XHC-HB04 wireless MPG pendant HAL module

$ make g++ -I/usr/include/linuxcnc -DVERSION=V05 xhc-hb04.cc -o xhc-hb04 -lusb-1.0 -lm -llinuxcnchal -llinuxcncini xhc-hb04.cc:34:26: error: linuxcnc/hal.h: No such file or directory xhc-hb04.cc:35:22: error: inifile.hh: No such file or directory xhc-hb04.cc:61: error: ISO C++ forbids declaration of ‘hal_float_t’ with no type xhc-hb04.cc:61: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:62: error: ISO C++ forbids declaration of ‘hal_float_t’ with no type xhc-hb04.cc:62: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:64: error: ISO C++ forbids declaration of ‘hal_float_t’ with no type xhc-hb04.cc:64: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:65: error: ISO C++ forbids declaration of ‘hal_float_t’ with no type xhc-hb04.cc:65: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:67: error: ISO C++ forbids declaration of ‘hal_bit_t’ with no type xhc-hb04.cc:67: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:69: error: ISO C++ forbids declaration of ‘hal_bit_t’ with no type xhc-hb04.cc:69: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:70: error: ISO C++ forbids declaration of ‘hal_bit_t’ with no type xhc-hb04.cc:70: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:71: error: ISO C++ forbids declaration of ‘hal_bit_t’ with no type xhc-hb04.cc:71: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:72: error: ISO C++ forbids declaration of ‘hal_bit_t’ with no type xhc-hb04.cc:72: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:73: error: ISO C++ forbids declaration of ‘hal_bit_t’ with no type xhc-hb04.cc:73: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:74: error: ISO C++ forbids declaration of ‘hal_bit_t’ with no type xhc-hb04.cc:74: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:75: error: ISO C++ forbids declaration of ‘hal_float_t’ with no type xhc-hb04.cc:75: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:76: error: ISO C++ forbids declaration of ‘hal_s32_t’ with no type xhc-hb04.cc:76: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:78: error: ISO C++ forbids declaration of ‘hal_float_t’ with no type xhc-hb04.cc:78: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:79: error: ISO C++ forbids declaration of ‘hal_float_t’ with no type xhc-hb04.cc:79: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:80: error: ISO C++ forbids declaration of ‘hal_float_t’ with no type xhc-hb04.cc:80: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:81: error: ISO C++ forbids declaration of ‘hal_bit_t’ with no type xhc-hb04.cc:81: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:82: error: ISO C++ forbids declaration of ‘hal_bit_t’ with no type xhc-hb04.cc:82: error: expected ‘;’ before ‘*’ token xhc-hb04.cc:93: error: ‘hal_s32_t’ does not name a type xhc-hb04.cc: In function ‘const char* iniFind(FILE*, const char*, const char*)’: xhc-hb04.cc:109: error: ‘IniFile’ was not declared in this scope xhc-hb04.cc:109: error: expected ‘;’ before ‘f’ xhc-hb04.cc:111: error: ‘f’ was not declared in this scope xhc-hb04.cc: In function ‘void xhc_display_encode(xhc_t*, unsigned char*, int)’: xhc-hb04.cc:147: error: ‘struct xhc_hal_t’ has no member named ‘a_wc’ xhc-hb04.cc:148: error: ‘struct xhc_hal_t’ has no member named ‘x_wc’ xhc-hb04.cc:149: error: ‘struct xhc_hal_t’ has no member named ‘y_wc’ xhc-hb04.cc:150: error: ‘struct xhc_hal_t’ has no member named ‘z_wc’ xhc-hb04.cc:151: error: ‘struct xhc_hal_t’ has no member named ‘a_mc’ xhc-hb04.cc:152: error: ‘struct xhc_hal_t’ has no member named ‘x_mc’ xhc-hb04.cc:153: error: ‘struct xhc_hal_t’ has no member named ‘y_mc’ xhc-hb04.cc:154: error: ‘struct xhc_hal_t’ has no member named ‘z_mc’ xhc-hb04.cc:155: error: ‘struct xhc_hal_t’ has no member named ‘feedrate_override’ xhc-hb04.cc:156: error: ‘struct xhc_hal_t’ has no member named ‘spindle_override’ xhc-hb04.cc:157: error: ‘struct xhc_hal_t’ has no member named ‘feedrate’ xhc-hb04.cc:158: error: ‘struct xhc_hal_t’ has no member named ‘spindle_rps’ xhc-hb04.cc: In function ‘void linuxcnc_simu(xhc_hal_t*)’: xhc-hb04.cc:211: error: ‘struct xhc_hal_t’ has no member named ‘jog_counts’ xhc-hb04.cc:212: error: ‘struct xhc_hal_t’ has no member named ‘jog_counts’ xhc-hb04.cc:212: error: ‘struct xhc_hal_t’ has no member named ‘jog_scale’ xhc-hb04.cc:213: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_x’ xhc-hb04.cc:214: error: ‘struct xhc_hal_t’ has no member named ‘x_mc’ xhc-hb04.cc:215: error: ‘struct xhc_hal_t’ has no member named ‘x_wc’ xhc-hb04.cc:218: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_y’ xhc-hb04.cc:219: error: ‘struct xhc_hal_t’ has no member named ‘y_mc’ xhc-hb04.cc:220: error: ‘struct xhc_hal_t’ has no member named ‘y_wc’ xhc-hb04.cc:223: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_z’ xhc-hb04.cc:224: error: ‘struct xhc_hal_t’ has no member named ‘z_mc’ xhc-hb04.cc:225: error: ‘struct xhc_hal_t’ has no member named ‘z_wc’ xhc-hb04.cc:228: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_a’ xhc-hb04.cc:229: error: ‘struct xhc_hal_t’ has no member named ‘a_mc’ xhc-hb04.cc:230: error: ‘struct xhc_hal_t’ has no member named ‘a_wc’ xhc-hb04.cc:233: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_spindle’ xhc-hb04.cc:234: error: ‘struct xhc_hal_t’ has no member named ‘spindle_override’ xhc-hb04.cc:234: error: ‘struct xhc_hal_t’ has no member named ‘jog_counts’ xhc-hb04.cc:235: error: ‘struct xhc_hal_t’ has no member named ‘spindle_override’ xhc-hb04.cc:235: error: ‘struct xhc_hal_t’ has no member named ‘spindle_override’ xhc-hb04.cc:236: error: ‘struct xhc_hal_t’ has no member named ‘spindle_override’ xhc-hb04.cc:236: error: ‘struct xhc_hal_t’ has no member named ‘spindle_override’ xhc-hb04.cc:237: error: ‘struct xhc_hal_t’ has no member named ‘spindle_rps’ xhc-hb04.cc:237: error: ‘struct xhc_hal_t’ has no member named ‘spindle_override’ xhc-hb04.cc:240: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_feedrate’ xhc-hb04.cc:241: error: ‘struct xhc_hal_t’ has no member named ‘feedrate_override’ xhc-hb04.cc:241: error: ‘struct xhc_hal_t’ has no member named ‘jog_counts’ xhc-hb04.cc:242: error: ‘struct xhc_hal_t’ has no member named ‘feedrate_override’ xhc-hb04.cc:242: error: ‘struct xhc_hal_t’ has no member named ‘feedrate_override’ xhc-hb04.cc:243: error: ‘struct xhc_hal_t’ has no member named ‘feedrate_override’ xhc-hb04.cc:243: error: ‘struct xhc_hal_t’ has no member named ‘feedrate_override’ xhc-hb04.cc:244: error: ‘struct xhc_hal_t’ has no member named ‘feedrate’ xhc-hb04.cc:244: error: ‘struct xhc_hal_t’ has no member named ‘feedrate_override’ xhc-hb04.cc:247: error: ‘struct xhc_hal_t’ has no member named ‘jog_counts’ xhc-hb04.cc: In function ‘void compute_velocity(xhc_t*)’: xhc-hb04.cc:261: error: ‘struct xhc_hal_t’ has no member named ‘jog_counts’ xhc-hb04.cc:261: error: ‘struct xhc_t’ has no member named ‘last_jog_counts’ xhc-hb04.cc:261: error: ‘struct xhc_hal_t’ has no member named ‘jog_scale’ xhc-hb04.cc:262: error: ‘struct xhc_hal_t’ has no member named ‘jog_max_velocity’ xhc-hb04.cc:262: error: ‘struct xhc_hal_t’ has no member named ‘jog_scale’ xhc-hb04.cc:266: error: ‘struct xhc_hal_t’ has no member named ‘jog_velocity’ xhc-hb04.cc:266: error: ‘struct xhc_hal_t’ has no member named ‘jog_velocity’ xhc-hb04.cc:267: error: ‘struct xhc_hal_t’ has no member named ‘jog_increment’ xhc-hb04.cc:268: error: ‘struct xhc_hal_t’ has no member named ‘jog_plus_x’ xhc-hb04.cc:268: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_x’ xhc-hb04.cc:269: error: ‘struct xhc_hal_t’ has no member named ‘jog_minus_x’ xhc-hb04.cc:269: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_x’ xhc-hb04.cc:270: error: ‘struct xhc_hal_t’ has no member named ‘jog_plus_y’ xhc-hb04.cc:270: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_y’ xhc-hb04.cc:271: error: ‘struct xhc_hal_t’ has no member named ‘jog_minus_y’ xhc-hb04.cc:271: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_y’ xhc-hb04.cc:272: error: ‘struct xhc_hal_t’ has no member named ‘jog_plus_z’ xhc-hb04.cc:272: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_z’ xhc-hb04.cc:273: error: ‘struct xhc_hal_t’ has no member named ‘jog_minus_z’ xhc-hb04.cc:273: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_z’ xhc-hb04.cc:274: error: ‘struct xhc_hal_t’ has no member named ‘jog_plus_a’ xhc-hb04.cc:274: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_a’ xhc-hb04.cc:275: error: ‘struct xhc_hal_t’ has no member named ‘jog_minus_a’ xhc-hb04.cc:275: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_a’ xhc-hb04.cc:276: error: ‘struct xhc_t’ has no member named ‘last_jog_counts’ xhc-hb04.cc:276: error: ‘struct xhc_hal_t’ has no member named ‘jog_counts’ xhc-hb04.cc:280: error: ‘struct xhc_hal_t’ has no member named ‘jog_velocity’ xhc-hb04.cc:280: error: ‘struct xhc_hal_t’ has no member named ‘jog_velocity’ xhc-hb04.cc:282: error: ‘struct xhc_hal_t’ has no member named ‘jog_velocity’ xhc-hb04.cc:283: error: ‘struct xhc_hal_t’ has no member named ‘jog_plus_x’ xhc-hb04.cc:284: error: ‘struct xhc_hal_t’ has no member named ‘jog_minus_x’ xhc-hb04.cc:285: error: ‘struct xhc_hal_t’ has no member named ‘jog_plus_y’ xhc-hb04.cc:286: error: ‘struct xhc_hal_t’ has no member named ‘jog_minus_y’ xhc-hb04.cc:287: error: ‘struct xhc_hal_t’ has no member named ‘jog_plus_z’ xhc-hb04.cc:288: error: ‘struct xhc_hal_t’ has no member named ‘jog_minus_z’ xhc-hb04.cc:289: error: ‘struct xhc_hal_t’ has no member named ‘jog_plus_a’ xhc-hb04.cc:290: error: ‘struct xhc_hal_t’ has no member named ‘jog_minus_a’ xhc-hb04.cc: In function ‘void cb_response_in(libusb_transfer*)’: xhc-hb04.cc:309: error: ‘struct xhc_hal_t’ has no member named ‘jog_scale’ xhc-hb04.cc:310: error: ‘struct xhc_hal_t’ has no member named ‘jog_counts’ xhc-hb04.cc:311: error: ‘struct xhc_hal_t’ has no member named ‘jog_counts_neg’ xhc-hb04.cc:311: error: ‘struct xhc_hal_t’ has no member named ‘jog_counts’ xhc-hb04.cc:313: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_x’ xhc-hb04.cc:314: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_y’ xhc-hb04.cc:315: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_z’ xhc-hb04.cc:316: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_a’ xhc-hb04.cc:317: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_feedrate’ xhc-hb04.cc:318: error: ‘struct xhc_hal_t’ has no member named ‘jog_enable_spindle’ xhc-hb04.cc:321: error: ‘struct xhc_hal_t’ has no member named ‘button_pin’ xhc-hb04.cc:322: error: ‘struct xhc_hal_t’ has no member named ‘button_pin’ xhc-hb04.cc:323: error: ‘struct xhc_hal_t’ has no member named ‘button_pin’ xhc-hb04.cc: At global scope: xhc-hb04.cc:349: error: ‘hal_pin_dir_t’ was not declared in this scope xhc-hb04.cc:349: error: ‘hal_float_t’ was not declared in this scope xhc-hb04.cc:349: error: ‘data_ptr_addr’ was not declared in this scope xhc-hb04.cc:349: error: expected primary-expression before ‘int’ xhc-hb04.cc:349: error: expected primary-expression before ‘const’ xhc-hb04.cc:349: error: expected primary-expression before ‘...’ token xhc-hb04.cc:349: error: initializer expression list treated as compound expression xhc-hb04.cc:350: error: expected ‘,’ or ‘;’ before ‘{’ token make: *** [xhc-hb04] Error 1

$ sudo apt-get install linuxcnc-dev Reading package lists... Done Building dependency tree Reading state information... Done The following extra packages will be installed: linuxcnc Recommended packages: hostmot2-firmware The following NEW packages will be installed: linuxcnc-dev The following packages will be upgraded: linuxcnc 1 upgraded, 1 newly installed, 0 to remove and 0 not upgraded. Need to get 5,801kB of archives. After this operation, 2,023kB of additional disk space will be used. Do you want to continue [Y/n]? y WARNING: The following packages cannot be authenticated! linuxcnc linuxcnc-dev Install these packages without verification [y/N]? y Err http://buildbot.linuxcnc.org/ lucid/scratch-rt linuxcnc 1:2.6.0~pre~ssi.fanuc.biss.dpll~c451127 404 Not Found Err http://buildbot.linuxcnc.org/ lucid/scratch-rt linuxcnc-dev 1:2.6.0~pre~ssi.fanuc.biss.dpll~c451127 404 Not Found Failed to fetch http://buildbot.linuxcnc.org/dists/lucid/scratch-rt/binary-i386/linuxcnc_2.6.0~pre~ssi.fanuc.biss.dpll~c451127_i386.deb 404 Not Found Failed to fetch http://buildbot.linuxcnc.org/dists/lucid/scratch-rt/binary-i386/linuxcnc-dev_2.6.0~pre~ssi.fanuc.biss.dpll~c451127_i386.deb 404 Not Found E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

Print file information: RUN_IN_PLACE=no LINUXCNC_DIR= LINUXCNC_BIN_DIR=/usr/bin LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc LINUXCNC_SCRIPT_DIR= LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc LINUXCNC_CONFIG_DIR= LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs INIVAR=inivar HALCMD=halcmd LINUXCNC_EMCSH=/usr/bin/wish8.5 LINUXCNC - 2.5.3 Machine configuration directory is '/home/bradley/linuxcnc/configs/SuperMax' Machine configuration file is 'SuperMax.ini' INIFILE=/home/bradley/linuxcnc/configs/SuperMax/SuperMax.ini PARAMETER_FILE=linuxcnc.var TASK=milltask HALUI=halui DISPLAY=axis Starting LinuxCNC... Starting LinuxCNC server program: linuxcncsvr Loading Real Time OS, RTAPI, and HAL_LIB modules Starting LinuxCNC IO program: io Starting HAL User Interface program: halui Shutting down and cleaning up LinuxCNC... Killing task linuxcncsvr, PID=2525 waiting for XHC-HB04 device found XHC-HB04 device Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Cleanup done Debug file information: Can not find -sec MOT -var MOT -num 1 Can not find -sec IO -var IO -num 1 Can not find -sec LINUXCNC -var NML_FILE -num 1 Can not find -sec EMC -var NML_FILE -num 1 xhc-hb04.hal:23: Pin 'axis.3.jog-enable' does not exist 2525 PID TTY STAT TIME COMMAND Stopping realtime threads Unloading hal components Kernel message information: [ 447.431153] I-pipe: Domain RTAI registered. [ 447.431158] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03. [ 447.431159] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) . [ 447.431193] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 447.431194] PIPELINE layers: [ 447.431196] fb11be20 9ac15d93 RTAI 200 [ 447.431198] c085cb20 0 Linux 100 [ 447.443525] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 447.443920] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 447.443925] RTAI[sched]: hard timer type/freq = APIC/12556305(Hz); default timing: periodic; linear timed lists. [ 447.443927] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 3214281000 hz. [ 447.443929] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns. [ 447.443989] RTAI[usi]: enabled. [ 447.470382] RTAI[math]: loaded. [ 447.525567] config string '0x378 out ' [ 449.805553] RTAI[math]: unloaded. [ 449.817581] SCHED releases registered named ALIEN RTGLBH [ 449.848511] RTAI[malloc]: unloaded. [ 449.948350] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 449.950022] I-pipe: Domain RTAI unregistered. [ 449.950059] RTAI[hal]: unmounted.

CNC-Mill:~$ /usr/local/bin/xhc-hb04 Creating pin: xhc-hb04.x.pos-absolute Creating pin: xhc-hb04.y.pos-absolute Creating pin: xhc-hb04.z.pos-absolute Creating pin: xhc-hb04.a.pos-absolute Creating pin: xhc-hb04.x.pos-relative Creating pin: xhc-hb04.y.pos-relative Creating pin: xhc-hb04.z.pos-relative Creating pin: xhc-hb04.a.pos-relative Creating pin: xhc-hb04.feed-value Creating pin: xhc-hb04.feed-override Creating pin: xhc-hb04.spindle-rps Creating pin: xhc-hb04.spindle-override Creating pin: xhc-hb04.jog.enable-off Creating pin: xhc-hb04.jog.enable-x Creating pin: xhc-hb04.jog.enable-y Creating pin: xhc-hb04.jog.enable-z Creating pin: xhc-hb04.jog.enable-a Creating pin: xhc-hb04.jog.enable-feed-override Creating pin: xhc-hb04.jog.enable-spindle-override Creating pin: xhc-hb04.jog.scale Creating pin: xhc-hb04.jog.counts Creating pin: xhc-hb04.jog.counts-neg Creating pin: xhc-hb04.jog.velocity Creating pin: xhc-hb04.jog.max-velocity Creating pin: xhc-hb04.jog.increment Creating pin: xhc-hb04.jog.plus-x Creating pin: xhc-hb04.jog.minus-x Creating pin: xhc-hb04.jog.plus-y Creating pin: xhc-hb04.jog.minus-y Creating pin: xhc-hb04.jog.plus-z Creating pin: xhc-hb04.jog.minus-z Creating pin: xhc-hb04.jog.plus-a Creating pin: xhc-hb04.jog.minus-a waiting for XHC-HB04 device

Button depressed reset 04 17 00 00 00 1B stop 04 16 00 00 00 1A O ← 04 01 00 00 00 0D start/stop 04 02 00 00 00 0E rewind 04 03 00 00 00 0F Probe-Z 04 04 00 00 00 08 spindle 04 0C 00 00 00 00 "=1/2" 04 06 00 00 00 0A “=0” 04 07 00 00 00 0B Safe-Z 04 08 00 00 00 04 L ← O 04 09 00 00 00 05 Macro-1 04 0A 00 00 00 06 Macro-2 04 0B 00 00 00 07 Macro-3 04 05 00 00 00 09 Macro-6 04 0F 00 00 00 03 Macro-7 04 10 00 00 00 1C Step ++ 04 0D 00 00 00 01 MPG Mode 04 0E 00 00 00 02 Knob to X 04 00 00 11 00 0C Knob to Y 04 00 00 12 00 0C knob to Z 04 00 00 13 00 0C knob to A 04 00 00 18 00 0C Repeated a stream knob to spindle 04 00 00 14 00 0C knob to feed 04 00 00 15 00 0C knob to off 04 00 00 00 00 0C

Composite Device: Product ID: 0xeb6e Vendor ID: 0x10ce Version: 0.00 Speed: Up to 12 Mb/sec Manufacturer: KTURT.LTD Location ID: 0xfa130000 / 7 Current Available (mA): 500 Current Required (mA): 100