Merge remote branch 'origin/v2.5_branch'

Conflicts: src/Makefile.modinc.in
author: Jeff Epler <jepler@unpythonic.net> 2013-04-18 10:44:22 -0500
committer: Jeff Epler <jepler@unpythonic.net> 2013-04-18 10:44:22 -0500
commit: c047bcbe14adcf3d29e0c82c23dfbc3aaf319456 (patch)
tree: c11316856e2b4e716e3dbef821789304853a3098
parent: 924a0f53e3562f504a3aa1c29f6f1e6960a58a8e (diff)
parent: 021d4bc6e1394481736fc552ebc41e671784b7a5 (diff)
download: linuxcnc-c047bcbe14adcf3d29e0c82c23dfbc3aaf319456.tar.gz
linuxcnc-c047bcbe14adcf3d29e0c82c23dfbc3aaf319456.zip
4 files changed, 140 insertions, 5 deletions
diff --git a/share/axis/tcl/axis.tcl b/share/axis/tcl/axis.tcl
index 3fff82846..d79354f77 100644
--- a/share/axis/tcl/axis.tcl
+++ b/share/axis/tcl/axis.tcl
@@ -1945,7 +1945,7 @@ proc update_state {args} {
     state  {$interp_state == $INTERP_IDLE && $taskfile != ""} \
         .toolbar.reload {.menu.file "_Reload"}
     state  {$taskfile != ""} \
-        .toolbar.reload {.menu.file "_Save gcode as..."}
+        {.menu.file "_Save gcode as..."}
     state  {$interp_state == $INTERP_IDLE && $taskfile != "" && $::has_editor} \
         {.menu.file "_Edit..."}
     state  {$taskfile != ""} {.menu.file "_Properties..."}
diff --git a/src/Makefile b/src/Makefile
index 52048664e..f9f71a16c 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -644,8 +644,10 @@ EXTRA_CFLAGS = $(filter-out -ffast-math,$(RTFLAGS)) -D__MODULE__ -I$(BASEPWD) -I
 	-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 \
 	$(call cc-option,-Wframe-larger-than=2560)
-ifeq ($(RTARCH),x86_64)
-EXTRA_CFLAGS += -msse -ffast-math -fno-unsafe-math-optimizations
+ifneq ($(KERNELRELEASE),)
+ifeq ($(RTARCH):$(RTAI):$(filter $(RTFLAGS),-msse),x86_64:3:)
+EXTRA_CFLAGS += -msse
+endif
 endif
 
 ifeq "$(USE_STUBS)" "1"
@@ -808,6 +810,9 @@ hal_lib-objs := hal/hal_lib.o $(MATHSTUB)
 obj-m += trivkins.o
 trivkins-objs := emc/kinematics/trivkins.o
 
+obj-m += 5axiskins.o
+5axiskins-objs := emc/kinematics/5axiskins.o
+
 obj-m += maxkins.o
 maxkins-objs := emc/kinematics/maxkins.o
 
diff --git a/src/Makefile.modinc.in b/src/Makefile.modinc.in
index 40440e557..ee179166c 100644
--- a/src/Makefile.modinc.in
+++ b/src/Makefile.modinc.in
@@ -39,10 +39,13 @@ BUILDSYS = @BUILD_SYS@
 
 KERNELDIR := @KERNELDIR@
 CC := @CC@
+RTAI = @RTAI@
 RTFLAGS = $(filter-out -ffast-math,@RTFLAGS@ @EXT_RTFLAGS@) -fno-fast-math $(call cc-option,-mieee-fp) -fno-unsafe-math-optimizations
 RTFLAGS := -Os -g -I. -I@RTDIR@/include $(RTFLAGS) -DRTAPI -D_GNU_SOURCE -Drealtime
-ifeq ($(RTARCH),x86_64)
-EXTRA_CFLAGS += -msse -ffast-math -fno-unsafe-math-optimizations
+ifneq ($(KERNELRELEASE),)
+ifeq ($(RTARCH):$(RTAI):$(filter $(RTFLAGS),-msse),x86_64:3:)
+EXTRA_CFLAGS += -msse
+endif
 endif
 USE_RTLIBM = @USE_RTLIBM@
 EMC2_HOME=@EMC2_HOME@
diff --git a/src/emc/kinematics/5axiskins.c b/src/emc/kinematics/5axiskins.c
new file mode 100644
index 000000000..74e2f348d
--- /dev/null
+++ b/src/emc/kinematics/5axiskins.c
@@ -0,0 +1,127 @@
+/********************************************************************
+* Description: 5axiskins.c
+*   Trivial kinematics for 3 axis Cartesian machine
+*
+*   Derived from a work by Fred Proctor & Will Shackleford
+*
+* Author:
+* License: GPL Version 2
+* System: Linux
+*    
+* Copyright (c) 2007 Chris Radek
+*
+* Last change:
+********************************************************************/
+
+#include "kinematics.h"		/* these decls */
+#include "posemath.h"
+#include "hal.h"
+#include "rtapi_math.h"
+
+#define d2r(d) ((d)*PM_PI/180.0)
+#define r2d(r) ((r)*180.0/PM_PI)
+
+struct haldata {
+    hal_float_t *pivot_length;
+} *haldata;
+
+static PmCartesian s2r(double r, double t, double p) {
+    PmCartesian c;
+    t = d2r(t), p = d2r(p);
+
+    c.x = r * sin(p) * cos(t);
+    c.y = r * sin(p) * sin(t);
+    c.z = r * cos(p);
+
+    return c;
+}
+
+int kinematicsForward(const double *joints,
+		      EmcPose * pos,
+		      const KINEMATICS_FORWARD_FLAGS * fflags,
+		      KINEMATICS_INVERSE_FLAGS * iflags)
+{
+    PmCartesian r = s2r(*(haldata->pivot_length) + joints[8], joints[5], 180.0 - joints[4]);
+
+    pos->tran.x = joints[0] + r.x;
+    pos->tran.y = joints[1] + r.y;
+    pos->tran.z = joints[2] + *(haldata->pivot_length) + r.z;
+    pos->a = joints[3];
+    pos->b = joints[4];
+    pos->c = joints[5];
+    pos->u = joints[6];
+    pos->v = joints[7];
+    pos->w = joints[8];
+
+    return 0;
+}
+
+int kinematicsInverse(const EmcPose * pos,
+		      double *joints,
+		      const KINEMATICS_INVERSE_FLAGS * iflags,
+		      KINEMATICS_FORWARD_FLAGS * fflags)
+{
+
+    PmCartesian r = s2r(*(haldata->pivot_length) + pos->w, pos->c, 180.0 - pos->b);
+
+    joints[0] = pos->tran.x - r.x;
+    joints[1] = pos->tran.y - r.y;
+    joints[2] = pos->tran.z - *(haldata->pivot_length) - r.z;
+    joints[3] = pos->a;
+    joints[4] = pos->b;
+    joints[5] = pos->c;
+    joints[6] = pos->u;
+    joints[7] = pos->v;
+    joints[8] = pos->w;
+
+    return 0;
+}
+
+/* implemented for these kinematics as giving joints preference */
+int kinematicsHome(EmcPose * world,
+		   double *joint,
+		   KINEMATICS_FORWARD_FLAGS * fflags,
+		   KINEMATICS_INVERSE_FLAGS * iflags)
+{
+    *fflags = 0;
+    *iflags = 0;
+
+    return kinematicsForward(joint, world, fflags, iflags);
+}
+
+KINEMATICS_TYPE kinematicsType()
+{
+    return KINEMATICS_BOTH;
+}
+
+#include "rtapi.h"		/* RTAPI realtime OS API */
+#include "rtapi_app.h"		/* RTAPI realtime module decls */
+#include "hal.h"
+
+EXPORT_SYMBOL(kinematicsType);
+EXPORT_SYMBOL(kinematicsForward);
+EXPORT_SYMBOL(kinematicsInverse);
+MODULE_LICENSE("GPL");
+
+int comp_id;
+int rtapi_app_main(void) {
+    int result;
+    comp_id = hal_init("5axiskins");
+    if(comp_id < 0) return comp_id;
+
+    haldata = hal_malloc(sizeof(struct haldata));
+
+    result = hal_pin_float_new("5axiskins.pivot-length", HAL_IO, &(haldata->pivot_length), comp_id);
+    if(result < 0) goto error;
+
+    *(haldata->pivot_length) = 250.0;
+
+    hal_ready(comp_id);
+    return 0;
+
+error:
+    hal_exit(comp_id);
+    return result;
+}
+
+void rtapi_app_exit(void) { hal_exit(comp_id); }
author	Jeff Epler <jepler@unpythonic.net>	2013-04-18 10:44:22 -0500
committer	Jeff Epler <jepler@unpythonic.net>	2013-04-18 10:44:22 -0500
commit	c047bcbe14adcf3d29e0c82c23dfbc3aaf319456 (patch)
tree	c11316856e2b4e716e3dbef821789304853a3098
parent	924a0f53e3562f504a3aa1c29f6f1e6960a58a8e (diff)
parent	021d4bc6e1394481736fc552ebc41e671784b7a5 (diff)
download	linuxcnc-c047bcbe14adcf3d29e0c82c23dfbc3aaf319456.tar.gz linuxcnc-c047bcbe14adcf3d29e0c82c23dfbc3aaf319456.zip