From 3a08775210126215c0888d53839b4be213d80d28 Mon Sep 17 00:00:00 2001 From: Thierry Zamofing Date: Tue, 8 Jan 2019 08:42:20 +0100 Subject: [PATCH] add trajectory.py and cleanup old setUsrServo.c --- python/trajectory.py | 103 ++++++++++++++++++++++++++++++++++ python/usr_code/Makefile | 43 ++++++++++++-- src/Readme.md | 8 +++ src/setUsrServo/Makefile | 18 ------ src/setUsrServo/main | Bin 55072 -> 0 bytes src/setUsrServo/main.o | Bin 49100 -> 0 bytes src/setUsrServo/setUsrServo | Bin 55155 -> 0 bytes src/setUsrServo/setUsrServo.c | 61 -------------------- src/setUsrServo/setUsrServo.o | Bin 49180 -> 0 bytes src/usrServo/Makefile | 1 + 10 files changed, 151 insertions(+), 83 deletions(-) create mode 100755 python/trajectory.py delete mode 100644 src/setUsrServo/Makefile delete mode 100755 src/setUsrServo/main delete mode 100644 src/setUsrServo/main.o delete mode 100755 src/setUsrServo/setUsrServo delete mode 100644 src/setUsrServo/setUsrServo.c delete mode 100644 src/setUsrServo/setUsrServo.o diff --git a/python/trajectory.py b/python/trajectory.py new file mode 100755 index 0000000..f4516b3 --- /dev/null +++ b/python/trajectory.py @@ -0,0 +1,103 @@ +#!/usr/bin/env python +# *-----------------------------------------------------------------------* +# | | +# | Copyright (c) 2019 by Paul Scherrer Institute (http://www.psi.ch) | +# | | +# | Author Thierry Zamofing (thierry.zamofing@psi.ch) | +# *-----------------------------------------------------------------------* +''' +Trajectory comparison: +pvt: position velocity time +p0t: position velocity=0 time +ift: inverse fourier transformation + +-> look at trajectory and frequency components +''' +import numpy as np +import matplotlib as mpl +import matplotlib.pyplot as plt + +w=40. # ms step between samples +ts=.2 # sampling time +x = np.arange(0, 400, w) +y=np.cos(x) + +xx = np.arange(0, 400, ts) + +ax=plt.gca() +ax.xaxis.set_ticks(x) +markerline, stemlines, baseline = ax.stem(x, y, '-') + +yf=np.fft.fft(y) + + +#best trajectory with lowest frequency +y_iftf=np.hstack((yf,np.zeros(len(xx)-len(x)))) +y_ift=np.fft.ifft(y_iftf)*w/ts +ax.plot(xx,y_ift,'-b',label='ift') + + +#plt.figure() +#ax=plt.gca() +#ax.xaxis.set_ticks(x) +#markerline, stemlines, baseline = ax.stem(x, y, '-') + +#PVT move +t=np.hstack((y[-1:],y,y[:1])) + +n=int(w/ts) +v=(t[2:]-t[:-2])/(w*2) + +y_pvt=np.ndarray(len(xx))*0 +xx1=xx[:n] +for i in range(len(x)-1): + d=y[i] + c=v[i] + a=( -2*(y[i+1]-y[i]-v[i]*w)+ w*(v[i+1]-v[i]))/w**3 + b=(3*w*(y[i+1]-y[i]-v[i]*w)-w**2*(v[i+1]-v[i]))/w**3 + y_pvt[i*n:(i+1)*n]=a*xx1**3+b*xx1**2+c*xx1+d + +ax.plot(xx,y_pvt,'-g',label='pvt') + +#PVT move with stop +v*=0 +y_p0t=np.ndarray(len(xx))*0 +for i in range(len(x)-1): + d=y[i] + c=v[i] + a=( -2*(y[i+1]-y[i]-v[i]*w)+ w*(v[i+1]-v[i]))/w**3 + b=(3*w*(y[i+1]-y[i]-v[i]*w)-w**2*(v[i+1]-v[i]))/w**3 + y_p0t[i*n:(i+1)*n]=a*xx1**3+b*xx1**2+c*xx1+d + +ax.plot(xx,y_p0t,'-r',label='p0t') + +ax.legend(loc='best') +plt.show(block=False) + + +fig=plt.figure() +ax=fig.add_subplot(1,1,1)#ax=plt.gca() + +y_iftf=np.fft.fft(y_ift) +y_pvtf=np.fft.fft(y_pvt) +y_p0tf=np.fft.fft(y_p0t) + + +#f=np.arange(0,1E3/(2*ts),1E3/(2*ts*(len(xx)-1))) +f=np.linspace(0,1E3/(2*ts),len(xx)) + +db_mag=20*np.log10(abs(y_iftf)) +ax.semilogx(f,db_mag,'-b',label='ift') # Bode magnitude plot +db_mag=20*np.log10(abs(y_pvtf)) +ax.semilogx(f,db_mag,'-g',label='pvt') # Bode magnitude plot +db_mag=20*np.log10(abs(y_p0tf)) +ax.semilogx(f,db_mag,'-r',label='p0t') # Bode magnitude plot +ax.yaxis.set_label_text('dB ampl') +ax.xaxis.set_label_text('frequency [Hz]') +plt.grid(True) + +ax.legend(loc='best') +plt.show(block=False) + + + diff --git a/python/usr_code/Makefile b/python/usr_code/Makefile index 600d19b..f6b9a6e 100644 --- a/python/usr_code/Makefile +++ b/python/usr_code/Makefile @@ -75,10 +75,6 @@ KBUILD_EXTRA_SYMBOLS := /usr/local/dtlibs/libppmac/Module.symvers # cp -f /usr/local/usralgo/usralgomain.c $(PWD) all: $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules - #scp usralgo.ko root@$(PPMAC):/tmp - #scp pp_proj.ini root@$(PPMAC):/var/ftp/usrflash/Project/Configuration/pp_proj.ini - #scp pp_proj.ini root@$(PPMAC):/tmp/pp_proj.ini - #ssh root@$(PPMAC) projpp # $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules V=1 # mv -f usralgo.ko ../../bin/Debug/ @@ -101,3 +97,42 @@ clean:: dbg: @echo PATH $(PATH) + +.PHONY: tags +tags: + find . -type f -iname "*.[chS]" | xargs ctags -a -f .tags + find $(INCLUDE) -type f -iname "*.[chS]" | xargs ctags -a -f .tags + find $(XENOMAI_INC_DIR) -type f -iname "*.[chS]" | xargs ctags -a -f .tags + find $(RTPMACINCLUDEDIR) -type f -iname "*.[chS]" | xargs ctags -a -f .tags + + +Debug: all + +install: all + scp usralgo.ko root@$(PPMAC):/tmp + scp /home/zamofing_t/Documents/prj/SwissFEL/PBTools/pbtools/usr_servo_phase/userservo_util root@$(PPMAC):/tmp + -ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -d 9 + -ssh root@$(PPMAC) rmmod usralgo + -ssh root@$(PPMAC) insmod /tmp/usralgo.ko + -ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -l 0 usr_servo_evr_tigger + -ssh root@$(PPMAC) LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -e 9 + + +#!common() +#!encoder_sim(enc=1,tbl=1,mot=1) +#!motor(mot=1,dirCur=0,contCur=100,peakCur=100,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True) +#Motor[1].pLimits=0;Motor[1].AmpFaultLevel=0;Motor[1].pAmpEnable=0;Motor[1].pAmpFault=0 + +#!common() +#!encoder_sim(enc=9,tbl=9,mot=9) +#Motor[9].pLimits=0;Motor[9].AmpFaultLevel=0;Motor[9].pAmpEnable=0;Motor[9].pAmpFault=0 +#Motor[9].Ctrl=UserAlgo.ServoCtrlAddr[0] + + + + #scp pp_proj.ini root@$(PPMAC):/var/ftp/usrflash/Project/Configuration/pp_proj.ini + #scp pp_proj.ini root@$(PPMAC):/tmp/pp_proj.ini + #ssh root@$(PPMAC) projpp + + +#MotorData diff --git a/src/Readme.md b/src/Readme.md index c8177d5..4e06eed 100644 --- a/src/Readme.md +++ b/src/Readme.md @@ -166,3 +166,11 @@ usrflash/Project/Bin/Debug/usralgo.ko + + +Usr_C PLC +--------- +scp -r usralgo.ko root@MOTTEST-CPPM-CRM0573:/opt/ppmac + +rmmod usralgo +insmod /mypath/usralgo.ko (e.g. insmod /opt/ppmac/usrflash/Project/Bin/Debug/usralgo.ko) diff --git a/src/setUsrServo/Makefile b/src/setUsrServo/Makefile deleted file mode 100644 index c5a4454..0000000 --- a/src/setUsrServo/Makefile +++ /dev/null @@ -1,18 +0,0 @@ -INC=-I/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac -I/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac - -LIB=-L/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac -lppmac -L/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/usr/local/xenomai-2.6.2.1/lib -lxenomai -lpthread_rt -lpthread -lrt -ldl - -CC=/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc -LD=$(CC) - -all: setUsrServo - -setUsrServo.o: setUsrServo.c - $(CC) -g $(INC) -c setUsrServo.c -o setUsrServo.o - -setUsrServo: setUsrServo.o - $(LD) -g $(LIB) setUsrServo.o -o setUsrServo - scp setUsrServo root@SAROP11-CPPM-MOT6871:/tmp - -clean: - rm setUsrServo setUsrServo.o \ No newline at end of file diff --git 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printf("there\n"); - InitLibrary(); - for (i=0;i<256;i++) - { - printf("hello %d\n",i); - snprintf(buf,sizeof(buf),"Gate3[0].GpioData[0].16.8=%d\n",i); - status=Command(buf); //ppmac gplib function - printf("%s ->%d\n",buf,status); - //mydbg("gugus", i, 2*i); - usleep(10000); - } - { - int i; - struct SHM *p; // Pointer to shared memory - p=pshm; - printf("Sys.ServoCtrl 0x%p\n",p->ServoCtrl); - - //p->Motor[4].Servo.Kp=123.f; - printf("Motor[4].Servo.Kp %f\n",p->Motor[4].Servo.Kp); - - printf("Motor[4].Ctrl 0x%p\n",p->Motor[4].Ctrl); - - printf("UserAlgo.ServoCtrlName[4] %s\n",p->UserAlgo.ServoCtrlName[4]); - printf("UserAlgo.ServoCtrlAddr[4] %x\n",p->UserAlgo.ServoCtrlAddr[4]); - - printf("Motor[4].UserPhase 0x%p\n",p->Motor[4].UserPhase); - printf("Motor[4].UserServo 0x%p\n",p->Motor[4].UserServo); - - - //for(i=0;i<8;i++) - //{ - // printf("UserAlgo.ServoName %s\n",p->UserAlgo.ServoName[i]); - // printf("UserAlgo.ServoAddr %x\n",p->UserAlgo.ServoAddr[i]); - // printf("UserAlgo.ServoCtrlName %s\n",p->UserAlgo.ServoCtrlName[i]); - // printf("UserAlgo.ServoCtrlAddr %x\n",p->UserAlgo.ServoCtrlAddr[i]); - //} - - strcpy(p->UserAlgo.ServoCtrlName[4],"user_pid_ctrl"); - p->UserAlgo.ServoCtrlAddr[4]= 0xa35e012c; - - - //p->Motor[4].Ctrl=0x123456; - //UserAlgo - } - - CloseLibrary(); -} diff --git a/src/setUsrServo/setUsrServo.o b/src/setUsrServo/setUsrServo.o deleted file mode 100644 index 02b226dd8af323dd3d6c987a98ab7f895ffed3b7..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 49180 zcmbuo3w)eawLbj5b9*Prr1Sx_jv0DNV?&}PWriB64k@{Y6LIE zbjNLT-SHbPsT%k|t>etjIL;!3HSRdw{C_rrZad2v3-=~N8##ENGq&-&Q*RXdSx(J{ zaCl($pz8?z%g(sL|9v~%@^4sq`T*pOoQ-fs-o+at;eo*?oROAi_R4qr?i(&~#?G#A zT&7_V|4$xtPRzOIgrs?}LedroPy7S#2|YJh@r{I$xrj2YJf%DFp^DrQL%-_HT4!71 zcc;x`9xQ#ZB6rZxi*FAfdhWva{Bz3e3X{)_v*n$51}iR_V`S`oJKc#7R%ErDGR}d2 zLyws7FTb5$N(0MW_-=Kb*}I()rF?{*yV&{sM^-xSdE1Z{!BdViSmi`E#KT{_=?^E~ 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b/src/usrServo/Makefile index 68a6abc..85b8a61 100644 --- a/src/usrServo/Makefile +++ b/src/usrServo/Makefile @@ -20,6 +20,7 @@ #------------------------------------------------------------------------------ PPMAC=SAR-CPPM-EXPMX1 +PPMAC=MOTTEST-CPPM-CRM0573 #PPMAC=SAROP11-CPPM-MOT6871 PMAC_ARCH=ppc465-2