diff --git a/_includes/css/style.css b/_includes/css/style.css index e2394a44ad..a40ef781c2 100644 --- a/_includes/css/style.css +++ b/_includes/css/style.css @@ -533,7 +533,7 @@ pre, code { font-size: 14px; padding: 0 .5em; line-height: 1.8em; - background: #FFF2CA; + background: #EDEDEDD; /*width: 100%;*/ border-radius: 5px; } @@ -728,16 +728,16 @@ code.option, code.flag, code.filter, code.output { padding-left: 50px; border-radius: 0 5px 5px 0; position: relative; - box-shadow: 0 1px 5px rgba(0, 0, 0, .3), inset 0 1px 0 rgba(255,255,255,.2), inset 0 -1px 0 rgba(0,0,0,.3); - background: #7e6d42; + box-shadow: 0 1px 5px rgba(0, 0, 0, .3), inset 0 1px 0 rgba(0,0,0,.2), inset 0 -1px 0 rgba(255,255,255,.3); + background: #88d598; background: url(data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiA/Pgo8c3ZnIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgd2lkdGg9IjEwMCUiIGhlaWdodD0iMTAwJSIgdmlld0JveD0iMCAwIDEgMSIgcHJlc2VydmVBc3BlY3RSYXRpbz0ibm9uZSI+CiAgPGxpbmVhckdyYWRpZW50IGlkPSJncmFkLXVjZ2ctZ2VuZXJhdGVkIiBncmFkaWVudFVuaXRzPSJ1c2VyU3BhY2VPblVzZSIgeDE9IjAlIiB5MT0iMCUiIHgyPSIwJSIgeTI9IjEwMCUiPgogICAgPHN0b3Agb2Zmc2V0PSIwJSIgc3RvcC1jb2xvcj0iIzdlNmQ0MiIgc3RvcC1vcGFjaXR5PSIxIi8+CiAgICA8c3RvcCBvZmZzZXQ9IjEwMCUiIHN0b3AtY29sb3I9IiM1YzRlMzUiIHN0b3Atb3BhY2l0eT0iMSIvPgogIDwvbGluZWFyR3JhZGllbnQ+CiAgPHJlY3QgeD0iMCIgeT0iMCIgd2lkdGg9IjEiIGhlaWdodD0iMSIgZmlsbD0idXJsKCNncmFkLXVjZ2ctZ2VuZXJhdGVkKSIgLz4KPC9zdmc+); - background: -moz-linear-gradient(top, #7e6d42 0%, #5c4e35 100%); - background: -webkit-gradient(linear, left top, left bottom, color-stop(0%,#7e6d42), color-stop(100%,#5c4e35)); - background: -webkit-linear-gradient(top, #7e6d42 0%,#5c4e35 100%); - background: -o-linear-gradient(top, #7e6d42 0%,#5c4e35 100%); - background: -ms-linear-gradient(top, #7e6d42 0%,#5c4e35 100%); - background: linear-gradient(to bottom, #7e6d42 0%,#5c4e35 100%); - filter: progid:DXImageTransform.Microsoft.gradient( startColorstr='#7e6d42', endColorstr='#5c4e35',GradientType=0 ); + background: -moz-linear-gradient(top, #88d598 0%, #5c4e35 100%); + background: -webkit-gradient(linear, left top, left bottom, color-stop(0%,#88d598), color-stop(100%,#5c4e35)); + background: -webkit-linear-gradient(top, #88d598 0%,#5c4e35 100%); + background: -o-linear-gradient(top, #88d598 0%,#5c4e35 100%); + background: -ms-linear-gradient(top, #88d598 0%,#5c4e35 100%); + background: linear-gradient(to bottom, #88d598 0%,#5c4e35 100%); + filter: progid:DXImageTransform.Microsoft.gradient( startColorstr='#88d598', endColorstr='#5c4e35',GradientType=0 ); } @media (max-width: 568px){ diff --git a/docs/code/NML_Messages.asciidoc b/docs/code/NML_Messages.asciidoc index 75376e7e0b..4d392955f7 100644 --- a/docs/code/NML_Messages.asciidoc +++ b/docs/code/NML_Messages.asciidoc @@ -3,6 +3,7 @@ :skip-front-matter: = NML Messages +:toc: == EMC OPERATOR diff --git a/docs/code/Style_Guide.asciidoc b/docs/code/Style_Guide.asciidoc index 35ff82dfeb..6684533ae6 100644 --- a/docs/code/Style_Guide.asciidoc +++ b/docs/code/Style_Guide.asciidoc @@ -3,6 +3,7 @@ :skip-front-matter: = Coding Style +:toc: This chapter describes the source code style preferred by the Machinekit team. diff --git a/docs/common/Glossary.asciidoc b/docs/common/Glossary.asciidoc index f480aebb39..d65e2e575d 100644 --- a/docs/common/Glossary.asciidoc +++ b/docs/common/Glossary.asciidoc @@ -4,18 +4,19 @@ :skip-front-matter: = Glossary +:toc: A listing of terms and what they mean. Some terms have a general meaning and several additional meanings for users, installers, and developers. -Acme Screw:: +== Acme Screw (((acme screw)))[[glo:AcmeScrew]] A type of lead-screw that uses an Acme thread form. Acme threads have somewhat lower friction and wear than simple triangular threads, but ball-screws are lower yet. Most manual machine tools use acme lead-screws. -Axis:: +== Axis (((axis)))[[glo:Axis]] One of the computer controlled movable parts of the machine. For a typical vertical mill, the table is the X axis, the saddle is the Y axis, and the quill or knee is the Z axis. Angular @@ -23,14 +24,14 @@ Axis:: linear axes relative to the tool are called U, V, and W respectively. -Axis(GUI):: +== Axis(GUI) (((GUI))) One of the Graphical User Interfaces available to users of Machinekit. It features the modern use of menus and mouse buttons while automating and hiding some of the more traditional Machinekit controls. It is the only open-source interface that displays the entire tool path as soon as a file is opened. -Backlash:: +== Backlash (((backlash)))[[glo:Backlash]] The amount of "play" or lost motion that occurs when direction is reversed in a lead screw. or other mechanical motion driving system. It can result from nuts that are loose on @@ -42,7 +43,7 @@ Backlash:: of the sudden increase in chip load on the cutter as the work piece is pulled across the backlash distance by the cutting tool. -Backlash Compensation:: +== Backlash Compensation (((backlash compensation))) Any technique that attempts to reduce the effect of backlash without actually removing it from the mechanical system. This is typically done in software in the controller. This can @@ -52,50 +53,50 @@ Backlash Compensation:: (think cutting tool pulling on the work piece) are the source of the motion. -Ball Screw:: +== Ball Screw (((ball screw)))[[glo:Ballscrew]] A type of lead-screw that uses small hardened steel balls between the nut and screw to reduce friction. Ball-screws have very low friction and backlash, but are usually quite expensive. -Ball Nut:: +== Ball Nut (((ball nut)))[[glo:Ballnut]] A special nut designed for use with a ball-screw. It contains an internal passage to re-circulate the balls from one end of the screw to the other. -CNC:: +== CNC (((CNC)))[[glo:CNC]] Computer Numerical Control. The general term used to refer to computer control of machinery. Instead of a human operator turning cranks to move a cutting tool, CNC uses a computer and motors to move the tool, based on a part program. -Comp:: +== Comp (((comp)))[[glo:comp]] A tool used to build, compile and install Machinekit HAL components. -Configuration(n):: +== Configuration(n) A directory containing a set of configuration files. Custom configurations are normally saved in the users home/machinekit/configs directory. These files include Machinekit's traditional INI file and HAL files. A configuration may also contain several general files that describe tools, parameters, and NML connections. -Configuration(v):: +== Configuration(v) The task of setting up Machinekit so that it matches the hardware on a machine tool. -Coordinate Measuring Machine:: +== Coordinate Measuring Machine (((coordinate measuring machine))) A Coordinate Measuring Machine is used to make many accurate measurements on parts. These machines can be used to create CAD data for parts where no drawings can be found, when a hand-made prototype needs to be digitized for moldmaking, or to check the accuracy of machined or molded parts. -Display units:: +== Display units (((display units))) The linear and angular units used for onscreen display. -DRO:: +== DRO (((DRO))) A Digital Read Out is a system of position-measuring devices attached to the slides of a machine tool, which are connected to a numeric display showing the current location of the tool with respect to @@ -107,7 +108,7 @@ DRO:: information from the machine, and some use methods similar to a resolver which keeps rolling over. -EDM:: +== EDM (((EDM))) EDM is a method of removing metal in hard or difficult to machine or tough metals, or where rotating tools would not be able to produce the desired shape in a cost-effective manner. An excellent @@ -118,53 +119,53 @@ EDM:: EDM can make internal corners with a radius only slightly larger than the radius on the corner of the sinking electrode. -EMC:: +== EMC (((EMC)))[[glo:EMC]] The Enhanced Machine Controller. Initially a NIST project. Renamed to Machinekit in 2012. -EMCIO:: +== EMCIO (((EMCIO)))[[glo:EMCIO]] The module within Machinekit that handles general purpose I/O, unrelated to the actual motion of the axes. -EMCMOT:: +== EMCMOT (((EMCMOT)))[[glo:EMCMOT]] The module within Machinekit that handles the actual motion of the cutting tool. It runs as a real-time program and directly controls the motors. -Encoder:: +== Encoder (((encoder)))[[glo:Encoder]] A device to measure position. Usually a mechanical-optical device, which outputs a quadrature signal. The signal can be counted by special hardware, or directly by the parport with Machinekit. -Feed:: +== Feed (((feed)))[[glo:Feed]] Relatively slow, controlled motion of the tool used when making a cut. -Feed rate:: +== Feed rate (((feed rate))) The speed at which a cutting motion occurs. In auto or mdi mode, feed rate is commanded using an F word. F10 would mean ten machine units per minute. -Feedback:: +== Feedback (((feedback)))[[glo:Feedback]] A method (e.g., quadrature encoder signals) by which Machinekit receives information about the position of motors -Feedrate Override:: +== Feedrate Override (((feedrate override)))[[glo:FeedrateOveride]] A manual, operator controlled change in the rate at which the tool moves while cutting. Often used to allow the operator to adjust for tools that are a little dull, or anything else that requires the feed rate to be “tweaked”. -Floating Point Number:: +== Floating Point Number A number that has a decimal point. (12.300) In HAL it is known as float. -G-Code:: +== G-Code (((G-Code)))[[glo:G-Code]] The generic term used to refer to the most common part programming language. There are several dialects of G-code, Machinekit uses RS274/NGC. -GUI:: +== GUI [[glo:GUI]](((GUI))) Graphical User Interface. General;; A type of interface that allows communications between a computer @@ -176,42 +177,42 @@ GUI:: operator allowing manipulation of the machine and the corresponding controlling program. -HAL:: +== HAL (((HAL)))[[glo:HAL]] Hardware Abstraction Layer. At the highest level, it is simply a way to allow a number of building blocks to be loaded and interconnected to assemble a complex system. Many of the building blocks are drivers for hardware devices. However, HAL can do more than just configure hardware drivers. -Home:: +== Home (((home)))[[glo:Home]] A specific location in the machine's work envelope that is used to make sure the computer and the actual machine both agree on the tool position. -ini file:: +== ini file (((INI)))[[glo:inifile]] A text file that contains most of the information that configures Machinekit for a particular machine. -Instance:: +== Instance (((Instance)))[[glo:Instance]] One can have an instance of a class or a particular object. The instance is the actual object created at runtime. In programmer jargon, the Lassie object is an instance of the Dog class. -Joint Coordinates:: +== Joint Coordinates (((joint coordinates)))[[glo:Joint_Coordinates]] These specify the angles between the individual joints of the machine. See also Kinematics -Jog:: +== Jog (((jog))) Manually moving an axis of a machine. Jogging either moves the axis a fixed amount for each key-press, or moves the axis at a constant speed as long as you hold down the key. In manual mode, jog speed can be set from the graphical interface. -kernel-space:: +== kernel-space [[glo:kernel-space]] See real-time. -Kinematics:: +== Kinematics (((kinematics)))[[glo:Kinematics]] The position relationship between world coordinates and joint coordinates of a machine. There are two types of kinematics. Forward kinematics is used to calculate world coordinates @@ -219,33 +220,33 @@ Kinematics:: purpose. Note that kinematics does not take into account, the forces, moments etc. on the machine. It is for positioning only. -Lead-screw:: +== Lead-screw (((lead screw)))[[glo:Leadscrew]] An screw that is rotated by a motor to move a table or other part of a machine. Lead-screws are usually either ball-screws or acme screws, although conventional triangular threaded screws may be used where accuracy and long life are not as important as low cost. -Machine units:: +== Machine units (((machine units))) The linear and angular units used for machine configuration. These units are specified and used in the ini file. HAL pins and parameters are also generally in machine units. -MDI:: +== MDI (((MDI)))[[glo:MDI]] Manual Data Input. This is a mode of operation where the controller executes single lines of G-code as they are typed by the operator. -NIST:: +== NIST (((NIST)))[[glo:NIST]] National Institute of Standards and Technology. An agency of the Department of Commerce in the United States. -NML:: +== NML (((NML)))[[glo:NML]] Neutral Message Language provides a mechanism for handling multiple types of messages in the same buffer as well as simplifying the interface for encoding and decoding buffers in neutral format and the configuration mechanism. -Offsets:: +== Offsets (((offsets)))[[glo:Offsets]] An arbitrary amount, added to the value of something to make it equal to some desired value. For example, gcode programs are @@ -256,119 +257,119 @@ Offsets:: Tool offsets can be used to shift the "uncorrected" length of a tool to equal that tool's actual length. -Part Program:: +== Part Program (((part Program)))[[glo:PartProgram]] A description of a part, in a language that the controller can understand. For Machinekit, that language is RS-274/NGC, commonly known as G-code. -Program Units:: +== Program Units (((program units))) The linear and angular units used in a part program. The linear program units do not have to be the same as the linear machine units. See G20 and G21 for more information. The angular program units are always measured in degrees. -Python:: +== Python General-purpose, very high-level programming language. Used in Machinekit for the Axis GUI, the Stepconf configuration tool, and several G-code programming scripts. -Rapid:: +== Rapid (((rapid)))[[glo:Rapid]] Fast, possibly less precise motion of the tool, commonly used to move between cuts. If the tool meets the workpiece or the fixturing during a rapid, it is probably a bad thing! -Rapid rate:: +== Rapid rate (((rapid rate)))[[glo:RapidRate]]The speed at which a rapid motion occurs. In auto or mdi mode, rapid rate is usually the maximum speed of the machine. It is often desirable to limit the rapid rate when testing a g-code program for the first time. -Real-time:: +== Real-time (((real-time)))[[glo:real-time]] Software that is intended to meet very strict timing deadlines. Under Linux, in order to meet these requirements it is necessary to install a realtime kernel such as RTAI and build the software to run in the special real-time environment. For this reason real-time software runs in kernel-space. -RTAI:: +== RTAI (((RTAI)))[[glo:RTAI]] Real Time Application Interface, see https://www.rtai.org/[https://www.rtai.org/], the real-time extensions for Linux that Machinekit can use to achieve real-time performance. -RTLINUX:: +== RTLINUX (((RTLINUX)))[[glo:RTLINUX]] See https://en.wikipedia.org/wiki/RTLinux[https://en.wikipedia.org/wiki/RTLinux], an older real-time extension for Linux that Machinekit used to use to achieve real-time performance. Obsolete, replaced by RTAI. -RTAPI:: +== RTAPI (((RTAPI)))A portable interface to real-time operating systems including RTAI and RTLINUX -RS-274/NGC:: +== RS-274/NGC (((RS274NGC)))[[glo:RS274NGC]] The formal name for the language used by Machinekit part programs. -Servo Motor:: +== Servo Motor (((servo motor)))[[glo:ServoMotor]] Generally, any motor that is used with error-sensing feedback to correct the position of an actuator. Also, a motor which is specially-designed to provide improved performance in such applications. -Servo Loop:: +== Servo Loop (((loop)))[[glo:ServoLoop]] A control loop used to control position or velocity of an motor equipped with a feedback device. -Signed Integer:: +== Signed Integer (((Signed Integer))) A whole number that can have a positive or negative sign. In HAL it is known as s32. (A signed 32-bit integer has a usable range of -2,147,483,647 to +2,147,483,647.) -Spindle:: +== Spindle (((spindle)))[[glo:Spindle]] The part of a machine tool that spins to do the cutting. On a mill or drill, the spindle holds the cutting tool. On a lathe, the spindle holds the workpiece. -Spindle Speed Override:: +== Spindle Speed Override A manual, operator controlled change in the rate at which the tool rotates while cutting. Often used to allow the operator to adjust for chatter caused by the cutter's teeth. Spindle Speed Override assumes that the Machinekit software has been configured to control spindle speed. -Stepconf:: +== Stepconf An Machinekit configuration wizard. It is able to handle many step-and-direction motion command based machines. It writes a full configuration after the user answers a few questions about the computer and machine that Machinekit is to run on. -Stepper Motor:: +== Stepper Motor (((stepper motor)))[[glo:StepperMotor]] A type of motor that turns in fixed steps. By counting steps, it is possible to determine how far the motor has turned. If the load exceeds the torque capability of the motor, it will skip one or more steps, causing position errors. -TASK:: +== TASK (((TASK)))[[glo:TASK]] The module within Machinekit that coordinates the overall execution and interprets the part program. -Tcl/Tk:: +== Tcl/Tk (((Tk)))[[glo:Tcl/Tk]] A scripting language and graphical widget toolkit with which several of Machinekits GUIs and selection wizards were written. -Traverse Move:: +== Traverse Move (((Traverse Move))) A move in a straight line from the start point to the end point. -Units:: +== Units (((units))) See "Machine Units", "Display Units", or "Program Units". -Unsigned Integer:: +== Unsigned Integer (((Unsigned Integer))) A whole number that has no sign. In HAL it is known as u32. (An unsigned 32-bit integer has a usable range of zero to 4,294,967,296.) -World Coordinates:: +== World Coordinates (((world coordinates)))[[glo:World_Coordinates]] This is the absolute frame of reference. It gives coordinates in terms of a fixed reference frame that is attached to some point (generally the base) of the diff --git a/docs/common/Linux_FAQ.asciidoc b/docs/common/Linux_FAQ.asciidoc index 574dde8910..ba5c0d2112 100644 --- a/docs/common/Linux_FAQ.asciidoc +++ b/docs/common/Linux_FAQ.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = Linux FAQ - +:toc: [[cha:linux-faq]] (((Linux FAQ))) These are some basic Linux commands and techniques for new to Linux diff --git a/docs/common/System_Requirements.asciidoc b/docs/common/System_Requirements.asciidoc index e64b00b1d2..b058b97c5a 100644 --- a/docs/common/System_Requirements.asciidoc +++ b/docs/common/System_Requirements.asciidoc @@ -23,7 +23,7 @@ absolute minimum but will give reasonable performance for most stepper systems. * 1.2 GHz x86 processor -* 512 MB RAM up to 2 GB recommended +* 1GB RAM minimum recommended * 8 GB hard disk space minimum * Graphics card capable of at least 1024x768 resolution, which is not using the NVidia or ATI fglrx proprietary drivers, and which is not an diff --git a/docs/common/User_Concepts.asciidoc b/docs/common/User_Concepts.asciidoc index 1e040b2bd4..58decd522a 100644 --- a/docs/common/User_Concepts.asciidoc +++ b/docs/common/User_Concepts.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/common/images = Important User Concepts - +:toc: [[cha:important-user-concepts]] (((User Concepts))) This chapter covers important user concepts that should be understood diff --git a/docs/common/user_intro.asciidoc b/docs/common/user_intro.asciidoc index 0f1ca18f30..73c618bb89 100644 --- a/docs/common/user_intro.asciidoc +++ b/docs/common/user_intro.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/common/images = Machinekit User Introduction - +:toc: [[cha:machinekit-user-introduction]] (((Machinekit User Introduction))) == This Manual diff --git a/docs/config/copy_and_run.asciidoc b/docs/config/copy_and_run.asciidoc index a7a6492844..c56e416e5e 100644 --- a/docs/config/copy_and_run.asciidoc +++ b/docs/config/copy_and_run.asciidoc @@ -40,7 +40,7 @@ without showing the Configuration Selector screen. When you select a configuration from the Sample Configurations section, it will automaticly place a copy of that config in the -emc/configs directory. +~/machinekit/configs directory. == Next steps in configuration diff --git a/docs/config/pncconf.asciidoc b/docs/config/pncconf.asciidoc index e53440b626..a962e430d9 100644 --- a/docs/config/pncconf.asciidoc +++ b/docs/config/pncconf.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/config/images = Mesa Configuration Wizard - +:toc: [[cha:PNCconf-wizard]] (((Point n Click Configuration Wizard))) (((Mesa Configuration Wizard))) diff --git a/docs/config/stepconf.asciidoc b/docs/config/stepconf.asciidoc index bf1c326f6c..64a55454db 100644 --- a/docs/config/stepconf.asciidoc +++ b/docs/config/stepconf.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/config/images = Stepper Configuration Wizard - +:toc: [[cha:stepconf-wizard]] (((Stepconf Wizard))) Machinekit is capable of controlling a wide range of machinery diff --git a/docs/drivers/AX5214H.asciidoc b/docs/drivers/AX5214H.asciidoc index e0115c6823..ec8c262894 100644 --- a/docs/drivers/AX5214H.asciidoc +++ b/docs/drivers/AX5214H.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = AX5214H Driver - +:toc: [[cha:ax5214-driver]] (((AX5214H Driver))) The Axiom Measurement & Control AX5214H is a 48 channel digital I/O diff --git a/docs/drivers/GM.asciidoc b/docs/drivers/GM.asciidoc index 5ffe823811..539092df2f 100644 --- a/docs/drivers/GM.asciidoc +++ b/docs/drivers/GM.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/drivers/images = General Mechatronics Driver - +:toc: [[cha:gm-driver]] (((General Mechatronics Driver))) General Mechatronics GM6-PCI card based motion control system diff --git a/docs/drivers/GS2.asciidoc b/docs/drivers/GS2.asciidoc index b74783401d..54175f84c9 100644 --- a/docs/drivers/GS2.asciidoc +++ b/docs/drivers/GS2.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = GS2 VFD Driver - +:toc: [[cha:gs2-vfd-driver]] (((GS2 VFD Driver))) This is a userspace HAL program for the GS2 series of VFD's at diff --git a/docs/drivers/VFS11.asciidoc b/docs/drivers/VFS11.asciidoc index bbd7d8135a..959f3b2b70 100644 --- a/docs/drivers/VFS11.asciidoc +++ b/docs/drivers/VFS11.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = VFS11 VFD Driver - +:toc: :ini: {basebackend@docbook:'':ini} :hal: {basebackend@docbook:'':hal} diff --git a/docs/drivers/hal_arm335xQEP.asciidoc b/docs/drivers/hal_arm335xQEP.asciidoc index 5beb09e48f..511f757b0d 100644 --- a/docs/drivers/hal_arm335xQEP.asciidoc +++ b/docs/drivers/hal_arm335xQEP.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = arm355x eQEP encoder driver - +:toc: [[cha:arm355xQEP-driver]] (((arm335x eQEP driver))) hal_arm335xQEP is a driver for the 3 hardware quadrature decoders diff --git a/docs/drivers/hostmot2.asciidoc b/docs/drivers/hostmot2.asciidoc index ab449e93e0..7e1d62185d 100644 --- a/docs/drivers/hostmot2.asciidoc +++ b/docs/drivers/hostmot2.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/drivers/images = Mesa HostMot2 Driver - +:toc: [[cha:mesa-hostmot2-driver]] (((Mesa HostMot2 Driver))) == Introduction diff --git a/docs/drivers/motenc.asciidoc b/docs/drivers/motenc.asciidoc index 28834281e5..d4381ecc11 100644 --- a/docs/drivers/motenc.asciidoc +++ b/docs/drivers/motenc.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = Motenc Driver - +:toc: [[cha:montec-driver]] (((Motenc Driver))) Vital Systems Motenc-100 and Motenc-LITE diff --git a/docs/drivers/opto22.asciidoc b/docs/drivers/opto22.asciidoc index f5b6555d30..4f45f9ab93 100644 --- a/docs/drivers/opto22.asciidoc +++ b/docs/drivers/opto22.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = Opto22 Driver - +:toc: [[cha:opto22-driver]] (((Opto22 Driver))) PCI AC5 ADAPTER CARD / HAL DRIVER diff --git a/docs/drivers/pico_ppmc.asciidoc b/docs/drivers/pico_ppmc.asciidoc index 8bea08eb34..8e6c934fea 100644 --- a/docs/drivers/pico_ppmc.asciidoc +++ b/docs/drivers/pico_ppmc.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/drivers/images = Pico Drivers - +:toc: [[cha:pico-drivers]] (((Pico PPMC Driver))) Pico Systems has a family of boards for doing analog servo, stepper, diff --git a/docs/drivers/pluto_p.asciidoc b/docs/drivers/pluto_p.asciidoc index 3cfe09cf4e..e621d7d15a 100644 --- a/docs/drivers/pluto_p.asciidoc +++ b/docs/drivers/pluto_p.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/drivers/images = Pluto P Driver - +:toc: [[cha:pluto-p-driver]] (((Pluto P Driver))) == General Info diff --git a/docs/drivers/servo_to_go.asciidoc b/docs/drivers/servo_to_go.asciidoc index f4fac14b59..a70a20a989 100644 --- a/docs/drivers/servo_to_go.asciidoc +++ b/docs/drivers/servo_to_go.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = Servo To Go Driver - +:toc: [[cha:servo-to-go-driver]] (((Servo To Go Driver))) The Servo-To-Go (STG) is one of the first PC motion control cards supported diff --git a/docs/drivers/shuttlexpress.asciidoc b/docs/drivers/shuttlexpress.asciidoc index 0eeb060101..ae4c99e5ba 100644 --- a/docs/drivers/shuttlexpress.asciidoc +++ b/docs/drivers/shuttlexpress.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = ShuttleXpress - +:toc: [[cha:shuttlexpress]] (((ShuttleXpress))) == Description diff --git a/docs/gcode/coordinates.asciidoc b/docs/gcode/coordinates.asciidoc index afb701347e..ba59f9ae58 100644 --- a/docs/gcode/coordinates.asciidoc +++ b/docs/gcode/coordinates.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/gcode/images = Coordinate System - +:toc: [[cha:coordinate-system]] (((Coordinate System))) == Introduction diff --git a/docs/gcode/gcode.asciidoc b/docs/gcode/gcode.asciidoc index 4a69e1124f..75efc29a35 100644 --- a/docs/gcode/gcode.asciidoc +++ b/docs/gcode/gcode.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/gcode/images = G Codes - +:toc: [[cha:g-codes]] (((G Codes))) :ini: {basebackend@docbook:'':ini} diff --git a/docs/gcode/m-code.asciidoc b/docs/gcode/m-code.asciidoc index 2367cf571c..284691a826 100644 --- a/docs/gcode/m-code.asciidoc +++ b/docs/gcode/m-code.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = M Codes - +:toc: [[cha:m-codes]] (((M Codes))) :ini: {basebackend@docbook:'':ini} diff --git a/docs/gcode/machining_center.asciidoc b/docs/gcode/machining_center.asciidoc index 6726b06a79..5376c9fa66 100644 --- a/docs/gcode/machining_center.asciidoc +++ b/docs/gcode/machining_center.asciidoc @@ -4,6 +4,7 @@ :skip-front-matter: = CNC Machine Overview +:toc: [[cha:cnc-machine-overview]] (((CNC Machine Overview))) diff --git a/docs/gcode/o-code.asciidoc b/docs/gcode/o-code.asciidoc index 003f1370ec..af1da52e8b 100644 --- a/docs/gcode/o-code.asciidoc +++ b/docs/gcode/o-code.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = O Codes - +:toc: [[cha:O-Codes]] (((O Codes))) O-codes provide for flow control in NC programs. Each block has an diff --git a/docs/gcode/other-code.asciidoc b/docs/gcode/other-code.asciidoc index 5d0f4d4b9a..7c7acad466 100644 --- a/docs/gcode/other-code.asciidoc +++ b/docs/gcode/other-code.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = Other Codes - +:toc: [[cha:other-codes]] (((Other Codes))) [[sec:F-feed-rate]] diff --git a/docs/gcode/overview.asciidoc b/docs/gcode/overview.asciidoc index bc9a7b272d..b86c048313 100644 --- a/docs/gcode/overview.asciidoc +++ b/docs/gcode/overview.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/gcode/images = G Code Overview - +:toc: [[cha:g-code-overview]] (((G Code Overview))) :ini: {basebackend@docbook:'':ini} diff --git a/docs/gcode/rs274ngc.asciidoc b/docs/gcode/rs274ngc.asciidoc index fff90b03cf..d46baa77b2 100644 --- a/docs/gcode/rs274ngc.asciidoc +++ b/docs/gcode/rs274ngc.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = RS274/NGC Differences - +:toc: [[cha:rs274ngc-programs]] (((RS274/NGC Programs))) == Changes from RS274/NGC diff --git a/docs/gcode/tool_compensation.asciidoc b/docs/gcode/tool_compensation.asciidoc index 499346e2e6..b2f6045566 100644 --- a/docs/gcode/tool_compensation.asciidoc +++ b/docs/gcode/tool_compensation.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/gcode/images = Tool Compensation - +:toc: [[cha:tool-compensation]] (((Tool Compensation))) == Tool Length Offsets diff --git a/docs/getting-started/getting-started-platform.asciidoc b/docs/getting-started/getting-started-platform.asciidoc index 569ed21b72..6d3b5c33d9 100644 --- a/docs/getting-started/getting-started-platform.asciidoc +++ b/docs/getting-started/getting-started-platform.asciidoc @@ -11,26 +11,20 @@ can be some differences in the installation for a specific platform. [NOTE] ==== -You should have a working Debian installation. +You should first have a working Debian installation. ==== == Installation options: === Images -:leveloffset: +1 +link:../machinekit-images[Machinekit Images] -include::{docdir}/docs/getting-started/machinekit-images.asciidoc[] - -:leveloffset: -1 === Installing packages -:leveloffset: +1 - -include::{docdir}/docs/getting-started/installing-packages.asciidoc[] +link:../installing-packages[Installing Packages] -:leveloffset: -1 === Development packages @@ -38,5 +32,5 @@ In addition to the configuring of the APT repository, installation of the kernel, there are some additional steps to take to install a development setup. -. link:/docs/developing/developing[Set up a development platform] +link:../../developing/developing[Set up a development platform] when you want to develop for Machinekit. diff --git a/docs/getting-started/installing-packages.asciidoc b/docs/getting-started/installing-packages.asciidoc index ea2d6d8dee..de7460a6a6 100644 --- a/docs/getting-started/installing-packages.asciidoc +++ b/docs/getting-started/installing-packages.asciidoc @@ -5,9 +5,10 @@ = Platforms + Follow these steps to configure Apt and install a kernel and Machinekit packages: -[WARNING] +[NOTE] ==== The kernel-naming convention used in these packages may change as experience is accumulated, especially with ARM-based systems. Be sure to @@ -20,11 +21,11 @@ check back here before installing a new kernel. :leveloffset: +2 -include::{docdir}/docs/getting-started/APT-packages-wheezy.asciidoc[] +- link:../APT-packages-wheezy[APT Packages for Wheezy] -include::{docdir}/docs/getting-started/install-rt-kernel-arm7.asciidoc[] +- link:../install-rt-kernel-arm7[Install the kernel] -include::{docdir}/docs/getting-started/install-runtime-packages.asciidoc[] +- link:../install-runtime-packages[Install Runtime Packages] :leveloffset: -2 @@ -32,11 +33,11 @@ include::{docdir}/docs/getting-started/install-runtime-packages.asciidoc[] :leveloffset: +2 -include::{docdir}/docs/getting-started/APT-packages-wheezy.asciidoc[] +- link:../APT-packages-wheezy[APT Packages for Wheezy] -include::{docdir}/docs/getting-started/install-rt-kernel-i386.asciidoc[] +- link:../install-rt-kernel-i386[Install the kernel] -include::{docdir}/docs/getting-started/install-runtime-packages.asciidoc[] +- link:../install-runtime-packages[Install Runtime Packages] :leveloffset: -2 @@ -44,11 +45,11 @@ include::{docdir}/docs/getting-started/install-runtime-packages.asciidoc[] :leveloffset: +2 -include::{docdir}/docs/getting-started/APT-packages-wheezy.asciidoc[] +- link:../APT-packages-wheezy[APT Packages for Wheezy] -include::{docdir}/docs/getting-started/install-rt-kernel-amd64.asciidoc[] +- link:../install-rt-kernel-amd64[Install the kernel] -include::{docdir}/docs/getting-started/install-runtime-packages.asciidoc[] +- link:../install-runtime-packages[Install Runtime Packages] :leveloffset: -2 @@ -57,11 +58,11 @@ include::{docdir}/docs/getting-started/install-runtime-packages.asciidoc[] :leveloffset: +2 -include::{docdir}/docs/getting-started/APT-packages-jessie.asciidoc[] +- link:../APT-packages-jessie[APT Packages for Jessie] -include::{docdir}/docs/getting-started/install-rt-kernel-arm7.asciidoc[] +- link:../install-rt-kernel-arm7[Install the kernel] -include::{docdir}/docs/getting-started/install-runtime-packages.asciidoc[] +- link:../install-runtime-packages[Install Runtime Packages] :leveloffset: -2 @@ -69,11 +70,11 @@ include::{docdir}/docs/getting-started/install-runtime-packages.asciidoc[] :leveloffset: +2 -include::{docdir}/docs/getting-started/APT-packages-jessie.asciidoc[] +- link:../APT-packages-jessie[APT Packages for Jessie] -include::{docdir}/docs/getting-started/install-rt-kernel-RPi2.asciidoc[] +- link:../install-rt-kernel-RPi2[Install the kernel] -include::{docdir}/docs/getting-started/install-runtime-packages.asciidoc[] +- link:../install-runtime-packages[Install Runtime Packages] :leveloffset: -2 @@ -81,11 +82,11 @@ include::{docdir}/docs/getting-started/install-runtime-packages.asciidoc[] :leveloffset: +2 -include::{docdir}/docs/getting-started/APT-packages-jessie.asciidoc[] +- link:../APT-packages-jessie[APT Packages for Jessie] -include::{docdir}/docs/getting-started/install-rt-kernel-i386.asciidoc[] +- link:../install-rt-kernel-i386[Install the kernel] -include::{docdir}/docs/getting-started/install-runtime-packages.asciidoc[] +- link:../install-runtime-packages[Install Runtime Packages] :leveloffset: -2 @@ -93,11 +94,11 @@ include::{docdir}/docs/getting-started/install-runtime-packages.asciidoc[] :leveloffset: +2 -include::{docdir}/docs/getting-started/APT-packages-jessie.asciidoc[] +- link:../APT-packages-jessie[APT Packages for Jessie] -include::{docdir}/docs/getting-started/install-rt-kernel-amd64.asciidoc[] +- link:../install-rt-kernel-amd64[Install the kernel] -include::{docdir}/docs/getting-started/install-runtime-packages.asciidoc[] +- link:../install-runtime-packages[Install Runtime Packages] :leveloffset: -2 diff --git a/docs/gui/axis.asciidoc b/docs/gui/axis.asciidoc index 5167a8b969..162c904bd3 100644 --- a/docs/gui/axis.asciidoc +++ b/docs/gui/axis.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/gui/images = AXIS GUI - +:toc: [[cha:axis-gui]] (((Axis GUI))) == Introduction diff --git a/docs/gui/gladevcp.asciidoc b/docs/gui/gladevcp.asciidoc index d0c030f8bb..ddf15e1b6b 100644 --- a/docs/gui/gladevcp.asciidoc +++ b/docs/gui/gladevcp.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/gui/images = Glade Virtual Control Panel - +:toc: [[cha:glade-vcp]] (((Glade Virtual Control Panel))) // TODO: diff --git a/docs/gui/gmoccapy.asciidoc b/docs/gui/gmoccapy.asciidoc index daec831240..1121973647 100644 --- a/docs/gui/gmoccapy.asciidoc +++ b/docs/gui/gmoccapy.asciidoc @@ -8,7 +8,7 @@ [[cha:gmoccapy]](((GUI, GMOCCAPY))) = GMOCCAPY - +:toc: == Introduction 'GMOCCAPY' is a GUI for LinuxCNC, designed to be used with a touch screen, diff --git a/docs/gui/halui.asciidoc b/docs/gui/halui.asciidoc index f3603590a0..d91262f4d5 100644 --- a/docs/gui/halui.asciidoc +++ b/docs/gui/halui.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = HAL User Interface - +:toc: [[cha:hal-user-interface]] (((HAL User Interface))) == Introduction[[sec:HaluiIntroduction]] diff --git a/docs/gui/image-to-gcode.asciidoc b/docs/gui/image-to-gcode.asciidoc index 60b21ec698..178b39f4d7 100644 --- a/docs/gui/image-to-gcode.asciidoc +++ b/docs/gui/image-to-gcode.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/gui/images = Image to G Code - +:toc: [[cha:image-to-g-code]] (((Image to G Code))) image::image-to-gcode.png[align="center"] diff --git a/docs/gui/keystick.asciidoc b/docs/gui/keystick.asciidoc index 8064df3a80..880a73c0a0 100644 --- a/docs/gui/keystick.asciidoc +++ b/docs/gui/keystick.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/gui/images = KEYSTICK GUI - +:toc: [[cha:keystick-gui]] (((KEYSTICK))) diff --git a/docs/gui/mini.asciidoc b/docs/gui/mini.asciidoc index 5f5d5b857f..41b40de65b 100644 --- a/docs/gui/mini.asciidoc +++ b/docs/gui/mini.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/gui/images = MINI GUI - +:toc: [[cha:mini-gui]] (((Mini GUI))) == Introduction diff --git a/docs/gui/ngcgui.asciidoc b/docs/gui/ngcgui.asciidoc index b54aba1290..7cd509f6cf 100644 --- a/docs/gui/ngcgui.asciidoc +++ b/docs/gui/ngcgui.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/gui/images = NGCGUI - +:toc: [[cha:ngcgui]] (((NGCGUI))) image::ngcgui.png[] diff --git a/docs/gui/tklinuxcnc.asciidoc b/docs/gui/tklinuxcnc.asciidoc index 9d3663e970..2a5a428a60 100644 --- a/docs/gui/tklinuxcnc.asciidoc +++ b/docs/gui/tklinuxcnc.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/gui/images = TkLinuxcnc GUI - +:toc: [[cha:tklinuxcnc-gui]] (((TkLinuxcnc GUI))) == Introduction diff --git a/docs/gui/tooledit.asciidoc b/docs/gui/tooledit.asciidoc index 94813a4e6a..98d40691bd 100644 --- a/docs/gui/tooledit.asciidoc +++ b/docs/gui/tooledit.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/gui/images = Tool Edit GUI - +:toc: [[cha:tooledit-gui]] (((Tool Edit GUI))) == Tool Edit Version Requirements diff --git a/docs/gui/touchy.asciidoc b/docs/gui/touchy.asciidoc index aeac6789b5..4d586fa87b 100644 --- a/docs/gui/touchy.asciidoc +++ b/docs/gui/touchy.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/gui/images = Touchy GUI - +:toc: [[cha:touchy-gui]] (((Touchy GUI))) Touchy is a user interface for Machinekit meant for use on machine control panels, diff --git a/docs/hal/basic_hal.asciidoc b/docs/hal/basic_hal.asciidoc index a127b56fc1..6b07329427 100644 --- a/docs/hal/basic_hal.asciidoc +++ b/docs/hal/basic_hal.asciidoc @@ -7,7 +7,7 @@ :imagesoutdir: docs/hal/images = Basic HAL Tutorial - +:toc: [[cha:basic-hal-tutorial]] (((Basic HAL Tutorial))) == HAL Commands [[sec:Hal-Commands]] diff --git a/docs/hal/canonical-devices.asciidoc b/docs/hal/canonical-devices.asciidoc index 8c94f8afdc..a5c7ee9104 100644 --- a/docs/hal/canonical-devices.asciidoc +++ b/docs/hal/canonical-devices.asciidoc @@ -4,6 +4,7 @@ :skip-front-matter: = Canonical Device Interfaces +:toc: .Note ********************************************************************* @@ -12,6 +13,7 @@ match these specs. Send an email if you spot any problems. ********************************************************************* [[cha:Canonical-Device-Interfaces]] + == Introduction The following sections show the pins, parameters, and functions that are supplied by “canonical devices”. All HAL device drivers should diff --git a/docs/hal/comp.asciidoc b/docs/hal/comp.asciidoc index 7687ff5a3f..28c60ac99d 100644 --- a/docs/hal/comp.asciidoc +++ b/docs/hal/comp.asciidoc @@ -4,6 +4,7 @@ :skip-front-matter: = Comp HAL Component Generator +:toc: [[cha:comp-hal-component-generator]] (((Comp HAL Component Generator))) diff --git a/docs/hal/components.asciidoc b/docs/hal/components.asciidoc index 312e0520ba..e6283955c1 100644 --- a/docs/hal/components.asciidoc +++ b/docs/hal/components.asciidoc @@ -4,6 +4,7 @@ :skip-front-matter: = HAL Components +:toc: [[cha:HAL-components]] (((HAL Components))) diff --git a/docs/hal/general_ref.asciidoc b/docs/hal/general_ref.asciidoc index 50e66df9e5..88cb575a30 100644 --- a/docs/hal/general_ref.asciidoc +++ b/docs/hal/general_ref.asciidoc @@ -4,6 +4,7 @@ :skip-front-matter: = General Reference +:toc: [[cha:general-reference]] diff --git a/docs/hal/hal-examples.asciidoc b/docs/hal/hal-examples.asciidoc index 65e0c46ab2..7fbf705616 100644 --- a/docs/hal/hal-examples.asciidoc +++ b/docs/hal/hal-examples.asciidoc @@ -6,6 +6,7 @@ :imagesdir: /docs/hal/images = HAL Examples +:toc: All of these examples assume you are starting with a stepconf based configuration and have two threads base-thread and servo-thread. The diff --git a/docs/hal/hal-instantiation.asciidoc b/docs/hal/hal-instantiation.asciidoc index 9a77fbc002..a72eec58ed 100644 --- a/docs/hal/hal-instantiation.asciidoc +++ b/docs/hal/hal-instantiation.asciidoc @@ -2,9 +2,11 @@ --- :skip-front-matter: -== What's in the HAl instantiation branch += What's in the HAl instantiation branch +:toc: -=== quick summary + +== quick summary - a backwards-compatible extension of the C HAL API and halcmd and to support creation and deletion of components at run time @@ -13,16 +15,16 @@ - several migrated and new components - demo components for the new features -=== in a nutshell - what can I do with it: +== in a nutshell - what can I do with it: -==== before you had to know in advance how many copies of a comp you need: +=== before you had to know in advance how many copies of a comp you need: loadrt or2 count=2 and that was it, you need one more - go back to the loadrt statement and fix it, wherever that was -==== after: create instances as needed +=== after: create instances as needed (for the lutn component, see the man page for lut5 - it's just a more flexible version of lut5: variable number of pins, and instantiable - @@ -92,7 +94,7 @@ All hal/i_components have been modified to adhere to this new convention. legacy vs instantiable: cd field in show comp -=== Overview of changes relevant for developers +== Overview of changes relevant for developers - Previously pins, params and functs were owned by components. The API functions hence had a 'int comp_id' parameter. @@ -122,7 +124,7 @@ macros. RTAPI_MP_STRING macros. Other types as well as arrays are currently not supported (and unlikely to be needed). -=== instantiable component example +== instantiable component example Some examples can be found in hal/icomp-example: @@ -130,7 +132,7 @@ Some examples can be found in hal/icomp-example: - icomp.c shows all variations of the instantiation API, not all of which might be needed for every component -=== HAL userfunct objects +== HAL userfunct objects userfuncts are a similar to normal functs, but cannot be addf'd to a thread. @@ -195,7 +197,7 @@ relevant part of machinekit.log: Mar 12 21:25:53 nwheezy msgd:0: hal_lib:1768:rt argv[1] = "bar" Mar 12 21:25:53 nwheezy msgd:0: hal_lib:1768:rt argv[2] = "baz" -=== thread API extensions +== thread API extensions This branch also contains work on a generalized thread API, which was required for the userfunct feature to work. diff --git a/docs/hal/halmodule.asciidoc b/docs/hal/halmodule.asciidoc index 6badf85927..2edb50dbb4 100644 --- a/docs/hal/halmodule.asciidoc +++ b/docs/hal/halmodule.asciidoc @@ -4,6 +4,8 @@ :skip-front-matter: = Creating Userspace Python Components +:toc: + == Basic usage diff --git a/docs/hal/halshow.asciidoc b/docs/hal/halshow.asciidoc index bfe8fe5496..0d88975977 100644 --- a/docs/hal/halshow.asciidoc +++ b/docs/hal/halshow.asciidoc @@ -6,6 +6,7 @@ :imagesdir: /docs/hal/images = Halshow +:toc: [[cha:halshow]] (((Halshow))) diff --git a/docs/hal/haltcl.asciidoc b/docs/hal/haltcl.asciidoc index 3b4d745178..31a90158f5 100644 --- a/docs/hal/haltcl.asciidoc +++ b/docs/hal/haltcl.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = HAL TCL Files - +:toc: [[cha:hal-tcl]] (((HAL TCL Files))) The halcmd language excels in specifiying components and connections but diff --git a/docs/hal/halui_examples.asciidoc b/docs/hal/halui_examples.asciidoc index 0ae3606990..d0d24b5e8d 100644 --- a/docs/hal/halui_examples.asciidoc +++ b/docs/hal/halui_examples.asciidoc @@ -2,6 +2,7 @@ :imagesdir: hal/images = Halui Examples +:toc: For any Halui examples to work you need to add the following line to the [HAL] section of the ini file. diff --git a/docs/hal/instcomp.asciidoc b/docs/hal/instcomp.asciidoc index 2bcd089f03..7d972c9acd 100644 --- a/docs/hal/instcomp.asciidoc +++ b/docs/hal/instcomp.asciidoc @@ -4,7 +4,7 @@ :skip-front-matter: = instcomp HAL Component Generator - +:toc: [[cha:instcomp-hal-component-generator]] (((instcomp HAL Component Generator))) == Introduction @@ -93,7 +93,7 @@ If unnamed the function will be called, *component-name.0.funct* halcmd allows just the base component name to be added to a thread, to keep existing configs working -So *addf component-name.0 servo-thread* will work +So *addf component-name servo-thread* will work What it actually does however is add the *.funct* bit on the end. @@ -128,7 +128,7 @@ eg then -*'addf somenewcomp8 servo-thread'* +*'addf somecomp8 servo-thread'* adds the function to a thread @@ -165,11 +165,11 @@ The reason for this is that kernel module parameters were never envisaged to be Saving a numerical value for use is quite simple, but saving a string which could be any length would involve allocating memory to duplicate it, making it a wasteful process and requiring the explicit freeing of that memory when the instance exits. -For this reason, do not use the instanceparam value directly, access it through a copy in the inst_data struct which is named *local[instanceparamname]* +For this reason, do not use the instanceparam value directly, access it through a copy in the inst_data struct which is named *local_[instanceparamname]* The most common example is in those components which create variable pin numbers through the 'pincount=NN' parameter. -The 'pincount' value is accessed via *localpincount* in your component function body +The 'pincount' value is accessed via *local_pincount* in your component function body See multiswitch and lutn examples below diff --git a/docs/hal/intro.asciidoc b/docs/hal/intro.asciidoc index 9d0dc7e50d..2afb730666 100644 --- a/docs/hal/intro.asciidoc +++ b/docs/hal/intro.asciidoc @@ -6,6 +6,7 @@ :imagesdir: /docs/hal/images = HAL Introduction +:toc: [[cha:hal-introduction]] (((HAL Introduction))) diff --git a/docs/hal/new-instantiated-components.asciidoc b/docs/hal/new-instantiated-components.asciidoc index 86d85e327d..25dcb200d2 100644 --- a/docs/hal/new-instantiated-components.asciidoc +++ b/docs/hal/new-instantiated-components.asciidoc @@ -2,7 +2,8 @@ --- :skip-front-matter: -Using the new Machinekit Instantiated components + += Using the new Machinekit Instantiated components ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ A lot of changes to the codebase have occurred recently, + diff --git a/docs/hal/parallel_port.asciidoc b/docs/hal/parallel_port.asciidoc index 864a105015..d3bab5626a 100644 --- a/docs/hal/parallel_port.asciidoc +++ b/docs/hal/parallel_port.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/hal/images = Parallel Port Driver - +:toc: [[cha:Parport]] (((Parallel Port Driver))) == Parport diff --git a/docs/hal/pyvcp.asciidoc b/docs/hal/pyvcp.asciidoc index 6202602ff6..8773c57a2f 100644 --- a/docs/hal/pyvcp.asciidoc +++ b/docs/hal/pyvcp.asciidoc @@ -2,6 +2,7 @@ :imagesdir: hal/images = Python Virtual Control Panel +:toc: [[cha:pyvcp]] (((Python Virtual Control Panel))) diff --git a/docs/hal/pyvcp_examples.asciidoc b/docs/hal/pyvcp_examples.asciidoc index 15047d6e74..3da10e7fc1 100644 --- a/docs/hal/pyvcp_examples.asciidoc +++ b/docs/hal/pyvcp_examples.asciidoc @@ -6,6 +6,8 @@ :imagesdir: /docs/config/images = PyVCP Examples +:toc: + == AXIS diff --git a/docs/hal/rtcomps.asciidoc b/docs/hal/rtcomps.asciidoc index 132db85191..6dd1478eb3 100644 --- a/docs/hal/rtcomps.asciidoc +++ b/docs/hal/rtcomps.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/hal/images = HAL Component Descriptions - +:toc: [[cha:realtime-components]] (((Realtime Components))) [[sec:Stepgen]] diff --git a/docs/hal/tools.asciidoc b/docs/hal/tools.asciidoc index cbaa76c43f..f827bbb5c1 100644 --- a/docs/hal/tools.asciidoc +++ b/docs/hal/tools.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/hal/images = HAL Tools - +:toc: [[cha:hal-tools]] (((HAL Tools))) == Halcmd[[sec:Halcmd]] diff --git a/docs/hal/tutorial.asciidoc b/docs/hal/tutorial.asciidoc index 19dd049a20..4aebb05c6c 100644 --- a/docs/hal/tutorial.asciidoc +++ b/docs/hal/tutorial.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/hal/images = Advanced HAL Tutorial - +:toc: [[cha:HAL-tutorial]] (((HAL Tutorial))) == Introduction[[sec:Tutorial-Intro]] diff --git a/docs/index-HAL.asciidoc b/docs/index-HAL.asciidoc index 0afa7b7b21..53168fcd2a 100644 --- a/docs/index-HAL.asciidoc +++ b/docs/index-HAL.asciidoc @@ -3,39 +3,133 @@ :skip-front-matter: -:toc: -= Hardware Abstract Layer += Hardware Abstraction Layer -:toc: +== Using HAL :leveloffset: +1 -include::{{page.docs-dir}}/hal/intro.asciidoc[] +link:../hal/intro[Introduction] -include::{{page.docs-dir}}/hal/basic_hal.asciidoc[] +- link:../hal/intro#hal-introduction[HAL Introduction] + +- link:../hal/intro#hal-concepts-a-id-sec-hal-concepts-a[HAL Concepts] + +- link:../hal/intro#hal-components-a-id-sec-intro-hal-components-a[HAL Components] -include::{{page.docs-dir}}/hal/tutorial.asciidoc[] +- link:../hal/intro#timing-issues-in-hal-a-id-sec-timing-issues-a[Timing Issues] -include::{{page.docs-dir}}/hal/hal-examples.asciidoc[] +link:../hal/basic_hal[Hal Basics] -include::{{page.docs-dir}}/hal/general_ref.asciidoc[] +- link:../hal/basic_hal#sec:Hal-Commands[HAL Commands] -include::{{page.docs-dir}}/hal/parallel_port.asciidoc[] +- link:../hal/basic_hal#sec:Hal-Data[HAL Data] -include::{{page.docs-dir}}/hal/rtcomps.asciidoc[] +- link:../hal/basic_hal#hal-files[HAL Files] -// include::{{page.docs-dir}}/man/man9/index.asciidoc[] +- link:../hal/basic_hal#hal-components[HAL Components] -include::{{page.docs-dir}}/hal/halmodule.asciidoc[] +- link:../hal/basic_hal#logic-components[Logic Components] -include::{{page.docs-dir}}/hal/canonical-devices.asciidoc[] +- link:../hal/basic_hal#conversion-components[Conversion Components] -include::{{page.docs-dir}}/hal/tools.asciidoc[] +link:../hal/tutorial[Hal Tutorial] -include::{{page.docs-dir}}/hal/halshow.asciidoc[] +- link:../hal/tutorial#introduction-a-id-sec-tutorial-intro-a[Introduction] + +- link:../hal/tutorial#a-simple-example-a-id-sec-tutorial-simple-example-a[A Simple Example] + +- link:../hal/tutorial#halmeter-a-id-sec-tutorial-halmeter-a[Halmeter] + +- link:../hal/tutorial#stepgen-example[Stepgen Example] + +- link:../hal/tutorial#halscope-a-id-sec-tutorial-halscope-a[Halscope] + +link:../hal/hal-examples[Hal Examples] + +- link:../hal/hal-examples#manual-toolchange[Manual toolchange] + +- link:../hal/hal-examples#compute-velocity[Compute-Velocity] + +- link:../hal/hal-examples#soft-start[Soft Start] + +- link:../hal/hal-examples#stand-alone-hal[Stand Alone HAL] + +link:../hal/general_ref[Hal General reference] + +- link:../hal/general_ref#cha:general-reference[General Naming Conventions] + +- link:../hal/general_ref#sec:GR-Driver-Naming[Hardware Driver Naming Conventions] + +link:../hal/parallel_port[Parallel Port] + +- link:../hal/parallel_port#parport[parport] + +- link:../hal/parallel_port#sec:probe_parport[probe_parport] + +link:../hal/rtcomps[RT components] + +- link:../hal/rtcomps#sec:Stepgen[Stepgen] + +- link:../hal/rtcomps#sec:PWMgen[PWMgen] + +- link:../hal/rtcomps#sec:Encoder[Encoder] + +- link:../hal/rtcomps#sec:PID[PID] + +- link:../hal/rtcomps#simulated-encoder-a-id-sec-simulated-encoder-a[Simulated Encoder] + +- link:../hal/rtcomps#sec:Debounce[Debounce] + +- link:../hal/rtcomps#siggen-a-id-sec-siggen-a[Siggen] + +- link:../hal/rtcomps#sec:lut5[lut5] + +link:../hal/halmodule[Creating Userspace Python Components] + +- link:../hal/halmodule#basic-usage[Basic Usage] + +- link:../hal/halmodule#userspace-components-and-delays[Userspace Components and Delays] + +- link:../hal/halmodule#create-pins-and-parameters[Create pins and parameters] + +- link:../hal/halmodule#reading-and-writing-pins-and-parameters[Reading and Writing pins and parameters] + +- link:../hal/halmodule#exiting[Exiting] + +- link:../hal/halmodule#project-ideas[Project Ideas] + +link:../hal/canonical-devices[Canonical devices] + +- link:../hal/canonical-devices#cha:Canonical-Device-Interfaces[Introduction] + +- link:../hal/canonical-devices#digital-input-a-id-sec-canondigin-a[Digital Input] + +- link:../hal/canonical-devices#digital-output-a-id-sec-canondigout-a[Digital Output] + +- link:../hal/canonical-devices#analog-input[Analog Input] + +- link:../hal/canonical-devices#analog-output[Analog Output] + +link:../hal/tools[Tools] + +- link:../hal/tools#halcmd-a-id-sec-halcmd-a[Halcmd] + +- link:../hal/tools#halmeter-a-id-sec-halmeter-a[Halmeter] + +- link:../hal/tools#halscope-a-id-sec-halscope-a[Halscope] + +link:../hal/halshow[HalShow] + +- link:../hal/halshow#starting-halshow[Starting Halshow] + +- link:../hal/halshow#hal-tree-area[HAL Tree area] + +- link:../hal/halshow#hal-show-area[HAL Show area] + +- link:../hal/halshow#hal-watch-area[HAL Watch area] -// include::{{page.docs-dir}}/man/man1/index.asciidoc[] :leveloffset: -1 @@ -43,38 +137,36 @@ include::{{page.docs-dir}}/hal/halshow.asciidoc[] :leveloffset: +1 -link:/docs/developing/writing-components[Writing HAL Components] - -include::{{page.docs-dir}}/hal/instcomp.asciidoc[] +- link:../developing/writing-components[Writing HAL Components] -include::{{page.docs-dir}}/hal/comp.asciidoc[] +- link:../hal/comp[Comp Component Generator] -// include::{{page.docs-dir}}/man/man3/index.asciidoc[] +- link:../hal/instcomp[Instcomp Component Generator] :leveloffset: -1 -= Hardware Drivers +== Hardware Drivers :leveloffset: +1 -include::{{page.docs-dir}}/drivers/AX5214H.asciidoc[] +- link:../drivers/AX5214H[AX5214H] -include::{{page.docs-dir}}/drivers/GS2.asciidoc[] +- link:../drivers/GS2[GS2] -include::{{page.docs-dir}}/drivers/VFS11.asciidoc[] +- link:../drivers/VFS11[VFS11] -include::{{page.docs-dir}}/drivers/hostmot2.asciidoc[] +- link:../drivers/hostmot2[hostmot2] -include::{{page.docs-dir}}/drivers/motenc.asciidoc[] +- link:../drivers/motenc[motenc] -include::{{page.docs-dir}}/drivers/opto22.asciidoc[] +- link:../drivers/opto22[opto22] -include::{{page.docs-dir}}/drivers/pico_ppmc.asciidoc[] +- link:../drivers/pico_ppmc[pico_ppmc] -include::{{page.docs-dir}}/drivers/pluto_p.asciidoc[] +- link:../drivers/pluto_p[pluto_p] -include::{{page.docs-dir}}/drivers/servo_to_go.asciidoc[] +- link:../drivers/servo_to_go[servo_to_go] -include::{{page.docs-dir}}/drivers/GM.asciidoc[] +- link:../drivers/GM[GM] :leveloffset: -1 diff --git a/docs/index-developer.asciidoc b/docs/index-developer.asciidoc index 3c246ff5b5..96f3bd6fbb 100644 --- a/docs/index-developer.asciidoc +++ b/docs/index-developer.asciidoc @@ -3,25 +3,61 @@ :skip-front-matter: -:toc: - = Developer manual -:toc: == Introduction :leveloffset: +1 -include::{{page.docs-dir}}/code/Code_Notes.asciidoc[] +link:../code/Code_Notes[Code Notes] + +- link:../code/Code_Notes#intended-audience[Intended Audience] + +- link:../code/Code_Notes#organization[Organisation] + +- link:../code/Code_Notes#terms-and-definitions[Terms and Definitions] + +- link:../code/Code_Notes#architecture-overview[Architecture Overview] + +- link:../code/Code_Notes#motion-controller-introduction[Motion Controller Introduction] + +- link:../code/Code_Notes#block-diagrams-and-data-flow[Block Diagrams] + +- link:../code/Code_Notes#commands[Commands] + +- link:../code/Code_Notes#backlash-and-screw-error-compensation[Backlash and Screw error Compensation] + +- link:../code/Code_Notes#task-controller-emctask[Task Controller EMCTASK] + +- link:../code/Code_Notes#io-controller-emcio[IO Controller EMCIO] + +- link:../code/Code_Notes#user-interfaces[User Interfaces] + +- link:../code/Code_Notes#libnml-introduction[libNML Introduction] + +- link:../code/Code_Notes#linkedlist[LinkedList] + +- link:../code/Code_Notes#linkedlistnode[LinkedListNode] + +- link:../code/Code_Notes#sharedmemory[Shared Memory] + +- link:../code/Code_Notes#shmbuffer[SHM Buffer] + +- link:../code/Code_Notes#timer[Timer] + +- link:../code/Code_Notes#semaphore[Semaphore] + +- link:../code/Code_Notes#cms[CMS] + -include::{{page.docs-dir}}/code/NML_Messages.asciidoc[] +link:../code/NML_Messages[NML Messages] -include::{{page.docs-dir}}/code/Style_Guide.asciidoc[] +link:../code/Style_Guide[Style Guide] -include::{{page.docs-dir}}/common/Glossary.asciidoc[] +link:../common/Glossary[Glossary] -include::{{page.docs-dir}}/common/GPLD_Copyright.asciidoc[] +link:../common/GPLD_Copyright[GPLD Copyright] :leveloffset: -1 diff --git a/docs/index-getting-started.asciidoc b/docs/index-getting-started.asciidoc index 4c1a5214ea..932235125d 100644 --- a/docs/index-getting-started.asciidoc +++ b/docs/index-getting-started.asciidoc @@ -3,31 +3,24 @@ :skip-front-matter: -:toc: - -:toclevels: 4 - = Getting Started -:toc: - :leveloffset: +1 -include::{{page.docs-dir}}/getting-started/getting-started-platform.asciidoc[] - +link:../getting-started/getting-started-platform[Setting up machinekit on a platform] -include::{{page.docs-dir}}/common/System_Requirements.asciidoc[] +link:../common/System_Requirements[System Requirements] -include::{{page.docs-dir}}/quickstart/stepper_quickstart.asciidoc[] +link:../quickstart/stepper_quickstart[Stepper Quickstart] -include::{{page.docs-dir}}/config/stepconf.asciidoc[] +link:../config/stepconf[Stepper Configuration Wizard] -include::{{page.docs-dir}}/config/pncconf.asciidoc[] +link:../config/pncconf[Mesa Configuration Wizard] -include::{{page.docs-dir}}/config/copy_and_run.asciidoc[] +link:../config/copy_and_run[Running Machinekit] -include::{{page.docs-dir}}/common/Linux_FAQ.asciidoc[] +link:../common/Linux_FAQ[Linux FAQ] -include::{{page.docs-dir}}/common/GPLD_Copyright.asciidoc[] +link:../common/GPLD_Copyright[GPLD Copyright] :leveloffset: -1 diff --git a/docs/index-user.asciidoc b/docs/index-user.asciidoc index d7147ab336..3c34a3d4d3 100644 --- a/docs/index-user.asciidoc +++ b/docs/index-user.asciidoc @@ -3,17 +3,14 @@ :skip-front-matter: -:toc: += Machinekit Introduction -= Machinekit Introduction - -:toc: :leveloffset: +1 -include::{{page.docs-dir}}/common/user_intro.asciidoc[] +- link:../common/user_intro[Introduction] -include::{{page.docs-dir}}/common/User_Concepts.asciidoc[] +- link:../common/User_Concepts[User Concepts] :leveloffset: -1 @@ -21,21 +18,21 @@ include::{{page.docs-dir}}/common/User_Concepts.asciidoc[] :leveloffset: +1 -include::{{page.docs-dir}}/gui/selector.asciidoc[] +- link:../gui/selector[Configuration Selector] -include::{{page.docs-dir}}/gui/axis.asciidoc[] +- link:../gui/axis[Axis] -include::{{page.docs-dir}}/gui/ngcgui.asciidoc[] +- link:../gui/ngcgui[ngcgui] -include::{{page.docs-dir}}/gui/gmoccapy.asciidoc[] +- link:../gui/gmoccapy[Gmoccapy] -include::{{page.docs-dir}}/gui/touchy.asciidoc[] +- link:../gui/touchy[Touchy] -include::{{page.docs-dir}}/gui/tklinuxcnc.asciidoc[] +- link:../gui/tklinuxcnc[TkLinuxcnc] -include::{{page.docs-dir}}/gui/mini.asciidoc[] +- link:../gui/mini[Mini] -include::{{page.docs-dir}}/gui/keystick.asciidoc[] +- link:../gui/keystick[Keystick] :leveloffset: -1 @@ -43,32 +40,32 @@ include::{{page.docs-dir}}/gui/keystick.asciidoc[] :leveloffset: +1 -include::{{page.docs-dir}}/gcode/machining_center.asciidoc[] +- link:../gcode/machining_center[CNC Machine Overview] -include::{{page.docs-dir}}/gcode/coordinates.asciidoc[] +- link:../gcode/coordinates[Coordinates] -include::{{page.docs-dir}}/gcode/tool_compensation.asciidoc[] +- link:../gcode/tool_compensation[Tool Compensation] -include::{{page.docs-dir}}/gcode/overview.asciidoc[] +- link:../gcode/overview[GCode Overview] -include::{{page.docs-dir}}/gcode/gcode.asciidoc[] +- link:../gcode/gcode[G Codes] -include::{{page.docs-dir}}/gcode/m-code.asciidoc[] +- link:../gcode/m-code[M Codes] -include::{{page.docs-dir}}/gcode/o-code.asciidoc[] +- link:../gcode/o-code[O Codes] -include::{{page.docs-dir}}/gcode/other-code.asciidoc[] +- link:../gcode/other-code[Other Codes] -include::{{page.docs-dir}}/examples/gcode.asciidoc[] +- link:../examples/gcode[GCode Examples] -include::{{page.docs-dir}}/lathe/lathe-user.asciidoc[] +- link:../lathe/lathe-user[Lathe User] -include::{{page.docs-dir}}/gcode/rs274ngc.asciidoc[] +- link:../gcode/rs274ngc[rs274/NGC differences] -include::{{page.docs-dir}}/gui/image-to-gcode.asciidoc[] +- link:../gui/image-to-gcode[image2gcode] -include::{{page.docs-dir}}/common/Glossary.asciidoc[] +- link:../common/Glossary[Glossary] -include::{{page.docs-dir}}/common/GPLD_Copyright.asciidoc[] +- link:../common/GPLD_Copyright[GPLD Copyright] :leveloffset: -1 diff --git a/docs/lathe/lathe-user.asciidoc b/docs/lathe/lathe-user.asciidoc index 9e7319bdeb..48e9277583 100644 --- a/docs/lathe/lathe-user.asciidoc +++ b/docs/lathe/lathe-user.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/lathe/images = Lathe User Information - +:toc: [[cha:lathe-user-information]] (((Lathe User Information))) This chapter attempts to bring together all the lathe specific diff --git a/docs/quickstart/stepper_quickstart.asciidoc b/docs/quickstart/stepper_quickstart.asciidoc index 204968764a..deb08a35af 100644 --- a/docs/quickstart/stepper_quickstart.asciidoc +++ b/docs/quickstart/stepper_quickstart.asciidoc @@ -6,7 +6,7 @@ :imagesdir: /docs/quickstart/images = Stepper Quickstart - +:toc: [[cha:stepper-quickstart]] (((Stepper Quickstart))) This section assumes you have done a standard install from the Live