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enhance syncronization -> parameters in setup_sync

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-> sp.setup_sync(verbose=args.verbose&0x40,timeOfs=0.03,timeCor=0.0005)
- cleanup code
- add motion markers
- add debug data
- rework triggerSync
- BUT nothing should change in Sync
This commit is contained in:
zamofing_t
2022-10-04 16:39:13 +02:00
parent 7a968aac96
commit 20c6d690e8
6 changed files with 438 additions and 202 deletions
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18
src/triggerSync/Makefile
View File

@@ -1,12 +1,13 @@
#HOST=MOTTEST-CPPM-CRM0573
HOST=SAR-CPPM-EXPMX1
XENOMAI_INC_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include
XENOMAI_LIB_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/lib
#XENOMAI_INC_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include
#XENOMAI_LIB_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/lib
XENOMAI_INC_DIR=/tmp/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include
XENOMAI_LIB_DIR=/tmp/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/lib
INC=-I/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac -I/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac -I$(XENOMAI_INC_DIR)
LIB=-L/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac -lppmac -L/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/usr/local/xenomai-2.6.2.1/lib -lnative -lxenomai -lpthread_rt -lpthread -lrt -ldl
CC=/opt/eldk-4.2/usr/bin/ppc_4xxFP-g++
@@ -14,8 +15,15 @@ LD=$(CC)
all: triggerSync
triggerSync.o: $(XENOMAI_INC_DIR)
$(XENOMAI_INC_DIR):
mkdir -p /tmp/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/
rsync -vai root@$(HOST):/usr/local/xenomai-2.6.2.1/ /tmp/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/
%.o: %.c
$(CC) -g $(INC) -c $^ -o $@
$(CC) -g $(INC) -c $< -o $@
triggerSync: triggerSync.o
$(LD) -g $(LIB) $^ -o $@

BIN
src/triggerSync/triggerSync
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114
src/triggerSync/triggerSync.c
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@@ -33,11 +33,23 @@
extern struct SHM *pshm;
static char mode=0;
static float mtPt2Pt=40.f; //motion point to point time
static float timeOfs=0.f; //time ofset
static float timeOfs=0.f; //time ofset (start time adjustment)
static float timeCor=0.f; //time correction (frame to frame time adjustment)
#define CLOCK_RES 1e-9 //Clock resolution is 1 ns by default
#define SIMFLAG0 (pshm->Coord[1].Q[10])
#define SIMFLAG1 (pshm->Coord[1].Q[11])
//EncTable[20].pEnc= Coord[1].Q[12].a does not work
//EncTable[20].pEnc= Sys.Udata[0].a works uint32
//EncTable[20].pEnc= Sys.Idata[0].a works int32
//EncTable[20].pEnc= Sys.Fdata[0].a works float32
//EncTable[20].pEnc= Sys.Ddata[0].a works float64
//#define ENCVAL (*((double *)pushm+0))
#define ENCVAL (*((unsigned int *)pushm+0))
//#define SIMFLAG0 (pshm->P[10])
//#define SIMFLAG1 (pshm->P[11])
//Power PMAC Software Reference Manual.pdf Gate3[i].Chan[j].Status -> page 919 UserFlag
@@ -76,6 +88,14 @@ void trigsync_func(void *arg)
printf("ending trigsync_func because Gather.Enable==0\n");
return;
}
//unsigned int lastQ12=0; //Q12 value for further sync
double mxActPos,mxDesPos,mxHomePos=pshm->Motor[2].HomePos;
double myActPos,myDesPos,myHomePos=pshm->Motor[1].HomePos;
printf("Wait motion program arrived at start position...\n");
while(pshm->Coord[1].Q[0]!=-3)
rt_task_wait_period(NULL);
pshm->Coord[1].Q[0]=-2;
srvPer=pshm->ServoPeriod;
@@ -93,29 +113,30 @@ void trigsync_func(void *arg)
}
printf("Flag 0: %.5f ms\n", (rt_timer_read() - rtStart)/1E6);
pshm->Gather.Enable=2; //start gathering data
pshm->Coord[1].Q[0]=-1;
if(mode&4)
{
while(SIMFLAG1)
rt_task_wait_period(NULL);
while(!SIMFLAG1)
rt_task_wait_period(NULL);
}
else
{
while(FLAG1)
rt_task_wait_period(NULL);
while(!FLAG1)
rt_task_wait_period(NULL);
}
//puts("waitFlag1");
//gate3_1->Chan[1].Status f057f77f
//gate3_1->Chan[1].Status f057ff7f
//printf("gate3_1->Chan[1].Status %x\n",gate3_1->Chan[1].Status);
//FEL shot arrived FLAG1 0->1: first frame trigger before first cristall
pshm->Gather.Enable=2; //start gathering data
pshm->Coord[1].Q[0]=-1;
ENCVAL=0;
printf("Flag 1: %.5f ms\n", (rt_timer_read() - rtStart)/1E6);
rtStart=rtLast=rt_timer_read();
scStart=scLast=pshm->ServoCount;
mtAct=0.f;
pshm->Coord[1].Q[0]=0;
srvPer=0.2f;
//pshm->Coord[1].DesTimeBase=srvPer; //start motion at default speed
pshm->Coord[1].DesTimeBase=srvPer*(mtPt2Pt+timeOfs)/mtPt2Pt; //start motion at default speed
if(mode&8)
@@ -134,24 +155,53 @@ void trigsync_func(void *arg)
else
{
while(FLAG1)
{
rt_task_wait_period(NULL);
ENCVAL=( (i-1)*mtPt2Pt + (pshm->ServoCount-scLast)*srvPer )*1000;
}
while(!FLAG1)
{
rt_task_wait_period(NULL);
ENCVAL=( (i-1)*mtPt2Pt + (pshm->ServoCount-scLast)*srvPer )*1000;
}
}
//FEL shot arrived
//FEL shot arrived FLAG1 0->1
//ENCVAL+=mtPt2Pt*1000; //ENCVAL in us
ENCVAL=i*mtPt2Pt*1000; //ENCVAL in us
rtCur = rt_timer_read();
scCur=pshm->ServoCount;
//if (lastQ12!=(unsigned int)pshm->Coord[1].Q[12])
//{
// //'Coord[1].Q[12]=Sys.ServoCount'
// //'Coord[1].Q[13]={idxOfPoint}'
// //type of pshm->Coord[1].Q[12] is double
// lastQ12=(unsigned int)pshm->Coord[1].Q[12]; //saved ServoCount in program code
// //mxActPos=pshm->Motor[2].ActPos;mxDesPos=pshm->Motor[2].DesPos;
// //myActPos=pshm->Motor[1].ActPos;myDesPos=pshm->Motor[1].DesPos;
// //printf("*** SYNC *** Trigger count:%d, ProgIdx:%d, ServoCount diff:%d-%d=%d", i, (unsigned int)pshm->Coord[1].Q[13], lastQ12,scCur, lastQ12-scCur);
// printf("*** SYNC *** Trigger count:%d, myDesPos:%.2f, ServoCount diff:%d-%d=%d\n", i, pshm->Coord[1].Q[13]-myHomePos, lastQ12,scCur, lastQ12-scCur);
// //printf(" X,Y ActPos:(%.5g %.5g) DesPos:(%.5g %.5g)\n", mxActPos-mxHomePos, myActPos-myHomePos, mxDesPos-mxHomePos, myDesPos-myHomePos);
//}
rtDiff=rtCur-rtLast;
scDiff=scCur-scLast;
mtAct+=scDiff*srvPer;
mtAct+=scDiff*srvPer+timeCor;
mtDes=i*mtPt2Pt+timeOfs;
srvPer=(mtPt2Pt+mtDes-mtAct)/scDiff;
//srvPer=pshm->ServoPeriod; //default speed
pshm->Coord[1].DesTimeBase=srvPer;
pshm->Coord[1].Q[0]++;
if(mode&8)
printf("Trigger count:%d, rtDiff:%.3fms scDiff:%d mtAct:%.3f mtDes:%.3f srvPer:%.6f\n", i, rtDiff/1E6,scDiff, mtAct,mtDes,srvPer);
{
mxActPos=pshm->Motor[2].ActPos;mxDesPos=pshm->Motor[2].DesPos;
myActPos=pshm->Motor[1].ActPos;myDesPos=pshm->Motor[1].DesPos;
printf(" X,Y ActPos:(%.5g %.5g) DesPos:(%.5g %.5g) ", mxActPos-mxHomePos, myActPos-myHomePos, mxDesPos-mxHomePos, myDesPos-myHomePos);
printf("Trigger count:%d, rtDiff:%.3fms scDiff:%d mtAct:%.3f mtDes:%.3f srvPer:%.6f ENCVAL:%u \n", i, rtDiff/1E6,scDiff, mtAct,mtDes,srvPer,ENCVAL);
}
rtLast=rtCur;
scLast=scCur;
}
@@ -163,12 +213,13 @@ void trigsim_func(void *arg)
RT_TASK *curtask;
RT_TASK_INFO curtaskinfo;
int iret = 0;
int loopPeriod=1e7;//Expressed in ticks (this is the default task period)
curtask = rt_task_self();
rt_task_inquire(curtask, &curtaskinfo);
//Print the info
//printf("Starting task %s with period of %f ms ....\n", curtaskinfo.name,10*1E6/1E6);
printf("Starting task %s with period of %f ms ....\n", curtaskinfo.name,loopPeriod/1E6);
//Make the task periodic with a specified loop period
//rt_task_set_periodic(NULL, TM_NOW, 10*1E6);
//rt_task_set_periodic(NULL, TM_NOW, loopPeriod); //not critical here because not polling but rt_task_sleep_until ...
printf("Starting task %s \n", curtaskinfo.name);
int i,j=0;
@@ -180,9 +231,8 @@ void trigsim_func(void *arg)
for(i=0,rtSlice=rtStart;;i++)
{
rtSlice=rtStart+i*40*1E6; // a slice is 40 ms
//rtSlice=rtStart+i*40.2*1E6; // a slice is 40 ms
//rtSlice+=(rand()%(int)(1*1E6)); //0.1ms jitter
rtSlice=rtStart+i*mtPt2Pt*1E6; // a slice is mtPt2Pt ms
//rtSlice+=(rand()%(int)(1*1E6)); //0.1ms jitter to test sync
rt_task_sleep_until(rtSlice); //in ns
if(mode&4)
{
@@ -275,6 +325,11 @@ mode:\n\
bit2:4: simulate frame trigger\n\
bit3:8: verbose\n\
\n\
pt2ptTime: point to point time in ms (default=10, float value)\n\
timeOfs: once added time offset in ms (default=0, float value)\n\
scl: scale factor (so far unused, default=1, float value)\n\
\n\
\n\
simulate start trigger:\n\
set pshm->Coord[1].Q[10]=1 to simulate a Jungfrau aquire start\n\
\n\
@@ -297,7 +352,7 @@ Coord[1].Q[0]= 0 : got frame trigger 0\n\
Coord[1].Q[0] is incremented at each trigger\n\
sync task ends when Gather.Enable==0\n\
";
printf("usage:\n%s pt2ptTime timeOfs mode\n",cmd);
printf("usage:\n%s mode pt2ptTime timeOfs(default=0) scl(default=1)\n",cmd);
puts(s);
return -1;
}
@@ -308,22 +363,21 @@ int main(int argc, char *argv[])
int initialized=0;
int i;
char *s;
if(argc!=4)
return usage(argv[0]);
mtPt2Pt=strtof(argv[1], &s);
if (argv[1]==s)
return usage(argv[0]);
timeOfs=strtof(argv[2], &s);
if (argv[2]==s)
return usage(argv[0]);
mode=(int)strtol(argv[3], &s, 10);
if (argv[3]==s)
if(argc<2)
return usage(argv[0]);
mode=(int)strtol(argv[1], &s, 10);
if (argc>2)
mtPt2Pt=strtof(argv[2], &s);
if (argc>3)
timeOfs=strtof(argv[3], &s);
if (argc>4)
timeCor=strtof(argv[4], &s);
puts(argv[0]);
puts(argv[1]);
puts(argv[2]);
puts(argv[3]);
printf("mtPt2Pt:%g timeOfs:%g mode:%d\n",mtPt2Pt,timeOfs,mode);
//puts(argv[2]);
//puts(argv[3]);
//puts(argv[4]);
printf("mode:%d mtPt2Pt:%3.8gms timeOfs:%3.8gms timeCor:%3.8gms\n",mode,mtPt2Pt,timeOfs,timeCor);
if ((err = InitLibrary()) != 0) {
abort();
}