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1、Four short words sum up what has lifted most successful individuals above the crowd: a little bit more.-author-dateLINUXCNC源程序原理说明LINUXCNC源程序原理说明opLINUXCNC源程序学习源程序的树结构如下：Overview of the emc2 directory (generated by tree -I .git -d) :.|- app-defaults|- bin (user mode binaries)|- configs| |- 5axis| |-
2、 boss| |- common| |- dallur-thc| |- demo_mazak (sample mazak config files)| |- demo_sim_cl (sample sim with ladder IO)| |- demo_step_cl (sample stepper with ladder IO)| |- etch-servo| |- halui_halvcp| |- hexapod-sim| |- lathe-pluto| |- m5i20 (sample servo using Mesa PCI)| |- max| |- motenc (sample s
3、ervo using Vital PCI)| |- nist-lathe| |- plasma-thc| |- plasma-thc-sim| |- ppmc| |- puma| |- scara| |- sim (simulated motion and IO)| |- stepper (parport stepper driver) | |- stepper-gantry| |- stepper-xyza| |- stg (sample servo using STG ISA)| |- univpwm (sample PICO servo generator)| |- univstep (
4、sample PICO stepper generator)| - vti|- debian (files needed to build deb packages)| |- extras-Ubuntu-5.10 (extra files for Ubuntu 5.10)| | |- etc| | | |- modprobe.d| | | |- udev| | | | |- rules.d| | | | - scripts| | | - xdg| | | - menus| | | - applications-merged| | - usr| | - share| | |- applicati
5、ons| | |- desktop-directories| | - pixmaps| |- extras-Ubuntu-6.06 (extra files for building on Ubuntu 6.06 Dapper Drake)| | |- etc| | | |- modprobe.d| | | |- udev| | | | |- rules.d| | | | - scripts| | | - xdg| | | - menus| | | - applications-merged| | - usr| | - share| | |- applications| | |- deskto
6、p-directories| | - pixmaps| |- extras-Ubuntu-7.10 (extra files for building on Ubuntu 7.10)| | |- etc| | | |- modprobe.d| | | |- udev| | | | - rules.d| | | - xdg| | | - menus| | | - applications-merged| | - usr| | - share| | |- applications| | |- desktop-directories| | - pixmaps| |- extras-Ubuntu-8.
7、04 (extra files for building on Ubuntu 8.04 Hardy Heron)| | |- etc| | | |- modprobe.d| | | - xdg| | | - menus| | | - applications-merged| | - usr| | - share| | |- applications| | |- desktop-directories| | - pixmaps| |- extras-sim-Ubuntu-5.10 (extra files for sim package for Ubuntu 5.10)| | |- etc| |
8、 | - xdg| | | - menus| | | - applications-merged| | - usr| | - share| | |- applications| | |- desktop-directories| | - pixmaps| - extras-sim-Ubuntu-6.06 (extra files for sim package for Ubuntu 6.06 Dapper Drake)| |- etc| | - xdg| | - menus| | - applications-merged| - usr| - share| |- applications| |
9、- desktop-directories| - pixmaps|- docs (All the important and relevant Docs.)| |- help| |- html (html version of docs - some generated from lyx)| |- man (man pages)| | |- man1| | |- man3| | - man9| - src (API and source notes should be in each src dir.) (source for the handbooks) (top level .lyx fi
10、les)| |- code| |- common (shared .lyx files and images, such as glossary, GPLD license)| |- config| |- gcode (.lyx files, images, etc. for G-Code documentation)| |- gui (.lyx files, images, etc. for GUI documentation)| |- hal (.lyx files, images, etc. for HAL documentation)| |- install| |- ladder| |
11、- motion| - quickstart|- include (headers installed here - originals in src/xxx/)|- lib (user mode object files)| - python| |- rs274| - yapps|- nc_files (Sample NC files)|- rtlib (kernel mode object files, only after a successfull compile)|- scripts(bash scripts like linuxcnc, realtime, rip-environm
12、ent, etc.)|- share| |- axis| | |- images| | - tcl| |- emc| - locale| |- de| | - LC_MESSAGES| |- es| | - LC_MESSAGES| |- fr| | - LC_MESSAGES| |- hu| | - LC_MESSAGES| |- it| | - LC_MESSAGES| |- pt_BR| | - LC_MESSAGES| |- ro| | - LC_MESSAGES| |- ru| | - LC_MESSAGES| |- se| | - LC_MESSAGES| |- sr| | - L
13、C_MESSAGES| - zh_CN| - LC_MESSAGES|- src (source tree - configure script, top level makefile, Makefile.inc, etc)| | |- depends (generated dependency tree)| | |- emc (actual LinuxCNC code)| | |- canterp (interpreter for canonical commands)| | |- ini (inifile related operations)| | |- iotask (IO inter
14、face, lots of HAL pins)| | |- kinematics (trajectory planner and kinematics)| | |- motion (motion controller, talks through SHM to the rest of EMC)| | |- nml_intf (emc specific NML implementation, all messages sent in emc)| | |- rs274ngc (the rs274 g-code interpreter)| | |- sai| | |- task (core comp
15、onent in emc, dispatches actions to other parts)| | - usr_intf (interfaces for some GUIs, and other interfaces: AXIS, halui, stepconf)| | |- axis| | | |- etc| | | |- extensions| | | - scripts| | - stepconf| |- hal (the Hardware Abstraction Layer, provides a unified interface across all hardware)| |
16、|- classicladder| | | - projects_examples| | |- components| | |- drivers| | | |- m5i20| | | | |- bit| | | | - hostmot5_src| | | |- mesa-hostmot2| | | | |- doc| | | | - firmware| | | | |- 5i20| | | | | - SOURCE| | | | - 7i43| | | | |- CPLD| | | | | - SOURCE| | | | - SOURCE| | | |- mesa7i43-firmware|
17、| | | |- gpio| | | | | - source| | | | |- hostmot2| | | | | - src| | | | - source| | | |- mesa_5i2x| | | | - firmware| | | |- pluto_servo_firmware| | | - pluto_step_firmware| | |- user_comps| | | |- devices| | | - vcp| | - utils| | - halgui| |- libnml (a clean implementation of RCSLIB)| | |- buffer|
18、 | |- cms| | |- inifile| | |- linklist| | |- nml| | |- os_intf| | |- posemath| | - rcs| |- module_helper| |- objects| | |- emc| | | |- canterp| | | |- ini| | | |- iotask| | | |- motion| | | |- nml_intf| | | |- rs274ngc| | | |- sai| | | |- task| | | - usr_intf| | | - axis| | | - extensions| | |- hal|
19、 | | |- classicladder| | | |- components| | | |- drivers| | | |- user_comps| | | | |- devices| | | | - vcp| | | - utils| | |- libnml| | | |- buffer| | | |- cms| | | |- inifile| | | |- linklist| | | |- nml| | | |- os_intf| | | |- posemath| | | - rcs| | |- rtapi| | |- rtemc| | | |- kinematics| | | - m
20、otion| | |- rthal| | | |- classicladder| | | |- components| | | - utils| | |- rtlibnml| | | - posemath| | - rtobjects| | - hal| | - components| |- po (Translation files for i18n support)| |- rtapi (*.c and *.h for RTAPI) (unified RT API, wraps over RTLinux, RTAI and sim)| | - examples (testing examp
21、les for the RTAPI)| | |- extint| | |- fifo| | |- semaphore| | |- shmem| | - timer| - tests|- tcl (tkemc.tcl, mini.tcl - the tcl GUIs)| |- bin| - scripts- tests |- abs.0 |- and-or-not-mux.0 |- basic |- ccomp | |- lathe-comp | |- mill-g90g91g92 | |- mill-line-arc-entry | - mill-zchanges |- counter-enc
22、oder.0 |- flipflop.0 |- interp | |- cam-nisley | - flowsnake |- limit3.0 |- limit3.1 |- limit3.2 |- modparam.0 |- overrun |- oword | - sub.0 |- save.0 |- save.1 |- source.0 |- stepgen.0 |- stepgen.1 |- stepgen.2 |- threads.0 - timedelay.0Overview of the emc2 install dirs: / (file system root) | | |-
23、 etc/ | | | - init.d/ | | | - realtime (realtime start/stop script) | | |- $(prefix) (default: /usr/local) | | (all the following $xxxxdir are configurable through autoconf | | | |- bin/ (known as $bindir, files from EMC2/bin) | | | |- sbin/ (known as $sbindir, ) | | | |- etc/ (known as $sysconfdir,
24、 config files and subdirs from configs/) | | | |- lib/ (known as $libdir, lib files *.so from libs/) | | | - share/ | | | - emc/ | | | | | |- docs/ | | | | | - (All the important and relevant Docs.) | | | |- handbooks/ | | | | | - (PDF versions of handbooks) | | | - nc_files/ | | | - (Sample NC file
25、s) | |- $MAN_DIR/ (default: /usr/local/man) | | | |- man1/ | | | | | | | | - man3/ | | | | - $moduledir/ (based on where ./configure finds the RTOS modules)根据这个结构树，我们可以清楚的知道每一个文件夹，每一个子文件的作用，包括了接口，硬件抽象层，实时内核等等部分。当然，在这里面我们需要深入研究的是linuxcnc-dev/src/emc文件夹中的各个文件，也是该数控系统的核心所在。我们再次列出linuxcnc-dev/src/emc中的子
26、结构树：linuxcnc-dev/src/emc中的子结构树：| |- emc (actual LinuxCNC code)| | |- canterp (interpreter for canonical commands)| | |- ini (inifile related operations)| | |- iotask (IO interface, lots of HAL pins)| | |- kinematics (trajectory planner and kinematics)| | |- motion (motion controller, talks through S
27、HM to the rest of EMC)| | |- nml_intf (emc specific NML implementation, all messages sent in emc)| | |- rs274ngc (the rs274 g-code interpreter)| | |- sai| | |- task (core component in emc, dispatches actions to other parts)| | - usr_intf (interfaces for some GUIs, and other interfaces: AXIS, halui,
28、stepconf)| | |- axis| | | |- etc| | | |- extensions| | | - scripts| | - stepconf根据该结构树，我们一个一个的再一次进行分析：（1）canterp (interpreter for canonical commands，即规范命令的解释器)#include / FILE, fopen(), fclose()#include / strcpy()#include / isspace()#include #include #include config.h#include emc/nml_intf/interp_retu
29、rn.hh#include emc/nml_intf/canon.hh#include emc/rs274ngc/interp_base.hh其中包括了语法解析，读取，执行等函数，对刀具信息、主轴转速、开始、停止等信息进行判断和执行工作。（2）ini (inifile related operations，初始化相关的文件)同样，列出该文件夹的结构树：| |- ini (inifile related operations)| | |- emcIniFile.cc/hh | | |- iniaxis.cc/hh | | |- inihal.cc/hh | | |- initraj.cc/hh
30、| | |- initool.cc /hh (2.1) emcIniFile.cc/hh #include / M_PI.#include emcIniFile.hh该文件定义了一些INI文件中字符的赋值，包括 一个TURE或者FAULSE，单位mm ,m，角度，直线，旋转等等。(2.2) iniaxis.cc/hh #include #include / NULL#include / atol(), _itoa()#include / strcmp()#include / isdigit()#include #include #include emc.hh#include rcs_print
31、.hh#include emcIniFile.hh#include iniaxis.hh/ these decls#include emcglb.h/ EMC_DEBUG#include emccfg.h/ default values for globals#include inihal.hh该文件主要用到了两个函数：loadaxis以及iniaxis。前一个函数loadaixs是对INI文件中的轴类型，轴单元，最大最小位置限值，误差限值，最大速度，加速度，加加速度等初始化参数进行读取并存储在&axisIniFile中，这些参数对应于INI文件中AXIS一栏中的参数，并将部分参数赋值给old
32、_inihal_data。除此之外，iniaxis函数主要是读取INI文件中TRAJ部分的AXIS轴数，然后调用loadaxis进行初始化加载。除去两个主要函数，还有一个精度判断函数iniGetFloatPrec以及状态函数（可有可无）。（2.3）initraj.cc/hh该文件主要包含以下几个函数：loadTraj，用于加载INI文件中TRAJ中的配置参数，然后将读取的参数值进行保存，主要赋值给old_inihal_data以及traj_max_velocity等变量，供后续其他文件调用。同时该文件的后面还有一个坐标轴返回原点的判断程序，从而保证TRAJ中的原点坐标。其实，该文件类似于ini
33、axis.cc/hh。（2.4）inihal.cc/hh#include rcs_print.hh#include emc.hh#include #include hal.h#include rtapi.h#include inihal.hh该文件中主要包含以下几个函数：ini_hal_init，用于定义HAL中的新的管脚，包括了各轴中的INI参数管脚，以及TRAJ中的INI参数管脚；ini_hal_init_pins，用于对之前定义好的新管脚进行赋值，主要是将old_inihal_data中的参数值存储到*(the_inihal_data-NAME)中去。check_ini_hal_item
34、s()，用于对各个管脚的值进行更新检查。备注：old_inihal_data中的值都是在iniaxis.cc以及initraj.cc中赋值了的。（3） iotask该文件在这里不做详细介绍，主要是创建“iocontrol”组件，并对一些接口文件进行配置。（4）Kinamitcs该文件夹中包含了不同的运动控制模块，例如五轴、三轴、六轴等等。除此之外，还包含了插补以及速度控制的轨迹规划文件。（4.1）运动控制模块（4.2）轨迹规划模块TC.C文件主要是基于轨迹规划的简单判别文件，由TP.C调用。下面我们分别说明该文件中的一些函数。#include rtapi.h/* rtapi_print_msg
35、 */#include posemath.h#include emcpos.h#include tc.h（1）tcGetStartingUnitVector 主要是获取运动轨迹的起始点的起始单位向量，如果是直线或者攻丝，那么直接计算起始与终止点的位移大小。如果不是，那么就是圆形运动，计算曲率，半径，起始点等等。（2）tcGetEndingUnitVector 主要是获取运动轨迹的终止点的终止单位向量，如果是直线，那么直接计算终点坐标减去起点坐标的大小。如果是攻丝，那么计算起点坐标减去终点坐标的大小。对于其他运动，即曲线运动，则根据转过的角度，计算终点坐标，然后计算曲率半径，并将数据保存到指定位置V中。（3）tcGetPos/tcGetEndpoint 两个都是通过调用函数tcGetPosReal从而得到位置信息。（4）
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