Merge branch 'master' of git://git.linuxcnc.org/git/emc2 into master-…

…ysli Conflicts: .gitignore configs/sim/orient.ini configs/sim/remap/iocontrol-removed/core_sim_test.hal configs/sim/remap/rack-toolchange/racktoolchange.ini debian/changelog debian/control.in src/emc/ini/iniaxis.cc src/emc/ini/initraj.cc src/emc/motion/motion.c src/emc/motion/motion.h src/emc/nml_intf/emcglb.c src/emc/nml_intf/emcglb.h src/emc/rs274ngc/interp_check.cc src/emc/rs274ngc/interp_convert.cc src/emc/rs274ngc/interp_read.cc src/emc/rs274ngc/rs274ngc_pre.cc src/emc/task/emccanon.cc src/emc/task/emctask.cc src/emc/task/emctaskmain.cc src/emc/task/taskintf.cc src/emc/usr_intf/keystick.cc src/emc/usr_intf/xemc.cc
araisrobo · Dec 13, 2011 · efdd761 · efdd761
2 parents 440d7de + b6bc519
commit efdd761
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Showing 818 changed files with 77,957 additions and 185,505 deletions.
diff --git a/.gitignore b/.gitignore
@@ -29,3 +29,5 @@ share/desktop-directories/cnc.directory
 *.swp
 run.sh
 debian/*.debhelper.log
+src/modules.order
+docs/html/drivers
diff --git a/configs/gantry/gantry-hs.ini b/configs/gantry/gantry-hs.ini
@@ -39,7 +39,7 @@ BASE_PERIOD = 55555
 SERVO_PERIOD = 1000000
 
 [HAL]
-HALFILE = gantry-hs.hal
+HALFILE = gantry.hal
 HALFILE = custom.hal
 POSTGUI_HALFILE = custom_postgui.hal
 

diff --git a/configs/hm2-servo/3x20-small.ini b/configs/hm2-servo/3x20-small.ini
@@ -2,7 +2,7 @@
 [HOSTMOT2]
 DRIVER=hm2_pci
 BOARD=3x20
-CONFIG="firmware=hm2/3x20/SV24S.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
+CONFIG="firmware=hm2/3x20-1/SV24.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
 
 
 

diff --git a/configs/hm2-stepper/3x20-small.ini b/configs/hm2-stepper/3x20-small.ini
@@ -2,7 +2,7 @@
 [HOSTMOT2]
 DRIVER=hm2_pci
 BOARD=3x20
-CONFIG="firmware=hm2/3x20/SVST16_24S.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
+CONFIG="firmware=hm2/3x20-1/SVST16_24.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
 
 
 
@@ -140,6 +140,10 @@ CYCLE_TIME =            0.010
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
+
 BACKLASH =           0.000
 
 # scale is 200 steps/rev * 5 revs/inch
@@ -172,6 +176,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 
@@ -204,6 +211,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 

diff --git a/configs/hm2-stepper/4i65.ini b/configs/hm2-stepper/4i65.ini
@@ -140,6 +140,10 @@ CYCLE_TIME =            0.010
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
+
 BACKLASH =           0.000
 
 # scale is 200 steps/rev * 5 revs/inch
@@ -172,6 +176,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 
@@ -204,6 +211,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 

diff --git a/configs/hm2-stepper/4i68.ini b/configs/hm2-stepper/4i68.ini
@@ -140,6 +140,10 @@ CYCLE_TIME =            0.010
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
+
 BACKLASH =           0.000
 
 # scale is 200 steps/rev * 5 revs/inch
@@ -172,6 +176,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 
@@ -204,6 +211,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 

diff --git a/configs/hm2-stepper/5i20.ini b/configs/hm2-stepper/5i20.ini
@@ -140,6 +140,10 @@ CYCLE_TIME =            0.010
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
+
 BACKLASH =           0.000
 
 # scale is 200 steps/rev * 5 revs/inch
@@ -172,6 +176,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 
@@ -204,6 +211,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 

diff --git a/configs/hm2-stepper/5i22-big.ini b/configs/hm2-stepper/5i22-big.ini
@@ -140,6 +140,10 @@ CYCLE_TIME =            0.010
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
+
 BACKLASH =           0.000
 
 # scale is 200 steps/rev * 5 revs/inch
@@ -172,6 +176,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 
@@ -204,6 +211,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 

diff --git a/configs/hm2-stepper/5i22-small.ini b/configs/hm2-stepper/5i22-small.ini
@@ -140,6 +140,10 @@ CYCLE_TIME =            0.010
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
+
 BACKLASH =           0.000
 
 # scale is 200 steps/rev * 5 revs/inch
@@ -172,6 +176,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 
@@ -204,6 +211,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 

diff --git a/configs/hm2-stepper/5i23.ini b/configs/hm2-stepper/5i23.ini
@@ -140,6 +140,10 @@ CYCLE_TIME =            0.010
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
+
 BACKLASH =           0.000
 
 # scale is 200 steps/rev * 5 revs/inch
@@ -172,6 +176,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 
@@ -204,6 +211,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 

diff --git a/configs/hm2-stepper/7i43-big.ini b/configs/hm2-stepper/7i43-big.ini
@@ -140,6 +140,10 @@ CYCLE_TIME =            0.010
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
+
 BACKLASH =           0.000
 
 # scale is 200 steps/rev * 5 revs/inch
@@ -172,6 +176,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 
@@ -204,6 +211,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 

diff --git a/configs/hm2-stepper/7i43-small.ini b/configs/hm2-stepper/7i43-small.ini
@@ -140,6 +140,10 @@ CYCLE_TIME =            0.010
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
+
 BACKLASH =           0.000
 
 # scale is 200 steps/rev * 5 revs/inch
@@ -172,6 +176,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 
@@ -204,6 +211,9 @@ STEPSPACE  =              40000
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
+# Set Stepgen max 20% higher than the axis
+STEPGEN_MAX_VEL =    12
+STEPGEN_MAX_ACC =    24
 
 BACKLASH =           0.000
 

diff --git a/configs/hm2-stepper/hm2-stepper.hal b/configs/hm2-stepper/hm2-stepper.hal
@@ -89,8 +89,8 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace       [AXIS_0]STEPSPACE
 
 setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale  [AXIS_0]SCALE
 
-setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel          0
-setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel        0
+setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel          [AXIS_0]STEPGEN_MAX_VEL
+setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel        [AXIS_0]STEPGEN_MAX_ACC
 
 setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type       0
 
@@ -124,8 +124,8 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace       [AXIS_1]STEPSPACE
 
 setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale  [AXIS_1]SCALE
 
-setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel          0
-setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel        0
+setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel          [AXIS_1]STEPGEN_MAX_VEL
+setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel        [AXIS_1]STEPGEN_MAX_ACC
 
 setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type       0
 
@@ -159,8 +159,8 @@ setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace       [AXIS_2]STEPSPACE
 
 setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale  [AXIS_2]SCALE
 
-setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel          0
-setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel        0
+setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel          [AXIS_2]STEPGEN_MAX_VEL
+setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel        [AXIS_2]STEPGEN_MAX_ACC
 
 setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type       0