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* target/8812: Registers allocated for two uses at once
@ 2002-12-04 10:06 michaelgcc
0 siblings, 0 replies; only message in thread
From: michaelgcc @ 2002-12-04 10:06 UTC (permalink / raw)
To: gcc-gnats
>Number: 8812
>Category: target
>Synopsis: Registers allocated for two uses at once
>Confidential: no
>Severity: serious
>Priority: medium
>Responsible: unassigned
>State: open
>Class: wrong-code
>Submitter-Id: net
>Arrival-Date: Wed Dec 04 10:06:00 PST 2002
>Closed-Date:
>Last-Modified:
>Originator: Michael Rendell
>Release: 3.3 20021202 (experimental)
>Organization:
>Environment:
System: Linux sea 2.4.18-17.7.x #1 Tue Oct 8 11:34:32 EDT 2002 i686 unknown
Architecture: i686
host: i686-pc-linux-gnu
build: i686-pc-linux-gnu
target: avr-unknown-none
configured with: ./configure --target=avr --enable-languages=c --prefix=/opt/avr-tools-20021202
>Description:
The machine code generated for:
int32_t offset2MatchDest = offset2Dest - matchOffset;
allocates registers 24,25,26,27 for offset2Dest
and registers 22,23,24,25 for matchOffset.
Thus registers 24,25 are used twice and the result of the
subtraction is incorrect.
The generated code is;
.stabn 68,0,252,.LM20-mc_motionControl
.LM20:
movw r26,r12
movw r24,r10
ldd r22,Y+5
ldd r23,Y+6
ldd r24,Y+7
ldd r25,Y+8
sub r24,r22
sbc r25,r23
sbc r26,r24
sbc r27,r25
This problem also exists in the 20021021 snapshot.
>How-To-Repeat:
Run:
avr-gcc -mmcu=atmega323 -Wall -Wstrict-prototypes -Os -g -S mx.c
on the input:
# 1 "mx.c"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "mx.c"
# 1 "/opt/avr-tools-20021202/avr/include/stdlib.h" 1 3
# 41 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
# 1 "/opt/avr-tools-20021202/lib/gcc-lib/avr/3.3/include/stddef.h" 1 3 4
# 213 "/opt/avr-tools-20021202/lib/gcc-lib/avr/3.3/include/stddef.h" 3 4
typedef unsigned int size_t;
# 325 "/opt/avr-tools-20021202/lib/gcc-lib/avr/3.3/include/stddef.h" 3 4
typedef int wchar_t;
# 42 "/opt/avr-tools-20021202/avr/include/stdlib.h" 2 3
# 60 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
typedef struct {
int quot;
int rem;
} div_t;
typedef struct {
long quot;
long rem;
} ldiv_t;
typedef int (*__compar_fn_t)(const void *, const void *);
# 94 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern __inline__ void abort(void) __attribute__((__noreturn__));
extern __inline__ void
abort(void)
{
for (;;);
}
extern int abs(int __i) __attribute__((__const__));
# 117 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern long labs(long __i) __attribute__((__const__));
# 140 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern void *bsearch(const void *__key, const void *__base, size_t __nmemb,
size_t __size, int (*__compar)(const void *, const void *));
extern div_t div(int __num, int __denom) __asm__("__divmodhi4") __attribute__((__const__));
extern ldiv_t ldiv(long __num, long __denom) __asm__("__divmodsi4") __attribute__((__const__));
# 172 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern void qsort(void *__base, size_t __nmemb, size_t __size,
__compar_fn_t __compar);
# 205 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern long strtol(const char *__nptr, char **__endptr, int __base);
# 239 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern unsigned long strtoul(const char *__nptr, char **__endptr, int __base);
# 249 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern __inline__ long atol(const char *__nptr) __attribute__((__pure__));
extern __inline__ long
atol(const char *__nptr)
{
return strtol(__nptr, (char **) 0, 10);
}
# 273 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern int atoi(const char *) __attribute__((__pure__));
# 285 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern void exit(int __status) __attribute__((__noreturn__));
# 297 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern void *malloc(size_t __size) __attribute__((__malloc__));
extern void free(void *__ptr);
extern size_t __malloc_margin;
extern char *__malloc_heap_start;
extern char *__malloc_heap_end;
extern void *calloc(size_t __nele, size_t __size) __attribute__((__malloc__));
# 361 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern double strtod(const char *__nptr, char **__endptr);
# 383 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern int rand(void);
extern void srand(unsigned int __seed);
extern int rand_r(unsigned long *ctx);
# 413 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern char *itoa(int __val, char *__s, int __radix);
# 428 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern char *ltoa(long int __val, char *__s, int __radix);
# 443 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern char *utoa(unsigned int __val, char *__s, int __radix);
# 459 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern char *ultoa(unsigned long int __val, char *__s, int __radix);
# 477 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern long random(void);
extern void srandom(unsigned long __seed);
extern long random_r(unsigned long *ctx);
# 530 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern char *dtostre(double __val, char *__s, unsigned char __prec,
unsigned char __flags);
# 543 "/opt/avr-tools-20021202/avr/include/stdlib.h" 3
extern char *dtostrf(double __val, char __width, char __prec, char *__s);
# 2 "mx.c" 2
# 1 "/opt/avr-tools-20021202/avr/include/avr/pgmspace.h" 1 3
# 57 "/opt/avr-tools-20021202/avr/include/avr/pgmspace.h" 3
# 1 "/opt/avr-tools-20021202/lib/gcc-lib/avr/3.3/include/stddef.h" 1 3 4
# 58 "/opt/avr-tools-20021202/avr/include/avr/pgmspace.h" 2 3
# 77 "/opt/avr-tools-20021202/avr/include/avr/pgmspace.h" 3
typedef void prog_void __attribute__((__progmem__));
typedef char prog_char __attribute__((__progmem__));
typedef unsigned char prog_uchar __attribute__((__progmem__));
typedef int prog_int __attribute__((__progmem__));
typedef long prog_long __attribute__((__progmem__));
typedef long long prog_long_long __attribute__((__progmem__));
# 159 "/opt/avr-tools-20021202/avr/include/avr/pgmspace.h" 3
static inline unsigned char __lpm_inline(unsigned short __addr) __attribute__((__const__));
static inline unsigned char __lpm_inline(unsigned short __addr)
{
return ({ unsigned short __addr16 = (unsigned short)(__addr); unsigned char __result; __asm__ ( "lpm %0, Z" : "=r" (__result) : "z" (__addr16) ); __result; });
}
# 209 "/opt/avr-tools-20021202/avr/include/avr/pgmspace.h" 3
extern void *memcpy_P(void *, const prog_void *, size_t);
extern char *strcat_P(char *, const prog_char *);
extern int strcmp_P(const char *, const prog_char *) __attribute__((__pure__));
extern char *strcpy_P(char *, const prog_char *);
extern int strcasecmp_P(const char *, const prog_char *) __attribute__((__pure__));
extern size_t strlen_P(const prog_char *) __attribute__((__const__));
extern int strncmp_P(const char *, const prog_char *, size_t) __attribute__((__pure__));
extern int strncasecmp_P(const char *, const prog_char *, size_t) __attribute__((__pure__));
extern char *strncpy_P(char *, const prog_char *, size_t);
# 3 "mx.c" 2
# 1 "/opt/avr-tools-20021202/avr/include/string.h" 1 3
# 38 "/opt/avr-tools-20021202/avr/include/string.h" 3
# 1 "/opt/avr-tools-20021202/lib/gcc-lib/avr/3.3/include/stddef.h" 1 3 4
# 39 "/opt/avr-tools-20021202/avr/include/string.h" 2 3
# 57 "/opt/avr-tools-20021202/avr/include/string.h" 3
extern void *memccpy(void *, const void *, int, size_t);
extern void *memchr(const void *, int, size_t) __attribute__((__pure__));
extern int memcmp(const void *, const void *, size_t) __attribute__((__pure__));
extern void *memcpy(void *, const void *, size_t);
extern void *memmove(void *, const void *, size_t);
extern void *memset(void *, int, size_t);
extern char *strcat(char *, const char *);
extern char *strchr(const char *, int) __attribute__((__pure__));
extern int strcmp(const char *, const char *) __attribute__((__pure__));
extern char *strcpy(char *, const char *);
extern int strcasecmp(const char *, const char *) __attribute__((__pure__));
extern size_t strlcat(char *, const char *, size_t);
extern size_t strlcpy(char *, const char *, size_t);
extern size_t strlen(const char *) __attribute__((__pure__));
extern char *strlwr(char *);
extern char *strncat(char *, const char *, size_t);
extern int strncmp(const char *, const char *, size_t);
extern char *strncpy(char *, const char *, size_t);
extern int strncasecmp(const char *, const char *, size_t) __attribute__((__pure__));
extern size_t strnlen(const char *, size_t) __attribute__((__pure__));
extern char *strrchr(const char *, int) __attribute__((__pure__));
extern char *strrev(char *);
extern char *strstr(const char *, const char *) __attribute__((__pure__));
extern char *strupr(char *);
# 4 "mx.c" 2
# 1 "../../libavr/hack.h" 1
# 5 "mx.c" 2
# 1 "../../libavr/misc.h" 1
# 6 "mx.c" 2
# 1 "../../libavr/timer2.h" 1
# 1 "/opt/avr-tools-20021202/avr/include/inttypes.h" 1 3
# 46 "/opt/avr-tools-20021202/avr/include/inttypes.h" 3
typedef signed char int8_t;
typedef unsigned char uint8_t;
typedef int int16_t;
typedef unsigned int uint16_t;
typedef long int32_t;
typedef unsigned long uint32_t;
typedef long long int64_t;
typedef unsigned long long uint64_t;
typedef int16_t intptr_t;
typedef uint16_t uintptr_t;
# 5 "../../libavr/timer2.h" 2
extern void timer2_init( int clockFreq );
extern uint16_t timer2_getMS(void);
extern void timer2_getTimeToMS(uint32_t *secsp, uint16_t *msp);
extern uint32_t periodicTimer_secs;
extern uint16_t periodicTimer_msec;
# 7 "mx.c" 2
# 1 "../../libavr/isqrt.h" 1
# 40 "../../libavr/isqrt.h"
extern uint16_t isqrt_uint16(uint16_t m);
extern uint32_t isqrt_uint32(uint32_t m);
extern uint64_t isqrt_uint64(uint64_t m);
# 8 "mx.c" 2
# 1 "../motorCntlr/iomap.h" 1
# 1 "/opt/avr-tools-20021202/avr/include/avr/io.h" 1 3
# 81 "/opt/avr-tools-20021202/avr/include/avr/io.h" 3
# 1 "/opt/avr-tools-20021202/avr/include/avr/iom323.h" 1 3
# 43 "/opt/avr-tools-20021202/avr/include/avr/iom323.h" 3
# 1 "/opt/avr-tools-20021202/avr/include/avr/sfr_defs.h" 1 3
# 44 "/opt/avr-tools-20021202/avr/include/avr/iom323.h" 2 3
# 82 "/opt/avr-tools-20021202/avr/include/avr/io.h" 2 3
# 5 "../motorCntlr/iomap.h" 2
# 1 "../../libavr/iomap.h" 1
# 1 "../../libavr/bool.h" 1
# 9 "../../libavr/bool.h"
typedef uint8_t bool;
# 5 "../../libavr/iomap.h" 2
extern void iomap_setLed(bool val);
extern void iomap_setDebug0(bool val);
extern void iomap_setDebug1(bool val);
extern void iomap_setDebug2(bool val);
extern void iomap_setDebug3(bool val);
extern void iomap_setDebug4(bool val);
extern void iomap_setDebug5(bool val);
extern void iomap_setDebug6(bool val);
extern void iomap_setDebug7(bool val);
# 6 "../motorCntlr/iomap.h" 2
# 145 "../motorCntlr/iomap.h"
extern inline uint8_t iomap_getIdent0( void ) {
return ((*(volatile unsigned char *)(((unsigned int) &((*(volatile unsigned char *)((0x16) + 0x20)))))) & (1 << (1)));
}
extern inline void iomap_setStegTXE(bool val) {
if (val)
(*(volatile unsigned char *)((0x12) + 0x20)) |= (1 << (4));
else
(*(volatile unsigned char *)((0x12) + 0x20)) &= ~(1 << (4));
}
extern void iomap_init(void);
# 9 "mx.c" 2
# 1 "../motorCntlr/motionControl.h" 1
# 1 "../motorCntlr/app.h" 1
# 1 "../../scopeMI/scope-controller.h" 1
# 10 "../../scopeMI/scope-controller.h"
# 1 "../../libavr/errors-common.h" 1
# 12 "../../libavr/errors-common.h"
enum {
ERR_NONE = 0,
ERR_CMD_UNKNOWN,
ERR_PARAM_LEN,
ERR_PARAM_INVALID,
ERR_RESP_LEN,
ERR_INTERNAL,
ERR_UNIMPLEMENTED,
ERR_PROTO_SEND_WHILE_SENDING,
ERR_PROTO_SEND_TOO_BIG,
ERR_PROTO_SEND_FAILED,
ERR_PROTO_LINK_FAILED,
ERR_PROTO_APP_EVENT_BAD,
ERR_TWI__START,
ERR_TWI_UNEXPECTED_TWSR = ERR_TWI__START,
ERR_TWI_SEND_NOT_IDLE,
ERR_TWI_SEND_BAD_LEN,
ERR_TWI_SEND_TO_SELF,
ERR_TWI_SEND_TO_NO_ONE,
ERR_TWI_RESET_NOT_IDLE,
ERR_TWI_RESET_TO_SELF,
ERR_TWI_LINK_FAILED,
ERR_TWI_TIMEOUT,
ERR_TWI_NO_RESPONSE,
ERR_TWI_ARB_LOST,
ERR_TWI_BAD_CSUM,
ERR_TWI_BAD_LEN,
ERR_TWI_OVERFLOW,
ERR_TWI_OVERRUN,
ERR_TWI_DATA_NACK,
ERR_TWI_NO_SEQ_MAP,
ERR_TWI_NO_LINK,
ERR_TWI_APP_EVENT_BAD,
ERR_STEG_FRAMING,
ERR_STEG_OVERRUN,
ERR_STEG_PARITY,
ERR_STEG_CSUM,
ERR_STEG_OVERFLOW,
ERR_STEG_ERROR,
ERR_STEG_ERROR_STATUS,
ERR_STEG_CMD_MISMATCH,
ERR__APP_SPEC
};
# 11 "../../scopeMI/scope-controller.h" 2
enum {
ERR_SCOPE_BUSY = ERR__APP_SPEC,
ERR_CU_TWI_RESET,
ERR_CU_BAD_RESPONSE,
ERR_STATE_INVALID,
ERR_STEG_SERIAL_TIMEOUT,
ERR_MEMORY_BUSY,
ERR_FLASH_PAGE_WRITE_FAILED,
ERR_SOFT_MOTION_LIMIT,
};
enum {
SC_CMD_RESP_ERR = '0',
SC_CMD_RESP_OK = '1',
};
enum {
SC_CMD__UNINITIALIZED = 0,
SC_CMD_RESET = 'R',
SC_CMD_TWI_RESET = 'I',
SC_CMD_VERSION = 'v',
SC_CMD_GET_UPTIME = 'u',
SC_CMD_PING = 'p',
SC_CMD_GET_STATUS = 'a',
SC_CMD_GET_POSITION = 'o',
SC_CMD_FIND_ROTATION_POSITION = 'F',
SC_CMD_STOP = 's',
SC_CMD_GET_POSITION_PARAM = 'z',
SC_CMD_SET_POSITION_PARAM = 'Z',
SC_CMD_GET_TRACKING_RATE = 't',
SC_CMD_SET_TRACKING_RATE = 'T',
SC_CMD_GOTO_POSITION = 'G',
SC_CMD_SLEW_START = 'S',
SC_CMD_MEMORY_READ = 'm',
SC_CMD_MEMORY_WRITE = 'M',
SC_CMD_CHANGE_MODE = 'X',
SC_CMD_DEBUG = 'D',
SC_CMD_FILL_BUFFER = 'f',
SC_CMD_WRITE_FLASH_PAGE = 'W',
};
# 83 "../../scopeMI/scope-controller.h"
enum {
SC_CMD_STOP_SLEW_GOTO = 0,
SC_CMD_STOP_ALL = 1,
SC_CMD_STOP_ALL_IMMEDIATE = 2,
};
enum {
SC_CMD_POS_PARAM_ZERO_POSITION,
SC_CMD_POS_PARAM_HARD_MOTION_LIMIT_LOW,
SC_CMD_POS_PARAM_HARD_MOTION_LIMIT_HIGH,
SC_CMD_POS_PARAM_ALIGN_POSITION,
};
enum {
SC_CU__UNINITIALIZED = 0,
SC_CU_HUB = 1,
SC_CU_LHA = 2,
SC_CU_DEC = 3,
SC_CU__MAX,
SC_CU__MIN = SC_CU_HUB,
};
enum {
SC_AS__UNINITIALIZED = 0,
SC_AS_TEXT = 1,
SC_AS_DATA = 2,
SC_AS_EEPROM = 3,
SC_AS_FUSE = 4,
};
enum {
SC_CMD_CHANGE_MODE__UNINITIALIZED = 0,
SC_CMD_CHANGE_MODE_DOWNLOAD,
SC_CMD_CHANGE_MODE_APP,
};
enum {
SC_ST__UNINITIALIZED = 0,
SC_ST_ERROR,
SC_ST_INIT,
SC_ST_UNCONFIGURED,
SC_ST_ROTATION_UNKNOWN,
SC_ST_ROTATION_FIND,
SC_ST__OPERATIONAL,
SC_ST_IDLE = SC_ST__OPERATIONAL,
SC_ST_STOPPING,
SC_ST_TRACKING,
SC_ST_SLEWING,
SC_ST_GOING_TO,
SC_ST_MONITOR,
};
enum {
SC_MEMIO_SIZE_MAX = 40,
};
enum {
SC_SLAVE_WATCHDOG_POLL_MS = 1000,
SC_SLAVE_WATCHDOG_TIMEOUT_MS = SC_SLAVE_WATCHDOG_POLL_MS * 2,
};
enum {
SC_EEPROM__VALID_VALUE = 0xa5,
SC_EEPROM__INVALID_VALUE = 0xff,
SC_EEPROM__WRITE_MAX = 16,
SC_EEPROM_ZERO_POS_VALID = 0,
SC_EEPROM_ZERO_POS_SIZE = 4,
SC_EEPROM_HARD_MOTION_LIMIT_LOW_VALID = 5,
SC_EEPROM_HARD_MOTION_LIMIT_LOW_SIZE = 4,
SC_EEPROM_HARD_MOTION_LIMIT_HIGH_VALID = 10,
SC_EEPROM_HARD_MOTION_LIMIT_HIGH_SIZE = 4,
SC_EEPROM_ALIGN_POS_VALID = 15,
SC_EEPROM_ALIGN_POS_SIZE = 4,
};
typedef int32_t rPos_t;
typedef uint32_t rDist_t;
typedef int32_t rVelocity_t;
typedef uint32_t rSpeed_t;
# 6 "../motorCntlr/app.h" 2
enum {
AES__UNINITIALIZED = 0,
AES_TWI,
AES_APP,
AES_STEG_SERIAL,
AES_EEPROM,
AES_MOTION_CONTROL,
};
struct app_pos {
uint32_t stegPos;
rDist_t zeroedRPos;
int8_t wrapCount;
rPos_t rPos;
uint32_t sec;
uint16_t ms;
};
enum {
ACF_ZERO_POSITION = 1,
ACF_HARD_MOTION_LIMIT_LOW = 2,
ACF_HARD_MOTION_LIMIT_HIGH = 4,
ACF_ALIGN_POSITION = 8,
ACF__REQUIRED = ACF_ZERO_POSITION|ACF_HARD_MOTION_LIMIT_LOW
|ACF_HARD_MOTION_LIMIT_HIGH,
};
struct app_config {
uint8_t configuredFlags;
rDist_t zeroPosition;
rPos_t hardMotionLimitLow;
rPos_t hardMotionLimitHigh;
rPos_t alignPosition;
rPos_t softMotionLimitLow;
rPos_t softMotionLimitHigh;
};
extern struct app_config app_config;
extern void app_logError(uint8_t errorSource, uint8_t err, uint8_t info);
extern void app_steg_setWrapCount(int8_t wrapCount);
# 7 "../motorCntlr/motionControl.h" 2
extern void mc_init(void);
extern void mc_timingEvents(void);
extern bool mc_canChangeConfig(void);
extern bool mc_canEnterDownload(void);
extern uint8_t mc_getState(void);
extern rVelocity_t mc_getTrackingRate(void);
extern void mc_configChanged(void);
extern void mc_positionUpdate(const struct app_pos *pos);
extern uint8_t mc_stop(uint8_t stopMode);
extern uint8_t mc_findRotationPosition(void);
extern uint8_t mc_setTracking(rVelocity_t rate);
extern uint8_t mc_goto(rPos_t rPos);
extern uint8_t mc_slewStart(rDist_t dist, rVelocity_t rate);
# 10 "mx.c" 2
# 1 "../motorCntlr/main.h" 1
# 11 "mx.c" 2
# 1 "../motorCntlr/motor.h" 1
# 12 "../motorCntlr/motor.h"
enum {
MOT_DIR_NEUTRAL,
MOT_DIR_PLUS,
MOT_DIR_MINUS,
};
enum {
MOT_MODE__UNINITIALIZED,
MOT_MODE_PWM,
MOT_MODE_INTR,
};
# 32 "../motorCntlr/motor.h"
enum {
MOT_PWM_PS_MASK = 0xf,
MOT_PWM_PS_SHIFT = 0,
MOT_PWM_WIDTH_MASK = 0x3,
MOT_PWM_WIDTH_SHIFT = 4,
MOT_PWM_CENTERED = 0x40,
};
struct motorParams {
bool mode;
uint8_t pwmBits;
uint16_t pwmMatch;
uint16_t periodUPS;
uint16_t onUPS;
uint8_t nOnCycles;
};
extern void motor_init(void);
extern void motor_setDir(uint8_t dir);
extern void motor_stop(void);
extern bool motor_setParams(const struct motorParams *params);
# 12 "mx.c" 2
# 47 "mx.c"
typedef int32_t rAccel_t;
struct mc_velocityInfo {
rVelocity_t velocity;
};
struct mc_velocityHistory {
struct mc_velocityInfo average;
struct mc_velocityInfo totals;
bool prevValid;
struct app_pos prevPos;
uint8_t nextEntry;
uint8_t nEntries;
struct mc_velocityInfo entries[16];
};
struct mc_speedEntry {
rSpeed_t requiredSpeedMin;
rSpeed_t requiredSpeedMax;
uint16_t sampleIntervalMS;
uint16_t minChangeIntervalMS;
uint16_t tweakRangeMin;
rSpeed_t tweakSpeedMin;
uint16_t tweakRangeMax;
rSpeed_t tweakSpeedMax;
uint16_t tweakStepMax;
rAccel_t accel;
uint32_t speedTweakSlope;
struct motorParams motorParams;
};
enum {
MC_RFS__UNINITIALIZED = 0,
MC_RFS_INIT,
};
struct mc_state {
uint8_t amLHA;
uint8_t stateMajor;
uint16_t minChangeIntervalMSMAX;
uint8_t rotFindState;
int16_t rotFindWaitMS;
struct app_pos pos;
rDist_t positionTolerance;
rPos_t destination;
rSpeed_t maxSpeed;
bool lockedOnTarget;
rVelocity_t trackingVelocity;
rSpeed_t trackingSpeedClose;
rSpeed_t trackingSpeed;
uint8_t trackingDir;
uint16_t trMS;
rPos_t trAmountDone;
uint8_t motorDir;
bool motorOn;
uint8_t lastMotorChangeSpeed;
uint32_t lastMotorChangeSec;
uint16_t lastMotorChangeMS;
struct motorParams motorParams;
uint8_t lastSpeedTableIndex;
uint32_t targetLostCount;
};
enum {
MC_CS__UNINITIALIZED,
MC_CS_DECREASE,
MC_CS_INCREASE,
};
# 149 "mx.c"
static struct mc_speedEntry mc_speedTable[] = {
{ 0, 3000ul * ((1L << (20 + 8)) / (1L << 20)),
(10 * 2), (0) * (10 * 2), (0), (0), (0), (0), (0), (0) > 0 ? ((1000LL * ((0) - (0)) * (0)) / ((uint32_t) ((0) - (0)) * ((0) * (10 * 2)))) : 0, (0) > 0 ? ((0) - (0)) / (uint32_t) ((0) - (0)) : 0,
# 160 "mx.c"
{ MOT_MODE__UNINITIALIZED,
(((0) ? MOT_PWM_CENTERED : 0) | ((((0) - 8) & MOT_PWM_WIDTH_MASK) << MOT_PWM_WIDTH_SHIFT) | (((0) & MOT_PWM_PS_MASK) << MOT_PWM_PS_SHIFT)), 0,
((uint16_t) ((0) * 20000ul / 1000ul)), ((uint16_t) ((0) * 20000ul / 1000ul)), 0,
},
},
};
static struct mc_velocityHistory mc_velocityHistory;
static struct mc_state mc_state;
extern void mc_deactivate(void);
extern void mc_motionControl(void);
extern rSpeed_t mc_deltaV(rDist_t dist2Dest);
extern bool mc_updateVelocityHistory(void);
extern void mc_setVelocity(rVelocity_t Vdesired);
extern rPos_t mc_matchVelocityDist(rVelocity_t Vc, rVelocity_t Vt);
extern rVelocity_t mc_desiredVelocity(rVelocity_t Vbase,
rPos_t offset2MatchDest);
static struct motionControl_errorInfo {
uint16_t count;
uint16_t max;
uint8_t origSTI;
rVelocity_t averageVelocity;
rVelocity_t avgRelativeVelocity;
rPos_t offset2Dest;
rPos_t matchOffset;
rPos_t offset2MatchDest;
rPos_t fudge;
rVelocity_t Vdesired;
rVelocity_t finalVdesired;
uint8_t finalSTI;
uint8_t flag;
int16_t decelHack;
rVelocity_t decelVelocity;
rPos_t decelStartMO;
struct app_pos decelStartPos;
rVelocity_t decelEndMO;
struct app_pos decelEndPos;
rPos_t decelDeltaPos;
uint32_t decelDeltaT;
uint8_t decelIndex;
struct {
uint8_t stI;
uint16_t cnt;
rPos_t rPos;
} decelHist[7];
} motionControl_errorInfo;
void
mc_motionControl(void)
{
if (!mc_updateVelocityHistory())
return;
if (mc_state.stateMajor == SC_ST_IDLE) {
if (mc_state.motorOn || mc_state.motorDir != MOT_DIR_NEUTRAL) {
mc_setVelocity(0);
}
return;
}
if (motionControl_errorInfo.max) {
if (motionControl_errorInfo.count >= motionControl_errorInfo.max)
return;
++motionControl_errorInfo.count;
if (motionControl_errorInfo.count == motionControl_errorInfo.max) {
mc_deactivate();
return;
}
}
rVelocity_t averageVelocity = mc_velocityHistory.average.velocity;
rSpeed_t averageSpeed = __builtin_labs(averageVelocity);
rVelocity_t avgRelativeVelocity
= averageVelocity - mc_state.trackingVelocity;
rSpeed_t avgRelativeSpeed = __builtin_labs(avgRelativeVelocity);
motionControl_errorInfo.origSTI = mc_state.lastSpeedTableIndex;
motionControl_errorInfo.averageVelocity = averageVelocity;
motionControl_errorInfo.avgRelativeVelocity = avgRelativeVelocity;
rPos_t offset2Dest = mc_state.destination - mc_state.pos.rPos;
rDist_t dist2Dest = __builtin_labs(offset2Dest);
rPos_t matchOffset = mc_matchVelocityDist(averageVelocity,
mc_state.trackingVelocity);
rPos_t offset2MatchDest = offset2Dest - matchOffset;
motionControl_errorInfo.offset2Dest = offset2Dest;
motionControl_errorInfo.matchOffset = matchOffset;
motionControl_errorInfo.offset2MatchDest = offset2MatchDest;
rVelocity_t Vdesired;
Vdesired = mc_desiredVelocity(averageVelocity, offset2MatchDest);
motionControl_errorInfo.Vdesired = Vdesired;
if (motionControl_errorInfo.max && Vdesired < 0) {
motionControl_errorInfo.count = motionControl_errorInfo.max;
mc_deactivate();
return;
}
# 280 "mx.c"
rPos_t mo = matchOffset;
if (averageSpeed < mc_state.trackingSpeed)
mo = -mo;
rSpeed_t deltaV = mc_deltaV(offset2Dest);
if (Vdesired > mc_state.trackingVelocity + (rVelocity_t) deltaV)
Vdesired = mc_state.trackingVelocity + (rVelocity_t) deltaV;
else if (Vdesired < mc_state.trackingVelocity - (rVelocity_t) deltaV)
Vdesired = mc_state.trackingVelocity - (rVelocity_t) deltaV;
if (motionControl_errorInfo.decelHack) {
if (motionControl_errorInfo.decelHack > 0) {
if (mc_state.lastSpeedTableIndex == (sizeof(mc_speedTable) / sizeof((mc_speedTable)[0])) - 1
&& mc_state.motorParams.pwmMatch <= 1)
{
if (--motionControl_errorInfo.decelHack == 0) {
motionControl_errorInfo.decelHack = -1;
motionControl_errorInfo.decelVelocity = averageVelocity;
motionControl_errorInfo.decelStartMO = matchOffset;
motionControl_errorInfo.decelStartPos = mc_state.pos;
motionControl_errorInfo.decelIndex = 0;
motionControl_errorInfo.decelHist[0].stI
= mc_state.lastSpeedTableIndex;
motionControl_errorInfo.decelHist[0].cnt = 0;
motionControl_errorInfo.decelHist[0].rPos
= mc_state.pos.rPos;
}
}
} else {
Vdesired = 0;
uint8_t di = motionControl_errorInfo.decelIndex;
if (di < (sizeof(motionControl_errorInfo.decelHist) / sizeof((motionControl_errorInfo.decelHist)[0]))) {
if (motionControl_errorInfo.decelHist[di].stI
!= mc_state.lastSpeedTableIndex)
{
++motionControl_errorInfo.decelIndex;
++di;
if (di < (sizeof(motionControl_errorInfo.decelHist) / sizeof((motionControl_errorInfo.decelHist)[0]))) {
motionControl_errorInfo.decelHist[di].stI
= mc_state.lastSpeedTableIndex;
motionControl_errorInfo.decelHist[di].cnt = 1;
motionControl_errorInfo.decelHist[di].rPos
= mc_state.pos.rPos;
}
} else
++motionControl_errorInfo.decelHist[di].cnt;
}
if (mc_state.motorDir == MOT_DIR_NEUTRAL
&& avgRelativeSpeed <= ((1L << (20 + 8)) / 360 * 30 / 60 / 60))
{
motionControl_errorInfo.decelEndMO = matchOffset;
motionControl_errorInfo.decelEndPos = mc_state.pos;
motionControl_errorInfo.decelDeltaT = (motionControl_errorInfo.decelEndPos.sec-motionControl_errorInfo.decelStartPos.sec)*1000 + motionControl_errorInfo.decelEndPos.ms-motionControl_errorInfo.decelStartPos.ms;
motionControl_errorInfo.decelDeltaPos = motionControl_errorInfo.decelEndPos.rPos - motionControl_errorInfo.decelStartPos.rPos;
mc_state.lockedOnTarget = 1;
mc_state.stateMajor = SC_ST_IDLE;
}
goto setV;
}
}
rSpeed_t tkSClose = mc_state.trackingSpeedClose;
if (dist2Dest <= tkSClose * 500 / 1000
&& avgRelativeSpeed < tkSClose)
{
if (mc_state.trackingDir == MOT_DIR_NEUTRAL) {
if (dist2Dest <= mc_state.positionTolerance) {
if (mc_state.motorDir == MOT_DIR_NEUTRAL
&& avgRelativeSpeed <= ((1L << (20 + 8)) / 360 * 30 / 60 / 60))
{
mc_state.lockedOnTarget = 1;
mc_state.stateMajor = SC_ST_IDLE;
}
Vdesired = 0;
}
} else {
if (!mc_state.lockedOnTarget
&& avgRelativeSpeed <= ((1L << (20 + 8)) / 360 * 30 / 60 / 60))
{
mc_state.lockedOnTarget = 1;
mc_state.stateMajor = SC_ST_TRACKING;
}
if (mc_state.trackingDir == MOT_DIR_PLUS) {
if (Vdesired < 0)
Vdesired = 0;
} else {
if (Vdesired > 0)
Vdesired = 0;
}
}
} else {
if (mc_state.lockedOnTarget) {
mc_state.lockedOnTarget = 0;
++mc_state.targetLostCount;
}
}
setV:
if (__builtin_labs(Vdesired) > mc_state.maxSpeed) {
if (Vdesired < 0)
Vdesired = -mc_state.maxSpeed;
else
Vdesired = mc_state.maxSpeed;
}
if (0 && Vdesired < motionControl_errorInfo.finalVdesired) {
motionControl_errorInfo.flag |= 2;
motionControl_errorInfo.count = motionControl_errorInfo.max = 1;
}
motionControl_errorInfo.finalVdesired = Vdesired;
mc_setVelocity(Vdesired);
motionControl_errorInfo.finalSTI = mc_state.lastSpeedTableIndex;
}
>Fix:
>Release-Note:
>Audit-Trail:
>Unformatted:
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