LINUXCNC源程序原理说明.docx

1、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） :。 appdefaults bin (user mode binaries）- configs |- 5axis - boss common - dallurthc| - demo_mazak (sample mazak config files) - demo_sim_cl （sample sim with ladder IO) |- demo_step_cl (sample steppe

2、r with ladder IO)| |- etch-servo |- halui_halvcp - hexapodsim| |- lathepluto |- m5i20 （sample servo using Mesa PCI)| |- max| |- motenc (sample servo using Vital PCI)| - nistlathe| | plasmathc - plasma-thcsim| - ppmc puma - scara| - sim (simulated motion and IO）| | stepper （parport stepper driver) |-

3、 stepper-gantry | stepper-xyza| |- stg (sample servo using STG ISA）| - univpwm （sample PICO servo generator)| - univstep （sample PICO stepper generator) vti debian (files needed to build deb packages)| extrasUbuntu-5.10 （extra files for Ubuntu 5.10)| etc |- modprobe.d - udev | | | |- rules。d | - scr

4、ipts| | | xdg| | - menus| applicationsmerged | - usr| | - share| |- applications - desktopdirectories | - pixmaps| - extrasUbuntu6。06 (extra files for building on Ubuntu 6。06 Dapper Drake）| |- etc | | | modprobe。d| | | udev | | rules。d | - scripts - xdg | - menus applicationsmerged | - usr - share |

5、 - applications| desktop-directories - pixmaps |- extrasUbuntu7。10 （extra files for building on Ubuntu 7。10） | | etc | | - modprobe.d| | | - udev | | rules.d | - xdg | - menus| | | - applications-merged - usr | - share| - applications | desktopdirectories| - pixmaps extrasUbuntu8.04 (extra files for

6、 building on Ubuntu 8。04 Hardy Heron）| |- etc | |- modprobe.d| | xdg| - menus| applications-merged| | - usr| | share |- applications| | |- desktop-directories pixmaps| - extras-simUbuntu-5.10 （extra files for sim package for Ubuntu 5.10)| | | etc | - xdg | | - menus| | - applications-merged| | - usr

7、| - share| | - applications | |- desktopdirectories pixmaps| - extrassim-Ubuntu-6。06 （extra files for sim package for Ubuntu 6。06 Dapper Drake）| | etc | - xdg - menus | - applications-merged| - usr| - share |- applications - desktop-directories| - pixmaps- docs （All the important and relevant Docs.）

8、 |- 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 files)| - code| common (shared .lyx files and images, such as glossary， GPLD license） |-

9、config| - gcode (.lyx files， images， etc。 for GCode documentation)| - gui （。lyx files, images， etc。 for GUI documentation）| - hal (.lyx files, images, etc. for HAL documentation)| install| - ladder - motion| - quickstart|- include (headers installed here originals in src/xxx/）- lib (user mode object

10、 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-environment， etc。)|- share |- axis| images | tcl |- emc - locale - de - LC_MESSAGES| - es| - LC_MESSAGES | fr - LC_MES

11、SAGES - hu| - LC_MESSAGES| |- it | LC_MESSAGES| |- pt_BR - LC_MESSAGES - ro| | LC_MESSAGES| |- ru| | - LC_MESSAGES| |- se| | - LC_MESSAGES |- sr| LC_MESSAGES - zh_CN - LC_MESSAGES|- src （source tree configure script, top level makefile， Makefile.inc, etc)| | |- depends (generated dependency tree)| |

12、 - 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 SHM to the rest of EMC) | nml_intf （emc spec

13、ific 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， stepconf) | axis| |- etc | | | extensions| scripts| -

14、stepconf| |- hal (the Hardware Abstraction Layer, provides a unified interface across all hardware)| | - classicladder| | | - projects_examples| - components | - drivers - m5i20 | - bit | hostmot5_src | | mesa-hostmot2 | |- doc | | - firmware | | - 5i20 | | | SOURCE | - 7i43 | |- CPLD| | | | | SOURC

15、E| | SOURCE| |- mesa7i43firmware| | | 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 | cms | | ini

16、file |- linklist | |- nml - os_intf| | - posemath | - rcs |- module_helper |- objects| - emc | - canterp | - ini | - iotask| | | - motion| |- nml_intf| | |- rs274ngc| | - sai| | - task | | usr_intf | axis | - extensions| | | hal| | - classicladder | - components | |- drivers | - user_comps| | | devi

17、ces | | | - vcp| | - utils | |- libnml |- buffer | - cms| | | inifile | | |- linklist| | | - nml| | |- os_intf| - posemath| | - rcs |- rtapi| |- rtemc| | |- kinematics| | - motion | - rthal| | - classicladder| | - components | | - utils| rtlibnml | | - posemath| - rtobjects - hal| | components - po

18、(Translation files for i18n support) - rtapi （*。c and .h for RTAPI) （unified RT API, wraps over RTLinux， RTAI and sim) - examples （testing examples for the RTAPI)| - extint| | fifo| semaphore | |- shmem| | - timer| - tests|- tcl (tkemc.tcl， mini.tcl the tcl GUIs) |- bin| scripts- tests - abs.0 | and

19、-or-notmux.0 |- basic ccomp | |- lathecomp | mill-g90g91g92 | |- millline-arc-entry | - millzchanges |- counterencoder.0 |- flipflop。0 |- interp - camnisley | - flowsnake |- limit3.0 - limit3。1 |- limit3。2 - modparam.0 | overrun - oword | - sub.0 - save.0 save。1 |- source。0 - stepgen。0 | stepgen.1 |

20、- stepgen。2 - threads。0 - timedelay.0Overview of the emc2 install dirs： / (file system root） |- 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/

21、bin) | - sbin/ (known as sbindir, ) | - etc/ (known as sysconfdir， 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) | |

22、 nc_files/ | - (Sample NC files） |- $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linuxcn

23、cdev/src/emc中的子结构树: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 throug

24、h 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 component in emc, dispatches actions to other parts) | usr_intf (interfaces for some GUIs， and other interfaces： AXIS, halui, stepc

25、onf)| |- 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 / strcpy（）include / isspace（）#include limits。hinclude include config.h”#include emc/nml_intf/interp_return。hh#include emc/nml_intf/canon。hh#include emc/

26、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 | |- initool.cc /hh （2.1) emcIniFile。cc/hh include math。h / M_PI。#incl