Working on accurate stepper control

.gitignore

@@ -2,4 +2,5 @@
 *.o
 *.pyc
 rpm_meter_test
+test_wavegen
 spaxxpos

make_test_wavegen

@@ -0,0 +1 @@
+gcc  -std=gnu99 test_wavegen.c -o test_wavegen -lpigpio -lrt

poslib.py

@@ -8,33 +8,35 @@ class axisPos(ctypes.Structure):
               ("xposition",ctypes.c_float), ("yposition",ctypes.c_float)]
 
 class LinearPositionComm:
-	pos_receiver_lib = ctypes.CDLL(os.path.join(myfolder,'pos_decode.so'))
-
-	def __enter__(self):
-		print('Opening DRO port ' + self.port + ' at ' + str(self.baudrate) + ' baud')
-		pos_receiver_lib = self.pos_receiver_lib
-		pos_receiver_lib.init_comm.argtypes = ( ctypes.POINTER(ctypes.c_char), ctypes.c_int)
-		pos_receiver_lib.get_x_pos.restype = ctypes.c_float
-		pos_receiver_lib.get_y_pos.restype = ctypes.c_float
-		pos_receiver_lib.get_axis_stat.restype = axisPos
-		pos_receiver_lib.init_comm(self.port, self.baudrate)
-		return self
+    pos_receiver_lib = ctypes.CDLL(os.path.join(myfolder,'pos_decode.so'))
 
-	def __exit__(self, type, value, traceback):
-		self.shutdown()
+    def __enter__(self):
+        print('Opening DRO port ' + self.port + ' at ' + str(self.baudrate) + ' baud')
+        pos_receiver_lib = self.pos_receiver_lib
+        pos_receiver_lib.init_comm.argtypes = ( ctypes.POINTER(ctypes.c_char), ctypes.c_int)
+        pos_receiver_lib.get_x_pos.restype = ctypes.c_float
+        pos_receiver_lib.get_y_pos.restype = ctypes.c_float
+        pos_receiver_lib.get_axis_stat.restype = axisPos
+        pos_receiver_lib.init_comm(self.port, self.baudrate)
+        pos_receiver_lib.rpmmeterInitialize.argtype =  ctypes.c_int
+        pos_receiver_lib.gpioCfgInterfaces(7)
+        pos_receiver_lib.rpmmeterInitialize(self.rpm_sensor_pin)
+        return self
+
+    def __exit__(self, type, value, traceback):
+        self.pos_receiver_lib.shutdown()
+        self.pos_receiver_lib.rpmmeterShutdown()
 
-	def __init__(self, port, baudrate):
-		self.port = port
-		self.baudrate = int(baudrate)
+    def __init__(self, port, baudrate, rpm_sensor_pin):
+        self.rpm_sensor_pin = rpm_sensor_pin
+        self.port = port
+        self.baudrate = int(baudrate)
 
-	def shutdown(self):
-		self.pos_receiver_lib.shutdown()
-
+
 def getThreadId():
-	"""Returns OS thread id - Specific to Linux"""
-	libc = ctypes.cdll.LoadLibrary('libc.so.6')
-	SYS_gettid = 224 # System dependent, see e.g. /usr/include/x86_64-linux-gnu/asm/unistd_64.h  
-	#224 is the value on raspbian
-	return libc.syscall(SYS_gettid)
-
-print "Thread ID: %i"%getThreadId()
+    """Returns OS thread id - Specific to Linux"""
+    libc = ctypes.cdll.LoadLibrary('libc.so.6')
+    SYS_gettid = 224 # System dependent, see e.g. /usr/include/x86_64-linux-gnu/asm/unistd_64.h  
+    #224 is the value on raspbian
+    return libc.syscall(SYS_gettid)
+

rpm_meter.c

@@ -86,6 +86,7 @@ int rpmmeterInitialize(int gpio_pin)
    //cfgPeripheral: 0 (PWM), 1 (PCM)
    //cfgSource: deprecated, value is ignored
 
+   printf("Initializing pigpio\n"); 
    if (gpioInitialise()<0) return 1;
    printf("Installing ISR on gpio %i \n",  gpio_pin);
    fflush(stdout); 

test_rpm_sensor.py

@@ -0,0 +1,44 @@
+import serial
+import ConfigParser
+import time
+import os
+import sys
+import struct
+import poslib
+from poslib import LinearPositionComm
+import threading
+
+myfolder = os.path.dirname(os.path.realpath(__file__))
+
+configfile = os.path.join(myfolder,"..","dro.ini")
+os.chdir(myfolder)
+print "Reading config file %s"%configfile
+config = ConfigParser.ConfigParser()
+config.read(configfile)
+
+port, baudrate , rpm_meter_pin = None, None, None
+try:
+    port = config.get('GENERAL', 'comport')    
+    baudrate = config.get('GENERAL', 'baudrate')    
+    rpm_meter_pin = int(config.get('GENERAL', 'rpm_sensor_pin'))    
+except Exception, e:
+    print "Invalid config file: %s"%(str(e))
+    exit(1)
+
+#time.sleep(2)
+
+#time.sleep(2) #not working after the DLL init_commm has been called. Interference with the signal handler?
+try:
+    with LinearPositionComm(port, baudrate, rpm_meter_pin) as comm:
+        for i in range(1,1000):
+        #print "X%.3f "%comm.pos_receiver_lib.get_x_pos()
+        #print "Y%.3f "%comm.pos_receiver_lib.get_y_pos()
+            rpm = comm.pos_receiver_lib.get_rpm()
+            j=0
+            while(j < 1000):
+                j+=1
+            sys.stdout.write("RPM %i \r"%(rpm))
+except Exception , e:
+    print "Exception in the LinearPositionComm: %s"%str(e)
+
+

test_wavegen.c

@@ -0,0 +1,181 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+#include <pigpio.h>
+#include <time.h>
+#include <sys/ioctl.h>
+#include <signal.h>
+
+int gpio=21;
+
+#define DUR_OFF 10
+#define RAMP_STEP 1 //each pulse during the ramp up period will be shorter by this value
+
+int start_wave(int on);
+
+/*
+int rampup_wave(int duration){
+   printf("Rampup to %i", duration);
+//   gpioWaveClear();
+   
+   int ramp_up = 1000;
+   char wid[10*ramp_up/RAMP_STEP];
+   int wave_no = 0; 
+   while (ramp_up > duration) {
+       
+       gpioPulse_t pulse[2];
+       pulse[0].gpioOn = (1<<gpio);
+       pulse[0].gpioOff = 0;
+       pulse[0].usDelay = ramp_up;
+
+       pulse[1].gpioOn = 0;
+       pulse[1].gpioOff = (1<<gpio);
+       pulse[1].usDelay = DUR_OFF;
+       
+       gpioWaveAddGeneric(2, pulse);
+       
+       int wave_id = gpioWaveCreate();
+       if (wave_id > 100){       
+            //too many waves, need to start sending them
+            //fprintf(stderr, "Will send a set of %i \n", wave_no);
+            gpioWaveChain(wid, wave_no);
+            while (gpioWaveTxBusy())  time_sleep(0.001);   
+            for (int i=0; i<wave_no; i++) gpioWaveDelete(wid[i]);
+            wave_no = 0;
+       }else {
+            wid[wave_no] = wave_id;
+            ramp_up -= RAMP_STEP;
+            wave_no+=1;       
+       }
+       //fprintf(stderr, "add wave dur %i ", ramp_up);
+       //fflush(stderr);
+    }
+    //gpioWaveTxSend(wave_id, PI_WAVE_MODE_ONE_SHOT_SYNC); 
+    gpioWaveChain(wid, wave_no);
+    while (gpioWaveTxBusy())  time_sleep(0.001);   
+    start_wave(duration);
+    for (int i=0; i<wave_no; i++) gpioWaveDelete(wid[i]);
+   return 0;
+}
+*/
+
+int rampup_wave(int duration){
+   printf("Rampup to %i", duration);
+//   gpioWaveClear();
+
+   int ramp_up = 1000;
+
+   int wave_no = 0; 
+   while (ramp_up > duration) {
+
+       #define NO_OF_PULSES_PER_RAMPSTEP 10
+       gpioPulse_t pulse[NO_OF_PULSES_PER_RAMPSTEP*2];
+       for (int i= 0; i < 2*NO_OF_PULSES_PER_RAMPSTEP-1; i++){
+       pulse[i].gpioOn = (1<<gpio);
+       pulse[i].gpioOff = 0;
+       pulse[i].usDelay = ramp_up;
+
+       pulse[i+1].gpioOn = 0;
+       pulse[i+1].gpioOff = (1<<gpio);
+       pulse[i+1].usDelay = ramp_up;
+       }
+       gpioWaveAddGeneric(NO_OF_PULSES_PER_RAMPSTEP*2, pulse);
+       int wave_id = gpioWaveCreate();
+       gpioWaveTxSend(wave_id, PI_WAVE_MODE_REPEAT_SYNC);
+       //while (gpioWaveTxBusy())  time_sleep(0.01);   
+       //time_sleep(0.01);   
+       gpioWaveDelete(wave_id);
+       ramp_up -= RAMP_STEP;
+       //fprintf(stderr, "add wave dur %i ", ramp_up);
+       //fflush(stderr);
+    }
+    //gpioWaveTxSend(wave_id, PI_WAVE_MODE_ONE_SHOT_SYNC); 
+    //gpioWaveChain(wid, wave_no);
+    //while (gpioWaveTxBusy())  time_sleep(0.0001);   
+    start_wave(duration);
+    //for (int i=0; i<wave_no; i++) gpioWaveDelete(wid[i]);
+   return 0;
+}
+
+int start_wave(int on){
+    //gpioWaveClear();
+   //fprintf(stderr, "start wave %i ", on);
+   //fflush(stderr);
+//   gpioWaveClear();
+
+   gpioPulse_t pulse[2];
+   pulse[0].gpioOn = (1<<gpio);
+   pulse[0].gpioOff = 0;
+   pulse[0].usDelay = on;
+
+   pulse[1].gpioOn = 0;
+   pulse[1].gpioOff = (1<<gpio);
+   pulse[1].usDelay = on;
+
+   gpioWaveAddGeneric(2, pulse);
+   int wave_id = gpioWaveCreate();
+   if (wave_id < 0){
+    fprintf(stderr, "Wave create error\n");
+    if (wave_id == PI_EMPTY_WAVEFORM){
+        fprintf(stderr, "PI_EMPTY_WAVEFORM\n");
+    }else if (wave_id == PI_TOO_MANY_CBS){
+        fprintf(stderr, "PI_TOO_MANY_CBS\n");
+    }else if (wave_id == PI_TOO_MANY_OOL){
+        fprintf(stderr, "PI_TOO_MANY_OOL\n");
+    }else if (wave_id == PI_NO_WAVEFORM_ID){
+        fprintf(stderr, "PI_NO_WAVEFORM_ID\n");
+    };
+
+    return 1;
+   }
+
+   gpioWaveTxSend(wave_id, PI_WAVE_MODE_REPEAT_SYNC); 
+   return 0;
+}
+
+int main(int argc, char *argv[])
+{
+   int on=1000;
+
+   if (argc > 3)
+   {
+      gpioInitialise();
+      gpioWaveClear();
+      fprintf(stderr, "Too many params");
+      return 1;
+   }
+   else if (argc > 2)
+   {
+      on   = atoi(argv[2]);
+      gpio = atoi(argv[1]);
+   }
+   else if (argc > 1)
+   {
+      gpio = atoi(argv[1]);
+   }
+
+   printf("gpio=%d on=%d\n", gpio, on);
+
+   if (gpioInitialise()<0) return -1;
+
+   gpioSetMode(gpio, PI_OUTPUT);
+
+       rampup_wave(on);
+
+   //start_wave(on); 
+   while (1) {
+        int var = getchar();
+        if(var == 's')   break;
+        if(var == '+')   {
+            on += 1;
+            start_wave(on);
+        }
+        if(var == '-')   {
+            on -= 1;
+            start_wave(on);
+        }        
+        time_sleep(0.01);  
+    }
+   gpioWaveClear();
+   gpioTerminate();
+}