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run-in-simulavr.sh: also rewrite VCD file to add speed values. 

This is quite handy, as you can see accurate speed ramps in
GTKWave now.
This commit is contained in:
Markus Hitter 2013-11-26 22:35:14 +01:00
parent 6e4bdc43ca
commit 005a935adc
1 changed files with 114 additions and 2 deletions
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116
testcases/run-in-simulavr.sh
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@ -25,6 +25,7 @@ for GCODE_FILE in "triangle.gcode" "straight-speeds.gcode"; do
FILE="${GCODE_FILE%.gcode}"
VCD_FILE="${FILE}.vcd"
VEL_FILE="${FILE}.processed.vcd"
# We assume here queue and rx buffer are large enough to read
@ -84,7 +85,7 @@ for GCODE_FILE in "triangle.gcode" "straight-speeds.gcode"; do
' < "${VCD_FILE}"
# Finally, create a plot.
# Create a plot.
gnuplot << EOF
set terminal png size 1024,768
set output "${FILE}.png"
@ -101,7 +102,118 @@ for GCODE_FILE in "triangle.gcode" "straight-speeds.gcode"; do
"${FILE}.data" using (\$2):(\$5) with dots title "Y feedrate"
EOF
display "${FILE}.png" &
# Next task: rewrite the VCD file to add speed values.
#
# This is a bit tricky, as VCD files demand timestamps in ascending order.
# Strategy taken: write out all timestamped data with one line per event,
# then run it through 'sort -g' and reformat it yet again to be a properly
# formatted VCD file.
awk '
function print_binary(n, e) { # n = number; e = number of bits
string = "";
for (i = 0; i < e; i++) {
if (n >= (2 ^ (e - 1))) # top bit set
string = string "1";
else
string = string "0";
n *= 2;
if (n > (2 ^ e))
n -= (2 ^ e);
}
return string;
}
BEGIN {
# These lines must match the ones after the sort.
intLen = 16;
xStepID = "0"; xVelID = "1";
yStepID = "2"; yVelID = "3";
xDir = yDir = 0;
xPos = yPos = 0;
xVel = yVel = 0;
yAcc = yAcc = 0;
lastxTime = lastyTime = 0;
}
/^#/ {
time = substr($0, 2);
if (time == 0) {
do {
getline;
} while ($0 != "$end");
}
next;
}
{
bit = substr($1, 2);
if ($2 == "0") { # X Dir
if (bit == 0) xDir = -1;
else if (bit == 1) xDir = 1;
else xDir = 0;
}
if ($2 == "2") { # Y Dir
if (bit == 0) yDir = -1;
else if (bit == 1) yDir = 1;
else yDir = 0;
}
if ($2 == "1") { # X Step
if (bit == 1) { # raising flange
xPos += xDir;
xVel = 1000000000 / (time - lastxTime);
print lastxTime " b" print_binary(xVel, intLen) " " xVelID;
print time " b" bit " " xStepID;
lastxTime = time;
} else { # falling flange
print time " b" bit " " xStepID;
}
}
if ($2 == "3") { # Y Step
if (bit == 1) { # raising flange
yPos += yDir;
yVel = 1000000000 / (time - lastyTime);
print lastyTime " b" print_binary(yVel, intLen) " " yVelID;
print time " b" bit " " yStepID;
lastyTime = time;
} else { # falling flange
print time " b" bit " " yStepID;
}
}
}
' < "${VCD_FILE}" | \
sort -g | \
awk '
BEGIN {
# These lines must match the ones before the sort.
intLen = 16;
xStepID = "0"; xVelID = "1";
yStepID = "2"; yVelID = "3";
lastTime = "";
print "$timescale 1ns $end";
print "$scope module Steppers $end";
print "$var wire 1 " xStepID " X_step $end";
print "$var integer " intLen " " xVelID " X_steps/s $end";
print "$var wire 1 " yStepID " Y_step $end";
print "$var integer " intLen " " yVelID " Y_steps/s $end";
print "$upscope $end";
print "$enddefinitions $end";
print "#0";
print "$dumpvars";
print "b0 " xStepID;
print "b0 " xVelID;
print "b0 " yStepID;
print "b0 " yVelID;
print "$end";
}
{
if ($1 != lastTime) {
print "#" $1;
lastTime = $1;
}
print $2 " " $3;
}
' > "${VEL_FILE}"
done