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Finalised motor cluster frequency, and disabled loading zone

motor-and-encoder
ZodiusInfuser 2022-04-29 00:09:19 +01:00
rodzic 15e5eaa890
commit 898e4bace4
5 zmienionych plików z 46 dodań i 37 usunięć
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8
drivers/motor/motor_cluster.cpp
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@ -10,21 +10,21 @@ namespace motor {
MotorCluster::MotorCluster(PIO pio, uint sm, uint pin_base, uint pin_pair_count, Direction direction,
float speed_scale, float zeropoint, float deadzone, float freq, DecayMode mode,
bool auto_phase, PWMCluster::Sequence *seq_buffer, PWMCluster::TransitionData *dat_buffer)
: pwms(pio, sm, pin_base, (pin_pair_count * 2), seq_buffer, dat_buffer), pwm_frequency(freq) {
: pwms(pio, sm, pin_base, (pin_pair_count * 2), seq_buffer, dat_buffer, false), pwm_frequency(freq) {
create_motor_states(direction, speed_scale, zeropoint, deadzone, mode, auto_phase);
}
MotorCluster::MotorCluster(PIO pio, uint sm, const pin_pair *pin_pairs, uint32_t length, Direction direction,
float speed_scale, float zeropoint, float deadzone, float freq, DecayMode mode,
bool auto_phase, PWMCluster::Sequence *seq_buffer, PWMCluster::TransitionData *dat_buffer)
: pwms(pio, sm, pin_pairs, length, seq_buffer, dat_buffer), pwm_frequency(freq) {
: pwms(pio, sm, pin_pairs, length, seq_buffer, dat_buffer, false), pwm_frequency(freq) {
create_motor_states(direction, speed_scale, zeropoint, deadzone, mode, auto_phase);
}
MotorCluster::MotorCluster(PIO pio, uint sm, std::initializer_list<pin_pair> pin_pairs, Direction direction,
float speed_scale, float zeropoint, float deadzone, float freq, DecayMode mode,
bool auto_phase, PWMCluster::Sequence *seq_buffer, PWMCluster::TransitionData *dat_buffer)
: pwms(pio, sm, pin_pairs, seq_buffer, dat_buffer), pwm_frequency(freq) {
: pwms(pio, sm, pin_pairs, seq_buffer, dat_buffer, false), pwm_frequency(freq) {
create_motor_states(direction, speed_scale, zeropoint, deadzone, mode, auto_phase);
}
@ -289,7 +289,7 @@ namespace motor {
success = true;
}
}
//}
return success;
}

2
drivers/motor/motor_state.hpp
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@ -24,7 +24,7 @@ namespace motor {
static const DecayMode DEFAULT_DECAY_MODE = SLOW_DECAY; // The standard motor decay behaviour
static constexpr float DEFAULT_FREQUENCY = 25000.0f; // The standard motor update rate
static constexpr float MIN_FREQUENCY = 10.0f;
static constexpr float MAX_FREQUENCY = 50000.0f;
static constexpr float MAX_FREQUENCY = 400000.0f;
static constexpr float ZERO_PERCENT = 0.0f;
static constexpr float ONEHUNDRED_PERCENT = 1.0f;

44
drivers/pwm/pwm_cluster.cpp
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@ -22,13 +22,14 @@ uint8_t PWMCluster::claimed_sms[] = { 0x0, 0x0 };
uint PWMCluster::pio_program_offset = 0;
PWMCluster::PWMCluster(PIO pio, uint sm, uint pin_mask, Sequence *seq_buffer, TransitionData *dat_buffer)
PWMCluster::PWMCluster(PIO pio, uint sm, uint pin_mask, Sequence *seq_buffer, TransitionData *dat_buffer, bool loading_zone)
: pio(pio)
, sm(sm)
, pin_mask(pin_mask & ((1u << NUM_BANK0_GPIOS) - 1))
, channel_count(0)
, channels(nullptr)
, wrap_level(0) {
, wrap_level(0)
, loading_zone(loading_zone) {
// Create the channel mapping
for(uint pin = 0; pin < NUM_BANK0_GPIOS; pin++) {
@ -42,13 +43,14 @@ PWMCluster::PWMCluster(PIO pio, uint sm, uint pin_mask, Sequence *seq_buffer, Tr
}
PWMCluster::PWMCluster(PIO pio, uint sm, uint pin_base, uint pin_count, Sequence *seq_buffer, TransitionData *dat_buffer)
PWMCluster::PWMCluster(PIO pio, uint sm, uint pin_base, uint pin_count, Sequence *seq_buffer, TransitionData *dat_buffer, bool loading_zone)
: pio(pio)
, sm(sm)
, pin_mask(0x00000000)
, channel_count(0)
, channels(nullptr)
, wrap_level(0) {
, wrap_level(0)
, loading_zone(loading_zone) {
// Create the pin mask and channel mapping
uint pin_end = MIN(pin_count + pin_base, NUM_BANK0_GPIOS);
@ -61,13 +63,14 @@ PWMCluster::PWMCluster(PIO pio, uint sm, uint pin_base, uint pin_count, Sequence
constructor_common(seq_buffer, dat_buffer);
}
PWMCluster::PWMCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, Sequence *seq_buffer, TransitionData *dat_buffer)
PWMCluster::PWMCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, Sequence *seq_buffer, TransitionData *dat_buffer, bool loading_zone)
: pio(pio)
, sm(sm)
, pin_mask(0x00000000)
, channel_count(0)
, channels(nullptr)
, wrap_level(0) {
, wrap_level(0)
, loading_zone(loading_zone) {
// Create the pin mask and channel mapping
for(uint i = 0; i < length; i++) {
@ -82,13 +85,14 @@ PWMCluster::PWMCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, S
constructor_common(seq_buffer, dat_buffer);
}
PWMCluster::PWMCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, Sequence *seq_buffer, TransitionData *dat_buffer)
PWMCluster::PWMCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, Sequence *seq_buffer, TransitionData *dat_buffer, bool loading_zone)
: pio(pio)
, sm(sm)
, pin_mask(0x00000000)
, channel_count(0)
, channels(nullptr)
, wrap_level(0) {
, wrap_level(0)
, loading_zone(loading_zone) {
// Create the pin mask and channel mapping
for(auto pin : pins) {
@ -102,13 +106,14 @@ PWMCluster::PWMCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, Se
constructor_common(seq_buffer, dat_buffer);
}
PWMCluster::PWMCluster(PIO pio, uint sm, const pin_pair *pin_pairs, uint32_t length, Sequence *seq_buffer, TransitionData *dat_buffer)
PWMCluster::PWMCluster(PIO pio, uint sm, const pin_pair *pin_pairs, uint32_t length, Sequence *seq_buffer, TransitionData *dat_buffer, bool loading_zone)
: pio(pio)
, sm(sm)
, pin_mask(0x00000000)
, channel_count(0)
, channels(nullptr)
, wrap_level(0) {
, wrap_level(0)
, loading_zone(loading_zone) {
// Create the pin mask and channel mapping
for(uint i = 0; i < length; i++) {
@ -127,13 +132,14 @@ PWMCluster::PWMCluster(PIO pio, uint sm, const pin_pair *pin_pairs, uint32_t len
constructor_common(seq_buffer, dat_buffer);
}
PWMCluster::PWMCluster(PIO pio, uint sm, std::initializer_list<pin_pair> pin_pairs, Sequence *seq_buffer, TransitionData *dat_buffer)
PWMCluster::PWMCluster(PIO pio, uint sm, std::initializer_list<pin_pair> pin_pairs, Sequence *seq_buffer, TransitionData *dat_buffer, bool loading_zone)
: pio(pio)
, sm(sm)
, pin_mask(0x00000000)
, channel_count(0)
, channels(nullptr)
, wrap_level(0) {
, wrap_level(0)
, loading_zone(loading_zone) {
// Create the pin mask and channel mapping
for(auto pair : pin_pairs) {
@ -535,12 +541,14 @@ void PWMCluster::load_pwm() {
gpio_put(WRITE_GPIO, false);
#endif
// Introduce "Loading Zone" transitions to the end of the sequence to
// prevent the DMA interrupt firing many milliseconds before the sequence ends.
uint32_t zone_inserts = MIN(LOADING_ZONE_SIZE, wrap_level - LOADING_ZONE_POSITION);
for(uint32_t i = zone_inserts + LOADING_ZONE_POSITION; i > LOADING_ZONE_POSITION; i--) {
PWMCluster::sorted_insert(transitions, data_size, TransitionData(wrap_level - i));
PWMCluster::sorted_insert(looping_transitions, looping_data_size, TransitionData(wrap_level - i));
if(loading_zone) {
// Introduce "Loading Zone" transitions to the end of the sequence to
// prevent the DMA interrupt firing many milliseconds before the sequence ends.
uint32_t zone_inserts = MIN(LOADING_ZONE_SIZE, wrap_level - LOADING_ZONE_POSITION);
for(uint32_t i = zone_inserts + LOADING_ZONE_POSITION; i > LOADING_ZONE_POSITION; i--) {
PWMCluster::sorted_insert(transitions, data_size, TransitionData(wrap_level - i));
PWMCluster::sorted_insert(looping_transitions, looping_data_size, TransitionData(wrap_level - i));
}
}
#ifdef DEBUG_MULTI_PWM

24
drivers/pwm/pwm_cluster.hpp
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@ -15,11 +15,12 @@ namespace pimoroni {
// Constants
//--------------------------------------------------
private:
static const uint64_t MAX_PWM_CLUSTER_WRAP = UINT16_MAX; // UINT32_MAX works too, but seems to produce less accurate counters
static const uint32_t LOADING_ZONE_SIZE = 3; // The number of dummy transitions to insert into the data to delay the DMA interrupt (if zero then no zone is used)
static const uint32_t LOADING_ZONE_POSITION = 55; // The number of levels before the wrap level to insert the load zone
// Smaller values will make the DMA interrupt trigger closer to the time the data is needed,
// but risks stalling the PIO if the interrupt takes longer due to other processes
static const uint64_t MAX_PWM_CLUSTER_WRAP = UINT16_MAX; // UINT32_MAX works too, but seems to produce less accurate counters
static const uint32_t LOADING_ZONE_SIZE = 3; // The number of dummy transitions to insert into the data to delay the DMA interrupt (if zero then no zone is used)
static const uint32_t LOADING_ZONE_POSITION = 55; // The number of levels before the wrap level to insert the load zone
// Smaller values will make the DMA interrupt trigger closer to the time the data is needed,
// but risks stalling the PIO if the interrupt takes longer due to other processes
static const bool DEFAULT_USE_LOADING_ZONE = true; // Whether or not the default behaviour of PWMCluster is to use the loading zone
public:
static const uint BUFFER_SIZE = 64; // Set to 64, the maximum number of single rises and falls for 32 channels within a looping time period
static const uint NUM_BUFFERS = 3;
@ -119,6 +120,7 @@ namespace pimoroni {
volatile uint last_written_index = 0;
bool initialised = false;
bool loading_zone = true;
//--------------------------------------------------
@ -134,13 +136,13 @@ namespace pimoroni {
// Constructors/Destructor
//--------------------------------------------------
public:
PWMCluster(PIO pio, uint sm, uint pin_mask, Sequence *seq_buffer = nullptr, TransitionData *dat_buffer = nullptr);
PWMCluster(PIO pio, uint sm, uint pin_base, uint pin_count, Sequence *seq_buffer = nullptr, TransitionData *dat_buffer = nullptr);
PWMCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, Sequence *seq_buffer = nullptr, TransitionData *dat_buffer = nullptr);
PWMCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, Sequence *seq_buffer = nullptr, TransitionData *dat_buffer = nullptr);
PWMCluster(PIO pio, uint sm, uint pin_mask, Sequence *seq_buffer = nullptr, TransitionData *dat_buffer = nullptr, bool loading_zone = DEFAULT_USE_LOADING_ZONE);
PWMCluster(PIO pio, uint sm, uint pin_base, uint pin_count, Sequence *seq_buffer = nullptr, TransitionData *dat_buffer = nullptr, bool loading_zone = DEFAULT_USE_LOADING_ZONE);
PWMCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, Sequence *seq_buffer = nullptr, TransitionData *dat_buffer = nullptr, bool loading_zone = DEFAULT_USE_LOADING_ZONE);
PWMCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, Sequence *seq_buffer = nullptr, TransitionData *dat_buffer = nullptr, bool loading_zone = DEFAULT_USE_LOADING_ZONE);
PWMCluster(PIO pio, uint sm, const pin_pair *pin_pairs, uint32_t length, Sequence *seq_buffer = nullptr, TransitionData *dat_buffer = nullptr);
PWMCluster(PIO pio, uint sm, std::initializer_list<pin_pair> pin_pairs, Sequence *seq_buffer = nullptr, TransitionData *dat_buffer = nullptr);
PWMCluster(PIO pio, uint sm, const pin_pair *pin_pairs, uint32_t length, Sequence *seq_buffer = nullptr, TransitionData *dat_buffer = nullptr, bool loading_zone = DEFAULT_USE_LOADING_ZONE);
PWMCluster(PIO pio, uint sm, std::initializer_list<pin_pair> pin_pairs, Sequence *seq_buffer = nullptr, TransitionData *dat_buffer = nullptr, bool loading_zone = DEFAULT_USE_LOADING_ZONE);
~PWMCluster();
private:

5
micropython/modules/motor/motor.cpp
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@ -302,9 +302,8 @@ extern mp_obj_t Motor_frequency(size_t n_args, const mp_obj_t *pos_args, mp_map_
float freq = mp_obj_get_float(args[ARG_freq].u_obj);
// TODO confirm frequency range
if(!self->motor->frequency(freq)) {
mp_raise_ValueError("freq out of range. Expected 10Hz to 350Hz"); //TODO
mp_raise_ValueError("freq out of range. Expected 10Hz to 400KHz");
}
return mp_const_none;
}
@ -1442,7 +1441,7 @@ extern mp_obj_t MotorCluster_frequency(size_t n_args, const mp_obj_t *pos_args,
float freq = mp_obj_get_float(args[ARG_freq].u_obj);
if(!self->cluster->frequency(freq))
mp_raise_ValueError("freq out of range. Expected 10Hz to 350Hz");
mp_raise_ValueError("freq out of range. Expected 10Hz to 400KHz");
else
return mp_const_none;
}