Prepare PXMCC data structures to be better prepared for multiple axes support.

Signed-off-by: Pavel Pisa <ppisa@pikron.com>

diff --git a/hw/lx-rocon_firmware/firmware.c b/hw/lx-rocon_firmware/firmware.c
index e15a2ef423e87f28e0ea47d335835d2e1a1b7514..a0cfa494e49b98de28c86a71bc332bf33ce6c6b6 100644 (file)
--- a/hw/lx-rocon_firmware/firmware.c
+++ b/hw/lx-rocon_firmware/firmware.c
@@ -21,6 +21,7 @@
 #define PXMCC_CURADC_CHANNELS 3
 
 #include <stdint.h>
+#include "pxmcc_types.h"
 #include "tumbl_addr.h"
 
 /* k3 = math.sqrt(3) / 2 */
@@ -34,36 +35,7 @@
 /* 1 / (2 * k3) * 65536 */
 #define RECI16_2_K3  37837
 
-typedef struct pxmcc_axis_data_t {
-  uint32_t  ccflg;
-  uint32_t  pwm_dq;    /* D and Q components of PWM (pwm_d << 16) | (pwm_q) & 0xffff */
-  uint32_t  cur_dq;    /* D and Q components current (cur_d << 16) | (cur_q) & 0xffff */
-  uint32_t  ptindx;    /* index into phase table / irc in the cycle */
-  uint32_t  ptirc;     /* IRC count per phase table */
-  uint32_t  ptreci;    /* Reciprocal value of ptirc * 63356  */
-  uint32_t  ptofs;     /* offset between table and IRC counter */
-  int32_t   ptsin;
-  int32_t   ptcos;
-  uint32_t  ptphs;
-  uint32_t  pwm_cycle;
-  uint32_t  cur_d_cum;
-  uint32_t  cur_q_cum;
-
-  uint32_t  act_idle;
-  uint32_t  min_idle;
-  uint32_t  rx_done_sqn;
-} pxmcc_axis_data_t;
-
-typedef struct pxmcc_curadc_data_t {
-  int16_t   cur_val;
-  uint16_t  reserved1;
-  uint16_t  siroladc_offs;
-  uint16_t  siroladc_last;
-} pxmcc_curadc_data_t;
-
-pxmcc_axis_data_t pxmcc_axis[1];
-
-pxmcc_curadc_data_t pxmcc_curadc[PXMCC_CURADC_CHANNELS];
+pxmcc_data_t pxmcc_data;
 
 void init_defvals(void)
 {
@@ -107,19 +79,21 @@ void find_sin_lat(void)
 void main(void)
 {
   uint32_t last_rx_done_sqn = 0;
-  pxmcc_axis_data_t *pxmcc = pxmcc_axis;
+  pxmcc_axis_data_t *pxmcc;
 
+  pxmcc_data.common.fwversion = PXMCC_FWVERSION;
+  pxmcc_data.common.pwm_cycle = 2500;
+  pxmcc_data.common.min_idle = 0x7fff;
+  pxmcc = pxmcc_data.axis;
   pxmcc->ccflg = 0;
   pxmcc->ptindx = 0;
   /*pxmcc->ptofs = *FPGA_IRC0;*/
   pxmcc->ptirc = 1000;
   pxmcc->ptreci = 4294967; /* (1LL<<32)*ptper/ptirc */
-  pxmcc->min_idle = 0;
   pxmcc->pwm_dq = 0;
-  pxmcc->pwm_cycle = 2500;
-  pxmcc_curadc[0].siroladc_offs = 0x0c17;
-  pxmcc_curadc[1].siroladc_offs = 0x0c66;
-  pxmcc_curadc[2].siroladc_offs = 0x0c66;
+  pxmcc_data.curadc[0].siroladc_offs = 0x0c17;
+  pxmcc_data.curadc[1].siroladc_offs = 0x0c66;
+  pxmcc_data.curadc[2].siroladc_offs = 0x0c66;
 
   asm volatile("": : : "memory");
 
@@ -293,19 +267,18 @@ void main(void)
         sqn = *FPGA_LX_MASTER_RX_DDIV;
         idlecnt++;
       } while (sqn == last_rx_done_sqn);
-      pxmcc->act_idle = idlecnt;
-      if (((idlecnt < pxmcc->min_idle) ||
-          (pxmcc->min_idle == 0)) &&
+      pxmcc_data.common.act_idle = idlecnt;
+      if ((idlecnt < pxmcc_data.common.min_idle) &&
           last_rx_done_sqn) {
-        pxmcc->min_idle = idlecnt;
+        pxmcc_data.common.min_idle = idlecnt;
       }
       last_rx_done_sqn = sqn;
-      pxmcc->rx_done_sqn = last_rx_done_sqn;
+      pxmcc_data.common.rx_done_sqn = last_rx_done_sqn;
       asm volatile("": : : "memory");
     }
     {
       int i;
-      pxmcc_curadc_data_t *curadc = pxmcc_curadc;
+      pxmcc_curadc_data_t *curadc = pxmcc_data.curadc;
       volatile uint32_t *siroladc = FPGA_LX_MASTER_RX_ADC0;
       uint16_t val;
 
@@ -351,9 +324,9 @@ void main(void)
       pwm[2] = *FPGA_LX_MASTER_TX_PWM1 & 0x3fff;
       pwm[0] = *FPGA_LX_MASTER_TX_PWM2 & 0x3fff;
 
-      cur[1] = pxmcc_curadc[0].cur_val;
-      cur[2] = pxmcc_curadc[1].cur_val;
-      cur[0] = pxmcc_curadc[2].cur_val;
+      cur[1] = pxmcc_data.curadc[0].cur_val;
+      cur[2] = pxmcc_data.curadc[1].cur_val;
+      cur[0] = pxmcc_data.curadc[2].cur_val;
 
       pwm1 = pwm[0];
       pwm2 = pwm[1];
@@ -378,8 +351,8 @@ void main(void)
       #endif /*COMPUTE_PHASE_SECTOR*/
 
       curmult_idx = (0x00102102 >> (4 * phs)) & 3;
-      pwm_reci = pxmcc->pwm_cycle - pwm[curmult_idx];
-      pwm_reci = (pxmcc->pwm_cycle << 16) / pwm_reci;
+      pwm_reci = pxmcc_data.common.pwm_cycle - pwm[curmult_idx];
+      pwm_reci = (pxmcc_data.common.pwm_cycle << 16) / pwm_reci;
       cur[curmult_idx] = (int32_t)(pwm_reci * cur[curmult_idx]) >> 16;
 
       cur1 = cur[0];
@@ -416,7 +389,7 @@ void main(void)
         uint32_t pwm_reci_bits;
 
         curmult_idx = (((u1gtu3 ^ u1gtu2) | 1) ^ u2gtu3 ^ u1gtu2) & 3;
-        pwm_reci = pxmcc->pwm_cycle - pwm[curmult_idx];
+        pwm_reci = pxmcc_data.common.pwm_cycle - pwm[curmult_idx];
        #if 0
         pwm_reci_bits = __builtin_clzl(pwm_reci);
        #else
@@ -429,7 +402,7 @@ void main(void)
         dummy = *FPGA_FNCAPPROX_RECI;
         pwm_reci = *FPGA_FNCAPPROX_RECI;
         pwm_reci >>= 16;
-        pwm_reci *= pxmcc->pwm_cycle;
+        pwm_reci *= pxmcc_data.common.pwm_cycle;
         pwm_reci >>= 30 - pwm_reci_bits;
         cur[curmult_idx] = (int32_t)(pwm_reci * cur[curmult_idx]) >> 16;
 

diff --git a/hw/lx-rocon_firmware/pxmcc_types.h b/hw/lx-rocon_firmware/pxmcc_types.h
new file mode 100644 (file)
index 0000000..ef7b07c
--- /dev/null
+++ b/hw/lx-rocon_firmware/pxmcc_types.h
@@ -0,0 +1,64 @@
+/*******************************************************************
+  Components for embedded applications builded for
+  laboratory and medical instruments firmware
+
+  pxmcc_types.h - multi axis motion controller comprocesor
+        for FPGA tumble CPU of lx-rocon system - data types
+
+  (C) 2001-2014 by Pavel Pisa pisa@cmp.felk.cvut.cz
+  (C) 2002-2014 by PiKRON Ltd. http://www.pikron.com
+
+  This file can be used and copied according to next
+  license alternatives
+   - GPL - GNU Public License
+   - other license provided by project originators
+
+ *******************************************************************/
+
+#include <stdint.h>
+
+
+#define PXMCC_FWVERSION       0xACCE0001
+#define PXMCC_AXIS_COUNT      4
+#define PXMCC_CURADC_CHANNELS 16
+
+typedef struct pxmcc_common_data_t {
+  uint32_t  fwversion;
+  uint32_t  pwm_cycle;
+  uint32_t  act_idle;
+  uint32_t  min_idle;
+  uint32_t  rx_done_sqn;
+} pxmcc_common_data_t;
+
+typedef struct pxmcc_axis_data_t {
+  uint32_t  ccflg;
+  uint32_t  mode;
+  uint32_t  pwm_dq;    /* D and Q components of PWM (pwm_d << 16) | (pwm_q) & 0xffff */
+  uint32_t  cur_dq;    /* D and Q components current (cur_d << 16) | (cur_q) & 0xffff */
+  uint32_t  ptindx;    /* index into phase table / irc in the cycle */
+  uint32_t  ptirc;     /* IRC count per phase table */
+  uint32_t  ptreci;    /* Reciprocal value of ptirc * 63356  */
+  uint32_t  ptofs;     /* offset between table and IRC counter */
+  int32_t   ptsin;
+  int32_t   ptcos;
+  uint32_t  ptphs;
+  uint32_t  cur_d_cum;
+  uint32_t  cur_q_cum;
+  uint32_t  inp_info;  /* which irc to use */
+  uint32_t  out_info;  /* output index */
+  uint32_t  pwmtx_info;        /* offsets of pwm1 .. pwm4 from FPGA_LX_MASTER_TX */
+  uint16_t  pwm_prew[4];
+} pxmcc_axis_data_t;
+
+typedef struct pxmcc_curadc_data_t {
+  int16_t   cur_val;
+  uint16_t  reserved1;
+  uint16_t  siroladc_offs;
+  uint16_t  siroladc_last;
+} pxmcc_curadc_data_t;
+
+typedef struct pxmcc_data_t {
+  pxmcc_common_data_t common;
+  pxmcc_axis_data_t   axis[PXMCC_AXIS_COUNT];
+  pxmcc_curadc_data_t curadc[PXMCC_CURADC_CHANNELS];
+} pxmcc_data_t;

diff --git a/sw/app/rocon/appl_pxmc.c b/sw/app/rocon/appl_pxmc.c
index f140ece3d0e8fc806008a8e675b3a61dbf1f4ae2..77f16deb41b076c2044ee5b8d08c10cdad639d54 100644 (file)
--- a/sw/app/rocon/appl_pxmc.c
+++ b/sw/app/rocon/appl_pxmc.c
@@ -32,6 +32,7 @@
 
 #include "appl_defs.h"
 #include "appl_fpga.h"
+#include "pxmcc_types.h"
 
 int pxmc_ptofs_from_index(pxmc_state_t *mcs, unsigned long irc,
                            unsigned long index_irc, int diff2err);
@@ -752,9 +753,12 @@ IRQ_HANDLER_FNC(pxmc_rocon_rx_done_isr)
       } 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 = (pxmcc_data_t *)fpga_tumbl_dmem;
+        pxmcc_axis_data_t *mcc_axis = mcc_data->axis + 0;
+        uint32_t *ptumbl = (uint32_t *)mcc_axis;
 
         for (i = 0; i < 16; i++)
-          *(pbuf++) = fpga_tumbl_dmem[i];
+          *(pbuf++) = *(ptumbl++);
 
         pxmc_rocon_rx_data_hist_buff = pbuf;
       }

diff --git a/sw/app/rocon/appl_tests.c b/sw/app/rocon/appl_tests.c
index a46987b1aeff53458b9cb836be2a2df4e9aaf5fb..3e4283569ddc7f8d8f8711cfaeb75e98f99acde3 100644 (file)
--- a/sw/app/rocon/appl_tests.c
+++ b/sw/app/rocon/appl_tests.c
@@ -20,6 +20,7 @@
 
 #include "appl_defs.h"
 #include "appl_fpga.h"
+#include "pxmcc_types.h"
 
 int cmd_do_test_memusage(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
 {
@@ -407,10 +408,13 @@ int cmd_do_testtumblefw(cmd_io_t *cmd_io, const struct cmd_des *des, char *param
   uint32_t irc;
   uint32_t ptirc;
   uint32_t ptreci;
+  uint32_t pwmtx_info;
   uint64_t ull;
   pxmc_state_t *mcs = pxmc_main_list.pxml_arr[0];
+  volatile pxmcc_data_t *mcc_data = (pxmcc_data_t *)fpga_tumbl_dmem;
+  volatile pxmcc_axis_data_t *mcc_axis = mcc_data->axis + 0;
 
-  fpga_tumbl_dmem[0] = 0;
+  mcc_axis->ccflg = 0;
 
   si_skspace(&ps);
   if (si_long(&ps, &pwm_d, 0) < 0)
@@ -427,18 +431,36 @@ int cmd_do_testtumblefw(cmd_io_t *cmd_io, const struct cmd_des *des, char *param
   ull = (1ULL << 32) * mcs->pxms_ptper;
   ptreci = (ull + ptirc / 2) / ptirc;
 
-  fpga_tumbl_dmem[0] = 0;
-  fpga_tumbl_dmem[1] = (pwm_d << 16) | (pwm_q & 0xffff);
+  pwmtx_info = (9 << 0) | (10 << 8) | (11 << 16);
 
-  fpga_tumbl_dmem[4] = ptirc;
-  fpga_tumbl_dmem[5] = ptreci;
-  fpga_tumbl_dmem[6] = ptofs;
+  mcc_axis->inp_info = mcs->pxms_inp_info;
+  mcc_axis->out_info = mcs->pxms_out_info;
+  mcc_axis->pwmtx_info = pwmtx_info;
+
+  mcc_axis->ptirc = ptirc;
+  mcc_axis->ptreci = ptreci;
+  mcc_axis->ptofs = ptofs;
+
+  mcc_axis->ccflg = 0;
+  mcc_axis->pwm_dq = (pwm_d << 16) | (pwm_q & 0xffff);
 
   pxmc_clear_flags(mcs,PXMS_ENO_m|PXMS_ENG_m|PXMS_ENR_m|PXMS_BSY_m);
 
-  fpga_tumbl_dmem[0] = 1;
+  mcc_axis->ccflg = 1;
+
+  if (0) {
+    mcc_data->axis[1].pwmtx_info = (12 << 0) | (13 << 8) | (14 << 16);
+    mcc_data->axis[1].ccflg = 1;
+    mcc_data->axis[2].pwmtx_info = (12 << 0) | (13 << 8) | (14 << 16);
+    mcc_data->axis[2].ccflg = 1;
+    mcc_data->axis[3].pwmtx_info = (12 << 0) | (13 << 8) | (14 << 16);
+    mcc_data->axis[3].ccflg = 1;
+  }
 
-  printf("spd %ld\n",mcs->pxms_as);
+  printf("spd %ld act_idle %"PRIu32" min_idle %"PRIu32" avail %lu pwm_cycle %"PRIu32"\n",
+         mcs->pxms_as, mcc_data->common.act_idle, mcc_data->common.min_idle,
+         (mcc_data->common.pwm_cycle + 6) / 6, mcc_data->common.pwm_cycle);
+  mcc_data->common.min_idle = 0x7fff;
 
   return 0;
 }

diff --git a/sw/app/rocon/pxmcc_types.h b/sw/app/rocon/pxmcc_types.h
new file mode 120000 (symlink)
index 0000000..383ef3f
--- /dev/null
+++ b/sw/app/rocon/pxmcc_types.h
@@ -0,0 +1 @@
+../../../hw/lx-rocon_firmware/pxmcc_types.h
\ No newline at end of file