kinsamanka

#!/usr/bin/python

import sys
import os
import subprocess
import importlib
from machinekit import launcher
from time import *

launcher.register_exit_handler()

kinsamanka

/*    Copyright (C) 2013 GP Orcullo
 *
 *    This program is free software; you can redistribute it and/or modify
 *    it under the terms of the GNU General Public License as published by
 *    the Free Software Foundation; either version 3 of the License, or
 *    (at your option) any later version.
 *
 *    This program is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

kinsamanka

loadrt threads name1=test period1=1000000
loadrt picnc

setp picnc.axis.0.scale 100
setp picnc.axis.0.maxaccel 10

addf picnc.read test
addf picnc.update test
addf picnc.write test
start

kinsamanka

# kinematics
loadrt trivkins
# trajectory planner
loadrt tp
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES kins=trivkins tp=tp
loadrt picnc

addf picnc.read servo-thread
addf motion-command-handler servo-thread

kinsamanka

diff --git a/arch/arm/include/asm/ipipe_hwirq.h b/arch/arm/include/asm/ipipe_hwirq.h
index 6b864aa..bd8cda1 100644
--- a/arch/arm/include/asm/ipipe_hwirq.h
+++ b/arch/arm/include/asm/ipipe_hwirq.h
@@ -200,9 +200,9 @@ static inline void hard_local_irq_restore(unsigned long x)
 		ipipe_unstall_root();			\
 	} while (0)
 
-#define local_fiq_enable() ipipe_unstall_root()
+#define local_fiq_enable() hard_local_fiq_enable_notrace()