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Forums > C64 Coding > Accurately Measuring Drive RPM
2020-08-03 16:07
chatGPZ

Registered: Dec 2001
Posts: 11379
Accurately Measuring Drive RPM

To bring the discussion from 1541 Speed Test into the forum....

first lets recapitulate:

The general idea is: have a "marker" on a track, then measure the time for one revolution using timers. Generally there are different ways to achieve this:

- wait for the marker and toggle a IEC line. the C64 measures the time using CIA timer. this is what eg the well known "Kwik Load" copy does, the problem is that it is PAL/NTSC specific, and it can never be 100% exact due to the timing drift between drive and C64.

- wait for the marker and measure the time using VIA timers on the drive. the problem with this is that VIA timers are only 16bit and can not be cascaded, so you either have to measure smaller portions at a time, or rely on the wraparound and the value being in certain bounds at the time you read it.

now, to make either way slightly more accurate, a special kind of reference track can be used. typically this track will contain nothing except one marker - which makes the code a bit simpler and straightforward. this is what 1541 Speed Test does. the DOS also does something similar when formatting, to calculate the gaps. This obviosly has the problem that we are overwriting said track.

Now - the question isn't how to do all this, that's a solved problem. The question is, given a specific implementation, how *accurate* is it actually, and why?

The basic math to calculate the RPM is this:

expected ideal:
300 rounds per minute
= 5 rounds per second
= 200 milliseconds per round
at 1MHz (0,001 milliseconds per clock)
= 200000 cycles per round

to calculate RPM from cycles per round:
RPM = (200000 * 300) / cycles

two little test programs are here: https://sourceforge.net/p/vice-emu/code/HEAD/tree/testprogs/dri.. ... the first reads timer values between each sector header and then the total time for a revolution is accumulated from the delta times. the second leaves the timer running for one revolution and then indirectly gets the time for a revolution from that. to my own surprise, both appear to be accurate down to 3 cycles (in theory the second one should be more accurate, at least thats what i thought. i also expected some more jitter than just 3 cycles)

1541 Speed Test writes a track that contains one long sync, and then 5 regular bytes which serve as the marker. it then reads 6 bytes and measures the time that takes, which equals one revolution. somehow this produces a stable value without any jitter, which was a bit surprising to me too (i expected at least one cycle jitter, due to the sync waiting loops) (i am waiting for the source release and will put a derived test into the vice repo too)

So, again, the question is... how accurate are those and why? (a stable value alone does not tell its accurate). Some details are not quite clear to me, eg if we are writing a reference track, how much will that affect the accuracy of the following measurement? how will the result change when the reference track was written at a different speed than when doing the measuring? Will using a certain speedzone make it more or less accurate?

Bonus question: can we use https://en.wikipedia.org/wiki/Chinese_remainder_theorem with two VIA timers to make this more accurate? or is it a pointless exercise?
 
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2020-08-06 22:31
Krill

Registered: Apr 2002
Posts: 2971
For the time being and until proven without a doubt or at least until a sound theory is presented, we can regard the discussed drive-side methods as equal.

They measure the duration of a revolution with a fixed reference clock counting from a fixed reference point (angle) on the disk to the same point a revolution later.
They will produce a 2-cycle jitter (3 cycles variance), due to the bvc *, on top of the 16 MHz oscillator's tolerance (which has the bigger part in that), on top of natural rotational wow/disk wobble/flutter (probably the biggest part in that).

Any deviation from that would be caused by implementation flaws (e.g., timer handling bugs), meta-stabilities, emulator side-effects, or implementation differences (such as converting cycle counts to a float RPM value using different conversion/averaging algorithms).

Now, although somewhat pointless, getting rid of the 2-cycle jitter might be achievable by a half-variance technique operating on 2 additional byte-sync points, quite similar to syncing drive and host CPU in a fastloader with a synchronous transfer protocol.

Quoting Zibri
What if the disk had some custom loader (like krill or the other one with even custom GCR?!).
Not sure which loader you're referring to, but running on plain standard format, both low-level and file system, is what i deal in with the public IRQ loader.
2020-08-06 22:58
Zibri
Account closed

Registered: May 2020
Posts: 304
Quoting Krill
For the time being and until proven without a doubt or at least until a sound theory is presented, we can regard the discussed drive-side methods as equal.

They measure the duration of a revolution with a fixed reference clock counting from a fixed reference point (angle) on the disk to the same point a revolution later.
They will produce a 2-cycle jitter (3 cycles variance), due to the bvc *, on top of the 16 MHz oscillator's tolerance (which has the bigger part in that), on top of natural rotational wow/disk wobble/flutter (probably the biggest part in that).

Any deviation from that would be caused by implementation flaws (e.g., timer handling bugs), meta-stabilities, emulator side-effects, or implementation differences (such as converting cycle counts to a float RPM value using different conversion/averaging algorithms).

Now, although somewhat pointless, getting rid of the 2-cycle jitter might be achievable by a half-variance technique operating on 2 additional byte-sync points, quite similar to syncing drive and host CPU in a fastloader with a synchronous transfer protocol.

Quoting Zibri
What if the disk had some custom loader (like krill or the other one with even custom GCR?!).
Not sure which loader you're referring to, but running on plain standard format, both low-level and file system, is what i deal in with the public IRQ loader.


Now, this is a real honor since I consider you a JEDI in these kind of things. I am a humble padawan :D

Hmm I sincerely have no idea hot to get rid of the 2 cycle jitter without significantly hinder the speed.
If you care to elaborate I would be glad to implement it.
2020-08-06 23:09
Krill

Registered: Apr 2002
Posts: 2971
This is also one of the basic techniques as used for stabilising raster routines.

Depending on density (track zone), there are a nominal 26/28/30/32 cycles between two GCR bytes rolling in from disk.

After having synced to the first byte using a plain "bvc *", delay according to density such that a "bvc * + 2" would take 2 cycles if byte-sync (branch not taken) or 3 cycles if no byte-sync (branch taken). We're now down to a one-cycle jitter. Repeat to get down to 0 cycles.

Of course, the disk will keep on wobbling, so there is some error left.
2020-08-06 23:13
chatGPZ

Registered: Dec 2001
Posts: 11379
Quote:
we can regard the discussed drive-side methods as equal

say it isn't so :o)
2020-08-06 23:27
Zibri
Account closed

Registered: May 2020
Posts: 304
Quote: Quote:
we can regard the discussed drive-side methods as equal

say it isn't so :o)


You, baby, clearly didn't read the phrase:

Quote:
Any deviation from that would be caused by implementation flaws (e.g., timer handling bugs), meta-stabilities, emulator side-effects, or implementation differences (such as converting cycle counts to a float RPM value using different conversion/averaging algorithms).
Which is one of the reason your program was a random generator before you saw mine.
Also. And I repeat it: you program assumes a normal disk and you can't be sure of that unless you format it yourself like my program does.
End of discussion with you.
You failed multiple times in front of everyone.
Aren't you tired?
Peace out.
2020-08-06 23:30
chatGPZ

Registered: Dec 2001
Posts: 11379
oh boy =D
2020-08-06 23:31
Zibri
Account closed

Registered: May 2020
Posts: 304
Quoting Krill
This is also one of the basic techniques as used for stabilising raster routines.

Depending on density (track zone), there are a nominal 26/28/30/32 cycles between two GCR bytes rolling in from disk.

After having synced to the first byte using a plain "bvc *", delay according to density such that a "bvc * + 2" would take 2 cycles if byte-sync (branch not taken) or 3 cycles if no byte-sync (branch taken). We're now down to a one-cycle jitter. Repeat to get down to 0 cycles.

Of course, the disk will keep on wobbling, so there is some error left.


I partly understand this.
Really, I am just a padawan, there's a lot I still have to learn.
My program writes at the lowest density using "00" clocks in 1c00 which is synchronous with the cpu clock.
2020-08-06 23:32
chatGPZ

Registered: Dec 2001
Posts: 11379
That explains the metastability =D
2020-08-06 23:39
Krill

Registered: Apr 2002
Posts: 2971
Quoting Zibri
My program writes at the lowest density using "00" clocks in 1c00 which is synchronous with the cpu clock.
Yes, you're operating on track 36, which is in the lowest density zone of tracks 31 and up.

I have a hunch that operating on the highest density instead would somewhat improve accuracy, but this of course on top of inaccuracies that are orders of magnitude bigger than 1 MHz clock cycles. :)
2020-08-06 23:44
Smasher

Registered: Feb 2003
Posts: 519
Ciao Zibri. just a little request from me, then I'll follow this interesting thread in silence again...
Quote:
I was expecting curiosity about this program and I even prepared a document which explains everything I learnt so far on the 1541 and some techniques rarely (or never) used before. Nothing fancy. Just the result of a few weeks of study, from the schematics up to ROM disassembly (most of online ROM disassemblies have a lot of logical errors inside).
But after all this "drama" I really lost interest.

please don't! I'd really appreciate if you'll publish that txt one day. I'm not saying I'll understand much of what you discovered, but others will. sharing is caring. grazie! :)
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