Added codeprop loading to RAM.
Moved some stepper code to Thumb so it could be dynamically linked to.
This commit is contained in:
ksb
parent
b105b40e9a
commit
6a184e0897
9 changed files with 500 additions and 462 deletions
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@ -4,7 +4,7 @@ TARGET=stepper-robot
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CONTIKI_TARGET_DIRS=stepper
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KERNELS= sys-tst.elf robot-main.elf
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KERNELS= sys-tst.elf robot-main-syms.elf
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# Master clock frequency
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MCK=23961600
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@ -12,7 +12,8 @@ MCK=23961600
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ARCH=debug-uart.o clock.o sys-interrupt.o interrupt-utils.o newlib-syscalls.o \
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leds-arch.o sam7s-spi.o
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SYSTEM=process.o procinit.o service.o clock.o etimer.o timer.o leds.o uip-log.o
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SYSTEM=process.o procinit.o service.o clock.o etimer.o timer.o leds.o uip-log.o cfs.o
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DEBUG_IO=dbg-printf.o dbg-puts.o dbg-putchar.o strformat.o
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UIP=uip.o uiplib.o tcpip.o uip-fw.o uip-fw-service.o uipbuf.o \
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tcpdump.o psock.o uaodv.o uaodv-rt.o uip-udp-packet.o
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@ -20,15 +21,22 @@ UIP=uip.o uiplib.o tcpip.o uip-fw.o uip-fw-service.o uipbuf.o \
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UIPDRIVERS= cc2420.o cc2420_send_ip.o cc2420_send_uaodv.o cc2420-interrupt.o \
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cc2420-spi.o
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SYSLIB=memb.o list.o
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SYSLIB=memb.o list.o malloc.o realloc.o
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STEPPER=stepper-interrupt.o stepper-move.o stepper.o
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ELFLOADER=elfloader-arm.o elfloader-otf.o symtab.o
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CODEPROP=$(ELFLOADER) cfs-ram.o codeprop-otf.o ram-segments.o \
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autostart.o random.o
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STEPPER=stepper-interrupt.o stepper-move.o
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CFLAGS+= -I stepper
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cfs-ram.o: CFLAGS+= -DCFS_RAM_CONF_SIZE=4096
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all: $(KERNELS)
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sys-tst.elf: sys-tst.o $(ARCH) $(SYSTEM)
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robot-main.elf: robot-main.o stepper-process.o $(ARCH) $(SYSTEM) $(SYSLIB) $(UIP) $(UIPDRIVERS) $(STEPPER)
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robot-main-syms.elf: robot-main.o stepper-process.o $(ARCH) $(SYSTEM) $(SYSLIB) $(UIP) $(UIPDRIVERS) $(STEPPER) $(CODEPROP) $(DEBUG_IO)
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include $(CONTIKI)/cpu/at91sam7s/Makefile.at91sam7s
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@ -32,7 +32,7 @@ inline int splhigh(void)
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#ifndef __THUMBEL__
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asm("mrs %0, CPSR\n\torr r1,%0,#0x80\n\tmsr CPSR_c, r1" : "=r" (save)::"r1");
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#else
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#error Must be compiled in ARM mode
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#error Must be compiled in ARM mode
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#endif
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return save;
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}
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@ -70,6 +70,7 @@ do { \
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#define UIP_CONF_LLH_LEN 0
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#define UIP_CONF_BROADCAST 1
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#define UIP_CONF_LOGGING 1
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#define UIP_CONF_BUFFER_SIZE 116
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/* Prefix for relocation sections in ELF files */
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#define REL_SECT_PREFIX ".rel"
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@ -16,22 +16,18 @@
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#include <net/psock.h>
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#include <stepper-process.h>
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#include <dev/leds.h>
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#include <cfs/cfs-ram.h>
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#include <loader/codeprop-otf.h>
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#include <loader/ram-segments.h>
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#include <unistd.h>
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#ifndef RF_CHANNEL
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#define RF_CHANNEL 15
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#endif
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volatile const char * volatile input_line = NULL;
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volatile unsigned int input_line_len = 0;
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extern char __heap_end__;
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extern char __heap_start__;
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static void
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recv_input(const char *str, unsigned int len)
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{
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/* Assume that the line is handled before any new characters is written
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to the buffer */
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input_line = str;
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input_line_len = len;
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}
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PROCESS(blink_process, "LED blink process");
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@ -65,6 +61,7 @@ PROCESS_THREAD(blink_process, ev , data)
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PROCESS_END();
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}
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#if 0
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PROCESS(udprecv_process, "UDP recv process");
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PROCESS_THREAD(udprecv_process, ev, data)
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@ -100,7 +97,6 @@ PROCESS_THREAD(udprecv_process, ev, data)
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PROCESS_END();
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}
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PROCESS(wd_test_process, "Watchdog test process");
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@ -122,6 +118,7 @@ PROCESS_THREAD(wd_test_process, ev, data)
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PROCESS_END();
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}
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#endif
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#if 0
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@ -142,7 +139,11 @@ wdt_reset()
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static uip_ipaddr_t gw_addr = {{172,16,0,1}};
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PROCINIT(&etimer_process, &tcpip_process, &uip_fw_process, &cc2420_process,/* &uaodv_process, */ &udprecv_process, &blink_process, &stepper_process);
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PROCINIT(&etimer_process, &tcpip_process, &uip_fw_process, &cc2420_process,
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/* &uaodv_process, */ &cfs_ram_process, &codeprop_process,
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&ram_segments_cleanup_process,
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&blink_process, &stepper_process);
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int
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main()
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@ -155,7 +156,6 @@ main()
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dbg_setup_uart();
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printf("Initialising\n");
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dbg_set_input_handler(recv_input);
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leds_arch_init();
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clock_init();
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uip_sethostaddr(&cc2420if.ipaddr);
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@ -168,6 +168,7 @@ main()
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uip_init();
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uip_fw_default(&cc2420if);
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tcpip_set_forwarding(1);
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printf("Heap size: %ld bytes\n", &__heap_end__ - (char*)sbrk(0));
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printf("Started\n");
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procinit_init();
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@ -1,6 +1,6 @@
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#include <stepper-process.h>
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#include <stepper-steps.h>
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#include <stepper-interrupt.h>
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#include <stepper.h>
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#include <stepper-move.h>
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#include <string.h>
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#include <interrupt-utils.h>
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@ -9,6 +9,8 @@
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#include <net/uip.h>
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#include <dev/cc2420.h>
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#undef putchar
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static const uint32_t stepper0_steps_acc[] = MICRO_STEP(0,3);
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static const uint32_t stepper0_steps_run[] = MICRO_STEP(0,2);
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static const uint32_t stepper0_steps_hold[] = MICRO_STEP(0,1);
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@ -1,39 +1,12 @@
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#include <stepper-interrupt.h>
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#include <interrupt-utils.h>
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#include <stdio.h>
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#include <stepper.h>
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/* Timer frequency */
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#define TIMER_FREQ 748800
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static StepperContext stepper_context;
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StepperContext stepper_context;
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static StepperAccSeq *free_seq = NULL;
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StepperAccSeq *
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stepper_allocate_seq()
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{
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StepperAccSeq *seq;
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if (!free_seq) return NULL;
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stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
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seq = free_seq;
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free_seq = seq->next;
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stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
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return seq;
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}
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void
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stepper_free_seq(StepperAccSeq *seq)
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{
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StepperAccSeq *s;
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if (!seq) return;
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s = seq;
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stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
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while(s->next) s = s->next;
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s->next = free_seq;
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free_seq = seq;
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stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
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}
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static void
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do_step(StepperTimerStep *step)
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@ -314,336 +287,10 @@ stepper_int_safe()
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}
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void NACKEDFUNC stepper_int (void) {
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void NACKEDFUNC stepper_timer_interrupt (void) {
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ISR_STORE();
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ISR_ENABLE_NEST();
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stepper_int_safe();
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ISR_DISABLE_NEST();
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ISR_RESTORE();
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}
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static void
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stepper_state_init(StepperState *stepper)
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{
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stepper->step_count = 0;
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stepper->io_mask = 0;
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stepper->acc_steps = NULL;
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stepper->run_steps = NULL;
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stepper->hold_steps = NULL;
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stepper->current_step = 0;
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stepper->sequence_length = 0;
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stepper->velocity = 0;
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stepper->acceleration = 0;
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stepper->step_full = 0;
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stepper->step_frac = 0;
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stepper->n_steps = 0;
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#ifdef TIMING_ERRORS
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stepper->err_min = TIMER_FREQ;
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stepper->err_max = -TIMER_FREQ;
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#endif
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}
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void
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stepper_init(AT91PS_TC timer, unsigned int id)
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{
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unsigned int s;
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stepper_context.flags = 0;
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stepper_context.timer_channel = timer;
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stepper_context.steps = NULL;
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stepper_context.current_step = NULL;
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stepper_context.period_count = 0;
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stepper_context.user_callback = NULL;
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for (s = 0; s < NUM_STEPPERS; s++) {
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stepper_state_init(&stepper_context.steppers[s]);
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}
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timer->TC_CMR = (AT91C_TC_WAVE | AT91C_TC_WAVESEL_UP_AUTO
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| AT91C_TC_CLKS_TIMER_DIV3_CLOCK);
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timer->TC_RC = TIMER_FREQ / PPS;
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timer->TC_RA = 0xffff;
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timer->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
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*AT91C_PMC_PCER = (1 << id);
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AT91C_AIC_SMR[id] = AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE | 7;
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AT91C_AIC_SVR[id] = (unsigned long)stepper_int;
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*AT91C_AIC_IECR = (1 << id);
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timer->TC_CCR = AT91C_TC_CLKEN | AT91C_TC_SWTRG;
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}
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void
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stepper_init_io(unsigned int stepper_index, uint32_t mask,
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const uint32_t *acc, const uint32_t *run,
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const uint32_t *hold, unsigned int nsteps)
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{
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StepperState *state;
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if (stepper_index >= NUM_STEPPERS) return;
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state = &stepper_context.steppers[stepper_index];
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stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
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state->io_mask = mask;
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state->acc_steps = acc;
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state->run_steps = run;
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state->hold_steps = hold;
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state->current_step = 0;
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state->sequence_length = nsteps;
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*AT91C_PIOA_OWER = mask;
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*AT91C_PIOA_MDDR = mask;
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*AT91C_PIOA_ODSR = ((*AT91C_PIOA_ODSR & ~mask)
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| (state->hold_steps[0] & mask));
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stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
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*AT91C_PIOA_OER = mask;
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}
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/**
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Append an acceleration sequence
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Truncates the current acceleration sequence at the insertion time
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and appends the new sequence at that position.. The insertion time
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is the time of the first element of the new sequence. The
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truncation takes place after any elements with the acceleration set
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to STEPPER_ACC_INVALID (user callbacks) that has the same time as
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the insertion time. All other elements with the same time is
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replaced.
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\param stepper_index Index of the stepper the sequence is intended for.
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\param new_seq A linked list of sequence elements to append.
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*/
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StepperResult
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stepper_add_acc_seq(unsigned int stepper_index, StepperAccSeq *new_seq)
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{
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StepperResult res = STEPPER_ERR_TOO_LATE;
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StepperAccSeq **seqp;
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StepperState *state;
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if (stepper_index >= NUM_STEPPERS) return STEPPER_ERR_INDEX;
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state = &stepper_context.steppers[stepper_index];
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stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
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seqp = &state->acceleration_sequence;
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while(*seqp && ((*seqp)->period < new_seq->period || ((*seqp)->period == new_seq->period && (*seqp)->acceleration == STEPPER_ACC_INVALID))) {
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seqp = &(*seqp)->next;
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}
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if (new_seq->period > stepper_context.period_count + 1) {
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/* Replace tail of sequence */
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if (*seqp) stepper_free_seq(*seqp);
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*seqp = new_seq;
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res = STEPPER_OK;
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}
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stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
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return res;
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}
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/**
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Insert a callback mark
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Inserts a callback mark at the indicated period. This will cause
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the callback procedure to be called just before that period,
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usually near the beginning of the previous period. Does not
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truncate the current sequence.
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\param stepper_index Index of the stepper the callbak is intended for.
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\param period When the callback should be invoked
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\sa stepper_set_callback_proc
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*/
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StepperResult
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stepper_insert_callback(unsigned int stepper_index, unsigned int period)
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{
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StepperResult res = STEPPER_ERR_TOO_LATE;
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StepperAccSeq **seqp;
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StepperState *state;
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if (stepper_index >= NUM_STEPPERS) return STEPPER_ERR_INDEX;
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state = &stepper_context.steppers[stepper_index];
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stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
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seqp = &state->acceleration_sequence;
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while(*seqp && (*seqp)->period < period) {
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seqp = &(*seqp)->next;
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}
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if (period > stepper_context.period_count + 1) {
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StepperAccSeq *new_seq = stepper_allocate_seq();
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if (!new_seq) {
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res = STEPPER_ERR_MEM;
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} else {
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new_seq->next = *seqp;
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*seqp = new_seq;
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new_seq->period = period;
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new_seq->acceleration = STEPPER_ACC_INVALID;
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res = STEPPER_OK;
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}
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}
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stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
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return res;
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}
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StepperResult
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stepper_add_acc(unsigned int stepper_index, unsigned int period, long acc)
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{
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StepperAccSeq *seq = stepper_allocate_seq();
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/* printf("stepper_add_acc: %d %d %ld\n", stepper_index, period, acc); */
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if (!seq) return STEPPER_ERR_MEM;
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seq->next = NULL;
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seq->period = period;
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seq->acceleration = acc;
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return stepper_add_acc_seq(stepper_index, seq);
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}
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void
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stepper_set_callback_proc(StepperUserCallback callback)
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{
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stepper_context.user_callback = callback;
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}
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unsigned long
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stepper_current_period()
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{
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return stepper_context.period_count;
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}
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long
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stepper_current_step(unsigned int stepper_index)
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{
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StepperState *state = &stepper_context.steppers[stepper_index];
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return state->step_count;
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}
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long long
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stepper_step_frac(unsigned int stepper_index)
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{
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long long s;
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StepperState *state = &stepper_context.steppers[stepper_index];
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stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
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s = state->step_full * DIST_SCALE + state->step_frac;
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stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
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return s;
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}
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long
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stepper_current_velocity(unsigned int stepper_index)
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{
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StepperState *state = &stepper_context.steppers[stepper_index];
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return state->velocity;
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}
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/* Calculate the speed at given current given the current acceleration
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sequence. */
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unsigned long
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stepper_velocity(unsigned int stepper_index, unsigned long period)
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{
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long a;
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long v;
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unsigned long t;
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StepperState *state;
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StepperAccSeq *seq;
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state = &stepper_context.steppers[stepper_index];
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||||
stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
seq = state->acceleration_sequence;
|
||||
a = state->acceleration;
|
||||
v = state->velocity;
|
||||
t = stepper_context.period_count + 2;
|
||||
|
||||
while(seq && seq->period < period) {
|
||||
v += a * (seq->period - t);
|
||||
t = seq->period;
|
||||
a = seq->acceleration;
|
||||
seq = seq->next;
|
||||
}
|
||||
stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
v += a * (period - t);
|
||||
return v;
|
||||
}
|
||||
|
||||
/**
|
||||
Calculate the speed and position at specified period given the
|
||||
current acceleration sequence.
|
||||
|
||||
\param stepper_index Index of the stepper the callbak is intended for.
|
||||
\param period The period to calculate for
|
||||
\param Speed return
|
||||
\param Position return. In fractional steps
|
||||
|
||||
*/
|
||||
StepperResult
|
||||
stepper_state_at(unsigned int stepper_index, unsigned long period,
|
||||
long *velocity, long long *position)
|
||||
{
|
||||
long a;
|
||||
long v;
|
||||
long long s;
|
||||
unsigned long t;
|
||||
long dt;
|
||||
StepperState *state;
|
||||
StepperAccSeq *seq;
|
||||
state = &stepper_context.steppers[stepper_index];
|
||||
|
||||
stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
if (period < stepper_context.period_count + 2) {
|
||||
stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
return STEPPER_ERR_TOO_LATE;
|
||||
}
|
||||
seq = state->acceleration_sequence;
|
||||
a = state->acceleration;
|
||||
v = state->velocity;
|
||||
t = stepper_context.period_count + 2;
|
||||
s = state->step_full * (long long)DIST_SCALE + state->step_frac;
|
||||
while(seq && seq->period < period) {
|
||||
dt = seq->period - t;
|
||||
s += (a * (long long)dt + 2 * v) * dt;
|
||||
v += a * (seq->period - t);
|
||||
t = seq->period;
|
||||
a = seq->acceleration;
|
||||
seq = seq->next;
|
||||
}
|
||||
stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
dt = period - t;
|
||||
*position = s + (a * (long long)dt + (DIST_SCALE/VEL_SCALE) * v) * dt;
|
||||
*velocity = v + a * dt;
|
||||
|
||||
return STEPPER_OK;
|
||||
}
|
||||
|
||||
|
||||
StepperResult
|
||||
stepper_set_velocity(unsigned int stepper_index, unsigned long *periodp,
|
||||
unsigned long max_acc, long final_speed)
|
||||
{
|
||||
long start_period = *periodp;
|
||||
long v = stepper_velocity(stepper_index, start_period);
|
||||
/* printf("%ld @ %ld\n", v, start_period); */
|
||||
if (final_speed == v) {
|
||||
return stepper_add_acc(stepper_index, start_period, 0);
|
||||
} else {
|
||||
StepperResult res;
|
||||
long a = (final_speed > v) ? max_acc : -max_acc;
|
||||
long t = ((long)(final_speed - v)) / a;
|
||||
long diff = (final_speed - v) - t * a;
|
||||
if (t > 0) {
|
||||
res = stepper_add_acc(stepper_index, start_period, a);
|
||||
if (res != STEPPER_OK) return res;
|
||||
}
|
||||
if (diff) {
|
||||
res = stepper_add_acc(stepper_index, start_period+t, diff);
|
||||
if (res != STEPPER_OK) return res;
|
||||
t++;
|
||||
}
|
||||
*periodp = start_period+t;
|
||||
return stepper_add_acc(stepper_index, start_period+t, 0);
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef TIMING_ERRORS
|
||||
void
|
||||
stepper_timing_errors(unsigned int stepper_index, long *min, long *max)
|
||||
{
|
||||
StepperState *state;
|
||||
state = &stepper_context.steppers[stepper_index];
|
||||
*min = state->err_min;
|
||||
*max = state->err_max;
|
||||
state->err_max = -TIMER_FREQ;
|
||||
state->err_min = TIMER_FREQ;
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
|
|
|||
360
platform/stepper-robot/stepper/stepper.c
Normal file
360
platform/stepper-robot/stepper/stepper.c
Normal file
|
|
@ -0,0 +1,360 @@
|
|||
#include <stepper.h>
|
||||
#include <stepper-interrupt.h>
|
||||
|
||||
#ifndef NUL
|
||||
#define NULL 0
|
||||
#endif
|
||||
|
||||
static StepperAccSeq *free_seq = NULL;
|
||||
|
||||
StepperAccSeq *
|
||||
stepper_allocate_seq()
|
||||
{
|
||||
StepperAccSeq *seq;
|
||||
if (!free_seq) return NULL;
|
||||
stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
seq = free_seq;
|
||||
free_seq = seq->next;
|
||||
stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
return seq;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
stepper_free_seq(StepperAccSeq *seq)
|
||||
{
|
||||
StepperAccSeq *s;
|
||||
if (!seq) return;
|
||||
s = seq;
|
||||
stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
while(s->next) s = s->next;
|
||||
s->next = free_seq;
|
||||
free_seq = seq;
|
||||
stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
}
|
||||
|
||||
static void
|
||||
stepper_state_init(StepperState *stepper)
|
||||
{
|
||||
stepper->step_count = 0;
|
||||
stepper->io_mask = 0;
|
||||
stepper->acc_steps = NULL;
|
||||
stepper->run_steps = NULL;
|
||||
stepper->hold_steps = NULL;
|
||||
stepper->current_step = 0;
|
||||
stepper->sequence_length = 0;
|
||||
|
||||
stepper->velocity = 0;
|
||||
stepper->acceleration = 0;
|
||||
stepper->step_full = 0;
|
||||
stepper->step_frac = 0;
|
||||
stepper->n_steps = 0;
|
||||
|
||||
#ifdef TIMING_ERRORS
|
||||
stepper->err_min = TIMER_FREQ;
|
||||
stepper->err_max = -TIMER_FREQ;
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
void
|
||||
stepper_init(AT91PS_TC timer, unsigned int id)
|
||||
{
|
||||
unsigned int s;
|
||||
stepper_context.flags = 0;
|
||||
stepper_context.timer_channel = timer;
|
||||
stepper_context.steps = NULL;
|
||||
stepper_context.current_step = NULL;
|
||||
stepper_context.period_count = 0;
|
||||
stepper_context.user_callback = NULL;
|
||||
|
||||
for (s = 0; s < NUM_STEPPERS; s++) {
|
||||
stepper_state_init(&stepper_context.steppers[s]);
|
||||
}
|
||||
timer->TC_CMR = (AT91C_TC_WAVE | AT91C_TC_WAVESEL_UP_AUTO
|
||||
| AT91C_TC_CLKS_TIMER_DIV3_CLOCK);
|
||||
timer->TC_RC = TIMER_FREQ / PPS;
|
||||
timer->TC_RA = 0xffff;
|
||||
timer->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
*AT91C_PMC_PCER = (1 << id);
|
||||
|
||||
AT91C_AIC_SMR[id] = AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE | 7;
|
||||
AT91C_AIC_SVR[id] = (unsigned long)stepper_timer_interrupt;
|
||||
*AT91C_AIC_IECR = (1 << id);
|
||||
timer->TC_CCR = AT91C_TC_CLKEN | AT91C_TC_SWTRG;
|
||||
}
|
||||
|
||||
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)
|
||||
{
|
||||
StepperState *state;
|
||||
if (stepper_index >= NUM_STEPPERS) return;
|
||||
state = &stepper_context.steppers[stepper_index];
|
||||
|
||||
stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
|
||||
state->io_mask = mask;
|
||||
state->acc_steps = acc;
|
||||
state->run_steps = run;
|
||||
state->hold_steps = hold;
|
||||
state->current_step = 0;
|
||||
state->sequence_length = nsteps;
|
||||
*AT91C_PIOA_OWER = mask;
|
||||
*AT91C_PIOA_MDDR = mask;
|
||||
|
||||
*AT91C_PIOA_ODSR = ((*AT91C_PIOA_ODSR & ~mask)
|
||||
| (state->hold_steps[0] & mask));
|
||||
stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
*AT91C_PIOA_OER = mask;
|
||||
}
|
||||
|
||||
/**
|
||||
Append an acceleration sequence
|
||||
|
||||
Truncates the current acceleration sequence at the insertion time
|
||||
and appends the new sequence at that position.. The insertion time
|
||||
is the time of the first element of the new sequence. The
|
||||
truncation takes place after any elements with the acceleration set
|
||||
to STEPPER_ACC_INVALID (user callbacks) that has the same time as
|
||||
the insertion time. All other elements with the same time is
|
||||
replaced.
|
||||
|
||||
\param stepper_index Index of the stepper the sequence is intended for.
|
||||
\param new_seq A linked list of sequence elements to append.
|
||||
*/
|
||||
StepperResult
|
||||
stepper_add_acc_seq(unsigned int stepper_index, StepperAccSeq *new_seq)
|
||||
{
|
||||
StepperResult res = STEPPER_ERR_TOO_LATE;
|
||||
StepperAccSeq **seqp;
|
||||
StepperState *state;
|
||||
if (stepper_index >= NUM_STEPPERS) return STEPPER_ERR_INDEX;
|
||||
state = &stepper_context.steppers[stepper_index];
|
||||
stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
seqp = &state->acceleration_sequence;
|
||||
while(*seqp && ((*seqp)->period < new_seq->period || ((*seqp)->period == new_seq->period && (*seqp)->acceleration == STEPPER_ACC_INVALID))) {
|
||||
seqp = &(*seqp)->next;
|
||||
}
|
||||
if (new_seq->period > stepper_context.period_count + 1) {
|
||||
/* Replace tail of sequence */
|
||||
if (*seqp) stepper_free_seq(*seqp);
|
||||
*seqp = new_seq;
|
||||
res = STEPPER_OK;
|
||||
}
|
||||
stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
return res;
|
||||
}
|
||||
|
||||
/**
|
||||
Insert a callback mark
|
||||
|
||||
Inserts a callback mark at the indicated period. This will cause
|
||||
the callback procedure to be called just before that period,
|
||||
usually near the beginning of the previous period. Does not
|
||||
truncate the current sequence.
|
||||
|
||||
\param stepper_index Index of the stepper the callbak is intended for.
|
||||
\param period When the callback should be invoked
|
||||
|
||||
\sa stepper_set_callback_proc
|
||||
*/
|
||||
|
||||
StepperResult
|
||||
stepper_insert_callback(unsigned int stepper_index, unsigned int period)
|
||||
{
|
||||
StepperResult res = STEPPER_ERR_TOO_LATE;
|
||||
StepperAccSeq **seqp;
|
||||
StepperState *state;
|
||||
if (stepper_index >= NUM_STEPPERS) return STEPPER_ERR_INDEX;
|
||||
state = &stepper_context.steppers[stepper_index];
|
||||
stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
seqp = &state->acceleration_sequence;
|
||||
while(*seqp && (*seqp)->period < period) {
|
||||
seqp = &(*seqp)->next;
|
||||
}
|
||||
if (period > stepper_context.period_count + 1) {
|
||||
StepperAccSeq *new_seq = stepper_allocate_seq();
|
||||
if (!new_seq) {
|
||||
res = STEPPER_ERR_MEM;
|
||||
} else {
|
||||
new_seq->next = *seqp;
|
||||
*seqp = new_seq;
|
||||
new_seq->period = period;
|
||||
new_seq->acceleration = STEPPER_ACC_INVALID;
|
||||
res = STEPPER_OK;
|
||||
}
|
||||
}
|
||||
stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
return res;
|
||||
}
|
||||
|
||||
StepperResult
|
||||
stepper_add_acc(unsigned int stepper_index, unsigned int period, long acc)
|
||||
{
|
||||
StepperAccSeq *seq = stepper_allocate_seq();
|
||||
/* printf("stepper_add_acc: %d %d %ld\n", stepper_index, period, acc); */
|
||||
if (!seq) return STEPPER_ERR_MEM;
|
||||
seq->next = NULL;
|
||||
seq->period = period;
|
||||
seq->acceleration = acc;
|
||||
return stepper_add_acc_seq(stepper_index, seq);
|
||||
}
|
||||
|
||||
void
|
||||
stepper_set_callback_proc(StepperUserCallback callback)
|
||||
{
|
||||
stepper_context.user_callback = callback;
|
||||
}
|
||||
|
||||
unsigned long
|
||||
stepper_current_period()
|
||||
{
|
||||
return stepper_context.period_count;
|
||||
}
|
||||
|
||||
long
|
||||
stepper_current_step(unsigned int stepper_index)
|
||||
{
|
||||
StepperState *state = &stepper_context.steppers[stepper_index];
|
||||
return state->step_count;
|
||||
}
|
||||
|
||||
long long
|
||||
stepper_step_frac(unsigned int stepper_index)
|
||||
{
|
||||
long long s;
|
||||
StepperState *state = &stepper_context.steppers[stepper_index];
|
||||
stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
s = state->step_full * DIST_SCALE + state->step_frac;
|
||||
stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
return s;
|
||||
}
|
||||
|
||||
long
|
||||
stepper_current_velocity(unsigned int stepper_index)
|
||||
{
|
||||
StepperState *state = &stepper_context.steppers[stepper_index];
|
||||
return state->velocity;
|
||||
}
|
||||
|
||||
/* Calculate the speed at given current given the current acceleration
|
||||
sequence. */
|
||||
unsigned long
|
||||
stepper_velocity(unsigned int stepper_index, unsigned long period)
|
||||
{
|
||||
long a;
|
||||
long v;
|
||||
unsigned long t;
|
||||
StepperState *state;
|
||||
StepperAccSeq *seq;
|
||||
state = &stepper_context.steppers[stepper_index];
|
||||
|
||||
stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
seq = state->acceleration_sequence;
|
||||
a = state->acceleration;
|
||||
v = state->velocity;
|
||||
t = stepper_context.period_count + 2;
|
||||
|
||||
while(seq && seq->period < period) {
|
||||
v += a * (seq->period - t);
|
||||
t = seq->period;
|
||||
a = seq->acceleration;
|
||||
seq = seq->next;
|
||||
}
|
||||
stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
v += a * (period - t);
|
||||
return v;
|
||||
}
|
||||
|
||||
/**
|
||||
Calculate the speed and position at specified period given the
|
||||
current acceleration sequence.
|
||||
|
||||
\param stepper_index Index of the stepper the callbak is intended for.
|
||||
\param period The period to calculate for
|
||||
\param Speed return
|
||||
\param Position return. In fractional steps
|
||||
|
||||
*/
|
||||
StepperResult
|
||||
stepper_state_at(unsigned int stepper_index, unsigned long period,
|
||||
long *velocity, long long *position)
|
||||
{
|
||||
long a;
|
||||
long v;
|
||||
long long s;
|
||||
unsigned long t;
|
||||
long dt;
|
||||
StepperState *state;
|
||||
StepperAccSeq *seq;
|
||||
state = &stepper_context.steppers[stepper_index];
|
||||
|
||||
stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
if (period < stepper_context.period_count + 2) {
|
||||
stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
return STEPPER_ERR_TOO_LATE;
|
||||
}
|
||||
seq = state->acceleration_sequence;
|
||||
a = state->acceleration;
|
||||
v = state->velocity;
|
||||
t = stepper_context.period_count + 2;
|
||||
s = state->step_full * (long long)DIST_SCALE + state->step_frac;
|
||||
while(seq && seq->period < period) {
|
||||
dt = seq->period - t;
|
||||
s += (a * (long long)dt + 2 * v) * dt;
|
||||
v += a * (seq->period - t);
|
||||
t = seq->period;
|
||||
a = seq->acceleration;
|
||||
seq = seq->next;
|
||||
}
|
||||
stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
|
||||
dt = period - t;
|
||||
*position = s + (a * (long long)dt + (DIST_SCALE/VEL_SCALE) * v) * dt;
|
||||
*velocity = v + a * dt;
|
||||
|
||||
return STEPPER_OK;
|
||||
}
|
||||
|
||||
|
||||
StepperResult
|
||||
stepper_set_velocity(unsigned int stepper_index, unsigned long *periodp,
|
||||
unsigned long max_acc, long final_speed)
|
||||
{
|
||||
long start_period = *periodp;
|
||||
long v = stepper_velocity(stepper_index, start_period);
|
||||
/* printf("%ld @ %ld\n", v, start_period); */
|
||||
if (final_speed == v) {
|
||||
return stepper_add_acc(stepper_index, start_period, 0);
|
||||
} else {
|
||||
StepperResult res;
|
||||
long a = (final_speed > v) ? max_acc : -max_acc;
|
||||
long t = ((long)(final_speed - v)) / a;
|
||||
long diff = (final_speed - v) - t * a;
|
||||
if (t > 0) {
|
||||
res = stepper_add_acc(stepper_index, start_period, a);
|
||||
if (res != STEPPER_OK) return res;
|
||||
}
|
||||
if (diff) {
|
||||
res = stepper_add_acc(stepper_index, start_period+t, diff);
|
||||
if (res != STEPPER_OK) return res;
|
||||
t++;
|
||||
}
|
||||
*periodp = start_period+t;
|
||||
return stepper_add_acc(stepper_index, start_period+t, 0);
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef TIMING_ERRORS
|
||||
void
|
||||
stepper_timing_errors(unsigned int stepper_index, long *min, long *max)
|
||||
{
|
||||
StepperState *state;
|
||||
state = &stepper_context.steppers[stepper_index];
|
||||
*min = state->err_min;
|
||||
*max = state->err_max;
|
||||
state->err_max = -TIMER_FREQ;
|
||||
state->err_min = TIMER_FREQ;
|
||||
}
|
||||
#endif
|
||||
98
platform/stepper-robot/stepper/stepper.h
Normal file
98
platform/stepper-robot/stepper/stepper.h
Normal file
|
|
@ -0,0 +1,98 @@
|
|||
#ifndef __STEPPER_H__JPA916UOFT__
|
||||
#define __STEPPER_H__JPA916UOFT__
|
||||
|
||||
#include <AT91SAM7S64.h>
|
||||
#include <inttypes.h>
|
||||
#include <limits.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
|
||||
|
||||
typedef struct _StepperAccSeq StepperAccSeq;
|
||||
struct _StepperAccSeq
|
||||
{
|
||||
StepperAccSeq *next;
|
||||
unsigned long period;
|
||||
long acceleration;
|
||||
};
|
||||
|
||||
#define STEPPER_ACC_INVALID LONG_MAX
|
||||
|
||||
#define STEPPER_MAX_VELOCITY 4000
|
||||
#define STEPPER_MAX_ACCELRATION 4000
|
||||
|
||||
typedef void (*StepperUserCallback)(unsigned int stepper_index,
|
||||
unsigned long period);
|
||||
|
||||
|
||||
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
|
||||
|
||||
#endif /* __STEPPER_H__JPA916UOFT__ */
|
||||
Loading…
Reference in a new issue