Merge pull request #234 from robEllenberg/mk-master

Fix for G61 Issue
Use `xeno_math` by default for RTAI math

Reported by Mick/Schooner/@ArcEye

The ShabbyX/RTAI 4.0 `rtai_math` kmodule misses the `ceil` and `floor`
functions.  I haven't investigated to see where they went.

Michael Haberler added `ceil` in commit 9898998 and `floor` has been there
since the `xeno_math` library initial commit.

This patch builds the `xeno_math` kmodule for all kernel thread
flavors, including RTAI, and configures runtime to load `xeno_math`
instead of `rtai_math` for `rtai-kernel` threads.
Merge pull request #235 from zultron/mk-rtai-math

Use `xeno_math` by default for RTAI math
Added delta configuration for BeBoPr++ with PEPPER.
Ignore device tree overlay binaries (*.dtbo).
Added delta configuration for BeBoPr++ with on-board stepper drivers.
Added device tree overlays for BeBoPr++ boards and added these to the compilation script.
Setup.bridge can now handle a disabled overlay and tries to load the best available one.
Merge pull request #238 from modmaker/feature/configs

BeBoPr++ new configurations and pepper driver update.
Fixed position.txt not getting created if 'import hal' used in python remap code.

The Python hal module steals SIGTERM away from the handler set in milltask.
Milltask relies on getting SIGTERM from the 'liunxcnc' script (via 'kill') to
write out position.txt and exit. Milltask now looks to see if the SIGTERM
handler changed during init, then sets it back to its original handler which
in turn calls the thief's handler as well as exiting normally and writing
out the position.txt file.
Merge pull request #247 from jasonpenn/master

Fixed position.txt not getting created if 'import hal' used in python remap code. Fixes issue #244.
Fixed milltask segfault on exit caused by my previous commit of emctaskmain.cc.

I neglected to clear the sa_flags field of the sigaction struct.
Merge pull request #248 from jasonpenn/master

Fixed milltask segfault on exit
Fix printk() header inclusion for older kernels

This was tickled when `xeno_math` became the default math kmodule for
RTAI in #235, and Janos Bujtar tried building against the older kernel
packages distributed by the LinuxCNC project ([reported here][1]).

`printk()` was moved from `linux/kernel.h` to `linux/printk.h` in
[late 2010][2].  However, `linux/kernel.h` includes `linux/printk.h`.

Alternatively, `printk()` could be defined by including
`linux/module.h`.  I don't know which is better.

[1]: https://groups.google.com/forum/#!topic/machinekit/PXjZfJqOfPg
[2]: https://lkml.org/lkml/2010/11/9/606
Fixed linuxcnc startup failure due to unknown count=1 parameter used with pepper component.
Merge pull request #249 from modmaker/feature/bugfix

Fix startup failure due to unknown count=1 parameter to pepper component
Merge pull request #243 from zultron/master

Fix printk() header inclusion for older kernels
Packaging:  switch from `dh_movefiles` to `dh_install`

`dh_movefiles` can't deal with one file shared by multiple packages,
which we need for the shmdrv udev rules file, shared by kthread flavor
packages.  The dh_movefiles manpage recommends replacing dh_movefiles
with the superior dh_install anyway.

So, all `debian/*.files` are renamed to `debian/*.install`, including
autogenerated ones.

Also, clean up unused install file cruft that `dh_movefiles` didn't
check for in `debian/machinekit-dev.install`.
Packaging:  save `debian/configure` cmdline for `clean` target

The `debian/rules` `clean` target (and others) depend on
`debian/control`, which is generated by `debian/configure`.  That
script must be initially run by hand with arguments to configure the
package.

When re-running from `debian/rules`, this patch preserves the
command-line arguments so the initial configuration isn't clobbered.
Package system configs:  shmdrv and ulimits

- Package `/etc/udev/rules.d/50-shmdrv.rules` for kernel flavors
  - This file is co-owned by all kthreads module packages.

- Package `/etc/security/limits.d/machinekit.conf`; fixes #241, #246
Fix ulimits configuration

Add `cpu`, `rtprio` and `nice` limits to
`/etc/security/limits.conf.d/linuxcnc.conf`

Partial fix for #241, #246