usr_servo code generation

python/usr_code/usrcode_template.h

@@ -0,0 +1,134 @@
+#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, ...);
+
+<usr_header>
+
+double usr_servo_sample(MotorData *Mptr);
+EXPORT_SYMBOL(usr_servo_sample);
+
+void user_phase_sample( struct MotorData *Mptr);
+EXPORT_SYMBOL(user_phase_sample);
+
+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]
+//----------------------------------------
+
+
+