emc-commit — CVS commit notification list.

[Emc-commit] emc/src/emcnml emc.cc,1.29,1.30

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

Update of /cvsroot/emc/emc/src/emcnml
In directory sc8-pr-cvs1:/tmp/cvs-serv778

Modified Files:
	emc.cc 
Log Message:
replace my hand edited emc.cc with one made by the CodeGen utility

Index: emc.cc
===================================================================
RCS file: /cvsroot/emc/emc/src/emcnml/emc.cc,v
retrieving revision 1.29
retrieving revision 1.30
diff -C2 -d -r1.29 -r1.30
*** emc.cc	21 Jul 2003 02:51:34 -0000	1.29
--- emc.cc	5 Aug 2003 15:35:29 -0000	1.30
***************
*** 18,23 ****
--- 18,27 ----
  void PmCartesian_update(CMS *cms, PmCartesian *x);
  void initialize_PmCartesian(PmCartesian *x);
+ void CMS_DATE_TIME_update(CMS *cms, CMS_DATE_TIME *x);
+ void initialize_CMS_DATE_TIME(CMS_DATE_TIME *x);
  void CANON_VECTOR_update(CMS *cms, CANON_VECTOR *x);
  void initialize_CANON_TOOL_TABLE(CANON_TOOL_TABLE *x);
+ void CMS_DURATION_update(CMS *cms, CMS_DURATION *x);
+ void initialize_CMS_DURATION(CMS_DURATION *x);
  void initialize_EmcPose(EmcPose *x);
[...3650 lines suppressed...]
- *	NML/CMS Update function for EMC_AXIS_SET_STEP_PARAMS
- *	Manually generated by Matt Shaver.
- *	on Fri Jul 18 19:25:01-27/64 EDT 2003
- */
- void EMC_AXIS_SET_STEP_PARAMS::update(CMS *cms)
- {
- 
- 	cms->beginClass("EMC_AXIS_SET_STEP_PARAMS","EMC_AXIS_CMD_MSG");
- 
- 	cms->beginBaseClass("EMC_AXIS_CMD_MSG");
- 	EMC_AXIS_CMD_MSG::update(cms);
- 	cms->endBaseClass("EMC_AXIS_CMD_MSG");
- 
- 	cms->update_with_name("setup_time",setup_time);
- 	cms->update_with_name("hold_time",hold_time);
- 
- 	cms->endClass("EMC_AXIS_SET_STEP_PARAMS","EMC_AXIS_CMD_MSG");
  
  }
--- 5671,5674 ----

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

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

Update of /cvsroot/emc/rtapi/examples/timertask
In directory sc8-pr-cvs1:/tmp/cvs-serv18267/examples/timertask

Modified Files:
	Makefile 
Log Message:
minor tweaks, all examples work except for a fifo overflow bug under rtai

Index: Makefile
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/timertask/Makefile,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Makefile	19 Jul 2003 02:17:41 -0000	1.2
--- Makefile	5 Aug 2003 03:51:00 -0000	1.3
***************
*** 32,33 ****
--- 32,36 ----
  
  # DO NOT DELETE
+ 
+ /home/John/emcdev/rtapi/rtlib/timertask.o: /home/John/emcdev/rtapi/include/rtapi.h
+ /home/John/emcdev/rtapi/rtlib/timertask.o: /home/John/emcdev/rtapi/include/rtapi_app.h

[Emc-commit] rtapi/examples/shmem Makefile,1.2,1.3

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

Update of /cvsroot/emc/rtapi/examples/shmem
In directory sc8-pr-cvs1:/tmp/cvs-serv18267/examples/shmem

Modified Files:
	Makefile 
Log Message:
minor tweaks, all examples work except for a fifo overflow bug under rtai

Index: Makefile
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/shmem/Makefile,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Makefile	19 Jul 2003 02:17:41 -0000	1.2
--- Makefile	5 Aug 2003 03:51:00 -0000	1.3
***************
*** 50,56 ****
--- 50,62 ----
  # DO NOT DELETE
  
+ /home/John/emcdev/rtapi/lib/shmemtask.o: /home/John/emcdev/rtapi/include/rtapi.h
+ /home/John/emcdev/rtapi/lib/shmemtask.o: /home/John/emcdev/rtapi/include/rtapi_app.h
  /home/John/emcdev/rtapi/lib/shmemtask.o: common.h
+ /home/John/emcdev/rtapi/lib/shmemusr.o: /home/John/emcdev/rtapi/include/ulapi.h
  /home/John/emcdev/rtapi/lib/shmemusr.o: common.h
  
+ /home/John/emcdev/rtapi/rtlib/shmemtask.o: /home/John/emcdev/rtapi/include/rtapi.h
+ /home/John/emcdev/rtapi/rtlib/shmemtask.o: /home/John/emcdev/rtapi/include/rtapi_app.h
  /home/John/emcdev/rtapi/rtlib/shmemtask.o: common.h
+ /home/John/emcdev/rtapi/rtlib/shmemusr.o: /home/John/emcdev/rtapi/include/ulapi.h
  /home/John/emcdev/rtapi/rtlib/shmemusr.o: common.h

[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.12,1.13 rtapi.h,1.11,1.12 rtl_rtapi.c,1.2,1.3 rtl_ulapi.c,1.2,1.3 ulapi.h,1.4,1.5

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

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv18267/src/rtapi

Modified Files:
	rtai_rtapi.c rtapi.h rtl_rtapi.c rtl_ulapi.c ulapi.h 
Log Message:
minor tweaks, all examples work except for a fifo overflow bug under rtai

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** rtai_rtapi.c	4 Aug 2003 06:00:25 -0000	1.12
--- rtai_rtapi.c	5 Aug 2003 03:51:00 -0000	1.13
***************
*** 153,157 ****
    }
    if (timer_running != 0 ) {
!     rt_free_timer();
    }
    rtapi_print("RTAPI: Shutting down\n");
--- 153,157 ----
    }
    if (timer_running != 0 ) {
!     stop_rt_timer();
    }
    rtapi_print("RTAPI: Shutting down\n");
***************
*** 173,176 ****
--- 173,185 ----
  int rtapi_clock_set_period(unsigned long int nsecs)
  {
+ 
+   /* limit to a maximum of 1 second (note that RTLinux only
+   allows 0.01 second, so for portability, callers should
+   always ask for 0.01 second or less */
+ 
+   if ( nsecs > 1000000000L ) {
+     return RTAPI_INVAL;
+   }
+ 
    if ( VERBOSE ) {
      rtapi_print ( "RTAPI: clock_set_period ( %ld )\n", nsecs );
***************
*** 178,182 ****
    timer_running = 1;
    rt_set_periodic_mode();
!   return count2nano(start_rt_timer(nano2count((RTIME) nsecs)));
  }
  
--- 187,192 ----
    timer_running = 1;
    rt_set_periodic_mode();
!   start_rt_timer(nano2count((RTIME) nsecs));
!   return RTAPI_SUCCESS;
  }
  

Index: rtapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtapi.h,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** rtapi.h	4 Aug 2003 06:00:25 -0000	1.11
--- rtapi.h	5 Aug 2003 03:51:00 -0000	1.12
***************
*** 70,86 ****
  * multiple realtime tasks in multiple kernel modules.  Calling this    *
  * function after realtime tasks have been started may disrupt the      *
! * tasks.  Returns a negative error code on failure.  On success,       *
! * returns either 0, or if the RTOS supports it, the actual timer       *
! * period in nanoseconds, (which may not be exactly what was requested  *
! * due to hardware limitations).  The upper limit for the timer period  *
  * may be as low as 0.01 seconds, so be sure to check for errors.       */
- 
- /* FIXME - the request is an unsigned long int, but the return value is
- an ordinary signed int.  A request of 3,000,000,000 ( 3 secs) is a
- a legal unsigned number, but when returned as a signed int it will
- be negative, and look like an error to the caller.  Possible solutions:
- 1) limit the argument to 1,000,000,000 (1 second), return INVAL if higher
- 2) don't return actual value, just return success or errorcode (as before)
- */
  
  extern int rtapi_clock_set_period(unsigned long int nsecs);
--- 70,75 ----
  * multiple realtime tasks in multiple kernel modules.  Calling this    *
  * function after realtime tasks have been started may disrupt the      *
! * tasks.  Returns a status code. The upper limit for the timer period  *
  * may be as low as 0.01 seconds, so be sure to check for errors.       */
  
  extern int rtapi_clock_set_period(unsigned long int nsecs);

Index: rtl_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtl_rtapi.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** rtl_rtapi.c	4 Aug 2003 06:00:25 -0000	1.2
--- rtl_rtapi.c	5 Aug 2003 03:51:00 -0000	1.3
***************
*** 207,213 ****
    task, and instead get one that runs every 0.01 sec, with no
    error codes or other way of detecting it.  Stupid!  To avoid
!   this we check here to insure that the timer period is 0.01
!   seconds or less.  Note that you can still run tasks at slower
!   rates, but the timer must run at least 100Hz. */
    if ( nsecs > 10000000L ) {
      return RTAPI_INVAL;
--- 207,214 ----
    task, and instead get one that runs every 0.01 sec, with no
    error codes or other way of detecting it.  Stupid!  To avoid
!   this we only allow a timer period of 0.01 seconds or less.
!   Note that you can still run tasks at slower rates, but the
!   timer must run at least 100Hz. */
! 
    if ( nsecs > 10000000L ) {
      return RTAPI_INVAL;

Index: rtl_ulapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtl_ulapi.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** rtl_ulapi.c	4 Aug 2003 06:00:25 -0000	1.2
--- rtl_ulapi.c	5 Aug 2003 03:51:00 -0000	1.3
***************
*** 90,98 ****
    char keystr[KEYSTR_LEN];
  
    /* validate shmemptr */
    if (shmemptr == NULL) {
      return ULAPI_INVAL;
    }
! 
    /* alloc space for shmem structure */
    shmem = malloc(sizeof(struct ulapi_shmem));
--- 90,99 ----
    char keystr[KEYSTR_LEN];
  
+ printf ( "ulapi_shmem_new: entry\n" );
    /* validate shmemptr */
    if (shmemptr == NULL) {
      return ULAPI_INVAL;
    }
! printf ( "ulapi_shmem_new: pointer OK\n" );
    /* alloc space for shmem structure */
    shmem = malloc(sizeof(struct ulapi_shmem));
***************
*** 100,107 ****
--- 101,110 ----
      return ULAPI_NOMEM;
    }
+ printf ( "ulapi_shmem_new: allocated struct\n" );
  
    /* convert key to a string */
    genstr((unsigned int) key, keystr);
    /* now get shared memory block from OS */
+ printf ( "ulapi_shmem_new: converted key\n" );
    shmem->mem = mbuff_alloc(keystr, size);
    if (shmem->mem == NULL) {
***************
*** 109,112 ****
--- 112,116 ----
      return ULAPI_NOMEM;
    }
+ printf ( "ulapi_shmem_new: opened shmbuf\n" );
  
    /* label as a valid shmem structure */

Index: ulapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/ulapi.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** ulapi.h	19 Jul 2003 07:17:22 -0000	1.4
--- ulapi.h	5 Aug 2003 03:51:00 -0000	1.5
***************
*** 9,15 ****
  #define ULAPI_BADH       -2    /* bad task, shmem, sem, or fifo handle */
  #define ULAPI_INVAL      -3    /* invalid argument*/
! #define ULAPI_NOMEM      -5    /* not enough memory */
! #define ULAPI_PERM       -6    /* permission denied */
! #define ULAPI_BUSY       -4    /* resource is busy or locked */
  #define ULAPI_NOTFND     -7    /* object not found */
  #define ULAPI_FAIL       -8    /* operation failed */
--- 9,15 ----
  #define ULAPI_BADH       -2    /* bad task, shmem, sem, or fifo handle */
  #define ULAPI_INVAL      -3    /* invalid argument*/
! #define ULAPI_NOMEM      -4    /* not enough memory */
! #define ULAPI_PERM       -5    /* permission denied */
! #define ULAPI_BUSY       -6    /* resource is busy or locked */
  #define ULAPI_NOTFND     -7    /* object not found */
  #define ULAPI_FAIL       -8    /* operation failed */

[Emc-commit] rtapi/examples/semaphore Makefile,1.2,1.3 master.c,1.4,1.5 slave.c,1.2,1.3

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

Update of /cvsroot/emc/rtapi/examples/semaphore
In directory sc8-pr-cvs1:/tmp/cvs-serv18267/examples/semaphore

Modified Files:
	Makefile master.c slave.c 
Log Message:
minor tweaks, all examples work except for a fifo overflow bug under rtai

Index: Makefile
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/semaphore/Makefile,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Makefile	19 Jul 2003 02:17:41 -0000	1.2
--- Makefile	5 Aug 2003 03:51:00 -0000	1.3
***************
*** 43,46 ****
--- 43,50 ----
  # DO NOT DELETE
  
+ /home/John/emcdev/rtapi/rtlib/master.o: /home/John/emcdev/rtapi/include/rtapi.h
+ /home/John/emcdev/rtapi/rtlib/master.o: /home/John/emcdev/rtapi/include/rtapi_app.h
  /home/John/emcdev/rtapi/rtlib/master.o: common.h
+ /home/John/emcdev/rtapi/rtlib/slave.o: /home/John/emcdev/rtapi/include/rtapi.h
+ /home/John/emcdev/rtapi/rtlib/slave.o: /home/John/emcdev/rtapi/include/rtapi_app.h
  /home/John/emcdev/rtapi/rtlib/slave.o: common.h

Index: master.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/semaphore/master.c,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** master.c	4 Aug 2003 06:00:25 -0000	1.4
--- master.c	5 Aug 2003 03:51:00 -0000	1.5
***************
*** 14,18 ****
  rtapi_task_handle   master_task;	/* the task structure */
  static unsigned int master_count = 0;
! enum { MASTER_PERIOD_NSEC = 1000000 };	/* timer period, in nanoseconds */
  enum { MASTER_STACKSIZE = 1024 };	/* how big the stack is */
  
--- 14,19 ----
  rtapi_task_handle   master_task;	/* the task structure */
  static unsigned int master_count = 0;
! enum { TIMER_PERIOD_NSEC =    10000000 };	/* timer period, in nanoseconds */
! enum { MASTER_PERIOD_NSEC = 1000000000 };	/* timer period, in nanoseconds */
  enum { MASTER_STACKSIZE = 1024 };	/* how big the stack is */
  
***************
*** 21,24 ****
--- 22,26 ----
  {
    while (1) {
+     rtapi_print ( "master: giving semaphore, count = %d\n", master_count );
      rtapi_sem_give(master_sem);
      master_count++;
***************
*** 49,53 ****
  
    /* set the base timer period */
!   retval = rtapi_clock_set_period(MASTER_PERIOD_NSEC);
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print( "sem master init: rtapi_clock_set_period returned %d\n", retval );
--- 51,55 ----
  
    /* set the base timer period */
!   retval = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print( "sem master init: rtapi_clock_set_period returned %d\n", retval );

Index: slave.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/semaphore/slave.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** slave.c	23 Jul 2003 01:22:49 -0000	1.2
--- slave.c	5 Aug 2003 03:51:00 -0000	1.3
***************
*** 21,24 ****
--- 21,25 ----
      rtapi_sem_take(master_sem);
      slave_count++;
+     rtapi_print ( "slave: got sem, count = %d\n", slave_count );
    }
  

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

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

Update of /cvsroot/emc/rtapi/examples/extint
In directory sc8-pr-cvs1:/tmp/cvs-serv18267/examples/extint

Modified Files:
	Makefile extint.c 
Log Message:
minor tweaks, all examples work except for a fifo overflow bug under rtai

Index: Makefile
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/extint/Makefile,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Makefile	19 Jul 2003 02:17:41 -0000	1.2
--- Makefile	5 Aug 2003 03:51:00 -0000	1.3
***************
*** 32,33 ****
--- 32,36 ----
  
  # DO NOT DELETE
+ 
+ /home/John/emcdev/rtapi/rtlib/extint.o: /home/John/emcdev/rtapi/include/rtapi.h
+ /home/John/emcdev/rtapi/rtlib/extint.o: /home/John/emcdev/rtapi/include/rtapi_app.h

Index: extint.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/extint/extint.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** extint.c	23 Jul 2003 01:22:49 -0000	1.2
--- extint.c	5 Aug 2003 03:51:00 -0000	1.3
***************
*** 27,35 ****
  int retval;
  
- /*
-   if (0 != rtapi_app_init()) {
-     return -1;
-   }*/
- 
    /* set up ISR */
    retval = rtapi_free_interrupt_handler(PARPORT_IRQ);
--- 27,30 ----

[Emc-commit] rtapi/examples/fifo Makefile,1.2,1.3 fifotask.c,1.7,1.8

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

Update of /cvsroot/emc/rtapi/examples/fifo
In directory sc8-pr-cvs1:/tmp/cvs-serv18267/examples/fifo

Modified Files:
	Makefile fifotask.c 
Log Message:
minor tweaks, all examples work except for a fifo overflow bug under rtai

Index: Makefile
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/Makefile,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Makefile	19 Jul 2003 02:17:41 -0000	1.2
--- Makefile	5 Aug 2003 03:51:00 -0000	1.3
***************
*** 50,56 ****
--- 50,62 ----
  # DO NOT DELETE
  
+ /home/John/emcdev/rtapi/lib/fifotask.o: /home/John/emcdev/rtapi/include/rtapi.h
+ /home/John/emcdev/rtapi/lib/fifotask.o: /home/John/emcdev/rtapi/include/rtapi_app.h
  /home/John/emcdev/rtapi/lib/fifotask.o: common.h
+ /home/John/emcdev/rtapi/lib/fifousr.o: /home/John/emcdev/rtapi/include/ulapi.h
  /home/John/emcdev/rtapi/lib/fifousr.o: common.h
  
+ /home/John/emcdev/rtapi/rtlib/fifotask.o: /home/John/emcdev/rtapi/include/rtapi.h
+ /home/John/emcdev/rtapi/rtlib/fifotask.o: /home/John/emcdev/rtapi/include/rtapi_app.h
  /home/John/emcdev/rtapi/rtlib/fifotask.o: common.h
+ /home/John/emcdev/rtapi/rtlib/fifousr.o: /home/John/emcdev/rtapi/include/ulapi.h
  /home/John/emcdev/rtapi/rtlib/fifousr.o: common.h

Index: fifotask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/fifotask.c,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** fifotask.c	4 Aug 2003 06:00:24 -0000	1.7
--- fifotask.c	5 Aug 2003 03:51:00 -0000	1.8
***************
*** 11,14 ****
--- 11,15 ----
  static rtapi_task_handle fifo_task = 0;	/* the task structure */
  static rtapi_fifo_handle fifo;
+ enum { TIMER_PERIOD_NSEC =  10000000 };	/* timer period, in nanoseconds */
  enum { FIFO_PERIOD_NSEC = 1000000000 };	/* timer period, in nanoseconds */
  enum { FIFO_STACKSIZE = 1024 };	/* how big the stack is */
***************
*** 52,56 ****
  
    /* set the base timer period */
!   retval = rtapi_clock_set_period(FIFO_PERIOD_NSEC);
    if (retval != RTAPI_SUCCESS) {
      rtapi_print("fifotask init: rtapi_clock_set_period returned %d\n", retval);
--- 53,57 ----
  
    /* set the base timer period */
!   retval = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
    if (retval != RTAPI_SUCCESS) {
      rtapi_print("fifotask init: rtapi_clock_set_period returned %d\n", retval);

[Emc-commit] rtapi README,1.2,1.3

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

Update of /cvsroot/emc/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv18267

Modified Files:
	README 
Log Message:
minor tweaks, all examples work except for a fifo overflow bug under rtai

Index: README
===================================================================
RCS file: /cvsroot/emc/rtapi/README,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** README	4 Aug 2003 06:00:24 -0000	1.2
--- README	5 Aug 2003 03:51:00 -0000	1.3
***************
*** 34,51 ****
  To run the examples:
  
! 1. Load the RT Linux functions:
  
! ./install_realtime_base
  
! 2. Load the real-time API functions:
  
! (NOTE: This has been added to the install_realtime_base script,
! so you can skip it and go straight to step 3)
  
! /sbin/insmod rtlib/rtl_rtapi.o
! or
! /sbin/insmod rtlib/rtai_rtapi.o
  
! depending upon which version of RT Linux you have.
  
  3. Run the timer task example:
--- 34,57 ----
  To run the examples:
  
! 1. Open a shell window, and begin watching the kernel log:
  
! tail -f /var/log/messages
  
! leave this running, and go back to your original shell window
  
! 2. Load the RT Linux functions:
! Note: for this and most of the following steps you will need
! to be root.
  
! ./install_realtime_base
  
! See a number of messages pop up in the kernel log as components
! of the RTOS are installed...
! One of the last ones will be:
! 
! <date> <time> <host> kernel: RTAPI: Initing
! 
! This means that thertapi module (either rtl_rtapi.o or
! rtai_rtapi.o) is loaded.
  
  3. Run the timer task example:
***************
*** 53,68 ****
  /sbin/insmod rtlib/timertask.o
  
  Wait a few seconds, then remove the module:
  
  /sbin/rmmod timertask
  
! Look at the output in the kernel log:
  
! tail /var/log/messages
  
! Jun 18 10:50:14 rebozo kernel: timertask: started timer task 
! Jun 18 10:50:18 rebozo kernel: timer task: timer count is 3251 
  
! You'll see that 3251 calls to the task were made. 
  
  4. Run the parallel port interrupt example:
--- 59,89 ----
  /sbin/insmod rtlib/timertask.o
  
+ A few messages will pop up in the kernel log as the task
+ is created and started:
+ 
+ <date> <time> <host> kernel: RTAPI: clock_set_period ( 1000000 )
+ <date> <time> <host> kernel: RTAPI: new_task c3ee3000, count = 1
+ <date> <time> <host> kernel: RTAPI: start_task c3ee3000
+ 
+ c3ee3000 is the task handle, and will vary.
+ You'll also see a message from the timertask module...
+ 
+ <date> <time> <host> kernel: timertask init: started timer task
+ 
  Wait a few seconds, then remove the module:
  
  /sbin/rmmod timertask
  
! A couple more messages from rtapi:
  
! <date> <time> <host> kernel: RTAPI: stop_task c3ee3000
! <date> <time> <host> kernel: RTAPI: delete_task c3ee3000, count = 0
  
! And one from timertask:
  
! <date> <time> <host> kernel: timertask exit: timer count is 8174
! 
! This means that 8174 calls to the task were made. (I let it
! run for about 8 seconds.)
  
  4. Run the parallel port interrupt example:
***************
*** 74,83 ****
  
  /sbin/rmmod extint
- tail /var/log/messages
  
! Jun 18 10:52:14 rebozo kernel: extint: interrupt count is 2522 
  
! 2,522 interrupts occurred, many for a single short of pin 10 due to
! contact noise.
  
  5. Run the shared memory example:
--- 95,106 ----
  
  /sbin/rmmod extint
  
! Again, you'll get messages from RTAPI, and one from the
! extint module:
  
! <date> <time> <host> kernel: extint: interrupt count is 2522
! 
! This means 2,522 interrupts occurred, many for a single short
! of pin 10 due to contact noise.
  
  5. Run the shared memory example:
***************
*** 88,91 ****
--- 111,175 ----
  
  See the shared memory heartbeat incrementing.
+ Use crtl-C to break out of shmemusr.
+ Then remove the realtime task
+ 
+ /sbin/rmmod shmemtask
+ 
+ 6. Run the semaphore example:
+ 
+ /sbin/insmod rtlib/master.o
+ 
+ The master task will start giving the semaphore once per
+ second, printing to the log when it does.
+ 
+ /sbin/insmod rtlib/slave.o
+ 
+ The slave attempts to get the semaphore, and prints each
+ time it succeeds.  Since the master has already given the
+ semaphore several times, and it is a counting semaphore,
+ the slave will run several times in a row.  Once it catches
+ up with the master, it will run right after the master runs.
+ Stop the tasks in reverse order:
+ 
+ /sbin/rmmod slave
+ /sbin/rmmod master
+ 
+ 7. Run the FIFO example:
+ 
+ /sbin/insmod rtlib/fifotask.o
+ 
+ The realtime fifotask will begin writing strings to the
+ fifo once per second, and echoing the strings to the log
+ file.
+ 
+ bin/fifousr
+ 
+ The user mode program will read strings from the fifo and
+ and print them out.
+ 
+ Use ctrl-c to exit fifousr, and stop the task:
+ 
+ /sbin/rmmod fifotask
+ 
+ 
+ 8. More elaborate tests:
+ 
+ In theory, you should be able to run any or all of the
+ above tests at the same time, doing insmod's and rmmod's
+ in any order. (Note - the semaphore master task must
+ always be installed before and removed after the slave
+ task.)
+ 
+ 9. Shutting down.
+ 
+ To remove the rtapi and the rest of the RTOS modules:
+ 
+ ./remove_realtime_base
+ 
+ If any tasks are still running, the script should print
+ the module names and refuse to procede.  Shut down the
+ modules (rmmod) and try again.
+ 
+ 
  
  The Uninstall Process

[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.11,1.12 rtapi.h,1.10,1.11 rtl_rtapi.c,1.1.1.1,1.2 rtl_ulapi.c,1.1.1.1,1.2 sim_rtapi.c,1.4,1.5

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

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv30223/src/rtapi

Modified Files:
	rtai_rtapi.c rtapi.h rtl_rtapi.c rtl_ulapi.c sim_rtapi.c 
Log Message:
RTLinux version now uses new API, everything builds, only timertask is tested

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** rtai_rtapi.c	3 Aug 2003 02:41:44 -0000	1.11
--- rtai_rtapi.c	4 Aug 2003 06:00:25 -0000	1.12
***************
*** 291,294 ****
--- 291,298 ----
    }
  
+   if ( VERBOSE ) {
+     rtapi_print ( "RTAPI: start_task %p\n", task );
+   }
+ 
    return RTAPI_SUCCESS;
  }
***************
*** 311,314 ****
--- 315,322 ----
      return RTAPI_FAIL;
    }
+   if ( VERBOSE ) {
+     rtapi_print ( "RTAPI: stop_task %p\n", task );
+   }
+ 
    return RTAPI_SUCCESS;
  }

Index: rtapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtapi.h,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** rtapi.h	3 Aug 2003 02:41:44 -0000	1.10
--- rtapi.h	4 Aug 2003 06:00:25 -0000	1.11
***************
*** 1,3 ****
! #ifndef RTAPI_H
  #define RTAPI_H
  
--- 1,3 ----
! #ifndef RTAPI__H
  #define RTAPI_H
  
***************
*** 73,77 ****
  * returns either 0, or if the RTOS supports it, the actual timer       *
  * period in nanoseconds, (which may not be exactly what was requested  *
! * due to hardware limitations).                                        */
  
  /* FIXME - the request is an unsigned long int, but the return value is
--- 73,78 ----
  * returns either 0, or if the RTOS supports it, the actual timer       *
  * period in nanoseconds, (which may not be exactly what was requested  *
! * due to hardware limitations).  The upper limit for the timer period  *
! * may be as low as 0.01 seconds, so be sure to check for errors.       */
  
  /* FIXME - the request is an unsigned long int, but the return value is

Index: rtl_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtl_rtapi.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** rtl_rtapi.c	8 Jul 2003 15:54:38 -0000	1.1.1.1
--- rtl_rtapi.c	4 Aug 2003 06:00:25 -0000	1.2
***************
*** 2,12 ****
    rtl_rtapi.c
  
!   Implementations of RT API functions declared in rtapi.h, for RTL
  */
  
  #include <stdarg.h>		/* va_* */
  #include <linux/module.h>
! #include <linux/kernel.h>	/* vsprintf() */
! #include <linux/malloc.h>	/* kmalloc(), kfree(), GFP_USER */
  #include <rtl.h>		/* top level config */
[...1274 lines suppressed...]
! 
! int rtapi_fifo_write(rtapi_fifo_handle fifo, char *buf,
! 		     unsigned long int size)
  {
!   int retval;
! 
!   /* validate fifo handle */
!   if (fifo == NULL) {
!     return RTAPI_BADH;
!   }
!   if (fifo->magic != FIFO_MAGIC) {
!     return RTAPI_BADH;
!   }
!   /* get whatever data is available */
!   retval = rtf_put(fifo->fd, buf, size);
!   if (retval < 0) {
!     return RTAPI_INVAL;
!   }
!   return retval;
  }

Index: rtl_ulapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtl_ulapi.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** rtl_ulapi.c	8 Jul 2003 15:54:38 -0000	1.1.1.1
--- rtl_ulapi.c	4 Aug 2003 06:00:25 -0000	1.2
***************
*** 1,29 ****
  /*
!   rtl_ulapi.c
  
    Implementation of user-level API to RTL modules
  */
- 
  #include <stdio.h>		/* sprintf() */
  #include <stddef.h>		/* size_t, needed by mbuff.h */
  #include <fcntl.h>		/* O_RDWR */
  #include <unistd.h>		/* open(), close() */
  #include "mbuff.h"
  #include "ulapi.h"
  
  int ulapi_init(void)
  {
!   return 0;
  }
  
  int ulapi_exit(void)
  {
!   return 0;
  }
  
  /*
    genstr() generates a string 'str' unique for unsigned integers 'i',
    as the reverse, e.g., 120 -> "012", -1 -> "5927694924"
  */
  static void genstr(unsigned int i, char *str)
  {
--- 1,66 ----
  /*
!   rtai_ulapi.c
  
    Implementation of user-level API to RTL modules
  */
  #include <stdio.h>		/* sprintf() */
  #include <stddef.h>		/* size_t, needed by mbuff.h */
  #include <fcntl.h>		/* O_RDWR */
  #include <unistd.h>		/* open(), close() */
+ #include <malloc.h>		/* malloc(), free() */
  #include "mbuff.h"
  #include "ulapi.h"
  
+ 
+ /* These structs hold data associated with objects like tasks, etc. */
+ /* Task handles are pointers to these structs.                      */
+ 
+ struct ulapi_shmem {
+   int magic;			/* to check for valid handle */
+   int key;			/* key to shared memory area */
+   unsigned long int size;	/* size of shared memory area */
+   void *mem;			/* pointer to the memory */
+ };
+ 
+ struct ulapi_fifo {
+   int magic;			/* to check for valid handle */
+   int key;			/* key to fifo */
+   int fd;			/* file descripter for fifo */
+   int mode;			/* O_RDONLY or O_WRONLY */
+   unsigned long int size;	/* size of fifo area */
+ };
+ 
+ 
+ #define SHMEM_MAGIC   25453	/* random numbers used as signatures */
+ #define FIFO_MAGIC    10293
+ 
+ 
  int ulapi_init(void)
  {
!   /* does nothing, for now */
!   return ULAPI_SUCCESS;
  }
  
+ 
  int ulapi_exit(void)
  {
!   /* does nothing, for now */
!   return ULAPI_SUCCESS;
  }
  
  /*
+   RTAPI uses integers as keys, since these can be mapped onto either
+   integers or strings easily, whereas the reverse is not true: you can't
+   map an arbitrary string to an integer uniquely. Since mbuff takes
+   string keys, we need to convert them to some unique string using genstr().
+ */
+ 
+ /*
    genstr() generates a string 'str' unique for unsigned integers 'i',
    as the reverse, e.g., 120 -> "012", -1 -> "5927694924"
  */
+ 
+ #define KEYSTR_LEN 16		/* larger than number of digits in MAX_INT */
+ 
  static void genstr(unsigned int i, char *str)
  {
***************
*** 48,110 ****
  }
  
! #define KEYSTR_LEN 16		/* larger than number of digits in MAX_INT */
! 
! /*
!   RTAPI uses integers as keys, since these can be mapped onto either
!   integers or strings easily, whereas the reverse is not true: you can't
!   map an arbitrary string to an integer uniquely. Since mbuff takes
!   string keys, we need to convert them to some unique string using genstr().
! */
! 
! int ulapi_alloc_shmem(int key, unsigned int size, int *id, void **ptr)
  {
    char keystr[KEYSTR_LEN];
  
    genstr((unsigned int) key, keystr);
  
!   *ptr = mbuff_alloc(keystr, size);
!   /* leave id alone; we don't use it */
  
!   if (0 != *ptr) {
!     return 0;
    }
  
-   return -1;
  }
  
! int ulapi_free_shmem(int key, unsigned int size, int id, const void *ptr)
  {
    char keystr[KEYSTR_LEN];
  
!   genstr((unsigned int) key, keystr);
  
!   mbuff_free(keystr, (void *) ptr);
  
!   return 0;
  }
  
! int ulapi_fifo_new(int key, int *fd, unsigned long int size)
  {
    enum { DEVSTR_LEN = 256 };
    char devstr[DEVSTR_LEN];
  
    sprintf(devstr, "/dev/rtf%d", key);
-   *fd = open(devstr, O_RDONLY);
  
!   return *fd;
  }
  
! int ulapi_fifo_delete(int key, int fd, unsigned long int size)
  {
!   return close(fd);
  }
  
! int ulapi_fifo_write(int fd, char *buf, unsigned long int size)
  {
!   return write(fd, buf, size);
  }
  
! int ulapi_fifo_read(int fd, char *buf, unsigned long int size)
  {
!   return read(fd, buf, size);
  }
--- 85,282 ----
  }
  
! int ulapi_shmem_new(int key, unsigned int size, ulapi_shmem_handle * shmemptr)
  {
+   ulapi_shmem_handle shmem;
    char keystr[KEYSTR_LEN];
  
+   /* validate shmemptr */
+   if (shmemptr == NULL) {
+     return ULAPI_INVAL;
+   }
+ 
+   /* alloc space for shmem structure */
+   shmem = malloc(sizeof(struct ulapi_shmem));
+   if (shmem == NULL) {
+     return ULAPI_NOMEM;
+   }
+ 
+   /* convert key to a string */
    genstr((unsigned int) key, keystr);
+   /* now get shared memory block from OS */
+   shmem->mem = mbuff_alloc(keystr, size);
+   if (shmem->mem == NULL) {
+     free(shmem);
+     return ULAPI_NOMEM;
+   }
  
!   /* label as a valid shmem structure */
!   shmem->magic = SHMEM_MAGIC;
!   /* fill in the other fields */
!   shmem->size = size;
!   shmem->key = key;
  
!   /* return handle to the caller */
!   *shmemptr = shmem;
!   return ULAPI_SUCCESS;
! }
! 
! 
! int ulapi_shmem_getptr(ulapi_shmem_handle shmem, void **ptr)
! {
!   /* validate shmem handle */
!   if (shmem == NULL) {
!     return ULAPI_BADH;
    }
+   if (shmem->magic != SHMEM_MAGIC) {
+     return ULAPI_BADH;
+   }
+   /* pass memory address back to caller */
+   *ptr = shmem->mem;
+   return ULAPI_SUCCESS;
  
  }
  
! 
! int ulapi_shmem_delete(ulapi_shmem_handle shmem)
  {
    char keystr[KEYSTR_LEN];
  
!   /* validate shmem handle */
!   if (shmem == NULL) {
!     return ULAPI_BADH;
!   }
!   if (shmem->magic != SHMEM_MAGIC) {
!     return ULAPI_BADH;
!   }
  
!   /* convert key to a string */
!   genstr((unsigned int) shmem->key, keystr);
  
!   /* free the shared memory */
!   mbuff_free(keystr, (void *) shmem->mem);
! 
!   /* free the shmem structure */
!   shmem->magic = 0;
!   free(shmem);
!   return ULAPI_SUCCESS;
  }
  
! int ulapi_fifo_new(int key, unsigned long int size, char mode,
! 		   ulapi_fifo_handle * fifoptr)
  {
+   ulapi_fifo_handle fifo;
+   int retval, flags;
    enum { DEVSTR_LEN = 256 };
    char devstr[DEVSTR_LEN];
  
+   /* validate fifoptr */
+   if (fifoptr == NULL) {
+     return ULAPI_INVAL;
+   }
+   /* alloc space for fifo structure */
+   fifo = malloc(sizeof(struct ulapi_fifo));
+   if (fifo == NULL) {
+     return ULAPI_NOMEM;
+   }
+   /* determine system name for fifo */
    sprintf(devstr, "/dev/rtf%d", key);
  
!   /* determine mode for fifo */
!   if (mode == 'R') {
!     flags = O_RDONLY;
!   } else {
!     if (mode == 'W') {
!       flags = O_WRONLY;
!     }
! 
!     else {
!       return ULAPI_INVAL;
!     }
!   }
!   /* open the fifo */
!   retval = open(devstr, flags);
!   if (retval < 0) {
!     /* open failed */
!     free(fifo);
!     return ULAPI_NOTFND;
!   }
! 
!   /* label as a valid fifo structure */
!   fifo->magic = FIFO_MAGIC;
!   /* fill in the rest of the struct */
!   fifo->key = key;
!   fifo->fd = retval;
!   fifo->mode = flags;
! 
!   /* return handle to the caller */
!   *fifoptr = fifo;
!   return ULAPI_SUCCESS;
  }
  
! 
! int ulapi_fifo_delete(ulapi_fifo_handle fifo)
  {
!   /* validate fifo handle */
!   if (fifo == NULL) {
!     return ULAPI_BADH;
!   }
!   if (fifo->magic != FIFO_MAGIC) {
!     return ULAPI_BADH;
!   }
!   /* close the fifo */
!   if (close(fifo->fd) < 0) {
!     return ULAPI_NOTFND;
!   }
!   /* free the fifo structure */
!   fifo->magic = 0;
!   free(fifo);
!   return ULAPI_SUCCESS;
! 
  }
  
! int ulapi_fifo_read(ulapi_fifo_handle fifo, char *buf, unsigned long int size)
  {
!   int retval;
! 
!   /* validate fifo handle */
!   if (fifo == NULL) {
!     return ULAPI_BADH;
!   }
!   if (fifo->magic != FIFO_MAGIC) {
!     return ULAPI_BADH;
!   }
!   if (fifo->mode != O_RDONLY) {
!     return ULAPI_UNSUP;
!   }
!   /* get whatever data is available */
!   retval = read(fifo->fd, buf, size);
!   if (retval < 0) {
!     return ULAPI_FAIL;
!   }
!   return retval;
! 
  }
  
! int ulapi_fifo_write(ulapi_fifo_handle fifo,
! 		     char *buf, unsigned long int size)
  {
!   int retval;
! 
!   /* validate fifo handle */
!   if (fifo == NULL) {
!     return ULAPI_BADH;
!   }
!   if (fifo->magic != FIFO_MAGIC) {
!     return ULAPI_BADH;
!   }
!   if (fifo->mode != O_WRONLY) {
!     return ULAPI_UNSUP;
!   }
! 
!   /* get whatever data is available */
!   retval = write(fifo->fd, buf, size);
!   if (retval < 0) {
!     return ULAPI_FAIL;
!   }
!   return retval;
  }

Index: sim_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/sim_rtapi.c,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** sim_rtapi.c	22 Jul 2003 17:20:22 -0000	1.4
--- sim_rtapi.c	4 Aug 2003 06:00:25 -0000	1.5
***************
*** 200,203 ****
--- 200,205 ----
    /* create the thread - use the wrapper function, pass it a pointer
    to the task structure so it can call the actual task function */
+   task->taskcode = taskcode;
+   task->arg = arg;
    retval = pthread_create( &(task->id), &attr, wrapper, (void *)task );
    if ( retval != 0 )

[Emc-commit] rtapi/examples/timertask timertask.c,1.5,1.6

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

Update of /cvsroot/emc/rtapi/examples/timertask
In directory sc8-pr-cvs1:/tmp/cvs-serv30223/examples/timertask

Modified Files:
	timertask.c 
Log Message:
RTLinux version now uses new API, everything builds, only timertask is tested

Index: timertask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/timertask/timertask.c,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** timertask.c	2 Aug 2003 19:37:18 -0000	1.5
--- timertask.c	4 Aug 2003 06:00:25 -0000	1.6
***************
*** 11,20 ****
  static rtapi_task_handle timer_task;	/* the task */
  static int timer_count = 0;	/* the output variable */
! enum { TIMER_PERIOD_NSEC = 1000000 };	/* timer period, in nanoseconds */
  enum { TIMER_STACKSIZE = 1024 };	/* how big the stack is */
  
  static void timer_code( int arg )
  {
    while (1) {
      /* a simple counter... */
      timer_count++;
--- 11,23 ----
  static rtapi_task_handle timer_task;	/* the task */
  static int timer_count = 0;	/* the output variable */
! enum { TIMER_PERIOD_NSEC =   1000000 };	/* timer period, in nanoseconds */
! enum { TASK_PERIOD_NSEC =    1000000 };	/* task period, in nanoseconds */
  enum { TIMER_STACKSIZE = 1024 };	/* how big the stack is */
  
  static void timer_code( int arg )
  {
+ 
    while (1) {
+ 
      /* a simple counter... */
      timer_count++;
***************
*** 42,46 ****
    /* set the base timer period */
    retval = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
!   rtapi_print( "timertask init: rtapi_clock_set_period returned %d\n", retval );
  
    /* set the task priority to lowest, since we only have one task */
--- 45,53 ----
    /* set the base timer period */
    retval = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
!   if ( retval != RTAPI_SUCCESS ) {
!     /* See rtapi.h for the error codes returned */
!     rtapi_print( "timertask init: rtapi_clock_set_period returned %d\n", retval );
!     return -1;
!   }
  
    /* set the task priority to lowest, since we only have one task */
***************
*** 50,56 ****
    /* the address of the pointer needs to be passed rather than it's value */
    retval = rtapi_task_new( &timer_task );
    if ( retval != RTAPI_SUCCESS ) {
      /* See rtapi.h for the error codes returned */
-     rtapi_print( "timertask init: rtapi_task_new returned %d\n", retval );
      return -1;
    }
--- 57,63 ----
    /* the address of the pointer needs to be passed rather than it's value */
    retval = rtapi_task_new( &timer_task );
+ 
    if ( retval != RTAPI_SUCCESS ) {
      /* See rtapi.h for the error codes returned */
      return -1;
    }
***************
*** 58,65 ****
    /* the third arg is an abitrary int that is passed to the timer task
       on the first iterration */
    retval = rtapi_task_start( timer_task, timer_code,
                               0, timer_prio,
                               TIMER_STACKSIZE,
!                              TIMER_PERIOD_NSEC, RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("timertask init: rtapi_task_start returned %d\n", retval );
--- 65,73 ----
    /* the third arg is an abitrary int that is passed to the timer task
       on the first iterration */
+ 
    retval = rtapi_task_start( timer_task, timer_code,
                               0, timer_prio,
                               TIMER_STACKSIZE,
!                              TASK_PERIOD_NSEC, RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("timertask init: rtapi_task_start returned %d\n", retval );

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

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

Update of /cvsroot/emc/rtapi/examples/shmem
In directory sc8-pr-cvs1:/tmp/cvs-serv30223/examples/shmem

Modified Files:
	shmemtask.c 
Log Message:
RTLinux version now uses new API, everything builds, only timertask is tested

Index: shmemtask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/shmem/shmemtask.c,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** shmemtask.c	2 Aug 2003 19:37:18 -0000	1.3
--- shmemtask.c	4 Aug 2003 06:00:25 -0000	1.4
***************
*** 58,62 ****
--- 58,65 ----
    /* set the base timer period */
    retval = rtapi_clock_set_period(SHMEM_PERIOD_NSEC);
+   if ( retval != RTAPI_SUCCESS ) {
      rtapi_print( "shmemtask init: rtapi_clock_set_period returned %d\n", retval );
+     return -1;
+   }
  
    /* set the task priority to lowest, since we only have one task */

[Emc-commit] rtapi README,1.1.1.1,1.2 remove_realtime_base,1.2,1.3

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

Update of /cvsroot/emc/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv30223

Modified Files:
	README remove_realtime_base 
Log Message:
RTLinux version now uses new API, everything builds, only timertask is tested

Index: README
===================================================================
RCS file: /cvsroot/emc/rtapi/README,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** README	8 Jul 2003 15:54:38 -0000	1.1.1.1
--- README	4 Aug 2003 06:00:24 -0000	1.2
***************
*** 40,43 ****
--- 40,46 ----
  2. Load the real-time API functions:
  
+ (NOTE: This has been added to the install_realtime_base script,
+ so you can skip it and go straight to step 3)
+ 
  /sbin/insmod rtlib/rtl_rtapi.o
  or

Index: remove_realtime_base
===================================================================
RCS file: /cvsroot/emc/rtapi/remove_realtime_base,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** remove_realtime_base	27 Jul 2003 15:56:43 -0000	1.2
--- remove_realtime_base	4 Aug 2003 06:00:24 -0000	1.3
***************
*** 5,9 ****
  fi
  
! if [ -e /dev/rtai_shm ] ; then 
      /sbin/fuser -v /dev/rtai_shm 2>/dev/null && echo "Can't remove realtime modules, kill the above processes first". && exit 0
  fi
--- 5,9 ----
  fi
  
! if [ -e /dev/rtai_shm ] ; then
      /sbin/fuser -v /dev/rtai_shm 2>/dev/null && echo "Can't remove realtime modules, kill the above processes first". && exit 0
  fi
***************
*** 35,39 ****
    fi
  fi
- 
  
  # Get a list of currently installed modules.
--- 35,38 ----

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

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

Update of /cvsroot/emc/rtapi/examples/semaphore
In directory sc8-pr-cvs1:/tmp/cvs-serv30223/examples/semaphore

Modified Files:
	master.c 
Log Message:
RTLinux version now uses new API, everything builds, only timertask is tested

Index: master.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/semaphore/master.c,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** master.c	2 Aug 2003 19:37:17 -0000	1.3
--- master.c	4 Aug 2003 06:00:25 -0000	1.4
***************
*** 50,54 ****
--- 50,57 ----
    /* set the base timer period */
    retval = rtapi_clock_set_period(MASTER_PERIOD_NSEC);
+   if ( retval != RTAPI_SUCCESS ) {
      rtapi_print( "sem master init: rtapi_clock_set_period returned %d\n", retval );
+     return -1;
+   }
  
    /* set the task priority to one above the lowest; the slave

[Emc-commit] rtapi/examples/fifo fifotask.c,1.6,1.7

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

Update of /cvsroot/emc/rtapi/examples/fifo
In directory sc8-pr-cvs1:/tmp/cvs-serv30223/examples/fifo

Modified Files:
	fifotask.c 
Log Message:
RTLinux version now uses new API, everything builds, only timertask is tested

Index: fifotask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/fifotask.c,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** fifotask.c	3 Aug 2003 02:41:44 -0000	1.6
--- fifotask.c	4 Aug 2003 06:00:24 -0000	1.7
***************
*** 53,58 ****
    /* set the base timer period */
    retval = rtapi_clock_set_period(FIFO_PERIOD_NSEC);
!     rtapi_print("fifotask init: rtapi_clock_set_period returned %d\n",
! 		retval);
  
    /* set the task priority to lowest, since we only have one task */
--- 53,60 ----
    /* set the base timer period */
    retval = rtapi_clock_set_period(FIFO_PERIOD_NSEC);
!   if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask init: rtapi_clock_set_period returned %d\n", retval);
!     return -1;
!   }
  
    /* set the task priority to lowest, since we only have one task */

[Emc-commit] emc/src/emcmot emcstepmot.c,1.25,1.26

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

Update of /cvsroot/emc/emc/src/emcmot
In directory sc8-pr-cvs1:/tmp/cvs-serv24097

Modified Files:
	emcstepmot.c 
Log Message:
EMCMOT_SETUP_PARAMS added to the command handler to prevent iniaxis aborting

Index: emcstepmot.c
===================================================================
RCS file: /cvsroot/emc/emc/src/emcmot/emcstepmot.c,v
retrieving revision 1.25
retrieving revision 1.26
diff -C2 -d -r1.25 -r1.26
*** emcstepmot.c	7 May 2003 19:49:50 -0000	1.25
--- emcstepmot.c	3 Aug 2003 18:19:39 -0000	1.26
***************
*** 13,16 ****
--- 13,18 ----
    Modification history:
  
+   3-Aug-2003  P.C. Added Matt Shaver's EMCMOT_SETUP_PARAMS to the command
+   handler. Without it, iniaxis will abort and bring the whole run down.
    14-Dec-2001  FMP set coarseJointPos[] to be the homed position at the
    instant it homes. This was left out and caused a one-cycle setting of
***************
*** 991,994 ****
--- 993,1000 ----
          break;
  
+     case EMCMOT_TELEOP:
+       /* Dummy entry to get rid of Comand 36 error.. */
+       break;
+ 
        case EMCMOT_SET_NUM_AXES:
  	MARK_EMCMOT_CONFIG_CHANGE();
***************
*** 1875,1878 ****
--- 1881,1907 ----
          break;
  #endif /* ENABLE_PROBING */
+ 
+     case EMCMOT_SET_STEP_PARAMS:
+       MARK_EMCMOT_CONFIG_CHANGE();
+       /* configure the step pulse times */
+       axis = emcmotCommand->axis;
+       if (axis < 0 ||
+ 	  axis >= EMCMOT_MAX_AXIS) {
+ 	break;
+       }
+ 
+       emcmotConfig->setup_time[axis] = emcmotCommand->setup_time;
+       emcmotConfig->hold_time[axis] = emcmotCommand->hold_time;
+       if (emcmotConfig->setup_time[axis] < 1.0)
+         {
+           emcmotConfig->setup_time[axis] = 1.0;
+         }
+ 
+       if (emcmotConfig->hold_time[axis] < 1.0)
+         {
+           emcmotConfig->hold_time[axis] = 1.0;
+         }
+       break;
+ 
  
        default:

[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.10,1.11 rtapi.h,1.9,1.10

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

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv28730/src/rtapi

Modified Files:
	rtai_rtapi.c rtapi.h 
Log Message:
more tweaking of rtai_rtapi, added debugging printfs

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** rtai_rtapi.c	2 Aug 2003 23:30:43 -0000	1.10
--- rtai_rtapi.c	3 Aug 2003 02:41:44 -0000	1.11
***************
*** 8,15 ****
  #include <linux/module.h>
  #include <linux/kernel.h>
! /* FIXME - on my system malloc.h is deprecated, use slab.h instead */
! 																			       /* #include <linux/malloc.h> *//* kmalloc(), kfree(), GFP_USER */
! #include <linux/slab.h>
! 
  #include <rtai.h>
  #include <rtai_sched.h>
--- 8,12 ----
  #include <linux/module.h>
  #include <linux/kernel.h>
! #include <linux/slab.h>  /* replaces malloc.h in recent kernels */
  #include <rtai.h>
  #include <rtai_sched.h>
***************
*** 28,33 ****
--- 25,36 ----
  #endif
  
+ /* declare vsprintf() explicitly instead of including all of <stdio.h>,
+    since we don't need all of it and it may cause problems */
+ extern int vsprintf(char *s, const char *format, va_list arg);
+ 
  #include "rtapi.h"		/* these decls */
  
+ /* set to 1/0 to enable/disable logging of task creation etc. */
+ #define VERBOSE 1
  
  /* These structs hold data associated with objects like tasks, etc. */
***************
*** 63,72 ****
  #define FIFO_MAGIC    10293
  
! /* Usage counter so that we don't kill the periodic timer too soon */
! static int usage_count = 0;
  
! /* declare vsprintf() explicitly instead of including all of <stdio.h>,
!    since we don't need all of it and it may cause problems */
! extern int vsprintf(char *s, const char *format, va_list arg);
  
  /* Priority functions.  RTAI uses 0 as the highest priority, as the
--- 66,78 ----
  #define FIFO_MAGIC    10293
  
! /* Usage counters to keep track of new/delete calls */
! static int task_usage_count = 0;
! static int shmem_usage_count = 0;
! static int sem_usage_count = 0;
! static int fifo_usage_count = 0;
! static int int_usage_count = 0;
  
! /* Flag used to keep track of timer state */
! static int timer_running = 0;
  
  /* Priority functions.  RTAI uses 0 as the highest priority, as the
***************
*** 117,121 ****
  static int rtapi_init(void)
  {
!   rtapi_print("Initing RTAPI\n");
    rt_linux_use_fpu(1);
    return RTAPI_SUCCESS;
--- 123,133 ----
  static int rtapi_init(void)
  {
!   rtapi_print("RTAPI: Initing\n");
!   task_usage_count = 0;
!   shmem_usage_count = 0;
!   sem_usage_count = 0;
!   fifo_usage_count = 0;
!   int_usage_count = 0;
!   timer_running = 0;
    rt_linux_use_fpu(1);
    return RTAPI_SUCCESS;
***************
*** 125,132 ****
  static int rtapi_exit(void)
  {
!   if (usage_count != 0 ) {
!     rtapi_print(" Warning, you have %d task handlers active", usage_count);
    }
!   rtapi_print("Removing RTAPI\n");
    return RTAPI_SUCCESS;
  }
--- 137,159 ----
  static int rtapi_exit(void)
  {
!   if (task_usage_count != 0 ) {
!     rtapi_print("RTAPI: ERROR: %d task(s) allocated but not deleted", task_usage_count);
    }
!   if (shmem_usage_count != 0 ) {
!     rtapi_print("RTAPI: ERROR: %d shared memory block(s) allocated but not deleted", shmem_usage_count);
!   }
!   if (sem_usage_count != 0 ) {
!     rtapi_print("RTAPI: ERROR: %d semaphores(s) allocated but not deleted", sem_usage_count);
!   }
!   if (fifo_usage_count != 0 ) {
!     rtapi_print("RTAPI: ERROR: %d fifo(s) allocated but not deleted", fifo_usage_count);
!   }
!   if (int_usage_count != 0 ) {
!     rtapi_print("RTAPI: ERROR: %d interrupt handler(s) installed but not removed", int_usage_count);
!   }
!   if (timer_running != 0 ) {
!     rt_free_timer();
!   }
!   rtapi_print("RTAPI: Shutting down\n");
    return RTAPI_SUCCESS;
  }
***************
*** 146,149 ****
--- 173,180 ----
  int rtapi_clock_set_period(unsigned long int nsecs)
  {
+   if ( VERBOSE ) {
+     rtapi_print ( "RTAPI: clock_set_period ( %ld )\n", nsecs );
+   }
+   timer_running = 1;
    rt_set_periodic_mode();
    return count2nano(start_rt_timer(nano2count((RTIME) nsecs)));
***************
*** 176,180 ****
  
    /* increment the usage counter */
!   usage_count++;
  
    return RTAPI_SUCCESS;
--- 207,215 ----
  
    /* increment the usage counter */
!   task_usage_count++;
! 
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: new_task %p, count = %d\n", task, task_usage_count );
!   }
  
    return RTAPI_SUCCESS;
***************
*** 196,200 ****
  
    /* decrement the usage counter */
!   usage_count--;
  
    return RTAPI_SUCCESS;
--- 231,239 ----
  
    /* decrement the usage counter */
!   task_usage_count--;
! 
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: delete_task %p, count = %d\n", task, task_usage_count );
!   }
  
    return RTAPI_SUCCESS;
***************
*** 268,280 ****
    }
  
-   /* P.C.
-      Added these lines to release the 8254 IRQ and stop the timer
-      as it was causing a kernel panic after removing rtai_sched.
-   */
- 
-   if (usage_count == 0) {
-     rt_free_timer();
-   }
- 
    retval = rt_task_delete(&(task->ostask));
    if (retval != 0) {
--- 307,310 ----
***************
*** 413,416 ****
--- 443,454 ----
    /* return handle to the caller */
    *shmemptr = shmem;
+ 
+   /* increment the usage counter */
+   shmem_usage_count++;
+ 
+   if ( VERBOSE ) {
+     rtapi_print ( "RTAPI: new_shmem %p, key = %d, count = %d\n", shmem, key, shmem_usage_count );
+   }
+ 
    return RTAPI_SUCCESS;
  }
***************
*** 448,451 ****
--- 486,497 ----
    shmem->magic = 0;
    kfree(shmem);
+ 
+   /* decrement the usage counter */
+   shmem_usage_count--;
+ 
+   if ( VERBOSE ) {
+     rtapi_print ( "RTAPI: delete_shmem %p, count = %d\n", shmem, shmem_usage_count );
+   }
+ 
    return RTAPI_SUCCESS;
  }
***************
*** 492,495 ****
--- 538,549 ----
      }
    }
+ 
+   /* increment the usage counter */
+   int_usage_count++;
+ 
+   if ( VERBOSE ) {
+     rtapi_print ( "RTAPI: assign_interrupt_handler for int %d, count = %d\n", irq, int_usage_count );
+   }
+ 
    return RTAPI_SUCCESS;
  }
***************
*** 505,508 ****
--- 559,570 ----
      return RTAPI_FAIL;
    }
+ 
+   /* decrement the usage counter */
+   int_usage_count--;
+ 
+   if ( VERBOSE ) {
+     rtapi_print ( "RTAPI: free_interrupt_handler for int %d, count = %d\n", irq, int_usage_count );
+   }
+ 
    return RTAPI_SUCCESS;
  }
***************
*** 558,561 ****
--- 620,631 ----
    /* return handle to the caller */
    *semptr = sem;
+ 
+   /* increment the usage counter */
+   sem_usage_count++;
+ 
+   if ( VERBOSE ) {
+     rtapi_print ( "RTAPI: new_sem %p, count = %d\n", sem, sem_usage_count );
+   }
+ 
    return RTAPI_SUCCESS;
  }
***************
*** 577,580 ****
--- 647,658 ----
    sem->magic = 0;
    kfree(sem);
+ 
+   /* decrement the usage counter */
+   sem_usage_count--;
+ 
+   if ( VERBOSE ) {
+     rtapi_print ( "RTAPI: delete_sem %p, count = %d\n", sem, sem_usage_count );
+   }
+ 
    return RTAPI_SUCCESS;
  }
***************
*** 652,657 ****
      /* create failed */
      kfree(fifo);
-     rtapi_print("rtapi_fifo_new: rtf_create ( %d, %d ) returned %d\n", key,
- 		size, retval);
      if (retval == ENOMEM) {
        /* couldn't allocate memory */
--- 730,733 ----
***************
*** 669,672 ****
--- 745,756 ----
    /* return handle to the caller */
    *fifoptr = fifo;
+ 
+   /* increment the usage counter */
+   fifo_usage_count++;
+ 
+   if ( VERBOSE ) {
+     rtapi_print ( "RTAPI: new_fifo %p, count = %d\n", fifo, fifo_usage_count );
+   }
+ 
    return RTAPI_SUCCESS;
  }
***************
*** 688,691 ****
--- 772,783 ----
    fifo->magic = 0;
    kfree(fifo);
+ 
+   /* decrement the usage counter */
+   fifo_usage_count--;
+ 
+   if ( VERBOSE ) {
+     rtapi_print ( "RTAPI: delete_fifo %p, count = %d\n", fifo, fifo_usage_count );
+   }
+ 
    return RTAPI_SUCCESS;
  }

Index: rtapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtapi.h,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** rtapi.h	2 Aug 2003 19:37:18 -0000	1.9
--- rtapi.h	3 Aug 2003 02:41:44 -0000	1.10
***************
*** 70,74 ****
  * multiple realtime tasks in multiple kernel modules.  Calling this    *
  * function after realtime tasks have been started may disrupt the      *
! * tasks.  Returns a status code.                                       */
  
  extern int rtapi_clock_set_period(unsigned long int nsecs);
--- 70,85 ----
  * multiple realtime tasks in multiple kernel modules.  Calling this    *
  * function after realtime tasks have been started may disrupt the      *
! * tasks.  Returns a negative error code on failure.  On success,       *
! * returns either 0, or if the RTOS supports it, the actual timer       *
! * period in nanoseconds, (which may not be exactly what was requested  *
! * due to hardware limitations).                                        */
! 
! /* FIXME - the request is an unsigned long int, but the return value is
! an ordinary signed int.  A request of 3,000,000,000 ( 3 secs) is a
! a legal unsigned number, but when returned as a signed int it will
! be negative, and look like an error to the caller.  Possible solutions:
! 1) limit the argument to 1,000,000,000 (1 second), return INVAL if higher
! 2) don't return actual value, just return success or errorcode (as before)
! */
  
  extern int rtapi_clock_set_period(unsigned long int nsecs);

[Emc-commit] rtapi/examples/fifo fifotask.c,1.5,1.6

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

Update of /cvsroot/emc/rtapi/examples/fifo
In directory sc8-pr-cvs1:/tmp/cvs-serv28730/examples/fifo

Modified Files:
	fifotask.c 
Log Message:
more tweaking of rtai_rtapi, added debugging printfs

Index: fifotask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/fifotask.c,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** fifotask.c	2 Aug 2003 19:37:17 -0000	1.5
--- fifotask.c	3 Aug 2003 02:41:44 -0000	1.6
***************
*** 44,65 ****
    int fifo_prio;
  
-   /*
-      if (0 != rtapi_init()) {
-      return -1;
-      }
-    */
- 
    /* allocate and initialize the fifo */
- /* debug, remove when working */
-     rtapi_print("debug - Calling rtapi_fifo_new()\n");
    retval = rtapi_fifo_new(FIFO_KEY, FIFO_SIZE, &fifo);
- /* debug, remove when working */
-     rtapi_print("debug - fifotask init: rtapi_fifo_new returned %d\n",
- 		  retval);
    if (retval != RTAPI_SUCCESS) {
      rtapi_print("fifotask init: rtapi_fifo_new returned %d\n", retval);
      return -1;
    }
-   rtapi_print("fifotask init: created fifo\n");
  
    /* set the base timer period */
--- 44,53 ----

[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.9,1.10

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

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv5224

Modified Files:
	rtai_rtapi.c 
Log Message:
Usage counter required

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** rtai_rtapi.c	2 Aug 2003 19:37:18 -0000	1.9
--- rtai_rtapi.c	2 Aug 2003 23:30:43 -0000	1.10
***************
*** 63,66 ****
--- 63,68 ----
  #define FIFO_MAGIC    10293
  
+ /* Usage counter so that we don't kill the periodic timer too soon */
+ static int usage_count = 0;
  
  /* declare vsprintf() explicitly instead of including all of <stdio.h>,
***************
*** 123,126 ****
--- 125,131 ----
  static int rtapi_exit(void)
  {
+   if (usage_count != 0 ) {
+     rtapi_print(" Warning, you have %d task handlers active", usage_count);
+   }
    rtapi_print("Removing RTAPI\n");
    return RTAPI_SUCCESS;
***************
*** 170,173 ****
--- 175,181 ----
    *taskptr = task;
  
+   /* increment the usage counter */
+   usage_count++;
+ 
    return RTAPI_SUCCESS;
  }
***************
*** 186,189 ****
--- 194,201 ----
    task->magic = 0;
    kfree(task);
+ 
+   /* decrement the usage counter */
+   usage_count--;
+ 
    return RTAPI_SUCCESS;
  }
***************
*** 257,268 ****
  
    /* P.C.
!      Added these two lines to release the 8254 IRQ and stop the timer
       as it was causing a kernel panic after removing rtai_sched.
-      May well need to impliment a task counter to prevent the timer
-      being stopped if calls are made to rtapi_task_stop() by other
-      realtime tasks (Do we need a Fix Me here ?).
    */
!   rt_reset_irq_to_sym_mode(TIMER_8254_IRQ);
!   rt_free_timer();
  
    retval = rt_task_delete(&(task->ostask));
--- 269,279 ----
  
    /* P.C.
!      Added these lines to release the 8254 IRQ and stop the timer
       as it was causing a kernel panic after removing rtai_sched.
    */
! 
!   if (usage_count == 0) {
!     rt_free_timer();
!   }
  
    retval = rt_task_delete(&(task->ostask));

[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.8,1.9 rtapi.h,1.8,1.9

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

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv5825/src/rtapi

Modified Files:
	rtai_rtapi.c rtapi.h 
Log Message:
Fixes to prevent a kernel panic when removing the rtai_sched

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** rtai_rtapi.c	25 Jul 2003 22:04:20 -0000	1.8
--- rtai_rtapi.c	2 Aug 2003 19:37:18 -0000	1.9
***************
*** 142,147 ****
  {
    rt_set_periodic_mode();
!   start_rt_timer(nano2count((RTIME) nsecs));
!   return RTAPI_SUCCESS;
  }
  
--- 142,151 ----
  {
    rt_set_periodic_mode();
!   return count2nano(start_rt_timer(nano2count((RTIME) nsecs)));
! }
! 
! long long int rtapi_get_time(void)
! {
!   return rt_get_time_ns();
  }
  
***************
*** 251,254 ****
--- 255,269 ----
      return RTAPI_BADH;
    }
+ 
+   /* P.C.
+      Added these two lines to release the 8254 IRQ and stop the timer
+      as it was causing a kernel panic after removing rtai_sched.
+      May well need to impliment a task counter to prevent the timer
+      being stopped if calls are made to rtapi_task_stop() by other
+      realtime tasks (Do we need a Fix Me here ?).
+   */
+   rt_reset_irq_to_sym_mode(TIMER_8254_IRQ);
+   rt_free_timer();
+ 
    retval = rt_task_delete(&(task->ostask));
    if (retval != 0) {

Index: rtapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtapi.h,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** rtapi.h	25 Jul 2003 01:40:38 -0000	1.8
--- rtapi.h	2 Aug 2003 19:37:18 -0000	1.9
***************
*** 74,77 ****
--- 74,81 ----
  extern int rtapi_clock_set_period(unsigned long int nsecs);
  
+ /** rtapi_get_time returns the time in nano seconds since the timer    *
+ * started. Returns an integer value as a 2^63 value.                   */
+ 
+ extern long long int rtapi_get_time(void);
  
  /** 'rtapi_task_new()' is the first step in creating a task.  Allocs   *

[Emc-commit] rtapi/examples/timertask timertask.c,1.4,1.5

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

Update of /cvsroot/emc/rtapi/examples/timertask
In directory sc8-pr-cvs1:/tmp/cvs-serv5825/examples/timertask

Modified Files:
	timertask.c 
Log Message:
Fixes to prevent a kernel panic when removing the rtai_sched

Index: timertask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/timertask/timertask.c,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** timertask.c	25 Jul 2003 22:04:34 -0000	1.4
--- timertask.c	2 Aug 2003 19:37:18 -0000	1.5
***************
*** 42,49 ****
    /* set the base timer period */
    retval = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
!   if ( retval != RTAPI_SUCCESS ) {
!     rtapi_print( "timertask init: rtapi_clock_set_period returned %d\n", retval );
!     return -1;
!   }
  
    /* set the task priority to lowest, since we only have one task */
--- 42,46 ----
    /* set the base timer period */
    retval = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
!   rtapi_print( "timertask init: rtapi_clock_set_period returned %d\n", retval );
  
    /* set the task priority to lowest, since we only have one task */

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

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

Update of /cvsroot/emc/rtapi/examples/shmem
In directory sc8-pr-cvs1:/tmp/cvs-serv5825/examples/shmem

Modified Files:
	shmemtask.c 
Log Message:
Fixes to prevent a kernel panic when removing the rtai_sched

Index: shmemtask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/shmem/shmemtask.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** shmemtask.c	23 Jul 2003 01:22:49 -0000	1.2
--- shmemtask.c	2 Aug 2003 19:37:18 -0000	1.3
***************
*** 58,65 ****
    /* set the base timer period */
    retval = rtapi_clock_set_period(SHMEM_PERIOD_NSEC);
-   if ( retval != RTAPI_SUCCESS ) {
      rtapi_print( "shmemtask init: rtapi_clock_set_period returned %d\n", retval );
-     return -1;
-   }
  
    /* set the task priority to lowest, since we only have one task */
--- 58,62 ----

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

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

Update of /cvsroot/emc/rtapi/examples/semaphore
In directory sc8-pr-cvs1:/tmp/cvs-serv5825/examples/semaphore

Modified Files:
	master.c 
Log Message:
Fixes to prevent a kernel panic when removing the rtai_sched

Index: master.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/semaphore/master.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** master.c	23 Jul 2003 01:22:49 -0000	1.2
--- master.c	2 Aug 2003 19:37:17 -0000	1.3
***************
*** 50,57 ****
    /* set the base timer period */
    retval = rtapi_clock_set_period(MASTER_PERIOD_NSEC);
-   if ( retval != RTAPI_SUCCESS ) {
      rtapi_print( "sem master init: rtapi_clock_set_period returned %d\n", retval );
-     return -1;
-   }
  
    /* set the task priority to one above the lowest; the slave
--- 50,54 ----

[Emc-commit] rtapi/examples/fifo fifotask.c,1.4,1.5

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

Update of /cvsroot/emc/rtapi/examples/fifo
In directory sc8-pr-cvs1:/tmp/cvs-serv5825/examples/fifo

Modified Files:
	fifotask.c 
Log Message:
Fixes to prevent a kernel panic when removing the rtai_sched

Index: fifotask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/fifotask.c,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** fifotask.c	27 Jul 2003 16:33:42 -0000	1.4
--- fifotask.c	2 Aug 2003 19:37:17 -0000	1.5
***************
*** 65,73 ****
    /* set the base timer period */
    retval = rtapi_clock_set_period(FIFO_PERIOD_NSEC);
-   if (retval != RTAPI_SUCCESS) {
      rtapi_print("fifotask init: rtapi_clock_set_period returned %d\n",
  		retval);
-     return -1;
-   }
  
    /* set the task priority to lowest, since we only have one task */
--- 65,70 ----

[Emc-commit] rtapi install_realtime_base,1.3,1.4

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

Update of /cvsroot/emc/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv5825

Modified Files:
	install_realtime_base 
Log Message:
Fixes to prevent a kernel panic when removing the rtai_sched

Index: install_realtime_base
===================================================================
RCS file: /cvsroot/emc/rtapi/install_realtime_base,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** install_realtime_base	27 Jul 2003 15:56:43 -0000	1.3
--- install_realtime_base	2 Aug 2003 19:37:17 -0000	1.4
***************
*** 57,63 ****
  	fi
      fi
!     if /sbin/modprobe rtai_sched_up 1> ${nullfile} 2>${nullfile} ; then
! 	echo Installed rtai_sched_up
!     fi
      if ! /sbin/lsmod | awk '{print $1}' | grep rtai_sched  1> ${nullfile} 2> ${nullfile} ; then
  	if ! /sbin/modprobe rtai_sched 1> ${nullfile} 2>${nullfile} ; then
--- 57,63 ----
  	fi
      fi
!     
! # running setsched in the rtai directory links rtai_sched to the correct
! # scheduler, be it the smp, or up scheduler...
      if ! /sbin/lsmod | awk '{print $1}' | grep rtai_sched  1> ${nullfile} 2> ${nullfile} ; then
  	if ! /sbin/modprobe rtai_sched 1> ${nullfile} 2>${nullfile} ; then

[Emc-commit] emc/src/emcmot scarakins.c,1.1,1.2

[<mag...@us...>]

Update of /cvsroot/emc/emc/src/emcmot
In directory sc8-pr-cvs1:/tmp/cvs-serv16658

Modified Files:
	scarakins.c 
Log Message:
fixed bug in kinematicsInverse()

Index: scarakins.c
===================================================================
RCS file: /cvsroot/emc/emc/src/emcmot/scarakins.c,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** scarakins.c	31 May 2003 11:12:25 -0000	1.1
--- scarakins.c	31 Jul 2003 18:58:53 -0000	1.2
***************
*** 73,78 ****
  	joint[0] = q0;
  	joint[1] = q1;
! 	joint[3] = SCARA_D1 - world->tran.z;
! 	joint[4] = world->c;
  	
  	*fflags = 0;
--- 73,78 ----
  	joint[0] = q0;
  	joint[1] = q1;
! 	joint[2] = SCARA_D1 - world->tran.z;
! 	joint[3] = world->c;
  	
  	*fflags = 0;
***************
*** 82,86 ****
  /*
  		+-------------------------------------------------------+
! 		|	Blindly copied from puma560kins.c					|
  		+-------------------------------------------------------+
  */
--- 82,86 ----
  /*
  		+-------------------------------------------------------+
! 		|	Blindly copied from puma560kins.c		|
  		+-------------------------------------------------------+
  */
***************
*** 98,100 ****
  {
    return KINEMATICS_BOTH;
! }
\ No newline at end of file
--- 98,100 ----
  {
    return KINEMATICS_BOTH;
! }