Hello, gentlemen!
I need some help in understanding, what am I doing wrong.
I am still not able to complete "sudo comp --install genserkins.c", as
I am still getting this error message:
water...@waterjet:~/emc2-dev/src/emc/kinematics$ sudo comp --install
genserkins.c
[sudo] password for waterjet:
make -C /usr/src/linux-headers-2.6.32-122-rtai SUBDIRS=`pwd` CC=gcc
V=0 -o /Module.symvers modules
make[1]: Entering directory `/usr/src/linux-headers-2.6.32-122-rtai'
CC [M] /tmp/tmpuiYIV2/genserkins.o
/tmp/tmpuiYIV2/genserkins.c: In function 'compute_jfwd':
/tmp/tmpuiYIV2/genserkins.c:195: warning: the frame size of 1712 bytes
is larger than 1024 bytes
/tmp/tmpuiYIV2/genserkins.c: In function 'genser_kin_jac_fwd':
/tmp/tmpuiYIV2/genserkins.c:315: warning: the frame size of 1200 bytes
is larger than 1024 bytes
/tmp/tmpuiYIV2/genserkins.c: In function 'compute_jinv':
/tmp/tmpuiYIV2/genserkins.c:238: warning: the frame size of 1444 bytes
is larger than 1024 bytes
/tmp/tmpuiYIV2/genserkins.c: In function 'genser_kin_jac_inv':
/tmp/tmpuiYIV2/genserkins.c:278: warning: the frame size of 1912 bytes
is larger than 1024 bytes
/tmp/tmpuiYIV2/genserkins.c: In function 'kinematicsInverse':
/tmp/tmpuiYIV2/genserkins.c:533: warning: the frame size of 2256 bytes
is larger than 1024 bytes
Building modules, stage 2.
MODPOST 1 modules
WARNING: "go_quat_inv" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "hal_init" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_quat_matrix_convert" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_pose_pose_mult" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_dh_pose_convert" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_matrix_vector_mult" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_matrix_vector_cross" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "hal_exit" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_link_pose_build" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_quat_cart_mult" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_cart_vector_convert" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "hal_malloc" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_matrix_matrix_add" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_quat_rvec_convert" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_matrix_matrix_mult" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "hal_pin_bit_newf" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_matrix_inv" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_matrix_transpose" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_rpy_quat_convert" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_quat_rpy_convert" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "hal_ready" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_pose_inv" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "go_link_joint_set" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "hal_pin_float_newf" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
WARNING: "rtapi_print" [/tmp/tmpuiYIV2/genserkins.ko] undefined!
CC /tmp/tmpuiYIV2/genserkins.mod.o
LD [M] /tmp/tmpuiYIV2/genserkins.ko
make[1]: Leaving directory `/usr/src/linux-headers-2.6.32-122-rtai'
cp genserkins.ko /usr/realtime-2.6.32-122-rtai/modules/emc2/
water...@waterjet:~/emc2-dev/src/emc/kinematics$
Here is what I tried to do differently, compared to yesterday:
1) I took another PC with "clean" EMC 2.4.6, installed emc2-dev and 3
git packages, got source code
2) in genserkins.c file I added _only_ those lines that create HAL
pins, I did not touch this part:
for (t = 0; t < GENSER_MAX_JOINTS; t++) {
genser->links[t].u.dh.a = A(t);
genser->links[t].u.dh.alpha = ALPHA(t);
genser->links[t].u.dh.d = D(t);
genser->links[t].u.dh.theta = 0;
genser->links[t].type = GO_LINK_DH;
genser->links[t].quantity = GO_QUANTITY_ANGLE;
}
Please, I will appreciate any help or advice that can help me get it right.
Viesturs
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