contiki/platform/stepper-robot/stepper/stepper-move.c

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#include <stdio.h>
#include <stepper-interrupt.h>
#include <stepper-move.h>
#include <limits.h>
#if 0
#define PRINTF(...) printf(__VA_ARGS__)
#else
#define PRINTF(...) do {} while (0)
#endif
static unsigned int
isqrt(unsigned long x)
{
unsigned int r;
unsigned int b2 = 0x40000000;
unsigned int b = 0x8000;
while(x < b2) {
b2 >>= 2;
b >>= 1;
}
if (b == 0) return 0;
r = b;
b >>= 1;
while(b > 0) {
r += b;
unsigned int t = r*r;
if (t > x) {
r -= b;
}
b >>=1;
}
return r;
}
#define ACC_FIRST_UP 0
#define ACC_K1_UP 1
#define ACC_LAST_UP 2
#define ACC_TOP 3
#define ACC_FIRST_DOWN 4
#define ACC_K1_DOWN 5
#define ACC_LAST_DOWN 6
#define ACC_END 7
typedef struct _AccDiff AccDiff;
struct _AccDiff
{
long diff;
unsigned long pos;
};
static inline long
base_acc(unsigned long t,unsigned long n, unsigned long l, unsigned long a_max)
{
long a;
if (t >= n) {
if (t >= n+l) {
a = -a_max;
} else {
a = 0;
}
} else {
a = a_max;
}
return a;
}
static AccDiff acc[ACC_END+1];
StepperResult
stepper_move(unsigned int stepper_index, unsigned long *periodp,
unsigned long a_max,unsigned long v_max, long s_end)
{
unsigned long start_period = *periodp;
unsigned long s;
unsigned long ds;
unsigned long l;
unsigned long da0;
unsigned long k1 = 0;
unsigned long n = (v_max+a_max-1)/a_max;
unsigned long a_speed_adj = v_max - (n-1)*a_max;
unsigned long s_res;
long d;
if (s_end >= 0) {
s_res = s_end/2;
} else {
s_res = (-s_end)/2;
}
d = s_res - (long)a_max*(n*n-1) - (long)a_speed_adj;
acc[ACC_END].diff = 0;
acc[ACC_END].pos = UINT_MAX;
if (d < 0) {
l = 0;
n = isqrt(s_res/a_max);
if (n*(unsigned long long)n*a_max < s_res) n++;
a_speed_adj = a_max;
acc[ACC_LAST_UP].diff=0;
acc[ACC_FIRST_DOWN].diff=0;
} else {
l = (d+v_max-1)/v_max;
acc[ACC_LAST_UP].diff= a_speed_adj - a_max;
acc[ACC_FIRST_DOWN].diff= a_max - a_speed_adj;
}
acc[ACC_LAST_UP].pos = n-1;
acc[ACC_FIRST_DOWN].pos = n+l;
s = a_max*(n*n-1) + a_speed_adj + l * (a_max*(n-1) + a_speed_adj);
ds = s-s_res;
da0 = ds/(2*n+l-1);
acc[ACC_FIRST_UP].diff = -da0;
acc[ACC_LAST_DOWN].diff = da0;
acc[ACC_FIRST_UP].pos = 0;
acc[ACC_LAST_DOWN].pos = 2*n+l-1;
ds -= da0*(2*n+l-1);
acc[ACC_K1_UP].diff = 0;
acc[ACC_K1_DOWN].diff = 0;
acc[ACC_K1_UP].pos = 0;
acc[ACC_K1_DOWN].pos = 2*n+l-1;
acc[ACC_TOP].diff = 0;
acc[ACC_TOP].pos = n;
if (ds > 0) {
k1 = (2*n+l -ds)/2;
if (k1 < n) {
acc[ACC_K1_UP].diff = -1;
acc[ACC_K1_DOWN].diff = 1;
acc[ACC_K1_UP].pos = k1;
acc[ACC_K1_DOWN].pos = 2*n+l-1 - k1;
ds -= (2*(n-k1)+l-1);
}
if (ds > 0) {
acc[ACC_LAST_UP].diff--;
acc[ACC_TOP].diff = 1;
acc[ACC_TOP].pos = n+ds-1;
}
}
#if 0
{
unsigned int k;
PRINTF("n=%ld l=%ld a_max=%ld v_max=%ld s_res=%ld\n",
n,l ,a_max, v_max, s_res);
for (k = 0; k < 7; k++) {
PRINTF(" %ld@%ld", acc[k].diff, acc[k].pos);
}
PRINTF("\n");
}
#endif
{
StepperResult res;
unsigned int k;
unsigned long t = 0;
long da = 0;
long a_prev = ULONG_MAX;
for (k = 0; k < ACC_END; k++) {
long a;
da += acc[k].diff;
if (acc[k].pos != acc[k+1].pos) { /* Next position is different */
if (t != acc[k].pos) {
a = base_acc(t,n,l,a_max);
if (s_end < 0) a = -a;
if (a_prev != a) {
res = stepper_add_acc(stepper_index, t+start_period, a);
if (res != STEPPER_OK) return res;
PRINTF("%d: %ld@%ld\n", stepper_index, a, t+start_period);
a_prev = a;
}
t = acc[k].pos;
}
a = da + base_acc(t,n,l,a_max);
if (s_end < 0) a = -a;
if (a_prev != a) {
res = stepper_add_acc(stepper_index, t+start_period, a);
if (res != STEPPER_OK) return res;
PRINTF("%d: %ld@%ld\n", stepper_index, a, t+start_period);
a_prev = a;
}
t++;
da = 0;
}
}
res = stepper_add_acc(stepper_index, t+start_period, 0);
PRINTF("%d: %d@%ld\n", stepper_index, 0, t+start_period);
if (res != STEPPER_OK) return res;
*periodp += t;
}
return STEPPER_OK;
}