User memory traj buffer #130
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LeandroMartinsdS
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Looks good overall. I just suggest a few extra comments to explain the data structure. Thanks |
| @@ -4652,7 +4696,7 @@ asynStatus pmacController::tScanCalculateVelocityArray(double *positions, double | |||
| int prevBuffLastVelMode = -1; | |||
| double prevBuffPosition = 0; | |||
| double prevBuffVelocity = 0; | |||
| int prevBuffTime = 0; | |||
| double prevBuffTime = 0; | |||
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Note for myself: not related with this PR, and can't remember why I have changed. Possibly will revert this.
| @@ -194,7 +189,31 @@ Return | |||
| // ************************************************************************************************* | |||
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| N103: | |||
| CalculatedBase = CurrentBufferAdr + CurrentIndex | |||
| CalculatedBase = CurrentBufferAdr/4 | |||
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(note for myself)
Substitute for
CalculatedBase = CurrentBufferAdr/_SIZEOF_INTEGER_
| @@ -189,30 +189,30 @@ Return | |||
| // ************************************************************************************************* | |||
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| N103: | |||
| CalculatedBase = CurrentBufferAdr + CurrentIndex*4 | |||
| CalculatedBase = CurrentBufferAdr/4 | |||
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A comment explaining the divide by 4 would be useful here
| X_Vel_Idx = W_Vel_Idx + BufferLength | ||
| Y_Vel_Idx = X_Vel_Idx + BufferLength | ||
| Z_Vel_Idx = Y_Vel_Idx + BufferLength | ||
| A_Idx = CalculatedBase/2 + BuffLen + CurrentIndex |
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Likewise, a comment explaining the divide by 2 would be useful here
| #define BuffAddr 4000 | ||
| #define BuffAddr 4000 // >8 to keep first byte unused - $8 used by AxesParser | ||
| #define BuffLen 2000 // Length of buffers | ||
| #define DoubleBuffLen 4000 // BuffAddr + DoubleBuffLen * (2*sizeof(int)+18*sizeof(double)) <= User Buffer size |
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Maybe DoubleBuffLen should be defined as 2 * BuffLen
| void pmacHardwareTurbo::startTrajectoryTimePointsCmd(char *user_cmd, char *time_cmd, | ||
| int addr) { | ||
| int addr, int) { |
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There is an int data type without variable name?
Currently PowerPMAC trajectory is using global variables (P-variables), that has a restricted number of elements and, in Diamond context, is shared by other applications - e.g. PLCs.
On PowerBrick, by default 1 MB allocated for User Shared-Memory (USHM), being possible to extend that up to 64MB.