X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=algo%2Framp.h;h=6ec37c8c9ecd865e939efdd882372e9c478c012a;hb=HEAD;hp=f438dc5ebe1d7574566f85a16af5503731b745f5;hpb=839bb85440ae6b21ef990fd373008a7a021a9148;p=bertos.git diff --git a/algo/ramp.h b/algo/ramp.h deleted file mode 100644 index f438dc5e..00000000 --- a/algo/ramp.h +++ /dev/null @@ -1,199 +0,0 @@ - -/** - * \file - * - * - * \brief Compute, save and load ramps for stepper motors (interace) - * - * \version $Id$ - * - * \author Simone Zinanni - * \author Giovanni Bajo - * \author Daniele Basile - * - * The acceleration ramp is used to properly accelerate a stepper motor. The main - * entry point is the function ramp_evaluate(), which must be called at every step - * of the motor: it gets as input the time elapsed since the stepper started - * accelerating, and returns the time to wait before sending the next step. A pseudo - * usage pattern is as follows: - * - * 
- *  float time = 0;
- *  while (1)
- *  {
- *      float delta = ramp_evaluate(&my_ramp, time);
- *      sleep(delta);
- *      do_motor_step();
- *      time += delta;
- *  }
- *
- * - * A similar pattern can be used to decelerate (it is sufficient to move the total - * time backward, such as "time -= delta"). - * - * The ramp can be configured with ramp_setup(), providing it with the minimum and - * maximum operating frequency of the motor, and the total acceleration time in - * milliseconds (that is, the time that will be needed to accelerate from the - * minimum frequency to the maximum frequency). - * - * Both a very precise floating point and a very fast fixed point implementation - * of the ramp evaluation are provided. The fixed point is hand-optimized assembly - * for DSP56000 (but a portable C version of it can be easily written, see the - * comments in the code). - * - */ - -#ifndef ALGO_RAMP_H -#define ALGO_RAMP_H - -#include -#include "hw_stepper.h" - -/** - * Define whether the ramp will use floating point calculation within ramp_evaluate(). - * Otherwise, a less precise fixed point version will be used, which is faster on - * platforms which do no support floating point operations. - * - * \note Floating point operations will be always done within ramp_compute() to - * precalculate values, so there has to be at least a floating point emulation support. - */ -#define RAMP_USE_FLOATING_POINT 0 - - -#if !RAMP_USE_FLOATING_POINT - - /** - * Number of least-significant bits which are stripped away during ramp evaluation. - * This setting allows to specify larger ramps at the price of less precision. - * - * The maximum ramp size allowed is 2^(24 + RAMP_CLOCK_SHIFT_PRECISION), in clocks. - * For instance, using RAMP_CLOCK_SHIFT_PRECISION 1, and a 8x prescaler, the maximum - * length of a ramp is about 6.7 secs. Raising RAMP_CLOCK_SHIFT_PRECISION to 2 - * brings the maximum length to 13.4 secs, at the price of less precision. - * - * ramp_compute() will check that the length is below the maximum allowed through - * a runtime assertion. - * - * \note This macro is used only for the fixed-point version of the ramp. - */ - #define RAMP_CLOCK_SHIFT_PRECISION 2 -#endif - - -///< Negative pulse width for ramp -#define RAMP_PULSE_WIDTH 50 - -///< Default ramp -#define RAMP_DEF_TIME 6000000 ///< microsecs -#define RAMP_DEF_MAXFREQ 5000 ///< Hz -#define RAMP_DEF_MINFREQ 200 ///< Hz -#define RAMP_DEF_POWERRUN 10 ///< 10 deciampere (1 ampere) -#define RAMP_DEF_POWERIDLE 1 ///< 1 deciampere - - -/** - * Convert microseconds to timer clock ticks - */ -#define TIME2CLOCKS(micros) ((uint32_t)(micros) * (STEPPER_CLOCK / 1000000)) - -/** - * Convert timer clock ticks back to microseconds - */ -#define CLOCKS2TIME(clocks) ((uint32_t)(clocks) / (STEPPER_CLOCK / 1000000)) - -/** - * Convert microseconds to Hz - */ -#define MICROS2FREQ(micros) (1000000UL / ((uint32_t)(micros))) - -/** - * Convert frequency (in Hz) to time (in microseconds) - */ -#define FREQ2MICROS(hz) (1000000UL / ((uint32_t)(hz))) - - - -/** - * Structure holding pre-calculated data for speeding up real-time evaluation - * of the ramp. This structure is totally different between the fixed and the - * floating point version of the code. - * - * Consult the file-level documentation of ramp.c for more information about - * the values of this structure. - */ -struct RampPrecalc -{ -#if RAMP_USE_FLOATING_POINT - float beta; - float alpha; - float gamma; -#else - uint16_t max_div_min; - uint32_t inv_total_time; -#endif -}; - - -/** - * Ramp structure - */ -struct Ramp -{ - uint32_t clocksRamp; - uint16_t clocksMinWL; - uint16_t clocksMaxWL; - - struct RampPrecalc precalc; ///< pre-calculated values for speed -}; - - -/* - * Function prototypes - */ -void ramp_compute( - struct Ramp * ramp, - uint32_t clocksInRamp, - uint16_t clocksInMinWavelength, - uint16_t clocksInMaxWavelength); - - -/** Setup an acceleration ramp for a stepper motor - * - * \param ramp Ramp to fill - * \param length Length of the ramp (milliseconds) - * \param minFreq Minimum operating frequency of the motor (hertz) - * \param maxFreq Maximum operating frequency of the motor (hertz) - * - */ -void ramp_setup(struct Ramp* ramp, uint32_t length, uint32_t minFreq, uint32_t maxFreq); - - -/** - * Initialize a new ramp with default values - */ -void ramp_default(struct Ramp *ramp); - - -/** - * Evaluate the ramp at the given point. Given a \a ramp, and the current \a clock since - * the start of the acceleration, compute the next step, that is the interval at which - * send the signal to the motor. - * - * \note The fixed point version does not work when curClock is zero. Anyway, - * the first step is always clocksMaxWL, as stored within the ramp structure. - */ -#if RAMP_USE_FLOATING_POINT - float ramp_evaluate(const struct Ramp* ramp, float curClock); -#else - uint16_t ramp_evaluate(const struct Ramp* ramp, uint32_t curClock); -#endif - - -/** Self test */ -void ramp_test(void); - -#endif /* ALGO_RAMP_H */ -