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usr_servo code generation

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zamofing_t
2018-11-02 16:56:25 +01:00
parent 8807ccbd85
commit d7e0cf7764
12 changed files with 863 additions and 67 deletions
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117
python/usr_code/usrcode_template.c Normal file
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//---------------------------------------------------------------------------
// Project PowerPMAC Firmware
// Delta Tau Data Systems, Inc.
// Copyright 2007. All Rights Reserved.
//
// SUBSYSTEM: User Servo Driver
// FILE: usrcode.c
// TEMPLATE AUTHOR: Henry Bausley
//
// OVERVIEW
// ~~~~~~~~
// This file is where exportable user code can be placed.
// To make a function callable as a user servo do three steps
//
// 1.) Prototye the function user_func(void ,void );
// 2.) Export the function EXPORT_SYMBOL(user_func);
// 3.) Make sure useralgo.ko has been loaded with projpp.ini
//
//--------------------------------------------------------------------------------
#include "usrcode.h"
//----------------------------------------------------------------------------------
// pp_proj.h is the C header for accessing PMAC Global, CSGlobal, Ptr vars
// _PPScriptMode_ for Pmac Script like access global & csglobal
// global Mypvar - access with "Mypvar"
// global Myparray(32) - access with "Myparray(i)"
// csglobal Myqvar - access with "Myqvar(i)" where "i" is Coord #
// csglobal Myqarray(16) - access with "Myqvar(i,j)" where "j" is index
// _EnumMode_ for Pmac enum data type checking on Set & Get global functions
// Example
// global Mypvar
// csglobal Myqvar
// "SetGlobalVar(Myqvar, data)" will give a compile error because its a csglobal var.
// "SetCSGlobalVar(Mypvar, data)" will give a compile error because its a global var.
//------------------------------------------------------------------------------------
#define _PPScriptMode_ // uncomment for Pmac Script type access
// #define _EnumMode_ // uncomment for Pmac enum data type checking on Set & Get global functions
#include "pp_proj.h"
#ifdef __KERNEL__
// Kernal mode can't have paths with spaces and long names
//#include "../../PMACSC~1/GLOBAL~1/asharedwithcapp.pmh"
#else
//#include "../../PMAC Script Language/Global Includes/asharedwithcapp.pmh"
#endif
extern struct SHM *pshm; // Pointer to shared memory
extern volatile unsigned *piom; // Pointer to I/O memory
extern void *pushm; // Pointer to user memory
<usr_code>
void user_phase_sample( struct MotorData *Mptr)
{
}
double usr_servo_sample(MotorData *Mptr)
{
pshm->P[2000]=pshm->P[2000]*.9999+abs(Mptr->PosError)*0.0001; //lowpass of Position error
return pshm->ServoCtrl(Mptr);
}
//double user_pid_ctrl( struct MotorData *Mptr)
//{
// //double *p;
// //p = pushm;
// //return 0;
// double ctrl_out;
// if (Mptr->ClosedLoop) {
// // Compute PD terms
// ctrl_out=Mptr->Servo.Kp*Mptr->PosError-Mptr->Servo.Kvfb*Mptr->ActVel;
// Mptr->Servo.Integrator+=Mptr->PosError*Mptr->Servo.Ki; // I term
// ctrl_out+=Mptr->Servo.Integrator;
// // Combine
// if (ctrl_out>2000)ctrl_out=2000;
// if (ctrl_out<-2000)ctrl_out=-2000;
// return ctrl_out;
// }
// else {
// Mptr->Servo.Integrator=0.0;
// return 0.0;
// }
//}
void CaptCompISR(void)
{
unsigned *pUnsigned = pushm;
*pUnsigned = *pUnsigned + 1;
}
double GetLocal(struct LocalData *Ldata,int m)
{
return *(Ldata->L + Ldata->Lindex + m);
}
void SetLocal(struct LocalData *Ldata,int m,double value)
{
*(Ldata->L + Ldata->Lindex + m) = value;
}
double *GetLocalPtr(struct LocalData *Ldata,int m)
{
return (Ldata->L + Ldata->Lindex + m);
}
double CfromScript(double cfrom_type, double arg2, double arg3, double arg4, double arg5, double arg6, double arg7, struct LocalData *Ldata)
{
int icfrom_type = (int) cfrom_type;
double *C, *D, *L, *R, rtn; // C, D, R - only needed if doing Kinmatics
C = GetCVarPtr(Ldata); // Only needed if doing Kinmatics
D = GetDVarPtr(Ldata); // Only needed if doing Kinmatics
L = GetLVarPtr(Ldata); // Only needed if using Ldata or Kinmatics
R = GetRVarPtr(Ldata); // Only needed if doing Kinmatics
rtn = -1.0;
return rtn;
}