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User memory traj buffer #130

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User memory traj buffer #130

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42f495d
Update ppmac trajectory allocation into UsrMemory
LeandroMartinsdS Jun 4, 2024
4e3d389
Update motion program to match driver
LeandroMartinsdS Dec 2, 2024
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6 changes: 5 additions & 1 deletion pmacApp/pmc/trajectory_scan_code.pmc
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Original file line number Diff line number Diff line change
Expand Up @@ -161,10 +161,13 @@ N102
Z_Vel = Next_Z_Vel
End If

; All Current <- Next shifts done so now
; increment the 'next pointer'
; Calculated base is the index into all 'Next' Arrays and
; Current Index is incremented at each iteration
CalculatedBase = CurrentBufferAdr + CurrentIndex
Time_Adr = CalculatedBase
User_Adr = CalculatedBase

A_Adr = CalculatedBase + BufferLength
B_Adr = A_Adr + BufferLength
C_Adr = B_Adr + BufferLength
Expand All @@ -184,6 +187,7 @@ N102
X_Vel_Adr = W_Vel_Adr + BufferLength
Y_Vel_Adr = X_Vel_Adr + BufferLength
Z_Vel_Adr = Y_Vel_Adr + BufferLength

Return

; Subroutine 3 ************************************************************************************
Expand Down
89 changes: 54 additions & 35 deletions pmacApp/pmc/trajectory_scan_code_ppmac.pmc
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Expand Up @@ -3,18 +3,18 @@
// *****************************************************************************************

// Set Initial Values
BufferLength = BuffLen // BuffLen defined in header file
BufferAdr_A = 0 // BufferAdr defined in header file
BufferAdr_B = BufferLength // each individual array holds 2 buffers
Traj_Status = Traj_StatusInitialised // Traj_Status = 0
BufferLength = BuffLen // BuffLen defined in header file
BufferAdr_A = BuffAddr // BufferAdr defined in header file
BufferAdr_B = BufferAdr_A + BuffLen * (2*SIZEOF_INTEGER + 18*SIZEOF_DOUBLE) // each individual array holds 2 buffers
Traj_Status = Traj_StatusInitialised // Traj_Status = 0
AbortTrigger = 0
Error = 0

// *****************************************************************************************
// Program
// *****************************************************************************************

Open PROG ProgramNum
Open PROG PROG_TrajectoryScan

Abs
FRAX(A,B,C,U,V,W,X,Y,Z)
Expand Down Expand Up @@ -42,13 +42,14 @@ While(AbortTrigger == 0 && Error == 0 && CurrentBufferFill > 0 && PrevBufferFill
While(AbortTrigger == 0 && Error == 0 && CurrentIndex < CurrentBufferFill)
{
GoSub102 // Shift values through Next_* -> Current_* -> Prev_*
GoSub103 // Updates indices
GoSub104 // Check time
GoSub110 // Move axes
CurrentIndex = CurrentIndex + 1

}

GoSub102 // Shift previous/current coordinates to N-1th/Nth points in buffer
GoSub103

// Toggle buffer - Change address & specifier, set new buffer fill, reset previous buffer fill
PrevBufferFill = CurrentBufferFill // Update previous buffer fill - will exit while loop if it wasn't full
Expand Down Expand Up @@ -130,60 +131,54 @@ Return
// *************************************************************************************************

N102:
PVT_Time = Next_Time(CalculatedBase)
UserFunc = Next_User(CalculatedBase)
PVT_Time = Next_Time[Time_Idx]
UserFunc = Next_User[User_Idx]

If(A_Axis == 1)
{
Current_A = Next_A(CalculatedBase)
A_Vel = Next_A_Vel(CalculatedBase)
Current_A = Next_A[A_Idx]
A_Vel = Next_A_Vel[A_Vel_Idx]
}
If (B_Axis == 1)
{
Current_B = Next_B(CalculatedBase)
B_Vel = Next_B_Vel(CalculatedBase)
Current_B = Next_B[B_Idx]
B_Vel = Next_B_Vel[B_Vel_Idx]
}
If (C_Axis == 1)
{
Current_C = Next_C(CalculatedBase)
C_Vel = Next_C_Vel(CalculatedBase)
Current_C = Next_C[C_Idx]
C_Vel = Next_C_Vel[C_Vel_Idx]
}
If (U_Axis == 1)
{
Current_U = Next_U(CalculatedBase)
U_Vel = Next_U_Vel(CalculatedBase)
Current_U = Next_U[U_Idx]
U_Vel = Next_U_Vel[U_Vel_Idx]
}
If (V_Axis == 1)
{
Current_V = Next_V(CalculatedBase)
V_Vel = Next_V_Vel(CalculatedBase)
Current_V = Next_V[V_Idx]
V_Vel = Next_V_Vel[V_Vel_Idx]
}
If (W_Axis == 1)
{
Current_W = Next_W(CalculatedBase)
W_Vel = Next_W_Vel(CalculatedBase)
Current_W = Next_W[W_Idx]
W_Vel = Next_W_Vel[W_Vel_Idx]
}
If (X_Axis == 1)
{
Current_X = Next_X(CalculatedBase)
X_Vel = Next_X_Vel(CalculatedBase)
Current_X = Next_X[X_Idx]
X_Vel = Next_X_Vel[X_Vel_Idx]
}
If (Y_Axis == 1)
{
Current_Y = Next_Y(CalculatedBase)
Y_Vel = Next_Y_Vel(CalculatedBase)
Current_Y = Next_Y[Y_Idx]
Y_Vel = Next_Y_Vel[Y_Vel_Idx]
}
If (Z_Axis == 1)
{
Current_Z = Next_Z(CalculatedBase)
Z_Vel = Next_Z_Vel(CalculatedBase)
Current_Z = Next_Z[Z_Idx]
Z_Vel = Next_Z_Vel[Z_Vel_Idx]
}

// All Prev <- Current <- Next shifts done so now
// increment the 'next pointer'
// Calculated base is the index into all 'Next' Arrays and
// Current Index is incremented at each iteration
CalculatedBase = CurrentBufferAdr + CurrentIndex
Return

// Subroutine 3 ************************************************************************************
Expand All @@ -194,7 +189,31 @@ Return
// *************************************************************************************************

N103:
CalculatedBase = CurrentBufferAdr + CurrentIndex
CalculatedBase = CurrentBufferAdr/4
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A comment explaining the divide by 4 would be useful here

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(note for myself)
Substitute for
CalculatedBase = CurrentBufferAdr/_SIZEOF_INTEGER_

// Integer type buffers
Time_Idx = CalculatedBase + CurrentIndex
User_Idx = Time_Idx + BuffLen

// Double type buffers
A_Idx = CalculatedBase/2 + BuffLen + CurrentIndex
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Likewise, a comment explaining the divide by 2 would be useful here

B_Idx = A_Idx + BuffLen
C_Idx = B_Idx + BuffLen
U_Idx = C_Idx + BuffLen
V_Idx = U_Idx + BuffLen
W_Idx = V_Idx + BuffLen
X_Idx = W_Idx + BuffLen
Y_Idx = X_Idx + BuffLen
Z_Idx = Y_Idx + BuffLen
A_Vel_Idx = Z_Idx + BuffLen
B_Vel_Idx = A_Vel_Idx + BuffLen
C_Vel_Idx = B_Vel_Idx + BuffLen
U_Vel_Idx = C_Vel_Idx + BuffLen
V_Vel_Idx = U_Vel_Idx + BuffLen
W_Vel_Idx = V_Vel_Idx + BuffLen
X_Vel_Idx = W_Vel_Idx + BuffLen
Y_Vel_Idx = X_Vel_Idx + BuffLen
Z_Vel_Idx = Y_Vel_Idx + BuffLen

Return

// Subroutines 4-8 *********************************************************************************
Expand All @@ -209,9 +228,9 @@ N104:
{ // Set error and abort if demanded move time is zero
Traj_Status = Traj_StatusError // Traj_Status = 3
Error = 2
CMD"A"
Dwell 0
PVT_Time = 1000
abort
Dwell 0
}


Expand Down
4 changes: 2 additions & 2 deletions pmacApp/pmc/trajectory_scan_definitions.pmc
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Expand Up @@ -92,8 +92,8 @@ Next_Z_Vel->L:$BufferAdr

Time_Adr->Y$4FA0,0,24 ; Assignments for pointers to M address locations
A_Adr->Y:$4FA1,0,24 ; M0 = $4000 -> M4000 = $4FA0
B_Adr->Y:$4FA2,0,24
C_Adr->Y:$4FA3,0,24
B_Adr->Y:$4FA2,0,24 ; As described in Turbo PMAC User Manual -
C_Adr->Y:$4FA3,0,24 ; "Use for Indirect Addressing" - , p.247
U_Adr->Y:$4FA4,0,24
V_Adr->Y:$4FA5,0,24
W_Adr->Y:$4FA6,0,24
Expand Down
116 changes: 75 additions & 41 deletions pmacApp/pmc/trajectory_scan_definitions_ppmac.pmh
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@@ -1,42 +1,53 @@
// *****************************************************************************************
// Variables
// *****************************************************************************************
#define BuffLen 1000 // Length of buffers
#define DoubleBuffLen 2000 // <= 2864 to prevent P-variables/global variables overflow

#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


// *****************************************************************************************
// Set these values for your PMAC
// *****************************************************************************************
#define ProgramNum 1 // Which motion program to use for scanning
#define VersionNum 4 // Version of this trajectory scan program
#define PROG_TrajectoryScan 1 // Which motion program to use for scanning
#define VersionNum 5 // Version of this trajectory scan program


// *****************************************************************************************
// Set variable types sizes
// *****************************************************************************************
#define _SIZEOF_DOUBLE_ 8
#define _SIZEOF_INTEGER_ 4
#define _SIZEOF_UNSIGNED_ 4

// *****************************************************************************************
// Address-Based Variables - on ppmac these are arrays and we index into all of them
// using CalculatedBase
// These need to be defined to Sys.Idata/Ddata,to make the pointer increment work
// *****************************************************************************************
global Next_Time(DoubleBuffLen) // Indexes to Next_* coordinate addresses
global Next_A(DoubleBuffLen) // These are incremented at each step
global Next_B(DoubleBuffLen)
global Next_C(DoubleBuffLen)
global Next_U(DoubleBuffLen)
global Next_V(DoubleBuffLen)
global Next_W(DoubleBuffLen)
global Next_X(DoubleBuffLen)
global Next_Y(DoubleBuffLen)
global Next_Z(DoubleBuffLen)
global Next_A_Vel(DoubleBuffLen)
global Next_B_Vel(DoubleBuffLen)
global Next_C_Vel(DoubleBuffLen)
global Next_U_Vel(DoubleBuffLen)
global Next_V_Vel(DoubleBuffLen)
global Next_W_Vel(DoubleBuffLen)
global Next_X_Vel(DoubleBuffLen)
global Next_Y_Vel(DoubleBuffLen)
global Next_Z_Vel(DoubleBuffLen)
global Next_User(DoubleBuffLen)

#define AxesParser M4024 // Specifiers for what axes are activated

#define Next_User Sys.Idata
#define Next_Time Sys.Idata

#define Next_A Sys.Ddata
#define Next_B Sys.Ddata
#define Next_C Sys.Ddata
#define Next_U Sys.Ddata
#define Next_V Sys.Ddata
#define Next_W Sys.Ddata
#define Next_X Sys.Ddata
#define Next_Y Sys.Ddata
#define Next_Z Sys.Ddata

#define Next_A_Vel Sys.Ddata
#define Next_B_Vel Sys.Ddata
#define Next_C_Vel Sys.Ddata
#define Next_U_Vel Sys.Ddata
#define Next_V_Vel Sys.Ddata
#define Next_W_Vel Sys.Ddata
#define Next_X_Vel Sys.Ddata
#define Next_Y_Vel Sys.Ddata
#define Next_Z_Vel Sys.Ddata

// Specifiers for what axes are activated
#define AxesParser M4024
#define A_Axis M4025
#define B_Axis M4026
#define C_Axis M4027
Expand All @@ -47,18 +58,41 @@ global Next_User(DoubleBuffLen)
#define Y_Axis M4032
#define Z_Axis M4033

// User address 0 is the only memory location we allocate explicitly
// this seems to be required in order to map to bits in the word
AxesParser->u.user:0
A_Axis->u.user:0.0.1
B_Axis->u.user:0.1.1
C_Axis->u.user:0.2.1
U_Axis->u.user:0.3.1
V_Axis->u.user:0.4.1
W_Axis->u.user:0.5.1
X_Axis->u.user:0.6.1
Y_Axis->u.user:0.7.1
Z_Axis->u.user:0.8.1
#define Time_Idx L4000 // Local variables to store Next_* coordinate indices
#define A_Idx L4001
#define B_Idx L4002
#define C_Idx L4003
#define U_Idx L4004
#define V_Idx L4005
#define W_Idx L4006
#define X_Idx L4007
#define Y_Idx L4008
#define Z_Idx L4009
#define User_Idx L4010

#define A_Vel_Idx L4085
#define B_Vel_Idx L4086
#define C_Vel_Idx L4087
#define U_Vel_Idx L4088
#define V_Vel_Idx L4089
#define W_Vel_Idx L4090
#define X_Vel_Idx L4091
#define Y_Vel_Idx L4092
#define Z_Vel_Idx L4093


// User address 8 is the only memory location we allocate explicitly
// Required to map bits in the word
AxesParser->Sys.Udata[2]
A_Axis->u.user:$8.0.1
B_Axis->u.user:$8.1.1
C_Axis->u.user:$8.2.1
U_Axis->u.user:$8.3.1
V_Axis->u.user:$8.4.1
W_Axis->u.user:$8.5.1
X_Axis->u.user:$8.6.1
Y_Axis->u.user:$8.7.1
Z_Axis->u.user:$8.8.1


// *****************************************************************************************
Expand Down
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