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
---
I'm sorry the earlier patch didn't apply--I am carrying some other
changes to stepgen.c in my local tree, and they're in the same parts of
the file as these changes.
This time around I've attached a copy of the whole stepgen.c file if you
prefer to simply use that.
docs/man/man9/stepgen.9 | 9 +++++--
src/hal/components/stepgen.c | 47 +++++++++++++++++++++++++++++++++++------
2 files changed, 46 insertions(+), 10 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 b0fa061..d53f323 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] = { "p", "p", "p", "p", "p", "p", "p", "p" };
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 */
@@ -426,6 +429,7 @@ static int export_stepgen(int num, stepgen_t * addr, int
step_type, int pos_mode
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 int setup_user_step_type(void);
/***********************************************************************
* INIT AND EXIT CODE *
@@ -435,6 +439,11 @@ 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,
@@ -1187,3 +1196,27 @@ static int export_stepgen(int num, stepgen_t * addr, int
step_type, int pos_mode
rtapi_set_msg_level(msg);
return 0;
}
+
+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;
+}
--
1.7.0
/********************************************************************
* Description: stepgen.c
* This file, 'stepgen.c', is a HAL component that
* provides software based step pulse generation.
*
* Author: John Kasunich
* License: GPL Version 2
*
* Copyright (c) 2003-2007 All rights reserved.
*
* Last change:
********************************************************************/
/** This file, 'stepgen.c', is a HAL component that provides software
based step pulse generation. The maximum step rate will depend
on the speed of the PC, but is expected to exceed 5KHz for even
the slowest computers, and may reach 25KHz on fast ones. It is
a realtime component.
It supports up to 8 pulse generators. Each generator can produce
several types of outputs in addition to step/dir, including
quadrature, half- and full-step unipolar and bipolar, three phase,
and five phase. A 32 bit feedback value is provided indicating
the current position of the motor in counts (assuming no lost
steps), and a floating point feedback in user specified position
units is also provided.
The number of step generators and type of outputs is determined
by the insmod command line parameter 'step_type'. It accepts
a comma separated (no spaces) list of up to 8 stepping types
to configure up to 8 channels. A second command line parameter
"ctrl_type", selects between position and velocity control modes
for each step generator. (ctrl_type is optional, the default
control type is position.)
So a command line like this:
insmod stepgen step_type=0,0,1,2 ctrl_type=p,p,v,p
will install four step generators, two using stepping type 0,
one using type 1, and one using type 2. The first two and
the last one will be running in position mode, and the third
one will be running in velocity mode.
The driver exports three functions. 'stepgen.make-pulses', is
responsible for actually generating the step pulses. It must
be executed in a fast thread to reduce pulse jitter. The other
two functions are normally called from a much slower thread.
'stepgen.update-freq' reads the position or frequency command
and sets internal variables used by 'stepgen.make-pulses'.
'stepgen.capture-position' captures and scales the current
values of the position feedback counters. Both 'update-freq' and
'capture-position' use floating point, 'make-pulses' does not.
Polarity:
All signals from this module have fixed polarity (active high
in most cases). If the driver needs the opposite polarity,
the signals can be inverted using parameters exported by the
hardware driver(s) such as ParPort.
Timing parameters:
There are five timing parameters which control the output waveform.
No step type uses all five, and only those which will be used are
exported to HAL. The values of these parameters are in nano-seconds,
so no recalculation is needed when changing thread periods. In
the timing diagrams that follow, they are identfied by the
following numbers:
(1): 'stepgen.n.steplen' = length of the step pulse
(2): 'stepgen.n.stepspace' = minimum space between step pulses
(actual space depends on frequency command, and is infinite
if the frequency command is zero)
(3): 'stepgen.n.dirhold' = minimum delay after a step pulse before
a direction change - may be longer
(4): 'stepgen.n.dirsetup' = minimum delay after a direction change
and before the next step - may be longer
(5): 'stepgen.n.dirdelay' = minimum delay after a step before a
step in the opposite direction - may be longer
Stepping Types:
This module supports a number of stepping types, as follows:
Type 0: Step and Direction
_____ _____ _____
STEP ____/ \_______/ \_____________/ \______
| | | | | |
Time |-(1)-|--(2)--|-(1)-|--(3)--|-(4)-|-(1)-|
|__________________
DIR ________________________________/
There are two output pins, STEP and DIR. Step pulses appear on
STEP. A positive frequency command results in DIR low, negative
frequency command means DIR high. The minimum period of the
step pulses is 'steplen' + 'stepspace', and the frequency
command is clamped to avoid exceeding these limits. 'steplen'
and 'stepspace' must both be non-zero. 'dirsetup' or 'dirhold'
may be zero, but their sum must be non-zero, to ensure non-zero
low time between the last up step and the first down step.
Type 1: Up/Down
_____ _____
UP __/ \_____/ \________________________________
| | | | |
Time |-(1)-|-(2)-|-(1)-|---(5)---|-(1)-|-(2)-|-(1)-|
|_____| |_____|
DOWN ______________________________/ \_____/ \____
There are two output pins, UP and DOWN. A positive frequency
command results in pulses on UP, negative frequency command
results in pulses on DOWN. The minimum period of the step
pulses is 'steplen' + 'stepspace', and the frequency command
is clamped to avoid exceeding these limits. 'steplen',
'stepspace', and 'dirdelay' must all be non-zero.
Types 2 and higher: State Patterns
STATE |---1---|---2---|---3---|----4----|---3---|---2---|
| | | | | | |
Time |--(1)--|--(1)--|--(1)--|--(1+5)--|--(1)--|--(1)--|
All the remaining stepping types are simply different repeating
patterns on two to five output pins. When a step occurs, the
output pins change to the next (or previous) pattern in the
state listings that follow. The output pins are called 'PhaseA'
thru 'PhaseE'. Timing constraints are obeyed as indicated
in the drawing above. 'steplen' must be non-zero. 'dirdelay'
may be zero. Because stepspace is not used, state based
stepping types can run faster than types 0 and 1.
Type 2: Quadrature (aka Gray/Grey code)
State Phase A Phase B
0 1 0
1 1 1
2 0 1
3 0 0
0 1 0
Type 3: Three Wire
State Phase A Phase B Phase C
0 1 0 0
1 0 1 0
2 0 0 1
0 1 0 0
Type 4: Three Wire HalfStep
State Phase A Phase B Phase C
0 1 0 0
1 1 1 0
2 0 1 0
3 0 1 1
4 0 0 1
5 1 0 1
0 1 0 0
Type 5: Unipolar Full Step (one winding on)
State Phase A Phase B Phase C Phase D
0 1 0 0 0
1 0 1 0 0
2 0 0 1 0
3 0 0 0 1
0 1 0 0 0
Type 6: Unipolar Full Step (two windings on)
State Phase A Phase B Phase C Phase D
0 1 1 0 0
1 0 1 1 0
2 0 0 1 1
3 1 0 0 1
0 1 1 0 0
Type 7: Bipolar Full Step (one winding on)
State Phase A Phase B Phase C Phase D
0 1 0 0 0
1 1 1 1 0
2 0 1 1 1
3 0 0 0 1
0 1 0 0 0
Type 8: Bipolar Full Step (two windings on)
State Phase A Phase B Phase C Phase D
0 1 0 1 0
1 0 1 1 0
2 0 1 0 1
3 1 0 0 1
0 1 0 1 0
Type 9: Unipolar Half Step
State Phase A Phase B Phase C Phase D
0 1 0 0 0
1 1 1 0 0
2 0 1 0 0
3 0 1 1 0
4 0 0 1 0
5 0 0 1 1
6 0 0 0 1
7 1 0 0 1
0 1 0 0 0
Type 10: Bipolar Half Step
State Phase A Phase B Phase C Phase D
0 1 0 0 0
1 1 0 1 0
2 1 1 1 0
3 0 1 1 0
4 0 1 1 1
5 0 1 0 1
6 0 0 0 1
7 1 0 0 1
0 1 0 0 0
Type 11: Five Wire Unipolar
State Phase A Phase B Phase C Phase D Phase E
0 1 0 0 0 0
1 0 1 0 0 0
2 0 0 1 0 0
3 0 0 0 1 0
4 0 0 0 0 1
0 1 0 0 0 0
Type 12: Five Wire Wave
State Phase A Phase B Phase C Phase D Phase E
0 1 1 0 0 0
1 0 1 1 0 0
2 0 0 1 1 0
3 0 0 0 1 1
4 1 0 0 0 1
0 1 1 0 0 0
Type 13: Five Wire Unipolar HalfStep
State Phase A Phase B Phase C Phase D Phase E
0 1 0 0 0 0
1 1 1 0 0 0
2 0 1 0 0 0
3 0 1 1 0 0
4 0 0 1 0 0
5 0 0 1 1 0
6 0 0 0 1 0
7 0 0 0 1 1
8 0 0 0 0 1
9 1 0 0 0 1
0 1 0 0 0 0
Type 14: Five Wire Wave HalfStep
State Phase A Phase B Phase C Phase D Phase E
0 1 1 0 0 0
1 1 1 1 0 0
2 0 1 1 0 0
3 0 1 1 1 0
4 0 0 1 1 0
5 0 0 1 1 1
6 0 0 0 1 1
7 1 0 0 1 1
8 1 0 0 0 1
9 1 1 0 0 1
0 1 1 0 0 0
*/
/** This program is free software; you can redistribute it and/or
modify it under the terms of version 2 of the GNU General
Public License as published by the Free Software Foundation.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111 USA
THE AUTHORS OF THIS LIBRARY ACCEPT ABSOLUTELY NO LIABILITY FOR
ANY HARM OR LOSS RESULTING FROM ITS USE. IT IS _EXTREMELY_ UNWISE
TO RELY ON SOFTWARE ALONE FOR SAFETY. Any machinery capable of
harming persons must have provisions for completely removing power
from all motors, etc, before persons enter any danger area. All
machinery must be designed to comply with local and national safety
codes, and the authors of this software can not, and do not, take
any responsibility for such compliance.
This code was written as part of the EMC HAL project. For more
information, go to www.linuxcnc.org.
*/
#include "rtapi.h" /* RTAPI realtime OS API */
#include "rtapi_app.h" /* RTAPI realtime module decls */
#include "hal.h" /* HAL public API decls */
#include <float.h>
#include "rtapi_math.h"
#define MAX_CHAN 8
/* module information */
MODULE_AUTHOR("John Kasunich");
MODULE_DESCRIPTION("Step Pulse Generator for EMC HAL");
MODULE_LICENSE("GPL");
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] = { "p", "p", "p", "p", "p", "p", "p", "p" };
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 *
************************************************************************/
/** This structure contains the runtime data for a single generator. */
/* structure members are ordered to optimize caching for makepulses,
which runs in the fastest thread */
typedef struct {
/* stuff that is both read and written by makepulses */
unsigned int timer1; /* times out when step pulse should end */
unsigned int timer2; /* times out when safe to change dir */
unsigned int timer3; /* times out when safe to step in new dir */
int hold_dds; /* prevents accumulator from updating */
long addval; /* actual frequency generator add value */
volatile long long accum; /* frequency generator accumulator */
hal_s32_t rawcount; /* param: position feedback in counts */
int curr_dir; /* current direction */
int state; /* current position in state table */
/* stuff that is read but not written by makepulses */
hal_bit_t *enable; /* pin for enable stepgen */
long target_addval; /* desired freq generator add value */
long deltalim; /* max allowed change per period */
hal_u32_t step_len; /* parameter: step pulse length */
hal_u32_t dir_hold_dly; /* param: direction hold time or delay */
hal_u32_t dir_setup; /* param: direction setup time */
int step_type; /* stepping type - see list above */
int cycle_max; /* cycle length for step types 2 and up */
int num_phases; /* number of phases for types 2 and up */
hal_bit_t *phase[5]; /* pins for output signals */
const unsigned char *lut; /* pointer to state lookup table */
/* stuff that is not accessed by makepulses */
int pos_mode; /* 1 = position mode, 0 = velocity mode */
hal_u32_t step_space; /* parameter: min step pulse spacing */
double old_pos_cmd; /* previous position command (counts) */
hal_s32_t *count; /* pin: captured feedback in counts */
hal_float_t pos_scale; /* param: steps per position unit */
double old_scale; /* stored scale value */
double scale_recip; /* reciprocal value used for scaling */
hal_float_t *vel_cmd; /* pin: velocity command (pos units/sec) */
hal_float_t *pos_cmd; /* pin: position command (position units) */
hal_float_t *pos_fb; /* pin: position feedback (position units) */
hal_float_t freq; /* param: frequency command */
hal_float_t maxvel; /* param: max velocity, (pos units/sec) */
hal_float_t maxaccel; /* param: max accel (pos units/sec^2) */
hal_u32_t old_step_len; /* used to detect parameter changes */
hal_u32_t old_step_space;
hal_u32_t old_dir_hold_dly;
hal_u32_t old_dir_setup;
int printed_error; /* flag to avoid repeated printing */
} stepgen_t;
/* ptr to array of stepgen_t structs in shared memory, 1 per channel */
static stepgen_t *stepgen_array;
/* lookup tables for stepping types 2 and higher - phase A is the LSB */
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 */
{1, 2, 4, 8, 0, 0, 0, 0, 0, 0}, /* 5: Unipolar Full Step 1 */
{3, 6, 12, 9, 0, 0, 0, 0, 0, 0}, /* 6: Unipoler Full Step 2 */
{1, 7, 14, 8, 0, 0, 0, 0, 0, 0}, /* 7: Bipolar Full Step 1 */
{5, 6, 10, 9, 0, 0, 0, 0, 0, 0}, /* 8: Bipoler Full Step 2 */
{1, 3, 2, 6, 4, 12, 8, 9, 0, 0}, /* 9: Unipolar Half Step */
{1, 5, 7, 6, 14, 10, 8, 9, 0, 0}, /* 10: Bipolar Half Step */
{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 */
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0} /* 15: User-defined */
};
static unsigned char cycle_len_lut[] =
{ 4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10, 0 };
static unsigned char num_phases_lut[] =
{ 2, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 0, };
#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 */
#define UP_PIN 0 /* output phase used for UP signal */
#define DOWN_PIN 1 /* output phase used for DOWN signal */
#define PICKOFF 28 /* bit location in DDS accum */
/* other globals */
static int comp_id; /* component ID */
static int num_chan = 0; /* number of step generators configured */
static long periodns; /* makepulses function period in nanosec */
static long old_periodns; /* used to detect changes in periodns */
static double periodfp; /* makepulses function period in seconds */
static double freqscale; /* conv. factor from Hz to addval counts */
static double accelscale; /* conv. Hz/sec to addval cnts/period */
static long old_dtns; /* update_freq funct period in nsec */
static double dt; /* update_freq period in seconds */
static double recip_dt; /* recprocal of period, avoids divides */
/***********************************************************************
* LOCAL FUNCTION DECLARATIONS *
************************************************************************/
static int export_stepgen(int num, stepgen_t * addr, int step_type, int pos_mode);
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 int setup_user_step_type(void);
/***********************************************************************
* INIT AND EXIT CODE *
************************************************************************/
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);
return -1;
}
if ((ctrl_type[n][0] == 'p' ) || (ctrl_type[n][0] == 'P')) {
ctrl_type[n] = "p";
} else if ((ctrl_type[n][0] == 'v' ) || (ctrl_type[n][0] == 'V')) {
ctrl_type[n] = "v";
} else {
rtapi_print_msg(RTAPI_MSG_ERR,
"STEPGEN: ERROR: bad control type '%s' for axis %i (must be 'p' or 'v')\n",
ctrl_type[n], n);
return -1;
}
num_chan++;
}
if (num_chan == 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"STEPGEN: ERROR: no channels configured\n");
return -1;
}
/* periodns will be set to the proper value when 'make_pulses()' runs for
the first time. We load a default value here to avoid glitches at
startup, but all these 'constants' are recomputed inside
'update_freq()' using the real period. */
old_periodns = periodns = 50000;
old_dtns = 1000000;
/* precompute some constants */
periodfp = periodns * 0.000000001;
freqscale = (1L << PICKOFF) * periodfp;
accelscale = freqscale * periodfp;
dt = old_dtns * 0.000000001;
recip_dt = 1.0 / dt;
/* have good config info, connect to the HAL */
comp_id = hal_init("stepgen");
if (comp_id < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"STEPGEN: ERROR: hal_init() failed\n");
return -1;
}
/* allocate shared memory for counter data */
stepgen_array = hal_malloc(num_chan * sizeof(stepgen_t));
if (stepgen_array == 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"STEPGEN: ERROR: hal_malloc() failed\n");
hal_exit(comp_id);
return -1;
}
/* export all the variables for each pulse generator */
for (n = 0; n < num_chan; n++) {
/* export all vars */
retval = export_stepgen(n, &(stepgen_array[n]),
step_type[n], (ctrl_type[n][0] == 'p'));
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"STEPGEN: ERROR: stepgen %d var export failed\n", n);
hal_exit(comp_id);
return -1;
}
}
/* export functions */
retval = hal_export_funct("stepgen.make-pulses", make_pulses,
stepgen_array, 0, 0, comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"STEPGEN: ERROR: makepulses funct export failed\n");
hal_exit(comp_id);
return -1;
}
retval = hal_export_funct("stepgen.update-freq", update_freq,
stepgen_array, 1, 0, comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"STEPGEN: ERROR: freq update funct export failed\n");
hal_exit(comp_id);
return -1;
}
retval = hal_export_funct("stepgen.capture-position", update_pos,
stepgen_array, 1, 0, comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"STEPGEN: ERROR: pos update funct export failed\n");
hal_exit(comp_id);
return -1;
}
rtapi_print_msg(RTAPI_MSG_INFO,
"STEPGEN: installed %d step pulse generators\n", num_chan);
hal_ready(comp_id);
return 0;
}
void rtapi_app_exit(void)
{
hal_exit(comp_id);
}
/***********************************************************************
* REALTIME STEP PULSE GENERATION FUNCTIONS *
************************************************************************/
/** The frequency generator works by adding a signed value proportional
to frequency to an accumulator. When bit PICKOFF of the accumulator
toggles, a step is generated.
*/
static void make_pulses(void *arg, long period)
{
stepgen_t *stepgen;
long old_addval, target_addval, new_addval, step_now;
int n, p;
unsigned char outbits;
/* store period so scaling constants can be (re)calculated */
periodns = period;
/* point to stepgen data structures */
stepgen = arg;
for (n = 0; n < num_chan; n++) {
/* decrement "timing constraint" timers */
if ( stepgen->timer1 > 0 ) {
if ( stepgen->timer1 > periodns ) {
stepgen->timer1 -= periodns;
} else {
stepgen->timer1 = 0;
}
}
if ( stepgen->timer2 > 0 ) {
if ( stepgen->timer2 > periodns ) {
stepgen->timer2 -= periodns;
} else {
stepgen->timer2 = 0;
}
}
if ( stepgen->timer3 > 0 ) {
if ( stepgen->timer3 > periodns ) {
stepgen->timer3 -= periodns;
} else {
stepgen->timer3 = 0;
/* last timer timed out, cancel hold */
stepgen->hold_dds = 0;
}
}
if ( !stepgen->hold_dds && *(stepgen->enable) ) {
/* update addval (ramping) */
old_addval = stepgen->addval;
target_addval = stepgen->target_addval;
if (stepgen->deltalim != 0) {
/* implement accel/decel limit */
if (target_addval > (old_addval + stepgen->deltalim)) {
/* new value is too high, increase addval as far as possible */
new_addval = old_addval + stepgen->deltalim;
} else if (target_addval < (old_addval - stepgen->deltalim)) {
/* new value is too low, decrease addval as far as possible */
new_addval = old_addval - stepgen->deltalim;
} else {
/* new value can be reached in one step - do it */
new_addval = target_addval;
}
} else {
/* go to new freq without any ramping */
new_addval = target_addval;
}
/* save result */
stepgen->addval = new_addval;
/* check for direction reversal */
if (((new_addval >= 0) && (old_addval < 0)) ||
((new_addval < 0) && (old_addval >= 0))) {
/* reversal required, can we do so now? */
if ( stepgen->timer3 != 0 ) {
/* no - hold everything until delays time out */
stepgen->hold_dds = 1;
}
}
}
/* update DDS */
if ( !stepgen->hold_dds && *(stepgen->enable) ) {
/* save current value of low half of accum */
step_now = stepgen->accum;
/* update the accumulator */
stepgen->accum += stepgen->addval;
/* test for changes in low half of accum */
step_now ^= stepgen->accum;
/* we only care about the pickoff bit */
step_now &= (1L << PICKOFF);
/* update rawcounts parameter */
stepgen->rawcount = stepgen->accum >> PICKOFF;
} else {
/* DDS is in hold, no steps */
step_now = 0;
}
if ( stepgen->timer2 == 0 ) {
/* update direction - do not change if addval = 0 */
if ( stepgen->addval > 0 ) {
stepgen->curr_dir = 1;
} else if ( stepgen->addval < 0 ) {
stepgen->curr_dir = -1;
}
}
if ( step_now ) {
/* (re)start various timers */
/* timer 1 = time till end of step pulse */
stepgen->timer1 = stepgen->step_len;
/* timer 2 = time till allowed to change dir pin */
stepgen->timer2 = stepgen->timer1 + stepgen->dir_hold_dly;
/* timer 3 = time till allowed to step the other way */
stepgen->timer3 = stepgen->timer2 + stepgen->dir_setup;
if ( stepgen->step_type >= 2 ) {
/* update state */
stepgen->state += stepgen->curr_dir;
if ( stepgen->state < 0 ) {
stepgen->state = stepgen->cycle_max;
} else if ( stepgen->state > stepgen->cycle_max ) {
stepgen->state = 0;
}
}
}
/* generate output, based on stepping type */
if (stepgen->step_type == 0) {
/* step/dir output */
if ( stepgen->timer1 != 0 ) {
*(stepgen->phase[STEP_PIN]) = 1;
} else {
*(stepgen->phase[STEP_PIN]) = 0;
}
if ( stepgen->curr_dir < 0 ) {
*(stepgen->phase[DIR_PIN]) = 1;
} else {
*(stepgen->phase[DIR_PIN]) = 0;
}
} else if (stepgen->step_type == 1) {
/* up/down */
if ( stepgen->timer1 != 0 ) {
if ( stepgen->curr_dir < 0 ) {
*(stepgen->phase[UP_PIN]) = 0;
*(stepgen->phase[DOWN_PIN]) = 1;
} else {
*(stepgen->phase[UP_PIN]) = 1;
*(stepgen->phase[DOWN_PIN]) = 0;
}
} else {
*(stepgen->phase[UP_PIN]) = 0;
*(stepgen->phase[DOWN_PIN]) = 0;
}
} else {
/* step type 2 or greater */
/* look up correct output pattern */
outbits = (stepgen->lut)[stepgen->state];
/* now output the phase bits */
for (p = 0; p < stepgen->num_phases; p++) {
/* output one phase */
*(stepgen->phase[p]) = outbits & 1;
/* move to the next phase */
outbits >>= 1;
}
}
/* move on to next step generator */
stepgen++;
}
/* done */
}
static void update_pos(void *arg, long period)
{
long long int accum_a, accum_b;
stepgen_t *stepgen;
int n;
stepgen = arg;
for (n = 0; n < num_chan; n++) {
/* 'accum' is a long long, and its remotely possible that
make_pulses could change it half-way through a read.
So we have a crude atomic read routine */
do {
accum_a = stepgen->accum;
accum_b = stepgen->accum;
} while ( accum_a != accum_b );
/* compute integer counts */
*(stepgen->count) = accum_a >> PICKOFF;
/* check for change in scale value */
if (stepgen->pos_scale != stepgen->old_scale) {
/* get ready to detect future scale changes */
stepgen->old_scale = stepgen->pos_scale;
/* validate the new scale value */
if ((stepgen->pos_scale < 1e-20)
&& (stepgen->pos_scale > -1e-20)) {
/* value too small, divide by zero is a bad thing */
stepgen->pos_scale = 1.0;
}
/* we will need the reciprocal, and the accum is fixed point with
fractional bits, so we precalc some stuff */
stepgen->scale_recip = (1.0 / (1L << PICKOFF)) / stepgen->pos_scale;
}
/* scale accumulator to make floating point position, after
removing the one-half count offset */
*(stepgen->pos_fb) = (double)(accum_a-(1<< (PICKOFF-1))) * stepgen->scale_recip;
/* move on to next channel */
stepgen++;
}
/* done */
}
/* helper function - computes integeral multiple of increment that is greater
or equal to value */
static unsigned long ulceil(unsigned long value, unsigned long increment)
{
if ( value == 0 ) {
return 0;
}
return increment*(((value-1)/increment)+1);
}
static void update_freq(void *arg, long period)
{
stepgen_t *stepgen;
int n, newperiod;
long min_step_period;
long long int accum_a, accum_b;
double pos_cmd, vel_cmd, curr_pos, curr_vel, avg_v, max_freq, max_ac;
double match_ac, match_time, est_out, est_cmd, est_err, dp, dv, new_vel;
double desired_freq;
/*! \todo FIXME - while this code works just fine, there are a bunch of
internal variables, many of which hold intermediate results that
don't really need their own variables. They are used either for
clarity, or because that's how the code evolved. This algorithm
could use some cleanup and optimization. */
/* this periodns stuff is a little convoluted because we need to
calculate some constants here in this relatively slow thread but the
constants are based on the period of the much faster 'make_pulses()'
thread. */
/* only recalc constants if period changes */
newperiod = 0;
if (periodns != old_periodns) {
/* get ready to detect future period changes */
old_periodns = periodns;
/* recompute various constants that depend on periodns */
periodfp = periodns * 0.000000001;
freqscale = (1L << PICKOFF) * periodfp;
accelscale = freqscale * periodfp;
/* force re-evaluation of the timing parameters */
newperiod = 1;
}
/* now recalc constants related to the period of this funct */
/* only recalc constants if period changes */
if (period != old_dtns) {
/* get ready to detect future period changes */
old_dtns = period;
/* dT is the period of this thread, used for the position loop */
dt = period * 0.000000001;
/* calc the reciprocal once here, to avoid multiple divides later */
recip_dt = 1.0 / dt;
}
/* point at stepgen data */
stepgen = arg;
/* loop thru generators */
for (n = 0; n < num_chan; n++) {
/* check for scale change */
if (stepgen->pos_scale != stepgen->old_scale) {
/* get ready to detect future scale changes */
stepgen->old_scale = stepgen->pos_scale;
/* validate the new scale value */
if ((stepgen->pos_scale < 1e-20)
&& (stepgen->pos_scale > -1e-20)) {
/* value too small, divide by zero is a bad thing */
stepgen->pos_scale = 1.0;
}
/* we will need the reciprocal, and the accum is fixed point with
fractional bits, so we precalc some stuff */
stepgen->scale_recip = (1.0 / (1L << PICKOFF)) / stepgen->pos_scale;
}
if ( newperiod ) {
/* period changed, force recalc of timing parameters */
stepgen->old_step_len = ~0;
stepgen->old_step_space = ~0;
stepgen->old_dir_hold_dly = ~0;
stepgen->old_dir_setup = ~0;
}
/* process timing parameters */
if ( stepgen->step_len != stepgen->old_step_len ) {
/* must be non-zero */
if ( stepgen->step_len == 0 ) {
stepgen->step_len = 1;
}
/* make integer multiple of periodns */
stepgen->old_step_len = ulceil(stepgen->step_len, periodns);
stepgen->step_len = stepgen->old_step_len;
}
if ( stepgen->step_space != stepgen->old_step_space ) {
/* make integer multiple of periodns */
stepgen->old_step_space = ulceil(stepgen->step_space, periodns);
stepgen->step_space = stepgen->old_step_space;
}
if ( stepgen->dir_setup != stepgen->old_dir_setup ) {
/* make integer multiple of periodns */
stepgen->old_dir_setup = ulceil(stepgen->dir_setup, periodns);
stepgen->dir_setup = stepgen->old_dir_setup;
}
if ( stepgen->dir_hold_dly != stepgen->old_dir_hold_dly ) {
if ( (stepgen->dir_hold_dly + stepgen->dir_setup) == 0 ) {
/* dirdelay must be non-zero step types 0 and 1 */
if ( stepgen->step_type < 2 ) {
stepgen->dir_hold_dly = 1;
}
}
stepgen->old_dir_hold_dly = ulceil(stepgen->dir_hold_dly, periodns);
stepgen->dir_hold_dly = stepgen->old_dir_hold_dly;
}
/* test for disabled stepgen */
if (*stepgen->enable == 0) {
/* disabled: keep updating old_pos_cmd (if in pos ctrl mode) */
if ( stepgen->pos_mode ) {
stepgen->old_pos_cmd = *stepgen->pos_cmd * stepgen->pos_scale;
}
/* set velocity to zero */
stepgen->freq = 0;
stepgen->addval = 0;
stepgen->target_addval = 0;
/* and skip to next one */
stepgen++;
continue;
}
/* calculate frequency limit */
min_step_period = stepgen->step_len + stepgen->step_space;
max_freq = 1.0 / (min_step_period * 0.000000001);
/* check for user specified frequency limit parameter */
if (stepgen->maxvel <= 0.0) {
/* set to zero if negative */
stepgen->maxvel = 0.0;
} else {
/* parameter is non-zero, compare to max_freq */
desired_freq = stepgen->maxvel * fabs(stepgen->pos_scale);
if (desired_freq > max_freq) {
/* parameter is too high, complain about it */
if(!stepgen->printed_error) {
rtapi_print_msg(RTAPI_MSG_ERR,
"STEPGEN: Channel %d: The requested maximum velocity of %d steps/sec is too high.\n",
n, (int)desired_freq);
rtapi_print_msg(RTAPI_MSG_ERR,
"STEPGEN: The maximum possible frequency is %d steps/second\n",
(int)max_freq);
stepgen->printed_error = 1;
}
/* parameter is too high, limit it */
stepgen->maxvel = max_freq / fabs(stepgen->pos_scale);
} else {
/* lower max_freq to match parameter */
max_freq = stepgen->maxvel * fabs(stepgen->pos_scale);
}
}
/* set internal accel limit to its absolute max, which is
zero to full speed in one thread period */
max_ac = max_freq * recip_dt;
/* check for user specified accel limit parameter */
if (stepgen->maxaccel <= 0.0) {
/* set to zero if negative */
stepgen->maxaccel = 0.0;
} else {
/* parameter is non-zero, compare to max_ac */
if ((stepgen->maxaccel * fabs(stepgen->pos_scale)) > max_ac) {
/* parameter is too high, lower it */
stepgen->maxaccel = max_ac / fabs(stepgen->pos_scale);
} else {
/* lower limit to match parameter */
max_ac = stepgen->maxaccel * fabs(stepgen->pos_scale);
}
}
/* at this point, all scaling, limits, and other parameter
changes have been handled - time for the main control */
if ( stepgen->pos_mode ) {
/* calculate position command in counts */
pos_cmd = *stepgen->pos_cmd * stepgen->pos_scale;
/* calculate velocity command in counts/sec */
vel_cmd = (pos_cmd - stepgen->old_pos_cmd) * recip_dt;
stepgen->old_pos_cmd = pos_cmd;
/* 'accum' is a long long, and its remotely possible that
make_pulses could change it half-way through a read.
So we have a crude atomic read routine */
do {
accum_a = stepgen->accum;
accum_b = stepgen->accum;
} while ( accum_a != accum_b );
/* convert from fixed point to double, after subtracting
the one-half step offset */
curr_pos = (accum_a-(1<< (PICKOFF-1))) * (1.0 / (1L << PICKOFF));
/* get velocity in counts/sec */
curr_vel = stepgen->freq;
/* At this point we have good values for pos_cmd, curr_pos,
vel_cmd, curr_vel, max_freq and max_ac, all in counts,
counts/sec, or counts/sec^2. Now we just have to do
something useful with them. */
/* determine which way we need to ramp to match velocity */
if (vel_cmd > curr_vel) {
match_ac = max_ac;
} else {
match_ac = -max_ac;
}
/* determine how long the match would take */
match_time = (vel_cmd - curr_vel) / match_ac;
/* calc output position at the end of the match */
avg_v = (vel_cmd + curr_vel) * 0.5;
est_out = curr_pos + avg_v * match_time;
/* calculate the expected command position at that time */
est_cmd = pos_cmd + vel_cmd * (match_time - 1.5 * dt);
/* calculate error at that time */
est_err = est_out - est_cmd;
if (match_time < dt) {
/* we can match velocity in one period */
if (fabs(est_err) < 0.0001) {
/* after match the position error will be acceptable */
/* so we just do the velocity match */
new_vel = vel_cmd;
} else {
/* try to correct position error */
new_vel = vel_cmd - 0.5 * est_err * recip_dt;
/* apply accel limits */
if (new_vel > (curr_vel + max_ac * dt)) {
new_vel = curr_vel + max_ac * dt;
} else if (new_vel < (curr_vel - max_ac * dt)) {
new_vel = curr_vel - max_ac * dt;
}
}
} else {
/* calculate change in final position if we ramp in the
opposite direction for one period */
dv = -2.0 * match_ac * dt;
dp = dv * match_time;
/* decide which way to ramp */
if (fabs(est_err + dp * 2.0) < fabs(est_err)) {
match_ac = -match_ac;
}
/* and do it */
new_vel = curr_vel + match_ac * dt;
}
/* apply frequency limit */
if (new_vel > max_freq) {
new_vel = max_freq;
} else if (new_vel < -max_freq) {
new_vel = -max_freq;
}
/* end of position mode */
} else {
/* velocity mode is simpler */
/* calculate velocity command in counts/sec */
vel_cmd = *(stepgen->vel_cmd) * stepgen->pos_scale;
/* apply frequency limit */
if (vel_cmd > max_freq) {
vel_cmd = max_freq;
} else if (vel_cmd < -max_freq) {
vel_cmd = -max_freq;
}
/* calc max change in frequency in one period */
dv = max_ac * dt;
/* apply accel limit */
if ( vel_cmd > (stepgen->freq + dv) ) {
new_vel = stepgen->freq + dv;
} else if ( vel_cmd < (stepgen->freq - dv) ) {
new_vel = stepgen->freq - dv;
} else {
new_vel = vel_cmd;
}
/* end of velocity mode */
}
stepgen->freq = new_vel;
/* calculate new addval */
stepgen->target_addval = stepgen->freq * freqscale;
/* calculate new deltalim */
stepgen->deltalim = max_ac * accelscale;
/* move on to next channel */
stepgen++;
}
/* done */
}
/***********************************************************************
* LOCAL FUNCTION DEFINITIONS *
************************************************************************/
static int export_stepgen(int num, stepgen_t * addr, int step_type, int pos_mode)
{
int n, retval, msg;
/* This function exports a lot of stuff, which results in a lot of
logging if msg_level is at INFO or ALL. So we save the current value
of msg_level and restore it later. If you actually need to log this
function's actions, change the second line below */
msg = rtapi_get_msg_level();
rtapi_set_msg_level(RTAPI_MSG_WARN);
/* export param variable for raw counts */
retval = hal_param_s32_newf(HAL_RO, &(addr->rawcount), comp_id,
"stepgen.%d.rawcounts", num);
if (retval != 0) { return retval; }
/* export pin for counts captured by update() */
retval = hal_pin_s32_newf(HAL_OUT, &(addr->count), comp_id,
"stepgen.%d.counts", num);
if (retval != 0) { return retval; }
/* export parameter for position scaling */
retval = hal_param_float_newf(HAL_RW, &(addr->pos_scale), comp_id,
"stepgen.%d.position-scale", num);
if (retval != 0) { return retval; }
/* export pin for command */
if ( pos_mode ) {
retval = hal_pin_float_newf(HAL_IN, &(addr->pos_cmd), comp_id,
"stepgen.%d.position-cmd", num);
} else {
retval = hal_pin_float_newf(HAL_IN, &(addr->vel_cmd), comp_id,
"stepgen.%d.velocity-cmd", num);
}
if (retval != 0) { return retval; }
/* export pin for enable command */
retval = hal_pin_bit_newf(HAL_IN, &(addr->enable), comp_id,
"stepgen.%d.enable", num);
if (retval != 0) { return retval; }
/* export pin for scaled position captured by update() */
retval = hal_pin_float_newf(HAL_OUT, &(addr->pos_fb), comp_id,
"stepgen.%d.position-fb", num);
if (retval != 0) { return retval; }
/* export param for scaled velocity (frequency in Hz) */
retval = hal_param_float_newf(HAL_RO, &(addr->freq), comp_id,
"stepgen.%d.frequency", num);
if (retval != 0) { return retval; }
/* export parameter for max frequency */
retval = hal_param_float_newf(HAL_RW, &(addr->maxvel), comp_id,
"stepgen.%d.maxvel", num);
if (retval != 0) { return retval; }
/* export parameter for max accel/decel */
retval = hal_param_float_newf(HAL_RW, &(addr->maxaccel), comp_id,
"stepgen.%d.maxaccel", num);
if (retval != 0) { return retval; }
/* every step type uses steplen */
retval = hal_param_u32_newf(HAL_RW, &(addr->step_len), comp_id,
"stepgen.%d.steplen", num);
if (retval != 0) { return retval; }
if (step_type < 2) {
/* step/dir and up/down use 'stepspace' */
retval = hal_param_u32_newf(HAL_RW, &(addr->step_space),
comp_id, "stepgen.%d.stepspace", num);
if (retval != 0) { return retval; }
}
if ( step_type == 0 ) {
/* step/dir is the only one that uses dirsetup and dirhold */
retval = hal_param_u32_newf(HAL_RW, &(addr->dir_setup),
comp_id, "stepgen.%d.dirsetup", num);
if (retval != 0) { return retval; }
retval = hal_param_u32_newf(HAL_RW, &(addr->dir_hold_dly),
comp_id, "stepgen.%d.dirhold", num);
if (retval != 0) { return retval; }
} else {
/* the others use dirdelay */
retval = hal_param_u32_newf(HAL_RW, &(addr->dir_hold_dly),
comp_id, "stepgen.%d.dirdelay", num);
if (retval != 0) { return retval; }
}
/* export output pins */
if ( step_type == 0 ) {
/* step and direction */
retval = hal_pin_bit_newf(HAL_OUT, &(addr->phase[STEP_PIN]),
comp_id, "stepgen.%d.step", num);
if (retval != 0) { return retval; }
*(addr->phase[STEP_PIN]) = 0;
retval = hal_pin_bit_newf(HAL_OUT, &(addr->phase[DIR_PIN]),
comp_id, "stepgen.%d.dir", num);
if (retval != 0) { return retval; }
*(addr->phase[DIR_PIN]) = 0;
} else if (step_type == 1) {
/* up and down */
retval = hal_pin_bit_newf(HAL_OUT, &(addr->phase[UP_PIN]),
comp_id, "stepgen.%d.up", num);
if (retval != 0) { return retval; }
*(addr->phase[UP_PIN]) = 0;
retval = hal_pin_bit_newf(HAL_OUT, &(addr->phase[DOWN_PIN]),
comp_id, "stepgen.%d.down", num);
if (retval != 0) { return retval; }
*(addr->phase[DOWN_PIN]) = 0;
} else {
/* stepping types 2 and higher use a varying number of phase pins */
addr->num_phases = num_phases_lut[step_type - 2];
for (n = 0; n < addr->num_phases; n++) {
retval = hal_pin_bit_newf(HAL_OUT, &(addr->phase[n]),
comp_id, "stepgen.%d.phase-%c", num, n + 'A');
if (retval != 0) { return retval; }
*(addr->phase[n]) = 0;
}
}
/* set default parameter values */
addr->pos_scale = 1.0;
addr->old_scale = 0.0;
addr->scale_recip = 0.0;
addr->freq = 0.0;
addr->maxvel = 0.0;
addr->maxaccel = 0.0;
addr->step_type = step_type;
addr->pos_mode = pos_mode;
/* timing parameter defaults depend on step type */
addr->step_len = 1;
if ( step_type < 2 ) {
addr->step_space = 1;
} else {
addr->step_space = 0;
}
if ( step_type == 0 ) {
addr->dir_hold_dly = 1;
addr->dir_setup = 1;
} else {
addr->dir_hold_dly = 1;
addr->dir_setup = 0;
}
/* set 'old' values to make update_freq validate the timing params */
addr->old_step_len = ~0;
addr->old_step_space = ~0;
addr->old_dir_hold_dly = ~0;
addr->old_dir_setup = ~0;
if ( step_type >= 2 ) {
/* init output stuff */
addr->cycle_max = cycle_len_lut[step_type - 2] - 1;
addr->lut = &(master_lut[step_type - 2][0]);
}
/* init the step generator core to zero output */
addr->timer1 = 0;
addr->timer2 = 0;
addr->timer3 = 0;
addr->hold_dds = 0;
addr->addval = 0;
/* accumulator gets a half step offset, so it will step half
way between integer positions, not at the integer positions */
addr->accum = 1 << (PICKOFF-1);
addr->rawcount = 0;
addr->curr_dir = 0;
addr->state = 0;
*(addr->enable) = 0;
addr->target_addval = 0;
addr->deltalim = 0;
/* other init */
addr->printed_error = 0;
addr->old_pos_cmd = 0.0;
/* set initial pin values */
*(addr->count) = 0;
*(addr->pos_fb) = 0.0;
if ( pos_mode ) {
*(addr->pos_cmd) = 0.0;
} else {
*(addr->vel_cmd) = 0.0;
}
/* restore saved message level */
rtapi_set_msg_level(msg);
return 0;
}
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;
}
------------------------------------------------------------------------------
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