Linux/Unix (Mac OS X ) port of Dynomotions KMotion

KMotionX is more of a patch than a port of KMotion (Except for KMotionServer). The goal has been to make as small modifications as possible to the orginal source. This will make it easier to keep up with every new release.

KMotionX also includes a JNI binding to use expose the GCodeInterpreter and KMotionDLL API to the Java world.

####Who might be interested in this. Not that many actually. I have only ported the KMotionServer, KMotionDLL and GCodeInterpreter. I have not ported any GUI applications such as KMotionCNC. Hence the only way to execute is to use one of the examples or make a program yourself. In the future I plan to make a working GUI application in Java. Wich will be possible to use on Linux.

#####Changes from original source

• Source code for KMotionDLL and GCodeInterpreter has been patched with "ifdef" directives.(I know it is a bit ugly)
• Changed include directives to build on case sensitive file systems #include "stdafx.h" to "StdAfx.h"
• Implemented thread handling to make use of Posix instead of Windows thread API
• Option to use libftdi instead of ftd2xx driver (libftdi works alot better on Linux)
• Added latest TCC compiler 0.9.26 patched with changes made in the original version TCC67 (0.9.16 or whatever version that was)

#####Changes to be made

• Remove dependency of CString
• Implement callback pattern for MessageBox and AfxMessageBox

#####Features to be implemented

• Add Compile and load coff program to init KFLOP
• Execute on PC (No problem)
• Concatenation of error message in CheckSoftLimitsArc
• ListLocations KMotionDLL_Direct
• LoadCoff (almost done needs testing)

Dependencies Linux at least GCC 4.7 toolchain libudev-dev cmake boost libusb libftdi udev rule

##Build and install This guide contains four sections. How to install on Mac OS X, Ubuntu, Rasbian (Raspberry Pi) and a common section for KMotion libraries.

###Mac OS X This is a really nice platform. Almost everything is installed already. Given that you are a developer and have the latest XCode installed.

Install macports from https://www.macports.org Then install libftdi

Then install libfdti.

sudo port install libftdi1

Jump to section "Install KMotionX" or "Install Java" if you will use the Java binding.

###Ubuntu

######1. Install g++

sudo apt-get install g++

######2. Install libftdi Skip this step if you will be using ftd2xx driver. However libftdi works a lot better on linux libftdi is an open source ftdi driver that might be used as replacement when running on Linux or MacOSX

sudo apt-get install libftdi-dev

Jump to section "Install KMotionX" or "Install Java" if you will use the Java binding.

###Raspberry Pi

######1. Install Raspbian Install latest Rasbian download zip image (current version 2014-01-07-wheezy-raspbian) Follow installation guide README.md

Boot up your Pi. A configuration wizard (raspi-config) will start automatically. At least expand filesystem.

Update your installation executing following commands. Second and third command might take a while. This step is most probably not necessary, but it is how I did it.

sudo apt-get update
sudo apt-get upgrade
sudo apt-get dist-upgrade 

######2. Install gcc Skip this step if ”gcc --version” is 4.7 or later. The current latest version available is 4.8 Install gcc and g++ 4.8. This command installs gcc and g++ 4.8 but does not change to 4.8 as default. If you would like to do that here is a guide. (switching-gccg-versions.html) If you do you need to adjust make file to use default installed version.

sudo apt-get install gcc-4.8 g++-4.8

######3. Install libftdi Skip this step if you will be using ftd2xx driver. However libftdi works a lot better on linux libftdi is an open source ftdi driver that might be used as replacement when running on Linux or MacOSX

sudo apt-get install libftdi-dev

Jump to section "Install KMotionX" or "Install Java" if you will use the Java binding.

###Install drivers from source (Optional) Installing packages with apt-get might not always result in the latest version depening on your system. Here is how you install USB drivers from source. Most people would be satisfied with the version supplied by the package manager on your system.

######1. Install libusb

Install dependencies

sudo apt-get install libudev-dev

wget http://sourceforge.net/projects/libusb/files/libusb-1.0/libusb-1.0.18/libusb-1.0.18.tar.bz2
tar -xvf libusb-1.0.18.tar.bz2
cd libusb-1.0.18
./configure --prefix=/usr --disable-static
make
sudo make install

######2. Install libftdi

Skip this step if you will be using ftd2xx driver. However libftdi works a lot better on linux libftdi is an open source ftdi driver that might be used as replacement when running on Linux or MacOSX

Install dependencies

sudo apt-get install cmake

wget http://www.intra2net.com/en/developer/libftdi/download/libftdi1-1.1.tar.bz2
tar -xvf libftdi1-1.1.tar.bz2
cd libftdi1-1.1
mkdir build
cd build
cmake  -DCMAKE_INSTALL_PREFIX="/usr" ../
make
sudo make install

######3. Update linker cache Im not sure if this is actually needed. But it can’t hurt. sudo ldconfig

##Install Java (Optional) If you would like to build the java binding you need to install a JDK

######Mac OS X If you are going to use the java binding you will sort this out yourself. I Would recommend version 1.7

######Ubuntu

sudo apt-get install openjdk-7-jdk

######Rasbian Preinstalled

##Install KMotionX

######1. Build KMotionX Install git if not already installed

sudo apt-get install git

Clone repository

mkdir git
cd git
git clone https://github.com/parhansson/KMotionX.git

cd KMotionX

Configure build for your platform and flavours

./configure

Build project

make

Build Tiny C Compiler

cd tcc-0.9.26
./configure —enable-cross
make
cd ..

######2. Install KFLOP device rules (Linux only) This will install a rule that tell your system to grant read and write access to the kflop device for users in group "plugdev" If your user is not in that group fix users groups or change the rule before pluging the device in.

sudo cp KMotionX/usb/etc/udev/rules.d/10.kflop.rules /etc/udev/rules.d/

######3. Execute examples Plug in your KFlop to an available USB port.

Start KMotionServer in background

cd bin
./KMotionServer &

Start executeGCode example

./executeGCode

####Troubleshooting executeGCode example says "Operation not permitted" Check device permissions

ls -la /dev/kflop

should reveal something like this where 001/005 might be other values

lrwxrwxrwx 1 root root 15 Sep 22 18:28 /dev/kflop -> bus/usb/001/005

then check permissions on target (replace 001/005 with values from previous output)

ls -la /dev/bus/usb/001/005

should reveal

crw-rw-r-T 1 root plugdev 189, 4 Sep 22 18:28 005

This means users in plugdev group have read and write access to the device

If this is correct go on and check your users groups Check that your user is in group plugdev

groups

Check that plugdev is present

pi adm dialout cdrom sudo audio video plugdev games users netdev input spi gpio