try to build user servo loop
This commit is contained in:
@@ -72,7 +72,7 @@ Testing ServoFrq.
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Testing linear,pvt,spline moves
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Testing linear,pvt,spline moves
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-------------------------------
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-------------------------------
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Tested with shapepath.py:
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Tested with shapepath.py: THE BEST TRAJECTORY RESULT IST WITH PVT MOTION
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@@ -22,8 +22,8 @@ verbose bits:
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"sequencer":[
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"sequencer":[
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'gen_grid_points(w=10,h=10,pitch=100,rnd=.2)',
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'gen_grid_points(w=10,h=10,pitch=100,rnd=.2)',
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'sort_points()',
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'sort_points()',
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'gen_prog(file="/tmp/shapepath.prg")',
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'gen_prog(file="'+fn+'.prg")',
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'plot_gather()']
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'plot_gather("'+fn+'.npz")']
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}
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}
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Sequencer functions are:
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Sequencer functions are:
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@@ -44,7 +44,7 @@ Sequencer functions are:
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- plot gathered data
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- plot gathered data
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plot_gather()
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plot_gather("'+fn+'.npz")
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this makes only sence, if motion has been executed and data can be gathered from the powerbrick
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this makes only sence, if motion has been executed and data can be gathered from the powerbrick
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Acquired time is:MaxSamples*Period*.2
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Acquired time is:MaxSamples*Period*.2
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@@ -66,27 +66,27 @@ class ShapePath:
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cfg=json.loads(s, object_hook=ConvUtf8)
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cfg=json.loads(s, object_hook=ConvUtf8)
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s=json.dumps(cfg, indent=2, separators=(',', ': '));print s
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s=json.dumps(cfg, indent=2, separators=(',', ': '));print s
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else:
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else:
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#cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":['sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']}
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fn='/tmp/shapepath'
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#cfg={"sequencer":['gen_rand_points(n=107, scale=1000)','sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']}
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#cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']}
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#cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=0.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg")','plot_gather()']}
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#cfg = {"sequencer": ['gen_rand_points(n=107, scale=1000)', 'sort_points()','plot_gather()']}
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#cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']}
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#cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg")','plot_gather()']}
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#fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S')
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#fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S')
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#cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":['sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871")','plot_gather("'+fn+'.npz")']}
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#cfg={"sequencer":['gen_rand_points(n=107, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871")','plot_gather("'+fn+'.npz")']}
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#cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=.2)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871")','plot_gather("'+fn+'.npz")']}
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#cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=0.2)','sort_points()','gen_prog(file="'+fn+'.prg")','plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_rand_points(n=107, scale=1000)', 'sort_points()','plot_gather("'+fn+'.npz")']}
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#cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871")','plot_gather("'+fn+'.npz")']}
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#cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="'+fn+'.prg")','plot_gather("'+fn+'.npz")']}
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#cfg={"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871")','plot_gather("'+fn+'.npz")']}
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#cfg={"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871")','plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather()']}
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#cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=50,rnd=.2)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=1)', 'plot_gather()']}
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#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=50,rnd=.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=100,rnd=0)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather()']}
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#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=100,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather()']}
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#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"points": [[0, 0],[100, 0],[200, 0],[300, 0],[400, 0],[400, 100],[300, 100],[200, 100],[100, 100],[0, 100],[10, 200],[100, 200],[200, 200],[300, 200],[400, 200],[410, 300],[300, 300],[200, 300],[100, 300],[0, 300],[0, 400],[100, 400],[200, 400],[300, 400],[400, 400]],"sequencer": ['gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather()']}
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#cfg = {"points": [[0, 0],[100, 0],[200, 0],[300, 0],[400, 0],[400, 100],[300, 100],[200, 100],[100, 100],[0, 100],[10, 200],[100, 200],[200, 200],[300, 200],[400, 200],[410, 300],[300, 300],[200, 300],[100, 300],[0, 300],[0, 400],[100, 400],[200, 400],[300, 400],[400, 400]],"sequencer": ['gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=-1)', 'plot_gather()']}
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#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=-1)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=1000)', 'plot_gather()']}
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#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=1000)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10)', 'plot_gather()']}
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#cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_rand_points(n=400, scale=1000)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10)', 'plot_gather()']}
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#cfg = {"sequencer": ['gen_rand_points(n=400, scale=1000)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=2,pt2pt_time=10)', 'plot_gather()']}
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#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=2,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
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fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/mode2'
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cfg = {"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=100)','plot_gather("'+fn+'.npz")']}
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cfg = {"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=2,pt2pt_time=10)','plot_gather("'+fn+'.npz")']}
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self.cfg=dotdict(cfg)
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self.cfg=dotdict(cfg)
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self.args=args
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self.args=args
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93
usrServo/Makefile
Normal file
93
usrServo/Makefile
Normal file
@@ -0,0 +1,93 @@
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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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# 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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# 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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# 'make depend' must be issued)
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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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# arm,i386,i385hv,ppc460-2,ppc460-1,ppc405
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#------------------------------------------------------------------------------
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PMAC_ARCH=ppc465-2
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ifeq ($(PMAC_ARCH),ppc465-2)
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ARCH=powerpc
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#CROSS_COMPILE=powerpc-meau-linux-gnu-
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CROSS_COMPILE=/opt/eldk-4.2/usr/bin/ppc_4xxFP-
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KDIR=/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp
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KSRC=/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp
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#CC=powerpc-meau-linux-gnu-gcc
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#AS=powerpc-meau-linux-gnu-as
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#LD=powerpc-meau-linux-gnu-gcc
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CC=/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc
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AS=/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc
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LD=/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc
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#STRIP=i686-meau-linux-gnu-strip
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INCLUDE=/opt/powerpc-465-rootfs/usr/lib/gcc/powerpc-linux-gnu/4.6/include
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XENOMAI_INC_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include
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XENOMAI_LIB_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/lib
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RPATH=-Wl,-rpath-link,/opt/powerpc-465-rootfs/lib/powerpc-linux-gnu
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ROOTFS_DIR=/opt/powerpc-465-rootfs
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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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export ARCH
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export CROSS_COMPILE
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OBJS := ${patsubst %, %.o, $(MODULES)}
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CLEANMOD := ${patsubst %, .%*, $(MODULES)}
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PWD := $(shell if [ "$$PWD" != "" ]; then echo $$PWD; else pwd; fi)
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obj-m += usralgo.o
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usralgo-objs := usralgomain.o \
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usrcode.o
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LDFLAGS := -nostdlib
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EXTRA_CFLAGS := -O2 -DCONFIG_460EX -D_GNU_SOURCE -D_REENTRANT -D__XENO__ -mhard-float -I$(RTPMACINCLUDEDIR) -I$(LIBPPMACINCLUDEDIR) -I$(XENOMAI_INC_DIR) -I$(XENOMAI_INC_DIR)/posix -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/posix -I$(INCLUDE) $(ADD_CFLAGS) --sysroot=$(ROOTFS_DIR)
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KBUILD_EXTRA_SYMBOLS := /usr/local/dtlibs/libppmac/Module.symvers
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%.o: %.S
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$(CC) -s -D__KERNEL__ -x c -E $< -o $*.i
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$(AS) -mbooke -o $@ $*.i
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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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# mv -f usralgo.ko ../../bin/Debug/
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#modules:
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# @echo "$(CFLAGS)"
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bclean::
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$(RM) *.o .*.o.d .*.o.cmd *.ko *.log
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$(RM) -R .tmp*
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$(RM) .runinfo
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rm -rf .runinfo .tmp* .*.o.d .*.o.cmd .*.cmd *.o *.ko *.mod.c *.i *.so Module.symvers modules.order
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clean::
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$(RM) *.o .*.o.d .*.o.cmd *.ko
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$(RM) -R .tmp*
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$(RM) .runinfo
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rm -rf .runinfo .tmp* .*.o.d .*.o.cmd .*.cmd *.o *.ko *.mod.c *.i *.so Module.symvers modules.order
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dbg:
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@echo PATH $(PATH)
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47
usrServo/Makefile.old
Normal file
47
usrServo/Makefile.old
Normal file
@@ -0,0 +1,47 @@
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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 $LIB -o main
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#
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CC=/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc
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HOST=SAROP11-CPPM-MOT6871
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ppmac:
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scp -r root@$(HOST):/opt/ppmac .
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xenomai:
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scp -r root@$(HOST):/usr/local/xenomai/lib xenomai
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lib:
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scp -r root@$(HOST):/usr/lib .
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powerpc-465-rootfs:
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tar -xvf powerpc-465-rootfs.tar.gz
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prerequisites: ppmac xenomai lib
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usralgo.ko: usralgo.mod.o usralgo.o usrcode.o
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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
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usralgo.mod.o:
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||||||
|
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: $(CPP)
|
||||||
231
usrServo/Makefileso.mak
Normal file
231
usrServo/Makefileso.mak
Normal file
@@ -0,0 +1,231 @@
|
|||||||
|
#------------------------------------------------------------------------------
|
||||||
|
# Copyright (C) Delta Tau Data Systems Inc., 2007
|
||||||
|
# All rights reserved.
|
||||||
|
#
|
||||||
|
# Generic makefile for any c user mode plc
|
||||||
|
# For a new project change the following
|
||||||
|
#
|
||||||
|
# 1.) PROG should be assigned the name of the desired executable program
|
||||||
|
# 2.) SRCS should be assigned the 'C' source code files that need to be compiled
|
||||||
|
# 3.) issue the command 'make depend' the first time a project is created and
|
||||||
|
# (every time an additional 'C' file is added to the project the command
|
||||||
|
# 'make depend' must be issued)
|
||||||
|
# 4.) issue the command make clean
|
||||||
|
# 5.) issue the command make
|
||||||
|
#
|
||||||
|
# Notes
|
||||||
|
# --------
|
||||||
|
# Change DTDEBUG above to -O2 for release w/ optimization
|
||||||
|
# Change DTDEBUG above to -g3 for debug
|
||||||
|
# PMAC_ARCH value can be one of the following
|
||||||
|
# arm,i386,i385hv,ppc460-2,ppc460-1,ppc405
|
||||||
|
#------------------------------------------------------------------------------
|
||||||
|
|
||||||
|
PMAC_ARCH=ppc465-2
|
||||||
|
|
||||||
|
ifeq ($(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
|
||||||
|
|
||||||
154
usrServo/Readme.md
Normal file
154
usrServo/Readme.md
Normal file
@@ -0,0 +1,154 @@
|
|||||||
|
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
|
||||||
|
-----------------------
|
||||||
|
|
||||||
|
cat /opt/ppmac/projpp/projpp_help.txt
|
||||||
|
root@:/# projpp -l
|
||||||
|
|
||||||
|
$$$***
|
||||||
|
!common()
|
||||||
|
!mx-stage()
|
||||||
|
#4$
|
||||||
|
#4j/
|
||||||
|
#4k
|
||||||
|
|
||||||
|
Start IDE
|
||||||
|
New Project, PowerBrick_LV
|
||||||
|
makefile and output at:
|
||||||
|
C:\Documents and Settings\user\Desktop\scratch\PowerBrick_LVUserServoLoop\PowerBrick_LVUserServoLoop\C Language\Realtime Routines
|
||||||
|
|
||||||
|
Update Firmware
|
||||||
|
---------------
|
||||||
|
|
||||||
|
we are using: 2.0.2.14, IDE wants newer, probably 2.1.1.3 (http://forums.deltatau.com/filedepot/)
|
||||||
|
With IDE the new firmware can be installed (tools->...->download firmware)
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
User Servo Loop
|
||||||
|
---------------
|
||||||
|
|
||||||
|
build usralgo.ko (or copy from IDE after build)
|
||||||
|
|
||||||
|
rmmod usralgo
|
||||||
|
|
||||||
|
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)
|
||||||
|
a47e448b r __kstrtab_user_pid_ctrl [usralgo]
|
||||||
|
a47e4458 r __ksymtab_user_pid_ctrl [usralgo]
|
||||||
|
a47e4068 T user_pid_ctrl [usralgo]
|
||||||
|
|
||||||
|
|
||||||
|
UserAlgo.ServoCtrlAddr[4] = $a47e4068
|
||||||
|
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
|
||||||
|
--------------------
|
||||||
|
|
||||||
|
http://www.thegeekstuff.com/2013/07/write-linux-kernel-module/
|
||||||
|
https://linux.die.net/lkmpg/x121.html
|
||||||
|
|
||||||
|
Do a module on Ubuntu works.
|
||||||
|
-> path usrServo/sampleKernelModul
|
||||||
|
ln -sfT Makefile.Ubuntu Makefile
|
||||||
|
make clean
|
||||||
|
make
|
||||||
|
dmesg
|
||||||
|
insmod /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/usrServo/sampleKernelModule/hello.ko
|
||||||
|
rmmod hello.ko
|
||||||
|
dmesg
|
||||||
|
|
||||||
|
Try to do a module for PowerBrick:
|
||||||
|
uncompress powerpc-465-rootfs.tar.gz (from PMAC IDE) to /opt -> /opt/powerpc-465-rootfs/usr/include/ etc.
|
||||||
|
compile fixdep, modpost
|
||||||
|
cd /opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/scripts/basic
|
||||||
|
gcc fixdep.c -o fixdep
|
||||||
|
cd /opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp/scripts/mod
|
||||||
|
gcc modpost.c file2alias.c sumversion.c -o modpost
|
||||||
|
ln -sfT Makefile.Deltatau Makefile
|
||||||
|
make clean
|
||||||
|
make
|
||||||
|
scp hello.ko root@SAROP11-CPPM-MOT6871:/tmp
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
Build test the Servo kernel module
|
||||||
|
----------------------------------
|
||||||
|
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/usrServo
|
||||||
|
make clean
|
||||||
|
make
|
||||||
|
scp usralgo.ko root@SAROP11-CPPM-MOT6871:/tmp
|
||||||
|
|
||||||
|
build usralgo.ko (or copy from IDE after build)
|
||||||
|
|
||||||
|
******** UP TO HERE IT WORKED ***********
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
insmod /opt/ppmac/usrflash/Project/Bin/Debug/usralgo.ko
|
||||||
|
insmod /tmp/usralgo.ko
|
||||||
|
|
||||||
|
286 dmesg
|
||||||
|
287 rmmod hello.ko
|
||||||
|
288 dmesg
|
||||||
|
289 cat /proc/kallsyms | grep user_pid_ctrl
|
||||||
|
290 rmmod usralgo
|
||||||
|
291 cat /proc/kallsyms | grep user_pid_ctrl
|
||||||
|
292 insmod /opt/ppmac/usrflash/Project/Bin/Debug/usralgo.ko
|
||||||
|
293 cat /proc/kallsyms | grep user_pid_ctrl
|
||||||
|
294 rmmod usralgo
|
||||||
|
295 insmod /tmp/usralgo.ko
|
||||||
|
296 cat /proc/kallsyms | grep user_pid_ctrl
|
||||||
|
297 history
|
||||||
|
|
||||||
|
THIS ALSO WORKED !!!
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
rmmod usralgo
|
||||||
|
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)
|
||||||
|
|
||||||
295
usrServo/pp_proj.h
Normal file
295
usrServo/pp_proj.h
Normal file
@@ -0,0 +1,295 @@
|
|||||||
|
|
||||||
|
#ifndef _PP_PROJ_H_
|
||||||
|
#define _PP_PROJ_H_
|
||||||
|
//***********************************************************************************
|
||||||
|
// C header for accessing PMAC Global, CSGlobal, Ptr vars
|
||||||
|
// _PPScriptMode_ for Pmac Script like access global & csglobal
|
||||||
|
// global Mypvar - access with "Mypvar"
|
||||||
|
// global Myparray(32) - access with "Myparray(i)"
|
||||||
|
// csglobal Myqvar - access with "Myqvar(i)" where "i" is Coord #
|
||||||
|
// csglobal Myqarray(16) - access with "Myqvar(i,j)" where "j" is index
|
||||||
|
// _EnumMode_ for Pmac enum data type checking on Set & Get global functions
|
||||||
|
// Example
|
||||||
|
// global Mypvar
|
||||||
|
// csglobal Myqvar
|
||||||
|
// "SetGlobalVar(Myqvar, data)" will give a compile error because its a csglobal var.
|
||||||
|
// "SetCSGlobalVar(Mypvar, data)" will give a compile error because its a global var.
|
||||||
|
//************************************************************************************
|
||||||
|
|
||||||
|
#ifdef _PPScriptMode_
|
||||||
|
enum globalP {_globalP_=-1};
|
||||||
|
enum globalParray {_globalParray_=-1};
|
||||||
|
enum csglobalQ {_csglobalQ_=-1};
|
||||||
|
enum csglobalQarray {_csglobalQarray_=-1};
|
||||||
|
|
||||||
|
enum ptrM {_ptrM_=-1};
|
||||||
|
enum ptrMarray {_ptrMarray_=-1};
|
||||||
|
void SetEnumGlobalVar(enum globalP var, double data)
|
||||||
|
{
|
||||||
|
pshm->P[var] = data;
|
||||||
|
}
|
||||||
|
|
||||||
|
double GetEnumGlobalVar(enum globalP var)
|
||||||
|
{
|
||||||
|
return pshm->P[var];
|
||||||
|
}
|
||||||
|
|
||||||
|
void SetEnumGlobalArrayVar(enum globalParray var, unsigned index, double data)
|
||||||
|
{
|
||||||
|
pshm->P[(var + index)%MAX_P] = data;
|
||||||
|
}
|
||||||
|
|
||||||
|
double GetEnumGlobalArrayVar(enum globalParray var, unsigned index)
|
||||||
|
{
|
||||||
|
return pshm->P[(var + index)%MAX_P];
|
||||||
|
}
|
||||||
|
|
||||||
|
void SetEnumCSGlobalVar(enum csglobalQ var, unsigned cs, double data)
|
||||||
|
{
|
||||||
|
pshm->Coord[cs % MAX_COORDS].Q[var] = data;
|
||||||
|
}
|
||||||
|
|
||||||
|
double GetEnumCSGlobalVar(enum csglobalQ var, unsigned cs)
|
||||||
|
{
|
||||||
|
return pshm->Coord[cs % MAX_COORDS].Q[var];
|
||||||
|
}
|
||||||
|
|
||||||
|
void SetEnumCSGlobalArrayVar(enum csglobalQarray var, unsigned index, unsigned cs, double data)
|
||||||
|
{
|
||||||
|
pshm->Coord[cs % MAX_COORDS].Q[(var + index)%MAX_Q] = data;
|
||||||
|
}
|
||||||
|
|
||||||
|
double GetEnumCSGlobalArrayVar(enum csglobalQarray var, unsigned index, unsigned cs)
|
||||||
|
{
|
||||||
|
return pshm->Coord[cs % MAX_COORDS].Q[(var + index)%MAX_Q];
|
||||||
|
}
|
||||||
|
|
||||||
|
void SetEnumPtrVar(enum ptrM var, double data)
|
||||||
|
{
|
||||||
|
im_write(pshm->Mdef + var, data, &pshm->Ldata);
|
||||||
|
}
|
||||||
|
|
||||||
|
double GetEnumPtrVar(enum ptrM var)
|
||||||
|
{
|
||||||
|
return im_read(pshm->Mdef + var, &pshm->Ldata);
|
||||||
|
}
|
||||||
|
|
||||||
|
void SetEnumPtrArrayVar(enum ptrMarray var, unsigned index, double data)
|
||||||
|
{
|
||||||
|
im_write(pshm->Mdef + ((var + index)%MAX_M), data, &pshm->Ldata);
|
||||||
|
}
|
||||||
|
|
||||||
|
double GetEnumPtrArrayVar(enum ptrMarray var, unsigned index)
|
||||||
|
{
|
||||||
|
return im_read(pshm->Mdef + ((var + index)%MAX_M), &pshm->Ldata);
|
||||||
|
}
|
||||||
|
|
||||||
|
#define SetGlobalVar(i, x) SetEnumGlobalVar(i, x)
|
||||||
|
#define SetGlobalArrayVar(i, j, x) SetEnumGlobalArrayVar(i, j, x)
|
||||||
|
#define GetGlobalVar(i) GetEnumGlobalVar(i)
|
||||||
|
#define GetGlobalArrayVar(i, j) GetEnumGlobalArrayVar(i, j)
|
||||||
|
|
||||||
|
#define SetCSGlobalVar(i, j, x) SetEnumCSGlobalVar(i, j, x)
|
||||||
|
#define SetCSGlobalArrayVar(i, j, k, x) SetEnumCSGlobalArrayVar(i, j, k, x)
|
||||||
|
#define GetCSGlobalVar(i, j) GetEnumCSGlobalVar(i, j)
|
||||||
|
#define GetCSGlobalArrayVar(i, j, k) GetEnumCSGlobalArrayVar(i, j, k)
|
||||||
|
|
||||||
|
#define SetPtrVar(i, x) SetEnumPtrVar(i, x)
|
||||||
|
#define SetPtrArrayVar(i, j, x) SetEnumPtrArrayVar(i, j, x)
|
||||||
|
#define GetPtrVar(i) GetEnumPtrVar(i)
|
||||||
|
#define GetPtrArrayVar(i, j) GetEnumPtrArrayVar(i, j)
|
||||||
|
// end of #ifdef _PPScriptMode_
|
||||||
|
#else
|
||||||
|
#ifdef _EnumMode_
|
||||||
|
enum globalP {_globalP_=-1};
|
||||||
|
enum globalParray {_globalParray_=-1};
|
||||||
|
enum csglobalQ {_csglobalQ_=-1};
|
||||||
|
enum csglobalQarray {_csglobalQarray_=-1};
|
||||||
|
enum ptrM {_ptrM_=-1};
|
||||||
|
enum ptrMarray {_ptrMarray_=-1};
|
||||||
|
void SetEnumGlobalVar(enum globalP var, double data)
|
||||||
|
{
|
||||||
|
pshm->P[var] = data;
|
||||||
|
}
|
||||||
|
|
||||||
|
double GetEnumGlobalVar(enum globalP var)
|
||||||
|
{
|
||||||
|
return pshm->P[var];
|
||||||
|
}
|
||||||
|
|
||||||
|
void SetEnumGlobalArrayVar(enum globalParray var, unsigned index, double data)
|
||||||
|
{
|
||||||
|
pshm->P[(var + index)%MAX_P] = data;
|
||||||
|
}
|
||||||
|
|
||||||
|
double GetEnumGlobalArrayVar(enum globalParray var, unsigned index)
|
||||||
|
{
|
||||||
|
return pshm->P[(var + index)%MAX_P];
|
||||||
|
}
|
||||||
|
|
||||||
|
void SetEnumCSGlobalVar(enum csglobalQ var, unsigned cs, double data)
|
||||||
|
{
|
||||||
|
pshm->Coord[cs % MAX_COORDS].Q[var] = data;
|
||||||
|
}
|
||||||
|
|
||||||
|
double GetEnumCSGlobalVar(enum csglobalQ var, unsigned cs)
|
||||||
|
{
|
||||||
|
return pshm->Coord[cs % MAX_COORDS].Q[var];
|
||||||
|
}
|
||||||
|
|
||||||
|
void SetEnumCSGlobalArrayVar(enum csglobalQarray var, unsigned index, unsigned cs, double data)
|
||||||
|
{
|
||||||
|
pshm->Coord[cs % MAX_COORDS].Q[(var + index)%MAX_Q] = data;
|
||||||
|
}
|
||||||
|
|
||||||
|
double GetEnumCSGlobalArrayVar(enum csglobalQarray var, unsigned index, unsigned cs)
|
||||||
|
{
|
||||||
|
return pshm->Coord[cs % MAX_COORDS].Q[(var + index)%MAX_Q];
|
||||||
|
}
|
||||||
|
|
||||||
|
void SetEnumPtrVar(enum ptrM var, double data)
|
||||||
|
{
|
||||||
|
im_write(pshm->Mdef + var, data, &pshm->Ldata);
|
||||||
|
}
|
||||||
|
|
||||||
|
double GetEnumPtrVar(enum ptrM var)
|
||||||
|
{
|
||||||
|
return im_read(pshm->Mdef + var, &pshm->Ldata);
|
||||||
|
}
|
||||||
|
|
||||||
|
void SetEnumPtrArrayVar(enum ptrMarray var, unsigned index, double data)
|
||||||
|
{
|
||||||
|
im_write(pshm->Mdef + ((var + index)%MAX_M), data, &pshm->Ldata);
|
||||||
|
}
|
||||||
|
|
||||||
|
double GetEnumPtrArrayVar(enum ptrMarray var, unsigned index)
|
||||||
|
{
|
||||||
|
return im_read(pshm->Mdef + ((var + index)%MAX_M), &pshm->Ldata);
|
||||||
|
}
|
||||||
|
|
||||||
|
#define SetGlobalVar(i, x) SetEnumGlobalVar(i, x)
|
||||||
|
#define SetGlobalArrayVar(i, j, x) SetEnumGlobalArrayVar(i, j, x)
|
||||||
|
#define GetGlobalVar(i) GetEnumGlobalVar(i)
|
||||||
|
#define GetGlobalArrayVar(i, j) GetEnumGlobalArrayVar(i, j)
|
||||||
|
|
||||||
|
#define SetCSGlobalVar(i, j, x) SetEnumCSGlobalVar(i, j, x)
|
||||||
|
#define SetCSGlobalArrayVar(i, j, k, x) SetEnumCSGlobalArrayVar(i, j, k, x)
|
||||||
|
#define GetCSGlobalVar(i, j) GetEnumCSGlobalVar(i, j)
|
||||||
|
#define GetCSGlobalArrayVar(i, j, k) GetEnumCSGlobalArrayVar(i, j, k)
|
||||||
|
|
||||||
|
#define SetPtrVar(i, x) SetEnumPtrVar(i, x)
|
||||||
|
#define SetPtrArrayVar(i, j, x) SetEnumPtrArrayVar(i, j, x)
|
||||||
|
#define GetPtrVar(i) GetEnumPtrVar(i)
|
||||||
|
#define GetPtrArrayVar(i, j) GetEnumPtrArrayVar(i, j)
|
||||||
|
// end of #ifdef _EnumMode_
|
||||||
|
#else
|
||||||
|
// ***** Standard default mode *****
|
||||||
|
#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_
|
||||||
94
usrServo/sampleKernelModule/Makefile.Deltatau
Normal file
94
usrServo/sampleKernelModule/Makefile.Deltatau
Normal file
@@ -0,0 +1,94 @@
|
|||||||
|
#------------------------------------------------------------------------------
|
||||||
|
# Copyright (C) Delta Tau Data Systems Inc., 2007
|
||||||
|
# All rights reserved.
|
||||||
|
#
|
||||||
|
# Generic makefile for any c realtime C plc 0, user servo or user phase
|
||||||
|
# For a new project change the following
|
||||||
|
#
|
||||||
|
# 1.) usralgo-objs should be assigned the 'C' source code files that need to be compiled
|
||||||
|
# 2.) 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)
|
||||||
|
# 3.) issue the command make clean
|
||||||
|
# 4.) issue the command make
|
||||||
|
#
|
||||||
|
# Notes
|
||||||
|
# --------
|
||||||
|
# Change DTDEBUG above to -O2 for release w/ optimization
|
||||||
|
# Change DTDEBUG above to -g3 for debug
|
||||||
|
# arm,i386,i385hv,ppc460-2,ppc460-1,ppc405
|
||||||
|
#------------------------------------------------------------------------------
|
||||||
|
|
||||||
|
PMAC_ARCH=ppc465-2
|
||||||
|
|
||||||
|
ifeq ($(PMAC_ARCH),ppc465-2)
|
||||||
|
ARCH=powerpc
|
||||||
|
#CROSS_COMPILE=powerpc-meau-linux-gnu-
|
||||||
|
CROSS_COMPILE=/opt/eldk-4.2/usr/bin/ppc_4xxFP-
|
||||||
|
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
|
||||||
|
CC=/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc
|
||||||
|
AS=/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc
|
||||||
|
LD=/opt/eldk-4.2/usr/bin/ppc_4xxFP-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
|
||||||
|
endif
|
||||||
|
|
||||||
|
#RTPMACINCLUDEDIR=/usr/local/dtlibs/rtpmac
|
||||||
|
#LIBPPMACINCLUDEDIR=/usr/local/dtlibs/libppmac
|
||||||
|
RTPMACINCLUDEDIR=../ppmac/rtpmac/
|
||||||
|
LIBPPMACINCLUDEDIR=../ppmac/libppmac/
|
||||||
|
|
||||||
|
export ARCH
|
||||||
|
export CROSS_COMPILE
|
||||||
|
|
||||||
|
OBJS := ${patsubst %, %.o, $(MODULES)}
|
||||||
|
CLEANMOD := ${patsubst %, .%*, $(MODULES)}
|
||||||
|
PWD := $(shell if [ "$$PWD" != "" ]; then echo $$PWD; else pwd; fi)
|
||||||
|
|
||||||
|
|
||||||
|
#obj-m += usralgo.o
|
||||||
|
#usralgo-objs := usralgomain.o \
|
||||||
|
usrcode.o
|
||||||
|
obj-m += hello.o
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
LDFLAGS := -nostdlib
|
||||||
|
EXTRA_CFLAGS := -O2 -DCONFIG_460EX -D_GNU_SOURCE -D_REENTRANT -D__XENO__ -mhard-float -I$(RTPMACINCLUDEDIR) -I$(LIBPPMACINCLUDEDIR) -I$(XENOMAI_INC_DIR) -I$(XENOMAI_INC_DIR)/posix -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/posix -I$(INCLUDE) $(ADD_CFLAGS) --sysroot=$(ROOTFS_DIR)
|
||||||
|
KBUILD_EXTRA_SYMBOLS := /usr/local/dtlibs/libppmac/Module.symvers
|
||||||
|
|
||||||
|
%.o: %.S
|
||||||
|
$(CC) -s -D__KERNEL__ -x c -E $< -o $*.i
|
||||||
|
$(AS) -mbooke -o $@ $*.i
|
||||||
|
|
||||||
|
#all::
|
||||||
|
# cp -f /usr/local/usralgo/usralgomain.c $(PWD)
|
||||||
|
all:
|
||||||
|
$(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
|
||||||
|
# mv -f usralgo.ko ../../bin/Debug/
|
||||||
|
|
||||||
|
#modules:
|
||||||
|
# @echo "$(CFLAGS)"
|
||||||
|
|
||||||
|
bclean::
|
||||||
|
$(RM) *.o .*.o.d .*.o.cmd *.ko *.log
|
||||||
|
$(RM) -R .tmp*
|
||||||
|
$(RM) .runinfo
|
||||||
|
rm -rf .runinfo .tmp* .*.o.d .*.o.cmd .*.cmd *.o *.ko *.mod.c *.i *.so Module.symvers modules.order
|
||||||
|
|
||||||
|
clean::
|
||||||
|
$(RM) *.o .*.o.d .*.o.cmd *.ko
|
||||||
|
$(RM) -R .tmp*
|
||||||
|
$(RM) .runinfo
|
||||||
|
rm -rf .runinfo .tmp* .*.o.d .*.o.cmd .*.cmd *.o *.ko *.mod.c *.i *.so Module.symvers modules.order
|
||||||
|
|
||||||
|
dbg:
|
||||||
|
@echo PATH $(PATH)
|
||||||
8
usrServo/sampleKernelModule/Makefile.Ubuntu
Normal file
8
usrServo/sampleKernelModule/Makefile.Ubuntu
Normal file
@@ -0,0 +1,8 @@
|
|||||||
|
obj-m += hello.o
|
||||||
|
|
||||||
|
all:
|
||||||
|
make -C /lib/modules/$(shell uname -r)/build M=$(PWD) modules
|
||||||
|
# make -C /lib/modules/$(shell uname -r)/build M=$(PWD) modules V=1
|
||||||
|
|
||||||
|
clean:
|
||||||
|
make -C /lib/modules/$(shell uname -r)/build M=$(PWD) clean
|
||||||
21
usrServo/sampleKernelModule/hello.c
Normal file
21
usrServo/sampleKernelModule/hello.c
Normal file
@@ -0,0 +1,21 @@
|
|||||||
|
#include <linux/module.h> // included for all kernel modules
|
||||||
|
#include <linux/kernel.h> // included for KERN_INFO
|
||||||
|
#include <linux/init.h> // included for __init and __exit macros
|
||||||
|
|
||||||
|
MODULE_LICENSE("GPL");
|
||||||
|
MODULE_AUTHOR("Lakshmanan");
|
||||||
|
MODULE_DESCRIPTION("A Simple Hello World module");
|
||||||
|
|
||||||
|
static int __init hello_init(void)
|
||||||
|
{
|
||||||
|
printk(KERN_INFO "Hello world!\n");
|
||||||
|
return 0; // Non-zero return means that the module couldn't be loaded.
|
||||||
|
}
|
||||||
|
|
||||||
|
static void __exit hello_cleanup(void)
|
||||||
|
{
|
||||||
|
printk(KERN_INFO "Cleaning up module.\n");
|
||||||
|
}
|
||||||
|
|
||||||
|
module_init(hello_init);
|
||||||
|
module_exit(hello_cleanup);
|
||||||
21
usrServo/usralgo.mod.c
Normal file
21
usrServo/usralgo.mod.c
Normal file
@@ -0,0 +1,21 @@
|
|||||||
|
#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=";
|
||||||
|
|
||||||
114
usrServo/usralgomain.c
Normal file
114
usrServo/usralgomain.c
Normal file
@@ -0,0 +1,114 @@
|
|||||||
|
//---------------------------------------------------------------------------
|
||||||
|
// Project PowerPMAC Firmware
|
||||||
|
// Delta Tau Data Systems, Inc.
|
||||||
|
// Copyright 2007. All Rights Reserved.
|
||||||
|
//
|
||||||
|
// SUBSYSTEM: User Algo Driver
|
||||||
|
// FILE: usralgo.c
|
||||||
|
// AUTH OR: Henry Bausley
|
||||||
|
//
|
||||||
|
// OVERVIEW
|
||||||
|
// ~~~~~~~~
|
||||||
|
// This file is a device driver that exports functions that can be used by other
|
||||||
|
// kernel mode modules. ie. RtPmac.rtl can call functions that are part of this
|
||||||
|
// driver for use as user written servo, phase, plc rti, plc rt thread
|
||||||
|
// No one should ever have to touch this module! Custom routines are added
|
||||||
|
// as additional modules as whatever name the user wants.
|
||||||
|
//
|
||||||
|
// NOTES
|
||||||
|
// ~~~~~
|
||||||
|
// - The driver must be loaded
|
||||||
|
// bash-3.0# insmod /opt/ppmac/usralgo/usralgo.ko
|
||||||
|
//
|
||||||
|
// - A node can be created on the file system the thing you fopen
|
||||||
|
// but it is not required. Could be used by gpos if ioctl's were added
|
||||||
|
// bash-3.0# mknod -m 666 /dev/usralgo c 240 0
|
||||||
|
//
|
||||||
|
//--------------------------------------------------------------------------------
|
||||||
|
#include <linux/module.h>
|
||||||
|
#include <linux/init.h>
|
||||||
|
#include <linux/version.h>
|
||||||
|
#include <linux/errno.h>
|
||||||
|
#include <linux/fs.h>
|
||||||
|
#include <linux/mm.h>
|
||||||
|
#include <linux/interrupt.h>
|
||||||
|
#include <linux/sched.h>
|
||||||
|
#include <asm/uaccess.h>
|
||||||
|
#include <asm/io.h>
|
||||||
|
#include <linux/vmalloc.h>
|
||||||
|
#include <linux/mman.h>
|
||||||
|
#include <linux/slab.h>
|
||||||
|
#include <RtGpShm.h>
|
||||||
|
|
||||||
|
|
||||||
|
//#define KDBEUG 1
|
||||||
|
|
||||||
|
#ifdef KDBEUG
|
||||||
|
#define PRINTK(arg) printk(arg)
|
||||||
|
#else
|
||||||
|
#define PRINTK(arg)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define USRALGO_MAJOR 240
|
||||||
|
#define USRALGO_NAME "usralgo"
|
||||||
|
|
||||||
|
struct SHM *pshm; // Pointer to shared memory
|
||||||
|
volatile unsigned *piom; // Pointer to I/O memory
|
||||||
|
void *pushm; // Pointer to user memory
|
||||||
|
|
||||||
|
|
||||||
|
// define which file operations are supported
|
||||||
|
struct file_operations usralgo_fops =
|
||||||
|
{
|
||||||
|
.owner = THIS_MODULE,
|
||||||
|
.llseek = NULL,
|
||||||
|
.read = NULL,
|
||||||
|
.write = NULL,
|
||||||
|
// .readdir = NULL,
|
||||||
|
.poll = NULL,
|
||||||
|
#if LINUX_VERSION_CODE < KERNEL_VERSION(3,0,0)
|
||||||
|
.ioctl = NULL,
|
||||||
|
#else
|
||||||
|
.unlocked_ioctl = NULL,
|
||||||
|
#endif
|
||||||
|
.mmap = NULL,
|
||||||
|
.open = NULL,
|
||||||
|
.flush = NULL,
|
||||||
|
.release = NULL,
|
||||||
|
.fsync = NULL,
|
||||||
|
.fasync = NULL,
|
||||||
|
.lock = NULL,
|
||||||
|
};
|
||||||
|
|
||||||
|
//-----------------------------------------------------------------------
|
||||||
|
// initialize module -- this what is called when you do insmod ./usralgo.ko
|
||||||
|
//-----------------------------------------------------------------------
|
||||||
|
static int __init usralgo_init_module (void)
|
||||||
|
{
|
||||||
|
int i;
|
||||||
|
|
||||||
|
PRINTK(KERN_INFO "initializing module usralgo\n");
|
||||||
|
pshm = GetSharedMemPtr();
|
||||||
|
pushm = GetUserBufferPtr();
|
||||||
|
piom = GetIOMemPtr();
|
||||||
|
|
||||||
|
i = register_chrdev (USRALGO_MAJOR, USRALGO_NAME, &usralgo_fops);
|
||||||
|
if (i != 0) return - EIO;
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
//-----------------------------------------------------------------------
|
||||||
|
// close and cleanup module
|
||||||
|
//-------------------------
|
||||||
|
static void __exit usralgo_cleanup_module (void)
|
||||||
|
{
|
||||||
|
PRINTK("cleaning up module usralgo\n");
|
||||||
|
unregister_chrdev (USRALGO_MAJOR, USRALGO_NAME);
|
||||||
|
}
|
||||||
|
|
||||||
|
module_init(usralgo_init_module);
|
||||||
|
module_exit(usralgo_cleanup_module);
|
||||||
|
MODULE_AUTHOR("www.deltatau.com");
|
||||||
|
MODULE_LICENSE("GPL");
|
||||||
|
MODULE_DESCRIPTION("Linux Device Driver for usralgo");
|
||||||
109
usrServo/usrcode.c
Normal file
109
usrServo/usrcode.c
Normal file
@@ -0,0 +1,109 @@
|
|||||||
|
//---------------------------------------------------------------------------
|
||||||
|
// Project PowerPMAC Firmware
|
||||||
|
// Delta Tau Data Systems, Inc.
|
||||||
|
// Copyright 2007. All Rights Reserved.
|
||||||
|
//
|
||||||
|
// SUBSYSTEM: User Servo Driver
|
||||||
|
// FILE: usrcode.c
|
||||||
|
// TEMPLATE AUTHOR: Henry Bausley
|
||||||
|
//
|
||||||
|
// OVERVIEW
|
||||||
|
// ~~~~~~~~
|
||||||
|
// This file is where exportable user code can be placed.
|
||||||
|
// To make a function callable as a user servo do three steps
|
||||||
|
//
|
||||||
|
// 1.) Prototye the function user_func(void ,void );
|
||||||
|
// 2.) Export the function EXPORT_SYMBOL(user_func);
|
||||||
|
// 3.) Make sure useralgo.ko has been loaded with projpp.ini
|
||||||
|
//
|
||||||
|
//--------------------------------------------------------------------------------
|
||||||
|
#include "usrcode.h"
|
||||||
|
//----------------------------------------------------------------------------------
|
||||||
|
// pp_proj.h is the C header for accessing PMAC Global, CSGlobal, Ptr vars
|
||||||
|
// _PPScriptMode_ for Pmac Script like access global & csglobal
|
||||||
|
// global Mypvar - access with "Mypvar"
|
||||||
|
// global Myparray(32) - access with "Myparray(i)"
|
||||||
|
// csglobal Myqvar - access with "Myqvar(i)" where "i" is Coord #
|
||||||
|
// csglobal Myqarray(16) - access with "Myqvar(i,j)" where "j" is index
|
||||||
|
// _EnumMode_ for Pmac enum data type checking on Set & Get global functions
|
||||||
|
// Example
|
||||||
|
// global Mypvar
|
||||||
|
// csglobal Myqvar
|
||||||
|
// "SetGlobalVar(Myqvar, data)" will give a compile error because its a csglobal var.
|
||||||
|
// "SetCSGlobalVar(Mypvar, data)" will give a compile error because its a global var.
|
||||||
|
//------------------------------------------------------------------------------------
|
||||||
|
#define _PPScriptMode_ // uncomment for Pmac Script type access
|
||||||
|
// #define _EnumMode_ // uncomment for Pmac enum data type checking on Set & Get global functions
|
||||||
|
|
||||||
|
#include "pp_proj.h"
|
||||||
|
#ifdef __KERNEL__
|
||||||
|
// Kernal mode can't have paths with spaces and long names
|
||||||
|
//#include "../../PMACSC~1/GLOBAL~1/asharedwithcapp.pmh"
|
||||||
|
#else
|
||||||
|
//#include "../../PMAC Script Language/Global Includes/asharedwithcapp.pmh"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
extern struct SHM *pshm; // Pointer to shared memory
|
||||||
|
extern volatile unsigned *piom; // Pointer to I/O memory
|
||||||
|
extern void *pushm; // Pointer to user memory
|
||||||
|
|
||||||
|
void user_phase( struct MotorData *Mptr)
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
double user_pid_ctrl( struct MotorData *Mptr)
|
||||||
|
{
|
||||||
|
//double *p;
|
||||||
|
//p = pushm;
|
||||||
|
//return 0;
|
||||||
|
double ctrl_out;
|
||||||
|
if (Mptr->ClosedLoop) {
|
||||||
|
// Compute PD terms
|
||||||
|
ctrl_out=Mptr->Servo.Kp*Mptr->PosError-Mptr->Servo.Kvfb*Mptr->ActVel;
|
||||||
|
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;
|
||||||
|
return ctrl_out;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
Mptr->Servo.Integrator=0.0;
|
||||||
|
return 0.0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void CaptCompISR(void)
|
||||||
|
{
|
||||||
|
unsigned *pUnsigned = pushm;
|
||||||
|
*pUnsigned = *pUnsigned + 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
double GetLocal(struct LocalData *Ldata,int m)
|
||||||
|
{
|
||||||
|
return *(Ldata->L + Ldata->Lindex + m);
|
||||||
|
}
|
||||||
|
|
||||||
|
void SetLocal(struct LocalData *Ldata,int m,double value)
|
||||||
|
{
|
||||||
|
*(Ldata->L + Ldata->Lindex + m) = value;
|
||||||
|
}
|
||||||
|
|
||||||
|
double *GetLocalPtr(struct LocalData *Ldata,int m)
|
||||||
|
{
|
||||||
|
return (Ldata->L + Ldata->Lindex + m);
|
||||||
|
}
|
||||||
|
|
||||||
|
double CfromScript(double cfrom_type, double arg2, double arg3, double arg4, double arg5, double arg6, double arg7, struct LocalData *Ldata)
|
||||||
|
{
|
||||||
|
int icfrom_type = (int) cfrom_type;
|
||||||
|
double *C, *D, *L, *R, rtn; // C, D, R - only needed if doing Kinmatics
|
||||||
|
|
||||||
|
C = GetCVarPtr(Ldata); // Only needed if doing Kinmatics
|
||||||
|
D = GetDVarPtr(Ldata); // Only needed if doing Kinmatics
|
||||||
|
L = GetLVarPtr(Ldata); // Only needed if using Ldata or Kinmatics
|
||||||
|
R = GetRVarPtr(Ldata); // Only needed if doing Kinmatics
|
||||||
|
rtn = -1.0;
|
||||||
|
return rtn;
|
||||||
|
}
|
||||||
|
|
||||||
132
usrServo/usrcode.h
Normal file
132
usrServo/usrcode.h
Normal file
@@ -0,0 +1,132 @@
|
|||||||
|
#ifdef __KERNEL__
|
||||||
|
#include <linux/module.h>
|
||||||
|
#else
|
||||||
|
#define EXPORT_SYMBOL(x) // x
|
||||||
|
#define KERN_ALERT
|
||||||
|
#define printk printf
|
||||||
|
#include <gplib.h>
|
||||||
|
#endif
|
||||||
|
#include <RtGpShm.h> // Global Rt/Gp Externals and structures
|
||||||
|
#include <rtpmacapi.h>
|
||||||
|
|
||||||
|
int rtsprintf(char * buf, const char *fmt, ...);
|
||||||
|
|
||||||
|
double user_pid_ctrl( struct MotorData *Mptr);
|
||||||
|
EXPORT_SYMBOL(user_pid_ctrl);
|
||||||
|
|
||||||
|
void user_phase( struct MotorData *Mptr);
|
||||||
|
EXPORT_SYMBOL(user_phase);
|
||||||
|
|
||||||
|
void CaptCompISR(void);
|
||||||
|
EXPORT_SYMBOL(CaptCompISR);
|
||||||
|
|
||||||
|
double CfromScript(double arg1,double arg2,double arg3,double arg4,double arg5,double arg6,double arg7,struct LocalData *Ldata);
|
||||||
|
EXPORT_SYMBOL(CfromScript);
|
||||||
|
|
||||||
|
//----------------------------------------
|
||||||
|
// Required Kinematic define Names
|
||||||
|
//----------------------------------------
|
||||||
|
#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]
|
||||||
|
//----------------------------------------
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
Reference in New Issue
Block a user