175 lines
6.2 KiB
Makefile
175 lines
6.2 KiB
Makefile
#------------------------------------------------------------------------------
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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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PPMAC=SAR-CPPM-EXPMX1
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#PPMAC=MOTTEST-CPPM-CRM0573
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#PPMAC=SAROP11-CPPM-MOT6871
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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=/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac/
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LIBPPMACINCLUDEDIR=/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/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 $(PWD)
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all: usralgo.ko
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usralgo.ko: usrcode.c
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$(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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.PHONY: tags
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tags:
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find . -type f -iname "*.[chS]" | xargs ctags -a -f .tags
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find $(INCLUDE) -type f -iname "*.[chS]" | xargs ctags -a -f .tags
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find $(XENOMAI_INC_DIR) -type f -iname "*.[chS]" | xargs ctags -a -f .tags
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find $(RTPMACINCLUDEDIR) -type f -iname "*.[chS]" | xargs ctags -a -f .tags
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Debug: all
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../../matlab/ssc%.mat: ../../matlab/StateSpaceControlDesign.m ../../matlab/identifyFxFyStage.m
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cd ../../matlab; /afs/psi.ch/sys/psi.x86_64_slp6/Programming/matlab/2018a/bin/matlab -nodisplay -nojvm -nosplash -nodesktop -r \
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"clear;clear global;close all;\
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mot=identifyFxFyStage(7);\
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sscType=0;\
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for k=1:2;\
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[ssc]=StateSpaceControlDesign(mot{k},sscType);\
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end;\
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exit(0);"
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usrcode.c: ../../matlab/ssc1.mat ../../matlab/ssc2.mat ../MXTuning.py
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cd ..;./MXTuning.py -m512
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install: all
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scp usralgo.ko root@$(PPMAC):/tmp
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scp /home/zamofing_t/Documents/prj/SwissFEL/PBTools/pbtools/usr_servo_phase/userservo_util root@$(PPMAC):/tmp
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-ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -d 1
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-ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -d 2
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-ssh root@$(PPMAC) rmmod usralgo
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-ssh root@$(PPMAC) insmod /tmp/usralgo.ko
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gpasciiCommander --host $(PPMAC) -c 'Motor[1].Ctrl=Sys.ServoCtrl;Motor[2].Ctrl=Sys.ServoCtrl'
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-ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -l 1 obsvr_servo_ctrl_1
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-ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -l 2 obsvr_servo_ctrl_2
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-ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -e 1
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-ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -e 2
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gpasciiCommander --host $(PPMAC) -c 'Motor[1].Ctrl=UserAlgo.ServoCtrlAddr[1];Motor[2].Ctrl=UserAlgo.ServoCtrlAddr[2]'
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#Motor[1].Ctrl
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#UserAlgo.ServoCtrlAddr[1]
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#Motor[1].Ctrl=Sys.PidCtrl
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#Motor[1].Ctrl=UserAlgo.ServoCtrlAddr[1]
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#Motor[2].Ctrl=Sys.ServoCtrl
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#Motor[1].Ctrl=Sys.ServoCtrl
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#>>>>>>>> DO THIS TO ACTIVATE SERVO <<<<<<<<<<<
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#Motor[1].Ctrl=Sys.ServoCtrl
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#Motor[2].Ctrl=Sys.ServoCtrl
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#make install
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#Motor[1].Ctrl=UserAlgo.ServoCtrlAddr[1]
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#Motor[1].Ctrl=UserAlgo.ServoCtrlAddr[2]
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#position 0.407 results in ca 0mA output
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#!common()
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#!encoder_sim(enc=1,tbl=1,mot=1)
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#!motor(mot=1,dirCur=0,contCur=100,peakCur=100,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
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#Motor[1].pLimits=0;Motor[1].AmpFaultLevel=0;Motor[1].pAmpEnable=0;Motor[1].pAmpFault=0
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#!common()
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#!encoder_sim(enc=9,tbl=9,mot=9)
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#Motor[9].pLimits=0;Motor[9].AmpFaultLevel=0;Motor[9].pAmpEnable=0;Motor[9].pAmpFault=0
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#Motor[9].Ctrl=UserAlgo.ServoCtrlAddr[0]
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#scp pp_proj.ini root@$(PPMAC):/var/ftp/usrflash/Project/Configuration/pp_proj.ini
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#scp pp_proj.ini root@$(PPMAC):/tmp/pp_proj.ini
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#ssh root@$(PPMAC) projpp
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#MotorData
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