On Friday 01 November 2019 20:58:55 Alec Ari via Emc-developers wrote: > Greetings RTAI users! TESTERS WANTED! > > I have just finished completely re-working the math functions in > kernel space for RTAI. > > Instead of putting nearly an entire C library in kernel space, I have > trimmed the living hell out of musl and have ported it for use with > RTAI. > > The amount of (COMPLETELY SAFE) warnings of undefined symbols have > been shortened dramatically, and you are welcome to start playing with > the new branch here: > > https://github.com/NTULINUX/RTAI/tree/new-libm > > All of the math functions in rtapi_math.h located in the LinuxCNC > source tree are fully supported. The following are: > > acos > asin > atan > atan2 > ceil > cos > exp > fabs > floor > fmax > fmin > fmod > pow > round > scalbn > sin > sqrt > tan > > 53 changed files, 4,173 additions, 714 deletions -- Big commit, lots > of changes, needs testing. > > Previously, the RTAI build system would do a fresh git clone every > time during `make` and all files were git ignored. This is no longer > the case, musl is now included in RTAI, but only the parts required > for LinuxCNC and RTAI functionality. > > The result is less warnings, and less junk in kernel space. In order > to make the warnings go away entirely, all of the new libm code would > need to be ported to Kbuild, and I do not have the time nor the skill. > These warnings are also present in mainline RTAI as the rtai_math.ko > exports symbols which are not already defined. Instead, less than a > second later, these symbols come statically linked from the just-built > musl libm.a, defining all of the symbols that were previously > undefined. > > In short: > > 1.) RTAI build system compiles musl's libm (creates libm.a) > > 2.) RTAI build system compiles rtai_math.ko (separately, these are > where the warnings come in) > > 3.) RTAI build system statically links rtai_math.ko to libm.a which > defines all of those symbols. > > With Kbuild, everything happens at once. The libm from musl and > rtai_math.ko get built together, all in one module. > > Starting Monday I will be very busy and will not have time for RTAI > anymore. If this new branch checks out OK with andypugh, Tom, and > other users/testers, I will merge the `new-libm` branch into master, > and bump the version to 5.2.4. After that, feel free to make a Debian > release as this is the preferred way to use RTAI math support > (although putting all of this cool new stuff in Kbuild is obviously a > better option) > > andypugh, you will have to refork your RTAI tree as it is currently > out of sync. I broke that tree when I was first starting out and went > back and fixed some commits. Also, please do not make debs with the > no-calibration branch as this was only a test for your system, and > yours only. > > The focus now with RTAI is making sure the `new-libm` branch is > working for everyone, as this is better, cleaner, and more robust than > the approach on RTAI mainline, and with less warnings. This just needs > testing before the merge into `master` but everything should check out > OK. > > Thank you everyone! > > Alec
And many thanks to you for forking rtai and bringing it into the next decade if not even more. I'm getting a new aortic valve Tuesday so I won't pester until they're thru with me. Probably at least a week. > > > _______________________________________________ > Emc-developers mailing list > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) If we desire respect for the law, we must first make the law respectable. - Louis D. Brandeis Genes Web page <http://geneslinuxbox.net:6309/gene> _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
