mhaberler

// example for synchronous signal processing with czmq/zloop using signalfd(2)
// Michael Haberler 1/2014

#include <czmq.h>
#include <sys/signalfd.h>

int signo;

static int s_handle_signal(zloop_t *loop, zmq_pollitem_t *poller, void *arg)
{

mhaberler

// example for integrating readline and
// synchronous signal delivery with czmq/zloop
// Michael Haberler 3/2014
// gcc -g zreadline.o `pkg-config --cflags --libs libczmq` -lreadline -o zreadline

#include <stdio.h>
#include <readline/readline.h>
#include <readline/history.h>
#include <stdlib.h>
#include <unistd.h>

mhaberler

# you might have to:
# sudo easy_install cmd2 readline
# or the equivalent debian incantations, whatever they are
from cmd2 import Cmd
import linuxcnc

class MachinekitApp(Cmd):

    def __init__(self):
        Cmd.__init__(self)

mhaberler

newsig in0 bit
newsig in1 bit

loadrt lutn
newinst lutn or2.0  inputs=2 function=0xe
newinst lutn and2.0 inputs=2 function=0x8

net in0 and2.0.in0 or2.0.in0
net in1 and2.0.in1 or2.0.in1

mhaberler

# in /etc/modules add
vcan

so the vcan module is loaded at boot

# in /etc/rc.local, add

ip link add dev vcan0 type vcan
ip link set up vcan0

mhaberler

# add this file to /etc/udev/rules.d:

# 04d8:000a USBtin

KERNEL=="ttyACM*", ATTRS{idVendor}=="04d8", ATTRS{idProduct}=="000a",SYMLINK+="USBtin%n" ,RUN+="/usr/local/bin/slcan.sh /dev/%k can%n"

mhaberler

all: atomic-c++.s atomic-c.s atomic-c++ atomic-c

clean:
	rm -f atomic-c++.s atomic-c.s atomic-c++ atomic-c

atomic-c++.s: atomic.c
	gcc -x c++ -std=c++11 -Wa,-adhln -g  $^ > $@

atomic-c++: atomic.c
	gcc -x c++ -std=c++11 -g  $^ -o $@

mhaberler

# /etc/default/ptpd

# Set to "yes" to actually start ptpd automatically
START_DAEMON=yes

# Add command line options for ptpd
PTPD_OPTS="-c /etc/ptpd.conf"

mhaberler

# derived from http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi
 
 
 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu jessie main" > /etc/apt/sources.list.d/ros-latest.list'
 wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -O - | sudo apt-key add -


sudo apt-get update
sudo apt-get upgrade

mhaberler

loadrt hostmot2
loadrt hm2_soc config="firmware=socfpga/soc_system.rbf num_encoders=2 num_pwmgens=2 num_stepgens=2"

newthread servo-thread 1000000    fp
newthread slow         1000000000 fp # 1sec


# task1: blink the leds CR01 and CR02
newinst not osci
newinst not inverter