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297 lines
7.8 KiB
C
297 lines
7.8 KiB
C
#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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StepperContext stepper_context;
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static void
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do_step(StepperTimerStep *step)
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{
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const uint32_t *io_steps;
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StepperState *state = step->state;
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if (step->power >= STEPPER_POWER_ACC) {
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io_steps = state->acc_steps;
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} else if (step->power >= STEPPER_POWER_RUN) {
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io_steps = state->run_steps;
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} else {
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io_steps = state->hold_steps;
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}
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if (io_steps) {
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if (step->direction == STEPPER_DIRECTION_FORWARD){
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state->step_count++;
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/* dbg_putchar('+'); */
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if (++state->current_step == state->sequence_length)
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state->current_step = 0;
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} else {
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state->step_count--;
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/* dbg_putchar('-'); */
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if (state->current_step-- == 0)
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state->current_step = state->sequence_length-1;
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}
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*AT91C_PIOA_ODSR = (*AT91C_PIOA_ODSR & ~state->io_mask)
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| (io_steps[state->current_step] & state->io_mask);
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#ifdef TIMING_ERRORS
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{
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long err = ((long)stepper_context.timer_channel->TC_CV - (long)step->time);
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if (err >= (TIMER_FREQ/PPS/2)) {
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err -= TIMER_FREQ/PPS;
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} else if (err < -(TIMER_FREQ/PPS/2)) {
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err += TIMER_FREQ/PPS;
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}
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if (err < state->err_min) state->err_min = err;
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if (err > state->err_max) state->err_max = err;
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}
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#endif
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}
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}
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static void
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set_hold(StepperState *state) {
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*AT91C_PIOA_ODSR = (*AT91C_PIOA_ODSR & ~state->io_mask)
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| (state->hold_steps[state->current_step] & state->io_mask);
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}
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static void
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advance_step()
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{
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StepperTimerStep *current =stepper_context.current_step;
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AT91PS_TC timer = stepper_context.timer_channel;
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unsigned int now = timer->TC_CV;
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while (current && current->time <= now) {
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do_step(current);
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current = current->next;
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if (!current) break;
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timer->TC_RA = current->time;
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now = timer->TC_CV;
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}
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stepper_context.current_step = current;
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}
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static inline int64_t
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mulsu48_16(int64_t a, uint32_t b)
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{
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return a*(int64_t)b;
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}
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/* Find a solution for s = a*t*t +v * t in the interval [t_low, t_high[ */
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static unsigned long
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solve_dist(long long s, long a, long long v, unsigned long t_low, unsigned long t_high)
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{
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long long s_low = mulsu48_16((a*(long)t_low+ v), t_low);
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long long s_high = mulsu48_16((a*(long)t_high + v), t_high);
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if (s >= s_low && s <= s_high) {
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while(t_low + 2 < t_high) {
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unsigned long t = (t_high + t_low) / 2;
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long long s_mid = mulsu48_16((a*(long)t + v), t);
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if (s < s_mid) {
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t_high = t;
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s_high = s_mid;
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} else {
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t_low = t;
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s_low = s_mid;
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}
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}
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} else {
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while(t_low + 1 < t_high) {
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unsigned long t = (t_high + t_low) / 2;
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long long s_mid = mulsu48_16((a*(long)t + v), t);
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if (s > s_mid) {
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t_high = t;
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s_high = s_mid;
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} else {
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t_low = t;
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s_low = s_mid;
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}
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}
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}
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return (t_high + t_low) / 2;
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}
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#define HEAP_SIZE 65
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static StepperTimerStep step_heap[2][HEAP_SIZE];
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static unsigned short heap_pos = 0; /* Next free position in heap */
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static unsigned char current_heap = 0;
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static StepperTimerStep *
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allocate_step()
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{
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if (heap_pos >= HEAP_SIZE) return NULL;
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return &step_heap[current_heap][heap_pos++];
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}
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static void
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switch_step_heap()
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{
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current_heap ^= 1;
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heap_pos = 0;
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}
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StepperTimerStep **
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insert_step(StepperTimerStep **at, StepperState *state,
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unsigned int time, uint8_t direction, uint8_t power)
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{
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StepperTimerStep *new_step;
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while(*at && (*at)->time <= time) {
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at = &(*at)->next;
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}
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new_step = allocate_step();
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if (!new_step) return at;
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new_step->next = *at;
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new_step->state = state;
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new_step->time = time;
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new_step->direction = direction;
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new_step->power = power;
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*at = new_step;
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/* dbg_putchar('!'); */
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return &new_step->next;
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}
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/* Determine suitable power for the current state */
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static uint8_t
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get_power(StepperState *state)
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{
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if (state->acceleration != 0) return STEPPER_POWER_ACC;
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if (state->velocity == 0) return STEPPER_POWER_HOLD;
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return STEPPER_POWER_RUN;
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}
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#define SQ(x) ((x)*(x))
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#define S_SCALING ((2LL*SQ((long long)TIMER_FREQ)) / DIST_SCALE )
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#define V_SCALING (2LL*TIMER_FREQ/VEL_SCALE)
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static void
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step_interval(StepperState *state)
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{
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unsigned int i;
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long long v = state->velocity * V_SCALING;
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long long a = state->acceleration;
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unsigned long t = 0;
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StepperTimerStep **at = &stepper_context.steps;
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if (state->n_steps >= 0) {
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long long s = -state->step_frac * S_SCALING;
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for (i = 0; i < state->n_steps; i++) {
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s+= DIST_SCALE * S_SCALING;
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t = solve_dist(s, a, v, t, TIMER_FREQ/PPS);
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/* printf("F%ld\n", t); */
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at = insert_step(at, state, t, STEPPER_DIRECTION_FORWARD, get_power(state));
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}
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} else {
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long long s = (DIST_SCALE - state->step_frac) * S_SCALING;
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for (i = 0; i < -state->n_steps; i++) {
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s-= DIST_SCALE * S_SCALING;
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t = solve_dist(s, a, v, t, TIMER_FREQ/PPS);
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/* printf("B%ld\n", t); */
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at = insert_step(at, state, t, STEPPER_DIRECTION_BACKWARD, get_power(state));
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}
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}
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}
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static void
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setup_speed(StepperState *state)
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{
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long steps;
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long step_frac;
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/* printf("%ld v= %ld s=%ld\n",stepper_context.period_count, */
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/* state->velocity, state->step_frac); */
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step_frac = (state->acceleration + 2 * state->velocity
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+ state->step_frac);
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steps = step_frac / DIST_SCALE;
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step_frac -= steps * DIST_SCALE;
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if (step_frac <0) {
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step_frac += DIST_SCALE;
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steps--;
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}
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/* printf("step_frac=%ld (%f) steps=%ld\n",step_frac, */
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/* (double)step_frac/(double)(DIST_SCALE), steps); */
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state->n_steps = steps;
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step_interval(state);
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state->velocity += state->acceleration;
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state->step_frac = step_frac;
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state->step_full += steps;
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}
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static void
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advance_period()
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{
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unsigned int s;
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StepperTimerStep *current =stepper_context.current_step;
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/* Do any remaining step */
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while (current) {
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do_step(current);
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current = current->next;
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}
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/* Start from the beginning */
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stepper_context.current_step = stepper_context.steps;
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stepper_context.steps = NULL;
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if (stepper_context.current_step) {
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stepper_context.timer_channel->TC_RA = stepper_context.current_step->time;
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} else {
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stepper_context.timer_channel->TC_RA = 0xffff;
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}
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/* In case there is a step very early in the period */
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advance_step();
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stepper_context.period_count++;
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*AT91C_AIC_EOICR = 0;
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for(s = 0; s < NUM_STEPPERS; s++) {
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StepperState *state = &stepper_context.steppers[s];
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StepperAccSeq *acc_seq;
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if (state->acceleration == 0 && state->velocity == 0) {
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/* Set hold power if stationary */
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stepper_context.timer_channel->TC_IDR = AT91C_TC_CPCS | AT91C_TC_CPAS;
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set_hold(state);
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stepper_context.timer_channel->TC_IER = AT91C_TC_CPCS | AT91C_TC_CPAS;
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}
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while ((acc_seq = state->acceleration_sequence)
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&& acc_seq->period == stepper_context.period_count + 1) {
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state->acceleration_sequence = acc_seq->next;
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if (acc_seq->acceleration == STEPPER_ACC_INVALID) {
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if (stepper_context.user_callback) {
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stepper_context.user_callback(s, stepper_context.period_count);
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}
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} else {
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state->acceleration = acc_seq->acceleration;
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}
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acc_seq->next = NULL; /* Only free this one */
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stepper_free_seq(acc_seq);
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}
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setup_speed(&stepper_context.steppers[s]);
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}
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/* Prepare heap for next period */
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switch_step_heap();
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}
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/* Here we have a proper stack frame and can use local variables */
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static void stepper_int_safe() __attribute((noinline));
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static void
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stepper_int_safe()
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{
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unsigned int status;
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status = stepper_context.timer_channel->TC_SR;
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if (status & AT91C_TC_CPAS) {
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advance_step();
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/* dbg_putchar('*'); */
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}
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if (status & AT91C_TC_CPCS) {
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advance_period();
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} else {
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*AT91C_AIC_EOICR = 0; /* End of Interrupt */
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}
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}
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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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