Support gQuintic (and gQuadratic)

Resources/debug/mb.gdb

@@ -3,12 +3,13 @@ set logging overwrite on
 set logging redirect on
 set logging file mb.txt
 set logging on
+print sizeof(mb.bf)/sizeof(mb.bf[0])
 print mb.r
 print mb.w
 print mp.p
 print mp.c
 # generated with:
-# node -e 'for (i=0; i<48;i++) {console.log("print &mb.bf["+i+"]\nprint mb.bf["+i+"]");}'
+# node -e 'for (i=0; i<96;i++) {console.log("print &mb.bf["+i+"]\nprint mb.bf["+i+"]");}'
 print &mb.bf[0]
 print mb.bf[0]
 print &mb.bf[1]
@@ -105,5 +106,101 @@ print &mb.bf[46]
 print mb.bf[46]
 print &mb.bf[47]
 print mb.bf[47]
+print &mb.bf[48]
+print mb.bf[48]
+print &mb.bf[49]
+print mb.bf[49]
+print &mb.bf[50]
+print mb.bf[50]
+print &mb.bf[51]
+print mb.bf[51]
+print &mb.bf[52]
+print mb.bf[52]
+print &mb.bf[53]
+print mb.bf[53]
+print &mb.bf[54]
+print mb.bf[54]
+print &mb.bf[55]
+print mb.bf[55]
+print &mb.bf[56]
+print mb.bf[56]
+print &mb.bf[57]
+print mb.bf[57]
+print &mb.bf[58]
+print mb.bf[58]
+print &mb.bf[59]
+print mb.bf[59]
+print &mb.bf[60]
+print mb.bf[60]
+print &mb.bf[61]
+print mb.bf[61]
+print &mb.bf[62]
+print mb.bf[62]
+print &mb.bf[63]
+print mb.bf[63]
+print &mb.bf[64]
+print mb.bf[64]
+print &mb.bf[65]
+print mb.bf[65]
+print &mb.bf[66]
+print mb.bf[66]
+print &mb.bf[67]
+print mb.bf[67]
+print &mb.bf[68]
+print mb.bf[68]
+print &mb.bf[69]
+print mb.bf[69]
+print &mb.bf[70]
+print mb.bf[70]
+print &mb.bf[71]
+print mb.bf[71]
+print &mb.bf[72]
+print mb.bf[72]
+print &mb.bf[73]
+print mb.bf[73]
+print &mb.bf[74]
+print mb.bf[74]
+print &mb.bf[75]
+print mb.bf[75]
+print &mb.bf[76]
+print mb.bf[76]
+print &mb.bf[77]
+print mb.bf[77]
+print &mb.bf[78]
+print mb.bf[78]
+print &mb.bf[79]
+print mb.bf[79]
+print &mb.bf[80]
+print mb.bf[80]
+print &mb.bf[81]
+print mb.bf[81]
+print &mb.bf[82]
+print mb.bf[82]
+print &mb.bf[83]
+print mb.bf[83]
+print &mb.bf[84]
+print mb.bf[84]
+print &mb.bf[85]
+print mb.bf[85]
+print &mb.bf[86]
+print mb.bf[86]
+print &mb.bf[87]
+print mb.bf[87]
+print &mb.bf[88]
+print mb.bf[88]
+print &mb.bf[89]
+print mb.bf[89]
+print &mb.bf[90]
+print mb.bf[90]
+print &mb.bf[91]
+print mb.bf[91]
+print &mb.bf[92]
+print mb.bf[92]
+print &mb.bf[93]
+print mb.bf[93]
+print &mb.bf[94]
+print mb.bf[94]
+print &mb.bf[95]
+print mb.bf[95]
 set logging off
 shell python ../Resources/debug/mb_analyze.py mb.txt

Resources/debug/mb_analyze.py

@@ -3,14 +3,14 @@
 import sys
 
 STATES = {
-    0 : 'EMPTY',
-    1 : 'PLANNING',
-    2 : 'QUEUED',
-    3 : 'PENDING',
-    4 : 'RUNNING'
+    0: 'EMPTY',
+    1: 'PLANNING',
+    2: 'QUEUED',
+    3: 'PENDING',
+    4: 'RUNNING'
 }
 
-TUMBLER = ['r', 'w', 'p', 'c']
+TUMBLER = ['size', 'r', 'w', 'p', 'c']
 
 
 def load_pool(filename):
@@ -25,8 +25,15 @@ def load_pool(filename):
             if buf:
                 current_buffer = int(buf.groups()[0], 16)
                 pool[TUMBLER[tumbler_pos]] = current_buffer
-                print "TUMBLER[tumbler_pos]: %s=%i" % (TUMBLER[tumbler_pos], current_buffer)
-                tumbler_pos += 1
+                print 'TUMBLER[tumbler_pos]: %s=%d' % (
+                    TUMBLER[tumbler_pos], current_buffer
+                )
+            else:
+                buf = re.search(' = ([0-9]+)', line)
+                current_buffer = int(buf.groups()[0], 10)
+                pool[TUMBLER[tumbler_pos]] = current_buffer
+
+            tumbler_pos += 1
         else:
             buf = re.search('\(mpBuf_t\s\*\)\s(0x[0-9a-fA-F]+)', line)
             if buf:
@@ -42,7 +49,9 @@ def load_pool(filename):
                 if current_buffer == pool['c']:
                     pool[current_buffer]['is_c'] = True
             else:
-                match = re.search('([a-zA-Z_]+)\s=\s((?:0x[0-9a-fA-F]+|[0-9.]+(?:e[-+][0-9]+)?|[A-Z_]+)|true|false)', line)
+                match = re.search('([a-zA-Z_]+)\s=\s((?:0x[0-9a-fA-F]+|'
+                                  '[0-9.]+(?:e[-+][0-9]+)?|[A-Z_]+)|true|'
+                                  'false)', line)
                 if match:
                     # print "current_buffer: %s" % current_buffer
                     key, val = match.groups()
@@ -85,6 +94,7 @@ def load_pool(filename):
                         pool[current_buffer]['iterations'] = val
     return pool
 
+
 def check_integrity(pool):
     key = pool.keys()[0]
     buffers = set()
@@ -97,14 +107,16 @@ def check_integrity(pool):
 
         count += 1
 
-    if count != 48:
+    if count != pool['size']:
         raise Exception("Buffer pool integrity is bad.")
 
+
 def check_pool(filename):
     pool = load_pool(filename)
     check_integrity(pool)
     return pool
 
+
 def print_pool(pool):
     for key in sorted(pool.keys()):
         buffer = pool[key]
@@ -141,27 +153,29 @@ def print_pool(pool):
             else:
                 junction_str = "!"
 
-            print '0x%08x [%02d] : N%04d (%02dx) %-22s %-8s L% 8.2f Ti% 8.2f C% 10.2f %1s[% 10.2f] X% 10.2f %1s[% 10.2f] J%1s% 10.2f %5s %20s (%5.2f)' % (
-                key,
-                float(buffer['buffer_number']),
-                float(buffer['linenum']),
-                int(buffer['iterations']),
-                buffer['buffer_state'].strip(),
-                pointer,
-                float(buffer['length']),
-                float(buffer['move_time']),
-                float(buffer['cruise_velocity']),
-                cruise_str,
-                float(buffer['cruise_vmax']),
-                float(buffer['exit_velocity']),
-                exit_str,
-                float(buffer['exit_vmax']),
-                junction_str,
-                float(buffer['junction_vmax']),
-                buffer['plannable'],
-                buffer['hint'],
-                float(buffer['jerk'])/1000000.0
-                )
+            print '0x%08x [%02d] : N%06d (%02dx) %-22s %-8s L% 8.2f Ti% 8.2f '\
+                  'C% 10.2f %1s[% 10.2f] X% 10.2f %1s[% 10.2f] J%1s% 10.2f ' \
+                  '%5s %20s (%5.2f)' % (
+                    key,
+                    float(buffer['buffer_number']),  # []
+                    float(buffer['linenum']),        # N
+                    int(buffer['iterations']),       # ()
+                    buffer['buffer_state'].strip(),
+                    pointer,                         # (w,p,r)
+                    float(buffer['length']),         # L
+                    float(buffer['move_time']),      # Ti
+                    float(buffer['cruise_velocity']),  # C
+                    cruise_str,
+                    float(buffer['cruise_vmax']),
+                    float(buffer['exit_velocity']),  # X
+                    exit_str,
+                    float(buffer['exit_vmax']),
+                    junction_str,                    # J
+                    float(buffer['junction_vmax']),
+                    buffer['plannable'],
+                    buffer['hint'],
+                    float(buffer['jerk'])/1000000.0
+                    )
 
 if __name__ == "__main__":
     pool = check_pool(sys.argv[1])

Resources/generate_motors_cfgArray.js

@@ -0,0 +1,38 @@
+#!/usr/bin/env node
+
+// Run this with no arguments, and get the motor code suitable for use in config_app.cpp
+
+for (n=1; n<=6; n++) {
+  console.log(`
+#if (MOTORS >= ${n})
+    { "${n}","${n}ma", _fip,  0, st_print_ma, get_ui8, st_set_ma,  (float *)&st_cfg.mot[MOTOR_${n}].motor_map,      M${n}_MOTOR_MAP },
+    { "${n}","${n}sa", _fip,  3, st_print_sa, get_flt, st_set_sa,  (float *)&st_cfg.mot[MOTOR_${n}].step_angle,     M${n}_STEP_ANGLE },
+    { "${n}","${n}tr", _fipc, 4, st_print_tr, get_flt, st_set_tr,  (float *)&st_cfg.mot[MOTOR_${n}].travel_rev,     M${n}_TRAVEL_PER_REV },
+    { "${n}","${n}mi", _fip,  0, st_print_mi, get_int, st_set_mi,  (float *)&st_cfg.mot[MOTOR_${n}].microsteps,     M${n}_MICROSTEPS },
+    { "${n}","${n}su", _fipi, 5, st_print_su, st_get_su,st_set_su, (float *)&st_cfg.mot[MOTOR_${n}].steps_per_unit, M${n}_STEPS_PER_UNIT },
+    { "${n}","${n}po", _fip,  0, st_print_po, get_ui8, set_01,     (float *)&st_cfg.mot[MOTOR_${n}].polarity,       M${n}_POLARITY },
+    { "${n}","${n}pm", _fip,  0, st_print_pm, st_get_pm,st_set_pm, (float *)&cs.null,                            M${n}_POWER_MODE },
+    { "${n}","${n}pl", _fip,  3, st_print_pl, get_flt, st_set_pl,  (float *)&st_cfg.mot[MOTOR_${n}].power_level,    M${n}_POWER_LEVEL },
+//  { "${n}","${n}pi", _fip,  3, st_print_pi, get_flt, st_set_pi,  (float *)&st_cfg.mot[MOTOR_${n}].power_idle,     M${n}_POWER_IDLE },
+//  { "${n}","${n}mt", _fip,  2, st_print_mt, get_flt, st_set_mt,  (float *)&st_cfg.mot[MOTOR_${n}].motor_timeout,  M${n}_MOTOR_TIMEOUT },
+#ifdef MOTOR_${n}_IS_TRINAMIC
+    { "${n}","${n}ts",  _f0,  0, tx_print_nul, motor_${n}.get_ts_fn,  set_ro,              (float *)&motor_${n}, 0 },
+    { "${n}","${n}pth", _fip, 0, tx_print_nul, motor_${n}.get_pth_fn, motor_${n}.set_pth_fn,  (float *)&motor_${n}, M${n}_TMC2130_TPWMTHRS },
+    { "${n}","${n}cth", _fip, 0, tx_print_nul, motor_${n}.get_cth_fn, motor_${n}.set_cth_fn,  (float *)&motor_${n}, M${n}_TMC2130_TCOOLTHRS },
+    { "${n}","${n}hth", _fip, 0, tx_print_nul, motor_${n}.get_hth_fn, motor_${n}.set_hth_fn,  (float *)&motor_${n}, M${n}_TMC2130_THIGH },
+    { "${n}","${n}sgt", _fip, 0, tx_print_nul, motor_${n}.get_sgt_fn, motor_${n}.set_sgt_fn,  (float *)&motor_${n}, M${n}_TMC2130_SGT },
+    { "${n}","${n}sgr", _f0,  0, tx_print_nul, motor_${n}.get_sgr_fn, set_ro,              (float *)&motor_${n}, 0 },
+    { "${n}","${n}csa", _f0,  0, tx_print_nul, motor_${n}.get_csa_fn, set_ro,              (float *)&motor_${n}, 0 },
+    { "${n}","${n}sgs", _f0,  0, tx_print_nul, motor_${n}.get_sgs_fn, set_ro,              (float *)&motor_${n}, 0 },
+    { "${n}","${n}tbl", _fip, 0, tx_print_nul, motor_${n}.get_tbl_fn, motor_${n}.set_tbl_fn,  (float *)&motor_${n}, M${n}_TMC2130_TBL },
+    { "${n}","${n}pgrd",_fip, 0, tx_print_nul, motor_${n}.get_pgrd_fn,motor_${n}.set_pgrd_fn, (float *)&motor_${n}, M${n}_TMC2130_PWM_GRAD },
+    { "${n}","${n}pamp",_fip, 0, tx_print_nul, motor_${n}.get_pamp_fn,motor_${n}.set_pamp_fn, (float *)&motor_${n}, M${n}_TMC2130_PWM_AMPL },
+    { "${n}","${n}hend",_fip, 0, tx_print_nul, motor_${n}.get_hend_fn,motor_${n}.set_hend_fn, (float *)&motor_${n}, M${n}_TMC2130_HEND },
+    { "${n}","${n}hsrt",_fip, 0, tx_print_nul, motor_${n}.get_hsrt_fn,motor_${n}.set_hsrt_fn, (float *)&motor_${n}, M${n}_TMC2130_HSTRT },
+    { "${n}","${n}smin",_fip, 0, tx_print_nul, motor_${n}.get_smin_fn,motor_${n}.set_smin_fn, (float *)&motor_${n}, M${n}_TMC2130_SMIN },
+    { "${n}","${n}smax",_fip, 0, tx_print_nul, motor_${n}.get_smax_fn,motor_${n}.set_smax_fn, (float *)&motor_${n}, M${n}_TMC2130_SMAX },
+    { "${n}","${n}sup", _fip, 0, tx_print_nul, motor_${n}.get_sup_fn, motor_${n}.set_sup_fn,  (float *)&motor_${n}, M${n}_TMC2130_SUP },
+    { "${n}","${n}sdn", _fip, 0, tx_print_nul, motor_${n}.get_sdn_fn, motor_${n}.set_sdn_fn,  (float *)&motor_${n}, M${n}_TMC2130_SDN },
+#endif
+#endif`);
+}

Resources/generate_motors_default_config.js

@@ -0,0 +1,50 @@
+#!/usr/bin/env node
+
+// Run this with no arguments, and get the motor code suitable for use in config_app.cpp
+
+console.log('// START Generated with ${PROJECT_ROOT}/Resources/generate_motors_default_config.js');
+for (n=1; n<=6; n++) {
+  console.log(
+`#ifndef M${n}_TMC2130_TPWMTHRS
+    #define M${n}_TMC2130_TPWMTHRS         1200                    // ${n}pth
+#endif
+#ifndef M${n}_TMC2130_TCOOLTHRS
+    #define M${n}_TMC2130_TCOOLTHRS        1000                    // ${n}cth
+#endif
+#ifndef M${n}_TMC2130_THIGH
+    #define M${n}_TMC2130_THIGH            10                      // ${n}hth
+#endif
+#ifndef M${n}_TMC2130_SGT
+    #define M${n}_TMC2130_SGT              4                       // ${n}sgt
+#endif
+#ifndef M${n}_TMC2130_TBL
+    #define M${n}_TMC2130_TBL              2                       // ${n}tbl
+#endif
+#ifndef M${n}_TMC2130_PWM_GRAD
+    #define M${n}_TMC2130_PWM_GRAD         1                       // ${n}pgrd
+#endif
+#ifndef M${n}_TMC2130_PWM_AMPL
+    #define M${n}_TMC2130_PWM_AMPL         200                     // ${n}pamp
+#endif
+#ifndef M${n}_TMC2130_HEND
+    #define M${n}_TMC2130_HEND             0                       // ${n}hend
+#endif
+#ifndef M${n}_TMC2130_HSTRT
+    #define M${n}_TMC2130_HSTRT            0                       // ${n}hsrt
+#endif
+#ifndef M${n}_TMC2130_SMIN
+    #define M${n}_TMC2130_SMIN             5                       // ${n}smin
+#endif
+#ifndef M${n}_TMC2130_SMAX
+    #define M${n}_TMC2130_SMAX             5                       // ${n}smax
+#endif
+#ifndef M${n}_TMC2130_SUP
+    #define M${n}_TMC2130_SUP              2                       // ${n}sup
+#endif
+#ifndef M${n}_TMC2130_SDN
+    #define M${n}_TMC2130_SDN              1                       // ${n}sdn
+#endif
+`
+);
+}
+console.log('// END Generated');