV_KIN 1
#define RT_PLC 2
#define BG_PLC 3
#define RT_PROG 4
#define KinPosMotor L
#define KinVelMotor R
#define KinEnaAxisA 0x1
#define KinPosAxisA C[0]
#define KinVelAxisA C[32]
#define KinEnaAxisB 0x2
#define KinPosAxisB C[1]
#define KinVelAxisB C[33]
#define KinEnaAxisC 0x4
#define KinPosAxisC C[2]
#define KinVelAxisC C[34]
#define KinEnaAxisU 0x8
#define KinPosAxisU C[3]
#define KinVelAxisU C[35]
#define KinEnaAxisV 0x10
#define KinPosAxisV C[4]
#define KinVelAxisV C[36]
#define KinEnaAxisW 0x20
#define KinPosAxisW C[5]
#define KinVelAxisW C[37]
#define KinEnaAxisX 0x40
#define KinPosAxisX C[6]
#define KinVelAxisX C[38]
#define KinEnaAxisY 0x80
#define KinPosAxisY C[7]
#define KinVelAxisY C[39]
#define KinEnaAxisZ 0x100
#define KinPosAxisZ C[8]
#define KinVelAxisZ C[40]
#define KinEnaAxisAA 0x200
#define KinPosAxisAA C[9]
#define KinVelAxisAA C[41]
#define KinEnaAxisBB 0x400
#define KinPosAxisBB C[10]
#define KinVelAxisBB C[42]
#define KinEnaAxisCC 0x800
#define KinPosAxisCC C[11]
#define KinVelAxisCC C[43]
#define KinEnaAxisDD 0x1000
#define KinPosAxisDD C[12]
#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_ #endif //_PP_PROJ_H_

5
src/usrServo/pp_proj.ini Executable file
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@@ -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

0
usrServo/usralgomain.c → src/usrServo/usralgomain.c
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4
usrServo/usrcode.c → src/usrServo/usrcode.c
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@@ -63,8 +63,8 @@ double user_pid_ctrl( struct MotorData *Mptr)
Mptr->Servo.Integrator+=Mptr->PosError*Mptr->Servo.Ki; // I term Mptr->Servo.Integrator+=Mptr->PosError*Mptr->Servo.Ki; // I term
ctrl_out+=Mptr->Servo.Integrator; ctrl_out+=Mptr->Servo.Integrator;
// Combine // Combine
if (ctrl_out>10)ctrl_out=10; if (ctrl_out>150)ctrl_out=150;
if (ctrl_out<-10)ctrl_out=-10; if (ctrl_out<-150)ctrl_out=-150;
return ctrl_out; return ctrl_out;
} }
else { else {

0
usrServo/usrcode.h → src/usrServo/usrcode.h
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47
usrServo/Makefile.old
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@@ -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)

231
usrServo/Makefileso.mak
View File

@@ -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

21
usrServo/usralgo.mod.c
View File

@@ -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=";