sf-mx/PBSwissMX
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

first running sync with rt-C-code

Browse Source
This commit is contained in:
zamofing_t
2019-01-22 14:41:16 +00:00
parent 7c2a2c5fe6
commit 66e2d038ba
5 changed files with 217 additions and 136 deletions
Download Patch File Download Diff File Expand all files Collapse all files

91
python/MXMotion.py
View File

@@ -45,6 +45,11 @@ class MotionBase:
self.sync_wait and self.sync_run self.sync_wait and self.sync_run
sync_wait can be put in the program to force a timing sync sync_wait can be put in the program to force a timing sync
sync_run are the commands to run the whole program sync_run are the commands to run the whole program
flag=0 : real start and frame trigger
flag=1 : simulated start and real frame trigger
flag=2 : real start and simulated frame trigger
flag=3 : simulated start and frame trigger
pt2pt_time : time point to point (needed sor sync code)
''' '''
if mode==0: if mode==0:
try: try:
@@ -53,15 +58,15 @@ class MotionBase:
pass pass
self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId) self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
elif mode==1: elif mode in(1,2):
# code block to insert in the program #frequence jitter 50Hz Swissgrid:
# - waits untis <flag> is false #https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
# - waits raising edge of <flag> and the sets DesTimeBase=ServoPeriod flag=kwargs.get('flag',0);
# flag ='PowerBrick[0].GpioData[0].0.1==1' pt2pt_time=kwargs.get('pt2pt_time',40);
flag0='Gate3[1].Chan[0].UserFlag' flag0='Coord[1].Q[10]' if flag&1 else 'Gate3[1].Chan[0].UserFlag'
flag1='Gate3[1].Chan[1].UserFlag' flag1='Coord[1].Q[11]' if flag&2 else 'Gate3[1].Chan[1].UserFlag'
flag0='P0';flag1='P1' if mode==1:
prg = ''' prg = '''
Coord[1].Q[1]=-2 Coord[1].Q[1]=-2
Coord[1].TimeBaseSlew=1 //1E-4 is default Coord[1].TimeBaseSlew=1 //1E-4 is default
Coord[1].DesTimeBase=0 Coord[1].DesTimeBase=0
@@ -71,36 +76,41 @@ class MotionBase:
while({flag1}==0){{}} while({flag1}==0){{}}
Coord[1].DesTimeBase=Sys.ServoPeriod Coord[1].DesTimeBase=Sys.ServoPeriod
'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1) '''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
else:
prg = '''
//Gather.Enable=2 is done in the sync program
Coord[1].TimeBaseSlew=1 //1E-4 is default
Coord[1].DesTimeBase=0
Coord[1].Q[1]=-1
'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
self.sync_prg = prg self.sync_prg = prg
self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId) self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
elif mode==2:
#frequence jitter 50Hz Swissgrid:
#https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
flag0='Gate3[1].Chan[0].UserFlag'
flag1='Gate3[1].Chan[1].UserFlag'
flag0='P0';flag1='P1'
prg='''
//Gather.Enable=2 is done in the sync program
Coord[1].TimeBaseSlew=1 //1E-4 is default
Coord[1].DesTimeBase=0
Coord[1].Q[1]=-1
'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
self.sync_prg=prg
self.sync_run='&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
#download and start triggerSync code #download and start triggerSync code
comm=self.comm comm=self.comm
sftp=comm.sftp trigMode=0;
dst='/tmp/triggerSync' if mode==2:trigMode+=1 #synchronize
src=os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync')) trigMode+=flag*2 #simulated or real triggers
sftp.put(src, dst) trigMode+=8 # verbose
sftp.chmod(dst, 0o755) if mode==2 or trigMode&4:
self.cmdSync=cmd='LD_LIBRARY_PATH=/opt/ppmac/libppmac/ '+dst sftp = comm.sftp
#self.syncShell=comm.shell_channel(cmd) dst = '/tmp/triggerSync'
self.syncChan=sc=comm._client.exec_command(cmd) src = os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync'))
#ch=sc[1].channel sftp.put(src, dst)
#ch.settimeout(1) sftp.chmod(dst, 0o755)
print ('starting '+cmd) cmd = 'LD_LIBRARY_PATH=/opt/ppmac/libppmac/ ' + dst
cmd+=' %g %d'%(pt2pt_time,trigMode)
self.cmdSync = cmd
print ('starting '+cmd)
self.syncShell=comm.shell_channel(cmd)
#self.syncChan=sc=comm._client.exec_command(cmd)
#ch=sc[1].channel
#ch.settimeout(1)
#sc[1].channel.setblocking(False)
#sc[1].read(100)
if flag&1:
print('set Coord[1].Q[10]=1 to start motion')
def run(self): def run(self):
'runs the code sync_run which has been generated with setup_sync()' 'runs the code sync_run which has been generated with setup_sync()'
@@ -112,17 +122,4 @@ class MotionBase:
raise 'Need to call setup sync before' raise 'Need to call setup sync before'
gpascii.send_block(cmd) gpascii.send_block(cmd)
dst='/tmp/triggerSync'
src=os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync'))
cmd='LD_LIBRARY_PATH=/opt/ppmac/libppmac/ '+dst
# self.syncShell=comm.shell_channel(cmd)
try:
cmd=self.cmdSync
except AttributeError: pass
else:
import time
time.sleep(1)
self.syncChan=sc=comm._client.exec_command(cmd)

36
python/shapepath.py
View File

@@ -286,7 +286,7 @@ class ShapePath(MotionBase):
self.ptsCorr=ptsCorr self.ptsCorr=ptsCorr
print(ptsCorr) print(ptsCorr)
def setup_gather(self,acq_per=1): def setup_gather(self,acq_per=1,sim=False):
''' '''
setup the channels to gather setup the channels to gather
kwargs: kwargs:
@@ -295,9 +295,10 @@ class ShapePath(MotionBase):
comm=self.comm comm=self.comm
gt=self.gather gt=self.gather
gt.set_phasemode(False) gt.set_phasemode(False)
address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Gate3[1].Chan[1].UserFlag") if sim:
address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Sys.P[1]") address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Coord[1].Q[11]")
#address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Coord[1].Q[1]") else:
address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Gate3[1].Chan[1].UserFlag")
gt.set_address(*address) gt.set_address(*address)
gt.set_property(MaxSamples=1000000, Period=acq_per) gt.set_property(MaxSamples=1000000, Period=acq_per)
@@ -492,9 +493,6 @@ class ShapePath(MotionBase):
else: else:
print(syncShell.sync()) print(syncShell.sync())
del self.syncShell del self.syncShell
syncShell.close()
pts=self.points pts=self.points
ofsy=-rec[0,2]+pts[0,1] ofsy=-rec[0,2]+pts[0,1]
@@ -832,17 +830,37 @@ if __name__=='__main__':
# [0., 1.]]) # [0., 1.]])
#sp.points*=100 #sp.points*=100
#sp.gen_spiral_points(rStart=100,rInc=10,numSeg=4,numCir=60, ofs=(0, 0)) #sp.gen_spiral_points(rStart=100,rInc=10,numSeg=4,numCir=60, ofs=(0, 0))
sp.gen_spiral_points(rStart=100,rInc=10,numSeg=8,numCir=12, ofs=(0, 0)) sp.gen_spiral_points(rStart=100,rInc=20,numSeg=8,numCir=32, ofs=(0, 0))
#sp.gen_closed_shifted() #sp.gen_closed_shifted()
#sp.gen_grid_points(w=10,h=10,pitch=100,rnd=0,ofs=(0,0));sp.sort_points(False); #sp.gen_grid_points(w=10,h=10,pitch=100,rnd=0,ofs=(0,0));sp.sort_points(False);
#sp.gen_grid_points(w=1,h=10,pitch=100,rnd=0,ofs=(0,0)) #sp.gen_grid_points(w=1,h=10,pitch=100,rnd=0,ofs=(0,0))
#sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=0) #sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=0)
#sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=1) #sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=1)
#works: direct start
#sp.setup_gather(acq_per=1)
#sp.setup_sync(mode=0)
#works: simulated start and frame trigger no sync
#sp.setup_gather(acq_per=1,sim=True)
#sp.setup_sync(mode=1,flag=3,pt2pt_time=40)
#works: simulated start and frame trigger with sync
#sp.setup_gather(acq_per=1,sim=True)
#sp.setup_sync(mode=2,flag=3,pt2pt_time=40)
#works: simulated start real frame trigger no sync
#sp.setup_gather(acq_per=1)
#sp.setup_sync(mode=1,flag=1,pt2pt_time=40)
#works: simulated start real frame trigger with sync
sp.setup_gather(acq_per=1) sp.setup_gather(acq_per=1)
sp.setup_sync(mode=1) #sync with timing system and PLC to sync speed (PROG) sp.setup_sync(mode=2,flag=1,pt2pt_time=40)
sp.setup_coord_trf() # reset to shape path system sp.setup_coord_trf() # reset to shape path system
sp.setup_motion(fnPrg=fn + '.prg', mode=3, pt2pt_time=40,scale=1,dwell=10) sp.setup_motion(fnPrg=fn + '.prg', mode=3, pt2pt_time=40,scale=1,dwell=10)
#sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=0,dwell=10)
sp.run() sp.run()
sp.gather_upload(fnRec=fn+'.npz') sp.gather_upload(fnRec=fn+'.npz')
sp.plot_gather(mode=11) sp.plot_gather(mode=11)

216
src/triggerSync/triggerSync.c
View File

@@ -1,31 +1,24 @@
//*-----------------------------------------------------------------------*
//| |
//| Copyright (c) 2019 by Paul Scherrer Institute (http://www.psi.ch) |
//| |
//| Author Thierry Zamofing (thierry.zamofing@psi.ch) |
//*-----------------------------------------------------------------------*
// >>>>>>> https://www.ashwinnarayan.com/post/xenomai-realtime-programming-part-2/ // >>>>>>> https://www.ashwinnarayan.com/post/xenomai-realtime-programming-part-2/
// >>>>>>> https://xenomai.org/documentation/xenomai-2.4/html/api/group__task.html // >>>>>>> https://xenomai.org/documentation/xenomai-2.4/html/api/group__task.html
// Usage -> read the usage function
//samples: root@:/opt/ppmac#
// /tmp/triggerSync 40 11 trigger all 40 ms, simulated start, use real frame triggers, verbose
// /tmp/triggerSync 40 14 trigger all 40 ms, simulated start and frame triggers, no sync, verbose
// /tmp/triggerSync 40 15 trigger all 40 ms, simulated start and frame triggers, with sync, verbose
// /tmp/triggerSync 40 7 trigger all 40 ms, simulated start and frame triggers, with sync, minimal verbose
//mode: //before start set: Gather.Enable=1
// bit0: sync mode //to trigger a simulated start: Coord[1].Q[10]=1
// bit1: simulate mode
// bit2: verbose
// 0: useless //the simulated frame trigger comes at 40.2 ms period.
// 1: synchronize real triggers
// 2: simulate triggers (no sync)
// 3: synchronize simulate triggers
//in simulate mode:
//set pshm->Coord[1].Q[10]=1 to simulate a Jungfrau aquire start
//set pshm->Coord[1].Q[10]=2 to stop simulate trigger generation
//Coord[1].Q[11] is the simulated frame trigger
//in synchronize mode
//Coord[1].Q[0]=-2 : trigsync_func start, Wait for 'arm' trigger
//Coord[1].Q[0]=-1 : got 'arm' trigger, wait frame trigger
//Coord[1].Q[0]= 0 : got frame trigger 0
//Coord[1].Q[0] is incremented at each trigger
//sync task ends when Gather.Enable==0
//Gather.Enable=1
#include <stdio.h> #include <stdio.h>
#include <gplib.h> #include <gplib.h>
@@ -45,10 +38,12 @@ static float mtPt2Pt=40.f; //motion point to point time
#define SIMFLAG0 (pshm->Coord[1].Q[10]) #define SIMFLAG0 (pshm->Coord[1].Q[10])
#define SIMFLAG1 (pshm->Coord[1].Q[11]) #define SIMFLAG1 (pshm->Coord[1].Q[11])
#define FLAG0 (gate3_1->Chan[0].Status&0x8000000) //#define SIMFLAG0 (pshm->P[10])
#define FLAG1 (gate3_1->Chan[1].Status&0x8000000) //#define SIMFLAG1 (pshm->P[11])
//Power PMAC Software Reference Manual.pdf page 760
#define FLAG0 (gate3_1->Chan[0].Status&0x800)
#define FLAG1 (gate3_1->Chan[1].Status&0x800)
RT_TASK trigsync_task;
void trigsync_func(void *arg) void trigsync_func(void *arg)
{ {
RT_TASK *curtask; RT_TASK *curtask;
@@ -72,12 +67,15 @@ void trigsync_func(void *arg)
float srvPer; float srvPer;
float mtAct,mtDes; //mt* motion time. Actual and desired. this is the accumulated time that controls motion speed float mtAct,mtDes; //mt* motion time. Actual and desired. this is the accumulated time that controls motion speed
float mtPt2Pt=40.f; //motion point to point time
unsigned int maxDiff; unsigned int maxDiff;
struct GateArray3* gate3_1=GetGate3MemPtr(1); struct GateArray3* gate3_1=GetGate3MemPtr(1);
pshm = GetSharedMemPtr(); pshm = GetSharedMemPtr();
if(!pshm->Gather.Enable)
{
printf("ending trigsync_func because Gather.Enable==0\n");
return;
}
pshm->Coord[1].Q[0]=-2; pshm->Coord[1].Q[0]=-2;
srvPer=pshm->ServoPeriod; srvPer=pshm->ServoPeriod;
@@ -94,8 +92,10 @@ void trigsync_func(void *arg)
rt_task_wait_period(NULL); rt_task_wait_period(NULL);
} }
printf("Flag 0: %.5f ms\n", (rt_timer_read() - rtStart)/1E6); printf("Flag 0: %.5f ms\n", (rt_timer_read() - rtStart)/1E6);
pshm->Gather.Enable=2; //start gathering data
pshm->Coord[1].Q[0]=-1; pshm->Coord[1].Q[0]=-1;
if(mode&2) if(mode&4)
{ {
while(!SIMFLAG1) while(!SIMFLAG1)
rt_task_wait_period(NULL); rt_task_wait_period(NULL);
@@ -105,16 +105,24 @@ void trigsync_func(void *arg)
while(!FLAG1) while(!FLAG1)
rt_task_wait_period(NULL); rt_task_wait_period(NULL);
} }
//puts("waitFlag1");
//gate3_1->Chan[1].Status f057f77f
//gate3_1->Chan[1].Status f057ff7f
//printf("gate3_1->Chan[1].Status %x\n",gate3_1->Chan[1].Status);
printf("Flag 1: %.5f ms\n", (rt_timer_read() - rtStart)/1E6); printf("Flag 1: %.5f ms\n", (rt_timer_read() - rtStart)/1E6);
rtStart=rtLast=rt_timer_read(); rtStart=rtLast=rt_timer_read();
scStart=scLast=pshm->ServoCount; scStart=scLast=pshm->ServoCount;
mtAct=0.f; mtAct=0.f;
pshm->Coord[1].Q[0]=0; pshm->Coord[1].Q[0]=0;
pshm->Coord[1].DesTimeBase=srvPer; //start motion at default speed pshm->Coord[1].DesTimeBase=srvPer; //start motion at default speed
if(mode&8)
printf("Start: %d, rtDiff: %.3f ms scDiff %d mtAct %.3f mtDes %.3f srvPer %.6f\n", i, rtLast/1E6,scLast, mtAct,mtDes,srvPer);
for(i=1;pshm->Gather.Enable;i++) for(i=1;pshm->Gather.Enable;i++)
{ {
if(mode&2) if(mode&4)
{ {
while(SIMFLAG1) while(SIMFLAG1)
rt_task_wait_period(NULL); rt_task_wait_period(NULL);
@@ -141,14 +149,14 @@ void trigsync_func(void *arg)
srvPer=(mtPt2Pt+mtDes-mtAct)/scDiff; srvPer=(mtPt2Pt+mtDes-mtAct)/scDiff;
pshm->Coord[1].DesTimeBase=srvPer; pshm->Coord[1].DesTimeBase=srvPer;
pshm->Coord[1].Q[0]++; pshm->Coord[1].Q[0]++;
if(mode&4) if(mode&8)
printf("Trigger count: %d, rtDiff: %.3f ms scDiff %d mtAct %.3f mtDes %.3f srvPer %.3f\n", i, rtDiff/1E6,scDiff, mtAct,mtDes,srvPer); printf("Trigger count: %d, rtDiff: %.3f ms scDiff %d mtAct %.3f mtDes %.3f srvPer %.6f\n", i, rtDiff/1E6,scDiff, mtAct,mtDes,srvPer);
rtLast=rtCur; rtLast=rtCur;
scLast=scCur; scLast=scCur;
} }
printf("trigsync_func done\n");
} }
RT_TASK trigsim_task;
void trigsim_func(void *arg) void trigsim_func(void *arg)
{ {
RT_TASK *curtask; RT_TASK *curtask;
@@ -162,11 +170,11 @@ void trigsim_func(void *arg)
//rt_task_set_periodic(NULL, TM_NOW, 10*1E6); //rt_task_set_periodic(NULL, TM_NOW, 10*1E6);
printf("Starting task %s \n", curtaskinfo.name); printf("Starting task %s \n", curtaskinfo.name);
int i; int i,j=0;
RTIME rtStart,rtSlice; RTIME rtStart,rtSlice;
printf("sizeof RTTIME %d\n",sizeof(rtStart)); //printf("sizeof RTTIME %d\n",sizeof(rtStart));
pshm = GetSharedMemPtr(); pshm = GetSharedMemPtr();
pshm->Coord[1].Q[10]=0; SIMFLAG0=0;
rtStart=rt_timer_read(); rtStart=rt_timer_read();
for(i=0,rtSlice=rtStart;;i++) for(i=0,rtSlice=rtStart;;i++)
@@ -175,25 +183,39 @@ void trigsim_func(void *arg)
rtSlice=rtStart+i*40.2*1E6; // a slice is 40 ms rtSlice=rtStart+i*40.2*1E6; // a slice is 40 ms
//rtSlice+=(rand()%(int)(1*1E6)); //0.1ms jitter //rtSlice+=(rand()%(int)(1*1E6)); //0.1ms jitter
rt_task_sleep_until(rtSlice); //in ns rt_task_sleep_until(rtSlice); //in ns
pshm->Coord[1].Q[11]=1;
//while(rt_timer_read()-rtStart<1E6*40*i)
// rt_task_wait_period(NULL);
rt_task_sleep_until(rtSlice+5*1E6); //in ns
pshm->Coord[1].Q[11]=0;
//if(pshm->Coord[1].DesTimeBase==0)
if(pshm->Coord[1].Q[10]==1)
{
rt_task_sleep_until(rtSlice+10*1E6); //in ns
pshm->Coord[1].Q[11]=1;
rt_task_sleep_until(rtSlice+20*1E6); //in ns
pshm->Coord[1].Q[11]=0;
pshm->Coord[1].Q[10]=0;
}
if(pshm->Coord[1].Q[10]=2)
break;
if(mode&4) if(mode&4)
putchar('.');fflush(stdout); {
SIMFLAG1=1;
//while(rt_timer_read()-rtStart<1E6*40*i)
// rt_task_wait_period(NULL);
rt_task_sleep_until(rtSlice+5*1E6); //in ns
SIMFLAG1=0;
if(mode&8)
{putchar('.');fflush(stdout);}
}
//if(pshm->Coord[1].DesTimeBase==0)
if(SIMFLAG0==1)
{
if(j)
{
SIMFLAG0=0;j=0;
}
else if(mode&8)
{putchar('x');fflush(stdout);}
j++;
}
if(!pshm->Gather.Enable)
{
if((mode&4) && j<10)
{
putchar('o');
j++;
continue;
}
break;
}
//if(pshm->Coord[1].Q[10]==2)
// break;
} }
printf("trigsim_func done\n"); printf("trigsim_func done\n");
} }
@@ -203,6 +225,8 @@ void trigsim_func(void *arg)
void trigsync_run() void trigsync_run()
{ {
RT_TASK trigsync_task;
RT_TASK trigsim_task;
const char* strSync="trigsync_task"; const char* strSync="trigsync_task";
const char* strSim="trigsim_task"; const char* strSim="trigsim_task";
//mode: //mode:
@@ -241,40 +265,80 @@ void trigsync_run()
} }
int usage(const char* cmd)
{
const char* s="\n\
mode:\n\
bit0:1: sync mode\n\
bit1:2: simulate start trigger\n\
bit2:4: simulate frame trigger\n\
bit3:8: verbose\n\
\n\
simulate start trigger:\n\
set pshm->Coord[1].Q[10]=1 to simulate a Jungfrau aquire start\n\
\n\
simulate frame trigger\n\
is output to pshm->Coord[1].Q[11]\n\
1: synchronize real frame and start triggers\n\
3: synchronize real frame and simulated start triggers\n\
6: simulated frame and start triggers (no sync)\n\
7: synchronize simulated frame and start triggers\n\
\n\
in simulate mode:\n\
set pshm->Coord[1].Q[10]=1 to simulate a Jungfrau aquire start\n\
set pshm->Coord[1].Q[10]=2 to stop simulate trigger generation\n\
Coord[1].Q[11] is the simulated frame trigger\n\
\n\
in synchronize mode\n\
Coord[1].Q[0]=-2 : trigsync_func start, Wait for 'arm' trigger\n\
Coord[1].Q[0]=-1 : got 'arm' trigger, wait frame trigger\n\
Coord[1].Q[0]= 0 : got frame trigger 0\n\
Coord[1].Q[0] is incremented at each trigger\n\
sync task ends when Gather.Enable==0\n\
";
printf("usage:\n%s pt2ptTime mode\n",cmd);
puts(s);
return -1;
}
int main(int argc, char *argv[]) int main(int argc, char *argv[])
{ {
int err; int err;
int initialized=0; int initialized=0;
char s[256];
int i; int i;
char *s;
if(argc!=3)
return usage(argv[0]);
mtPt2Pt= strtof(argv[1], &s);
if (argv[1]==s)
return usage(argv[0]);
mode= (int)strtol(argv[2], &s, 10);
if (argv[2]==s)
return usage(argv[0]);
if ((err = InitLibrary()) != 0) { if ((err = InitLibrary()) != 0) {
abort(); abort();
} }
initialized = 1; //initialized = 1;
pshm = GetSharedMemPtr(); //pshm = GetSharedMemPtr();
//
printf("P:%g\n",pshm->P[1011]); //printf("P:%g\n",pshm->P[1011]);
printf("pshm->MaxRtPlc:%d\n",pshm->MaxRtPlc); //printf("pshm->MaxRtPlc:%d\n",pshm->MaxRtPlc);
//
for(i=0;i<8;i++) //MAX_MOTORS instead of 8 //for(i=0;i<8;i++) //MAX_MOTORS instead of 8
printf("pshm->Motor[%d].Ctrl:%p\n",i,pshm->Motor[i].Ctrl); // printf("pshm->Motor[%d].Ctrl:%p\n",i,pshm->Motor[i].Ctrl);
//
for(i=0;i<8;i++) //MAX_MOTORS instead of 8 //for(i=0;i<8;i++) //MAX_MOTORS instead of 8
printf("pshm->UserAlgo.ServoCtrlAddr[%d]:%d\n",i,pshm->UserAlgo.ServoCtrlAddr[i]); // printf("pshm->UserAlgo.ServoCtrlAddr[%d]:%d\n",i,pshm->UserAlgo.ServoCtrlAddr[i]);
//
for(i=0;i<MAX_PLC;i++) //MAX_MOTORS instead of 8 //for(i=0;i<MAX_PLC;i++) //MAX_MOTORS instead of 8
printf("pshm->UserAlgo.BgCplcPID[%d]:%d\n",i,pshm->UserAlgo.BgCplcPID[i]); // printf("pshm->UserAlgo.BgCplcPID[%d]:%d\n",i,pshm->UserAlgo.BgCplcPID[i]);
//
printf("pshm->UserAlgo.RtiCplcPID:%d\n",pshm->UserAlgo.RtiCplcPID); //printf("pshm->UserAlgo.RtiCplcPID:%d\n",pshm->UserAlgo.RtiCplcPID);
printf("pshm->UserAlgo.RtiCplcMaxTime:%d\n",pshm->UserAlgo.RtiCplcMaxTime); //printf("pshm->UserAlgo.RtiCplcMaxTime:%d\n",pshm->UserAlgo.RtiCplcMaxTime);
printf("pshm->UserAlgo.CaptCompFuncAddr:%p\n",pshm->UserAlgo.CaptCompFuncAddr); //printf("pshm->UserAlgo.CaptCompFuncAddr:%p\n",pshm->UserAlgo.CaptCompFuncAddr);
trigsync_run(); trigsync_run();
//trigsync_func(0);
//loop_task_run();
CloseLibrary(); CloseLibrary();
return !err; return !err;

2
src/triggerSync/triggerSync.cbp
View File

@@ -25,12 +25,14 @@
<search_path add="/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac" /> <search_path add="/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac" />
<search_path add="/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac" /> <search_path add="/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac" />
<search_path add="/opt/eldk-4.2/ppc_4xxFP/usr/include" /> <search_path add="/opt/eldk-4.2/ppc_4xxFP/usr/include" />
<search_path add="/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include" />
</code_completion> </code_completion>
<lib_finder disable_auto="1" /> <lib_finder disable_auto="1" />
<debugger> <debugger>
<search_path add="/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac" /> <search_path add="/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac" />
<search_path add="/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac" /> <search_path add="/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac" />
<search_path add="/opt/eldk-4.2/ppc_4xxFP/usr/include" /> <search_path add="/opt/eldk-4.2/ppc_4xxFP/usr/include" />
<search_path add="/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include" />
<remote_debugging> <remote_debugging>
<options conn_type="0" serial_baud="115200" ip_address="MOTTEST-CPPM-CRM0573" ip_port="2000" additional_cmds_before="file triggerSync" /> <options conn_type="0" serial_baud="115200" ip_address="MOTTEST-CPPM-CRM0573" ip_port="2000" additional_cmds_before="file triggerSync" />
</remote_debugging> </remote_debugging>

8
src/triggerSync/triggerSync.layout
View File

@@ -2,14 +2,14 @@
<CodeBlocks_layout_file> <CodeBlocks_layout_file>
<FileVersion major="1" minor="0" /> <FileVersion major="1" minor="0" />
<ActiveTarget name="Debug" /> <ActiveTarget name="Debug" />
<File name="triggerSync.c" open="1" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="triggerSync.c" open="1" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="952" topLine="9" /> <Cursor1 position="5484" topLine="200" />
</Cursor> </Cursor>
</File> </File>
<File name="Makefile" open="1" top="1" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="Makefile" open="1" top="1" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="692" topLine="1" /> <Cursor1 position="122" topLine="0" />
</Cursor> </Cursor>
</File> </File>
</CodeBlocks_layout_file> </CodeBlocks_layout_file>