compiling a driver

The hm2_rpspi driver has been updated. I would like to install it, as it looks like it has solved some spi related issues. The original
hm2_rpspi appears to live in the modules directory with the other components. To compile this driver, several header files are required,
some already exist in the include directory, the following do not.
sserial.h, hostmot2-lowlevel.h,hostmot2.h.,spi_common_rpspi.h

question what the correct directories to put these headers in ? Im new to compiling a driver. Thanks

Im new to the source code thing, how do i do what you describe above? The source files live at git hub. To be honest, im used to loading off the cd and going....Its cool stuff, but new to me.

I am truly stuck. Compiling the whole linuxcnc program is not an option. It was difficult enuff just to get it on the rspi. As of now I just need an updated driver. I have the updated source for the driver and the header file. When i try to compile with halcompile, it wont see the standard headers

sudo halcompile --compile hm2_rpspi.c
[sudo] password for user:
make KBUILD_EXTRA_SYMBOLS=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/Module.symvers -C /usr/src/linux-headers-3.4-9-rtai-686-pae SUBDIRS=`pwd` CC=gcc V=0 modules
make[1]: Entering directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
CC [M] /tmp/tmpSyLe0E/hm2_rpspi.o
/tmp/tmpSyLe0E/hm2_rpspi.c:23:19: fatal error: ctype.h: No such file or directory
compilation terminated.
make[4]: *** [/tmp/tmpSyLe0E/hm2_rpspi.o] Error 1
make[3]: *** [_module_/tmp/tmpSyLe0E] Error 2
make[2]: *** [sub-make] Error 2
make[1]: *** [all] Error 2
make[1]: Leaving directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
make: *** [modules] Error 2


and when i try to use the standard compiler it doesnt seem to find the linuxcnc specifc headers

user@CMP-0179:/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc$ cc hm2_rpspi.c -o hm2_rpspi
In file included from hm2_rpspi.c:36:0:
hal.h:126:19: fatal error: rtapi.h: No such file or directory
compilation terminated.

I have copied the linuxcnc specific headers into the modules directory where the driver file lives and have had no sucess. How
do i do this? Ill admit, i dont exactly know what im doing, doesnt seem like it should be this hard...

You do not need to sudo for compilation (actually a bad habit) and it may give you problems. What happens when you do as a normal user:
$ halcompile --compile hm2_rpspi.c

BTW, what version linuxcnc are you using?

You may still run into problems, like I just did, because the driver uses local include files found in the source-tree outside the normal include directory. But I'd like to see what happens as a reference to see what can be done.

My install uses a locally compiled RT kernel (4.9.30-rt20-v7+), and I use a locally compiled linuxcnc, 2.8.0~pre1 from git, so there may be a few differences.

On my desktop,where im trying to get this going initially, 2.7.8. Stock from the cd install.

I am using 2.80 pre from bulidbot, on the rspi3. My kernel is patched rt prempt, 4.49, I think.

This happened:

user@CMP-0179:/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc$ halcompile --compile hm2_rpspi.c
make KBUILD_EXTRA_SYMBOLS=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/Module.symvers -C /usr/src/linux-headers-3.4-9-rtai-686-pae SUBDIRS=`pwd` CC=gcc V=0 modules
make[1]: Entering directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
CC [M] /tmp/tmpRt5nDg/hm2_rpspi.o
/tmp/tmpRt5nDg/hm2_rpspi.c:23:19: fatal error: ctype.h: No such file or directory
compilation terminated.
make[4]: *** [/tmp/tmpRt5nDg/hm2_rpspi.o] Error 1
make[3]: *** [_module_/tmp/tmpRt5nDg] Error 2
make[2]: *** [sub-make] Error 2
make[1]: *** [all] Error 2
make[1]: Leaving directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
make: *** [modules] Error 2
user@CMP-0179:/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc$


How do I get around the header files and the source tree stuff? Can the local files simply be put in the normal include directory?

...got bitten by captcha...

Can you try adding --userspace? This is not a kernel module but a userspace module.

I cannot compile using halcompile because i have not installed the kernel headers (and my kernel is not a deb package). It is often an all-or-nothing proposition this compile this stuff.

Anyway, since you are running a recent git version, you may go with a binary, which I can supply, if all else fails.

That didnt work either

user@CMP-0179:/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc$ halcompile --compile hm2_rpspi.c --userspace
make KBUILD_EXTRA_SYMBOLS=/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/Module.symvers -C /usr/src/linux-headers-3.4-9-rtai-686-pae SUBDIRS=`pwd` CC=gcc V=0 modules
make[1]: Entering directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
CC [M] /tmp/tmpndLI0M/hm2_rpspi.o
/tmp/tmpndLI0M/hm2_rpspi.c:23:19: fatal error: ctype.h: No such file or directory
compilation terminated.
make[4]: *** [/tmp/tmpndLI0M/hm2_rpspi.o] Error 1
make[3]: *** [_module_/tmp/tmpndLI0M] Error 2
make[2]: *** [sub-make] Error 2
make[1]: *** [all] Error 2
make[1]: Leaving directory `/usr/src/linux-headers-3.4-9-rtai-686-pae'
make: *** [modules] Error 2
user@CMP-0179:/usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc$

binary, as in precompiled?

No, compiled as in, I attach a binary compiled in my RPI3. See attachment. It goes into the rtlib from the linuxcnc install (you may have to look for its exact filesystem location). Copy the old module to something like hm2_rpspi.so.orig and ungzip/move the new one in place. Then you can test. Let me know if that works.

I got the driver copied to the modules directory successfully. Lcnc errors with a cant find the clock frequency( see attachment)
I added the spiclock lines to the ini and hal, and it seems it doesn't like it. Consider:

# load low-level driver
loadrt hm2_rpspi config="num_encoders=1 num_pwmgens=0 num_stepgens=2 sserial_port_0=001xxx"spiclk_rate=[HOSTMOT2]SPICLK

it doesn't seem to matter where the clockrate goes.Im suspecting syntax with the driver load command. How is this supposed to look?