Power PMAC Real-Time Trajectory Execution

Overview

This module enables real-time trajectory execution on Power PMAC, using user-shared memory for trajectory input and position-following control via electronic gearing. It is designed for integration into Power PMAC projects requiring precise, real-time motion control.

How to Use

To integrate the trajectory functionality into your Power PMAC project, follow these steps:

1. Add the Header File Assuming your project is located at:

   C:/PROJECT_PATH/projectname

   Place the header file rt_trajectory.h into the following directory: C:/PROJECT_PATH/projectname/projectname/C Language/Realtime Routines

   Note: If your development environment requires escaping spaces in paths, use one of the following methods:

   • Backslashes (e.g., in Makefiles or scripts):

     C:/PROJECT_PATH/projectname/projectname/C\ Language/Realtime\ Routines

   • Quotes (e.g., in shell commands or build configurations):

     "C:/PROJECT_PATH/projectname/projectname/C Language/Realtime Routines"

2. Include the Header in Your Code In your usrcode.c file, include the header as shown below. Make sure it appears after the pp_proj.h include directive:

   #include "../Include/pp_proj.h"
   #include "../Include/rt_trajectory.h"

License

This project is licensed under the Apache 2.0 License. See the LICENSE file for details.

Author

Leandro Martins dos Santos
Software Systems Engineer
Diamond Light Source Ltd.