Sorry Jef....
Seems that you already do the change....
just I don't have clue how to recompile this...
may that helps if I say that I use (active) linux near a week now. So
all that stuff is new for me.
some more help?
Jeff Epler pravi:
> Slavko Kocjancic wanted a custom step type for his homemade stepper
> driver. This adds a (single) customizable step waveform. These
> waveforms have the same limitations as the existing ones: up to 5 output
> phases, and up to 10 steps per cycle
> ---
> Slavko, can you let me know whether this patch meets your needs? I ran
> the following then looked at the waveforms in halscope and saw something
> that looked like what I expected:
>
> loadrt stepgen step_type=15 user_step_type=0,1,2,3,4,5,6,7 ctrl_type=v
> loadrt threads period1=32000 fp1=0 name2=slow period2=960000
> addf stepgen.make-pulses thread1
> addf stepgen.capture-position slow
> addf stepgen.update-freq slow
> setp stepgen.0.enable 1
> setp stepgen.0.position-scale 1000
> setp steggen.0.velocity .5
> start
>
> Thanks,
> Jeff
>
> docs/man/man9/stepgen.9 | 9 ++++--
> src/hal/components/stepgen.c | 53
> ++++++++++++++++++++++++++++++++++--------
> 2 files changed, 49 insertions(+), 13 deletions(-)
>
> diff --git a/docs/man/man9/stepgen.9 b/docs/man/man9/stepgen.9
> index 2d1c32c..2afe528 100644
> --- a/docs/man/man9/stepgen.9
> +++ b/docs/man/man9/stepgen.9
> @@ -8,7 +8,7 @@
> .SH NAME
> stepgen \- software step pulse generation
> .SH SYNOPSIS
> -\fBloadrt stepgen step_type=\fItype0\fR[,\fItype1\fR...]
> [\fBctrl_type=\fItype0\fR[,\fItype1\fR...]]
> +\fBloadrt stepgen step_type=\fItype0\fR[,\fItype1\fR...]
> [\fBctrl_type=\fItype0\fR[,\fItype1\fR...]] [\fBuser_step_type=#,#\fR...]
>
> .SH DESCRIPTION
> \fBstepgen\fR is used to control stepper motors. The maximum
> @@ -31,7 +31,7 @@ velocity mode replaces the former component \fBfreqgen\fR.)
> motors/channels actually loaded depends on the number of \fItype\fR values
> given. The value of each \fItype\fR determines the outputs for that channel.
> Position or velocity mode can be individually selected for each channel.
> -Both control modes support the same 15 possible step types.
> +Both control modes support the same 16 possible step types.
> .P
> By far the most common step type is '0', standard step and direction. Others
> include up/down, quadrature, and a wide variety of three, four, and five
> phase
> @@ -67,7 +67,10 @@ Five pins, phases A through E. Five steps per full cycle.
> See HAL reference ma
> .TP
> types 13 and 14: five phase, half step
> Five pins, phases A through E. Ten steps per full cycle. See HAL reference
> manual for the patterns.
> -
> +.TP
> +type 15: user-specified
> +This uses the waveform specified by the \fBuser_step_type\fR module
> parameter,
> +which may have up to 10 steps and 5 phases.
> .SH FUNCTIONS
> .TP
> \fBstepgen.make-pulses \fR(no floating-point)
> diff --git a/src/hal/components/stepgen.c b/src/hal/components/stepgen.c
> index 9dafce1..f8be19b 100644
> --- a/src/hal/components/stepgen.c
> +++ b/src/hal/components/stepgen.c
> @@ -314,6 +314,8 @@ int step_type[MAX_CHAN] = { -1, -1, -1, -1, -1, -1, -1,
> -1 };
> RTAPI_MP_ARRAY_INT(step_type,MAX_CHAN,"stepping types for up to 8 channels");
> const char *ctrl_type[MAX_CHAN];
> RTAPI_MP_ARRAY_STRING(ctrl_type,MAX_CHAN,"control type (pos or vel) for up
> to 8 channels");
> +int user_step_type[10] = {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1};
> +RTAPI_MP_ARRAY_INT(user_step_type, 10, "lookup table for user-defined step
> type");
>
> /***********************************************************************
> * STRUCTURES AND GLOBAL VARIABLES *
> @@ -373,7 +375,7 @@ static stepgen_t *stepgen_array;
>
> /* lookup tables for stepping types 2 and higher - phase A is the LSB */
>
> -static const unsigned char master_lut[][10] = {
> +static unsigned char master_lut[][10] = {
> {1, 3, 2, 0, 0, 0, 0, 0, 0, 0}, /* type 2: Quadrature */
> {1, 2, 4, 0, 0, 0, 0, 0, 0, 0}, /* type 3: Three Wire */
> {1, 3, 2, 6, 4, 5, 0, 0, 0, 0}, /* type 4: Three Wire Half Step */
> @@ -386,16 +388,17 @@ static const unsigned char master_lut[][10] = {
> {1, 2, 4, 8, 16, 0, 0, 0, 0, 0}, /* 11: Five Wire Unipolar */
> {3, 6, 12, 24, 17, 0, 0, 0, 0, 0}, /* 12: Five Wire Wave */
> {1, 3, 2, 6, 4, 12, 8, 24, 16, 17}, /* 13: Five Wire Uni Half */
> - {3, 7, 6, 14, 12, 28, 24, 25, 17, 19} /* 14: Five Wire Wave Half */
> + {3, 7, 6, 14, 12, 28, 24, 25, 17, 19}, /* 14: Five Wire Wave Half */
> + {0, 0, 0, 0, 0, 0, 0, 0, 0, 0} /* 15: User-defined */
> };
>
> -static const unsigned char cycle_len_lut[] =
> - { 4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10 };
> +static unsigned char cycle_len_lut[] =
> + { 4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10, 0 };
>
> -static const unsigned char num_phases_lut[] =
> - { 2, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, };
> +static unsigned char num_phases_lut[] =
> + { 2, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 0, };
>
> -#define MAX_STEP_TYPE 14
> +#define MAX_STEP_TYPE 15
>
> #define STEP_PIN 0 /* output phase used for STEP signal */
> #define DIR_PIN 1 /* output phase used for DIR signal */
> @@ -429,7 +432,7 @@ static void make_pulses(void *arg, long period);
> static void update_freq(void *arg, long period);
> static void update_pos(void *arg, long period);
> static CONTROL parse_ctrl_type(const char *ctrl);
> -
> +static int setup_user_step_type(void);
>
> /***********************************************************************
> * INIT AND EXIT CODE *
> @@ -439,11 +442,16 @@ int rtapi_app_main(void)
> {
> int n, retval;
>
> + retval = setup_user_step_type();
> + if(retval < 0) {
> + return retval;
> + }
> +
> for (n = 0; n < MAX_CHAN && step_type[n] != -1 ; n++) {
> if ((step_type[n] > MAX_STEP_TYPE) || (step_type[n] < 0)) {
> rtapi_print_msg(RTAPI_MSG_ERR,
> - "STEPGEN: ERROR: bad stepping type '%i', axis %i\n",
> - step_type[n], n);
> + "STEPGEN: ERROR: bad stepping type '%i', axis %i
> (must be 0..%d)\n",
> + step_type[n], n, MAX_STEP_TYPE);
> return -1;
> }
> if(parse_ctrl_type(ctrl_type[n]) == INVALID) {
> @@ -1194,3 +1202,28 @@ static CONTROL parse_ctrl_type(const char *ctrl)
> if(*ctrl == 'v' || *ctrl == 'V') return VELOCITY;
> return INVALID;
> }
> +
> +static int setup_user_step_type(void) {
> + int used_phases = 0;
> + int i = 0;
> + for(i=0; i<10 && user_step_type[i] != -1; i++) {
> + master_lut[13][i] = user_step_type[i];
> + used_phases |= user_step_type[i];
> + }
> + cycle_len_lut[13] = i;
> + if(used_phases & ~0x1f) {
> + rtapi_print_msg(RTAPI_MSG_ERR, "STEPGEN: ERROR: "
> + "bad user step type uses more than 5 phases");
> + return -EINVAL; // more than 5 phases is not allowed
> + }
> +
> + if(used_phases & 0x10) num_phases_lut[13] = 5; // find-first-set-bit
> would be handy here
> + else if(used_phases & 0x8) num_phases_lut[13] = 4;
> + else if(used_phases & 0x4) num_phases_lut[13] = 3;
> + else if(used_phases & 0x2) num_phases_lut[13] = 2;
> + else if(used_phases & 0x1) num_phases_lut[13] = 1;
> +
> + rtapi_print_msg(RTAPI_MSG_ERR, "User step type has %d phases and %d
> steps per cycle\n", used_phases, i);
> + return 0;
> +}
> +
>
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