/*******************************************************************
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 <hal_gpio.h>
#include <hal_machperiph.h>
#include <stdlib.h>
+#include <string.h>
+#include <LPC17xx.h>
+#include <lpcTIM.h>
#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);
+
+#ifndef pxmc_fast_tick_time
+#define pxmc_fast_tick_time() (LPC_TIM0->TC)
+#endif
#define PXML_MAIN_CNT 8
#define HAL_ERR_SENSITIVITY 20
#define HAL_ERR_MAX_COUNT 5
-unsigned pxmc_rocon_pwm_magnitude = 2500;
+#define LXPWR_WITH_SIROLADC 1
+
+#define LX_MASTER_DATA_OFFS 8
+
+#define PXMC_LXPWR_PWM_CYCLE 2500
+
+unsigned pxmc_rocon_pwm_magnitude = PXMC_LXPWR_PWM_CYCLE;
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,
irc_state = *fpga_irc_state[chan];
- mark = (irc_state ^ (mcs->pxms_cfg >> PXMS_CFG_HPS_b)) & 1;
+ mark = ((irc_state >> (ffs(FPGA_IRC_STATE_MARK_MASK) - 1)) ^
+ (mcs->pxms_cfg >> PXMS_CFG_HPS_b)) & 1;
filt = pxmc_rocon_mark_filt[chan];
filt = (filt << 1) | mark;
int chan=mcs->pxms_inp_info;
irc_state = *fpga_irc_state[chan];
- *fpga_irc_state[chan] = 1 << 2;
+ *fpga_irc_state[chan] = FPGA_IRC_STATE_INDEX_EVENT_MASK;
- index = (irc_state >> 2) & 1;
+ index = (irc_state >> (ffs(FPGA_IRC_STATE_INDEX_EVENT_MASK) - 1)) & 1;
return index;
}
{
long pos_diff = irc_diff << PXMC_SUBDIV(mcs);
+ mcs->pxms_ptofs += irc_diff;
+
mcs->pxms_ap += pos_diff;
mcs->pxms_rp += pos_diff;
return 0;
irc = fpga_irc[chan]->count;
pos_diff = mcs->pxms_ap - (irc << PXMC_SUBDIV(mcs));
- pxmc_rocon_irc_offset[chan] = pos_diff >> PXMC_SUBDIV(mcs);
+
+ irc = pos_diff >> PXMC_SUBDIV(mcs);
+
+ /* Adjust phase table alignemt to modified IRC readout */
+ mcs->pxms_ptofs += irc - pxmc_rocon_irc_offset[chan];
+
+ pxmc_rocon_irc_offset[chan] = irc;
return 0;
}
+int
+pxmc_inp_rocon_ptofs_from_index_poll(struct pxmc_state *mcs, int diff2err)
+{
+ int chan=mcs->pxms_inp_info;
+ long irc;
+ long index_irc;
+
+ if (!(*fpga_irc_state[chan] & FPGA_IRC_STATE_INDEX_EVENT_MASK))
+ return 0;
+
+ irc = fpga_irc[chan]->count + pxmc_rocon_irc_offset[chan];
+ index_irc = fpga_irc[chan]->count_index + pxmc_rocon_irc_offset[chan];
+
+ return pxmc_ptofs_from_index(mcs, irc, index_irc, diff2err);
+}
+
+uint32_t pxmc_rocon_receiver_dummy_reg;
+
+static inline volatile uint32_t *
+pxmc_rocon_receiver_chan2reg(unsigned chan)
+{
+ volatile uint32_t *rec_reg;
+
+ if (chan >= 16)
+ return &pxmc_rocon_receiver_dummy_reg;
+
+ rec_reg = fpga_lx_master_receiver_base;
+
+ #ifdef LXPWR_WITH_SIROLADC
+ rec_reg += LX_MASTER_DATA_OFFS + 1 + (chan >> 3) * 3 + chan * 2;
+ #else /*LXPWR_WITH_SIROLADC*/
+ rec_reg += LX_MASTER_DATA_OFFS + chan;
+ #endif /*LXPWR_WITH_SIROLADC*/
+
+ return rec_reg;
+}
+
inline unsigned
-pxmc_rocon_bdc_hal_rd(pxmc_state_t *mcs)
+pxmc_rocon_bldc_hal_rd(pxmc_state_t *mcs)
{
unsigned h = 0;
- /* FIXME */
- h = 1;
+ volatile uint32_t *rec_reg_a, *rec_reg_b, *rec_reg_c;
+ int chan = mcs->pxms_out_info;
+ int hal_offs;
+
+ #ifdef LXPWR_WITH_SIROLADC
+ hal_offs = 1;
+ #else /*LXPWR_WITH_SIROLADC*/
+ hal_offs = 0;
+ #endif /*LXPWR_WITH_SIROLADC*/
+
+ rec_reg_a = pxmc_rocon_receiver_chan2reg(chan + 0);
+ rec_reg_b = pxmc_rocon_receiver_chan2reg(chan + 1);
+ rec_reg_c = pxmc_rocon_receiver_chan2reg(chan + 2);
+
+ h = (rec_reg_a[hal_offs] >> 14) & 1;
+ h |= (rec_reg_b[hal_offs] >> 13) & 2;
+ h |= (rec_reg_c[hal_offs] >> 12) & 4;
+
/* return 3 bits corresponding to the HAL senzor input */
return h;
}
return &pxmc_rocon_pwm_dummy_reg;
pwm_reg = fpga_lx_master_transmitter_base;
- pwm_reg += 1 + (chan >> 8) + chan;
+
+ #ifdef LXPWR_WITH_SIROLADC
+ pwm_reg += LX_MASTER_DATA_OFFS + 1 + (chan >> 3) + chan;
+ #else /*LXPWR_WITH_SIROLADC*/
+ pwm_reg += LX_MASTER_DATA_OFFS + chan;
+ #endif /*LXPWR_WITH_SIROLADC*/
+
return pwm_reg;
}
volatile uint32_t *pwm_reg_a, *pwm_reg_b, *pwm_reg_c;
int chan = mcs->pxms_out_info;
- pwm_reg_a = pxmc_rocon_pwm_chan2reg(chan + 0);
+ pwm_reg_c = pxmc_rocon_pwm_chan2reg(chan + 0);
pwm_reg_b = pxmc_rocon_pwm_chan2reg(chan + 1);
- pwm_reg_c = pxmc_rocon_pwm_chan2reg(chan + 2);
+ pwm_reg_a = pxmc_rocon_pwm_chan2reg(chan + 2);
*pwm_reg_a = pwm1;
*pwm_reg_b = pwm2;
}
/**
- * pxmc_rocon_pwm_out - Phase output for brush-less 3-phase motor
+ * pxmc_rocon_pwm3ph_out - Phase output for brush-less 3-phase motor
* @mcs: Motion controller state information
*/
int
pxmc_rocon_pwm3ph_out(pxmc_state_t *mcs)
{
+ typeof(mcs->pxms_ptvang) ptvang;
+ int sync_mode = 0;
unsigned char hal_pos;
short pwm1;
short pwm2;
short ptirc = mcs->pxms_ptirc;
short divisor = mcs->pxms_ptper * 6;
- hal_pos = pxmc_lpc_bdc_hal_pos_table[pxmc_rocon_bdc_hal_rd(mcs)];
+ #if 0
+ pxmc_irc_16bit_commindx(mcs, mcs->pxms_rp >> PXMC_SUBDIV(mcs));
+ sync_mode = 1;
+ #elif 0
+ {
+ int res;
+ res = pxmc_inp_rocon_ptofs_from_index_poll(mcs, 0);
+ if (res < 0) {
+ pxmc_set_errno(mcs, PXMS_E_I2PT_TOOBIG);
+ } else if (res) {
+ pxmc_set_flag(mcs, PXMS_PTI_b);
+ pxmc_set_flag(mcs, PXMS_PHA_b);
+ }
+ }
+ #else
+
+ hal_pos = pxmc_lpc_bdc_hal_pos_table[pxmc_rocon_bldc_hal_rd(mcs)];
if (hal_pos == 0xff)
{
pxmc_set_flag(mcs, PXMS_PTI_b);
pxmc_clear_flag(mcs, PXMS_PRA_b);
-
- /* if phase table position to mask is know do fine phase table alignment */
- if (mcs->pxms_cfg & PXMS_CFG_I2PT_m)
- lpc_qei_setup_index_catch(&lpc_qei_state);
-
}
else
{
if (!(mcs->pxms_flg & PXMS_PTI_m))
mcs->pxms_ptindx = ptindx;
}
+ } else {
+ /* if phase table position to mask is know do fine phase table alignment */
+ if (mcs->pxms_cfg & PXMS_CFG_I2PT_m) {
+ int res;
+ res = pxmc_inp_rocon_ptofs_from_index_poll(mcs, 0);
+ if (res < 0) {
+ pxmc_set_errno(mcs, PXMS_E_I2PT_TOOBIG);
+ } else if (res) {
+ pxmc_set_flag(mcs, PXMS_PTI_b);
+ pxmc_set_flag(mcs, PXMS_PHA_b);
+ }
+ }
}
-
mcs->pxms_hal = hal_pos;
}
+ #endif
}
{
/* pxmc_set_errno(mcs, PXMS_E_WINDCURRENT); */
}
- ene = mcs->pxms_ene;
+ if (!sync_mode) {
+ ptvang = mcs->pxms_ptvang;
+ ene = mcs->pxms_ene;
+ } else {
+ ptvang = 0;
+ ene = mcs->pxms_flg & PXMS_BSY_m? mcs->pxms_me: 0;
+ }
- if (ene)
- {
+ if (ene) {
indx = mcs->pxms_ptindx;
#if 1
/* tuning of magnetic field/voltage advance angle */
/* Generating direction of stator mag. field for backward torque */
ene = -ene;
- if ((indx -= mcs->pxms_ptvang) < 0)
+ if ((indx -= ptvang) < 0)
indx += mcs->pxms_ptirc;
}
else
{
/* Generating direction of stator mag. field for forward torque */
- if ((indx += mcs->pxms_ptvang) >= mcs->pxms_ptirc)
+ if ((indx += ptvang) >= mcs->pxms_ptirc)
indx -= mcs->pxms_ptirc;
}
return 0;
}
+/**
+ * pxmc_rocon_pwm2ph_wr - Output of the 2-phase stepper motor PWM to the hardware
+ * @mcs: Motion controller state information
+ */
+/*static*/ inline void
+pxmc_rocon_pwm2ph_wr(pxmc_state_t *mcs, short pwm1, short pwm2)
+{
+ volatile uint32_t *pwm_reg_ap, *pwm_reg_an, *pwm_reg_bp, *pwm_reg_bn;
+ int chan = mcs->pxms_out_info;
+
+ pwm_reg_bn = pxmc_rocon_pwm_chan2reg(chan + 0);
+ pwm_reg_bp = pxmc_rocon_pwm_chan2reg(chan + 1);
+ pwm_reg_an = pxmc_rocon_pwm_chan2reg(chan + 2);
+ pwm_reg_ap = pxmc_rocon_pwm_chan2reg(chan + 3);
+
+ if (pwm2 >= 0) {
+ *pwm_reg_bp = pwm2 | 0x4000;
+ *pwm_reg_bn = 0;
+ } else {
+ *pwm_reg_bp = 0;
+ *pwm_reg_bn = -pwm2 | 0x4000;
+ }
+
+ if (pwm1 >= 0) {
+ *pwm_reg_ap = pwm1 | 0x4000;
+ *pwm_reg_an = 0;
+ } else {
+ *pwm_reg_ap = 0;
+ *pwm_reg_an = -pwm1 | 0x4000;
+ }
+}
+
+/**
+ * pxmc_rocon_pwm2ph_out - Phase output of the 2-phase stepper motor PWM
+ * @mcs: Motion controller state information
+ */
+int
+pxmc_rocon_pwm2ph_out(pxmc_state_t *mcs)
+{
+ typeof(mcs->pxms_ptvang) ptvang;
+ int sync_mode = 0;
+ short pwm1;
+ short pwm2;
+ int indx = 0;
+ short ene;
+ int wind_current[4];
+
+ if(!(mcs->pxms_flg&PXMS_PTI_m) || !(mcs->pxms_flg&PXMS_PHA_m) ||
+ (mcs->pxms_flg&PXMS_PRA_m)){
+ short ptindx;
+ short ptirc=mcs->pxms_ptirc;
+
+ #if 0
+ pxmc_irc_16bit_commindx(mcs, mcs->pxms_rp >> PXMC_SUBDIV(mcs));
+ sync_mode = 1;
+ #elif 1
+ {
+ int res;
+ res = pxmc_inp_rocon_ptofs_from_index_poll(mcs, 0);
+ if (res < 0) {
+ pxmc_set_errno(mcs, PXMS_E_I2PT_TOOBIG);
+ } else if (res) {
+ pxmc_set_flag(mcs, PXMS_PTI_b);
+ pxmc_set_flag(mcs, PXMS_PHA_b);
+ }
+ }
+ #else
+
+ ptindx = mcs->pxms_ptindx;
+
+ if(0 && (!(mcs->pxms_flg&PXMS_PTI_m) || (mcs->pxms_flg&PXMS_PRA_m))) {
+
+ mcs->pxms_ptindx = ptindx;
+
+ mcs->pxms_ptofs = (mcs->pxms_ap >> PXMC_SUBDIV(mcs)) + mcs->pxms_ptshift - ptindx;
+
+ pxmc_set_flag(mcs, PXMS_PTI_b);
+ pxmc_clear_flag(mcs, PXMS_PRA_b);
+
+ /* if phase table position to mask is know do fine phase table alignment */
+ //if(mcs->pxms_cfg & PXMS_CFG_I2PT_m)
+ // lpc_qei_setup_index_catch(&lpc_qei_state);
+
+ } else {
+ if(!(mcs->pxms_flg&PXMS_PTI_m))
+ mcs->pxms_ptindx = ptindx;
+ }
+ #endif
+ }
+
+ {
+ /*wind_current[0]=(ADC->ADDR0 & 0xFFF0)>>4;*/
+ /* FIXME - check winding current against limit */
+ /* pxmc_set_errno(mcs, PXMS_E_WINDCURRENT); */
+ }
+
+ if (!sync_mode) {
+ ptvang = mcs->pxms_ptvang;
+ ene = mcs->pxms_ene;
+ } else {
+ ptvang = 0;
+ ene = mcs->pxms_flg & PXMS_BSY_m? mcs->pxms_me: 0;
+ }
+
+ if (ene) {
+ indx = mcs->pxms_ptindx;
+ #if 0
+ /* tuning of magnetic field/voltage advance angle */
+ indx += (mcs->pxms_s1 * mcs->pxms_as) >> (PXMC_SUBDIV(mcs) + 8);
+ #endif
+ if (ene<0){
+ /* Generating direction of stator mag. field for backward torque */
+ ene = -ene;
+ if ((indx -= ptvang)<0)
+ indx += mcs->pxms_ptirc;
+ }else{
+ /* Generating direction of stator mag. field for forward torque */
+ if ((indx += ptvang) >= mcs->pxms_ptirc)
+ indx -= mcs->pxms_ptirc;
+ }
+
+ if (mcs->pxms_ptscale_mult)
+ indx = ((unsigned long)indx * mcs->pxms_ptscale_mult) >> mcs->pxms_ptscale_shift;
+
+ pwm1 = mcs->pxms_ptptr1[indx];
+ pwm2 = mcs->pxms_ptptr2[indx];
+
+ /* Default phase-table amplitude is 0x7fff, ene max is 0x7fff */
+ /* Initialized PWM period is 0x200 => divide by value about 2097024 */
+ {
+ unsigned long pwm_dc = pxmc_rocon_pwm_magnitude * (unsigned long)ene;
+ pwm1 = ((unsigned long long)pwm1 * pwm_dc) >> (15+15);
+ pwm2 = ((unsigned long long)pwm2 * pwm_dc) >> (15+15);
+ }
+ pxmc_rocon_pwm2ph_wr(mcs, pwm1, pwm2);
+ }else{
+ /*pxmc_lpc_wind_current_over_cnt = 0;*/
+ pxmc_rocon_pwm2ph_wr(mcs, 0, 0);
+ }
+
+ return 0;
+}
+
+/**
+ * pxmc_rocon_pwm_dc_out - DC motor CW and CCW PWM output
+ * @mcs: Motion controller state information
+ */
int
pxmc_rocon_pwm_dc_out(pxmc_state_t *mcs)
{
return 0;
}
-/* PWM outputs placed on (PWM1), PWM2, PWM4, PWM6 */
+/*******************************************************************/
+/* PXMCC - PXMC coprocessor support and communication */
+
+void pxmcc_pxmc_ptofs2mcc(pxmc_state_t *mcs, int enable_update)
+{
+ volatile pxmcc_axis_data_t *mcc_axis = pxmc_rocon_mcs2pxmcc(mcs);
+ int inp_chan=mcs->pxms_inp_info;
+ uint32_t ptofs;
+ uint32_t irc;
+
+ if (mcc_axis != NULL) {
+ if (enable_update >= 0)
+ mcc_axis->ptirc = 0xffffffff;
+ ptofs = mcs->pxms_ptofs - pxmc_rocon_irc_offset[inp_chan];
+ irc = fpga_irc[inp_chan]->count;
+ ptofs = (int16_t)(ptofs - irc) + irc;
+ mcc_axis->ptofs = ptofs;
+ if (enable_update > 0) {
+ mcc_axis->ptirc = mcs->pxms_ptirc;
+ }
+ }
+}
+
+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)
+{
+ int32_t cur_d_raw;
+ int32_t cur_q_raw;
+ pxmc_rocon_state_t *mcsrc = pxmc_state2rocon_state(mcs);
+
+ if (!(mcs->pxms_flg & PXMS_PTI_m) || !(mcs->pxms_flg & PXMS_PHA_m) ||
+ (mcs->pxms_flg & PXMS_PRA_m)) {
+ short ptindx;
+ short ptirc = mcs->pxms_ptirc;
+ short divisor = mcs->pxms_ptper * 6;
+ unsigned char hal_pos;
+
+ hal_pos = pxmc_lpc_bdc_hal_pos_table[pxmc_rocon_bldc_hal_rd(mcs)];
+
+ if (hal_pos == 0xff) {
+ if (mcs->pxms_ene)
+ pxmc_rocon_process_hal_error(mcs);
+ } else {
+ if (mcs->pxms_halerc)
+ mcs->pxms_halerc--;
+
+ ptindx = (hal_pos * ptirc + divisor / 2) / divisor;
+
+ if (!(mcs->pxms_flg & PXMS_PTI_m) || (mcs->pxms_flg & PXMS_PRA_m)) {
+ int set_ptofs_fl = 0;
+ int ptofs_enable_update = 0;
+
+ if (((hal_pos != mcs->pxms_hal) && (mcs->pxms_hal != 0x40)) && 1) {
+ short ptindx_prev = (mcs->pxms_hal * ptirc + divisor / 2) / divisor;;
+
+ if ((ptindx > ptindx_prev + ptirc / 2) ||
+ (ptindx_prev > ptindx + ptirc / 2)) {
+ ptindx = (ptindx_prev + ptindx - ptirc) / 2;
+
+ if (ptindx < 0)
+ ptindx += ptirc;
+ } else {
+ ptindx = (ptindx_prev + ptindx) / 2;
+ }
+
+ set_ptofs_fl = 1;
+ ptofs_enable_update = 1;
+
+ pxmc_set_flag(mcs, PXMS_PTI_b);
+ pxmc_clear_flag(mcs, PXMS_PRA_b);
+ } else {
+ if (!(mcs->pxms_flg & PXMS_PTI_m))
+ set_ptofs_fl = 1;
+ }
+ if (set_ptofs_fl) {
+ mcs->pxms_ptindx = ptindx;
+ mcs->pxms_ptofs = (mcs->pxms_ap >> PXMC_SUBDIV(mcs)) + mcs->pxms_ptshift - ptindx;
+
+ pxmcc_pxmc_ptofs2mcc(mcs, ptofs_enable_update);
+ }
+ } else {
+ /* if phase table position to mask is know do fine phase table alignment */
+ if (mcs->pxms_cfg & PXMS_CFG_I2PT_m) {
+ int res;
+
+ res = pxmc_inp_rocon_ptofs_from_index_poll(mcs, 0);
+ if (res < 0) {
+ pxmc_set_errno(mcs, PXMS_E_I2PT_TOOBIG);
+ } else if (res) {
+ pxmcc_pxmc_ptofs2mcc(mcs, 1);
+ pxmc_set_flag(mcs, PXMS_PTI_b);
+ pxmc_set_flag(mcs, PXMS_PHA_b);
+ }
+ }
+ }
+ mcs->pxms_hal = hal_pos;
+ }
+ }
+
+ pxmcc_axis_get_cur_dq_filt_raw(mcs, &cur_d_raw, &cur_q_raw);
+
+ {
+ /*wind_current[0]=(ADC->ADDR0 & 0xFFF0)>>4;*/
+ /* FIXME - check winding current against limit */
+ /* pxmc_set_errno(mcs, PXMS_E_WINDCURRENT); */
+ }
+
+ {
+ int ene, pwm_d, pwm_q;
+
+ ene = mcs->pxms_ene;
+ pwm_d = 0;
+ pwm_q = (pxmc_rocon_pwm_magnitude * ene) >> 15;
+
+ if (mcs->pxms_flg & (PXMS_ENR_m | PXMS_ENO_m)) {
+ int cur_d;
+ int cur_d_req, cur_d_err;
+ int max_pwm = (pxmc_rocon_pwm_magnitude * mcs->pxms_me) >> 15;
+
+ cur_d_req = 0;
+
+ pxmcc_axis_cur_dq_raw2filt(&cur_d, cur_d_raw);
+
+ 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);
+ }
+
+ pxmcc_axis_pwm_dq_out(mcs, pwm_d, pwm_q);
+
+ if (mcs->pxms_flg & PXMS_ERR_m)
+ pxmc_rocon_pwm3ph_wr(mcs, 0, 0, 0);
+ }
+
+ return 0;
+}
+
+int
+pxmc_pxmcc_pwm2ph_out(pxmc_state_t *mcs)
+{
+ pxmc_rocon_state_t *mcsrc = pxmc_state2rocon_state(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_PTI_m) || !(mcs->pxms_flg&PXMS_PHA_m) ||
+ (mcs->pxms_flg&PXMS_PRA_m)) {
+
+ {
+ /* Wait for index mark to align phases */
+ int res;
+ res = pxmc_inp_rocon_ptofs_from_index_poll(mcs, 0);
+ if (res < 0) {
+ pxmc_set_errno(mcs, PXMS_E_I2PT_TOOBIG);
+ } else if (res) {
+ pxmcc_pxmc_ptofs2mcc(mcs, 1);
+ pxmc_set_flag(mcs, PXMS_PTI_b);
+ pxmc_set_flag(mcs, PXMS_PHA_b);
+ } else {
+ pxmcc_pxmc_ptofs2mcc(mcs, 0);
+ }
+ }
+ }
+
+ {
+ int ene, pwm_d, pwm_q;
+
+ ene = mcs->pxms_ene;
+ pwm_d = 0;
+
+ if (mcs->pxms_flg & PXMS_PHA_m &&
+ (mcs->pxms_flg & (PXMS_ENR_m | PXMS_ENO_m))) {
+ int cur_d;
+ int cur_d_req, cur_d_err;
+ int max_pwm = (pxmc_rocon_pwm_magnitude * mcs->pxms_me) >> 15;
+
+ cur_d_req = 0;
+
+ pxmcc_axis_cur_dq_raw2filt(&cur_d, cur_d_raw);
+
+ 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_q = (pxmc_rocon_pwm_magnitude * ene) >> 15;
+
+ pxmcc_axis_pwm_dq_out(mcs, pwm_d, pwm_q);
+
+ if (mcs->pxms_flg & PXMS_ERR_m)
+ pxmc_rocon_pwm2ph_wr(mcs, 0, 0);
+ }
+
+ 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;
+ int i;
+ int phcnt = 0;
+ int pwm_chan;
+
+ if (mcc_axis == NULL)
+ return -1;
+
+ if (mcc_data->common.fwversion != PXMCC_FWVERSION)
+ return -1;
+
+ mcc_axis->ccflg = 0;
+ mcc_axis->mode = PXMCC_MODE_IDLE;
+
+ mcc_data->common.pwm_cycle = PXMC_LXPWR_PWM_CYCLE;
+
+ ptirc = mcs->pxms_ptirc;
+ ull = (1ULL << 32) * mcs->pxms_ptper;
+ ptreci = (ull + ptirc / 2) / ptirc;
+
+ mcc_axis->ptreci = ptreci;
+
+ 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;
+ break;
+ case PXMCC_MODE_BLDC:
+ phcnt = 3;
+ break;
+ 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 = inp_info;
+ mcc_axis->out_info = mcs->pxms_out_info;
+
+ pwm_chan = mcs->pxms_out_info;
+
+ pwmtx_info = (pwmtx_info_dummy << 0) | (pwmtx_info_dummy << 8) |
+ (pwmtx_info_dummy << 16) | (pwmtx_info_dummy << 24);
+
+ for (i = phcnt; --i >= 0; ) {
+ volatile uint32_t *pwm_reg;
+ volatile uint32_t *pwm_reg_base = fpga_lx_master_transmitter_base;
+
+ pwmtx_info <<= 8;
+
+ pwm_reg = pxmc_rocon_pwm_chan2reg(pwm_chan + i);
+ if (pwm_reg == &pxmc_rocon_pwm_dummy_reg) {
+ pwmtx_info |= pwmtx_info_dummy;
+ } else {
+ pwmtx_info |= pwm_reg - pwm_reg_base;
+ }
+ }
+
+ mcc_axis->pwmtx_info = pwmtx_info;
+
+ mcc_axis->mode = mode;
+
+ 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;
+
+ if (mode != PXMCC_MODE_STEPPER) {
+ pxmcc_pxmc_ptofs2mcc(mcs, 1);
+ }
+ return 0;
+}
+
+/*******************************************************************/
+
+volatile void *pxmc_rocon_rx_data_hist_buff;
+volatile void *pxmc_rocon_rx_data_hist_buff_end;
+int pxmc_rocon_rx_data_hist_mode;
+
+uint32_t pxmc_rocon_rx_last_irq;
+uint32_t pxmc_rocon_rx_cycle_time;
+uint32_t pxmc_rocon_rx_irq_latency;
+uint32_t pxmc_rocon_rx_irq_latency_max;
+
+IRQ_HANDLER_FNC(pxmc_rocon_rx_done_isr)
+{
+ uint32_t ir;
+
+ ir = ROCON_RX_TIM->IR & LPC_TIM_IR_ALL_m;
+ ROCON_RX_TIM->IR = ir;
+ if (ir & LPC_TIM_IR_CR1INT_m) {
+ uint32_t cr0, cr1;
+ cr0 = ROCON_RX_TIM->CR0;
+ cr1 = ROCON_RX_TIM->CR1;
+
+ pxmc_rocon_rx_cycle_time = cr1 - pxmc_rocon_rx_last_irq;
+ pxmc_rocon_rx_last_irq = cr1;
+
+ hal_gpio_set_value(T2MAT0_PIN, 1);
+ hal_gpio_set_value(T2MAT1_PIN, 0);
+ hal_gpio_set_value(T2MAT0_PIN, 0);
+
+ if (pxmc_rocon_rx_data_hist_buff >= pxmc_rocon_rx_data_hist_buff_end)
+ pxmc_rocon_rx_data_hist_buff = NULL;
+
+ if (pxmc_rocon_rx_data_hist_buff != NULL) {
+ if (pxmc_rocon_rx_data_hist_mode == 0) {
+ int i;
+ volatile uint32_t *pwm_reg = fpga_lx_master_transmitter_base + 8;
+ volatile uint32_t *rec_reg = fpga_lx_master_receiver_base + 8;
+ uint16_t *pbuf = (uint16_t *)pxmc_rocon_rx_data_hist_buff;
+ for (i = 0; i < 8; i++) {
+ *(pbuf++) = *(rec_reg++);
+ }
+ for (i = 0; i < 8; i++) {
+ *(pbuf++) = *(pwm_reg++);
+ }
+ pxmc_rocon_rx_data_hist_buff = pbuf;
+ } else if (pxmc_rocon_rx_data_hist_mode == 1) {
+ int i;
+ uint32_t *pbuf = (uint32_t *)pxmc_rocon_rx_data_hist_buff;
+ pxmcc_data_t *mcc_data = pxmc_rocon_mcc_data();
+ pxmcc_axis_data_t *mcc_axis = mcc_data->axis + 0;
+ uint32_t *ptumbl = (uint32_t *)mcc_axis;
+
+ for (i = 0; i < 16; i++)
+ *(pbuf++) = *(ptumbl++);
+
+ pxmc_rocon_rx_data_hist_buff = pbuf;
+ }
+ }
+
+ pxmc_rocon_rx_irq_latency = ROCON_RX_TIM->TC - cr1;
+ if (pxmc_rocon_rx_irq_latency > pxmc_rocon_rx_irq_latency_max)
+ pxmc_rocon_rx_irq_latency_max = pxmc_rocon_rx_irq_latency;
+
+ #ifdef PXMC_ROCON_TIMED_BY_RX_DONE
+ pxmc_sfi_isr();
+ do_pxmc_coordmv();
+ #endif /*PXMC_ROCON_TIMED_BY_RX_DONE*/
+ }
+
+ return IRQ_HANDLED;
+}
+
+int
+pxmc_rocon_rx_done_isr_setup(irq_handler_t rx_done_isr_handler)
+{
+
+ disable_irq(ROCON_RX_IRQn);
+
+ hal_pin_conf_set(T2MAT0_PIN, PORT_CONF_GPIO_OUT_LO);
+ hal_pin_conf_set(T2MAT1_PIN, PORT_CONF_GPIO_OUT_LO);
+ hal_pin_conf(T2CAP0_PIN);
+ hal_pin_conf(T2CAP1_PIN);
+
+ hal_gpio_direction_output(T2MAT0_PIN, 1);
+ hal_gpio_direction_output(T2MAT1_PIN, 0);
+ hal_gpio_set_value(T2MAT0_PIN, 0);
+
+ /* Enable CLKOUT pin function, source CCLK, divide by 1 */
+ LPC_SC->CLKOUTCFG = 0x0100;
+
+ request_irq(ROCON_RX_IRQn, rx_done_isr_handler, 0, NULL,NULL);
+
+ ROCON_RX_TIM->TCR = 0;
+ ROCON_RX_TIM->CTCR = 0;
+ ROCON_RX_TIM->PR = 0; /* Divide by 1 */
+
+ ROCON_RX_TIM->CCR = LPC_TIM_CCR_CAP0RE_m | LPC_TIM_CCR_CAP1FE_m |
+ LPC_TIM_CCR_CAP1I_m;
+
+ ROCON_RX_TIM->EMR = __val2mfld(LPC_TIM_EMR_EMC0_m, LPC_TIM_EMR_NOP) |
+ __val2mfld(LPC_TIM_EMR_EMC1_m, LPC_TIM_EMR_NOP);
+
+ ROCON_RX_TIM->MCR = 0; /* No IRQ on MRx */
+ ROCON_RX_TIM->TCR = LPC_TIM_TCR_CEN_m; /* Enable timer counting */
+ enable_irq(ROCON_RX_IRQn); /* Enable interrupt */
+
+ return 0;
+
+}
+
int
pxmc_rocon_pwm_master_init(void)
{
int i;
+ int grp_in = 0;
+ int grp_out = 0;
+ unsigned word_slot;
+ unsigned receiver_done_div = 1;
+ #ifdef LXPWR_WITH_SIROLADC
+ unsigned lxpwr_header = 1;
+ unsigned lxpwr_words = 1 + 8 * 2 + 2;
+ unsigned lxpwr_chips = 2;
+ unsigned lxpwr_chip_pwm_cnt = 8;
+ #else /*LXPWR_WITH_SIROLADC*/
+ unsigned lxpwr_header = 0;
+ unsigned lxpwr_words = 8;
+ unsigned lxpwr_chips = 2;
+ unsigned lxpwr_chip_pwm_cnt = 8;
+ #endif /*LXPWR_WITH_SIROLADC*/
+
+ #ifdef PXMC_ROCON_TIMED_BY_RX_DONE
+ receiver_done_div = 5;
+ #endif /*PXMC_ROCON_TIMED_BY_RX_DONE*/
*fpga_lx_master_reset = 1;
*fpga_lx_master_transmitter_reg = 0;
+ *fpga_lx_master_transmitter_cycle = PXMC_LXPWR_PWM_CYCLE; /* 50 MHz -> 20 kHz */
+ *fpga_lx_master_receiver_done_div = receiver_done_div << 8;
+
+ for (i = 0; i < LX_MASTER_DATA_OFFS + lxpwr_words * lxpwr_chips; i++)
+ fpga_lx_master_receiver_base[i] = 0;
+
+ word_slot = LX_MASTER_DATA_OFFS;
+ fpga_lx_master_receiver_base[grp_in++] = (word_slot << 8) | lxpwr_words;
+ fpga_lx_master_receiver_base[grp_in++] = 0x0000;
+
+ for (i = 0; i < LX_MASTER_DATA_OFFS + lxpwr_words * lxpwr_chips; i++)
+ fpga_lx_master_transmitter_base[i] = 0;
- for (i = 0; i < 16 + 3; i ++)
- fpga_lx_master_transmitter_base[0] = 0;
+ word_slot = LX_MASTER_DATA_OFFS + lxpwr_header + lxpwr_chip_pwm_cnt;
+ fpga_lx_master_transmitter_base[grp_out++] = (word_slot << 8) | lxpwr_words;
+ #ifdef LXPWR_WITH_SIROLADC
+ fpga_lx_master_transmitter_base[word_slot] = 0xc100 | (lxpwr_words - 1);
+ #endif /*LXPWR_WITH_SIROLADC*/
- fpga_lx_master_transmitter_base[0] = 8;
+ word_slot = LX_MASTER_DATA_OFFS + 0;
+ fpga_lx_master_transmitter_base[grp_out++] = (word_slot << 8) | lxpwr_words;
+ #ifdef LXPWR_WITH_SIROLADC
+ fpga_lx_master_transmitter_base[word_slot] = 0xc100 | (lxpwr_words - 1);
+ #endif /*LXPWR_WITH_SIROLADC*/
+
+ fpga_lx_master_transmitter_base[grp_out++] = 0x0000;
*fpga_lx_master_reset = 0;
+ *fpga_lx_master_transmitter_cycle = PXMC_LXPWR_PWM_CYCLE; /* 50 MHz -> 20 kHz */
+ *fpga_lx_master_receiver_done_div = receiver_done_div << 8;
return 0;
}
+int pxmc_ptofs_from_index(pxmc_state_t *mcs, unsigned long irc,
+ unsigned long index_irc, int diff2err)
+{
+ long ofsl;
+ short ofs;
+
+ ofs = ofsl = index_irc - mcs->pxms_ptmark;
+
+ if (diff2err) {
+ short diff;
+ diff = (unsigned short)ofs - (unsigned short)mcs->pxms_ptofs;
+ if (diff >= mcs->pxms_ptirc / 2)
+ diff -= mcs->pxms_ptirc;
+ if (diff <= -mcs->pxms_ptirc / 2)
+ diff += mcs->pxms_ptirc;
+ if (diff < 0)
+ diff = -diff;
+ if(diff >= mcs->pxms_ptirc / 6) {
+ return -1;
+ }
+ } else {
+ long diff;
+ diff = (unsigned long)ofsl - irc;
+ ofs = ofsl - (diff / mcs->pxms_ptirc) * mcs->pxms_ptirc;
+ }
+
+ mcs->pxms_ptofs = ofs;
+
+ return 1;
+}
+
+/**
+ * pxmc_dummy_con - Dummy controller for synchronous BLDC/PMSM/steper drive
+ * @mcs: Motion controller state information
+ */
+int
+pxmc_dummy_con(pxmc_state_t *mcs)
+{
+ return 0;
+}
+
int pxmc_rocon_hh_gd10(pxmc_state_t *mcs);
int pxmc_rocon_hh_gd20(pxmc_state_t *mcs);
int pxmc_rocon_hh_gd30(pxmc_state_t *mcs);
return pxmc_rocon_hh_gi;
}
-pxmc_state_t mcs0 =
+pxmc_rocon_state_t mcs0 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
pxmc_inp_rocon_inp,
pxms_do_con:
- pxmc_pid_con,
+ pxmc_pid_con /*pxmc_dummy_con*/,
pxms_do_out:
- pxmc_rocon_pwm_dc_out,
+ pxmc_rocon_pwm_dc_out /*pxmc_rocon_pwm3ph_out*/,
pxms_do_deb: 0,
pxms_do_gen: 0,
pxms_do_ap2hw:
pxmc_inp_rocon_ap2hw,
pxms_ap: 0, pxms_as: 0,
pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
- pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+ pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
pxms_inp_info: 0,
pxms_out_info: 0,
pxms_ene: 0, pxms_erc: 0,
- pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+ pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
pxms_me: 0x7e00/*0x7fff*/,
pxms_cfg:
- PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_I2PT_m * 0 |
- 0x1,
+ PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_HPS_m * 0 |
+ PXMS_CFG_HRI_m * 0 | PXMS_CFG_HDIR_m * 0 |
+ PXMS_CFG_I2PT_m * 0 | 0x2,
pxms_ptper: 1,
pxms_ptirc: 1000,
+ pxms_ptmark: 1180,
/*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:
pxmc_inp_rocon_ap2hw,
pxms_ap: 0, pxms_as: 0,
pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
- pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+ pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
pxms_inp_info: 1,
pxms_out_info: 2,
pxms_ene: 0, pxms_erc: 0,
- pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+ pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
pxms_me: 0x7e00/*0x7fff*/,
pxms_cfg:
- PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_I2PT_m * 0 |
- 0x1,
+ PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_HPS_m * 0 |
+ PXMS_CFG_HRI_m * 0 | PXMS_CFG_HDIR_m * 0 |
+ PXMS_CFG_I2PT_m * 0 | 0x2,
pxms_ptper: 1,
pxms_ptirc: 1000,
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
-};
+}};
-pxmc_state_t mcs2 =
+pxmc_rocon_state_t mcs2 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
pxmc_inp_rocon_ap2hw,
pxms_ap: 0, pxms_as: 0,
pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
- pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+ pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
pxms_inp_info: 2,
pxms_out_info: 4,
pxms_ene: 0, pxms_erc: 0,
- pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+ pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
pxms_me: 0x7e00/*0x7fff*/,
pxms_cfg:
- PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_I2PT_m * 0 |
- 0x1,
+ PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_HPS_m * 0 |
+ PXMS_CFG_I2PT_m * 0 | PXMS_CFG_HRI_m |
+ PXMS_CFG_HDIR_m | 0x2,
pxms_ptper: 1,
pxms_ptirc: 1000,
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
-};
+}};
-pxmc_state_t mcs3 =
+pxmc_rocon_state_t mcs3 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
pxmc_inp_rocon_ap2hw,
pxms_ap: 0, pxms_as: 0,
pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
- pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+ pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
pxms_inp_info: 3,
pxms_out_info: 6,
pxms_ene: 0, pxms_erc: 0,
- pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+ pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
pxms_me: 0x7e00/*0x7fff*/,
pxms_cfg:
- PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_I2PT_m * 0 |
- 0x1,
+ PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_HPS_m * 0 |
+ PXMS_CFG_I2PT_m * 0 | PXMS_CFG_HRI_m |
+ PXMS_CFG_HDIR_m * 0 | 0x2,
pxms_ptper: 1,
pxms_ptirc: 1000,
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
-};
+}};
-pxmc_state_t mcs4 =
+pxmc_rocon_state_t mcs4 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
pxmc_inp_rocon_ap2hw,
pxms_ap: 0, pxms_as: 0,
pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
- pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+ pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
pxms_inp_info: 4,
pxms_out_info: 8,
pxms_ene: 0, pxms_erc: 0,
- pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+ pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
pxms_me: 0x7e00/*0x7fff*/,
pxms_cfg:
- PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_I2PT_m * 0 |
- 0x1,
+ PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_HPS_m * 0 |
+ PXMS_CFG_HRI_m | PXMS_CFG_I2PT_m * 0 |
+ PXMS_CFG_HDIR_m | 0x2,
pxms_ptper: 1,
pxms_ptirc: 1000,
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
-};
+}};
-pxmc_state_t mcs5 =
+pxmc_rocon_state_t mcs5 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
pxmc_inp_rocon_ap2hw,
pxms_ap: 0, pxms_as: 0,
pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
- pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+ pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
pxms_inp_info: 5,
pxms_out_info: 10,
pxms_ene: 0, pxms_erc: 0,
- pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+ pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
pxms_me: 0x7e00/*0x7fff*/,
pxms_cfg:
- PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_I2PT_m * 0 |
- 0x1,
+ PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_HPS_m |
+ PXMS_CFG_HRI_m | PXMS_CFG_I2PT_m * 0 |
+ PXMS_CFG_HDIR_m | 0x2,
pxms_ptper: 1,
pxms_ptirc: 1000,
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
-};
+}};
-pxmc_state_t mcs6 =
+pxmc_rocon_state_t mcs6 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
pxmc_inp_rocon_ap2hw,
pxms_ap: 0, pxms_as: 0,
pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
- pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+ pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
pxms_inp_info: 6,
pxms_out_info: 12,
pxms_ene: 0, pxms_erc: 0,
- pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+ pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
pxms_me: 0x7e00/*0x7fff*/,
pxms_cfg:
PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_I2PT_m * 0 |
/*pxms_ptamp: 0x7fff,*/
pxms_hal: 0x40,
-};
+}};
-pxmc_state_t mcs7 =
+pxmc_rocon_state_t mcs7 =
{
+.base = {
pxms_flg:
PXMS_ENI_m,
pxms_do_inp:
pxmc_inp_rocon_ap2hw,
pxms_ap: 0, pxms_as: 0,
pxms_rp: 55 * 256, pxms_rs: 0, pxms_subdiv: 8,
- pxms_md: 800 << 8, pxms_ms: 1000, pxms_ma: 10,
+ pxms_md: 800 << 8, pxms_ms: 500, pxms_ma: 10,
pxms_inp_info: 7,
pxms_out_info: 14,
pxms_ene: 0, pxms_erc: 0,
- pxms_p: 80, pxms_i: 30, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
+ pxms_p: 80, pxms_i: 10, pxms_d: 200, pxms_s1: 200, pxms_s2: 0,
pxms_me: 0x7e00/*0x7fff*/,
pxms_cfg:
PXMS_CFG_SMTH_m | PXMS_CFG_MD2E_m | PXMS_CFG_HLS_m | PXMS_CFG_I2PT_m * 0 |
/*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 res;
}
+int pxmc_axis_rdmode(pxmc_state_t *mcs)
+{
+ if (mcs->pxms_do_out == pxmc_rocon_pwm2ph_out)
+ return PXMC_AXIS_MODE_STEPPER_WITH_IRC;
+ if (mcs->pxms_do_out == pxmc_rocon_pwm_dc_out)
+ return PXMC_AXIS_MODE_DC;
+ if (mcs->pxms_do_out == pxmc_rocon_pwm3ph_out)
+ return PXMC_AXIS_MODE_BLDC;
+ if (mcs->pxms_do_out == pxmc_pxmcc_pwm3ph_out)
+ 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;
+}
+
+
int
pxmc_axis_pt4mode(pxmc_state_t *mcs, int mode)
{
- int res;
+ static const typeof(*mcs->pxms_ptptr1) dummy0 = 0;
+ int res = 0;
- mcs->pxms_ptvang = pxmc_ptvang_deg2irc(mcs, 90);
+ if (mode == PXMC_AXIS_MODE_NOCHANGE)
+ mode = pxmc_axis_rdmode(mcs);
+ if (mode < 0)
+ return -1;
- /* res = pxmc_init_ptable(mcs, PXMC_PTPROF_SIN3FUP); */
-#ifndef PXMC_WITH_PT_ZIC
- res = pxmc_ptable_set_profile(mcs, &pxmc_ptprofile_sin3phup, 0, 0);
-#else /*PXMC_WITH_PT_ZIC*/
- res = pxmc_ptable_set_profile(mcs, &pxmc_ptprofile_sin3phup_zic, 0, 0);
-#endif /*PXMC_WITH_PT_ZIC*/
+ switch (mode) {
+ /* 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);
+ break;
+ /*case PXMC_AXIS_MODE_STEPPER_WITH_PWM:*/
+ case PXMC_AXIS_MODE_DC:
+ /*profive some sane dummy values*/
+ mcs->pxms_ptptr1 = (typeof(mcs->pxms_ptptr1))&dummy0;
+ mcs->pxms_ptptr2 = (typeof(mcs->pxms_ptptr1))&dummy0;
+ mcs->pxms_ptptr3 = (typeof(mcs->pxms_ptptr1))&dummy0;
+
+ mcs->pxms_ptscale_mult=1;
+ mcs->pxms_ptscale_shift=15;
+ break;
+ case PXMC_AXIS_MODE_BLDC:
+ case PXMC_AXIS_MODE_BLDC_PXMCC:
+ /* res = pxmc_init_ptable(mcs, PXMC_PTPROF_SIN3FUP); */
+ #ifndef PXMC_WITH_PT_ZIC
+ res = pxmc_ptable_set_profile(mcs, &pxmc_ptprofile_sin3phup, 0, 0);
+ #else /*PXMC_WITH_PT_ZIC*/
+ res = pxmc_ptable_set_profile(mcs, &pxmc_ptprofile_sin3phup_zic, 0, 0);
+ #endif /*PXMC_WITH_PT_ZIC*/
+ break;
+ default:
+ return -1;
+ }
+
+ mcs->pxms_ptvang = pxmc_ptvang_deg2irc(mcs, 90);
return res;
}
pxmc_axis_mode(pxmc_state_t *mcs, int mode)
{
int res;
+ int prev_mode;
pxmc_set_const_out(mcs, 0);
pxmc_clear_flag(mcs, PXMS_ENI_b);
+ pxmc_clear_flags(mcs,PXMS_ENO_m);
+ /* Clear possible stall index flags from hardware */
+ pxmc_inp_rocon_is_index_edge(mcs);
pxmc_clear_flag(mcs, PXMS_PHA_b);
pxmc_clear_flag(mcs, PXMS_PTI_b);
+
+ prev_mode = pxmc_axis_rdmode(mcs);
+
+ if (mode == PXMC_AXIS_MODE_NOCHANGE)
+ mode = prev_mode;
+ if (mode < 0)
+ return -1;
if (!mode)
- {
- /*mode=pxmc_axis_rdmode(mcs);*/
- if (!mode)
- mode = PXMC_AXIS_MODE_BLDC;
- }
+ mode = PXMC_AXIS_MODE_DC;
+
+ if ((prev_mode == PXMC_AXIS_MODE_BLDC_PXMCC) ||
+ (prev_mode == PXMCC_MODE_STEPPER_WITH_IRC))
+ pxmcc_axis_setup(mcs, PXMCC_MODE_IDLE);
res = pxmc_axis_pt4mode(mcs, mode);
+ 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:
+ mcs->pxms_do_out = pxmc_rocon_pwm2ph_out;
+ break;
+ /*case PXMC_AXIS_MODE_STEPPER_WITH_PWM:*/
+ case PXMC_AXIS_MODE_DC:
+ mcs->pxms_do_out = pxmc_rocon_pwm_dc_out;
+ break;
+ case PXMC_AXIS_MODE_BLDC:
+ mcs->pxms_do_out = pxmc_rocon_pwm3ph_out;
+ break;
+ case PXMC_AXIS_MODE_BLDC_PXMCC:
+ if (pxmcc_axis_setup(mcs, PXMCC_MODE_BLDC) < 0)
+ return -1;
+ pxmcc_axis_enable(mcs, 1);
+ mcs->pxms_do_out = pxmc_pxmcc_pwm3ph_out;
+ break;
+ case PXMC_AXIS_MODE_STEPPER_WITH_IRC_PXMCC:
+ if (pxmcc_axis_setup(mcs, PXMCC_MODE_STEPPER_WITH_IRC) < 0)
+ return -1;
+ 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;
+ }
+
+ /* Clear possible stall index flags from hardware */
+ pxmc_inp_rocon_is_index_edge(mcs);
+ /* Request new phases alignment for changed parameters */
+ pxmc_clear_flag(mcs, PXMS_PHA_b);
+ pxmc_clear_flag(mcs, PXMS_PTI_b);
pxmc_set_flag(mcs, PXMS_ENI_b);
return res;
}
void pxmc_sfi_isr(void)
{
+ unsigned long spent = pxmc_fast_tick_time();
+
pxmc_sfi_input();
pxmc_sfi_controller_and_output();
pxmc_sfi_generator();
pxmc_sfi_dbg();
+ /* Kick LX Master watchdog */
+ if (pxmc_main_list.pxml_cnt != 0)
+ *fpga_lx_master_transmitter_wdog = 1;
+
+ spent = pxmc_fast_tick_time() - spent;
+
+ if(spent > pxmc_sfi_spent_time_max)
+ pxmc_sfi_spent_time_max = spent;
+
+}
+
+int pxmc_clear_power_stop(void)
+{
+ return 0;
+}
+
+int pxmc_process_state_check(unsigned long *pbusy_bits,
+ unsigned long *perror_bits)
+{
+ unsigned short flg;
+ unsigned short chan;
+ unsigned long busy_bits = 0;
+ unsigned long error_bits = 0;
+ pxmc_state_t *mcs;
+ flg=0;
+ pxmc_for_each_mcs(chan, mcs) {
+ if(mcs) {
+ flg |= mcs->pxms_flg;
+ if (mcs->pxms_flg & PXMS_BSY_m)
+ busy_bits |= 1 << chan;
+ if (mcs->pxms_flg & PXMS_ERR_m)
+ error_bits |= 1 << chan;
+ }
+ }
+ if (appl_errstop_mode) {
+ if((flg & PXMS_ENG_m) && (flg & PXMS_ERR_m)) {
+ pxmc_for_each_mcs(chan, mcs) {
+ if(mcs&&(mcs->pxms_flg & PXMS_ENG_m)) {
+ pxmc_stop(mcs, 0);
+ }
+ }
+ }
+ }
+
+ if (pbusy_bits != NULL)
+ *pbusy_bits = busy_bits;
+ if (error_bits != NULL)
+ *perror_bits = error_bits;
+
+ return flg;
}
int pxmc_done(void)
int pxmc_initialize(void)
{
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;
+ for (i = 0; i < 8; i++) {
+ fpga_irc[i]->count = 0;
+ fpga_irc[i]->count_index = 0;
+ *fpga_irc_state[i] = FPGA_IRC_STATE_INDEX_EVENT_MASK;
+ }
+
/* Initialize QEI module for IRC counting */
pxmc_inp_lpc_qei_init(mcs->pxms_inp_info);
//pxmc_rocon_pwm3ph_wr(mcs, 0, 0, 0);
pxmc_rocon_pwm_master_init();
+ #ifdef PXMC_ROCON_TIMED_BY_RX_DONE
+ pxmc_rocon_rx_done_isr_setup(pxmc_rocon_rx_done_isr);
+ #endif /*PXMC_ROCON_TIMED_BY_RX_DONE*/
pxmc_main_list.pxml_cnt = 0;
pxmc_dbg_hist = NULL;
projects / fpga / lx-cpu1 / lx-rocon.git / blobdiff