Import LinuxCNC source tree

configs/sim/axis/geometry/M110

@@ -0,0 +1,7 @@
+#!/bin/sh
+
+halcmd setp axisui.notifications-clear-info 1
+sleep .200
+halcmd setp axisui.notifications-clear-info 0
+
+exit 0

configs/sim/axis/geometry/README

@@ -0,0 +1,14 @@
+xyzc.ini: [DISPLAY]GEOMETRY=!CXYZ
+
+The '!' specifies rotations respecting
+G5x,G92 offsets
+
+xyzc_origin.ini: [DISPLAY]GEOMETRY=CXYZ
+Show default behavior with
+rotations about machine origin
+
+
+demo file:
+[DISPLAY]OPEN_FILE=xyzc.ngc 
+demonstrates C rotations with and
+without G5x and G92 offsets

configs/sim/axis/geometry/xyzc.ini

@@ -0,0 +1,72 @@
+# minimal sim config to demonstrate '!' in [DISPLAY]GEOMETRY
+# showing rotations respecting g5x,g92 offsets
+[EMC]
+VERSION = 1.1
+MACHINE = xyzc (offset rotations)
+
+[DISPLAY]
+OPEN_FILE = ./xyzc.ngc
+GEOMETRY = !CXYZ
+DISPLAY = axis
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = xyzc.var
+USER_M_PATH = .
+
+[EMCMOT]
+EMCMOT = motmod
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = LIB:basic_sim.tcl
+
+[KINS]
+JOINTS = 4
+KINEMATICS = trivkins coordinates=XYZC kinstype=both
+
+[TRAJ]
+COORDINATES = X Y Z C
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+MAX_LINEAR_VELOCITY = 10
+MAX_LINEAR_ACCELERATION = 10000
+MAX_ANGULAR_VELOCITY = 3600
+MAX_ANGULAR_ACCELERATION = 36000
+
+[JOINT_0]
+TYPE = LINEAR
+HOME_SEQUENCE = 0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME_SEQUENCE = 0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME_SEQUENCE = 0
+
+[JOINT_3]
+TYPE = ANGULAR
+HOME_SEQUENCE = 0
+MAX_VELOCITY=3600
+MAX_ACCELERATION=36000
+
+[AXIS_X]
+MAX_VELOCITY=10
+MAX_ACCELERATION=1000
+
+[AXIS_Y]
+MAX_VELOCITY=10
+MAX_ACCELERATION=1000
+
+[AXIS_Z]
+MAX_VELOCITY=10
+MAX_ACCELERATION=1000
+
+[AXIS_C]
+MAX_VELOCITY=3600
+MAX_ACCELERATION=36000

configs/sim/axis/geometry/xyzc.ngc

@@ -0,0 +1,66 @@
+o110 sub
+     f100
+     g61
+     g0 x1.0 y0.0
+     g1 x1.5 y0.0
+     g1 x1.5 y0.5
+     g1 x1.0 y0.5
+     g1 x1.0 y0.0
+o110 endsub
+
+o100 sub
+     g0 c90
+     o110 call
+     g0 c180
+     o110 call
+     g0 c270
+     o110 call
+     g0x0y0z0c0
+o100 endsub
+
+;#########################################################
+m110 ; clear messages
+g0x0y0z0c0
+o110 call
+
+o200 if [#5210 ne 0]
+       (debug, ! Prog loaded with g92 offsets)
+       (debug, RELOAD program required)
+       g92.1
+       (debug, bye)
+       m2
+o200 endif
+
+o210 if [[#5221 ne 0] or [#5222 ne 0] or [#5223 ne 0] or [#5223 ne 0] or [#5225 ne 0] or [#5226 ne 0] or [#5227 ne 0] or [#5228 ne 0] or [#5229 ne 0] ]
+        (debug, ! Prog loaded with g5x offsets)
+        (debug, RELOAD program required)
+        g92.1
+        g10l2p0x0y0z0c0
+        (debug, bye)
+        m2
+o210 endif
+
+g0x0y0z0c0
+g10l2p0x0y0z0c0
+(debug, First: run with NO offsets, s to continue)
+m0
+o100 call
+
+o300 if [#<_task> eq 1]
+        g10l2p0x1
+        (debug, Next: run with g5x xoffset=#5221, s to continue)
+        m0
+        o100 call
+
+        g10l2p0x0y0z0c0
+        g92x2
+        (debug, Next: run with g92 xoffset=#5211, s to continue)
+        m0
+        o100 call
+o300 endif
+
+g10l2p0x0y0z0c0
+g92.1
+g0x0y0z0c0
+(debug,fini)
+m2

configs/sim/axis/geometry/xyzc_origin.ini

@@ -0,0 +1,73 @@
+# minimal sim config to demonstrate [DISPLAY]GEOMETRY
+# default rotations about machine origin
+# (no '!' character)
+[EMC]
+VERSION = 1.1
+MACHINE = xyzc_origin (rotations wrt machine origin)
+
+[DISPLAY]
+OPEN_FILE = ./xyzc.ngc
+GEOMETRY = CXYZ
+DISPLAY = axis
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = xyzc.var
+USER_M_PATH = .
+
+[EMCMOT]
+EMCMOT = motmod
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = LIB:basic_sim.tcl
+
+[KINS]
+JOINTS = 4
+KINEMATICS = trivkins coordinates=XYZC kinstype=both
+
+[TRAJ]
+COORDINATES = X Y Z C
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+MAX_LINEAR_VELOCITY = 10
+MAX_LINEAR_ACCELERATION = 10000
+MAX_ANGULAR_VELOCITY = 3600
+MAX_ANGULAR_ACCELERATION = 36000
+
+[JOINT_0]
+TYPE = LINEAR
+HOME_SEQUENCE = 0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME_SEQUENCE = 0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME_SEQUENCE = 0
+
+[JOINT_3]
+TYPE = ANGULAR
+HOME_SEQUENCE = 0
+MAX_VELOCITY=3600
+MAX_ACCELERATION=36000
+
+[AXIS_X]
+MAX_VELOCITY=10
+MAX_ACCELERATION=1000
+
+[AXIS_Y]
+MAX_VELOCITY=10
+MAX_ACCELERATION=1000
+
+[AXIS_Z]
+MAX_VELOCITY=10
+MAX_ACCELERATION=1000
+
+[AXIS_C]
+MAX_VELOCITY=3600
+MAX_ACCELERATION=36000