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cleanup

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zamofing_t
2022-10-06 13:56:32 +02:00
parent 9c6d9df97f
commit fab5ecdc2b
3 changed files with 12 additions and 62 deletions
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src/triggerSync/triggerSync
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src/triggerSync/triggerSync.c
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@@ -41,15 +41,6 @@ static float timeCor=0.f; //time correction (frame to frame time adjustment)
#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
@@ -76,8 +67,7 @@ void trigsync_func(void *arg)
int i;
RTIME rtStart,rtLast,rtCur,rtDiff; //rt* is real time of the rt-process
unsigned int scStart,scLast,scCur,scDiff; //sc* are servo counts of the motion
double srvPer,srvPer2;
double mtAct,mtDes; //mt* motion time. Actual and desired. this is the accumulated time that controls motion speed
double srvPer;
unsigned int maxDiff;
struct GateArray3* gate3_1=GetGate3MemPtr(1);
@@ -91,15 +81,14 @@ void trigsync_func(void *arg)
//unsigned int lastQ12=0; //Q12 value for further sync
double mvTimer;
double mxActPos,mxDesPos,mxHomePos=pshm->Motor[2].HomePos;
double myActPos,myDesPos,myHomePos=pshm->Motor[1].HomePos;
double mxActPos,mxDesPos,mxErr,mxHomePos=pshm->Motor[2].HomePos;
double myActPos,myDesPos,myErr,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;
srvPer2=pshm->ServoPeriod;
rtStart=rt_timer_read();
printf("Wait for 'arm' event...\n");
@@ -132,17 +121,14 @@ void trigsync_func(void *arg)
//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;
//pshm->Coord[1].DesTimeBase=srvPer; //start motion at default speed
pshm->Coord[1].DesTimeBase=srvPer*(mtPt2Pt+timeOfs)/mtPt2Pt; //start motion at default speed
pshm->Coord[1].DesTimeBase=srvPer; //start motion at default speed
if(mode&8)
printf("Start: rtStart:%.3f ms scStart:%d mtAct:%.3f mtDes:%.3f srvPer:%.6f\n", i, rtLast/1E6,scLast, mtAct,mtDes,srvPer);
printf("Start: rtStart:%.3f ms scStart:%d srvPer:%.6f\n", i, rtLast/1E6,scLast, srvPer);
for(i=1;pshm->Gather.Enable;i++)
{
@@ -159,43 +145,21 @@ void trigsync_func(void *arg)
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 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+timeCor;
mtDes=i*mtPt2Pt+timeOfs;
srvPer=(mtPt2Pt+mtDes-mtAct)/scDiff;
//srvPer=pshm->ServoPeriod; //default speed
// mvTimer > 0 motion leading FEL -> decrease srvPer
// mvTimer < 0 motion lagging FEL -> increase srvPer
// rtDiff > mtPt2Pt -> increase srvPer
@@ -204,19 +168,20 @@ void trigsync_func(void *arg)
if(mvTimer>mtPt2Pt/2) //lagging
mvTimer-=mtPt2Pt;
//srvPer2*=(rtDiff/1E6-mvTimer)/mtPt2Pt;
srvPer2=pshm->ServoPeriod*(rtDiff/1E6-mvTimer)/mtPt2Pt;
srvPer=pshm->ServoPeriod*(rtDiff/1E6-mvTimer)/mtPt2Pt;
pshm->Coord[1].DesTimeBase=srvPer2;
pshm->Coord[1].DesTimeBase=srvPer;
pshm->Coord[1].Q[0]++;
if(mode&8)
{
mxActPos=pshm->Motor[2].ActPos;mxDesPos=pshm->Motor[2].DesPos;
myActPos=pshm->Motor[1].ActPos;myDesPos=pshm->Motor[1].DesPos;
mxErr=mxDesPos-mxActPos;
myErr=myDesPos-myActPos;
//printf(" X,Y ActPos:(%.5g %.5g) DesPos:(%.5g %.5g) ", mxActPos-mxHomePos, myActPos-myHomePos, mxDesPos-mxHomePos, myDesPos-myHomePos);
//printf(" X,Y Nsync:(%d) ", pshm->Coord[1].Nsync);
//printf(" X,Y MoveTimer:(%.5g %.5g) ", pshm->Motor[1].MoveTimer,pshm->Motor[2].MoveTimer);
printf(" Nsync:%d, MoveTimer:(%.5g) srvPer2:%.6f ", pshm->Coord[1].Nsync,mvTimer,srvPer2);
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);
printf("Trigger count:%d, Nsync:%d, MoveTimer:%.5g srvPer:%.6f rtDiff:%.3fms scDiff:%d PosErrXY:(%.3f,%.3f)\n",i, pshm->Coord[1].Nsync,mvTimer,srvPer, rtDiff/1E6,scDiff,mxErr,myErr);
}
rtLast=rtCur;
scLast=scCur;