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#!/bin/bash

# Funzione per spostare un IRQ su una specifica CPU core
sposta_irq_su_core() {
  local irq_number="$1"
  local cpu_core="$2"
  local affinity_file="/proc/irq/${irq_number}/smp_affinity_list"

  if [ -f "$affinity_file" ]; then
    echo "$cpu_core" > "$affinity_file"
    echo "IRQ $irq_number spostato sul core $cpu_core."
  else
    echo "Errore: il file di affinità per l'IRQ $irq_number non esiste."
  fi
}

# Ottieni la lista degli IRQ
irqs=$(ls /proc/irq)

# Definisci i core target
core0=0
core1=1

echo "Tentativo di spostare gli IRQ sui core $core0 e $core1..."

# Itera attraverso gli IRQ e distribuiscili sui core 0 e 1
counter=0
for irq in $irqs; do
  if [[ "$irq" =~ ^[0-9]+$ ]]; then # Verifica che sia un numero (IRQ)
    if (( counter % 2 == 0 )); then
      sposta_irq_su_core "$irq" "$core0"
    else
      sposta_irq_su_core "$irq" "$core1"
    fi
    ((counter++))
  fi
done

echo "Operazione completata."

           CPU0       CPU1       CPU2       CPU3
  8:          0          0          0          0  IR-IO-APIC   8-edge      rtc0
  9:          0          0          0          0  IR-IO-APIC   9-fasteoi   acpi
 17:        466          0          0          0  IR-IO-APIC  17-fasteoi   snd_hda_intel:card0
 18:          5          0          0          0  IR-IO-APIC  18-fasteoi   i801_smbus
 23:          0        112          0          0  IR-IO-APIC  23-fasteoi   ehci_hcd:usb1, ehci_hcd:usb2
 24:          0          0          0          0  DMAR-MSI   0-edge      dmar0
 26:          0          0      13810          0  IR-PCI-MSI 1572864-edge      enp3s0
 27:          0          0      10628          0  IR-PCI-MSI 512000-edge      ahci[0000:00:1f.2]
 28:          0          0          0         18  IR-PCI-MSI 360448-edge      mei_me
 29:          0      26402          0          0  IR-PCI-MSI 524288-edge      nvkm
NMI:          2          2          0          0   Non-maskable interrupts
LOC:     176373     127559        836        484   Local timer interrupts
SPU:          0          0          0          0   Spurious interrupts
PMI:          2          2          0          0   Performance monitoring interrupts
IWI:        612        299        410          7   IRQ work interrupts
RTR:          0          0          0          0   APIC ICR read retries
RES:       7385       8439          2          0   Rescheduling interrupts
CAL:       2871       3192       1850       1849   Function call interrupts
TLB:         81         69          0          0   TLB shootdowns
TRM:          0          0          0          0   Thermal event interrupts
THR:          0          0          0          0   Threshold APIC interrupts
DFR:          0          0          0          0   Deferred Error APIC interrupts
MCE:          0          0          0          0   Machine check exceptions
MCP:          2          3          3          3   Machine check polls
ERR:          0
MIS:          0
PIN:          0          0          0          0   Posted-interrupt notification event
NPI:          0          0          0          0   Nested posted-interrupt event
PIW:          0          0          0          0   Posted-interrupt wakeup event

 26:          0          0      39646       4301  IR-PCI-MSI 1572864-edge      enp3s0

pin in float rev-pulse """The duration in seconds for which a ratchet changer (Boxford, Emco) should pulse the reverse pin to lock the holder""";

For tool changers which lock the carousel against a stop the \fBrev-pulse\fR pin can be set to a non-zero value. The motor-rev pin will then be set for this many seconds at the completion of the tool search and at the same time the reverse duty/cycle velocity value will be sent to the motor-vel pin.

case 2: // moving if ((current_position != mod_pocket) && enable){ deb = debounce; return; } else if (deb-- > 0) { return; } if (rev_pulse > 0){ motor_fwd = 0; motor_rev = 1; motor_vel = rev_dc; timer = rev_pulse; state = 3; } else if (decel_time > 0) { // stop and prepare for alignment motor_vel = 0; timer = decel_time; state = 5; } else { motor_fwd = 0; motor_rev = 0; motor_vel = hold_dc; active = 0; if (enable && current_position == mod_pocket) ready = 1; state = 9; } break;

case 3: // timed reverse pulse timer -= fperiod; if (timer > 0) return; state = 9; motor_fwd = 0; motor_rev = 0; motor_vel = hold_dc; active = 0; if (enable) ready = 1; break;

case 'C': // encoder or stepgen counts. new_pos = current_position; if (homed){ int c; int t; int w = width / 2; c = (counts - base_counts); t = floor(((float)c + w) / scale); if (c >= (t * scale - w) && c <= (t * scale + w)) { new_pos = 1 + (t % inst_pockets); if (new_pos < 1) new_pos += inst_pockets; } align_pin = (c % scale <= 2 && c % scale >= -2); }

python3 -m venv .venv
source .venv/bin/activate
pip install pyocd

sudo pyocd list

  #   Probe/Board          Unique ID      Target  
--------------------------------------------------
  0   X893 ARM CMSIS-DAP   0001A0000000   n/a  
  

pyocd flash remora-rt1052-3.1.3.bin --target mimxrt1050_quadspi