Working

bertos/algo/ramp_test.c

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+/*!
+ * \file
+ * <!--
+ * Copyright 2004, 2008 Develer S.r.l. (http://www.develer.com/)
+ * All Rights Reserved.
+ * -->
+ *
+ * \brief Test for compute, save and load ramps for stepper motors (implementation)
+ *
+ *
+ * \author Simone Zinanni <s.zinanni@develer.com>
+ * \author Bernie Innocenti <bernie@codewiz.org>
+ * \author Giovanni Bajo <rasky@develer.com>
+ * \author Daniele Basile <asterix@develer.com>
+ *
+ *
+ * The formula used by the ramp is the following:
+ *
+ * <pre>
+ *            a * b
+ * f(t) = -------------
+ *         lerp(a,b,t)
+ * </pre>
+ *
+ * Where <code>a</code> and <code>b</code> are the maximum and minimum speed
+ * respectively (minimum and maximum wavelength respectively), and <code>lerp</code>
+ * is a linear interpolation with a factor:
+ *
+ * <pre>
+ * lerp(a,b,t) =  a + t * (b - a)  =  (a * (1 - t)) + (b * t)
+ * </pre>
+ *
+ * <code>t</code> must be in the [0,1] interval. It is easy to see that the
+ * following holds true:
+ *
+ * <pre>
+ * f(0) = b,   f(1) = a
+ * </pre>
+ *
+ * And that the function is monotonic. So, the function effectively interpolates
+ * between the maximum and minimum speed through its domain ([0,1] -> [b,a]).
+ *
+ * The curve drawn by this function is similar to 1 / (sqrt(n)), so it is slower
+ * than a linear acceleration (which would be 1/n).
+ *
+ * The floating point version uses a slightly modified function which accepts
+ * the parameter in the domain [0, MT] (where MT is maxTime, the length of the
+ * ramp, which is a setup parameter for the ramp). This is done to reduce the
+ * number of operations per step. The formula looks like this:
+ *
+ * <pre>
+ *               a * b * MT
+ * g(t) = ----------------------------
+ *           (a * MT) + t * (b - a)
+ * </pre>
+ *
+ * It can be shown that this <code>g(t) = f(t * MT)</code>. The denominator
+ * is a linear interpolation in the range [b*MT, a*MT], as t moves in the
+ * interval [0, MT]. So the interpolation interval of the function is again
+ * [b, a]. The implementation caches the value of the numerator and parts
+ * of the denominator, so that the formula becomes:
+ *
+ * <pre>
+ * alpha = a * b * MT
+ * beta = a * MT
+ * gamma = b - a
+ *
+ *                alpha
+ * g(t) = ----------------------
+ *           beta + t * gamma
+ * </pre>
+ *
+ * and <code>t</code> is exactly the parameter that ramp_evaluate() gets,
+ * that is the current time (in range [0, MT]). The operations performed
+ * for each step are just an addition, a multiplication and a division.
+ *
+ * The fixed point version of the formula instead transforms the original
+ * function as follows:
+ *
+ * <pre>
+ *                   a * b                         a
+ *  f(t) =  -------------------------  =  --------------------
+ *                 a                         a
+ *           b * ( - * (1 - t) + t )         - * (1 - t) + t
+ *                 b                         b
+ * </pre>
+ *
+ * <code>t</code> must be computed by dividing the current time (24 bit integer)
+ * by the maximum time (24 bit integer). This is done by precomputing the
+ * reciprocal of the maximum time as a 0.32 fixed point number, and multiplying
+ * it to the current time. Multiplication is performed 8-bits a time by
+ * FIX_MULT32(), so that we end up with a 0.16 fixed point number for
+ * <code>t</code> (and <code>1-t</code> is just its twos-complement negation).
+ * <code>a/b</code> is in the range [0,1] (because a is always less than b,
+ * being the minimum wavelength), so it is precomputed as a 0.16 fixed point.
+ * The final step is then computing the denominator and executing the division
+ * (32 cycles using the 1-step division instruction in the DSP).
+ *
+ * The assembly implementation is needed for efficiency, but a C version of it
+ * can be easily written, in case it is needed in the future.
+ *
+ */
+
+#include "ramp.h"
+#include <cfg/debug.h>
+#include <cfg/test.h>
+
+
+static bool ramp_test_single(uint32_t minFreq, uint32_t maxFreq, uint32_t length)
+{
+	struct Ramp r;
+	uint16_t cur, old;
+	uint32_t clock;
+	uint32_t oldclock;
+
+	ramp_setup(&r, length, minFreq, maxFreq);
+
+	cur = old = r.clocksMaxWL;
+	clock = 0;
+	oldclock = 0;
+
+	kprintf("testing ramp: (length=%lu, min=%lu, max=%lu)\n", (unsigned long)length, (unsigned long)minFreq, (unsigned long)maxFreq);
+	kprintf("              [length=%lu, max=%04x, min=%04x]\n", (unsigned long)r.clocksRamp, r.clocksMaxWL, r.clocksMinWL);
+
+	int i = 0;
+	int nonbyte = 0;
+
+	while (clock + cur < r.clocksRamp)
+	{
+		oldclock = clock;
+		old = cur;
+
+		clock += cur;
+		cur = ramp_evaluate(&r, clock);
+
+		if (old < cur)
+		{
+			uint16_t t1 = FIX_MULT32(oldclock >> RAMP_CLOCK_SHIFT_PRECISION, r.precalc.inv_total_time);
+			uint16_t t2 = FIX_MULT32(clock >> RAMP_CLOCK_SHIFT_PRECISION,    r.precalc.inv_total_time);
+			uint16_t denom1 = FIX_MULT32((uint16_t)((~t1) + 1), r.precalc.max_div_min) + t1;
+			uint16_t denom2 = FIX_MULT32((uint16_t)((~t2) + 1), r.precalc.max_div_min) + t2;
+
+			kprintf("    Failed: %04x @ %lu   -->   %04x @ %lu\n", old, (unsigned long)oldclock, cur, (unsigned long)clock);
+			kprintf("    T:     %04x -> %04x\n", t1, t2);
+			kprintf("    DENOM: %04x -> %04x\n", denom1, denom2);
+
+			cur = ramp_evaluate(&r, clock);
+			return false;
+		}
+		i++;
+		if ((old-cur) >= 256)
+			nonbyte++;
+	}
+
+
+
+	kprintf("Test finished: %04x @ %lu [min=%04x, totlen=%lu, numsteps:%d, nonbyte:%d]\n", cur, (unsigned long)clock, r.clocksMinWL, (unsigned long)r.clocksRamp, i, nonbyte);
+
+	return true;
+}
+
+int ramp_testSetup(void)
+{
+	kdbg_init();
+	return 0;
+}
+
+int ramp_testTearDown(void)
+{
+	return 0;
+}
+
+int ramp_testRun(void)
+{
+	#define TEST_RAMP(min, max, len) do { \
+		if (!ramp_test_single(min, max, len)) \
+			return -1; \
+	} while(0)
+
+	TEST_RAMP(200,  5000, 3000000);
+	TEST_RAMP(1000, 2000, 1000000);
+
+	return 0;
+}
+
+TEST_MAIN(ramp);