LINUXCNC源程序原理说明.docx

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1、opLINUXCNC源程序学习源程序的树构造如下：Overviewoftheemc2directory(generatedbytree-I.git-d):-app-defaults|bin(usermodebinaries)-configsI-5axisI-bossI-commonI-dallur-thcI-demo_mazakI-demo_sim_clI-demo_step_clI-etch-servoI-halui_halvcpI-hexapod-simI-lathe-plutoI-m5i20I-maxI-motencI-nist-latheI-plasma-thc(samplemazak

2、configfiles)(samplesimwithladderIO)(samplestepperwithladderIO)(sampleservousingMesaPCI)(sampleservousingVitalPCI)-plasma-thc-sim-ppmcpumaI-scaraI-simI-stepperI-stepper-gantryI-stepper-xyzaII-stgI-univpwmI-univstepIvti-debian(simulatedmotionand10)(parportstepperdriver)(sampleservousingSTGISA)(sampleP

3、ICOservogenerator)(samplePICOsteppergenerator)(filesneededtobuilddebpackages)extras-Ubuntu-5.10(extrafilesforUbuntu5.10)|etcI-modprobe.dI|udevII-rules.dII-scriptsI-Xdg-menusapplications-mergedUSshare|applications|desktop-directories-pixmaps-extras-Ubuntu-6.06(extrafilesforbuildingonUbuntu6.06DapperD

4、rake)|etcI-modprobe.dI-udevII|rules.dII-scriptsIxdgI、一menusI-applications-mergedUSshare|applications|desktop-directories-pixmapsextras-Ubntu-7.10(extrafilesforbuildingonUbuntu7.10)-etcI-modprobe.dI-udevIIrules.dI-XdgI、一menusI-applications-mergedusrshare|applications|desktop-directories-pixmaps-extra

5、s-Ubuntu-8.04(extrafilesforbuildingonUbuntu8.04HardyHeron)-etcI-modprobe.dI-xdgI、一menusI-applications-mergedusrshare|applications|desktop-directories-pixmaps-extras-sim-Ubuntu-5.10(extrafilesforsimpackageforUbuntu5.10)-etcI-XdgI、一menusIapplications-mergedusrI-shareI|applicationsI|desktop-directories

6、I-pixmaps-extras-sim-Ubuntu-6.06(extrafilesforsimpackageforUbuntu6.06DapperDrake)|etcI-xdgI、一menusIapplications-merged、-usrshare|applications|desktop-directories、-pixmapsdocs(AlltheimportantandrelevantDocs.)-help-html(htmlversionofdocs-somegeneratedfromlyx)|man(manpages)I|manlI-man3Iman9src(APIandso

7、urcenotesshouldbeineachsrcdir.)(sourceforthehandbooks)(toplevel.lyxfiles)-code|common(shared.lyxfilesandimages,suchasglossary,GPLDlicense)|config|geode(.lyxfiles,images,etc.forG-Codedocumentation)|gui(.lyxfiles,images,etc.forGUIdocumentation)|hal(.lyxfiles,images,etc.forHALdocumentation)|install|lad

8、der|motion-quickstartinclude(headersinstalledhere-originalsinsrcxxx)lib(usermodeobjectfiles)python-rs274、一yappsnc_files(SampleNCfiles)rtlib(kernelmodeobjectfiles,onlyafterasuccessfullcompile)scripts(bashscriptslikeIinuxcnc,realtime,rip-environment,etc.)share|axisI-imagesI-tcl-emclocale|deI-LC_MESSAG

9、ES-esI、-LC_MESSAGES-frI-LC_MESSAGES|huI、-LC_MESSAGES-itI-LC_MESSAGES|pt_BRI、-LC_MESSAGES|roI-LC_MESSAGES|ruI、-LC_MESSAGES-seI-LC_MESSAGES-srI、-LC_MESSAGES、一zh_CN-LC_MESSAGESsrc(sourcetree-configurescript,toplevelmakefile,Makefile.inc,etc)I-depends(generateddependencytree)I|emc(actualLinuxCNCcode)-ca

10、nterp(interpreterforcanonicalcommands)-ini(inifilerelatedoperations)|iotask(10interface,lotsofHALpins)-kinematics(trajectoryplannerandkinematics)|motion(motioncontroller,talksthroughSHMtotherestofEMC)-nml_intf(emcspecificNMLimplementation,allmessagessentinemc)|rs274ngc(thers274g-codeinterpreter)-sai

11、|task(corecomponentinemc,dispatchesactionstootherparts)usr_intf(interfacesforsomeGUIs,andotherinterfaces:AXIS,halui,stepconf)|axisII-etcI|extensionsI-scripts-stepconfhal(theHardwareAbstractionLayer,providesaunifiedinterfaceacrossallhardware)-classicladderIprojects-examples|components-driversII-m5i20

12、III-bitIIhostmot5_srcI-mesa-hostmot2II|docII-firmwareII-5i20III-SOURCEII、一7i43II-CPLDIII、-SOURCEII-SOURCEI-mesa7i43-firmwareIII-gpioIII-sourceII|hostmot2III-srcII-sourceI-mesa_5i2xIIfirmwareI-pluto_servo_firmwareIpluto_step_firmware-user_compsI-devicesI-vcputils-halgui-Iibnml(acleanimplementationofR

13、CSLIB)-buffer|cms-inifile|linklist-nml|os_intf-posemathres-module_helperobjects-emcI-canterpI-iniI-iotaskI-motionI-nml_intfI-rs274ngcI-saiI-taskIllusr_intfIII-axisIII-extensionsII-halIlll-classicladderIlll-componentsIII-driversIII-user_compsIllll-devicesIlll-vcp-utilsII|IibnmlIII-bufferIlll-cmsIII-inifileIlll-linklistIII-nmlIII-os_intfIII-posemath-resII-rtapiII|rtemcIII-kinematics-motionII-rthalIlll-classicladderIII-components-utilsII-