#------------------------------------------------------------------------------
# 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
#------------------------------------------------------------------------------

PPMAC=SAR-CPPM-EXPMX1
#PPMAC=MOTTEST-CPPM-CRM0573
#PPMAC=SAROP11-CPPM-MOT6871

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
#THESE PATHS MUST BE ABSOLUTE !
RTPMACINCLUDEDIR=/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac/
LIBPPMACINCLUDEDIR=/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/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

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: usralgo.ko

usralgo.ko: usrcode.c
	$(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules

#	$(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules V=1
#	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)

.PHONY: tags
tags:
	find . -type f -iname "*.[chS]" | xargs ctags -a -f .tags
	find $(INCLUDE) -type f -iname "*.[chS]" | xargs ctags -a -f .tags
	find $(XENOMAI_INC_DIR) -type f -iname "*.[chS]" | xargs ctags -a -f .tags
	find $(RTPMACINCLUDEDIR) -type f -iname "*.[chS]" | xargs ctags -a -f .tags


Debug: all

../../matlab/ssc%.mat: ../../matlab/StateSpaceControlDesign.m ../../matlab/identifyFxFyStage.m Makefile
	cd ../../matlab; /afs/psi.ch/sys/psi.x86_64_slp6/Programming/matlab/2018a/bin/matlab -nodisplay -nojvm -nosplash -nodesktop -r \
      "clear;clear global;close all;\
       mot=identifyFxFyStage(7);\
       sscType=0;\
       for k=1:2;\
         [ssc]=StateSpaceControlDesign(mot{k},sscType);\
       end;\
       exit(0);"

usrcode.c: ../../matlab/ssc1.mat ../../matlab/ssc2.mat ../MXTuning.py
	cd ..;./MXTuning.py -m512

install: all
	scp usralgo.ko root@$(PPMAC):/tmp
	scp /home/zamofing_t/Documents/prj/SwissFEL/PBTools/pbtools/usr_servo_phase/userservo_util root@$(PPMAC):/tmp
	-ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -d 1
	-ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -d 2
	-ssh root@$(PPMAC) rmmod usralgo
	-ssh root@$(PPMAC) insmod /tmp/usralgo.ko
	gpasciiCommander --host $(PPMAC) -c 'Motor[1].Ctrl=Sys.ServoCtrl;Motor[2].Ctrl=Sys.ServoCtrl'
	-ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -l 1 obsvr_servo_ctrl_1
	-ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -l 2 obsvr_servo_ctrl_2
	-ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -e 1
	-ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -e 2
	gpasciiCommander --host $(PPMAC) -c 'Motor[1].Ctrl=UserAlgo.ServoCtrlAddr[1];Motor[2].Ctrl=UserAlgo.ServoCtrlAddr[2]'

#Motor[1].Ctrl
#UserAlgo.ServoCtrlAddr[1]
#Motor[1].Ctrl=Sys.PidCtrl
#Motor[1].Ctrl=UserAlgo.ServoCtrlAddr[1]
#Motor[2].Ctrl=Sys.ServoCtrl
#Motor[1].Ctrl=Sys.ServoCtrl
#>>>>>>>> DO THIS TO ACTIVATE SERVO <<<<<<<<<<<
#Motor[1].Ctrl=Sys.ServoCtrl
#Motor[2].Ctrl=Sys.ServoCtrl
#make install
#Motor[1].Ctrl=UserAlgo.ServoCtrlAddr[1]
#Motor[1].Ctrl=UserAlgo.ServoCtrlAddr[2]
#position 0.407 results in ca 0mA output


#!common()
#!encoder_sim(enc=1,tbl=1,mot=1)
#!motor(mot=1,dirCur=0,contCur=100,peakCur=100,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
#Motor[1].pLimits=0;Motor[1].AmpFaultLevel=0;Motor[1].pAmpEnable=0;Motor[1].pAmpFault=0

#!common()
#!encoder_sim(enc=9,tbl=9,mot=9)
#Motor[9].pLimits=0;Motor[9].AmpFaultLevel=0;Motor[9].pAmpEnable=0;Motor[9].pAmpFault=0
#Motor[9].Ctrl=UserAlgo.ServoCtrlAddr[0]



#scp pp_proj.ini root@$(PPMAC):/var/ftp/usrflash/Project/Configuration/pp_proj.ini
#scp pp_proj.ini root@$(PPMAC):/tmp/pp_proj.ini
#ssh root@$(PPMAC) projpp


#MotorData