Slavko Kocjancic wanted a custom step type for his homemade stepper
driver. This adds a (single) customizable step waveform. These
waveforms have the same limitations as the existing ones: up to 5 output
phases, and up to 10 steps per cycle
---
Slavko, can you let me know whether this patch meets your needs? I ran
the following then looked at the waveforms in halscope and saw something
that looked like what I expected:
loadrt stepgen step_type=15 user_step_type=0,1,2,3,4,5,6,7 ctrl_type=v
loadrt threads period1=32000 fp1=0 name2=slow period2=960000
addf stepgen.make-pulses thread1
addf stepgen.capture-position slow
addf stepgen.update-freq slow
setp stepgen.0.enable 1
setp stepgen.0.position-scale 1000
setp steggen.0.velocity .5
start
Thanks,
Jeff
docs/man/man9/stepgen.9 | 9 ++++--
src/hal/components/stepgen.c | 53 ++++++++++++++++++++++++++++++++++--------
2 files changed, 49 insertions(+), 13 deletions(-)
diff --git a/docs/man/man9/stepgen.9 b/docs/man/man9/stepgen.9
index 2d1c32c..2afe528 100644
--- a/docs/man/man9/stepgen.9
+++ b/docs/man/man9/stepgen.9
@@ -8,7 +8,7 @@
.SH NAME
stepgen \- software step pulse generation
.SH SYNOPSIS
-\fBloadrt stepgen step_type=\fItype0\fR[,\fItype1\fR...]
[\fBctrl_type=\fItype0\fR[,\fItype1\fR...]]
+\fBloadrt stepgen step_type=\fItype0\fR[,\fItype1\fR...]
[\fBctrl_type=\fItype0\fR[,\fItype1\fR...]] [\fBuser_step_type=#,#\fR...]
.SH DESCRIPTION
\fBstepgen\fR is used to control stepper motors. The maximum
@@ -31,7 +31,7 @@ velocity mode replaces the former component \fBfreqgen\fR.)
motors/channels actually loaded depends on the number of \fItype\fR values
given. The value of each \fItype\fR determines the outputs for that channel.
Position or velocity mode can be individually selected for each channel.
-Both control modes support the same 15 possible step types.
+Both control modes support the same 16 possible step types.
.P
By far the most common step type is '0', standard step and direction. Others
include up/down, quadrature, and a wide variety of three, four, and five phase
@@ -67,7 +67,10 @@ Five pins, phases A through E. Five steps per full cycle.
See HAL reference ma
.TP
types 13 and 14: five phase, half step
Five pins, phases A through E. Ten steps per full cycle. See HAL reference
manual for the patterns.
-
+.TP
+type 15: user-specified
+This uses the waveform specified by the \fBuser_step_type\fR module parameter,
+which may have up to 10 steps and 5 phases.
.SH FUNCTIONS
.TP
\fBstepgen.make-pulses \fR(no floating-point)
diff --git a/src/hal/components/stepgen.c b/src/hal/components/stepgen.c
index 9dafce1..f8be19b 100644
--- a/src/hal/components/stepgen.c
+++ b/src/hal/components/stepgen.c
@@ -314,6 +314,8 @@ int step_type[MAX_CHAN] = { -1, -1, -1, -1, -1, -1, -1, -1
};
RTAPI_MP_ARRAY_INT(step_type,MAX_CHAN,"stepping types for up to 8 channels");
const char *ctrl_type[MAX_CHAN];
RTAPI_MP_ARRAY_STRING(ctrl_type,MAX_CHAN,"control type (pos or vel) for up to
8 channels");
+int user_step_type[10] = {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1};
+RTAPI_MP_ARRAY_INT(user_step_type, 10, "lookup table for user-defined step
type");
/***********************************************************************
* STRUCTURES AND GLOBAL VARIABLES *
@@ -373,7 +375,7 @@ static stepgen_t *stepgen_array;
/* lookup tables for stepping types 2 and higher - phase A is the LSB */
-static const unsigned char master_lut[][10] = {
+static unsigned char master_lut[][10] = {
{1, 3, 2, 0, 0, 0, 0, 0, 0, 0}, /* type 2: Quadrature */
{1, 2, 4, 0, 0, 0, 0, 0, 0, 0}, /* type 3: Three Wire */
{1, 3, 2, 6, 4, 5, 0, 0, 0, 0}, /* type 4: Three Wire Half Step */
@@ -386,16 +388,17 @@ static const unsigned char master_lut[][10] = {
{1, 2, 4, 8, 16, 0, 0, 0, 0, 0}, /* 11: Five Wire Unipolar */
{3, 6, 12, 24, 17, 0, 0, 0, 0, 0}, /* 12: Five Wire Wave */
{1, 3, 2, 6, 4, 12, 8, 24, 16, 17}, /* 13: Five Wire Uni Half */
- {3, 7, 6, 14, 12, 28, 24, 25, 17, 19} /* 14: Five Wire Wave Half */
+ {3, 7, 6, 14, 12, 28, 24, 25, 17, 19}, /* 14: Five Wire Wave Half */
+ {0, 0, 0, 0, 0, 0, 0, 0, 0, 0} /* 15: User-defined */
};
-static const unsigned char cycle_len_lut[] =
- { 4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10 };
+static unsigned char cycle_len_lut[] =
+ { 4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10, 0 };
-static const unsigned char num_phases_lut[] =
- { 2, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, };
+static unsigned char num_phases_lut[] =
+ { 2, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 0, };
-#define MAX_STEP_TYPE 14
+#define MAX_STEP_TYPE 15
#define STEP_PIN 0 /* output phase used for STEP signal */
#define DIR_PIN 1 /* output phase used for DIR signal */
@@ -429,7 +432,7 @@ static void make_pulses(void *arg, long period);
static void update_freq(void *arg, long period);
static void update_pos(void *arg, long period);
static CONTROL parse_ctrl_type(const char *ctrl);
-
+static int setup_user_step_type(void);
/***********************************************************************
* INIT AND EXIT CODE *
@@ -439,11 +442,16 @@ int rtapi_app_main(void)
{
int n, retval;
+ retval = setup_user_step_type();
+ if(retval < 0) {
+ return retval;
+ }
+
for (n = 0; n < MAX_CHAN && step_type[n] != -1 ; n++) {
if ((step_type[n] > MAX_STEP_TYPE) || (step_type[n] < 0)) {
rtapi_print_msg(RTAPI_MSG_ERR,
- "STEPGEN: ERROR: bad stepping type '%i', axis %i\n",
- step_type[n], n);
+ "STEPGEN: ERROR: bad stepping type '%i', axis %i
(must be 0..%d)\n",
+ step_type[n], n, MAX_STEP_TYPE);
return -1;
}
if(parse_ctrl_type(ctrl_type[n]) == INVALID) {
@@ -1194,3 +1202,28 @@ static CONTROL parse_ctrl_type(const char *ctrl)
if(*ctrl == 'v' || *ctrl == 'V') return VELOCITY;
return INVALID;
}
+
+static int setup_user_step_type(void) {
+ int used_phases = 0;
+ int i = 0;
+ for(i=0; i<10 && user_step_type[i] != -1; i++) {
+ master_lut[13][i] = user_step_type[i];
+ used_phases |= user_step_type[i];
+ }
+ cycle_len_lut[13] = i;
+ if(used_phases & ~0x1f) {
+ rtapi_print_msg(RTAPI_MSG_ERR, "STEPGEN: ERROR: "
+ "bad user step type uses more than 5 phases");
+ return -EINVAL; // more than 5 phases is not allowed
+ }
+
+ if(used_phases & 0x10) num_phases_lut[13] = 5; // find-first-set-bit would
be handy here
+ else if(used_phases & 0x8) num_phases_lut[13] = 4;
+ else if(used_phases & 0x4) num_phases_lut[13] = 3;
+ else if(used_phases & 0x2) num_phases_lut[13] = 2;
+ else if(used_phases & 0x1) num_phases_lut[13] = 1;
+
+ rtapi_print_msg(RTAPI_MSG_ERR, "User step type has %d phases and %d steps
per cycle\n", used_phases, i);
+ return 0;
+}
+
--
1.6.3.GIT
------------------------------------------------------------------------------
Download Intel® Parallel Studio Eval
Try the new software tools for yourself. Speed compiling, find bugs
proactively, and fine-tune applications for parallel performance.
See why Intel Parallel Studio got high marks during beta.
http://p.sf.net/sfu/intel-sw-dev
_______________________________________________
Emc-developers mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/emc-developers
