Experimental Physics and
Industrial Control System

Dear tech-talkers

 

We have a x64 machine which is used to cross compile IOC applications for RTEMS, linux-arm and linux-x86.  The creator of this setup has since left our employ, but this system has been plodding along nicely.  However, I have run into a problem when trying to add in support for Mclennan stepper motor controllers.  This example is with motor module R6-5-2 and all that has changed from the production system is the modification of:

 

../epics/trunk/tandem/tandemApp/src/Makefile

 

which with addition of two lines referencing the Mclennan database and library is now:

 

TOP=../..

 

include $(TOP)/configure/CONFIG

#----------------------------------------

#  ADD MACRO DEFINITIONS AFTER THIS LINE

#=============================

 

#=============================

# Build the IOC application

 

#PROD_Linux = -nil- # not on linux

PROD_DEFAULT = tandem

 

# tandem.dbd will be created and installed

DBD += tandem.dbd

 

# tandem.dbd will be made up from these files:

tandem_DBD += base.dbd

 

# Include dbd files from all support applications:

tandem_DBD += $(ANUNUCLEAR)/src/anunuclear.dbd

tandem_DBD += $(DJRESTORE)/src/djrestore.dbd

tandem_DBD += $(ASYN)/dbd/asyn.dbd

tandem_DBD += $(ASYN)/dbd/asynRecord.dbd

tandem_DBD += $(MOTOR)/dbd/motorRecord.dbd

tandem_DBD += $(MOTOR)/dbd/motorSupport.dbd

tandem_DBD += $(MOTOR)/dbd/devSoftMotor.dbd

tandem_DBD += $(STD)/dbd/epidRecord.dbd

tandem_DBD += $(STD)/dbd/std.dbd

tandem_DBD += $(IOCSTATS)/dbd/devIocStats.dbd

tandem_DBD += stream.dbd

tandem_DBD += tandem_seq.dbd

tandem_DBD += $(MODBUS)/modbus.dbd

tandem_DBD += $(TSDAQCTL)/tsdaqctl.dbd

tandem_DBD += $(MOTOR)/dbd/devMclennanMotor.dbd     # ADDITION 1

 

 

# Add all the support libraries needed by this IOC

tandem_LIBS += anunuclear djrestore modbus

tandem_LIBS += asyn std calc seq pv motor softMotor devIocStats stream streamSynApps

tandem_LIBS += tsdaqctl

tandem_LIBS += Mclennan                            # ADDITION 2

 

# tandem_registerRecordDeviceDriver.cpp derives from tandem.dbd

tandem_SRCS += tandem_registerRecordDeviceDriver.cpp

tandem_SRCS += pwm.st

tandem_SRCS += linac-resonators-conditioning.st

tandem_SRCS += msnics_wheel.st

tandem_SRCS += injecting_magnet.st

tandem_SRCS += bigblue.st

tandem_SRCS += foil_changer.st

tandem_SRCS += cup_metering.st

tandem_SRCS += beam_config.st beam_on.st

tandem_SRCS += supere-target-loader.st

tandem_SRCS += supere-solenoid.st

tandem_SRCS += silverpak-23ce.st

tandem_SRCS += linec_target_ladder.st

tandem_SRCS += linac_ac1.st

 

# turn on snc debug messages

SNCFLAGS += +d

 

# Build the main IOC entry point on workstation OSs.

tandem_SRCS_DEFAULT += tandemMain.cpp

tandem_SRCS_vxWorks += -nil-

 

# Add support from base/src/vxWorks if needed

#tandem_OBJS_vxWorks += $(EPICS_BASE_BIN)/vxComLibrary

 

tandem_LIBS += $(EPICS_BASE_IOC_LIBS)

 

tandem_SYS_LIBS += curl z

 

seq_DIR = $(INSTALL_LIB)

 

#===========================

 

include $(TOP)/configure/RULES

#----------------------------------------

#  ADD RULES AFTER THIS LINE

 

 

The result of a compilation via make is an error while trying to build the x86 version, with output:

 

/usr/bin/g++ -o tandem -Wl,-Bstatic -L/home/peter/epics/trunk/base/lib/linux-x86 -L/home/peter/epics/trunk/modules/asyn/lib/linux-x86 -L/home/peter/epics/trunk/modules/calc-2-8/lib/linux-x86 -L/home/peter/epics/trunk/modules/devIocStats/lib/linux-x86 -L/home/peter/epics/trunk/modules/motorR6-5-2/lib/linux-x86 -L/home/peter/epics/trunk/modules/seq-2-0-12/lib/linux-x86 -L/home/peter/epics/trunk/modules/std-2-8/lib/linux-x86 -L/home/peter/epics/trunk/support/anunuclear/lib/linux-x86 -L/home/peter/epics/trunk/support/djrestore/lib/linux-x86 -L/home/peter/epics/trunk/support/modbus/lib/linux-x86 -L/home/peter/epics/trunk/support/tsdaqctl/lib/linux-x86 -L/home/peter/epics/trunk/tandem/lib/linux-x86 -Wl,-rpath,/home/peter/epics/trunk/base/lib/linux-x86 -Wl,-rpath,/home/peter/epics/trunk/modules/asyn/lib/linux-x86 -Wl,-rpath,/home/peter/epics/trunk/modules/calc-2-8/lib/linux-x86 -Wl,-rpath,/home/peter/epics/trunk/modules/devIocStats/lib/linux-x86 -Wl,-rpath,/home/peter/epics/trunk/modules/motorR6-5-2/lib/linux-x86 -Wl,-rpath,/home/peter/epics/trunk/modules/seq-2-0-12/lib/linux-x86 -Wl,-rpath,/home/peter/epics/trunk/modules/std-2-8/lib/linux-x86 -Wl,-rpath,/home/peter/epics/trunk/support/anunuclear/lib/linux-x86 -Wl,-rpath,/home/peter/epics/trunk/support/djrestore/lib/linux-x86 -Wl,-rpath,/home/peter/epics/trunk/support/modbus/lib/linux-x86 -Wl,-rpath,/home/peter/epics/trunk/support/tsdaqctl/lib/linux-x86 -Wl,-rpath,/home/peter/epics/trunk/tandem/lib/linux-x86       -m32    -Wl,-rpath,/lib/i386-linux-gnu -Wl,-rpath,/usr/lib/i386-linux-gnu            tandem_registerRecordDeviceDriver.o pwm.o linac-resonators-conditioning.o msnics_wheel.o injecting_magnet.o bigblue.o foil_changer.o cup_metering.o beam_config.o beam_on.o supere-target-loader.o supere-solenoid.o silverpak-23ce.o linec_target_ladder.o linac_ac1.o tandemMain.o    -lanunuclear -ldjrestore -lmodbus -lasyn -lstd -lcalc -lseq -lpv -lmotor -lsoftMotor -ldevIocStats -lstream -lstreamSynApps -ltsdaqctl -lMclennan -lrecIoc -lsoftDevIoc -lmiscIoc -lrsrvIoc -ldbtoolsIoc -lasIoc -ldbIoc -lregistryIoc -ldbStaticIoc -lca -lCom -Wl,-Bdynamic -lcurl -lz -lpthread   -lreadline -lm -lrt -ldl -lgcc

/home/peter/epics/trunk/modules/motorR6-5-2/lib/linux-x86/libMclennan.a(drvPM304.o): In function `motor_init()':

drvPM304.cc:(.text+0xa1f): undefined reference to `motor_task(thread_args*)'

/home/peter/epics/trunk/modules/motorR6-5-2/lib/linux-x86/libMclennan.a(drvPM304.o):(.data.rel+0x24): undefined reference to `motor_send(mess_node*, driver_table*)'

/home/peter/epics/trunk/modules/motorR6-5-2/lib/linux-x86/libMclennan.a(drvPM304.o):(.data.rel+0x28): undefined reference to `motor_free(mess_node*, driver_table*)'

/home/peter/epics/trunk/modules/motorR6-5-2/lib/linux-x86/libMclennan.a(drvPM304.o):(.data.rel+0x2c): undefined reference to `motor_card_info(int, mess_card_query*, driver_table*)'

/home/peter/epics/trunk/modules/motorR6-5-2/lib/linux-x86/libMclennan.a(drvPM304.o):(.data.rel+0x30): undefined reference to `motor_axis_info(int, int, mess_axis_query*, driver_table*)'

/home/peter/epics/trunk/modules/motorR6-5-2/lib/linux-x86/libMclennan.a(devPM304.o): In function `PM304_end_trans(motorRecord*)':

devPM304.cc:(.text+0x21): undefined reference to `motor_end_trans_com(motorRecord*, driver_table*)'

/home/peter/epics/trunk/modules/motorR6-5-2/lib/linux-x86/libMclennan.a(devPM304.o): In function `PM304_start_trans(motorRecord*)':

devPM304.cc:(.text+0x591): undefined reference to `motor_start_trans_com(motorRecord*, board_stat**)'

/home/peter/epics/trunk/modules/motorR6-5-2/lib/linux-x86/libMclennan.a(devPM304.o): In function `PM304_init_record(void*)':

devPM304.cc:(.text+0x5d4): undefined reference to `motor_init_record_com(motorRecord*, int, driver_table*, board_stat**)'

/home/peter/epics/trunk/modules/motorR6-5-2/lib/linux-x86/libMclennan.a(devPM304.o): In function `PM304_init(void*)':

devPM304.cc:(.text+0x634): undefined reference to `motor_init_com(int, int, driver_table*, board_stat***)'

/home/peter/epics/trunk/modules/motorR6-5-2/lib/linux-x86/libMclennan.a(devPM304.o):(.data.rel+0x34): undefined reference to `motor_update_values(motorRecord*)'

collect2: ld returned 1 exit status

make[1]: *** [tandem] Error 1

make[1]: Leaving directory `/home/peter/epics/trunk/tandem/tandemApp/src/O.linux-x86'

make: *** [install.linux-x86] Error 2

 

Everything inside the motor module directory builds fine.  Any help is much appreciated.

 

Regards

Peter

 

Dr Peter Linardakis

Accelerator Research & Development Engineer

Nuclear Physics | Research School of Physics and Engineering

Australian National University

e: [email protected]

p: +61 2 6125 2862

w: http://physics.anu.edu.au/nuclear/