// SOEM のLinuxバージョンコンパイルの状態を見る ebata@ebata-ethercat:~/Downloads/SOEM-1.3.1$source ./setup.sh linux ebata@ebata-ethercat:~/Downloads/SOEM-1.3.1$ make // 通信ライブラリの作成作業 --- Entering /home/ebata/Downloads/SOEM-1.3.1/oshw --- Entering /home/ebata/Downloads/SOEM-1.3.1/oshw/linux --- Compiling nicdrv.c --- Compiling oshw.c --- Create library liboshw.a ← 通信ライブラリの完成 /usr/bin/ar: `u' modifier ignored since `D' is the default (see `U') --- Leaving /home/ebata/Downloads/SOEM-1.3.1/oshw/linux --- Leaving /home/ebata/Downloads/SOEM-1.3.1/oshw // 通信ライブラリの作成作業完了 // SOEMライブラリの作成作業 --- Entering /home/ebata/Downloads/SOEM-1.3.1/soem --- Compiling ethercatfoe.c --- Compiling ethercatmain.c --- Compiling ethercatsoe.c --- Compiling ethercatdc.c --- Compiling ethercatconfig.c --- Compiling ethercatprint.c --- Compiling ethercatcoe.c --- Compiling ethercatbase.c --- Create library libsoem.a ← SOEMライブラリの完成 /usr/bin/ar: `u' modifier ignored since `D' is the default (see `U') --- Leaving /home/ebata/Downloads/SOEM-1.3.1/soem // SOEMライブラリの作成作業完了 // タイマー系ライブラリの作成作業 --- Entering /home/ebata/Downloads/SOEM-1.3.1/osal --- Entering /home/ebata/Downloads/SOEM-1.3.1/osal/linux --- Compiling osal.c osal.c: In function ‘osal_gettimeofday’: osal.c:69:54: warning: right-hand operand of comma expression has no effect [-Wunused-value] return_value = clock_gettime(CLOCK_MONOTONIC, &ts), 0; ^ --- Create library libosal.a ← タイマー系ライブラリの完成 /usr/bin/ar: `u' modifier ignored since `D' is the default (see `U') --- Leaving /home/ebata/Downloads/SOEM-1.3.1/osal/linux --- Leaving /home/ebata/Downloads/SOEM-1.3.1/osal // タイマー系ライブラリの作成作業完了 // アプリケーション(ebox, eepromtool, read_test, simple_test, slaveinfo)の作成 --- Entering /home/ebata/Downloads/SOEM-1.3.1/test --- Entering /home/ebata/Downloads/SOEM-1.3.1/test/linux --- Compiling ebox.c --- Linking ebox --- Compiling eepromtool.c --- Linking eepromtool --- Compiling red_test.c --- Linking red_test --- Compiling simple_test.c simple_test.c: In function ‘simpletest’: simple_test.c:40:27: warning: variable ‘wkc_count’ set but not used [-Wunused-but-set-variable] int i, j, oloop, iloop, wkc_count, chk; ^ simple_test.c: In function ‘main’: simple_test.c:237:7: warning: variable ‘iret1’ set but not used [-Wunused-but-set-variable] int iret1; ^ --- Linking simple_test --- Compiling slaveinfo.c --- Linking slaveinfo --- Compiling firm_update.c --- Linking firm_update --- Leaving /home/ebata/Downloads/SOEM-1.3.1/test/linux --- Leaving /home/ebata/Downloads/SOEM-1.3.1/test // アプリケーション(ebox, eepromtool, read_test, simple_test, slaveinfo)の作成作業完了 ebata@ebata-ethercat:~/Downloads/SOEM-1.3.1$ しかし、このままでは、コンパイルの様子が良く分からないので、 SOEM-1.3.1/make/rules.mkの ============================================ $(OBJDIR)/%.o: %.c @echo --- Compiling $< # $(SILENT)$(CC) $(CFLAGS) $(INC_PATHS) -c $< -o $@ ← コメントアウト $(CC) $(CFLAGS) $(INC_PATHS) -c $< -o $@ ← サイレントモードを解除 ============================================ と SOEM-1.3.1/make/lib.mkの ============================================ lib$(LIBNAME).a: $(OBJDIR) $(SUBDIRS) $(OBJDIR_OBJS) @echo --- Create library $@ @test -e $(LIBDIR) || $(MKDIR) $(LIBDIR) # $(SILENT)$(AR) crus $(LIBDIR)/$@ $(OBJDIR)/*.o ← コメントアウト $(AR) crus $(LIBDIR)/$@ $(OBJDIR)/*.o ← サイレントモードを解除 ============================================ と SOEM-1.3.1/make/app.mkの ============================================ $(APPNAME): $(OBJDIR) $(SUBDIRS) $(OBJDIR_OBJS) $(EXTRA_OBJS) @echo --- Linking $@ # $(SILENT)$(CC) $(LDFLAGS) $(LD_PATHS) $(OBJDIR)/*.o -o $@ $(LIBS) ← コメントアウト $(CC) $(LDFLAGS) $(LD_PATHS) $(OBJDIR)/*.o -o $@ $(LIBS) ← サイレントモードを解除 ============================================ として、コンパイルの様子を表示させてみた。 ebata@ebata-ethercat:~/Downloads/SOEM-1.3.1$ make --- Entering /home/ebata/Downloads/SOEM-1.3.1/oshw --- Entering /home/ebata/Downloads/SOEM-1.3.1/oshw/linux --- Compiling nicdrv.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/nicdrv.d" -MT"obj/linux/nicdrv.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c nicdrv.c -o obj/linux/nicdrv.o --- Compiling oshw.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/oshw.d" -MT"obj/linux/oshw.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c oshw.c -o obj/linux/oshw.o --- Create library liboshw.a /usr/bin/ar crus "/home/ebata/Downloads/SOEM-1.3.1/lib/linux"/liboshw.a ./obj/linux/*.o /usr/bin/ar: `u' modifier ignored since `D' is the default (see `U') --- Leaving /home/ebata/Downloads/SOEM-1.3.1/oshw/linux --- Leaving /home/ebata/Downloads/SOEM-1.3.1/oshw --- Entering /home/ebata/Downloads/SOEM-1.3.1/soem --- Compiling ethercatfoe.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/ethercatfoe.d" -MT"obj/linux/ethercatfoe.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c ethercatfoe.c -o obj/linux/ethercatfoe.o --- Compiling ethercatmain.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/ethercatmain.d" -MT"obj/linux/ethercatmain.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c ethercatmain.c -o obj/linux/ethercatmain.o --- Compiling ethercatsoe.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/ethercatsoe.d" -MT"obj/linux/ethercatsoe.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c ethercatsoe.c -o obj/linux/ethercatsoe.o --- Compiling ethercatdc.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/ethercatdc.d" -MT"obj/linux/ethercatdc.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c ethercatdc.c -o obj/linux/ethercatdc.o --- Compiling ethercatconfig.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/ethercatconfig.d" -MT"obj/linux/ethercatconfig.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c ethercatconfig.c -o obj/linux/ethercatconfig.o --- Compiling ethercatprint.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/ethercatprint.d" -MT"obj/linux/ethercatprint.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c ethercatprint.c -o obj/linux/ethercatprint.o --- Compiling ethercatcoe.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/ethercatcoe.d" -MT"obj/linux/ethercatcoe.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c ethercatcoe.c -o obj/linux/ethercatcoe.o --- Compiling ethercatbase.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/ethercatbase.d" -MT"obj/linux/ethercatbase.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c ethercatbase.c -o obj/linux/ethercatbase.o --- Create library libsoem.a /usr/bin/ar crus "/home/ebata/Downloads/SOEM-1.3.1/lib/linux"/libsoem.a ./obj/linux/*.o /usr/bin/ar: `u' modifier ignored since `D' is the default (see `U') --- Leaving /home/ebata/Downloads/SOEM-1.3.1/soem --- Entering /home/ebata/Downloads/SOEM-1.3.1/osal --- Entering /home/ebata/Downloads/SOEM-1.3.1/osal/linux --- Compiling osal.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/osal.d" -MT"obj/linux/osal.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c osal.c -o obj/linux/osal.o osal.c: In function ‘osal_gettimeofday’: osal.c:69:54: warning: right-hand operand of comma expression has no effect [-Wunused-value] return_value = clock_gettime(CLOCK_MONOTONIC, &ts), 0; ^ --- Create library libosal.a /usr/bin/ar crus "/home/ebata/Downloads/SOEM-1.3.1/lib/linux"/libosal.a ./obj/linux/*.o /usr/bin/ar: `u' modifier ignored since `D' is the default (see `U') --- Leaving /home/ebata/Downloads/SOEM-1.3.1/osal/linux --- Leaving /home/ebata/Downloads/SOEM-1.3.1/osal --- Entering /home/ebata/Downloads/SOEM-1.3.1/test --- Entering /home/ebata/Downloads/SOEM-1.3.1/test/linux --- Compiling ebox.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/ebox.d" -MT"obj/linux/ebox.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c ebox.c -o obj/linux/ebox.o --- Linking ebox /usr/bin/gcc -Wl,-Map=ebox.map -Wl,--gc-sections -L"/home/ebata/Downloads/SOEM-1.3.1/lib/linux" obj/linux/*.o -o ebox -Wl,--start-group -loshw -losal -lsoem -lc -lm -Wl,--end-group -lpthread -lrt --- Compiling eepromtool.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/eepromtool.d" -MT"obj/linux/eepromtool.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c eepromtool.c -o obj/linux/eepromtool.o --- Linking eepromtool /usr/bin/gcc -Wl,-Map=eepromtool.map -Wl,--gc-sections -L"/home/ebata/Downloads/SOEM-1.3.1/lib/linux" obj/linux/*.o -o eepromtool -Wl,--start-group -loshw -losal -lsoem -lc -lm -Wl,--end-group -lpthread -lrt --- Compiling red_test.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/red_test.d" -MT"obj/linux/red_test.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c red_test.c -o obj/linux/red_test.o --- Linking red_test /usr/bin/gcc -Wl,-Map=red_test.map -Wl,--gc-sections -L"/home/ebata/Downloads/SOEM-1.3.1/lib/linux" obj/linux/*.o -o red_test -Wl,--start-group -loshw -losal -lsoem -lc -lm -Wl,--end-group -lpthread -lrt --- Compiling simple_test.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/simple_test.d" -MT"obj/linux/simple_test.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c simple_test.c -o obj/linux/simple_test.o simple_test.c: In function ‘simpletest’: simple_test.c:40:27: warning: variable ‘wkc_count’ set but not used [-Wunused-but-set-variable] int i, j, oloop, iloop, wkc_count, chk; ^ simple_test.c: In function ‘main’: simple_test.c:237:7: warning: variable ‘iret1’ set but not used [-Wunused-but-set-variable] int iret1; ^ --- Linking simple_test /usr/bin/gcc -Wl,-Map=simple_test.map -Wl,--gc-sections -L"/home/ebata/Downloads/SOEM-1.3.1/lib/linux" obj/linux/*.o -o simple_test -Wl,--start-group -loshw -losal -lsoem -lc -lm -Wl,--end-group -lpthread -lrt --- Compiling slaveinfo.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/slaveinfo.d" -MT"obj/linux/slaveinfo.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c slaveinfo.c -o obj/linux/slaveinfo.o --- Linking slaveinfo /usr/bin/gcc -Wl,-Map=slaveinfo.map -Wl,--gc-sections -L"/home/ebata/Downloads/SOEM-1.3.1/lib/linux" obj/linux/*.o -o slaveinfo -Wl,--start-group -loshw -losal -lsoem -lc -lm -Wl,--end-group -lpthread -lrt --- Compiling firm_update.c /usr/bin/gcc -Wall -Wextra -Wno-unused-parameter -fomit-frame-pointer -fno-strict-aliasing -B/usr/bin/libexec/gcc -MMD -MP -MF"obj/linux/firm_update.d" -MT"obj/linux/firm_update.d" -g -O0 -ffunction-sections -I"/home/ebata/Downloads/SOEM-1.3.1/osal" -I"/home/ebata/Downloads/SOEM-1.3.1/osal/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/oshw/linux" -I"/home/ebata/Downloads/SOEM-1.3.1/soem" -I"/usr/bin/linux/include" -c firm_update.c -o obj/linux/firm_update.o --- Linking firm_update /usr/bin/gcc -Wl,-Map=firm_update.map -Wl,--gc-sections -L"/home/ebata/Downloads/SOEM-1.3.1/lib/linux" obj/linux/*.o -o firm_update -Wl,--start-group -loshw -losal -lsoem -lc -lm -Wl,--end-group -lpthread -lrt --- Leaving /home/ebata/Downloads/SOEM-1.3.1/test/linux --- Leaving /home/ebata/Downloads/SOEM-1.3.1/test これで作成プロセスが全部見えるようになった。 ======= 上記のリンクオプションで、"-lrt"というコマンドが出てきている。気になったので、調べてみたら、これは、"Realtime Extensions library"というもので、clock_gettimeなどを使って、ナノ秒単位での分解能が得られるそうである。
/* 出展 http://simd.jugem.jp/?eid=49 gcc -g comma.cpp -o comma */ #include <stdio.h> int main(void) { FILE *fp; const char *fname = "comma.csv"; char s[100]; int ret, n1, n2; float f1, f2; fp = fopen( fname, "r" ); if( fp == NULL ){ printf( "%sファイルが開けません\n", fname ); return -1; } /* fscanf()やscanf()関数には%dや%sなどの、 変換文字(変換仕様)と言われる指定方法があります。 その中に、%[^...] という変換文字があり、カッコ内の文字以外を読み込むという意味です。 つまり、%[^abc] の場合は、「abc」以外の文字を読み込むという指定が出来ます。 これを、CSVファイル読み込みにも利用してみます。 */ while( ( ret = fscanf( fp, "%[^,],%d,%d,%f,%f", s, &n1, &n2, &f1, &f2 ) ) != EOF ){ printf( "%s %d %d %f %f", s, n1, n2, f1, f2 ); } fclose( fp ); return 0; } #if 0 以下を、"comma.csv"というファイル名で保存する。 test01,10,11,1.0,1.1 test02,20,21,2.0,2.1 test03,30,31,3.0,3.1 #endif