ecmc构建指南

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# CONFIG_SITE.local

# Uncomment the following line to build iocs in motor/modules/motorVendor/iocs
BUILD_IOCS = YES

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# RELEASE.local

EPICS_BASE=/path/to/epics/base-7.0.8.1
SUPPORT=$(EPICS_BASE)/../epics-modules
ASYN=$(SUPPORT)/asyn

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# toolchain
set(CMAKE_C_COMPILER "loongarch64-linux-gnu-gcc")
set(CMAKE_CXX_COMPILER "loongarch64-linux-gnu-g++")

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# 新建编译目录
mkdir build
cd build
# 交叉编译
cmake -DCMAKE_TOOLCHAIN_FILE=toolchain -DCMAKE_BUILD_TYPE=Release ..
make

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# configure/RELEASE.local

EPICS_BASE=/path/to/epics/base-7.0.8.1
SUPPORT=$(EPICS_BASE)/../epics-modules
ASYN=$(SUPPORT)/asyn
MOTOR=$(SUPPORT)/motor
# 指定交叉编译架构
EPICS_HOST_ARCH=linux-loong64

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#************************************************************************
# Copyright (c) 2019 European Spallation Source ERIC
# ecmc is distributed subject to a Software License Agreement found
# in file LICENSE that is included with this distribution.
#
# Author: Jeong Han Lee <jeonghan.lee@gmail.com>
#
#*************************************************************************

TOP=..
include $(TOP)/configure/CONFIG
#----------------------------------------
#  ADD MACRO DEFINITIONS AFTER THIS LINE
#=============================


ECMC = $(TOP)/devEcmcSup

LIBRARY_IOC += ecmc

# Ubuntu needs the following ldflags
USR_LDFLAGS += -Wl,--no-as-needed
USR_LDFLAGS += -lstdc++

ifeq ($(T_A),linux-x86_64)
# Assume that the etherlab user library is done via
# https://github.com/icshwi/etherlabmaster
USR_INCLUDES += -I/opt/etherlab/include
USR_CFLAGS += -fPIC
USR_LDFLAGS += -L /opt/etherlab/lib
USR_LDFLAGS += -lethercat
USR_LDFLAGS += -Wl,-rpath=/opt/etherlab/lib
else
# Assume that the etherlab user library is done via
# Yocto ESS Linux bb recipe
+ # 这里注意etherlab的路径
USR_INCLUDES += -I$(SDKTARGETSYSROOT)/usr/include/etherlab
USR_CFLAGS   += -fPIC
USR_LDFLAGS  += -L $(SDKTARGETSYSROOT)/usr/lib/etherlab
USR_LDFLAGS  += -lethercat
USR_LDFLAGS  += -Wl,-rpath=$(SDKTARGETSYSROOT)/usr/lib/etherlab
endif

+ # ruckig路径
+ USR_INCLUDES += -I/path/to/ruckig/include
+ USR_LDFLAGS  += -L /path/to/ruckig/build
+ USR_LDFLAGS  += -lruckig

SRC_DIRS  += $(ECMC)/plc
ecmc_SRCS += ecmcPLC.cpp
ecmc_SRCS += ecmcPLCTask.cpp
ecmc_SRCS += ecmcPLCDataIF.cpp
ecmc_SRCS += ecmcPLCMain.cpp
+ ecmc_SRCS += ecmcPLCLib.cpp
+ ecmc_SRCS += ecmcPLCLibFunc.cpp


SRC_DIRS  += $(ECMC)/misc
ecmc_SRCS += ecmcMisc.cpp
ecmc_SRCS += ecmcEvent.cpp
ecmc_SRCS += ecmcEventConsumer.cpp
ecmc_SRCS += ecmcDataRecorder.cpp
ecmc_SRCS += ecmcDataStorage.cpp
ecmc_SRCS += ecmcCommandList.cpp

SRC_DIRS  += $(ECMC)/main
ecmc_SRCS += ecmcGeneral.cpp
ecmc_SRCS += ecmcError.cpp
ecmc_SRCS += ecmcMainThread.cpp
ecmc_SRCS += gitversion.c
  

SRC_DIRS  += $(ECMC)/ethercat
ecmc_SRCS += ecmcEthercat.cpp
ecmc_SRCS += ecmcEc.cpp
+ ecmc_SRCS += ecmcEcData.cpp
+ ecmc_SRCS += ecmcEcDomain.cpp
ecmc_SRCS += ecmcEcEntry.cpp
ecmc_SRCS += ecmcEcPdo.cpp
ecmc_SRCS += ecmcEcSDO.cpp
ecmc_SRCS += ecmcEcSlave.cpp
ecmc_SRCS += ecmcEcSyncManager.cpp
ecmc_SRCS += ecmcEcEntryLink.cpp  
+ ecmc_SRCS += ecmcEcAsyncSDO.cpp
ecmc_SRCS += ecmcAsynLink.cpp
ecmc_SRCS += ecmcEcMemMap.cpp


SRC_DIRS  += $(ECMC)/com
DBD       += ecmcController.dbd
+ ecmc_SRCS += ecmcDataItem.cpp
ecmc_SRCS += ecmcCom.cpp
ecmc_SRCS += ecmcOctetIF.c
ecmc_SRCS += ecmcCmdParser.c
ecmc_SRCS += ecmcAsynPortDriver.cpp
ecmc_SRCS += ecmcAsynPortDriverUtils.cpp
ecmc_SRCS += ecmcAsynDataItem.cpp

SRC_DIRS  += $(ECMC)/motion
ecmc_SRCS += ecmcMotion.cpp
ecmc_SRCS += ecmcAxisBase.cpp
+ ecmc_SRCS += ecmcAxisGroup.cpp
ecmc_SRCS += ecmcAxisReal.cpp
ecmc_SRCS += ecmcAxisVirt.cpp
ecmc_SRCS += ecmcDriveBase.cpp
ecmc_SRCS += ecmcDriveStepper.cpp
ecmc_SRCS += ecmcDriveDS402.cpp
ecmc_SRCS += ecmcEncoder.cpp
ecmc_SRCS += ecmcFilter.cpp
ecmc_SRCS += ecmcMonitor.cpp
+ ecmc_SRCS += ecmcMotionUtils.cpp
ecmc_SRCS += ecmcPIDController.cpp
ecmc_SRCS += ecmcAxisSequencer.cpp
+ ecmc_SRCS += ecmcTrajectoryBase.cpp
+ ecmc_SRCS += ecmcTrajectoryS.cpp
ecmc_SRCS += ecmcTrajectoryTrapetz.cpp
ecmc_SRCS += ecmcAxisData.cpp

SRC_DIRS  += $(ECMC)/motor
DBD       += ecmcMotorRecordSupport.dbd
ecmc_SRCS += ecmcMotorRecordController.cpp
ecmc_SRCS += ecmcMotorRecordAxis.cpp

+ SRC_DIRS  += $(ECMC)/plugin
+ ecmc_SRCS += ecmcPluginLib.cpp
+ ecmc_SRCS += ecmcPlugin.cpp
+ ecmc_SRCS += ecmcPluginClient.cpp

ecmc_LIBS += exprtkSupport
ecmc_LIBS += $(EPICS_BASE_IOC_LIBS)



include $(TOP)/configure/RULES
#----------------------------------------
#  ADD RULES AFTER THIS LINE

gitversion.c:
    @$(RM) $@
    @sh $(TOP)/tools/gitversion.sh $@

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#include "ecmcecmcTrajectoryBase.h"
- #include <ruckig.hpp>
+ #include <ruckig/ruckig.hpp>

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# `ecmcExampleTop/configure/RELEASE.local`

EPICS_BASE=/home/ubuntu/epics/base-7.0.8.1
SUPPORT=$(EPICS_BASE)/../epics-modules
ASYN=$(SUPPORT)/asyn
MOTOR=$(SUPPORT)/motor
# 指定交叉编译架构
EPICS_HOST_ARCH=linux-loong64

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TOP=../..

include $(TOP)/configure/CONFIG
#----------------------------------------
#  ADD MACRO DEFINITIONS AFTER THIS LINE
#=============================

#=============================
# Build the IOC application

PROD_IOC = ecmcIoc

# Ubuntu needs the following ldflags
USR_LDFLAGS_Linux += -Wl,--no-as-needed

+ ifeq ($(T_A),linux-x86_64)
+ # Assume that the etherlab user library is done via
+ # https://github.com/icshwi/etherlabmaster
+ USR_INCLUDES += -I/opt/etherlab/include
+ USR_CFLAGS += -fPIC
+ USR_LDFLAGS += -L /opt/etherlab/lib
+ USR_LDFLAGS += -lethercat
+ USR_LDFLAGS += -Wl,-rpath=/opt/etherlab/lib
+ else
+ # Assume that the etherlab user library is done via
+ # Yocto ESS Linux bb recipe
+ # 这里注意etherlab的路径
+ USR_INCLUDES += -I$(SDKTARGETSYSROOT)/usr/include/etherlab
+ USR_CFLAGS   += -fPIC
+ USR_LDFLAGS  += -L $(SDKTARGETSYSROOT)/usr/lib/etherlab
+ USR_LDFLAGS  += -lethercat
+ USR_LDFLAGS  += -Wl,-rpath=$(SDKTARGETSYSROOT)/usr/lib/etherlab
+ endif

+ # ruckig路径
+ USR_INCLUDES += -I/path/to/ruckig/include
+ USR_LDFLAGS  += -L /path/to/ruckig/build
+ USR_LDFLAGS  += -lruckig

# ecmcioc.dbd will be created and installed
DBD += ecmcIoc.dbd

# opcuaIoc.dbd will be made up from these files:
ecmcIoc_DBD += base.dbd
ecmcIoc_DBD += ecmcController.dbd

# Add all the support libraries needed by this IOC
ecmcIoc_LIBS += asyn
ecmcIoc_LIBS += ecmc
+ ecmcIoc_LIBS += motor
ecmcIoc_LIBS += exprtkSupport

ecmcIoc_SRCS += ecmcIoc_registerRecordDeviceDriver.cpp

# Build the main IOC entry point on workstation OSs.
ecmcIoc_SRCS_DEFAULT += ecmcIocMain.cpp
ecmcIoc_SRCS_vxWorks += -nil-

# Finally link to the EPICS Base libraries
ecmcIoc_LIBS += $(EPICS_BASE_IOC_LIBS)

#===========================
include $(TOP)/configure/RULES
#----------------------------------------
#  ADD RULES AFTER THIS LINE

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# 执行交叉编译
make CPPFLAGS=-std=c++17 \
LD=loongarch64-linux-gnu-ld \
CC=loongarch64-linux-gnu-gcc \
CCC=loongarch64-linux-gnu-g++ -j4