Driver structures and prototypes

5 files changed, 189 insertions, 28 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c b/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
index 216779f8b..1de8ac0de 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
@@ -1,7 +1,53 @@
 /*
  * DriverWithCallbackExample.c
  *
- *  Created on: 11 במרץ 2018
+ *  Created on: 11 march 2018
  *      Author: shlomo
  */
-uint32_t
+#include "include.h"
+#include "control.h"
+
+
+uint32_t KeepParameter = 0;
+callback_fptr ModuleCallback = 0;
+bool isValid (uint32_t deviceID);
+uint32_t ControlCallBackFunction(uint32_t deviceID, uint32_t ReadValue);
+
+
+
+uint32_t DriverActionWithCallback (uint32_t deviceId, uint32_t parameter, callback_fptr callback)
+{
+    assert (callback);
+    assert (isValid(deviceId));
+
+    //call driver action to device id with the parameter
+    //SetMotorSpeed (deviceId, parameter);
+    KeepParameter = parameter;
+    ModuleCallback = callback;
+    //start control:
+
+    uint32_t ControlId = AddControlCallback( callback,  eOneMillisecond, NULL, deviceId, parameter );
+    return ControlId;
+
+}
+
+uint32_t ControlCallBackFunction(uint32_t deviceId, uint32_t ReadValue)
+{
+       if (ReadValue == KeepParameter)
+       {
+           //stop this control loop
+           RemoveControlCallback(deviceId, ControlCallBackFunction );
+           //possibly: start regular control (speed etc)
+           //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, NULL, deviceId, Parameter );
+
+           //call the module callback
+           ModuleCallback(deviceId,ReadValue);
+
+       }
+   return OK;
+}
+
+bool isValid (uint32_t deviceID)
+{
+    return true;
+}
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 6f3a59852..ded4c9f9e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -22,6 +22,10 @@
 
 #include "drivers/adc_sampling/adc.h"
 #include "control.h"
+
+#include "drivers/Motors/Motor.h"
+#include "drivers/Heater/TemperatureSensor.h"
+
 /******************** Definitions  ********************************************/
 #define INVALID_MSG_ID    0xFFFF
 #define MAX_TANGO_CONTROL_DEVICES 200
@@ -30,7 +34,7 @@
 typedef enum
 {
     OneMillisec,
-}nillisecMessages;
+}MillisecMessages;
 
 typedef struct MillisecMessage{
     uint16_t messageId;
@@ -38,6 +42,13 @@ typedef struct MillisecMessage{
     uint32_t tick;
     uint8_t messageData[20];
 }MillisecMessageStruc;
+
+uint32_t  ADC_Data[MAX_ADC_DEVICES] = {0};
+uint32_t  TemperatureSensor_Data[MAX_TEMPERATURE_SENSOR_ID] = {0};
+uint32_t  MotorSpeed_Data[MOTOR_SPARE1_1] = {0};
+uint32_t  MotorStatus_Data[MOTOR_SPARE1_1] = {0};
+bool      MotorBusy_Data[MOTOR_SPARE1_1] = {true};
+
 /******************** GLOBAL PARAMETERS  ********************************************/
 Mailbox_Handle          MillisecMsgQ = NULL;
 bool                    MillisecRestart;
@@ -105,9 +116,6 @@ void OneMilliSecondMillisecInterrupt(UArg arg0)
     else
         ROM_TimerDisable(Millisec_timerBase,TIMER_A);
 
-    //trigger the ADC collection - check and set priorities to make sure handling timing is correct.
-    //we might want to call it from the task, afetr execution of other taks!!!
-    ADC_TriggerCollection();
     //send message to the Millisec task
     Message.messageId = OneMillisec;
     Message.tick = UsersysTickGet();
@@ -133,7 +141,46 @@ uint32_t MillisecLoop(uint32_t tick)
     Hundred_msTick  =   (tick%eHunderdMillisecond == 0)  ?true:false;
     Onesecond_Tick  =   (tick%eOneSecond == 0)           ?true:false;
 
+    //gather Motor data from FPGA
+    MotorSpeed_Data[MOTOR_DRYER_DRIVING] = MotorGetSpeedFromFPGA(MOTOR_DRYER_DRIVING);
+    MotorStatus_Data[MOTOR_DRYER_DRIVING] = MotorGetStatusFromFPGA(MOTOR_DRYER_DRIVING);
+    MotorSpeed_Data[MOTOR_SCREW] = MotorGetSpeedFromFPGA(MOTOR_SCREW);
+    MotorStatus_Data[MOTOR_SCREW] = MotorGetStatusFromFPGA(MOTOR_SCREW);
+    MotorSpeed_Data[MOTOR_WINDER] = MotorGetSpeedFromFPGA(MOTOR_WINDER);
+    MotorStatus_Data[MOTOR_WINDER] = MotorGetStatusFromFPGA(MOTOR_WINDER);
+    MotorSpeed_Data[MOTOR_LDRIVING] = MotorGetSpeedFromFPGA(MOTOR_LDRIVING);
+    MotorStatus_Data[MOTOR_LDRIVING] = MotorGetStatusFromFPGA(MOTOR_LDRIVING);
+    MotorSpeed_Data[MOTOR_RDRIVING] = MotorGetSpeedFromFPGA(MOTOR_RDRIVING);
+    MotorStatus_Data[MOTOR_RDRIVING] = MotorGetStatusFromFPGA(MOTOR_RDRIVING);
+    //gather Dancer data from FPGA
     //gather data from FPGA
+
+    if (Hundred_msTick)
+    {
+        int adc_i;
+        for (adc_i = 0; adc_i < MAX_ADC_DEVICES ; adc_i++)
+            ADC_Data[adc_i] = ADC_GetReading(adc_i);
+        //trigger the ADC collection - check and set priorities to make sure handling timing is correct.
+        //we might want to call it from the task, after execution of other tasks!!!
+        ADC_TriggerCollection();
+
+        TEMPERATURE_SENSOR_ID_ENUM pt100_i;
+        for (pt100_i = 0; pt100_i < (int)MAX_TEMPERATURE_SENSOR_ID ; pt100_i++)
+            TemperatureSensor_Data[pt100_i] = TemperatureSensorReadFromFPGA(pt100_i);
+        MotorGetnBusyFromFPGA(); // get all motors nBusy bit status from the FPGAs
+        TimerMotors_t motor_i;
+        for (motor_i = 0; motor_i < MOTOR_SPARE1_1 ; motor_i++)
+        {
+            MotorBusy_Data[motor_i] = MotorGetnBusyState(motor_i);
+            if (MotorBusy_Data[motor_i] == false) //can get data
+            {
+                MotorSpeed_Data[motor_i] = MotorGetSpeedFromFPGA(motor_i);
+                MotorStatus_Data[motor_i] = MotorGetStatusFromFPGA(motor_i);
+            }
+        }
+    }
+    //gather data from FPGA
+
     return OK;
 }
 /******************************************************************************
@@ -163,3 +210,28 @@ void MillisecTask(UArg arg0, UArg arg1)
         }
     }
 }
+
+
+uint32_t getMotorStatusData(int MotorId)
+{
+    assert (MotorId < MOTOR_SPARE1_1);
+    return MotorStatus_Data[MotorId];
+}
+uint32_t getMotorSpeedData(int MotorId)
+{
+    assert (MotorId < MOTOR_SPARE1_1);
+    return MotorSpeed_Data[MotorId];
+}
+
+uint32_t getTemperatureSensorData(int SensorId)
+{
+    assert (SensorId < MAX_TEMPERATURE_SENSOR_ID);
+    return TemperatureSensor_Data[SensorId];
+}
+
+uint32_t getADCData(int DeviceId)
+{
+    assert (DeviceId < MAX_ADC_DEVICES);
+    return ADC_Data[DeviceId];
+}
+
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
new file mode 100644
index 000000000..0c9d66201
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
@@ -0,0 +1,25 @@
+/*
+ * MillisecTask.h
+ *
+ *  Created on: 15 במרץ 2018
+ *      Author: shlomo
+ */
+
+#ifndef MODULES_CONTROL_MILLISECTASK_H_
+#define MODULES_CONTROL_MILLISECTASK_H_
+
+#include "drivers/adc_sampling/adc.h"
+#include "control.h"
+#include "drivers/Motors/Motor.h"
+#include "drivers/Heater/TemperatureSensor.h"
+
+
+uint32_t getMotorStatusData(int MotorId);
+uint32_t getMotorSpeedData(int MotorId);
+uint32_t getTemperatureSensorData(int SensorId);
+uint32_t getADCData(int DeviceId);
+
+
+
+
+#endif /* MODULES_CONTROL_MILLISECTASK_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index abc61972d..1d9686124 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -62,7 +62,8 @@ typedef struct
 {
   uint32_t PartId;  // the identity of the inspected/controlled part in the Devices enum.
   bool ControlActive;
-  uint32_t Parameter;
+  uint32_t Parameter1;
+  uint32_t Parameter2;
   DataReadCBFunction ControlDataReadPtr;
   ControlCBFunction ControlCallbackPtr;
   CTRL_TIMING_ENUM ControlTiming;
@@ -97,7 +98,7 @@ void OneMilliSecondFunction(UArg arg0);
 //**********************************************************************
 /******************** CODE  ********************************************/
 //**********************************************************************
-uint32_t TemplateDataReadCBFunction (uint32_t deviceID, uint32_t Parameter)
+uint32_t TemplateDataReadCBFunction (uint32_t deviceID, uint32_t Parameter1, uint32_t Parameter2)
 {
     return 0;
 }
@@ -160,23 +161,34 @@ void ControlStart(void)
  * both these callbacks can be removed. if a new call is arriving, it invalidates the previous one (no dual control or data)
  *
  ***************************************************************************************************************************************************/
-int  AddControlCallback(uint32_t deviceId, ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t Parameter )
+uint32_t  AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t Parameter1, uint32_t Parameter2 )
 {
-    assert(deviceId < MAX_TANGO_CONTROL_DEVICES);
     assert(Callback);
     assert(DriverfPtr);
     unsigned int key;
 
-
+    uint32_t device_i;
+    uint32_t deviceId = 0xFFFFFFFF;
+    for(device_i = 0;device_i < MAX_TANGO_CONTROL_DEVICES;device_i++)
+    {
+        if (ControlArray[device_i].ControlActive == false)
+        {
+            deviceId = device_i;
+            break;
+        }
+    }
+    if (deviceId == 0xFFFFFFFF)
+        return 0xFFFFFFFF;
     key = GateMutex_enter(gateControlDB);
     ControlArray[deviceId].ControlTiming = CtrlFrequency;
     ControlArray[deviceId].ControlCallbackPtr = Callback;
     ControlArray[deviceId].ControlActive = true;
     ControlArray[deviceId].ControlDataReadPtr = DriverfPtr;
-    ControlArray[deviceId].Parameter = Parameter;
+    ControlArray[deviceId].Parameter1 = Parameter1;
+    ControlArray[deviceId].Parameter2 = Parameter2;
     GateMutex_leave(gateControlDB, key);
 
-    return OK;
+    return deviceId;
 
 }
 int     RemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback)
@@ -212,9 +224,6 @@ void OneMilliSecondControlInterrupt(UArg arg0)
     else
         ROM_TimerDisable(Control_timerBase, TIMER_A);
 
-    //trigger the ADC collection - check and set priorities to make sure handling timing is correct.
-    //we might want to call it from the task, afetr execution of other taks!!!
-    ADC_TriggerCollection();
     //send message to the control task
     Message.messageId = OneMillisec;
     Message.tick = UsersysTickGet();
@@ -243,33 +252,41 @@ uint32_t ControlLoop(uint32_t tick)
 
     for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES;Device_i++)
     {
-        if (ControlArray[Device_i].ControlDataReadPtr)
-            ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr(Device_i, ControlArray[Device_i].Parameter);
         if (ControlArray[Device_i].ControlActive)
         {
             switch (ControlArray[Device_i].ControlTiming)
             {
                 case eOneMillisecond:
+                        ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr(Device_i, ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
                         ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]);
                     break;
                 case eTenMilliSecond:
                     if (Ten_msTick)
+                    {
+                        ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr(Device_i, ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
                         ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]);
+                    }
                     break;
                 case eHunderdMillisecond:
                     if (Hundred_msTick)
+                    {
+                        ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr(Device_i, ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
                         ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]);
+                    }
                     break;
                 case eOneSecond:
                     if (Onesecond_Tick)
+                    {
+                        ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr(Device_i, ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
                         ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]);
+                    }
                     break;
                 default:
                     LOG_ERROR (ControlArray[Device_i].ControlTiming, "Invalid control timing value");
                     break;
-            }
-        }
-    }
+            } //switch
+        } //if control active
+    }  //for
 
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.h b/Software/Embedded_SW/Embedded/Modules/Control/control.h
index 292bbeb82..f443a10d7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.h
@@ -10,7 +10,7 @@
 
 //typedef  uint32_t (* DeviceDataFunction)(uint32_t deviceID, uint32_t *Value);
 typedef  uint32_t (* ControlCBFunction)(uint32_t deviceID, uint32_t ReadValue);
-typedef  uint32_t (* DataReadCBFunction)(uint32_t deviceID, uint32_t Parameter);
+typedef  uint32_t (* DataReadCBFunction)(uint32_t deviceID, uint32_t Parameter1, uint32_t Parameter2);
 typedef enum {
     eNoControl = 0,
     eOneMillisecond = 1,
@@ -20,10 +20,11 @@ typedef enum {
 }CTRL_TIMING_ENUM;
 
 
-void    ControlInit(void);
-void    ControlStop(void);
-void    ControlStart(void);
-int     AddControlCallback(uint32_t deviceId, ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t Parameter );
-int     RemoveControlCallback(uint32_t deviceId, ControlCBFunction Callback );
-uint32_t TemplateDataReadCBFunction (uint32_t deviceId, uint32_t Parameter);
+void        ControlInit(void);
+void        ControlStop(void);
+void        ControlStart(void);
+uint32_t    AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t Parameter1, uint32_t Parameter2 );
+int         RemoveControlCallback(uint32_t deviceId, ControlCBFunction Callback );
+uint32_t    TemplateDataReadCBFunction (uint32_t deviceId, uint32_t Parameter1, uint32_t Parameter2);
+