On 9/2/2013 4:23 AM, Michael Haberler wrote: > > Am 02.09.2013 um 05:36 schrieb Charles Steinkuehler > <[email protected]>: > >> I'm trying to make an updated MachineKit image for the BeagleBone >> using the unified-build-candidate-2 branch as a base. >> >> One issue I'm running into is the pru binary image has apparently >> moved from rtlib/ to rtlib/xenomai. >> >> I'm not sure exactly why...I suspect it is fallout from some other >> build or makefile change. If the assembled binary was moved on >> purpose, could someone explain the reasoning? At the moment, the >> PRU code knows nothing whatsoever about the flavor of real-time >> that's used for HAL. > > > I'm in the process of updating the UB docs and that includes text > from John explaining the changes in directory layout, including this > one that should be out today or tomorrow > > the reason was the intent to package all binaries for a given flavor > under rtlib/<flavorname>, and to wrap those files into a package > which can be separately installed or upgraed > > if you have binaries with pathnames which are in several packages > you'd get conflicts when you install several flavor packages as one > would overwrite the binary of the other; using per-flavor paths gets > around the issue
I understand that part, I just don't see the PRU files as having a dependency on the real-time flavor. Ah well...the PRU binary file isn't even 1K so having it duplicated for each RTOS flavor isn't exactly a huge overhead. :) >> On a related issue, I am still having to provide a full hard-coded >> path to the PRU binary, so I have the following in the BeBoPr.ini >> file: >> >> [PRUCONF] DRIVER=hal_pru_generic >> CONFIG=prucode=/home/linuxcnc/linuxcnc/rtlib/xenomai/pru_generic.bin >> >> pru=1 num_stepgens=4 num_pwmgens=3 >> >> Is there an easy way to point to files (from within C code) inside >> the active linuxcnc run-in-place build? > > yes, there is; the pertinent paths can be pulled from > etc/linuxcnc/rtapi.ini by means of calling get_rtapi_config(): > https://github.com/mhaberler/linuxcnc/blob/unified-build-candidate-2/src/rtapi/rtapi_compat.c#L274 > > see linuxcnc/src$ grep -r get_rtapi_config src for some usage > examples Excellent! Thanks for the pointer, it sounds like just what I need. -- Charles Steinkuehler [email protected]
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