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BCConversion Technical Manual

1. http www microchip com http www gnupic org http www finitesite com d3jsys http www powerdesigners com InfoWeb http www pcim com http www solorb com elect solarcirc pwm1 http www bbastrodesigns com cot cot html http www boondog com http www robotics com http www servotogo com http www mesanet com motioncardinfo html http www national com pf LM LM629 html http www jrkerr com http www intel com design embcontrol http www microchip com http www oopic com http ee cleversoul com http www embeddedlinks com chipdir http www pcbexpress com http www kdream com http www jameco com http www digikey com http www alliedelec com http www mouser com http www alltronics com http www jdr com http wirz com http www usdigital com http www drc com encoder intro htm http www cmccontrols com http www rsf net http www heidenhain com product html http www sdp si com Page 55 of 57 Copyright O 2001 2008 RenaiSys LLC PIC microcontrollers PIC resources PIC programmer by Byron Jeff Power design resources Power electronics news Simple pulse width modulation circuit Computer operated telescope with servo motors and stepper motors Computer controlled circuits PC base motion controllers PC base motion controllers Motion controller cards Precision Motion C
2. MsgToSim 1lmt recordSave strncpy msg update rt_get_adr snprintf logWrite aphErrorSet rt mbx evdrp canSet comSet inpSet msgSet rttSet timSet sprintf rt mbx receive wp rec update apiSets apiS apiCoordinateSend sprintf apiS apiAsciiFromFloat snprintf aphErrorSet comSet snprintf logWrite fprintf fflush rt_spwrite rt_get_adr MsgToSim snprintf aphErrorSet tim update 1mtSet canApcSet rt get adr rt_mbx receive if snprintf aphErrorSet fopen BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 18 of 57 Page 19 of 7 fprintf fclose aph modClose aph stateSet STA 0 61051 aph modAl1Run cfg cWrite com end aph stateSet STA MINI WAIT aph modAl1Run aph stateSet GTA WAITING aph modAl1Run aph stateSet STA_EXITING aph modAl1Run gui end endwin rtt end sleep End of loop end aph intClose signal logClose exit BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 20 of 7 receive wp task init _schmod t_periodic_ mode real time task make periodic rt make soft_real time Real time thread flow rtt main rtt init rtt head rtt arguments getopt atoi r
3. apc stateSet STA_CONFIGURING apc stateSet STA_OPENING serA open serOpen serConfig serSet serTimeSet timGet serOpen serDcConfig serTest serTest serTest serKineticT serTest serErrorSet serTest ser st serTest serLimitTes 8 xTes serTest s serSet serPosTarget STA MINI RUN STA RT LOAD apc stateSet apc stateSet apc stateSet apc stateSet STA HARDWARE LOAD STA INITIAL LOAD E apc stateSet STA_RUNNING can update eppSet can bufferRead canRead apcGet canGet comGet dpyGet eppGet keyGet serGet serGet BCConversion Manual Version 2 0 Page 28 of 7 serGetC timGet apcSet canSet eppSet can bufferClear apcSet comSet dpySet eppSet keySet serSetA serSetB serSetcC timSet com update canSet dpy count dpy update epp update apcSet canRead canSet key update canSet serA update tim update timStream timStreamGet STA_LMT COMPARATOR RUNNING STA_LMT MODEL RUNNING STA LMT PROFILE RUNNING PARATOR RUNNING EL RUNNING DEL RUNNING STA 59 PROFILE RUNNING VAIT STA B STA P PROFILE RUNNING STA 59 COMPARATOR RUNNING tateSet tateSet tateSet oe tateSet S
4. apiLGet canGet comGet dpyGet grdGet guiGet inpGet keyGet 1 phcGet phmGet proGet recGel ttGel erGet 11 tes test tes arguments tes str tes canMsg i OR SL ER E Eh ELSE o RA EI Ta en e rr re rere re 7 7 7 e Ye WH CT BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 12 of 57 tes msg tes acError tes funGet tes funSet tes funMax tes cfg tes cfgTable mlockall while no error or exit aphErrorSet aph modInit aph stateSet STA _INITIALIZING aph modAl1Run apc init apiL init snprintf logWrite apiS init snprintf logWrite can init cfg init com init fopen dpy init epp init grd init gui init printf endwin initscr start _color init _pair noecho nonl cbreak timeout keypad guiSet guiGeto snprintf aphErrorSet curs Set erase bkga gui title guid data gui helps refresh touchLoad RET lt inp init key init imt init phc init phm init pro init rec init rtt init Cher ich Et chick ict aa HY 7 t te snprint logWrit aphErrorSet Page 13 of 57 Copyright 2001 2008 RenaiSys LLC Version 2 0 BCConversion Manual rt mbx init rt task init MsgToRtt ser
5. 2001 2008 RenaiSys LLC Page 16 of 57 logWrite aph stateSet STA_RUNNING com update rt_spread com bufferFull snprintf aphErrorSet com streamLog snprintf logWrite sprintf fprintf fflush rt oer 802 MsgToSim comSet apiSetL comSet snprinf logWrite fprintf fflush rt _spwrite rt oer 802 MsgToSim snprintf aphErrorSet apiL api 1mtSet snprintf aphErrorSet streamIndexReset isprint logWrite fprintf fflush rt_get_adr MsgToSim apiSets isspace snprinf aphErrorSet apiS api dpy lUpdate dpy pointUpdate dpy dataUpdate dpy point3dUpdate dpy dataUpdate dpy dataUpdate dpy sUpdate dpy pointUpdate dpy dataUpdate dpy point3dUpdate dpy dataUpdate dpy dataUpdate inp update inp leverUpdate apcGet MsgToRtt imt update imt statusUpdate imt recordUpdate BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 17 of 57 rt t recordLoad rdProfile t recordLoad rdSend t record3d Ilmt recordLong Imt recordCode Imt record2d Imt recordLong 16 2600200096 Imt recordCheckSend comSet snpringf logWrite sprintf fprintf fflush rt_spwrite rt_get_adr 1 6 lmt rec 5305054
6. USB Device Legacy Support to Always On In Integrated Peripherals in Onboard Super IO Function set Onboard FDD Controller to Disabled and set Onboard Serial Port 2 to Disabled In Integrated Peripherals set Init Display First to Onboard VGA In Power Management Setup set State after Power Failure to Always On 1 2 10 Save amp Exit Setup 4 1 3 Intel D201GLY Motherboard Setup Procedure Press power button followed by F2 to enter the BIOS F9 to load Setup Defaults In Main set the date and time In Power set After Power Failure to Power In Boot set Boot USB Devices First to enable F10 to Save and Exit 1 2 BCConversion Manual Version 2 0 Copyright O 2001 2008 RenaiSys LLC Page 35 of 57 4 2 1 Linux Software Installation on Hard Disk Drive After the motherboard setup the system boots from CD To install the software on a new disk dive do the To use GMT as timezone To configure the system for local clock To use the default local setting To accept the settings To activate the console To check device name boot flag is set ID is set to b W95 FAT32 If needed format the drive Mount the drive Make mount point for cd Mount cd Copy content of aph directrory to the drive Unmount cd Change directory Install master boot record on
7. Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 USA See Appendix A for the complete text of the license BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 2 of 57 Table of Contents Te OVERVIEW A 5 ate cede tld A ee eet da wee dete 4 Qi NASON egene AE ta se lee A SAR 5 REKT EE 6 3 1 Functional Testen deed EEGENEN data 6 352 Ee 0 1 RE EE 7 3 3 Main A AA E E a A eE a a E A aea ean EE 9 3 4 e HR EE 24 29 3 6 Hardware Desi dis 32 3 6 1 Connector 60 A 0 da tds 3 IS O 34 41 Software Installation EE 34 4 1 1 Jetway 625EMP800 Motherboard Setup 8 5 34 4 1 2 Jetway 626EMP1G Motherboard 60 35 4 13 Intel D201GLY Motherboard Seip enere n 35 4 2 1 Linux 36 4 2 2 Linux Software Installation on USB Drive 37 4 2 3 Windows Software Installation on USB Drive 38 4 3 Firmware Install cid di a ada 39 AA HABA a a EA 40 5 41 0000000000 0000 7 42 Appendix D CD Directory and File Names irnn 0 46 Appendix He Document Hist A A edades 51 Appendix ti 52 53 Appendix R Resources 2 2 eco e ee coe Seet ea iene eo av E ee es E 54 Appendix e CR 57 BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 3 of 57 1 Overview The BCConversion rep
8. it can serve as a useful reference to create a configuration file to enter system specific values The syntax is VARIABLE value Comment VARIABLE is the name of the variable see str c value is any numerical character or string value Note that strings need to be enclosed in quotes Comment is any comment that is preceded by the character See appendix O for a listing and description of configuration options Each subsystem keys gui holds it s own configuration and variables Initialization init is called to set the variables in the subsystems to default values cfg cRead is called to read the file and pass variable names and values to the subsystems If present a parameter file similar to the configuration file is read and processed open is called to put the subsystem into running state During the running state or when the system shuts down values are saved to the parameter file via cfg cWrite update is called repeatably while the system is running end is called when the system is shutting down Errors No error are indicated by return values of functions Instead global functions are used aphErrorSet is called to indicate an error in user space rttErrorSet is called to indicate an error in the real time system apcErrorSet is called to indicate an error in the controller system All errors are checked in user space If recoverable the subsystems will clear the errors Function location E
9. AC10 Programming cable connected to power ICD2 and the controller 3 All software on a PC Procedure 1 Start Microchip s MPLAB IDE 2 Project gt Open gt apConvertion mcp 3 File gt Import gt apConvertion hex 4 Programmer gt Connect note Target Device dsPIC30F6010 found in the output window 5 Programmer gt Program 6 Repeat the last two steps for all controllers BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 39 of 57 4 4 Hardware Below is an outline of the complete hardware A standard PC power supply motherboard with CPU RAM video Ethernet and USB drive 5 adaptable controllers power connector power LED power switch and reset switch are in the electronics enclosure along with two fans in the cover of the enclosure PC power connector LED power switch and fans are all connected within the enclosure However the reset switch used for controller reset is only wired to the power connector and nothing is connected to any controller on the inside The following plugs connect the hardware with the external world From the PC a keyboard connector not needed a mouse connector not needed one Ethernet connector not needed two USB connectors needed for software configuration and updates a parallel connector needed for communication with first controller a serial RS232 connector COM1 needed for communication with application host
10. Module for LMT mode Message module Photogrammetric module for comparator mode Photogrammetric module for model mode Photogrammetric module for profile mode Main function and real time thread module Servo module Timer module autoconf files Argument functions Communication data functions Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 49 of 57 ser c str c tes c tim c src aph v src firmware apc c can c com c dpy c epp c key c Ser CG tim c src aph v src kbd Makefile kbd c src aph v src mou Makefile mou c src aph v src mplab apConvertion cod apConvertion cof apConvertion hex apConvertion Ist apConvertion map apConvertion mcp apConvertion mcs apConvertion mcw p30f6010 gld p30f6010A gld src aph v src rtt Makefile can c epp c inp c Imt c msg c phc c phm c pro c rtt c ser c tim c src aph v src sim Makefile arg c dat c BCConversion Manual Page 50 of 7 User interface functions File input functions Interrupt functions Keyboard input functions Message functions Real time thread functions Main LMT simulation and monitoring functions Main S9 simulation and monitoring functions autoconf files Simulation of apc firmware functions Simulation of can firmware functions Simulation of com firmware functions Simulation of dpy firmware functions Simulation of epp firmware functions Simulation of key firmware functions Simulation of BC functions Simulation
11. RenaiSys LLC Page 41 of 57 Appendix A Copy of GNU s General Public License GNU GENERAL PUBLIC LICENSE Version 2 June 1991 Copyright C 1989 1991 Free Software Foundation Inc 59 Temple Plac Suite 330 Boston MA 02111 1307 USA Everyone is permitted to copy and distribute verbatim copies of this license document but changing it is not allowed Preamble The licenses for most software are designed to take away your freedom to share and change it By contrast the GNU General Public License is intended to guarantee your freedom to share and change free software to make sure the software is free for all its users This General Public License applies to most of the Free Software Foundation s software and to any other program whose authors commit to using it Some other Free Software Foundation software is covered by the GNU Library General Public License instead You can apply it to your programs too When we speak of free software we are referring to freedom not price Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software and charge for this service if you wish that you receive source code or can get it if you want it that you can change the software or use pieces of it in new free programs and that you know you can do these things To protect your rights we need to make restrictions that forbid anyone to deny you these rights or to ask you to surrender the
12. as a whole If identifiable sections of that work are not derived from the Program and can be reasonably considered independent and separate works in themselves then this License and its terms do not apply to those sections when you distribute them as separate works But when you distribute the same sections as part of a whole which is a work based on the Program the distribution of the whole must be on the terms of this License whose permissions for other licensees extend to the entire whole and thus to each and every part regardless of who wrote it Thus it is not the intent of this section to claim rights or contest your rights to work written entirely by you rather the intent is to exercise the right to control the distribution of derivative or collective works based on the Program In addition mere aggregation of another work not based on the Program with the Program or with a work based on the Program on a volume of a storage or distribution medium does not bring the other work under the scope of this License 3 You may copy and distribute the Program or a work based on it under Section 2 in object code or executable form under the terms of Sections 1 and 2 above provided that you also do one of the following e a Accompany it with the complete corresponding machine readable source code which must be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange or e b Accompany i
13. auslig gov au http www ign fr http foto hut fi seura fsprs_eng html http www geomatics kth se ssff index_e html Hardware datasheets General directory for 74LS and others check the electrical engineering sites as well Texas Instruments MM74C922 key encoder circuit information from the University of Illinois ICM7218 display decoder circuit information from the Dartmouth Collage LS7266 from US Digital 8254 from Intel LMD18200 from National Semiconductor 74LS45 74LS156 Photogrammetry International National Books Systems Analysis amp Design Methods by Jeffrey L Whitten Lonnie D Bentley Vicotr M Barlow published by Irwin Burr Ridge Illinois ISBN 0 256 09360 1 Elements of Photogrammetry by Paul R Wolf Bon A Dewitt published by Mc Graw Hill Burr Ridge Illinois ISBN Page 56 of 57 Copyright 2001 2008 RenaiSys LLC 0 07 292454 3 BCConversion Manual Version 2 0 Appendix Z Credits This is at least a partial credits file list of people that have contributed to the BCConversion It is sorted by name and formatted to allow easy grepping and beautification by scripts The fields are name N email E web address W PGP key ID and fingerprint P description D and snail mail address S Please write to the current coordinator if the list needs to be updated Thanks Re
14. connector P with key 6 B 48V 12V GND GND 5V LL 3 6 1 Connector Configurations A 48V E F 24V 24V L 12V R 5 12V 12V W GND a b GND GND e GND h GND k 1 GND GND D GND u v 5V 5V 2 5V DD EE 12V 3 3V KK Sec Power For AC10 connector configuration see the AC10 manual Copyright O 2001 2008 RenaiSys LLC BCConversion Manual Version 2 0 4 Implementation For system requirements environmental requirements and hardware installation information see the BCConversion User Manual 4 1 Software Installation The software is pre installed for new systems However if an update is needed or the system was repaired below are procedures to install the software from scratch Requirements 1 BCConversion hardware 2 BCConversion software on CD and USB drive 3 CD drive connected if software has to be copied to USB drive 4 Keyboard monitor and power cord connected to the host processor 4 1 1 Jetway 625EMP800 Motherboard Setup Procedure 1 Press power button followed by Delete to enter the BIOS 2 Select and Load Standard Defaults 3 In Standard CMOS Features set the date and time Drive A as None and set Halt On to All But Keyboard 4 In Advanced BIOS Features set First Boot Device to Floppy Second to CDROM and Third to HDD
15. consists of four components application interface real time control software firmware and hardware The open application interface allows application programs to connect to a plotter without consideration for make or model of the hardware The real time control software computes the motions so the image can be seen in 3D The firmware is software that is programmed into micro controllers to keep close control of the hardware The hardware is adaptable to different plotters and connects to encoders motors lights switches and displays The Hardware is available from Adaptable Controllers Software installation integration and support services are available from RenaiSys and other authorized service providers The development for the BCConvertion is facilitated by Adaptable Controllers under GNU s General Public License Anybody interested is encouraged to contribute to the best of their abilities and provide feedback to Adaptable Controllers We hope manufacturers application developers and users of the plotters will benefit BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 4 of 57 2 Vision Technology gave rise to the Photogrammetry Industry and continues to drive the individuals as well as the organizations that are involved In order to extract scientific information from images and process the data photogrammetry organizations have been using analog systems analytical systems and digital systems as
16. drive Install boot loader Release mnt Unmount the drive following 1 Enter 2 Enter 3 Enter 4 Enter 5 Enter 6 fdisk l 7 mkdosfs F 32 dev hda1 8 mount dev hda1 mnt 9 mkdir cd 10 mount dev cdrom cd 11 cp r cd aph mnt 12 umount cd 13 cd mnt boot syslinux 14 cat mbr bin gt dev hda 15 syslinux d boot syslinux dev hda1 16 cd 17 umount mnt 18 halt Remove CD drive keyboard and monitor Install covers Connect USB drive Press power button to test calibrate Copyright 2001 2008 RenaiSys LLC Page 36 of 57 and use the system BCConversion Manual Version 2 0 4 2 2 Linux Software Installation USB Drive After the motherboard setup the system boots from CD To install the software on a new USB dive do the To use GMT as timezone To configure the system for local clock To use the default local setting To accept the settings To activate the console To check name boot flag is set ID is set to 6 W95 FAT16 LBA If needed format the drive Mount the drive Make mount point for cd Mount cd Copy content of aph directrory to the drive Unmount cd Change directory Install master boot record on drive Install boot loader Rrelease mnt Unmount the drive following 1 Enter 2 Enter 3 Enter 4 Enter 5 Enter 6 fdisk l 7 mkdosfs dev sda1 8 mount dev sda1 mnt 9 mkdir cd 10 mount dev cdrom cd 11 cp r
17. from CD Linux kernel Linux compressed ram file Adaptable Controllers logo First boot menu Copyright information for isolinux CD boot program Configuration for second menu Second boot menu program AC10 documentation and sources aph documentation and sources busybox sources cdrecord sources Linux kernel sources rtai sources syslinux sources ISO tool sources Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 46 of 57 aph v n boot data src Copying txt Copyright txt Readme txt index html aph v n boot Copying txt Copyright txt Readme txt aph_sn aphConfig auto sh aph v n boot syslinux aclogo lss aph aphrd gz menu aph v n boot syslinux README mbr bin menu c32 syslinux syslinux cfg syslinux exe boot isolinux acdev acdevrd gz aclogo Iss menu boot isolinux README isolinux bin isolinux cfg menu c32 data ac10 v tar bz2 aph v tar bz2 busybox v tar bz2 cdrtools v tar bz2 linux v tar bz2 rtai v tar bz2 syslinux v tar bz2 zisofs tool v tar bz2 BCConversion Manual src ac10 v AC10 documentation and source files v indicates version aph v aph documentation and source files v indicates version src ac10 v doc Directory with documentation src Directory with source files Copying Copy of GNU GENERAL PUBLIC LICENSE Copyright Copyright information Credits Credit information Readme Latest information Version Version information src ac10 v do
18. information User information Directory with source documentation for browser Configuration file for source documentation Adaptable Controllers logo LMT configuration script start and stop script Directory with aph thread source files Directory with firmware source files Directory with header files Directory with keyboard thread source files Directory with mouse thread source files Directory with Microchip IDE files Directory with real time thread source files Directory with host simulation source files Directory with plotter simulation source files Directory with test files Directory with touch screen source files autoconf files autoconf files Adaptable plotter controller module Main function and host module Application interface module for LMT protocol Application interface module for P protocol Application interface module for S9 protocol Controller Area Network CAN communication module Configuration module Serial communication module Display and LED module Enhanced parallel port module Ground module Graphical user interface GUI modules Operator input module Key and button module Module for LMT mode Log module Message module Photogrammetric module for comparator mode Photogrammetric module for model mode Photogrammetric module for profile mode Record module Real time thread setup module Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 48 of 57 src aph v doc src BCConversionInfo pdf
19. range of software distributed through that system in reliance on consistent application of that system it is up to the author donor to decide if he or she is willing to distribute software through any other system and a licensee cannot impose that choice This section is intended to make thoroughly clear what is believed to be a consequence of the rest of this License 8 If the distribution and or use of the Program is restricted in certain countries either by patents or by copyrighted interfaces the original copyright holder who places the Program under this License may add an explicit geographical distribution limitation excluding those countries so that distribution is permitted only in or among countries not thus excluded In such case this License incorporates the limitation as if written in the body of this License 9 The Free Software Foundation may publish revised and or new versions of the General Public License from time to time Such new versions will be similar in spirit to the present version but may differ in detail to address new problems or concerns Each version is given a distinguishing version number If the Program specifies a version number of this License which applies to it and any later version you have the option of following the terms and conditions either of that version or of any later version published by the Free Software Foundation If the Program does not specify a version number of this License you may choose
20. should not matter The following modules are idle Only if a message is received from the real time thread the application host the user interface or any simulation program are their functions called BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 9 of 57 BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 10 57 As indicated in the diagram the main aph modules are apc apiL apiP apiS can com dpy epp grd gui inp key Imt log msg phc phm pro rec rtt ser and tim In addition there is cfg the module to read and write configuration parameters to disk sim the module to simulate an application host str the module to provide the text strings and tes the module to test some of the aph data arguments and functions BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 11 of 57 Software flow aph main aph head printf aph init aph arguments aph argumentHelp printf exit logOpen fopen setlinebuf time snprintf logWrite fprintf aphErrorSet snprintf logWrite rt get_adr rt mbx receive rttGet RTT_BOX_CHECK fopen nam2num rt get_adr snprintf logWrite fclose logClose time snprint logWrit fflush fclose exit aph intInit signal aph refInit snprintf logWrite apcGet
21. well as radar and satellite technology The rapid development of computer technology has opened many new doors for the industry While researchers continue to push the development of the technology organizations in production environments tend to use the most productive equipment to get the work done As significant equipment costs are amortized asset management becomes a challenge particularly as newer less expensive equipment become available Hardware continues to be replaced by more adaptable software technology We see researchers openly sharing elementary findings the international society coordinating and establishing standards hardware and software vendors implementing new technology and further research system owners using the technology and funding education At RenaiSys we provide independent services to the industry With the BCConversion we hope to consolidate old mature technology that has been proprietary or abandoned and make it widely available and easy to maintain BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 5 of 57 3 Design 3 1 Functional Design Application software like orientation and data collection software for triangulation cross section volume industrial medical or topographical data communicates with the BCConversion s application interface via serial RS232 interface The BCConversion s real time processor communicates with the BCConversion s adaptable controll
22. 0 5 In Advanced Chipset Features in AGP Timing Settings set AGP Aperture Size to 4MB set VGA Share Memory Size to 16MB 6 In Integrated Peripherals in OnChip Device Function set AC97 Audio Device to Disabled 7 In Integrated Peripherals in Onboard Super lO Function set Onboard FDD Controller to Disabled and set Onboard Serial Port 2 to Disabled 8 In Integrated Peripherals set Init Display First to Onboard VGA 9 In Power Management Setup set State after Power Failure to Always On 10 Save amp Exit Setup BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 34 of 57 4 1 2 Jetway 626EMP1G Motherboard Setup Procedure Press power button followed by Delete to enter the BIOS Select and Load Standard Defaults In Standard CMOS Features set the date and time Drive A as None and set Halt On to All But Disk Key In Advanced BIOS Features set First Boot Device to USB HDD Second to CDROM and Third to HDD 0 In Advanced Chipset Features in AGP Timing Settings set AGP Aperture Size to 4MB set VGA Share Memory Size to 16MB In Integrated Peripherals in OnChip Device Function set Game Port Address to Disabled and
23. ANY GENERAL SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES END OF TERMS AND CONDITIONS BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 45 of 57 Appendix D CD Directory and File Names Directory with binary aph software v indicates version n indicates serial number Directory with data needed to boot from the CD Directory with compressed data files needed to build the system Directory with documentation and source files for AC10 and aph Copy of GNU GENERAL PUBLIC LICENSE Copyright information Latest information Index file to explore the CD with a web browser Directory with data needed to boot from flash or hard drive Copy of GNU GENERAL PUBLIC LICENSE Copyright information Latest information Serial number of the system System configuration Startup script Directory with syslinux files Adaptable Controllers logo Linux kernel Linux compressed ram file First boot menu Copyright information for syslinux Master boot record Second boot menu program Linux version for syslinux Configuration for second menu Windows version of syslinux Directory with isolinux files to boot
24. BCConversionInstallation pdf BCConversionTechnical pdf BCConversionUser paf Isrc aph v doc src html Doxyfile src aph v images AC logo gif src aph v scripts Imt start src aph v src aph firmware include kbd mou mplab rtt sim Jemp tes tou Makefile src aph v src aph Makefile apc c aph c apiLMT c apiP c apiS9 c can c cfg c com c dpy c epp c grd c gui c inp c key c Imt c log c msg c phc c phm c pro c rec c rtt c BCConversion Manual Servo module String module Test module Timer module Main function and control module Controller Area Network CAN communication module Serial communication module Display and LED module Enhanced parallel port module Key and button module Servo module Timer module autoconf files Keyboard thread source code autoconf files Mouse thread source code Symbol and debug file generated by the assembler or linker Debug file for MPLAB Hex 32 file with binary code for programming the controllers Listing of binary and source code information generated by the assembler Listing of memory layout generated by the linker Project information generated by MPLAB Saved Workspace information generated by MPLAB Workspace information generated by MPLAB Linker file for dsPIC30F6010 Linker file for dsPIC30F6010A autoconf files Controller Area Network CAN communication module Enhanced parallel port module Operator input module
25. LE RUNNING epp update inp update msg update ser update epp update inp update phc update Copyright 2001 2008 RenaiSys LLC msg update Version 2 0 ser update BCConversion Manual tim comparatorUpdate MsgToAph rtt stateSet STA_S9 MODEL RUNNING epp update inp update te te msg updat phm updat phm comparatorFromModel phm correctionApply phc modelUpdate ser update tim modelUpdate MsgToAph rtt stateSet STA_S 9 PROFILE RUNNING epp update inp update msg update pro update rttSet phm profileUpdate phm comparatorFromModel phm correctionApply phc modelUpdate ser update tim profileUpdate MsgToAph rtt stateSet STA_IDLE epp update msg update tim idleUpdate MsgToAph tt stateSet tt stateSet tt stateSet tt stateSet STA_CLOSING STA_MINI_WAIT STA_WAITING STA_EXITING P CT CT CT snprintf MsgToAph rt_get_adr rt_mbx_ send _if epp nextUpdate epp update msg update rtt end rtt rttClose rt make soft real time stop _rt_timer rt_get_adr rt task delete rt mbx delete rtt intClose signal printf fprintf BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 23 of 57 3 4 Firmware Design The m
26. TA_P_COM tateSet STA P MOD tateSet tateSet e tateSet STA 59 MO tateSet 59 tateSet STA_IDLE tateSet STA_CLOSING tateSet STA MINI tateSet STA WAITING tateSet STA _EXITING tRxService 656 06 tCnService tServiceA tServiceB tServicec tService 0 Copyright 2001 2008 RenaiSys LLC Version 2 apc s apc s apc s apc s apc s apc s apc s apc s apc s apc s apc s apc s apc s apc s terrupi terrupi terrupi terrup terrupi terrupi terrupi epplni serlni serlni timInt BCConversion Manual 3 5 Software Usage and Configuration The aph program can be started with several arguments The syntax is aph Le configFile dD debugLevel LE debugLevel f fifoSize i logFile m mode Lob parameterFile s t timerFile u timeOut v logFile x flag The arguments are Configuration file to be used Debug and log level 0 nothing to 9 anything Ignore errors and set debug and log level 0 nothing to 9 anything Write errors to standard error stream Number of bytes available for message box Interactive user interface Append to logFile Initial mode after reset Parameter file to be used when starting and ending the program Silent no bell Timer file to be used Illumination timeout in minutes Append to logFile all host communication Flag value c configFile d debugLeve
27. a video connector not needed game and audio connectors not needed For details on the power connector see 3 6 1 For details on the controller 56 pin MALCO ELCO EDAC Connectral connectors see AC10 manual For details on locating and connecting cables see installation manual BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 40 of 57 5 Updating Testing and Saving To re compile the program do this mount r dev sda1 mnt Mount drive cd usr src Change directory tar xjvf mnt data aph Extract aph files umount mnt Release drive cp usr realtime lib lib Copy library files cd tmp Change directory usr src aph configure Check and configure make install strip Compile and install software To start and test each file interactively start i Load real time modules rtt Start real time program aph i d 8 I tmp log Start aph program in interactive diagnostics mode mou D n dev input mouseO Start mouse program in diagnostics mode kbd lt tty1 Start keyboard stop Stop the programs To start in default mode mount r dev sda1 a Mount drive start Start programs in default mode stop Stop the programs To save updated version cd usr src Change directory mount dev sda1 mnt Mount drive tar cjvf mnt data aph newVersion aph Compress and save directory to the aph newVersion file on the drive umount mnt Release drive BCConversion Manual Version 2 0 Copyright 2001 2008
28. ain function for the adaptable controllers source in apc c initializes and runs all main functions All controllers have the same program loaded but with a unique ID 1 5 that is used to assign prioritized interrupt services and select the needed functions ID 0 is reserved for broadcast messages not used at this time Controller 1 is unique since it is the only controller that has direct access to the real time processor It does the following It communicates with the host via parallel interface communicates with the other controllers via CAN checks panel keys and updates the display Controllers 2 3 4 and 5 are mainly used for the servo systems They do the following Check and update position and input encoder counts adjust servo position check keys and switches check for messages from other controllers BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 24 of 57 Interrupts suspend other modules depending on their priorities highest At the highest priority communication modules with host parallel interface other external devices serial interface etc or commutation for brush less or stepper motors lower Servo module positions it s carriage After updating the actual position it adjusts the power to the motors to move the carriages toward the nominal position lower Timer module keeps track of time and updates counters for functions that need to be done periodically lowest At
29. any version ever published by the Free Software Foundation 10 If you wish to incorporate parts of the Program into other free programs whose distribution conditions are different write to the author to ask for permission For software which is copyrighted by the Free Software Foundation write to the Free Software Foundation we sometimes make exceptions for this Our decision will be guided by the two goals of preserving the free status of all derivatives of our free software and of promoting the sharing and reuse of software generally NO WARRANTY 11 BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE THERE IS NO WARRANTY FOR THE PROGRAM TO THE EXTENT PERMITTED BY APPLICABLE LAW EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND OR OTHER PARTIES PROVIDE THE PROGRAM AS IS WITHOUT WARRANTY OF ANY KIND EITHER EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU SHOULD BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 44 of 57 THE PROGRAM PROVE DEFECTIVE YOU ASSUME THE COST OF ALL NECESSARY SERVICING REPAIR OR CORRECTION 12 INNO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER OR ANY OTHER PARTY WHO MAY MODIFY AND OR REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE BE LIABLE TO YOU FOR DAMAGES INCLUDING
30. as distribution of the source code even though third parties are not compelled to copy the source along with the object code BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 43 of 57 4 You may not copy modify sublicense or distribute the Program except as expressly provided under this License Any attempt otherwise to copy modify sublicense or distribute the Program is void and will automatically terminate your rights under this License However parties who have received copies or rights from you under this License will not have their licenses terminated so long as such parties remain in full compliance 5 You are not required to accept this License since you have not signed it However nothing else grants you permission to modify or distribute the Program or its derivative works These actions are prohibited by law if you do not accept this License Therefore by modifying or distributing the Program or any work based on the Program you indicate your acceptance of this License to do so and all its terms and conditions for copying distributing or modifying the Program or works based on it 6 Each time you redistribute the Program or any work based on the Program the recipient automatically receives a license from the original licensor to copy distribute or modify the Program subject to these terms and conditions You may not impose any further restrictions on the recipients exercise of the rights g
31. c src Source code documentation AC10Manual pdf Hardware documentation src ac10 v src firmware bldc c Brush less DC motor test program can c CAN network test program dimmer c Dimmer test program epp c Parallel port test program led c LED test program stepper c Stepper motor test program gid Linker files mcp Microchip IDE project files src aph v config Directory with default and example configuration files doc Directory with documentation images Directory with images scripts Directory with scripts src Directory with source code AUTORS Credit file ChangeLog COPYING Copy of GNU GENERAL PUBLIC LICENSE COPYRIGHT COPYRIGHT information INSTALL Source compilation and installation information Makefile autoconf file NEWS README Latest information aclocal m4 autoconf file configure autoconf output file configure ac autoconf input file index html Index file to explore the aph information with a web browser src aph v config autoconf autoconf directory aphConfig default configuration aphConfig Example configuration files aphParam Parameter file for configurations inputkey def Default LMT key definition inputkey LMT key definition template files stagesys dat LMT stage definition file zeropnt dat LMT stage center file BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 47 of 57 Directory with source documentation General information Installation information Technical
32. cd aph mnt 12 umount cd 13 cd mnt boot syslinux 14 cat mbr bin gt dev sda 15 syslinux d boot syslinux dev sda1 16 cd 17 umount mnt 18 halt Remove CD drive keyboard and monitor Install covers Press power button to test calibrate and use the Copyright 2001 2008 RenaiSys LLC Page 37 of 57 system BCConversion Manual Version 2 0 4 2 3 Windows Software Installation on USB Drive To install the software on a USB dive from the CD within Microsoft Windows do the following 1 My Computer Find drive names In this example d for CD e for USB drive 2 Start Run cma Get command window 2 format e If needed delete content and format USB drive 3 cd d d aph Change to CD s aph directory 4 xcopy s e Copy content to USB drive 5 cd d e boot syslinux Change to USB s syslinux directory 6 syslinux am d boot syslinux e Install boot loader 7 exit Exit command window 8 Savely Remove Hardware e Remove USB drive from system Connect USB drive to plotter electronics Install covers Press power button to test calibrate and use the system BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 38 of 57 4 3 Firmware Installation The firmware is typically pre installed However if an update is needed or the system was repaired below are the steps to install the software from scratch Requirements 1 Microchip CD2 Programmer connected to a PC 2
33. d RTAI documentation at www rtai org for more detail BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 7 of 57 At a lower priority the real time thread communicates with the adaptable controllers Operator input and messages from the real time processor are considered for the transformations in the different operating modes LMT and 59 transformations are only computed if needed Since the thread runs as an endless loop the sequence of the main functions should not matter If time is available within the fix period and additional messages might get processed by calling epp update and msg update more than once within a single update period As indicated in the diagram the main real time modules are rtt epp inp msg Imt phc phm pro ser and tim In addition there is can and sip The can module buffers messages to be sent to the controllers and forwards messages from the controllers The sim module has the real time functions to simulate the hardware It acts as sub module to epp BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 8 of 57 3 3 Main Program Design At the lowest priority the same as other user applications the aph thread runs as fast as possible It does the parsing of the application commands and updates the display Since the thread runs as an endless loop the sequence of the main functions as indicated and run in alphabetical order
34. ense applies to any program or other work which contains a notice placed by the copyright holder saying it may be distributed under the terms of this General Public License The Program below refers to any such program or work and a work based on the Program means either the Program or any derivative work under copyright law that is to say a work containing the Program or a portion of it either verbatim or with modifications and or translated into another language Hereinafter translation is included without limitation in the term modification Each licensee is addressed as you Activities other than copying distribution and modification are not covered by this License they are outside its scope The act of running the Program is not restricted and the output from the Program is covered only if its contents constitute a work based on the Program independent of having been made by running the Program Whether that is true depends on what the Program does BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 42 of 57 1 You may copy and distribute verbatim copies of the Program s source code as you receive it in any medium provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice and disclaimer of warranty keep intact all the notices that refer to this License and to the absence of any warranty and give any other recipients of the Program a copy of this Lice
35. ers via parallel EPP interface The controllers monitor and interact with the plotter s hardware encoders switches displays and motors The controllers communicate with each other via controller area network CAN The real time processor s start script usr bin start called via etc init d rcS and a auto sh loads the real time kernel modules and starts several independent threads at different priority levels The the real time thread main function in src rtt rtt c with the communication interface to the Adaptable Controllers runs as a periodic process with a higher priority than any LINUX process The main user thread main function in src aph aph c with the application interface runs as a regular LINUX process In addition there might be optional threads for keyboard input main function in src kbd kbd c mouse input main function in src mou mou c different simulation and monitoring threads in src sim and src sip or touch screen input main function in src tou tou c The all threads communicate through mailboxes BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 6 of 57 3 2 Real Time Software Design Since the LINUX kernel is patched with a modification to insert modules that receive timer and other interrupts before LINUX does these modules have the absolute highest priority Task scheduling as well as mailbox and serial communication buffers are managed by the RTAI modules See scripts start an
36. ging Terminal Keyboard Bell Features Window Appearance Behaviour gt gt Translation gt gt Selection gt gt Colours El Connection Proxy Telnet gt gt Rlogin SSH Auth lt lt Tunnels Bugs About BCConversion Manual Appendix P Firmware Programming Cable 56pin Elco Plug Code 6 6 for Power Pin Color Description f black Ground CC red 5V 56pin Elco Plug Code 1 1 for AC10 Pin Color Description A blue Data B green Clock h red 5V j black Ground y orange Reset 6pin RJ11 Plug for ICD2 Pin Color Description green Clock 1 orange Reset 2 red 5V 3 black Ground 4 blue Data 5 6 open BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 53 of 57 http www gnu org http www kernel org http www tux org Ikml http www rtlinux org http www rtai org http sourceforge net http freshmeat net http tldp org http linux ctyme com http people mech kuleuven ac be bruyninc rthowto http www cplusplus com doc tutorial http www xml com ldd chapter book http www kernelnewbies org http java sun com j2se javadoc http www openoffice org http www isd mel nist gov projects emc http www linuxcnc org http sourceforge net projects emc http www orocos org http www euclideanspace com maths algebra matrix arithmetic index htm http www web ee com http www edtn co
37. hSet APH RUN aphErrorSet canApcSet snprintf logWrite can check MsgToRtt can load timCheck canApcSet com load timCheck canApcSet dpy hLoad timCheck canApcSet epp load timCheck canApcSet key load timCheck keySet canApcSet ser hLoad timCheck canApcSet Version 2 0 Copyright O 2001 2008 RenaiSys LLC Page 15 of 57 BCConversion Manual aph stateSet STA_INITIAL LOAD aph modAl1Run apc iLoad canApcSet apiS load dpy iLoad dpy dataUpdate sprintf isdigit canApcSet inp load inp factorLoad MsgToRtt inp fastLoad inp fastAdjust snprintf aphErrorSet MsgToRtt inpSet apcSet apc ioUpdate snprintf aphErrorSet canApcSet inp flagLoad MsgToRtt inp rotationLoad MsgToRtt ser iLoad ser apcConfig aphErrorSet canApcSet ser kineticsLoad MsgToRtt ser leftCalibrationLoad MsgToRtt ser rightCalibrationload MsgToRtt 1801 656 snprintf logWrite rttSet snprintf aphErrorSet dpySet dpy ledUpdate apcSet apc ioUpdate snprintf aphErrorSet canApcSet MsgToRtt Initialization is done aph update poll snprintf logWrite aphSet 1801 656 snprintf BCConversion Manual Version 2 0 Copyright
38. init tim init tim fopen tim fclose tim fprintf snprintf aphErrorSet aph stateSet STA_CONFIGURING aph modAl1Run cfg cRead lmt config imt offsetRead fopen snpringf logWrite 601056 sscanf 1mt servoRead fopen snpringf logWrite 61056 sscanf MsgToRtt 1mt keyRead fopen snpringf logWrite fclose sscanf fread strcmp strcpy aph stateSet STA_OPENING aph modAl1Run com open rt_spclose rt spopen snprintf logWrite 1mt open 1lmt fileRead strcpy strcat snprint logWrit fopen fread rewind fclose 50 eil aph stateSet STA MINT aph modAl1Run gui mUpdate gui titleUpdate gui0 update BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 14 of 57 refresh msg update aph stateSet GTA BI LOAD aph modAl1Run phc load MsgToRtt phm load phm correctionLoad fabs MsgToRtt phm displayUpdate apcSet apc ioUpdate phm thisLoad MsgToRtt phm inputLoad MsgToRtt phm leftSetupLoad MsgToRtt phm rightSetup Load MsgToRtt MsgToRtt pro load snprinf logWrite MsgToRtt aph stateSet STA HARDWARE LOAD aph modAl1Run apc hLoad timCheck snprintf logWrite ap
39. l D debugLevel E debugLevel f fifoSize 4 logFile m mode p parameterF S t timerFile u timeOut v logFile flag The rtt syntax is rtt a portAddress 6 comTimeNs deE f fifoSize il timeMs mM p priority rRs t period x flag 2 The arguments are a portAddress Paralle port address c comTimeNs Minimum communicaiton time needed per update Send only different servo coordinates Log extended warnings and error messages Without warnings and error messages Number of bytes available for message box Run initial tests and exit Start delay for tests Lock process into memory Swap process from memory Task priority Hard real time task Soft real time task Compute servo profile Task period in ms Flag value for Imt model Z only mode all input goes to Z d 6 E f fifoSize i timeMs timeMs m M p priority r R S t periodMs x flag Z The kbd syntax is kbd D f fifoSize x flag The arguments are Diagnostics mode Number of bytes available for message box Flag value D f fifoSize X BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 29 of 57 The mou syntax is mou The arguments are a factor A X integer factor b factor B Y integer factor c factor C Z integer factor d factor D P integer factor D Diagnostics mode f fifoSize Number of bytes available for message box k N
40. laces the proprietary electronics of BC analytical plotters with an adaptable real time processor under an open source license at a reasonable cost Since most instruments were originally developed in the late 1970s and 1980s some of the electronics hardware has become difficult to maintain and extremely expensive when compared with current technology With the availability of open source hard real time software and the increased processing power of new and inexpensive computer hardware it has become possible to create a low cost generic interface for the plotters Potential benefits e For system owners e Reduced maintenance costs e Extended system life or improved resale value e Broader selection of application programs e For hardware vendors e Improved sales of new systems due to good customer service e Reduced maintenance and development costs e Reduce spare part inventory costs e For application software vendors e Improved sales due to a broader customer base e Reduced maintenance and development costs one version can run on many different system types e Increased revenues from selling BCConversions hardware software and installation services e For technical support organizations e Improved sales of new systems due to good customer service and broader customer base e Reduced maintenance costs due to the open availability of source and documentation e Reduced travel and spare part inventory costs The BCConversion
41. m http www e insite net ednmag http www ibiblio org obp electricCircuits http www fapo com eppmode htm ftp download intel com support processors i960 devto ols INTELHEX PDF http www bartels de http www cadsoft de http www pentalogix com Page 54 of 57 Copyright 2001 2008 RenaiSys LLC Appendix R Resources Below are some on line resources and books Software resources GNU General Public License Free Software Directory and more Kernel Source and more Kernel mailing list Real Time Linux from the New Mexico Institute of Technology Real Time Linux Application Interface from the Politecnico di Milano Open Source Development Open Source Software Online manual for Linux Realtime Embedded Guide Online manual for C Device Driver Manual Kernel programming Sun Microsystems home for JavaDoc OpenOffice org Documentation Software Enhanced Machine Controller from the National Institute of Standards and Technology EMC web site Open robot control software Matrix arithmetic Electrical engineering resources Electrical engineering Electronics design network Electronics design magazine Lessons in electric circuits by Tony R Kubhaldt Parallel Port port EPP mode IEEE 1284 Intel hex file scpecifications Schematics editor Printed circuit board development software Gerber data viewer BCConversion Manual Version 2 0
42. ne N Rene Sonderegger E Rene Sonderegger RenaiSys com W http www renaisys com D Coordinator S 17212 Niwot Place S Parker CO 80134 S USA BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 57 of 57
43. nse along with the Program You may charge a fee for the physical act of transferring a copy and you may at your option offer warranty protection in exchange for a fee 2 You may modify your copy or copies of the Program or any portion of it thus forming a work based on the Program and copy and distribute such modifications or work under the terms of Section 1 above provided that you also meet all of these conditions a You must cause the modified files to carry prominent notices stating that you changed the files and the date of any change e b You must cause any work that you distribute or publish that in whole or in part contains or is derived from the Program or any part thereof to be licensed as a whole at no charge to all third parties under the terms of this License e If the modified program normally reads commands interactively when run you must cause it when started running for such interactive use in the most ordinary way to print or display an announcement including an appropriate copyright notice and a notice that there is no warranty or else saying that you provide a warranty and that users may redistribute the program under these conditions and telling the user how to view a copy of this License Exception if the Program itself is interactive but does not normally print such an announcement your work based on the Program is not required to print an announcement These requirements apply to the modified work
44. o key events m No move events n device Device name p Toggle input when pressing middle key xy and pz t Toggle input when pressing middle key xy and z x flag Flag value 0 No x input 1 Use x as A input 2 Use x as B input 3 Use x as C input 4 Use x as D input 5 No y input 6 Use y as A input 7 Use y as B input 8 Use y as C input 9 Use y as D input The sas and sal syntax is sas sal The arguments are f fifoSize Number of bytes available for message box l file Loop reading file m Monitor mode r file Read file S None interactive streaming mode t ms Poll timeout in ms x flag Flag value The sbc syntac is sbc The arguments are D Diagnostics mode f fifoSize Number of bytes available for message box t ms Poll timeout in ms x flag Flag value BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 30 of 57 The parameter and configuration files can be viewed and edited with a standard editor Essentially they can hold the same information However there are two main differences to be considered First since the same variable are affected the reading sequence is important When the program starts internal defaults values are loaded then the parameter file is read and finally the configuration file is read Second the program overwrites the parameter file to save the internal variables Therefore the parameter file should not be edited manually However
45. of ser firmware functions Simulation of tim firmware functions autoconf files Buzzer test Display functions for rtai latency test Carriage return removal Parallel port test functions Keyboard test functions rtai latency test Mouse test functions LMT simulation test files S9 simulation test files autoconf files Touch screen thread source code Version 2 0 Copyright 2001 2008 RenaiSys LLC gui c inp c int c key c msg c rtt c sal c sas c src aph v src sip Makefile apc c can c com c dpy c epp c key c sbc c ser c tim c src aph v src tes Makefile beep c display c dos2u c epp c kb c latency c mouse c sal sas src aph v src tou Makefile tou c BCConversion Manual Appendix H Document History 2 0 Adaptable Controllers November 2008 Updated to CD installation for aph version 2 1 0 0 24 Adaptable Controllers July 2007 Updated Motherboard and Debian 4 0 LINUX 2 6 18 installation instructions 0 0 23 Adaptable Controllers February 2006 Updated RTAI 3 3 and LINUX 2 6 15 installation instructions 0 0 21 Adaptable Controllers April 2005 Cleanup for product sale Removed old hardware information Added AC10 information 0 0 12 RenaiSys November 2003 Added GAP3 hardware schematics part lists 0 0 10 RenaiSys March 10 2003 Added implementation information GAP2 hardware schematics part lists 0 0 06 RenaiSys September 10 2002 Switched design from
46. ontroller from National Semiconductor Motion Controller from J R Kerr Microcontrollers from Intel Microcontrollers from Mircochip Object oriented programmable circuit Embedded system programming Chip directory Electronics component sources Custom PCBs Dream custom electronics Jameco common electronics parts Digi key electronics parts Allied electronics electronics parts HCTL 1100 motion controller HCTL2000 counter Mouser electronics parts Alltonics electronics and computer parts JDR computer parts Wirz motion controllers and amplifiers US Digital encoders and counters DRC encoders Cleveland Motion Controls and encoders RSF encoders Heidenhain encoders Stock Drive Products bearings and belts BCConversion Manual Version 2 0 http www hanssummers com electronics datasheets http www H com http www ece uiuc edu eshop availablemodules CPL D mm74c922 pdf http engineering dartmouth edu engs031 databook i cm7218 pdf http www usdigital com paf LS7266R1 20Data 20Sheet pdf http developer intel com design periphrl datashts 231 24406 paf http www national com ds LM LMD18200 pdf http www s ti com sc ds sn7445 pdf http www s ti com sc ds sn74156 pdf http www isprs org http www asprs org http www rspsoc org http www
47. passive counter and pulse width modulator to Peripheral Interface Controller PIC microprocessors 0 0 05 RenaiSys June 10 2002 Added design information 0 0 04 RenaiSys April 10 2002 Added BC and AC requirements as well as GAP1 hardware schematics 0 0 03 RenaiSys March 10 2002 Added S9 application interface IMA requirements and updated promotion drafts 0 0 02 RenaiSys February 1 2002 Updated draft 0 0 01 RenaiSys December 12 2001 Original BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 51 of 57 Copyright 2001 2008 RenaiSys LLC Page 52 of 57 Appendix N Networking To connect to the system via network make to following adjustments Change directory Add aph account Remove password for root Add root password Change to aph Add aph passwd Change directory Start sshd server cd etc vi passwd vi shadow passwd su aph passwd cd rc d init d sshd start Use putty or some similar program to connect to the system Basic options for your PuTTY session r Specify your connection by host name or IP address Host Name or IP address Port 22 Protocol C Raw C Telnet Rlogin gt SSH Load save or delete a stored session Saved Sessions Default Settings Load Save Delete Close window on exit C Never C Always Only on clean exit Version 2 0 2 PuTTY Configuration k x Category Session i Log
48. ranted herein You are not responsible for enforcing compliance by third parties to this License 7 If as a consequence of a court judgment or allegation of patent infringement or for any other reason not limited to patent issues conditions are imposed on you whether by court order agreement or otherwise that contradict the conditions of this License they do not excuse you from the conditions of this License If you cannot distribute so as to satisfy simultaneously your obligations under this License and any other pertinent obligations then as a consequence you may not distribute the Program at all For example if a patent license would not permit royalty free redistribution of the Program by all those who receive copies directly or indirectly through you then the only way you could satisfy both it and this License would be to refrain entirely from distribution of the Program If any portion of this section is held invalid or unenforceable under any particular circumstance the balance of the section is intended to apply and the section as a whole is intended to apply in other circumstances It is not the purpose of this section to induce you to infringe any patents or other property right claims or to contest validity of any such claims this section has the sole purpose of protecting the integrity of the free software distribution system which is implemented by public license practices Many people have made generous contributions to the wide
49. rights These restrictions translate to certain responsibilities for you if you distribute copies of the software or if you modify it For example if you distribute copies of such a program whether gratis or for a fee you must give the recipients all the rights that you have You must make sure that they too receive or can get the source code And you must show them these terms so they know their rights We protect your rights with two steps 1 copyright the software and 2 offer you this license which gives you legal permission to copy distribute and or modify the software Also for each author s protection and ours we want to make certain that everyone understands that there is no warranty for this free software If the software is modified by someone else and passed on we want its recipients to know that what they have is not the original so that any problems introduced by others will not reflect on the original authors reputations Finally any free program is threatened constantly by software patents We wish to avoid the danger that redistributors of a free program will individually obtain patent licenses in effect making the program proprietary To prevent this we have made it clear that any patent must be licensed for everyone s free use or not licensed at all The precise terms and conditions for copying distribution and modification follow TERMS AND CONDITIONS FOR COPYING DISTRIBUTION AND MODIFICATION 0 This Lic
50. t chick ei e Gt Gh ick Gt timSet snprintf MsgToAph rt mbx receive wp rttErrorSet tim idleUpdate MsgToAph rr cr Sei rtt stateSet STA LMT COMPARATOR RUNNING epp update inp update snprintf MsgToAph 1mt comparatorUpdate 1mt locationUpdate imt photoGridOneUpdate 1mt cameraOneUpdate sqrt fabs 1lmt refractionOneUpdate 1mt photoToModel 1mt curvatureUpdate BCConversion Manual Version 2 0 Copyright O 2001 2008 RenaiSys LLC Page 22 of 7 te te r checkAl1 ser check r outAll ser out canSet snprintf MsgToAph s r profileStart r profile msg upda ser upda se se ab se se tim lmtUpdate gToAph Ms rtt stateSet STA_LMT MODEL RUNNING epp update inp update lUpdate t modelToPhotoUpdate t cameraOneUpdate sqrt fabs t photoGridOneUpdate te te 1mt mode 1m 1m im msg upda ser upda tim lmtUpdate MsgToAph LMT PROFILE RUNNING rtt stateSet STA epp update inp update 1lmt profileUpdate msg update ser update tim lmtUpdate MsgToAph epp update inp update msg update ser update rtt stateSet STA P MODEL RUNNING epp update inp update msg update ser update rtt stateSet STA P PROFI
51. t with a written offer valid for at least three years to give any third party for a charge no more than your cost of physically performing source distribution a complete machine readable copy of the corresponding source code to be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange or cl Accompany it with the information you received as to the offer to distribute corresponding source code This alternative is allowed only for noncommercial distribution and only if you received the program in object code or executable form with such an offer in accord with Subsection b above The source code for a work means the preferred form of the work for making modifications to it For an executable work complete source code means all the source code for all modules it contains plus any associated interface definition files plus the scripts used to control compilation and installation of the executable However as a special exception the source code distributed need not include anything that is normally distributed in either source or binary form with the major components compiler kernel and so on of the operating system on which the executable runs unless that component itself accompanies the executable If distribution of executable or object code is made by offering access to copy from a designated place then offering equivalent access to copy the source code from the same place counts
52. the lowest priority a loop runs at maximum speed Communication messages are interpreted and buffered The display and other nominal settings are updated If needed indicated by the timer counters the host is updated with the carriage s actual position wheel movements status and other information as well as key and light settings are checked and updated BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 25 of 57 As indicated in the diagram the main controller modules are apc can com dpy epp key serA and tim In addition there are serB and serC modules to add more servo functionalities Since the program runs as an endless loop the sequence of the main functions as indicated does not matter In addition the modules are only used if needed BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 26 of 57 Page 27 of 7 st t t Set Copyright 2001 2008 RenaiSys LLC Firmware Flow apc main apc adcInit apc encInit apc pwmInit apc refInit apcGet canGet serAGet serBGet serCGet timGet apc init apc stateSet STA_INITIALIZING can init can bufferClear com init dpy init dpy update epp init key init serA init serO0pen serInit serB init serO0pen serInit serC init serO0pen serInit tim init cy ct CT Ct cr CT e HY ct ct ct nn lt
53. trollere LLC daptable BCConversion Technical Manual Edition 2 0 November 2008 For assistance contact 2001 2008 RenaiSys LLC Adaptable Controllers LLC All rights reserved 17212 Niwot Place Printed in the United States of America Page 1 of 57 Parker Colorado 80134 USA 1 303 378 4577 sales AdaptableControllers com support AdaptableControllers com http www AdaptableControllers com products BCConversion Development under GNU s General Public License Facilitated by Adaptable Controllers LLC Thank you for the contributions from in alphabetical order Aviosoft RenaiSys LLC SoftMap Inc and others BCConversion Manual Version 2 0 Copyright O 2001 2008 RenaiSys LLC BCConversion is a replacement for the original BC electronics with it s own real time processor Copyright C 2001 2008 RenaiSys LLC RenaiSys LLC 17212 Niwot Place Parker CO 80134 USA The real time program is free software you may redistribute it and or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation The real time program is distributed in the hope that it will be useful but WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details You should have received a copy of the GNU General Public License along with this program if not write to
54. tt agumentHelp printf e e exit 6 666 802 xit rtt intInt signal rtt refInit canGet eppGet inpGet mtGet phcGet 0 K phmGet proGet serGet timGet rtt rttinit rt mbx init rttErrorSet nprintf rt get_adr rt mbx_ l a 0 rt rt timer ckall make hard _task_use_fpu get time 5 gt o DI l rtt update canGet eppGet msgGet serGet rt get cpu time ns rt_task wait period rtt stateSet rtt runTableSet run module functions rtt stateSet STA_INITIALIZING Copyright 2001 2008 RenaiSys LLC can init epp init inp init Imt init msg init pro init UU Ch ChCP CFE BCConversion Manual Version 2 0 Page 21 of 57 phm init phc init ser init tim init t stateSet STA_CONFIGURING t stateSet STA_OPENING t stateSet STA_MINI_RUN t stateSet STA BT LOAD t stateSet STA HARDWARE LOAD t stateSet STA INITIAL LOAD t stateSet STA_RUNNING epp update rt get cpu time ns rt_get_adr MsgToSip canSet serSet inpSet MsgToAph outb snprintf MsgToAph epp readyCheck outb snprintf MsgToAph inb msg update rt oer 802 ai es 3 CO 0 G
55. xternal functions are in alphabetical order at the button of each subsystem file Comments Some compilers do not allow for nested comments If possible use as comments Only if a big block needs to be commented out use Messages can are CAN messages that are implemented on the controllers msg are used by aph and rtt to communicate In addition mou kbd sim and tou put messages into the aph mailbox and sip puts messages into rtt mailbox BCConversion Manual Version 2 0 Copyright O 2001 2008 RenaiSys LLC Page 31 of 57 3 6 Hardware Design The BCConversion real time host is a standard PC with a serial interface that is needed for an application host A parallel port is needed to communicate with the first adaptable controller A PC power supply provides the power for the BCConversion host the controllers and the analytical plotter The adaptable controllers are a minimum of 5 identical circuits The circuits can drive the left side the right side and additional circuits can be used for optional servo systems like zoom dove or other drives BCConversion Manual Version 2 0 Copyright 2001 2008 RenaiSys LLC Page 32 of 57 24V 12V GND GND y 5V JJ 12V 48V 12V GND GND j GND GND CC 5V Buzzer Page 33 of 57 24V 12V GND GND 5V HH 3 3V 0 48V 12V GND 8 OND BB 5V MM 12V 5 FF Reset Power

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