emc-commit — CVS commit notification list.

[Emc-commit] documents/lyx LyX_Notes.lyx,NONE,1.1

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

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv8275

Added Files:
	LyX_Notes.lyx 
Log Message:
Writer notes for documentation

--- NEW FILE: LyX_Notes.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter
\start_of_appendix 
Notes on LyX and docbook
\layout Standard

This file has been produced from a master that is written using LyX and
 is kept in the documents module at Sourceforge.net.
 That document is written using a plain book layout and the bookman font.
 There are a few notes below for developers who wish to edit this text.
\layout Enumerate

Cut'n paste table and figure methods to the relevant chapters.
\layout Enumerate

Although *.eps graphics are claimed to be required for rendering - These
 are spec'ed as *png in HTML output - Images can in fact use any valid extension
 which will be echoed in the output.
 
\layout Enumerate

Bare in mind that if a pdf document is required, the images need to be in
 a postscript format first.
\layout Enumerate

Perhaps an effort should be made to convert ALL images to png as a matter
 of course.
\layout Standard

Conversion of images is a simple matter of using Imagemagic from the command
 line with :-
\layout Standard


\family typewriter 
\shape italic 
\size small 
\color black
convert image.gif image.eps
\newline 
convert image.gif image.png
\layout Standard

Using anything other than *.eps can cause problems with ghostscript on startup,
 and also some problems with generating pdf docs.
 
\layout Subsection

Fonts
\layout Itemize

Bookman is the default font used in all EMC handbooks.
\layout Itemize

Normal text - block as standard 10 point.
\layout Itemize

Excerpts from ini files and sources - Smaller or Smallest Typewriter
\layout Itemize

Commands typed in at a command line - Smaller or Smallest Typewriter Italic
\layout Itemize

Output from above commands - Smaller or Smallest Typewriter Black
\layout Standard

Note - When more than one blank space is required between characters, use
 one or more 
\begin_inset Quotes eld
\end_inset 

Protected Blank
\begin_inset Quotes erd
\end_inset 

 from Insert -> Special Character.
 This will then be displayed correctly in the final printout.
 Failure to use Protected Blanks will result in 'strange' characters being
 printed !
\layout Standard

Note - To avoid extra lines being inserted between each line of code or
 command output, terminate each line with a LineBreak (Ctrl-Return)in stead
 of the usual Return.
 It is not a good idea to use Protected Blanks at the beginning of these
 lines as the do not get reproduced very well.
\the_end

[Emc-commit] documents/lyx Glossary.lyx,1.7,1.8

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

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv7939

Modified Files:
	Glossary.lyx 
Log Message:
added kinematics from Sagar

Index: Glossary.lyx
===================================================================
RCS file: /cvsroot/emc/documents/lyx/Glossary.lyx,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** Glossary.lyx	21 Jun 2003 16:07:56 -0000	1.7
--- Glossary.lyx	5 Jul 2003 01:49:13 -0000	1.8
***************
*** 24,28 ****
  \paperpagestyle default
  
! \layout Title
  
  Glossary of Common Terms Used in the EMC Documents 
--- 24,28 ----
  \paperpagestyle default
  
! \layout Chapter
  
  Glossary of Common Terms Used in the EMC Documents 

[Emc-commit] documents/lyx User_BDI_Install.lyx,NONE,1.1 User_Gcode_Basics.lyx,NONE,1.1 User_Gcode_Computation.lyx,NONE,1.1 User_Gcode_Coordinates.lyx,NONE,1.1 User_Gcode_Mill_Canned.lyx,NONE,1.1 User_Gcode_Tools.lyx,NONE,1.1 User_Gcode_Variables.lyx,NONE,1.1 User_GUI_Mini.lyx,NONE,1.1 User_GUI_Tkemc.lyx,NONE,1.1 User_Hardware.lyx,NONE,1.1 User_Linux.lyx,NONE,1.1 User_Whatis_EMC.lyx,NONE,1.1

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

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv7272

Added Files:
	User_BDI_Install.lyx User_Gcode_Basics.lyx 
	User_Gcode_Computation.lyx User_Gcode_Coordinates.lyx 
	User_Gcode_Mill_Canned.lyx User_Gcode_Tools.lyx 
	User_Gcode_Variables.lyx User_GUI_Mini.lyx User_GUI_Tkemc.lyx 
	User_Hardware.lyx User_Linux.lyx User_Whatis_EMC.lyx 
Log Message:
modular files for User Handbook

--- NEW FILE: User_BDI_Install.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter

Installing The EMC from a Standard Distribution
\layout Section

BDI
\layout Standard

At the time that this was written there were three Brain Dead Install Distributi
ons available.
 Don't be put off by the name Brain Dead.
 The name came from a thread on the CAD_CAM_EDM_DRO list, now at yahoogroups.com.
 This thread started as a complaint about how difficulty it was to get the
 EMC up and running.
 It became known as brain dead because it was so easy to install compared
 to finding and compiling all of the parts needed to make an EMC run.
 You should not consider the term brain dead to refer to the one doing the
 installation.
 
\layout Standard

These disks or downloadable images
\begin_float footnote 
\layout Standard

Download sites include ....
 
\layout Standard


\begin_inset LatexCommand \htmlurl[http://www.linuxcnc.org/bdi/]{http://www.linuxcnc.org/bdi/}

\end_inset 


\end_float 
 are called distributions because they contain all of the files needed to
 run the EMC.
 Each is complete in itself.
 With this CD and a reasonably standard Pentium, Cyrix, K6, or Athalon you
 can control machines.
 All of the current distributions have about the same EMC so you should
 not think that one is more capable of making chips or running a machine
 that is another.
 I'll briefly describe each distribution and then get to the installation
 stuff.
\layout Subsection

BDI 2.xx
\layout Standard

The BDI-2.18 uses packages from the Red Hat 6 series.  The BDI is complete
 in itself so that nothing  needs to be added to begin with.  I run the 2.18
 here on a 200 MHz machine  with a 1.5 Gig hard drive and 64 Meg of RAM. 
 This combination runs my little Grizzly stepper mill easily at 36 ipm. 
 A computer like that above is all that is needed for this distribution.
 This is the greatest advantage of the 2.xx series.
 It will run well on very old very slow computers.
\layout Standard

It's biggest limitation is in the graphical interface stuff and the hardware
 that it will recognize.
 Now days I miss having a wheel mouse run my files up and down.
 The editors and file and net browsers with this do not respond to the wheel.
\layout Subsection

TNG
\layout Standard

The BDI-TNG (The Next Generation) runs  with the Red Hat 7.2.
 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 like
 running the machine while I am editing a g-code file.  
\layout Subsection

Live
\layout Standard

The BDI-Live is based on the Morphix distribution of Linux.
 This distribution is intended as a way for potentiao users to test out
 the EMC without having to install in on a hard drive and work out dual
 boot if they need that other OS.
 
\layout Section

What is the minimum specification of the computer required?
\layout Standard

An old P133 with 16-32Mb RAM, a 500Mb IDE hard drive, and a CDROM drive
 that can be booted from.
 If you want good performance from stepper motors, a Pentium 233 or better
 is recommended.
\layout Section

Can I use a laptop computer
\layout Standard

This is allways a difficult question to answer.
 Most of the laptop computers use non-standard hardware for the LCD screen,
 some of which are supported under Linux.
 The CDROM drive can also be a major source of trouble especially if it
 can be swapped out of the same bay as the floppy drive.
\layout Standard

In short, unless you are experienced in installing linux on a laptop, buy
 a cheap desktop computer.
 This is not to say it is impossible, rather it is outside the scope of
 this FAQ.
\layout Section

Do I need to install Linux first ?
\layout Standard

No - The BDI automatically installs and configures linux along with EMC.
\layout Section

Will it run under Windows 98 ?
\layout Standard

No.
 The install will remove the Microsoft virus for you.
 :) 
\layout Section

Can I run a hexapod with it ?
\layout Standard

Yes you can.
\layout Section

I get a screen full of error messages, but no graphical install screen when
 I try to install the BDI ?
\layout Standard

The install CD is not recognizing some of your hardware.
 Try to change your display card to some other listed in 
\begin_inset LatexCommand \htmlurl[http://www.redhat.com/support/hardware/]{http://www.redhat.com/support/hardware/}

\end_inset 

 "supported-hardware"-list.
 You could also ask if there is version of BDI-CD that can handle your hardware.
 You can also look for answer from BDI's pages at 
\begin_inset LatexCommand \htmlurl[http://www.linuxcnc.org/bdi/ ]{http://www.linuxcnc.org/bdi/ }

\end_inset 


\layout Section

I can't access the floppy drive with the Floppy icon.
\layout Standard

The floppy icon on the KDE desktop need to point to the correct device/directory.
 Right click on the icon - Properties - Device.Set both 'Device' and 'Mount
 Point' to /mnt/floppy.
\layout Section

The computer crashes when I try to make a move in EMC
\layout Standard

Try to edit your .ini file.
 Problem propably lies in there.
 Try to run sim.run script and if that's ok, use that .ini file as base for
 your own ini-file.
 Later on we'll put couple of working ini-files here.
 For now, you can find them from 
\begin_inset LatexCommand \htmlurl[http://www.linuxcnc.org/dropbox]{http://www.linuxcnc.org/dropbox}

\end_inset 


\layout Section

Can I print from the BDI linux ?
\layout Standard

Yes - But to configure the print driver, you will need two files found on
 the Programs page.
 Install control-panel followed by printtool then open up a console window
 and run printtool (you'll need to be root to do this).
\layout Section

How do I burn a CD from the downloaded image ?
\layout Standard

You have downloaded the ISO image of the BDI from the web now want to burn
 a CD on a Windows box....
\layout Standard

The following note was received from Mark Nudelman -
\layout Standard

1) Download BDI .img file from 
\begin_inset LatexCommand \url[www.yty.net/cnc]{http://www.yty.net/cnc}

\end_inset 


\layout Standard

2) Change the .img extension to a .iso extension
\layout Standard

3) From a CD burning program (I used CD Creator 4.0) create a CD using the
 "Create CD from CD Image" option (do not try and create a regular data
 CD) and make sure that the file type is "ISO Image Files:.
\layout Standard

4) Insert this CD and a Linux boot floppy in the computer that is to be
 loaded.
 ( I already had a boot floppy from my previous install, but I think that
 windows users can use a program called rawrite.exe to help them create this
 boot disk.
 There was information available on this process on the Linux site)
\layout Standard

5) Reboot the computer and follow the BDI instructions.
\layout Standard

A couple of extra notes from correspondence with other people that have
 had trouble with the downloaded image.
\layout Standard

It would appear that one or more files can be corrupted during downloading
 or burning.
 Henkka has included a checksum so that the disk can be verifyed.
 Please follow the instructions before using the CD as a beer mat.
\layout Standard

Step 4 should not normally be necessary unless the computer will not boot
 directly from the CDROM drive.
\the_end

--- NEW FILE: User_Gcode_Basics.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
[...2896 lines suppressed...]

Table 6 G and M Code Modal Groups
\layout Standard

There is some question about the reasons why some codes are included in
 the modal group that surrounds them.
 But most of the modal groupings make sense in that only one state can be
 active at a time.
\layout Comment

M words described here.
\layout Section

Order of Execution
\layout Standard

As you write g-code blocks you need to be aware that the order in which
 you write the words is not the order in which they will be executed.
 
\the_end

--- NEW FILE: User_Gcode_Computation.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
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\papersize Default
\paperpackage a4wide
\use_geometry 0
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\paperorientation portrait
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\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter

Programming With Computation
\layout Standard

(Write this)
\the_end

--- NEW FILE: User_Gcode_Coordinates.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
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\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
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\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter

G92 Offsets and Coordinate Systems
\layout Standard

(here we describe these in detail)
\the_end

--- NEW FILE: User_Gcode_Mill_Canned.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
[...1135 lines suppressed...]
\layout Standard

The second reason to use a canned cycle is that they all produce preliminary
 moves and returns that you can anticipate and control regardless of the
 start point of the canned cycle.
\layout Comment

Credits 
\layout Comment

This page is a rather direct rip off of the relevant portion of the RS274NGC/RS2
74VGER documents from NIST.
 Thanks also to Dan Falck, Ron Wickersham, and Jon Elson for their comments
 on portions of this page.
 
\layout Comment

This page is maintained by Ray Henry Your comments and criticisms are welcome.  
 It is part of the EMC Handbook and is covered under that GPLD copyright.
\the_end

--- NEW FILE: User_Gcode_Tools.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
[...1332 lines suppressed...]
 Proctor at NIST and the cutter compensation web page of Jon Elson.
\layout Standard

Papers by Tom Kramer and Fred Proctor
\newline 
http://www.isd.mel.nist.gov/personnel/kramer/publications.html
\newline 
http://www.isd.mel.nist.gov/personnel/kramer/pubs/RS274NGC_22.pdf
\newline 
http://www.isd.mel.nist.gov/personnel/kramer/pubs/RS274VGER_11.pdf
\layout Standard

Pages by Jon Elson 
\newline 
http://artsci.wustl.edu/~jmelson/ 
\newline 
http://206.19.206.56/diacomp.htm 
\newline 
http://206.19.206.56/lencomp.htm 
\the_end

--- NEW FILE: User_Gcode_Variables.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
[...2343 lines suppressed...]
 Such a program would be much longer and would require <restart> rather
 than <run>.
\layout Standard

As the EMC interpreter exists now, there is no good way to know which coordinate
 system will be used next without looking at the machine or remembering
 the offsets as loaded into each coordinate system.
 This code will also cause an error message if you attempt to run it after
 the nineth time.
 Since the loop variable is explicit, it can be reset at any time before
 the EMC is shut down by reloading the variable file.
\layout Comment

Credits
\layout Comment

This page is a part of the EMC Handbook and is covered by its GPLD copyright.
 It is maintained by Ray Henry.
 Comments, criticism, flames, additions, subtractions, and editing are welcomed.
\the_end

--- NEW FILE: User_GUI_Mini.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter

Using The MINI Graphical Interface
\layout Comment

Describe the logic of tkemc.
 Show the screen and how to access configuration and scripts.
\the_end

--- NEW FILE: User_GUI_Tkemc.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter

Using The TKEMC Graphical Interface
\layout Comment

Describe the logic of tkemc.
 Show the screen and how to access configuration and scripts
\the_end

--- NEW FILE: User_Hardware.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
[...6406 lines suppressed...]
\layout Standard

John Sheahan
\layout Section

Servo To Go
\layout Standard

For machines that use servo motors, one option is to use the servo motor
 interface card from 
\begin_inset LatexCommand \url[Servo To Go Inc]{http://servotogo.com}

\end_inset 

.
 
\layout Comment

.
\the_end

--- NEW FILE: User_Linux.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
[...1160 lines suppressed...]
\layout LyX-Code

typescript 
\layout Standard

In the directory in which you started the script program.
 After you are done running EMC you should enter the command 
\layout LyX-Code

exit 
\layout Standard

and a history of the complete session will be saved in a file named typescript.
 It is a good idea to use this script program when you are debugging an
 EMC.
 From it you can cut and past the problem lines into your email requests
 for help.
 You will need to rename the typescript file after each session if you want
 to keep and compare the results.
\the_end

--- NEW FILE: User_Whatis_EMC.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter


\begin_inset LatexCommand \label{first-section}

\end_inset 

The Enhanced Machine Control
\layout Section

Introduction
\layout Standard

This book is intended for people who want to use the Enhanced Machine Controller
 to run a mill, lathe, router, or to control some other rather standard
 kind of machine.
 In order to get right into the essential task of operating it we have limited
 the amount of information about installation and setup.
 We assume that the user will install from one of the Brain Dead CD's.
 Machine wiring and setup is limited to what we refer to as a mini or benchtop
 mill that is powered by stepper motors and amps that use a single parallel
 port.
 
\layout Standard

If the user is interested in developing their own install using some other
 distribution of Linux or an other operating system, or applying the EMC
 to a more complex machine, they should study the Integrators Handbook where
 these topics are covered in greater detail.
 
\layout Section

History of the Software
\layout Standard

The Enhanced Machine Controller is a multipurpose motion control program
 that was started by the National Institute of Standards and Technology
 in the United States.  Most of it has been written by employees of the Departmen
t of Commerce and is therefore public domain code.
 
\layout Standard

(more history here)
\layout Standard

The files that make up the computer code are kept in a repository on www.sourcefo
rge.net.
 They are available for anyone to download and use as they see fit.  Most
 of these files are copyrighted under the GPL or GPLD license.  These files
 require that you make your source of them available to your users.
 GPL copyright also requires that if you modify the code in that file and
 make a public release of your revisions, you must return your modifications
 to the developers.
 
\layout Section

Computer Operating Systems 
\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 as most of us
 call them.
 The BDI is a complete distribution.
 They contain compatable versions of Linux, the Real-Time extensions, and
 pre-compiled EMC files.
\layout Standard

The EMC will not run under a normal MicroSoft (tm) operating system.
 The reason for this is that the EMC requires a real-time environment for
 the proper opertion of its motion planning and stepper pulse outputs.
 It is possible to purchase additional software that will compile the EMC
 code and other software that creates the real-time environment so that
 it will run with a MicroSoft (tm) operating system.
 The cost of these make using these operating systems difficult.
 
\layout Standard

It would be more cost effective to use of the the commercial CNC programs
 that have been losely based around or use parts of the EMC software or
 one of programs that are available for a DOS computer.
\layout Section

How the EMC Works
\layout Standard

Here is part of the official NIST
\begin_inset LatexCommand \index{NIST}

\end_inset 

 definition: "The Enhanced Machine Controller (EMC) program is a NIST effort
 to develop and validate a specification for interfaces to open architecture
 controllers."In simpler terms, EMC is a free and open source CNC controller
 program.
 It can control machine tools, robots, or other automated devices.
 It can control servo motors, stepper motors, relays,and other devices related
 to machine tools.
\layout Standard

\begin_float fig 
\layout Standard
\added_space_top smallskip \added_space_bottom smallskip \align center 

\begin_inset Figure size 357 268
file ../images/whatstep1.eps
width 3 60
flags 15

\end_inset 


\layout Caption


\begin_inset LatexCommand \label{fig:Typical_machine}

\end_inset 

Typical EMC Controlled Machine
\end_float 
\layout Standard

Figure 
\begin_inset LatexCommand \ref{fig:Typical_machine}

\end_inset 

 is a simple block diagram showing what a typical 3-axis EMC system might
 look like.
 This diagram shows a stepper motor system.
 The PC, running Linux as it's operating system, is actually controlling
 the stepper motor drives by sending signals through the printer port.
 These signals (pulses) make the stepper drives move the stepper motors.
 The EMC can also run servo motors via servo interface cards or by using
 an extended parallel port to connect with external control boards.
 
\layout Standard

\begin_float fig 
\layout Standard
\added_space_top smallskip \added_space_bottom smallskip \pextra_type 3 \pextra_widthp 50


\begin_inset Figure size 238 223
file ../images/whatpc.eps
width 3 40
flags 15

\end_inset 


\layout Caption


\begin_inset LatexCommand \label{fig:Process_diagram}

\end_inset 

Emc Process Diagram
\end_float 
\layout Standard

Figure 
\begin_inset LatexCommand \ref{fig:Process_diagram}

\end_inset 

 is a block diagram of how a personal computer running the EMC is used to
 control a machine with G-code
\begin_inset LatexCommand \index{G-code}

\end_inset 

.
 The actual G-code can be sent using the MDI (Machine Device Interface)
 mode or it can be sent as a file when the macine is in Auto mode.
 These choices are made by the operator and entered using one of the Graphical
 User Interfaces available with the software.
 
\layout Standard

G-code is sent to the interpreter which compares the new block with what
 has already been sent to it.
 The interpreter then figures out what needs to be done for the motion and
 input or output systems and sends blocks of canonical commands to the task
 and motion planning programs.
\layout Standard

\begin_float fig 
\layout Standard
\added_space_top smallskip \added_space_bottom smallskip \align center 

\begin_inset Figure size 357 322
file ../images/whaty4.eps
width 3 60
flags 11

\end_inset 


\layout Caption


\begin_inset LatexCommand \label{fig:Graphical_Interface}

\end_inset 

A Graphical Interface
\end_float 
\layout Standard
\align left 
The GUI for EMC (see figure 
\begin_inset LatexCommand \ref{fig:Graphical_Interface}

\end_inset 

) comes in many variations, text based, X Windows
\begin_inset LatexCommand \index{Windows}

\end_inset 

, Tcl/Tk, Java, etc...
 The user interface for EMC can easily be customized by users.
 
\the_end

[Emc-commit] documents/lyx README.lyx,NONE,1.1 README.txt,NONE,1.1

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

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv7204

Added Files:
	README.lyx README.txt 
Log Message:
README files

--- NEW FILE: README.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass article
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 3
\tocdepth 3
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 1
\paperpagestyle default

\layout Title

README
\layout Section

Organization of this directory
\layout Standard

This file has been produced from a master that is written using LyX and
 is kept in the documents module at Sourceforge.net.
 That document is written using a plain book layout and the bookman font.
 This SourceForge module contains the EMC documentation.
\layout Section

Master LyX Files
\layout Standard

There are three main or master files that are used to build the three handbooks.
\layout Itemize


\emph on 
Master_Developer.lyx 
\layout Itemize


\emph on 
Master_Integrator.lyx 
\layout Itemize


\emph on 
Master_User.lyx
\layout Standard

These are the master docs from which it is hoped that future handbook publicatio
ns in HTML and PDF formats will be produced.
 These files use the LyX include command to put together sets of files which
 serve as chapters or appendices within each.
 Other combinations of these chapters could be developed using similar master
 files.
\layout Section

Chapter Files
\layout Standard

Chapter files intended for the user handbook have been named User_???.lyx
 to reflect the notion that they are intended to be placed within that handbook.
 Dev and Int are used in similar matter for chapters intended for those
 handbooks as well.
\layout Standard

Each chapter file is intended to cover a logical unit.
 Each begins with a single chapter name.
\layout Section

General Files
\layout Standard

Several general files like the glossary, faq, and copyright chapters are
 also included here and can be used in each of the master documents.
 
\layout Section

LyX Versions
\layout Standard

LyX 1.1.6fix4-1 was used to write these docs - If you wish to add to them,
 LyX can be downloaded from www.lyx.org.
\layout Standard

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.
\layout Section

LyX Notes
\layout Subsection

Path Names
\layout Standard

LyX seems to be unable to handle path names starting with ../ or ~/ so make
 a symbolic link /usr/share/lyx/EMC_images/ pointing to your documents/images/
 directory.
 When generating a html document, absolute path names will be used, so you
 might want to do a search and replace on /usr/share/lyx/EMC_images.
\layout Subsection

Thoughts for contributors
\layout Standard

There are a few notes below for developers who wish to edit this text.
\layout Enumerate

Cut'n paste table and figure methods to the relevant chapters.
\layout Enumerate

Although *.eps graphics are claimed to be required for rendering - These
 are spec'ed as *png in HTML output - Images can in fact use any valid extension
 which will be echoed in the output.
 
\layout Enumerate

Bare in mind that if a pdf document is required, the images need to be in
 a postscript format first.
\layout Enumerate

Perhaps an effort should be made to convert ALL images to png as a matter
 of course.
\layout Subsection

Image conversion
\layout Standard

Conversion of images is a simple matter of using Imagemagic from the command
 line with :-
\layout Standard


\family typewriter 
\shape italic 
\size small 
\color black
convert image.gif image.eps
\newline 
convert image.gif image.png
\layout Standard

Using anything other than *.eps can cause problems with ghostscript on startup,
 and also some problems with generating pdf docs.
 
\layout Subsection

Fonts
\layout Itemize

Bookman is the default font used in all EMC handbooks.
\layout Itemize

Normal text - block as standard 10 point.
\layout Itemize

Excerpts from ini files and sources - Smaller or Smallest Typewriter
\layout Itemize

Commands typed in at a command line - Smaller or Smallest Typewriter Italic
\layout Itemize

Output from above commands - Smaller or Smallest Typewriter Black
\layout Subsection

White space
\layout Standard

When more than one blank space is required between characters, use one or
 more 
\begin_inset Quotes eld
\end_inset 

Protected Blank
\begin_inset Quotes erd
\end_inset 

 from Insert -> Special Character.
 You can also add these using <control><spacebar> from the keyboard.
 This will then be displayed correctly in the final printout.
 Failure to use Protected Blanks will result in 'strange' characters being
 shown and printed in pdf doucments!
\layout Standard

A normal enter starts a new paragraph in LyX.
 These will show up with extra lines between if you are using block mode
 or as an indented line if you are using that layout.
 To avoid extra lines being inserted between each line of code or command
 output, terminate each line with a LineBreak (Ctrl-Return)in stead of the
 usual Return.
 
\layout Standard

It is not a good idea to use Protected Blanks at the beginning of a paragraph
 as the do not get reproduced very well.
\the_end

--- NEW FILE: README.txt ---


README

1 Organization of this directory

This file has been produced from a master that is written
using LyX and is kept in the documents module at Sourceforge.net.
That document is written using a plain book layout and the
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
the three handbooks.

* Master_Developer.lyx 

* Master_Integrator.lyx 

* Master_User.lyx

These are the master docs from which it is hoped that future
handbook publications in HTML and PDF formats will be produced.
These files use the LyX include command to put together
sets of files which serve as chapters or appendices within
each. Other combinations of these chapters could be developed
using similar master files.

3 Chapter Files

Chapter files intended for the user handbook have been named
User_???.lyx to reflect the notion that they are intended
to be placed within that handbook. Dev and Int are used
in similar matter for chapters intended for those handbooks
as well.

Each chapter file is intended to cover a logical unit. Each
begins with a single chapter name.

4 General Files

Several general files like the glossary, faq, and copyright
chapters are also included here and can be used in each
of the master documents. 

5 LyX Versions

LyX 1.1.6fix4-1 was used to write these docs - If you wish
to add to them, LyX can be downloaded from www.lyx.org.

The latest release lyx-1.3.2 will read the docs, but according
to the press release, files saved with lyx-1.2.0 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
../ or ~/ so make a symbolic link /usr/share/lyx/EMC_images/
pointing to your documents/images/ directory. When generating
a html document, absolute path names will be used, so you
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
this text.

1. Cut'n paste table and figure methods to the relevant chapters.

2. Although *.eps graphics are claimed to be required for
  rendering - These are spec'ed as *png in HTML output -
  Images can in fact use any valid extension which will
  be echoed in the output. 

3. Bare in mind that if a pdf document is required, the images
  need to be in a postscript format first.

4. Perhaps an effort should be made to convert ALL images
  to png as a matter of course.

6.3 Image conversion

Conversion of images is a simple matter of using Imagemagic
from the command line with :-

convert image.gif image.eps
convert image.gif image.png

Using anything other than *.eps can cause problems with ghostscript
on startup, and also some problems with generating pdf docs. 

6.4 Fonts

* Bookman is the default font used in all EMC handbooks.

* Normal text - block as standard 10 point.

* Excerpts from ini files and sources - Smaller or Smallest
  Typewriter

* Commands typed in at a command line - Smaller or Smallest
  Typewriter Italic

* Output from above commands - Smaller or Smallest Typewriter
  Black

6.5 White space

When more than one blank space is required between characters,
use one or more "Protected Blank"
from Insert -> Special Character. You can also add these
using <control><spacebar> from the keyboard. This will then
be displayed correctly in the final printout. Failure to
use Protected Blanks will result in 'strange' characters
being shown and printed in pdf doucments!

A normal enter starts a new paragraph in LyX. These will
show up with extra lines between if you are using block
mode or as an indented line if you are using that layout.
To avoid extra lines being inserted between each line of
code or command output, terminate each line with a LineBreak
(Ctrl-Return)in stead of the usual Return. 

It is not a good idea to use Protected Blanks at the beginning
of a paragraph as the do not get reproduced very well.

[Emc-commit] documents/lyx Master_Developer.lyx,NONE,1.1 Master_Integrator.lyx,NONE,1.1 Master_User.lyx,NONE,1.1

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

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv7119

Added Files:
	Master_Developer.lyx Master_Integrator.lyx Master_User.lyx 
Log Message:
master files for three handbooks

--- NEW FILE: Master_Developer.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
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\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
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\spacing single 
\papersize Default
\paperpackage a4wide
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\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Title

The Enhanced Machine Control 
\newline 
Developer Handbook
\newline 
 
\begin_inset Figure size 288 360
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width 2 4
flags 9

\end_inset 


\layout Author

The EMC Team
\begin_float footnote 
\layout Standard

Ray Henry <re...@up...> serves as the general editor.
 Authors include Will Shackleford, Fred Proctor, Jon Elson, Don Mclain.
 
\end_float 
\layout Standard

Herein follows a collection of notes and comments on the EMC source code.
 Much of it is taken directly from the multitude of C sources, and some
 cribbed from various web sites and posts.
 This document should be considered 
\begin_inset Quotes eld
\end_inset 

work in progress
\begin_inset Quotes erd
\end_inset 

 and may contain errors.
 
\newline 

\layout Standard
\align center 
Copyright (c) 2000 - 03 LinuxCNC.org
\layout Standard
\added_space_top bigskip \pextra_type 1 \pextra_widthp 10

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
 version published by the Free Software Foundation; with no Invariant Sections,
 no Front-Cover Texts, and one Back-Cover Text: "This EMC Handbook is the
 product of several authors writing for linuxCNC.org.
 As you find it to be of value in your work, we invite you to contribute
 to its revision and growth." A copy of the license is included in the section
 entitled "GNU Free Documentation License".
 If you do not find the license you may order a copy from Free Software
 Foundation, Inc.
 59 Temple Place, Suite 330, Boston, MA 02111-1307
\layout Standard


\begin_inset LatexCommand \tableofcontents{}

\end_inset 


\layout Standard


\begin_inset Include \include{Dev_Developer.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{Dev_Source.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{Dev_Drivers.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{Dev_Makefiles.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{Dev_Custom.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{Dev_emcsh.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{Dev_iosh.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{Dev_tkio.lyx}

\end_inset 


\layout Standard
\start_of_appendix 

\begin_inset Include \input{GPLD_Copyright.lyx}

\end_inset 


\layout Chapter

Index
\layout Standard


\begin_inset LatexCommand \printindex{}

\end_inset 


\the_end

--- NEW FILE: Master_Integrator.lyx ---
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\lyxformat 218
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The Enhanced Machine Control 
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Integrator Handbook
\newline 
 
\begin_inset Figure size 288 360
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width 2 4
flags 9

\end_inset 


\layout Author

The EMC Team
\begin_float footnote 
\layout Standard

Ray Henry <re...@up...> serves as the general editor.
 Authors include Dan Falk, Will Shackleford, Fred Proctor, Jon Elson, Henkka
 Palonen.
 
\end_float 
\layout Standard

This handbook is a work in progress.
 To see where we are in the development of this book, see the Notes in the
 appendex entitled "Road Map."
\layout Standard
\align center 
Copyright (c) 2000 LinuxCNC.org
\layout Standard
\added_space_top bigskip \pextra_type 1 \pextra_widthp 10

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
 version published by the Free Software Foundation; with no Invariant Sections,
 no Front-Cover Texts, and one Back-Cover Text: "This EMC Handbook is the
 product of several authors writing for linuxCNC.org.
 As you find it to be of value in your work, we invite you to contribute
 to its revision and growth." A copy of the license is included in the section
 entitled "GNU Free Documentation License".
 If you do not find the license you may order a copy from Free Software
 Foundation, Inc.
 59 Temple Place, Suite 330, Boston, MA 02111-1307
\layout Standard


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\layout Standard


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\layout Standard


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\layout Standard


\begin_inset Include \include{Int_Configuration.lyx}

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\begin_inset Include \include{Int_pid.lyx}

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\layout Standard


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\layout Standard


\begin_inset Include \include{Int_Stripchart.lyx}

\end_inset 


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\layout Standard
\start_of_appendix 

\begin_inset Include \include{faq.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{Glossary.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{GPLD_Copyright.lyx}

\end_inset 


\layout Chapter

Index
\layout Standard


\begin_inset LatexCommand \printindex{}

\end_inset 


\the_end

--- NEW FILE: Master_User.lyx ---
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The Enhanced Machine Control 
\newline 
User Handbook
\newline 
 
\begin_inset Figure size 288 360
file /usr/share/lyx/EMC_images/Chips.eps
width 2 4
flags 9

\end_inset 


\layout Author

The EMC Team
\begin_float footnote 
\layout Standard

Ray Henry <re...@up...> serves as the general editor.
 Authors include Dan Falk, Will Shackleford, Fred Proctor, Jon Elson, Henkka
 Palonen.
 
\end_float 
\layout Standard

This handbook is a work in progress.
 To see where we are in the development of this book, see the Notes in the
 appendex entitled "Road Map."
\layout Standard
\align center 
Copyright (c) 2000-3 LinuxCNC.org
\layout Standard
\added_space_top bigskip \pextra_type 1 \pextra_widthp 10

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
 version published by the Free Software Foundation; with no Invariant Sections,
 no Front-Cover Texts, and one Back-Cover Text: "This EMC Handbook is the
 product of several authors writing for linuxCNC.org.
 As you find it to be of value in your work, we invite you to contribute
 to its revision and growth." A copy of the license is included in the section
 entitled "GNU Free Documentation License".
 If you do not find the license you may order a copy from Free Software
 Foundation, Inc.
 59 Temple Place, Suite 330, Boston, MA 02111-1307
\layout Standard


\begin_inset LatexCommand \tableofcontents{}

\end_inset 


\layout Standard


\begin_inset Include \include{User_Whatis_EMC.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{User_BDI_Install.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{User_Linux.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{User_Hardware.lyx}

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\layout Standard


\begin_inset Include \include{User_GUI_Mini.lyx}

\end_inset 


\layout Standard


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\end_inset 


\layout Standard


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\end_inset 


\layout Standard


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\end_inset 


\layout Standard


\begin_inset Include \include{User_Gcode_Variables.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{User_Gcode_Computation.lyx}

\end_inset 


\layout Standard
\start_of_appendix 

\begin_inset Include \include{Glossary.lyx}

\end_inset 


\layout Standard


\begin_inset Include \include{GPLD_Copyright.lyx}

\end_inset 


\layout Standard


\begin_inset LatexCommand \printindex{}

\end_inset 


\the_end

[Emc-commit] documents/lyx Int_Configuration.lyx,NONE,1.1 Int_EMC_Compile.lyx,NONE,1.1 Int_ini_reference.lyx,NONE,1.1 Int_Introduction.lyx,NONE,1.1 Int_Linux_setup.lyx,NONE,1.1 Int_parport.lyx,NONE,1.1 Int_pid.lyx,NONE,1.1 Int_ppac.lyx,NONE,1.1 Int_remote_operation.lyx,NONE,1.1 Int_stg.lyx,NONE,1.1 Int_Stripchart.lyx,NONE,1.1

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

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv6045

Added Files:
	Int_Configuration.lyx Int_EMC_Compile.lyx 
	Int_ini_reference.lyx Int_Introduction.lyx Int_Linux_setup.lyx 
	Int_parport.lyx Int_pid.lyx Int_ppac.lyx 
	Int_remote_operation.lyx Int_stg.lyx Int_Stripchart.lyx 
Log Message:
modular files for integrator handbook

--- NEW FILE: Int_Configuration.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
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\paragraph_separation skip
\defskip smallskip
[...2195 lines suppressed...]
\layout Standard

you miscalculated or mistyped the distance.
\layout Standard

the motor body moved
\layout Standard

the shaft marker moved (it got me!)
\layout Standard

the input_scale setting is wrong on that axis now switch to auto mode (F4
 or the mouse) and file->open the skeleton file.
 click run and watch it all whir.
 then its probably time to connect up more mechanics and test some more.
 
\layout Standard

John Sheahan
\the_end

--- NEW FILE: Int_EMC_Compile.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
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\language english
\inputencoding default
\fontscheme bookman
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\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
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\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter

Getting and setting up EMC software
\layout Section

Introduction
\layout Standard

The third hurdle that you face when you begin to set up the EMC is getting
 and installing the EMC software itself.
 Much of the EMC and RCSLIB have been placed on SourceForge.net in a concurrent
 versioning repository and are available for download from that site.
 Along with that change there has been a change in the nature of the distributio
ns.
\layout Standard

Installation can be a daunting task to people new to Linux.
 The hardest part is getting the Real Time Linux patch up and running.
 After that, installing EMC is pretty easy.
 With that said, most people have found that the easiest way to install
 Real Time Linux and EMC is to go to Tim Goldstein's web page and use his
 install script for EMC on the linux 2.0.36 release.
 The information on this is under the download information link above.
 
\layout Standard

Ray Henry has written a page on installation of EMC on his computer running
 Mandrake 7.0 with a prepatched rtlinux-2.2 kernel.
 Ray doesn't have an install script but the process is documented fairly
 well and he has some text files that you can view or download.
 
\layout Standard

Brian Pitt has written a guide to installing Linux, Real-Time Linux, and
 EMC on a windows formatted hard drive using a Slackware installation.
 This looks like a reasonably easy way to try out the system.
 Look for installation CDROM's soon.
\layout Section

EMC Download Page
\layout Standard

Introduction
\layout Standard

You will find the most recent releases of the EMC on sourceforge.net in the
 EMC download area.
 The current releases of the EMC include a set of four files made by executing
 the packup file in the base directory.
 On my machines this is /usr/local/nist*.
 This command creates a master tar file that includes emc - the date of
 the packup - .tgz The current size of this file is around 3.5 to 4 meg.
\layout Standard

There are three files that contain the same release but are broken into
 floppy sized chunks.
 These are indicated by the same release date but use .aaa .aab .aac.
 You can download these directly to an msdos floppy and put them together
 on your linux machine using Ray Henry's description below.
\layout Standard

The last file to be included in the build is the .txt file which includes
 information about the release.
\layout Comment

Some additional notes are required for rtai kernels and BDI installs.
\layout Section

NIST Directory Description
\layout Standard

This directory contains a series of EMC releases in various formats.
 The releases are dated according to the convention:
\layout Standard

emc-DD-Mon-YYYY
\layout Standard

where
\layout Standard

DD is the two-digit day number, Mon is the three-letter month abbreviation,
 and YYYY is the four-digit year.
\layout Standard

So, emc-03-Mar-1999 signifies the March 3, 1999 release.
 This date will be used in the examples below.
 There will be at least two sets of releases, possibly more.
 The most recent is the one you should download, unless you know otherwise.
\layout Standard

The suffixes indicate the type of file:
\layout Standard

.txt The release notes for the associated release.
 Read this first to decide if you want this release.
\layout Standard

.tgz The full EMC release in compressed tar "tape archive" format.
 
\layout Standard

Unpack and install in the /usr/local/nist directory via:
\layout Standard


\family typewriter 
\size footnotesize 
\color black
cp emc-03-Mar-1999.tgz /usr/local/nist 
\layout Standard


\family typewriter 
\size footnotesize 
\color black
cd /usr/local/nist 
\newline 
tar xzvf emc-03-Mar-1999.tgz
\layout Standard

.aa* The full .tgz release is several megabytes, currently about 4Mb.
 This is too big to fit on a floppy.
 If your Linux machine is not on the network, you can copy each of these
 files onto a floppy (they just fit), copy them onto your Linux box, and
 concatenate them together to form the full release, like this:
\layout Standard


\family typewriter 
\size footnotesize 
\color black
cat emc-03-Mar-1999.aa* > emc-03-Mar-1999.tgz
\layout Standard

The .aaa file is the first part, the .aab is next, etc.
 The * wildcard will match alphabetically so this short form will expand
 the file names in the right order.
\layout Section

Links
\layout Standard

Here are a few links to help you get the latest EMC release.
 The first two are located on a server at NIST
\begin_inset LatexCommand \index{NIST}

\end_inset 

 itself:
\layout Standard

For the Linux 2.0.36 kernel:
\newline 
ftp://ftp.isd.mel.nist.gov/pub/emc/emcsoft/linux_2_0_36
\layout Standard

For the Linux 2.2.13 kernel:
\newline 
ftp://ftp.isd.mel.nist.gov/pub/emc/emcsoft/linux_2_2_13
\layout Standard

This next link is located in the linuxcnc.org dropbox.
 I set this up in case the NIST server is down:
\newline 
http://www.linuxcnc.org/dropbox/emc-31-Jan-2000.tgz
\layout Standard

Here is a text file containing release notes on the January version version:
\newline 
http://www.linuxcnc.org/dropbox/emc-31-Jan-2000.txt
\layout Section

Ray's three disk download procedure.
\layout Standard

Once I have the three EMC files on disk, the next thing I'd do is make a
 directory called /usr/local/nist on the Linux machine.
\layout Standard


\family typewriter 
\size scriptsize 
mkdir /usr/local/nist
\layout Standard

Now move into that directory.
\layout Standard


\family typewriter 
\size scriptsize 
cd /usr/local/nist
\layout Standard

The prompt should show nist on the right end.
 You can stay in this directory and copy files to it.
 Insert the first floppy into your machine.
 
\layout Standard


\family typewriter 
\size footnotesize 
\color black
mount -t msdos /dev/fd0 /mnt/floppy
\layout Standard

After a second of looking at your floppy it should return your screen to
 your root prompt.
 This mount command will allow you to work with floppy files in your /mnt/floppy
 directory.
 If you have already defined /dev/fd0 as having the msdos file type you
 may be able to skip the -t msdos part of the above command.
\layout Standard


\family typewriter 
\size footnotesize 
\color black
cp /mnt/floppy/* /usr/local/nist
\layout Standard

After a bit of floppy disk grinding you should get the prompt again.
 Check to see that the file was copied.
\layout Standard


\size footnotesize 
\color black
ls
\layout Standard

You should see a list of the files in the nist directory.
 At this point there will be just one emc-**-***-1999.aa* if you copied it.
\layout Standard


\family typewriter 
\size footnotesize 
\color black
umount /dev/fd0
\layout Standard

After a second you should get the prompt again.
 If you get a "can't umount message" it is probably because umount will
 not work when you are in the /mnt/floppy directory.
\layout Standard

When umount is successful you'll need to repeat the mount, copy, ls, and
 umount commands for each of the disks.
 You don't need to type in each command every time, at the prompt, he up
 arrow will scroll you back to the previous commands.
 Just up arrow to the one you want and [enter].
\layout Standard

Now that you've got a directory listing all of the emc floppy files in it,
 all you have to do is put them together.
 You can do this with the cat command.
 It will be easiest if your prompt and the files are in your nist directory.
\layout Standard


\family typewriter 
\shape italic 
\size small 
\color black
cd /usr/local/nist
\shape default 
\size scriptsize 
\color default

\newline 

\size default 
\color black
Type in:
\size scriptsize 
\color default

\newline 

\shape italic 
\size small 
\color black
cat emc* > emc-dd-Mmm-yyyy.tgz
\layout Standard

(you should replace the dd-=Mmm_yyyy with the proper release numbers.) After
 a bit of work you should see the prompt again.
\layout Standard


\family typewriter 
\shape italic 
\size small 
\color black
ls -l 
\layout Standard

Those are lower case L's not one's.
 The big tar file should be listed as a 3+ meg file with the .tgz extension.
\layout Section

INSTALLING THE NIST EMC SOFTWARE
\layout Standard

The NIST EMC software can be installed on Linux PCs, Sun Solaris boxes,
 or most any Unix machine.
 Currently the distribution is set up for Linux.
\layout Standard

0.
 For LINUX installations only: Download and install the New Mexico Tech
 RT-Linux, real-time patches and modules.
 If you have a system using a 2.0.x kernel get the kernel sources for 2.0.36
 and RT-Linux patches and modules version 09J.
 If you have a 2.2.x kernel use RT-Linux 2.0 and kernel 2.2.13.
 The kernel sources are available from http://www.kernel.org.
 The New Mexico Tech RT-Linux patches and modules are available from http://www.r
tlinux.org.
\layout Standard

0.a: Follow the instructions from www.rtlinux.org for installing the RT-Linux,
 however I have the following additional recommendations.
 - For RedHat Linux 5.2 users, check out Tim Goldstein
\begin_inset LatexCommand \index{Tim Goldstein}

\end_inset 

's installation instructions at 
\newline 
http://206.19.206.56/installemc.htm - Get the archive with the pre-patched kernel
 sources rather than patching your own.
 - Before untarring the archive move any existing directory or link /usr/src/lin
ux to a different name.
 - Untar the archive in the directory /usr/src.
 - After untarring the archive create a symbolic link so that /usr/src/linux
 points to the linux directory that was included in the archive.
 For example cd /usr/src ln -s rtlinux-2.0/linux linux
\layout Standard

- When you configure the kernel, under Loadable Module Support say Yes to
 set version info and to enable the Kernel module loader, and under Processor
 type say no to Symmetric Multi-processing support unless you actually have
 a multi-processor system.
 - Test the examples in the rtl directory, before trying to install EMC.
 Make sure the min and max values out of the measurements example are in
 the thousands and not in the millions.
\layout Standard

1.
 Download the appropriate .tgz file from either the subdirectory for your
 platform.
 Read the README file within those subdirectories for the details.
 The linux_2_0_36 directory contains the code/binaries tested under linux
 kernel version 2.0.36 with RedHat 5.2 and the New Mexico Tech RT-Linux patch
 09J.
 Th linux_2_2_13 directory contains the code/binaries tested under linux
 kernel version 2.2.13 with RedHat 6.1 and the New Mexico Tech RT-Linux patch
 2.0.
 All the distributions contain the NIST Real-time Control System (RCS) header
 files and linkable library, EMC source code, and other miscellaneous files.
 The RCS source code is not included in this archive, since it would make
 it larger, but is available at http://www.isd.mel.nist.gov/projects/rcs_lib.
\layout Standard

2.
 Log in to your Linux PC.
 Become root.
\layout Standard

3.
 Copy the EMC distribution archive from wherever you downloaded it to into
 /usr/local, cd there, and unpack the archive.
 This looks like:
\layout Standard


\family typewriter 
\size scriptsize 
root> cp emc-<date>.tgz /usr/local root> cd /usr/local root> tar xzvf emc-<date>.t
gz
\layout Standard

4.
 You should see the following files in /usr/local:
\layout Standard

readme -- more instructions
\newline 
packup -- a script for making the .gz files below
\newline 
putback -- a script for checking the code back in to NIST
\newline 
install -- a script for installing and compiling this software
\newline 
compile -- a script for just compiling this software
\newline 
clean -- a script for removing EMC/RCS software (not alltar.gz)
\newline 
rcslib.inc -- a list of files used by packup to build the RCS archive
\newline 
rcslib.exc -- ones not to include
\newline 
emc.inc -- a list of files used by packup to build the EMC archive
\newline 
emc.exc -- ones not to include 
\newline 
floppy.inc -- a list of these files, for building the floppy 
\newline 
skel.tgz -- the gzip archive for the directory skeleton 
\newline 
rcslib.tgz -- the gzip RCS archive 
\newline 
emc.tgz -- the gzip EMC archive 
\newline 
linux.tgz -- the full archive
\layout Standard

5.
 Run the 'install' script:
\layout Standard


\family typewriter 
\size scriptsize 
root> ./install
\layout Standard

The install script creates the directory skeleton for emc/plat; unzips the
 RCS code; and unzips the EMC code and compiles it.
\layout Standard

6.
 For linux_2_0_36 only: You will need to setup shared memory.
 The linux 2.2.13 distribution of EMC uses mbuff which is a more flexible
 and automatic method than the linux 2.0.36 described below.
\layout Standard

Edit the file lilo.conf to add the line indicated.
 You should set the mem value to 1 Mb less than the total amount of memory
 you have in your system.
\layout Standard


\family typewriter 
\size scriptsize 
image=/boot/vmlinuz label=linux root=/dev/hda3 append="mem=31m"
\family default 
\size default 
 <-- add this read-only
\layout Standard

For a 64 MB machine, the "31" would be "63", etc.
\layout Standard

Run lilo, as root:
\layout Standard


\family typewriter 
\size scriptsize 
root> lilo
\layout Standard

and reboot.
\layout Standard

7.
 Run the Controller in simulation.
\layout Standard

To run the EMC code on a real machine, you need to set up all the hardware,
 create the wrappers or use ones provided, configure system parameters via
 the INI files, and code up the discrete I/O controller or use one provided.
 However, you can just run a simulation "out of the box." 
\layout Standard

This is done by running the bash script, emc.run, from the top-level emc
 directory.
\layout Standard

The script will run several programs in the background, and then start a
 graphical user interface.
 There are several different interfaces that can be configured, but the
 current default tkemc is shown in tkemc.gif in this directory.
\layout Standard

Before you can do anything you will need to come out of E-STOP (press the
 <F1> key) and turn the machine on (press the <F2> key).
\layout Standard

You can then jog the axis using the arrow keys and page up/page down.
 Press F4 to go to Auto mode where you can run rs274ngc G-code part programs.
 The example programs are in the programs subdirectory.
 cds.ngc is a standard circle-diamond-square program.
\layout Standard

You may want to run tkbackplot or emcplot3d (not yet available) to better
 visualize what is going on.
\layout Standard

8.
 Trouble Shooting.
\layout Comment

[FIXME] Put in lot's of info on how to trouble shoot EMC or at least a good
 reference.
\layout Standard

9.
 Editing and Recompiling
\layout Standard

You may need to recompile the EMC code for a number of reasons.
 You may have modified the source code, or you may have downloaded just
 a few new files.
 To recompile, do the following:
\layout Standard


\family typewriter 
\size small 
root> 
\shape italic 
\size footnotesize 
cd /usr/local 
\shape default 
\size small 

\newline 
root> 
\shape italic 
\size footnotesize 
./compile
\layout Standard

If you want to compile code in any of the subdirectories individually, cd
 to the EMC source directory and run individual makes:
\layout Standard


\family typewriter 
\size footnotesize 
\color black
root>
\color default
 
\shape italic 
\color black
cd /usr/local/emc/src
\shape default 
\color default

\newline 

\color black
root> 
\shape italic 
make PLAT=linux clean depend install
\the_end

--- NEW FILE: Int_ini_reference.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
[...2775 lines suppressed...]
\layout Standard


\color black

\begin_inset LatexCommand \index{OPTIONS}

\end_inset 

OPTIONS = -f emcstrip.conf.ferror
\layout Standard


\color black
Options for emcstripchart ussually -f something.conf.
 This file says which variables to plot, colors etc.
 -u changes the update rate.
\layout Section

\the_end

--- NEW FILE: Int_Introduction.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter


\begin_inset LatexCommand \label{first-section}

\end_inset 

Introduction
\layout Standard

This handbook describes compiling the EMC from source and set up for specific
 kinds of machines.
\layout Standard

(flesh this out using current machine parameters)
\the_end

--- NEW FILE: Int_Linux_setup.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
[...1573 lines suppressed...]
\layout Standard


\begin_inset Figure size 360 211
file /usr/share/lyx/EMC_images/konsol03.eps
width 2 5
flags 9

\end_inset 


\layout Standard

You can navigate around the menu choices with the up and down arrow keys.
 You can also navigate across the select, exit, and help items with the
 left and right arrow keys.
 Whenever a parameter is highlighted, you can select it with y, deselect
 it with n, or make it a module with m.
 The help files are very helpful here.
\the_end

--- NEW FILE: Int_parport.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
[...1391 lines suppressed...]
\family typewriter 
\size small 
Spare
\end_inset 
</cell>
</row>
</lyxtabular>

\end_inset 


\layout Standard

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 a pulse should be raised or lowered.
 This gives an effective period of 200 microseconds for a full up-and-down
 pulse, or a 5 kilohertz frequency.
\the_end

--- NEW FILE: Int_pid.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter

PID Axis Tuning
\layout Standard

Axis tuning is a critical part of most emc setups.
 Until recently we have been able to ignore tuning by using steppers and
 steppermod.o.
 You can still do this but the newer motion files, freqmod and smdromod
 allow stepper users much smoother and better control of axis motion.
 Smdromod.o even allows stepper users to feed back actual position using
 a home built feedback board.
 (no more lost steps) But the consequence of these newer motion systems
 is that users must now learn some of the basics of axis tuning.
 
\layout Standard

The description of PID tuning that follows is not intended to be exhaustive
 or rigorous but should get the beginning emc user started with these newer
 motion files and at least able to keep their axis from tripping out on
 overtravel.
 This page assumes that the reader is acquainted with the emc.ini file where
 tuning values are stored for each axis.
 
\layout Standard

There are a number of excellent internet resources that will extend this
 description.
 A few links are listed at the end of this page.
 There are several auto tuning and computational tuning procedures but these
 have not been tested with EMC.
 
\layout Standard

P - proportional, I - integral, and D - derivative are three common mathematical
 techniques that are applied to the task of getting a working process to
 follow a setpoint.
 In the case of EMC the process we want to control is actual axis position
 and the setpoint is the commanded axis position.
 PID is NIST's chosen way to connect these two things.
 
\layout Standard

A mechanical system, something like a pantograph, will serve to illustrate
 the control problem.
 With a pantograph you can trace the stylus around a pattern and the pen
 or pencil will produce the result.
 The stylus is the commanded position, the pen the actual.
 The pattern need not be the same size as the resulting drawing.
 That relationship depends upon the linkage.
 
\layout Standard

With a pantograph, we can consider the question, "How good is the drawing?"
 The answer depends upon several factors, speed of movement, detail in the
 pattern, sharpness of the stylus and pencil, size of stylus and pencil,
 differences in size between the two, etc.
 
\layout Standard

When we get to electrical or electronic systems like EMC, instead of a hard
 linkage between the pattern and the product, we have signals created by
 reading nc program code, reading jog commands, or reading position from
 a digital image or drawing.
 These signals are sent to an amplifier and its output is sent to a motor.
 Most often the mechanical system driven by the motor has a feedback device
 that returns actual position to EMC.
 
\layout Standard

EMC, or any computer controlled machine.
 should be thought of as a pantograph made with rubber bands in place of
 some of the rods and squishy bearings for some of the joints.
 PID tuning allows the integrator to control the stiffness of the rubber
 bands and the squashiness of the joints.
 With a mechanical pantograph the forces are all controlled by the fingers
 on the stylus.
 If the fingers are capable of 0.0001 offsets in motion then the results
 will be that fine.
 Starting, stopping, and changing the direction of the pen's inertia is
 also totally dependent upon the fingers of the operator.
 But with an electrical system, all of these things must be accounted for
 in the signals that produce the motion.
 
\layout Standard

In any system that reproduces motion, one of the major "goodness" factors
 is what we call following error.
 Following error is a way of quantifying how close the actual position is
 to the commanded position while the tool follows the range of movements
 that can be commanded.
 
\layout Section

Ray's Experience 
\layout Standard

All three variables (6+ really) look at what is happening between commanded
 and actual position in the emc.
 My comments below may be a bit unsatisfying for those who are accustomed
 to very precise things but they come from a number of years of twiddling
 with servo controls.
 
\layout Standard

P - process variable.
 
\layout Standard

--------------------- 
\layout Standard

This is the gain control.
 It is a bit like the volume on a music system.
 If it is set too low you can't follow the lyrics.
 If it's set too high the windows rattle and the neighbors fuss.
 
\layout Standard

Some authors refer to P as proportional band.
 Think of it as a pair of lines, one ahead of the commanded position and
 one behind it.
 Actual position should be somewhere between the lines.
 If the actual position is farther behind then that below line the controller
 will run the axis flat out to reach the slower line.
 Conversely, if the actual position is ahead of the above line the controller
 will do all it can to bring actual position down to that upper bound.
 
\layout Standard

As long as the actual position is between the lines, the controller will
 ramp gain up and down so that actual approaches commanded.
 
\layout Standard

The larger the P number the narrower the space between these lines.
 Set P too low and your axis works like a dedicated couch potato during
 super bowl or world soccer finals -- even a fire may not rouse it.
 This condition is rather easy to spot because the axis is sluggish.
 
\layout Standard

Set P too high and your axis will develop palsy.
 On most machines you can hear this condition by putting your ear to the
 motor.
 You may want to do this when others aren't watching -- or use a stethoscope
 or a long socket extension -- or perhaps the graph function.
 
\layout Standard

Palsy will sound like a hum or grind when the motor is sitting still or
 moving very slowly.
 You can also feel palsy if you wrap your hand around the ball screw or
 grip the drive belt or pulley.
 (disclaimer -- This demonstration is done by a professional with only three
 remaining fingers, don't try this at home) 
\layout Standard

Deadband may mask too much P when a motor is sitting still so you may want
 to move the axis very slowly and listen to the sounds around each step.
 If the axis keeps up with commanded position at high speed and during accelerat
ion and there is not a lot of ringing, grinding, jumping at very low speed,
 then you are real close.
\layout Standard

\SpecialChar ~

\layout Standard

I - Integral variable.
 
\layout Standard

---------------------- 
\layout Standard

Integral works a bit like a shock absorber.
 Any change in either actual or commanded position gets rounded off or averaged
 in so that acceleration/deceleration brought about by P is absorbed and
 released more slowly over time.
 
\layout Standard

No integral and you get the full P effect of change in commanded position.
 Too much integral and the axis seems to wander off on it's own without
 much regard for P.
 A little integral may smooth out some of the frequency jumps when a stepper
 is running right near one of those troublesome rates.
\layout Standard

\SpecialChar ~

\layout Standard

D - Derivative variable 
\layout Standard

----------------------- 
\layout Standard

Derivative works like passing gear for acceleration or a jake-brake for
 stopping.
 Whenever commanded position changes rapidly, d will really kick the amp/motor
 in the *** to follow the rate-of-change of the axis command rather than
 the difference between commanded and actual position.
 
\layout Standard

Derivative works against inertia so if you've got lots of iron to start
 or stop dial some in.
 But derivative will increase palsy so you have to balance it against gain.
\layout Standard

\SpecialChar ~

\layout Standard

FF1-3 Feed Forward variables 
\layout Standard

------ 
\layout Standard

I know very little about the effect of these variables.  My first experience
 with them is while using EMC.  I need to include an idea from Jon Elson
 and his work with servos and his Bridgeport.  He has used a value up to
 8.0 for FF1 with a somewhat reduced acceleration to very successfully minimize
 following error.  The relevant portions of his ini file are: 
\layout Standard


\family typewriter 
\size small 
DEFAULT_VELOCITY =\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
0.75
\newline 
MAX_VELOCITY =\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
1.5 
\newline 
DEFAULT_ACCELERATION =\SpecialChar ~
\SpecialChar ~
2.0 
\newline 
MAX_ACCELERATION =\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
2.0 
\newline 
MAX_VELOCITY =\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
1.2 
\newline 
P =\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
100.000 
\newline 
I =\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
0.000 
\newline 
D =\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
0.000 
\newline 
FF0 =\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
0.000 
\newline 
FF1 =\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
7.500 
\newline 
FF2 =\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
0.000
\layout Standard

Your results will no doubt vary.
\layout Standard

\SpecialChar ~

\layout Standard


\family typewriter 
\size small 
T - Test 
\layout Standard

-------- 
\layout Standard

The final proof of tuning is in the cutting.
 So after your best guess with all the watching, hearing, feeling done to
 each axis, get out a chunk of soft aluminum, a small end or ball mill,
 and begin to mill circles or arcs that pass 90 degrees between each pair
 of axis.
 I like outside circles because you can hold them up to the light and see
 how the finish looks near the quadrants.
 
\layout Standard

Digital systems will give you some steps as one axis approaches zero and
 the other approaches the set feedrate so don't expect a perfect mirror
 arc finish.
 Backlash and backlash compensation also affect the appearance here.
 Servo drives will work better than steppers.
 (digital vs analog) But the smoother the saw teeth the better.
 
\layout Standard

Be prepared to spend some metal on this! And make a list of your settings,
 changes, and a better/worse judgment about the result of each change.
 On occasion I've spent pages of paper and made piles of swarf to get a
 stubborn machine to where I wanted it.
 
\layout Standard

\SpecialChar ~

\layout Standard

Good luck and may the electromotive force be with you.
 
\layout Standard

Ray <re...@up...> 
\layout Section

Tim's Experience
\layout Standard

EMC now is handling steppers as if they were servos from what I understand
 (this is with freqmot, with or without DRO feedback) and using freqmot
 I can confirm that P,I, and D definitely have an effect on steppers.
 If I set P too low I get constant follow errors at any speed, If I set
 D to anything but 0 I start having a problem with the motors stalling on
 acceleration (probably because this setting is trying to make the motor
 get up to speed faster than the stepper can accelerate).
 I have played with various I settings between 1 and 1000 and it does seem
 to help me get even higher feed rates, but I have not really figured a
 way to see what works best on this one.
 
\layout Standard

You can easily play with these settings by going to the settings menu and
 selecting calibration.
 The values will be for the axis that is currently selected and will take
 effect as soon as the calibration window is closed.
 Make sure you remember or write down the setting you settle on as the values
 you put in the calibration window are not saved back to your .ini file,
 you have to edit them in manually.
 
\layout Standard

Tim 
\newline 
Date: Sat, 4 Mar 2000 14:28:49 -0700 
\newline 
From: "Tim Goldstein" <ti...@kt...> 
\layout Section

Jon's Experience 
\layout Standard

I also found while working with the servo tuning (last summer)...
 FF1 (I think that is the non-zero FFn parameter in my .ini file) is VERY
 effective in improving following error, and is, in fact, BETTER than a
 PID could do, because, of course, it knows IN advance what is GOING to
 happen at a velocity change!  I was able to get following error down to
 under .001" under practically all circumstances by setting FF1 to a small
 value, somewhere between 4 and 7.5 or so.
 You can see my graph at http://www.artsci.wustl.edu/~jmelson/servo.html showing
 a jog move at 90 IPM.
 Oh, yes, one other thing, the acceleration parameters in the default EMC
 .ini file are ridiculous.
 I had been ignoring jerky motion when manually jogging when I started working
 with EMC, until I broke a brand new toothed belt on my Y axis.
 This led me to realize the system was demanding much too much acceleration,
 and I slowed it down quite a bit.
 No belts have broken since then.
 
\layout Standard

Jon 
\newline 
Date: Wed, 14 Jun 2000 17:38:00 -0500 
\newline 
From: Jon Elson <jm...@ar...> 
\layout Standard

--2-- 
\layout Standard

Joh...@ao... wrote: 
\layout Standard

> Yes, it's fast, it's definitely an industrial-strength milling center.
 It's 
\newline 
> not a humming sound it's more like a grinding or laboring sound.
 It runs in 
\newline 
> my mind that it ran more "freely" before, but it might just be a result
 of 
\newline 
> the compensation - maybe I didn't notice when it was slamming back and
 forth.
 
\layout Standard

Well, I still think it is what I saw, but maybe not.
 Does the sound change at different jog speeds? What is your P parameter
 in the axis setup, in fact what are all your parameters in there? If the
 P gain is set too high, it could cause rough operation.
 Yes, it could be tuning of the servo amp, too.
 I found it was best to run with a conservative P, I and D set to zero,
 and a small value on FF1, about 5.0 This gave me really minute following
 error and quite solid position holding, without any instability.
 
\layout Standard

>  I think the next step is going to be working with the logging program,
 to 
\newline 
> determine the fine tuning of the amps.  Then, I think I saw in a post from
 
\newline 
> Fred, that there is supposed to be a program that helps come up with the
 PID 
\newline 
> values.
 
\layout Standard

Unless they've done some serious repair in the PID department, the I and
 D are programmed wrong, and do not do anything useful.
 Unfortunately, the controls theory used in EMC gave a steady-state, or
 at least one quadrant, definition of PID algorithms.
 The problem is this is a motion control problem in all FOUR quadrants.
 And, Integral history from when you were in a different quadrant is not
 only irrelevant, but makes your solution MORE inaccurate, instead of reducing
 error.
 But, pedantically, because you are SUPPOSED to use the entire history of
 the system, EMC holds that you MUST use the entire history, even if it
 fails to perform the necessary goal.
 
\layout Standard

The Derivative term probably works, in the general sense, but since this
 is a quantized system, and in slow motion there are so few encoder
\begin_inset LatexCommand \index{encoder}

\end_inset 

 counts per servo cycle, the Derivative term from each encoder cycle has
 WAY too much quantization noise to perform well.
 It needs to be smoothed a bit.
 Fortunately, they put in the FF0, FF1 and FF2 terms, which are both mathematica
lly pure, and of great use.
 FF1 is actually better than some combination of I and D, because it can
 respond BEFORE error develops, as in a rapid acceleration of the system
 from rest.
 The I term won't know what is going on for minutes, because it is taking
 the average of millions of tiny errors past, and due to the quantization,
 you can't set the D term very high, or the system gets unstable.
 As long as the servo amps are well behaved, just using P and FF1 has worked
 VERY well for me.
 
\layout Standard

So, I don't know what the auto-tune program will do with those parameters.
 If good, it will also find them to be unhelpful, and leave them close to
 zero.
 
\layout Standard

Jon 
\newline 
Date: Wed, 12 Jul 2000 02:23:39 -0400 (EDT) 
\newline 
From: Jon Elson <jm...@ar...> 
\layout Section

Fred's PID Report 
\layout Standard

I had a guest researcher here at NIST for a few months, looking into automatic
 system identification and PID tuning.
 I have a few MS Word pictures showing what he did that I WinZip'ed up and
 put on the FTP site in the emc/emcsoft directory, as "pidtuning.zip".
 They're 8.5x11 posters that show the theory and some figures for our Bridgeport
 machine.
 
\layout Standard

It works for systems without a tachometer.
 We were trying to get the performance (following error) to be equal to
 a machine with tachometers, to reduce cost.
 
\layout Standard

The idea is to hit the axis with a step voltage, and log the resulting position
 v.
 time.
 The curve rises to some steady state velocity.
 The steady state velocity is a function of applied voltage.
 The time to, say, 75% of steady state is the same.
 For several runs, you can get an average of steady-state velocity per applied
 voltage, and average rise time.
 These can be used to deduce PID gains.
 
\layout Standard

The student, Kees ("Case") Stolk, from the University of Twente in the Netherlan
ds, wrote a Tcl/Tk script that automates much of the process, including
 going into machine-off, opening the log, running the DAC out command, saving
 the log, storing multiple runs, and popping up PID gains.
 It's pretty slick.
 I'll put this up on the FTP site once I verify that it works with the new
 release.
 
\layout Standard

I ran this on the Bridgeport and the resulting gains outperformed my manually
 tuned gains for current mode (no tach), and equaled the manually tuned
 gains (with a FF1 feedforward term) in velocity mode (with a tach).
 
\layout Standard

Date: Mon, 6 Mar 2000 18:05:59 -0500 (EST) 
\newline 
From: Fred Proctor <pr...@cm...> 
\layout Section

Links 
\layout Standard


\size small 
\color black
http://www.manufacturing.net/magazine/ce/archives/1998/ctl0301.98/03a305.htm
 
\newline 
http://www.expertune.com/tutor.html 
\newline 
http://www.expertune.com/PIDspec.htm 
\newline 
http://www.manufacturing.net/magazine/ce/archives/1998/ctl0801.98/08abas.htm
 
\newline 
http://members.tripod.com/aabi/index.htm 
\newline 
http://members.tripod.com/aabi/optimumpid/optimum_menu.htm 
\newline 
http://www.ctc-control.com/tutorials/pid.htm 
\newline 
http://www.newport.com/Motion_Control/Tutorial/Servo_Tuning_Principles
\newline 
\SpecialChar ~

\hfill 
/Servo_Tuning_Principles/description.php 
\hfill 

\newline 
PID tuning: Lieslehto, J., Tampere University of Technology, Tampere, Finland,
 (used by Kees ("Case") Stolk)
\layout Standard

This last one is a good web reference for PID tuning, with Java applets.
\layout Section

Print Resources
\layout Standard

"Process Control Systems" by F.
 Greg Shinskey, available from the Foxboro Training Institute at 1-888-FOXBORO.
 
\layout Standard

Controller Tuning and Control Loop Performance: A Primer, Second Edition,
 Subtitled PID Without the Math, by David W.
 St.
 Clair (Retired DuPont Engineer) 
\layout Standard

Process Instrumentation Applications Manual, by Bob Connel, McGraw-Hill
 Book Co., 1996 
\layout Standard

References used by Kees ("Case") Stolk while developing NIST tuning software:
 
\layout Standard

Modeling of DC Motors, Kuo, Benjamin C., Automatic Control Systems, Prentice-Hall
, Englewood Cliffs, NJ, 1981.
 
\layout Standard

Nonlinear Least Squares Model Fitting, Press, William H.
 et al, Numerical Recipes in C: the Art of Scientific Computing, Cambridge
 University Press, Port Chester, NY, 1992.
 
\layout Standard

PID controllers, Åstrom, K., and Haglund, T., PID Controllers: Theory, Design
 and Tuning, Instrument Society of America, Research Triangle Park, NC,
 1995.
 
\layout Standard

"Internal Model Control", Rivera, M., Internal Model Control for PID Controller
 Design, 1986.Credits 
\layout Comment

This page is based on a recent post to em...@ni... and is maintained by
 Ray Henry Your comments and criticisms are welcome.
 Examples with drawings or screen capture would be really nice here.
 As would additional experience with axis tuning.
 
\the_end

--- NEW FILE: Int_ppac.lyx ---
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\lyxformat 218
\textclass book
\language english
\inputencoding default
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\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter

PICO Parallel Port Motion Control
\layout Standard

For machines that use servo motors, one option is to use the servo motor
 interface card from 
\begin_inset LatexCommand \url[Servo To Go Inc]{http://www.picosystems.com}

\end_inset 

.
 This company makes a set of cards that have been integrated into the EMC
 and have been used in several installations.
 Here we attempt to document matters relating to this set of cards.
 The organization is FAQ-like at this point, addressing specific questions
 or aspects of using the PPAC.
\the_end

--- NEW FILE: Int_remote_operation.lyx ---
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[...1144 lines suppressed...]
 to be 
\begin_inset Quotes eld
\end_inset 

shared
\begin_inset Quotes erd
\end_inset 

 with the aid of Samba
\begin_inset LatexCommand \index{Samba}

\end_inset 

 which will add further to the problem of path names.
\layout Standard

In conclusion, Whilst operating EMC across a network is possible, using
 a Windows computer will require some editing of Tkemc to change the way
 file and path names are handled.
\the_end

--- NEW FILE: Int_stg.lyx ---
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\defskip smallskip
[...3524 lines suppressed...]
n - ADC noise demo
\newline 
N - ADC autozero OFF
\newline 
e - Encoder demo
\newline 
E - Zero Encoders
\newline 
x - Index pulse demo
\newline 
X - Index latch demo
\newline 
l - External Latch Test
\newline 
y - IRR test, continually reset index latch
\newline 
1..8 - Set default Axis
\newline 
q - Quit
\the_end

--- NEW FILE: Int_Stripchart.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize default
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter

EMC Stripchart
\layout Standard

Stripchart can be a valuable tool for the machine integrator because it
 can show many of the EMC variables in much the same way that an external
 oscilloscope will.
 
\layout Standard

The EMC stripchart program is a modified version of GNOME stripchart program
 "gstripchart".
 This document is a modified copy of the GNOME stripchart documentation.
 For the original source code and/or documentaton goto www.gnome.org.
 
\layout Section

Setting up Stripchart.
\layout Standard

(Need to add required packages and setup and operating procedures here)
 
\layout Section

EMC Modifications 
\layout Standard

The following modifications were made to gstripchart program to turn it
 into emcstripchart.
 
\layout Itemize

The "nml" configuration file option was added.
 
\layout Itemize

The "emcmot" configuration file option was added.
 
\layout Itemize

The "minimum" configuration file option was more completely implemented.
 
\layout Itemize

An additional update timeout was added.
 This allows the data to be polled more often than display is refreshed.
 The text display is updated by a timer not just by clicking on it.
 
\layout Itemize

The buttons "pause" and "go" were added.
 (They only pause and restart the plotting to give you more time to look
 at something, the EMC is not paused.) 
\layout Itemize

The "bottom" column was added.
 When the scale is readjusted, if the starting the starting minimum equaled
 the negative of the starting maximum the scale is modified so that it will
 maintain this symmetry about zero.
 
\layout Itemize

Several of the defaults were changed.
 
\layout Itemize

The bindtextdomain code was disabled.
 
\layout Itemize

The original set of Makefile stuff using automake and autoconf was trashed
 to use a more EMC/RCS style makefile.
 
\layout Itemize

Adds the -u --update-interval command line option.
 
\layout Itemize

Linked in stripnmli.cc and stripemcmoti.cc and the RCS and EMC libraries.
\layout Section

Hints for EMC users.
\layout Standard

Click on the graph with the left mouse button to bring up the "key".
 The horizontal scale is indicated with the little black tick marks.
 The distance between ticks is aproximately 1 second.
 The vertical scale is different for each variable.
 The top is the value that variable would have to have to be plotted at
 the top of the scale, the bottom is the value the variable would have to
 have to be plotted at the bottom.
 Initially the top and bottom equal the maximum and minimum from the configurati
on file, however if the maximum or minimum are exceeded the scale will change
 to keep the plot in the visible part of the graph.
 The file emcstrip.conf.ferror configures emstripchart to plot the following
 errors and high marks for the following errors.
 The normal build will skip this utility, to build it cd emc/src/stripchart
 and run "make".
 To make generic.run or ?.run start it every time you start EMC, base your
 run script on a version of generic.run that is newer than April 1, 2000
 and add the following section to your .ini:
\layout LyX-Code

; section for emc stripchart parameters---------------------- 
\layout LyX-Code

[EMCSTRIP]
\layout LyX-Code

EMCSTRIP = emcstripchart
\layout LyX-Code

OPTIONS = -f emcstrip.conf.position
\layout Section

GNOME Stripchart Documentation 
\layout Standard

The GNOME stripchart program charts various user-specified parameters as
 a function of time.
 Its main use is to chart system performance parameters such as CPU load,
 CPU utilization, network traffic levels, and the like.
 Other more ingenious uses are left as an exercise for the interested user.
 
\layout Standard

The gstripchart program periodically reads data from a file, extracts a
 value, and displays these values in one of several formats.
 The default format is a graphical display similar to that of a stripchart
 recorder.
 Hence the name, "gstripchart".
 
\layout Standard

On systems such as Linux, in which the system parameters are available in
 human-readable form in the /proc directory, the gstripchart program makes
 a dandy performance monitoring tool, similar to but more versatile than
 xload.
 
\layout Standard

Instead of being limited to a few standard performance parameters, the gstripcha
rt program can plot any time-variant parameter than can be read from a file
 or pipe.
 This ability to read data from a pipe provides a very versatile and easy
 to use method of setting up custom displays.
 
\layout Standard

The gstripchart program determines the parameters to display by reading
 a configuration file.
 The gstripchart program will first look for a configuration file specified
 on the command line, then look for a file named gstripchart.conf in the
 current directory, then look for a file named .gstripchart.conf in the users
 home directory, then look for a file named /etc/gstripchart.conf.
 If no configuration file is found, the program is terminated.
 
\layout Section

Options 
\layout Standard

There are a few command line switches that can be used to alter the behavior
 of the program.
 
\layout Description

-f, --config-file=FILE configuration file 
\layout Description

-g, --geometry=GEOMETRY geometry 
\layout Description

-i, --chart-interval=SECS chart update interval 
\layout Description

-I, --chart-filter=SECS chart low-pass filter time constant 
\layout Description

-j, --slider-interval=SECS slider update interval 
\layout Description

-J, --slider-filter=SECS slider low-pass filter time constant 
\layout Description

-M, --menubar add menubar 
\layout Description

-S, --omit-slider omit slider 
\layout Description

-t, --display-type=TYPE type of display none: no display is produced (for
 debugging); text: a textual numeric display is produced; graph: a textual
 graphic display is produced; gtk: use the default gtk-based graphic display.
 --class=CLASS FIXME --display=DISPLAY X display to use --gxid_host=HOST
 FIXME --gxid_port=PORT FIXME --name=NAME FIXME --no-xshm Don't use X shared
 memory extension --xim-preedit=STYLE FIXME --xim-status=STYLE FIXME 
\layout Description

-u, --update-interval=SECS update interval to poll data 
\layout Description

-?, --help Give this help list --usage Give a short usage message 
\layout Description

-V, --version Print program version
\layout Standard

A more detailed description of some switches follows.
\layout Description

configuration file Specifies a file from which to read configuration information.
 If unspecified, the current working directory is checked for a file named
 "gstripchart.conf", the user's home directory is checked for a file named
 ".gstripchart.conf", and the /etc directory is checked for a file named "gstripch
art.conf".
 The first such file found is used.
 
\layout Description

geometry A standard X11 geometry specification of the form WxH+X+Y.
 
\layout Description

chart-interval 
\layout Description

slider-interval Specifies the time interval in seconds between updates to
 the chart window and slider window.
 If unspecified, the chart window will be updated every 5 seconds and the
 slider window will be updated every 0.2 seconds.
 
\layout Description

chart-filter 
\layout Description

slider-filter Specifies the time constant in seconds to be used in low-pass
 filtering the data displayed in the chart or slider windows.
 A time constant of 0 seconds turns low-pass filtering off, which can result
 in a jumpy display.
 A time constant in the same range as the interval parameter, described
 above, is usually a good choice.
 Much larger values cause display updates to become sluggish.
 If unspecified, no low pass filtering is performed in either window.
 
\layout Description

menubar Adds an application menubar to the main window.
 Normally this is omitted, and the menu is popped up by right-clicking on
 the chart window.
 
\layout Description

omit-slider Causes the display of the slider window to be suppressed.
 
\layout Section

Configuration 
\layout Standard

The configuration file has a paragraph of configuration information for
 each parameter to be ploted.
 Each of these paragraphs are comprised of a series of RFC-822 style "keyword:
 value" pairs, beginning with an "identifier:" line.
 A comment can be included by putting a sharp sign (#) in the first column
 of a line.
 
\layout Standard

The following keywords are available.
 Some are optional; some are only used by certain display types; many have
 reasonable default values, as described below.
 
\layout Description

identifier: Introduces a parameter definition, and assigns a name to the
 parameter.
 This line *must* be the first line of a parameter description.
 active: If a parameter is marked "active = no", it will be ignored.
 This provides a convenient way to disable a parameter without deleting
 it from a parameter file.
 
\layout Description

id_char: Provides a single-character abbreviation for a parameter.
 Currently unused, this is intended for the non-existant character-graphics
 display mode.
 
\layout Description

color: Determines the color to be used in displaying a parameter.
 The color names and their RGB values are taken from X11/rgb.txt.
 
\layout Description

filename: The file from which a parameter value is read.
 When a filename beginning with a "|" is supplied, input lines will be read
 from a pipe.
 
\layout Description

pattern: The pattern which identifies the line from which a parameter value
 is to be extracted.
 If no pattern is provided, the first line of the file is used.
 
\layout Description

fields: The number of fields to be split out of the first line which matches
 the pattern.
 Splitting is done on whitespace.
 
\layout Description

equation: An equation used to obtain the value to be ploted for this parameter.
 maximum: The largest value that can be displayed.
 Any value in excess of the maximum will be plotted at the top of the display.
 If omitted, a default value of 1.0 is used.
 
\layout Description

minimum: The smallest value that can be displayed.
 Any value less than the minimum will be plotted at the bottom of the display.
 If omitted, a default value of 0.0 is used.
 
\layout Description

nml: The name of the variable to read from NML to use for this plot.
 If an equation is specified this variable becomes keyword one or $1.
 Adding this keyword makes the filename and pattern keywords irrelavant.
 See the list of variables available.
 
\layout Description

emcmot: The name of the variable to read from EMCMOT to use for this plot.
 If an equation is specified this variable becomes field one or $1.
 Adding this keyword makes the filename and pattern keywords irrelavant.
 See the list of variables available.
 
\layout Standard

On each iteration, a value to be displayed is obtained for each parameter
 in the configuration file.
 The file named in the "filename" line is opened -- either as a pipe if
 the filename begins with a pipe character (|), or as a regular file otherwise
 -- and a line is read.
 
\layout Standard

If a pattern was specified, lines are read until one is found that contains
 the pattern string anywhere in the line.
 This line is split into the number of whitespace seperated fields specified
 in the "fields" line.
 Each of these fields is interpreted as a floating point number.
 
\layout Standard

A value is obtained by evaluating the "equation" line using these field
 values.
 The first (or only) value is denoted by $1, the next by $2, and so forth.
 The difference between the field values between the last and the current
 iteration is denoted by ~1, ~2, and so forth.
 The elapsed time in seconds between the last and current iteration is ~t.
 The requested update interval is $i (and the delta is ~i, but will always
 be zero).
 All the usual infix arithmatic operators are available.
 
\layout Section

libgtop
\layout Standard

If libgtop support has been compiled into the gstripchart program, a value
 can be obtained from this library.
 This provides a portable method of obtaining many system performance parameters.
 These are all signed long integer quantities, except for uptime, idletime,
 and the three loadavg values which are floating point values.
 
\layout Standard

The following libgtop parameters are available: 
\layout Subsection

CPU Statistics 
\layout Standard

cpu_total, cpu_user, cpu_nice, cpu_sys, cpu_idle, and cpu_freq 
\layout Subsection

Memory Statistics 
\layout Standard

mem_total, mem_used, mem_free, mem_shared, mem_buffer, mem_cached, mem_user,
 mem_locked 
\layout Subsection

Swap Statistics 
\layout Standard

swap_total, swap_used, swap_free, swap_pagein, swap_pageout 
\layout Subsection

Uptime Statistics 
\layout Standard

uptime, idletime 
\layout Subsection

Loadavg Statistics 
\layout Standard

loadavg_running, loadavg_tasks, loadavg_1m, loadavg_5m, loadavg_15m 
\layout Subsection

Network Statistics 
\layout Standard

net_pkts_in, net_pkts_out, net_pkts_total, net_bytes_in, net_bytes_out,
 net_bytes_total, net_errs_in, net_errs_out, net_errs_total 
\layout Standard

Note that the network statistics don't use the libgtop library.
 Instead, the values are read directly from /proc/net/dev, and so are only
 available under Linux.
 
\layout Section

NML Variables
\layout Standard

This is the list of variables that can be read from NML.
 The array_index should be replaced with an appropriate integer.
 
\layout Subsection

Task
\layout Itemize

task.heartbeat, 
\layout Itemize

task.mode
\layout Itemize

task.state, 
\layout Itemize

task.execState, 
\layout Itemize

task.interpState, 
\layout Itemize

task.motionLine, 
\layout Itemize

task.currentLine, 
\layout Itemize

task.readLine, 
\layout Subsection

Motion
\layout Itemize

motion.heartbeat, 
\layout Itemize

motion.traj.linearUnits, 
\layout Itemize

motion.traj.angularUnits, 
\layout Itemize

motion.traj.cycleTime, 
\layout Itemize

motion.traj.axes, 
\layout Itemize

motion.traj.mode, 
\layout Itemize

motion.traj.enabled, 
\layout Itemize

motion.traj.inpos, 
\layout Itemize

motion.traj.queue, 
\layout Itemize

motion.traj.activeQueue, 
\layout Itemize

motion.traj.queueFull, 
\layout Itemize

motion.traj.id, 
\layout Itemize

motion.traj.paused, 
\layout Itemize

motion...
 
[truncated message content]

[Emc-commit] documents/lyx GPLD_Copyright.lyx,NONE,1.1

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

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv5878

Added Files:
	GPLD_Copyright.lyx 
Log Message:
modular general files for handbooks

--- NEW FILE: GPLD_Copyright.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize 10
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter
\start_of_appendix 
Legal Section
\layout Section*

Handbook Copyright Terms
\layout Quotation

Copyright (c) 2000 LinuxCNC.org
\layout Quotation

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
 version published by the Free Software Foundation; with no Invariant Sections,
 no Front-Cover Texts, and one Back-Cover Text: "This EMC Handbook is the
 product of several authors writing for linuxCNC.org.
 As you find it to be of value in your work, we invite you to contribute
 to its revision and growth." A copy of the license is included in the section
 entitled "GNU Free Documentation License".
 If you do not find the license you may order a copy from Free Software
 Foundation, Inc.
 59 Temple Place, Suite 330, Boston, MA 02111-1307
\layout Section

GNU Free Documentation License Version 1.1, March 2000
\layout Standard

Copyright (C) 2000 Free Software Foundation, Inc.
 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA Everyone is permitted
 to copy and distribute verbatim copies of this license document, but changing
 it is not allowed.
\layout Subsection

GNU Free Documentation License Version 1.1, March 2000
\layout Standard


\size small 
\color black
Copyright (C) 2000 Free Software Foundation, Inc.
 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA Everyone is permitted
 to copy and distribute verbatim copies of this license document, but changing
 it is not allowed.
\layout Standard


\size small 
\color black
0.
 PREAMBLE
\layout Standard


\size small 
\color black
The purpose of this License is to make a manual, textbook, or other written
 document "free" in the sense of freedom: to assure everyone the effective
 freedom to copy and redistribute it, with or without modifying it, either
 commercially or noncommercially.
 Secondarily, this License preserves for the author and publisher a way
 to get credit for their work, while not being considered responsible for
 modifications made by others.
\layout Standard


\size small 
\color black
This License is a kind of "copyleft", which means that derivative works
 of the document must themselves be free in the same sense.
 It complements the GNU General Public License, which is a copyleft license
 designed for free software.
\layout Standard


\size small 
\color black
We have designed this License in order to use it for manuals for free software,
 because free software needs free documentation: a free program should come
 with manuals providing the same freedoms that the software does.
 But this License is not limited to software manuals; it can be used for
 any textual work, regardless of subject matter or whether it is published
 as a printed book.
 We recommend this License principally for works whose purpose is instruction
 or reference.
\layout Standard


\size small 
\color black
1.
 APPLICABILITY AND DEFINITIONS
\layout Standard


\size small 
\color black
This License applies to any manual or other work that contains a notice
 placed by the copyright holder saying it can be distributed under the terms
 of this License.
 The "Document", below, refers to any such manual or work.
 Any member of the public is a licensee, and is addressed as "you".
\layout Standard


\size small 
\color black
A "Modified Version" of the Document means any work containing the Document
 or a portion of it, either copied verbatim, or with modifications and/or
 translated into another language.
\layout Standard


\size small 
\color black
A "Secondary Section" is a named appendix or a front-matter section of the
 Document that deals exclusively with the relationship of the publishers
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 them.
\layout Standard


\size small 
\color black
The "Invariant Sections" are certain Secondary Sections whose titles are
 designated, as being those of Invariant Sections, in the notice that says
 that the Document is released under this License.
\layout Standard


\size small 
\color black
The "Cover Texts" are certain short passages of text that are listed, as
 Front-Cover Texts or Back-Cover Texts, in the notice that says that the
 Document is released under this License.
\layout Standard


\size small 
\color black
A "Transparent" copy of the Document means a machine-readable copy, represented
 in a format whose specification is available to the general public, whose
 contents can be viewed and edited directly and straightforwardly with generic
 text editors or (for images composed of pixels) generic paint programs
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 A copy made in an otherwise Transparent file format whose markup has been
 designed to thwart or discourage subsequent modification by readers is
 not Transparent.
 A copy that is not "Transparent" is called "Opaque".
\layout Standard


\size small 
\color black
Examples of suitable formats for Transparent copies include plain ASCII
 without markup, Texinfo input format, LaTeX input format, SGML or XML using
 a publicly available DTD, and standard-conforming simple HTML designed
 for human modification.
 Opaque formats include PostScript, PDF, proprietary formats that can be
 read and edited only by proprietary word processors, SGML or XML for which
 the DTD and/or processing tools are not generally available, and the machine-ge
nerated HTML produced by some word processors for output purposes only.
\layout Standard


\size small 
\color black
The "Title Page" means, for a printed book, the title page itself, plus
 such following pages as are needed to hold, legibly, the material this
 License requires to appear in the title page.
 For works in formats which do not have any title page as such, "Title Page"
 means the text near the most prominent appearance of the work's title,
 preceding the beginning of the body of the text.
\layout Standard


\size small 
\color black
2.
 VERBATIM COPYING
\layout Standard


\size small 
\color black
You may copy and distribute the Document in any medium, either commercially
 or noncommercially, provided that this License, the copyright notices,
 and the license notice saying this License applies to the Document are
 reproduced in all copies, and that you add no other conditions whatsoever
 to those of this License.
 You may not use technical measures to obstruct or control the reading or
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 However, you may accept compensation in exchange for copies.
 If you distribute a large enough number of copies you must also follow
 the conditions in section 3.
\layout Standard


\size small 
\color black
You may also lend copies, under the same conditions stated above, and you
 may publicly display copies.
\layout Standard


\size small 
\color black
3.
 COPYING IN QUANTITY
\layout Standard


\size small 
\color black
If you publish printed copies of the Document numbering more than 100, and
 the Document's license notice requires Cover Texts, you must enclose the
 copies in covers that carry, clearly and legibly, all these Cover Texts:
 Front-Cover Texts on the front cover, and Back-Cover Texts on the back
 cover.
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 of these copies.
 The front cover must present the full title with all words of the title
 equally prominent and visible.
 You may add other material on the covers in addition.
 Copying with changes limited to the covers, as long as they preserve the
 title of the Document and satisfy these conditions, can be treated as verbatim
 copying in other respects.
\layout Standard


\size small 
\color black
If the required texts for either cover are too voluminous to fit legibly,
 you should put the first ones listed (as many as fit reasonably) on the
 actual cover, and continue the rest onto adjacent pages.
\layout Standard


\size small 
\color black
If you publish or distribute Opaque copies of the Document numbering more
 than 100, you must either include a machine-readable Transparent copy along
 with each Opaque copy, or state in or with each Opaque copy a publicly-accessib
le computer-network location containing a complete Transparent copy of the
 Document, free of added material, which the general network-using public
 has access to download anonymously at no charge using public-standard network
 protocols.
 If you use the latter option, you must take reasonably prudent steps, when
 you begin distribution of Opaque copies in quantity, to ensure that this
 Transparent copy will remain thus accessible at the stated location until
 at least one year after the last time you distribute an Opaque copy (directly
 or through your agents or retailers) of that edition to the public.
\layout Standard


\size small 
\color black
It is requested, but not required, that you contact the authors of the Document
 well before redistributing any large number of copies, to give them a chance
 to provide you with an updated version of the Document.
\layout Standard


\size small 
\color black
4.
 MODIFICATIONS
\layout Standard


\size small 
\color black
You may copy and distribute a Modified Version of the Document under the
 conditions of sections 2 and 3 above, provided that you release the Modified
 Version under precisely this License, with the Modified Version filling
 the role of the Document, thus licensing distribution and modification
 of the Modified Version to whoever possesses a copy of it.
 In addition, you must do these things in the Modified Version:
\layout Standard


\size small 
\color black
A.
 Use in the Title Page (and on the covers, if any) a title distinct from
 that of the Document, and from those of previous versions (which should,
 if there were any, be listed in the History section of the Document).
 You may use the same title as a previous version if the original publisher
 of that version gives permission.
 B.
 List on the Title Page, as authors, one or more persons or entities responsible
 for authorship of the modifications in the Modified Version, together with
 at least five of the principal authors of the Document (all of its principal
 authors, if it has less than five).
 C.
 State on the Title page the name of the publisher of the Modified Version,
 as the publisher.
 D.
 Preserve all the copyright notices of the Document.
 E.
 Add an appropriate copyright notice for your modifications adjacent to
 the other copyright notices.
 F.
 Include, immediately after the copyright notices, a license notice giving
 the public permission to use the Modified Version under the terms of this
 License, in the form shown in the Addendum below.
 G.
 Preserve in that license notice the full lists of Invariant Sections and
 required Cover Texts given in the Document's license notice.
 H.
 Include an unaltered copy of this License.
 I.
 Preserve the section entitled "History", and its title, and add to it an
 item stating at least the title, year, new authors, and publisher of the
 Modified Version as given on the Title Page.
 If there is no section entitled "History" in the Document, create one stating
 the title, year, authors, and publisher of the Document as given on its
 Title Page, then add an item describing the Modified Version as stated
 in the previous sentence.
 J.
 Preserve the network location, if any, given in the Document for public
 access to a Transparent copy of the Document, and likewise the network
 locations given in the Document for previous versions it was based on.
 These may be placed in the "History" section.
 You may omit a network location for a work that was published at least
 four years before the Document itself, or if the original publisher of
 the version it refers to gives permission.
 K.
 In any section entitled "Acknowledgements" or "Dedications", preserve the
 section's title, and preserve in the section all the substance and tone
 of each of the contributor acknowledgements and/or dedications given therein.
 L.
 Preserve all the Invariant Sections of the Document, unaltered in their
 text and in their titles.
 Section numbers or the equivalent are not considered part of the section
 titles.
 M.
 Delete any section entitled "Endorsements".
 Such a section may not be included in the Modified Version.
 N.
 Do not retitle any existing section as "Endorsements" or to conflict in
 title with any Invariant Section.
\layout Standard


\size small 
\color black
If the Modified Version includes new front-matter sections or appendices
 that qualify as Secondary Sections and contain no material copied from
 the Document, you may at your option designate some or all of these sections
 as invariant.
 To do this, add their titles to the list of Invariant Sections in the Modified
 Version's license notice.
 These titles must be distinct from any other section titles.
\layout Standard


\size small 
\color black
You may add a section entitled "Endorsements", provided it contains nothing
 but endorsements of your Modified Version by various parties--for example,
 statements of peer review or that the text has been approved by an organization
 as the authoritative definition of a standard.
\layout Standard


\size small 
\color black
You may add a passage of up to five words as a Front-Cover Text, and a passage
 of up to 25 words as a Back-Cover Text, to the end of the list of Cover
 Texts in the Modified Version.
 Only one passage of Front-Cover Text and one of Back-Cover Text may be
 added by (or through arrangements made by) any one entity.
 If the Document already includes a cover text for the same cover, previously
 added by you or by arrangement made by the same entity you are acting on
 behalf of, you may not add another; but you may replace the old one, on
 explicit permission from the previous publisher that added the old one.
\layout Standard


\size small 
\color black
The author(s) and publisher(s) of the Document do not by this License give
 permission to use their names for publicity for or to assert or imply endorseme
nt of any Modified Version.
\layout Standard


\size small 
\color black
5.
 COMBINING DOCUMENTS
\layout Standard


\size small 
\color black
You may combine the Document with other documents released under this License,
 under the terms defined in section 4 above for modified versions, provided
 that you include in the combination all of the Invariant Sections of all
 of the original documents, unmodified, and list them all as Invariant Sections
 of your combined work in its license notice.
\layout Standard


\size small 
\color black
The combined work need only contain one copy of this License, and multiple
 identical Invariant Sections may be replaced with a single copy.
 If there are multiple Invariant Sections with the same name but different
 contents, make the title of each such section unique by adding at the end
 of it, in parentheses, the name of the original author or publisher of
 that section if known, or else a unique number.
 Make the same adjustment to the section titles in the list of Invariant
 Sections in the license notice of the combined work.
\layout Standard


\size small 
\color black
In the combination, you must combine any sections entitled "History" in
 the various original documents, forming one section entitled "History";
 likewise combine any sections entitled "Acknowledgements", and any sections
 entitled "Dedications".
 You must delete all sections entitled "Endorsements."
\layout Standard


\size small 
\color black
6.
 COLLECTIONS OF DOCUMENTS
\layout Standard


\size small 
\color black
You may make a collection consisting of the Document and other documents
 released under this License, and replace the individual copies of this
 License in the various documents with a single copy that is included in
 the collection, provided that you follow the rules of this License for
 verbatim copying of each of the documents in all other respects.
\layout Standard


\size small 
\color black
You may extract a single document from such a collection, and distribute
 it individually under this License, provided you insert a copy of this
 License into the extracted document, and follow this License in all other
 respects regarding verbatim copying of that document.
\layout Standard


\size small 
\color black
7.
 AGGREGATION WITH INDEPENDENT WORKS
\layout Standard


\size small 
\color black
A compilation of the Document or its derivatives with other separate and
 independent documents or works, in or on a volume of a storage or distribution
 medium, does not as a whole count as a Modified Version of the Document,
 provided no compilation copyright is claimed for the compilation.
 Such a compilation is called an "aggregate", and this License does not
 apply to the other self-contained works thus compiled with the Document,
 on account of their being thus compiled, if they are not themselves derivative
 works of the Document.
\layout Standard


\size small 
\color black
If the Cover Text requirement of section 3 is applicable to these copies
 of the Document, then if the Document is less than one quarter of the entire
 aggregate, the Document's Cover Texts may be placed on covers that surround
 only the Document within the aggregate.
 Otherwise they must appear on covers around the whole aggregate.
\layout Standard


\size small 
\color black
8.
 TRANSLATION
\layout Standard


\size small 
\color black
Translation is considered a kind of modification, so you may distribute
 translations of the Document under the terms of section 4.
 Replacing Invariant Sections with translations requires special permission
 from their copyright holders, but you may include translations of some
 or all Invariant Sections in addition to the original versions of these
 Invariant Sections.
 You may include a translation of this License provided that you also include
 the original English version of this License.
 In case of a disagreement between the translation and the original English
 version of this License, the original English version will prevail.
\layout Standard


\size small 
\color black
9.
 TERMINATION
\layout Standard


\size small 
\color black
You may not copy, modify, sublicense, or distribute the Document except
 as expressly provided for under this License.
 Any other attempt to copy, modify, sublicense or distribute the Document
 is void, and will automatically terminate your rights under this License.
 However, parties who have received copies, or rights, from you under this
 License will not have their licenses terminated so long as such parties
 remain in full compliance.
\layout Standard


\size small 
\color black
10.
 FUTURE REVISIONS OF THIS LICENSE
\layout Standard


\size small 
\color black
The Free Software Foundation may publish new, revised versions of the GNU
 Free Documentation License from time to time.
 Such new versions will be similar in spirit to the present version, but
 may differ in detail to address new problems or concerns.
 See http:///www.gnu.org/copyleft/.
\layout Standard


\size small 
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Each version of the License is given a distinguishing version number.
 If the Document specifies that a particular numbered version of this License
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n.
 If the Document does not specify a version number of this License, you
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\layout Standard


\size small 
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ADDENDUM: How to use this License for your documents
\layout Standard


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To use this License in a document you have written, include a copy of the
 License in the document and put the following copyright and license notices
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\layout Standard


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Copyright (c) YEAR YOUR NAME.
 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
 version published by the Free Software Foundation; with the Invariant Sections
 being LIST THEIR TITLES, with the Front-Cover Texts being LIST, and with
 the Back-Cover Texts being LIST.
 A copy of the license is included in the section entitled "GNU Free Documentati
on License".
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If you have no Invariant Sections, write "with no Invariant Sections" instead
 of saying which ones are invariant.
 If you have no Front-Cover Texts, write "no Front-Cover Texts" instead
 of "Front-Cover Texts being LIST"; likewise for Back-Cover Texts.
\layout Standard


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If your document contains nontrivial examples of program code, we recommend
 releasing these examples in parallel under your choice of free software
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\the_end

[Emc-commit] documents/lyx g92test1.lyx,NONE,1.1

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	g92test1.lyx 
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modular general files for handbooks

--- NEW FILE: g92test1.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding auto
\fontscheme bookman
\graphics default
\paperfontsize default
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\papersize letterpaper
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\use_geometry 0
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\quotes_language english
[...1650 lines suppressed...]
 variable were immediately written to the var file.
 Provision is made for this in the interpreter by a \SpecialChar ~
rs274ngc_save_parameters
 routine that is called when the EMC exits normally.
 This routine should be called whenever a change is made to a variable by
 a program command.
 This would include g92, g92.1 and g10.
 Since tkemc's popups that set g92 use an mdi command this would mean that
 they would also write to the var file as soon as the command they invoke
 was executed.
\layout Standard

This paper is a starting point for suggested further research.
 With the results found here, serious discussion of changes that need to
 be made to the code and changes that need to be made in the operation of
 these commands can begin to take place.
 The reader is encouraged to confirm each of the results found in this study
 and encouraged to suggest and perform other tests and report their results.
 
\the_end

[Emc-commit] documents/lyx faq.lyx,NONE,1.1

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--- NEW FILE: faq.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
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\papersize a4paper
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\paragraph_separation indent
\defskip medskip
\quotes_language english
[...5032 lines suppressed...]
\layout Standard

n150 X#1000
\layout Standard

See 
\begin_inset LatexCommand \htmlurl[http://linuxcnc.org.handbook/gcode/variables.html]{http://linuxcnc.org.handbook/gcode/variables.html}

\end_inset 

 for more.
\layout Standard

Both genedit and Set_Coordinates.tcl show examples of how to control a parameter
 value from Tcl.
 You should note that you will need to re-read the var file after the set
 using emc_task_plan_init if you are running emcsh.
 And there are other effects of that command as well that will have to be
 restored after the read.
\the_end

[Emc-commit] documents/lyx Dev_Custom.lyx,NONE,1.1 Dev_Developer.lyx,NONE,1.1 Dev_Drivers.lyx,NONE,1.1 Dev_emcsh.lyx,NONE,1.1 Dev_iosh.lyx,NONE,1.1 Dev_Makefiles.lyx,NONE,1.1 Dev_Source.lyx,NONE,1.1 Dev_tkio.lyx,NONE,1.1

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	Dev_iosh.lyx Dev_Makefiles.lyx Dev_Source.lyx Dev_tkio.lyx 
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#LyX 1.1 created this file. For more info see http://www.lyx.org/
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\quotes_language english
\quotes_times 2
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\paperpagestyle default

\layout Chapter

Customsing the software
\layout Standard


\series bold 
Contents
\layout Itemize

Re-compiling EMC along with various flags (yet to do)
\layout Itemize

Feed Per Rev Example
\layout Itemize

Adding NML codes
\layout Section

Re-compiling EMC along with various flags
\layout Standard

(add this)
\layout Section

Feed Per Rev Example
\layout Standard

From: Fred Proctor <fre...@ni...> 
\layout Standard

To: Multiple recipients of list <em...@ni...> 
\layout Standard

Subject: Re: emc development
\layout Standard

Chris, 
\layout Standard

You wrote: 
\layout Standard

> I have been using EMC since RTL 1.1 and now have it running under RTL2.0
 > and would like to contribute by adding a feed/rev gcode.
 I have C > programming experience and I am a control engineer by profession.
 Could > you please advise me of the correct procedure to follow so that
 my > efforts can be easily integrated.
 
\layout Standard

Wow, great, we could use some more programmers.
 The correct procedure is to get registered on SourceForge as an EMC developer,
 as described in the email to em...@ni... by Will Shackleford here at NIST
 that I appended to this email.
 Once you do this, you can start whacking away.
 You should also subscribe to em...@ni... so you can ping everyone with
 questions.
\layout Standard

The hard part (and the SourceForge setup is not that easy) is figuring out
 how to change the EMC code to do what you want.
 (See chapter 1 here)
\layout Standard

Specifically for your case, adding a feed per rev G code, here is my guide:
 
\layout Standard

1.
 Tom Kramer (tho...@ni...) wrote the G code interpreter.
 It's in emc/src/rs274ngc/.
 For questions on the interpreter itself, he's the one.
 Our philosophy was to implement a dialect of NC code based on a specification
 written by Rockwell Automation for the National Center for Manufacturing
 Sciences (NCMS).
 It's supposedly based on a Fanuc dialect.
 
\layout Standard

2.
 Once the interpreter parses the G codes, it calls one of many "canonical
 functions" defined in emc/src/emctask/emccanon.cc.
 That is, when it sees a comment, it calls the COMMENT() function.
 When it sees a G01, it calls STRAIGHT_FEED().
 In emccanon.cc, you'll see that these functions end up putting data structures
 on a global linked list, the interp_list.
 The data structures comprise the Neutral Messaging Language (NML), and
 is the format in which all commands and status flow around.
 The message set can be seen in all its gory detail in emc/src/emcnml/emc.hh.
 
\layout Standard

3.
 The EMC task controller (emc/src/emctask/emctaskmain.cc) calls the interpreter
 with emcTaskPlanRead()/emcTaskPlanExecute() calls, then looks at the interp_lis
t to see what was put on it.
 It then decides when the next message should be handled, and who gets it.
 This is the checkPreconditions(), issueCommand(), and checkPostconditions()
 sequence in emctaskmain.cc.
 
\layout Standard

4.
 Either the motion controller or IO controller is sent the message, and
 does the actual work.
 In your case, feed per rev may be able to be converted into an equivalent
 straight feed at a rate calculated by looking at the S code.
 This wouldn't impact much at all, maybe just rs274ngc.cc.
 Talk to Tom Kramer for his advice.
 
\layout Standard

Best regards, 
\layout Standard

--Fred\SpecialChar ~

\layout Section

Customising NML
\layout Standard

NML itself can be extended.
 This is done when new capabilities are added to the controller, so extending
 NML really means extending the EMC.
 The last one I added was the ability to override limits temporarily, to
 support homing off a limit switch.
 This involved coding it up in the motion controller (emc/src/emcmot/emcmot.c),
 adding a new message and status item for this (emc/src/emcmot/emcmot.h),
 adding it to NML (emc/src/emcnml/emc.hh), handling this in the EMC task
 controller (emc/src/emctask/emctaskmain.cc), adding it to the EMC windowing
 shell (emc/src/emctask/emcsh.cc), then updating the tkemc script to use
 it.
 Whew.
 
\layout Standard

--Fred Proctor\SpecialChar ~

\the_end

--- NEW FILE: Dev_Developer.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize default
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter

Becoming a Developer
\layout Section

My Sourceforge account.
\layout Standard

The development version of EMC exists on sourceforge.net so I needed to get
 a free user account there.
 Soon after I asked for an account, I received an email with a url for my
 final sourceforge setup.
 I had to enable cookies on my browser while I do this and must allow them
 anytime while I'm using the sourceforge service.
\layout Section

Becoming an EMC developer.
\layout Standard

As soon as I got that far, I emailed Will my login name so that he could
 set me up as a developer.
 (Now you can email any one of the people listed as adminintrators and they
 can add you.) Will did that and after a few minutes (hours) I was listed.
 Then the first thing I did was trash my developer status by a wrong click.
 (Sorry for the second request Will) After a bit I was a developer again.
 So the next thing I tried was a secure login and there I was.
\layout Comment

Hint Now it seems that there is a problem with ssl and some browsers so
 you should read the log in page carefully if you use that other browser.
\layout Standard

The secure login got me to my personal page.
 From there I searched for EMC and selected the correct one.
 I added messages and news and thought I was all set.
 I went back to my personal page and saw those added things.
 But when I went to the cvs repository for EMC, I was immediately lost in
 deep stuff.
 Searching around sourceforge for information was very little help!
\layout Section

Becoming a SSH client.
\layout Standard

The first question I had was how do you send the commands listed on the
 sourceforge cvs page.
 My thought was that perhaps, with the secure login, sourceforge had somehow
 taken over my computer so I started a virtual terminal and just typed in
 the stuff listed there.
 I got back a complaint so I read that documentation again.
 
\layout Quotation

SourceForge CVS Documentation
\newline 

\layout Quotation

For all developer (read/write) access, you will be using SSH
\begin_inset LatexCommand \index{SSH}

\end_inset 

.
 SSH (1.x) client must be available to your local machine.
 The local environment variable CVS_RSH must also be set to the path to
 ssh.
 This is done on most linux (bash) systems by typing:
\newline 

\layout Quotation

export CVS_RSH=ssh
\newline 

\layout Quotation

Anonymous CVS access uses CVS pserver and does not require SSH.
 If you get 'permission denied' errors with no prompt for a password, you
 do not have this environment variable set properly or SSH is not available
 to your system.
 Fix this before suspecting a password problem.
\layout Standard

Since the complaint was something about ssh, I started reading and found
 out that I needed something called SSH.
 A quick check of my system revealed that I had no commands called ssh,
 no files named ssh, and no package around that said anything about ssh.
\layout Standard

My fall back plan is an altavista search where I came up with this link.
 http://www.ssh.org/ Reading there confused me because it says very little
 about USING the thing that they call a secure terminal.
 I did learn that ssh is some sort of secure terminal that can be used to
 identify me and allow me to do work on a remote computer as a "trusted"
 user (little do they know).
\layout Standard

A little more altavista turned up a site that provides very good links to
 the whole world of ssh.
 http://www.heimhardt.de/htdocs/ssh.html.
 Blessings on this fellow because he has provided a bunch of links and a
 bunch of info (much of it I did not understand, and I do not understand
 it yet).
\layout Subsection

Downloading ssh.
\layout Standard

From the site above, I found a binary download for Linux 2.2.* and untarred
 it at the root directory.
 It installed several files in the /usr/local/bin directory.
 I considered that progress, because now when I entered the command ssh
\begin_inset LatexCommand \index{ssh}

\end_inset 

, I got a pile of options on the screen.
 Still a bit lost I went back to the web site above.
\layout Subsection

Setting up ssh
\layout Standard

From the heimhardt.de site, I found this site: http://www.tac.nyc.ny.us/~kim/ssh/
 which provides a very good introduction to what setting ssh up on your
 system is about.So I followed the instructions given for setting up a public
 key and copied it into the file that allows remote access to my machine.
 This is a very mysterious process but it did provide the files that they
 said it should.
\layout Section

Sourceforge checkout.
\layout Standard

I know from what little concurrent version system work that I'd done around
 home that in order to participate fully with it I would need a current
 version of the repository on my computer.I returned to the cryptic documentation
 on sourceforge.
 I started this process by a secure login using my netscape browser because
 it doesn't have a problem with ssl.
 Then from my personal page at sourceforge I clicked on the EMC project
 near the bottom of the page.
\layout Standard

Hint.
 If you answer their questionnaire, it will be reduced to a small block
 and the entire page will fit on a single screen.
\layout Standard

The sourceforge document says:
\layout Quotation

How to check out source via SSH
\layout Quotation

Type the following, making necessary obvious substitutions for your username
 and project.
\layout Quotation

cvs -z3 -d:ext:log...@cv...:/cvsroot/yourproject
 co directoryname
\layout Standard

This did not turn out quite like I expected because what's obvious to them
 is still muddy to me.
 I got the -d:ext:loginname part okay.
 My name at sourceforge is rayhenry so that gets substituted right after
 the (-d:ext:).
 I got some further clues from the cvs page itself so I started my virtual
 terminal again (konsole) and made sure I was using bash by just typing
 in bash.
 Then I entered the line: 
\layout Standard


\family typewriter 
\shape italic 
\size small 
\color black
export CVS_RSH=ssh
\shape default 
\color green

\begin_inset LatexCommand \index{ssh}

\end_inset 


\layout Standard

and I was back to my prompt.
 Then I entered the next line but the obvious substitution of directoryname
 took a couple of tries because it is lowercase.
\layout Standard


\family typewriter 
\shape italic 
\size small 
\color black
cvs -z3 -d:ext:ray...@cv...:/cvsroot/EMC co emc
\layout Standard

after a bit, sourceforge asked for my password.
 
\begin_inset Quotes eld
\end_inset 

Wow! Now I'm getting somewhere.
\begin_inset Quotes erd
\end_inset 


\layout Standard

This checked out the entire structure and files of the emc part of the NIST
 system onto my machine.
 So I did it again for the rcslib and documents directory and after a half
 hour my hard drive held a copy of the sourceforge repository.
\layout Section

Updating your copy of the repository
\layout Standard

There are three commands that help you keep your repository in line with
 the sourceforge set of files.
 They are update, checkout, and remove.
 
\layout Enumerate


\emph on 
Update
\emph default 
 works to compare each of the files in your local repository with the same
 file in the sourceforge repository.
 Any changes that have been made there will be updated on your local copy.
 
\layout Enumerate


\emph on 
Checkout
\emph default 
 is required for any new files or directories that have been added to the
 sourceforge set.
 Occasionally you will need to use checkout to get the latest new files.
 
\layout Enumerate


\emph on 
Remove
\emph default 
 is used to delete files from the repository.
 If you have files on your system that no longer exist in the sourceforge
 set you will get a warning message when you update.
\layout Subsection

Update
\layout Standard

Once you have a working copy of the repository you can log into sourceforge,
 start a terminal, issue the command 
\family typewriter 
\shape italic 
\size small 
\color black
export 
\layout Standard


\family typewriter 
\shape italic 
\size small 
\color black
CVS_RSH=ssh
\shape default 
\color green

\begin_inset LatexCommand \index{ssh}

\end_inset 


\layout Standard

and update all of a module by using the same command indicated above to
 check out the module.
 You could replace the co in that command with update.
 You can also cd into the directory that you wish to update and issue the
 command
\layout Standard


\emph on 
cvs update
\layout Standard

This means that you can move anyplace in your copy and update just that
 directory.
\layout Standard

I like to update my copy of the whole repository at one time.
 On my workstation I use a main directory named emcdevelop so I am in the
 habit of issuing the following set of commands after I have my login to
 sourceforge confirmed.
\layout Standard


\emph on 
export CVS_RSH=ssh
\layout Standard


\emph on 
cd emcdevelop
\layout Standard
\align left 

\family typewriter 
\shape italic 
\size small 
\color black
cvs -z3 -d:ext:ray...@cv...:/cvsroot/EMC co emc
\layout Standard
\align left 

\family typewriter 
\shape italic 
\size small 
\color black
cvs -z3 -d:ext:ray...@cv...:/cvsroot/EMC co emc
\layout Standard
\align left 

\family typewriter 
\shape italic 
\size small 
\color black
cvs -z3 -d:ext:ray...@cv...:/cvsroot/EMC co emc
\layout Standard
\align left 

\family typewriter 
\shape italic 
\size small 
\color black
cvs -z3 -d:ext:ray...@cv...:/cvsroot/EMC co emc
\layout Standard

Once a local copy of the repository has been established, cd works the same
 as update.
\layout Standard

You could also update the entire repository by a procedure like this.
\layout Standard


\emph on 
export CVS_RSH=ssh
\layout Standard


\emph on 
cd emcdevelop/emc
\layout Standard


\emph on 
cvs update
\layout Standard


\emph on 
cd ../emc-HAL
\layout Standard


\emph on 
cvs update
\layout Standard


\emph on 
cd ../rcslib
\layout Standard


\emph on 
cvs update
\layout Standard


\emph on 
cd ../documents
\layout Standard


\emph on 
cvs update
\layout Standard

If your development efforts are primarily in the documents module, and you
 are working with Lyx you might only udate that directory using a command
 like
\layout Standard


\emph on 
export CVS_RSH=ssh
\layout Standard


\emph on 
cd emcdevelop/documents/lyx
\layout Standard


\emph on 
cvs update
\layout Subsection

Update codes
\layout Standard

After you've run checkout to create your private copy of source from the
 common repository, other developers will continue changing the central
 source.
 From time to time, when it is convenient in your development process, you
 can use the `update' command from within your working directory to reconcile
 your work with any revisions applied to the source repository since your
 last checkout or update.
 While update is working, it will give you a list of the files that it looks
 at and will report any changes, conflicts, etc.
 The following info page describes that report.
\layout Standard

update output
\layout Standard

The commands 
\emph on 
update
\emph default 
 and 
\emph on 
checkout
\emph default 
 keep you informed of their progress by printing a line for each file, preceded
 by one character indicating the status of the file:
\layout Description

`U FILE' The file was brought up to date with respect to the repository.
 This is done for any file that exists in the repository but not in your
 source, and for files that you haven't changed but are not the most recent
 versions available in the repository.
\layout Description

`P FILE' Like `U', but the CVS server sends a patch instead of an entire
 file.
 These two things accomplish the same thing.
\layout Description

`A FILE' The file has been added to your private copy of the sources, and
 will be added to the source repository when you run `commit' on the file.
 This is a reminder to you that the file needs to be committed.
\layout Description

`R FILE' The file has been removed from your private copy of the sources,
 and will be removed from the source repository when you run `commit' on
 the file.
 This is a reminder to you that the file needs to be committed.
\layout Description

`M FILE' The file is modified in your working directory.
\layout Description

`M' can indicate one of two states for a file you're working on: either
 there were no modifications to the same file in the repository, so that
 your file remains as you last saw it; or there were modifications in the
 repository as well as in your copy, but they were merged successfully,
 without conflict, in your working directory.
\layout Description

CVS will print some messages if it merges your work, and a backup copy of
 your working file (as it looked before you ran `update') will be made.
 The exact name of that file is printed while `update' runs.
\layout Description

`C FILE' A conflict was detected while trying to merge your changes to FILE
 with changes from the source repository.
 FILE (the copy in your working directory) is now the result of attempting
 to merge the two revisions; an unmodified copy of your file is also in
 your working directory, with the name `.#FILE.REVISION' where REVISION is
 the revision that your modified file started from.
 Resolve the conflict as described in Conflicts example.
 (Note that some systems automatically purge files that begin with `.#' if
 they have not been accessed for a few days.
 If you intend to keep a copy of your original file, it is a very good idea
 to rename it.) Under VMS, the file name starts with `__' rather than `.#'.
\layout Description

`? FILE' FILE is in your working directory, but does not correspond to anything
 in the source repository, and is not in the list of files for CVS to ignore
 (see the description of the `-I' option, and cvsignore.).
\layout Subsection

Making a change to the sourceforge repository.
\layout Standard

So there it is.
 The connection has been made.
 The download is complete.
 I am a developer.
 Now I need to learn a little bit about using CVS lest I trash the entire
 repository and look to all the world like the idiot that my close friends
 already know me to be.
\layout Standard

You may work on those files with your favorite text editor and save changes.
 One thing that I found out is that sometimes my editor leaves backup and
 invisible files laying around after I close it.
 Another thing that I've noticed is some cases where a comparison between
 versions of a file will show differences between Microsoft end-of-line
 versus unix end-of-line characters.
 Or just putting a space in a line will cause diff to think that the line
 has been edited.
 So I'll need to be a little careful with these kinds of editing problems
 so that others can see the real differences that I've made to a file.
\layout Standard

Okay now that I've made changes that will add a feature that all of us want,
 I need to update the repository at sourceforge with the revised file and
 any new files and directories.
\layout Standard

The sourceforge documentations says: 
\layout Quotation

After initial checkout, you can change into this directory and execute cvs
 commands without the -d tag.
 For example:
\layout Quotation

cvs update 
\layout Quotation

cvs commit -m "comments for this commit" 
\layout Quotation

or
\layout Quotation

cvs add myfile.c
\layout Standard

I am going to do this by following the commands that Will sent me that are
 intended to commit some of my Tcl/Tk work to the repository and make these
 changes a part of the next release of EMC.
 First I'll copy my email to Will that describes what I've done.
 
\layout Standard

> I've been working with running scripts from a variable menu under
\newline 
> tkemc.
 For this I used a sub directory called emc/scripts.
 I see that
\newline 
> you already have a scripts directory in the release that contains a lot
 of
\newline 
> the emc setup files.
\newline 
>
\newline 
> I'd like to see these tcl scripts implemented as a part of the release.
\newline 
> What do you recommend that we do for a directory name for these kinds
 of
\newline 
> things.
\layout Standard

Will responded
\layout Standard

>Currently only developers see the scripts directory.
 When we build a
\newline 
>distribution the script files for the appropriate platform are
\newline 
>moved to the top level directory before the distribution is built.
\newline 
>But end-users will probably not want the tcl scripts in the top
\newline 
>level directory.
\newline 
>Perhaps instead of using emc/scripts we could put it in a directory
\newline 
>emc/tcl or emc/tclscripts.
\layout Standard

I suggested that we expand on this just a bit with:
\layout Standard


\family typewriter 
\size small 
emc/tcl/lib 
\newline 
emc/tcl/scripts
\layout Standard

since this would allow us to expand the tcl based stuff without adding much
 clutter to the main emc directory.
 Then all I had to do to my genedit and tkemc files was change the directory
 reference in the scripts menu setup code.
\layout Standard

Will responded with the following set of commands to use after the ssl log
 in and the bash shell in konsole.
\layout Standard


\family typewriter 
\shape italic 
\size small 
\color black
export CVS_RSH=ssh
\begin_inset LatexCommand \index{ssh}

\end_inset 


\newline 
cd emc
\newline 
mkdir tcl
\newline 
cvs add tcl
\newline 
cd tcl
\newline 
mkdir lib scripts
\newline 
cvs add lib scripts
\newline 
cd scripts
\newline 
cvs add * ( Copy all your scripts here.
 )
\newline 
cd ../../scripts/<PLAT> (edit the emc.inc file to add emc/tcl/lib & scripts)
\newline 
cd ../..
\newline 
cvs commit
\layout Standard

He also suggested that I edit the file emc/scripts/emc.inc and add the new
 directories because, "That way the files would automatically be added the
 next time we build a distribution." (Will)
\layout Standard

I got hung up somewhere in the cvs commit command.
 Sourceforge kept insisting that my files had been added but I couldn't
 see them when I looked in the emc/tcl/scripts directory.
 After a bit of reading of the cvs documentation I found this helpful page.
\layout Subsection

Adding files to a directory 
\layout Standard

To add a new file to a directory, follow these steps.
\layout Itemize

You must have a working copy of the directory.
 Getting the source.
\layout Itemize

Create the new file inside your working copy of the directory.
\layout Itemize

Use `cvs add FILENAME' to tell CVS that you want to version control the
 file.
 If the file contains binary data, specify `-kb' (Binary files.).
\layout Itemize

Use `cvs commit FILENAME' to actually check in the file into the repository.
 Other developers cannot see the file until you perform this step.
\layout Standard

You can also use the `add' command to add a new directory.
\layout Standard

Unlike most other commands, the `add' command is not recursive.
 You cannot even type `cvs add foo/bar'! Instead, you have to
\layout Standard

$ cd foo
\newline 
$ cvs add bar
\newline 
- Command: cvs add [`-k' kflag] [`-m' message] files ...
\layout Standard

Schedule FILES to be added to the repository.
 The files or directories specified with `add' must already exist in the
 current directory.
\layout Standard

The added files are not placed in the source repository until you use `commit'
 to make the change permanent...
\layout Standard

The `-m' option specifies a description for the file.
 This description appears in the history log (if it is enabled).
 It will also be saved in the version history inside the repository when
 the file is committed.
\layout Standard

For example, the following commands add the file `backend.c' to the repository:
 
\layout Standard


\family typewriter 
\size small 
$ cvs add backend.c 
\newline 
$ cvs commit -m "Early version.
 Not yet compilable." backend.c "
\layout Standard

I had successfully added the files to the repository but I had not successfully
 committed them.
 What I did was commit each file with the following set of commands.
 After I submitted each command, it asked me for my sourceforge password.
 (makes me wish I hadn't made every other letter a capital)
\layout Standard


\family typewriter 
\shape italic 
\size small 
\color black
export CVS_RSH=ssh
\newline 
cd emc/tcl/scripts
\newline 
cvs commit -m "tkemc parport show script" IO_Show.tcl
\newline 
cvs commit -m "tkemc script" MDI_Input.tcl
\newline 
cvs commit -m "Experimental tkemc script" Subroutine.tcl
\newline 
cvs commit -m "genedit gcode script" feedrate.ncw
\newline 
cvs commit -m "genedit gcode script" gohome.ncw
\newline 
cd ../../src/emctask
\newline 
cvs commit -m "added script menu" genedit.tcl
\newline 
cvs commit -m "tkemc popup" tkbackplot.tcl
\layout Standard

But I forgot that I edited and added a copy of emc/scripts/emc.inc so I will
 have to commit that one as well or it will not be visible.
\layout Subsection

Checkout
\layout Standard

When you have a working repository on your computer, checkout will compare
 your files with the sourceforge files and will download any new or revised
 files.
 You can run the command - cvs checkout emc - and it will update all of
 the emc files.
 I had to use the longer version to checkout all of the rcslib files.
\layout Standard


\family typewriter 
\shape italic 
\size small 
\color black
cvs -z3 -d:ext:ray...@cv...:/cvsroot/EMC co rcslib
\layout Standard

The same command with emc or documents will check out those modules as well.
\layout Subsection

Remove
\layout Standard

The remove command is used to take files out of the repository.
 Normally I will not use this command at all because most of the files are
 not mine.
 But occasionally a file gets removed from the repository and I want to
 remove my local copy.
 Fortunately I can do this by just removing them from my local set and they
 will no longer be considered when updating.
 Since they have been removed from sourceforge they will not show up on
 the next checkout either.
\layout Standard

If you want to remove some of your files from the sourceforge set, the following
 page tells how to do that.
\layout Quotation

cvs add Directories change.
 New files are added, and old files disappear.
 Still, you want to be able to retrieve an exact copy of old releases.
\layout Quotation

Here is what you can do to remove a file, but remain able to retrieve old
 revisions:
\layout Quotation

* Make sure that you have not made any uncommitted modifications to the
 file.
 Viewing differences, for one way to do that.
 You can also use the `status' or `update' command.
 If you remove the file without committing your changes, you will of course
 not be able to retrieve the file as it was immediately before you deleted
 it.
\layout Quotation

* Remove the file from your working copy of the directory.
 You can for instance use `rm'.
\layout Quotation

* Use `cvs remove FILENAME' to tell CVS that you really want to delete the
 file.
\layout Quotation

* Use `cvs commit FILENAME' to actually perform the removal of the file
 from the repository.
\layout Quotation

When you commit the removal of the file, CVS records the fact that the file
 no longer exists.
 It is possible for a file to exist on only some branches and not on others,
 or to re-add another file with the same name later.
 CVS will correctly create or not create the file, based on the `-r' and
 `-D' options specified to `checkout' or `update'.
\layout Quotation

- Command: cvs remove [options] files ...
\layout Quotation

Schedule file(s) to be removed from the repository (files which have not
 already been removed from the working directory are not processed).
 This command does not actually remove the file from the repository until
 you commit the removal.
 For a full list of options, see Invoking CVS.
\layout Quotation

Here is an example of removing several files:
\layout Standard


\family typewriter 
\size small 
\color black
$
\shape italic 
 cd test
\newline 

\shape default 
$
\shape italic 
 rm *.c
\newline 

\shape default 
$ 
\shape italic 
cvs remove
\shape default 
\color green

\newline 

\color default
cvs remove: Removing .
\newline 
cvs remove: scheduling a.c for removal
\newline 
cvs remove: scheduling b.c for removal
\newline 
cvs remove: use 'cvs commit' to remove these files permanently
\newline 

\color black
$
\shape italic 
 cvs ci -m "Removed unneeded files"
\shape default 
\color green

\newline 

\color default
cvs commit: Examining .
\newline 
cvs commit: Committing .
\the_end

--- NEW FILE: Dev_Drivers.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize default
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter

Hardware Drivers
\begin_inset LatexCommand \label{chap:drivers}

\end_inset 


\layout Section

Wrapper Functions
\layout Standard

The structure of the EMC sources are such that at present, two layers of
 code are expected between emcmot and the actual hardware.
 Listed below are the calls made by emcmot - These will then call the board
 specific functions in a separate source file unless the hardware does not
 support it.
 The instinctive route taken by most would be to encode the necessary functions
 directly.
 Having the abstraction layer gives the end user the option to mix and match
 hardware and only have to write one wrapper, or extend the functionality.
 The prospect of being able to mix stepper motors and servos without resorting
 to additional hardware is just one attraction of EMC.
\newline 

\layout Standard

For example, the initialization of the motion control card by emcmot would
 consist of calls to the following routines in extstgmot.c :-
\layout Quotation

#include <extint.h>
\layout Quotation

#include <stg.h>
\layout Quotation

int extMotInit(const char * stuff)
\layout Quotation

{
\layout Quotation

\SpecialChar ~
 return stgMotInit(stuff);
\layout Quotation

}
\layout Quotation

int extDioInit(const char * stuff)
\layout Quotation

{
\layout Quotation

\SpecialChar ~
 return stgDioInit(stuff);
\layout Quotation

}
\layout Quotation

int extAioInit(const char * stuff)
\layout Quotation

{
\layout Quotation

\SpecialChar ~
 return stgAioInit(stuff);
\layout Quotation

}
\layout Standard

The real work of initialising the card would then be coded in stg.c :-
\layout Quotation

int stgMotInit(const char * stuff)
\layout Quotation

{
\layout Quotation

\SpecialChar ~
 int t;
\layout Quotation

\SpecialChar ~
 Initialize(5);
\layout Quotation

\SpecialChar ~
 EncoderInit();
\layout Quotation

\SpecialChar ~
 /* output 0's to amps */
\layout Quotation

\SpecialChar ~
 for (t = 0; t < STG_MAX_AXIS; t++)
\layout Quotation

\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
 {
\layout Quotation

\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
 /* write 0 to DACs */
\layout Quotation

\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
 stgDacWrite(t, 0.0);
\layout Quotation

\SpecialChar ~
\SpecialChar ~
\SpecialChar ~
 }
\layout Quotation

\SpecialChar ~
 return 0;
\layout Quotation

}
\newline 

\layout Quotation

int stgDioInit(const char * stuff)
\layout Quotation

{
\layout Quotation

\SpecialChar ~
 /* set digital IO bits for A,B input, C output */
\layout Quotation

\SpecialChar ~
 DIOdirection(0x0C);
\layout Quotation

\SpecialChar ~

\layout Quotation

\SpecialChar ~
 return 0;
\layout Quotation

}
\newline 

\layout Quotation

int stgAioInit(const char * stuff)
\layout Quotation

{
\layout Quotation

\SpecialChar ~
 /* nothing need be done */
\layout Quotation

\SpecialChar ~
 return 0;
\layout Quotation

}
\layout Standard

The stgAioInit routine returns as if everything was configured correctly,
 but as the analogue IO is not used, only a dummy function is needed.
 Should we wish to add another card that supports additional anaogue IO,
 a set of routines can be written in a seperate source file and the calls
 included in extstgmot.
 Better still would be to create a new extstgmot (extstgPlusmot.c ?) with
 the additional calls included.
 Should we now want to use an alternative Digital IO card along side the
 Servo-To-Go and tne new analogue cards, it is a simple matter to re-route
 the calls in extstgPlusmot.c :-
\layout Standard

int extMotInit(const char * stuff)
\layout Quotation

{
\layout Quotation

\SpecialChar ~
 return stgMotInit(stuff);
\layout Quotation

}
\layout Quotation

int extDioInit(const char * stuff)
\layout Quotation

{
\layout Quotation

\SpecialChar ~
/* Route Digital IO through a PCI card */
\layout Quotation

\SpecialChar ~
 return NewDioInit(stuff);
\layout Quotation

}
\layout Quotation

int extAioInit(const char * stuff)
\layout Quotation

{
\layout Quotation

\SpecialChar ~
/* And use some new Analogue hardware */
\layout Quotation

\SpecialChar ~
 return PlusAioInit(stuff);
\layout Quotation

}
\layout Standard

All this will pulled together during the linking stage as described in the
 Makefile - This is a subject for another section.
\layout Standard

Although this method of coding appears to be inefficient and could be reduced
 to just one extstgmot.c, it would require substantially more work to maintain.
 Mixing and matching hardware would also become a major hacking exercise.
\layout Section

Hardware Functions
\layout Standard

Functions required by emcmot running in realtime.
\layout Standard


\series bold 
extMotInit(const char * stuff)
\layout Standard

Args: optional.
\layout Standard

Returns 0 for success, or -1 if initialization failed.
\newline 

\layout Standard

Call once before any of the other motion IO functions are called.
 'stuff' argument can be used to pass a pointer to board-specific stuff
 like config files to the initalizing routine.
\newline 

\layout Standard


\series bold 
extDioInit(const char * stuff)
\layout Standard

Args: optional.
\layout Standard

Returns 0 for success, or -1 if initialization failed.
\newline 

\layout Standard

Call once before any of the other digital IO functions are called, but after
 extMotInit.
 'stuff' argument can be used to pass a pointer to board-specific stuff
 like config files to the initalizing routine.
\newline 

\layout Standard


\series bold 
extAioInit(const char * stuff)
\layout Standard

Args: optional.
\layout Standard

Returns 0 for success, or -1 if initialization failed.
\newline 

\layout Standard

Call once before any of the other analog IO functions are called, but after
 extMotInit and extDioInit.
 'stuff' argument can be used to pass a pointer to board-specific stuff
 like config files to the initalizing routine.
\newline 

\layout Standard


\series bold 
extMotQuit()
\layout Standard

Args: none
\layout Standard

Returns void.
\newline 

\layout Standard

Calls the board quit routine once, after which point no other functions
 will be called until after a call to extMotInit().
\newline 

\layout Standard


\series bold 
extDioQuit()
\layout Standard

Args: none
\layout Standard

Returns void.
\newline 

\layout Standard

Call once before extMotQuit, after which point no other functions will be
 called until after a call to extDioInit().
\newline 

\layout Standard


\series bold 
extAioQuit()
\layout Standard

Args: none
\layout Standard

Returns void.
\newline 

\layout Standard

Call once before extMotQuit (and extDioQuit), after which point no other
 functions will be called until after a call to extAioInit().
\newline 

\layout Standard


\series bold 
extMotDout
\layout Standard

Args:
\layout Standard

Returns
\newline 

\layout Standard

Intenal function in emcmot.c that pehaps should be in the hardware wrapper.
\newline 

\layout Standard


\series bold 
extAmpEnable(int axis, int enable)
\layout Standard

Args: Axis number, Enable flag
\layout Standard

Returns 0 if OK, -1 if not valid (axis is out of range)
\newline 

\layout Standard

enables or disables amplifier for indicated axis; enable flag is 1 to enable,
 0 to disable
\newline 

\layout Standard


\series bold 
extAmpFault(int axis, int * fault)
\layout Standard

Args: Axis number, Pointer to fault flag
\layout Standard

Returns 0 if OK, -1 if not valid (axis out of range)
\newline 

\layout Standard

Copies into fault[axis] the fault state of the amplifier.
 1 is faulted, 0 is OK.
\newline 

\layout Standard


\series bold 
extMaxLimitSwitchRead(int axis, int * flag)
\layout Standard


\series bold 
extMinLimitSwitchRead(int axis, int * flag)
\layout Standard

Args: Axis number, Pointer to limit switch flag
\layout Standard

Returns 0 if OK, -1 if not valid (axis is out of range).
 */
\newline 

\layout Standard

sets *flag to 0 if the limit switch is not tripped, i.e., everything is fine,
 1 if the limit switch is tripped, i.e., the axis went too far in the associated
 direction.
\layout Standard

Maximum is defined as the direction in which encoder values increase, minimum
 is the other direction.
\newline 

\layout Standard


\series bold 
extHomeSwitchRead(int axis, int * flag)
\layout Standard

Args: Axis number, Pointer to home switch flag
\layout Standard

Returns 0 if OK, -1 if not valid (axis is out of range).
\newline 

\layout Standard

sets *flag to 0 if the home switch is not tripped, i.e., everything is fine,
 1 if the home switch is tripped.
\newline 

\layout Standard


\series bold 
extEncoderReadAll(int max, double * counts)
\layout Standard

Args: Max axis, Pointer to Encoder array.
\layout Standard

Returns 0 if OK or -1
\newline 

\layout Standard

Stores the range of encoders' counts in counts[0....Max axis-1] array.
 Returns 0 if OK or -1 if the max is greater than number of encoders.
 max is number of encoders, so for encoders 0..3 max would be 4.
\newline 

\layout Standard


\series bold 
extEncoderSetIndexModel()
\layout Standard

Args: none
\layout Standard

Returns 1 or 2
\newline 

\layout Standard

Returns the type of encoder indexing done by the board.
\layout Standard

NOTE: This function is not called by emcmot.c, it is only listed here as
 reference.
\layout Standard

The handling of index pulses for encoder homing is problematic.
 There are two models (at least) for how incremental encoders can be homed
 off the index pulse.
 The first assumes the encoder index pulse sets a flag when it occurs, but
 the count value doesn't change.
 The controller polls on this flag, and when it is seen to be latched the
 controller reads the position and uses this as an offset.
 There is a latency that makes this less accurate than the second method,
 in which the occurrence of the index pulse resets the count automatically.
 The problem is that the controller logic is different for the two methods,
 so if you replace a board which does it the first way with one that does
 it the second, you need to recode the logic.
 The function "extEncoderIndexModel()" returns the model used by the board,
 so at least you can detect it and if you have coded up both types you can
 switch automatically.
\layout Standard

EXT_ENCODER_INDEX_MODEL_MANUAL indicates that the index pulse sets a latch
 flag, but you have to read this and then the encoder value and handle offsets
 yourself.
 The board won't change its count value on the index pulse.
\layout Standard

EXT_ENCODER_INDEX_MODEL_AUTO indicates that the index pulse zeros the encoder
 count automatically.
 */
\layout Standard

/* flags defined bit-exclusive for OR'ing if board can do multiple ways
 */
\layout Standard

#define EXT_ENCODER_INDEX_MODEL_MANUAL 0x00000001
\layout Standard

#define EXT_ENCODER_INDEX_MODEL_AUTO 0x00000002
\newline 

\layout Standard


\series bold 
extEncoderSetIndexModel(unsigned int model)
\layout Standard

Args: Int=1
\layout Standard

Returns 0 if OK or -1
\newline 

\layout Standard

NOTE: emcmot.c only calls this function with EXT_ENCODER_INDEX_MODEL_MANUAL
 during the init_module() process.
\layout Standard

For boards that support multiple index models, select which one is to be
 used.
 Returns 0 if OK, -1 if model can't be supported.
 */
\newline 

\layout Standard


\series bold 
extEncoderReadLatch(int encoder, int * flag)
\layout Standard

Args: Axis number, pointer to latch array
\layout Standard

Returns 0 if OK or -1
\newline 

\layout Standard

For EXT_ENCODER_INDEX_MODEL_MANUAL, stores 1 if index has latched the flag
 in flag[Axis], 0 if not.
 For EXT_ENCODER_INDEX_MODEL_AUTO, stores 1 if the encoder has been zeroed.
 Returns 0 if OK, -1 if not valid.
\newline 

\layout Standard


\series bold 
extEncoderResetIndex(int encoder)
\layout Standard

Args: Axis number
\layout Standard

Returns 0 if OK or -1
\newline 

\layout Standard

Resets index latching for the indicated axis.
 Returns 0 if OK or -1 if the index is out of range.
 This applies to both EXT_ENCODER_INDEX_MODEL_MANUAL and EXT_ENCODER_INDEX_MODEL
_AUTO.
 For the first, it resets the latch flag.
 For the second, it enables zeroing on the next index.
 encoder is range 0..max encoder - 1.
\newline 

\layout Standard


\series bold 
extDioRead(int index, int *value)
\layout Standard

Args: Bit index number, Pointer to array
\layout Standard

Returns 0 if OK or -1
\newline 

\layout Standard

Reads value of digital input at index, stores in value[index].
\layout Standard

Note.
 This is a bit read, and index starts at 0.
\newline 

\layout Standard


\series bold 
extDacWriteAll(int max, double * volts)
\layout Standard

Args: Max DAC, pointer to volts array
\layout Standard

Returns 0 if OK or -1
\newline 

\layout Standard

When emcmot commands a move, the raw DAC value is placed into an array of
 double floats.
 A call to extDacWriteAll is made passing the maximum number of DACs expected
 in the system along with a pointer to the raw DAC values.
 These two arguments are then passed to a routine to convert the raw values
 in to a suitable format before writing to the DACs.
 Any level shifting and output limiting should be done here before returning
 0 for success or -1 for failure.
\newline 

\layout Subsection*

Additional notes
\layout Standard

A look at the hardware specific sources will reveal a number of other functions
 not listed above.
 These would typically be internal routines or functions used by a standalone
 diagnostic program.
 The Servo-To-Go driver being ported from a DOS driver, is a prime example
 of this.
\layout Standard

For realtime code, do NOT use any external libs such as stdout, nor should
 you attempt to use C++.
 Both of these will result in 
\begin_inset Quotes eld
\end_inset 

undefined symbol
\begin_inset Quotes erd
\end_inset 

 errors when an attempt is made to load the module.
\layout Standard

Although the kernel functions can be used instead, a number of them do not
 work under realtime.
 One is iopl(), another is the print function printk.
 iopl() is not implimented in either rtlinux or rtai.
 printk is replaced with rtl_printk (for rtlinux) and rt_printk (for rtai),
 the equivalent stdout function would be printf - Although printing of floats
 does not work in realtime.
\newline 

\layout Standard

Linux Device Drivers by Alessandro Rubini & Jonathan Corbet is recommended
 reading, as is the kernel documentation (try 'make psdocs pdfdocs htmldocs'
 in the linux source directory).
\the_end

--- NEW FILE: Dev_emcsh.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\paperfontsize default
\spacing single 
\papersize Default
\paperpackage a4wide
\use_geometry 0
\use_amsmath 0
\paperorientation portrait
\secnumdepth 5
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 2
\paperpagestyle default

\layout Chapter

EMCSH
\layout Section

Adding Commands
\layout Standard

The C++ program emc/src/emctask/emcsh.cc is the back-end of tkemc.
 This is a replacement for "wish", the default Tcl/Tk "windowing shell"
 that is used to run Tcl/Tk scripts.
 emcsh does everything that wish does, plus connects to the EMC's communication
 buffers, and provides new functions like emc_mode, emc_estop to send commands,
 and emc_abs_act_pos, emc_rel_cmd_pos to get status.
 
\layout Standard

You can add new commands to emcsh.cc, following an example like emc_estop
 or emc_rel_cmd_pos for sending a command or retrieving status, respectively.
 The strings and their corresponding C++ functions have the same names,
 so you can search through the file and see what's going on.
 The complete list of available commands and status items provided by the
 EMC is in emc/src/emcnml/emc.hh.
 Many of these aren't yet in emcsh.cc, and therefore not accessible via tkemc.
 I only put in the ones that I thought would be needed in the GUI at first.
 
\layout Section

Working with emcsh
\layout Standard

Adding new Tcl commands to emcsh and iosh is relatively straight forward
 if you are familiar with C and C++.
 All the Tcl/Tk functions can be called at a low level in C.
 For descriptions of each call, take a look at the man pages, copies of
 which can be found at http://tcl.activestate.com/man/tcl8.0/ and http://www.elf.org.
\layout Section

Tcl command extensions for EMC
\layout Standard

The following information has been extracted from emcsh.cc.
 For examples of the correct usage, look at the tcl scripts in emc/src/task/tkem
c.tcl or emc/plat/nonrealtime/bin/tkemc.
\layout Standard

To use the emcsh commands, use the following at the start of the script:
\layout Standard

#!/bin/sh # the next line restarts using emcsh 
\backslash 
 exec plat/nonrealtime/bin/emcsh "$0" "$@"
\layout Standard

Using emcsh:
\layout Standard

emcsh {<filename>} {-- -ini <ini file>}
\layout Standard

With filename, it opens NML buffers to the EMC, runs the script, closes
 the buffers, and quits.
\layout Standard

With -- -ini <inifile>, uses inifile instead of emc.ini.
 Note that the two dashes prevents Tcl from looking at the remaining args,
 which would otherwise trigger a Tcl error that it doesn't understand what
 -ini means.
\layout Standard

Without filename, it runs interactively.
\layout Standard

The files (or manual input) are Tcl scripts, extended with EMC-specific
 commands.
 These commands are all prefixed with "emc_", which makes them somewhat
 inconvenient for typing but avoids name conflicts, e.g.,open.
\layout Standard

Some commands take 0 or more arguments.
 0 arguments means they return the associated value; the argument would
 be to set the value.
\layout Standard

Commands are sent to the EMC, and control resumes immediately.
 You can call a timed wait until the command got there, or a timed wait
 until the command completed, or not wait at all.
\layout Section

EMC commands:
\layout Itemize

EMC_INIFILE Exported values of the EMC global of the same name
\layout Itemize

emc_plat Returns the platform for which this was compiled, e.g., linux_2_0_36
\layout Itemize

emc_ini <var> <section> Returns the string value of <var> in section <section>,
 in EMC_INIFILE
\layout Itemize

emc_debug {<new value>} With no arg, returns the integer value of EMC_DEBUG,
 in the EMC.
 Note that it may not be true that the local EMC_DEBUG variable here (in
 emcsh and the GUIs that use it) is the same as the EMC_DEBUG value in the
 EMC.
 This can happen if the EMC is started from one .ini file, and the GUI is
 started with another that has a different value for DEBUG.
 
\layout Itemize

With an arg, sends a command to the EMC to set the new debug level, and
 sets the EMC_DEBUG global here to the same value.
 This will make the two values the same, since they really ought to be the
 same.
\layout Itemize

emc_set_wait none | received | done Set the wait for commands to return
 to be right away (none), after the command was sent and received (received),
 or after the command was done (done).
\layout Itemize

emc_wait received | done Force a wait for the previous command to be received,
 or done.
 This lets you wait in the event that "emc_set_wait none" is in effect.
\layout Itemize

emc_set_timeout <timeout> Set the timeout for commands to return to <timeout>,
 in seconds.
 Timeout is a real number.
 If it's <= 0.0, it means wait forever.
 Default is 0.0, wait forever.
 
\layout Itemize

emc_update (none) | none | auto With no arg, forces an update of the EMC
 status.
 With "none", doesn't cause an automatic update of status with other emc_
 words.
 With "auto", makes emc_ words automatically update status before they return
 values.
\layout Itemize

emc_error Returns the current EMC error string, or "ok" if no error.
\layout Itemize

emc_operator_display Returns the current EMC operator display string, or
 "ok" if none.
\layout Itemize

emc_operator_text Returns the current EMC operator text string, or "ok"
 if none.
\layout Itemize

emc_time Returns the time, in seconds, from the start of the epoch.
 This starting time depends on the platform.
\layout Itemize

emc_estop (none) | on | off With no arg, returns the estop setting as "on"
 or "off".
 Otherwise, sends an estop on or off command.
\layout Itemize

emc_estop_in Returns the estop input setting as "on" or "off".
\layout Itemize

emc_machine (none) | on | off With no arg, returns the machine setting as
 "on" or "off".
 Otherwise, sends a machine on or off command.
\layout Itemize

emc_mode (none) | manual | auto | mdi With no arg, returns the mode setting
 as "manual", "auto", or "mdi".
 Otherwise, sends a mode manual, auto, or mdi command.
\layout Itemize

emc_mist (none) | on | off With no arg, returns the mist setting as "on"
 or "off".
 Otherwise, sends a mist on or off command.
\layout Itemize

emc_flood (none) | on | off With no arg, returns the flood setting as "on"
 or "off".
 Otherwise, sends a flood on or off command.
\layout Itemize

emc_lube (none) | on | off With no arg, returns the lubricant pump setting
 as "on" or "off".
 Otherwise, sends a lube on or off command.
\layout Itemize

emc_lube_level Returns the lubricant level sensor reading as "ok" or "low".
\layout Itemize

emc_spindle (none) | forward | reverse | increase | decrease |constant |
 off With no arg, returns the value of the spindle state as "forward", "reverse"
, "increase", "decrease", or "off".
 With arg, sends the spindle command.
 Note that "increase" and "decrease" will cause a speed change in the correspond
ing direction until a "constant" command is sent.
\layout Itemize

emc_brake (none) | on | off With no arg, returns the brake setting.
 Otherwise sets the brake.
\layout Itemize

emc_tool Returns the id of the currently loaded tool
\layout Itemize

emc_tool_offset Returns the currently applied tool length offset
\layout Itemize

emc_load_tool_table <file> Loads the tool table specified by <file>
\layout Itemize

emc_home 0 | 1 | 2 | ...
 Homes the indicated axis.
\layout Itemize

emc_jog_stop 0 | 1 | 2 | ...
 Stop the axis jog
\layout Itemize

emc_jog 0 | 1 | 2 | ...
 <speed> Jog the indicated axis at <speed>; sign of speed is direction
\layout Itemize

emc_jog_incr 0 | 1 | 2 | ...
 <speed> <incr> Jog the indicated axis by increment <incr> at the <speed>;
 sign of speed is direction
\layout Itemize

emc_feed_override {<percent>} With no args, returns the current feed override,
 as a percent.
 With argument, set the feed override to be the percent value
\layout Itemize

emc_abs_cmd_pos 0 | 1 | ...
 Returns double obj containing the XYZ-SXYZ commanded pos in abs coords,
 at given index, 0 = X, etc.
\layout Itemize

emc_abs_act_pos Returns double objs containing the XYZ-SXYZ actual pos in
 abs coords
\layout Itemize

emc_rel_cmd_pos 0 | 1 | ...
 Returns double obj containing the XYZ-SXYZ commanded pos in rel coords,
 at given index, 0 = X, etc., including tool length offset
\layout Itemize

emc_rel_act_pos Returns double objs containing the XYZ-SXYZ actual pos in
 rel coords, including tool length offset
\layout Itemize

emc_joint_pos Returns double objs containing the actual pos in absolute
 coords of individual joint/slider positions, excludes tool length offset
\layout Itemize

emc_pos_offset X | Y | Z | R | P | W Returns the position offset associated
 with the world coordinate provided
\layout Itemize

emc_joint_limit 0 | 1 | ...
 Returns "ok", "minsoft", "minhard", "maxsoft", "maxhard"
\layout Itemize

emc_joint_fault 0 | 1 | ...
 Returns "ok" or "fault"
\layout Itemize

emc_joint_homed 0 | 1 | ...
 Returns "homed", "not"
\layout Itemize

emc_mdi <string> Sends the <string> as an MDI command
\layout Itemize

emc_task_plan_init Initializes the program interpreter
\layout Itemize

emc_open <filename> Opens the named file
\layout Itemize

emc_run {<start line>} Without start line, runs the opened program from
 the beginning.
 With start line, runs from that line.
 A start line of -1 runs in verify mode.
\layout Itemize

emc_pause Pause program execution
\layout Itemize

emc_resume Resume program execution
\layout Itemize

emc_step Step the program one line
\layout Itemize

emc_program Returns the name of the currently opened program, or "none"
\layout Itemize

emc_program_line Returns the currently executing line of the program
\layout Itemize

emc_program_status Returns "idle", "running", or "paused"
\layout Itemize

emc_program_codes Returns the string for the currently active program codes
\layout Itemize

emc_joint_type <joint> Returns "linear", "angular", or "custom" for the
 type of the specified joint
\layout Itemize

emc_joint_units <joint> Returns "inch", "mm", "cm", or "deg", "rad", "grad",
 or "custom", for the corresponding native units of the specified axis.
 The type of the axis (linear or angular) is used to resolve which type
 of units are returned.
 The units are obtained heuristically, based on the EMC_AXIS_STAT::units
 numerical value of user units per mm or deg.
 For linear joints, something close to 0.03937 is deemed "inch", 1.000 is
 "mm", 0.1 is "cm", otherwise it's "custom".
 For angular joints, something close to 1.000 is deemed "deg",PI/180 is "rad",
 100/90 is "grad", otherwise it's "custom".
\layout Itemize

emc_program_units emc_program_linear_units Returns "inch", "mm", "cm", or
 "none", for the corresponding linear units that are active in the program
 interpreter.
\layout Itemize

emc_program_angular_units Returns "deg", "rad", "grad", or "none" for the
 corresponding angular units that are active in the program interpreter.
\layout Itemize

emc_user_linear_units Returns "inch", "mm", "cm", or "custom", for the correspon
ding native user linear units of the EMC trajectory level.
 This is obtained heuristically, based on the EMC_TRAJ_STAT::linearUnits
 numerical value of user units per mm.
 Something close to 0.03937 is deemed "inch", 1.000 is "mm", 0.1 is "cm", otherwise
 it's "custom".
\layout Itemize

emc_user_angular_units Returns "deg", "rad", "grad", or "custom" for the
 corresponding native user angular units of the EMC trajectory level.
 Like with linear units,this is obtained heuristically.
\layout Itemize

emc_display_linear_units emc_display_angular_units Returns "inch", "mm",
 "cm", or "deg", "rad", "grad", or "custom", for the linear or angular units
 that are active in the display.
 This is effectively the value of linearUnitConversion or angularUnitConversion,
 resp.
\layout Itemize

emc_linear_unit_conversion {inch | mm | cm | auto} With no args, returns
 the unit conversion active.
 With arg, sets the units to be displayed.
 If it's "auto", the units to be displayed match the program units.
\layout Itemize

emc_angular_unit_conversion {deg | rad | grad | auto} With no args, returns
 the unit conversion active.
 With arg, sets the units to be displayed.
 If it's "auto", the units to be displayed match the program units.
\layout Itemize

emc_log_open <file> <type> <size> <skip>{<axis>} Open a log into file named
 <file>.
 <type> is one of axis_pos, axes_inpos, axes_outpos, axis_vel, axes_ferror,
 traj_pos, traj_vel, traj_acc, pos_voltage.
 <size> is size in entries.
 <skip> is how many to skip.
 <axis> pertains only to axis_pos and axis_vel types.
\layout Itemize

emc_log_start emc_log_stop Starts or stops logging into the log, which must
 be already opened with emc_log_open.
\layout Itemize

emc_log_close Close the log and dump contents to the file specified in emc_log_o
pen.
\layout Itemize

emc_probe_index Which wire is the probe on or which bit of digital IO to
 use? (No args gets it, one arg sets it.)
\layout Itemize

emc_probe_polarity Value to look for for probe tripped? (0 args gets it,
 one arg sets it.)
\layout Itemize

emc_probe_clear Clear the probe tripped flag.
\layout Itemize

emc_probe_tripped Has the probe been tripped since the last clear.
\layout Itemize

emc_probe_value Value of current probe signal.
 (read-only)
\layout Itemize

emc_probe Move toward a certain location.
 If the probe is tripped on the way stop motion, record the position and
 raise the probe tripped flag.
\layout Itemize

emc_teleop_enable Should motion run in teleop mode? (No args gets it, one
 arg sets it.)
\layout Itemize

emc_kinematics_type returns the type of kinematics functions used identity=1,
 serial=2, parallel=3, custom=4
\layout Section

Additional Comments
\layout Standard

Further on in emcsh.cc is some additional comments regarding units.
\layout Standard

Unit conversion
\layout Standard

Length and angle units in the EMC status buffer are in user units, as defined
 in the INI file in [TRAJ] LINEAR,ANGULAR_UNITS.
 These may differ from the program units, and when they are the display
 is confusing.
\layout Standard

It may be desirable to synchronize the display units with the program units
 automatically, and also to break this sync and allow independent display
 of position values.
\layout Standard

The global variable "linearUnitConversion" is set by the Tcl commands emc_linear
_unit_conversion to correspond to either "inch", "mm", "cm", "auto", or
 "custom".
 This forces numbers to be returned in the units specified, in program units
 when "auto" is set, or not converted at all if "custom" is specified.
\layout Standard

Ditto for "angularUnitConversion", set by emc_angular_unit_conversion to
 "deg", "rad", "grad", "auto", or "custom".
\layout Standard

With no args, emc_linear/angular_unit_conversion return the setting.
\layout Standard

The functions convertLinearUnits and convertAngularUnits take a length or
 angle value, typically from the emcStatus structure, and convert it as
 indicated by linearUnitConversion and angularUnitConversion, resp.
\the_end

--- NEW FILE: Dev_iosh.lyx ---
#LyX 1.1 created this file. For more info see http://www.lyx.org/
\lyxformat 218
\textclass book
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement h
\pap...
 
[truncated message content]

[Emc-commit] documents/lyx emc_source.lyx,1.9,NONE

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

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv1164

Removed Files:
	emc_source.lyx 
Log Message:
Removed single file sourcebook.

--- emc_source.lyx DELETED ---

[Emc-commit] documents/lyx Handbook.lyx,1.14,NONE

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

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv22973

Removed Files:
	Handbook.lyx 
Log Message:
Removed single file handbook.

--- Handbook.lyx DELETED ---

[Emc-commit] emc_HAL/src/emcmot emcmot.c,1.4,1.5

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

Update of /cvsroot/emc/emc_HAL/src/emcmot
In directory sc8-pr-cvs1:/tmp/cvs-serv7644

Modified Files:
	emcmot.c 
Log Message:
Fix a bug I introduced by elimanating the duplicate code - I need to have this stuff tested before I commit it...

Index: emcmot.c
===================================================================
RCS file: /cvsroot/emc/emc_HAL/src/emcmot/emcmot.c,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** emcmot.c	3 Jul 2003 06:04:54 -0000	1.4
--- emcmot.c	3 Jul 2003 16:55:16 -0000	1.5
***************
*** 4674,4683 ****
  			  period = smCount[axis] / -delta;
  			}
! 		      up[axis] = period * (duty_cycle_up / 100);
! 		      if (up[axis] <= 0)
! 			up[axis] = 1;
! 		      down[axis] = period - up[axis];
! 		      if (down[axis] <= 0)
! 			down[axis] = 1;
  		    }
  
--- 4674,4686 ----
  			  period = smCount[axis] / -delta;
  			}
! 		      if (delta != 0)
! 			{
! 			  up[axis] = period * (duty_cycle_up / 100);
! 			  if (up[axis] <= 0)
! 			    up[axis] = 1;
! 			  down[axis] = period - up[axis];
! 			  if (down[axis] <= 0)
! 			    down[axis] = 1;
! 			}
  		    }
  

[Emc-commit] emc_HAL/src/emcmot emcmot.c,1.3,1.4

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

Update of /cvsroot/emc/emc_HAL/src/emcmot
In directory sc8-pr-cvs1:/tmp/cvs-serv13026

Modified Files:
	emcmot.c 
Log Message:
Fixed an unmatched #endif leftover from removing the orphaned  block in the last commit. Also made a small change in binfunc() that eliminates a small piece of duplicated code.

Index: emcmot.c
===================================================================
RCS file: /cvsroot/emc/emc_HAL/src/emcmot/emcmot.c,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** emcmot.c	1 Jul 2003 23:59:43 -0000	1.3
--- emcmot.c	3 Jul 2003 06:04:54 -0000	1.4
***************
*** 4206,4210 ****
  #endif
  #endif
- #endif
  	      /* round it */
  	      if (pdmultfloat < 0.0)
--- 4206,4209 ----
***************
*** 4669,4678 ****
  			  direction[axis] = 1;
  			  period = smCount[axis] / +delta;
- 			  up[axis] = period * (duty_cycle_up / 100);
- 			  if (up[axis] <= 0)
- 			    up[axis] = 1;
- 			  down[axis] = period - up[axis];
- 			  if (down[axis] <= 0)
- 			    down[axis] = 1;
  			}
  		      else if (delta < 0)
--- 4668,4671 ----
***************
*** 4680,4690 ****
  			  direction[axis] = 0;
  			  period = smCount[axis] / -delta;
- 			  up[axis] = period * (duty_cycle_up / 100);
- 			  if (up[axis] <= 0)
- 			    up[axis] = 1;
- 			  down[axis] = period - up[axis];
- 			  if (down[axis] <= 0)
- 			    down[axis] = 1;
  			}
  		    }
  
--- 4673,4683 ----
  			  direction[axis] = 0;
  			  period = smCount[axis] / -delta;
  			}
+ 		      up[axis] = period * (duty_cycle_up / 100);
+ 		      if (up[axis] <= 0)
+ 			up[axis] = 1;
+ 		      down[axis] = period - up[axis];
+ 		      if (down[axis] <= 0)
+ 			down[axis] = 1;
  		    }
  

[Emc-commit] rcslib/src/cms Makefile.lib,4.54,4.55

[<wsh...@us...>]

Update of /cvsroot/emc/rcslib/src/cms
In directory sc8-pr-cvs1:/tmp/cvs-serv10874

Modified Files:
	Makefile.lib 
Log Message:
copy out headers problem.


Index: Makefile.lib
===================================================================
RCS file: /cvsroot/emc/rcslib/src/cms/Makefile.lib,v
retrieving revision 4.54
retrieving revision 4.55
diff -C2 -d -r4.54 -r4.55
*** Makefile.lib	15 May 2003 16:41:46 -0000	4.54
--- Makefile.lib	2 Jul 2003 15:34:04 -0000	4.55
***************
*** 4,8 ****
  ifeq (rtlinux_2, $(findstring rtlinux_2, $(PLAT)))
  
! LIBCMS_OBJS = rtlnml.o \
  	rtlinux_kernel_api_implement.o
  
--- 4,8 ----
  ifeq (rtlinux_2, $(findstring rtlinux_2, $(PLAT)))
  
! CMS_OBJS = rtlnml.o \
  	rtlinux_kernel_api_implement.o
  
***************
*** 12,21 ****
  ifeq (rtlinux_3, $(findstring rtlinux_3, $(PLAT)))
  
! LIBCMS_OBJS = rtlnml.o \
  	rtlinux_kernel_api_implement.o
  else
  # ifeq (rtlinux_3, $(findstring rtlinux_3, $(PLAT)))
  
! LIBCMS_OBJS =
  endif
  # ifeq (rtlinux_3, $(findstring rtlinux_2, $(PLAT)))
--- 12,21 ----
  ifeq (rtlinux_3, $(findstring rtlinux_3, $(PLAT)))
  
! CMS_OBJS = rtlnml.o \
  	rtlinux_kernel_api_implement.o
  else
  # ifeq (rtlinux_3, $(findstring rtlinux_3, $(PLAT)))
  
! CMS_OBJS =
  endif
  # ifeq (rtlinux_3, $(findstring rtlinux_2, $(PLAT)))
***************
*** 25,29 ****
  
  
! LIBCMS_OBJS_SET=1
  
  endif
--- 25,29 ----
  
  
! CMS_OBJS_SET=1
  
  endif
***************
*** 32,39 ****
  ifeq (rtai, $(PLAT))
  
! LIBCMS_OBJS = rtlnml.o  \
  	rtai_kernel_api_implement.o
  
! LIBCMS_OBJS_SET=1
  
  endif
--- 32,39 ----
  ifeq (rtai, $(PLAT))
  
! CMS_OBJS = rtlnml.o  \
  	rtai_kernel_api_implement.o
  
! CMS_OBJS_SET=1
  
  endif
***************
*** 42,50 ****
  NO_RPC=1
  
- x:=$(shell echo  LIBCMS_OBJS_SET=$(LIBCMS_OBJS_SET) >>/tmp/rcslibmake.log)
  
! ifndef LIBCMS_OBJS_SET
  
! ALLPLATS_LIBCMS_OBJS= 	cms.o \
  	cmsdiag.o \
  	nmldiag.o \
--- 42,49 ----
  NO_RPC=1
  
  
! ifndef CMS_OBJS_SET
  
! ALLPLATS_CMS_OBJS= 	cms.o \
  	cmsdiag.o \
  	nmldiag.o \
***************
*** 84,88 ****
  	crypt2.o \
  	cmssvrp.o \
! 	nmlqr.o
  
  ifndef NO_XML
--- 83,90 ----
  	crypt2.o \
  	cmssvrp.o \
! 	cms_datetime.o \
! 	nmlqr.o \
! 	cms_xml_up.o 
! 
  
  ifndef NO_XML
***************
*** 90,107 ****
  endif
  
- ifdef USE_XML
- LIBCMS_XML_OBJS= \
- 	cms_xml_up.o
- 
- else
- # ifdef USE_XML
- 
- LIBCMS_XML_OBJS=
- 
- endif
- # ifdef USE_XML
  
  
! LIBCMS_RPC_XDR_OBJS = \
  	cms_xup.o \
  	xdr_msg.o
--- 92,98 ----
  endif
  
  
  
! CMS_RPC_XDR_OBJS = \
  	cms_xup.o \
  	xdr_msg.o
***************
*** 112,119 ****
  ifneq ($(findstring vxworksSun, $(PLAT)),vxworksSun)
  
! LIBCMS_OBJS :=	$(LIBCMS_OBJS) \
! 	$(LIBCMS_RPC_XDR_OBJS) \
! 	$(ALLPLATS_LIBCMS_OBJS) \
! 	$(LIBCMS_XML_OBJS) \
  	globmem.o \
  	bbdmem.o \
--- 103,110 ----
  ifneq ($(findstring vxworksSun, $(PLAT)),vxworksSun)
  
! CMS_OBJS :=	$(CMS_OBJS) \
! 	$(CMS_RPC_XDR_OBJS) \
! 	$(ALLPLATS_CMS_OBJS) \
! 	$(CMS_XML_OBJS) \
  	globmem.o \
  	bbdmem.o \
***************
*** 126,132 ****
  # ifneq ($(findstring vxworksSun, $(PLAT)),vxworksSun)
  
! LIBCMS_OBJS :=	$(LIBCMS_OBJS) \
! 	$(ALLPLATS_LIBCMS_OBJS) \
! 	$(LIBCMS_XML_OBJS) \
  	globmem.o \
  	bbdmem.o \
--- 117,123 ----
  # ifneq ($(findstring vxworksSun, $(PLAT)),vxworksSun)
  
! CMS_OBJS :=	$(CMS_OBJS) \
! 	$(ALLPLATS_CMS_OBJS) \
! 	$(CMS_XML_OBJS) \
  	globmem.o \
  	bbdmem.o \
***************
*** 142,149 ****
  # ifneq ($(findstring vxworksppc, $(PLAT)),vxworksppc)
  
! LIBCMS_OBJS :=	$(LIBCMS_OBJS) \
! 	$(LIBCMS_RPC_XDR_OBJS) \
! 	$(ALLPLATS_LIBCMS_OBJS) \
! 	$(LIBCMS_XML_OBJS) \
  	globmem.o \
  	bbdmem.o \
--- 133,140 ----
  # ifneq ($(findstring vxworksppc, $(PLAT)),vxworksppc)
  
! CMS_OBJS :=	$(CMS_OBJS) \
! 	$(CMS_RPC_XDR_OBJS) \
! 	$(ALLPLATS_CMS_OBJS) \
! 	$(CMS_XML_OBJS) \
  	globmem.o \
  	bbdmem.o \
***************
*** 158,162 ****
  # ifeq ($(findstring vxworks, $(PLAT)),vxworks)
  
! LIBCMS_TTY_OBJS = \
  	ttyintf.o \
  	ttymem.o \
--- 149,153 ----
  # ifeq ($(findstring vxworks, $(PLAT)),vxworks)
  
! CMS_TTY_OBJS = \
  	ttyintf.o \
  	ttymem.o \
***************
*** 166,173 ****
  ifeq (darwin, $(findstring darwin, $(PLAT)))
  
! LIBCMS_OBJS :=	$(LIBCMS_OBJS) \
! 	$(LIBCMS_RPC_XDR_OBJS) \
! 	$(ALLPLATS_LIBCMS_OBJS) \
! 	$(LIBCMS_XML_OBJS)
  
  else
--- 157,164 ----
  ifeq (darwin, $(findstring darwin, $(PLAT)))
  
! CMS_OBJS :=	$(CMS_OBJS) \
! 	$(CMS_RPC_XDR_OBJS) \
! 	$(ALLPLATS_CMS_OBJS) \
! 	$(CMS_XML_OBJS)
  
  else
***************
*** 176,192 ****
  ifeq (qnx, $(findstring qnx, $(PLAT)))
  
! LIBCMS_OBJS :=	$(LIBCMS_OBJS) \
! 	$(LIBCMS_RPC_XDR_OBJS) \
! 	$(ALLPLATS_LIBCMS_OBJS) \
! 	$(LIBCMS_XML_OBJS) 
  
  else
  # qnx
  
! LIBCMS_OBJS :=	$(LIBCMS_OBJS) \
! 	$(LIBCMS_RPC_XDR_OBJS) \
! 	$(LIBCMS_TTY_OBJS) \
! 	$(ALLPLATS_LIBCMS_OBJS) \
! 	$(LIBCMS_XML_OBJS) 
  
  endif
--- 167,183 ----
  ifeq (qnx, $(findstring qnx, $(PLAT)))
  
! CMS_OBJS :=	$(CMS_OBJS) \
! 	$(CMS_RPC_XDR_OBJS) \
! 	$(ALLPLATS_CMS_OBJS) \
! 	$(CMS_XML_OBJS) 
  
  else
  # qnx
  
! CMS_OBJS :=	$(CMS_OBJS) \
! 	$(CMS_RPC_XDR_OBJS) \
! 	$(CMS_TTY_OBJS) \
! 	$(ALLPLATS_CMS_OBJS) \
! 	$(CMS_XML_OBJS) 
  
  endif
***************
*** 200,204 ****
  
  ifeq (linuxVME, $(PLAT))
! LIBCMS_OBJS := $(LIBCMS_OBJS) globmem.o
  else
  # ifeq (linuxVME, $(PLAT))
--- 191,195 ----
  
  ifeq (linuxVME, $(PLAT))
! CMS_OBJS := $(CMS_OBJS) globmem.o
  else
  # ifeq (linuxVME, $(PLAT))
***************
*** 210,214 ****
  ifeq ($(PLAT),linux_rtai)
  
! LIBCMS_OBJS := $(LIBCMS_OBJS) \
  	rtlmem.o \
  	rtlnml.o \
--- 201,205 ----
  ifeq ($(PLAT),linux_rtai)
  
! CMS_OBJS := $(CMS_OBJS) \
  	rtlmem.o \
  	rtlnml.o \
***************
*** 220,224 ****
  ifneq ($(NO_RTL),1)
  
! LIBCMS_OBJS := $(LIBCMS_OBJS) \
  	rtlmem.o \
  	rtlnml.o \
--- 211,215 ----
  ifneq ($(NO_RTL),1)
  
! CMS_OBJS := $(CMS_OBJS) \
  	rtlmem.o \
  	rtlnml.o \
***************
*** 240,249 ****
  # ifeq (linuxVME, $(PLAT))
  
- x:=$(shell echo LIBCMS_OBJS=$(LIBCMS_OBJS) >>/tmp/rclsibmake.log)
  
  endif
! # ifndef LIBCMS_OBJS_SET
  
  
  LIBRCS_OBJS := $(LIBRCS_OBJS) \
! 	$(LIBCMS_OBJS)
--- 231,306 ----
  # ifeq (linuxVME, $(PLAT))
  
  
  endif
! # ifndef CMS_OBJS_SET
! 
! CMS_HEADERS :=  cms.hh \
! 	cmsdiag.hh \
! 	nmldiag.hh \
! 	cms_cfg.hh \
! 	autokey.h \
! 	cms_user.hh \
! 	cms_up.hh \
! 	cms_xup.hh \
! 	cms_aup.hh \
! 	cms_xml_up.hh \
! 	nml.hh \
! 	nmlmsg.hh \
! 	globmem.hh \
! 	spinlock.h \
! 	shmem.hh \
! 	memsem.hh \
! 	rpc_host.hh \
! 	cms_srv.hh \
! 	nml_srv.hh \
! 	phantom.hh \
! 	perftype.hh \
! 	_physmem.h \
! 	physmem.hh \
! 	rem_msg.hh \
! 	rpc_srv.hh \
! 	tcp_srv.hh \
! 	http_srv.hh \
! 	tcpmem.hh \
! 	stcpmem.hh \
! 	xdr_msg.hh \
! 	tcp_opts.hh \
! 	udp_opts.hh \
! 	udpmem.hh \
! 	udp_srv.hh \
! 	sendmsgt.h \
! 	recvmsgt.h \
! 	recvn.h \
! 	sendn.h \
! 	msghdr.h \
! 	sokintrf.h \
! 	rpcintrf.h \
! 	windlg.h \
! 	dlgproc.h \
! 	nmlperf.hh \
! 	nmlwatch.h \
! 	locmem.hh \
! 	filemem.hh \
! 	cms_dup.hh \
! 	sendline.h \
! 	recvline.h \
! 	stcpsvr.hh \
! 	stcpopts.hh \
! 	gpioctl.h \
! 	mapmem.h \
! 	crypt2.hh \
! 	bbdmem.hh \
! 	bbd.h \
! 	bus_lock.h \
! 	dma.h \
! 	nmlqr.hh \
! 	bd_types.h \
! 	ttyintf.h \
! 	ttymem.hh \
! 	tty_srv.hh \
! 	rtlmem.hh \
! 	rtlnml.h
  
  
  LIBRCS_OBJS := $(LIBRCS_OBJS) \
! 	$(CMS_OBJS)

[Emc-commit] rcslib/src/cms cms_datetime.cc,NONE,1.1

[<wsh...@us...>]

Update of /cvsroot/emc/rcslib/src/cms
In directory sc8-pr-cvs1:/tmp/cvs-serv24293

Added Files:
	cms_datetime.cc 
Log Message:
this file is really only needed for OMAC XML stuff, but since I already checked in the Makefile that mentions it by mistake I'll check this in too.


--- NEW FILE: cms_datetime.cc ---

#include "cms.hh"

#include <time.h>
#include <stdio.h>
#include <errno.h>


void get_current_cms_date_time(struct CMS_DATE_TIME  *dt)
{
  struct tm *tm_ptr;
  time_t time_returned_from_time;
  time_t time_storage_var;

  if(!dt)
    {
      return;
    }


  tm_ptr=0;
  time_returned_from_time = time(&time_storage_var);
  if(((time_t)-1) == time_returned_from_time )
    {
      perror("time:");
      return;
    }
  tm_ptr = localtime(&time_returned_from_time);

  if(!tm_ptr)
    {
      return;
    }
  dt->seconds = tm_ptr->tm_sec;
  dt->minutes = tm_ptr->tm_min;
  dt->hours = tm_ptr->tm_hour;
  dt->days = tm_ptr->tm_mday;
  dt->months = tm_ptr->tm_mon;
  dt->years = tm_ptr->tm_year;
}


void get_current_cms_date(struct CMS_DATE  *d)
{
  struct tm *tm_ptr;
  time_t time_returned_from_time;
  time_t time_storage_var;
  
  if(!d)
    {
      return;
    }


  tm_ptr=0;
  time_returned_from_time = time(&time_storage_var);
  if(((time_t)-1) == time_returned_from_time )
    {
      perror("time:");
      return;
    }
  tm_ptr = localtime(&time_returned_from_time);

  if(!tm_ptr)
    {
      return;
    }
  d->days = tm_ptr->tm_mday;
  d->months = tm_ptr->tm_mon;
  d->years = tm_ptr->tm_year;
}


void get_current_cms_time(struct CMS_TIME  *t)
{
  struct tm *tm_ptr;
  time_t time_returned_from_time;
  time_t time_storage_var;

  if(!t)
    {
      return;
    }


  tm_ptr=0;
  time_returned_from_time = time(&time_storage_var);
  if(((time_t)-1) == time_returned_from_time )
    {
      perror("time:");
      return;
    }
  tm_ptr = localtime(&time_returned_from_time);

  if(!tm_ptr)
    {
      return;
    }
  t->seconds = tm_ptr->tm_sec;
  t->minutes = tm_ptr->tm_min;
  t->hours = tm_ptr->tm_hour;
}

[Emc-commit] emc_HAL/src/emcmot emcmot.c,1.2,1.3

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

Update of /cvsroot/emc/emc_HAL/src/emcmot
In directory sc8-pr-cvs1:/tmp/cvs-serv12656

Modified Files:
	emcmot.c 
Log Message:
Changes to emcmot.c to improve stepper motor performance in freqmod & steppermod

Index: emcmot.c
===================================================================
RCS file: /cvsroot/emc/emc_HAL/src/emcmot/emcmot.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** emcmot.c	16 May 2003 22:02:55 -0000	1.2
--- emcmot.c	1 Jul 2003 23:59:43 -0000	1.3
***************
*** 1,2 ****
--- 1,3 ----
+ #define _XOPEN_SOURCE
  /*
    emcmot.c
***************
*** 7,14 ****
    Modification history:
  
    29-Jan-2003 WPS changed call to simMotInit to extMotCycle
    10-Dec-2002 WPS eliminated use of direct time stamp measurements, apparently
[...11439 lines suppressed...]
!   while (!emcmot_done)
!     {
!       cycles++;
!       delta = etime ();
!       emcmotController (0);
!       cur_time = etime ();
!       delta = cur_time - delta;
!       delta = emcmotConfig->servoCycleTime - delta;
! 
!       if (delta > 0.0)
! 	{
! 	  esleep (delta);
! 	}
      }
  
!   cleanup_module ();
!   exit (0);
  }
  
  #endif /* not rtlinux */

[Emc-commit] emc sim.var,1.10,1.11 stepper.var,1.1,1.2

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

Update of /cvsroot/emc/emc
In directory sc8-pr-cvs1:/tmp/cvs-serv29406

Modified Files:
	sim.var stepper.var 
Log Message:
Removed g92 values

Index: sim.var
===================================================================
RCS file: /cvsroot/emc/emc/sim.var,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** sim.var	7 May 2003 19:49:50 -0000	1.10
--- sim.var	29 Jun 2003 02:33:12 -0000	1.11
***************
*** 11,21 ****
  5185	0.000000
  5186	0.000000
! 5211	-0.716000
! 5212	1.000000
! 5213	1.000000
  5214	0.000000
  5215	0.000000
  5216	0.000000
! 5220	6.000000
  5221	0.000000
  5222	0.000000
--- 11,21 ----
  5185	0.000000
  5186	0.000000
! 5211	0.000000
! 5212	0.000000
! 5213	0.000000
  5214	0.000000
  5215	0.000000
  5216	0.000000
! 5220	0.000000
  5221	0.000000
  5222	0.000000

Index: stepper.var
===================================================================
RCS file: /cvsroot/emc/emc/stepper.var,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** stepper.var	24 May 2002 18:05:28 -0000	1.1
--- stepper.var	29 Jun 2003 02:33:12 -0000	1.2
***************
*** 11,15 ****
  5185	0.000000
  5186	0.000000
! 5211	-0.000000
  5212	0.000000
  5213	0.000000
--- 11,15 ----
  5185	0.000000
  5186	0.000000
! 5211	0.000000
  5212	0.000000
  5213	0.000000

[Emc-commit] emc/src/emcsim Makefile,1.8,1.9

[<wsh...@us...>]

Update of /cvsroot/emc/emc/src/emcsim
In directory sc8-pr-cvs1:/tmp/cvs-serv27573

Modified Files:
	Makefile 
Log Message:
Don't build inisim or simstatprint unless someone actually asks for it.


Index: Makefile
===================================================================
RCS file: /cvsroot/emc/emc/src/emcsim/Makefile,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** Makefile	13 Jun 2001 19:58:02 -0000	1.8
--- Makefile	23 Jun 2003 13:55:49 -0000	1.9
***************
*** 105,110 ****
  	simmot_n.h
  
! BINS =	inisim \
! 	simstatprint
  
  
--- 105,113 ----
  	simmot_n.h
  
! # Don't build this stuff by default: there is some chance of 
! # it failing due to bad configuration stuff and not many people will
! # use it. run "make inisim" or "make simstatprint" if you want them.
! #BINS =	inisim \
! #	simstatprint
  
  
***************
*** 119,125 ****
  	simdio.o \
  	simaio.o \
! 	simbase.o \
! 	inisim.o \
! 	simmot_n.o
  
  endif
--- 122,130 ----
  	simdio.o \
  	simaio.o \
! 	simbase.o
! 
! #  \
! #	inisim.o \
! #	simmot_n.o
  
  endif

[Emc-commit] rcslib/src/cms Makefile,4.48,4.49 cms_cfg.cc,4.42,4.43

[<wsh...@us...>]

Update of /cvsroot/emc/rcslib/src/cms
In directory sc8-pr-cvs1:/tmp/cvs-serv25474

Modified Files:
	Makefile cms_cfg.cc 
Log Message:
RTLMEM is not very often used, and it is somewhat problematic since it
depends on RTAI or RTLINUX so lets avoid having cms_cfg.cc use it unless
CMS_CFG_USE_RTLMEM is in the .def file or added to the make command line.


Index: Makefile
===================================================================
RCS file: /cvsroot/emc/rcslib/src/cms/Makefile,v
retrieving revision 4.48
retrieving revision 4.49
diff -C2 -d -r4.48 -r4.49
*** Makefile	7 May 2003 19:35:28 -0000	4.48
--- Makefile	23 Jun 2003 13:40:39 -0000	4.49
***************
*** 6,11 ****
  endif
  
  
- ifndef PLAT  
  include ../Makefile.rcs
  
--- 6,11 ----
  endif
  
+ ifndef PLAT
  
  include ../Makefile.rcs
  
***************
*** 44,118 ****
  SRCS = rtlnml.c
  
! OBJS = $(LIBCMS_OBJS)
  
  else
  
! HEADERS = cms.hh \
! 	cmsdiag.hh \
! 	nmldiag.hh \
! 	cms_cfg.hh \
! 	autokey.h \
! 	cms_user.hh \
! 	cms_up.hh \
! 	cms_xup.hh \
! 	cms_aup.hh \
! 	cms_xml_up.hh \
! 	nml.hh \
! 	nmlmsg.hh \
! 	globmem.hh \
! 	spinlock.h \
! 	shmem.hh \
! 	memsem.hh \
! 	rpc_host.hh \
! 	cms_srv.hh \
! 	nml_srv.hh \
! 	phantom.hh \
! 	perftype.hh \
! 	_physmem.h \
! 	physmem.hh \
! 	rem_msg.hh \
! 	rpc_srv.hh \
! 	tcp_srv.hh \
! 	http_srv.hh \
! 	tcpmem.hh \
! 	stcpmem.hh \
! 	xdr_msg.hh \
! 	tcp_opts.hh \
! 	udp_opts.hh \
! 	udpmem.hh \
! 	udp_srv.hh \
! 	sendmsgt.h \
! 	recvmsgt.h \
! 	recvn.h \
! 	sendn.h \
! 	msghdr.h \
! 	sokintrf.h \
! 	rpcintrf.h \
! 	windlg.h \
! 	dlgproc.h \
! 	nmlperf.hh \
! 	nmlwatch.h \
! 	locmem.hh \
! 	filemem.hh \
! 	cms_dup.hh \
! 	sendline.h \
! 	recvline.h \
! 	stcpsvr.hh \
! 	stcpopts.hh \
! 	gpioctl.h \
! 	mapmem.h \
! 	crypt2.hh \
! 	bbdmem.hh \
! 	bbd.h \
! 	bus_lock.h \
! 	dma.h \
! 	nmlqr.hh \
! 	bd_types.h \
! 	ttyintf.h \
! 	ttymem.hh \
! 	tty_srv.hh \
! 	rtlmem.hh \
! 	rtlnml.h
! 
  
  VXWORKS_SRCS = \
--- 44,52 ----
  SRCS = rtlnml.c
  
! OBJS = $(CMS_OBJS)
  
  else
  
! HEADERS = $(CMS_HEADERS)
  
  VXWORKS_SRCS = \
***************
*** 136,140 ****
  
  
! COMMON_SRCS =	cms.cc \
  	cmsdiag.cc \
  	nmldiag.cc \
--- 70,76 ----
  
  
! COMMON_SRCS =	\
! 	cms.cc \
! 	cms_datetime.cc \
  	cmsdiag.cc \
  	nmldiag.cc \
***************
*** 210,214 ****
  
  
! OBJS := $(LIBCMS_OBJS)
  
  endif
--- 146,150 ----
  
  
! OBJS := $(CMS_OBJS)
  
  endif
***************
*** 228,231 ****
--- 164,171 ----
  endif
  
+ ifdef CMS_CFG_USE_RTLMEM
+ LOCAL_CFLAGS += -DCMS_CFG_USE_RTLMEM
+ endif
+ 
  
  #Application Makefile for inclusion
***************
*** 274,278 ****
  
  $(DEVP_LIB_DIR)/libcms.o: \
! 	$(LIBCMS_OBJS:%=$(DEVP_LIB_DIR)/%)
  	$(LD) -r $^ -o $@
  
--- 214,218 ----
  
  $(DEVP_LIB_DIR)/libcms.o: \
! 	$(CMS_OBJS:%=$(DEVP_LIB_DIR)/%)
  	$(LD) -r $^ -o $@
  
***************
*** 424,431 ****
  iostest: $(DEVP_LIB_DIR)/iostest.o
  
- .PHONY: nmltest nmlcfg nmlperf perfsvr nmlclean iostest strtest nmlwatch \
- 	nmltest.tc nmlperf.tc perfsvr.tc nmlclean.tc nmlwatch.tc spintest \
- 	test_con tcpproxy nmlpwd
- 
  main: $(DEVP_BIN_DIR)/main
  
--- 364,367 ----
***************
*** 503,508 ****
--- 439,455 ----
  # ifdef PLAT
  
+ .PHONY: nmltest nmlcfg nmlperf perfsvr nmlclean iostest strtest nmlwatch \
+ 	nmltest.tc nmlperf.tc perfsvr.tc nmlclean.tc nmlwatch.tc spintest \
+ 	test_con tcpproxy nmlpwd
+ 
+ 
+ $(DEVP_BIN_DIR)/nmlsizes: nmlsizes.cc
+ 	$(CPLUSPLUS) -g  -I. -I.. -I../stg_clss -I../print -I../os_intf -I../posemath -I../node  $(CFLAGS) $(CPLUSPLUSFLAGS) $^ -o $@
  
+ nmlsizes: $(DEVP_BIN_DIR)/nmlsizes
+ 	-rm ./nmlsizes
+ 	-ln -s $(DEVP_BIN_DIR)/nmlsizes nmlsizes
  
+ .PHONY: nmlsizes
  
  

Index: cms_cfg.cc
===================================================================
RCS file: /cvsroot/emc/rcslib/src/cms/cms_cfg.cc,v
retrieving revision 4.42
retrieving revision 4.43
diff -C2 -d -r4.42 -r4.43
*** cms_cfg.cc	6 May 2003 15:18:13 -0000	4.42
--- cms_cfg.cc	23 Jun 2003 13:40:39 -0000	4.43
***************
*** 71,80 ****
  #endif
  
! #ifdef LINUX
! #if defined(HAVE_RTL) || defined(linux_rtai)
! #ifndef linux_2_0_36
! #include "rtlmem.hh"		// class RTLMEM
! #endif
  #endif
  #endif
  
--- 71,83 ----
  #endif
  
! 
! #ifdef CMS_CFG_USE_RTLMEM
! #if !defined(linux) || ( !defined(HAVE_RTL) && !defined(linux_rtai)) || defined(linux_2_0_36)
! #warning "CMS_CFG_USE_RTLMEM should not be set for this platform."
! #undef CMS_CFG_USE_RTLMEM
  #endif
+ 
+ #ifdef CMS_CFG_USE_RTLMEM
+ #include "rtlmem.hh"		// class RTLMEM
  #endif
  
***************
*** 1359,1365 ****
  	}
  #endif /* !__MSDOS__ */
! #ifdef LINUX
! #if defined(HAVE_RTL) || defined(linux_rtai)
! #ifndef linux_2_0_36
        if (!strcmp (buffer_type, "RTLMEM"))
  	{
--- 1362,1366 ----
  	}
  #endif /* !__MSDOS__ */
! #ifdef CMS_CFG_USE_RTLMEM
        if (!strcmp (buffer_type, "RTLMEM"))
  	{
***************
*** 1394,1399 ****
  	    }
  	}
- #endif
- #endif
  #endif
        if (!strcmp (buffer_type, "LOCMEM"))
--- 1395,1398 ----

[Emc-commit] documents/lyx Glossary.lyx,1.6,1.7

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

Update of /cvsroot/emc/documents/lyx
In directory sc8-pr-cvs1:/tmp/cvs-serv27575

Modified Files:
	Glossary.lyx 
Log Message:
added kinematics from Sagar

Index: Glossary.lyx
===================================================================
RCS file: /cvsroot/emc/documents/lyx/Glossary.lyx,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** Glossary.lyx	22 May 2003 21:53:45 -0000	1.6
--- Glossary.lyx	21 Jun 2003 16:07:56 -0000	1.7
***************
*** 40,46 ****
  rather than the standard style.
  It also uses each term as a Label so that one term can
! easily refer to another using a cross reference. 
! Cross references need a space ahead and after 
! so that they look good in the published documents. 
  \end_inset 
  
--- 40,46 ----
  rather than the standard style.
  It also uses each term as a Label so that one term can
! easily refer to another using a cross reference.
! Cross references need a space ahead and after
! so that they look good in the published documents.
  \end_inset 
  
***************
*** 88,92 ****
  \end_inset 
  
!  The amount of play or slop in a lead-screw 
  \begin_inset LatexCommand \ref{Leadscrew}
  
--- 88,93 ----
  \end_inset 
  
!  The amount of "play" or lost motion that occurs when direction is reversed
!  in a lead screw 
  \begin_inset LatexCommand \ref{Leadscrew}
  
***************
*** 94,97 ****
--- 95,118 ----
  
  .
+  or other mechanical motion driving system.
+  It can result from nuts that are loose on leadscrews, slippage in belts,
+  cable slack, "wind-up" in rotary couplings, and other places where the
+  mechanical system is not "tight".
+  Backlash will result in inaccurate motion, or in the case of motion caused
+  by external forces (think cutting tool pulling on the work piece) the result
+  can be broken cutting tools.
+  This can happen because of the sudden increase in chip load on the cutter
+  as the work piece is pulled across the backlash distance by the cutting
+  tool.
+  
+ \layout Description
+ 
+ Backlash_compensation - Any technique that attempts to reduce the effect
+  of backlash without actually removing it from the mechanical system.
+  This is typically done in software in the controller.
+  This can correct the final resting place of the part in motion but fails
+  to solve problems related to direction changes while in motion (think circular
+  interpolation) and motion that is caused when external forces (think cutting
+  tool pulling on the work piece) are the source of the motion.
  \layout Description
  
***************
*** 316,319 ****
--- 337,349 ----
  \layout Description
  
+ Joint_Coordinates:
+ \begin_inset LatexCommand \label{Joint_Coordinates}
+ 
+ \end_inset 
+ 
+  These specify the angles between the individual joints of the machine.\SpecialChar ~
+ Kinematics
+ \layout Description
+ 
  Jog Manually moving an axis of a machine.
   Jogging either moves the axis a fixed amount for each key-press, or moves
***************
*** 334,338 ****
--- 364,385 ----
  \end_inset 
  
+  The position relationship between world coordinates 
+ \begin_inset LatexCommand \ref{World_Coordinates}
+ 
+ \end_inset 
+ 
+  and joint coordinates 
+ \begin_inset LatexCommand \ref{Joint_Coordinates}
+ 
+ \end_inset 
  
+  of a machine.
+  There are two types of kinematics.
+  Forward kinematics is used to calculate world coordinates from joint coordinate
+ s.
+  Inverse kinematics is used for exactly opposite purpose.Note that kinematics
+  does not take into account, the forces, moments etc.
+  on the machine.
+  It is for positioning only.
  \layout Description
  
***************
*** 569,571 ****
--- 616,628 ----
  
   were written.
+ \layout Description
+ 
+ World_Coordinates:
+ \begin_inset LatexCommand \label{World_Coordinates}
+ 
+ \end_inset 
+ 
+  This is the absolute frame of reference.
+  It gives coordinates in terms of a fixed reference frame that is attached
+  to some point (generally the base) of the machine tool.
  \the_end

[Emc-commit] rcslib/src Makefile,4.78,4.79

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

Update of /cvsroot/emc/rcslib/src
In directory sc8-pr-cvs1:/tmp/cvs-serv30895/src

Modified Files:
	Makefile 
Log Message:
Commented out a line in rcslib/src/Makefile (no rule to build test.o)

Index: Makefile
===================================================================
RCS file: /cvsroot/emc/rcslib/src/Makefile,v
retrieving revision 4.78
retrieving revision 4.79
diff -C2 -d -r4.78 -r4.79
*** Makefile	20 Jun 2003 13:48:42 -0000	4.78
--- Makefile	20 Jun 2003 20:41:37 -0000	4.79
***************
*** 913,917 ****
  .PHONY: librcs archive archive_plat archive_src
  
! test: $(DEVP_LIB_DIR)/test.o
  
  memtest: $(DEVP_LIB_DIR)/memtest.o
--- 913,918 ----
  .PHONY: librcs archive archive_plat archive_src
  
! # 20JUN03 MGS commented out this line because make complains that there's no rule to make test.o
! #test: $(DEVP_LIB_DIR)/test.o
  
  memtest: $(DEVP_LIB_DIR)/memtest.o

[Emc-commit] rcslib/etc platname,1.30,1.31 rtlinuxdir.sh,1.1,1.2 tcltklibflags.sh,1.3,1.4 tcltkincflags.sh,1.3,1.4 havertai.sh,1.1,1.2 havertlinux.sh,1.5,1.6 rtaidir,1.4,1.5

[<emc...@li...>]

Update of /cvsroot/emc/rcslib/etc
In directory sc8-pr-cvs1:/tmp/cvs-serv23088

Modified Files:
	platname rtlinuxdir.sh tcltklibflags.sh tcltkincflags.sh 
	havertai.sh havertlinux.sh rtaidir 
Log Message:
each of these scripts tries to determine something that should perhaps 
be set explicitly, so they now examine an environment variable and use
that with no checking or guessing if it is set, they also print a warning message 
suggesting that an environment 
variable be set rather than relying on their outcome.
It then goes on to give guessing a try.


Index: platname
===================================================================
RCS file: /cvsroot/emc/rcslib/etc/platname,v
retrieving revision 1.30
retrieving revision 1.31
diff -C2 -d -r1.30 -r1.31
*** platname	19 Jun 2003 02:30:20 -0000	1.30
--- platname	20 Jun 2003 13:56:09 -0000	1.31
***************
*** 1,4 ****
--- 1,23 ----
  #!/bin/sh
  
+ # 20-Jun-2003 WPS moved this to the front and add warning message
+ # This allows this script to be more or less manually bypassed
+ if test "x${PLAT}" != "x" ; then 
+     echo ${PLAT}
+     exit 0
+ fi
+ 
+ if test ! -f .platname_guess_warn -a ! -f ~/.platname_guess_warn ; then
+ 
+     echo "Platform name is being guessed. Set the environment variable PLAT to override." 1>&2
+     # Touch the platname_guess_warn files so we don't have to see this warning 
+     # too many times.
+     touch .platname_guess_warn >/dev/null 2>/dev/null
+     touch ~/.platname_guess_warn >/dev/null 2>/dev/null
+ 
+ fi
+ 
+ 
+ 
  # 18JUN03 MGS made some additions to this file so that it would work on the 2.18 BDI
  # Hopefully, it won't break anything else...
***************
*** 12,16 ****
  
  # Change to the directory containing this script
! cd $0/..
  
  # Add this directory to the PATH environment variable
--- 31,37 ----
  
  # Change to the directory containing this script
! # cd $0/.. doesn't work with bash 2.05 and relative path names, so 
! # if $0 ends up evaluating to ../etc/platname then cd ../etc/platname/.. produces# this error ../etc/platname: line 14: cd: ../etc/platname/..: No such file or directory
! cd `echo $0 | sed s#/platname## | sed s#platname##`
  
  # Add this directory to the PATH environment variable
***************
*** 21,29 ****
  # Change back to the original directory
  cd $ORIGINAL_DIR
- 
- if test "0${PLAT}" != 0 ; then 
-     echo ${PLAT}
-     exit 0
- fi
  
  if test "0${HOME}" = 0 ; then
--- 42,45 ----

Index: rtlinuxdir.sh
===================================================================
RCS file: /cvsroot/emc/rcslib/etc/rtlinuxdir.sh,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** rtlinuxdir.sh	9 Dec 2002 20:50:06 -0000	1.1
--- rtlinuxdir.sh	20 Jun 2003 13:56:09 -0000	1.2
***************
*** 1,4 ****
--- 1,17 ----
  #!/bin/sh
  
+ 
+ if test "x${RTLINUXDIR}" != "x" ; then
+     echo -n ${RTLINUXDIR}
+     exit 0
+ fi
+ 
+ if test ! -f .rtlinuxdir_guess_warn -a ! -f ~/.rtlinuxdir_guess_warn ; then
+     echo "Trying to guess where  RTLINUX is installed." 1>&2
+     echo "Set the environment variable RTLINUXDIR to override." 1>&2
+     touch .rtlinuxdir_guess_warn >/dev/null 2>/dev/null
+     touch ~/.rtlinuxdir_guess_warn >/dev/null 2>/dev/null
+ fi
+ 
  if [ -f ~/.debug_scripts ] ; then
      set -x;

Index: tcltklibflags.sh
===================================================================
RCS file: /cvsroot/emc/rcslib/etc/tcltklibflags.sh,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** tcltklibflags.sh	20 Feb 2003 13:33:07 -0000	1.3
--- tcltklibflags.sh	20 Jun 2003 13:56:09 -0000	1.4
***************
*** 1,4 ****
--- 1,17 ----
  #!/bin/sh
  
+ 
+ if test "x${TCLTKLIBFLAGS}" != "x" ; then
+     echo ${TCLTKLIBFLAGS}
+     exit 0
+ fi
+ 
+ if test ! -f .tcltklibflags_guess_warn -a ! ~/.tcltklibflags_guess_warn ; then 
+     echo "Trying to guess what flags need to be used to link C programs that interact with tcl/tk." 1>&2
+     echo "Set the environment variable TCLTKLIBFLAGS to override this." 1>&2
+     touch  .tcltklibflags_guess_warn >/dev/null 2>/dev/null
+     touch  ~/.tcltklibflags_guess_warn >/dev/null 2>/dev/null
+ fi
+ 
  # set -x
  
***************
*** 27,30 ****
--- 40,45 ----
  fi
  
+ TCLTKLIBFLAGS="$TCL_LFLAG $TCLX_LFLAG  $TK_LFLAG  $TKX_LFLAG"
+ export TCLTKLIBFLAGS
  
  echo $TCL_LFLAG $TCLX_LFLAG  $TK_LFLAG  $TKX_LFLAG

Index: tcltkincflags.sh
===================================================================
RCS file: /cvsroot/emc/rcslib/etc/tcltkincflags.sh,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** tcltkincflags.sh	20 Feb 2003 13:36:44 -0000	1.3
--- tcltkincflags.sh	20 Jun 2003 13:56:09 -0000	1.4
***************
*** 1,4 ****
--- 1,18 ----
  #!/bin/sh
  
+ 
+ if test "x${TCLTKINCFLAGS}" != "x" ; then
+     echo ${TCLTKINCFLAGS}
+     exit 0
+ fi
+ 
+ if test ! -f .tcltkincflags_guess_warn -a ! ~.tcltkincflags_guess_warn ; then 
+     echo "Trying to guess what flags need to be used to compile C programs that interact with tcl/tk." 1>&2
+     echo "Set the environment variable TCLTKINCFLAGS to override this." 1>&2
+     touch  .tcltkincflags_guess_warn >/dev/null 2>/dev/null
+     touch  ~/.tcltkincflags_guess_warn >/dev/null 2>/dev/null
+ fi
+ 
+ 
  if [ -f ~/.debug_scripts ] ; then
   set -x
***************
*** 35,38 ****
--- 49,55 ----
      TK_IFLAGS=
  fi
+ 
+ TCLTKINCFLAGS="$TCL_IFLAGS $TCL_EXTEND_IFLAGS $TK_IFLAGS"
+ export TCLTKINCFLAGS
  
  echo $TCL_IFLAGS $TCL_EXTEND_IFLAGS $TK_IFLAGS 

Index: havertai.sh
===================================================================
RCS file: /cvsroot/emc/rcslib/etc/havertai.sh,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** havertai.sh	6 May 2003 15:18:12 -0000	1.1
--- havertai.sh	20 Jun 2003 13:56:09 -0000	1.2
***************
*** 2,5 ****
--- 2,17 ----
  
  
+ if test "x${HAVE_RTAI}" != "x" ; then
+     echo ${HAVE_RTAI}
+     exit 0
+ fi
+ 
+ if test ! -f .rtai_guess_warn -a ! -f ~/.rtai_guess_warn ; then
+     echo "Trying to determine if RTAI is installed." 1>&2
+     echo "Set the environment variable HAVE_RTAI to YES or NO to override." 1>&2
+     touch .rtai_guess_warn >/dev/null 2>/dev/null
+     touch ~/.rtai_guess_warn >/dev/null 2>/dev/null
+ fi
+ 
  ECHO_CMD=echo
  # I would like to make this echo -n which eliminates annecessary and troublesome

Index: havertlinux.sh
===================================================================
RCS file: /cvsroot/emc/rcslib/etc/havertlinux.sh,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** havertlinux.sh	7 Apr 2003 15:35:25 -0000	1.5
--- havertlinux.sh	20 Jun 2003 13:56:09 -0000	1.6
***************
*** 2,5 ****
--- 2,21 ----
  
  
+ if test "x${HAVE_RTLINUX}" != "x" ; then
+     echo ${HAVE_RTLINUX}
+     exit 0
+ fi
+ 
+ if test ! -f .rtlinux_guess_warn -a ! -f ~/.rtlinux_guess_warn ; then
+     echo "Trying to determine if RTLINUX is installed." 1>&2
+     echo "Set the environment variable HAVE_RTLINUX to YES or NO to override." 1>&2
+     touch .rtlinux_guess_warn >/dev/null 2>/dev/null
+     touch ~/.rtlinux_guess_warn >/dev/null 2>/dev/null
+ fi
+ 
+ 
+ 
+     
+ 
  ECHO_CMD=echo
  # I would like to make this echo -n which eliminates annecessary and troublesome

Index: rtaidir
===================================================================
RCS file: /cvsroot/emc/rcslib/etc/rtaidir,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** rtaidir	19 Jun 2003 15:39:58 -0000	1.4
--- rtaidir	20 Jun 2003 13:56:09 -0000	1.5
***************
*** 6,11 ****
  fi
  
! echo "Trying to guess RTAI directory." 1>&2
! echo "Set the environment variable RTAIDIR to override this." 1>&2
  
  rev=`uname -r`
--- 6,15 ----
  fi
  
! if test ! -f ./rtaidir_guess_warn -a ! -f ~/.rtaidir_guess_warn ; then 
!     echo "Trying to guess RTAI directory." 1>&2
!     echo "Set the environment variable RTAIDIR to override this." 1>&2
!     touch  ./rtaidir_guess_warn >/dev/null 2>/dev/null
!     touch  ~/.rtaidir_guess_warn >/dev/null 2>/dev/null
! fi
  
  rev=`uname -r`

[Emc-commit] rcslib/src Makefile,4.77,4.78

[<emc...@li...>]

Update of /cvsroot/emc/rcslib/src
In directory sc8-pr-cvs1:/tmp/cvs-serv22005

Modified Files:
	Makefile 
Log Message:
should eliminate the harmless errors that are shown about .depend.lists not
existing the first time the make is run
adds a phony target to delete .??_guess_warn_files


Index: Makefile
===================================================================
RCS file: /cvsroot/emc/rcslib/src/Makefile,v
retrieving revision 4.77
retrieving revision 4.78
diff -C2 -d -r4.77 -r4.78
*** Makefile	15 May 2003 16:41:46 -0000	4.77
--- Makefile	20 Jun 2003 13:48:42 -0000	4.78
***************
*** 11,20 ****
  SRCS =  rcsvers.c
  
- x:=$(shell rm /tmp/rcslibmake.log)
- x:=$(shell date >/tmp/rcslibmake.log)
- x:=$(shell chmod a+rw /tmp/rcslibmake.log)
- x:=$(shell echo PLAT=$(PLAT)  >>/tmp/rcslibmake.log )
- x:=$(shell echo MAKE=$(MAKE) MAKEFLAGS=\"$(MAKEFLAGS)\" MAKECMDGOALS=\"$(MAKECMDGOALS)\" CURDIR=\"$(CURDIR)\"  >>/tmp/rcslibmake.log )
- 
  ifneq (java, $(findstring java, $(PLAT)))
  ifneq (rtlinux, $(findstring rtlinux, $(PLAT)))
--- 11,14 ----
***************
*** 37,46 ****
  endif
  
- x:=$(shell echo HAVE_RTAI=$(HAVE_RTAI) HAVE_RTLINUX=$(HAVE_RTLINUX) >>/tmp/rcslibmake.log  )
- 
  ifneq (YES, $(HAVE_RTLINUX))
  ifneq (YES, $(HAVE_RTAI))
  NO_RTL=1
- x:=$(shell echo setting NO_RTL=1 >>/tmp/rcslibmake.log )
  endif
  endif
--- 31,37 ----
***************
*** 49,54 ****
  endif
  
- x:=$(shell echo NO_RTL=$(NO_RTL) >>/tmp/rcslibmake.log )
- 
  # Include definitions of LIBRCS_OBJS
  include print/Makefile.lib
--- 40,43 ----
***************
*** 68,77 ****
  
  nt_xdr_make_all:
! 	$(MAKE) -C nt_xdr all
  
  .PHONY: nt_xdr_make_all
  
  nt_xdr_make_headers:
! 	$(MAKE) -C nt_xdr headers
  
  endif
--- 57,66 ----
  
  nt_xdr_make_all:
! 	$(MAKE) PLAT=$(PLAT) -C nt_xdr all
  
  .PHONY: nt_xdr_make_all
  
  nt_xdr_make_headers:
! 	$(MAKE) PLAT=$(PLAT) -C nt_xdr headers
  
  endif
***************
*** 84,89 ****
  LIBRCS_OBJS := $(LIBRCS_OBJS)
  
- x:=$(shell echo LIBRCS_OBJS=\"$(LIBRCS_OBJS)\" >>/tmp/rcslibmake.log )
- 
  # Declare which files are to be released.
  
--- 73,76 ----
***************
*** 229,233 ****
  
  delete clean depend sources headers:
! 	(cd java; $(MAKE) $(MFLAGS)  COMPILE_TOGETHER=1 $@;)
  
  else
--- 216,220 ----
  
  delete clean depend sources headers:
! 	(cd java; $(MAKE) PLAT=$(PLAT) $(MFLAGS)  COMPILE_TOGETHER=1 $@;)
  
  else
***************
*** 237,242 ****
  
  delete clean depend sources headers release_headers:
! 	(cd posemath; $(MAKE) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) $@ $(MFLAGS);)
  
  
--- 224,229 ----
  
  delete clean depend sources headers release_headers:
! 	(cd posemath; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
  
  
***************
*** 248,253 ****
  
  delete clean depend sources headers:
! 	(cd posemath; $(MAKE) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) $@ $(MFLAGS);)
  
  
--- 235,240 ----
  
  delete clean depend sources headers:
! 	(cd posemath; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
  
  
***************
*** 259,269 ****
  
  delete clean sources headers:
! 	(cd nt_xdr; $(MAKE) $@ $(MFLAGS);)
! 	(cd stg_clss; $(MAKE) $@ $(MFLAGS);)
! 	(cd print; $(MAKE) $@ $(MFLAGS);)
! 	(cd os_intf; $(MAKE) $@ $(MFLAGS);)
! 	(cd posemath; $(MAKE) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) $(MFLAGS)  $@;)
! 	(cd node; $(MAKE) $(MFLAGS)  $@;)
  
  else
--- 246,256 ----
  
  delete clean sources headers:
! 	(cd nt_xdr; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd stg_clss; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd print; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd os_intf; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd posemath; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $(MFLAGS)  $@;)
! 	(cd node; $(MAKE) PLAT=$(PLAT) $(MFLAGS)  $@;)
  
  else
***************
*** 271,280 ****
  
  delete clean:
! 	$(MAKE) -C stg_clss $@
! 	$(MAKE) -C print $@
! 	$(MAKE) -C posemath $@
! 	$(MAKE) -C os_intf $@
! 	$(MAKE) -C cms $@
! 	$(MAKE) -C node $@
  
  # ! win
--- 258,267 ----
  
  delete clean:
! 	$(MAKE) PLAT=$(PLAT) -C stg_clss $@
! 	$(MAKE) PLAT=$(PLAT) -C print $@
! 	$(MAKE) PLAT=$(PLAT) -C posemath $@
! 	$(MAKE) PLAT=$(PLAT) -C os_intf $@
! 	$(MAKE) PLAT=$(PLAT) -C cms $@
! 	$(MAKE) PLAT=$(PLAT) -C node $@
  
  # ! win
***************
*** 312,317 ****
  
  install:
! 	(cd java; $(MAKE) $(MFLAGS) COMPILE_TOGETHER=1 $@;)
! 	($(MAKE) $(MFLAGS) archive)
  
  
--- 299,304 ----
  
  install:
! 	(cd java; $(MAKE) PLAT=$(PLAT) $(MFLAGS) COMPILE_TOGETHER=1 $@;)
! 	($(MAKE) PLAT=$(PLAT) $(MFLAGS) archive)
  
  
***************
*** 325,331 ****
  
  install:
! 	(cd posemath; $(MAKE) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) $@ $(MFLAGS);)
! 	($(MAKE) $(MFLAGS) archive)
  
  
--- 312,318 ----
  
  install:
! 	(cd posemath; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	($(MAKE) PLAT=$(PLAT) $(MFLAGS) archive)
  
  
***************
*** 337,343 ****
  
  install:
! 	(cd posemath; $(MAKE) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) $@ $(MFLAGS);)
! 	($(MAKE) $(MFLAGS) archive)
  
  
--- 324,330 ----
  
  install:
! 	(cd posemath; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	($(MAKE) PLAT=$(PLAT) $(MFLAGS) archive)
  
  
***************
*** 348,361 ****
  
  install:
! 	(cd stg_clss; $(MAKE) $@ $(MFLAGS);)
! 	(cd print; $(MAKE) $@ $(MFLAGS);)
! 	(cd os_intf; $(MAKE) $@ $(MFLAGS);)
! 	(cd posemath; $(MAKE) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) $@ $(MFLAGS);)
! 	(cd node; $(MAKE) $@ $(MFLAGS);)
! 	(cd pcio; $(MAKE) $@ $(MFLAGS);)
! 	(cd pmac; $(MAKE) $@ $(MFLAGS);)
  	(if [ ! -f $(RELEASE_LIB_DIR)/libwww.$(DYNAMIC_LIB_EXTENSION) ] ; then \
! 		cd w3c; $(MAKE) $@ $(MFLAGS); \
  	fi;)
  
--- 335,348 ----
  
  install:
! 	(cd stg_clss; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd print; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd os_intf; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd posemath; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd node; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd pcio; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd pmac; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
  	(if [ ! -f $(RELEASE_LIB_DIR)/libwww.$(DYNAMIC_LIB_EXTENSION) ] ; then \
! 		cd w3c; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS); \
  	fi;)
  
***************
*** 366,376 ****
  
  install:
! 	(cd nt_xdr; $(MAKE) $@  $(MFLAGS);)
! 	(cd stg_clss; $(MAKE) $@ $(MFLAGS);)
! 	(cd print; $(MAKE) $@ $(MFLAGS);)
! 	(cd os_intf; $(MAKE) $@ $(MFLAGS);)
! 	(cd posemath; $(MAKE) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) $@ $(MFLAGS);)
! 	(cd node; $(MAKE) $@ $(MFLAGS);)
  
  # win
--- 353,363 ----
  
  install:
! 	(cd nt_xdr; $(MAKE) PLAT=$(PLAT) $@  $(MFLAGS);)
! 	(cd stg_clss; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd print; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd os_intf; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd posemath; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd node; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
  
  # win
***************
*** 378,389 ****
  
  install:
! 	(cd stg_clss; $(MAKE) install $(MFLAGS)  ;)
! 	(cd print; $(MAKE) install $(MFLAGS);)
! 	(cd os_intf; $(MAKE) install $(MFLAGS);)
! 	(cd posemath; $(MAKE) install $(MFLAGS);)
! 	(cd cms; $(MAKE) install $(MFLAGS);)
! 	(cd node; $(MAKE) install  $(MFLAGS);)
  	(if [ ! -f $(RELEASE_LIB_DIR)/libwww.$(DYNAMIC_LIB_EXTENSION) ] ; then \
! 		cd w3c; $(MAKE) headers sources depend all install $(MFLAGS); \
  	fi;)
  
--- 365,376 ----
  
  install:
! 	(cd stg_clss; $(MAKE) PLAT=$(PLAT) install $(MFLAGS)  ;)
! 	(cd print; $(MAKE) PLAT=$(PLAT) install $(MFLAGS);)
! 	(cd os_intf; $(MAKE) PLAT=$(PLAT) install $(MFLAGS);)
! 	(cd posemath; $(MAKE) PLAT=$(PLAT) install $(MFLAGS);)
! 	(cd cms; $(MAKE) PLAT=$(PLAT) install $(MFLAGS);)
! 	(cd node; $(MAKE) PLAT=$(PLAT) install  $(MFLAGS);)
  	(if [ ! -f $(RELEASE_LIB_DIR)/libwww.$(DYNAMIC_LIB_EXTENSION) ] ; then \
! 		cd w3c; $(MAKE) PLAT=$(PLAT) headers sources depend all install $(MFLAGS); \
  	fi;)
  
***************
*** 412,416 ****
  
  install:
! 	(cd java; $(MAKE) $(MFLAGS) COMPILE_TOGETHER=1 $@;)
  
  # java
--- 399,403 ----
  
  install:
! 	(cd java; $(MAKE) PLAT=$(PLAT) $(MFLAGS) COMPILE_TOGETHER=1 $@;)
  
  # java
***************
*** 421,426 ****
  
  install:
! 	(cd posemath; $(MAKE) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) $@ $(MFLAGS);)
  
  # rtlinux
--- 408,413 ----
  
  install:
! 	(cd posemath; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
  
  # rtlinux
***************
*** 430,435 ****
  
  install:
! 	(cd posemath; $(MAKE) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) $@ $(MFLAGS);)
  
  # rtai
--- 417,422 ----
  
  install:
! 	(cd posemath; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
  
  # rtai
***************
*** 439,450 ****
  
  install:
! 	(cd stg_clss; $(MAKE) $(MFLAGS)  $@;)
! 	(cd print; $(MAKE) $@ $(MFLAGS);)
! 	(cd os_intf; $(MAKE) $@ $(MFLAGS);)
! 	(cd posemath; $(MAKE) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) $(MFLAGS)  $@;)
! 	(cd node; $(MAKE) $@ $(MFLAGS);)
! 	(cd pcio; $(MAKE) $@ $(MFLAGS);)
! 	(cd pmac; $(MAKE) $@ $(MFLAGS);)
  
  # lynx
--- 426,437 ----
  
  install:
! 	(cd stg_clss; $(MAKE) PLAT=$(PLAT) $(MFLAGS)  $@;)
! 	(cd print; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd os_intf; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd posemath; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $(MFLAGS)  $@;)
! 	(cd node; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd pcio; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd pmac; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
  
  # lynx
***************
*** 454,464 ****
  
  install:
! 	(cd nt_xdr; $(MAKE) $(MFLAGS)  $@;)
! 	(cd stg_clss; $(MAKE) $(MFLAGS)  $@;)
! 	(cd print; $(MAKE) $@ $(MFLAGS);)
! 	(cd os_intf; $(MAKE) $@ $(MFLAGS);)
! 	(cd posemath; $(MAKE) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) $(MFLAGS)  $@;)
! 	(cd node; $(MAKE) $@ $(MFLAGS);)
  
  # win
--- 441,451 ----
  
  install:
! 	(cd nt_xdr; $(MAKE) PLAT=$(PLAT) $(MFLAGS)  $@;)
! 	(cd stg_clss; $(MAKE) PLAT=$(PLAT) $(MFLAGS)  $@;)
! 	(cd print; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd os_intf; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd posemath; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $(MFLAGS)  $@;)
! 	(cd node; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
  
  # win
***************
*** 466,475 ****
  
  install:
! 	(cd stg_clss; $(MAKE) $(MFLAGS)  $@;)
! 	(cd print; $(MAKE) $@ $(MFLAGS);)
! 	(cd os_intf; $(MAKE) $@ $(MFLAGS);)
! 	(cd posemath; $(MAKE) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) $@ $(MFLAGS);)
! 	(cd node; $(MAKE) $@ $(MFLAGS);)
  
  # win
--- 453,462 ----
  
  install:
! 	(cd stg_clss; $(MAKE) PLAT=$(PLAT) $(MFLAGS)  $@;)
! 	(cd print; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd os_intf; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd posemath; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
! 	(cd node; $(MAKE) PLAT=$(PLAT) $@ $(MFLAGS);)
  
  # win
***************
*** 494,498 ****
  
  post_install_only: sendmail
! 	($(MAKE) $(MFLAGS)  archive)
  
  .PHONY: post_install_only
--- 481,485 ----
  
  post_install_only: sendmail
! 	($(MAKE) PLAT=$(PLAT) $(MFLAGS)  archive)
  
  .PHONY: post_install_only
***************
*** 523,528 ****
  
  archive:
! 	-($(MAKE) $(MFLAGS)  archive_plat)
! 	-($(MAKE) $(MFLAGS)  archive_src)
  
  ifdef PLAT
--- 510,515 ----
  
  archive:
! 	-($(MAKE) PLAT=$(PLAT) $(MFLAGS)  archive_plat)
! 	-($(MAKE) PLAT=$(PLAT) $(MFLAGS)  archive_src)
  
  ifdef PLAT
***************
*** 693,697 ****
  
  all:
! 	(cd java; $(MAKE) $(MFLAGS) COMPILE_TOGETHER=1 $@;)
  
  else
--- 680,684 ----
  
  all:
! 	(cd java; $(MAKE) PLAT=$(PLAT) $(MFLAGS) COMPILE_TOGETHER=1 $@;)
  
  else
***************
*** 724,733 ****
  
  all:
! 	(cd cms; $(MAKE) $(MFLAGS)  nmlcfg nmlperf perfsvr nmltest tcpproxy;)
  
  else
  
  all:
! 	(cd cms; $(MAKE) $(MFLAGS)  nmlcfg nmlperf perfsvr nmltest tcpproxy;)
  	-(cd $(DEVP_DIR) ; \rm -f rcslib_$(PLAT).zip;  \
  	zip rcslib_$(PLAT).zip include/* src/* lib/librcs.a \
--- 711,720 ----
  
  all:
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $(MFLAGS) PLAT=$(PLAT)  nmlcfg nmlclean nmlperf perfsvr nmltest tcpproxy;)
  
  else
  
  all:
! 	(cd cms; $(MAKE) PLAT=$(PLAT) $(MFLAGS) PLAT=$(PLAT)  nmlcfg nmlclean nmlperf perfsvr nmltest tcpproxy;)
  	-(cd $(DEVP_DIR) ; \rm -f rcslib_$(PLAT).zip;  \
  	zip rcslib_$(PLAT).zip include/* src/* lib/librcs.a \
***************
*** 958,962 ****
  ifneq (rtai, $(PLAT))
  
! $(DEVP_LIB_DIR)/rcsvers.o:  $(DEVP_DIR)/.stg_clssbuild $(DEVP_DIR)/.printbuild $(DEVP_DIR)/.posemathbuild $(DEVP_DIR)/.os_intfbuild $(DEVP_DIR)/.cmsbuild $(DEVP_DIR)/.nodebuild
  
  
--- 945,949 ----
  ifneq (rtai, $(PLAT))
  
! $(DEVP_LIB_DIR)/rcsvers.o:  $(DEVP_DIR)/.stg_clssbuild $(DEVP_DIR)/.printbuild $(DEVP_DIR)/.posemathbuild $(DEVP_DIR)/.os_intfbuild $(DEVP_DIR)/.cmsbuild $(DEVP_DIR)/.nodebuild $(DEVP_DIR)/.nodeheaders $(DEVP_DIR)/.stg_clssheaders $(DEVP_DIR)/.printheaders $(DEVP_DIR)/.cmsheaders $(DEVP_DIR)/.os_intfheaders
  
  
***************
*** 979,993 ****
  ifneq (java, $(findstring java, $(PLAT)))
  
- ALLHEADERS = $(shell find . -type f -a '(' -name \*.h -o -name \*.hh ')' )
- 
  headers: $(DEVP_DIR)/.headersbuild
  
! $(DEVP_DIR)/.headersbuild: $(ALLHEADERS)
! 	$(MAKE) -C stg_clss headers
! 	$(MAKE) -C print headers
! 	$(MAKE) -C posemath headers
! 	$(MAKE) -C os_intf headers
! 	$(MAKE) -C cms headers
! 	$(MAKE) -C node headers
  	touch $@
  
--- 966,972 ----
  ifneq (java, $(findstring java, $(PLAT)))
  
  headers: $(DEVP_DIR)/.headersbuild
  
! $(DEVP_DIR)/.headersbuild: 
  	touch $@
  
***************
*** 1002,1035 ****
  
  $(DEVP_DIR)/.stg_clssbuild : $(DEVP_DIR)/.headersbuild
- 	$(MAKE) -C stg_clss
  	touch $@
  
  
! 
! $(DEVP_DIR)/.printbuild : $(DEVP_DIR)/.headersbuild
! 	$(MAKE) -C print
! 	 touch $@
  
  
  $(DEVP_DIR)/.os_intfbuild : $(DEVP_DIR)/.headersbuild
- 	$(MAKE) -C os_intf
  	touch $@
  
  
  $(DEVP_DIR)/.posemathbuild : $(DEVP_DIR)/.headersbuild
- 	$(MAKE) -C posemath
  	touch $@
  
  
  
  $(DEVP_DIR)/.cmsbuild : $(DEVP_DIR)/.headersbuild
- 	$(MAKE) -C cms
  	touch $@
  
  
  $(DEVP_DIR)/.nodebuild : $(DEVP_DIR)/.headersbuild
- 	$(MAKE) -C node
  	touch $@
  
  
  
--- 981,1014 ----
  
  $(DEVP_DIR)/.stg_clssbuild : $(DEVP_DIR)/.headersbuild
  	touch $@
+ 	$(MAKE) PLAT=$(PLAT) -C stg_clss
  
  
! $(DEVP_DIR)/.printbuild : $(DEVP_DIR)/.headersbuild 
! 	touch $@
! 	$(MAKE) PLAT=$(PLAT) -C print
  
  
  $(DEVP_DIR)/.os_intfbuild : $(DEVP_DIR)/.headersbuild
  	touch $@
+ 	$(MAKE) PLAT=$(PLAT) -C os_intf
  
  
  $(DEVP_DIR)/.posemathbuild : $(DEVP_DIR)/.headersbuild
  	touch $@
+ 	$(MAKE) PLAT=$(PLAT) -C posemath
  
  
  
  $(DEVP_DIR)/.cmsbuild : $(DEVP_DIR)/.headersbuild
  	touch $@
+ 	$(MAKE) PLAT=$(PLAT) -C cms
  
  
  $(DEVP_DIR)/.nodebuild : $(DEVP_DIR)/.headersbuild
  	touch $@
+ 	$(MAKE) PLAT=$(PLAT) -C node
  
+ .DELETE_ON_ERROR: $(DEVP_DIR)/.printbuild  $(DEVP_DIR)/.os_intfbuild  $(DEVP_DIR)/.posemathbuid  $(DEVP_DIR)/.cmsbuild  $(DEVP_DIR)/.nodebuild
  
  
***************
*** 1058,1067 ****
  
  $(DEVP_DIR)/.dependbuild:  $(DEVP_DIR)/.sourcesbuild $(DEVP_DIR)/.headersbuild
! 	$(MAKE) -C stg_clss depend
! 	$(MAKE) -C print depend
! 	$(MAKE) -C posemath depend
! 	$(MAKE) -C os_intf depend
! 	$(MAKE) -C cms depend
! 	$(MAKE) -C node depend
  	-\rm .cleandepend
  	touch $@
--- 1037,1046 ----
  
  $(DEVP_DIR)/.dependbuild:  $(DEVP_DIR)/.sourcesbuild $(DEVP_DIR)/.headersbuild
! 	$(MAKE) PLAT=$(PLAT) -C stg_clss depend
! 	$(MAKE) PLAT=$(PLAT) -C print depend
! 	$(MAKE) PLAT=$(PLAT) -C posemath depend
! 	$(MAKE) PLAT=$(PLAT) -C os_intf depend
! 	$(MAKE) PLAT=$(PLAT) -C cms depend
! 	$(MAKE) PLAT=$(PLAT) -C node depend
  	-\rm .cleandepend
  	touch $@
***************
*** 1071,1080 ****
  
  $(DEVP_DIR)/.sourcesbuild: 
! 	$(MAKE) -C stg_clss sources
! 	$(MAKE) -C print sources
! 	$(MAKE) -C posemath sources
! 	$(MAKE) -C os_intf sources
! 	$(MAKE) -C cms sources
! 	$(MAKE) -C node sources
  	-\rm .cleandepend
  	touch $@
--- 1050,1059 ----
  
  $(DEVP_DIR)/.sourcesbuild: 
! 	$(MAKE) PLAT=$(PLAT) -C stg_clss sources
! 	$(MAKE) PLAT=$(PLAT) -C print sources
! 	$(MAKE) PLAT=$(PLAT) -C posemath sources
! 	$(MAKE) PLAT=$(PLAT) -C os_intf sources
! 	$(MAKE) PLAT=$(PLAT) -C cms sources
! 	$(MAKE) PLAT=$(PLAT) -C node sources
  	-\rm .cleandepend
  	touch $@
***************
*** 1087,1091 ****
  
  cleanbuild:
! 	\rm -f $(DEVP_DIR)/.??*build
  
  
--- 1066,1077 ----
  
  cleanbuild:
! 	-\rm -f $(DEVP_DIR)/.??*build
! 	-\rm -f $(DEVP_DIR)/.??*headers
! 	-\rm -f $(DEVP_LIB_DIR)/rcsvers.o
! 	-\rm -f $(DEVP_INCLUDE_DIR)/rcs.hh
! 	-\rm -f $(DEVP_INCLUDE_DIR)/rcs_defs.hh
! 	-\rm -f $(DEVP_LIB_DIR)/librcs.a
! 	-\rm -f $(DEVP_LIB_DIR)/librcs*.so*
! 
  
  
***************
*** 1095,1118 ****
  
  
! .depend.lists: make_depend_lists
! depend: make_depend_lists
  
- .PHONY: make_depend_lists
  
! make_depend_lists:
! 	-$(ECHO_MARK) \rm .depend.lists
  	-$(ECHO_MARK) touch .depend.lists
  	-$(ECHO_MARK) find . -type f -a '(' -name \*.c -o -name \*.cc ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.sourcesbuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find . -type f -a '(' \*.h -o -name \*.hh ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.headersbuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find cms -type f -a '(' -name \*.h -o -name \*.hh -o -name Make\* -o -name \*.c -o -name \*.cc ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.cmsbuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find posemath -type f -a '(' -name \*.h -o -name \*.hh -o -name Make\* -o -name \*.c -o -name \*.cc ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.posemathbuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find node -type f -a '(' -name \*.h -o -name \*.hh -o -name Make\* -o -name \*.c -o -name \*.cc ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.nodebuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find os_intf -type f -a '(' -name \*.h -o -name \*.hh -o -name Make\* -o -name \*.c -o -name \*.cc ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.os_intfbuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find print -type f -a '(' -name \*.h -o -name \*.hh -o -name Make\* -o -name \*.c -o -name \*.cc ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.printbuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find stg_clss -type f -a '(' -name \*.h -o -name \*.hh -o -name Make\* -o -name \*.c -o -name \*.cc ')' 2>/dev/null  | awk '{printf("$$(DEVP_DIR)/.stg_clssbuild: %s\n",$$1);}' >>.depend.lists
  
  
  
- include .depend.lists
  
  
--- 1081,1230 ----
  
  
! depend: .depend.lists
  
  
! .DELETE_ON_ERROR: .depend.lists
! 
! .depend.lists: $(ALLFILES)
! 	-$(ECHO_MARK) if test -f .depend.lists ; then \rm .depend.lists >/dev/null 2>/dev/null ; fi
  	-$(ECHO_MARK) touch .depend.lists
  	-$(ECHO_MARK) find . -type f -a '(' -name \*.c -o -name \*.cc ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.sourcesbuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find . -type f -a '(' -name \*.h -o -name \*.hh ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.headersbuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find cms -type f -a '(' -name \*.h -o -name \*.hh -o \( -name Make\* -a -not -name \*~\* \)  -o -name \*.c -o -name \*.cc ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.cmsbuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find posemath -type f -a '(' -name \*.h -o -name \*.hh -o \( -name Make\* -a -not -name \*~\* \)  -o -name \*.c -o -name \*.cc ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.posemathbuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find node -type f -a '(' -name \*.h -o -name \*.hh -o \( -name Make\* -a -not -name \*~\* \)  -o -name \*.c -o -name \*.cc ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.nodebuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find os_intf -type f -a '(' -name \*.h -o -name \*.hh -o \( -name Make\* -a -not -name \*~\* \)  -o -name \*.c -o -name \*.cc ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.os_intfbuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find print -type f -a '(' -name \*.h -o -name \*.hh -o \( -name Make\* -a -not -name \*~\* \)  -o -name \*.c -o -name \*.cc ')' 2>/dev/null | awk '{printf("$$(DEVP_DIR)/.printbuild: %s\n",$$1);}' >>.depend.lists
! 	-$(ECHO_MARK) find stg_clss -type f -a '(' -name \*.h -o -name \*.hh -o \( -name Make\* -a -not -name \*~\* \)  -o -name \*.c -o -name \*.cc ')' 2>/dev/null  | awk '{printf("$$(DEVP_DIR)/.stg_clssbuild: %s\n",$$1);}' >>.depend.lists
  
+ ifeq (YES, $(shell if test -f .depend.lists ; then echo YES ; fi))
+ include .depend.lists
+ endif
  
+ $(DEVP_DIR)/.os_intfheaders: $(OS_INTF_HEADERS:%=os_intf/%)
+ 	touch $@
+ 	$(MAKE) PLAT=$(PLAT) -C os_intf headers
+ 
+ $(DEVP_DIR)/.cmsheaders: $(CMS_HEADERS:%=cms/%)*
+ 	touch $@
+ 	$(MAKE) PLAT=$(PLAT) -C cms  headers
+ 
+ 
+ $(DEVP_DIR)/.stg_clssheaders : $(STG_CLSS_HEADERS:%=stg_clss/%)
+ 	touch $@
+ 	$(MAKE) PLAT=$(PLAT) -C stg_clss headers
+ 
+ 
+ $(DEVP_DIR)/.printheaders: $(PRINT_HEADERS:%=print/%)
+ 	touch $@
+ 	$(MAKE) PLAT=$(PLAT) -C print  headers
+ 
+ 
+ $(DEVP_DIR)/.posemathheaders: $(POSEMATH_HEADERS:%=posemath/%)
+ 	touch $@
+ 	$(MAKE) PLAT=$(PLAT) -C posemath  headers
+ 
+ $(DEVP_DIR)/.nodeheaders: $(NODE_HEADERS:%=node/%)
+ 	touch $@
+ 	$(MAKE) PLAT=$(PLAT) -C node  headers
+ 
+ .PHONY: makeallheaders
+ 
+ $(DEVP_DIR)/.headersbuild:  $(DEVP_DIR)/.nodeheaders $(DEVP_DIR)/.stg_clssheaders $(DEVP_DIR)/.printheaders $(DEVP_DIR)/.cmsheaders $(DEVP_DIR)/.os_intfheaders
+ 
+ .DELETE_ON_ERROR: $(DEVP_DIR)/.headersbuild  $(DEVP_DIR)/.nodeheaders $(DEVP_DIR)/.stg_clssheaders $(DEVP_DIR)/.printheaders $(DEVP_DIR)/.cmsheaders $(DEVP_DIR)/.os_intfheaders
+ 
+ $(CMS_OBJS:%=$(DEVP_LIB_DIR)/%)	:
+ 	-\rm -f $(DEVP_DIR)/.cmsbuild
+ 	-@ echo need $@
+ 	make PLAT=$(PLAT)  -C cms
+ 	touch $(DEVP_DIR)/.cmsbuild
+ 
+ $(NODE_OBJS:%=$(DEVP_LIB_DIR)/%):
+ 	-\rm -f $(DEVP_DIR)/.nodebuild
+ 	-@ echo need $@
+ 	make PLAT=$(PLAT)  -C node
+ 	touch $(DEVP_DIR)/.nodebuild
+ 
+ $(PRINT_OBJS:%=$(DEVP_LIB_DIR)/%):
+ 	-\rm -f $(DEVP_DIR)/.printbuild
+ 	-@ echo need $@
+ 	make PLAT=$(PLAT)  -C print
+ 	touch $(DEVP_DIR)/.printbuild
+ 
+ $(OS_INTF_OBJS:%=$(DEVP_LIB_DIR)/%):
+ 	-\rm -f $(DEVP_DIR)/.os_intfbuild
+ 	-@ echo need $@
+ 	make PLAT=$(PLAT)  -C os_intf
+ 	touch $(DEVP_DIR)/.os_intfbuild
+ 
+ $(STG_CLSS_OBJS:%=$(DEVP_LIB_DIR)/%):
+ 	-\rm -f $(DEVP_DIR)/.stg_clssbuild
+ 	-@ echo need $@
+ 	make PLAT=$(PLAT)  -C stg_clss
+ 	touch $(DEVP_DIR)/.stg_clssbuild 
+ 
+ $(POSEMATH_OBJS:%=$(DEVP_LIB_DIR)/%):
+ 	-\rm -f $(DEVP_DIR)/.posemathbuild
+ 	-@ echo need $@
+ 	make PLAT=$(PLAT)  -C posemath $@
+ 	touch $(DEVP_DIR)/.posemathbuild 
+ 
+ $(CMS_HEADERS:%=$(DEVP_INCLUDE_DIR)/%)	:
+ 	-\rm -f $(DEVP_DIR)/.cmsheaders
+ 	-@ echo need $@
+ 	make PLAT=$(PLAT)  -C cms headers
+ 	touch $(DEVP_DIR)/.cmsheaders
+ 
+ $(NODE_HEADERS:%=$(DEVP_INCLUDE_DIR)/%):
+ 	-\rm -f $(DEVP_DIR)/.nodeheaders
+ 	-@ echo need $@
+ 	make PLAT=$(PLAT)  -C node headers
+ 	touch $(DEVP_DIR)/.nodeheaders
+ 
+ $(PRINT_HEADERS:%=$(DEVP_INCLUDE_DIR)/%):
+ 	-\rm -f $(DEVP_DIR)/.printheaders
+ 	-@ echo need $@
+ 	make PLAT=$(PLAT)  -C print headers
+ 	touch $(DEVP_DIR)/.printheaders
+ 
+ $(OS_INTF_HEADERS:%=$(DEVP_INCLUDE_DIR)/%):
+ 	-\rm -f $(DEVP_DIR)/.os_intfheaders
+ 	-@ echo need $@
+ 	make PLAT=$(PLAT)  -C os_intf headers
+ 	touch $(DEVP_DIR)/.os_intfheaders
+ 
+ $(STG_CLSS_HEADERS:%=$(DEVP_INCLUDE_DIR)/%):
+ 	-\rm -f $(DEVP_DIR)/.stg_clssheaders
+ 	-@ echo need $@
+ 	make PLAT=$(PLAT)  -C stg_clss headers
+ 	touch $(DEVP_DIR)/.stg_clssheaders
+ 
+ $(POSEMATH_HEADERS:%=$(DEVP_INCLUDE_DIR)/%):
+ 	-\rm -f $(DEVP_DIR)/.posemathheaders
+ 	-@ echo need $@
+ 	make PLAT=$(PLAT)  -C posemath headers
+ 	touch $(DEVP_DIR)/.posemathheaders
+ 
+ all: remove_guess_warn_files
+ 
+ remove_guess_warn_files: 
+ 	-@\rm -f .tcltkincflags_guess_warn >/dev/null 2>/dev/null
+ 	-@\rm -f ~/.tcltkincflags_guess_warn >/dev/null 2>/dev/null
+ 	-@\rm -f .tcltklibflags_guess_warn >/dev/null 2>/dev/null
+ 	-@\rm -f ~/.tcltklibflags_guess_warn >/dev/null 2>/dev/null
+ 	-@\rm -f .rtlinux_guess_warn >/dev/null 2>/dev/null
+ 	-@\rm -f ~/.rtlinux_guess_warn >/dev/null 2>/dev/null
+ 	-@\rm -f .rtlinuxdir_guess_warn >/dev/null 2>/dev/null
+ 	-@\rm -f ~/.rtlinuxdir_guess_warn >/dev/null 2>/dev/null
+ 	-@\rm -f .rtai_guess_warn >/dev/null 2>/dev/null
+ 	-@\rm -f ~/.rtai_guess_warn >/dev/null 2>/dev/null
+ 	-@\rm -f .rtaidir_guess_warn >/dev/null 2>/dev/null
+ 	-@\rm -f ~/.rtaidir_guess_warn >/dev/null 2>/dev/null
+ 	-@\rm -f .platname_guess_warn >/dev/null 2>/dev/null
+ 	-@\rm -f ~/.platname_guess_warn >/dev/null 2>/dev/null
+ 
+ .PHONY: remove_guess_warn_files
  
  
  

[Emc-commit] rcslib/etc rtaidir,1.3,1.4 testnml_internal.sh,1.1,1.2 testnml.sh,1.2,1.3

[<emc...@li...>]

Update of /cvsroot/emc/rcslib/etc
In directory sc8-pr-cvs1:/tmp/cvs-serv32167

Modified Files:
	rtaidir testnml_internal.sh testnml.sh 
Log Message:
testnml needs to run from the build directory not the source directory if
these are not the same.
rtaidir should compensate for the /rtaidir/ in the newer rtai installs.


Index: rtaidir
===================================================================
RCS file: /cvsroot/emc/rcslib/etc/rtaidir,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** rtaidir	31 Jan 2003 15:05:00 -0000	1.3
--- rtaidir	19 Jun 2003 15:39:58 -0000	1.4
***************
*** 1,4 ****
--- 1,12 ----
  #!/bin/bash
  
+ if test "x${RTAIDIR}" != "x" ; then
+     echo ${RTAIDIR}
+     exit 0
+ fi
+ 
+ echo "Trying to guess RTAI directory." 1>&2
+ echo "Set the environment variable RTAIDIR to override this." 1>&2
+ 
  rev=`uname -r`
  
***************
*** 14,18 ****
  		iver=`objdump -s -j .modinfo $i | gawk '{printf("%s", $6)} END {printf("%s\n",$NF);}'| sed 's/[.]parm.*$//' | sed 's/kernel_version=//' | sed 's/[.]$//' | sed 's/.using_.*$//' | sed 's/.license.*$//'`
  		if [ "$iver" = "$rev" ] ; then
! 			echo $i | sed 's%/rtai$%%' | sed 's%/rtai.o$%%' | sed 's%/modules$%%'
  			exit 0
  		fi
--- 22,28 ----
  		iver=`objdump -s -j .modinfo $i | gawk '{printf("%s", $6)} END {printf("%s\n",$NF);}'| sed 's/[.]parm.*$//' | sed 's/kernel_version=//' | sed 's/[.]$//' | sed 's/.using_.*$//' | sed 's/.license.*$//'`
  		if [ "$iver" = "$rev" ] ; then
! 			RTAIDIR=`echo $i | sed 's%/rtai$%%' | sed 's%/rtai.o$%%' | sed 's%/modules$%%' |sed 's%/rtaidir$%%'  `
! 			export RTAIDIR
! 			echo $RTAIDIR
  			exit 0
  		fi
***************
*** 21,27 ****
  }
  
  for i in /usr/src/rtai* ; do
      if [ -d $i ] ; then
! 	rtaifiles=`find $i -name rtai.o -o -name rtai`
  	search_list
      fi
--- 31,42 ----
  }
  
+ rtaifiles=`find /usr/src/rtai/ -maxdepth 3 -type f  '(' -name rtai.o -o -name rtai ')'`
+ if test "x${rtaifiles}" != "x" ; then
+     search_list
+ fi
+ 
  for i in /usr/src/rtai* ; do
      if [ -d $i ] ; then
! 	rtaifiles=`find $i -maxdepth 3 -type f  '(' -name rtai.o -o -name rtai ')'`
  	search_list
      fi
***************
*** 34,38 ****
  
  
! rtaifiles=/usr/src/rtai/rtai `find /usr/src/ -name rtai -type f 2>/dev/null`
  search_list
  
--- 49,53 ----
  
  
! rtaifiles=/usr/src/rtai/rtai `find /usr/src/ -maxdepth 3 -type f '(' -name rtai -o -name rtai.o ')' 2>/dev/null`
  search_list
  

Index: testnml_internal.sh
===================================================================
RCS file: /cvsroot/emc/rcslib/etc/testnml_internal.sh,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** testnml_internal.sh	6 May 2003 15:18:12 -0000	1.1
--- testnml_internal.sh	19 Jun 2003 15:39:58 -0000	1.2
***************
*** 25,29 ****
  
      if test "x${srcdir}" != "x" ; then
! 	if test ! -e ./etc -a -e "${srcdir}/etc" ; then
  	    cd "${srcdir}";
  	    echo "Directory changed to:"
--- 25,29 ----
  
      if test "x${srcdir}" != "x" ; then
! 	if test ! -d ./etc -a -d "${srcdir}/etc" ; then
  	    cd "${srcdir}";
  	    echo "Directory changed to:"
***************
*** 36,39 ****
--- 36,42 ----
  if test -f /tmp/test.nml ; then
      ${builddir}/nmlclean /tmp/test.nml
+     if test -f nmlclean.log ; then
+ 	mv nmlclean.log /tmp/nmlclean-1-$$.log
+     fi
      \rm -f /tmp/test.nml
  fi
***************
*** 58,62 ****
  echo "Testing nmlcfg  . . ."
  
! ${builddir}/nmlcfg src/test/test.nml2 -o /tmp/test.nml
  if test $? -ne 0 ; then
      echo "nmlcfg test failed"
--- 61,65 ----
  echo "Testing nmlcfg  . . ."
  
! ${builddir}/nmlcfg ${srcdir}/src/test/test.nml2 -o /tmp/test.nml
  if test $? -ne 0 ; then
      echo "nmlcfg test failed"
***************
*** 275,277 ****
--- 278,284 ----
  
  ${builddir}/nmlclean /tmp/test.nml
+ if test -f nmlclean.log ; then
+     mv nmlclean.log /tmp/nmlclean-1-$$.log
+ fi
+ 
  exit 0

Index: testnml.sh
===================================================================
RCS file: /cvsroot/emc/rcslib/etc/testnml.sh,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** testnml.sh	6 May 2003 15:51:01 -0000	1.2
--- testnml.sh	19 Jun 2003 15:39:58 -0000	1.3
***************
*** 1,14 ****
  
  echo "If this test fails check /tmp/testnml.log and /tmp/testnml.err."
! echo "If it takes more than a minute or two, then it has hung and you should kill"
! echo "it and consider the test a failure."
  
! if test '!' -x etc/testnml_internal.sh ; then
!     if test x$srcdir != x ; then
! 	cd $srcdir
      fi
  fi
  
! 
! etc/testnml_internal.sh >/tmp/testnml.log 2>/tmp/testnml.err 
  exit $?
--- 1,14 ----
  
  echo "If this test fails check /tmp/testnml.log and /tmp/testnml.err."
! echo "If it takes more than about three minutes, then it has hung and"
! echo "you should kill it and consider the test a failure."
  
! if test ! -f etc/testnml_internal.sh ; then
!     if test "x${srcdir}" != "x" -a -f ${srcdir}/etc/testnml_internal.sh ; then
! 	. ${srcdir}/etc/testnml_internal.sh >/tmp/testnml.log 2>/tmp/testnml.err 
! 	exit $?
      fi
  fi
  
! . etc/testnml_internal.sh >/tmp/testnml.log 2>/tmp/testnml.err 
  exit $?