dennisg

Thanks Sina.

I am trying to figure out how to access IO space from inside a PLC script. I would like to just read it into P values. It will be a 26 bit value at piom + $A00000 (lower 24 bits), and piom + $A00004 (upper 8 bits). What is the syntax to accomplish this ?

Still learning the Delta Tau architecture. I would like to begin to understand how to set things up so the PPMAC comes up and runs our application and servo routines at power up. Pointers on where to read up on doing this would be appreciated.

Not breaking in an interrupt context makes perfect sense, had not thought of it that way. Right now I am just trying to become familiar with the Delta Tau architecture and environment. Quite a bit different from embedded controls programming I have done in the past. Thanks

Thanks Sina, I am also trying to debug this user servo routine but I don't think the breakpoints are working or I am using the debugger incorrectly. I entered it in the servo table and I know it's running because I can set a watchpoint on a Motor variable that I am incrementing inside of it.

I am now on the learning curve for C coding on the PPMAC. I would like to access I/O memory that I believe the ACC84E occupies. Mainly the raw data coming in from a Renishaw BiSS encoder. In script this is defined as Sys.piom + $A00000; // address of lower 24 bit Sys.piom + $A00004; // address of upper 8 bits How can I access these using C ?

I think you are right. I'm running old inherited code that may have never actually compiled. I will start with a fresh solution and go from there.

Thanks, that gets it to "compile" now. A whole bunch of errors though. All functions in usercode.c are currently empty so not sure what is causing all these errors. I must not have environment variables set correctly or something. I'm running 1.4.0.62 of the IDE, the PPMAC has the Sept 2011 firmware on it. The error dump is below: ------------------------------------------------------ Please wait while mapping Power PMAC variables. End of syncing the database. PMAC variables are mapped successfully. Build Process For usralgo.ko has ended. Build Process For capp1.out has started. Build Process For usralgo.so has started. C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/sched.h(16,0): Warning : in file included from /usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/sched.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/module.h(9,0): Warning : in file included from /usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/module.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.h(1,0): Warning : in file included from usrcode.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.c(26,0): Warning : in file included from usrcode.c C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/signal.h(2,0): Warning : #warning "You should include . This time I will do it for you." C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/sched.h(79,0): Warning : in file included from /usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/sched.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/module.h(9,0): Warning : in file included from /usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/module.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.h(1,0): Warning : in file included from usrcode.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.c(26,0): Warning : in file included from usrcode.c C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/resource.h(2,0): Warning : #warning "You should include . This time I will do it for you." C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/sched.h(10,0): Warning : in file included from /usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/sched.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/module.h(9,0): Warning : in file included from /usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/module.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.h(1,0): Warning : in file included from usrcode.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.c(26,0): Warning : in file included from usrcode.c C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/rbtree.h(128,0): Error : expected ',' or '...' before 'new' C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.h(1,0): Warning : in file included from usrcode.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.c(26,0): Warning : in file included from usrcode.c C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/module.h(41,0): Error : field 'attr' has incomplete type C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/module.h(49,0): Error : field 'kobj' has incomplete type C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/sched.h(32,0): Warning : in file included from /usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/sched.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/opt/eldk-4.2/debian_rootfs/usr/local/xenomai/include/posix/sched.h(58,0): Warning : in file included from /opt/eldk-4.2/debian_rootfs/usr/local/xenomai/include/posix/sched.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/opt/eldk-4.2/debian_rootfs/usr/local/xenomai/include/posix/pthread.h(147,0): Warning : in file included from /opt/eldk-4.2/debian_rootfs/usr/local/xenomai/include/posix/pthread.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/opt/eldk-4.2/debian_rootfs/opt/ppmac/rtpmac/RtGpShm.h(26,0): Warning : in file included from /opt/eldk-4.2/debian_rootfs/opt/ppmac/rtpmac/RtGpShm.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.h(2,0): Warning : in file included from usrcode.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.c(26,0): Warning : in file included from usrcode.c C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/bits/sched.h(62,0): Error : redefinition of 'struct sched_param' C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/linux/sched.h(109,0): Error : previous definition of 'struct sched_param' C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/opt/eldk-4.2/debian_rootfs/opt/ppmac/rtpmac/ecrt.h(96,0): Warning : in file included from /opt/eldk-4.2/debian_rootfs/opt/ppmac/rtpmac/ecrt.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/opt/eldk-4.2/debian_rootfs/opt/ppmac/rtpmac/ethercat.h(2,0): Warning : in file included from /opt/eldk-4.2/debian_rootfs/opt/ppmac/rtpmac/ethercat.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/opt/eldk-4.2/debian_rootfs/opt/ppmac/rtpmac/RtGpShm.h(32,0): Warning : in file included from /opt/eldk-4.2/debian_rootfs/opt/ppmac/rtpmac/RtGpShm.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.h(2,0): Warning : in file included from usrcode.h C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.c(26,0): Warning : in file included from usrcode.c C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\/usr/local/bin/../lib/gcc/powerpc-405-linux-gnu/4.2.2/../../../../powerpc-405-linux-gnu/sys-include/stdlib.h(536,0): Error : declaration does not declare anything C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.c(46,0): Error : redefinition of 'double user_pid_ctrl_new(MotorData*)' C:\Users\dennis.gabler\Documents\PowerPmacSuite\NewAMS2Solution\NewAMS2Solution\C Language\Realtime Routines\usrcode.c(36,0): Error : 'double user_pid_ctrl_new(MotorData*)' previously defined here Done building project "NewAMS2Solution.ppproj" -- FAILED. Build FAILED. Build process failed during the Realtime Routines build and download.

Hi Sina, I'm not sure usercode.c even builds, below is my status window output. Please wait while mapping Power PMAC variables. End of syncing the database. PMAC variables are mapped successfully. Build Process For capp1.out has started. Build Process For capp1.out has ended. Build Succeeded. Please wait while downloading to Power Pmac. Downloading capp1.out to Power Pmac. Downloading global definitions.pmh to Power Pmac. Downloading subprog1.pmc to Power Pmac. Downloading prog1.pmc to Power Pmac. Downloading butterfly.plc to Power Pmac. Downloading encoder_test.plc to Power Pmac. Downloading populate conv table.plc to Power Pmac. Downloading selectable_freqs.plc to Power Pmac. Downloading stepped sine.plc to Power Pmac. Downloading pp_startup.txt to Power Pmac. Downloading pp_disable.txt to Power Pmac. Downloading pp_proj.ini to Power Pmac. uploading pp_error.log file from the Power Pmac. uploading pp_proj.log file from the Power Pmac. uploading pp_error_hist.log file from the Power Pmac. uploading pp_debug.txt file from the Power Pmac. uploading pp_proj.h file from the Power Pmac. Downloading NewAMS2Solution.ppproj to Power Pmac. Uploading and syncing PMAC variables. Download Successful.

I am trying to write/use my first user written servo routine. I am following the instructions given starting on page 493 of the users manual. I compile and download using the "Build and download all programs" selection, this appears to work. Then I go into Realtime Routines User Servo Setup after right clicking the selection. In the dropdown I see my user_pid_ctrl as an available selection, and I chose that as User Servo 1. When I hit "apply" I get a popup window that says "Please BUILD and DOWNLOAD the project for the User Servo Setup Changes to take effect". I am apparently missing a step here but unsure what that is. Actually I am not totally sure that usercode.c is even being compiled because I put a typo in it to see if it would error on the build and it does not. All I see in the status window is that capp1.c built.

I am running the Sept 2011 firmware here. The next time I see this I will do a screen cap. FWIW this seems to happen to windows that getting frequent updates (velocity, watches, etc.) Followup: I have attached a screen cap of the watch window in this failure mode. I've also seen it at least on the velocity too.

I have also seen this problem in the velocity, and watch windows. My setup is similar to yours.

Thanks Sina, I see it in the terminal window and it appears to change to 3 when I input sys.maxrtplc=3. However when I subsequently load mt PLC that is set to 2 via open plc 2 and look at the task manager, it shows up as a PLC instead of an RTPLC. I do have two other PLC's loaded with it and they are numbered 0, and 1.

I am trying to increase Sys.MaxRtPlc from 1 to 3 via the IDE window Delta Tau->Configure-Setup Variables. It will change but reverts to 1 as soon as I try and run a PLC. I am obviously not using this correctly but I'm at a loss to figure out how to get the change to take.

Thanks to CharlesP there who was kind enough to send me a new unreleased draft version of the ACC-28 manual which I found easier to read, I was able to determine we did indeed only have a 2 channel board. I did some looking around here and found another 2 channel and brought it up for my 3rd channel.