/*******************************************************************
Motion and Robotic System (MARS) aplication components.
- appl_pxmc.c - position controller subsystem core generic
- and LP_MPW1 hardware specific support
+ appl_pxmc.c - position controller RoCoN hardware support
Copyright (C) 2001-2013 by Pavel Pisa - originator
pisa@cmp.felk.cvut.cz
#include "appl_defs.h"
#include "appl_fpga.h"
+#include "appl_pxmc.h"
#include "pxmcc_types.h"
#include "pxmcc_interface.h"
#define PXMC_AXIS_MODE_BLDC_PXMCC (PXMC_AXIS_MODE_BLDC + 1)
#define PXMC_AXIS_MODE_STEPPER_WITH_IRC_PXMCC (PXMC_AXIS_MODE_BLDC + 2)
+#define PXMC_AXIS_MODE_STEPPER_PXMCC (PXMC_AXIS_MODE_BLDC + 3)
int pxmc_ptofs_from_index(pxmc_state_t *mcs, unsigned long irc,
unsigned long index_irc, int diff2err);
long pxmc_rocon_irc_offset[PXML_MAIN_CNT];
unsigned pxmc_rocon_mark_filt[PXML_MAIN_CNT];
+static inline
+pxmc_rocon_state_t *pxmc_state2rocon_state(pxmc_state_t *mcs)
+{
+ pxmc_rocon_state_t *mcsrc;
+ #ifdef UL_CONTAINEROF
+ mcsrc = UL_CONTAINEROF(mcs, pxmc_rocon_state_t, base);
+ #else /*UL_CONTAINEROF*/
+ mcsrc = (pxmc_rocon_state_t*)((char*)mcs - __builtin_offsetof(pxmc_rocon_state_t, base));
+ #endif /*UL_CONTAINEROF*/
+ return mcsrc;
+}
+
const uint8_t onesin10bits[1024]={
0,1,1,2,1,2,2,3,1,2,2,3,2,3,3,4,1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5,
1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5,2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,
}
}
+static inline
+void pxmcc_axis_get_cur_dq_filt_raw(pxmc_state_t *mcs,
+ int32_t *p_cur_d_raw, int32_t *p_cur_q_raw)
+{
+ volatile pxmcc_axis_data_t *mcc_axis = pxmc_rocon_mcs2pxmcc(mcs);
+ pxmc_rocon_state_t *mcsrc = pxmc_state2rocon_state(mcs);
+ uint32_t cur_d_cum = mcc_axis->cur_d_cum;
+ uint32_t cur_q_cum = mcc_axis->cur_q_cum;
+ int32_t cur_d;
+ int32_t cur_q;
+
+ cur_d = cur_d_cum - mcsrc->cur_d_cum_prev;
+ mcsrc->cur_d_cum_prev = cur_d_cum;
+ cur_q = cur_q_cum - mcsrc->cur_q_cum_prev;
+ mcsrc->cur_q_cum_prev = cur_q_cum;
+
+ *p_cur_d_raw = cur_d;
+ *p_cur_q_raw = cur_q;
+}
+
+static inline
+void pxmcc_axis_cur_dq_raw2filt(int *p_cur, int32_t cur_raw)
+{
+ int cur_div;
+ int32_t cur;
+ cur_div = cur_raw & 0x1f;
+ cur = cur_raw / cur_div;
+ cur += (1 << 11) | 0x20;
+ *p_cur = cur >> 12;
+}
+
+
+void pxmcc_axis_get_cur_dq_filt(pxmc_state_t *mcs, int *p_cur_d, int *p_cur_q)
+{
+ int32_t cur_d_raw;
+ int32_t cur_q_raw;
+
+ pxmcc_axis_get_cur_dq_filt_raw(mcs, &cur_d_raw, &cur_q_raw);
+
+ pxmcc_axis_cur_dq_raw2filt(p_cur_d, cur_d_raw);
+ pxmcc_axis_cur_dq_raw2filt(p_cur_q, cur_q_raw);
+}
+
+static inline
+void pxmcc_cur_ctrl_pi(int *p_pwm, int32_t *p_cur_err_sum,
+ int cur_err, short cur_ctrl_p, short cur_ctrl_i, int max_pwm)
+{
+ int pwm;
+ int32_t cur_err_sum = *p_cur_err_sum;
+
+ pwm = (cur_err * cur_ctrl_p) >> 8;
+
+ if (cur_ctrl_i)
+ cur_err_sum += cur_err * cur_ctrl_i;
+ else
+ cur_err_sum = 0;
+
+ pwm += cur_err_sum >> 16;
+
+ if (pwm > max_pwm) {
+ cur_err_sum -= (pwm - max_pwm) << 16;
+ pwm = max_pwm;
+ } else if (-pwm > max_pwm) {
+ cur_err_sum -= (pwm + max_pwm) << 16;
+ pwm = 0 - max_pwm;
+ }
+ *p_cur_err_sum = cur_err_sum;
+ *p_pwm = pwm;
+}
+
int
pxmc_pxmcc_pwm3ph_out(pxmc_state_t *mcs)
{
return 0;
}
+/**
+ * pxmc_pxmcc_nofb_inp - Dummy input for direct stepper motor control
+ * @mcs: Motion controller state information
+ */
+int
+pxmc_pxmcc_nofb_inp(pxmc_state_t *mcs)
+{
+ return 0;
+}
+
+/**
+ * pxmc_pxmcc_nofb_con - Empty controller for direct stepper motor control
+ * @mcs: Motion controller state information
+ */
+int
+pxmc_pxmcc_nofb_con(pxmc_state_t *mcs)
+{
+ mcs->pxms_ene=mcs->pxms_me;
+ return 0;
+}
+
+int
+pxmc_pxmcc_nofb2ph_out(pxmc_state_t *mcs)
+{
+ pxmc_rocon_state_t *mcsrc = pxmc_state2rocon_state(mcs);
+ volatile pxmcc_axis_data_t *mcc_axis = pxmc_rocon_mcs2pxmcc(mcs);
+ int32_t cur_d_raw;
+ int32_t cur_q_raw;
+
+ pxmcc_axis_get_cur_dq_filt_raw(mcs, &cur_d_raw, &cur_q_raw);
+
+ if ((mcs->pxms_flg & PXMS_ERR_m) ||
+ !(mcs->pxms_flg & (PXMS_ENO_m | PXMS_ENR_m))) {
+ pxmc_rocon_pwm2ph_wr(mcs, 0, 0);
+ pxmcc_axis_pwm_dq_out(mcs, 0, 0);
+ mcc_axis->steps_inc = 0;
+ mcsrc->cur_d_err_sum = 0;
+ mcsrc->cur_q_err_sum = 0;
+ } else {
+ int pwm_d, pwm_q;
+ int cur_d, cur_q;
+ int cur_d_req, cur_d_err;
+ int cur_q_req, cur_q_err;
+ int max_pwm = mcs->pxms_me;
+ int32_t stpinc;
+
+ pxmcc_axis_cur_dq_raw2filt(&cur_d, cur_d_raw);
+ pxmcc_axis_cur_dq_raw2filt(&cur_q, cur_q_raw);
+
+ if (!mcs->pxms_ene)
+ cur_d_req = 0;
+ else
+ cur_d_req = mcsrc->cur_hold;
+
+ cur_d_err = cur_d_req - cur_d;
+
+ pxmcc_cur_ctrl_pi(&pwm_d, &mcsrc->cur_d_err_sum, cur_d_err,
+ mcsrc->cur_d_p, mcsrc->cur_d_i, max_pwm);
+
+ /* pwm_d = (pxmc_rocon_pwm_magnitude * ene) >> 15; */
+
+ cur_q_req = 0;
+
+ cur_q_err = cur_q_req - cur_q;
+
+ pxmcc_cur_ctrl_pi(&pwm_q, &mcsrc->cur_q_err_sum, cur_q_err,
+ mcsrc->cur_q_p, mcsrc->cur_q_i, max_pwm);
+
+ pxmcc_axis_pwm_dq_out(mcs, pwm_d, pwm_q);
+
+ mcs->pxms_ap=mcs->pxms_rp;
+ mcs->pxms_as=mcs->pxms_rs;
+ mcc_axis->steps_lim = mcc_axis->steps_cnt + 6;
+
+ stpinc = mcs->pxms_rs;
+ mcc_axis->steps_inc = stpinc;
+
+ /* stpinc /= (mcs->pxms_ptirc << PXMC_SUBDIV(mcs)); */
+ /* pxms_ptscale_mult; pxms_ptscale_shift; */
+ }
+
+ return 0;
+}
+
int pxmcc_axis_setup(pxmc_state_t *mcs, int mode)
{
volatile pxmcc_data_t *mcc_data = pxmc_rocon_mcc_data();
volatile pxmcc_axis_data_t *mcc_axis = pxmc_rocon_mcs2pxmcc(mcs);
uint32_t ptirc;
uint32_t ptreci;
+ uint32_t inp_info;
uint32_t pwmtx_info;
uint32_t pwmtx_info_dummy = 27;
uint64_t ull;
pxmcc_pxmc_ptofs2mcc(mcs, 0);
+ inp_info = (char*)&fpga_irc[mcs->pxms_inp_info]->count - (char*)fpga_irc[0];
+ inp_info += mcc_data->common.irc_base;
+
switch (mode) {
case PXMCC_MODE_IDLE:
phcnt = 0;
case PXMCC_MODE_STEPPER_WITH_IRC:
phcnt = 4;
break;
+ case PXMCC_MODE_STEPPER:
+ phcnt = 4;
+ mcc_axis->ptreci = 1;
+ inp_info = (char*)&mcc_axis->steps_pos - (char*)mcc_data;
+ break;
}
- mcc_axis->inp_info = mcs->pxms_inp_info;
+ mcc_axis->inp_info = inp_info;
mcc_axis->out_info = mcs->pxms_out_info;
pwm_chan = mcs->pxms_out_info;
mcc_axis->ccflg = 0;
mcc_axis->pwm_dq = 0;
+ mcc_axis->steps_lim = mcc_axis->steps_cnt;
+ mcc_axis->steps_inc = 0;
+ mcc_axis->steps_pos = 0;
- pxmcc_pxmc_ptofs2mcc(mcs, 1);
-
+ if (mode != PXMCC_MODE_STEPPER) {
+ pxmcc_pxmc_ptofs2mcc(mcs, 1);
+ }
return 0;
}
return pxmc_rocon_hh_gi;
}
-pxmc_state_t mcs0 =
+pxmc_rocon_state_t mcs0 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
+},
+ .cur_d_p = 150,
+ .cur_d_i = 6000,
+ .cur_q_p = 150,
+ .cur_q_i = 6000,
+ .cur_hold = 200,
};
-pxmc_state_t mcs1 =
+pxmc_rocon_state_t mcs1 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
-};
+}};
-pxmc_state_t mcs2 =
+pxmc_rocon_state_t mcs2 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
-};
+}};
-pxmc_state_t mcs3 =
+pxmc_rocon_state_t mcs3 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
-};
+}};
-pxmc_state_t mcs4 =
+pxmc_rocon_state_t mcs4 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
-};
+}};
-pxmc_state_t mcs5 =
+pxmc_rocon_state_t mcs5 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
-};
+}};
-pxmc_state_t mcs6 =
+pxmc_rocon_state_t mcs6 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
-};
+}};
-pxmc_state_t mcs7 =
+pxmc_rocon_state_t mcs7 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
-};
-
+}};
pxmc_state_t *pxmc_main_arr[PXML_MAIN_CNT] =
-{&mcs0, &mcs1, &mcs2, &mcs3, &mcs4, &mcs5, &mcs6, &mcs7};
+{&mcs0.base, &mcs1.base, &mcs2.base, &mcs3.base,
+ &mcs4.base, &mcs5.base, &mcs6.base, &mcs7.base};
pxmc_state_list_t pxmc_main_list =
return PXMC_AXIS_MODE_BLDC_PXMCC;
if (mcs->pxms_do_out == pxmc_pxmcc_pwm2ph_out)
return PXMC_AXIS_MODE_STEPPER_WITH_IRC_PXMCC;
+ if (mcs->pxms_do_out == pxmc_pxmcc_nofb2ph_out)
+ return PXMC_AXIS_MODE_STEPPER_PXMCC;
return -1;
}
return -1;
switch (mode) {
- /*case PXMC_AXIS_MODE_STEPPER:*/
+ /* case PXMC_AXIS_MODE_STEPPER: */
+ case PXMC_AXIS_MODE_STEPPER_PXMCC:
case PXMC_AXIS_MODE_STEPPER_WITH_IRC:
case PXMC_AXIS_MODE_STEPPER_WITH_IRC_PXMCC:
res = pxmc_ptable_set_profile(mcs, &pxmc_ptprofile_sin, 0, 0);
if (res < 0)
return -1;
+ if (mcs->pxms_do_inp == pxmc_pxmcc_nofb_inp)
+ mcs->pxms_do_inp = pxmc_inp_rocon_inp;
+ if (mcs->pxms_do_con == pxmc_pxmcc_nofb_con)
+ mcs->pxms_do_con = pxmc_pid_con;
+
switch (mode) {
/*case PXMC_AXIS_MODE_STEPPER:*/
case PXMC_AXIS_MODE_STEPPER_WITH_IRC:
pxmcc_axis_enable(mcs, 1);
mcs->pxms_do_out = pxmc_pxmcc_pwm2ph_out;
break;
+ case PXMC_AXIS_MODE_STEPPER_PXMCC:
+ if (pxmcc_axis_setup(mcs, PXMCC_MODE_STEPPER) < 0)
+ return -1;
+ pxmcc_axis_enable(mcs, 1);
+ mcs->pxms_do_inp = pxmc_pxmcc_nofb_inp;
+ mcs->pxms_do_con = pxmc_pxmcc_nofb_con;
+ mcs->pxms_do_out = pxmc_pxmcc_nofb2ph_out;
+ break;
default:
return -1;
}
int res;
int i;
- pxmc_state_t *mcs = &mcs0;
+ pxmc_state_t *mcs = &mcs0.base;
lpc_qei_state_t *qst = &lpc_qei_state;
*fpga_irc_reset = 1;
projects / fpga / lx-cpu1 / lx-rocon.git / blobdiff