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Added codeprop loading to RAM.

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Moved some stepper code to Thumb so it could be dynamically linked to.
This commit is contained in:
ksb 2007-03-07 16:15:00 +00:00
parent b105b40e9a
commit 6a184e0897
9 changed files with 500 additions and 462 deletions
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91
platform/stepper-robot/stepper/stepper-interrupt.h
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@ -1,22 +1,14 @@
#ifndef __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__
#define __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__
#include <AT91SAM7S64.h>
#include <inttypes.h>
#include <stepper.h>
/* Define periods/second */
#define PPS 128
/* Scaling factor for distance */
#define DIST_SCALE (2 * PPS * PPS)
/* Scaling factor for velocity */
#define VEL_SCALE PPS
/* Timer frequency */
#define TIMER_FREQ 748800
typedef struct _StepperContext StepperContext;
typedef struct _StepperState StepperState;
typedef struct _StepperTimerStep StepperTimerStep;
typedef struct _StepperAccSeq StepperAccSeq;
#define MAX_STEPS_PER_PERIOD 40
#define NUM_STEPPERS 2
@ -24,14 +16,6 @@ typedef struct _StepperAccSeq StepperAccSeq;
#define STEPPER_MAX_VELOCITY 4000
#define STEPPER_MAX_ACCELRATION 4000
struct _StepperAccSeq
{
StepperAccSeq *next;
unsigned long period;
long acceleration;
};
#define STEPPER_ACC_INVALID LONG_MAX
#define TIMING_ERRORS
@ -78,8 +62,6 @@ struct _StepperTimerStep
uint8_t power;
};
typedef void (*StepperUserCallback)(unsigned int stepper_index,
unsigned long period);
struct _StepperContext
{
@ -92,68 +74,7 @@ struct _StepperContext
StepperUserCallback user_callback;
};
typedef unsigned int StepperResult;
#define STEPPER_OK 0
#define STEPPER_ERR_MEM 1
#define STEPPER_ERR_TOO_LATE 2
#define STEPPER_ERR_INDEX 3
void
stepper_init(AT91PS_TC timer, unsigned int id);
void
stepper_init_io(unsigned int stepper_index, uint32_t mask,
const uint32_t *acc, const uint32_t *run,
const uint32_t *hold, unsigned int nsteps);
/* Returns true if the new sequence was actually added or false
if the index is illegal or the first step in the sequence is too soon */
StepperResult
stepper_add_acc_seq(unsigned int stepper_index, StepperAccSeq *new_seq);
StepperResult
stepper_add_acc(unsigned int stepper_index, unsigned int period, long acc);
StepperResult
stepper_insert_callback(unsigned int stepper_index, unsigned int period);
void
stepper_set_callback_proc(StepperUserCallback callback);
unsigned long
stepper_current_period();
long
stepper_current_step(unsigned int stepper_index);
long long
stepper_step_frac(unsigned int stepper_index);
long
stepper_current_velocity(unsigned int stepper_index);
unsigned long
stepper_velocity(unsigned int stepper_index, unsigned long period);
StepperResult
stepper_state_at(unsigned int stepper_index, unsigned long period,
long *velocity, long long *position);
StepperResult
stepper_set_velocity(unsigned int stepper_index, unsigned long *periodp,
unsigned long max_acc, long final_speed);
StepperAccSeq *
stepper_allocate_seq();
void
stepper_free_seq(StepperAccSeq *seq);
#ifdef TIMING_ERRORS
void
stepper_timing_errors(unsigned int stepper_index, long *min, long *max);
#endif
extern StepperContext stepper_context;
#endif /* __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__ */
void stepper_timer_interrupt(void);