diff options
| author | Shlomo Hecht <shlomo@twine-s.com> | 2018-03-06 12:09:02 +0200 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2018-03-06 12:09:02 +0200 |
| commit | fb2d080fbbcea3a91e598b4ea8837a230de6a319 (patch) | |
| tree | 6b3ce09a252d2ebab8189a92b3326ffbba6dbe4b /Software/Embedded_SW/Embedded/Modules | |
| parent | d734bb5cf08ba2433b74fc86a8858d2437d1a237 (diff) | |
| download | Tango-fb2d080fbbcea3a91e598b4ea8837a230de6a319.tar.gz Tango-fb2d080fbbcea3a91e598b4ea8837a230de6a319.zip | |
A new forlder for embedded software in our common structure
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules')
63 files changed, 4533 insertions, 0 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c new file mode 100644 index 000000000..fbea57f7d --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.c @@ -0,0 +1,39 @@ + +#include "PIDAlgo.h" + +float PIDAlgorithmCalculation(uint32_t _setPoint,uint32_t _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral) +{ + float error; + float derivative; + float output; + + //Calculate P,I,D + error = _setPoint - _mesuredParam; + + //In case of error too small then stop integration + if(abs(error) > params->epsilon) + { + *_integral = *_integral + error*params->dt; + } + + derivative = (error - *_pre_error)/params->dt; + + output = params->Kp*error + params->Ki**_integral + params->Kd*derivative; + + //Saturation Filter + if(output > params->MAX) + { + output = params->MAX; + } + else if(output < params->MIN) + { + output = params->MIN; + } + + //Update error + *_pre_error = error; + + return output; +} + + diff --git a/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.h b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.h new file mode 100644 index 000000000..5f8f4dfe6 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Control/PIDAlgo.h @@ -0,0 +1,18 @@ + +#ifndef MODULES_PIDALGO_H_ +#define MODULES_PIDALGO_H_ +#include <stdint.h> + +typedef struct +{ + float epsilon; + float dt; + float MAX; + float MIN; + float Kp; + float Kd; + float Ki; +}PID_Config_Params; +float PIDAlgorithmCalculation(uint32_t _setPoint,uint32_t _mesuredParam , PID_Config_Params *params, float *_pre_error, float *_integral); + +#endif /* MODULES_PIDALGO_H_ */ diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c new file mode 100644 index 000000000..8f389855e --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c @@ -0,0 +1,333 @@ +/************************************************************************************************************************ + * control.c + * Control module + * + * The control module is hardware agnostic, not related to a specific hardware module, to enable it to deal with hardware and system changes easily. + * The control module contains a high priority task that connects the hardware drivers + * below to the control algorithms of the high level system modules above. + * + * The control task is invoked by a message from a 1 millisecond timer interrupt. + * The module is based on system components registered in the control module, supplying callback hooks for information gathering and distribution. + * All control clients (drivers and modules) will not perform long procedures that will block the control task. + * + * Control interfaces: + * System Devices list: + * + * All control system input devices will be listed in a system-shared enumareted list, to create a common language between the modules and the drivers. + * (The list will include all hardware devices, but for this module only control input devices are valid) + * Drivers: + * Device registration: a driver that initializes a control input device will call the ControlDeviceRegister function with the deviceId, + * and a control callback hook. This callback is called with a deviceId as the parameter, and returns an unsigned 32bit integer + * as a read value and a call status. The callback will be a non-blocking call, and will indicate in the status value if the data is valid. + * + * It is the responsibility of the device driver to update the control information according to the module hardware requirements. + * If the polling of the information is immediate, it can be collected at the callback call (e.g. local GPI). + * + * Module registration – control: a module is registering to receive the value of the input from a specific device. + * The module indicates what will be the desired frequency of the device polling (in milliseconds). + * It supplies a callback routine that will receive the deviceId, the control value status and the control value. + * The callback will be a non-blocking call. + * The polling frequency is one of a specific list of frequencies: 1/10/100/1000 Hz. (others - TBD) + * + * + * Registering a request for control information from a device that is not registered will be rejected. + * The device registration process must be performed before module registration process. + * + * Unregistering: when control information is not needed, the module will unregister the device polling request from the control module. + * There is a separate call for control hooks and for report hooks. + * The unregistering command contains the callback function pointer, to enable distribution of control + * information of the same device to more than one destination. + * + **************************************************************************************************************************/ + +////////////////////////////////State machine operation//////////////////////////////////// +//the state machine operation is used to operate in runtime correct profile flow execution +//by recieved esign flow of the user from the UI +/////////////////////////////////////////////////////////////////////////////////////////// +#include "include.h" +#include "Modules/General/GeneralHardware.h" + +#include <driverlib/timer.h> +#include <inc/hw_ints.h> + +#include "drivers/adc_sampling/adc.h" +#include "control.h" +/******************** Definitions ********************************************/ +#define INVALID_MSG_ID 0xFFFF +#define MAX_TANGO_CONTROL_DEVICES 200 +/******************** STRUCTURES AND ENUMs ********************************************/ +typedef struct +{ + uint32_t PartId; // the identity of the inspected/controlled part in the Devices enum. + DeviceDataFunction Callback; + uint32_t lastStatus; +}DriverDeviceStruc; +DriverDeviceStruc DevicesArray[MAX_PORT_ENUM]; + + +typedef struct +{ + uint32_t PartId; // the identity of the inspected/controlled part in the Devices enum. + bool ControlActive; + uint32_t Parameter; + DataReadCBFunction ControlDataReadPtr; + ControlCBFunction ControlCallbackPtr; + CTRL_TIMING_ENUM ControlTiming; +}ControlDeviceStruc; + +typedef enum +{ + OneMillisec, +}controlMessages; + +typedef struct ControlMessage{ + uint16_t messageId; + uint16_t msglen; + uint32_t tick; + uint8_t messageData[20]; +}ControlMessageStruc; +/******************** GLOBAL PARAMETERS ********************************************/ +Mailbox_Handle ControlMsgQ = NULL; +bool ControlRestart; +static GateMutex_Handle gateControlDB; + +ControlDeviceStruc ControlArray[MAX_TANGO_CONTROL_DEVICES]; +uint32_t ControlDatalog[MAX_TANGO_CONTROL_DEVICES]; +uint32_t Control_timerBase = TIMER0_BASE; //Timer handle +/******************** Functions ********************************************/ +void OneMilliSecondFunction(UArg arg0); + +//********************************************************************** +/******************** CODE ********************************************/ +//********************************************************************** + +void ControlInit(void) +{ + int Device_i; + Error_Block eb; + + ControlMsgQ = Mailbox_create(sizeof(ControlMessageStruc), 20, NULL,NULL); + + ControlRestart = false; + + memset(ControlDatalog,0,sizeof(uint32_t)*MAX_TANGO_CONTROL_DEVICES); + + for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES; Device_i++) + { + DevicesArray[Device_i].Callback = NULL; + DevicesArray[Device_i].lastStatus = ERROR; + } + + for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES; Device_i++) + { + ControlArray[Device_i].ControlActive = false; + ControlArray[Device_i].ControlCallbackPtr = NULL; + ControlArray[Device_i].ControlDataReadPtr = NULL; + ControlArray[Device_i].ControlTiming = eNoControl; + } + gateControlDB = GateMutex_create(NULL, &eb); + if (gateControlDB == NULL) + { + System_abort("Could not create USB Wait gate"); + } + + ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0); + ROM_TimerConfigure(Control_timerBase, TIMER_CFG_PERIODIC); // 32 bits Timer + //TimerIntRegister(Control_timerBase, TIMER_A, Timer0Isr); // Registering isr + ROM_TimerEnable(Control_timerBase, TIMER_A); + ROM_IntEnable(INT_TIMER0A); + ROM_TimerIntEnable(Control_timerBase, TIMER_TIMA_TIMEOUT); + + ADCAcquireInit(); + + return; +} +void ControlStop(void) +{ + ControlRestart = false; + ADCAcquireStop(); +} + +void ControlStart(void) +{ + ControlRestart = true; + ROM_TimerLoadSet(Control_timerBase, TIMER_BOTH,120000/*one millisecond*/); + ADCAcquireStart(0,1); +} + +/************************************************************************************************************************************************ + * the control task reads the data from the devices every millisecond. + * (the data might be old data, if it is polled in a slower rate) + * for every polled device, there is a need to add a Data read callback, with a device id. the read value is always 32bits unsigned integer + * if there is a need to run a control function based on the read data, then the hardware module will add a control function, specifying the control calling rate + * 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 ) +{ + assert(deviceId < MAX_TANGO_CONTROL_DEVICES); + assert(Callback); + unsigned int key; + + if(ControlArray[deviceId].ControlDataReadPtr == NULL) + { + LOG_ERROR (deviceId, "No dataread function for device"); + return ERROR; + } + + key = GateMutex_enter(gateControlDB); + ControlArray[deviceId].ControlTiming = CtrlFrequency; + ControlArray[deviceId].ControlCallbackPtr = Callback; + ControlArray[deviceId].ControlActive = true; + GateMutex_leave(gateControlDB, key); + + return OK; + +} +int RemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback) +{ + assert(deviceId < MAX_TANGO_CONTROL_DEVICES); + unsigned int key; + + if (Callback == ControlArray[deviceId].ControlCallbackPtr) + { + key = GateMutex_enter(gateControlDB); + ControlArray[deviceId].ControlTiming = eNoControl; + ControlArray[deviceId].ControlCallbackPtr = NULL; + ControlArray[deviceId].ControlActive = false; + GateMutex_leave(gateControlDB, key); + return OK; + } + else + return ERROR; + +} + +int RegisterDevice(uint32_t deviceId, DataReadCBFunction Callback, uint32_t Parameter) +{ + assert(deviceId < MAX_TANGO_CONTROL_DEVICES); + assert(Callback); + unsigned int key; + key = GateMutex_enter(gateControlDB); + ControlArray[deviceId].Parameter = Parameter; + ControlArray[deviceId].ControlDataReadPtr = Callback; + GateMutex_leave(gateControlDB, key); + return OK; + +} +int UnRegisterDevice(uint32_t deviceId, DataReadCBFunction Callback ) +{ + assert(deviceId < MAX_TANGO_CONTROL_DEVICES); + unsigned int key; + if (Callback == ControlArray[deviceId].ControlDataReadPtr) + { + key = GateMutex_enter(gateControlDB); + ControlArray[deviceId].Parameter = 0; + ControlArray[deviceId].ControlDataReadPtr = NULL; + ControlDatalog[deviceId] = 0; + GateMutex_leave(gateControlDB, key); + return OK; + } + else + return ERROR; + +} + +void OneMilliSecondControlInterrupt(UArg arg0) +{ + ControlMessageStruc Message; + bool retcode = false; + ROM_IntMasterDisable(); + + //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(); + Message.msglen = sizeof(ControlMessageStruc); + if (ControlMsgQ != NULL) + retcode = Mailbox_post(ControlMsgQ , &Message, BIOS_NO_WAIT); + if (ControlRestart == true) + { + ROM_TimerLoadSet(Control_timerBase, TIMER_BOTH,120000/*one millisecond*/); + } + + ROM_TimerIntClear(Control_timerBase, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt + // + // Enable all interrupts. + // + ROM_IntMasterEnable(); + return ; +} + +uint32_t ControlLoop(uint32_t tick) +{ + //call all modules control functions + //test dancers and speed encoders + //check all callback units (state machine waiting for completion of a change) + uint32_t Device_i; + bool Ten_msTick, Hundred_msTick, Onesecond_Tick; + Ten_msTick = (tick%eTenMilliSecond == 0) ?true:false; + Hundred_msTick = (tick%eHunderdMillisecond == 0) ?true:false; + Onesecond_Tick = (tick%eOneSecond == 0) ?true:false; + + 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: + ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]); + break; + case eTenMilliSecond: + if (Ten_msTick) + ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]); + break; + case eHunderdMillisecond: + if (Hundred_msTick) + ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]); + break; + case eOneSecond: + if (Onesecond_Tick) + ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]); + break; + default: + LOG_ERROR (ControlArray[Device_i].ControlTiming, "Invalid control timing value"); + break; + } + } + } + + return OK; +} +/****************************************************************************** + * ======== messageTsk ======== + * Task for this function is created statically. See the project's .cfg file. + * this message task is created statically in system initialization, + ******************************************************************************/ +void controlTask(UArg arg0, UArg arg1) +{ + ControlMessageStruc Message; + //char str[60]; + //uint16_t length; + //Clock_setTimeout(HostKAClock, 1000); + //Clock_start(HostKAClock); + + + while(1) + { + Mailbox_pend(ControlMsgQ , &Message, BIOS_WAIT_FOREVER); + switch (Message.messageId) + { + case OneMillisec: + ControlLoop(Message.tick); + break; + default: + break; + } + } +} diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.h b/Software/Embedded_SW/Embedded/Modules/Control/control.h new file mode 100644 index 000000000..ab259993a --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.h @@ -0,0 +1,30 @@ +/************************************************************************************************************************ + * control.c + **************************************************************************************************************************/ + +////////////////////////////////State machine operation//////////////////////////////////// +//the state machine operation is used to operate in runtime correct profile flow execution +//by recieved esign flow of the user from the UI +/////////////////////////////////////////////////////////////////////////////////////////// +#include "include.h" + +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 enum { + eNoControl = 0, + eOneMillisecond = 1, + eTenMilliSecond = 10, + eHunderdMillisecond = 100, + eOneSecond = 1000 +}CTRL_TIMING_ENUM; + + +void ControlInit(void); +void ControlStop(void); +void ControlStart(void); +int AddControlCallback(uint32_t deviceID, ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency ); +int RemoveControlCallback(uint32_t deviceID, ControlCBFunction Callback ); +int RegisterDevice(uint32_t deviceID, DataReadCBFunction Callback, uint32_t Parameter); +int UnRegisterDevice(uint32_t deviceID, DataReadCBFunction Callback ); + diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c new file mode 100644 index 000000000..1f5e3aa84 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c @@ -0,0 +1,348 @@ +/************************************************************************************************************************ + * control.c + * Control module + * +************************************************************************************************************************/ +#include "include.h" +#include "GeneralHardware.h" +#include "thread/thread.h" +#include "ids/ids.h" +#include "control/control.h" +#include "heaters/heaters_ex.h" +#include <Modules/Stubs_Handler/DataDef.h> +#include "PMR/common/MessageContainer.pb-c.h" +#include "Modules/Stubs_Handler/Container.h" +#include "PMR/Hardware/UploadHardWareConfigurationRequest.pb-c.h" +#include "PMR/Hardware/UploadHardWareConfigurationResponse.pb-c.h" + +PortInfoStruct PortInfoTable[MAX_PORT_ENUM] = { + {ANALOG_MIXCHIP_TEMP,"ANALOG_MIXCHIP_TEMP"}, + {AN_DYEINGH_CURSEN_1,"AN_DYEINGH_CURSEN_1"}, + {AN_DYEINGH_CURSEN_2,"AN_DYEINGH_CURSEN_2"}, + {AN_DYEINGH_CURSEN_3,"AN_DYEINGH_CURSEN_3"}, + {AN_DYEINGH_CURSEN_4,"AN_DYEINGH_CURSEN_4"}, + {AN_DYEINGH_CURSEN_5,"AN_DYEINGH_CURSEN_5"}, + {ANALOG_DYEINGH_TEMP1,"ANALOG_DYEINGH_TEMP1"}, + {ANALOG_DYEINGH_TEMP2,"ANALOG_DYEINGH_TEMP2"}, + {ANALOG_DYEINGH_TEMP3,"ANALOG_DYEINGH_TEMP3"}, + {ANALOG_DYEINGH_TEMP4,"ANALOG_DYEINGH_TEMP4"}, + {ANALOG_DYEINGH_TEMP5,"ANALOG_DYEINGH_TEMP5"}, + {AN_DRYER_CURSEN1,"AN_DRYER_CURSEN1"}, + {AN_DRYER_CURSEN2,"AN_DRYER_CURSEN2"}, + {AN_DRYER_CURSEN3,"AN_DRYER_CURSEN3"}, + {ANALOG_DRYER_TEMP1,"ANALOG_DRYER_TEMP1"}, + {ANALOG_DRYER_TEMP2,"ANALOG_DRYER_TEMP2"}, + {ANALOG_DRYER_TEMP3,"ANALOG_DRYER_TEMP3"}, + {AN_ENCLOSURETEMP1,"AN_ENCLOSURETEMP1"}, + {AN_ENCLOSURETEMP2,"AN_ENCLOSURETEMP2"}, + {AN_ENCLOSURETEMP3,"AN_ENCLOSURETEMP3"}, + {AN_IDS_PRESSENS_1,"AN_IDS_PRESSENS_1"}, + {AN_IDS_PRESSENS_2,"AN_IDS_PRESSENS_2"}, + {AN_IDS_PRESSENS_3,"AN_IDS_PRESSENS_3"}, + {AN_IDS_PRESSENS_4,"AN_IDS_PRESSENS_4"}, + {AN_IDS_PRESSENS_5,"AN_IDS_PRESSENS_5"}, + {AN_IDS_PRESSENS_6,"AN_IDS_PRESSENS_6"}, + {AN_IDS_PRESSENS_7,"AN_IDS_PRESSENS_7"}, + {AN_IDS_PRESSENS_8,"AN_IDS_PRESSENS_8"}, + {AN_MIDTANK_PRESSENS1,"AN_MIDTANK_PRESSENS1"}, + {AN_MIDTANK_PRESSENS2,"AN_MIDTANK_PRESSENS2"}, + {AN_MIDTANK_PRESSENS3,"AN_MIDTANK_PRESSENS3"}, + {AN_MIDTANK_PRESSENS4,"AN_MIDTANK_PRESSENS4"}, + {AN_MIDTANK_PRESSENS5,"AN_MIDTANK_PRESSENS5"}, + {AN_MIDTANK_PRESSENS6,"AN_MIDTANK_PRESSENS6"}, + {AN_MIDTANK_PRESSENS7,"AN_MIDTANK_PRESSENS7"}, + {AN_MIXCHIP_CURSENn,"AN_MIXCHIP_CURSENn"}, + {AN5V_LDANCER1,"AN5V_LDANCER1"}, + {AN5V_LDANCER2,"AN5V_LDANCER2"}, + {AN5V_RDANCER,"AN5V_RDANCER"}, + {AN10V_SPARE1,"AN10V_SPARE1"}, + {AN10V_SPARE2,"AN10V_SPARE2"}, + {AN_AIRPRESS_1,"AN_AIRPRESS_1"}, + {AN_AIRPRESS_2,"AN_AIRPRESS_2"}, + {AN_VOCSENS,"AN_VOCSENS"}, + {AN_BLOWERCTRL,"AN_BLOWERCTRL"}, + {LS_DH_LID_CLEANING,"LS_DH_LID_CLEANING"}, + {LS_DH_LID_CLOSED,"LS_DH_LID_CLOSED"}, + {LS_DH_CLEAN_UP,"LS_DH_CLEAN_UP"}, + {LS_DH_CLEAN_RIGHT,"LS_DH_CLEAN_RIGHT"}, + {LS_DH_SPARE1,"LS_DH_SPARE1"}, + {LS_DH_LID_OPEN,"LS_DH_LID_OPEN"}, + {LS_DH_CLEAN_DOWN,"LS_DH_CLEAN_DOWN"}, + {LS_DH_CLEAN_LEFT,"LS_DH_CLEAN_LEFT"}, + {LS_DRYER_LID_OPEN,"LS_DRYER_LID_OPEN"}, + {LS_DRYER_SPARE3,"LS_DRYER_SPARE3"}, + {LS_DRYER_LID_CLOSED,"LS_DRYER_LID_CLOSED"}, + {LS_DRYER_SPARE4,"LS_DRYER_SPARE4"}, + {LS_DRYER_SPARE1,"LS_DRYER_SPARE1"}, + {LS_LOADARM_RIGHT,"LS_LOADARM_RIGHT"}, + {LS_DRYER_SPARE2,"LS_DRYER_SPARE2"}, + {LS_LOADARM_LEFT,"LS_LOADARM_LEFT"}, + {GPI_PS1_DC_OK,"GPI_PS1_DC_OK"}, + {GPI_PANSW2,"GPI_PANSW2"}, + {GPI_PANSW4,"GPI_PANSW4"}, + {GPI_PANSW1,"GPI_PANSW1"}, + {GPI_PANSW3,"GPI_PANSW3"}, + {GPI_PANSW5,"GPI_PANSW5"}, + {GPI_PANSW6,"GPI_PANSW6"}, + {GPI_TACTSW1,"GPI_TACTSW1"}, + {GPI_TACTSW3,"GPI_TACTSW3"}, + {GPI_PWRBUTTON,"GPI_PWRBUTTON"}, + {GPI_TACTSW2,"GPI_TACTSW2"}, + {GPI_TACTSW4,"GPI_TACTSW4"}, + {GPI_EXTWINDER_1,"GPI_EXTWINDER_1"}, + {GPI_EXTWINDER_2,"GPI_EXTWINDER_2"}, + {GPI_EXTWINDER_3,"GPI_EXTWINDER_3"}, + {GPI_EXTWINDER_1_rtn,"GPI_EXTWINDER_1_rtn"}, + {GPI_EXTWINDER_2_rtn,"GPI_EXTWINDER_2_rtn"}, + {GPI_EXTWINDER_3_rtn,"GPI_EXTWINDER_3_rtn"}, + {LS_DISPENSER_UP_1,"LS_DISPENSER_UP_1"}, + {LS_DISPENSER_25_1,"LS_DISPENSER_25_1"}, + {LS_DISPENSER_75_1,"LS_DISPENSER_75_1"}, + {LS_DISPENSER_UP_3,"LS_DISPENSER_UP_3"}, + {LS_DISPENSER_25_3,"LS_DISPENSER_25_3"}, + {LS_DISPENSER_75_3,"LS_DISPENSER_75_3"}, + {LS_DISPENSER_UP_5,"LS_DISPENSER_UP_5"}, + {LS_DISPENSER_25_5,"LS_DISPENSER_25_5"}, + {LS_DISPENSER_75_5,"LS_DISPENSER_75_5"}, + {LS_DISPENSER_UP_7,"LS_DISPENSER_UP_7"}, + {LS_DISPENSER_25_7,"LS_DISPENSER_25_7"}, + {LS_DISPENSER_75_7,"LS_DISPENSER_75_7"}, + {LS_DISPENSER_DOWN_1,"LS_DISPENSER_DOWN_1"}, + {LS_DISPENSER_50_1,"LS_DISPENSER_50_1"}, + {LS_DISPENSER_SPARE_1,"LS_DISPENSER_SPARE_1"}, + {LS_DISPENSER_DOWN_3,"LS_DISPENSER_DOWN_3"}, + {LS_DISPENSER_50_3,"LS_DISPENSER_50_3"}, + {LS_DISPENSER_SPARE_3,"LS_DISPENSER_SPARE_3"}, + {LS_DISPENSER_DOWN_5,"LS_DISPENSER_DOWN_5"}, + {LS_DISPENSER_50_5,"LS_DISPENSER_50_5"}, + {LS_DISPENSER_SPARE_5,"LS_DISPENSER_SPARE_5"}, + {LS_DISPENSER_DOWN_7,"LS_DISPENSER_DOWN_7"}, + {LS_DISPENSER_50_7,"LS_DISPENSER_50_7"}, + {LS_DISPENSER_SPARE_7,"LS_DISPENSER_SPARE_7"}, + {LS_DISPENSER_UP_2,"LS_DISPENSER_UP_2"}, + {LS_DISPENSER_25_2,"LS_DISPENSER_25_2"}, + {LS_DISPENSER_75_2,"LS_DISPENSER_75_2"}, + {LS_DISPENSER_UP_4,"LS_DISPENSER_UP_4"}, + {LS_DISPENSER_25_4,"LS_DISPENSER_25_4"}, + {LS_DISPENSER_75_4,"LS_DISPENSER_75_4"}, + {LS_DISPENSER_UP_6,"LS_DISPENSER_UP_6"}, + {LS_DISPENSER_25_6,"LS_DISPENSER_25_6"}, + {LS_DISPENSER_75_6,"LS_DISPENSER_75_6"}, + {LS_DISPENSER_UP_8,"LS_DISPENSER_UP_8"}, + {LS_DISPENSER_25_8,"LS_DISPENSER_25_8"}, + {LS_DISPENSER_75_8,"LS_DISPENSER_75_8"}, + {LS_RLOADMOTOR_UP,"LS_RLOADMOTOR_UP"}, + {LS_DISPENSER_DOWN_2,"LS_DISPENSER_DOWN_2"}, + {LS_DISPENSER_50_2,"LS_DISPENSER_50_2"}, + {LS_DISPENSER_SPARE_2,"LS_DISPENSER_SPARE_2"}, + {LS_DISPENSER_DOWN_4,"LS_DISPENSER_DOWN_4"}, + {LS_DISPENSER_50_4,"LS_DISPENSER_50_4"}, + {LS_DISPENSER_SPARE_4,"LS_DISPENSER_SPARE_4"}, + {LS_DISPENSER_DOWN_6,"LS_DISPENSER_DOWN_6"}, + {LS_DISPENSER_50_6,"LS_DISPENSER_50_6"}, + {LS_DISPENSER_SPARE_6,"LS_DISPENSER_SPARE_6"}, + {LS_DISPENSER_DOWN_8,"LS_DISPENSER_DOWN_8"}, + {LS_DISPENSER_50_8,"LS_DISPENSER_50_8"}, + {LS_DISPENSER_SPARE_8,"LS_DISPENSER_SPARE_8"}, + {LS_SCREW_LEFT,"LS_SCREW_LEFT"}, + {SW_SPOOL_EXISTS,"SW_SPOOL_EXISTS"}, + {LS_SCREW_RIGHT,"LS_SCREW_RIGHT"}, + {SW_SPARE,"SW_SPARE"}, + {LS_LDANCER1_DOWN,"LS_LDANCER1_DOWN"}, + {LS_LDANCER2_DOWN,"LS_LDANCER2_DOWN"}, + {LS_LPIVOT_DOWN,"LS_LPIVOT_DOWN"}, + {LS_PIVOT_SPARE1,"LS_PIVOT_SPARE1"}, + {LS_LDANCER1_UP,"LS_LDANCER1_UP"}, + {LS_LDANCER2_UP,"LS_LDANCER2_UP"}, + {LS_LPIVOT_UP,"LS_LPIVOT_UP"}, + {LS_PIVOT_SPARE2,"LS_PIVOT_SPARE2"}, + {LS_LLOADMOTOR_DOWN,"LS_LLOADMOTOR_DOWN"}, + {LS_LSPARE1,"LS_LSPARE1"}, + {LS_LLOADMOTOR_UP,"LS_LLOADMOTOR_UP"}, + {LS_LSPARE2,"LS_LSPARE2"}, + {LS_RDANCER_DOWN,"LS_RDANCER_DOWN"}, + {LS_RLOADRAM_DOWN,"LS_RLOADRAM_DOWN"}, + {LS_RDANCER_UP,"LS_RDANCER_UP"}, + {LS_RLOADRAM_UP,"LS_RLOADRAM_UP"}, + {LS_RLOADMOTOR_DOWN,"LS_RLOADMOTOR_DOWN"}, + {GPI_TFEED_BREAK_1,"GPI_TFEED_BREAK_1"}, + {GPI_TFEED_BREAK_2,"GPI_TFEED_BREAK_2"}, + {LS_RSPARE1,"LS_RSPARE1"}, + {LS_SPARE2_1,"LS_SPARE2_1"}, + {LS_SPARE2_3,"LS_SPARE2_3"}, + {LS_SPARE1_1,"LS_SPARE1_1"}, + {LS_SPARE1_3,"LS_SPARE1_3"}, + {LS_RSPARE2,"LS_RSPARE2"}, + {LS_SPARE2_2,"LS_SPARE2_2"}, + {LS_SPARE2_4,"LS_SPARE2_4"}, + {LS_SPARE1_2,"LS_SPARE1_2"}, + {LS_SPARE1_4,"LS_SPARE1_4"}, + {GPI_WCONTAINER_WARN,"GPI_WCONTAINER_WARN"}, + {GPI_SW_WCONTAINER_PRES,"GPI_SW_WCONTAINER_PRES"}, + {GPI_CHILLER_FAULT,"GPI_CHILLER_FAULT"}, + {GPI_CHILLER_STAT1,"GPI_CHILLER_STAT1"}, + {GPI_BLOWER_TACH,"GPI_BLOWER_TACH"}, + {GPI_WCONTAINER_FULL,"GPI_WCONTAINER_FULL"}, + {GPI_AIRFLOW_FLAP,"GPI_AIRFLOW_FLAP"}, + {GPO_MIXCHIP_SSR4_CTRL,"GPO_MIXCHIP_SSR4_CTRL"}, + {GPO_DYEINGH_SSR7_CTRL,"GPO_DYEINGH_SSR7_CTRL"}, + {GPO_DYEINGH_SSR8_CTRL,"GPO_DYEINGH_SSR8_CTRL"}, + {GPO_DYEINGH_SSR5_CTRL,"GPO_DYEINGH_SSR5_CTRL"}, + {GPO_DYEINGH_SSR6_CTRL,"GPO_DYEINGH_SSR6_CTRL"}, + {GPO_DRYER_SSR3_CTRL,"GPO_DRYER_SSR3_CTRL"}, + {GPO_DRYER_SSR1_CTRL,"GPO_DRYER_SSR1_CTRL"}, + {GPO_DRYER_SSR2_CTRL,"GPO_DRYER_SSR2_CTRL"}, + {GPO_SPARE_SSR12_CTRL,"GPO_SPARE_SSR12_CTRL"}, + {GPO_SPARE_SSR13_CTRL,"GPO_SPARE_SSR13_CTRL"}, + {GPO_PDOWN_RL1_CTRL,"GPO_PDOWN_RL1_CTRL"}, + {GPO_LED1,"GPO_LED1"}, + {GPO_LED3,"GPO_LED3"}, + {GPO_LED2,"GPO_LED2"}, + {GPO_LED4,"GPO_LED4"}, + {GPO_BUZZER,"GPO_BUZZER"}, + {GPO_EXTWINDER_SSR11_CTRL,"GPO_EXTWINDER_SSR11_CTRL"}, + {GPO_EXTWINDER_1,"GPO_EXTWINDER_1"}, + {GPO_EXTWINDER_2,"GPO_EXTWINDER_2"}, + {GPO_EXTWINDER_3,"GPO_EXTWINDER_3"}, + {GPO_DILUTORPUMP_SSR10_CTRL,"GPO_DILUTORPUMP_SSR10_CTRL"}, + {GPO_WASTECH_PUMP1,"GPO_WASTECH_PUMP1"}, + {GPO_WASTECH_PUMP2,"GPO_WASTECH_PUMP2"}, + {GPO_TFEED_BREAK_1,"GPO_TFEED_BREAK_1"}, + {GPO_TFEED_BREAK_2,"GPO_TFEED_BREAK_2"}, + {GPO_SPARE1_1,"GPO_SPARE1_1"}, + {GPO_SPARE2_1,"GPO_SPARE2_1"}, + {GPO_SPARE1_2,"GPO_SPARE1_2"}, + {GPO_SPARE2_2,"GPO_SPARE2_2"}, + {GPO_BLOWER_PWM,"GPO_BLOWER_PWM"}, + {GPO_WHS_WTANKPUMP2,"GPO_WHS_WTANKPUMP2"}, + {GPO_CHILLER_SSR9_CTRL,"GPO_CHILLER_SSR9_CTRL"}, + {DH2,"DH2"}, + {DH1,"DH1"}, + {DRYER2,"DRYER2"}, + {DRYER1,"DRYER1"}, + {ELECTRICALENC,"ELECTRICALENC"}, + {USERPANEL,"USERPANEL"}, + {EXTWINDINGUNIT,"EXTWINDINGUNIT"}, + {DISPENSER_1,"DISPENSER_1"}, + {DISPENSER_3,"DISPENSER_3"}, + {DISPENSER_5,"DISPENSER_5"}, + {DISPENSER_7,"DISPENSER_7"}, + {MIDTANK3_1,"MIDTANK3_1"}, + {DISPENSER_2,"DISPENSER_2"}, + {DISPENSER_4,"DISPENSER_4"}, + {DISPENSER_6,"DISPENSER_6"}, + {DISPENSER_8,"DISPENSER_8"}, + {CART3,"CART3"}, + {CART1,"CART1"}, + {CART2,"CART2"}, + {CART4,"CART4"}, + {CART7,"CART7"}, + {CART5,"CART5"}, + {CART6,"CART6"}, + {CART8,"CART8"}, + {INTWINDINGUNIT,"INTWINDINGUNIT"}, + {LTFEEDUNIT2,"LTFEEDUNIT2"}, + {LTFEEDUNIT1,"LTFEEDUNIT1"}, + {RTFEEDUNIT2,"RTFEEDUNIT2"}, + {RTFEEDUNIT1,"RTFEEDUNIT1"}, + {SPARE2,"SPARE2"}, + {SPARE1,"SPARE1"}, + {WHS,"WHS"}, + {MIDTANK3_2,"MIDTANK3_2"}, + {MOTO_DH_CLEANHEAD,"MOTO_DH_CLEANHEAD"}, + {MOTO_DH_CLEANMECH,"MOTO_DH_CLEANMECH"}, + {MOTO_DH_LID,"MOTO_DH_LID"}, + {MOTO_DRYER_DRIVING,"MOTO_DRYER_DRIVING"}, + {MOTO_DRYER_LID,"MOTO_DRYER_LID"}, + {MOTO_DRYER_LOADARM,"MOTO_DRYER_LOADARM"}, + {MOTO_DISPENSER_1,"MOTO_DISPENSER_1"}, + {MOTO_DISPENSER_2,"MOTO_DISPENSER_2"}, + {MOTO_DISPENSER_3,"MOTO_DISPENSER_3"}, + {MOTO_DISPENSER_4,"MOTO_DISPENSER_4"}, + {MOTO_DISPENSER_5,"MOTO_DISPENSER_5"}, + {MOTO_DISPENSER_6,"MOTO_DISPENSER_6"}, + {MOTO_DISPENSER_7,"MOTO_DISPENSER_7"}, + {MOTO_DISPENSER_8,"MOTO_DISPENSER_8"}, + {MOTO_SCREW,"MOTO_SCREW"}, + {MOTO_WINDER,"MOTO_WINDER"}, + {MOTO_LDANCER1,"MOTO_LDANCER1"}, + {MOTO_LDANCER2,"MOTO_LDANCER2"}, + {MOTO_LDRIVING,"MOTO_LDRIVING"}, + {MOTO_LLOADING,"MOTO_LLOADING"}, + {MOTO_LPIVOT1,"MOTO_LPIVOT1"}, + {MOTO_RDANCER,"MOTO_RDANCER"}, + {MOTO_RDRIVING,"MOTO_RDRIVING"}, + {MOTO_RLOADARM,"MOTO_RLOADARM"}, + {MOTO_RLOADING,"MOTO_RLOADING"}, + {MOTO_SPARE1_1,"MOTO_SPARE1_1"}, + {MOTO_SPARE1_2,"MOTO_SPARE1_2"}, + {MOTO_SPARE2_1,"MOTO_SPARE2_1"}, + {MOTO_SPARE2_2,"MOTO_SPARE2_2"}, + {DRYER_LOADARM_ROTENC,"DRYER_LOADARM_ROTENC"}, + {DISPENSER_ROTENC1,"DISPENSER_ROTENC1"}, + {DISPENSER_ROTENC2,"DISPENSER_ROTENC2"}, + {DISPENSER_ROTENC3,"DISPENSER_ROTENC3"}, + {DISPENSER_ROTENC4,"DISPENSER_ROTENC4"}, + {DISPENSER_ROTENC5,"DISPENSER_ROTENC5"}, + {DISPENSER_ROTENC6,"DISPENSER_ROTENC6"}, + {DISPENSER_ROTENC7,"DISPENSER_ROTENC7"}, + {DISPENSER_ROTENC8,"DISPENSER_ROTENC8"}, + {SCREW_ROTENC,"SCREW_ROTENC"}, + {LDANCER1_ROTENC2,"LDANCER1_ROTENC2"}, + {LDANCER2_ROTENC2,"LDANCER2_ROTENC2"}, + {LSPARE_ROTENC,"LSPARE_ROTENC"}, + {LSPARE_ROTENCn,"LSPARE_ROTENCn"}, + {LSPARE1_ROTENC,"LSPARE1_ROTENC"}, + {LSPARE2_ROTENC,"LSPARE2_ROTENC"}, + {RDANCER_ROTENC2,"RDANCER_ROTENC2"}, + {RSPARE_ROTENC,"RSPARE_ROTENC"}, + {RSPEEDSENS_ROTENC,"RSPEEDSENS_ROTENC"}, + {SPARE1_ROTENC,"SPARE1_ROTENC"}, + {SPARE2_ROTENC,"SPARE2_ROTENC"}, + {FAN_TACHO1,"FAN_TACHO1"}, + {FAN_TACHO3,"FAN_TACHO3"}, + {FAN_TACHO2,"FAN_TACHO2"}, + {FAN1_TACH,"FAN1_TACH"}, + {FAN2_TACH,"FAN2_TACH"}, + {FAN5_TACH,"FAN5_TACH"}, + {FAN3_TACH,"FAN3_TACH"}, + {FAN4_TACH,"FAN4_TACH"}, +}; + + + +uint32_t HWConfigurationFunc(MessageContainer* requestContainer) +{ + uint32_t status = 0; + int Motor_i, Dancer_i, Dispenser_i,PID_i; + MessageContainer responseContainer; + UploadHardwareConfigurationResponse response = UPLOAD_HARDWARE_CONFIGURATION_RESPONSE__INIT; + + UploadHardwareConfigurationRequest* UploadRequest = upload_hardware_configuration_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + HardwareConfiguration *request = UploadRequest->hardwareconfiguration; + status += InternalWinderConfigMessage(request->winders); + for (Motor_i = 0; Motor_i < request->n_motors ; Motor_i++) + status += MotorsConfigMessage(request->motors[Motor_i]); + for (Dancer_i = 0; Dancer_i < request->n_dancers ; Dancer_i++) + status += DancerConfigMessage(request->dancers[Dancer_i]); + for (PID_i = 0; PID_i < request->n_pidcontrols ; PID_i++) + status += HeaterConfigRequestMessage(request->pidcontrols[PID_i]); + for (Dispenser_i = 0; Dispenser_i < request->n_dispensers ; Dispenser_i++) + status += DispenserConfigMessage(request->dispensers[Dispenser_i]); + //status += HeaterConfigSetSharedHeatersParams (request->outputproportionalcycletime, request->outputproportionalsinglestep); + + + + + responseContainer = createContainer(MESSAGE_TYPE__UploadHardwareConfigurationResponse, requestContainer->token, true, &response, &upload_hardware_configuration_response__pack, &upload_hardware_configuration_response__get_packed_size); + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); + + return OK; + + + +} diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.h b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.h new file mode 100644 index 000000000..ab55c3e57 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.h @@ -0,0 +1,313 @@ +#ifndef GENERALHARDWARE_H +#define GENERALHARDWARE_H + +#include "include.h" +#include <Modules/Stubs_Handler/DataDef.h> +#include "PMR/common/MessageContainer.pb-c.h" +#include "Modules/Stubs_Handler/Container.h" + +typedef enum +{ + ANALOG_MIXCHIP_TEMP, + AN_DYEINGH_CURSEN_1, + AN_DYEINGH_CURSEN_2, + AN_DYEINGH_CURSEN_3, + AN_DYEINGH_CURSEN_4, + AN_DYEINGH_CURSEN_5, + ANALOG_DYEINGH_TEMP1, + ANALOG_DYEINGH_TEMP2, + ANALOG_DYEINGH_TEMP3, + ANALOG_DYEINGH_TEMP4, + ANALOG_DYEINGH_TEMP5, + AN_DRYER_CURSEN1, + AN_DRYER_CURSEN2, + AN_DRYER_CURSEN3, + ANALOG_DRYER_TEMP1, + ANALOG_DRYER_TEMP2, + ANALOG_DRYER_TEMP3, + AN_ENCLOSURETEMP1, + AN_ENCLOSURETEMP2, + AN_ENCLOSURETEMP3, + AN_IDS_PRESSENS_1, + AN_IDS_PRESSENS_2, + AN_IDS_PRESSENS_3, + AN_IDS_PRESSENS_4, + AN_IDS_PRESSENS_5, + AN_IDS_PRESSENS_6, + AN_IDS_PRESSENS_7, + AN_IDS_PRESSENS_8, + AN_MIDTANK_PRESSENS1, + AN_MIDTANK_PRESSENS2, + AN_MIDTANK_PRESSENS3, + AN_MIDTANK_PRESSENS4, + AN_MIDTANK_PRESSENS5, + AN_MIDTANK_PRESSENS6, + AN_MIDTANK_PRESSENS7, + AN_MIXCHIP_CURSENn, + AN5V_LDANCER1, + AN5V_LDANCER2, + AN5V_RDANCER, + AN10V_SPARE1, + AN10V_SPARE2, + AN_AIRPRESS_1, + AN_AIRPRESS_2, + AN_VOCSENS, + AN_BLOWERCTRL, + LS_DH_LID_CLEANING, + LS_DH_LID_CLOSED, + LS_DH_CLEAN_UP, + LS_DH_CLEAN_RIGHT, + LS_DH_SPARE1, + LS_DH_LID_OPEN, + LS_DH_CLEAN_DOWN, + LS_DH_CLEAN_LEFT, + LS_DRYER_LID_OPEN, + LS_DRYER_SPARE3, + LS_DRYER_LID_CLOSED, + LS_DRYER_SPARE4, + LS_DRYER_SPARE1, + LS_LOADARM_RIGHT, + LS_DRYER_SPARE2, + LS_LOADARM_LEFT, + GPI_PS1_DC_OK, + GPI_PANSW2, + GPI_PANSW4, + GPI_PANSW1, + GPI_PANSW3, + GPI_PANSW5, + GPI_PANSW6, + GPI_TACTSW1, + GPI_TACTSW3, + GPI_PWRBUTTON, + GPI_TACTSW2, + GPI_TACTSW4, + GPI_EXTWINDER_1, + GPI_EXTWINDER_2, + GPI_EXTWINDER_3, + GPI_EXTWINDER_1_rtn, + GPI_EXTWINDER_2_rtn, + GPI_EXTWINDER_3_rtn, + LS_DISPENSER_UP_1, + LS_DISPENSER_25_1, + LS_DISPENSER_75_1, + LS_DISPENSER_UP_3, + LS_DISPENSER_25_3, + LS_DISPENSER_75_3, + LS_DISPENSER_UP_5, + LS_DISPENSER_25_5, + LS_DISPENSER_75_5, + LS_DISPENSER_UP_7, + LS_DISPENSER_25_7, + LS_DISPENSER_75_7, + LS_DISPENSER_DOWN_1, + LS_DISPENSER_50_1, + LS_DISPENSER_SPARE_1, + LS_DISPENSER_DOWN_3, + LS_DISPENSER_50_3, + LS_DISPENSER_SPARE_3, + LS_DISPENSER_DOWN_5, + LS_DISPENSER_50_5, + LS_DISPENSER_SPARE_5, + LS_DISPENSER_DOWN_7, + LS_DISPENSER_50_7, + LS_DISPENSER_SPARE_7, + LS_DISPENSER_UP_2, + LS_DISPENSER_25_2, + LS_DISPENSER_75_2, + LS_DISPENSER_UP_4, + LS_DISPENSER_25_4, + LS_DISPENSER_75_4, + LS_DISPENSER_UP_6, + LS_DISPENSER_25_6, + LS_DISPENSER_75_6, + LS_DISPENSER_UP_8, + LS_DISPENSER_25_8, + LS_DISPENSER_75_8, + LS_RLOADMOTOR_UP, + LS_DISPENSER_DOWN_2, + LS_DISPENSER_50_2, + LS_DISPENSER_SPARE_2, + LS_DISPENSER_DOWN_4, + LS_DISPENSER_50_4, + LS_DISPENSER_SPARE_4, + LS_DISPENSER_DOWN_6, + LS_DISPENSER_50_6, + LS_DISPENSER_SPARE_6, + LS_DISPENSER_DOWN_8, + LS_DISPENSER_50_8, + LS_DISPENSER_SPARE_8, + LS_SCREW_LEFT, + SW_SPOOL_EXISTS, + LS_SCREW_RIGHT, + SW_SPARE, + LS_LDANCER1_DOWN, + LS_LDANCER2_DOWN, + LS_LPIVOT_DOWN, + LS_PIVOT_SPARE1, + LS_LDANCER1_UP, + LS_LDANCER2_UP, + LS_LPIVOT_UP, + LS_PIVOT_SPARE2, + LS_LLOADMOTOR_DOWN, + LS_LSPARE1, + LS_LLOADMOTOR_UP, + LS_LSPARE2, + LS_RDANCER_DOWN, + LS_RLOADRAM_DOWN, + LS_RDANCER_UP, + LS_RLOADRAM_UP, + LS_RLOADMOTOR_DOWN, + GPI_TFEED_BREAK_1, + GPI_TFEED_BREAK_2, + LS_RSPARE1, + LS_SPARE2_1, + LS_SPARE2_3, + LS_SPARE1_1, + LS_SPARE1_3, + LS_RSPARE2, + LS_SPARE2_2, + LS_SPARE2_4, + LS_SPARE1_2, + LS_SPARE1_4, + GPI_WCONTAINER_WARN, + GPI_SW_WCONTAINER_PRES, + GPI_CHILLER_FAULT, + GPI_CHILLER_STAT1, + GPI_BLOWER_TACH, + GPI_WCONTAINER_FULL, + GPI_AIRFLOW_FLAP, + GPO_MIXCHIP_SSR4_CTRL, + GPO_DYEINGH_SSR7_CTRL, + GPO_DYEINGH_SSR8_CTRL, + GPO_DYEINGH_SSR5_CTRL, + GPO_DYEINGH_SSR6_CTRL, + GPO_DRYER_SSR3_CTRL, + GPO_DRYER_SSR1_CTRL, + GPO_DRYER_SSR2_CTRL, + GPO_SPARE_SSR12_CTRL, + GPO_SPARE_SSR13_CTRL, + GPO_PDOWN_RL1_CTRL, + GPO_LED1, + GPO_LED3, + GPO_LED2, + GPO_LED4, + GPO_BUZZER, + GPO_EXTWINDER_SSR11_CTRL, + GPO_EXTWINDER_1, + GPO_EXTWINDER_2, + GPO_EXTWINDER_3, + GPO_DILUTORPUMP_SSR10_CTRL, + GPO_WASTECH_PUMP1, + GPO_WASTECH_PUMP2, + GPO_TFEED_BREAK_1, + GPO_TFEED_BREAK_2, + GPO_SPARE1_1, + GPO_SPARE2_1, + GPO_SPARE1_2, + GPO_SPARE2_2, + GPO_BLOWER_PWM, + GPO_WHS_WTANKPUMP2, + GPO_CHILLER_SSR9_CTRL, + DH2, + DH1, + DRYER2, + DRYER1, + ELECTRICALENC, + USERPANEL, + EXTWINDINGUNIT, + DISPENSER_1, + DISPENSER_3, + DISPENSER_5, + DISPENSER_7, + MIDTANK3_1, + DISPENSER_2, + DISPENSER_4, + DISPENSER_6, + DISPENSER_8, + CART3, + CART1, + CART2, + CART4, + CART7, + CART5, + CART6, + CART8, + INTWINDINGUNIT, + LTFEEDUNIT2, + LTFEEDUNIT1, + RTFEEDUNIT2, + RTFEEDUNIT1, + SPARE2, + SPARE1, + WHS, + MIDTANK3_2, + MOTO_DH_CLEANHEAD, + MOTO_DH_CLEANMECH, + MOTO_DH_LID, + MOTO_DRYER_DRIVING, + MOTO_DRYER_LID, + MOTO_DRYER_LOADARM, + MOTO_DISPENSER_1, + MOTO_DISPENSER_2, + MOTO_DISPENSER_3, + MOTO_DISPENSER_4, + MOTO_DISPENSER_5, + MOTO_DISPENSER_6, + MOTO_DISPENSER_7, + MOTO_DISPENSER_8, + MOTO_SCREW, + MOTO_WINDER, + MOTO_LDANCER1, + MOTO_LDANCER2, + MOTO_LDRIVING, + MOTO_LLOADING, + MOTO_LPIVOT1, + MOTO_RDANCER, + MOTO_RDRIVING, + MOTO_RLOADARM, + MOTO_RLOADING, + MOTO_SPARE1_1, + MOTO_SPARE1_2, + MOTO_SPARE2_1, + MOTO_SPARE2_2, + DRYER_LOADARM_ROTENC, + DISPENSER_ROTENC1, + DISPENSER_ROTENC2, + DISPENSER_ROTENC3, + DISPENSER_ROTENC4, + DISPENSER_ROTENC5, + DISPENSER_ROTENC6, + DISPENSER_ROTENC7, + DISPENSER_ROTENC8, + SCREW_ROTENC, + LDANCER1_ROTENC2, + LDANCER2_ROTENC2, + LSPARE_ROTENC, + LSPARE_ROTENCn, + LSPARE1_ROTENC, + LSPARE2_ROTENC, + RDANCER_ROTENC2, + RSPARE_ROTENC, + RSPEEDSENS_ROTENC, + SPARE1_ROTENC, + SPARE2_ROTENC, + FAN_TACHO1, + FAN_TACHO3, + FAN_TACHO2, + FAN1_TACH, + FAN2_TACH, + FAN5_TACH, + FAN3_TACH, + FAN4_TACH, + MAX_PORT_ENUM +}SYSTEM_PORTS_ENUM; +typedef struct +{ + SYSTEM_PORTS_ENUM PortId; + char PortName[30]; +}PortInfoStruct; + +extern PortInfoStruct PortInfoTable[MAX_PORT_ENUM]; +extern uint32_t HWConfigurationFunc(MessageContainer* requestContainer); + +#endif diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c new file mode 100644 index 000000000..f15c65f22 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/General/process.c @@ -0,0 +1,121 @@ +/* + * process.c + * + * Created on: 4 áîøõ 2018 + * Author: shlomo + */ +//******************************************************************************************************************** +#include "include.h" +#include "process.h" + +#include <Modules/Stubs_Handler/DataDef.h> +#include "heaters/heaters_ex.h" +#include "PMR/Printing/UploadProcessParametersRequest.pb-c.h" +#include "PMR/Printing/UploadProcessParametersResponse.pb-c.h" +#include "PMR/Hardware/HardwarePidControlType.pb-c.h" +#include "PMR/common/MessageContainer.pb-c.h" + +void ProcessRequestFunc(MessageContainer* requestContainer) +{ + MessageContainer responseContainer; + uint8_t* container_buffer; + uint32_t status = 0; + + UploadProcessParametersRequest* request = upload_process_parameters_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + ProcessParameters* ProcessParams = request->processparameters; + + + UploadProcessParametersResponse response = UPLOAD_PROCESS_PARAMETERS_RESPONSE__INIT; + + responseContainer = createContainer(MESSAGE_TYPE__UploadProcessParametersResponse, requestContainer->token, true, &response, &upload_process_parameters_request__pack, &upload_process_parameters_request__get_packed_size); + container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + + + /* + * + * uint32_t HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature) + * + struct _ProcessParameters +{ + protobuf_c_boolean has_dyeingspeed; + double dyeingspeed; + protobuf_c_boolean has_dryerbufferlength; + double dryerbufferlength; + protobuf_c_boolean has_mininkuptake; + double mininkuptake; + protobuf_c_boolean has_feedertension; + double feedertension; + protobuf_c_boolean has_pullertension; + double pullertension; + protobuf_c_boolean has_windertension; + double windertension; + protobuf_c_boolean has_headairflow; + double headairflow; + protobuf_c_boolean has_dryerairflow; + double dryerairflow; + protobuf_c_boolean has_tableindex; + int32_t tableindex; +}; + + + */ + if (ProcessParams->has_mixertemp) + { + if(ProcessParams->mixertemp) + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__MixerHeater, true, ProcessParams->mixertemp); + else + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__MixerHeater, false, ProcessParams->mixertemp); + } + if (ProcessParams->has_headzone1temp) + { + if(ProcessParams->headzone1temp) + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, true, ProcessParams->headzone1temp); + else + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, false, ProcessParams->headzone1temp); + } + if (ProcessParams->has_headzone2temp) + { + if(ProcessParams->headzone2temp) + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, true, ProcessParams->headzone2temp); + else + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, false, ProcessParams->headzone2temp); + } + if (ProcessParams->has_headzone3temp) + { + if(ProcessParams->headzone3temp) + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, true, ProcessParams->headzone3temp); + else + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, false, ProcessParams->headzone3temp); + } + if (ProcessParams->has_dryerzone1temp) + { + if(ProcessParams->dryerzone1temp) + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w, true, ProcessParams->dryerzone1temp); + else + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w, false, ProcessParams->dryerzone1temp); + } + if (ProcessParams->has_dryerzone2temp) + { + if(ProcessParams->dryerzone2temp) + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1, true, ProcessParams->dryerzone2temp); + else + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1, false, ProcessParams->dryerzone2temp); + } + if (ProcessParams->has_dryerzone3temp) + { + if(ProcessParams->dryerzone3temp) + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2, true, ProcessParams->dryerzone3temp); + else + status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2, false, ProcessParams->dryerzone3temp); + } + + if (status) + { + responseContainer.has_error = true; + responseContainer.error = (ErrorCode)status; + } + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.h b/Software/Embedded_SW/Embedded/Modules/General/process.h new file mode 100644 index 000000000..aa7b157a2 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/General/process.h @@ -0,0 +1,16 @@ +/* + * process.h + * + * Created on: 4 áîøõ 2018 + * Author: shlomo + */ + +#ifndef MODULES_GENERAL_PROCESS_H_ +#define MODULES_GENERAL_PROCESS_H_ + + +void ProcessRequestFunc(MessageContainer* requestContainer); + + + +#endif /* MODULES_GENERAL_PROCESS_H_ */ diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h new file mode 100644 index 000000000..beaf32b2a --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h @@ -0,0 +1,62 @@ +#include "PMR/Hardware/HardwarePidControl.pb-c.h" +#include "PMR/Hardware/HardwarePidControlType.pb-c.h" +/******************** DEFINITIONS ********************************************/ +#define MAX_AC_HEATERS HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2+1 +#define MAX_TIMESLICES 200 +#define MAX_HEATERS_NUM HARDWARE_PID_CONTROL_TYPE__MixerHeater+1 +#define MAX_HEATERS_TEMPERATURE 300 + +extern uint32_t OutputProportionalSingleStep; //A/C Heaters step size from one decision point to another - in cpu clocks. 120000 = 1 millisecod +extern uint32_t OutputProportionalCycleTime; //A/C Heaters Cycle time in milliseconds - one for all heaters +//extern uint32_t Heater_timerBase; //Timer handle +extern char TimeSliceAllocation[MAX_TIMESLICES]; +extern int NumberOFSlicesInUse; + + +typedef struct HeaterPIDControlConfigstruc +{ + int id; //HardwarePidControlType + char name[20]; + int32_t outputproportionalpowerlimit; + int32_t outputproportionalband; + int32_t integraltime; + int32_t derivativetime; + int32_t sensorcorrectionadjustment; + int32_t sensortypeandsetpointlimits; + int32_t setpointramprateorsoftstartramp; + int32_t setpointcontroloutputrate; + int32_t controloutputtype; + int32_t ssrcontroloutputtype; + int32_t outputonoffhysteresisvalues; + int32_t processvariablesamplingrate; + int32_t pvinputfilterfactormode; + double kp; + double ki; + double kd; +}HeaterPIDControlConfig; + +typedef struct HeaterCommandstruc +{ + int heaterid; //HardwarePidControlType + bool command; + uint32_t targettemperatue; +}HeaterCommand; + +typedef struct +{ + bool m_isEnabled; + uint32_t m_SetParam; + uint32_t m_mesuredParam; + float m_preError; + float m_integral; + float m_calculatedError; + bool m_isReady; + PID_Config_Params m_params; +}HeaterControlConfig_t; + +extern HeaterPIDControlConfig HeaterControl[MAX_HEATERS_NUM]; +extern HeaterControlConfig_t HeaterPIDConfig[MAX_HEATERS_NUM]; +extern HeaterCommand HeaterCmd[MAX_HEATERS_NUM]; +extern uint32_t DeviceId2Heater[MAX_HEATERS_NUM]; + + diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_bit.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_bit.c new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_bit.c diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h new file mode 100644 index 000000000..b5249d302 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h @@ -0,0 +1,9 @@ +#include "PMR/common/MessageContainer.pb-c.h" +#include "PMR/Hardware/HardwarePidControl.pb-c.h" + +//uint32_t HeaterCommandRequestMessage(MessageContainer* requestContainer); +uint32_t HeaterConfigRequestMessage(HardwarePidControl* request); +uint32_t HeaterConfigSetSharedHeatersParams (uint32_t outputproportionalcycletime, uint32_t outputproportionalsinglestep); + +uint32_t HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature); + diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c new file mode 100644 index 000000000..55da2ecfa --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c @@ -0,0 +1,154 @@ +/************************************************************************************************************************ + * Heaters_init.c + **************************************************************************************************************************/ + +////////////////////////////////State machine operation//////////////////////////////////// +//the state machine operation is used to operate in runtime correct profile flow execution +//by recieved esign flow of the user from the UI +/////////////////////////////////////////////////////////////////////////////////////////// +#include "include.h" + +#include <Modules/Stubs_Handler/DataDef.h> +//#include "PMR/Hardware/PIDControlConfig.pb-c.h" +//#include "PMR/Hardware/PIDCluster.pb-c.h" +//#include "PMR/Hardware/HeaterControl.pb-c.h" +//#include "PMR/Hardware/HeaterCommandRequest.pb-c.h" +//#include "PMR/Hardware/HeaterCommandRequest.pb-c.h" +#include "PMR/Hardware/HardwarePidControl.pb-c.h" +#include "PMR/Hardware/HardwarePidControlType.pb-c.h" +#include "PMR/common/MessageContainer.pb-c.h" + +#include "../control/control.h" +#include "../control/pidalgo.h" +#include "include.h" +#include <driverlib/timer.h> + +#include "heaters.h" +#include "Drivers/Heater/Heater.h" + + + +/******************** STRUCTURES AND ENUMs ********************************************/ +typedef enum { + HeatersInitialState, + HeatersInit, + HeatersControlledOp, + HeatersShutdown, + HeatersTest, + MaxHeatersStates +}HEATERS_STATES_ENUM; +typedef enum { + HeatersCold, + HeatersAtPIDStrip, + HeatersOverHeat, + HeatersOnTest +}HEATERS_EVENTS_ENUM; + +/******************** GLOBAL PARAMETERS ********************************************/ +HeaterPIDControlConfig HeaterControl[MAX_HEATERS_NUM] = {0}; +HeaterControlConfig_t HeaterPIDConfig[MAX_HEATERS_NUM] = {0}; +uint32_t DeviceId2Heater[MAX_HEATERS_NUM] = {0}; +bool AcHeaterConfigured[MAX_AC_HEATERS] = {0}; + +/******************** CODE ********************************************/ +/* + * HeatersInit + * called by: General Hardware Init + * initialized all global data + */ +uint32_t Heaters_Init(void) +{ + return OK; +} + + +uint32_t HeaterConfigRequestMessage(HardwarePidControl* request) +{ + //uint32_t status = OK; + HardwarePidControlType HeaterId; + + HeaterId = request->hardwarepidcontroltype; + int ValidationError = 0; + + if ((HeaterId)&&(HeaterId< MAX_HEATERS_NUM)) + { + HeaterControl[HeaterId].id = HeaterId; + //strncpy (HeaterControl[HeaterId].name, request->name, 20); + HeaterControl[HeaterId].outputproportionalpowerlimit = request->outputproportionalpowerlimit; + HeaterControl[HeaterId].outputproportionalband = request->outputproportionalband; + HeaterControl[HeaterId].integraltime = request->integraltime; + HeaterControl[HeaterId].derivativetime = request->derivativetime; + HeaterControl[HeaterId].sensorcorrectionadjustment = request->sensorcorrectionadjustment; + //HeaterControl[HeaterId].sensortypeandsetpointlimits = request->sensortypeandsetpointlimits; + HeaterControl[HeaterId].setpointramprateorsoftstartramp = request->setpointramprateorsoftstartramp; + HeaterControl[HeaterId].setpointcontroloutputrate = request->setpointcontroloutputrate; + HeaterControl[HeaterId].controloutputtype = request->controloutputtype; + HeaterControl[HeaterId].ssrcontroloutputtype = request->ssrcontroloutputtype; + HeaterControl[HeaterId].outputonoffhysteresisvalues = request->outputonoffhysteresisvalue; + HeaterControl[HeaterId].processvariablesamplingrate = request->processvariablesamplingrate; + HeaterControl[HeaterId].pvinputfilterfactormode = request->pvinputfilterfactormode; + + if (HeaterId < MAX_AC_HEATERS) + AcHeaterConfigured[HeaterId] = true; + + //check if all A/C heaters are defined. if they are - validate the configuration + if (HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w].id + &&HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1].id + &&HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2].id) + { + if (HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w].outputproportionalpowerlimit + + HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1].outputproportionalpowerlimit + + HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2].outputproportionalpowerlimit> 100) + ValidationError += 2; + if (ValidationError) + { + LOG_ERROR (ValidationError, "Validation Error in Heaters Control"); + return ERROR; + } + } + return OK; + } + return ERROR; + +} + +/* + * HeaterConfigSetSharedHeatersParams - prepare the time slices for A/C heaters co-ordinated operation + * called by the general hardware HWConfigurationFunc + * parameters - the cycle time for the coordinated operation, the size (in MCU cycles) of a single step. + */ +uint32_t HeaterConfigSetSharedHeatersParams(uint32_t outputproportionalcycletime, uint32_t outputproportionalsinglestep) +{ + int Slice_i; + int Heater1000Slices,Heater200aSlices /*,Heater200bSlices Currently both 200W heaters will work together*/; + + //A/C Heaters Cycle time in milliseconds - one for all heaters + OutputProportionalCycleTime = outputproportionalcycletime; + + //A/C Heaters step size from one decision point to another - in cpu clocks. 120000 = 1 millisecod + OutputProportionalSingleStep = outputproportionalsinglestep; + + // calculate how many milliseconds is in each operating cycle (should be an integer number) + uint32_t MillisecondsPerChange = OutputProportionalSingleStep/120000; + + // calculate how many time slices are used. the total cycle time / the length of one operating cycle. (one added to put a time gap??? TBD) + NumberOFSlicesInUse = (OutputProportionalCycleTime/MillisecondsPerChange); + + if (NumberOFSlicesInUse > MAX_TIMESLICES ) + { + LOG_ERROR (NumberOFSlicesInUse, "NumberOFSlicesInUse too high"); + return ERROR;//NumberOFSlicesInUse = MAX_TIMESLICES; + } + + // all numbers are rounded down. better to have carefully calculated numbers + Heater1000Slices = HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w].outputproportionalpowerlimit * NumberOFSlicesInUse / 100; + Heater200aSlices = HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1].outputproportionalpowerlimit * NumberOFSlicesInUse / 100; + + //mark the time slices for heaters operation as empty / Heater1000 / Heater 200 + memset (TimeSliceAllocation,0xFF,sizeof(TimeSliceAllocation)); + for (Slice_i = 0; Slice_i < Heater1000Slices;Slice_i++ ) TimeSliceAllocation[Slice_i] = HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w; + for (Slice_i = Heater1000Slices; Slice_i < Heater1000Slices+Heater200aSlices;Slice_i++ ) TimeSliceAllocation[Slice_i] = HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1; + + return OK; + +} diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_maint.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_maint.c new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_maint.c diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c new file mode 100644 index 000000000..3eeff9ec3 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c @@ -0,0 +1,247 @@ +/************************************************************************************************************************ + * Heaters_print.c + **************************************************************************************************************************/ + +////////////////////////////////State machine operation//////////////////////////////////// +//the state machine operation is used to operate in runtime correct profile flow execution +//by recieved esign flow of the user from the UI +/////////////////////////////////////////////////////////////////////////////////////////// +#include "include.h" + +#include <Modules/Stubs_Handler/DataDef.h> +//#include "PMR/Hardware/PIDCluster.pb-c.h" +#include "PMR/Hardware/HardwarePidControlType.pb-c.h" +#include "PMR/Hardware/HardwarePidControl.pb-c.h" +#include "PMR/common/MessageContainer.pb-c.h" + +#include "../control/control.h" +#include "../control/pidalgo.h" +#include "include.h" +#include <driverlib/timer.h> + +#include "heaters.h" +#include "Drivers/Heater/Heater.h" + + +/******************** GLOBAL PARAMETERS ********************************************/ +HeaterCommand HeaterCmd[MAX_HEATERS_NUM] = {}; +int NumberOFSlicesInUse = 0; +bool HeatersRestart = false; + +uint32_t OutputProportionalSingleStep = 0; //A/C Heaters step size from one decision point to another - in cpu clocks. 120000 = 1 millisecod +uint32_t Heater_timerBase = TIMER2_BASE; //Timer handle +uint32_t OutputProportionalCycleTime = 0; //A/C Heaters Cycle time in milliseconds - one for all heaters +char TimeSliceAllocation[MAX_TIMESLICES] = {0}; + +bool InitialHeatingState = false; +/******************** FUNCTIONS ********************************************/ +uint32_t HeaterControlCBFunction(uint32_t deviceID, uint32_t ReadValue); +uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue); + +/* + * HeaterCommandRequestMessage + * called by: Communication from host + * initialized all global data + */ +uint32_t HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature) +{ + //uint32_t status = NOT_SUPPORTED; + //MessageContainer responseContainer; + if ((HeaterId)&&(HeaterId< MAX_HEATERS_NUM)) + { + if (HeaterControl[HeaterId].id != HeaterId) // heater configuration missing + { + LOG_ERROR (HeaterId, "Heater is not yet configured"); + return ERROR; + } + HeaterCmd[HeaterId].heaterid = HeaterId; + HeaterCmd[HeaterId].command = OnOff; + HeaterCmd[HeaterId].targettemperatue = Temperature; + } + bool HeaterState = GetHeaterState(HeaterId); + + if ((HeaterState == HEATER_OFF)&& (OnOff == HEATER_ON)) //start heating + { + //set the heater control parameters + //set the target operation temperature + //start the control + PrepareHeater(HeaterId,Temperature); //prepare the heaters control info + //set the power balance handler (if not set yet) + ROM_TimerConfigure(Heater_timerBase, TIMER_CFG_PERIODIC); // 32 bits Timer + ROM_IntEnable(INT_TIMER2B); + ROM_TimerIntEnable(Heater_timerBase, TIMER_TIMA_TIMEOUT); + // if the heater is off (?) start it. + ActivateHeater(HeaterId); + //set the heater operation mode to fast heating - depended on the current temperature + // timers are prepared but not started yet!!! only when the system is hot. + + } + else if ((HeaterState == HEATER_ON)&& (OnOff == HEATER_ON)) //set temperature + { + HeaterPIDConfig[HeaterId].m_SetParam = Temperature; + // if the heater is not on return (?). + //set the target operation temperature + //set the heater operation mode to fast heating - depended on the current temperature + } + else if ((HeaterState == HEATER_ON)&& (OnOff == HEATER_OFF)) //stop heating + { + //turn off the heater + //stop the control + HeaterPIDConfig[HeaterId].m_SetParam = HeaterId; + } + else + { + LOG_ERROR (OnOff, "unsupported command id"); + return ERROR; + } + + return OK; +} +/* + * PrepareHeater + * called by: Communication from host + * initialized all global data + */ +uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue) +{ + assert(HeaterId < MAX_HEATERS_NUM); + assert(SetTemperatue < MAX_HEATERS_TEMPERATURE); + + //start thread control for all motors + HeaterPIDConfig[HeaterId].m_params.MAX = HeaterControl[HeaterId].outputproportionalpowerlimit; + HeaterPIDConfig[HeaterId].m_params.MIN = .0; + HeaterPIDConfig[HeaterId].m_params.Kd = HeaterControl[HeaterId].kd; + HeaterPIDConfig[HeaterId].m_params.Kp = HeaterControl[HeaterId].kp; + HeaterPIDConfig[HeaterId].m_params.Ki = HeaterControl[HeaterId].ki; + HeaterPIDConfig[HeaterId].m_params.dt = eHunderdMillisecond; + HeaterPIDConfig[HeaterId].m_calculatedError = 0; + HeaterPIDConfig[HeaterId].m_integral = 0; + HeaterPIDConfig[HeaterId].m_isEnabled = true; + HeaterPIDConfig[HeaterId].m_isReady = true; + HeaterPIDConfig[HeaterId].m_mesuredParam = 0; + HeaterPIDConfig[HeaterId].m_preError = 0; + HeaterPIDConfig[HeaterId].m_SetParam = SetTemperatue;//need to update SetParams on presegment stage + AddControlCallback(DeviceId2Heater[HeaterId], HeaterControlCBFunction, eHunderdMillisecond); + + return OK; +} + +/* + * HeaterControlCBFunction + * called by: Communication from host + * initialized all global data + */ + +uint32_t HeaterControlCBFunction(uint32_t deviceID, uint32_t ReadValue) +{ + int i,index=MAX_HEATERS_NUM; + char str[100]; + uint8_t len = 0; + + for (i=0;i<MAX_HEATERS_NUM;i++) + if (DeviceId2Heater[i] == deviceID) + { + index = i; + break; + } + if (index==MAX_HEATERS_NUM) + { + LOG_ERROR (deviceID, "No heater for device"); + return 0xFFFFFFFF; + } + // check if the read value is within the proportional band + if (ReadValue > (HeaterCmd[index].targettemperatue * (1+HeaterControl[index].outputproportionalband))) + { + //Heaters OFF until coming into the proportional band + len = usnprintf(str, 100, "\r\n HeaterControlCBFunction devId %d temp %d over proportional band %d of set temp %d " + ,index, ReadValue,HeaterControl[index].outputproportionalband,HeaterCmd[index].targettemperatue); + Report(str, __FILE__,__LINE__,0, RpMessage, index, deviceID); + return OK; + } + if (ReadValue < (HeaterCmd[index].targettemperatue * (1-HeaterControl[index].outputproportionalband))) + { + len = usnprintf(str, 100, "\r\n HeaterControlCBFunction devId %d temp %d below proportional band %d of set temp %d " + ,index, ReadValue,HeaterControl[index].outputproportionalband,HeaterCmd[index].targettemperatue); + Report(str, __FILE__,__LINE__,0, RpMessage, index, deviceID); + //Heaters ON until coming into the proportional band + return OK; + } + + if(HeaterPIDConfig[index].m_isEnabled && (HeaterPIDConfig[index].m_SetParam != 0)) + { + HeaterPIDConfig[index].m_mesuredParam = ReadValue; + HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam, + &HeaterPIDConfig[index].m_params, &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral); + if (HeaterPIDConfig[index].m_calculatedError >= HeaterPIDConfig[index].m_params.MAX) + { + HeaterPIDConfig[index].m_calculatedError = HeaterPIDConfig[index].m_params.MAX; + } + if (HeaterPIDConfig[index].m_calculatedError < HeaterPIDConfig[index].m_params.MIN) + { + HeaterPIDConfig[index].m_calculatedError = HeaterPIDConfig[index].m_params.MIN; + } + + //SetMotorFreq (index, HeaterControl[index].m_calculatedError); + } + + return OK; +} + +/* + * EightMilliSecondHeatersInterrupt - a timer based interrupt, that will handle the time sharing between the A/C heaters + * There is a need to prevent the system from activating all A/C heaters at the same time, due to electrical current problems + */ +int SliceCounter = 0; +void EightMilliSecondHeatersInterrupt(UArg arg0) +{ + char str[100]; + uint8_t len = 0; + + len = usnprintf(str, 100, "\r\n EightMilliSecondHeatersInterrupt SliceCounter %d Owner %d H1000 %d H2000 %d" + ,SliceCounter,TimeSliceAllocation[SliceCounter],HeatersRestart,NumberOFSlicesInUse); + Report(str, __FILE__,__LINE__,0, RpMessage, SliceCounter, TimeSliceAllocation[SliceCounter]); + ROM_IntMasterDisable(); + + if (TimeSliceAllocation[SliceCounter] == HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w) + { + //If HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w should be active + //Activate HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w + ActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w); + //DeActivate HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1 + DeActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1); + DeActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2); + } + else if (TimeSliceAllocation[SliceCounter] == HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1) + { + //DeActivate HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w + DeActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w); + //If HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1 should be active + //Activate HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1 + ActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1); + ActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2); + } + else + { + //DeActivate HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w + DeActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w); + //DeActivate HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1 + DeActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1); + DeActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2); + } + //handle the time sharing module + SliceCounter++; + if (SliceCounter >= NumberOFSlicesInUse) + SliceCounter = 0; + + if (HeatersRestart == true) + { + ROM_TimerLoadSet(Heater_timerBase, TIMER_BOTH,OutputProportionalSingleStep/*twelve millisecond???*/); + } + + ROM_TimerIntClear(Heater_timerBase, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt + // + // Enable all interrupts. + // + ROM_IntMasterEnable(); + return ; +} diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h new file mode 100644 index 000000000..1c9fee547 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h @@ -0,0 +1,25 @@ +#include "PMR/common/MessageContainer.pb-c.h" +#include "PMR/Hardware/HardwareDispenser.pb-c.h" + +#define MAX_SYSTEM_DISPENSERS 8 +typedef struct +{ + int32_t dispensercapacity; //milliliters + int32_t midtankcapacity;//milliliters + double nlperpulse; //nanoliter per step , uStep = 1 + uint32_t minfrequency; + uint32_t maxfrequency; + uint32_t minmicrostep; + uint32_t maxmicrostep; + double correctiongain; + double ratiotodryerspeed; + double kp; + double ki; + double kd; + double changeslope; + double highlengthmicrosecond; + int32_t controltiming; //10-100-1000 milliseconds + int32_t id; +}DispenserConfigStruc; + +uint32_t DispenserConfigMessage(HardwareDispenser * request); diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_BIT.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_BIT.c new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_BIT.c diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c new file mode 100644 index 000000000..0294615b6 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c @@ -0,0 +1,46 @@ +/************************************************************************************************************************ + **************************************************************************************************************************/ + +#include "include.h" + +#include <Modules/Stubs_Handler/DataDef.h> + +#include "ids.h" +#include "PMR/common/MessageContainer.pb-c.h" +#include "PMR/Hardware/HardwareDispenser.pb-c.h" + + +DispenserConfigStruc DispensersCfg[ MAX_SYSTEM_DISPENSERS]; + + + +uint32_t DispenserConfigMessage(HardwareDispenser * request) +{ + uint32_t status = PASSED; + int Dispenser_i; + + Dispenser_i = request->hardwaredispensertype; + if ((Dispenser_i)&&(Dispenser_i< MAX_SYSTEM_DISPENSERS)) + { + + DispensersCfg[Dispenser_i].id = request->hardwaredispensertype; + DispensersCfg[Dispenser_i].minfrequency = request->minfrequency; + DispensersCfg[Dispenser_i].maxfrequency = request->maxfrequency; + DispensersCfg[Dispenser_i].minmicrostep = request->minmicrostep; + DispensersCfg[Dispenser_i].maxmicrostep = request->maxmicrostep; + DispensersCfg[Dispenser_i].correctiongain = request->correctiongain; + DispensersCfg[Dispenser_i].ratiotodryerspeed = request->ratiotodryerspeed; + DispensersCfg[Dispenser_i].kp = request->kp; + DispensersCfg[Dispenser_i].ki = request->ki; + DispensersCfg[Dispenser_i].kd = request->kd; + DispensersCfg[Dispenser_i].changeslope = request->changeslope; + DispensersCfg[Dispenser_i].highlengthmicrosecond = request->highlengthmicrosecond; + DispensersCfg[Dispenser_i].dispensercapacity= request->capacity; +// DispensersCfg[Dispenser_i].midtankcapacity = request->midtankcapacity; + DispensersCfg[Dispenser_i].nlperpulse = request->nlperpulse; + DispensersCfg[Dispenser_i].controltiming = request->controltiming; + return status; + } + else return Dispenser_i; + +} diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c new file mode 100644 index 000000000..32b147569 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c @@ -0,0 +1,43 @@ +/************************************************************************************************************************ + * Ids_print.c + * Printing module is responsible for : + * operating diffrent winding algorithms with predefined parameters from the UI + * operating the dispensers according to predefined dispensing rate from the UI + **************************************************************************************************************************/ +#include "include.h" +#include "ids.h" +#include "../control/control.h" +#include "../control/pidalgo.h" +#include "PMR/Hardware/Hardwaremotor.pb-c.h" +#include "PMR/Hardware/HardwareDispenser.pb-c.h" +#include "StateMachines/Printing/printingSTM.h" + + + +/******************** STRUCTURES AND ENUMs ********************************************/ +/******************** GLOBAL PARAMETERS ********************************************/ + + +/* + * IDS Printing support + * Prepare: build pressure in all participating dispensers + * Print - dispense ink to the printing head + * stop - stop dispensing + * + * control processes: + * on prepare stage - each 10msec against the pressure sensors + * on print stage - every 10/100 msec against the speed sensor + * + * */ +//Dispenser Pressure control +//callback - calls printing stm with the result + +// registration - 10 msec, dispenser pressure sensor +// AddControlCallback(DeviceId2Heater[HeaterId], HeaterControlCBFunction, eHunderdMillisecond); +// start the dispenser pressure building - move up in a TBD speed, valve closed +//Dispenser Speed control +//callback - handles speed +// registration - 10msec, dispenser speed senseo +// start the dispensing - move up according to the segment defined speed and microstepping, valve opened +// + diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/MixerHandler.c b/Software/Embedded_SW/Embedded/Modules/IDS/MixerHandler.c new file mode 100644 index 000000000..ce423ab72 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/IDS/MixerHandler.c @@ -0,0 +1,37 @@ +/* + * MixerHandle.c + * + * Created on: 26 áôáø× 2018 + * Author: shlomo + */ + +#ifndef MODULES_IDS_MIXERHANDLER_C_ +#define MODULES_IDS_MIXERHANDLER_C_ +#include "include.h" +#include "MixerHandler.h" +typedef enum +{ + MixerStateNone, + MixerStateHead, + MixerStateWaste +}MIXER_STATE_ENUM; + +MIXER_STATE_ENUM MixerState = MixerStateNone; + +uint32_t MixerHandlerSwitchToWaste(void) +{ + return OK; + +} +uint32_t MixerHandlerSwitchToHead(void) +{ + return OK; +} +uint32_t MixerHandlerGetState(void) +{ + return MixerState; +} + + + +#endif /* MODULES_IDS_MIXERHANDLER_C_ */ diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/MixerHandler.h b/Software/Embedded_SW/Embedded/Modules/IDS/MixerHandler.h new file mode 100644 index 000000000..51093e1b7 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/IDS/MixerHandler.h @@ -0,0 +1,17 @@ +/* + * MixerHandle.h + * + * Created on: 26 áôáø× 2018 + * Author: shlomo + */ + +#ifndef MODULES_IDS_MIXERHANDLER_H_ +#define MODULES_IDS_MIXERHANDLER_H_ + +extern uint32_t MixerHandlerSwitchToWaste(void); +extern uint32_t MixerHandlerSwitchToHead(void); +extern uint32_t MixerHandlerGetState(void); + + + +#endif /* MODULES_IDS_MIXERHANDLER_H_ */ diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c new file mode 100644 index 000000000..f12b92adc --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c @@ -0,0 +1,39 @@ + +#include <PMR/Common/MessageContainer.pb-c.h> +#include <PMR/Stubs/CalculateRequest.pb-c.h> +#include <PMR/Stubs/CalculateResponse.pb-c.h> +#include "include.h" +#include "driverlib/gpio.h" + +#include "drivers/twine_usblib/usb_serial_adapter.h" +#include "drivers/twine_graphicslib/graphics_adapter.h" +#include "Container.h" + +void Stub_CalculateRequest(MessageContainer* requestContainer) +{ + MessageContainer responseContainer; + + CalculateRequest* request = calculate_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + writeLine("Calculate Request: "); + writeFloat(request->a); + writeString(" + "); + writeFloat(request->b); + + CalculateResponse response = CALCULATE_RESPONSE__INIT; + response.sum = request->a + request->b; + response.has_sum = true; + + responseContainer = createContainer(MESSAGE_TYPE__CalculateResponse, requestContainer->token, true, &response, &calculate_response__pack, &calculate_response__get_packed_size); + + writeLine("Sending Response: "); + writeFloat(response.sum); + + free(request); + + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.h new file mode 100644 index 000000000..0623435f0 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.h @@ -0,0 +1,8 @@ +#ifndef STUB_CALCULATE_H +#define STUB_CALCULATE_H + +#include "PMR/Common/MessageContainer.pb-c.h" +void Stub_CalculateRequest(MessageContainer* requestContainer); + +#endif //STUB_CALCULATE_H + diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.c new file mode 100644 index 000000000..b9c3ffbd0 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.c @@ -0,0 +1,125 @@ +#include <PMR/Common/MessageContainer.pb-c.h> +#include "include.h" +#include "driverlib/gpio.h" + +//#include "usb_serial_adapter.h" +//#include "graphics_adapter.h" +#include "Calculate.h" +#include "Progress.h" +#include "Stub_Cartridge.h" +#include "Stub_Dispenser.h" +#include "Stub_GPIO.h" +#include "Stub_Heater.h" +#include "Stub_MotorEncoder.h" +#include "Stub_OptLimitSwitch.h" +#include "Stub_SteperMotor.h" +#include "Stub_Valve.h" +#include "Stub_ExtFlash.h" +#include "General/GeneralHardware.h" +#include "heaters/heaters_ex.h" +#include "StateMachines/Printing/PrintingSTM.h" +#include "Modules/General/process.h" +#include "Common/report/report.h" + + +MessageContainer createContainer(MessageType type, char* token, protobuf_c_boolean completed, void* response, size_t (*packPtr)(void*, uint8_t*), size_t (*sizePtr)(void*)) +{ + MessageContainer container = MESSAGE_CONTAINER__INIT; + container.completed = completed; + container.token = token; + container.has_completed = true; + container.has_data = true; + container.has_type = true; + container.type = type; + + + + uint8_t* response_buffer = malloc((*sizePtr)(response)); + size_t response_size = (*packPtr)(response, response_buffer); + container.data.data = response_buffer; + container.data.len = response_size; + + free(response); + return container; +} + +void receive_callback(char* buffer, size_t length) +{ + //SendChars(buffer,length); + //draw_string(buffer, length); + //draw_image((uint8_t *)buffer); + + //writeLine("Received "); + //writeFloat(length); + //writeString(" bytes"); + //writeLine("Parsing message..."); + + MessageContainer* requestContainer = message_container__unpack(NULL, length, (uint8_t*)buffer); + + switch(requestContainer->type) + { + case MESSAGE_TYPE__CalculateRequest: + Stub_CalculateRequest(requestContainer); + break; + case MESSAGE_TYPE__ProgressRequest: + Stub_ProgressRequest(requestContainer); + break; + case MESSAGE_TYPE__StubCartridgeReadRequest: + Stub_CartridgeReadRequest(requestContainer); + break; + case MESSAGE_TYPE__StubCartridgeWriteRequest: + Stub_CartridgeWriteRequest(requestContainer); + break; + case MESSAGE_TYPE__StubDispenserRequest: + Stub_DispenserRequest(requestContainer); + break; + case MESSAGE_TYPE__StubGPIOInputSetupRequest: + Stub_GPIOInputSetupRequest(requestContainer); + break; + case MESSAGE_TYPE__StubGPIOReadBitRequest: + Stub_GPIOReadBitRequest(requestContainer); + break; + case MESSAGE_TYPE__StubGPIOReadByteRequest: + Stub_GPIOReadByteRequest(requestContainer); + break; + case MESSAGE_TYPE__StubGPIOWriteBitRequest: + Stub_GPIOWriteBitRequest(requestContainer); + break; + case MESSAGE_TYPE__StubGPIOWriteByteRequest: + Stub_GPIOWriteByteRequest(requestContainer); + break; + case MESSAGE_TYPE__StubHeaterRequest: + Stub_HeaterRequest(requestContainer); + break; + case MESSAGE_TYPE__StubMotorEncoderRequest: + Stub_MotorEncoderRequest(requestContainer); + break; + case MESSAGE_TYPE__StubOptLimitSwitchRequest: + Stub_OptLimitSwitchRequest(requestContainer); + break; + case MESSAGE_TYPE__StubSteperMotorRequest: + Stub_SteperMotorRequest(requestContainer); + break; + case MESSAGE_TYPE__StubValveRequest: + Stub_ValveRequest(requestContainer); + break; + case MESSAGE_TYPE__StubExtFlashReadRequest: + Stub_ExtFlashReadRequest(requestContainer); + break; + case MESSAGE_TYPE__StubExtFlashWriteRequest: + Stub_ExtFlashWriteRequest(requestContainer); + break; + case MESSAGE_TYPE__DebugLogRequest: + ReportInitMessage(requestContainer); + break; + case MESSAGE_TYPE__JobRequest: + JobRequestFunc(requestContainer); + break; + case MESSAGE_TYPE__UploadProcessParametersRequest: + ProcessRequestFunc(requestContainer); + break; + default: + //unsupported message type !! + break; + } +} diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.h new file mode 100644 index 000000000..2c5d9fa60 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.h @@ -0,0 +1,7 @@ +#ifndef CONTAINER_H +#define CONTAINER_H + +MessageContainer createContainer(MessageType type, char* token, protobuf_c_boolean completed, void* response, size_t (*packPtr)(void*, uint8_t*), size_t (*sizePtr)(void*)); +void receive_callback(char* buffer, size_t length); + +#endif //CONTAINER_H diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/DataDef.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/DataDef.h new file mode 100644 index 000000000..08da87c09 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/DataDef.h @@ -0,0 +1,71 @@ +#ifndef DATADEF_H +#define DATADEF_H + +#define EVALUATION_BOARD // to use the LCD only when using the evaluation board +#define USE_HIGH_SPEED_GPIO // to use AHB GPIO (A..J) ports A-J APB or AHB, ports K-Q on AHB only + +#define ON 1 +#define OFF 0 + +enum +{ + PASSED = 0, + FAILED = 1, + NOT_SUPPORTED = 254, + VERIFIED = 255 +}; + + +#define OK 0 +#define ERROR 1 + +#define ENABLE 0 +#define DISABLE 1 + +#define NEW 0 +#define USED 1 + +#define START 1 +#define STOP 0 + +// motor direction +#define CW 1 // clockwise +#define CCW 0 // counter clockwise + +#define TRUE 1 +#define FALSE 0 + +#define INPUT 1 +#define OUTPUT 0 + +#define PULLDOWN 0 +#define PULLUP 1 + +#define TX 0 +#define RX 1 +#define TXRX 2 + +//--------------------------------------------------------------------- +#pragma diag_suppress 169 /* Avoid warnings on VOID * conversions (protobuf issue) +The warning: +#169-D argument of type "size_t (*)(const CalculateResponse *, uint8_t *)" is incompatible with parameter of type "size_t (*)(void *, uint8_t *)" Calculate.c /twine_usblib_demo/PMR/Stubs line 53 C/C++ Problem + + +//#pragma diag_suppress 190 // Avoid the warning - #190-D enumerated type mixed with another type protobuf-c.c + * +or in the environment add command line: + +Project -> properties -> + +Add the warning number in +Supports diagnostic <id> (--diag_suppress, - pds) +169 +190 +*/ + +//Project Properties->Build->Compiler->Include Options +//There may be paths there relative to a build variable, rather than hard-coded paths, that may be triggering the error. + + + +#endif /* DATADEF_H */ diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c new file mode 100644 index 000000000..c44df4ef7 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c @@ -0,0 +1,48 @@ + +#include <PMR/Common/MessageContainer.pb-c.h> +#include <PMR/Stubs/ProgressRequest.pb-c.h> +#include <PMR/Stubs/ProgressResponse.pb-c.h> +#include "include.h" +#include "driverlib/gpio.h" + +#include "drivers/twine_usblib/usb_serial_adapter.h" +//#include "graphics_adapter.h" +#include "Container.h" + +void Stub_ProgressRequest(MessageContainer* requestContainer) +{ + MessageContainer responseContainer; + + ProgressRequest* request = progress_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + //writeLine("Progress Request..."); + + ProgressResponse response = PROGRESS_RESPONSE__INIT; + response.has_progress = true; + + int i = 0; + for (i = 0; i < request->amount; i++) + { + response.progress = i; + responseContainer = createContainer(MESSAGE_TYPE__ProgressResponse, requestContainer->token, false, &response, &progress_response__pack, &progress_response__get_packed_size); + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + //writeLine("Sending Progress: "); + //writeFloat(response.progress); + SendChars((char*)container_buffer, container_size); + + int co = 0; + for (co = 0; co < request->delay; co++) + { + __delay_cycles(1000000); + } + } + + responseContainer = createContainer(MESSAGE_TYPE__ProgressResponse, requestContainer->token, true, &response, &progress_response__pack, &progress_response__get_packed_size); + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + //writeLine("Progress Completed!"); + SendChars((char*)container_buffer, container_size); + return; + +} diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.h new file mode 100644 index 000000000..a0595e4b9 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.h @@ -0,0 +1,7 @@ +#ifndef PROGRESS_H +#define PROGRESS_H + +#include "PMR/Common/MessageContainer.pb-c.h" +void Stub_ProgressRequest(MessageContainer* requestContainer); + +#endif //PROGRESS_H diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c new file mode 100644 index 000000000..166cf9e7a --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c @@ -0,0 +1,128 @@ + + +#include <PMR/Common/MessageContainer.pb-c.h> +#include <PMR/Stubs/StubCartridgeReadRequest.pb-c.h> +#include <PMR/Stubs/StubCartridgeReadResponse.pb-c.h> +#include <PMR/Stubs/StubCartridgeWriteRequest.pb-c.h> +#include <PMR/Stubs/StubCartridgeWriteResponse.pb-c.h> +#include "include.h" +#include "inc/hw_uart.h" +#include "driverlib/gpio.h" + +#include "drivers/twine_usblib/usb_serial_adapter.h" +#include "drivers/twine_graphicslib/graphics_adapter.h" + +#include "Container.h" +#include "Stub_Status.h" + +void Stub_CartridgeReadRequest(MessageContainer* requestContainer) +{ + uint32_t status = NOT_SUPPORTED; + MessageContainer responseContainer; + + StubCartridgeReadRequest* request = stub_cartridge_read_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + //request->cartridgeid + + writeLine("cartridge Request: "); + + writeFloat(request->cartridgeid); + + StubCartridgeReadResponse response = STUB_CARTRIDGE_READ_RESPONSE__INIT; + + response.cartridgeid = request->cartridgeid; + response.has_cartridgeid = true; + + //response.cartridgecolor + response.has_cartridgecolor = false; + + //response.cartridgeversion + response.has_cartridgeversion = false; + + //response.cartridgedata + response.has_cartridgedata = false; + + //response.cartridgeused + response.has_cartridgeused = false; + + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + writeLine("Sending Response: "); + + writeFloat(response.cartridgeid); + writeString(", "); + writeFloat(response.cartridgecolor); + writeString(", "); + writeFloat(response.cartridgeversion); + writeString(", "); + writeFloat(response.cartridgedata); + writeString(", "); + writeFloat(response.cartridgeused); + writeString(", "); + + Write_status_response(status); + + responseContainer = createContainer(MESSAGE_TYPE__StubCartridgeReadResponse, requestContainer->token, true, &response, &stub_cartridge_read_response__pack, &stub_cartridge_read_response__get_packed_size); + + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} + +void Stub_CartridgeWriteRequest(MessageContainer* requestContainer) +{ + uint32_t status = NOT_SUPPORTED; + MessageContainer responseContainer; + + StubCartridgeWriteRequest* request = stub_cartridge_write_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + //request->cartridgeid + //request->cartridgecolor + //request->cartridgeversion + //request->cartridgedata + //request->cartridgeused + + writeLine("Cartridge Request: "); + + writeFloat(request->cartridgeid); + writeString(", "); + writeFloat(request->cartridgecolor); + writeString(", "); + writeFloat(request->cartridgeversion); + writeString(", "); + writeFloat(request->cartridgedata); + writeString(", "); + writeFloat(request->cartridgeused); + + StubCartridgeWriteResponse response = STUB_CARTRIDGE_WRITE_RESPONSE__INIT; + + response.cartridgeid = request->cartridgeid; + response.has_cartridgeid = true; + +// char temp[7] = "PASSED"; +// response.status = temp; +// response.statusword = OK; +// response.has_statusword = true; + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + writeLine("Sending Response: "); + + writeFloat(response.cartridgeid); + writeString(", "); +// writeFloat(response.statusword); +// WRITELINESTATUS; + Write_status_response(status); + + responseContainer = createContainer(MESSAGE_TYPE__StubCartridgeWriteResponse, requestContainer->token, true, &response, &stub_cartridge_write_response__pack, &stub_cartridge_write_response__get_packed_size); + + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} + diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.h new file mode 100644 index 000000000..38c71c233 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.h @@ -0,0 +1,9 @@ +#ifndef STUB_CARTRIDGE_H +#define STUB_CARTRIDGE_H + +#include "PMR/Common/MessageContainer.pb-c.h" + +void Stub_CartridgeReadRequest(MessageContainer* requestContainer); +void Stub_CartridgeWriteRequest(MessageContainer* requestContainer); + +#endif //STUB_CARTRIDGE_H diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c new file mode 100644 index 000000000..384133e7e --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c @@ -0,0 +1,72 @@ + + +#include <PMR/Common/MessageContainer.pb-c.h> +#include <PMR/Stubs/StubDispenserRequest.pb-c.h> +#include <PMR/Stubs/StubDispenserResponse.pb-c.h> +#include "include.h" +#include "driverlib/gpio.h" + +#include "drivers/twine_usblib/usb_serial_adapter.h" +#include "drivers/twine_graphicslib/graphics_adapter.h" + +#include "Container.h" +#include "Stub_Status.h" + +void Stub_DispenserRequest(MessageContainer* requestContainer) +{ + uint32_t status = NOT_SUPPORTED; + MessageContainer responseContainer; + + StubDispenserRequest* request = stub_dispenser_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + //request->dispenserid + //request->start + //request->setdirection + //request->setmicrostepdivision + //request->setspeed + + writeLine("Dispenser Request: "); + + writeFloat(request->dispenserid); + writeString(", "); + writeFloat(request->start); + writeString(", "); + writeFloat(request->setdirection); + writeString(", "); + writeFloat(request->setmicrostepdivision); + writeString(", "); + writeFloat(request->setspeed); + + StubDispenserResponse response = STUB_DISPENSER_RESPONSE__INIT; + + response.dispenserid = request->dispenserid; + response.has_dispenserid = true; + + //response.dispenserposition + response.has_dispenserposition = false; + + //response.inkworninglevel + response.has_inkworninglevel = false; + + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + writeLine("Sending Response: "); + + writeFloat(response.dispenserid); + writeString(", "); + writeFloat(response.dispenserposition); + writeString(", "); + writeFloat(response.inkworninglevel); + writeString(", "); + + Write_status_response(status); + + responseContainer = createContainer(MESSAGE_TYPE__StubDispenserResponse, requestContainer->token, true, &response, &stub_dispenser_response__pack, &stub_dispenser_response__get_packed_size); + + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.h new file mode 100644 index 000000000..f2f163e99 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.h @@ -0,0 +1,9 @@ + +#ifndef STUB_DISPENSER_H +#define STUB_DISPENSER_H + +#include "PMR/Common/MessageContainer.pb-c.h" + +void Stub_DispenserRequest(MessageContainer* requestContainer); + +#endif //STUB_DISPENSER_H diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c new file mode 100644 index 000000000..5b7577dfe --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c @@ -0,0 +1,160 @@ + +#include <PMR/Common/MessageContainer.pb-c.h> +#include <PMR/Stubs/StubExtFlashReadRequest.pb-c.h> +#include <PMR/Stubs/StubExtFlashReadResponse.pb-c.h> +#include <PMR/Stubs/StubExtFlashWriteRequest.pb-c.h> +#include <PMR/Stubs/StubExtFlashWriteResponse.pb-c.h> +#include <drivers/Flash_Memory/Flash_Memory.h> +#include <stdbool.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdint.h> +#include <string.h> +#include <Modules/Stubs_Handler/DataDef.h> +#include "inc/hw_memmap.h" +#include "inc/hw_types.h" +#include "inc/hw_uart.h" +#include "driverlib/gpio.h" + +#include "drivers/twine_usblib/usb_serial_adapter.h" +#include "drivers/twine_graphicslib/graphics_adapter.h" + +#include "Container.h" +#include "Stub_Status.h" + + +#define Max_words 5 + + +void Stub_ExtFlashWriteRequest(MessageContainer* requestContainer) +{ + + uint32_t WriteBuf[5]; + uint32_t status = PASSED; + + MessageContainer responseContainer; + + StubExtFlashWriteRequest* request = stub_ext_flash_write_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + + WriteBuf[0] = request->wordtowrite1; + WriteBuf[1] = request->wordtowrite2; + WriteBuf[2] = request->wordtowrite3; + WriteBuf[3] = request->wordtowrite4; + WriteBuf[4] = request->wordtowrite5; + + writeLine("ExtFlash Request: "); + writeFloat(request->wordtowrite1); + writeString(", "); + writeFloat(request->wordtowrite2); + writeString(", "); + writeFloat(request->wordtowrite3); + writeString(", "); + writeFloat(request->wordtowrite4); + writeString(", "); + writeFloat(request->wordtowrite5); + + Ext_Flash_Operation(TX, Max_words, WriteBuf, NULL ); + + StubExtFlashWriteResponse response = STUB_EXT_FLASH_WRITE_RESPONSE__INIT; + + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + responseContainer = createContainer(MESSAGE_TYPE__StubExtFlashWriteResponse, requestContainer->token, true, &response, &stub_ext_flash_write_response__pack, &stub_ext_flash_write_response__get_packed_size); + + writeLine("Sending Response: "); + + Write_status_response(status); + + free(request); + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); + +} + +void Stub_ExtFlashReadRequest(MessageContainer* requestContainer) +{ + uint32_t status = PASSED; + MessageContainer responseContainer; + + StubExtFlashReadRequest* request = stub_ext_flash_read_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + uint32_t No_Words; + uint32_t ReadBuf[Max_words]; + + if(request->number_of_words>Max_words) + { + No_Words = Max_words; + } + else + { + No_Words = request->number_of_words; + } + + Ext_Flash_Operation(RX, No_Words, NULL, ReadBuf ); + + writeLine("ExtFlash Request: "); + writeFloat(request->number_of_words); + + + StubExtFlashReadResponse response = STUB_EXT_FLASH_READ_RESPONSE__INIT; + + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + response.has_readword_5 = false; + response.has_readword_4 = false; + response.has_readword_3 = false; + response.has_readword_2 = false; + response.has_readword_1 = false; + + switch(No_Words) + { + case 5: + response.readword_5 = ReadBuf[4]; + response.has_readword_5 = true; + case 4: + response.readword_4 = ReadBuf[3]; + response.has_readword_4 = true; + case 3: + response.readword_3 = ReadBuf[2]; + response.has_readword_3 = true; + case 2: + response.readword_2 = ReadBuf[1]; + response.has_readword_2 = true; + case 1: + response.readword_1 = ReadBuf[0]; + response.has_readword_1 = true; + break; + default: + break; + } + + responseContainer = createContainer(MESSAGE_TYPE__StubExtFlashReadResponse, requestContainer->token, true, &response, &stub_ext_flash_read_response__pack, &stub_ext_flash_read_response__get_packed_size); + //clear(); + writeLine("Sending Response: "); + + Write_status_response(status); + writeString(", "); + writeFloat(response.readword_1); + writeString(", "); + writeFloat(response.readword_2); + writeString(", "); + writeFloat(response.readword_3); + writeString(", "); + writeFloat(response.readword_4); + writeString(", "); + writeFloat(response.readword_5); + + free(request); + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} + diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.h new file mode 100644 index 000000000..35fc78f85 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.h @@ -0,0 +1,8 @@ +#ifndef STUB_EXTFLASH_H +#define STUB_EXTFLASH_H + +void Stub_ExtFlashWriteRequest(MessageContainer* requestContainer); +void Stub_ExtFlashReadRequest(MessageContainer* requestContainer); + +#endif //STUB_EXTFLASH_H + diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c new file mode 100644 index 000000000..07ef4a360 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c @@ -0,0 +1,947 @@ +#include "include.h" + +#include <PMR/Common/MessageContainer.pb-c.h> +#include <PMR/Stubs/StubGPIOInputSetupRequest.pb-c.h> +#include <PMR/Stubs/StubGPIOInputSetupResponse.pb-c.h> +#include <PMR/Stubs/StubGPIOReadBitRequest.pb-c.h> +#include <PMR/Stubs/StubGPIOReadBitResponse.pb-c.h> +#include <PMR/Stubs/StubGPIOReadByteRequest.pb-c.h> +#include <PMR/Stubs/StubGPIOReadByteResponse.pb-c.h> +#include <PMR/Stubs/StubGPIOWriteBitRequest.pb-c.h> +#include <PMR/Stubs/StubGPIOWriteBitResponse.pb-c.h> +#include <PMR/Stubs/StubGPIOWriteByteRequest.pb-c.h> +#include <PMR/Stubs/StubGPIOWriteByteResponse.pb-c.h> +#include <stdbool.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdint.h> +#include <string.h> +#include <Modules/Stubs_Handler/DataDef.h> + +#include "inc/hw_memmap.h" +#include "inc/hw_types.h" +#include "inc/hw_uart.h" +#include "driverlib/gpio.h" + +#include "drivers/twine_usblib/usb_serial_adapter.h" +#include "drivers/twine_graphicslib/graphics_adapter.h" + +#include "Container.h" +#include <Modules/Stubs_Handler/User_Leds.h> + +#include "Stub_Status.h" + +void Stub_GPIOWriteBitRequest(MessageContainer* requestContainer) +{ + uint32_t status = FAILED; + MessageContainer responseContainer; + + StubGPIOWriteBitRequest* request = stub_gpiowrite_bit_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + writeLine("GPIO Request: "); + + writeString(request->portid); + writeString(", "); + writeFloat(request->pinid); + writeString(", "); + writeFloat(request->bittowrite); + + + uint8_t PinId = 0; + uint32_t PortId = 0; + + switch(request->pinid) + { + case 0: + PinId = GPIO_PIN_0; + break; + case 1: + PinId = GPIO_PIN_1; + break; + case 2: + PinId = GPIO_PIN_2; + break; + case 3: + PinId = GPIO_PIN_3; + break; + case 4: + PinId = GPIO_PIN_4; + break; + case 5: + PinId = GPIO_PIN_5; + break; + case 6: + PinId = GPIO_PIN_6; + break; + case 7: + PinId = GPIO_PIN_7; + break; + default: + break; + } + + char Port = request->portid[0]; + switch(Port) + { + #ifdef USE_HIGH_SPEED_GPIO + case 'A': + PortId = GPIO_PORTA_AHB_BASE; + break; + case 'B': + PortId = GPIO_PORTB_AHB_BASE; + break; + case 'C': + PortId = GPIO_PORTC_AHB_BASE; + break; + case 'D': + PortId = GPIO_PORTD_AHB_BASE; + break; + case 'E': + PortId = GPIO_PORTE_AHB_BASE; + break; + case 'F': + PortId = GPIO_PORTF_AHB_BASE; + break; + case 'G': + PortId = GPIO_PORTG_AHB_BASE; + break; + case 'H': + PortId = GPIO_PORTH_AHB_BASE; + break; + case 'J': + PortId = GPIO_PORTJ_AHB_BASE; + break; + #else + case 'A': + PortId = GPIO_PORTA_BASE; + break; + case 'B': + PortId = GPIO_PORTB_BASE; + break; + case 'C': + PortId = GPIO_PORTC_BASE; + break; + case 'D': + PortId = GPIO_PORTD_BASE; + break; + case 'E': + PortId = GPIO_PORTE_BASE; + break; + case 'F': + PortId = GPIO_PORTF_BASE; + break; + case 'G': + PortId = GPIO_PORTG_BASE; + break; + case 'H': + PortId = GPIO_PORTH_BASE; + break; + case 'J': + PortId = GPIO_PORTJ_BASE; + break; + #endif + case 'K': + PortId = GPIO_PORTK_BASE; + break; + case 'L': + PortId = GPIO_PORTL_BASE; + break; + case 'M': + PortId = GPIO_PORTM_BASE; + break; + case 'N': + PortId = GPIO_PORTN_BASE; + break; + case 'P': + PortId = GPIO_PORTP_BASE; + break; + case 'Q': + PortId = GPIO_PORTQ_BASE; + break; + case 'R': + PortId = GPIO_PORTR_BASE; + break; + case 'S': + PortId = GPIO_PORTS_BASE; + break; + case 'T': + PortId = GPIO_PORTT_BASE; + break; + + default: + writeLine("Unsupported Port ID: "); + writeString(request->portid); + break; + } + + ROM_GPIOPinTypeGPIOOutput(PortId, PinId); // set the requested GPIO to output + SysCtlDelay(10000); + + if(request->bittowrite) + ROM_GPIOPinWrite(PortId, PinId, ROM_GPIOPinRead(PortId, GPIO_BYTE) | PinId); //Turn ON the requested GPIO + else + ROM_GPIOPinWrite(PortId, PinId, ROM_GPIOPinRead(PortId, GPIO_BYTE) & ~PinId); //Turn OFF the requested GPIO + + //GPIOPinWrite(PortId, PinId, PinId*request->bittowrite);// + + StubGPIOWriteBitResponse response = STUB_GPIOWRITE_BIT_RESPONSE__INIT; + + response.portid = request->portid; + + response.pinid = request->pinid; + response.has_pinid = true; + + //Verify Writing + if(request->bittowrite) + { + if(ROM_GPIOPinRead(PortId, PinId) == PinId) + status = VERIFIED; + } + else + { + if(ROM_GPIOPinRead(PortId, PinId) == 0) + status = VERIFIED; + } + + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + writeLine("Sending Response: "); + + writeString(response.portid); + writeString(", "); + writeFloat(response.pinid); + writeString(", "); + + Write_status_response(status); + + + responseContainer = createContainer(MESSAGE_TYPE__StubGPIOWriteBitResponse, requestContainer->token, true, &response, &stub_gpiowrite_bit_response__pack, &stub_gpiowrite_bit_response__get_packed_size); + + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} + +// +void Stub_GPIOReadByteRequest(MessageContainer* requestContainer) +{ + uint32_t status = PASSED; + MessageContainer responseContainer; + + StubGPIOReadByteRequest* request = stub_gpioread_byte_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + writeLine("GPIO Request: "); + + writeString(request->portid); + + char Port = request->portid[0]; + uint32_t PortId = 0; + + switch(Port) + { + #ifdef USE_HIGH_SPEED_GPIO + case 'A': + PortId = GPIO_PORTA_AHB_BASE; + break; + case 'B': + PortId = GPIO_PORTB_AHB_BASE; + break; + case 'C': + PortId = GPIO_PORTC_AHB_BASE; + break; + case 'D': + PortId = GPIO_PORTD_AHB_BASE; + break; + case 'E': + PortId = GPIO_PORTE_AHB_BASE; + break; + case 'F': + PortId = GPIO_PORTF_AHB_BASE; + break; + case 'G': + PortId = GPIO_PORTG_AHB_BASE; + break; + case 'H': + PortId = GPIO_PORTH_AHB_BASE; + break; + case 'J': + PortId = GPIO_PORTJ_AHB_BASE; + break; + #else + case 'A': + PortId = GPIO_PORTA_BASE; + break; + case 'B': + PortId = GPIO_PORTB_BASE; + break; + case 'C': + PortId = GPIO_PORTC_BASE; + break; + case 'D': + PortId = GPIO_PORTD_BASE; + break; + case 'E': + PortId = GPIO_PORTE_BASE; + break; + case 'F': + PortId = GPIO_PORTF_BASE; + break; + case 'G': + PortId = GPIO_PORTG_BASE; + break; + case 'H': + PortId = GPIO_PORTH_BASE; + break; + case 'J': + PortId = GPIO_PORTJ_BASE; + break; + #endif + case 'K': + PortId = GPIO_PORTK_BASE; + break; + case 'L': + PortId = GPIO_PORTL_BASE; + break; + case 'M': + PortId = GPIO_PORTM_BASE; + break; + case 'N': + PortId = GPIO_PORTN_BASE; + break; + case 'P': + PortId = GPIO_PORTP_BASE; + break; + case 'Q': + PortId = GPIO_PORTQ_BASE; + break; + case 'R': + PortId = GPIO_PORTR_BASE; + break; + case 'S': + PortId = GPIO_PORTS_BASE; + break; + case 'T': + PortId = GPIO_PORTT_BASE; + break; + + default: + writeLine("Unsupported Port ID: "); + writeString(request->portid); + break; + } + + StubGPIOReadByteResponse response = STUB_GPIOREAD_BYTE_RESPONSE__INIT; + + response.portid = request->portid; + + char temp = ROM_GPIOPinRead(PortId, GPIO_BYTE); + response.bytevalue = temp; + response.has_bytevalue = true; + + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + writeLine("Sending Response: "); + + writeString(response.portid); + writeString(", "); + writeFloat(response.bytevalue); + writeString(", "); + + Write_status_response(status); + + responseContainer = createContainer(MESSAGE_TYPE__StubGPIOReadByteResponse, requestContainer->token, true, &response, &stub_gpioread_byte_response__pack, &stub_gpioread_byte_response__get_packed_size); + + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} + + +void Stub_GPIOReadBitRequest(MessageContainer* requestContainer) +{ + uint32_t status = PASSED; + MessageContainer responseContainer; + + StubGPIOReadBitRequest* request = stub_gpioread_bit_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + writeLine("GPIO Request: "); + + writeString(request->portid); + writeString(", "); + writeFloat(request->pinid); + + uint8_t PinId = 0; + uint32_t PortId = 0; + + switch(request->pinid) + { + case 0: + PinId = GPIO_PIN_0; + break; + case 1: + PinId = GPIO_PIN_1; + break; + case 2: + PinId = GPIO_PIN_2; + break; + case 3: + PinId = GPIO_PIN_3; + break; + case 4: + PinId = GPIO_PIN_4; + break; + case 5: + PinId = GPIO_PIN_5; + break; + case 6: + PinId = GPIO_PIN_6; + break; + case 7: + PinId = GPIO_PIN_7; + break; + default: + break; + } + + char Port = request->portid[0]; + switch(Port) + { + #ifdef USE_HIGH_SPEED_GPIO + case 'A': + PortId = GPIO_PORTA_AHB_BASE; + break; + case 'B': + PortId = GPIO_PORTB_AHB_BASE; + break; + case 'C': + PortId = GPIO_PORTC_AHB_BASE; + break; + case 'D': + PortId = GPIO_PORTD_AHB_BASE; + break; + case 'E': + PortId = GPIO_PORTE_AHB_BASE; + break; + case 'F': + PortId = GPIO_PORTF_AHB_BASE; + break; + case 'G': + PortId = GPIO_PORTG_AHB_BASE; + break; + case 'H': + PortId = GPIO_PORTH_AHB_BASE; + break; + case 'J': + PortId = GPIO_PORTJ_AHB_BASE; + break; + #else + case 'A': + PortId = GPIO_PORTA_BASE; + break; + case 'B': + PortId = GPIO_PORTB_BASE; + break; + case 'C': + PortId = GPIO_PORTC_BASE; + break; + case 'D': + PortId = GPIO_PORTD_BASE; + break; + case 'E': + PortId = GPIO_PORTE_BASE; + break; + case 'F': + PortId = GPIO_PORTF_BASE; + break; + case 'G': + PortId = GPIO_PORTG_BASE; + break; + case 'H': + PortId = GPIO_PORTH_BASE; + break; + case 'J': + PortId = GPIO_PORTJ_BASE; + break; + #endif + case 'K': + PortId = GPIO_PORTK_BASE; + break; + case 'L': + PortId = GPIO_PORTL_BASE; + break; + case 'M': + PortId = GPIO_PORTM_BASE; + break; + case 'N': + PortId = GPIO_PORTN_BASE; + break; + case 'P': + PortId = GPIO_PORTP_BASE; + break; + case 'Q': + PortId = GPIO_PORTQ_BASE; + break; + case 'R': + PortId = GPIO_PORTR_BASE; + break; + case 'S': + PortId = GPIO_PORTS_BASE; + break; + case 'T': + PortId = GPIO_PORTT_BASE; + break; + + default: + writeLine("Unsupported Port ID: "); + writeString(request->portid); + break; + } + +///////////////////////////////////////////----------------------------------------------------------------------------- + char temp; + uint8_t expvalue; + uint32_t timeout = 10000; + + if(request->pollexpvalue) + expvalue = PinId; + + //Polling + if(request->polling) + { + do + { + timeout--; + SysCtlDelay(10000); + temp = ROM_GPIOPinRead(PortId, PinId); + } while(( temp != expvalue) && (timeout)); + + } + else + { + temp = ROM_GPIOPinRead(PortId, PinId); + } + + StubGPIOReadBitResponse response = STUB_GPIOREAD_BIT_RESPONSE__INIT; + + response.portid = request->portid; + + response.pinid = request->pinid; + response.has_pinid = true; + + response.bitvalue = temp; + response.has_bitvalue = true; + + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + writeLine("Sending Response: "); + + writeString(response.portid); + writeString(", "); + writeFloat(response.pinid); + writeString(", "); + writeFloat(response.bitvalue); + writeString(", "); + + Write_status_response(status); + + responseContainer = createContainer(MESSAGE_TYPE__StubGPIOReadBitResponse, requestContainer->token, true, &response, &stub_gpioread_bit_response__pack, &stub_gpioread_bit_response__get_packed_size); + +///////////////////////////////////////////----------------------------------------------------------------------------- +/* +// if( (PortId == GPIO_PORTS_BASE) && (PinId == GPIO_PIN_3)) +// { +// MAP_GPIOPinTypeGPIOInput(GPIO_PORTS_BASE, GPIO_PIN_3); // Enable pin PS3 for GPIOInput +// GPIOPadConfigSet(GPIO_PORTS_BASE,GPIO_PIN_3,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);//Configure GPIO pull up resistors. NOTE: does not work if ROM_GPIOPinTypeGPIOInput() isnt called before. +// //GPIOPadConfigSet(GPIO_PORTS_BASE,GPIO_PIN_3,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPD );//Configure GPIO pull down resistors. NOTE: does not work if ROM_GPIOPinTypeGPIOInput() isnt called before. +// } + + //ROM_GPIOPinTypeGPIOInput(PortId, PinId); // set the requested GPIO to Input + //SysCtlDelay(10000); + + StubGPIOReadBitResponse response = STUB_GPIOREAD_BIT_RESPONSE__INIT; + + response.portid = request->portid; + + response.pinid = request->pinid; + response.has_pinid = true; + + char temp = ROM_GPIOPinRead(PortId, PinId); + + //char temp2 = ROM_GPIOPinRead(GPIO_PORTQ_BASE, GPIO_BYTE); + + //GPIOPinTypeGPIOInput(GPIO_PORTS_BASE, GPIO_PIN_3); // set the requested GPIO to Input + //SysCtlDelay(10000); + //char temp3 = GPIOPinRead(GPIO_PORTS_BASE, GPIO_PIN_3); + //char temp4 = GPIOPinRead(GPIO_PORTS_BASE, GPIO_BYTE); + + response.bitvalue = temp; + response.has_bitvalue = true; + + response.status = OK; + response.has_status = true; + + writeLine("Sending Response: "); + + writeString(response.portid); + writeString(", "); + writeFloat(response.pinid); + writeString(", "); + writeFloat(response.bitvalue); + writeString(", "); + writeFloat(response.status); + WRITELINESTATUS; + + responseContainer = createContainer(MESSAGE_TYPE__StubGPIOReadBitResponse, requestContainer->token, true, &response, &stub_gpioread_bit_response__pack, &stub_gpioread_bit_response__get_packed_size); +*/ + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} + + + +void Stub_GPIOWriteByteRequest(MessageContainer* requestContainer) +{ + uint32_t status = FAILED; + MessageContainer responseContainer; + + StubGPIOWriteByteRequest* request = stub_gpiowrite_byte_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + writeLine("GPIO Request: "); + + writeString(request->portid); + writeString(", "); + writeFloat(request->datatowrite); + + uint32_t PortId = 0; + + char Port = request->portid[0]; + switch(Port) + { + #ifdef USE_HIGH_SPEED_GPIO + case 'A': + PortId = GPIO_PORTA_AHB_BASE; + break; + case 'B': + PortId = GPIO_PORTB_AHB_BASE; + break; + case 'C': + PortId = GPIO_PORTC_AHB_BASE; + break; + case 'D': + PortId = GPIO_PORTD_AHB_BASE; + break; + case 'E': + PortId = GPIO_PORTE_AHB_BASE; + break; + case 'F': + PortId = GPIO_PORTF_AHB_BASE; + break; + case 'G': + PortId = GPIO_PORTG_AHB_BASE; + break; + case 'H': + PortId = GPIO_PORTH_AHB_BASE; + break; + case 'J': + PortId = GPIO_PORTJ_AHB_BASE; + break; + #else + case 'A': + PortId = GPIO_PORTA_BASE; + break; + case 'B': + PortId = GPIO_PORTB_BASE; + break; + case 'C': + PortId = GPIO_PORTC_BASE; + break; + case 'D': + PortId = GPIO_PORTD_BASE; + break; + case 'E': + PortId = GPIO_PORTE_BASE; + break; + case 'F': + PortId = GPIO_PORTF_BASE; + break; + case 'G': + PortId = GPIO_PORTG_BASE; + break; + case 'H': + PortId = GPIO_PORTH_BASE; + break; + case 'J': + PortId = GPIO_PORTJ_BASE; + break; + #endif + case 'K': + PortId = GPIO_PORTK_BASE; + break; + case 'L': + PortId = GPIO_PORTL_BASE; + break; + case 'M': + PortId = GPIO_PORTM_BASE; + break; + case 'N': + PortId = GPIO_PORTN_BASE; + break; + case 'P': + PortId = GPIO_PORTP_BASE; + break; + case 'Q': + PortId = GPIO_PORTQ_BASE; + break; + case 'R': + PortId = GPIO_PORTR_BASE; + break; + case 'S': + PortId = GPIO_PORTS_BASE; + break; + case 'T': + PortId = GPIO_PORTS_BASE; + break; + + default: + writeLine("Unsupported Port ID: "); + writeString(request->portid); + break; + } + + ROM_GPIOPinTypeGPIOOutput(PortId, GPIO_BYTE); // set the requested GPIO to output + SysCtlDelay(10000); + + ROM_GPIOPinWrite(PortId, GPIO_BYTE, request->datatowrite); //Turn ON the requested GPIOs BYTE + + StubGPIOWriteByteResponse response = STUB_GPIOWRITE_BYTE_RESPONSE__INIT; + + response.portid = request->portid; + + //Verify writing + if(ROM_GPIOPinRead(PortId, GPIO_BYTE) == request->datatowrite) + { + status = VERIFIED; + } + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + writeLine("Sending Response: "); + + writeString(response.portid); + writeString(", "); + + Write_status_response(status); + + responseContainer = createContainer(MESSAGE_TYPE__StubGPIOWriteByteResponse, requestContainer->token, true, &response, &stub_gpiowrite_byte_response__pack, &stub_gpiowrite_byte_response__get_packed_size); + + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} + + + +void Stub_GPIOInputSetupRequest(MessageContainer* requestContainer) +{ + uint32_t status = PASSED; + MessageContainer responseContainer; + + StubGPIOInputSetupRequest* request = stub_gpioinput_setup_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + writeLine("GPIO Request: "); + + writeString(request->portid); + writeString(", "); + writeFloat(request->pinid); + writeString(", "); + writeFloat(request->setinput); + writeString(", "); + writeFloat(request->setpullup); + + + uint8_t PinId = 0; + uint32_t PortId = 0; + + switch(request->pinid) + { + case 0: + PinId = GPIO_PIN_0; + break; + case 1: + PinId = GPIO_PIN_1; + break; + case 2: + PinId = GPIO_PIN_2; + break; + case 3: + PinId = GPIO_PIN_3; + break; + case 4: + PinId = GPIO_PIN_4; + break; + case 5: + PinId = GPIO_PIN_5; + break; + case 6: + PinId = GPIO_PIN_6; + break; + case 7: + PinId = GPIO_PIN_7; + break; + default: + break; + } + + char Port = request->portid[0]; + switch(Port) + { + #ifdef USE_HIGH_SPEED_GPIO + case 'A': + PortId = GPIO_PORTA_AHB_BASE; + break; + case 'B': + PortId = GPIO_PORTB_AHB_BASE; + break; + case 'C': + PortId = GPIO_PORTC_AHB_BASE; + break; + case 'D': + PortId = GPIO_PORTD_AHB_BASE; + break; + case 'E': + PortId = GPIO_PORTE_AHB_BASE; + break; + case 'F': + PortId = GPIO_PORTF_AHB_BASE; + break; + case 'G': + PortId = GPIO_PORTG_AHB_BASE; + break; + case 'H': + PortId = GPIO_PORTH_AHB_BASE; + break; + case 'J': + PortId = GPIO_PORTJ_AHB_BASE; + break; + #else + case 'A': + PortId = GPIO_PORTA_BASE; + break; + case 'B': + PortId = GPIO_PORTB_BASE; + break; + case 'C': + PortId = GPIO_PORTC_BASE; + break; + case 'D': + PortId = GPIO_PORTD_BASE; + break; + case 'E': + PortId = GPIO_PORTE_BASE; + break; + case 'F': + PortId = GPIO_PORTF_BASE; + break; + case 'G': + PortId = GPIO_PORTG_BASE; + break; + case 'H': + PortId = GPIO_PORTH_BASE; + break; + case 'J': + PortId = GPIO_PORTJ_BASE; + break; + #endif + case 'K': + PortId = GPIO_PORTK_BASE; + break; + case 'L': + PortId = GPIO_PORTL_BASE; + break; + case 'M': + PortId = GPIO_PORTM_BASE; + break; + case 'N': + PortId = GPIO_PORTN_BASE; + break; + case 'P': + PortId = GPIO_PORTP_BASE; + break; + case 'Q': + PortId = GPIO_PORTQ_BASE; + break; + case 'R': + PortId = GPIO_PORTR_BASE; + break; + case 'S': + PortId = GPIO_PORTS_BASE; + break; + case 'T': + PortId = GPIO_PORTT_BASE; + break; + + default: + writeLine("Unsupported Port ID: "); + writeString(request->portid); + break; + } + + if(request->setinput == INPUT) + { + MAP_GPIOPinTypeGPIOInput(PortId, PinId); // Enable pin for GPIOInput + + if(request->setpullup == PULLUP) + { + GPIOPadConfigSet(PortId,PinId,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);//Configure GPIO pull up resistors. NOTE: does not work if ROM_GPIOPinTypeGPIOInput() isnt called before. + } + else //set pulldown: + { + GPIOPadConfigSet(GPIO_PORTS_BASE,GPIO_PIN_3,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPD );//Configure GPIO pull down resistors. NOTE: does not work if ROM_GPIOPinTypeGPIOInput() isnt called before. + } + } + else + { + ROM_GPIOPinTypeGPIOOutput(PortId, PinId); // set the requested GPIO to output + } + + SysCtlDelay(10000); + + StubGPIOInputSetupResponse response = STUB_GPIOINPUT_SETUP_RESPONSE__INIT; + + response.portid = request->portid; + + response.pinid = request->pinid; + response.has_pinid = true; + + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + writeLine("Sending Response: "); + + writeString(response.portid); + writeString(", "); + writeFloat(response.pinid); + writeString(", "); + + Write_status_response(status); + + responseContainer = createContainer(MESSAGE_TYPE__StubGPIOInputSetupResponse, requestContainer->token, true, &response, &stub_gpioinput_setup_response__pack, &stub_gpioinput_setup_response__get_packed_size); + + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.h new file mode 100644 index 000000000..3830ba54f --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.h @@ -0,0 +1,12 @@ +#ifndef STUB_GPIO_H +#define STUB_GPIO_H + +#include "PMR/Common/MessageContainer.pb-c.h" + +void Stub_GPIOWriteBitRequest(MessageContainer* requestContainer); +void Stub_GPIOReadByteRequest(MessageContainer* requestContainer); +void Stub_GPIOReadBitRequest(MessageContainer* requestContainer); +void Stub_GPIOWriteByteRequest(MessageContainer* requestContainer); +void Stub_GPIOInputSetupRequest(MessageContainer* requestContainer); + +#endif //STUB_GPIO_H diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c new file mode 100644 index 000000000..ff2f2ce1c --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c @@ -0,0 +1,74 @@ + + +#include <PMR/Common/MessageContainer.pb-c.h> +#include <PMR/Stubs/StubHeaterRequest.pb-c.h> +#include <PMR/Stubs/StubHeaterResponse.pb-c.h> +#include <stdbool.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdint.h> +#include <string.h> +#include <Modules/Stubs_Handler/DataDef.h> + +#include "inc/hw_memmap.h" +#include "inc/hw_types.h" +#include "inc/hw_uart.h" +#include "driverlib/gpio.h" + +#include "drivers/twine_usblib/usb_serial_adapter.h" +#include "drivers/twine_graphicslib/graphics_adapter.h" + +#include "Container.h" +#include "Stub_Status.h" +#include "Drivers/Heater/Heater.h" + +void Stub_HeaterRequest(MessageContainer* requestContainer) +{ + uint32_t status = NOT_SUPPORTED; + MessageContainer responseContainer; + + StubHeaterRequest* request = stub_heater_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + /* + request->heaterid + request->heatergroupon + */ + + writeLine("Heater Request: "); + + writeFloat(request->heatergroupid); + writeString(", "); + writeFloat(request->heatergroupon); + + if (request->heatergroupon ) + status = ActivateHeater(request->heatergroupid); + else + status = DeActivateHeater(request->heatergroupid); + StubHeaterResponse response = STUB_HEATER_RESPONSE__INIT; + + response.heatergroupid = request->heatergroupid; + response.has_heatergroupid = true; + + //response.heatertemperaturesensor + response.has_heatertemperaturesensor = false; + + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + writeLine("Sending Response: "); + + writeFloat(response.heatergroupid); + writeString(", "); + writeFloat(response.heatertemperaturesensor); + writeString(", "); + + Write_status_response(status); + + responseContainer = createContainer(MESSAGE_TYPE__StubHeaterResponse, requestContainer->token, true, &response, &stub_heater_response__pack, &stub_heater_response__get_packed_size); + + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.h new file mode 100644 index 000000000..14c2dad3c --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.h @@ -0,0 +1,6 @@ +#ifndef STUB_HEATER_H +#define STUB_HEATER_H + +void Stub_HeaterRequest(MessageContainer* requestContainer); + +#endif //STUB_HEATER_H diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c new file mode 100644 index 000000000..346b595e2 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c @@ -0,0 +1,84 @@ + +#include <PMR/Common/MessageContainer.pb-c.h> +#include <PMR/Stubs/StubMotorEncoderRequest.pb-c.h> +#include <PMR/Stubs/StubMotorEncoderResponse.pb-c.h> +#include <stdbool.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdint.h> +#include <string.h> +#include <Modules/Stubs_Handler/DataDef.h> + +#include "inc/hw_memmap.h" +#include "inc/hw_types.h" +#include "inc/hw_uart.h" +#include "driverlib/gpio.h" + +#include "drivers/twine_usblib/usb_serial_adapter.h" +#include "drivers/twine_graphicslib/graphics_adapter.h" + +#include "Container.h" +#include "Stub_Status.h" + +void Stub_MotorEncoderRequest(MessageContainer* requestContainer) +{ + uint32_t status = NOT_SUPPORTED; + MessageContainer responseContainer; + + StubMotorEncoderRequest* request = stub_motor_encoder_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + /* + request->motorid + request->readencspeed + request->readdirection + request->motion_control + */ + + writeLine("Encoder Request: "); + + writeFloat(request->motorid); + writeString(", "); + writeFloat(request->readencspeed); + writeString(", "); + writeFloat(request->readdirection); + writeString(", "); + writeFloat(request->motion_control); + + StubMotorEncoderResponse response = STUB_MOTOR_ENCODER_RESPONSE__INIT; + + response.encoderid = request->motorid; + response.has_encoderid = true; + + response.encoderversion = 456; + response.has_encoderversion = true; + + //response.motorspeed + response.has_motorspeed = false; + + response.motordirection = CW; + response.has_motordirection = true; + + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + writeLine("Sending Response: "); + + writeFloat(response.encoderid); + writeString(", "); + writeFloat(response.encoderversion); + writeString(", "); + writeFloat(response.motorspeed); + writeString(", "); + writeFloat(response.motordirection); + writeString(", "); + + Write_status_response(status); + + responseContainer = createContainer(MESSAGE_TYPE__StubMotorEncoderResponse, requestContainer->token, true, &response, &stub_motor_encoder_response__pack, &stub_motor_encoder_response__get_packed_size); + + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.h new file mode 100644 index 000000000..0e0a1c41e --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.h @@ -0,0 +1,6 @@ +#ifndef STUB_MOTORENCODER_H +#define STUB_MOTORENCODER_H + +void Stub_MotorEncoderRequest(MessageContainer* requestContainer); + +#endif //STUB_STUB_MOTORENCODER_H diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c new file mode 100644 index 000000000..5da89ab10 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c @@ -0,0 +1,70 @@ + + +#include <PMR/Common/MessageContainer.pb-c.h> +#include <PMR/Stubs/StubOptLimitSwitchRequest.pb-c.h> +#include <PMR/Stubs/StubOptLimitSwitchResponse.pb-c.h> +#include <stdbool.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdint.h> +#include <string.h> +#include <Modules/Stubs_Handler/DataDef.h> + +#include "inc/hw_memmap.h" +#include "inc/hw_types.h" +#include "inc/hw_uart.h" +#include "driverlib/gpio.h" + +#include "drivers/twine_usblib/usb_serial_adapter.h" +#include "drivers/twine_graphicslib/graphics_adapter.h" + +#include "Container.h" +#include "Stub_Status.h" + +void Stub_OptLimitSwitchRequest(MessageContainer* requestContainer) +{ + uint32_t status = NOT_SUPPORTED; + + MessageContainer responseContainer; + + StubOptLimitSwitchRequest* request = stub_opt_limit_switch_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + /* + request->limitswitchrid + request->limitswitchrdisable + */ + + writeLine("OptLimit Switch Request: "); + + writeFloat(request->limitswitchrid); + writeString(", "); + writeFloat(request->limitswitchrdisable); + + StubOptLimitSwitchResponse response = STUB_OPT_LIMIT_SWITCH_RESPONSE__INIT; + + response.limitswitchrid = request->limitswitchrid; + response.has_limitswitchrid = true; + + //response.limitswitchditection = 2; + response.has_limitswitchditection = false; + + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + writeLine("Sending Response: "); + + writeFloat(response.limitswitchrid); + writeString(", "); + writeFloat(response.limitswitchditection); + writeString(", "); + + Write_status_response(status); + + responseContainer = createContainer(MESSAGE_TYPE__StubOptLimitSwitchResponse, requestContainer->token, true, &response, &stub_opt_limit_switch_response__pack, &stub_opt_limit_switch_response__get_packed_size); + + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.h new file mode 100644 index 000000000..dbd064a1d --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.h @@ -0,0 +1,6 @@ +#ifndef STUB_OPTLIMITSWITCH_H +#define STUB_OPTLIMITSWITCH_H + +void Stub_OptLimitSwitchRequest(MessageContainer* requestContainer); + +#endif //STUB_OPTLIMITSWITCH_H diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.c new file mode 100644 index 000000000..00299c74c --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.c @@ -0,0 +1,58 @@ + +#include "include.h" +/*#include <graphics_adapter.h> +#include <stdbool.h> +#include <stdint.h> +#include "Stub_Status.h" +#include <Stubs_Handler/DataDef.h>*/ +#include "drivers/twine_graphicslib/graphics_adapter.h" + +int status_response(uint32_t Rstatus,char *status[20],uint32_t *statusword ,protobuf_c_boolean *has_statusword) +{ + if(Rstatus==PASSED) + { + *status = "PASSED"; + *has_statusword = false; + } + else if(Rstatus==VERIFIED) + { + *status = "PASSED (VERIFIED)"; + *has_statusword = false; + } + else if(Rstatus==NOT_SUPPORTED) + { + *status = "NOT_SUPPORTED"; + *statusword = Rstatus; + *has_statusword = false; + } + else + { + *status = "FAILED"; + *statusword = Rstatus; + *has_statusword = true; + } + return 0; +} + +int Write_status_response(uint32_t Rstatus) +{ + writeFloat(Rstatus); + + if(Rstatus==PASSED) + { + writeLine("PASSED"); + } + else if(Rstatus==VERIFIED) + { + writeLine("PASSED (VERIFIED)"); + } + else if(Rstatus==NOT_SUPPORTED) + { + writeLine("NOT_SUPPORTED"); + } + else + { + writeLine("FAILED"); + } + return 0; +} diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.h new file mode 100644 index 000000000..c2ff1b7e5 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.h @@ -0,0 +1,3 @@ + +int status_response(uint32_t Rstatus,char *status[8],uint32_t *statusword ,protobuf_c_boolean *has_statusword); +int Write_status_response(uint32_t Rstatus); diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c new file mode 100644 index 000000000..03807934b --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c @@ -0,0 +1,79 @@ + + +#include <PMR/Common/MessageContainer.pb-c.h> +#include <PMR/Stubs/StubSteperMotorRequest.pb-c.h> +#include <PMR/Stubs/StubSteperMotorResponse.pb-c.h> +#include <stdbool.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdint.h> +#include <string.h> +#include <Modules/Stubs_Handler/DataDef.h> + +#include "inc/hw_memmap.h" +#include "inc/hw_types.h" +#include "inc/hw_uart.h" +#include "driverlib/gpio.h" + +#include "drivers/twine_usblib/usb_serial_adapter.h" +#include "drivers/twine_graphicslib/graphics_adapter.h" + +#include "Container.h" +#include "Stub_Status.h" + +void Stub_SteperMotorRequest(MessageContainer* requestContainer) +{ + uint32_t status = NOT_SUPPORTED; + MessageContainer responseContainer; + + StubSteperMotorRequest* request = stub_steper_motor_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + + writeLine("Steper Motor Request: "); + + writeFloat(request->motorid); + writeString(", "); + writeFloat(request->start); + writeString(", "); + writeFloat(request->setdirection); + writeString(", "); + writeFloat(request->setmicrostepdivision); + writeString(", "); + writeFloat(request->setspeed); + /* + request->motorid + request->start + request->setdirection + request->setmicrostepdivision + request->setspeed + */ + + StubSteperMotorResponse response = STUB_STEPER_MOTOR_RESPONSE__INIT; + + response.motorid = request->motorid; + response.has_motorid = true; + + response.motorversion = 123; + response.has_motorversion = true; + + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + writeLine("Sending Response: "); + + writeFloat(response.motorid); + writeString(", "); + writeFloat(response.motorversion); + writeString(", "); + + Write_status_response(status); + + + responseContainer = createContainer(MESSAGE_TYPE__StubSteperMotorResponse, requestContainer->token, true, &response, &stub_steper_motor_response__pack, &stub_steper_motor_response__get_packed_size); + + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.h new file mode 100644 index 000000000..b19aa0cc0 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.h @@ -0,0 +1,7 @@ + +#ifndef STUB_STEPERMOTOR_H +#define STUB_STEPERMOTOR_H + +void Stub_SteperMotorRequest(MessageContainer* requestContainer); + +#endif //STUB_STEPERMOTOR_H diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c new file mode 100644 index 000000000..ef38bb496 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c @@ -0,0 +1,60 @@ + +#include <PMR/Common/MessageContainer.pb-c.h> +#include <PMR/Stubs/StubValveRequest.pb-c.h> +#include <PMR/Stubs/StubValveResponse.pb-c.h> +#include <stdbool.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdint.h> +#include <string.h> +#include <Modules/Stubs_Handler/DataDef.h> + +#include "inc/hw_memmap.h" +#include "inc/hw_types.h" +#include "inc/hw_uart.h" +#include "driverlib/gpio.h" + +#include "drivers/twine_usblib/usb_serial_adapter.h" +#include "drivers/twine_graphicslib/graphics_adapter.h" + +#include "Container.h" + +#include "Stub_Status.h" + +void Stub_ValveRequest(MessageContainer* requestContainer) +{ + MessageContainer responseContainer; + uint32_t status = NOT_SUPPORTED; + + StubValveRequest* request = stub_valve_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data); + + /* + request->valveid + request->inkflow + request->valveon + */ + writeLine("Valve Request: "); + writeFloat(request->valveid); + writeString(", "); + writeFloat(request->inkflow); + writeString(", "); + writeFloat(request->valveon); + + StubValveResponse response = STUB_VALVE_RESPONSE__INIT; + + status_response(status,&response.status, &response.statusword ,&response.has_statusword); + + responseContainer = createContainer(MESSAGE_TYPE__StubValveResponse, requestContainer->token, true, &response, &stub_valve_response__pack, &stub_valve_response__get_packed_size); + + writeLine("Sending Response: "); + + Write_status_response(status); + + free(request); + //------------------------------------------------------------------------------------------- + uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); + size_t container_size = message_container__pack(&responseContainer, container_buffer); + SendChars((char*)container_buffer, container_size); + free(container_buffer); + free(requestContainer); +} diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.h new file mode 100644 index 000000000..1948fa37b --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.h @@ -0,0 +1,6 @@ +#ifndef STUB_VALVE_H +#define STUB_VALVE_H +void Stub_ValveRequest(MessageContainer* requestContainer); + +#endif //STUB_VALVE_H + diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/User_Leds.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/User_Leds.c new file mode 100644 index 000000000..d06b3aeef --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/User_Leds.c @@ -0,0 +1,68 @@ +#include <stdbool.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdint.h> +#include <string.h> + +#include "inc/hw_memmap.h" + +#include "driverlib/rom.h" +#include "driverlib/gpio.h" +#include "driverlib/sysctl.h" + +#include <Modules/Stubs_Handler/DataDef.h> +#include <Modules/Stubs_Handler/User_Leds.h> + +void Turn_Green_Led_On() +{ + INIT_GPIO_GREEN_LED + GREEN_LED_ON + LED_SET_DELAY +} + +void Turn_Green_Led_Off() +{ + GREEN_LED_OFF +} + +void Turn_Blue_Led_On() +{ + INIT_GPIO_BLUE_LED + BLUE_LED_ON + LED_SET_DELAY +} + +void Turn_Blue_Led_Off() +{ + BLUE_LED_OFF +} + +void Turn_Red_Led_On() +{ + INIT_GPIO_RED_LED + RED_LED_ON + LED_SET_DELAY +} + +void Turn_Red_Led_Off() +{ + RED_LED_OFF +} + + +void Test_3_Color_Led() +{ + char i; + + for (i=0;i<5000;i++) + { + Turn_Green_Led_On(); + Turn_Green_Led_Off(); + + Turn_Blue_Led_On(); + Turn_Blue_Led_Off(); + + Turn_Red_Led_On(); + Turn_Red_Led_Off(); + } +} diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/User_Leds.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/User_Leds.h new file mode 100644 index 000000000..5f0016bda --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/User_Leds.h @@ -0,0 +1,23 @@ +#ifndef USER_LEDS_H +#define USER_LEDS_H + +#define GPIO_BYTE (GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7) + +#define INIT_GPIO_GREEN_LED ROM_GPIOPinTypeGPIOOutput(GPIO_PORTQ_BASE, GPIO_PIN_7); // set PQ7 to output (Green LED) +#define INIT_GPIO_BLUE_LED ROM_GPIOPinTypeGPIOOutput(GPIO_PORTQ_BASE, GPIO_PIN_4); // set PQ4 to output (Blue LED) +#define INIT_GPIO_RED_LED ROM_GPIOPinTypeGPIOOutput(GPIO_PORTN_BASE, GPIO_PIN_5); // set PN5 to output (RED LED) + +#define GREEN_LED_ON ROM_GPIOPinWrite(GPIO_PORTQ_BASE, GPIO_PIN_7, ROM_GPIOPinRead(GPIO_PORTQ_BASE, GPIO_BYTE) | GPIO_PIN_7); //Turn the GREEN led on +#define GREEN_LED_OFF ROM_GPIOPinWrite(GPIO_PORTQ_BASE, GPIO_PIN_7, ROM_GPIOPinRead(GPIO_PORTQ_BASE, GPIO_BYTE) & ~ GPIO_PIN_7); //Turn the GREEN led off + +#define BLUE_LED_ON ROM_GPIOPinWrite(GPIO_PORTQ_BASE, GPIO_PIN_4, ROM_GPIOPinRead(GPIO_PORTQ_BASE, GPIO_BYTE) | GPIO_PIN_4); //Turn the BLUE led on +#define BLUE_LED_OFF ROM_GPIOPinWrite(GPIO_PORTQ_BASE, GPIO_PIN_4, ROM_GPIOPinRead(GPIO_PORTQ_BASE, GPIO_BYTE) & ~ GPIO_PIN_4); //Turn the BLUE led off + +#define RED_LED_ON ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_5, ROM_GPIOPinRead(GPIO_PORTN_BASE, GPIO_BYTE) | GPIO_PIN_5); //Turn the RED led on +#define RED_LED_OFF ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_5, ROM_GPIOPinRead(GPIO_PORTN_BASE, GPIO_BYTE) & ~ GPIO_PIN_5); //Turn the RED led off + +#define LED_SET_DELAY SysCtlDelay(10000000); // need #include "driverlib/sysctl.h" + +void Test_3_Color_Led(); + +#endif //USER_LEDS_H diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h new file mode 100644 index 000000000..475f63795 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h @@ -0,0 +1,55 @@ +#include "PMR/common/MessageContainer.pb-c.h" +#include "PMR/Hardware/HardwareMotor.pb-c.h" +#include "PMR/Hardware/HardwareMotorType.pb-c.h" +#include "PMR/Hardware/HardwareDancer.pb-c.h" +#include "PMR/Hardware/HardwareDancerType.pb-c.h" +#include "PMR/Hardware/HardwareWinder.pb-c.h" +#include "PMR/Printing/JobSpool.pb-c.h" +#include "PMR/Printing/JobSpoolType.pb-c.h" + + +typedef struct +{ + HardwareMotorType id; + uint32_t minfreq; + uint32_t maxfreq; + uint32_t minmicrostep; + uint32_t maxmicrostep; + double linearratio; + uint32_t medianposition; + double correctiongain; + double ratio2dryerspeed; + double kp; + double ki; + double kd; + double changeslope; + double hightimeoutusec; +}MotorConfigStruc; +typedef struct +{ + uint32_t startoffsetpulses; + uint32_t spoolbackingrate; + uint32_t segmentoffsetpulses; + uint32_t milimetersperrotation; +}InternalWinderConfigStruc; + +typedef struct +{ + bool fixorgradual; + double k; + double x; + int32_t pulsepermmspring; + int id; //HardwareDancerType +}DancerConfigStruc; +#define MAX_THREAD_MOTORS_NUM HARDWARE_MOTOR_TYPE__WinderMotor +1 + + +extern MotorConfigStruc MotorsCfg[MAX_THREAD_MOTORS_NUM]; +extern InternalWinderConfigStruc InternalWinderCfg; + + +uint32_t InternalWinderConfigMessage(HardwareWinder* request); +uint32_t MotorsConfigMessage(HardwareMotor * request); +uint32_t InternalWindingConfigMessage(JobSpool* request); + +uint32_t DancerConfigMessage(HardwareDancer * request); diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_BIT.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_BIT.c new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_BIT.c diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c new file mode 100644 index 000000000..f32026ca8 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -0,0 +1,94 @@ +/************************************************************************************************************************ + **************************************************************************************************************************/ + +#include "include.h" + +#include <Modules/Stubs_Handler/DataDef.h> +#include "PMR/Hardware/HardwareMotor.pb-c.h" +#include "PMR/Hardware/HardwareDancer.pb-c.h" +#include "PMR/Hardware/HardwareWinder.pb-c.h" +#include "PMR/Printing/JobSpool.pb-c.h" +#include "PMR/common/MessageContainer.pb-c.h" + +#include "thread.h" +#define MAX_SYSTEM_DANCERS HARDWARE_DANCER_TYPE__RightDancer+1 +MotorConfigStruc MotorsCfg[MAX_THREAD_MOTORS_NUM]; +InternalWinderConfigStruc InternalWinderCfg; +DancerConfigStruc DancersCfg[MAX_SYSTEM_DANCERS]; + + + +uint32_t InternalWinderConfigMessage(HardwareWinder* request) +{ + uint32_t status = PASSED; + + InternalWinderCfg.milimetersperrotation = request->millimeterperrotation; + + return status; +} +uint32_t InternalWindingConfigMessage(JobSpool* request) +{ + uint32_t status = PASSED; + + InternalWinderCfg.segmentoffsetpulses = request->segmentoffsetpulses; + InternalWinderCfg.spoolbackingrate = request->backingrate; + InternalWinderCfg.startoffsetpulses = request->startoffsetpulses; + + return status; +} + +//******************************************************************************************************************** +uint32_t MotorsConfigMessage(HardwareMotor * request) +{ + uint32_t status = PASSED; + int Motor_i; + + Motor_i = request->hardwaremotortype; + if ((Motor_i)&&(Motor_i< MAX_THREAD_MOTORS_NUM)) + { + MotorsCfg[Motor_i].id = request->hardwaremotortype; + MotorsCfg[Motor_i].minfreq = request->minfrequency; + MotorsCfg[Motor_i].maxfreq = request->maxfrequency; + MotorsCfg[Motor_i].minmicrostep = request->minmicrostep; + MotorsCfg[Motor_i].maxmicrostep = request->maxmicrostep; + MotorsCfg[Motor_i].linearratio = request->linearratio; + MotorsCfg[Motor_i].medianposition = request->medianposition; + MotorsCfg[Motor_i].correctiongain = request->correctiongain; + MotorsCfg[Motor_i].ratio2dryerspeed = request->ratiotodryerspeed; + MotorsCfg[Motor_i].kp = request->kp; + MotorsCfg[Motor_i].ki = request->ki; + MotorsCfg[Motor_i].kd = request->kd; + MotorsCfg[Motor_i].changeslope = request->changeslope; + MotorsCfg[Motor_i].hightimeoutusec = request->highlengthmicrosecond; + return status; + } + else return Motor_i; + +} +uint32_t DancerConfigMessage(HardwareDancer * request) +{ + uint32_t status = PASSED; + int Dancer_i; + + Dancer_i = request->hardwaredancertype; + if ((Dancer_i)&&(Dancer_i<MAX_SYSTEM_DANCERS )) + { + DancersCfg[Dancer_i].id = Dancer_i; + DancersCfg[Dancer_i].fixorgradual = request->gradual; + DancersCfg[Dancer_i].k = request->k; + DancersCfg[Dancer_i].x = request->x; + DancersCfg[Dancer_i].pulsepermmspring = request->pulsepermmspring; + return status; + } + else + return Dancer_i; + +} + +uint32_t thread_init(void) +{ + memset (MotorsCfg,0,sizeof(MotorsCfg)); + memset (&InternalWinderCfg,0,sizeof(InternalWinderConfigStruc)); + + return OK; +} diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_maint.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_maint.c new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_maint.c diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c new file mode 100644 index 000000000..10baaed8e --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -0,0 +1,326 @@ +/************************************************************************************************************************ + * Thread_print.c + * Printing module is responsible for : + * operating diffrent winding algorithms with predefined parameters from the UI + * operating the dispensers according to predefined dispensing rate from the UI + **************************************************************************************************************************/ +#include "include.h" +#include "thread.h" +#include "../control/control.h" +#include "../control/pidalgo.h" +#include "PMR/Hardware/HardwareMotor.pb-c.h" +#include "PMR/Hardware/HardwareMotorType.pb-c.h" +////////////////////////////////State machine operation//////////////////////////////////// +//the state machine operation is used to operate in runtime correct profile flow execution +//by recieved esign flow of the user from the UI +/////////////////////////////////////////////////////////////////////////////////////////// +typedef enum +{ + NextState = 0, + Repeat, + Inter, + Home, + Stop +} ReturnCode; + +/******************************************************************************************** +* functions describes motor operation flow and movement state during profile execution +* used to operate in runtime correct profileflow execution +*********************************************************************************************/ +static ReturnCode EntryState(void *JobDetails); +static ReturnCode PrepareState(void *JobDetails); +static ReturnCode PreSegmentState(void *JobDetails); +static ReturnCode SegmentState(void *JobDetails); +static ReturnCode EndState(void *JobDetails); +static ReturnCode ExitState(void *JobDetails); +; + +/********************************************************************** +* the array and enum of PrintingState_t below must be in sync order +***********************************************************************/ +static ReturnCode (* state[])(void *JobDetails) = { EntryState, PrepareState, PreSegmentState, SegmentState, EndState, ExitState}; + +typedef enum +{ + Entry= 0, + Prepare, + PreSegment, + Segment, + End, + Exit +} PrintingState_t; + +typedef struct +{ + PrintingState_t m_sourceState; + ReturnCode m_returnCode; + PrintingState_t m_destinationState; +} Transition_t; + +//************************************************************* +/* transitions from end state aren't needed */ +//************************************************************* +#define NUM_OF_TRANSITION 17 +#define EXIT_STATE Exit +#define ENTRY_STATE Entry +/************************************************************* + * table which describes fast motors transitions states + * during p_profile / segments execution + *************************************************************/ +static Transition_t stateTransitionTable[NUM_OF_TRANSITION] = +{}; +/* {Entry, NextState, HomingStart}, + {Entry, Repeat, Entry}, //for homing of dispensers + {HomingStart, NextState, Start}, + {HomingStart, Repeat, HomingStart}, + {Start, NextState, Segment}, + {Start, Repeat, Start}, + {Segment, Inter, Intersegment}, + {Segment, Repeat, Segment}, + {Segment, Home, HomingEnd}, + {Intersegment, NextState, Segment}, + {Intersegment, Repeat, Intersegment}, + {Intersegment, Home, HomingEnd}, + {HomingEnd, NextState, End}, + {HomingEnd, Repeat, HomingEnd}, + {End, NextState, Entry}, + {End, Repeat, Entry}, + {Exit, Stop, Exit} //for stoping the machine iteration in case of error +};*/ +typedef struct +{ + bool m_isEnabled; + uint32_t m_SetParam; + uint32_t m_mesuredParam; + float m_preError; + float m_integral; + float m_calculatedError; + bool m_isReady; + PID_Config_Params m_params; +}MotorControlConfig_t; +/*typedef struct +{ + float epsilon; + float dt; + float MAX; + float MIN; + float Kp; + float Kd; + float Ki; +}PID_Config_Params; +#define epsilon 0.01 +#define dt 0.01 //100ms loop time +#define MAX 4 //For Current Saturation +#define MIN -4 +#define Kp 0.1 +#define Kd 0.01 +#define Ki 0.005 +*/ +MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM]; +uint32_t DeviceId2Motor[MAX_THREAD_MOTORS_NUM]; +////////////////////////Slow Motor State//////////////////////////////////// +static PrintingState_t gPrintingState; +//////////////////////////////////////////////////////////////////////////// + +uint32_t ThreadControlCBFunction(uint32_t deviceID, uint32_t ReadValue) +{ + int i,index=MAX_THREAD_MOTORS_NUM; + for (i=0;i<MAX_THREAD_MOTORS_NUM;i++) + if (DeviceId2Motor[i] == deviceID) + { + index = i; + break; + } + if (index==MAX_THREAD_MOTORS_NUM) + { + LOG_ERROR (deviceID, "No motor for device"); + return 0xFFFFFFFF; + } + if(MotorControlConfig[index].m_isEnabled && (MotorControlConfig[index].m_SetParam != 0)) + { + MotorControlConfig[index].m_mesuredParam = ReadValue; + MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation(MotorControlConfig[index].m_SetParam , MotorControlConfig[index].m_mesuredParam, + &MotorControlConfig[index].m_params, &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral); + if (MotorControlConfig[index].m_calculatedError >= MotorControlConfig[index].m_params.MAX) + { + MotorControlConfig[index].m_calculatedError = MotorControlConfig[index].m_params.MAX; + } + if (MotorControlConfig[index].m_calculatedError < MotorControlConfig[index].m_params.MIN) + { + MotorControlConfig[index].m_calculatedError = MotorControlConfig[index].m_params.MIN; + } + + //SetMotorFreq (index, MotorControlConfig[index].m_calculatedError); + } + + return OK; +} + +//******************************************************************************************************************** +/******************************************************************************************************************** +*function describes entry point of motor in profile execution - accelerate from stop position +*function described above used to operate motor operation flow and movement state during profile execution +*********************************************************************************************************************/ +static ReturnCode EntryState(void *JobDetails) +{ + return NextState; +} + +//******************************************************************************************************************** +static ReturnCode PrepareState(void *JobDetails) +{ + int Motor_i; + //start thread control for all motors + for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++) + { + MotorControlConfig[Motor_i].m_params.MAX = MotorsCfg[Motor_i].maxfreq; + MotorControlConfig[Motor_i].m_params.MIN = MotorsCfg[Motor_i].minfreq; + MotorControlConfig[Motor_i].m_params.Kd = MotorsCfg[Motor_i].kd; + MotorControlConfig[Motor_i].m_params.Kp = MotorsCfg[Motor_i].kp; + MotorControlConfig[Motor_i].m_params.Ki = MotorsCfg[Motor_i].ki; + MotorControlConfig[Motor_i].m_params.dt = eOneMillisecond; + MotorControlConfig[Motor_i].m_calculatedError = 0; + MotorControlConfig[Motor_i].m_integral = 0; + MotorControlConfig[Motor_i].m_isEnabled = true; + MotorControlConfig[Motor_i].m_isReady = true; + MotorControlConfig[Motor_i].m_mesuredParam = 0; + MotorControlConfig[Motor_i].m_preError = 0; + MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage + AddControlCallback(DeviceId2Motor[Motor_i], ThreadControlCBFunction, eOneMillisecond); + } + //set 3 dancers to the profile positions + return NextState; +} + +//******************************************************************************************************************** +static ReturnCode PreSegmentState(void *JobDetails) +{ + + int Motor_i; + for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++) + { + MotorControlConfig[Motor_i].m_SetParam = getMotorFreq(Motor_i);//need to update SetParams on presegment stage + } + // set the new speed in the dryer motor to the speed of the new segment + // activate control fr all motors + //set speed for both rocker motors + //wait for all motors to get to the required speed (set the target speed for the control to check) + //call the job state machine when the thread system is ready + return NextState; +} + +//******************************************************************************************************************** +static ReturnCode SegmentState(void *JobDetails) +{ + return Repeat; +} + +//******************************************************************************************************************** +static ReturnCode EndState(void *JobDetails) +{ + return NextState; +} +//******************************************************************************************************************** +static ReturnCode ExitState(void *JobDetails) +{ + return Stop; +} + + +//*********************************************************************************************************************** +//this function is responsible for operating and transitioning between the diffrent motor state executions of the profile +//the lower managment level +//*********************************************************************************************************************** +static PrintingState_t LookupTransitions(PrintingState_t state,ReturnCode returnCode) +{ + char str[80]; + uint8_t len = 0; + uint8_t indexInTransitionTable; + for (indexInTransitionTable = 0; indexInTransitionTable < NUM_OF_TRANSITION; ++indexInTransitionTable) + { + if ((stateTransitionTable[indexInTransitionTable].m_sourceState == state) && (stateTransitionTable[indexInTransitionTable].m_returnCode == returnCode)) + { + //len = usnprintf(str, 60, "\r\n tick %d state %d return code %d",tick,state, returnCode ); + //cb_push_back (str, len); + + //in normal execution flow function should not arrive here + //in case it did the meaning is that the entery point was wrong and a bug should be corrected + return stateTransitionTable[indexInTransitionTable].m_destinationState; + } + } + //int tick = UsersysTickGet(); + //len = usnprintf(str, 60, "\r\n tick %d state %d return code %d",tick,state, returnCode ); + //cb_push_back (str, len); + + //in normal execution flow function should not arrive here + //in case it did the meaning is that the entery point was wrong and a bug should be corrected + len = usnprintf(str, 80, "Internal: invalid slow motor transition state %d return code %d",state, returnCode ); + + return EXIT_STATE; +} +//******************************************************************************** +//this function is used to manage and operate the motor managmant state mashine +//the highest managment level +//******************************************************************************** +bool ThreadPrintingIterate(void *JobDetails) +{ + uint32_t tick = 0; + char str[60]; + uint8_t len = 0; + PrintingState_t keepstate = gPrintingState; + // + // Disable all interrupts. + // + ROM_IntMasterDisable(); + + ReturnCode (* state_fun)(void *JobDetails) = state[gPrintingState]; + //if (_motorId == SCREW_MOTOR) + // screw_movement[gPrintingState[_motorId]]++; + ReturnCode returnCode = state_fun(JobDetails); + + /*if ((_motorId == SCREW_MOTOR)&&(pause_active)) + { + tick = UsersysTickGet(); + len = usnprintf(str, 60, "\r\n PrintingIterate tick %d state %d retcode %d ",tick, gPrintingState[_motorId],returnCode); + cb_push_back (str, len); + //SendInterruptMessageToHost(10+gPrintingState[_motorId],returnCode); + }*/ + gPrintingState = LookupTransitions(gPrintingState, returnCode); + if (keepstate != gPrintingState){ + tick = UsersysTickGet(); + len = usnprintf(str, 60, "\r\n changed state tick %d state %d retcode %d ", tick, gPrintingState,returnCode); + cb_push_back (str, len); + + } + + // + // Enable all interrupts. + // + ROM_IntMasterEnable(); + return (gPrintingState != EXIT_STATE); +} + + +//******************************************************************************************************************** + +void ThreadPrintingsInit(void) +{ +// gPrintingState = Start; +} + +//******************************************************************************************************************** + +void ThreadStartPrinting(void) +{ + gPrintingState = ENTRY_STATE; + //PrintingIterate(); +} + +//******************************************************************************************************************** +//******************************************************************************************************************** + +void ThreadStopPrinting(void) +{ + gPrintingState = EXIT_STATE; + //PrintingIterate(); +} diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h b/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste.h diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_BIT.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_BIT.c new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_BIT.c diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_print.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_print.c new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_print.c |