add trajectory.py and cleanup old setUsrServo.c

src/Readme.md

@@ -166,3 +166,11 @@ usrflash/Project/Bin/Debug/usralgo.ko
 
 
 
+
+
+Usr_C PLC
+---------
+scp -r usralgo.ko root@MOTTEST-CPPM-CRM0573:/opt/ppmac
+
+rmmod usralgo
+insmod /mypath/usralgo.ko  (e.g. insmod /opt/ppmac/usrflash/Project/Bin/Debug/usralgo.ko)

src/setUsrServo/Makefile

@@ -1,18 +0,0 @@
-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

src/setUsrServo/setUsrServo.c

@@ -1,61 +0,0 @@
-#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();
-}

src/usrServo/Makefile

@@ -20,6 +20,7 @@
 #------------------------------------------------------------------------------
 
 PPMAC=SAR-CPPM-EXPMX1
+PPMAC=MOTTEST-CPPM-CRM0573
 #PPMAC=SAROP11-CPPM-MOT6871
 
 PMAC_ARCH=ppc465-2