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361 lines
10 KiB
C
361 lines
10 KiB
C
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#include <stepper.h>
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#include <stepper-interrupt.h>
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#ifndef NUL
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#define NULL 0
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#endif
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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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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_timer_interrupt;
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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;
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seq = state->acceleration_sequence;
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a = state->acceleration;
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v = state->velocity;
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t = stepper_context.period_count + 2;
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while(seq && seq->period < period) {
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v += a * (seq->period - t);
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t = seq->period;
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a = seq->acceleration;
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seq = seq->next;
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}
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stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
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v += a * (period - t);
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return v;
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}
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/**
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Calculate the speed and position at specified period given the
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current acceleration sequence.
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\param stepper_index Index of the stepper the callbak is intended for.
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\param period The period to calculate for
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\param Speed return
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\param Position return. In fractional steps
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*/
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StepperResult
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stepper_state_at(unsigned int stepper_index, unsigned long period,
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long *velocity, long long *position)
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{
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long a;
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long v;
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long long s;
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unsigned long t;
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long dt;
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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;
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if (period < stepper_context.period_count + 2) {
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stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
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return STEPPER_ERR_TOO_LATE;
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}
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seq = state->acceleration_sequence;
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a = state->acceleration;
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v = state->velocity;
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t = stepper_context.period_count + 2;
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s = state->step_full * (long long)DIST_SCALE + state->step_frac;
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while(seq && seq->period < period) {
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dt = seq->period - t;
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s += (a * (long long)dt + 2 * v) * dt;
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v += a * (seq->period - t);
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t = seq->period;
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a = seq->acceleration;
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seq = seq->next;
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}
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stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
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dt = period - t;
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*position = s + (a * (long long)dt + (DIST_SCALE/VEL_SCALE) * v) * dt;
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*velocity = v + a * dt;
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return STEPPER_OK;
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}
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StepperResult
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stepper_set_velocity(unsigned int stepper_index, unsigned long *periodp,
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unsigned long max_acc, long final_speed)
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{
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long start_period = *periodp;
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long v = stepper_velocity(stepper_index, start_period);
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/* printf("%ld @ %ld\n", v, start_period); */
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if (final_speed == v) {
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return stepper_add_acc(stepper_index, start_period, 0);
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} else {
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StepperResult res;
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long a = (final_speed > v) ? max_acc : -max_acc;
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long t = ((long)(final_speed - v)) / a;
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long diff = (final_speed - v) - t * a;
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if (t > 0) {
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res = stepper_add_acc(stepper_index, start_period, a);
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if (res != STEPPER_OK) return res;
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}
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if (diff) {
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res = stepper_add_acc(stepper_index, start_period+t, diff);
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if (res != STEPPER_OK) return res;
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t++;
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}
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*periodp = start_period+t;
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return stepper_add_acc(stepper_index, start_period+t, 0);
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}
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}
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#ifdef TIMING_ERRORS
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void
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stepper_timing_errors(unsigned int stepper_index, long *min, long *max)
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{
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StepperState *state;
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state = &stepper_context.steppers[stepper_index];
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*min = state->err_min;
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*max = state->err_max;
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state->err_max = -TIMER_FREQ;
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state->err_min = TIMER_FREQ;
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}
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#endif
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