Modify araisrobo repository for compiling with RTAI

aliensyellow · May 8, 2013 · da96794 · da96794
1 parent 72e65ba
commit da96794
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Showing 18 changed files with 162 additions and 172 deletions.
diff --git a/src/Makefile b/src/Makefile
@@ -406,7 +406,7 @@ endif
 ifeq ($(BUILD_SYS),kbuild)
 
 modules:
-	$(PYTHON) modsilent.py $(MAKE) KBUILD_EXTRA_SYMBOLS=$(moduledir)/Module.symvers -C $(KERNELDIR) SUBDIRS=`pwd` CC=$(CC) V=0 modules
+	$(PYTHON) modsilent.py $(MAKE) KBUILD_EXTRA_SYMBOLS=$(moduledir)/Module.symvers -C $(KERNELDIR) SUBDIRS=`pwd` CC=$(CC) V=1 modules
 	-cp Module.symvers *$(MODULE_EXT) ../rtlib/
 endif
 
@@ -664,7 +664,7 @@ EXTRA_CFLAGS = $(filter-out -ffast-math,$(RTFLAGS)) -D__MODULE__ -I$(BASEPWD) -I
 	-I$(BASEPWD)/libnml/os_intf -I$(BASEPWD)/libnml/nml -I$(BASEPWD)/libnml/buffer \
 	-I$(BASEPWD)/libnml/posemath -I$(BASEPWD)/rtapi -I$(BASEPWD)/hal \
 	-I$(BASEPWD)/emc/nml_intf -I$(BASEPWD)/emc/kinematics -I$(BASEPWD)/emc/motion \
-        -DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER \
+	-DSEQUENTIAL_SUPPORT -DHAL_SUPPORT -DDYNAMIC_PLCSIZE -DRT_SUPPORT -DOLD_TIMERS_MONOS_SUPPORT -DMODBUS_IO_MASTER \
 	-fno-fast-math $(call cc-option,-mieee-fp) -fno-unsafe-math-optimizations 
 	#not for sim: $(call cc-option,-Wframe-larger-than=2560)
 
@@ -679,7 +679,12 @@ endif
 # for libwou
 ifneq ($(WOU_VERSION),)
 EXTRA_CFLAGS += $(WOU_CFLAGS) -DMOTION_OVER_USB
+ifeq ($(BUILD_SYS),sim)
 LDFLAGS += $(WOU_LIBS)
+else
+# for kernel module build:
+EXTRA_CFLAGS += -I$(BASEPWD)/hal/drivers/ar-usb
+endif
 endif
 
 
@@ -932,7 +937,7 @@ modules: $(patsubst %.o,../rtlib/%.so,$(obj-m))
 	$(Q)ld -r -o objects/$*.tmp $^
 	@if ! $(IS_POWERPC); then objcopy -j .rtapi_export -O binary objects/$*.tmp objects/$*.exp; fi
 	@if ! $(IS_POWERPC); then objcopy -G __i686.get_pc_thunk.bx `xargs -r0n1 echo -G < objects/$*.exp | grep -ve '^-G $$' | sort -u` objects/$*.tmp; fi
-	$(Q)$(CC) -shared -Bsymbolic -o $@ objects/$*.tmp -lm $(LDFLAGS)
+	$(Q)$(CC) -shared -Bsymbolic $(LDFLAGS) -o $@ objects/$*.tmp -lm
 
 $(sort $(RTDEPS)): depends/rt%.d: %.c
 	@mkdir -p $(dir $@)
@@ -965,7 +970,7 @@ $(sort $(RTOBJS)) : objects/rt%.o : %.c
 
 ../rtlib/%.o:
 	$(ECHO) Linking $@
-	$(Q)ld -r -static -S -Os $(LDFLAGS) -o $@ $^ $(EXTRALINK) $(MATHLIB)
+	$(Q)ld -r -static -S $(OPT) $(LDFLAGS) -o $@ $^ $(EXTRALINK) $(MATHLIB)
 endif
 
 ifneq "$(filter normal sim,$(BUILD_SYS))" ""

diff --git a/src/emc/kinematics/align_gantry_kins.c b/src/emc/kinematics/align_gantry_kins.c
@@ -12,8 +12,6 @@
 *
 ********************************************************************/
 
-#include "string.h"
-#include "assert.h"
 #include "rtapi_math.h"
 #include "kinematics.h"		/* these decls */
 
@@ -41,17 +39,6 @@ typedef struct {
 
 static align_pins_t *align_pins;
 
-// #define THETA           (*(align_pins->theta))
-// #define PREV_THETA      (align_pins->prev_theta)
-// #define PREV_X_OFFSET   (align_pins->prev_x_offset)
-// #define PREV_Y_OFFSET   (align_pins->prev_y_offset)
-// #define PREV_X_CENT     (align_pins->prev_y_cent)
-// #define PREV_Y_CENT     (align_pins->prev_x_cent)
-// #define X_OFFSET        (align_pins->x_offset)
-// #define Y_OFFSET        (align_pins->y_offset)
-// #define X_CENT          (align_pins->x_cent)
-// #define Y_CENT          (align_pins->y_cent)
-// #define TOUCH_OFF_CENT	 (*(align_pins->touch_off_cent))
 #define GANTRY_POLARITY (*(align_pins->gantry_polarity))
 #define YY_OFFSET       (*(align_pins->yy_offset))
 
@@ -63,57 +50,19 @@ EXPORT_SYMBOL(kinematicsForward);
 EXPORT_SYMBOL(kinematicsInverse);
 MODULE_LICENSE("GPL");
 
-// void cord_change_handler(EmcPose * pos, double  * joints) {
-//     // update XYZ position but keep joint position unchanged 
-//     if (TOUCH_OFF_CENT == 1) {
-//         X_CENT = joints[0];
-//         Y_CENT = joints[1];
-//     }
-//     if (THETA != PREV_THETA ||
-// 	TOUCH_OFF_CENT == 1) { 
-// 	if (joints[0] == 0 && joints[1] == 0) {
-// 	    return;
-// 	}
-//         // fprintf(stderr, "THETA(%f)\n", THETA);
-//         // fprintf(stderr, "x-cent(%f) y-cent(%f) x-offset(%f) y-offset(%f)\n", X_CENT, Y_CENT, X_OFFSET, Y_OFFSET);
-//         // fprintf(stderr, "1:x(%f) y(%f) \nj0(%f) j1(%f)\n", pos->tran.x, pos->tran.y,
-//         //                joints[0], joints[1]);
-//         pos->tran.x  = (joints[0] - X_CENT - X_OFFSET) * cos(THETA) +
-//                        (joints[1] - Y_CENT - Y_OFFSET) * sin(THETA) + X_OFFSET + X_CENT;
-//         pos->tran.y  = -(joints[0] - X_CENT - X_OFFSET)* sin(THETA) +
-//                         (joints[1] - Y_CENT - Y_OFFSET) * cos(THETA) + Y_OFFSET + Y_CENT;
-//         // fprintf(stderr, "2:x(%f) y(%f) \nj0(%f) j1(%f)\n", pos->tran.x, pos->tran.y,
-//         //         joints[0], joints[1]);
-//         PREV_THETA    = THETA;
-//         PREV_X_OFFSET = X_OFFSET; 
-//         PREV_Y_OFFSET = Y_OFFSET; 
-//         PREV_X_CENT   = X_CENT;   
-//         PREV_Y_CENT   = Y_CENT;   
-//     }
-//     TOUCH_OFF_CENT = 0;
-// }
-
 int kinematicsForward(const double *joints,
 		      EmcPose * pos,
 		      const KINEMATICS_FORWARD_FLAGS * fflags,
 		      KINEMATICS_INVERSE_FLAGS * iflags)
 {
 
-    // cord_change_handler((EmcPose *)pos, (double*)joints);
-    // pos->tran.x  = (joints[0] - X_CENT - X_OFFSET) * cos(THETA) +
-    //                (joints[1] - Y_CENT - Y_OFFSET) * sin(THETA) + X_OFFSET + X_CENT;
-    // pos->tran.y  = -(joints[0] - X_CENT - X_OFFSET)* sin(THETA) +
-    //                 (joints[1] - Y_CENT - Y_OFFSET) * cos(THETA) + Y_OFFSET + Y_CENT;
-
     pos->tran.x = joints[0];
     pos->tran.y = joints[1];
     pos->tran.z = joints[3];
     pos->a = joints[4];
     pos->b = joints[5];
     pos->c = joints[6];
 
-    // YY_OFFSET = joints[1] - (joints[2] * GANTRY_POLARITY);
-
     DP("kFWD: x(%f), y(%f), j0(%f), j1(%f), j2(%f), yy_offset(%f),POLARITY(%f)\n",
         pos->tran.x, pos->tran.y, joints[0], joints[1], joints[2], YY_OFFSET, GANTRY_POLARITY);
 
@@ -125,31 +74,6 @@ int kinematicsInverse(const EmcPose * pos,
 		      const KINEMATICS_INVERSE_FLAGS * iflags,
 		      KINEMATICS_FORWARD_FLAGS * fflags)
 {
-    // double c_rad = pos->c*M_PI/180;
-    // double rad, x_cent, y_cent;
-    // fprintf(stderr,"kI j0(%f) j1(%f) THETA(%f) X_CENT(%f) Y_CENT(%f)\n",joints[0], joints[1],
-    // THETA, X_CENT, Y_CENT);
-    // fprintf(stderr,"KI x(%f) y(%f)\n", pos->tran.x, pos->tran.y);
-    // if (THETA == PREV_THETA) {
-    //     rad = THETA;
-    // } else {
-    //     rad = PREV_THETA;
-    // }
-    // if (X_CENT == PREV_X_CENT) {
-    //     x_cent = X_CENT;
-    // } else {
-    //     x_cent = PREV_X_CENT;
-    // }
-    // if (Y_CENT == PREV_Y_CENT) {
-    //     y_cent = Y_CENT;
-    // } else {
-    //     y_cent = PREV_Y_CENT;
-    // }
-    // joints[0] = (pos->tran.x - x_cent - X_OFFSET) * cos(rad) -
-    //             (pos->tran.y - y_cent - Y_OFFSET) * sin(rad) + X_OFFSET + x_cent;
-
-    // joints[1] = (pos->tran.x - x_cent - X_OFFSET) * sin(rad) +
-    //             (pos->tran.y - y_cent - Y_OFFSET) * cos(rad) + Y_OFFSET + y_cent;
     joints[0] = pos->tran.x;
     joints[1] = pos->tran.y;
     joints[2] = (pos->tran.y - YY_OFFSET) * GANTRY_POLARITY;  // YY
@@ -160,7 +84,6 @@ int kinematicsInverse(const EmcPose * pos,
     // joints[6] = pos->u;
     // joints[7] = pos->v;
     // joints[8] = pos->w;
-    // fprintf(stderr,"kI j0(%f) j1(%f)\n",joints[0], joints[1]);
     DP("kINV: x(%f), y(%f), j0(%f), j1(%f), j2(%f), yy_offset(%f), POLARITY(%f) \n",
        pos->tran.x, pos->tran.y, joints[0], joints[1], joints[2], YY_OFFSET, GANTRY_POLARITY);
 

diff --git a/src/emc/kinematics/alignmentkins.c b/src/emc/kinematics/alignmentkins.c
@@ -60,15 +60,15 @@ void cord_change_handler(EmcPose * pos, double  * joints) {
         Y_OFFSET != PREV_Y_OFFSET ||
         X_CENT   != PREV_X_CENT   ||
         Y_CENT   != PREV_Y_CENT) {
-        fprintf(stderr, "THETA(%f)\n", THETA);
-        fprintf(stderr, "x-cent(%f) y-cent(%f) x-offset(%f) y-offset(%f)\n", X_CENT, Y_CENT, X_OFFSET, Y_OFFSET);
-        fprintf(stderr, "1:x(%f) y(%f) \nj0(%f) j1(%f)\n", pos->tran.x, pos->tran.y,
+        DP("THETA(%f)\n", THETA);
+        DP("x-cent(%f) y-cent(%f) x-offset(%f) y-offset(%f)\n", X_CENT, Y_CENT, X_OFFSET, Y_OFFSET);
+        DP("1:x(%f) y(%f) \nj0(%f) j1(%f)\n", pos->tran.x, pos->tran.y,
                         joints[0], joints[1]);
         pos->tran.x  = (joints[0] - X_CENT - X_OFFSET) * cos(THETA) +
                        (joints[1] - Y_CENT - Y_OFFSET) * sin(THETA) + X_OFFSET + X_CENT;
         pos->tran.y  = -(joints[0] - X_CENT - X_OFFSET)* sin(THETA) +
                         (joints[1] - Y_CENT - Y_OFFSET) * cos(THETA) + Y_OFFSET + Y_CENT;
-        fprintf(stderr, "2:x(%f) y(%f) \nj0(%f) j1(%f)\n", pos->tran.x, pos->tran.y,
+        DP("2:x(%f) y(%f) \nj0(%f) j1(%f)\n", pos->tran.x, pos->tran.y,
                 joints[0], joints[1]);
         PREV_THETA    = THETA;
         PREV_X_OFFSET = X_OFFSET; 

diff --git a/src/emc/kinematics/dptrace.h b/src/emc/kinematics/dptrace.h
@@ -1,6 +1,9 @@
 #ifndef _DPTRACE_H_
 #define _DPTRACE_H_
 
+#ifdef SIM
+
+// for simulation only:
 #include <stdio.h>
 
 #ifndef TRACE
@@ -27,4 +30,10 @@
 #define DPS(fmt, args...)    do {} while(0)
 #endif
 
+#else
+// NOT-SIM
+#define DP(fmt, args...)     do {} while(0)
+#define DPS(fmt, args...)    do {} while(0)
+#endif // SIM
+
 #endif  // _DPTRACE_H_
diff --git a/src/emc/kinematics/tc.c b/src/emc/kinematics/tc.c
@@ -16,9 +16,16 @@
   FIXME-- should include <stdlib.h> for sizeof(), but conflicts with
   a bunch of <linux> headers
   */
+
+#ifdef RTAPI
+#define assert(args...)		do {} while(0)
+#else
+// SIM
 #include <stdio.h>
 #include <stdlib.h>
 #include <assert.h>
+#endif
+
 #include "rtapi.h"		/* rtapi_print_msg */
 #include "posemath.h"
 #include "emcpos.h"
@@ -62,8 +69,14 @@ void nurbs_basisfun(int i, double u, int p,
   int j,r;
   double saved, temp;
 
+#ifndef RTAPI
   double *left = (double*)malloc(sizeof(double)*(p+1));
   double *right = (double*)malloc(sizeof(double)*(p+1));
+#else
+  #warning "to implement rtai_kmalloc() or static memory chunk for left[] and right[]"
+  double left[4096];
+  double right[4096];
+#endif
 
   N[0] = 1.0;
   for (j = 1; j <= p; j++)
@@ -82,8 +95,12 @@ void nurbs_basisfun(int i, double u, int p,
       N[j] = saved;
 
     }
+#ifndef RTAPI
   free(left);
   free(right);
+#else
+  #warning "to implement rtai_kmalloc() or static memory chunk for left[] and right[]"
+#endif
 
 }
 
@@ -584,9 +601,10 @@ int tcqRemove(TC_QUEUE_STRUCT * tcq, int n)
 	(n > tcq->_len)) {	/* too many requested */
 	    return -1;
     }
-    /* if NURBS ?*/
-    for(i=tcq->start;i<(tcq->start+n);i++){
 
+#ifndef RTAPI
+    /* for NURBS only */
+    for(i=tcq->start;i<(tcq->start+n);i++){
         if(tcq->queue[i].motion_type == TC_NURBS) {
             //fprintf(stderr,"Remove TCNURBS PARAM\n");
             free(tcq->queue[i].nurbs_block.knots_ptr);
@@ -595,6 +613,8 @@ int tcqRemove(TC_QUEUE_STRUCT * tcq, int n)
 
         }
     }
+#endif //RTAPI
+
     /* update start ptr and reset allFull flag and len */
     tcq->start = (tcq->start + n) % tcq->size;
     tcq->allFull = 0;

diff --git a/src/emc/kinematics/tp.c b/src/emc/kinematics/tp.c
@@ -11,6 +11,16 @@
  * Copyright (c) 2004 All rights reserved.
  ********************************************************************/
 
+#ifdef RTAPI
+#define assert(args...)		do {} while(0)
+#else
+// SIM
+#include <stdio.h>
+#include <stdlib.h>
+#include <assert.h>
+#include <stdint.h>
+#endif
+
 #include "rtapi.h"		/* rtapi_print_msg */
 #include "rtapi_string.h"       /* NULL */
 #include "posemath.h"
@@ -21,16 +31,12 @@
 #include "hal.h"
 #include "../motion/mot_priv.h"
 #include "motion_debug.h"
-#include <assert.h>
-#include <stdio.h>
-#include <stdlib.h>
 
 // #undef SMLBLND       // turn off seamless blending
 #define SMLBLND         // to evaluate seamless blending
 
 // to disable DP(): #define TRACE 0
 #define TRACE 0
-#include <stdint.h>
 #include "dptrace.h"
 #if (TRACE!=0)
 static FILE* dptrace = 0;
@@ -641,6 +647,12 @@ int tpAddCircle(TP_STRUCT * tp, EmcPose end, PmCartesian center,
 // allowed; we are guaranteed to have a move in xyz so target is
 // always the circle/arc/helical length.
 
+#ifdef RTAPI
+#warning "implement rtai_kmalloc() for nurbs"
+static CONTROL_POINT ctrl_pts_array[8192];
+static double knots_array[8192];
+static double N_array[8192];
+#endif
 
 int tpAddNURBS(TP_STRUCT *tp, int type, nurbs_block_t nurbs_block, EmcPose pos,
         unsigned char enables, double vel, double ini_maxvel,
@@ -671,14 +683,23 @@ int tpAddNURBS(TP_STRUCT *tp, int type, nurbs_block_t nurbs_block, EmcPose pos,
         nr_of_ctrl_pts = nurbs_block.nr_of_ctrl_pts;
         nr_of_knots = nurbs_block.nr_of_knots;
 
-
+#ifdef RTAPI
+#warning "implement rtai_kmalloc() for nurbs"
+	nurbs_to_tc->ctrl_pts_ptr = ctrl_pts_array;
+	nurbs_to_tc->knots_ptr = knots_array;
+	nurbs_to_tc->N = N_array;
+#else
+	// SIM
         nurbs_to_tc->ctrl_pts_ptr = (CONTROL_POINT*) malloc(
                 sizeof(CONTROL_POINT) * nurbs_block.nr_of_ctrl_pts);
         nurbs_to_tc->knots_ptr = (double*) malloc(sizeof(double)
                 * nurbs_block.nr_of_knots);
         nurbs_to_tc->N = (double*) malloc(sizeof(double) * (order + 1));
+#endif
         nurbs_to_tc->axis_mask = nurbs_block.axis_mask;
 
+
+
     }
     if (knots_todo > 0) {
         if (knots_todo > (nr_of_knots - nr_of_ctrl_pts)) { // this part add ctrl pts and knots

diff --git a/src/emc/kinematics/yyzzkins.c b/src/emc/kinematics/yyzzkins.c
@@ -9,8 +9,17 @@
 * Copyright (c) 2012 All rights reserved.
 ********************************************************************/
 
+#ifdef RTAPI
+#define assert(args...)		do {} while(0)
+#else
+// SIM
+#include <stdio.h>
+#include <stdlib.h>
+#include <assert.h>
+#include <stdint.h>
 #include "string.h"
-#include "assert.h"
+#endif
+
 #include "rtapi_math.h"
 #include "kinematics.h"		/* these decls */