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LINUXCNC源程序原理说明
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2019-03-20
09:11:25
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LINUXCNC源程序原理说明,包含linuxcnc的代码结构和一些细节的简单说明,方便理解代码。供大家参考
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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
| |-- 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 servo 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 (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
| | |-- applications
| | |-- 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
| | |-- desktop-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-8.04 (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
| | | `-- 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
| |-- 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 files)
| |-- 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
| |-- 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-environment, 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
| | `-- LC_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 interface, 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 component 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)
| | |-- classicladder
| | | `-- projects_examples
| | |-- components
| | |-- drivers
| | | |-- m5i20
| | | | |-- bit
| | | | `-- hostmot5_src
| | | |-- mesa-hostmot2
| | | | |-- doc
| | | | `-- firmware
| | | | |-- 5i20
| | | | | `-- SOURCE
| | | | `-- 7i43
| | | | |-- CPLD
| | | | | `-- SOURCE
| | | | `-- SOURCE
| | | |-- mesa7i43-firmware
| | | | |-- 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
| | |-- 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
| | | |-- classicladder
| | | |-- components
| | | |-- drivers
| | | |-- user_comps
| | | | |-- devices
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