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C-Motion Engine Development Tools Manual

1. Interactive Development Environment e Supports PCI bus PC 104 bus RS232 RS485 CANbus and Ethernet communications 1 4 Getting Started The next several sections of this chapter will provide an example code development session that illustrates the basic elements of the CME Development Tools and provide a foundation for developing your own application for execution on a C Motion Engine C Motion Engine Development Tools Manual 9 4 Introduction 10 This sequence is designed to work with a CME device that has already been connected and initialized to a host PC using the default Pro Motion communication scheme and the default console communication scheme for that device type The following table shows the default Pro Motion and console connectivity that the device should be set to while using this tutorial for four types of CME devices Pro Motion Console CME device type connectivity to PC connectivity Power amp cabling Prodigy CME Stand Alone Ethernet Serial 2 Power Ethernet and Serial 2 connectivity provided via cable connections Prodigy CME PCI PCI bus PCI bus Card located inside PC power amp connectivity through PCI bus Prodigy CME PC 104 Ethernet Serial 2 Power Ethernet and Serial 2 connectivity provided via cable connections ION CME Ethernet None Power Ethernet and Serial connectivity provided via cable connections Although it is possible to change both the standard Pro Motion communication
2. are permitted provided that the following conditions are met Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution Neither the name of the University nor the names of its contributors may be used to endotse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 3 David M Gay AT amp T 1991 Lucent 1998 The author of this software is David M Gay Copyright
3. If autorun is enabled the installation process will begin when the CD ROM is inserted If autorun is not enabled go to the next step 2 On the Start menu click Run 3 In the Open text box type D setup exe where D is the drive letter of your computer s CD ROM drive 4 Follow the on screen prompts to complete the installation process Upon completion of the installation process for Pro Motion and PMD CME SDK the following components will be installed e Programmer s Notepad application e GNU compiler linker C libraries make utility e Example code projects e C Motion source code which may be used for developing motion applications in C C based on the Magellan Motion Processor VB Motion DLL and example source code which may be used for developing motion applications in Visual Basic based on the Magellan Motion Processor PDF versions of the Prodigy CME PCI Users Guide ION CME Users Manual PMD Resource Access Protocol Programmers Reference C Motion Engine Development Tools Magellan Motion Processor Programmers Command Reference and Magellan Motion Processor Users Guide The Adobe Acrobat Reader is required for viewing these files If the Adobe Acrobat Reader is not installed on your computer it may be freely downloaded from http www adobe com 1 6 Programmer s Notepad Programmer s Notepad is the primary application by which user application code development projects are loaded edited compiled an
4. EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 19 Todd C Miller Copyright c 1998 Todd C Miller lt Todd Miller courtesan com gt All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution 3 The name of the author may not be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
5. Lightweight TCP IP Stack and Newlib that PMD uses as part of its C Motion Engine Development Tools If you have any questions on these copyright notices please contact PMD for more information A 2 Lightweight TCP IP Stack LWIP lwIP is licensed under the BSD license Copyright c 2001 2004 Swedish Institute of Computer Science All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution 3 The name of the author may not be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE AUTHOR AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUS
6. Pro Motion features are described in the Pro Motion Users Guide but features used only with CME devices are described here When used with a CME device Pro Motion provides a Device Control pane which may be turned on and off with the device icon in the left half of the toolbar The right half of the toolbar includes a Dev short for development icon which may be used to set Pro Motion to a view that includes the Device Control pane and other panes useful for CME code development 2 2 1 The Console The CME has the notion of a console a peripheral used for displaying messages from C Motion Engine user programs This is useful for debugging reporting progress and sanity checking For Prodigy CME Stand Alone and Prodigy CME PC 104 cards the second serial channel Serial 2 is the default output console channel For Prodigy CME PCI cards the PCI bus is the default console output channel For ION CME the single serial port is the default console output channel To change where the CME device outputs its console information the Console Output box in the Device Control pane is used By clicking on this box you can select one of the options serial PCI for Prodigy PCI cards Ethernet UDP IP or none C Motion Engine Development Tools Manual Application Development Tools A Changing these values changes the power up default console settings only so you must reset the card for these changes to take effect This can also be accomplishe
7. Stack space deeply nested procedure calls and large data structures in auto storage should be avoided Processor cycles the developer should use timing procedures such as PMDGetTickCount to verify that each part of an application can run within its time budget Handling peripheral input and output also requires processor cycles so heavy network traffic particularly Ethernet traffic may overload the processors e Data space plus heap space is limited to approximately 7 kilobytes e Heap space is limited to approximately 7 kilobytes It is suggested that all dynamic allocation be done in the initialization phase of a user program so that unexpected allocation failures due to memory leaks or heap fragmentation do not cause problems Code space is limited to approximately 256 kilobytes Fortunately code size limitations can be found at build time One of the best ways of reducing code size is to factor code so that the same procedure performs its task in several places Cut and paste coding bloats code size CME programs require a small amount of boiler plate specifically the USER_CODE_VERSION and USER_CODE_TASK macros USER_CODE_ VERSION is used to specify major and minor version numbers for the user program but is required even if you don t care about versioning It must be used once at top level outside any procedure body USER_CODE_TASK is used to define the procedure used as the main entry point in the user program A skelet
8. c 1991 by AT amp T Permission to use copy modify and distribute this software for any purpose without fee is hereby granted provided that this entire notice is included in all copies of any software which is or includes a copy or modification of this software and in all copies of the supporting documentation for such software THIS SOFTWARE IS BEING PROVIDED AS IS WITHOUT ANY EXPRESS OR IMPLIED WARRANTY IN PARTICULAR NEITHER THE AUTHOR NOR AT amp T MAKES ANY REPRESENTATION OR WARRANTY OF ANY KIND CONCERNING THE MERCHANTABILITY OF THIS SOFTWARE OR ITS FITNESS FOR ANY PARTICULAR PURPOSE The author of this software is David M Gay Copyright C 1998 2001 by Lucent Technologies All Rights Reserved Permission to use copy modify and distribute this software and its documentation for any purpose and without fee is hereby granted provided that the above copyright notice appear in all copies and that both that the copyright notice and this permission notice and warranty disclaimer appear in supporting documentation and that the name of Lucent or any of its entities not be used in advertising or publicity pertaining to distribution of the software without specific written prior permission LUCENT DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS IN NO EVENT SHALL LUCENT OR ANY OF ITS ENTITIES BE LIABLE FOR ANY SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES O
9. port the port that will send and receive PRP messages to from the CME device and the console port the destination of printf and similar messages sent from the C Motion Engine for simplicity this getting started tutorial will assume the connections indicated in the table above Note that for Prodigy CME Stand Alone and Prodigy CME PC 104 cards that were set up using the standard User Guide getting started connection scheme this means that the Serial 2 port must be connected This is accomplished using the convenient two port Serial 1 and Serial 2 Y serial splitter cable provided with the developer s kit version of the cards For mote information on card installation configuration and initialization see the appropriate Prodigy CME User Guide for the card type that you are using 1 4 1 Tutorial Sequence Summary From a host PC that is connected using the communication scheme described above to a properly initialized CME device here is a summary of the steps that will comprise this C Motion Engine Development Tools getting started tutorial 1 Install the C Motion Engine Development Tools software package on the PC 2 Invoke the Programmer s Notepad application load the Hello prj project and compile and link this example project 3 Launch Pro Motion and download the Hello project binary file to the CME device s C Motion Engine 4 Begin C Motion Engine code execution and monitor results on the console window Onc
10. to illegal addresses or by trying to execute illegal instructions probably because of stack corruption or bad function pointers An exception will cause a reset of the entire CME device because it is impossible to know what data structures were corrupted before the exception occurred After the reset some diagnostic information including the code address of the exception register values at the time and some stack contents will be printed to the console This information may be useful in determining where the program went wrong A C Motion Engine user program has a single thread of control threading or interrupt handling are not available Because of this restriction CME user programs have a very simple model and semaphores or other locking mechanisms are not used which means that almost everything done by a user program must be driven by polled input with or without timeouts The recommended way of structuring a CME user program is as a state machine which uses one or more variables to represent an enumerated set of states and transitions from one state to the next in a way determined by the inputs read in each state C Motion Engine Development Tools Manual 21 Ly Application Development Tools This page intentionally left blank 22 C Motion Engine Development Tools Manual Appendix A Copyright Notices A I Overview The following sections provide required copyright notifications for the open source software libraries LWIP
11. to its products or to discontinue any product or service without notice and advises customers to obtain the latest version of relevant information to verify before placing orders that information being relied on is current and complete All products are sold subject to the terms and conditions of sale supplied at the time of order acknowledgement including those pertaining to warranty patent infringement and limitation of liability Safety Notice Certain applications using semiconductor products may involve potential risks of death personal injury or severe property or environmental damage Products are not designed authorized or warranted to be suitable for use in life support devices or systems or other critical applications Inclusion of PMD products in such applications is under stood to be fully at the customer s risk In order to minimize risks associated with the customer s applications adequate design and operating safeguards must be provided by the customer to minimize inherent procedural hazards Disclaimer PMD assumes no liability for applications assistance or customer product design PMD does not warrant or represent that any license either express or implied is granted under any patent right copyright mask work right or other in tellectual property right of PMD covering or relating to any combination machine or process in which such products or services might be or are used PMD s publication of information reg
12. C Motion Engine Development Tools Mianual gt PMD Performance Motion Devices Inc 80 Central Street Boxborough MA 01719 Revision 1 2 April 18 2012 NOTICE This document contains proprietary and confidential information of Performance Motion Devices Inc and is pro tected by federal copyright law The contents of this document may not be disclosed to third parties translated copied or duplicated in any form in whole or in part without the express written permission of PMD The information contained in this document is subject to change without notice No part of this document may be reproduced or transmitted in any form by any means electronic or mechanical for any purpose without the express written permission of PMD Copyright 1998 2012 by Performance Motion Devices Inc Prodigy Magellan ION Magellan ION Pro Motion C Motion and VB Motion are registered trademarks of Performance Motion Devices Inc C Motion Engine Development Tools Manual Warranty PMD warrants performance of its products to the specifications applicable at the time of sale in accordance with PMD s standard warranty Testing and other quality control techniques are utilized to the extent PMD deems neces sary to support this warranty Specific testing of all parameters of each device is not necessarily performed except those mandated by government requirements Performance Motion Devices Inc PMD reserves the right to make changes
13. CLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 12 SuperH Inc Copyright 2002 SuperH Inc All rights reserved This software is the property of SuperH Inc SuperH which specifically grants the user the right to modify use and distribute this software provided this notice is not removed or altered All other rights are reserved by SuperH SUPERH MAKES NO WARRANTY OF ANY KIND EXPRESS OR IMPLIED WITH REGARD TO THIS SOFTWARE IN NO EVENT SHALL SUPERH BE LIABLE FOR INDIRECT SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES IN CONNECTION WITH OR ARISING FROM THE FURNISHING PERFORMANCE OR USE OF THIS SOFTWARE So that all may benefit from your experience please report any problems or suggestions about this software to the SuperH Support Center via e mail at softwaresupport superh com SuperH Inc 405 River Oaks Parkway San Jose CA 95134 USA 13 Royal Institute of Technology
14. Copyright c 1999 Kungliga Tekniska H Sleskolan Royal Institute of Technology Stockholm Sweden All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution 3 Neither the name of KTH nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY KTH AND ITS CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL KTH OR ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF A
15. DAMAGE 20 DJ Delorie 1386 Copyright C 1991 DJ Delorie All rights reserved Redistribution and use in source and binary forms is permitted provided that the above copyright notice and following paragraph are duplicated in all such forms This file is distributed WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE 21 Mike Barcroft Copyright c 2001 Mike Barcroft lt mike FreeBSD org gt All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUP
16. DED AS IS WITHOUT ANY EXPRESS OR IMPLIED WARRANTY IN PARTICULAR THE AUTHOR MAKES NO REPRESENTATION OR WARRANTY OF ANY KIND CONCERNING THE MERCHANTABILITY OF THIS SOFTWARE OR ITS FITNESS FOR ANY PARTICULAR PURPOSE 18 Citrus Project Copyright c 1999 Citrus Project All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE
17. DVISED OF THE POSSIBILITY OF SUCH DAMAGE 14 Alexey Zelkin Copyright c 2000 2001 Alexey Zelkin lt phantom FreeBSD ore gt All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 15 Andrey A Chernov Copyright C 1997 by Andrey A Chernov Moscow Russia All rights re
18. ED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE A 3 Newlib The newlib subdirectory is a collection of software from several sources Each file may have its own copyright license that is embedded in the source file Unless otherwise noted in the body of the source file s the following copyright notices will apply to the contents of the newlib subdirectory 1 Red Hat Incorporated Copyright c 1994 2007 Red Hat Inc All rights reserved This copyrighted material is made available to anyone wishing to use modify copy or redistribute it subject to the terms and conditions of the BSD License This program is distributed in the hope that it will be useful but WITHOUT ANY WARRANTY expressed or implied including the implied warranties of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE A copy of this license is available at http www opensoutce org licenses Any Red Hat trademarks that are incorporated in the source code or documentation are not subject to the BSD License and may only be used or replicated with the express permission of Red Hat Inc 2 University of California Berkeley Copyright c 1981 2000 The Regents of the University of California All rights reserved Redistribution and use in source and binary forms with or without modification
19. HERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE iconv Charset Conversion Library v2 0 23 Artem Bityuckiy enable newlib iconv Copyright c 2003 Artem B Bityuckiy SoftMine Corporation Rights transferred to Franklin Electronic Publishers Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF
20. P port 40100 is vindov displays console output fron the C Motion Engine CNE Raght clack to connect he CHE s console output nust be set to the sam C Motion Engine Development Tools Manual Introduction 4 At the center of the screen you will see the Device Control window This convenient graphical representation of the CME device allows you to manage card level functions The Console window is to the bottom This will show messages output from the C Motion Engine e Click the C Motion Engine icon A dialog box as shown in Figure 1 4 appears providing various status and version information for the C Motion Engine and information on any user application code file bin files that may be loaded into it C Motion Engine Figure 1 4 Info C Motion OS Version 0 101 Engine Dialog Box File to download File compare Name Date Checksum Version On disk File not found On CME No code Erase Current file loaded Status Invalid or no code V Auto start on reset Resetl art OK Cancel Apply 2 Inthe C Motion Engine window use the File To Download window or the Browse button to locate the Hello bin file the examples are typically located in the folder C My Documents PMD CMESDK CMECode 3 Click the Download button and the download also called Flash process begins 4 After a successful flash the name user version number and checksum of the program may be output in t
21. R ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE DATA OR PROFITS WHETHER IN AN ACTION OF CONTRACT NEGLIGENCE OR OTHER TORTIOUS ACTION ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE 4 Advanced Micro Devices Copyright 1989 1990 Advanced Micro Devices Inc This software is the property of Advanced Micro Devices Inc AMD which specifically grants the user the right to modify use and distribute this software provided this notice is not removed or altered All other rights are reserved by AMD AMD MAKES NO WARRANTY OF ANY KIND EXPRESS OR IMPLIED WITH REGARD TO THIS SOFTWARE IN NO EVENT SHALL AMD BE LIABLE FOR INCIDENTAL OR CONSEQUENTIAL DAMAGES IN CONNECTION WITH OR ARISING FROM THE FURNISHING PERFORMANCE OR USE OF THIS SOFTWARE So that all may benefit from your experience please report any problems or suggestions about this software to the 29K Technical Support Center at 800 29 29 AMD 800 292 9263 in the USA or 0800 89 1131 in the UK or 0031 11 1129 in Japan toll free The direct dial number is 512 462 4118 Advanced Micro Devices Inc 29K Support Products Mail Stop 573 5900 E Ben White Blvd Austin TX 78741 800 292 9263 5 C W Sandmann Copyright C 1993 C W Sandmann This file may be freely distributed as long as the author s name remains 6 Eric Backus C Copyright 1992 Eric Backus This software may be used freely so long as this copyright notice is left intac
22. THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 24 Alex Tatmanjants targets using libc posix Copyright c 1995 Alex Tatmanjants lt alex elvisti kiev ua gt at Electronni Visti IA Kiev Ukraine All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution THIS SOFTWARE IS PROVIDED BY THE AUTHOR AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 25 M Warn
23. TION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 22 Konstantin Chuguev enable newlib iconv Copyright c 1999 2000 Konstantin Chuguev All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OT
24. added to the project group by right clicking the New Project Group name To save the project group to disk on the File menu click Save All you will be prompted for a file in which to save the project group To use the project group file either click Open on the File menu or start Programmer s Notepad by clicking the peg file in an Explorer window The individual files in a project are listed below its name in the Projects pane In order to read or edit a file double click on its name and a window with the file contents will appear in the large file area on the right side of the Programmer s Notepad window 2 1 2 Editing Using Programmer s Notepad to edit a file is similar to using Windows Notepad The arrow keys or the slider on the right side of the window or the page up and down keys may be used to navigate and text may be inserted at any time by typing The Edit menu has a variety of choices for searching through text cutting and pasting and manipulating text in various ways 2 1 3 Building In order to build a project right click on the project name in the Projects pane and select Set Active Project The project just selected remains active until changed this means that the Tools menu will apply to that project The Tools menu is used for building a project to try building click Make All on the Tools menu or press the F7 key The pane at the bottom of the window shows the output of the build process including the
25. arding any third party s products or services does not constitute PMD s approval warranty or endorsement thereof C Motion Engine Development Tools Manual Mboo Related Documents ION CME Digital Drive User s Manual Complete description of the ION CME Digital Drive including installation getting started section operation al overview detailed connector information and complete electrical and mechanical specifications Prodigy CME Stand Alone Card Uset s Guide Prodigy CME PCI User s Guide Prodigy CME PC 104 User s Guide Complete description of the Prodigy CME motion cards including getting starting section operational over view detailed connector information and complete electrical and mechanical specifications Magellan Motion Processor User s Guide Complete description of the Magellan Motion Processor features and functions with detailed theory of its op eration Magellan Motion Processor Programmer s Command Reference Descriptions of all Magellan Motion Processor commands with coding syntax and examples listed alphabeti cally for quick reference PMD Resource Access Protocol Programmer s Reference Descriptions of all PRP device commands with software architecture overview command syntax and exam ples Pro Motion User s Guide User s guide to Pro Motion the easy to use motion system development tool and performance optimizer Pro Motion is a sophisticated easy to us
26. ards or modules e Ability to communicate via PCI bus PC 104 bus serial CANbus or Ethernet e Provided as source code allowing easy compilation amp porting to various run time environments including PC microprocessor embedded card or C Motion Engine Can be easily linked to any C C application C Motion is described in more detail in the Magellan Motion Processor Programmers Command Reference 1 3 3 VB Mltion VB Motion provides a complete set of methods and properties for developing applications in Visual Basic and other NET languages VB Motion includes the following features e Magellan axis virtualization Ability to communicate to multiple PMD motion cards or Modules e Ability to communicate via PCI bus PC 104 bus serial CANbus or Ethernet e Provided as a DLL and VB source code for easy porting onto various PC environments VB Motion is documented in the PMD RE source Access Protocol Programmers Reference 1 3 4 C Motion Engine Development Tools The C Motion Engine Development Tools includes a source code editor compiler linker and Pro Motion based code management amp monitoring tools that allow the user to quickly and easily develop applications that will run on a device equipped with a C Motion Engine The C Motion Engine Development Tools includes the following features e Complete toolset for creation of user specific applications running on the motion card e Open source compiler and C libraries
27. continue code development by creating your own projects or expanding on the example projects included with your SDK C Motion Engine Development Tools Manual 2 Application Development Tools a 2 1 Programmer s Notebook Programmer s Notepad is a utility for editing source code and for running build tools It is included with the Prodigy CME developer s kit software and provides a convenient way of working on the C Motion Engine CME user code examples and also on real CME user code applications Programmer s Notepad is free software and may be downloaded from http www pnotepad org The use of Programmer s Notepad is not required all CME code building may be done from the command line or integrated into some other tool if desired 2 1 1 Group Organization Programmer s Notebook relies on the concept of a project to organize logically related software elements A project is a set of files needed to build a program organized into a unit Information about a project is saved in a file with a suffix of pnproj Project files may be opened by clicking Open Project s on the File menu and may be saved by right clicking on the project name in the Projects pane and clicking Save Project Projects may be collected together into a project group which may be saved as a file with a suffix of ppg To make yout own project group on the File menu click New and then Project Group Projects either new or existing may be
28. control and C Motion Engine binary libraries PMD C language motion control and C Motion Engine libraries in source form for host based applications PMD Pro Motion application which is used for code management amp monitoring These tools utilized together allow a user to quickly and easily develop applications that will run on a device equipped with a C Motion Engine C Motion Engine Development Tools Manual 7 4 Introduction The remainder of this chapter section 1 3 and beyond provides a convenient Getting Started guide that introduces the major elements of the C Motion Engine Development Tools and takes the user through installation of the development tools loading of a simple example program compilation and linking of that program and downloading and execution of that example program 1 3 CME Device Software Overview Four major software packages are provided with the CME devices Pro Motion an interactive Windows based exerciser amp software development tool C Motion a C language library for Magellan Motion Processors that allows you to create motion applications using the C programming language VB Motion a dynamic link library DLL callable from many dynamic languages and source code for using the DLL with Microsoft Visual Basic C Motion Engine Development Tools a set of development resources that allow you to create download and monitor programs loaded in the CME device s C Motion En
29. d in the Device Control pane To enable Pro Motion displaying messages on the console window right click the CME Console window and select the console channel that matches what the card uses for console output After reset if a user program is running then the console shows the output of any PMDprintf PMDputs or PMDputch calls 2 2 2 Downloading and Running User Programs The C Motion Engine in a CME device may be programmed with a single user program at a time and downloading sometimes called flashing because the program is stored in flash RAM may be done using the C Motion Engine box in the Device Control pane 2 3 Software Development 2 3 1 CME Development Software Libraries C Motion Engine user programs may use standard C library and math library calls which are provided by the Red Hat newlib C library which is intended specifically for embedded applications Floating point support is provided in softwate so there is a definite performance penalty for floating point arithmetic when compated to fixed point Dynamic memory allocation is supported using the standard malloc and free calls Approximately 7 kilobytes of heap space are available Because of the possibilities of heap fragmentation and memory leaks in application code it is strongly recommended that dynamic allocation be kept as static as possible for example by allocating all necessary data structures at initialization time Standard I O functions are supporte
30. d linked To continue the tutorial execute these steps 1 On the Start menu in the lower left of the Windows desktop click All Programs PMD Prodigy CME SDK and then C Motion CME Code Examples C Motion Engine Development Tools Manual 11 Introduction Figure 1 1 Programmer s Notepad Starting Screen 12 The Programmer s Notepad starts with the project group that contains examples The following Figure 1 1 shows the resultant view Programmers Notepad WS GenetetiseiPacket amp che E GenericUsePacket e Mabetde OS PMDUserPacket Y O nde Haketie FRDUsePacketc B Oy TepMove inches Makatle PROMotorSetup c M Sf Protect Dupy x 1 49 11 ANSI INS Read The project pane to the left shows the various available example projects 2 Right click the Hello project icon which is the root icon for the Hello project above the detailed files that comprise the project Hello c etc and then in the dialog box that appears check Active Project This Hello project is now loaded and you can double click specific files to examine them including README and Hello c 3 For the purpose of this tutorial double click Hello c to display the main file for this project C Motion Engine Development Tools Manual Introduction 4 The contents of the C file appears Figure 1 2 provides an example screen image Programmer s Notepad hello c J the g t wew Jods Widow le Figur
31. d only for the standard output streams stdout and stderr which are connected to the console Because there are no file systems available to CME device user programs there is no way to open a file 2 3 2 PMD Software Libraries Almost all operations performed by C Motion Engine user programs that deal with physical devices and resources are accomplished using PMD C language libraries It may not be obvious at the outset of development exactly which parts of an application should run in the CME and which on a host computer In order to make it simpler to change this division of labor and to allow prototyping of CME code on a PC almost all of the PMD library call sequences are the same in both host based and C Motion Engine environments although the internal details of implementation and data structures differ substantially There are several categories of physical device that CME user programs may deal with e Magellan Motion Processors either the CME device processor or Magellan attached devices such as non CME ION modules or non CME Prodigy cards These are controlled using the PMD C Motion library which is documented in the Magellan Motion Processor Programmers Reference C Motion uses a representation of a Motion Processor control axis called an axis handle for all commands Although the means of obtaining the axis handle are different for the various Magellan devices the use of the axis handle once obtained is identical e Peripheral con
32. de must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 17 S L Moshier Author S L Moshier Copyright c 1984 2000 S L Moshier Permission to use copy modify and distribute this software for any purpose without fee is hereby granted provided that this entire notice is included in all copies of any software which is or includes a copy ot modification of this software and in all copies of the supporting documentation for such software THIS SOFTWARE IS BEING PROVI
33. e 1 2 DABS gt Programmer s 3 hello c Notepad with eb PHO examples Example CS hello include lt string h gt 3 made include lt stdio h gt Program e include lt stdlib h gt ip Hakee Shown FEADME tinclude c motion h helo c reel be Er o ay 8 pun i include Pmopariph h 7 as include pebsys h E AlCormandso define VERSION_MAJOR m Matet def ine VERSION_MINOR Ty GerencUsePacket e T St PRO procedure calls return an error code zero means success EA Haiek Production prograns typically check this if a failure is likely or CS PMDUsaPacket the consequences are severe or in order to debug For the sake of 3D nds OF alec d this program does not check any error codes 3 Hatete PHOUsePacketc o a CH TeapMove The USER_COOE_VERSION macro allows you to give your progran a Ey inchs version number that will be reported by Pro motion a parer pren If you don t care about versioning though exactly one USER_CODE_VERSION must Trepovec ety USER_CODE_VERSIONCVERSION_MGIOR VERSION MINOR Duput 111 118 ANS CReLF INS Ready Feel free to use the editor controls to scroll through the source code file Hello c is a simple application intended for execution on the CME device s C Motion Engine that e Sends Hello world to the console window e Communicates to various elements on the card and sends the version information for the CME device the C Motion Engine module and the card s Magellan Moti
34. e program which allows all motion parameters to be set and or viewed and allows all features to be exercised 4 C Motion Engine Development Tools Manual Table of Contents A Chapter 1 Introduction ccc ccc cece cece cece cece cece cece eee cece eesesseees 7 1 1 C Motion Engine Device Overview 0 cece cece cee cence corner 7 1 2 o iced i aca a E void oe PEGG tear oe Wen ele ted ee U ea ed wea 7 1 3 CME Device Software Overview 0 ccc ccc n cece cen ene nee e enn rar 8 1 4 Getting Started poors eee rE dee EE ee doe Ra eae eg ea TEETE na ETE ETE EREE gow eae 9 1 5 Software Installation dai 10 1 6 Programmer s Notepad ieee ccc cece eee een rre 11 1 7 Downloading the Codes rinda tddi da 14 1 8 Executing the Code onic cece cece una dardos eg Gus e iaa a as 15 Chapter 2 Application Development Tools 0 ccc ccc cc cccecececccceecees 17 2 1 Programmer s Notebook sesona e n E eh eee hawt aug E EE ARAS 17 2 2 PrO MOUON 0 a betes E A A EE AREE ERTES 18 2 3 Software DevelopMenNt ooooococccccccco corro rr rr 19 Appendix A Copyright Notices C Motion Engine Development Tools Manual v vi This page intentionally left blank C Motion Engine Development Tools Manual 1 Introduction 1 1 C Motion Engine Device Overview Several products in the Prodigy family of Motion Control Cards and the ION family of digital drives provide a program mable C Motion Engine CME which allows user ap
35. e these steps have been accomplished the tutorial is complete 1 5 Software Installation Before installing the C Motion Engine Development Tools software check that your host PC has the following recommended hardware configuration Intel or compatible processor Pentium or better 300 MB of available disk space 256MB of available RAM and a CD ROM drive The supported PC operating systems are Windows XP Windows 7 and Windows Vista C Motion Engine Development Tools Manual Introduction 4 Two CD ROMs comprise the software distribution for CME devices All software applications are designed to work with Windows XP Windows 7 or Windows Vista e Pro Motion The Pro Motion disk is located in its own Pro Motion box and contains the software associated with the Pro Motion Optimized Motion System Development software This installation procedure will assume that Pro Motion has already been installed as part of the general card installation and setup as described in the Prodigy CME PCI Users Guide or the ION CME Users Manual If Pro Motion is not yet installed on the host PC you will be using for code development see the User Guide for your card for instructions on installing PMD CME SDK The PMD CME SDK disk is separate and contains the C Motion Engine development tools the C Motion source libraries and VB Motion Libraries To install the PMD CME SDK 1 Insert the PMD CME SDK disk into the CD ROM drive of your computer
36. er Losh targets using libc posix Copyright c 1998 M Warner Losh lt imp freebsd org gt All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 26 Andrey A Chernov targets using libc posix Copyright C 1996 by Andrey A Chernov Moscow Russia All rights rese
37. gine Here is more information on each of these software packages 1 3 1 Pro Motion Pro Motion is a sophisticated easy to use exerciser program which provides support for C Motion Engine code development and general purpose motion system setup and exerciser functions The Pro Motion features include e C Motion Engine Functions e C Motion Engine console window function e C Motion Engine user application code download Interactive C Motion Engine code execution and monitoring functions e General Purpose Functions e Axis Wizard to automate axis setup and configuration e High performance motion oscilloscope Interactive DC brush and brushless DC tuning e Device window for configuring PMD card and digital drive products e Project window for accessing motion resources and connections e Ability to save and load current settings e Distance and time units conversion e Motion network setup amp management tools Pro Motion is described in more detail in the Pro Motion Users Guide 8 C Motion Engine Development Tools Manual Introduction 4 1 3 2 C Mlotion C Motion provides a convenient set of callable routines for controlling the Magellan Motion Processor whether running on a separate host computer such as a PC or running on the CME device in the C Motion Engine C Motion which is provided as source code includes the following features e Magellan axis virtualization e Ability to communicate to multiple PMD motion c
38. he C Motion Engine window 5 An additional dialog box asks you whether you would like to begin executing the code 1 8 Executing the Code Upon successfully downloading the Hello bin file in the steps above the code is loaded into the C Motion Engine and ready to execute The following instructions complete the process of executing and monitoring code execution on the C Motion Engine 1 From step 4 above click OK to begin code execution As shown in Figure 1 5 you should immediately see a number of console screen messages appear in the window to the bottom of the Pro Motion screen C Motion Engine Development Tools Manual 15 4 Introduction Figure 1 5 Pro Motion Console Window 16 CME console COM1 115200 n 8 1 Hello world Program version 1 0 Actual position 1000 Tine Position 22976 1000 KII These message were sent by the C Motion Engine to the Console window as it executed the downloaded code Console messages are special communications that use the standard output stream stdio to display message from the C Motion Engine 2 Ifan encoder is connected to axis 1 of your CME device turn the encoder and updated actual position values will be output to the Console window This program continues executing indefinitely until you either stop execution load another bin file to the C Motion Engine or reset the card Congratulations You have completed the basic Hello world tutorial and can now
39. nections meaning communication links to off card devices using serial Ethernet CANBus or PC 104 bus channels Peripheral handling is supported by a PMD C language library which is used only with CME devices and documented in the PMD Resource Access Protocol Programmers Guide C Motion Engine Development Tools Manual 19 2 Application Development Tools Peripheral connections are represented by a simple peripheral handle object which may be read or written There are special procedures for using peripheral connections to address Magellan attached devices or other CME devices Other on card resources such as dual ported RAM and general purpose digital I O pins are accessed either by using the Prodigy CME library or C Motion calls for non Magellan resources documented in the Magellan Motion Processor Programmers Reference 2 3 3 User Code Architecture A CME program is normally in the form of a non terminating loop because it must continue doing its job as long as the CME device is powered If it is necessary to exit because of an error condition the PMDAbort procedure should be used The C Motion Engine is a specialized computer that does almost nothing but motion control This means that a CME user program may freely use and rely upon almost all the resources memory processor cycles available to the CME but it also means that the programmer is responsible for not exceeding the limits on any resource These resources include
40. ng conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE For additional information or for technical assistance please contact PMD at 978 266 1210 You may also e mail your request to support pmdcorp com Visit our website at http www pmdcorp com gt PM D Performance Motion Devices 80 Central Street Boxborough MA 01719 C Motion Engine Development Tools Manual 37
41. on Processor back to the console window Sends the current encoder position of axis 1 of the Magellan Motion Processor to the console window Sends updated values of the actual position once per second if the actual encoder position changes 4 To compile and link the application use the Programmer s Notepad Tools menu to execute the Make All function This function will compile and link the source code for the entire project If the compiling and linking occurs without error the output window at the bottom of the screen will contain the message Process Exit Code 0 toward the bottom of a list of messages that are output as it is making the binary file image In addition a special binary file also called a bin file will be created with the project name and a bin extension So in this case the file will be called Hello bin It is this bin file that will be downloaded to the CME device C Motion Engine C Motion Engine Development Tools Manual 13 Introduction If one or more error messages occur double clicking on a compiler error with a filename and line number will take you to the line where the error is reported You can try to resolve the error or call PMD for assistance New example projects are added to PMD s CME development tools regularly so for a complete list of project examples along with brief descriptions you can use the File menu and the Open function to look at a README file in the project li
42. on user program might look like this include usermain h user program macros required include C Motion h I C Motion library calls for Motion Processor control include PMDsys h Timing program control and console procedures define MAJOR_VERSION 0 These are for the user and may be freely chosen define MINOR_VERSION 9 USER_CODE_VERSION MAJOR_VERSION MINOR_VERSION Required USER_CODE_TASK myjob 20 C Motion Engine Development Tools Manual Application Development Tools lr Get ready to do something useful here while 10 Do something useful here The first tool for discovering what your user program is doing and why it might be failing is the console Information on progress status and debugging values may be printed using PMDprintf PMDputs and PMDputch Remember that PMDprintf may not be used to format floating point numbers instead sprintf using a temporary buffer must be used Another useful diagnostic tool is the set of general purpose digital I O pins which may be read or written using the C Motion ReadlO and WritelO procedures as documented in the Prodigy CME Stand Alone Users Guide Prodigy CME PCI Users Guide Prodigy CME PC 104 Users Guide or ION CME Users Manual With the use of an oscilloscope these pins can send diagnostic output much faster than the console procedures CME user programs may cause processor exceptions for example by reading from or writing
43. plication code to be run in a motion control device instead of on a host computer The following table summarizes the PMD products incorporating a CME and their associated Users Guide documen tation Prodigy P N Product Type Bus Format User Guide PR8358x20 Card PC 104 Prodigy CME PC 104 User s Guide PR9358x20 Card PCI Prodigy CME PCI User s Guide PR 13x58x20 Card Stand Alone Prodigy CME Stand Alone Card User s Guide DD3x1S0 056 15 Digital Drive Ethernet Serial ION CME User s Guide In this manual all Prodigy cards or ION digital drives that include a C Motion Engine will collectively be called CME devices 1 2 Introduction This manual documents the C Motion Engine Development Tools also referred to as CME Development Tools provided with CME devices that allow user application code to be created and compiled on a host PC and then downloaded executed and monitored on the CME device s C Motion Engine module The C Motion Engine Development Tools provides the following features e Complete toolset for creation of user specific applications running on the motion card Open source compiler amp motion control C libraries Interactive Development Environment e Supports PCI bus PC 104 bus RS232 RS485 CANbus and Ethernet communications The CME Development Tools includes the following major elements e Programmer s Notepad source code editor Open source C language compiler amp linker PMD C language motion
44. process exit code at the end An exit code of zero means that the build succeeded and any other value that it failed Normally in case of failure some useful error messages will be shown in the Output pane When the error messages are compiler errors with file name and line number information Programmer s Notepad is smart enough to show exactly where the compiler thinks the error occurred just double click an error message with a file name and line number and a window showing the location will pop up C Motion Engine Development Tools Manual 17 2 Application Development Tools 18 In addition to building projects with Make All Programmer s Notepad by default can remove all built files by using the Tools menu option Make Clean By using the Tools menu option Options one can get a window showing various configuration choices for the Tools menu The Tools and Project Tools names in the lower part of the right hand pane allow one to add new entries to the Tools menu and to edit the Make All and Make Clean entries which are found by choosing the Scheme None Global Tools By following the Tools configuration trail one quickly sees that Make All and Make Clean just call an external program called pmdmake exe with appropriate options pmdmake exe is really GNU make renamed to make it less likely to conflict with already installed programs The make utility performs the build by calling the compiler linker and other utili
45. rved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution THIS SOFTWARE IS PROVIDED BY THE AUTHOR AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 27 Daniel Eischen targets using libc posix Copyright c 2001 Daniel Eischen lt deischen FreeBSD org gt All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the followi
46. served Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution THIS SOFTWARE IS PROVIDED BY THE AUTHOR AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 16 FreeBSD Copyright c 1997 2002 FreeBSD Project All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source co
47. st directory Most directories within the CME development tools contain a README file which summarizes the contents of that directory 1 7 Downloading the Code Once the bin file has been created the remaining steps of the development process will occur via Pro Motion A typical development session will involve multiple iterations of code creation editing downloading and execution so it may be most convenient to put away minimize Programmer s Notepad or arrange it within your screen so that itis available alongside Pro Motion In any case the following steps are used to continue the tutorial process 1 Locate the Pro Motion icon from the PC desktop and launch Depending on how Pro Motion was last used you may need to click the DEV short for development view icon on the tool bar at the top right of the application window Figure 1 3 shows a typical screen view with Pro Motion in this view mode 318 Figure 1 3 Project Pro Motion es Fie View Actions Help ee ES ocen OPH SAVE SAVERS PROJtCI Ol a PA T EOR concen itz arting Screen ar e Bea RRNA ascos BE Project O jx al Host PRP Interface TCP IP 192 168 2 2 Sat ION CME 500 v0 7 gt Axis 1 a Axis 2 Aux Encoder For a list of connands press Tab gt Axas 1 gt 14 Device Control ON CME 500 v0 7 Network Sat ah Console C Motion upt ft Engne Restore Defaults Jnderar 140 CME console UO
48. t C 1999 2000 2001 2002 Stephane Carrez stcarrez nerim fr The authors hereby grant permission to use copy modify distribute and license this software and its documentation for any purpose provided that existing copyright notices are retained in all copies and that this notice is included verbatim in any distributions No written agreement license or royalty fee is required for any of the authorized uses Modifications to this software may be copyrighted by their authors and need not follow the licensing terms described here provided that the new terms are clearly indicated on the first page of each file where they apply 11 Christopher G Demetriou Copyright c 2001 Christopher G Demetriou All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution 3 The name of the author may not be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE AUTHOR AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES IN
49. t There is no warrantee on this software 7 Sun Microsystems Copyright C 1993 by Sun Microsystems Inc All rights reserved Developed at SunPro a Sun Microsystems Inc business Permission to use copy modify and distribute this software is freely granted provided that this notice is preserved 8 Hewlett Packard c Copyright 1986 HEWLETT PACKARD COMPANY To anyone who acknowledges that this file is provided AS IS without any express or implied warranty permission to use copy modify and distribute this file for any purpose is hereby granted without fee provided that the above copyright notice and this notice appears in all copies and that the name of Hewlett Packard Company not be used in advertising or publicity pertaining to distribution of the software without specific written prior permission Hewlett Packard Company makes no representations about the suitability of this software for any purpose 9 Hans Peter Nilsson Copyright C 2001 Hans Peter Nilsson Permission to use copy modify and distribute this software is freely granted provided that the above copyright notice this notice and the following disclaimer are preserved with no changes THIS SOFTWARE IS PROVIDED AS IS AND WITHOUT ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING WITHOUT LIMITATION THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 10 Stephane Carrez m68hc11 elf m68hc12 elf targets only Copyrigh
50. ties in a way dictated by the Makefile Each of the makefiles for the CME device examples uses the same Makefile in the parent folder and that Makefile may be used as a starting point for user application projects Writing Makefiles is beyond the scope of this manual but is described in the GNU make documentation which is included 2 1 4 Example Projects There are some example projects already included with the C Motion Engine Development Tools SDK In order to try some of the example CME programs run Programmers Notepad from the Start menu using the shortcut C Motion CME Code Examples This will bring up a window that lists the CME Code Examples The collection of projects that are CME device examples is saved as the file Examples ppg You should notice that each example includes a file called README which describes what the example does any configuration or special hardware that might be required and so forth The examples can be compiled as is or can be used as the basis of a customized system through further modification The examples provided with the C Motion Development Tools SDK are intended purely for illustration pur poses They are not warranted to be error free nor are they warranted to be suitable for use in a particular application lt is up to the user to insure the quality of their developed code 2 2 Pro Motion Pro Motion is a softwate prototyping and control tool used for all Magellan family products Most

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