303 lines
9.4 KiB
Bash
Executable File
303 lines
9.4 KiB
Bash
Executable File
#!/bin/bash
|
|
|
|
# This should point to a SIMINFO-enabled SimulAVR executable:
|
|
SIMULAVR="../../simulavr/src/simulavr"
|
|
if [ ! -x "${SIMULAVR}" ]; then
|
|
echo "SimulAVR executable not found, please adjust"
|
|
echo "variables at the top of ${0}."
|
|
exit 1;
|
|
fi
|
|
|
|
if [ $# -eq 0 ]; then
|
|
BASE=$(basename $0)
|
|
echo "Usage: ${BASE} <gcode file> ..."
|
|
echo
|
|
echo "${BASE} runs each G-code file in the simulator, limited to 60 seconds"
|
|
echo "simulation time (can take much more wall clock time) and processes the"
|
|
echo "results into a PNG picture and a .vcd file with calculated velocities."
|
|
exit 1
|
|
fi
|
|
|
|
|
|
# Prepare a pin tracing file, assuming a Gen7-v1.4 configuration. See
|
|
# http://reprap.org/wiki/SimulAVR#Putting_things_together:_an_example
|
|
#
|
|
# #define X_DIR_PIN DIO28
|
|
# #define X_STEP_PIN DIO29
|
|
# #define Y_DIR_PIN DIO26
|
|
# #define Y_STEP_PIN DIO27
|
|
# #define DEBUG_LED_PIN DIO21
|
|
echo "# X Dir" > /tmp/tracein.txt
|
|
echo "+ PORTA.A3-Out" >> /tmp/tracein.txt
|
|
echo "# X Step" >> /tmp/tracein.txt
|
|
echo "+ PORTA.A2-Out" >> /tmp/tracein.txt
|
|
echo "# Y Dir" >> /tmp/tracein.txt
|
|
echo "+ PORTA.A5-Out" >> /tmp/tracein.txt
|
|
echo "# Y Step" >> /tmp/tracein.txt
|
|
echo "+ PORTA.A4-Out" >> /tmp/tracein.txt
|
|
echo "# DEBUG LED" >> /tmp/tracein.txt
|
|
echo "+ PORTC.C5-Out" >> /tmp/tracein.txt
|
|
echo "Assuming pin configuration for a Gen7-v1.4 + debug LED on DIO21."
|
|
|
|
STEPS_PER_M_X=$(grep STEPS_PER_M_X ../config.h | \
|
|
grep -v ^// | awk '{ print $3; }')
|
|
if [ "${STEPS_PER_M_X}"0 -eq 0 ]; then
|
|
echo "STEPS_PER_M_X not found, assuming 80'000."
|
|
STEPS_PER_M_X=80000
|
|
fi
|
|
STEPS_PER_M_Y=$(grep STEPS_PER_M_Y ../config.h | \
|
|
grep -v ^// | awk '{ print $3; }')
|
|
if [ "${STEPS_PER_M_Y}"0 -eq 0 ]; then
|
|
echo "STEPS_PER_M_Y not found, assuming 80'000."
|
|
STEPS_PER_M_Y=80000
|
|
fi
|
|
echo "Taking STEPS_PER_M_X = ${STEPS_PER_M_X} and"
|
|
echo " STEPS_PER_M_Y = ${STEPS_PER_M_Y} for mm/min calculation."
|
|
|
|
|
|
for GCODE_FILE in $*; do
|
|
|
|
if [ ! -r "${GCODE_FILE}" ]; then
|
|
echo "${GCODE_FILE} not readable, skipping."
|
|
continue
|
|
fi
|
|
|
|
FILE="${GCODE_FILE%.gcode}"
|
|
VCD_FILE="${FILE}.vcd"
|
|
DATA_FILE="${FILE}.data"
|
|
VEL_FILE="${FILE}.processed.vcd"
|
|
|
|
|
|
# We assume here queue and rx buffer are large enough to read
|
|
# the file in one chunk. If not, raise MOVEBUFFER_SIZE in config.h.
|
|
set -x
|
|
"${SIMULAVR}" -c vcd:/tmp/tracein.txt:"${VCD_FILE}" \
|
|
-f ../build/teacup.elf \
|
|
-m 60000000000 -v < "${GCODE_FILE}"
|
|
set +x
|
|
|
|
|
|
# Make plottable files from VCD files.
|
|
# This is very rudimentary and does a lot of assumptions.
|
|
# For examble, pin data is assumed to always be b0/b1, pin naming
|
|
# is assumed to match the order in tracein.txt and starting at "0".
|
|
awk '
|
|
BEGIN {
|
|
print "0 0 0 0 0";
|
|
xDir = yDir = 0;
|
|
xPos = yPos = 0;
|
|
xVel = yVel = 0;
|
|
yAcc = yAcc = 0;
|
|
lastxTime = lastyTime = 0;
|
|
}
|
|
/^#/ {
|
|
time = substr($0, 2);
|
|
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, count only raising flanges
|
|
if (bit == 1) {
|
|
xPos += xDir;
|
|
xVel = 1000000000 / (time - lastxTime);
|
|
print time " " xPos " " yPos " " xVel " " yVel;
|
|
lastxTime = time;
|
|
}
|
|
}
|
|
if ($2 == "3") { # Y Step, count only raising flanges
|
|
if (bit == 1) {
|
|
yPos += yDir;
|
|
yVel = 1000000000 / (time - lastyTime);
|
|
print time " " xPos " " yPos " " xVel " " yVel;
|
|
lastyTime = time;
|
|
}
|
|
}
|
|
# No usage for the LED pin signal ($2 == "4") so far.
|
|
}
|
|
' < "${VCD_FILE}" > "${DATA_FILE}"
|
|
|
|
|
|
# Create a plot.
|
|
gnuplot << EOF
|
|
set terminal png size 1024,768
|
|
set output "${FILE}.png"
|
|
|
|
set title "${GCODE_FILE}"
|
|
|
|
set xlabel "X steps"
|
|
set ylabel "Y steps"
|
|
set y2label "feedrate [steps/s]"
|
|
|
|
#set origin 10,10;
|
|
plot "${FILE}.data" using (\$2):(\$3) with dots title "position", \
|
|
"${FILE}.data" using (\$2):(\$4) with dots title "X feedrate", \
|
|
"${FILE}.data" using (\$2):(\$5) with dots title "Y feedrate"
|
|
EOF
|
|
|
|
|
|
# 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"; xPosID = "1"; xUmID = "2"; xVelID = "3"; xMmmID = "4";
|
|
yStepID = "5"; yPosID = "6"; yUmID = "7"; yVelID = "8"; yMmmID = "9";
|
|
ledID = "10"; ledTimeID = "11";
|
|
|
|
xDir = yDir = 0;
|
|
xPos = yPos = 0;
|
|
lastxTime = lastyTime = 0;
|
|
ledOnTime = 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 ($2 == "1") { # X Step
|
|
if (bit == 1) { # raising flange
|
|
xPos += xDir;
|
|
print time " b" print_binary(xPos, intLen) " " xPosID;
|
|
# TODO: it might be better to output mm as real value, but ...
|
|
# ... does the VCD file format support this? If yes, how?
|
|
print time " b" print_binary(xPos * 1000000 / '"${STEPS_PER_M_X}"', intLen) " " xUmID;
|
|
vel = 1000000000 / (time - lastxTime);
|
|
print lastxTime " b" print_binary(vel, intLen) " " xVelID;
|
|
vel = vel * 60000 / '"${STEPS_PER_M_X}"';
|
|
print lastxTime " b" print_binary(vel, intLen) " " xMmmID;
|
|
print time " b" bit " " xStepID;
|
|
lastxTime = time;
|
|
} else { # falling flange
|
|
print time " b" bit " " xStepID;
|
|
}
|
|
}
|
|
if ($2 == "3") { # Y Step
|
|
if (bit == 1) { # raising flange
|
|
yPos += yDir;
|
|
print time " b" print_binary(yPos, intLen) " " yPosID;
|
|
print time " b" print_binary(yPos * 1000000 / '"${STEPS_PER_M_Y}"', intLen) " " yUmID;
|
|
vel = 1000000000 / (time - lastyTime);
|
|
print lastyTime " b" print_binary(vel, intLen) " " yVelID;
|
|
vel = vel * 60000 / '"${STEPS_PER_M_Y}"';
|
|
print lastyTime " b" print_binary(vel, intLen) " " yMmmID;
|
|
print time " b" bit " " yStepID;
|
|
lastyTime = time;
|
|
} else { # falling flange
|
|
print time " b" bit " " yStepID;
|
|
}
|
|
}
|
|
if ($2 == "4") { # LED signal
|
|
if (bit == 1) { # raising flange
|
|
print time " b" bit " " ledID;
|
|
ledOnTime = time;
|
|
} else { # falling flange
|
|
print time " b" bit " " ledID;
|
|
if (ledOnTime != 0) { # ignore pin initialisation
|
|
print ledOnTime " b" print_binary(time - ledOnTime, 32) " " ledTimeID;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
' < "${VCD_FILE}" | \
|
|
sort -g | \
|
|
awk '
|
|
BEGIN {
|
|
# These lines must match the ones before the sort.
|
|
intLen = 16;
|
|
xStepID = "0"; xPosID = "1"; xUmID = "2"; xVelID = "3"; xMmmID = "4";
|
|
yStepID = "5"; yPosID = "6"; yUmID = "7"; yVelID = "8"; yMmmID = "9";
|
|
ledID = "10"; ledTimeID = "11";
|
|
|
|
lastTime = "";
|
|
|
|
print "$timescale 1ns $end";
|
|
print "$scope module Steppers $end";
|
|
print "$var wire 1 " xStepID " X_step $end";
|
|
print "$var integer " intLen " " xPosID " X_pos_steps $end";
|
|
print "$var integer " intLen " " xUmID " X_pos_um $end";
|
|
print "$var integer " intLen " " xVelID " X_steps/s $end";
|
|
print "$var integer " intLen " " xMmmID " X_mm/min $end";
|
|
print "$var wire 1 " yStepID " Y_step $end";
|
|
print "$var integer " intLen " " yPosID " Y_pos_steps $end";
|
|
print "$var integer " intLen " " yUmID " Y_pos_um $end";
|
|
print "$var integer " intLen " " yVelID " Y_steps/s $end";
|
|
print "$var integer " intLen " " yMmmID " Y_mm/min $end";
|
|
print "$upscope $end";
|
|
print "$scope module Timings $end";
|
|
print "$var wire 1 " ledID " Debug_LED $end";
|
|
print "$var integer " 32 " " ledTimeID " LED_on_time $end";
|
|
print "$upscope $end";
|
|
print "$enddefinitions $end";
|
|
print "#0";
|
|
print "$dumpvars";
|
|
print "bz " xStepID;
|
|
print "bz " xPosID;
|
|
print "bz " xUmID;
|
|
print "bz " xVelID;
|
|
print "bz " xMmmID;
|
|
print "bz " yStepID;
|
|
print "bz " yPosID;
|
|
print "bz " yUmID;
|
|
print "bz " yVelID;
|
|
print "bz " yMmmID;
|
|
print "bz " ledID;
|
|
print "bz " ledTimeID;
|
|
print "$end";
|
|
}
|
|
{
|
|
if ($1 != lastTime) {
|
|
print "#" $1;
|
|
lastTime = $1;
|
|
}
|
|
print $2 " " $3;
|
|
}
|
|
' > "${VEL_FILE}"
|
|
|
|
|
|
done
|
|
|