emc-commit — CVS commit notification list.

[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.7,1.8 rtai_ulapi.c,1.2,1.3

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv8211/rtapi

Modified Files:
	rtai_rtapi.c rtai_ulapi.c 
Log Message:
Added braces to some of the conditional routines

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** rtai_rtapi.c	25 Jul 2003 04:11:55 -0000	1.7
--- rtai_rtapi.c	25 Jul 2003 22:04:20 -0000	1.8
***************
*** 9,13 ****
  #include <linux/kernel.h>
  /* FIXME - on my system malloc.h is deprecated, use slab.h instead */
! /* #include <linux/malloc.h> */    /* kmalloc(), kfree(), GFP_USER */
  #include <linux/slab.h>
  
--- 9,13 ----
  #include <linux/kernel.h>
  /* FIXME - on my system malloc.h is deprecated, use slab.h instead */
! 																			       /* #include <linux/malloc.h> *//* kmalloc(), kfree(), GFP_USER */
  #include <linux/slab.h>
[...1053 lines suppressed...]
  
! int rtapi_fifo_write(rtapi_fifo_handle fifo, char *buf,
! 		     unsigned long int size)
  {
!   int retval;
  
    /* validate fifo handle */
!   if (fifo == NULL) {
      return RTAPI_BADH;
!   }
!   if (fifo->magic != FIFO_MAGIC) {
      return RTAPI_BADH;
!   }
    /* get whatever data is available */
!   retval = rtf_put(fifo->fd, buf, size);
!   if (retval < 0) {
      return RTAPI_INVAL;
+   }
    return retval;
  }

Index: rtai_ulapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_ulapi.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** rtai_ulapi.c	19 Jul 2003 07:17:22 -0000	1.2
--- rtai_ulapi.c	25 Jul 2003 22:04:20 -0000	1.3
***************
*** 19,38 ****
  
  struct ulapi_shmem {
! 	int         magic;                 /* to check for valid handle */
! 	int         key;                   /* key to shared memory area */
! 	unsigned long int size;            /* size of shared memory area */
! 	void       *mem;                   /* pointer to the memory */
! 	};
  
  struct ulapi_fifo {
! 	int         magic;                 /* to check for valid handle */
! 	int         key;                   /* key to fifo */
! 	int         fd;                    /* file descripter for fifo */
! 	int         mode;                  /* O_RDONLY or O_WRONLY */
! 	unsigned long int size;            /* size of fifo area */
! 	};
  
  
! #define SHMEM_MAGIC   25453  /* random numbers used as signatures */
  #define FIFO_MAGIC    10293
  
--- 19,38 ----
  
  struct ulapi_shmem {
!   int magic;			/* to check for valid handle */
!   int key;			/* key to shared memory area */
!   unsigned long int size;	/* size of shared memory area */
!   void *mem;			/* pointer to the memory */
! };
  
  struct ulapi_fifo {
!   int magic;			/* to check for valid handle */
!   int key;			/* key to fifo */
!   int fd;			/* file descripter for fifo */
!   int mode;			/* O_RDONLY or O_WRONLY */
!   unsigned long int size;	/* size of fifo area */
! };
  
  
! #define SHMEM_MAGIC   25453	/* random numbers used as signatures */
  #define FIFO_MAGIC    10293
  
***************
*** 52,73 ****
  
  
! int ulapi_shmem_new( int key, unsigned int size,
!                      ulapi_shmem_handle *shmemptr )
  {
! ulapi_shmem_handle shmem;
  
    /* validate shmemptr */
!   if ( shmemptr == NULL )
      return ULAPI_INVAL;
! 
    /* alloc space for shmem structure */
!   shmem = malloc( sizeof(struct ulapi_shmem) );
!   if ( shmem == NULL )
      return ULAPI_NOMEM;
! 
    /* now get shared memory block from OS */
    shmem->mem = rtai_malloc(key, size);
!   if ( shmem->mem == NULL ) {
!     free ( shmem );
      return ULAPI_NOMEM;
    }
--- 52,72 ----
  
  
! int ulapi_shmem_new(int key, unsigned int size, ulapi_shmem_handle * shmemptr)
  {
!   ulapi_shmem_handle shmem;
  
    /* validate shmemptr */
!   if (shmemptr == NULL) {
      return ULAPI_INVAL;
!   }
    /* alloc space for shmem structure */
!   shmem = malloc(sizeof(struct ulapi_shmem));
!   if (shmem == NULL) {
      return ULAPI_NOMEM;
!   }
    /* now get shared memory block from OS */
    shmem->mem = rtai_malloc(key, size);
!   if (shmem->mem == NULL) {
!     free(shmem);
      return ULAPI_NOMEM;
    }
***************
*** 85,96 ****
  
  
! int ulapi_shmem_getptr ( ulapi_shmem_handle shmem, void **ptr )
  {
    /* validate shmem handle */
!   if ( shmem == NULL )
      return ULAPI_BADH;
!   if ( shmem->magic != SHMEM_MAGIC )
      return ULAPI_BADH;
! 
    /* pass memory address back to caller */
    *ptr = shmem->mem;
--- 84,96 ----
  
  
! int ulapi_shmem_getptr(ulapi_shmem_handle shmem, void **ptr)
  {
    /* validate shmem handle */
!   if (shmem == NULL) {
      return ULAPI_BADH;
!   }
!   if (shmem->magic != SHMEM_MAGIC) {
      return ULAPI_BADH;
!   }
    /* pass memory address back to caller */
    *ptr = shmem->mem;
***************
*** 100,153 ****
  
  
! int ulapi_shmem_delete( ulapi_shmem_handle shmem )
  {
    /* validate shmem handle */
!   if ( shmem == NULL )
      return ULAPI_BADH;
!   if ( shmem->magic != SHMEM_MAGIC )
      return ULAPI_BADH;
! 
    /* free the shared memory */
!   rtai_free( shmem->key, shmem->mem );
  
    /* free the shmem structure */
    shmem->magic = 0;
!   free ( shmem );
    return ULAPI_SUCCESS;
  }
  
! int ulapi_fifo_new( int key, unsigned long int size, char mode,
!                     ulapi_fifo_handle *fifoptr )
  {
! ulapi_fifo_handle fifo;
! int retval, flags;
! enum { DEVSTR_LEN = 256 };
! char devstr[DEVSTR_LEN];
  
    /* validate fifoptr */
!   if ( fifoptr == NULL )
      return ULAPI_INVAL;
! 
    /* alloc space for fifo structure */
!   fifo = malloc( sizeof(struct ulapi_fifo) );
!   if ( fifo == NULL )
      return ULAPI_NOMEM;
! 
    /* determine system name for fifo */
    sprintf(devstr, "/dev/rtf%d", key);
  
    /* determine mode for fifo */
!   if ( mode == 'R' )
      flags = O_RDONLY;
!   else if ( mode == 'W' )
!     flags = O_WRONLY;
!   else
!     return ULAPI_INVAL;
  
    /* open the fifo */
!   retval = open( devstr, flags );
!   if ( retval < 0 ) {
      /* open failed */
!     free ( fifo );
      return ULAPI_NOTFND;
    }
--- 100,158 ----
  
  
! int ulapi_shmem_delete(ulapi_shmem_handle shmem)
  {
    /* validate shmem handle */
!   if (shmem == NULL) {
      return ULAPI_BADH;
!   }
!   if (shmem->magic != SHMEM_MAGIC) {
      return ULAPI_BADH;
!   }
    /* free the shared memory */
!   rtai_free(shmem->key, shmem->mem);
  
    /* free the shmem structure */
    shmem->magic = 0;
!   free(shmem);
    return ULAPI_SUCCESS;
  }
  
! int ulapi_fifo_new(int key, unsigned long int size, char mode,
! 		   ulapi_fifo_handle * fifoptr)
  {
!   ulapi_fifo_handle fifo;
!   int retval, flags;
!   enum { DEVSTR_LEN = 256 };
!   char devstr[DEVSTR_LEN];
  
    /* validate fifoptr */
!   if (fifoptr == NULL) {
      return ULAPI_INVAL;
!   }
    /* alloc space for fifo structure */
!   fifo = malloc(sizeof(struct ulapi_fifo));
!   if (fifo == NULL) {
      return ULAPI_NOMEM;
!   }
    /* determine system name for fifo */
    sprintf(devstr, "/dev/rtf%d", key);
  
    /* determine mode for fifo */
!   if (mode == 'R') {
      flags = O_RDONLY;
!   } else {
!     if (mode == 'W') {
!       flags = O_WRONLY;
!     }
  
+     else {
+       return ULAPI_INVAL;
+     }
+   }
    /* open the fifo */
!   retval = open(devstr, flags);
!   if (retval < 0) {
      /* open failed */
!     free(fifo);
      return ULAPI_NOTFND;
    }
***************
*** 166,227 ****
  
  
! int ulapi_fifo_delete( ulapi_fifo_handle fifo )
  {
    /* validate fifo handle */
!   if ( fifo == NULL )
      return ULAPI_BADH;
!   if ( fifo->magic != FIFO_MAGIC )
      return ULAPI_BADH;
! 
    /* close the fifo */
!   if ( close( fifo->fd ) < 0 )
      return ULAPI_NOTFND;
! 
    /* free the fifo structure */
    fifo->magic = 0;
!   free ( fifo );
    return ULAPI_SUCCESS;
  
  }
  
! int ulapi_fifo_read( ulapi_fifo_handle fifo,
!                      char *buf, unsigned long int size)
  {
! int retval;
  
    /* validate fifo handle */
!   if ( fifo == NULL )
      return ULAPI_BADH;
!   if ( fifo->magic != FIFO_MAGIC )
      return ULAPI_BADH;
!   if ( fifo->mode != O_RDONLY )
      return ULAPI_UNSUP;
! 
    /* get whatever data is available */
!   retval = read( fifo->fd, buf, size );
!   if ( retval < 0 )
      return ULAPI_FAIL;
    return retval;
  
  }
  
! int ulapi_fifo_write( ulapi_fifo_handle fifo,
!                       char *buf, unsigned long int size)
  {
! int retval;
  
    /* validate fifo handle */
!   if ( fifo == NULL )
      return ULAPI_BADH;
!   if ( fifo->magic != FIFO_MAGIC )
      return ULAPI_BADH;
!   if ( fifo->mode != O_WRONLY )
      return ULAPI_UNSUP;
  
    /* get whatever data is available */
!   retval = write( fifo->fd, buf, size );
!   if ( retval < 0 )
      return ULAPI_FAIL;
    return retval;
  }
- 
--- 171,238 ----
  
  
! int ulapi_fifo_delete(ulapi_fifo_handle fifo)
  {
    /* validate fifo handle */
!   if (fifo == NULL) {
      return ULAPI_BADH;
!   }
!   if (fifo->magic != FIFO_MAGIC) {
      return ULAPI_BADH;
!   }
    /* close the fifo */
!   if (close(fifo->fd) < 0) {
      return ULAPI_NOTFND;
!   }
    /* free the fifo structure */
    fifo->magic = 0;
!   free(fifo);
    return ULAPI_SUCCESS;
  
  }
  
! int ulapi_fifo_read(ulapi_fifo_handle fifo, char *buf, unsigned long int size)
  {
!   int retval;
  
    /* validate fifo handle */
!   if (fifo == NULL) {
      return ULAPI_BADH;
!   }
!   if (fifo->magic != FIFO_MAGIC) {
      return ULAPI_BADH;
!   }
!   if (fifo->mode != O_RDONLY) {
      return ULAPI_UNSUP;
!   }
    /* get whatever data is available */
!   retval = read(fifo->fd, buf, size);
!   if (retval < 0) {
      return ULAPI_FAIL;
+   }
    return retval;
  
  }
  
! int ulapi_fifo_write(ulapi_fifo_handle fifo,
! 		     char *buf, unsigned long int size)
  {
!   int retval;
  
    /* validate fifo handle */
!   if (fifo == NULL) {
      return ULAPI_BADH;
!   }
!   if (fifo->magic != FIFO_MAGIC) {
      return ULAPI_BADH;
!   }
!   if (fifo->mode != O_WRONLY) {
      return ULAPI_UNSUP;
+   }
  
    /* get whatever data is available */
!   retval = write(fifo->fd, buf, size);
!   if (retval < 0) {
      return ULAPI_FAIL;
+   }
    return retval;
  }

[Emc-commit] rtapi/examples/timertask timertask.c,1.3,1.4

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/examples/timertask
In directory sc8-pr-cvs1:/tmp/cvs-serv8246/timertask

Modified Files:
	timertask.c 
Log Message:
Added braces to some of the conditional routines

Index: timertask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/timertask/timertask.c,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** timertask.c	23 Jul 2003 01:22:49 -0000	1.3
--- timertask.c	25 Jul 2003 22:04:34 -0000	1.4
***************
*** 17,21 ****
--- 17,23 ----
  {
    while (1) {
+     /* a simple counter... */
      timer_count++;
+     /* put the task to sleep untill the next interrupt */
      rtapi_wait();
    }
***************
*** 25,28 ****
--- 27,32 ----
  
  /* part of the Linux kernel module that kicks off the timer task */
+ /* rtapi_app_main() is expanded to init_module() via a macro in
+    rtapi_app.h */
  int rtapi_app_main(void)
  {
***************
*** 47,56 ****
--- 51,64 ----
  
    /* create the timer task */
+   /* the address of the pointer needs to be passed rather than it's value */
    retval = rtapi_task_new( &timer_task );
    if ( retval != RTAPI_SUCCESS ) {
+     /* See rtapi.h for the error codes returned */
      rtapi_print( "timertask init: rtapi_task_new returned %d\n", retval );
      return -1;
    }
  
+   /* the third arg is an abitrary int that is passed to the timer task
+      on the first iterration */
    retval = rtapi_task_start( timer_task, timer_code,
                               0, timer_prio,
***************
*** 68,75 ****
--- 76,86 ----
  
  /* part of the Linux kernel module that stops the timer task */
+ /* rtapi_app_exit() is substituted for cleanup_module() by a
+    macro in rtapi_app.h */
  void rtapi_app_exit(void)
  {
  int retval;
  
+    /* Stop the task */
    retval = rtapi_task_stop(timer_task);
    if ( retval != RTAPI_SUCCESS ) {
***************
*** 77,80 ****
--- 88,92 ----
      return;
    }
+     /* Remove the task from the list */
    retval = rtapi_task_delete( timer_task );
    if ( retval != RTAPI_SUCCESS ) {
***************
*** 83,88 ****
    }
  
    rtapi_print("timertask exit: timer count is %d\n", timer_count);
! 
    rtapi_app_return();
  }
--- 95,102 ----
    }
  
+   /* Print the final count just to show that the task did it's job */
    rtapi_print("timertask exit: timer count is %d\n", timer_count);
!   /* Clean up and exit */
    rtapi_app_return();
+ 
  }

[Emc-commit] rtapi configure,1.5,1.6

[<pa...@us...>]

Update of /cvsroot/emc/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv8400

Modified Files:
	configure 
Log Message:
Another fix for the adeos V TNG conflict

Index: configure
===================================================================
RCS file: /cvsroot/emc/rtapi/configure,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** configure	25 Jul 2003 01:40:38 -0000	1.5
--- configure	25 Jul 2003 22:05:29 -0000	1.6
***************
*** 22,25 ****
--- 22,33 ----
  echo MOD_DIR = /lib/modules/$version/misc >> Makefile.inc
  
+ if [ $(/sbin/ksyms -a | grep _adeos_ | wc -l) -ge 1 ] ; then
+  if [ -d /lib/modules/$version/build ] ; then
+     # We have a 2.4 or later kernel if this symlink exists,
+     # so add an include to the correct headers for the kernel running.
+     echo KERNEL_INC = -I/lib/modules/$version/build/include >> Makefile.inc
+  fi
+ fi
+ 
  echo CC = gcc >> Makefile.inc
  echo CFLAGS = -g -Wall -I\$\(INC_DIR\) >> Makefile.inc
***************
*** 88,104 ****
  # ditto for an RTAI boot by looking through the kernel for telltale symbols:
  # set_rtai_callback, remove_rtai_callback for 2.2, 2.4 kernels
! RTAIBOOT=$(/sbin/ksyms -a | grep _rtai_ | wc -l)
  if [ $RTAIBOOT -gt 0 ] ; then
      echo found RTAI installed in the kernel
  fi
  
! # ditto for an ADEOS boot by looking through the kernel for telltale symbols:
! # ???_adeos_????, ????_adeos_????
! ADEOSBOOT=$(/sbin/ksyms -a | grep _adeos_ | wc -l)
! if [ $ADEOSBOOT -gt 0 ] ; then
!     echo found ADEOS installed in the kernel
! fi
! 
! # append stuff into Makefile.inc only if we have found the RTL dir
  # and have booted it
  if [ "$RTLDIR" != "" -a $RTLBOOT -gt 0 ] ; then
--- 96,105 ----
  # ditto for an RTAI boot by looking through the kernel for telltale symbols:
  # set_rtai_callback, remove_rtai_callback for 2.2, 2.4 kernels
! RTAIBOOT=$(/sbin/ksyms -a | grep -E '(_rtai_|_adeos_)' | wc -l)
  if [ $RTAIBOOT -gt 0 ] ; then
      echo found RTAI installed in the kernel
  fi
  
! # append stuff into Makefile.inc only if we have found the RTL dir 
  # and have booted it
  if [ "$RTLDIR" != "" -a $RTLBOOT -gt 0 ] ; then
***************
*** 150,162 ****
      rm -f configure.tmp
      # end of JK hack
- 
-     # Paul added this at the top to make adeos RTAI work, but it causes warnings
-     # when compiling rtai_rtapi.c for "regular" rtai. (BDI-TNG)
- 	# So I moved it down here and only do it if adeos is present - jmkasunich
-     if [ -d /lib/modules/$version/build -a $ADEOSBOOT -gt 0 ] ; then
-         # We have a 2.4 or later kernel if this symlink exists,
-         # so add an include to the correct headers for the kernel running.
-         echo KERNEL_INC = -I/lib/modules/$version/build/include >> Makefile.inc
-     fi
  
      # leave when we configured one
--- 151,154 ----

[Emc-commit] rtapi/examples/fifo fifotask.c,1.2,1.3 fifousr.c,1.2,1.3

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/examples/fifo
In directory sc8-pr-cvs1:/tmp/cvs-serv2846/examples/fifo

Modified Files:
	fifotask.c fifousr.c 
Log Message:
troubleshooting fifos

Index: fifotask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/fifotask.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** fifotask.c	23 Jul 2003 01:22:49 -0000	1.2
--- fifotask.c	25 Jul 2003 04:11:55 -0000	1.3
***************
*** 11,15 ****
  static rtapi_task_handle fifo_task = 0;	/* the task structure */
  static rtapi_fifo_handle fifo;
! enum { FIFO_PERIOD_NSEC = 10000000 };	/* timer period, in nanoseconds */
  enum { FIFO_STACKSIZE = 1024 };	/* how big the stack is */
  
--- 11,15 ----
  static rtapi_task_handle fifo_task = 0;	/* the task structure */
  static rtapi_fifo_handle fifo;
! enum { FIFO_PERIOD_NSEC = 1000000000 };	/* timer period, in nanoseconds */
  enum { FIFO_STACKSIZE = 1024 };	/* how big the stack is */
  
***************
*** 27,30 ****
--- 27,32 ----
      }
      rtapi_fifo_write ( fifo, buffer, count );
+     buffer[n] = '\0';
+     rtapi_print ( "fifotask: wrote '%s'\n", buffer );
      count++;
      if ( count > 9 )
***************
*** 49,53 ****
--- 51,57 ----
  
    /* allocate and initialize the fifo */
+ /* debug, remove when working */ rtapi_print ( "debug - Calling rtapi_fifo_new()\n" );
    retval = rtapi_fifo_new( FIFO_KEY, FIFO_SIZE, &fifo );
+ /* debug, remove when working */ rtapi_print( "debug - fifotask init: rtapi_fifo_new returned %d\n", retval );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print( "fifotask init: rtapi_fifo_new returned %d\n", retval );
***************
*** 110,114 ****
    }
  
!   rtapi_print("fifotask exit: %d writes\n", count);
  
    rtapi_app_return();
--- 114,118 ----
    }
  
!   rtapi_print("fifotask exit: done\n" );
  
    rtapi_app_return();

Index: fifousr.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/fifousr.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** fifousr.c	23 Jul 2003 01:22:49 -0000	1.2
--- fifousr.c	25 Jul 2003 04:11:55 -0000	1.3
***************
*** 41,44 ****
--- 41,46 ----
    signal(SIGINT, quit);
  
+   printf ( "waiting for fifo data, ctrl-C to quit\n" );
+ 
    while (1) {
  	nchars = ulapi_fifo_read( fifo, buffer, FIFO_SIZE );

[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.6,1.7

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv2846/src/rtapi

Modified Files:
	rtai_rtapi.c 
Log Message:
troubleshooting fifos

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** rtai_rtapi.c	23 Jul 2003 01:22:50 -0000	1.6
--- rtai_rtapi.c	25 Jul 2003 04:11:55 -0000	1.7
***************
*** 596,604 ****
  
    /* create the fifo */
    retval = rtf_create ( key, size );
    if ( retval != size ) {
      /* create failed */
      kfree ( fifo );
- rtapi_print ( "rtapi_fifo_new: rtf_create ( %d, %d ) returned %d\n", key, size, retval );
      if ( retval == ENOMEM )
        /* couldn't allocate memory */
--- 596,608 ----
  
    /* create the fifo */
+ /* debug, remove when working */  rtapi_print ( "rtapi_fifo_new: calling rtf_create( %d, %d)\n", key, size );
    retval = rtf_create ( key, size );
+ /* debug, remove when working */  rtapi_print ( "rtapi_fifo_new: rtf_create ( %d, %d ) returned %d\n", key, size, retval );
+ 
+ #if ( 1 )  /* set to 1 to ignore bad return from rtf_create() */
+ 
    if ( retval != size ) {
      /* create failed */
      kfree ( fifo );
      if ( retval == ENOMEM )
        /* couldn't allocate memory */
***************
*** 606,609 ****
--- 610,615 ----
      return RTAPI_INVAL;
    }
+ 
+ #endif
  
    /* label as a valid fifo structure */

[Emc-commit] rtapi/src/rtapi localdefs.h,1.5,1.6 rtapi.h,1.7,1.8

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv15521/src/rtapi

Modified Files:
	localdefs.h rtapi.h 
Log Message:
tweaked the adeos mods in configure script

Index: localdefs.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/localdefs.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** localdefs.h	22 Jul 2003 17:20:22 -0000	1.5
--- localdefs.h	25 Jul 2003 01:40:38 -0000	1.6
***************
*** 2,8 ****
  #define LOCALDEFS_H
  
! /* automatically generated by config script on Tue Jul 22 13:03:40 UTC 2003 */
  
! #define LOCAL_MHZ 807.966
  
  #endif
--- 2,8 ----
  #define LOCALDEFS_H
  
! /* automatically generated by config script on Thu Jul 24 21:36:47 EDT 2003 */
  
! #define LOCAL_MHZ 233.866
  
  #endif

Index: rtapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtapi.h,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** rtapi.h	23 Jul 2003 01:22:50 -0000	1.7
--- rtapi.h	25 Jul 2003 01:40:38 -0000	1.8
***************
*** 20,23 ****
--- 20,24 ----
  /** Typedefs for object handles.  The structs to which these handles   *
  * refer are private, and may vary from one RTOS to another.            *
+ 
  * In fact, don't even count on handles always being pointers.          */
  

[Emc-commit] rtapi Makefile.inc,1.5,1.6 configure,1.4,1.5

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv15521

Modified Files:
	Makefile.inc configure 
Log Message:
tweaked the adeos mods in configure script

Index: Makefile.inc
===================================================================
RCS file: /cvsroot/emc/rtapi/Makefile.inc,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** Makefile.inc	23 Jul 2003 01:22:49 -0000	1.5
--- Makefile.inc	25 Jul 2003 01:40:38 -0000	1.6
***************
*** 18,22 ****
  # Makefile add-ons from rtai.mk
  
! RTFLAGS = -Wall -I$(INC_DIR) -I$(RTDIR)/include -O2 -ffast-math -D__KERNEL__ -DMODULE
  ULFLAGS = -Wall -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
--- 18,22 ----
  # Makefile add-ons from rtai.mk
  
! RTFLAGS = -Wall $(KERNEL_INC) -I$(INC_DIR) -I$(RTDIR)/include -O2 -ffast-math -D__KERNEL__ -DMODULE
  ULFLAGS = -Wall -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static

Index: configure
===================================================================
RCS file: /cvsroot/emc/rtapi/configure,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** configure	23 Jul 2003 01:22:49 -0000	1.4
--- configure	25 Jul 2003 01:40:38 -0000	1.5
***************
*** 22,31 ****
  echo MOD_DIR = /lib/modules/$version/misc >> Makefile.inc
  
- if [ -d /lib/modules/$version/build ] ; then
-     # We have a 2.4 or later kernel if this symlink exists,
-     # so add an include to the correct headers for the kernel running.
-     echo KERNEL_INC = -I/lib/modules/$version/build/include >> Makefile.inc
- fi
- 
  echo CC = gcc >> Makefile.inc
  echo CFLAGS = -g -Wall -I\$\(INC_DIR\) >> Makefile.inc
--- 22,25 ----
***************
*** 94,103 ****
  # ditto for an RTAI boot by looking through the kernel for telltale symbols:
  # set_rtai_callback, remove_rtai_callback for 2.2, 2.4 kernels
! RTAIBOOT=$(/sbin/ksyms -a | grep -E '(_rtai_|_adeos_)' | wc -l)
  if [ $RTAIBOOT -gt 0 ] ; then
      echo found RTAI installed in the kernel
  fi
  
! # append stuff into Makefile.inc only if we have found the RTL dir 
  # and have booted it
  if [ "$RTLDIR" != "" -a $RTLBOOT -gt 0 ] ; then
--- 88,104 ----
  # ditto for an RTAI boot by looking through the kernel for telltale symbols:
  # set_rtai_callback, remove_rtai_callback for 2.2, 2.4 kernels
! RTAIBOOT=$(/sbin/ksyms -a | grep _rtai_ | wc -l)
  if [ $RTAIBOOT -gt 0 ] ; then
      echo found RTAI installed in the kernel
  fi
  
! # ditto for an ADEOS boot by looking through the kernel for telltale symbols:
! # ???_adeos_????, ????_adeos_????
! ADEOSBOOT=$(/sbin/ksyms -a | grep _adeos_ | wc -l)
! if [ $ADEOSBOOT -gt 0 ] ; then
!     echo found ADEOS installed in the kernel
! fi
! 
! # append stuff into Makefile.inc only if we have found the RTL dir
  # and have booted it
  if [ "$RTLDIR" != "" -a $RTLBOOT -gt 0 ] ; then
***************
*** 149,152 ****
--- 150,162 ----
      rm -f configure.tmp
      # end of JK hack
+ 
+     # Paul added this at the top to make adeos RTAI work, but it causes warnings
+     # when compiling rtai_rtapi.c for "regular" rtai. (BDI-TNG)
+ 	# So I moved it down here and only do it if adeos is present - jmkasunich
+     if [ -d /lib/modules/$version/build -a $ADEOSBOOT -gt 0 ] ; then
+         # We have a 2.4 or later kernel if this symlink exists,
+         # so add an include to the correct headers for the kernel running.
+         echo KERNEL_INC = -I/lib/modules/$version/build/include >> Makefile.inc
+     fi
  
      # leave when we configured one

[Emc-commit] rtapi/examples/shmem shmemtask.c,1.1.1.1,1.2 shmemusr.c,1.1.1.1,1.2

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/examples/shmem
In directory sc8-pr-cvs1:/tmp/cvs-serv23441/examples/shmem

Modified Files:
	shmemtask.c shmemusr.c 
Log Message:
changed examples to use new api - fifo not working yet

Index: shmemtask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/shmem/shmemtask.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** shmemtask.c	8 Jul 2003 15:54:39 -0000	1.1.1.1
--- shmemtask.c	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 9,22 ****
  #include "common.h"		/* shmem structure, SHMEM_KEY */
  
! static void *shmem_task = 0;	/* the task structure */
  enum { SHMEM_PERIOD_NSEC = 1000000 };	/* timer period, in nanoseconds */
  enum { SHMEM_STACKSIZE = 1024 };	/* how big the stack is */
  
  static int key = SHMEM_KEY;
- static int id = 0;
  static SHMEM_STRUCT *shmem_struct = 0;
  
  /* task code, executed each timer interrupt */
! void shmem_code(void)
  {
    while (1) {
--- 9,22 ----
  #include "common.h"		/* shmem structure, SHMEM_KEY */
  
! static rtapi_task_handle  shmem_task;	/* the task */
! static rtapi_shmem_handle shmem_mem;	/* the shared memory area */
  enum { SHMEM_PERIOD_NSEC = 1000000 };	/* timer period, in nanoseconds */
  enum { SHMEM_STACKSIZE = 1024 };	/* how big the stack is */
  
  static int key = SHMEM_KEY;
  static SHMEM_STRUCT *shmem_struct = 0;
  
  /* task code, executed each timer interrupt */
! void shmem_code ( int arg )
  {
    while (1) {
***************
*** 33,70 ****
  int rtapi_app_main(void)
  {
    int shmem_prio;
-   int t;
  
    if (0 != rtapi_init()) {
      return -1;
    }
  
    /* allocate and initialize the shared memory structure */
!   if (0 != rtapi_alloc_shmem(key, sizeof(SHMEM_STRUCT), &id,
! 			     (void **) &shmem_struct)) {
!     rtapi_print("shmemtask: can't allocate shared memory\n");
      return -1;
    }
    shmem_struct->heartbeat = 0;
  
    /* set the base timer period */
!   rtapi_clock_set_period(SHMEM_PERIOD_NSEC);
  
    /* set the task priority to lowest, since we only have one task */
    shmem_prio = rtapi_prio_lowest();
  
!   /* launch the shmem task */
!   shmem_task = rtapi_task_new();
!   if (0 == shmem_task) {
!     rtapi_print("shmemtask: can't create shmem task\n");
      return -1;
    }
  
!   if (0 != rtapi_task_start(shmem_task, shmem_code, shmem_prio, SHMEM_STACKSIZE, SHMEM_PERIOD_NSEC, 0)) {	/* 0 = no floating point */
!     rtapi_print("shmemtask: can't start shmem task\n");
      return -1;
    }
  
!   rtapi_print("shmemtask: started shmem task\n");
  
    return 0;
--- 33,87 ----
  int rtapi_app_main(void)
  {
+   int retval;
    int shmem_prio;
  
+   /*
    if (0 != rtapi_init()) {
      return -1;
    }
+   */
  
    /* allocate and initialize the shared memory structure */
!   retval = rtapi_shmem_new( key, sizeof(SHMEM_STRUCT), &shmem_mem );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "shmemtask init: rtapi_shmem_new returned %d\n", retval );
      return -1;
    }
+   retval = rtapi_shmem_getptr( shmem_mem, (void **)&shmem_struct );
+   if ( retval != RTAPI_SUCCESS ) {
+     rtapi_print( "shmemtask init: rtapi_shmem_getptr returned %d\n", retval );
+     return -1;
+   }
+ 
    shmem_struct->heartbeat = 0;
  
    /* set the base timer period */
!   retval = rtapi_clock_set_period(SHMEM_PERIOD_NSEC);
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "shmemtask init: rtapi_clock_set_period returned %d\n", retval );
!     return -1;
!   }
  
    /* set the task priority to lowest, since we only have one task */
    shmem_prio = rtapi_prio_lowest();
  
!   /* create the shmem task */
!   retval = rtapi_task_new( &shmem_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "shmemtask init: rtapi_task_new returned %d\n", retval );
      return -1;
    }
  
!   /* start the shmem task */
!   retval = rtapi_task_start( shmem_task, shmem_code,
!                              0, shmem_prio,
!                              SHMEM_STACKSIZE,
!                              SHMEM_PERIOD_NSEC, RTAPI_NO_FP );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("shmemtask init: rtapi_task_start returned %d\n", retval );
      return -1;
    }
  
!   rtapi_print("shmemtask init: started shmem task\n");
  
    return 0;
***************
*** 74,97 ****
  void rtapi_app_exit(void)
  {
    if (0 != shmem_struct) {
!     rtapi_print("shmemtask: heartbeat is %u\n", shmem_struct->heartbeat);
    }
  
!   if (0 != shmem_task) {
!     if (0 != rtapi_task_stop(shmem_task)) {
!       rtapi_print("shmemtask: can't stop shmem task\n");
!     }
!     if (0 != rtapi_task_delete(shmem_task)) {
!       rtapi_print("shmemtask: can't delete shmem task\n");
!     }
!     shmem_task = 0;
    }
  
!   if (0 != shmem_struct) {
!     if (0 != rtapi_free_shmem(key, sizeof(SHMEM_STRUCT),
! 			      id, (void *) shmem_struct)) {
!       rtapi_print("shmemtask: can't free shared memory\n");
!     }
!     shmem_struct = 0;
    }
  
--- 91,115 ----
  void rtapi_app_exit(void)
  {
+ int retval;
+ 
    if (0 != shmem_struct) {
!     rtapi_print("shmemtask exit: heartbeat is %u\n", shmem_struct->heartbeat);
    }
  
!   retval = rtapi_task_stop( shmem_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("shmemtask exit: rtapi_task_stop returned %d\n", retval );
!     return;
!   }
!   retval = rtapi_task_delete( shmem_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("shmemtask exit: rtapi_task_delete returned %d\n", retval );
!     return;
    }
  
!   retval = rtapi_shmem_delete( shmem_mem );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("shmemtask exit: rtapi_shmem_delete returned %d\n", retval );
!     return;
    }
  

Index: shmemusr.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/shmem/shmemusr.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** shmemusr.c	8 Jul 2003 15:54:39 -0000	1.1.1.1
--- shmemusr.c	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 6,10 ****
  
  static int key = SHMEM_KEY;
! static int id = 0;
  static SHMEM_STRUCT *shmem_struct;
  
--- 6,10 ----
  
  static int key = SHMEM_KEY;
! static ulapi_shmem_handle shmem_mem;
  static SHMEM_STRUCT *shmem_struct;
  
***************
*** 17,29 ****
  int main()
  {
  
!   if (0 != ulapi_init()) {
!     fprintf(stderr, "can't initialize user-level interface\n");
      return -1;
    }
  
!   if (0 != ulapi_alloc_shmem(key, sizeof(SHMEM_STRUCT), &id,
! 			     (void **) &shmem_struct) || 0 == shmem_struct) {
!     fprintf(stderr, "can't allocate shared memory\n");
      return -1;
    }
--- 17,37 ----
  int main()
  {
+ int retval;
  
!   retval = ulapi_init();
!   if ( retval != ULAPI_SUCCESS ) {
!     printf("shmemusr main: ulapi_init returned %d\n", retval );
      return -1;
    }
  
!   /* allocate the shared memory structure */
!   retval = ulapi_shmem_new( key, sizeof(SHMEM_STRUCT), &shmem_mem );
!   if ( retval != ULAPI_SUCCESS ) {
!     printf( "shmemusr main: ulapi_shmem_new returned %d\n", retval );
!     return -1;
!   }
!   retval = ulapi_shmem_getptr( shmem_mem, (void **)&shmem_struct );
!   if ( retval != ULAPI_SUCCESS ) {
!     printf( "shmemusr main: ulapi_shmem_getptr returned %d\n", retval );
      return -1;
    }
***************
*** 31,41 ****
    signal(SIGINT, quit);
    while (!done) {
!     printf("%u\n", shmem_struct->heartbeat);
      sleep(1);
    }
  
!   if (0 != shmem_struct) {
!     ulapi_free_shmem(key, sizeof(shmem_struct), id, shmem_struct);
!     shmem_struct = 0;
    }
  
--- 39,50 ----
    signal(SIGINT, quit);
    while (!done) {
!     printf("%lu\n", shmem_struct->heartbeat);
      sleep(1);
    }
  
!   retval = ulapi_shmem_delete( shmem_mem );
!   if ( retval != ULAPI_SUCCESS ) {
!     printf("shmemusr main: ulapi_free_shmem returned %d\n", retval );
!     return -1;
    }
  

[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.5,1.6 rtapi.h,1.6,1.7

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv23441/src/rtapi

Modified Files:
	rtai_rtapi.c rtapi.h 
Log Message:
changed examples to use new api - fifo not working yet

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** rtai_rtapi.c	22 Jul 2003 17:20:22 -0000	1.5
--- rtai_rtapi.c	23 Jul 2003 01:22:50 -0000	1.6
***************
*** 108,113 ****
  
  
! int rtapi_init(void)
  {
    rt_linux_use_fpu(1);
    return RTAPI_SUCCESS;
--- 108,115 ----
  
  
! 
! static int rtapi_init(void)
  {
+   rtapi_print( "Initing RTAPI\n" );
    rt_linux_use_fpu(1);
    return RTAPI_SUCCESS;
***************
*** 115,124 ****
  
  
! int rtapi_exit(void)
  {
    return RTAPI_SUCCESS;
  }
  
  
  int rtapi_clock_set_period(unsigned long int nsecs)
  {
--- 117,138 ----
  
  
! static int rtapi_exit(void)
  {
+   rtapi_print ( "Removing RTAPI\n" );
    return RTAPI_SUCCESS;
  }
  
  
+ int init_module ( void )
+ {
+ return ( rtapi_init() );
+ }
+ 
+ void cleanup_module ( void )
+ {
+ rtapi_exit();
+ }
+ 
+ 
  int rtapi_clock_set_period(unsigned long int nsecs)
  {
***************
*** 134,138 ****
  
    /* validate taskptr */
!   if ( &taskptr == NULL )
      return RTAPI_INVAL;
  
--- 148,152 ----
  
    /* validate taskptr */
!   if ( taskptr == NULL )
      return RTAPI_INVAL;
  
***************
*** 146,150 ****
  
    /* and return handle to the caller */
!   taskptr = task;
  
    return RTAPI_SUCCESS;
--- 160,164 ----
  
    /* and return handle to the caller */
!   *taskptr = task;
  
    return RTAPI_SUCCESS;
***************
*** 427,435 ****
  
    retval = rt_request_global_irq(irq, handler);
!   if ( retval != 0 )
      if ( retval == EBUSY )
        return RTAPI_BUSY;
      else
!       return RTAPI_INVAL;
    return RTAPI_SUCCESS;
  }
--- 441,450 ----
  
    retval = rt_request_global_irq(irq, handler);
!   if ( retval != 0 ) {
      if ( retval == EBUSY )
        return RTAPI_BUSY;
      else
!       return RTAPI_FAIL;
!   }
    return RTAPI_SUCCESS;
  }
***************
*** 443,447 ****
    retval = rt_free_global_irq(irq);
    if ( retval != 0 )
!     return RTAPI_INVAL;
    return RTAPI_SUCCESS;
  }
--- 458,462 ----
    retval = rt_free_global_irq(irq);
    if ( retval != 0 )
!     return RTAPI_FAIL;
    return RTAPI_SUCCESS;
  }
***************
*** 585,588 ****
--- 600,604 ----
      /* create failed */
      kfree ( fifo );
+ rtapi_print ( "rtapi_fifo_new: rtf_create ( %d, %d ) returned %d\n", key, size, retval );
      if ( retval == ENOMEM )
        /* couldn't allocate memory */

Index: rtapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtapi.h,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** rtapi.h	22 Jul 2003 17:20:22 -0000	1.6
--- rtapi.h	23 Jul 2003 01:22:50 -0000	1.7
***************
*** 14,18 ****
  #define RTAPI_FAIL       -8    /* operation failed */
  
! 
  
  /** Typedefs for object handles.  The structs to which these handles   *
--- 14,20 ----
  #define RTAPI_FAIL       -8    /* operation failed */
  
! /* flags for the rtapi_task_start() call */
! #define RTAPI_NO_FP   0
! #define RTAPI_USES_FP 1
  
  /** Typedefs for object handles.  The structs to which these handles   *
***************
*** 29,33 ****
  * any rtapi functions.  Returns a status code, as defined above.       */
  
! extern int rtapi_init( void );
  
  
--- 31,35 ----
  * any rtapi functions.  Returns a status code, as defined above.       */
  
! /* extern int rtapi_init( void ); */
  
  
***************
*** 36,40 ****
  * status code.                                                         */
  
! extern int rtapi_exit( void );
  
  
--- 38,42 ----
  * status code.                                                         */
  
! /* extern int rtapi_exit( void ); */
  
  
***************
*** 95,99 ****
  * rtapi_task_new().  'taskcode' is the name of a function taking one   *
  * int and returning void, which contains the task code.  'arg' will be *
! * passed to 'taskcode' as an abitrary int value when the task is        *
  * invoked.  'prio' is the  priority, as determined by one of the       *
  * priority functions above.                                            *
--- 97,101 ----
  * rtapi_task_new().  'taskcode' is the name of a function taking one   *
  * int and returning void, which contains the task code.  'arg' will be *
! * passed to 'taskcode' as an abitrary int value when the task is       *
  * invoked.  'prio' is the  priority, as determined by one of the       *
  * priority functions above.                                            *

[Emc-commit] rtapi/examples/semaphore common.h,1.1.1.1,1.2 master.c,1.1.1.1,1.2 slave.c,1.1.1.1,1.2

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/examples/semaphore
In directory sc8-pr-cvs1:/tmp/cvs-serv23441/examples/semaphore

Modified Files:
	common.h master.c slave.c 
Log Message:
changed examples to use new api - fifo not working yet

Index: common.h
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/semaphore/common.h,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** common.h	8 Jul 2003 15:54:39 -0000	1.1.1.1
--- common.h	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 2,6 ****
  #define COMMON_H
  
! extern void * master_sem;	/* the global semaphore */
  
  #endif /* COMMON_H */
--- 2,6 ----
  #define COMMON_H
  
! extern rtapi_sem_handle master_sem;	/* the global semaphore */
  
  #endif /* COMMON_H */

Index: master.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/semaphore/master.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** master.c	8 Jul 2003 15:54:39 -0000	1.1.1.1
--- master.c	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 11,16 ****
  #include "common.h"		/* master_sem decl */
  
! void *master_sem = 0;		/* the global semaphore */
! static void *master_task = 0;	/* the task structure */
  static unsigned int master_count = 0;
  enum { MASTER_PERIOD_NSEC = 1000000 };	/* timer period, in nanoseconds */
--- 11,16 ----
  #include "common.h"		/* master_sem decl */
  
! rtapi_sem_handle    master_sem;		/* the global semaphore */
! rtapi_task_handle   master_task;	/* the task structure */
  static unsigned int master_count = 0;
  enum { MASTER_PERIOD_NSEC = 1000000 };	/* timer period, in nanoseconds */
***************
*** 18,22 ****
  
  /* task code, executed each timer interrupt */
! void master_code(void)
  {
    while (1) {
--- 18,22 ----
  
  /* task code, executed each timer interrupt */
! void master_code( int arg )
  {
    while (1) {
***************
*** 32,50 ****
  int rtapi_app_main(void)
  {
    int master_prio;
  
    if (0 != rtapi_app_init()) {
      return -1;
    }
  
    /* create the semaphore */
!   master_sem = rtapi_sem_new();
!   if (0 == master_sem) {
!     rtapi_print("mastertask: can't get semaphore\n");
      return -1;
    }
  
    /* set the base timer period */
!   rtapi_clock_set_period(MASTER_PERIOD_NSEC);
  
    /* set the task priority to one above the lowest; the slave
--- 32,57 ----
  int rtapi_app_main(void)
  {
+   int retval;
    int master_prio;
  
+   /*
    if (0 != rtapi_app_init()) {
      return -1;
    }
+   */
  
    /* create the semaphore */
!   retval = rtapi_sem_new( &master_sem );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "sem master init: rtapi_sem_new returned %d\n", retval );
      return -1;
    }
  
    /* set the base timer period */
!   retval = rtapi_clock_set_period(MASTER_PERIOD_NSEC);
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "sem master init: rtapi_clock_set_period returned %d\n", retval );
!     return -1;
!   }
  
    /* set the task priority to one above the lowest; the slave
***************
*** 52,68 ****
    master_prio = rtapi_prio_next_higher(rtapi_prio_lowest());
  
!   /* launch the master task */
!   master_task = rtapi_task_new();
!   if (0 == master_task) {
!     rtapi_print("mastertask: can't allocate master task\n");
      return -1;
    }
  
!   if (0 != rtapi_task_start(master_task, master_code, master_prio, MASTER_STACKSIZE, MASTER_PERIOD_NSEC, 0)) {	/* 0 = no floating point */
!     rtapi_print("mastertask: can't start master task\n");
      return -1;
    }
  
!   rtapi_print("mastertask: started master task\n");
  
    return 0;
--- 59,80 ----
    master_prio = rtapi_prio_next_higher(rtapi_prio_lowest());
  
!   /* create the master task */
!   retval = rtapi_task_new( &master_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "sem master init: rtapi_task_new returned %d\n", retval );
      return -1;
    }
  
!   /* start the master task */
!   retval = rtapi_task_start( master_task, master_code,
!                              0, master_prio,
!                              MASTER_STACKSIZE,
!                              MASTER_PERIOD_NSEC, RTAPI_NO_FP );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("sem master init: rtapi_task_start returned %d\n", retval );
      return -1;
    }
  
!   rtapi_print("sem master init: started master task\n");
  
    return 0;
***************
*** 72,88 ****
  void rtapi_app_exit(void)
  {
!   if (0 != master_task) {
!     if (0 != rtapi_task_stop(master_task)) {
!       rtapi_print("mastertask: can't stop master task\n");
!     }
!     if (0 != rtapi_task_delete(master_task)) {
!       rtapi_print("mastertask: can't delete master task\n");
!     }
!     master_task = 0;
    }
  
!   rtapi_sem_delete(master_sem);
  
!   rtapi_print("mastertask: master count is %d\n", master_count);
  
    rtapi_app_return();
--- 84,107 ----
  void rtapi_app_exit(void)
  {
! int retval;
! 
!   retval = rtapi_task_stop( master_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("sem master exit: rtapi_task_stop returned %d\n", retval );
!     return;
!   }
!   retval = rtapi_task_delete( master_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("sem master exit: rtapi_task_delete returned %d\n", retval );
!     return;
    }
  
!   retval = rtapi_sem_delete( master_sem );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("sem master exit: rtapi_sem_delete returned %d\n", retval );
!     return;
!   }
  
!   rtapi_print("sem master exit: master count is %d\n", master_count);
  
    rtapi_app_return();

Index: slave.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/semaphore/slave.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** slave.c	8 Jul 2003 15:54:39 -0000	1.1.1.1
--- slave.c	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 11,20 ****
  #include "common.h"		/* master_sem */
  
! static void *slave_task = 0;	/* the task structure */
  static unsigned int slave_count = 0;
  enum { SLAVE_STACKSIZE = 1024 };	/* how big the stack is */
  
  /* task code, executed when semaphore is released by master task */
! void slave_code(void)
  {
    while (1) {
--- 11,20 ----
  #include "common.h"		/* master_sem */
  
! static rtapi_task_handle slave_task;	/* the task structure */
  static unsigned int slave_count = 0;
  enum { SLAVE_STACKSIZE = 1024 };	/* how big the stack is */
  
  /* task code, executed when semaphore is released by master task */
! void slave_code( int arg )
  {
    while (1) {
***************
*** 29,32 ****
--- 29,33 ----
  int rtapi_app_main(void)
  {
+   int retval;
    int slave_prio;
  
***************
*** 38,55 ****
    slave_prio = rtapi_prio_lowest();
  
!   /* launch the slave task */
!   slave_task = rtapi_task_new();
!   if (0 == slave_task) {
!     rtapi_print("slavetask: can't allocate slave task\n");
      return -1;
    }
  
!   if (0 != rtapi_task_start(slave_task, slave_code, slave_prio, SLAVE_STACKSIZE, 0,	/* 0 = don't run task on timer */
! 			    0)) {	/* 0 = no floating point */
!     rtapi_print("slavetask: can't start slave task\n");
      return -1;
    }
  
!   rtapi_print("slavetask: started slave task\n");
  
    return 0;
--- 39,60 ----
    slave_prio = rtapi_prio_lowest();
  
!   /* create the slave task */
!   retval = rtapi_task_new( &slave_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "sem slave init: rtapi_task_new returned %d\n", retval );
      return -1;
    }
  
!   /* start the slave task */
!   retval = rtapi_task_start( slave_task, slave_code,
!                              0, slave_prio,
!                              SLAVE_STACKSIZE,
!                              0 /* not periodic */, RTAPI_NO_FP );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("sem slave init: rtapi_task_start returned %d\n", retval );
      return -1;
    }
  
!   rtapi_print("sem slave init: started slave task\n");
  
    return 0;
***************
*** 59,73 ****
  void rtapi_app_exit(void)
  {
!   if (0 != slave_task) {
!     if (0 != rtapi_task_stop(slave_task)) {
!       rtapi_print("slavetask: can't stop slave task\n");
!     }
!     if (0 != rtapi_task_delete(slave_task)) {
!       rtapi_print("slavetask: can't delete slave task\n");
!     }
!     slave_task = 0;
    }
  
!   rtapi_print("slavetask: slave count is %d\n", slave_count);
  
    rtapi_app_return();
--- 64,81 ----
  void rtapi_app_exit(void)
  {
! int retval;
! 
!   retval = rtapi_task_stop( slave_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("sem slave exit: rtapi_task_stop returned %d\n", retval );
!     return;
!   }
!   retval = rtapi_task_delete( slave_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("sem slave exit: rtapi_task_delete returned %d\n", retval );
!     return;
    }
  
!   rtapi_print("sem slave exit: slave count is %d\n", slave_count);
  
    rtapi_app_return();

[Emc-commit] rtapi/examples/timertask timertask.c,1.2,1.3

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/examples/timertask
In directory sc8-pr-cvs1:/tmp/cvs-serv23441/examples/timertask

Modified Files:
	timertask.c 
Log Message:
changed examples to use new api - fifo not working yet

Index: timertask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/timertask/timertask.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** timertask.c	22 Jul 2003 17:20:22 -0000	1.2
--- timertask.c	23 Jul 2003 01:22:49 -0000	1.3
***************
*** 9,19 ****
  #include "rtapi_app.h"		/* rtapi_app_main,exit() */
  
! static void *timer_task = 0;	/* pointer to the task structure */
  static int timer_count = 0;	/* the output variable */
  enum { TIMER_PERIOD_NSEC = 1000000 };	/* timer period, in nanoseconds */
  enum { TIMER_STACKSIZE = 1024 };	/* how big the stack is */
  
! /* task code, executed each timer interrupt */
! static void timer_code(int t)
  {
    while (1) {
--- 9,18 ----
  #include "rtapi_app.h"		/* rtapi_app_main,exit() */
  
! static rtapi_task_handle timer_task;	/* the task */
  static int timer_count = 0;	/* the output variable */
  enum { TIMER_PERIOD_NSEC = 1000000 };	/* timer period, in nanoseconds */
  enum { TIMER_STACKSIZE = 1024 };	/* how big the stack is */
  
! static void timer_code( int arg )
  {
    while (1) {
***************
*** 28,65 ****
  int rtapi_app_main(void)
  {
    int timer_prio;
-   int ret_val;
  
    if (0 != rtapi_app_init()) {
      return -1;
    }
  
    /* set the base timer period */
!   rtapi_clock_set_period(TIMER_PERIOD_NSEC);
  
    /* set the task priority to lowest, since we only have one task */
    timer_prio = rtapi_prio_lowest();
  
!   /* launch the timer task */
! //  timer_task = rtapi_task_new();
!   ret_val = rtapi_task_new(&timer_task);
!   if (0 != ret_val) {
!     rtapi_print("timertask: can't allocate timer task %d\n", ret_val);
!     return -1;
!   }
! 
!   if (timer_task == NULL) {
!     rtapi_print("timertask: Pointer returned is NULL\n");
      return -1;
    }
  
!   ret_val = rtapi_task_start(timer_task, timer_code, 0, timer_prio, TIMER_STACKSIZE, TIMER_PERIOD_NSEC, 0);
! 
!   if (0 != ret_val ) {
!     rtapi_print("timertask: can't start timer task %d\n", ret_val);
      return -1;
    }
  
!   rtapi_print("timertask: started timer task\n");
  
    return 0;
--- 27,66 ----
  int rtapi_app_main(void)
  {
+   int retval;
    int timer_prio;
  
+   /* init is still in a state of change - right now this isn't needed
    if (0 != rtapi_app_init()) {
      return -1;
    }
+   */
  
    /* set the base timer period */
!   retval = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "timertask init: rtapi_clock_set_period returned %d\n", retval );
!     return -1;
!   }
  
    /* set the task priority to lowest, since we only have one task */
    timer_prio = rtapi_prio_lowest();
  
!   /* create the timer task */
!   retval = rtapi_task_new( &timer_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "timertask init: rtapi_task_new returned %d\n", retval );
      return -1;
    }
  
!   retval = rtapi_task_start( timer_task, timer_code,
!                              0, timer_prio,
!                              TIMER_STACKSIZE,
!                              TIMER_PERIOD_NSEC, RTAPI_NO_FP );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("timertask init: rtapi_task_start returned %d\n", retval );
      return -1;
    }
  
!   rtapi_print( "timertask init: started timer task\n" );
  
    return 0;
***************
*** 69,83 ****
  void rtapi_app_exit(void)
  {
!   if (0 != timer_task) {
!     if (0 != rtapi_task_stop(timer_task)) {
!       rtapi_print("timertask: can't stop timer task\n");
!     }
!     if (0 != rtapi_task_delete(timer_task)) {
!       rtapi_print("timertask: can't delete timer task\n");
!     }
!     timer_task = 0;
    }
  
!   rtapi_print("timertask: timer count is %d\n", timer_count);
  
    rtapi_app_return();
--- 70,87 ----
  void rtapi_app_exit(void)
  {
! int retval;
! 
!   retval = rtapi_task_stop(timer_task);
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("timertask exit: rtapi_task_stop returned %d\n", retval );
!     return;
!   }
!   retval = rtapi_task_delete( timer_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("timertask exit: rtapi_task_delete returned %d\n", retval );
!     return;
    }
  
!   rtapi_print("timertask exit: timer count is %d\n", timer_count);
  
    rtapi_app_return();

[Emc-commit] rtapi Makefile.inc,1.4,1.5 configure,1.3,1.4 rtai-1.3.mk,1.1.1.1,1.2 rtai-1.7.mk,1.1.1.1,1.2 rtai.mk,1.2,1.3 rtlinux-2.2.mk,1.1.1.1,1.2 rtlinux-3.0.mk,1.1.1.1,1.2 rtlinux.mk,1.1.1.1,1.2

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv23441

Modified Files:
	Makefile.inc configure rtai-1.3.mk rtai-1.7.mk rtai.mk 
	rtlinux-2.2.mk rtlinux-3.0.mk rtlinux.mk 
Log Message:
changed examples to use new api - fifo not working yet

Index: Makefile.inc
===================================================================
RCS file: /cvsroot/emc/rtapi/Makefile.inc,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** Makefile.inc	19 Jul 2003 07:17:22 -0000	1.4
--- Makefile.inc	23 Jul 2003 01:22:49 -0000	1.5
***************
*** 10,14 ****
  MOD_DIR = /lib/modules/2.4.18-rtai/misc
  CC = gcc
! CFLAGS = -g -I$(INC_DIR) -Wall
  CLINK =
  RTDIR = /usr/src/rtai-24.1.10
--- 10,14 ----
  MOD_DIR = /lib/modules/2.4.18-rtai/misc
  CC = gcc
! CFLAGS = -g -Wall -I$(INC_DIR)
  CLINK =
  RTDIR = /usr/src/rtai-24.1.10
***************
*** 18,23 ****
  # Makefile add-ons from rtai.mk
  
! RTFLAGS = -I$(INC_DIR) -I$(RTDIR)/include -O2 -ffast-math -D__KERNEL__ -DMODULE
! ULFLAGS = -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtai_rtapi.o
--- 18,23 ----
  # Makefile add-ons from rtai.mk
  
! RTFLAGS = -Wall -I$(INC_DIR) -I$(RTDIR)/include -O2 -ffast-math -D__KERNEL__ -DMODULE
! ULFLAGS = -Wall -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtai_rtapi.o

Index: configure
===================================================================
RCS file: /cvsroot/emc/rtapi/configure,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** configure	22 Jul 2003 17:20:21 -0000	1.3
--- configure	23 Jul 2003 01:22:49 -0000	1.4
***************
*** 29,33 ****
  
  echo CC = gcc >> Makefile.inc
! echo CFLAGS = -g -I\$\(INC_DIR\) >> Makefile.inc
  echo CLINK = >> Makefile.inc
  
--- 29,33 ----
  
  echo CC = gcc >> Makefile.inc
! echo CFLAGS = -g -Wall -I\$\(INC_DIR\) >> Makefile.inc
  echo CLINK = >> Makefile.inc
  

Index: rtai-1.3.mk
===================================================================
RCS file: /cvsroot/emc/rtapi/rtai-1.3.mk,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** rtai-1.3.mk	8 Jul 2003 15:54:38 -0000	1.1.1.1
--- rtai-1.3.mk	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 2,7 ****
  # Makefile add-ons from rtai-1.3.mk
  
! RTFLAGS = -I$(INC_DIR) -I$(RTDIR)/include -O2 -ffast-math -D__KERNEL__ -DMODULE
! ULFLAGS = -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtai_rtapi.o
--- 2,7 ----
  # Makefile add-ons from rtai-1.3.mk
  
! RTFLAGS = -Wall -I$(INC_DIR) -I$(RTDIR)/include -O2 -ffast-math -D__KERNEL__ -DMODULE
! ULFLAGS = -Wall -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtai_rtapi.o

Index: rtai-1.7.mk
===================================================================
RCS file: /cvsroot/emc/rtapi/rtai-1.7.mk,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** rtai-1.7.mk	8 Jul 2003 15:54:38 -0000	1.1.1.1
--- rtai-1.7.mk	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 2,7 ****
  # Makefile add-ons from rtai-1.7.mk
  
! RTFLAGS = -I$(INC_DIR) -I$(RTDIR)/include -O2 -ffast-math -D__KERNEL__ -DMODULE
! ULFLAGS = -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtai_rtapi.o
--- 2,7 ----
  # Makefile add-ons from rtai-1.7.mk
  
! RTFLAGS = -Wall -I$(INC_DIR) -I$(RTDIR)/include -O2 -ffast-math -D__KERNEL__ -DMODULE
! ULFLAGS = -Wall -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtai_rtapi.o

Index: rtai.mk
===================================================================
RCS file: /cvsroot/emc/rtapi/rtai.mk,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** rtai.mk	22 Jul 2003 17:20:21 -0000	1.2
--- rtai.mk	23 Jul 2003 01:22:49 -0000	1.3
***************
*** 2,7 ****
  # Makefile add-ons from rtai.mk
  
! RTFLAGS = $(KERNEL_INC) -I$(INC_DIR) -I$(RTDIR)/include -O2 -ffast-math -D__KERNEL__ -DMODULE
! ULFLAGS = -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtai_rtapi.o
--- 2,7 ----
  # Makefile add-ons from rtai.mk
  
! RTFLAGS = -Wall $(KERNEL_INC) -I$(INC_DIR) -I$(RTDIR)/include -O2 -ffast-math -D__KERNEL__ -DMODULE
! ULFLAGS = -Wall -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtai_rtapi.o

Index: rtlinux-2.2.mk
===================================================================
RCS file: /cvsroot/emc/rtapi/rtlinux-2.2.mk,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** rtlinux-2.2.mk	8 Jul 2003 15:54:38 -0000	1.1.1.1
--- rtlinux-2.2.mk	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 2,7 ****
  # Makefile add-ons from rtlinux-2.2.mk
  
! RTFLAGS = -I$(INC_DIR) -I$(RTDIR)/include -I$(RTDIR)/linux/include -I$(RTDIR)/include/posix -I$(RTDIR)/include/compat -O2 -ffast-math -D__RTL__ -D__KERNEL__ -DMODULE
! ULFLAGS = -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtl_rtapi.o
--- 2,7 ----
  # Makefile add-ons from rtlinux-2.2.mk
  
! RTFLAGS = -Wall -I$(INC_DIR) -I$(RTDIR)/include -I$(RTDIR)/linux/include -I$(RTDIR)/include/posix -I$(RTDIR)/include/compat -O2 -ffast-math -D__RTL__ -D__KERNEL__ -DMODULE
! ULFLAGS = -Wall -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtl_rtapi.o

Index: rtlinux-3.0.mk
===================================================================
RCS file: /cvsroot/emc/rtapi/rtlinux-3.0.mk,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** rtlinux-3.0.mk	8 Jul 2003 15:54:38 -0000	1.1.1.1
--- rtlinux-3.0.mk	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 2,7 ****
  # Makefile add-ons from rtlinux-3.0.mk
  
! RTFLAGS = -I$(INC_DIR) -I$(RTDIR)/include -I$(RTDIR)/linux/include -I$(RTDIR)/include/posix -I$(RTDIR)/include/compat -O2 -ffast-math -D__RTL__ -D__KERNEL__ -DMODULE
! ULFLAGS = -g -I$(INC_DIR) -I$(RTDIR)/linux/include -I$(RTDIR)/include -I$(RTDIR)/include/compat
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtl_rtapi.o
--- 2,7 ----
  # Makefile add-ons from rtlinux-3.0.mk
  
! RTFLAGS = -Wall -I$(INC_DIR) -I$(RTDIR)/include -I$(RTDIR)/linux/include -I$(RTDIR)/include/posix -I$(RTDIR)/include/compat -O2 -ffast-math -D__RTL__ -D__KERNEL__ -DMODULE
! ULFLAGS = -Wall -g -I$(INC_DIR) -I$(RTDIR)/linux/include -I$(RTDIR)/include -I$(RTDIR)/include/compat
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtl_rtapi.o

Index: rtlinux.mk
===================================================================
RCS file: /cvsroot/emc/rtapi/rtlinux.mk,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** rtlinux.mk	8 Jul 2003 15:54:38 -0000	1.1.1.1
--- rtlinux.mk	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 2,7 ****
  # Makefile add-ons from rtlinux.mk
  
! RTFLAGS = -I$(INC_DIR) -I$(RTDIR)/include -I$(RTDIR)/linux/include -I$(RTDIR)/include/posix -I$(RTDIR)/include/compat -O2 -ffast-math -D__RTL__ -D__KERNEL__ -DMODULE
! ULFLAGS = -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtl_rtapi.o
--- 2,7 ----
  # Makefile add-ons from rtlinux.mk
  
! RTFLAGS = -Wall -I$(INC_DIR) -I$(RTDIR)/include -I$(RTDIR)/linux/include -I$(RTDIR)/include/posix -I$(RTDIR)/include/compat -O2 -ffast-math -D__RTL__ -D__KERNEL__ -DMODULE
! ULFLAGS = -Wall -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
  RTAPI = $(RTLIB_DIR)/rtl_rtapi.o

[Emc-commit] rtapi/examples/fifo fifotask.c,1.1.1.1,1.2 fifousr.c,1.1.1.1,1.2

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/examples/fifo
In directory sc8-pr-cvs1:/tmp/cvs-serv23441/examples/fifo

Modified Files:
	fifotask.c fifousr.c 
Log Message:
changed examples to use new api - fifo not working yet

Index: fifotask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/fifotask.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** fifotask.c	8 Jul 2003 15:54:39 -0000	1.1.1.1
--- fifotask.c	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 9,27 ****
  #include "common.h"		/* FIFO_KEY */
  
! static void *fifo_task = 0;	/* the task structure */
  enum { FIFO_PERIOD_NSEC = 10000000 };	/* timer period, in nanoseconds */
  enum { FIFO_STACKSIZE = 1024 };	/* how big the stack is */
  
! static int fifo_fd = -1;
! static int count = 0;
  
  /* task code, executed each timer interrupt */
! void fifo_code(void)
  {
    char buffer[FIFO_SIZE + 1] = { '\n' };
  
    while (1) {
!     rtapi_fifo_write(fifo_fd, buffer, FIFO_SIZE);
      count++;
      rtapi_wait();
    }
--- 9,33 ----
  #include "common.h"		/* FIFO_KEY */
  
! static rtapi_task_handle fifo_task = 0;	/* the task structure */
! static rtapi_fifo_handle fifo;
  enum { FIFO_PERIOD_NSEC = 10000000 };	/* timer period, in nanoseconds */
  enum { FIFO_STACKSIZE = 1024 };	/* how big the stack is */
  
! static int count = 1;
  
  /* task code, executed each timer interrupt */
! void fifo_code( int arg )
  {
+   int n;
    char buffer[FIFO_SIZE + 1] = { '\n' };
  
    while (1) {
!     for ( n = 0 ; n < count ; n++ ) {
!       buffer[n] = '0' + count;
!     }
!     rtapi_fifo_write ( fifo, buffer, count );
      count++;
+     if ( count > 9 )
+       count = 1;
      rtapi_wait();
    }
***************
*** 33,54 ****
  int rtapi_app_main(void)
  {
    int fifo_prio;
-   int t;
  
    if (0 != rtapi_init()) {
      return -1;
    }
  
    /* allocate and initialize the fifo */
!   rtapi_fifo_new(FIFO_KEY, &fifo_fd, FIFO_SIZE);
!   if (fifo_fd < 0) {
!     rtapi_print("fifotask: can't create fifo\n");
      return -1;
-   } else {
-     rtapi_print("fifotask: created fifo %d\n", fifo_fd);
    }
  
    /* set the base timer period */
!   rtapi_clock_set_period(FIFO_PERIOD_NSEC);
  
    /* set the task priority to lowest, since we only have one task */
--- 39,65 ----
  int rtapi_app_main(void)
  {
+   int retval;
    int fifo_prio;
  
+   /*
    if (0 != rtapi_init()) {
      return -1;
    }
+   */
  
    /* allocate and initialize the fifo */
!   retval = rtapi_fifo_new( FIFO_KEY, FIFO_SIZE, &fifo );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "fifotask init: rtapi_fifo_new returned %d\n", retval );
      return -1;
    }
+   rtapi_print("fifotask init: created fifo\n" );
  
    /* set the base timer period */
!   retval = rtapi_clock_set_period(FIFO_PERIOD_NSEC);
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "fifotask init: rtapi_clock_set_period returned %d\n", retval );
!     return -1;
!   }
  
    /* set the task priority to lowest, since we only have one task */
***************
*** 56,69 ****
  
    /* launch the fifo task */
!   fifo_task = rtapi_task_new();
!   if (0 == fifo_task) {
!     rtapi_print("fifotask: can't allocate fifo task\n");
      return -1;
    }
  
!   if (0 !=
!       rtapi_task_start(fifo_task, fifo_code, fifo_prio, FIFO_STACKSIZE,
! 		       FIFO_PERIOD_NSEC, 0)) {
!     rtapi_print("fifotask: can't start fifo task\n");
      return -1;
    }
--- 67,83 ----
  
    /* launch the fifo task */
!   retval = rtapi_task_new( &fifo_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "fifotask init: rtapi_task_new returned %d\n", retval );
      return -1;
    }
  
!   /* start the fifo task */
!   retval = rtapi_task_start( fifo_task, fifo_code,
!                              0, fifo_prio,
!                              FIFO_STACKSIZE,
!                              FIFO_PERIOD_NSEC, RTAPI_NO_FP );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("fifotask init: rtapi_task_start returned %d\n", retval );
      return -1;
    }
***************
*** 77,98 ****
  void rtapi_app_exit(void)
  {
!   if (0 != fifo_task) {
!     if (0 != rtapi_task_stop(fifo_task)) {
!       rtapi_print("fifotask: can't stop fifo task\n");
!     }
!     if (0 != rtapi_task_delete(fifo_task)) {
!       rtapi_print("fifotask: can't delete fifo task\n");
!     }
!     fifo_task = 0;
    }
  
!   if (fifo_fd < 0) {
!     if (0 != rtapi_fifo_delete(FIFO_KEY, fifo_fd, FIFO_SIZE)) {
!       rtapi_print("fifotask: can't free fifo\n");
!     }
!     fifo_fd = -1;
    }
  
!   rtapi_print("fifotask: %d writes\n", count);
  
    rtapi_app_return();
--- 91,114 ----
  void rtapi_app_exit(void)
  {
!   int retval;
! 
!   retval = rtapi_task_stop( fifo_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("fifotask exit: rtapi_task_stop returned %d\n", retval );
!     return;
!   }
!   retval = rtapi_task_delete( fifo_task );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("fifotask exit: rtapi_task_delete returned %d\n", retval );
!     return;
    }
  
!   retval = rtapi_fifo_delete( fifo );
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("fifotask exit: rtapi_fifo_delete returned %d\n", retval );
!     return;
    }
  
!   rtapi_print("fifotask exit: %d writes\n", count);
  
    rtapi_app_return();

Index: fifousr.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/fifousr.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** fifousr.c	8 Jul 2003 15:54:39 -0000	1.1.1.1
--- fifousr.c	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 19,38 ****
  int main()
  {
!   fd_set rfds;
!   struct timeval tv;
!   int fifo_fd;
    char buffer[FIFO_SIZE + 1];
    int nchars;
!   int count;
  
!   if (0 != ulapi_init()) {
!     fprintf(stderr, "can't initialize ulapi\n");
!     return 1;
    }
  
!   ulapi_fifo_new(FIFO_KEY, &fifo_fd, FIFO_SIZE);
!   if (fifo_fd < 0) {
!     fprintf(stderr, "can't open fifo\n");
!     return 1;
    }
  
--- 19,38 ----
  int main()
  {
!   ulapi_fifo_handle fifo;
    char buffer[FIFO_SIZE + 1];
    int nchars;
!   int retval;
  
!   retval = ulapi_init();
!   if ( retval != ULAPI_SUCCESS ) {
!     printf("fifousr main: ulapi_init returned %d\n", retval );
!     return -1;
    }
  
!   /* open the fifo */
!   retval = ulapi_fifo_new( FIFO_KEY, FIFO_SIZE, 'R', &fifo );
!   if ( retval != ULAPI_SUCCESS ) {
!     printf( "fifousr main: ulapi_fifo_new returned %d\n", retval );
!     return -1;
    }
  
***************
*** 41,59 ****
    signal(SIGINT, quit);
  
-   count = 0;
-   tv.tv_sec = 1;
-   tv.tv_usec = 0;
    while (1) {
!     FD_ZERO(&rfds);
!     FD_SET(fifo_fd, &rfds);
!     if (select(FD_SETSIZE, &rfds, NULL, NULL, &tv) > 0) {
!       if (FD_ISSET(fifo_fd, &rfds)) {
! 	nchars = ulapi_fifo_read(fifo_fd, buffer, FIFO_SIZE);
! 	count++;
! 	printf("got %d chars\n", nchars);
!       }
!     } else {
!       printf("timed out\n");
!       break;
      }
    }
--- 41,52 ----
    signal(SIGINT, quit);
  
    while (1) {
! 	nchars = ulapi_fifo_read( fifo, buffer, FIFO_SIZE );
! 	if ( retval < 0 ) {
!       printf ( "fifousr main: ulapi_fifo_read returned %d\n", nchars );
! 	}
! 	else {
! 	  buffer[nchars] = '\0';
! 	  printf("fifousr main: read %d chars: '%s'\n", nchars, buffer);
      }
    }
***************
*** 61,67 ****
  END:
  
!   printf("%d total reads\n", count);
  
!   ulapi_fifo_delete(FIFO_KEY, fifo_fd, FIFO_SIZE);
  
    return ulapi_exit();
--- 54,64 ----
  END:
  
!   printf( "shutting down\n" );
  
!   retval = ulapi_fifo_delete( fifo );
!   if ( retval != ULAPI_SUCCESS ) {
!     printf( "fifousr main: ulapi_fifo_delete returned %d\n", retval );
!     return -1;
!   }
  
    return ulapi_exit();

[Emc-commit] rtapi/examples/extint extint.c,1.1.1.1,1.2

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/examples/extint
In directory sc8-pr-cvs1:/tmp/cvs-serv23441/examples/extint

Modified Files:
	extint.c 
Log Message:
changed examples to use new api - fifo not working yet

Index: extint.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/extint/extint.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** extint.c	8 Jul 2003 15:54:39 -0000	1.1.1.1
--- extint.c	23 Jul 2003 01:22:49 -0000	1.2
***************
*** 25,36 ****
  int rtapi_app_main(void)
  {
    if (0 != rtapi_app_init()) {
      return -1;
!   }
  
    /* set up ISR */
!   rtapi_free_interrupt_handler(PARPORT_IRQ);
!   rtapi_assign_interrupt_handler(PARPORT_IRQ, parport_irq_handler);
!   rtapi_enable_interrupt(PARPORT_IRQ);
  
    /* enable parallel port hardware interrupts */
--- 25,51 ----
  int rtapi_app_main(void)
  {
+ int retval;
+ 
+ /*
    if (0 != rtapi_app_init()) {
      return -1;
!   }*/
  
    /* set up ISR */
!   retval = rtapi_free_interrupt_handler(PARPORT_IRQ);
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("extint init: rtapi_free_interrupt returned %d\n", retval );
!     /*return -1;*/
!   }
!   retval = rtapi_assign_interrupt_handler(PARPORT_IRQ, parport_irq_handler);
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("extint init: rtapi_assign_interrupt_handler returned %d\n", retval );
!     return -1;
!   }
!   retval = rtapi_enable_interrupt(PARPORT_IRQ);
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("extint init: rtapi_enable_interrupt returned %d\n", retval );
!     return -1;
!   }
  
    /* enable parallel port hardware interrupts */
***************
*** 41,46 ****
--- 56,64 ----
  }
  
+ 
  void rtapi_app_exit(void)
  {
+ int retval;
+ 
    /* disable parallel port hardware interrupts */
    rtapi_outb(rtapi_inb(PARPORT_BASE_ADDRESS + 2) & (~0x10),
***************
*** 48,56 ****
  
    /* clear ISR */
!   rtapi_disable_interrupt(PARPORT_IRQ);
!   rtapi_free_interrupt_handler(PARPORT_IRQ);
  
!   rtapi_print("extint: interrupt count is %d\n", timer_count);
  
!   rtapi_app_return();
  }
--- 66,82 ----
  
    /* clear ISR */
!   retval = rtapi_disable_interrupt(PARPORT_IRQ);
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("extint exit: rtapi_disable_interrupt returned %d\n", retval );
!     return;
!   }
!   retval = rtapi_free_interrupt_handler(PARPORT_IRQ);
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print("extint exit: rtapi_disable_interrupt returned %d\n", retval );
!     return;
!   }
  
!   rtapi_print("extint exit: interrupt count is %d\n", timer_count);
  
! /*  rtapi_app_return(); */
  }

[Emc-commit] rtapi configure,1.2,1.3 install_realtime_base,1.1.1.1,1.2 rtai.mk,1.1.1.1,1.2

[<pa...@us...>]

Update of /cvsroot/emc/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv32109

Modified Files:
	configure install_realtime_base rtai.mk 
Log Message:
A few small changes to enable the timetask example to work with 2.4.21-adeos

Index: configure
===================================================================
RCS file: /cvsroot/emc/rtapi/configure,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** configure	19 Jul 2003 01:32:47 -0000	1.2
--- configure	22 Jul 2003 17:20:21 -0000	1.3
***************
*** 22,25 ****
--- 22,31 ----
  echo MOD_DIR = /lib/modules/$version/misc >> Makefile.inc
  
+ if [ -d /lib/modules/$version/build ] ; then
+     # We have a 2.4 or later kernel if this symlink exists,
+     # so add an include to the correct headers for the kernel running.
+     echo KERNEL_INC = -I/lib/modules/$version/build/include >> Makefile.inc
+ fi
+ 
  echo CC = gcc >> Makefile.inc
  echo CFLAGS = -g -I\$\(INC_DIR\) >> Makefile.inc
***************
*** 88,92 ****
  # ditto for an RTAI boot by looking through the kernel for telltale symbols:
  # set_rtai_callback, remove_rtai_callback for 2.2, 2.4 kernels
! RTAIBOOT=$(/sbin/ksyms -a | grep _rtai_ | wc -l)
  if [ $RTAIBOOT -gt 0 ] ; then
      echo found RTAI installed in the kernel
--- 94,98 ----
  # ditto for an RTAI boot by looking through the kernel for telltale symbols:
  # set_rtai_callback, remove_rtai_callback for 2.2, 2.4 kernels
! RTAIBOOT=$(/sbin/ksyms -a | grep -E '(_rtai_|_adeos_)' | wc -l)
  if [ $RTAIBOOT -gt 0 ] ; then
      echo found RTAI installed in the kernel

Index: install_realtime_base
===================================================================
RCS file: /cvsroot/emc/rtapi/install_realtime_base,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** install_realtime_base	8 Jul 2003 15:54:38 -0000	1.1.1.1
--- install_realtime_base	22 Jul 2003 17:20:21 -0000	1.2
***************
*** 22,28 ****
  
  
! # If the symbol rthal is found in ksyms assume we are using
  # rtai instead of rtlinux.
! if /sbin/ksyms -a | grep rthal >${nullfile} 2>${nullfile} ; then
  
      # Check to see if the rtai module is already installed..
--- 22,28 ----
  
  
! # If the symbol rthal or adeos is found in ksyms assume we are using
  # rtai instead of rtlinux.
! if /sbin/ksyms -a | grep -E '(rthal|adeos)' >${nullfile} 2>${nullfile} ; then
  
      # Check to see if the rtai module is already installed..

Index: rtai.mk
===================================================================
RCS file: /cvsroot/emc/rtapi/rtai.mk,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** rtai.mk	8 Jul 2003 15:54:38 -0000	1.1.1.1
--- rtai.mk	22 Jul 2003 17:20:21 -0000	1.2
***************
*** 2,6 ****
  # Makefile add-ons from rtai.mk
  
! RTFLAGS = -I$(INC_DIR) -I$(RTDIR)/include -O2 -ffast-math -D__KERNEL__ -DMODULE
  ULFLAGS = -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static
--- 2,6 ----
  # Makefile add-ons from rtai.mk
  
! RTFLAGS = $(KERNEL_INC) -I$(INC_DIR) -I$(RTDIR)/include -O2 -ffast-math -D__KERNEL__ -DMODULE
  ULFLAGS = -g -I$(INC_DIR) -I$(RTDIR)/include
  RTLINK = ld -r -static

[Emc-commit] rtapi/src/rtapi localdefs.h,1.4,1.5 rtai_rtapi.c,1.4,1.5 rtapi.h,1.5,1.6 sim_rtapi.c,1.3,1.4

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv32109/src/rtapi

Modified Files:
	localdefs.h rtai_rtapi.c rtapi.h sim_rtapi.c 
Log Message:
A few small changes to enable the timetask example to work with 2.4.21-adeos

Index: localdefs.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/localdefs.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** localdefs.h	19 Jul 2003 07:17:22 -0000	1.4
--- localdefs.h	22 Jul 2003 17:20:22 -0000	1.5
***************
*** 2,8 ****
  #define LOCALDEFS_H
  
! /* automatically generated by config script on Fri Jul 18 22:40:51 EDT 2003 */
  
! #define LOCAL_MHZ 233.866
  
  #endif
--- 2,8 ----
  #define LOCALDEFS_H
  
! /* automatically generated by config script on Tue Jul 22 13:03:40 UTC 2003 */
  
! #define LOCAL_MHZ 807.966
  
  #endif

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** rtai_rtapi.c	19 Jul 2003 07:17:22 -0000	1.4
--- rtai_rtapi.c	22 Jul 2003 17:20:22 -0000	1.5
***************
*** 134,138 ****
  
    /* validate taskptr */
!   if ( taskptr == NULL )
      return RTAPI_INVAL;
  
--- 134,138 ----
  
    /* validate taskptr */
!   if ( &taskptr == NULL )
      return RTAPI_INVAL;
  
***************
*** 146,150 ****
  
    /* and return handle to the caller */
!   *taskptr = task;
  
    return RTAPI_SUCCESS;
--- 146,150 ----
  
    /* and return handle to the caller */
!   taskptr = task;
  
    return RTAPI_SUCCESS;
***************
*** 406,410 ****
    vsprintf(buffer, fmt, args);
    rt_printk(buffer);
!   va_end(ap);
  }
  
--- 406,410 ----
    vsprintf(buffer, fmt, args);
    rt_printk(buffer);
!   va_end(args);
  }
  

Index: rtapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtapi.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** rtapi.h	19 Jul 2003 07:17:22 -0000	1.5
--- rtapi.h	22 Jul 2003 17:20:22 -0000	1.6
***************
*** 95,100 ****
  * rtapi_task_new().  'taskcode' is the name of a function taking one   *
  * int and returning void, which contains the task code.  'arg' will be *
! * passed to 'taskcode' when the task is invoked.  'prio' is the        *
! * priority, as determined by one of the priority functions above.      *
  * 'stacksize' is the amount of stack to be reserved for the task - be  *
  * generous, hardware interrupts may use the same stack.  'period_nsec' *
--- 95,101 ----
  * rtapi_task_new().  'taskcode' is the name of a function taking one   *
  * int and returning void, which contains the task code.  'arg' will be *
! * passed to 'taskcode' as an abitrary int value when the task is        *
! * invoked.  'prio' is the  priority, as determined by one of the       *
! * priority functions above.                                            *
  * 'stacksize' is the amount of stack to be reserved for the task - be  *
  * generous, hardware interrupts may use the same stack.  'period_nsec' *

Index: sim_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/sim_rtapi.c,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** sim_rtapi.c	19 Jul 2003 07:17:22 -0000	1.3
--- sim_rtapi.c	22 Jul 2003 17:20:22 -0000	1.4
***************
*** 397,401 ****
    va_start(args, fmt);
    vprintf(fmt, args);
!   va_end(ap);
  }
  
--- 397,401 ----
    va_start(args, fmt);
    vprintf(fmt, args);
!   va_end(args);
  }
  

[Emc-commit] rtapi/examples/timertask timertask.c,1.1.1.1,1.2

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/examples/timertask
In directory sc8-pr-cvs1:/tmp/cvs-serv32109/examples/timertask

Modified Files:
	timertask.c 
Log Message:
A few small changes to enable the timetask example to work with 2.4.21-adeos

Index: timertask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/timertask/timertask.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** timertask.c	8 Jul 2003 15:54:39 -0000	1.1.1.1
--- timertask.c	22 Jul 2003 17:20:22 -0000	1.2
***************
*** 9,13 ****
  #include "rtapi_app.h"		/* rtapi_app_main,exit() */
  
! static void *timer_task = 0;	/* the task structure */
  static int timer_count = 0;	/* the output variable */
  enum { TIMER_PERIOD_NSEC = 1000000 };	/* timer period, in nanoseconds */
--- 9,13 ----
  #include "rtapi_app.h"		/* rtapi_app_main,exit() */
  
! static void *timer_task = 0;	/* pointer to the task structure */
  static int timer_count = 0;	/* the output variable */
  enum { TIMER_PERIOD_NSEC = 1000000 };	/* timer period, in nanoseconds */
***************
*** 15,19 ****
  
  /* task code, executed each timer interrupt */
! void timer_code(void)
  {
    while (1) {
--- 15,19 ----
  
  /* task code, executed each timer interrupt */
! static void timer_code(int t)
  {
    while (1) {
***************
*** 29,32 ****
--- 29,33 ----
  {
    int timer_prio;
+   int ret_val;
  
    if (0 != rtapi_app_init()) {
***************
*** 41,52 ****
  
    /* launch the timer task */
!   timer_task = rtapi_task_new();
!   if (0 == timer_task) {
!     rtapi_print("timertask: can't allocate timer task\n");
      return -1;
    }
  
!   if (0 != rtapi_task_start(timer_task, timer_code, timer_prio, TIMER_STACKSIZE, TIMER_PERIOD_NSEC, 0)) {	/* 0 = no floating point */
!     rtapi_print("timertask: can't start timer task\n");
      return -1;
    }
--- 42,61 ----
  
    /* launch the timer task */
! //  timer_task = rtapi_task_new();
!   ret_val = rtapi_task_new(&timer_task);
!   if (0 != ret_val) {
!     rtapi_print("timertask: can't allocate timer task %d\n", ret_val);
      return -1;
    }
  
!   if (timer_task == NULL) {
!     rtapi_print("timertask: Pointer returned is NULL\n");
!     return -1;
!   }
! 
!   ret_val = rtapi_task_start(timer_task, timer_code, 0, timer_prio, TIMER_STACKSIZE, TIMER_PERIOD_NSEC, 0);
! 
!   if (0 != ret_val ) {
!     rtapi_print("timertask: can't start timer task %d\n", ret_val);
      return -1;
    }

[Emc-commit] emc sim.var,1.11,1.12

[<pa...@us...>]

Update of /cvsroot/emc/emc
In directory sc8-pr-cvs1:/tmp/cvs-serv28668

Modified Files:
	sim.var 
Log Message:
Set param 5220 to 1.000

Index: sim.var
===================================================================
RCS file: /cvsroot/emc/emc/sim.var,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** sim.var	29 Jun 2003 02:33:12 -0000	1.11
--- sim.var	21 Jul 2003 20:25:19 -0000	1.12
***************
*** 17,21 ****
  5215	0.000000
  5216	0.000000
! 5220	0.000000
  5221	0.000000
  5222	0.000000
--- 17,21 ----
  5215	0.000000
  5216	0.000000
! 5220	1.000000
  5221	0.000000
  5222	0.000000

[Emc-commit] documents/lyx README.lyx,1.2,1.3 README.txt,1.2,1.3 Master_User.lyx,1.3,1.4 User_BDI_Install.lyx,1.3,1.4 User_Whatis_EMC.lyx,1.3,1.4

[<ray...@us...>]

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv9754

Modified Files:
	README.lyx README.txt Master_User.lyx User_BDI_Install.lyx 
	User_Whatis_EMC.lyx 
Log Message:
editorial changes

Index: README.lyx
===================================================================
RCS file: /cvsroot/emc/documents/lyx/README.lyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** README.lyx	19 Jul 2003 01:27:24 -0000	1.2
--- README.lyx	21 Jul 2003 13:15:02 -0000	1.3
***************
*** 206,208 ****
--- 206,246 ----
  It is not a good idea to use Protected Blanks at the beginning of a paragraph
   as the do not get reproduced very well.
+ \layout Subsection
+ 
+ Index
+ \layout Standard
+ 
+ Index works and each master doc includes one.
+  
+ \layout Itemize
+ 
+ You may use multiple words and white space in an index.
+ \layout Itemize
+ 
+ Put an index mark by each word and each instance that you wish to have included.
+  
+ \layout Itemize
+ 
+ The index previous word works but not with numbers or punctuation marks.
+  Put these in by hand.
+ \layout Itemize
+ 
+ Do not use underscores in an index.
+  They cause the latex to think you want to do math but missed a code.
+  The conversions fail completely with two errors about math symbols.
+ \layout Subsection
+ 
+ Labels and cross references between chapters
+ \layout Standard
+ 
+ Labels and cross references will work from one chapter to another when chapters
+  are assembled into books.
+  To set a cross reference, create the labels in the chapter that you want
+  the cross references to use.
+  When you have all of the labels that you need, open the cross reference
+  widget with that chapter on top so that you see all of the labels that
+  are available in that chapter.
+  With that open, change documents to the chapter into which you wish to
+  insert the reference and put them where you want them.
+  
  \the_end

Index: README.txt
===================================================================
RCS file: /cvsroot/emc/documents/lyx/README.txt,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** README.txt	19 Jul 2003 10:13:26 -0000	1.2
--- README.txt	21 Jul 2003 13:15:02 -0000	1.3
***************
*** 3,7 ****
  README
  
! 1 Organization of this directory
  
  This file has been produced from a master that is written
--- 3,7 ----
  README
  
! 1.1 Organization of this directory
  
  This file has been produced from a master that is written
***************
*** 10,14 ****
  bookman font. This SourceForge module contains the EMC documentation.
  
! 2 Master LyX Files
  
  There are three main or master files that are used to build
--- 10,14 ----
  bookman font. This SourceForge module contains the EMC documentation.
  
! 1.2 Master LyX Files
  
  There are three main or master files that are used to build
***************
*** 28,32 ****
  using similar master files.
  
! 3 Chapter Files
  
  Chapter files intended for the user handbook have been named
--- 28,32 ----
  using similar master files.
  
! 1.3 Chapter Files
  
  Chapter files intended for the user handbook have been named
***************
*** 39,43 ****
  begins with a single chapter name.
  
! 4 General Files
  
  Several general files like the glossary, faq, and copyright
--- 39,43 ----
  begins with a single chapter name.
  
! 1.4 General Files
  
  Several general files like the glossary, faq, and copyright
***************
*** 45,49 ****
  of the master documents. 
  
! 5 LyX Versions
  
  LyX 1.1.6fix4-1 was used to write these docs - If you wish
--- 45,49 ----
  of the master documents. 
  
! 1.5 LyX Versions
  
  LyX 1.1.6fix4-1 was used to write these docs - If you wish
***************
*** 51,61 ****
  
  The latest release lyx-1.3.2 will read the docs, but according
! to the press release, files saved with lyx-1.2.0 or later can not
  be read by lyx-1.1.6. Please bare this in mind should you
  wish to add to this repository.
  
! 6 LyX Notes
  
! 6.1 Path Names
  
  LyX seems to be unable to handle path names starting with
--- 51,61 ----
  
  The latest release lyx-1.3.2 will read the docs, but according
! to the press release, files saved with lyx-1.2+ can not
  be read by lyx-1.1.6. Please bare this in mind should you
  wish to add to this repository.
  
! 1.6 LyX Notes
  
! 1.6.1 Path Names
  
  LyX seems to be unable to handle path names starting with
***************
*** 65,69 ****
  might want to do a search and replace on /usr/share/lyx/EMC_images.
  
! 6.2 Thoughts for contributors
  
  There are a few notes below for developers who wish to edit
--- 65,69 ----
  might want to do a search and replace on /usr/share/lyx/EMC_images.
  
! 1.6.2 Thoughts for contributors
  
  There are a few notes below for developers who wish to edit
***************
*** 83,87 ****
    to png as a matter of course.
  
! 6.3 Image conversion
  
  Conversion of images is a simple matter of using Imagemagic
--- 83,87 ----
    to png as a matter of course.
  
! 1.6.3 Image conversion
  
  Conversion of images is a simple matter of using Imagemagic
***************
*** 94,98 ****
  on startup, and also some problems with generating pdf docs. 
  
! 6.4 Fonts
  
  * Bookman is the default font used in all EMC handbooks.
--- 94,98 ----
  on startup, and also some problems with generating pdf docs. 
  
! 1.6.4 Fonts
  
  * Bookman is the default font used in all EMC handbooks.
***************
*** 109,113 ****
    Black
  
! 6.5 White space
  
  When more than one blank space is required between characters,
--- 109,113 ----
    Black
  
! 1.6.5 White space
  
  When more than one blank space is required between characters,
***************
*** 127,129 ****
  
  It is not a good idea to use Protected Blanks at the beginning
! of a paragraph as they do not get reproduced very well.
--- 127,157 ----
  
  It is not a good idea to use Protected Blanks at the beginning
! of a paragraph as the do not get reproduced very well.
! 
! 1.6.6 Index
! 
! Index works and each master doc includes one. 
! 
! * You may use multiple words and white space in an index.
! 
! * Put an index mark by each word and each instance that you
!   wish to have included. 
! 
! * The index previous word works but not with numbers or punctuation
!   marks. Put these in by hand.
! 
! * Do not use underscores in an index. They cause the latex
!   to think you want to do math but missed a code. The conversions
!   fail completely with two errors about math symbols.
! 
! 1.6.7 Labels and cross references between chapters
! 
! Labels and cross references will work from one chapter to
! another when chapters are assembled into books. To set a
! cross reference, create the labels in the chapter that you
! want the cross references to use. When you have all of the
! labels that you need, open the cross reference widget with
! that chapter on top so that you see all of the labels that
! are available in that chapter. With that open, change documents
! to the chapter into which you wish to insert the reference
! and put them where you want them. 

Index: Master_User.lyx
===================================================================
RCS file: /cvsroot/emc/documents/lyx/Master_User.lyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Master_User.lyx	20 Jul 2003 13:34:23 -0000	1.3
--- Master_User.lyx	21 Jul 2003 13:15:02 -0000	1.4
***************
*** 18,22 ****
  \leftmargin 1.2in
  \topmargin 1in
! \rightmargin 0.6in
  \bottommargin 0.6in
  \secnumdepth 5
--- 18,22 ----
  \leftmargin 1.2in
  \topmargin 1in
! \rightmargin 0.8in
  \bottommargin 0.6in
  \secnumdepth 5
***************
*** 66,70 ****
  Copyright (c) 2000-3 LinuxCNC.org
  \layout Standard
! \line_top \line_bottom \noindent 
  Permission is granted to copy, distribute and/or modify this document under
   the terms of the GNU Free Documentation License, Version 1.1 or any later
--- 66,70 ----
  Copyright (c) 2000-3 LinuxCNC.org
  \layout Standard
! \added_space_top 0.5in \line_top \line_bottom \noindent 
  Permission is granted to copy, distribute and/or modify this document under
   the terms of the GNU Free Documentation License, Version 1.1 or any later

Index: User_BDI_Install.lyx
===================================================================
RCS file: /cvsroot/emc/documents/lyx/User_BDI_Install.lyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** User_BDI_Install.lyx	20 Jul 2003 13:49:14 -0000	1.3
--- User_BDI_Install.lyx	21 Jul 2003 13:15:02 -0000	1.4
***************
*** 97,101 ****
   of years ago.
   This means that it is limited in the kinds of devices that it will recognize.
-  
  \layout Standard
  
--- 97,100 ----
***************
*** 119,123 ****
   The TNG will require a bit more powerful machine.  I recommend at least
   400 Mhz but  800 is a lot nicer in the way it handles multiple tasks quickly.
-    
  \layout Standard
  
--- 118,121 ----

Index: User_Whatis_EMC.lyx
===================================================================
RCS file: /cvsroot/emc/documents/lyx/User_Whatis_EMC.lyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** User_Whatis_EMC.lyx	18 Jul 2003 18:46:07 -0000	1.3
--- User_Whatis_EMC.lyx	21 Jul 2003 13:15:02 -0000	1.4
***************
*** 153,158 ****
  The source code files that make up the controller are kept in a repository
   on www.sourceforge.net.
!  They are available for anyone to download and use as they see fit.  Some
!  of the files are public domain while others carry a GPL or GPLD copyright. 
   These files require that you make your source of them available to your
   users.
--- 153,158 ----
  The source code files that make up the controller are kept in a repository
   on www.sourceforge.net.
!  They are available for anyone to download and use as they see fit.
!  Some of the files are public domain while others carry a GPL or GPLD copyright.
   These files require that you make your source of them available to your
   users.
***************
*** 166,172 ****
  \layout Standard
  
! The EMC code can be compiled for a number of operating systems. The most
!  common is some variant of real time extensions for the Linux OS. In addition
!  to the raw code, some binary distributions are available.
   Most of these are a part of the Brain Dead Install or BDI.
   The BDI is a complete distribution.
--- 166,172 ----
  \layout Standard
  
! The EMC code can be compiled for a number of operating systems.
!  The most common is some variant of real time extensions for the Linux OS.
!  In addition to the raw code, some binary distributions are available.
   Most of these are a part of the Brain Dead Install or BDI.
   The BDI is a complete distribution.
***************
*** 226,230 ****
  Typical EMC Controlled Machine
  \end_float 
!  There are four main components to the EMC software: a motion controller
   (EMCMOT), a discrete I/O controller (EMCIO), a task executor which coordinates
   them (EMCTASK), and a collection of text-based or graphical user interfaces.
--- 226,232 ----
  Typical EMC Controlled Machine
  \end_float 
! \layout Standard
! 
! There are four main components to the EMC software: a motion controller
   (EMCMOT), a discrete I/O controller (EMCIO), a task executor which coordinates
   them (EMCTASK), and a collection of text-based or graphical user interfaces.

[Emc-commit] emc/src/emctask bridgeporttaskintf.cc,1.23,1.24 emctaskmain.cc,1.29,1.30 minimilltaskintf.cc,1.23,1.24

[<ms...@us...>]

Update of /cvsroot/emc/emc/src/emctask
In directory sc8-pr-cvs1:/tmp/cvs-serv20968/src/emctask

Modified Files:
	bridgeporttaskintf.cc emctaskmain.cc minimilltaskintf.cc 
Log Message:
Substantial changes to freqmod and new ini file variables

Index: bridgeporttaskintf.cc
===================================================================
RCS file: /cvsroot/emc/emc/src/emctask/bridgeporttaskintf.cc,v
retrieving revision 1.23
retrieving revision 1.24
diff -C2 -d -r1.23 -r1.24
*** bridgeporttaskintf.cc	17 Nov 2002 00:38:00 -0000	1.23
--- bridgeporttaskintf.cc	21 Jul 2003 02:51:34 -0000	1.24
***************
*** 6,9 ****
--- 6,10 ----
    Modification history:
    
+   18-Jul-2003  MGS added emcAxisSetStepParams stuff.
    9-Nov-2002 P.C. Ensured spindle speed is passed to bridgeportio.
    17-Aug-2001  FMP added emcMotionSetDout, LASER stuff
***************
*** 486,489 ****
--- 487,505 ----
    }
  #endif
+ 
+   return usrmotWriteEmcmotCommand(&emcmotCommand);
+ }
+ 
+ int emcAxisSetStepParams(int axis, double setup_time, double hold_time)
+ {
+   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
+   {
+     return 0;
+   }
+ 
+   emcmotCommand.command = EMCMOT_SET_STEP_PARAMS;
+   emcmotCommand.axis = axis;
+   emcmotCommand.setup_time = setup_time;
+   emcmotCommand.hold_time = hold_time;
  
    return usrmotWriteEmcmotCommand(&emcmotCommand);

Index: emctaskmain.cc
===================================================================
RCS file: /cvsroot/emc/emc/src/emctask/emctaskmain.cc,v
retrieving revision 1.29
retrieving revision 1.30
diff -C2 -d -r1.29 -r1.30
*** emctaskmain.cc	27 Mar 2003 20:11:39 -0000	1.29
--- emctaskmain.cc	21 Jul 2003 02:51:34 -0000	1.30
***************
*** 6,9 ****
--- 6,10 ----
    Modification history:
  
+   18-Jul-2003  MGS added EMC_SET_AXIS_STEP_PARAMS stuff
    17-Aug-2001  FMP added EMC_MOTION_SET_DOUT stuff
    31-May-2001  FMP added EMC_SET_DEBUG
***************
*** 402,405 ****
--- 403,407 ----
  static EMC_AXIS_LOAD_COMP *axis_load_comp_msg;
  static EMC_AXIS_ALTER *axis_alter_msg;
+ static EMC_AXIS_SET_STEP_PARAMS *set_step_params_msg;
  
  static EMC_TRAJ_SET_SCALE *emcTrajSetScaleMsg;
***************
*** 588,591 ****
--- 590,594 ----
        case EMC_AXIS_LOAD_COMP_TYPE:
        case EMC_AXIS_ALTER_TYPE:
+       case EMC_AXIS_SET_STEP_PARAMS_TYPE:
        case EMC_TRAJ_SET_SCALE_TYPE:
        case EMC_TRAJ_SET_VELOCITY_TYPE:
***************
*** 678,681 ****
--- 681,685 ----
        case EMC_AXIS_SET_MAX_POSITION_LIMIT_TYPE:
        case EMC_AXIS_SET_MIN_POSITION_LIMIT_TYPE:
+       case EMC_AXIS_SET_STEP_PARAMS_TYPE:
        case EMC_AXIS_ABORT_TYPE:
        case EMC_AXIS_HALT_TYPE:
***************
*** 777,780 ****
--- 781,785 ----
          case EMC_AXIS_SET_OUTPUT_TYPE:
          case EMC_AXIS_ALTER_TYPE:
+         case EMC_AXIS_SET_STEP_PARAMS_TYPE:
          case EMC_TRAJ_PAUSE_TYPE:
          case EMC_TRAJ_RESUME_TYPE:
***************
*** 867,870 ****
--- 872,876 ----
          case EMC_AXIS_SET_OUTPUT_TYPE:
          case EMC_AXIS_ALTER_TYPE:
+         case EMC_AXIS_SET_STEP_PARAMS_TYPE:
          case EMC_TRAJ_PAUSE_TYPE:
          case EMC_TRAJ_RESUME_TYPE:
***************
*** 1026,1029 ****
--- 1032,1036 ----
          case EMC_AXIS_SET_OUTPUT_TYPE:
          case EMC_AXIS_ALTER_TYPE:
+         case EMC_AXIS_SET_STEP_PARAMS_TYPE:
          case EMC_TRAJ_PAUSE_TYPE:
          case EMC_TRAJ_RESUME_TYPE:
***************
*** 1107,1110 ****
--- 1114,1118 ----
          case EMC_AXIS_SET_OUTPUT_TYPE:
          case EMC_AXIS_ALTER_TYPE:
+         case EMC_AXIS_SET_STEP_PARAMS_TYPE:
          case EMC_TRAJ_PAUSE_TYPE:
          case EMC_TRAJ_RESUME_TYPE:
***************
*** 1204,1207 ****
--- 1212,1216 ----
        case EMC_AXIS_SET_OUTPUT_TYPE:
        case EMC_AXIS_ALTER_TYPE:
+       case EMC_AXIS_SET_STEP_PARAMS_TYPE:
        case EMC_TRAJ_SET_SCALE_TYPE:
        case EMC_SPINDLE_ON_TYPE:
***************
*** 1550,1553 ****
--- 1559,1569 ----
      retval = emcAxisAlter(axis_alter_msg->axis,
                            axis_alter_msg->alter);
+     break;
+ 
+   case EMC_AXIS_SET_STEP_PARAMS_TYPE:
+     set_step_params_msg = (EMC_AXIS_SET_STEP_PARAMS *) cmd;
+     retval = emcAxisSetStepParams(set_step_params_msg->axis,
+                                   set_step_params_msg->setup_time,
+                                   set_step_params_msg->hold_time);
      break;
  

Index: minimilltaskintf.cc
===================================================================
RCS file: /cvsroot/emc/emc/src/emctask/minimilltaskintf.cc,v
retrieving revision 1.23
retrieving revision 1.24
diff -C2 -d -r1.23 -r1.24
*** minimilltaskintf.cc	17 Nov 2002 00:38:00 -0000	1.23
--- minimilltaskintf.cc	21 Jul 2003 02:51:34 -0000	1.24
***************
*** 12,15 ****
--- 12,16 ----
    Modification history:
    
+   18-Jul-2003  MGS added emcAxisSetStepParams stuff.
    9-Nov-2002 P.C. Fixed a bug with spindle speed output to a spare DAC.
    17-Aug-2001  FMP added emcMotionSetDout
***************
*** 499,502 ****
--- 500,518 ----
      }
  #endif
+ 
+   return usrmotWriteEmcmotCommand(&emcmotCommand);
+ }
+ 
+ int emcAxisSetStepParams(int axis, double setup_time, double hold_time)
+ {
+   if (axis < 0 || axis >= EMCMOT_MAX_AXIS)
+   {
+     return 0;
+   }
+ 
+   emcmotCommand.command = EMCMOT_SET_STEP_PARAMS;
+   emcmotCommand.axis = axis;
+   emcmotCommand.setup_time = setup_time;
+   emcmotCommand.hold_time = hold_time;
  
    return usrmotWriteEmcmotCommand(&emcmotCommand);

[Emc-commit] emc/src/emcnml emc.cc,1.28,1.29 emc.hh,1.16,1.17 emcops.cc,1.3,1.4 iniaxis.cc,1.5,1.6

[<ms...@us...>]

Update of /cvsroot/emc/emc/src/emcnml
In directory sc8-pr-cvs1:/tmp/cvs-serv20968/src/emcnml

Modified Files:
	emc.cc emc.hh emcops.cc iniaxis.cc 
Log Message:
Substantial changes to freqmod and new ini file variables

Index: emc.cc
===================================================================
RCS file: /cvsroot/emc/emc/src/emcnml/emc.cc,v
retrieving revision 1.28
retrieving revision 1.29
diff -C2 -d -r1.28 -r1.29
*** emc.cc	7 May 2003 19:49:50 -0000	1.28
--- emc.cc	21 Jul 2003 02:51:34 -0000	1.29
***************
*** 29,33 ****
  #endif
  #ifndef EMCNAME_LIST_LENGTH
! #define EMCNAME_LIST_LENGTH 156
  #endif
  
--- 29,33 ----
  #endif
  #ifndef EMCNAME_LIST_LENGTH
! #define EMCNAME_LIST_LENGTH 157
  #endif
  
***************
*** 76,79 ****
--- 76,80 ----
  	"EMC_AXIS_SET_UNITS", /* 45,102 */
  	"EMC_AXIS_STAT", /* 46,199 */
+ 	"EMC_AXIS_SET_STEP_PARAMS",
  	"EMC_COOLANT_ABORT", /* 49,1403 */
  	"EMC_COOLANT_FLOOD_OFF", /* 51,1407 */
***************
*** 233,236 ****
--- 234,238 ----
  	EMC_AXIS_SET_UNITS_TYPE, /* 45,102 */
  	EMC_AXIS_STAT_TYPE, /* 46,199 */
+ 	EMC_AXIS_SET_STEP_PARAMS_TYPE,
  	EMC_COOLANT_ABORT_TYPE, /* 49,1403 */
  	EMC_COOLANT_FLOOD_OFF_TYPE, /* 51,1407 */
***************
*** 390,393 ****
--- 392,396 ----
  	sizeof(EMC_AXIS_SET_UNITS),
  	sizeof(EMC_AXIS_STAT),
+ 	sizeof(EMC_AXIS_SET_STEP_PARAMS),
  	sizeof(EMC_COOLANT_ABORT),
  	sizeof(EMC_COOLANT_FLOOD_OFF),
***************
*** 1103,1106 ****
--- 1106,1112 ----
  		((EMC_AXIS_STAT *) buffer)->update(cms);
  		break;
+ 	case EMC_AXIS_SET_STEP_PARAMS_TYPE:
+ 		((EMC_AXIS_SET_STEP_PARAMS *) buffer)->update(cms);
+ 		break;
  	case EMC_COOLANT_ABORT_TYPE:
  		((EMC_COOLANT_ABORT *) buffer)->update(cms);
***************
*** 1540,1543 ****
--- 1546,1551 ----
  	case EMC_AXIS_STAT_TYPE:
  		return "EMC_AXIS_STAT";
+ 	case EMC_AXIS_SET_STEP_PARAMS_TYPE:
+ 		return "EMC_AXIS_SET_STEP_PARAMS";
  	case EMC_COOLANT_ABORT_TYPE:
  		return "EMC_COOLANT_ABORT";
***************
*** 3656,3659 ****
--- 3664,3669 ----
  	cms->update_with_name("minFerror",minFerror);
  	cms->update_with_name("homingVel",homingVel);
+ 	cms->update_with_name("setup_time",setup_time);
+ 	cms->update_with_name("hold_time",hold_time);
  	cms->update_with_name("homeOffset",homeOffset);
  	cms->update_with_name("enablePolarity",enablePolarity);
***************
*** 5593,5596 ****
--- 5603,5628 ----
  
  	cms->endClass("EMC_AXIS_SET_MIN_OUTPUT_LIMIT","EMC_AXIS_CMD_MSG");
+ 
+ }
+ 
+ 
+ /*
+ *	NML/CMS Update function for EMC_AXIS_SET_STEP_PARAMS
+ *	Manually generated by Matt Shaver.
+ *	on Fri Jul 18 19:25:01-27/64 EDT 2003
+ */
+ void EMC_AXIS_SET_STEP_PARAMS::update(CMS *cms)
+ {
+ 
+ 	cms->beginClass("EMC_AXIS_SET_STEP_PARAMS","EMC_AXIS_CMD_MSG");
+ 
+ 	cms->beginBaseClass("EMC_AXIS_CMD_MSG");
+ 	EMC_AXIS_CMD_MSG::update(cms);
+ 	cms->endBaseClass("EMC_AXIS_CMD_MSG");
+ 
+ 	cms->update_with_name("setup_time",setup_time);
+ 	cms->update_with_name("hold_time",hold_time);
+ 
+ 	cms->endClass("EMC_AXIS_SET_STEP_PARAMS","EMC_AXIS_CMD_MSG");
  
  }

Index: emc.hh
===================================================================
RCS file: /cvsroot/emc/emc/src/emcnml/emc.hh,v
retrieving revision 1.16
retrieving revision 1.17
diff -C2 -d -r1.16 -r1.17
*** emc.hh	27 Mar 2003 20:11:36 -0000	1.16
--- emc.hh	21 Jul 2003 02:51:34 -0000	1.17
***************
*** 9,12 ****
--- 9,13 ----
    Modification history:
    
+   18-Jul-2002  MGS added EMC_AXIS_SET_STEP_PARAMS stuff.
    27-Mar-2003 WPS changed a number of #defines to enum values.
    (This is necessary for making the xml readable.)
***************
*** 144,147 ****
--- 145,149 ----
  #define EMC_AXIS_LOAD_COMP_TYPE                      ((NMLTYPE) 131)
  #define EMC_AXIS_ALTER_TYPE                          ((NMLTYPE) 132)
+ #define EMC_AXIS_SET_STEP_PARAMS_TYPE                ((NMLTYPE) 133)
  
  #define EMC_AXIS_STAT_TYPE                           ((NMLTYPE) 199)
***************
*** 489,492 ****
--- 491,495 ----
  extern int emcAxisSetMinFerror(int axis, double ferror);
  extern int emcAxisSetHomingVel(int axis, double homingVel);
+ extern int emcAxisSetStepParams(int axis, double setup_time, double hold_time);
  extern int emcAxisSetHome(int axis, double home);
  extern int emcAxisSetHomeOffset(int axis, double offset);
***************
*** 1246,1249 ****
--- 1249,1269 ----
  };
  
+ /**
+  * Set the step parameters.
+  * This command sets the setup time of the direction signal,
+  * and the hold time of the step signal.
+  */
+ class EMC_AXIS_SET_STEP_PARAMS : public EMC_AXIS_CMD_MSG
+ {
+ public:
+   EMC_AXIS_SET_STEP_PARAMS() : EMC_AXIS_CMD_MSG(EMC_AXIS_SET_STEP_PARAMS_TYPE, sizeof(EMC_AXIS_SET_STEP_PARAMS)) {};
+ 
+   // For internal NML/CMS use only.
+   void update(CMS *cms);
+ 
+   double setup_time;
+   double hold_time;
+ };
+ 
  // AXIS status base class
  class EMC_AXIS_STAT_MSG : public RCS_STAT_MSG
***************
*** 1291,1294 ****
--- 1311,1316 ----
    double minFerror;
    double homingVel;
+   double setup_time;
+   double hold_time;
    double homeOffset;
    unsigned char enablePolarity;

Index: emcops.cc
===================================================================
RCS file: /cvsroot/emc/emc/src/emcnml/emcops.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** emcops.cc	21 Dec 2000 16:22:11 -0000	1.3
--- emcops.cc	21 Jul 2003 02:51:34 -0000	1.4
***************
*** 8,11 ****
--- 8,12 ----
    Modification history:
  
+   19-Jul-2003  MGS added setup_time and hold_time to EMC_AXIS_STAT
    31-Jan-1999  FMP added backlash, bias, maxError to EMC_AXIS_STAT
    7-Oct-1998 FMP added init of homingVel to EMC_AXIS_STAT ctor
***************
*** 45,48 ****
--- 46,51 ----
    maxFerror = 1.0;
    homingVel = 1.0;
+   setup_time = 1;
+   hold_time = 2;
    enablePolarity = 1;
    minLimitSwitchPolarity = 1;

Index: iniaxis.cc
===================================================================
RCS file: /cvsroot/emc/emc/src/emcnml/iniaxis.cc,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** iniaxis.cc	7 May 2003 19:49:52 -0000	1.5
--- iniaxis.cc	21 Jul 2003 02:51:34 -0000	1.6
***************
*** 6,9 ****
--- 6,10 ----
    Modification history:
  
+   18-Jul-2003  MGS added EMC_AXIS_SET_STEP_PARAMS stuff.
    10-Aug-2000  FMP added emcAxisLoadComp() call from COMP_FILE
    20-Apr-2000 WPS changed rcs_print(ourAxisSection, "AXIS_%d", axis) to
***************
*** 75,78 ****
--- 76,81 ----
    MIN_FERROR <float>           minimum following error
    HOMING_VEL <float>           homing speed, positive
+   SETUP_TIME <float>             number of periods dir change preceeds step
+   HOLD_TIME <float>              number of periods step line is held low/high after active edge
    ENABLE_POLARITY <0, 1>       polarity for amp enable output
    MIN_LIMIT_SWITCH_POLARITY <0, 1> polarity for min limit switch input
***************
*** 100,103 ****
--- 103,107 ----
    emcAxisSetMinFerror(int axis, double ferror);
    emcAxisSetHomingVel(int axis, double homingVel);
+   emcAxisSetStepParams(int axis, double setup_time, double hold_time);
    emcAxisSetEnablePolarity(int axis, int level);
    emcAxisSetMinLimitSwitchPolarity(int axis, int level);
***************
*** 128,131 ****
--- 132,137 ----
    double limit;
    double homingVel;
+   double setup_time;
+   double hold_time;
    double home;
    double maxVelocity;
***************
*** 684,687 ****
--- 690,738 ----
      if (EMC_DEBUG & EMC_DEBUG_CONFIG) {
        rcs_print_error("bad return from emcAxisSetHomingVel\n");
+     }
+     return -1;
+   }
+ 
+   if (NULL != (inistring = axisInifile->find("SETUP_TIME", axisString))) {
+     if (1 == sscanf(inistring, "%lf", &setup_time)) {
+       // found, and valid
+     }
+     else {
+       // found, but invalid
+       if (EMC_DEBUG & EMC_DEBUG_INVALID) {
+         rcs_print_error("invalid inifile value for [%s] SETUP_TIME: %s\n", axisString, inistring);
+       }
+       setup_time = 1;                    // default for setup time
+     }
+   }
+   else {
+     // not found at all
+     setup_time = 1;
+     if (EMC_DEBUG & EMC_DEBUG_DEFAULTS) {
+       rcs_print_error("can't find [%s] SETUP_TIME, using default\n", axisString);
+     }
+   }
+   if (NULL != (inistring = axisInifile->find("HOLD_TIME", axisString))) {
+     if (1 == sscanf(inistring, "%lf", &hold_time)) {
+       // found, and valid
+     }
+     else {
+       // found, but invalid
+       if (EMC_DEBUG & EMC_DEBUG_INVALID) {
+         rcs_print_error("invalid inifile value for [%s] HOLD_TIME: %s\n", axisString, inistring);
+       }
+       hold_time = 2;                    // default for setup time
+     }
+   }
+   else {
+     // not found at all
+     hold_time = 2;
+     if (EMC_DEBUG & EMC_DEBUG_DEFAULTS) {
+       rcs_print_error("can't find [%s] HOLD_TIME, using default\n", axisString);
+     }
+   }
+   if (0 != emcAxisSetStepParams(axis, setup_time, hold_time)) {
+     if (EMC_DEBUG & EMC_DEBUG_CONFIG) {
+       rcs_print_error("bad return from emcAxisSetStepParams\n");
      }
      return -1;

[Emc-commit] emc/src/emcmot emcmot.c,1.90,1.91 emcmot.h,1.28,1.29

[<ms...@us...>]

Update of /cvsroot/emc/emc/src/emcmot
In directory sc8-pr-cvs1:/tmp/cvs-serv20968/src/emcmot

Modified Files:
	emcmot.c emcmot.h 
Log Message:
Substantial changes to freqmod and new ini file variables

Index: emcmot.c
===================================================================
RCS file: /cvsroot/emc/emc/src/emcmot/emcmot.c,v
retrieving revision 1.90
retrieving revision 1.91
diff -C2 -d -r1.90 -r1.91
*** emcmot.c	11 Jul 2003 06:53:49 -0000	1.90
--- emcmot.c	21 Jul 2003 02:51:34 -0000	1.91
***************
*** 7,10 ****
--- 7,13 ----
  
    Modification history:
+   18-Jul-2003 MGS rewrote freqfunc, added EMC_AXIS_SET_STEP_PARAMS, and
+   removed binfunc. Each axis should have a SETUP_TIME and HOLD_TIME entry
+   in the .ini file.
    11-Jul-2003 MGS deleted unreachable code that was shadowed by an #ifdef/#else.
    Also, moved an incorrectly placed #endif.
***************
*** 529,540 ****
[...1224 lines suppressed...]
        rt_task_init(&freqTask,	/* RT_TASK * */
--- 5457,5461 ----
        break;
  
!     case 0:
      default:	/* default is step/direction */
        rt_task_init(&freqTask,	/* RT_TASK * */
***************
*** 5927,5936 ****
    rt_task_use_fp(&freqTask, 1);
  
-   if(STEPPING_TYPE != 4)
-     {
        rt_task_make_periodic(&freqTask,
  			    rt_get_time() + PERIOD,
  			    PERIOD);
-     }
  #endif /* ! USE_RTL2 */
  #endif /* STEPPER_MOTORS  */
--- 5469,5475 ----

Index: emcmot.h
===================================================================
RCS file: /cvsroot/emc/emc/src/emcmot/emcmot.h,v
retrieving revision 1.28
retrieving revision 1.29
diff -C2 -d -r1.28 -r1.29
*** emcmot.h	17 Nov 2002 00:38:00 -0000	1.28
--- emcmot.h	21 Jul 2003 02:51:34 -0000	1.29
***************
*** 11,14 ****
--- 11,15 ----
    Modification history:
    
+   18-Jul-2003  MGS added EMCMOT_AXIS_SET_STEP_PARAMS stuff.
    25-Sep-2002  P.C. Merged Jon Elson's ppmc code.
    17-Aug-2001  FMP added EMCMOT_SET_AOUT,DOUT
***************
*** 173,178 ****
    EMCMOT_SET_DOUT,		/* sets a digital motion point for next move */
    EMCMOT_SET_INDEX_BIT,		/* Sets or clears a digital IO pin */
!   EMCMOT_READ_INDEX_BIT		/* Reads a digital IO pin */
! 
  };
  
--- 174,179 ----
    EMCMOT_SET_DOUT,		/* sets a digital motion point for next move */
    EMCMOT_SET_INDEX_BIT,		/* Sets or clears a digital IO pin */
!   EMCMOT_READ_INDEX_BIT,	/* Reads a digital IO pin */
!   EMCMOT_SET_STEP_PARAMS        /* sets setup_time and hold_time for freqtask */
  };
  
***************
*** 197,201 ****
    double maxLimit;              /* pos value for position limit, output */
    double minLimit;              /* neg value for position limit, output */
!   EmcPose pos;                   /* end for line, circle */
    PmCartesian center;           /* center for circle */
    PmCartesian normal;           /* normal vec for circle */
--- 198,202 ----
    double maxLimit;              /* pos value for position limit, output */
    double minLimit;              /* neg value for position limit, output */
!   EmcPose pos;                  /* end for line, circle */
    PmCartesian center;           /* center for circle */
    PmCartesian normal;           /* normal vec for circle */
***************
*** 227,233 ****
    int probeIndex;               /* which wire the probe signal is on */
  #endif
!   int debug;			/* debug level, from DEBUG in .ini file */
    unsigned char out, start, end; /* motion index, start, and end bits */
    unsigned char tail;           /* flag count for mutex detect */
  } EMCMOT_COMMAND;
  
--- 228,236 ----
    int probeIndex;               /* which wire the probe signal is on */
  #endif
!   int debug;		       	/* debug level, from DEBUG in .ini file */
    unsigned char out, start, end; /* motion index, start, and end bits */
    unsigned char tail;           /* flag count for mutex detect */
+   double setup_time;               /* number of periods before step occurs that dir changes */
+   double hold_time;                /* number of periods that step line is held low/high after transition */
  } EMCMOT_COMMAND;
  
***************
*** 389,399 ****
  } EMCMOT_STATUS;
  
! 
  typedef struct 
  {
!   unsigned char head;           /* flag count for mutex detect */
! 
!   int config_num;		/* Incremented everytime configuration changed, should match status.config_num */
!   
    EMCMOT_AXIS_FLAG axisPolarity[EMCMOT_MAX_AXIS];
    int numAxes;
--- 392,400 ----
  } EMCMOT_STATUS;
  
! /* config struct */
  typedef struct 
  {
!   unsigned char head;                   /* flag count for mutex detect */
!   int config_num;	        	/* Incremented everytime configuration changed, should match status.config_num */
    EMCMOT_AXIS_FLAG axisPolarity[EMCMOT_MAX_AXIS];
    int numAxes;
***************
*** 401,427 ****
    double servoCycleTime;
    int interpolationRate;
!   double maxLimit[EMCMOT_MAX_AXIS]; /* maximum axis limits, counts */
!   double minLimit[EMCMOT_MAX_AXIS]; /* minimum axis limits, counts */
!   double minOutput[EMCMOT_MAX_AXIS]; /* minimum output value allowed, volts */
!   double maxOutput[EMCMOT_MAX_AXIS]; /* maximum output value allowed, volts */
!   double minFerror[EMCMOT_MAX_AXIS]; /* minimum allowable following error */
!   double maxFerror[EMCMOT_MAX_AXIS]; /* maximum allowable following error */
!   double limitVel;              /* scalar upper limit on vel */
    double axisLimitVel[EMCMOT_MAX_AXIS];	/* scalar upper limit on axis vels */
!   double homingVel[EMCMOT_MAX_AXIS]; /* scalar max homing vels */
!   double homeOffset[EMCMOT_MAX_AXIS]; /* where to go after home, user units */
!   int probeIndex;               /* Which wire has the probe signal? */
!   int probePolarity;            /* Look for 0 or 1. */
    KINEMATICS_TYPE kinematics_type;
    PID_STRUCT pid[EMCMOT_MAX_AXIS];
!   int STEPPING_TYPE;   /* 0 = step/direction, 1 = phasing */
! 
!   int PERIOD;      /* fundamental period for timer interrupts */
    unsigned long int IO_BASE_ADDRESS;
!   int debug;			/* copy of DEBUG, from .ini file */
  
!   unsigned char tail;		/* flag count for mutex detect */
  } EMCMOT_CONFIG;
  
  typedef struct
  {
--- 402,430 ----
    double servoCycleTime;
    int interpolationRate;
!   double maxLimit[EMCMOT_MAX_AXIS];     /* maximum axis limits, counts */
!   double minLimit[EMCMOT_MAX_AXIS];     /* minimum axis limits, counts */
!   double minOutput[EMCMOT_MAX_AXIS];    /* minimum output value allowed, volts */
!   double maxOutput[EMCMOT_MAX_AXIS];    /* maximum output value allowed, volts */
!   double minFerror[EMCMOT_MAX_AXIS];    /* minimum allowable following error */
!   double maxFerror[EMCMOT_MAX_AXIS];    /* maximum allowable following error */
!   double limitVel;                      /* scalar upper limit on vel */
    double axisLimitVel[EMCMOT_MAX_AXIS];	/* scalar upper limit on axis vels */
!   double homingVel[EMCMOT_MAX_AXIS];    /* scalar max homing vels */
!   double homeOffset[EMCMOT_MAX_AXIS];   /* where to go after home, user units */
!   int probeIndex;                       /* Which wire has the probe signal? */
!   int probePolarity;                    /* Look for 0 or 1. */
    KINEMATICS_TYPE kinematics_type;
    PID_STRUCT pid[EMCMOT_MAX_AXIS];
!   int STEPPING_TYPE;                    /* 0 = step/direction, 1 = phasing */
!   double setup_time[EMCMOT_MAX_AXIS];      /* number of periods before step occurs that dir changes */
!   double hold_time[EMCMOT_MAX_AXIS];       /* number of periods that step line is held low/high after transition */
!   int PERIOD;                           /* fundamental period for timer interrupts */
    unsigned long int IO_BASE_ADDRESS;
!   int debug;		            	/* copy of DEBUG, from .ini file */
  
!   unsigned char tail;	        	/* flag count for mutex detect */
  } EMCMOT_CONFIG;
  
+ /* debug struct */
  typedef struct
  {

[Emc-commit] emc emc.ini,1.13,1.14 generic.ini,1.14,1.15 lukas.ini,1.2,1.3 minitetra.ini,1.22,1.23 rs274ngc_new_sim.ini,1.5,1.6 rtsim.ini,1.3,1.4 sim.ini,1.17,1.18 stepper.ini,1.3,1.4

[<ms...@us...>]

Update of /cvsroot/emc/emc
In directory sc8-pr-cvs1:/tmp/cvs-serv20968

Modified Files:
	emc.ini generic.ini lukas.ini minitetra.ini 
	rs274ngc_new_sim.ini rtsim.ini sim.ini stepper.ini 
Log Message:
Substantial changes to freqmod and new ini file variables

Index: emc.ini
===================================================================
RCS file: /cvsroot/emc/emc/emc.ini,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** emc.ini	10 Nov 2002 00:08:26 -0000	1.13
--- emc.ini	21 Jul 2003 02:51:32 -0000	1.14
***************
*** 162,165 ****
--- 162,167 ----
  MIN_FERROR = 0.010
  HOMING_VEL =                    0.1
+ SETUP_TIME = 			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0.0
  ENABLE_POLARITY =               0
***************
*** 213,216 ****
--- 215,220 ----
  MIN_FERROR = 0.010
  HOMING_VEL =                    0.1
+ SETUP_TIME = 			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0.0
  ENABLE_POLARITY =               0
***************
*** 264,267 ****
--- 268,273 ----
  MIN_FERROR = 0.010
  HOMING_VEL =                    0.1
+ SETUP_TIME = 			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0.0
  ENABLE_POLARITY =               0

Index: generic.ini
===================================================================
RCS file: /cvsroot/emc/emc/generic.ini,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** generic.ini	10 Nov 2002 00:08:26 -0000	1.14
--- generic.ini	21 Jul 2003 02:51:32 -0000	1.15
***************
*** 181,184 ****
--- 181,186 ----
  MIN_FERROR = 0.010
  HOMING_VEL =                    0.1
+ SETUP_TIME = 			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0.0
  ENABLE_POLARITY =               0
***************
*** 232,235 ****
--- 234,239 ----
  MIN_FERROR = 0.010
  HOMING_VEL =                    0.1
+ SETUP_TIME = 			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0.0
  ENABLE_POLARITY =               0
***************
*** 283,286 ****
--- 287,292 ----
  MIN_FERROR = 0.010
  HOMING_VEL =                    0.1
+ SETUP_TIME = 			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0.0
  ENABLE_POLARITY =               0

Index: lukas.ini
===================================================================
RCS file: /cvsroot/emc/emc/lukas.ini,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** lukas.ini	19 May 2002 01:02:48 -0000	1.2
--- lukas.ini	21 Jul 2003 02:51:32 -0000	1.3
***************
*** 158,161 ****
--- 158,163 ----
  MIN_FERROR = 1000.000
  HOMING_VEL =                    0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0
  ENABLE_POLARITY =               0
***************
*** 194,197 ****
--- 196,201 ----
  MIN_FERROR = 1000.000
  HOMING_VEL =                    0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0
  ENABLE_POLARITY =               0
***************
*** 230,233 ****
--- 234,239 ----
  MIN_FERROR = 1000.000
  HOMING_VEL =                    0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0
  ENABLE_POLARITY =               0

Index: minitetra.ini
===================================================================
RCS file: /cvsroot/emc/emc/minitetra.ini,v
retrieving revision 1.22
retrieving revision 1.23
diff -C2 -d -r1.22 -r1.23
*** minitetra.ini	7 May 2003 19:49:50 -0000	1.22
--- minitetra.ini	21 Jul 2003 02:51:32 -0000	1.23
***************
*** 167,170 ****
--- 167,172 ----
  MIN_FERROR = 1.000
  HOMING_VEL =			0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =			0.0
  ENABLE_POLARITY =		0
***************
*** 203,206 ****
--- 205,210 ----
  MIN_FERROR = 1.000
  HOMING_VEL =			0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =			0.0
  ENABLE_POLARITY =		0
***************
*** 239,242 ****
--- 243,248 ----
  MIN_FERROR = 1.000
  HOMING_VEL =			0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =			0.0
  ENABLE_POLARITY =		0
***************
*** 275,278 ****
--- 281,286 ----
  MIN_FERROR = 1.000
  HOMING_VEL =			0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =			0.0
  ENABLE_POLARITY =		0
***************
*** 311,314 ****
--- 319,324 ----
  MIN_FERROR = 1.000
  HOMING_VEL =			0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =			0.0
  ENABLE_POLARITY =		0
***************
*** 347,350 ****
--- 357,362 ----
  MIN_FERROR = 1.000
  HOMING_VEL =			0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =			0.0
  ENABLE_POLARITY =		0

Index: rs274ngc_new_sim.ini
===================================================================
RCS file: /cvsroot/emc/emc/rs274ngc_new_sim.ini,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** rs274ngc_new_sim.ini	19 May 2002 01:02:48 -0000	1.5
--- rs274ngc_new_sim.ini	21 Jul 2003 02:51:32 -0000	1.6
***************
*** 142,145 ****
--- 142,147 ----
  MIN_FERROR = 0.100
  HOMING_VEL =                    0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0.1
  ENABLE_POLARITY =               1
***************
*** 193,196 ****
--- 195,200 ----
  MIN_FERROR = 0.100
  HOMING_VEL =                    0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   -0.1
  ENABLE_POLARITY =               1
***************
*** 244,247 ****
--- 248,253 ----
  MIN_FERROR = 0.100
  HOMING_VEL =                    0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0.0
  ENABLE_POLARITY =               1

Index: rtsim.ini
===================================================================
RCS file: /cvsroot/emc/emc/rtsim.ini,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** rtsim.ini	19 May 2002 01:02:48 -0000	1.3
--- rtsim.ini	21 Jul 2003 02:51:32 -0000	1.4
***************
*** 140,143 ****
--- 140,145 ----
  MIN_FERROR = 0.100
  HOMING_VEL =                    0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0.1
  ENABLE_POLARITY =               1
***************
*** 191,194 ****
--- 193,198 ----
  MIN_FERROR = 0.100
  HOMING_VEL =                    0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   -0.1
  ENABLE_POLARITY =               1
***************
*** 242,245 ****
--- 246,251 ----
  MIN_FERROR = 0.100
  HOMING_VEL =                    0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0.0
  ENABLE_POLARITY =               1

Index: sim.ini
===================================================================
RCS file: /cvsroot/emc/emc/sim.ini,v
retrieving revision 1.17
retrieving revision 1.18
diff -C2 -d -r1.17 -r1.18
*** sim.ini	19 May 2002 01:02:48 -0000	1.17
--- sim.ini	21 Jul 2003 02:51:32 -0000	1.18
***************
*** 158,161 ****
--- 158,163 ----
  MIN_FERROR = 0.100
  HOMING_VEL =                    0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0.0
  ENABLE_POLARITY =               1
***************
*** 209,212 ****
--- 211,216 ----
  MIN_FERROR = 0.100
  HOMING_VEL =                    0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0.0
  ENABLE_POLARITY =               1
***************
*** 260,263 ****
--- 264,269 ----
  MIN_FERROR = 0.100
  HOMING_VEL =                    0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =                   0.0
  ENABLE_POLARITY =               1

Index: stepper.ini
===================================================================
RCS file: /cvsroot/emc/emc/stepper.ini,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** stepper.ini	7 May 2003 19:49:50 -0000	1.3
--- stepper.ini	21 Jul 2003 02:51:33 -0000	1.4
***************
*** 180,183 ****
--- 180,185 ----
  MIN_FERROR = 1.000
  HOMING_VEL =			0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =			0.0
  ENABLE_POLARITY =		0
***************
*** 217,220 ****
--- 219,224 ----
  MIN_FERROR = 1.000
  HOMING_VEL =			0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =			0.0
  ENABLE_POLARITY =		0
***************
*** 254,257 ****
--- 258,263 ----
  MIN_FERROR = 1.000
  HOMING_VEL =			0.1
+ SETUP_TIME =			1
+ HOLD_TIME =			2
  HOME_OFFSET =			0.0
  ENABLE_POLARITY =		0

[Emc-commit] documents/lyx User_Hardware.lyx,1.3,1.4

[<ray...@us...>]

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv5962

Modified Files:
	User_Hardware.lyx 
Log Message:
cleanup editing

Index: User_Hardware.lyx
===================================================================
RCS file: /cvsroot/emc/documents/lyx/User_Hardware.lyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** User_Hardware.lyx	19 Jul 2003 21:35:13 -0000	1.3
--- User_Hardware.lyx	20 Jul 2003 14:30:38 -0000	1.4
***************
*** 2495,2499 ****
  \color black
  
! \begin_inset LatexCommand \index{MIN_FERROR}
  
  \end_inset 
--- 2495,2499 ----
  \color black
  
! \begin_inset LatexCommand \index{MIN FERROR}
  
  \end_inset 
***************
*** 2653,2657 ****
  Base address for the port used for IO.
   You should set this so that it is different from the base address used
!  for step and direction signals.
  \layout Standard
  
--- 2653,2659 ----
  Base address for the port used for IO.
   You should set this so that it is different from the base address used
!  for step and direction signals if there is a chance that you want to use
!  the bridgeportio and bridgeporttask files rather than the minimillio and
!  minimilltask.
  \layout Standard
  
***************
*** 2672,2734 ****
  \layout Section
  
- Configuring EMC 
- \layout Subsection
- 
  Some Ini File Problems That I've Encountered
  \layout Standard
  
! My system 
! \layout Standard
! 
! Tigerdirect cheapo tower and board - S3 chipset.
!  
! \family typewriter 
! \size small 
! 
! \newline 
! 
! \family default 
! \size default 
! Cyrix pr300 - 233 actual 
! \family typewriter 
! \size small 
! 
! \newline 
! 
! \family default 
! \size default 
! 64M ram memory 
! \family typewriter 
! \size small 
! 
! \newline 
! 
! \family default 
! \size default 
! Mandrake 7.0 
! \family typewriter 
! \size small 
! 
! \newline 
! 
! \family default 
! \size default 
! Rtlinux-2.0 prepatched (how is a subject that I am writing for handbook)
!  
! \layout Standard
! 
! emc-05-May-2000.tgz download and install (a problem with emcsh compile)Email
!  me for my work arounds on these.
!  
! \layout Standard
! 
! Throughout this page I will use dark green letters to indicate the lines
!  of text that I entered into the console (konsole).
!  I will use dark red to indicate the response of the computer to my command.
!  Medium red lines are the focus on the discussion.  For the sake of brevity,
!  I have edited many of the responses of the computer when it was asked to
!  compile large numbers of files.
!  Some of these lengthy responses are included as files and  are linked to
!  this document so that you can compare your results.
  \layout Standard
  
--- 2674,2681 ----
  \layout Section
  
  Some Ini File Problems That I've Encountered
  \layout Standard
  
! The following is from an EMC list post a couple of years ago by Ray Henry.
  \layout Standard
  
***************
*** 2984,2988 ****
   is registered to so I look in the Kmenu under settings / information /
   I/O port information / in the popup menus for Mandrake 7.
!  Yours may be different! [ part2/images/sysinfo.gif]
  \layout Standard
  
--- 2931,2935 ----
   is registered to so I look in the Kmenu under settings / information /
   I/O port information / in the popup menus for Mandrake 7.
!  Yours may be different! 
  \layout Standard
  
***************
*** 2997,3180 ****
  
  \layout Standard
- 
- Setting up Stepper Motors (from the nist page) 
- \layout Standard
- 
- Currently the EMC supports stepper motors with a 2-bit step-and-direction
-  interface, with bits mapped to the parallel port.
-  Each parallel port has 12 bits of output and 5 bits of input.
-  The outputs are used to drive the step and direction of each motor.
-  12 bits of output mean that up to 6 stepper motors can be controlled.
-  The inputs can be used to detect limit or home switch trips.
-  5 bits of input mean that only one axes can get full positive, negative,and
-  home switch inputs.
-  The EMC mapping compromises for 3 axes of stepper motor control, with all
-  positive limit switches being mapped to one input, all negative limit switches
-  being mapped to another input, and all home switches being mapped to a
-  third input.
-  Other permutations are possible, of course, and can be changed in the software.
-  You could also add 2 additional parallel ports (LPT2, LPT3), and get 36
-  bits of output and 15 bits of input.
-  Some parallel ports also let you take 4 outputs and use them as inputs,
-  for 8 outputs and 9 inputs for each parallel port.
-  This would let you get 3 axes of control and full switch input per parallel
-  port.
- \layout Comment
- 
- See Using the PC parallel port for digital I/O for more information on the
-  parallel port.
-  
- \layout Standard
- 
- The pin-out for the EMC stepper motor interface is as follows: 
- \layout Standard
- 
- 
- \family typewriter 
- \size small 
- Output\SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- Parallel\SpecialChar ~
- Port 
- \newline 
- ------\SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- ------------- 
- \newline 
- X\SpecialChar ~
- direction\SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- D0,\SpecialChar ~
- pin\SpecialChar ~
- 2 
- \newline 
- X\SpecialChar ~
- clock\SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- D1,\SpecialChar ~
- pin\SpecialChar ~
- 3 
- \newline 
- Y\SpecialChar ~
- direction\SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- D2,\SpecialChar ~
- pin\SpecialChar ~
- 4 
- \newline 
- Y\SpecialChar ~
- clock\SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- D3,\SpecialChar ~
- pin\SpecialChar ~
- 5 
- \newline 
- Z\SpecialChar ~
- direction\SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- D4,\SpecialChar ~
- pin\SpecialChar ~
- 6 
- \newline 
- Z\SpecialChar ~
- clock\SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- D5,\SpecialChar ~
- pin\SpecialChar ~
- 7 
- \layout Standard
- 
- 
- \family typewriter 
- \size small 
- Input\SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- Parallel\SpecialChar ~
- Port
- \newline 
- -----\SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- ------------- 
- \newline 
- X/Y/Z\SpecialChar ~
- lim\SpecialChar ~
- +\SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- S3,\SpecialChar ~
- pin\SpecialChar ~
- 15 
- \newline 
- X/Y/Z\SpecialChar ~
- lim\SpecialChar ~
- -\SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- S4,\SpecialChar ~
- pin\SpecialChar ~
- 13 
- \newline 
- X/Y/Z\SpecialChar ~
- home\SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- \SpecialChar ~
- S5,\SpecialChar ~
- pin\SpecialChar ~
- 12
- \layout Standard
- \pextra_type 2 \pextra_alignment 1 \pextra_widthp 70
- 
- Stepper motor control is implemented using a second real-time task that
-  runs at 100 microseconds.
-  This task writes the parallel port output with bits set or cleared based
-  on whether the pulse should be raised or lowered.
-  This gives an effective period of 200 microseconds for a full up-and-down
-  pulse, or a frequency limited to about 5 kilohertz.
- \layout Standard
  \pextra_type 2 \pextra_alignment 1 \pextra_widthp 70
  
--- 2944,2947 ----
***************
*** 3557,3560 ****
--- 3324,3329 ----
  0 
  \newline 
+ 
+ \series bold 
  MIN_LIMIT_SWITCH_POLARITY =\SpecialChar ~
  \SpecialChar ~
***************
*** 3583,3586 ****
--- 3352,3357 ----
  1 
  \newline 
+ 
+ \series default 
  HOMING_POLARITY =\SpecialChar ~
  \SpecialChar ~
***************
*** 3632,3832 ****
  \SpecialChar ~
  \SpecialChar ~
! 1 
! \newline 
! ; Parameters for Inland Motor BMHS-0701 X 20 
! \newline 
! TORQUE_UNITS =\SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! OZ_IN 
! \newline 
! ARMATURE_RESISTANCE =\SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! 1.10 
! \newline 
! ARMATURE_INDUCTANCE =\SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! 0.0120 
! \newline 
! BACK_EMF_CONSTANT =\SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! 0.0254 
! \newline 
! ROTOR_INERTIA =\SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! 0.0104 
! \newline 
! DAMPING_FRICTION_COEFFICIENT =\SpecialChar ~
! \SpecialChar ~
! 0.083 
! \newline 
! SHAFT_OFFSET =\SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! 0 
! \newline 
! REVS_PER_UNIT =\SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! 10 
! \newline 
! ; Parameters for generic amplifier 
! \newline 
! AMPLIFIER_GAIN =\SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! 1 
! \newline 
! MAX_OUTPUT_CURRENT =\SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! 10 
! \newline 
! LOAD_RESISTANCE =\SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! 1 
! \newline 
! ; parameters for generic encoder 
! \newline 
! COUNTS_PER_REV =\SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! \SpecialChar ~
! 4096
  \layout Standard
  
--- 3403,3407 ----
  \SpecialChar ~
  \SpecialChar ~
! 1
  \layout Standard
  
***************
*** 3838,3843 ****
   That way it will home as soon as we press the home button.
   And it will never hit a hard limit.
!  I should caution you that you don't want to run a real machine this way,
!  at least not for long.
   
  \layout Standard
--- 3413,3418 ----
   That way it will home as soon as we press the home button.
   And it will never hit a hard limit.
!  I should caution you that you don't want to run a very big real machine
!  this way, at least not for long.
   
  \layout Standard
***************
*** 4029,4033 ****
   file is trying to tell me, I'll just switch definitions of the I/O system.
   I can do this by changing one line.
!  [part2/images/ioshow2.gif]
  \layout Standard
  \align center \pextra_type 2 \pextra_alignment 1 \pextra_hfill 1 \pextra_start_minipage 1 \pextra_widthp 30
--- 3604,3608 ----
   file is trying to tell me, I'll just switch definitions of the I/O system.
   I can do this by changing one line.
!  
  \layout Standard
  \align center \pextra_type 2 \pextra_alignment 1 \pextra_hfill 1 \pextra_start_minipage 1 \pextra_widthp 30
***************
*** 4201,4212 ****
  \layout Standard
  
! When If you have stepper motors and a stepper motor controller that requires
!  phase stepping, then freqmod.o is a solution.
!  Phase stepping requires the computer to output the motor phase signals
!  directly, the stepper driver is just an amplifier.
! \layout Standard
! 
! This procedure version 1.0 John Sheahan 11 September 2001, Developed with
!  linux kernel2.2.18 / rtlinux-rtl3.0-6 / :emc-2.07.
   Setup of linux/emc is covered elsewhere and must be done first
  \layout Standard
--- 3776,3781 ----
  \layout Standard
  
! This procedure version 1.0 was written by John Sheahan 11 September 2001.
!  It was developed with linux kernel2.2.18 / rtlinux-rtl3.0-6 / :emc-2.07.
   Setup of linux/emc is covered elsewhere and must be done first
  \layout Standard
***************
*** 4870,4877 ****
   click run and watch it all whir.
   then its probably time to connect up more mechanics and test some more.
-  
- \layout Standard
- 
- John Sheahan
  \layout Section
  
--- 4439,4442 ----

[Emc-commit] documents/lyx User_Linux.lyx,1.2,1.3

[<ray...@us...>]

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv31363

Modified Files:
	User_Linux.lyx 
Log Message:
edit

Index: User_Linux.lyx
===================================================================
RCS file: /cvsroot/emc/documents/lyx/User_Linux.lyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** User_Linux.lyx	18 Jul 2003 18:46:07 -0000	1.2
--- User_Linux.lyx	20 Jul 2003 13:52:58 -0000	1.3
***************
*** 61,64 ****
--- 61,69 ----
  
  Login
+ \begin_inset LatexCommand \index{Login}
+ 
+ \end_inset 
+ 
+ 
  \layout Standard
  
***************
*** 89,93 ****
  \layout LyX-Code
  
! Password: _
  \layout Standard
  
--- 94,103 ----
  \layout LyX-Code
  
! Password
! \begin_inset LatexCommand \index{Password}
! 
! \end_inset 
! 
! : _
  \layout Standard
  
***************
*** 1175,1179 ****
  \layout LyX-Code
  
! script 
  \layout Standard
  
--- 1185,1194 ----
  \layout LyX-Code
  
! script
! \begin_inset LatexCommand \index{script}
! 
! \end_inset 
! 
!  
  \layout Standard
  
***************
*** 1182,1186 ****
  \layout LyX-Code
  
! typescript 
  \layout Standard
  
--- 1197,1206 ----
  \layout LyX-Code
  
! typescript
! \begin_inset LatexCommand \index{typescript}
! 
! \end_inset 
! 
!  
  \layout Standard