linuxcnc stepgen is now in StepGen3. Compiles
This commit is contained in:
Hakan Bastedt
@@ -3,51 +3,144 @@
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#define STEPGEN3
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#include <HardwareTimer.h>
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#define MAX_CHAN 16
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#define MAX_CYCLE 18
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#define USER_STEP_TYPE 13
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typedef int hal_s32_t;
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typedef int hal_bit_t;
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typedef unsigned int hal_u32_t;
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typedef float hal_float_t;
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typedef struct
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{
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/* stuff that is both read and written by makepulses */
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unsigned int timer1; /* times out when step pulse should end */
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unsigned int timer2; /* times out when safe to change dir */
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unsigned int timer3; /* times out when safe to step in new dir */
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int hold_dds; /* prevents accumulator from updating */
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long addval; /* actual frequency generator add value */
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volatile long long accum; /* frequency generator accumulator */
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hal_s32_t rawcount; /* param: position feedback in counts */
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int curr_dir; /* current direction */
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int state; /* current position in state table */
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/* stuff that is read but not written by makepulses */
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hal_bit_t enable; /* pin for enable stepgen */
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long target_addval; /* desired freq generator add value */
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long deltalim; /* max allowed change per period */
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hal_u32_t step_len; /* parameter: step pulse length */
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hal_u32_t dir_hold_dly; /* param: direction hold time or delay */
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hal_u32_t dir_setup; /* param: direction setup time */
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int step_type; /* stepping type - see list above */
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int cycle_max; /* cycle length for step types 2 and up */
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int num_phases; /* number of phases for types 2 and up */
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hal_bit_t phase[5]; /* pins for output signals */
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const unsigned char *lut; /* pointer to state lookup table */
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/* stuff that is not accessed by makepulses */
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int pos_mode; /* 1 = position mode, 0 = velocity mode */
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hal_u32_t step_space; /* parameter: min step pulse spacing */
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double old_pos_cmd; /* previous position command (counts) */
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hal_s32_t count; /* pin: captured feedback in counts */
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hal_float_t pos_scale; /* param: steps per position unit */
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double old_scale; /* stored scale value */
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double scale_recip; /* reciprocal value used for scaling */
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hal_float_t vel_cmd; /* pin: velocity command (pos units/sec) */
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hal_float_t pos_cmd; /* pin: position command (position units) */
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hal_float_t pos_fb; /* pin: position feedback (position units) */
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hal_float_t freq; /* param: frequency command */
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hal_float_t maxvel; /* param: max velocity, (pos units/sec) */
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hal_float_t maxaccel; /* param: max accel (pos units/sec^2) */
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hal_u32_t old_step_len; /* used to detect parameter changes */
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hal_u32_t old_step_space;
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hal_u32_t old_dir_hold_dly;
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hal_u32_t old_dir_setup;
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int printed_error; /* flag to avoid repeated printing */
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} stepgen_t;
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/* lookup tables for stepping types 2 and higher - phase A is the LSB */
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static unsigned char master_lut[][MAX_CYCLE] = {
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{1, 3, 2, 0, 0, 0, 0, 0, 0, 0}, /* type 2: Quadrature */
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{1, 2, 4, 0, 0, 0, 0, 0, 0, 0}, /* type 3: Three Wire */
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{1, 3, 2, 6, 4, 5, 0, 0, 0, 0}, /* type 4: Three Wire Half Step */
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{1, 2, 4, 8, 0, 0, 0, 0, 0, 0}, /* 5: Unipolar Full Step 1 */
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{3, 6, 12, 9, 0, 0, 0, 0, 0, 0}, /* 6: Unipoler Full Step 2 */
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{1, 7, 14, 8, 0, 0, 0, 0, 0, 0}, /* 7: Bipolar Full Step 1 */
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{5, 6, 10, 9, 0, 0, 0, 0, 0, 0}, /* 8: Bipoler Full Step 2 */
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{1, 3, 2, 6, 4, 12, 8, 9, 0, 0}, /* 9: Unipolar Half Step */
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{1, 5, 7, 6, 14, 10, 8, 9, 0, 0}, /* 10: Bipolar Half Step */
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{1, 2, 4, 8, 16, 0, 0, 0, 0, 0}, /* 11: Five Wire Unipolar */
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{3, 6, 12, 24, 17, 0, 0, 0, 0, 0}, /* 12: Five Wire Wave */
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{1, 3, 2, 6, 4, 12, 8, 24, 16, 17}, /* 13: Five Wire Uni Half */
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{3, 7, 6, 14, 12, 28, 24, 25, 17, 19}, /* 14: Five Wire Wave Half */
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{0, 0, 0, 0, 0, 0, 0, 0, 0, 0} /* 15: User-defined */
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};
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static unsigned char cycle_len_lut[] =
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{4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10, 0};
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static unsigned char num_phases_lut[] =
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{
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2,
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3,
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3,
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4,
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4,
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4,
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4,
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4,
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4,
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5,
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5,
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5,
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5,
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0,
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};
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#define MAX_STEP_TYPE 15
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#define STEP_PIN 0 /* output phase used for STEP signal */
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#define DIR_PIN 1 /* output phase used for DIR signal */
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#define UP_PIN 0 /* output phase used for UP signal */
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#define DOWN_PIN 1 /* output phase used for DOWN signal */
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#define PICKOFF 28 /* bit location in DDS accum */
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typedef enum CONTROL
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{
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POSITION,
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VELOCITY,
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INVALID
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} CONTROL;
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class StepGen3
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{
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public:
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volatile double_t actualPosition;
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volatile int32_t nSteps;
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volatile uint32_t timerFrequency;
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volatile int32_t timerPosition = 0;
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volatile int32_t timerEndPosition = 0;
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int step_type[MAX_CHAN] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // stepping types for up to 16 channels
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char *ctrl_type[MAX_CHAN] = {0}; // control type ("p"pos or "v"vel) for up to 16 channels
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int user_step_type[MAX_CYCLE] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // lookup table for user-defined step type
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public:
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volatile float Tstartf; // Starting delay in secs
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volatile uint32_t Tstartu; // Starting delay in usecs
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volatile float Tpulses; // Time it takes to do pulses. Debug
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stepgen_t *stepgen_array;
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HardwareTimer *pulseTimer;
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uint32_t pulseTimerChan;
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HardwareTimer *startTimer; // Use timers 10,11,13,14
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uint8_t dirPin;
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PinName dirPinName;
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PinName stepPin;
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uint32_t Tjitter = 400; // Longest time from IRQ to handling in handleStepper, unit is microseconds
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uint64_t dbg;
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const uint16_t t2 = 5; // DIR is ahead of PUL with at least 5 usecs
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const uint16_t t3 = 5; // Pulse width at least 2.5 usecs
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const uint16_t t4 = 5; // Low level width not less than 2.5 usecs
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const float maxAllowedFrequency = 1000000 / float(t3 + t4) * 0.9; // 150 kHz for now
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int num_chan = 0; // number of step generators configured */
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long periodns; // makepulses function period in nanosec */
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long old_periodns; // used to detect changes in periodns */
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static double periodfp; // makepulses function period in seconds */
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double freqscale; // conv. factor from Hz to addval counts */
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double accelscale; // conv. Hz/sec to addval cnts/period */
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long old_dtns; // update_freq funct period in nsec */
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double dt; // update_freq period in seconds */
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double recip_dt; // recprocal of period, avoids divides */
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public:
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volatile double_t commandedPosition; // End position when this cycle is completed
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volatile int32_t commandedStepPosition; // End step position when this cycle is completed
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volatile double_t initialPosition; // From previous cycle
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volatile int32_t initialStepPosition; // From previous cycle
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int16_t stepsPerMM; // This many steps per mm
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volatile uint8_t enabled; // Enabled step generator
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volatile float frequency;
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static uint32_t sync0CycleTime; // Nominal EtherCAT cycle time nanoseconds
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volatile float lcncCycleTime; // Linuxcnc nominal cycle time in sec (1 ms often)
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StepGen3(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void));
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uint32_t handleStepper(uint64_t irqTime /* time when irq happened nanosecs */, uint16_t nLoops);
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void startTimerCB();
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void pulseTimerCB();
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uint32_t updatePos(uint32_t i);
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StepGen3(void);
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int rtapi_app_main();
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int export_stepgen(int num, stepgen_t *addr, int step_type, int pos_mode);
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void make_pulses(void *arg, long period);
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void update_freq(void *arg, long period);
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void update_pos(void *arg, long period);
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int setup_user_step_type(void);
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CONTROL parse_ctrl_type(const char *ctrl);
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unsigned long ulceil(unsigned long value, unsigned long increment);
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};
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#endif
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#endif
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File diff suppressed because it is too large
Load Diff
@@ -20,19 +20,6 @@ void indexPulseEncoderCB1(void)
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#include "StepGen3.h"
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#include "extend32to64.h"
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// Stepper 1
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void pulseTimerCallback1(void);
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void startTimerCallback1(void);
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StepGen3 Step1(TIM1, 4, PA_11, PA12, pulseTimerCallback1, TIM10, startTimerCallback1);
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void pulseTimerCallback1(void) { Step1.pulseTimerCB(); }
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void startTimerCallback1(void) { Step1.startTimerCB(); }
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// Stepper 2
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void pulseTimerCallback2(void);
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void startTimerCallback2(void);
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StepGen3 Step2(TIM3, 4, PC_9, PC10, pulseTimerCallback2, TIM11, startTimerCallback2);
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void pulseTimerCallback2(void) { Step2.pulseTimerCB(); }
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void startTimerCallback2(void) { Step2.startTimerCB(); }
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CircularBuffer<uint64_t, 200> Tim;
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volatile uint64_t irqTime = 0, thenTime = 0, nowTime = 0;
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@@ -53,22 +40,7 @@ uint64_t reallyNowTime = 0, reallyThenTime = 0;
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uint64_t timeDiff; // Timediff in nanoseconds
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void handleStepper(void)
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{
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// Catch the case when we miss a loop for some reason
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uint32_t t = micros();
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reallyNowTime = longTime.extendTime(t);
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timeDiff = 1000 * (reallyNowTime - reallyThenTime);
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nLoops = round(double(timeDiff) / double(StepGen3::sync0CycleTime));
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reallyThenTime = reallyNowTime;
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nLoops=1;
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Step1.enabled = true;
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Step1.commandedPosition = Obj.CommandedPosition1;
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Step1.stepsPerMM = Obj.StepsPerMM1;
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Step1.handleStepper(irqTime, nLoops);
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Step2.enabled = true;
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Step2.commandedPosition = Obj.CommandedPosition2;
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Step2.stepsPerMM = Obj.StepsPerMM2;
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Step2.handleStepper(irqTime, nLoops);
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}
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void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
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@@ -94,10 +66,10 @@ void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
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}
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thenTime = irqTime;
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Obj.DiffT = longTime.extendTime(micros()) - irqTime; // max_Tim - min_Tim; // Debug
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Obj.D1 = Step2.frequency;
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Obj.D2 = Step2.nSteps;
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Obj.D1 =0;
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Obj.D2 = 0;
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Obj.D3 = abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
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Obj.D4 = Step2.Tstartu;
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Obj.D4 = 0;
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}
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void ESC_interrupt_enable(uint32_t mask);
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@@ -211,6 +183,6 @@ uint16_t dc_checker(void)
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{
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// Indicate we run DC
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ESCvar.dcsync = 1;
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StepGen3::sync0CycleTime = ESC_SYNC0cycletime(); // nsecs
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//StepGen3::sync0CycleTime = ESC_SYNC0cycletime(); // nsecs
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return 0;
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}
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