1 /*******************************************************************
2 Motion and Robotic System (MARS) aplication components.
4 appl_pxmccmds.c - position controller RoCoN specific commands
6 Copyright (C) 2001-2013 by Pavel Pisa - originator
8 (C) 2001-2013 by PiKRON Ltd. - originator
11 This file can be used and copied according to next
13 - GPL - GNU Public License
14 - other license provided by project originators
16 *******************************************************************/
18 #include <system_def.h>
23 #include <sys/types.h>
27 #include <semaphore.h>
31 #include "pxmc_cmds.h"
33 #include "appl_defs.h"
34 #include "appl_pxmc.h"
35 #include "pxmc_spimc.h"
37 #define SPIMC_LOG_CURRENT_SIZE 1024*1024
39 int32_t *spimc_logcurrent_buff;
40 int32_t *spimc_logcurrent_pos;
42 extern spimc_state_t spimc_state0;
44 int spimc_logcurrent(struct pxmc_state *mcs)
46 /*pxmc_spimc_state_t *mcsrc = pxmc_state2spimc_state(mcs); */
47 /*mcsrc->spimc_state*/
48 spimc_state_t *spimc = &spimc_state0;
50 if ((spimc_logcurrent_buff == NULL) ||
51 (spimc_logcurrent_pos == NULL) ||
52 ((char*)spimc_logcurrent_pos -
53 (char*)spimc_logcurrent_buff + 64 >= SPIMC_LOG_CURRENT_SIZE))
57 spimc_logcurrent_pos[0] = mcs->pxms_ptindx;
59 spimc_logcurrent_pos[1] = spimc->pwm[0];
60 spimc_logcurrent_pos[2] = spimc->pwm[1];
61 spimc_logcurrent_pos[3] = spimc->pwm[2];
63 spimc_logcurrent_pos[4] = spimc->curadc_sqn;
65 spimc_logcurrent_pos[5] = spimc->curadc_cumsum[0];
66 spimc_logcurrent_pos[6] = spimc->curadc_cumsum[1];
67 spimc_logcurrent_pos[7] = spimc->curadc_cumsum[2];
69 spimc_logcurrent_pos += 8;
74 int cmd_do_logcurrent(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
79 if (pxmc_main_list.pxml_cnt < 1)
82 if (pxmc_dbgset(pxmc_main_list.pxml_arr[0], NULL, 0) < 0)
85 if (spimc_logcurrent_buff == NULL) {
86 spimc_logcurrent_buff = malloc(SPIMC_LOG_CURRENT_SIZE);
87 if (spimc_logcurrent_buff == NULL)
91 if (spimc_logcurrent_pos != NULL) {
92 log_size = (char*)spimc_logcurrent_pos - (char*)spimc_logcurrent_buff;
93 printf("Log size %ld\n", (long)log_size);
95 if ((spimc_logcurrent_pos > spimc_logcurrent_buff) &&
96 (log_size < SPIMC_LOG_CURRENT_SIZE)) {
98 fd = open("currents.bin", O_WRONLY | O_CREAT | O_TRUNC,
99 S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH);
104 write(fd, spimc_logcurrent_buff, log_size);
110 spimc_logcurrent_pos = spimc_logcurrent_buff;
112 if (pxmc_dbgset(pxmc_main_list.pxml_arr[0], spimc_logcurrent, 1) < 0)
119 typedef struct spimc_currentcal_state_t {
120 unsigned int req_accum;
121 unsigned int accum_cnt;
122 uint64_t curadc_accum[SPIMC_CHAN_COUNT];
124 } spimc_currentcal_state_t;
126 spimc_currentcal_state_t spimc_currentcal_state;
127 sem_t spimc_currentcal_sem;
129 int spimc_currentcal_accum(struct pxmc_state *mcs)
131 /*pxmc_spimc_state_t *mcsrc = pxmc_state2spimc_state(mcs); */
132 uint32_t curadc_sqn_diff;
133 uint32_t curadc_val_diff;
135 spimc_state_t *spimc = &spimc_state0;
136 spimc_currentcal_state_t *cucalst = &spimc_currentcal_state;
137 int diff_to_last_fl = 0;
139 if (cucalst->accum_cnt >= cucalst->req_accum)
142 curadc_sqn_diff = spimc->curadc_sqn;
143 if (diff_to_last_fl) {
144 curadc_sqn_diff -= spimc->curadc_sqn_last;
145 curadc_sqn_diff &= 0x1ff;
148 cucalst->accum_cnt += curadc_sqn_diff;
150 for (i = 0; i < SPIMC_CHAN_COUNT; i++) {
151 curadc_val_diff = spimc->curadc_cumsum[i];
152 if (diff_to_last_fl) {
153 curadc_val_diff -= spimc->curadc_cumsum_last[i];
154 curadc_val_diff &= 0xffffff;
156 cucalst->curadc_accum[i] += curadc_val_diff;
159 if (cucalst->accum_cnt >= cucalst->req_accum)
160 sem_post(&spimc_currentcal_sem);
165 int spimc_currentcal_setup(spimc_state_t *spimc, spimc_currentcal_state_t *cucalst,
166 unsigned int req_accum,
167 unsigned int pwm1, int pwm1_en,
168 unsigned int pwm2, int pwm2_en,
169 unsigned int pwm3, int pwm3_en)
173 spimc->pwm[0] = pwm1 | (pwm1_en? SPIMC_PWM_ENABLE: SPIMC_PWM_SHUTDOWN);
174 spimc->pwm[1] = pwm2 | (pwm2_en? SPIMC_PWM_ENABLE: SPIMC_PWM_SHUTDOWN);
175 spimc->pwm[2] = pwm3 | (pwm3_en? SPIMC_PWM_ENABLE: SPIMC_PWM_SHUTDOWN);
177 cucalst->req_accum = req_accum;
178 cucalst->accum_cnt = 0;
180 for (i = 0; i < SPIMC_CHAN_COUNT; i++)
181 cucalst->curadc_accum[i] = 0;
186 int spimc_currentcal_pattern[7][6] = {
187 /* PWM1, EN1, PWM2, EN2, PWM3, EN3 */
197 int cmd_do_currentcal(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
202 spimc_state_t *spimc = &spimc_state0;
203 spimc_currentcal_state_t *cucalst = &spimc_currentcal_state;
204 unsigned int req_accum = 30000;
205 unsigned int skip_accum = 10000;
209 if (si_long(&ps, &pwm, 0) < 0)
210 return -CMDERR_BADPAR;
212 if (pxmc_main_list.pxml_cnt < 1)
215 mcs = pxmc_main_list.pxml_arr[0];
216 pxmc_axis_release(mcs);
218 if (pxmc_dbgset(mcs, NULL, 0) < 0)
221 if (sem_init(&spimc_currentcal_sem, 0, 0))
224 for (cycle = 0; cycle < 7; cycle++) {
225 int *p = spimc_currentcal_pattern[cycle];
226 unsigned int pwm1 = pwm * p[0];
228 unsigned int pwm2 = pwm * p[2];
230 unsigned int pwm3 = pwm * p[4];
233 pxmc_dbgset(mcs, NULL, 0);
234 spimc_currentcal_setup(spimc, cucalst, skip_accum,
235 pwm1, pwm1_en, pwm2, pwm2_en, pwm3, pwm3_en);
236 pxmc_dbgset(mcs, spimc_currentcal_accum, 1);
237 sem_wait(&spimc_currentcal_sem);
239 pxmc_dbgset(mcs, NULL, 0);
240 spimc_currentcal_setup(spimc, cucalst, req_accum,
241 pwm1, pwm1_en, pwm2, pwm2_en, pwm3, pwm3_en);
242 pxmc_dbgset(mcs, spimc_currentcal_accum, 1);
243 sem_wait(&spimc_currentcal_sem);
244 pxmc_dbgset(mcs, NULL, 0);
246 printf("%4u %d %4u %d %4u %d %f %f %f\n",
247 pwm1, pwm1_en, pwm2, pwm2_en, pwm3, pwm3_en,
248 (double)cucalst->curadc_accum[0] / cucalst->accum_cnt,
249 (double)cucalst->curadc_accum[1] / cucalst->accum_cnt,
250 (double)cucalst->curadc_accum[2] / cucalst->accum_cnt);
253 sem_destroy(&spimc_currentcal_sem);
255 pxmc_axis_release(mcs);
262 * cmd_do_axis_mode - checks the command format and busy flag validity, calls pxmc_axis_mode
264 * if pxmc_axis_mode returns -1, cmd_do_axis_mode returns -1.
266 int cmd_do_axis_mode(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
271 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
274 return cmd_opchar_replong(cmd_io, param, pxmc_axis_rdmode(mcs), 0, 0);
277 if(*param[2]!=':') return -CMDERR_OPCHAR;
279 if(mcs->pxms_flg&PXMS_BSY_m) return -CMDERR_BSYREG;
282 val=pxmc_axis_mode(mcs,val);
289 cmd_des_t const cmd_des_regcurdp={0, CDESM_OPCHR|CDESM_RW,
290 "REGCURDP?","current controller d component p parameter", cmd_do_reg_short_val,
291 {(char*)pxmc_spimc_state_offs(cur_d_p),
294 cmd_des_t const cmd_des_regcurdi={0, CDESM_OPCHR|CDESM_RW,
295 "REGCURDI?","current controller d component i parameter", cmd_do_reg_short_val,
296 {(char*)pxmc_spimc_state_offs(cur_d_i),
299 cmd_des_t const cmd_des_regcurqp={0, CDESM_OPCHR|CDESM_RW,
300 "REGCURQP?","current controller q component p parameter", cmd_do_reg_short_val,
301 {(char*)pxmc_spimc_state_offs(cur_q_p),
304 cmd_des_t const cmd_des_regcurqi={0, CDESM_OPCHR|CDESM_RW,
305 "REGCURQI?","current controller q component i parameter", cmd_do_reg_short_val,
306 {(char*)pxmc_spimc_state_offs(cur_q_i),
309 cmd_des_t const cmd_des_regcurhold={0, CDESM_OPCHR|CDESM_RW,
310 "REGCURHOLD?","current steady hold value for stepper", cmd_do_reg_short_val,
311 {(char*)pxmc_spimc_state_offs(cur_hold),
314 cmd_des_t const cmd_des_axis_mode={0, CDESM_OPCHR|CDESM_WR,
315 "REGMODE?","axis working mode",cmd_do_axis_mode,
318 cmd_des_t const cmd_des_logcurrent={0, 0,
319 "logcurrent","log current history", cmd_do_logcurrent,
323 cmd_des_t const cmd_des_currentcal={0, 0,
324 "currentcal","current calibration", cmd_do_currentcal,
328 cmd_des_t const *cmd_appl_pxmc[] =