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| author | Roy Ben Shabat <Roy.mail.net@gmail.com> | 2020-07-19 11:29:11 +0300 |
|---|---|---|
| committer | Roy Ben Shabat <Roy.mail.net@gmail.com> | 2020-07-19 11:29:11 +0300 |
| commit | facf3fea6ebc728cdd09d6d2a22bd32bfe8de6b9 (patch) | |
| tree | ad18e27d769ca53a483b012193fc1197b9704b59 /Software/Embedded_SW/Embedded | |
| parent | c90b4e2e753a0a86ebb2af4dc827cda206b148b6 (diff) | |
| parent | a23042015bb78f0603440f5746edbc509877faa9 (diff) | |
| download | Tango-facf3fea6ebc728cdd09d6d2a22bd32bfe8de6b9.tar.gz Tango-facf3fea6ebc728cdd09d6d2a22bd32bfe8de6b9.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded')
44 files changed, 1620 insertions, 591 deletions
diff --git a/Software/Embedded_SW/Embedded/.cproject b/Software/Embedded_SW/Embedded/.cproject index 388976f56..4bebf3c83 100644 --- a/Software/Embedded_SW/Embedded/.cproject +++ b/Software/Embedded_SW/Embedded/.cproject @@ -170,7 +170,7 @@ </toolChain> </folderInfo> <sourceEntries> - <entry excluding="Drivers/Uart_Comm/WHS_Controller_Comm/Modbus|Drivers/Uart_Comm/WHS_Controller_Comm/Modbus/tcp|Drivers/I2C_Communication/RFID_NFC/NFC_I2C|Drivers/I2C_Communication/RFID_NFC/PN7150|Drivers/I2C_Communication/Head_Card/ADC/Head_ADC_old.c|src|EmbParam.cfg" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="Drivers/I2C_Communication/I2C_FIFO.c|Drivers/I2C_Communication/test_fifo_dma.c|Drivers/Uart_Comm/WHS_Controller_Comm/Modbus|Drivers/Uart_Comm/WHS_Controller_Comm/Modbus/tcp|Drivers/I2C_Communication/RFID_NFC/NFC_I2C|Drivers/I2C_Communication/RFID_NFC/PN7150|Drivers/I2C_Communication/Head_Card/ADC/Head_ADC_old.c|src|EmbParam.cfg" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> </configuration> </storageModule> @@ -441,7 +441,7 @@ </toolChain> </folderInfo> <sourceEntries> - <entry excluding="EmbParam.cfg|Drivers/Uart_Comm/Uart.c|JigCommands.c|PWM.c|USBCDCD.c|Message.c|Pin_config.c|src|Configuration.c|SlowMotors.c|Timer.c|Communication.c|FastMotors.c|ADCUtils.c|Drivers/L6470|Pin.c|ADCLogger.c|Flashstore.c|Profile.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> + <entry excluding="Drivers/I2C_Communication/Head_Card/ADC/Head_ADC_old.c|Drivers/Uart_Comm/WHS_Controller_Comm/Modbus|Drivers/I2C_Communication/RFID_NFC/PN7150|Drivers/I2C_Communication/RFID_NFC/NFC_I2C|EmbParam.cfg|JigCommands.c|PWM.c|USBCDCD.c|Message.c|Pin_config.c|src|Configuration.c|SlowMotors.c|Timer.c|Communication.c|FastMotors.c|ADCUtils.c|Drivers/L6470|Pin.c|ADCLogger.c|Flashstore.c|Profile.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> </sourceEntries> </configuration> </storageModule> diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h index 4b6bdc129..0e38c6e2e 100644 --- a/Software/Embedded_SW/Embedded/DataDef.h +++ b/Software/Embedded_SW/Embedded/DataDef.h @@ -68,6 +68,8 @@ enum #define ENABLE 1 #define DISABLE 0 +#define DONTCARE 0 + //Valves Directions: #define MidTank_Dispenser 0 #define Dispenser_Mixer 1 diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c index 16641d1de..57b57a41d 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c @@ -182,7 +182,7 @@ uint32_t Control_Voltage_To_Blower(uint32_t mV) else //new WHS { Trigger_SetWHSBlowerVoltage(mV); - Report("------------ Set Blower Voltage:-----------------", __FILE__,__LINE__, mV, RpMessage, (int)headairflow, 0); + //Report("------------ Set Blower Voltage:-----------------", __FILE__,__LINE__, mV, RpMessage, (int)headairflow, 0); } voltage = mV; DiaglosticChangeBlowerData(); @@ -200,7 +200,7 @@ uint32_t Turn_the_Blower_Off() } else //new WHS { - Trigger_SetWHSBlowerVoltage(0); + //Trigger_SetWHSBlowerVoltage(0); } blowerStatus = false; diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/I2C_Head_Mux.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/I2C_Head_Mux.c index 80411394b..f8a425e36 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/I2C_Head_Mux.c +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/I2C_Head_Mux.c @@ -40,7 +40,7 @@ uint32_t Select_Main_Head_Mux_Channel_test() { uint32_t status= OK; - uint8_t Write_Buf[1]; + uint8_t Write_Buf[1] = {0}; Write_Buf[0] = 0x01 << 0;//Channel 0 @@ -53,7 +53,9 @@ uint32_t Block_Main_Head_Mux_Channel() { uint32_t status= OK; - uint8_t Write_Buf[1]; + uint8_t Write_Buf[1] = {0}; + + Main_Mux_Flag = UNKNOWN; Write_Buf[0] = 0x00;//Block all diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c index d7b7fc98f..24690c25f 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c @@ -31,7 +31,7 @@ uint32_t TCA9555Config(uint8_t TCA9555_ADDRESS)//Set GPIO uint32_t status= OK; uint8_t Config_Reg_PORT_0; uint8_t Config_Reg_PORT_1; - uint8_t Write_Buf[2]; + uint8_t Write_Buf[3]; TCA9555_union config_bits; if(TCA9555_ADDRESS == 0x40) @@ -87,12 +87,8 @@ uint32_t TCA9555Config(uint8_t TCA9555_ADDRESS)//Set GPIO Write_Buf[0] = TCA9555_CONFIG_PORT_0; Write_Buf[1] = Config_Reg_PORT_0; - - status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 2); - - Write_Buf[0] = TCA9555_CONFIG_PORT_1; - Write_Buf[1] = Config_Reg_PORT_1; - status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 2); + Write_Buf[2] = Config_Reg_PORT_1; + status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 3); return OK; @@ -148,19 +144,28 @@ uint32_t Head_IO_Init() uint32_t Head_Write_IO_Reg(uint8_t TCA9555_ADDRESS, uint8_t Byte) //LOW/HIGH/LOW_AND_HIGH { uint32_t status= OK; - uint8_t Write_Buf[2]; + uint8_t Write_Buf[3]; if(TCA9555_ADDRESS == 0x40) { - if((Byte == LOW) || (Byte == LOW_AND_HIGH)) + if(Byte == LOW_AND_HIGH) + { + Write_Buf[0] = TCA9555_OUTPUT_PORT_0; + Write_Buf[1] = Head_I2C_EXP1_0x40.uchar[0]; + Write_Buf[2] = Head_I2C_EXP1_0x40.uchar[1]; + status |= Select_Main_Head_Mux_Channel(); + status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 3); + } + else + if(Byte == LOW) { Write_Buf[0] = TCA9555_OUTPUT_PORT_0; Write_Buf[1] = Head_I2C_EXP1_0x40.uchar[0]; status |= Select_Main_Head_Mux_Channel(); status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 2); } - - if((Byte == HIGH) || (Byte == LOW_AND_HIGH)) + else + if(Byte == HIGH) { Write_Buf[0] = TCA9555_OUTPUT_PORT_1; Write_Buf[1] = Head_I2C_EXP1_0x40.uchar[1]; @@ -171,14 +176,24 @@ uint32_t Head_Write_IO_Reg(uint8_t TCA9555_ADDRESS, uint8_t Byte) //LOW/HIGH/LOW else if(TCA9555_ADDRESS == 0x42) { - if((Byte == LOW) || (Byte == LOW_AND_HIGH)) + if(Byte == LOW_AND_HIGH) + { + Write_Buf[0] = TCA9555_OUTPUT_PORT_0; + Write_Buf[1] = Head_I2C_EXP2_0x42.uchar[0]; + Write_Buf[2] = Head_I2C_EXP2_0x42.uchar[1]; + status |= Select_Main_Head_Mux_Channel(); + status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 3); + } + else + if(Byte == LOW) { Write_Buf[0] = TCA9555_OUTPUT_PORT_0; Write_Buf[1] = Head_I2C_EXP2_0x42.uchar[0]; status |= Select_Main_Head_Mux_Channel(); status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 2); } - if((Byte == HIGH) || (Byte == LOW_AND_HIGH)) + else + if(Byte == HIGH) { Write_Buf[0] = TCA9555_OUTPUT_PORT_1; Write_Buf[1] = Head_I2C_EXP2_0x42.uchar[1]; @@ -189,14 +204,24 @@ uint32_t Head_Write_IO_Reg(uint8_t TCA9555_ADDRESS, uint8_t Byte) //LOW/HIGH/LOW else if(TCA9555_ADDRESS == 0x46) { - if((Byte == LOW) || (Byte == LOW_AND_HIGH)) + if(Byte == LOW_AND_HIGH) + { + Write_Buf[0] = TCA9555_OUTPUT_PORT_0; + Write_Buf[1] = Head_I2C_EXP4_0x46.uchar[0]; + Write_Buf[2] = Head_I2C_EXP4_0x46.uchar[1]; + status |= Select_Main_Head_Mux_Channel(); + status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 3); + } + else + if(Byte == LOW) { Write_Buf[0] = TCA9555_OUTPUT_PORT_0; Write_Buf[1] = Head_I2C_EXP4_0x46.uchar[0];// & BIT7; status |= Select_Main_Head_Mux_Channel(); status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 2); } - if((Byte == HIGH) || (Byte == LOW_AND_HIGH)) + else + if(Byte == HIGH) { Write_Buf[0] = TCA9555_OUTPUT_PORT_1; Write_Buf[1] = Head_I2C_EXP4_0x46.uchar[1];// & (BIT10 | BIT11) ; @@ -218,7 +243,18 @@ uint32_t Head_Read_IO_Reg(uint8_t TCA9555_ADDRESS, uint8_t Byte) //LOW/HIGH/LOW_ if(TCA9555_ADDRESS == 0x44) { - if((Byte == LOW) || (Byte == LOW_AND_HIGH)) + if(Byte == LOW_AND_HIGH) + { + Write_Buf[0] = TCA9555_INPUT_PORT_0; + status |= Select_Main_Head_Mux_Channel(); + status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 1); + delayUs(10);//TODO - check the delay + status |= I2C_Read(I2C_ID_HEAD_CARD, TCA9555_ADDRESS + 1, Read_Buf, 2); + Head_I2C_EXP3_0x44.uchar[0] = Read_Buf[0]; + Head_I2C_EXP3_0x44.uchar[1] = Read_Buf[1]; + } + else + if(Byte == LOW) { Write_Buf[0] = TCA9555_INPUT_PORT_0; status |= Select_Main_Head_Mux_Channel(); @@ -227,7 +263,8 @@ uint32_t Head_Read_IO_Reg(uint8_t TCA9555_ADDRESS, uint8_t Byte) //LOW/HIGH/LOW_ status |= I2C_Read(I2C_ID_HEAD_CARD, TCA9555_ADDRESS + 1, Read_Buf, 1); Head_I2C_EXP3_0x44.uchar[0] = Read_Buf[0]; } - if((Byte == HIGH) || (Byte == LOW_AND_HIGH)) + else + if(Byte == HIGH) { Write_Buf[0] = TCA9555_INPUT_PORT_1; status |= Select_Main_Head_Mux_Channel(); @@ -241,7 +278,20 @@ uint32_t Head_Read_IO_Reg(uint8_t TCA9555_ADDRESS, uint8_t Byte) //LOW/HIGH/LOW_ else if(TCA9555_ADDRESS == 0x46) { - if((Byte == LOW) || (Byte == LOW_AND_HIGH)) + if(Byte == LOW_AND_HIGH) + { + Write_Buf[0] = TCA9555_INPUT_PORT_0; + status |= Select_Main_Head_Mux_Channel(); + status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 1); + delayUs(10);//TODO - check the delay + status |= I2C_Read(I2C_ID_HEAD_CARD, TCA9555_ADDRESS + 1, Read_Buf, 2); + Head_I2C_EXP4_0x46.uchar[0] &= BIT7;//ACT_DIR + Head_I2C_EXP4_0x46.uchar[0] |= Read_Buf[0]; + Head_I2C_EXP4_0x46.uchar[1] &= (BIT2 | BIT3);//ACTIN_ON ACTOT_ON + Head_I2C_EXP4_0x46.uchar[1] |= Read_Buf[1]; + } + else + if(Byte == LOW) { Write_Buf[0] = TCA9555_INPUT_PORT_0; status |= Select_Main_Head_Mux_Channel(); @@ -253,7 +303,8 @@ uint32_t Head_Read_IO_Reg(uint8_t TCA9555_ADDRESS, uint8_t Byte) //LOW/HIGH/LOW_ Head_I2C_EXP4_0x46.uchar[0] |= Read_Buf[0]; } - if((Byte == HIGH) || (Byte == LOW_AND_HIGH)) + else + if(Byte == HIGH) { Write_Buf[0] = TCA9555_INPUT_PORT_1; status |= Select_Main_Head_Mux_Channel(); @@ -469,7 +520,7 @@ uint32_t HeadCard_Actuators_Control(ACTUATORS Act_ID, bool Direction) } -uint32_t HeadCard_Actuators_Stub(ACTUATORS Act_ID, bool Enable, bool Direction) +uint32_t HeadCard_Actuators_Stub(ACTUATORS Act_ID, bool Enable, bool Direction)//ENABLE/DISABLE, DOWN/UP/DONTCARE { uint32_t status = OK; @@ -599,6 +650,77 @@ uint8_t Head_Test_IO() return status; } +typedef enum { + ActuatorIdle, + ActuatorMoveDown, + ActuatorWait, //wait for the actuator to get to the lower position + ActuatorMoveUp, + ActuatorLocated +}ActuatorLocatingEnum; +ActuatorLocatingEnum ActuatorLocating = ActuatorIdle; +uint32_t ActuatorLocatingControl = 0xFF; +uint32_t count_time = 0, moveuptime = 0; +#define ACTUATOR_RELOCATING_MOVEUP_TIME 160 +uint32_t MovingUpTime = ACTUATOR_RELOCATING_MOVEUP_TIME; +bool isActuatorOnLowestLocation(void) +{ +#warning give here indication if the actuator reached the lowest point + return true; +} +uint32_t HeadCard_Actuators_Relocate_callback(uint32_t IfIndex, uint32_t BusyFlag) // use IfIndex for Act_ID +{ + count_time++; + switch (ActuatorLocating) + { + case ActuatorIdle: + break; + case ActuatorMoveDown: + Trigger_Head_Actuators_Stub(ACTIN, true, false); + ActuatorLocating = ActuatorWait; + ReportWithPackageFilter(ThreadFilter,"actuators relocation",__FILE__,msec_millisecondCounter,ActuatorLocating,RpMessage,count_time,0); + break; + case ActuatorWait: + if (isActuatorOnLowestLocation()) + { + ActuatorLocating = ActuatorMoveUp; + Trigger_Head_Actuators_Stub(ACTIN, true, true); + moveuptime = count_time; + ReportWithPackageFilter(ThreadFilter,"actuators relocation",__FILE__,msec_millisecondCounter,ActuatorLocating,RpMessage,count_time,0); + } + break; + case ActuatorMoveUp: + if (count_time>=(moveuptime+MovingUpTime)) + { + Trigger_Head_Actuators_Stub(ACTIN, false, false); + ActuatorLocating = ActuatorLocated; + ReportWithPackageFilter(ThreadFilter,"actuators relocation",__FILE__,msec_millisecondCounter,ActuatorLocating,RpMessage,count_time,0); + } + break; + case ActuatorLocated: + if (SafeRemoveControlCallback(ActuatorLocatingControl, HeadCard_Actuators_Relocate_callback )==OK) + ActuatorLocatingControl = 0xFF; + else + Report("Remove control callback failed",__FILE__,__LINE__,(int)ActuatorLocatingControl,RpWarning,(int)HeadCard_Actuators_Relocate_callback,0); + ReportWithPackageFilter(ThreadFilter,"actuators relocation",__FILE__,msec_millisecondCounter,ActuatorLocating,RpMessage,count_time,0); + break; + default: + break; + } + return ActuatorLocatingControl; +} +uint32_t HeadCard_Actuators_Relocate(void) +{ + if ((ActuatorLocating == ActuatorIdle)||(ActuatorLocating == ActuatorLocated)) + { + ActuatorLocating = ActuatorMoveDown; + count_time = 0; + ReportWithPackageFilter(ThreadFilter,"actuators relocation",__FILE__,msec_millisecondCounter,ActuatorLocating,RpMessage,count_time,0); + ActuatorLocatingControl = AddControlCallback("Actuator Location", HeadCard_Actuators_Relocate_callback, eOneMillisecond, TemplateDataReadCBFunction,0,0, 0 ); + } + return ActuatorLocatingControl; +} + + diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h index d927fdaa0..33187d1f6 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h @@ -198,6 +198,7 @@ uint32_t HeadCard_Valve_Control(bool Direction); uint32_t HeadCard_Actuators_Stub(ACTUATORS Act_ID, bool Enable, bool Direction); +uint32_t HeadCard_Actuators_Relocate(void); //------------------------------ uint8_t Head_Test_IO(); diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.c index a9f037942..c83fe6e50 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.c +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.c @@ -17,11 +17,14 @@ #include "driverlib/sysctl.h" #include "driverlib/i2c.h" #include "I2C.h" +#include "inc/hw_i2c.h" #include "i2c_fifo.h" #define I2C_DELAY 3000 uint8_t Main_Mux_Flag = UNKNOWN; +uint32_t I2C_BUSY_DELAY = 100; + void InitI2C2() { // @@ -71,7 +74,7 @@ void Configuring_Master_I2C2(/*uint32_t ui32SysClock*/) I2CMasterInitExpClk(I2C2_BASE, ui32SysClock, false);//The last parameter sets the I2C data transfer rate: false for 100kbps and true for 400kbps #endif - i2c_fifo_setup(I2C2_BASE); + //i2c_fifo_setup(I2C2_BASE); } //-------------------------------------------------------------- @@ -125,7 +128,7 @@ void Configuring_Master_I2C3(/*uint32_t ui32SysClock*/) I2CMasterInitExpClk(I2C3_BASE, ui32SysClock, false);//The last parameter sets the I2C data transfer rate: false for 100kbps and true for 400kbps #endif - i2c_fifo_setup(I2C3_BASE); + //i2c_fifo_setup(I2C3_BASE); } @@ -179,7 +182,7 @@ void Configuring_Master_I2C4(/*uint32_t ui32SysClock*/) I2CMasterInitExpClk(I2C4_BASE, ui32SysClock, false);//The last parameter sets the I2C data transfer rate: false for 100kbps and true for 400kbps #endif - i2c_fifo_setup(I2C4_BASE); + //i2c_fifo_setup(I2C4_BASE); } void Init_All_I2C() diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h index ed4c1228f..56c386aa8 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h @@ -10,8 +10,8 @@ extern uint32_t Arb_Loss_Count; - -#define I2C_BUSY_DELAY 5000//15000 +extern uint32_t I2C_BUSY_DELAY; +//#define I2C_BUSY_DELAY 100//15000 uint32_t I2C_control(uint32_t I2C_ID, uint32_t Slave_Add, bool RW,uint32_t Byte2Write ); void Init_All_I2C(); @@ -26,8 +26,8 @@ uint32_t I2C_WriteBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* dat uint32_t I2C_ReadBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* data, unsigned int len); -uint32_t I2C_Write(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Write_buf, uint32_t No_BytesToWrite ); -uint32_t I2C_Read(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Read_buf, uint32_t No_BytesToRead ); +uint32_t I2C_Write(uint32_t I2C_ID, uint32_t Slave_Add, uint8_t *I2C_Write_buf, uint32_t No_BytesToWrite ); +uint32_t I2C_Read(uint32_t I2C_ID, uint32_t Slave_Add, uint8_t *I2C_Read_buf, uint32_t No_BytesToRead ); uint32_t Block_Main_MUX_TCA9548A_0xE4(); ////unused I2C MUX diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Comm.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Comm.c index 7c98b53da..182e5ccf7 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Comm.c +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Comm.c @@ -26,6 +26,7 @@ uint32_t LastReadI2C_BASE; unsigned char LastReadaddr; unsigned char* LastReadda uint32_t LastWriteI2C_BASE; unsigned char LastWriteaddr; unsigned char *LastWritedata; unsigned int LastWritelen; Task_Handle TaskId; uint32_t Arb_Loss_Count = 0; + //***************************************************************************** //! Indicates whether or not the I2C bus has timed out. //! @@ -37,18 +38,6 @@ uint32_t Arb_Loss_Count = 0; //! \return Returns \b true if the I2C bus has timed out; otherwise, returns //! \b false. //***************************************************************************** -bool I2CMasterTimeout(uint32_t ui32Base) -{ - // Return the bus timeout status - if(HWREG(ui32Base + I2C_O_MCS) & I2C_MCS_CLKTO) - { - return(true); - } - else - { - return(false); - } -} char I2CErrMsg[181]; uint32_t I2C_WriteBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* data, unsigned int len) @@ -65,36 +54,29 @@ uint32_t I2C_WriteBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* dat if (len == 1) { I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_SINGLE_SEND); - //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) ); -// -// return I2CMasterErr(I2C_BASE) == I2C_MASTER_ERR_NONE; + SysCtlDelay(I2C_BUSY_DELAY);//The CPU waits for the Command processing to begin before it goes to check if the command is processed status |= I2CMasterErr(I2C_BASE); - SysCtlDelay(I2C_BUSY_DELAY); + while(I2CMasterBusy(I2C_BASE)); } else { - - // Start sending consecutive data I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_SEND_START); - //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) ); - // if (I2CMasterErr(I2C_BASE) != I2C_MASTER_ERR_NONE) - // return false; + SysCtlDelay(I2C_BUSY_DELAY);//The CPU waits for the Command processing to begin before it goes to check if the command is processed status |= I2CMasterErr(I2C_BASE); - SysCtlDelay(I2C_BUSY_DELAY); + while(I2CMasterBusy(I2C_BASE)); + len--; data++; - // Continue sending consecutive data while(len > 1){ I2CMasterDataPut(I2C_BASE, *data); I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_SEND_CONT); - //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) ); - // if (I2CMasterErr(I2C_BASE) != I2C_MASTER_ERR_NONE) - // return false; + SysCtlDelay(I2C_BUSY_DELAY);//The CPU waits for the Command processing to begin before it goes to check if the command is processed status |= I2CMasterErr(I2C_BASE); - SysCtlDelay(I2C_BUSY_DELAY); + while(I2CMasterBusy(I2C_BASE)); + len--; data++; } @@ -102,11 +84,9 @@ uint32_t I2C_WriteBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* dat // Send last piece of data I2CMasterDataPut(I2C_BASE, *data); I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_SEND_FINISH); - //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) ); - // - // return I2CMasterErr(I2C_BASE) == I2C_MASTER_ERR_NONE; + SysCtlDelay(I2C_BUSY_DELAY);//The CPU waits for the Command processing to begin before it goes to check if the command is processed status |= I2CMasterErr(I2C_BASE); - SysCtlDelay(I2C_BUSY_DELAY); + while(I2CMasterBusy(I2C_BASE)); } return status; @@ -133,25 +113,25 @@ uint32_t I2C_ReadBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* data if (len == 1) { I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_SINGLE_RECEIVE); - //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) ); - SysCtlDelay(I2C_BUSY_DELAY); - *data = I2CMasterDataGet(I2C_BASE); - - //return I2CMasterErr(I2C_BASE) == I2C_MASTER_ERR_NONE; - + //On the TM4C129 we discovered a design behavior that due to higher system clock frequency and lower I2C baud rate, + //the CPU when it starts a I2C Transaction or writes a new I2C Command, for the I2C to respond to it takes time. + //So in effect the I2CMasterBusy statement gets skipped which causes The I2C controller to lose data. + //see: https://e2e.ti.com/support/microcontrollers/other/f/908/t/368493?Why-is-a-delay-needed-before-writing-the-first-byte-from-I2C-Master- + //therefore we need delay before waiting until bus is not busy - it doesn't work as expected without it or with while(!(I2CMasterBusy(I2C0_BASE) + SysCtlDelay(I2C_BUSY_DELAY);//The CPU waits for the Command processing to begin before it goes to check if the command is processed status |= I2CMasterErr(I2C_BASE); + while(I2CMasterBusy(I2C_BASE)); + *data = I2CMasterDataGet(I2C_BASE); } else { // Start receiving consecutive data I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_RECEIVE_START); - //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) ); - SysCtlDelay(I2C_BUSY_DELAY); - *data = I2CMasterDataGet(I2C_BASE); - // if (I2CMasterErr(I2C_BASE) != I2C_MASTER_ERR_NONE) - // return false; + SysCtlDelay(I2C_BUSY_DELAY);//The CPU waits for the Command processing to begin before it goes to check if the command is processed status |= I2CMasterErr(I2C_BASE); + while(I2CMasterBusy(I2C_BASE)); + *data = I2CMasterDataGet(I2C_BASE); len--; data++; @@ -160,12 +140,10 @@ uint32_t I2C_ReadBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* data // Continue receiving consecutive data while(len > 1){ I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT); - //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) ); - SysCtlDelay(I2C_BUSY_DELAY); + SysCtlDelay(I2C_BUSY_DELAY);//The CPU waits for the Command processing to begin before it goes to check if the command is processed + status |= I2CMasterErr(I2C_BASE); + while(I2CMasterBusy(I2C_BASE)); *data = I2CMasterDataGet(I2C_BASE); - // if (I2CMasterErr(I2C_BASE) != I2C_MASTER_ERR_NONE) - // return false; - status |= I2CMasterErr(I2C_BASE); len--; data++; @@ -173,20 +151,17 @@ uint32_t I2C_ReadBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* data // Receive last piece of data I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_RECEIVE_FINISH); - //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) ); - SysCtlDelay(I2C_BUSY_DELAY); - *data = I2CMasterDataGet(I2C_BASE); - - //return I2CMasterErr(I2C_BASE) == I2C_MASTER_ERR_NONE; + SysCtlDelay(I2C_BUSY_DELAY);//The CPU waits for the Command processing to begin before it goes to check if the command is processed status |= I2CMasterErr(I2C_BASE); + while(I2CMasterBusy(I2C_BASE)); + *data = I2CMasterDataGet(I2C_BASE); } return status; } -uint32_t I2C_Write(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Write_buf, uint32_t No_BytesToWrite ) +uint32_t I2C_Write(uint32_t I2C_ID, uint32_t Slave_Add, uint8_t *I2C_Write_buf, uint32_t No_BytesToWrite ) { uint32_t status = OK; - uint8_t* buff = (uint8_t *)I2C_Write_buf; uint32_t I2C_BASE; if (I2C_ID == 4) @@ -227,7 +202,7 @@ uint32_t I2C_Write(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Write_buf, { //LastWriteI2C_BASE = I2C_BASE; LastWriteaddr = Slave_Add; - LastWritedata = buff; + LastWritedata = I2C_Write_buf; LastWritelen = No_BytesToWrite; TaskId = Task_self(); } @@ -266,11 +241,10 @@ uint32_t I2C_Write(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Write_buf, return status; } -uint32_t I2C_Read(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Read_buf, uint32_t No_BytesToRead ) +uint32_t I2C_Read(uint32_t I2C_ID, uint32_t Slave_Add, uint8_t *I2C_Read_buf, uint32_t No_BytesToRead ) { uint32_t status = OK; - uint8_t* buff = (uint8_t *)I2C_Read_buf; uint32_t I2C_BASE; if (I2C_ID == 4) @@ -298,7 +272,7 @@ uint32_t I2C_Read(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Read_buf, u //Byte2Write = Byte2Write & 0xFF; status = I2C_ReadBuff(I2C_BASE, Slave_Add, I2C_Read_buf, No_BytesToRead); - //status = I2C_ReadFifo(I2C_BASE, Slave_Add, buff, No_BytesToRead); + if (status) { if (Arb_Loss_Count++ >= 5) @@ -313,7 +287,7 @@ uint32_t I2C_Read(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Read_buf, u { //LastReadI2C_BASE = I2C_BASE; LastReadaddr = Slave_Add; - LastReaddata = buff; + LastReaddata = I2C_Read_buf; LastReadlen = No_BytesToRead; TaskId = Task_self(); } @@ -334,4 +308,3 @@ uint32_t I2C_Read(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Read_buf, u return status; } - diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c index 44ab8d710..c06e8f4df 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c @@ -28,12 +28,14 @@ #include <Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.h> #include "ADC_MUX/ADC_MUX.h" #include "modules/ids/ids_ex.h" +#include <Drivers/I2C_Communication/Dispenser_Card/EEPROM/Dispenser_EEPROM.h> extern Semaphore_Handle I2C_Sem; Task_Handle I2C_Task_Handle; Mailbox_Handle I2C_ReadingMsgQ = NULL; typedef enum { + Head_IO_Initialization, Midtank_Pressure_Reading, Heater_Current_Reading, PT100_Reading, @@ -87,6 +89,17 @@ typedef struct I2C_ReadingMessage{ uint8_t* parameter3; }I2C_ReadingMessageStruc; + +void Trigger_Head_io_Init(void) +{ + I2C_ReadingMessageStruc I2C_ReadingMessage; + + I2C_ReadingMessage.messageId = Head_IO_Initialization; + if (I2C_ReadingMsgQ != NULL) + Mailbox_post(I2C_ReadingMsgQ , &I2C_ReadingMessage, BIOS_NO_WAIT); + return; +} + void Trigger_Heater_Current_Read(void) { I2C_ReadingMessageStruc I2C_ReadingMessage; @@ -583,6 +596,9 @@ void I2C_ReadingTask(UArg arg0, UArg arg1) //Report("------------ I2C task - messageId -------------", __FILE__,__LINE__, (int)(I2C_ReadingMessage.messageId), RpMessage, 0, 0); switch (I2C_ReadingMessage.messageId) { + case Head_IO_Initialization: + Head_IO_Init(); + break; case Midtank_Pressure_Reading: //Report("Read_MidTank_Pressure_Sensor",__FILE__,__LINE__,255,RpWarning,0,0); Read_MidTank_Pressure_Sensor(I2C_ReadingMessage.parameter); diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.h index 20fcb0074..2a98296b4 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.h +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.h @@ -9,7 +9,7 @@ #ifndef DRIVERS_I2C_COMMUNICATION_I2C_TASK_H_ #define DRIVERS_I2C_COMMUNICATION_I2C_TASK_H_ - +void Trigger_Head_io_Init(void); void Trigger_WHS_init_IO(void); void Trigger_WHS_init_fan(void); void Trigger_WHS_init_PT100(void); diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/MAX11614_Driver.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/MAX11614_Driver.c index ae37bf938..559cc0375 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/MAX11614_Driver.c +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/MAX11614_Driver.c @@ -23,7 +23,7 @@ bool MAX11614_Read_allADC(uint8_t i2cbus, WHS_chip_address i2cadd, uint16_t *p_v status |= I2C_Read(i2cbus, i2cadd + 1, p_value , 0x10);//&p_value - delayUs(10);//TODO - check the delay + //delayUs(10);//TODO - check the delay return status; } diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.c index db9ee1053..bb41e1af3 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.c +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.c @@ -22,6 +22,7 @@ #include "drivers/Flash_ram/MCU_E2Prom.h" #include <Drivers/I2C_Communication/WHS_Card/EEPROM/WHS_EEPROM.h> #include "modules/control/control.h" +#include "modules/General/process.h" uint16_t Orf_zero_value[DRIER_FLOW_METER+1] = {1112,0,1040}; @@ -79,7 +80,7 @@ uint32_t WHS_MAX11614_Read_allADC( ) status |= MAX11614_Read_allADC(U20_MAX11614.MAX11614_I2CBUS, U20_MAX11614.MAX11614_I2CADDR, U20_MAX11614.MAX11614_Read_Buf); - delayUs(10);//TODO - check the delay + //delayUs(10);//TODO - check the delay return status; } @@ -540,7 +541,7 @@ double CalculateWHSWasteTankLevelMiliLiter() get_vlev1(&Vm_mv);//mV (VREF = 4.096V 12bit so 1bit is 1mV) - Report("***** get waste level in mV ********", __FILE__, __LINE__, 0, RpMessage, (int)(Vm_mv), 0); + //Report("***** get waste level in mV ********", __FILE__, __LINE__, 0, RpMessage, (int)(Vm_mv), 0); Vm_ml = Vm_mv * 1500/mvfor1500mL; @@ -554,11 +555,12 @@ double CalculateWHSWasteTankLevelMiliLiter() waste_volume_milliliter = Vm_ml -LocalV0_ml; } //ReportWithPackageFilter(WasteFilter,"------------ waste_volume_ml -----------------", __FILE__, __LINE__, 0, RpMessage, (int)(waste_volume_milliliter), 0); - Report("------------ get waste level in ml -----------------", __FILE__, LocalV0_ml, Vm_ml, RpMessage, (int)(waste_volume_milliliter), 0); + //Report("------------ get waste level in ml -----------------", __FILE__, LocalV0_ml, Vm_ml, RpMessage, (int)(waste_volume_milliliter), 0); return waste_volume_milliliter; } uint32_t WasteControlId = 0xFF; +bool ContinouosWaste = false, regularWaste = false; typedef enum { Open_Valve, @@ -566,6 +568,7 @@ typedef enum Read_Waste }Waste_Tank_Procedure_Enum; int nop = 0; +int FirstInSequence = true; Waste_Tank_Procedure_Enum OpenClose = Open_Valve; bool waste_seq_cont() { @@ -592,7 +595,7 @@ bool waste_seq_cont() if (WasteAverageIndex >= 8) WasteAverageIndex = 0; WasteCounter++; - Report("------------ waste level procedure read -----------------", __FILE__, WasteAverageIndex, OpenClose, RpMessage, (int)(WasteAverageContent[WasteAverageIndex-1]), 0); + //Report("------------ waste level procedure read -----------------", __FILE__, WasteAverageIndex, OpenClose, RpMessage, (int)(WasteAverageContent[WasteAverageIndex-1]), 0); OpenClose = Open_Valve; break; } @@ -609,6 +612,17 @@ bool waste_seq_cont() Report("------------ Avg waste level in ml -----------------", __FILE__, WasteAverageIndex, avg, RpMessage, (int)(waste_level_ml), 0); } + if (FirstInSequence == false) + { + if (WasteCounter == 4) + { + for (i = 0; i<8;i++) + { + avg+=WasteAverageContent[i]; + } + waste_level_ml = avg/8; + } + } return status; } @@ -624,19 +638,19 @@ bool waste_seq_step2() case Open_Valve: Set_WHS_valve(VOC_VALVE, OPEN, 0); Write_WHS_Valve_reg(); - Report("------------ waste level procedure open -----------------", __FILE__, WasteAverageIndex, OpenClose, RpMessage, (int)(waste_level_ml), 0); + //Report("------------ waste level procedure open -----------------", __FILE__, WasteAverageIndex, OpenClose, RpMessage, (int)(waste_level_ml), 0); OpenClose = Close_Valve; break; case Close_Valve: Set_WHS_valve(VOC_VALVE, CLOSE, 0); Write_WHS_Valve_reg(); - Report("------------ waste level procedure close ----------------", __FILE__, WasteAverageIndex, OpenClose, RpMessage, (int)(waste_level_ml), 0); + //Report("------------ waste level procedure close ----------------", __FILE__, WasteAverageIndex, OpenClose, RpMessage, (int)(waste_level_ml), 0); OpenClose = Read_Waste; break; case Read_Waste: WasteAverageContent[WasteAverageIndex++] = CalculateWHSWasteTankLevelMiliLiter(); WasteCounter++; - Report("------------ waste level procedure read -----------------", __FILE__, WasteAverageIndex, OpenClose, RpMessage, (int)(WasteAverageContent[WasteAverageIndex-1]), 0); + //Report("------------ waste level procedure read -----------------", __FILE__, WasteAverageIndex, OpenClose, RpMessage, (int)(WasteAverageContent[WasteAverageIndex-1]), 0); OpenClose = Open_Valve; break; } @@ -656,11 +670,14 @@ bool waste_seq_step2() WasteCounter = 0; waste_level_ml = avg/8; + regularWaste = false; + if (ContinouosWaste == true) + waste_seq_step1_cont(); + Report("------------ Avg waste level in ml -----------------", __FILE__, WasteCounter, OpenClose, RpMessage, (int)(waste_level_ml), 0); } return status; } -bool ContinouosWaste = false; #define WASTE_PROCESS_TIME 1000 bool waste_seq_step1_cont() { @@ -671,6 +688,9 @@ bool waste_seq_step1_cont() ContinouosWaste = true; + if (regularWaste == true) + return status; + Trigger_SetWHS_VOC_Valve(OPEN); WasteControlId = AddControlCallback(NULL, Trigger_ReadWHS_WasteContinouos, WASTE_PROCESS_TIME, TemplateDataReadCBFunction,0,0, 0 ); @@ -690,11 +710,16 @@ bool waste_seq_cont_stop(void) //else // Report("Remove control callback failed",__FILE__,__LINE__,(int)WasteControlId,RpWarning,(int)waste_seq_step2,0); + return OK; } bool waste_seq_step1() { bool status = OK; + if (MachineReadyForHeating == false) + { + return OK; + } if (ContinouosWaste == true) { Report("------- periodic waste called while emptying ------------", __FILE__, __LINE__, 0, RpMessage, 0, 0); @@ -703,6 +728,7 @@ bool waste_seq_step1() WasteAverageIndex = 0; WasteCounter = 0; OpenClose = CLOSE; + regularWaste = true; Report("------------ open waste level Air valve -----------------", __FILE__, __LINE__, WHS_Eeprom.bytes.Orifice_Waste_Level_V0_ml, RpMessage, 0, 0); Trigger_SetWHS_VOC_Valve(OPEN); diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c index 211d7cbef..32d82f8af 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c @@ -84,9 +84,8 @@ int32_t i2c_smbus_read_word_data(int i2cFileDescriptor, uint8_t command_regAddre uint32_t status= OK; uint8_t Write_Buf[1]; - Write_Buf[0] = command_regAddress; - status |= Block_Main_Head_Mux_Channel(); + status |= Select_Main_WHS_Mux_Channel(); status |= I2C_Write(I2C_ID_WHS_CARD, I2CDAC_ADDRESS, Write_Buf, 1); @@ -408,7 +407,7 @@ void WHS_Set_IFS_Clearing_Suction (int midtank) } #define MAX_ALLOWED_BLOWER_VOLTAGE 4300 -#define MIN_ALLOWED_BLOWER_VOLTAGE 2000 +#define MIN_ALLOWED_BLOWER_VOLTAGE 2400 bool BlowerAlarmActive = false; void SendLimitedBlowerControl(int mV) { @@ -544,7 +543,7 @@ bool WHS_Set_Blower_Control_Closed_Loop(double Q_value) } } } - Report("------------ Blower Control :-----------------", __FILE__,Orf_zero_value[HEAD_FLOW_METER], (int)(current_dying_head_flow_Q*100), RpMessage, (int)(Q_value*100), 0); + //Report("------------ Blower Control :-----------------", __FILE__,Orf_zero_value[HEAD_FLOW_METER], (int)(current_dying_head_flow_Q*100), RpMessage, (int)(Q_value*100), 0); return OK; } diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_TCA9546_ADC_MUX/TCA9546_Driver.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_TCA9546_ADC_MUX/TCA9546_Driver.c index f7fe99aed..f5e14a48e 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_TCA9546_ADC_MUX/TCA9546_Driver.c +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_TCA9546_ADC_MUX/TCA9546_Driver.c @@ -24,6 +24,8 @@ bool D_TCA9546_Select_Channel(uint8_t TCA9546A_I2C_bus_number, uint8_t TCA9546A_ uint8_t Write_Buf[1] = {0}; uint8_t Read_buf[1] = {0}; + //Select_Main_WHS_Mux_Channel(); + status |= I2C_Write(TCA9546A_I2C_bus_number, TCA9546A_I2C_addr, Write_Buf, 1); //status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 2); delayUs(10);//TODO - check the delay status = I2C_Read(TCA9546A_I2C_bus_number, TCA9546A_I2C_addr+1, Read_buf, 1 ); @@ -47,6 +49,8 @@ bool D_TCA9546_Read_Channel(uint32_t TCA9546A_I2C_bus_number, uint32_t TCA9546A_ bool status= OK; uint8_t Read_buf[1]; + //Select_Main_WHS_Mux_Channel(); + status = I2C_Read(TCA9546A_I2C_bus_number, TCA9546A_I2C_addr, Read_buf, 1 ); if (Read_buf[1] & chnl_number ) { diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/EEPROM/WHS_EEPROM.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/EEPROM/WHS_EEPROM.c index 74083e67a..0b859cc79 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/EEPROM/WHS_EEPROM.c +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/EEPROM/WHS_EEPROM.c @@ -24,7 +24,7 @@ //uint32_t I2C_WHS_EEPROM_SLAVE_ADD = 0xA0; WHS_EEPROM WHS_Eeprom; -uint8_t WHS_Type = WHS_TYPE_UNKNOWN; +WHS_TYPE WHS_Type = WHS_TYPE_UNKNOWN; #define MAX_ALLOWS_PAGE_WRITE 256 #define MIN_READ_BYTE 1 diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/I2C_WHS_Mux.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/I2C_WHS_Mux.c index a5d36a264..1ada4f24a 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/I2C_WHS_Mux.c +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/I2C_WHS_Mux.c @@ -19,7 +19,7 @@ uint32_t Select_Main_WHS_Mux_Channel() { uint32_t status= OK; - uint8_t Write_Buf[1]; + uint8_t Write_Buf[1] = {0}; if(Main_Mux_Flag != WHS) { @@ -39,7 +39,9 @@ uint32_t Block_Main_WHS_Mux_Channel() { uint32_t status= OK; - uint8_t Write_Buf[1]; + uint8_t Write_Buf[1] = {0}; + + Main_Mux_Flag = UNKNOWN; Write_Buf[0] = 0x00;//Block all diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/TCA9555_Driver.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/TCA9555_Driver.c index cf615f424..c357dbcb1 100644 --- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/TCA9555_Driver.c +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/TCA9555_Driver.c @@ -36,16 +36,12 @@ struct TCA9555_params uint32_t D_TCA9555ConfigDirection(uint8_t TCA9555_I2C_bus_number, uint8_t TCA9555_ADDRESS, uint8_t Config_dir_PORT_0, uint8_t Config_dir_PORT_1) { uint32_t status= OK; - uint8_t Write_Buf[2]; + uint8_t Write_Buf[3]; Write_Buf[0] = TCA9555_CONFIG_PORT_0; Write_Buf[1] = Config_dir_PORT_0; - status |= I2C_Write(TCA9555_I2C_bus_number, TCA9555_ADDRESS, Write_Buf, 2); /*status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 2);*/ - - - Write_Buf[0] = TCA9555_CONFIG_PORT_1; - Write_Buf[1] = Config_dir_PORT_1; - status |= I2C_Write(TCA9555_I2C_bus_number, TCA9555_ADDRESS, Write_Buf, 2); /*status |= I2C_Write(I2C_ID_HEAD_CARD, TCA9555_ADDRESS, Write_Buf, 2);*/ + Write_Buf[2] = Config_dir_PORT_1; + status |= I2C_Write(TCA9555_I2C_bus_number, TCA9555_ADDRESS, Write_Buf, 3); return status; } diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/test_fifo_dma.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/test_fifo_dma.c new file mode 100644 index 000000000..75028fc4a --- /dev/null +++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/test_fifo_dma.c @@ -0,0 +1,763 @@ +/* + * test_fifo_dma.c + * + * Created on: Jul 1, 2020 + * Author: avi + */ + +//***************************************************************************** +// +// ektm4c129_i2c_master_udma_fifo.c - I2C Master with UDMA and FIFO Data Transfer +// +// Copyright (c) 2013-2015 Texas Instruments Incorporated. All rights reserved. +// Software License Agreement +// +// Texas Instruments (TI) is supplying this software for use solely and +// exclusively on TI's microcontroller products. The software is owned by +// TI and/or its suppliers, and is protected under applicable copyright +// laws. You may not combine this software with "viral" open-source +// software in order to form a larger program. +// +// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS. +// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT +// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY +// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL +// DAMAGES, FOR ANY REASON WHATSOEVER. +// +// This is part of revision 2.1.1.71 of the EK-TM4C1294XL Firmware Package. +// +//***************************************************************************** +#include <stdint.h> +#include <stdbool.h> +#include "inc/hw_types.h" +#include "inc/hw_i2c.h" +#include "inc/hw_ints.h" +#include "inc/hw_memmap.h" +#include "inc/hw_udma.h" +#include "driverlib/gpio.h" +#include "driverlib/i2c.h" +#include "driverlib/interrupt.h" +#include "driverlib/pin_map.h" +#include "driverlib/sysctl.h" +#include "driverlib/uart.h" +#include "driverlib/udma.h" +#include "utils/random.h" +#include "utils/uartstdio.h" + +//***************************************************************************** +// +//! \addtogroup example_list +//! <h1>ektm4c129_i2c_master_udma_fifo (ektm4c129_i2c_master_udma_fifo)</h1> +//! +//! A Simple I2C Master Code for Performing Data Transfer with UDMA and +//! I2CFIFODATA register +// +//***************************************************************************** + +//***************************************************************************** +// +// Define for I2C Module +// +//***************************************************************************** +uint8_t SLAVE_ADDRESS_EXT; +#define NUM_OF_I2CBYTES 255 + +//***************************************************************************** +// +// Enumerated Data Types for Master State Machine +// +//***************************************************************************** +enum I2C_MASTER_STATE +{ + I2C_OP_IDLE = 0, + I2C_OP_TXADDR, + I2C_OP_FIFO, + I2C_OP_TXDATA, + I2C_OP_RXDATA, + I2C_OP_STOP, + I2C_ERR_STATE +}; + +//***************************************************************************** +// +// Global variable for Delay Count +// +//***************************************************************************** +volatile uint16_t g_ui16SlaveWordAddress; +uint8_t g_ui8MasterTxData[NUM_OF_I2CBYTES]; +uint8_t g_ui8MasterRxData[NUM_OF_I2CBYTES]; +volatile uint8_t g_ui8MasterCurrState; +volatile uint8_t g_ui8MasterPrevState; +volatile bool g_bI2CDirection; +volatile bool g_bI2CRepeatedStart; +volatile uint8_t g_ui8MasterBytes = NUM_OF_I2CBYTES; +volatile uint8_t g_ui8MasterBytesLength = NUM_OF_I2CBYTES; + + +uint32_t ui32TxArbSize, ui32RxArbSize; + +//***************************************************************************** +// +// The control table used by the uDMA controller. This table must be aligned +// to a 1024 byte boundary. +// +//***************************************************************************** +#if defined(ewarm) +#pragma data_alignment=1024 +uint8_t pui8ControlTable[1024]; +#elif defined(ccs) +#pragma DATA_ALIGN(pui8ControlTable, 1024) +uint8_t pui8ControlTable[1024]; +#else +uint8_t pui8ControlTable[1024] __attribute__ ((aligned(1024))); +#endif + +//***************************************************************************** +// +// Interrupt Handler for I2C Master Interface +// +//***************************************************************************** +void +I2C3IntHandler(void) +{ + uint32_t ui32I2CMasterInterruptStatus; + + // + // Toggle PL4 High to Indicate Entry to ISR + // + ///GPIOPinWrite(GPIO_PORTL_BASE, GPIO_PIN_4, GPIO_PIN_4); + + // + // Get the masked interrupt status and clear the flags + // + ui32I2CMasterInterruptStatus = I2CMasterIntStatusEx(I2C3_BASE, true); + I2CMasterIntClearEx(I2C3_BASE, ui32I2CMasterInterruptStatus); + + // + // Execute the State Machine + // + switch (g_ui8MasterCurrState) { + case I2C_OP_IDLE: + // + // Move from IDLE to Transmit Address State + // + g_ui8MasterPrevState = g_ui8MasterCurrState; + g_ui8MasterCurrState = I2C_OP_TXADDR; + + // + // Write the upper bits of the page to the Slave + // + I2CMasterSlaveAddrSet(I2C3_BASE, SLAVE_ADDRESS_EXT, false); + I2CMasterDataPut(I2C3_BASE, (g_ui16SlaveWordAddress >> 8)); + I2CMasterControl(I2C3_BASE, I2C_MASTER_CMD_BURST_SEND_START); + break; + + case I2C_OP_TXADDR: + // + // Assign the current state to the previous state + // + g_ui8MasterPrevState = g_ui8MasterCurrState; + + // + // If Address has been NAK'ed then go to stop state + // else go the FIFO Priming State + // + if(ui32I2CMasterInterruptStatus & I2C_MASTER_INT_NACK) + { + g_ui8MasterCurrState = I2C_OP_STOP; + } + else + { + g_ui8MasterCurrState = I2C_OP_FIFO; + } + + // + // Write the lower bits of the page to the Slave if + // Address has been ACK-ed + // + I2CMasterDataPut(I2C3_BASE, (g_ui16SlaveWordAddress >> 0)); + I2CMasterControl(I2C3_BASE, I2C_MASTER_CMD_BURST_SEND_CONT); + break; + + case I2C_OP_FIFO: + // + // If Last Data has been NAK'ed then go to stop state + // + if(ui32I2CMasterInterruptStatus & I2C_MASTER_INT_NACK) + { + g_ui8MasterCurrState = I2C_OP_STOP; + } + // + // Based on the direction move to the appropriate state + // of Transmit or Receive. Also send the BURST command + // for FIFO Operations. + // + else if(!g_bI2CDirection) + { + g_ui8MasterCurrState = I2C_OP_TXDATA; + I2CMasterControl(I2C3_BASE, I2C_MASTER_CMD_FIFO_BURST_SEND_FINISH); + } + else + { + g_ui8MasterCurrState = I2C_OP_RXDATA; + I2CMasterSlaveAddrSet(I2C3_BASE, SLAVE_ADDRESS_EXT, true); + I2CMasterControl(I2C3_BASE, I2C_MASTER_CMD_FIFO_SINGLE_RECEIVE); + } + break; + + case I2C_OP_TXDATA: + // + // Move the current state to the previous state + // Else continue with the transmission till last byte + // + g_ui8MasterPrevState = g_ui8MasterCurrState; + + // + // If Address or Data has been NAK'ed then go to stop state + // If a Stop condition is seen due to number of bytes getting + // done then move to STOP state + // + if(ui32I2CMasterInterruptStatus & I2C_MASTER_INT_NACK) + { + g_ui8MasterCurrState = I2C_OP_STOP; + } + else if(ui32I2CMasterInterruptStatus & I2C_MASTER_INT_STOP) + { + g_ui8MasterCurrState = I2C_OP_STOP; + } + else if(ui32I2CMasterInterruptStatus & I2C_MASTER_INT_TX_DMA_DONE) + { + g_ui8MasterCurrState = I2C_OP_STOP; + } + else + { + g_ui8MasterCurrState = I2C_ERR_STATE; + } + break; + + case I2C_OP_RXDATA: + // + // Move the current state to the previous state + // Else continue with the transmission till last byte + // + g_ui8MasterPrevState = g_ui8MasterCurrState; + + // + // If Address has been NAK'ed then go to stop state + // If a Stop condition is seen due to number of bytes getting + // done then move to STOP state and read the last data byte + // + if(ui32I2CMasterInterruptStatus & I2C_MASTER_INT_NACK) + { + g_ui8MasterCurrState = I2C_OP_STOP; + } + else if(ui32I2CMasterInterruptStatus & I2C_MASTER_INT_STOP) + { + g_ui8MasterCurrState = I2C_OP_STOP; + } + else if(ui32I2CMasterInterruptStatus & I2C_MASTER_INT_RX_DMA_DONE) + { + g_ui8MasterCurrState = I2C_OP_STOP; + } + break; + + case I2C_OP_STOP: + // + // Move the current state to the previous state + // Else continue with the transmission till last byte + // + g_ui8MasterPrevState = g_ui8MasterCurrState; + break; + + case I2C_ERR_STATE: + g_ui8MasterCurrState = I2C_ERR_STATE; + break; + + default: + g_ui8MasterCurrState = I2C_ERR_STATE; + break; + } + + // + // Toggle PL4 Low to Indicate Exit from ISR + // + ///GPIOPinWrite(GPIO_PORTL_BASE, GPIO_PIN_4, 0x0); +} + +//***************************************************************************** +// +// This function sets up UDMA Channel Control Structures for TX +// +//***************************************************************************** +void +ConfigureuDMATX(uint8_t ui8Length, uint32_t ui32ArbSize) +{ + // + // Put the attributes in a known state for the uDMA channel. + // These should already be disabled by default. + // + uDMAChannelAttributeDisable(UDMA_CH19_I2C3TX, + UDMA_ATTR_USEBURST | UDMA_ATTR_ALTSELECT | + (UDMA_ATTR_HIGH_PRIORITY | + UDMA_ATTR_REQMASK)); + + // + // Configure the control parameters for the I2C2 TX channel. The channel + // will be used to transfer between memory buffer and I2CFIFODATA register + // 8 bits at a time. Therefore the data size is 8 bits, and the address + // increment is 8 bits for source. The destination increment is none. + // The arbitration size will be set based on the TX FIFO Threshold, which + // causes the uDMA controller to rearbitrate after N items are transferred. + // This keeps this channel from hogging the uDMA controller once the transfer + // is started and allows other channels cycles if they are higher priority. + // + uDMAChannelControlSet(UDMA_CH19_I2C3TX | UDMA_PRI_SELECT, + UDMA_SIZE_8 | UDMA_SRC_INC_8 | UDMA_DST_INC_NONE | + ui32ArbSize); + + // + // Set up the transfer parameters for the hardware channel. This will + // configure the transfer buffers and the transfer size. Basic mode + // is used in this example + // + uDMAChannelTransferSet(UDMA_CH19_I2C3TX | UDMA_PRI_SELECT, + UDMA_MODE_BASIC, g_ui8MasterTxData, + (void *)(I2C3_BASE + I2C_O_FIFODATA), + ui8Length); + + // + // The channel must be enabled. For hardware based transfers, a request + // must be issued by the peripheral. After this, the uDMA memory transfer begins. + // + uDMAChannelEnable(UDMA_CH19_I2C3TX); + +} + +//***************************************************************************** +// +// This function sets up UDMA Channel Control Structures for RX +// +//***************************************************************************** +void +ConfigureuDMARX(uint8_t ui8Length, uint32_t ui32ArbSize) +{ + // + // Put the attributes in a known state for the uDMA software channel. + // These should already be disabled by default. + // + uDMAChannelAttributeDisable(UDMA_CH18_I2C3RX, + UDMA_ATTR_USEBURST | UDMA_ATTR_ALTSELECT | + (UDMA_ATTR_HIGH_PRIORITY | + UDMA_ATTR_REQMASK)); + + // + // Configure the control parameters for the I2C2 RX channel. The channel + // will be used to transfer between I2CFIFODATA register and memory buffers, + // 8 bits at a time. Therefore the data size is 8 bits, and the address + // increment is 8 bits for destination. The source increment is none. + // The arbitration size will be set based on the RX FIFO Threshold, which + // causes the uDMA controller to rearbitrate after N items are transferred. + // This keeps this channel from hogging the uDMA controller once the transfer + // is started and allows other channels cycles if they are higher priority. + // + uDMAChannelControlSet(UDMA_CH18_I2C3RX | UDMA_PRI_SELECT, + UDMA_SIZE_8 | UDMA_SRC_INC_NONE | UDMA_DST_INC_8 | + ui32ArbSize); + + // + // Set up the transfer parameters for the hardware channel. This will + // configure the transfer buffers and the transfer size. Basic mode + // is used in this example + // + uDMAChannelTransferSet(UDMA_CH18_I2C3RX | UDMA_PRI_SELECT, + UDMA_MODE_BASIC, (void *)(I2C3_BASE + I2C_O_FIFODATA), + g_ui8MasterRxData, + ui8Length); + + // + // The channel must be enabled. For hardware based transfers, a request + // must be issued by the peripheral. After this, the uDMA memory transfer begins. + // + uDMAChannelEnable(UDMA_CH18_I2C3RX); + +} + +//***************************************************************************** +// +// This function sets up UART0 to be used for a console to display information +// as the example is running. +// +//***************************************************************************** +/* +void +InitConsole(void) +{ + // + // Enable GPIO port A which is used for UART0 pins. + // TODO: change this to whichever GPIO port you are using. + // + SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); + + // + // Configure the pin muxing for UART0 functions on port A0 and A1. + // This step is not necessary if your part does not support pin muxing. + // TODO: change this to select the port/pin you are using. + // + GPIOPinConfigure(GPIO_PA0_U0RX); + GPIOPinConfigure(GPIO_PA1_U0TX); + + // + // Enable UART0 so that we can configure the clock. + // + SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0); + + // + // Use the internal 16MHz oscillator as the UART clock source. + // + UARTClockSourceSet(UART0_BASE, UART_CLOCK_PIOSC); + + // + // Select the alternate (UART) function for these pins. + // TODO: change this to select the port/pin you are using. + // + GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1); + + // + // Initialize the UART for console I/O. + // + UARTStdioConfig(0, 115200, 16000000); +} +*/ +//***************************************************************************** +// +// Main Program to Configure and Use the I2C Master +// +//***************************************************************************** +int +InitI2C3_udma_fifo(void) +{ + uint32_t ui32SysClock; + uint8_t /*ui8Count, */ui8MasterBytesLength; + // + + + // + // Set up the serial console to use for displaying messages. This is + // just for this example program and is not needed for EPI operation. + // + ///InitConsole(); + + // + // Display the setup on the console. + // + ///UARTprintf("\033[2J\033[H"); + ///UARTprintf("\r\nExample Code for I2C Master with"); + ///UARTprintf("\nUDMA and FIFO Data Transfer\n\n"); + + // + // Stop the Clock, Reset and Enable UDMA Module + // in Master Function + // + SysCtlPeripheralDisable(SYSCTL_PERIPH_UDMA); + SysCtlPeripheralReset(SYSCTL_PERIPH_UDMA); + SysCtlPeripheralEnable(SYSCTL_PERIPH_UDMA); + + // + // Wait for the Peripheral to be ready for programming + // + while(!SysCtlPeripheralReady(SYSCTL_PERIPH_UDMA)); + + // + // Enable the uDMA controller. + // + uDMAEnable(); + + // + // Point at the control table to use for channel control structures. + // + uDMAControlBaseSet(pui8ControlTable); + + // + // Assign the UDMA Channel for I2C2 RX and TX DMA Request + // + uDMAChannelAssign(UDMA_CH18_I2C3RX); + uDMAChannelAssign(UDMA_CH19_I2C3TX); + + // + // Enable GPIO for Configuring the I2C Interface Pins + // + SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOR); + + // + // Wait for the Peripheral to be ready for programming + // + while(!SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOR)); + + // + // Configure Pins for I2C2 Master Interface + // + GPIOPinConfigure(GPIO_PR4_I2C3SCL); + GPIOPinConfigure(GPIO_PR5_I2C3SDA); + GPIOPinTypeI2C(GPIO_PORTR_BASE, GPIO_PIN_5); + GPIOPinTypeI2CSCL(GPIO_PORTR_BASE, GPIO_PIN_4); + + // + // Configure GPIO Pin PL4 for Interrupt Time Processing + // + ///GPIOPinTypeGPIOOutput(GPIO_PORTL_BASE, GPIO_PIN_4); + ///GPIOPinWrite(GPIO_PORTL_BASE, GPIO_PIN_4, 0x0); + + // + // Setup System Clock for 120MHz + // + ui32SysClock = SysCtlClockFreqSet((SYSCTL_OSC_MAIN | SYSCTL_USE_PLL | SYSCTL_XTAL_25MHZ | + SYSCTL_CFG_VCO_480), 120000000); + + // + // Stop the Clock, Reset and Enable I2C Module + // in Master Function + // + SysCtlPeripheralDisable(SYSCTL_PERIPH_I2C3); + SysCtlPeripheralReset(SYSCTL_PERIPH_I2C3); + SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3); + + // + // Wait for the Peripheral to be ready for programming + // + while(!SysCtlPeripheralReady(SYSCTL_PERIPH_I2C3)); + + // + // Initialize and Configure the Master Module + // + I2CMasterInitExpClk(I2C3_BASE, ui32SysClock, true); + + // + // Assign the Transmit and Receive FIFO to the Master + // Transmit threshold of 2 means that when there are less + // than or equal to 2 bytes in the TX FIFO then generate + // an interrupt + // Receive threshold of 6 means that when there are more + // than or qual to 6 bytes in the RX FIFO then generate + // an interrupt + // + I2CTxFIFOConfigSet(I2C3_BASE, I2C_FIFO_CFG_TX_MASTER_DMA | I2C_FIFO_CFG_TX_TRIG_2); + I2CRxFIFOConfigSet(I2C3_BASE, I2C_FIFO_CFG_RX_MASTER_DMA | I2C_FIFO_CFG_RX_TRIG_3); + + // + // Transmit uDMA Arbitrartion size is calculated as the + // smaller mod 2 which can write to the TXFIFO without + // overrun + // TX TRIGGER ARB + // I2C_FIFO_CFG_TX_NO_TRIG UDMA_ARB_8 + // I2C_FIFO_CFG_TX_TRIG_1 UDMA_ARB_4 + // I2C_FIFO_CFG_TX_TRIG_2 UDMA_ARB_4 + // I2C_FIFO_CFG_TX_TRIG_3 UDMA_ARB_4 + // I2C_FIFO_CFG_TX_TRIG_4 UDMA_ARB_4 + // I2C_FIFO_CFG_TX_TRIG_5 UDMA_ARB_2 + // I2C_FIFO_CFG_TX_TRIG_6 UDMA_ARB_2 + // I2C_FIFO_CFG_TX_TRIG_7 UDMA_ARB_1 + // + ui32TxArbSize = UDMA_ARB_4; + + // + // Receive uDMA Arbitrartion size is calculated as the + // Trigger Level to read back data from RXFIFO without + // an underrun + // RX TRIGGER ARB + // I2C_FIFO_CFG_RX_NO_TRIG INVALID + // I2C_FIFO_CFG_RX_TRIG_1 UDMA_ARB_1 + // I2C_FIFO_CFG_RX_TRIG_2 UDMA_ARB_2 + // I2C_FIFO_CFG_RX_TRIG_3 UDMA_ARB_2 + // I2C_FIFO_CFG_RX_TRIG_4 UDMA_ARB_4 + // I2C_FIFO_CFG_RX_TRIG_5 UDMA_ARB_4 + // I2C_FIFO_CFG_RX_TRIG_6 UDMA_ARB_4 + // I2C_FIFO_CFG_RX_TRIG_7 UDMA_ARB_4 + // + ui32RxArbSize = UDMA_ARB_2; + + // + // Flush any existing data in the FIFO + // + I2CTxFIFOFlush(I2C3_BASE); + I2CRxFIFOFlush(I2C3_BASE); + + // + // Enable Interrupts for Arbitration Lost, Stop, NAK, + // Clock Low Timeout and Data. + // + I2CMasterIntEnableEx(I2C3_BASE, (I2C_MASTER_INT_ARB_LOST | + I2C_MASTER_INT_STOP | I2C_MASTER_INT_NACK | + I2C_MASTER_INT_TIMEOUT | I2C_MASTER_INT_DATA)); + + // + // Enable the Interrupt in the NVIC from I2C Master + // + IntEnable(INT_I2C3); + + // + // Enable the Glitch Filter. Writting a value 0 will + // disable the glitch filter + // I2C_MASTER_GLITCH_FILTER_DISABLED + // I2C_MASTER_GLITCH_FILTER_1 + // I2C_MASTER_GLITCH_FILTER_2 : Ideal Value when in HS Mode + // for 120MHz clock + // I2C_MASTER_GLITCH_FILTER_4 + // I2C_MASTER_GLITCH_FILTER_8 : Ideal Value when in Std, + // Fast, Fast+ for 120MHz clock + // I2C_MASTER_GLITCH_FILTER_16 + // I2C_MASTER_GLITCH_FILTER_32 + // + I2CMasterGlitchFilterConfigSet(I2C3_BASE, I2C_MASTER_GLITCH_FILTER_8); + + // + // Initialize and Configure the Master Module State Machine + // + g_ui8MasterCurrState = I2C_OP_IDLE; + + return 0; + +} + +uint32_t I2C_Write_udmaFifo(uint32_t base, uint8_t addr, uint8_t *data, uint32_t len) +{ + uint8_t ui8Count; + //uint32_t ui32TxArbSize; + SLAVE_ADDRESS_EXT = addr; + uint8_t ui8MasterBytesLength; + // + // Check if the Bus is Busy or not + // + while(I2CMasterBusBusy(base)); + + // + // Randomly Initialize the Transmit buffer and + // set the receive buffer to 0xFF + // + for(ui8Count=0 ; ui8Count < len ; ui8Count++) + { + g_ui8MasterTxData[ui8Count] = data[ui8Count]; + + // + // Change the Random Value for the next + // iteration.. + // + ///RandomAddEntropy(RandomSeed()); + + // + // Init the receive buffers with the value + // 0xFF + // + ////g_ui8MasterRxData[ui8Count] = 0xFF; + } + + // + // When sending data to slave make sure + // RX DMA DONE interrupt bit is masked and + // TX DMA DONE interrupt bit is unmasked + // + I2CMasterIntEnableEx(base, I2C_MASTER_INT_TX_DMA_DONE); + I2CMasterIntDisableEx(base, I2C_MASTER_INT_RX_DMA_DONE); + + // + // Set the I2CMBLEN register and also initialize + // the internal flag + // + ui8MasterBytesLength = 32; + + I2CMasterBurstLengthSet(base, ui8MasterBytesLength); + + // + // Configure the uDMA Control Channel Structure for TX + // + ConfigureuDMATX(ui8MasterBytesLength, ui32TxArbSize); + + // + // Set Transmit Flag and set the Page Address in + // external slave to 0x0000 + // + g_bI2CDirection = false; + g_ui16SlaveWordAddress = 0x0; + g_ui8MasterBytes = 0; + + // + // Print Message before sending data + // + ///UARTprintf("Transmit %d bytes to external Slave...\n\n",ui8MasterBytesLength); + + // + // Trigger the Transfer using Software Interrupt + // + g_ui8MasterCurrState = I2C_OP_IDLE; + IntTrigger(INT_I2C3); + while(g_ui8MasterCurrState != I2C_OP_STOP); + + return 0; +} + +uint32_t I2C_Read_udmaFifo(uint32_t base, uint8_t addr, uint8_t *data, uint32_t len) +{ + uint8_t ui8Count; + bool bError; + //uint32_t ui32RxArbSize; + uint8_t ui8MasterBytesLength; + + SLAVE_ADDRESS_EXT = addr; + // + // When receiving data from slave make sure + // TX DMA DONE interrupt bit is masked and + // RX DMA DONE interrupt bit is unmasked + // + I2CMasterIntEnableEx(base, I2C_MASTER_INT_RX_DMA_DONE); + I2CMasterIntDisableEx(base, I2C_MASTER_INT_TX_DMA_DONE); + + // + // Set the I2CMBLEN register and also initialize + // the internal flag + // + ui8MasterBytesLength = 32; + + I2CMasterBurstLengthSet(base, ui8MasterBytesLength); + + // + // Configure the uDMA Control Channel Structure for RX + // + ConfigureuDMARX(ui8MasterBytesLength,ui32RxArbSize); + + // + // Set receive Flag and set the Page Address in + // external slave to 0x0000 + // + g_bI2CDirection = true; + g_bI2CRepeatedStart = true; + g_ui16SlaveWordAddress = 0x0; + g_ui8MasterBytes = 0; + + // + // Print Message before receiving data + // + ///UARTprintf("Receiving %d bytes from external Slave...\n\n",ui8MasterBytesLength); + + // + // Trigger the Transfer using Software Interrupt + // + g_ui8MasterCurrState = I2C_OP_IDLE; + IntTrigger(INT_I2C3); + while(g_ui8MasterCurrState != I2C_OP_STOP); + + // + // Perform Data Integrity Check... + // + bError = false; + for(ui8Count = 0 ; ui8Count < len ; ui8Count++) + { + data[ui8Count] = g_ui8MasterRxData[ui8Count]; + + } + + return 0; + +} + + + diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c index 3be36668d..88ba521a4 100644 --- a/Software/Embedded_SW/Embedded/Main.c +++ b/Software/Embedded_SW/Embedded/Main.c @@ -39,6 +39,7 @@ #include <DataDef.h> #include "Sys_PinOut_Config/MCU_MAIN_pinout.h" +#include <Drivers/I2C_Communication/I2C.h> /* #include "Drivers/SPI_SDCARD/SDSPI.h" @@ -84,7 +85,7 @@ #include "Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h" #include "Drivers/I2C_Communication/Head_Card/EEPROM/Head_EEPROM.h" #include "modules/AlarmHandling/AlarmHandling.h" -//#include <Drivers/I2C_Communication/I2C_Task.h> +#include <Drivers/I2C_Communication/I2C_Task.h> #include <Drivers/I2C_Communication/WHS_Card/EEPROM/WHS_EEPROM.h> #include <Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.h> //***************************************************************************** @@ -265,21 +266,25 @@ int main(void) Init_All_I2C(); Block_Main_MUX_TCA9548A_0xE4();//unused, same i2c as head and whs cards - Check_Head_Type_Via_EEPROM(); + I2C_BUSY_DELAY = 3000; //temporary workaround!!! + Check_Head_Type_Via_EEPROM();//without trigger + Check_WHS_Type_Via_EEPROM();//without trigger + I2C_BUSY_DELAY = 100; //temporary workaround!!! + if ((Head_Type >= HEAD_TYPE_UNKNOWN_WITH_CARD)&&(WHS_Type == WHS_TYPE_NEW)) + { + PP_Machine = true; + } + if ((Head_Type > HEAD_TYPE_SYLKO_WITHOUT_CARD)||(WHS_Type == WHS_TYPE_NEW)) + { + I2C_ReadingTask_Init(); + } if (Head_Type > HEAD_TYPE_SYLKO_WITHOUT_CARD) { - Head_IO_Init();//moved to set 24 to pressure sensor in arc earlier + Trigger_Head_io_Init();//Head_IO_Init();//moved to set 24 to pressure sensor in arc earlier } - //Trigger_Check_WHS_Type_Via_EEPROM(); - Check_WHS_Type_Via_EEPROM(); - Check_IFS_Availability(); - if ((Head_Type >= HEAD_TYPE_UNKNOWN_WITH_CARD)&&(WHS_Type == WHS_TYPE_NEW)) - { - PP_Machine = true; - } #ifndef EVALUATION_BOARD STATUS_RED_LED_ON; STATUS_GREEN_LED_ON; @@ -290,8 +295,6 @@ int main(void) SysCtlUSBPLLEnable(); - - #ifndef EVALUATION_BOARD DeActivateAllSSR(); Control_Dryer_Fan(STOP,0);//Preventing unwanted movement at power up, since the default from FPGA is "0" (= START) @@ -310,8 +313,7 @@ int main(void) //ActivateHeadMagnet(); Set_Speed_Sensor_TypeII_Registers(10,5);//set default values #endif - if ((Head_Type > HEAD_TYPE_SYLKO_WITHOUT_CARD)||(WHS_Type == WHS_TYPE_NEW)) - I2C_ReadingTask_Init(); + //EMAC_initEMAC(); ControlInit(); diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c index 1c2b6662d..650d9be24 100644 --- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c +++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c @@ -893,7 +893,7 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob) if (AlarmItem[Alarm_i].AlarmSource == ALARM_SOURCE_TYPE__CoversAlarm) { - if (AlarmState[Alarm_i].Status == true) + if ((AlarmState[Alarm_i].Status == true)&&(AlarmItem[Alarm_i].Severity == DEBUG_LOG_CATEGORY__Error)) { FoundReason = JOB_TAMPER_ALARM; ReportWithPackageFilter(AlarmFilter,"tamper alarm preventing job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0); @@ -977,6 +977,7 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob) case EVENT_TYPE__INSUFFICIENT_AIR_FLOW: case EVENT_TYPE__VOC_SENSOR_ALARM_TIME: case EVENT_TYPE__VOC_SENSOR_ALARM_SLOPE: + //case EVENT_TYPE__POWER_UP_BIT_FAILURE: FoundReason = JOB_UNSPECIFIED_ERROR; AlarmId = Alarm_i; ReportWithPackageFilter(AlarmFilter,"an alarm preventing job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0); @@ -1001,7 +1002,7 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob) //AbortJob(AlarmReasonStr); //PrepareReady(Module_Alarms,ModuleFail); ReportWithPackageFilter(AlarmFilter,AlarmReasonStr, __FILE__,__LINE__,AlarmId, RpMessage, DEBUG_LOG_CATEGORY__Error, 0); - return (JobEndReason); + return (FoundReason); } return JOB_OK; } @@ -1314,7 +1315,7 @@ uint32_t AlarmHandlingLoop(uint32_t tick) } break; case ALARM_SOURCE_TYPE__MotorAlarm: - if (0)//(CheckMotorAlarms) + if (CheckMotorAlarms) { if (FPGA_WD_Occurred == true) { diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index 4ad5336d9..27fc8a707 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -594,7 +594,7 @@ uint32_t MillisecLowLoop(uint32_t tick) //call all modules Millisec functions //test dancers and speed encoders //check all callback units (state machine waiting for completion of a change) - bool Ten_msTick, Fifty_msTick, Hundred_msTick , m20msecTick,m70msecTick,m90msecTick, Onesecond_Tick,Tensecond_Tick,OneMinute_Tick,OneHourTick,Gradient_Tick; + bool Ten_msTick, Fifty_msTick, Hundred_msTick , m20msecTick,m70msecTick,m90msecTick, Onesecond_Tick,Tensecond_Tick,OneMinute_Tick,TenMinutes_Tick,OneHourTick,Gradient_Tick; bool O700Millisecond_Tick,O200Millisecond_Tick,O400Millisecond_Tick,O500Millisecond_Tick,O600Millisecond_Tick; //bool O100Millisecond_Tick,O200Millisecond_Tick,O400Millisecond_Tick,O500Millisecond_Tick,O600Millisecond_Tick,O800Millisecond_Tick,O900Millisecond_Tick; Ten_msTick = (tick%eTenMillisecond == 0) ?true:false; @@ -614,6 +614,7 @@ uint32_t MillisecLowLoop(uint32_t tick) Onesecond_Tick = (tick%eOneSecond == 0) ?true:false; Tensecond_Tick = (tick%10000 == 0) ?true:false; OneMinute_Tick = (tick%eOneMinute == 0) ?true:false; + TenMinutes_Tick = (tick%eTenMinutes == 0) ?true:false; OneHourTick = (tick%eOneHour == 0) ?true:false; realtimetest[(tick%1000)/10]++; //gather Motor data from FPGA @@ -766,8 +767,12 @@ uint32_t MillisecLowLoop(uint32_t tick) } */ } + //call waste state machine Waste_StateMachine_OneSecond_Call(); + + //call IFS state machine + midTankStateMachine(); } if (Tensecond_Tick) { @@ -797,6 +802,13 @@ uint32_t MillisecLowLoop(uint32_t tick) ResetControlTime(); #endif } + if (TenMinutes_Tick) + { + if (WHS_Type == WHS_TYPE_NEW) + { + waste_seq_step1();// include 1Sec delay <- to open !!!! + } + } if (OneHourTick) { #define PUMP_LIMIT 4 @@ -807,10 +819,10 @@ uint32_t MillisecLowLoop(uint32_t tick) PumpCounter = 0; } MidTankReading(); - if (WHS_Type == WHS_TYPE_NEW) + /*if (WHS_Type == WHS_TYPE_NEW) { waste_seq_step1();// include 1Sec delay <- to open !!!! - } + }*/ //Trigger_WHS_MAX11614_Read_Gas_Sensor(); } //ROM_IntMasterEnable(); diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.h b/Software/Embedded_SW/Embedded/Modules/Control/control.h index 78e24f495..4b6a80967 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/control.h +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.h @@ -21,6 +21,7 @@ typedef enum { eHundredMillisecond = 100, eOneSecond = 1000, eOneMinute = 60000, + eTenMinutes = 600000, eOneHour = 3600000 }CTRL_TIMING_ENUM; typedef enum diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c index 8e01fe18e..421206b45 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c @@ -864,10 +864,10 @@ void DiagnosticOneSecCollection(void) tempFlow = HeadFlowMeter; }*/ WasteLevel = GetWHSWasteTankLevelMiliLiter()/1000;//change from ml to litter - static double InitCounter = 0; - if (GetMachineState()<MACHINE_STATE_NO_PROCESS_PARAMS) + static double InitCounter = 60.0; + if ((GetMachineState()<MACHINE_STATE_NO_PROCESS_PARAMS) &&(GetMachineState()>=MACHINE_STATE_WAIT_FOR_COOLER)) { - InitCounter+=1.0; + InitCounter-=1.0; DiagnosticsMonitor.chillertemperature = &InitCounter; } @@ -1058,7 +1058,8 @@ void SendDiagnostics(void) DiagnosticsMonitor.dancer2angle = dancer2angle; DiagnosticsMonitor.dancer3angle = dancer3angle; */ - if ((JobIsActive())&&(DiagnosticMode >= Diagnostic_Extended_Mode)) +// if ((JobIsActive())&&(DiagnosticMode >= Diagnostic_Extended_Mode)) + if (DiagnosticMode >= Diagnostic_Extended_Mode) { DiagnosticsMonitor.n_dancer1angle = DancerCounterIndex[0]; DiagnosticsMonitor.n_dancer2angle = DancerCounterIndex[1]; diff --git a/Software/Embedded_SW/Embedded/Modules/General/Safety.c b/Software/Embedded_SW/Embedded/Modules/General/Safety.c index 89ac8d020..099ac1769 100644 --- a/Software/Embedded_SW/Embedded/Modules/General/Safety.c +++ b/Software/Embedded_SW/Embedded/Modules/General/Safety.c @@ -46,7 +46,7 @@ uint32_t Safety_Main_State(uint32_t IfIndex, uint32_t BusyFlag) bool mDrierDoorAlarmState = false; bool mAirFlowAlarmState = false; bool mAirFilterAlarmState = false; - //bool mWasteOverflowAlarmState = false; + bool mWasteOverflowAlarmState = false; #ifdef CONTROL_DEBUG uint32_t tempp,tempq,delta; uint32_t sys_ticks_start = msec_millisecondCounter,sys_ticks_end,max = 0,dev = 0; @@ -91,6 +91,16 @@ uint32_t Safety_Main_State(uint32_t IfIndex, uint32_t BusyFlag) mDrierDoorAlarmState = true; DrierDoorAlarmState = true; } + else + { + //if (WHS_GPI_WASTE_OVERFULL()) - cannot read this switch + { + //report and handle waste overflow + AlarmHandlingSetAlarm(EVENT_TYPE__CHILLER_DRY_CONTACT, true); + mWasteOverflowAlarmState = true; + WasteOverflowAlarmState = true; + } + } } } @@ -224,6 +234,12 @@ uint32_t Safety_Main_State(uint32_t IfIndex, uint32_t BusyFlag) AlarmHandlingSetAlarm(EVENT_TYPE__AIR_FILTER_NOT_INSTALLED, false); AirFilterAlarmState = mAirFilterAlarmState; } + if ((mWasteOverflowAlarmState != WasteOverflowAlarmState)|| (mWasteOverflowAlarmState == false)) + { + //alarm went off + AlarmHandlingSetAlarm(EVENT_TYPE__WASTE_CONTAINER_OVERFLOW, false); + WasteOverflowAlarmState = mWasteOverflowAlarmState; + } #ifdef CONTROL_DEBUG tempq = HibernateRTCSSGet(); if (tempq < tempp) diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.h b/Software/Embedded_SW/Embedded/Modules/General/buttons.h index 646861bc7..6a15d3765 100644 --- a/Software/Embedded_SW/Embedded/Modules/General/buttons.h +++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.h @@ -59,7 +59,6 @@ uint32_t Buttons_Init(void); uint32_t Button_load_Init(void); uint32_t Button_JOG_Init(void); bool SetPowerMachineState(PBmachineState state); -void Ink_Cart_Led(); diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c index bf7d761dd..30a99ac86 100644 --- a/Software/Embedded_SW/Embedded/Modules/General/process.c +++ b/Software/Embedded_SW/Embedded/Modules/General/process.c @@ -119,7 +119,7 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams,bool saveData) } if (saveData == true) { - if ((ProcessParams->dryerzone1temp > 0.1)&&(ProcessParams->headzone2temp > 0.1)&&(ProcessParams->headzone3temp > 0.1)&&(ProcessParams->headzone4temp > 0.1))//NOT turning off heaters + if ((ProcessParams->dryerzone1temp > 0.1)&&(ProcessParams->headzone2temp > 0.1)&&(ProcessParams->headzone3temp > 0.1)&&(ProcessParams->headzone1temp > 0.1))//NOT turning off heaters { Bytes = sizeof(ProcessParameters); FileWrite(ProcessParams,Bytes,ProcessParamsConfigPath,BIOS_WAIT_FOREVER); diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c index 8f10a0e5d..0be1e7ebe 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c @@ -55,17 +55,20 @@ uint32_t IDS_Cleaning_Move_Actuators() return OK; if (CleaningStageCounter == 1) { - Trigger_Head_Actuators_Control(ACTIN, LOW,true); + Trigger_Head_Actuators_Stub(ACTIN, true, true); + //Trigger_Head_Actuators_Control(ACTIN, LOW,true); Report("IDS_Cleaning_Move_ActuatorUp", __FILE__, __LINE__, 1, RpWarning, CleaningStageCounter, 0); } else if (CleaningStageCounter == Tup) { - Trigger_Head_Actuators_Disable(); + Trigger_Head_Actuators_Stub(ACTIN, false, false); + //Trigger_Head_Actuators_Disable(); Report("IDS_Cleaning_Stop_Actuator", __FILE__, __LINE__, Tup, RpWarning, CleaningStageCounter, 0); } else if (CleaningStageCounter == Tdelay1) { - Trigger_Head_Actuators_Control(ACTIN, LOW,false); + Trigger_Head_Actuators_Stub(ACTIN, true, false); + //Trigger_Head_Actuators_Control(ACTIN, LOW,false); Report("IDS_Cleaning_MoveDown", __FILE__, __LINE__, Tdelay1, RpWarning, CleaningStageCounter, 0); } else if (CleaningStageCounter == Tdelay2) diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c index 3798e9aee..7693d1520 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c @@ -347,19 +347,20 @@ void IDS_Dispenser_Content_Calculation (char DispenserId) != DispenserIdToMotorId[DispenserId]) return; + /********* THIS FUNCTION IS NOW CALLED EVERY 400 MILISECONDS!!!!!!!!!! ***************************/ //int dir = (IDS_Dispenser_Data[DispenserId].direction==1)?1:-1; //double consumedintimeframe = (double)(CurrentDispenserSpeed[DispenserId])*(double)(IDS_Dispenser_Data[DispenserId].microsteps)* // IDS_Dispenser_Data[DispenserId].nanolitterperpulse ;//* dir; //double consumedintimeframe = (double)(CurrentDispenserSpeed[DispenserId]); //pulses only //consumedintimeframe = 10+DispenserId; - IDS_Dispenser_Data[DispenserId].consumedinnanolitter += (CurrentDispenserSpeed[DispenserId]/10);//100 milliseconds ==> speed/10 + IDS_Dispenser_Data[DispenserId].consumedinnanolitter += (CurrentDispenserSpeed[DispenserId]*4/10);//100 milliseconds ==> speed/10 if (IDS_Dispenser_Data[DispenserId].consumedinnanolitter<0) IDS_Dispenser_Data[DispenserId].consumedinnanolitter = 0; if (CurrentDispenserSpeed[DispenserId]>0.1) { DispenserDataUpdated = true; IDS_Dispenser_Data[DispenserId].totalconsumedinnanolitter += (CurrentDispenserSpeed[DispenserId]/10); - if (seconds_counter%6000 == 0) + if (seconds_counter%1500 == 0) //1500*400MILI = 600000 { Report("IDS_Dispenser_Data ",__FILE__,DispenserId,(int)IDS_Dispenser_Data[DispenserId].consumedinnanolitter,RpWarning,(int)CurrentDispenserSpeed[DispenserId],0); } diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c index b4442c996..ac9bd0deb 100644 --- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c +++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c @@ -43,6 +43,8 @@ typedef struct HardwarePidControl *DispensersControl; HardwarePidControl DispensersCtrl[MAX_SYSTEM_DISPENSERS]; #define MAX_DYE_DISPENSERS 6 +#define IDS_PRESEGMENT_TIME_STEP 50 + int32_t DispenserSamples[MAX_SYSTEM_DISPENSERS][MAX_CONTROL_SAMPLES] = {0}; int DispenserSamplePointer[MAX_SYSTEM_DISPENSERS] = {0}; double DispenserNormalizedErrorCoEfficient[MAX_SYSTEM_DISPENSERS] = {0}; @@ -117,8 +119,9 @@ void IDS_Dispenser_SetPreSegmentWFCFValues(double dispenserpresegmentwfcf, doubl LeftRockerSpeed = ids_leftcleaningmotorspeed; if ( ids_rightcleaningmotorspeed) RightRockerSpeed = ids_rightcleaningmotorspeed; - Report("IDS_Dispenser_SetPreSegmentCleaningValues ",__FILE__,__LINE__,CleaningDispenserSpeed,RpWarning,(int)LeftRockerSpeed,0); + Report("IDS_Dispenser_SetPreSegmentCleaningValues ",__FILE__,__LINE__,RightRockerSpeed,RpWarning,(int)LeftRockerSpeed,0); Report("IDS_Dispenser_SetPreSegmentCleaningValues ",__FILE__,__LINE__,InterSegmentStartSprayCleaner,RpWarning,(int)InterSegmentCenterRockers,0); + Report("IDS_Dispenser actuator times ",__FILE__,(int)LeftRockerSpeed/100*IDS_PRESEGMENT_TIME_STEP,(int)LeftRockerSpeed%100*IDS_PRESEGMENT_TIME_STEP,RpWarning,(int)RightRockerSpeed*IDS_PRESEGMENT_TIME_STEP,0); } @@ -590,7 +593,7 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue) Report("pressureReady = true or timeout;",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0); } } - else if (endOfPrepareWCF == false) + else if ((endOfPrepareWCF == false)&&(NumOfActiveDispensers)) { if ((DispenserBuildTimeCounter == PRESSURE_READ_TIME_GAP)&&(FirstBrushStop)) { @@ -683,6 +686,13 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue) } } + else if (NumOfActiveDispensers == 0) + { + endOfPrepareWCF = true; + FreeBrushStopFileData(FirstBrushStop); + FirstBrushStop =NULL; + Report("endOfPrepareWCF = true;",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0); + } //start new stage if (endOfPrepareWCF == true) { @@ -1027,7 +1037,6 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue) //******************************************************************************************************************** - uint32_t IDSPreSegmentStateCallbackRunner(uint32_t IfIndex, uint32_t ReadValue) { JobDispenser **Dispensers; @@ -1065,7 +1074,7 @@ uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback); */ //InterSegmentStepsLimit = lInterSegmentLength*10;//100 millisec steps - InterSegmentStepsCount+=100; + InterSegmentStepsCount+=IDS_PRESEGMENT_TIME_STEP; if (InterSegmentStepsCount >= lInterSegmentLength) { //IDS_Valve_PresegmentReady(1,0); @@ -1259,7 +1268,7 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId) lInterSegmentLength = ((IntersegmentLength*100)*1000/dyeingspeed); lInterSegmentLength-=(lInterSegmentLength%100); //round to a 100 multiplication InterSegmentStepsCount = 0; - DispenserPreSegmentControlId = AddControlCallback(NULL,IDSPreSegmentStateCallbackRunner, 100,TemplateDataReadCBFunction ,0, 0, 0 ); + DispenserPreSegmentControlId = AddControlCallback(NULL,IDSPreSegmentStateCallbackRunner, IDS_PRESEGMENT_TIME_STEP,TemplateDataReadCBFunction ,0, 0, 0 ); if (DispenserPreSegmentControlId == 0xFF) { Report("Add control callback failed",__FILE__,__LINE__,(int)100,RpWarning,(int)0,0); @@ -1292,7 +1301,7 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId) lInterSegmentLength = (dryerbufferCentimeters*1000/dyeingspeed); lInterSegmentLength-=(lInterSegmentLength%100); //round to a 100 multiplication InterSegmentStepsCount = 0; - DispenserPreSegmentControlId = AddControlCallback( IDSPreSegmentStateCallbackRunner, 100,TemplateDataReadCBFunction ,0, 0, 0 ); + DispenserPreSegmentControlId = AddControlCallback( IDSPreSegmentStateCallbackRunner, IDS_PRESEGMENT_TIME_STEP,TemplateDataReadCBFunction ,0, 0, 0 ); if (DispenserPreSegmentControlId == 0xFF) { Report("Add control callback failed",__FILE__,__LINE__,(int)100,RpWarning,(int)0,0); @@ -1695,7 +1704,7 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId) lInterSegmentLength = (dryerbufferCentimeters*1000/dyeingspeed); lInterSegmentLength-=(lInterSegmentLength%100); //round to a 100 multiplication InterSegmentStepsCount = 0; - DispenserPreSegmentControlId = AddControlCallback("IDS DTS", IDSPreSegmentStateCallbackRunner, 100,TemplateDataReadCBFunction ,0, 0, 0 ); + DispenserPreSegmentControlId = AddControlCallback("IDS DTS", IDSPreSegmentStateCallbackRunner, IDS_PRESEGMENT_TIME_STEP,TemplateDataReadCBFunction ,0, 0, 0 ); if (DispenserPreSegmentControlId == 0xFF) { Report("Add control callback failed",__FILE__,__LINE__,(int)100,RpWarning,(int)0,0); diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c index 5af90c3d1..974b022d7 100644 --- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c +++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c @@ -8,14 +8,15 @@ * @author Shai */ +#include <DataDef.h> #include "PMR/Diagnostics/CartridgeSlot.pb-c.h" #include "PMR/Diagnostics/CartridgeTagContent.pb-c.h" #include <Drivers/I2C_Communication/RFID_NFC/RFIDTagInfo.h> - -#include <DataDef.h> +#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"//#include "FPGA_GPIO.h" // use for FPGA IO +#include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h" +#include "StateMachines/Initialization/PowerOffSequence.h" #include "include.h" -#include "Modules/Waste/Waste.h" #include "Modules/IDS/ids_ex.h" #include "Modules/IFS/ifs.h" #include "Modules/AlarmHandling/AlarmHandling.h" @@ -23,256 +24,147 @@ #include "CartridgeValidationResponse.pb-c.h" #include <PMR/Diagnostics/EventType.pb-c.h> #include "drivers/Valves/Valve.h" -#include "Modules/Waste/Waste.h" #include "../control/control.h" +#include "Modules/General/buttons.h" + +#define CARTRIDGE_EMPTY_QUANTITY_LIMIT 10 +#define CARTRIDGE_EMPTY_CALCULATION_TIME 12 +#define FIVE_SECONDS 5 + +//#define IFS_DEBUG + +int CartridgeInkTimeout = CARTRIDGE_INK_TIMEOUT; +int CartridgeCheckTime = FIVE_SECONDS; -bool IFS_TimeOutAlarm(bool status); -bool ColorMatch(); -bool MidTankValvesAction(bool action); +double midTankCapacity; +MidTank_t midTankCartColor; +bool prevDoorState; +bool doorState; +uint8_t inkAuthenticationPass; +uint32_t midTankTimeoutCounter = 0; +double MidTankEmptyLimit = MidTank_Pressure_EMPTY; +MidTankStateEnum midTankState = 0; + +char CartridgeRequestToken[36+1]; +int CartridgeRequestId = 0x01010101; + +bool RdInkCartridgeSensor() +{ + return Is_Cartridge_Present(CART_1); +} bool IFS_CartridgeLowerPresent() { - return IFS_info.IFS_Ink_precense_sensor; + return RdInkCartridgeSensor(); } bool IFS_MidTankFilling(void) { - return (IFS_info.Ink.time_out > 0); + return (midTankTimeoutCounter > 0); } + MidTank_t IFS_MidTankIsActive(void) { - return (IFS_info.Ink.cart_color); + return midTankCartColor; } -NFC_Tag NFCTag[MAX_CARTRIDGES]; +uint32_t MidTankReading(void) +{ + if (midTankTimeoutCounter > 0) + return ERROR; + return OK; +} -void IFS_Init(void) +bool MidTankValvesAction(bool action) { - int i; - for (i=0;i<MAX_CARTRIDGES;i++) - { - //TagInitialize(&TagContent[i]); - memset(NFCTag[i].Buf,0,sizeof(NFCTag[i])); + bool ret = true; + if (action == Cartridge_MidTank_ON) { + Enable_MidTank_Pressure_Reading(midTankCartColor); + } else { + Disable_MidTank_Pressure_Reading(midTankCartColor); + } + if (IDS_IsHomingActive(midTankCartColor)==false) { + Valve_Set(IDS_Id_to_AirValve[midTankCartColor], action); } + Valve_Set(IDS_Id_to_CartrideValve[midTankCartColor], action); + return ret; } -/** - * - * @brief detect cartridge INK Empty - * this function detect changes in IFS INK cartridge - * when MidTank average is bigger the 98% of midtank pressure - * the INK cartridge is empty - * @return bool ret OK = 0 , CartridgeFinished = 1 - */ -#define CARTRIDGE_EMPTY_QUANTITY_LIMIT 10 -#define CARTRIDGE_EMPTY_CALCULATION_TIME 12 bool DetectIfCartridgeFinished(int int_MidTank_Pressure_1000) { - -#define CartridgeFinished 1 - - bool ret = OK; + bool ret = false; static int measure_midtank[CARTRIDGE_EMPTY_CALCULATION_TIME] ; static int count_measure_midtank = 0; int i=0; int sum = 0; int average = 0; - if ( count_measure_midtank == CARTRIDGE_EMPTY_CALCULATION_TIME) + if (count_measure_midtank == CARTRIDGE_EMPTY_CALCULATION_TIME) count_measure_midtank = 0; measure_midtank[count_measure_midtank] = int_MidTank_Pressure_1000; count_measure_midtank += 1; for (i=0;i<CARTRIDGE_EMPTY_CALCULATION_TIME;i++) sum += measure_midtank[i]; average = sum/CARTRIDGE_EMPTY_CALCULATION_TIME; - if (abs(average - int_MidTank_Pressure_1000)<CARTRIDGE_EMPTY_QUANTITY_LIMIT) ret = CartridgeFinished; - //if (average > (int_MidTank_Pressure_1000 * 0.98) ) ret = CartridgeFinished; - + if (abs(average - int_MidTank_Pressure_1000)<CARTRIDGE_EMPTY_QUANTITY_LIMIT) + ret = true; return ret; } - - -/** - * - * @brief detect changes in cartridge INK presence - * this function detect changes in IFS presence cartridge - * when changes are happens it update the presence status - * and the correct event - * @return IFS_INK_presence_sensor or WHS_no_event event - */ - -WHS_sensor CartridgeInkCallBackFunction() +#ifdef IFS_DEBUG +bool CartridgeInkFull() { - WHS_sensor ret = WHS_no_event; - - if (IFS_info.IFS_Ink_precense_sensor != RdInkCartridgeSensor()) - { - WHS_info.event = IFS_INK_presence_sensor; - IFS_info.IFS_Ink_precense_sensor = !IFS_info.IFS_Ink_precense_sensor; - Report("------------ find : IFS_Ink_presence_sensor event -----------------", __FILE__,__LINE__, IFS_info.IFS_Ink_precense_sensor, RpMessage, 0, 0); - ret = IFS_INK_presence_sensor; + static int count = 1; + if((count++ % 60) == 0) { + return true; + } else { + return false; } - return ret; } +#else +int CartridgeFinishedCount = 0; -/** - * - * @brief detect TimeOut - * we have 2 way to stop filling: - * 1. time out - * 2. detect Midtank is full. - * - * 1. time out process is: - * 1. detect timeout after 5 minutes - * 2. close and open the valves - * 3. count 5 minutes again - *2. measure MidTank capacity - * if MidTank is full stop count - * - * @return IFS_INK_presence_sensor or WHS_no_event event - */ -WHS_sensor CartridgeInkTimeOutCallBackFunction() +bool CartridgeInkFull() { - WHS_sensor ret = WHS_no_event; double MidTank_Pressure = 0; int int_MidTank_Pressure_1000 = 0; - - //Enable_MidTank_Pressure_Reading(IFS_info.Ink.cart_color); - MidTank_Pressure = Read_MidTank_Pressure_Sensor(IFS_info.Ink.cart_color);// Get_MidTank_Pressure_Sensor(IFS_info.Ink.cart_color); - //Disable_MidTank_Pressure_Reading(IFS_info.Ink.cart_color); + MidTank_Pressure = Read_MidTank_Pressure_Sensor(midTankCartColor); int_MidTank_Pressure_1000 = ((int)(MidTank_Pressure*1000)); - Report("------------ IFS_info.Ink.time_out and Pressure -----------------", __FILE__,__LINE__,(IFS_info.Ink.time_out * SECONDS_5), RpMessage, (int_MidTank_Pressure_1000), 0); - - if (IFS_info.Ink.time_out) IFS_info.Ink.time_out += 1; /*** counter ***/ - /*** detect the MidTank capacity is full ***/ - //Read_MidTank_Pressure_Sensor(IFS_info.Ink.cart_color); - if (MidTank_Pressure >= IFS_info.MidTank_capacity + CARTRIDGE_CAPATICY) - { - IFS_info.Ink.time_out = 0; - WHS_info.event = IFS_MidTankFull; - return IFS_MidTankFull; - } - - /**** detect if the MidTank_Pressure is the same, 5 times ****/ - if (DetectIfCartridgeFinished(int_MidTank_Pressure_1000)) - { - Report("------------ INK Cartrigde is empty (by average) -----------------", __FILE__,__LINE__,(IFS_info.Ink.time_out * SECONDS_5), RpMessage, (int_MidTank_Pressure_1000), 0); - IFS_info.Ink.time_out = 0; - WHS_info.event = IFS_MidTankFull; - return IFS_MidTankFull; - } - - - int timeout = CARTRIDGE_INK_TIMEOUT; - int secondtimeout = CARTRIDGE_INK_TIMEOUTx2; - if (IFS_info.Ink.cart_color == MIDTANK_8)//lubricant - { - timeout = CARTRIDGE_INK_TIMEOUT*3; - secondtimeout = CARTRIDGE_INK_TIMEOUTx2 * 3; - } - /*** first TimeOut ***/ - if (IFS_info.Ink.time_out == timeout) - { - Report("------------ first IFS_info.Ink.time_out, close valves -----------------", __FILE__, __LINE__, (IFS_info.Ink.time_out * SECONDS_5), RpMessage, (int_MidTank_Pressure_1000), 0); - //IFS_info.Ink.time_out = 0; - //return IFS_info.event = IFS_Timeout; + //Read_MidTank_Pressure_Sensor(IFS_info.Ink.midTankCartColor); + if (MidTank_Pressure >= midTankCapacity + CARTRIDGE_CAPATICY) + return true; - // try again : - // start timeout - // close and open the correct valves - - IFS_info.Ink.time_out = 0; - MidTankValvesAction(Cartridge_MidTank_OFF); - IFS_info.Ink.time_out = timeout; + if (CartridgeFinishedCount++>=CartridgeCheckTime ) { + CartridgeFinishedCount = 0; + Report("IFS_filling ", __FILE__,__LINE__,int_MidTank_Pressure_1000, RpMessage, int_MidTank_Pressure_1000, 0); + /**** detect if the MidTank_Pressure is the same, 5 times ****/ + if (DetectIfCartridgeFinished(int_MidTank_Pressure_1000)) + return true; } - - if (IFS_info.Ink.time_out == (timeout + 1)) //need to open the valve for second chance - { - Report("------------ IFS_Timeout open valves for second timeout -----------------", __FILE__, __LINE__, (IFS_info.Ink.time_out * SECONDS_5), RpMessage, (int_MidTank_Pressure_1000), 0); - MidTankValvesAction(Cartridge_MidTank_ON); - IFS_info.Ink.time_out = timeout; - } - - if (IFS_info.Ink.time_out >= (secondtimeout + 1)) - { - Report("------------ IFS_Timeout_Second_Time -----------------", __FILE__, __LINE__, (IFS_info.Ink.time_out * SECONDS_5), RpMessage, (int_MidTank_Pressure_1000), 0); - IFS_info.Ink.time_out = 0; - MidTankValvesAction(Cartridge_MidTank_OFF); - WHS_info.event = IFS_Timeout_Second; - return IFS_Timeout_Second; - } - return ret; + return false; } +#endif -/** - * - * @brief IFS Time Out Alarm - * - * @return OK - */ -bool IFS_TimeOutAlarm(bool status) +bool midTankCart_door() { - bool ret = OK; - - AlarmHandlingSetAlarm( EVENT_TYPE__MID_TANK_1_FILL_TIMEOUT+IFS_info.Ink.cart_color, status); - - - return ret; -} + bool door; -/** - * - * @brief MidTank Valves Action - * the MidTank have 2 Valves: - * 1. Ink Color Valve to get INK from the INK Cartridge to Midtank - * 2. Air valve to get INK in the Midtank we have to open the Air valve so the air can go out - * - * @return action to open the Valve use: Cartridge_MidTank_ON/Atm_MidTank_ON - * to close the Valve use : Cartridge_MidTank_OFF/Atm_MidTank_OFF - */ -bool MidTankValvesAction(bool action) //Cartridge_MidTank_ON of Cartridge_MidTank_OFF -{ - bool ret = false; - if (action == Cartridge_MidTank_ON) + if(Get_COVER_1_State(CartridgesDoor))//to check the polarity { - Enable_MidTank_Pressure_Reading(IFS_info.Ink.cart_color); + door = OPEN; } else { - Disable_MidTank_Pressure_Reading(IFS_info.Ink.cart_color); + door = CLOSE; } - if (IDS_IsHomingActive(IFS_info.Ink.cart_color)==false) - Valve_Set(IDS_Id_to_AirValve[IFS_info.Ink.cart_color], action ); //Atm_MidTank_OFF/ON - Valve_Set(IDS_Id_to_CartrideValve[IFS_info.Ink.cart_color], action ); //Atm_MidTank_OFF/ON - - ret = true; - return ret; -} - -bool ColorMatch() -{ - bool ret = false; - - ret = true; - return ret; + return door; } -char CartridgeRequestToken[36+1]; -int CartridgeRequestId = 0x01010101; - -/** - * - * @brief create message to PPC - * temporary message RFID will replace that message. - * send a request to PPC to know the MidTank number - * @return OK - */ -uint32_t ReadCartridgeData(cartridge_name cart_name) +uint32_t ReadInkCartridgeData() { //this function triggers reading and validation of the cartridge information // for now it sends a request to the tablet to inquire for the ink color/midtank id @@ -306,16 +198,9 @@ uint32_t ReadCartridgeData(cartridge_name cart_name) return OK; } -/** - * - * @brief PPC answers the MidTank number and call WasteTankCBFunction() function. - * temporary message RFID will replace that message. - * - * @return OK - */ bool CartridgeValidationResponseFunc(MessageContainer* requestContainer) { - bool ret = notOK; + bool ret = ERROR; CartridgeValidationResponse* response = cartridge_validation_response__unpack(NULL, requestContainer->data.len, requestContainer->data.data); @@ -324,118 +209,150 @@ bool CartridgeValidationResponseFunc(MessageContainer* requestContainer) // 2. the index is out of rang if (response == NULL) { - ReportWithPackageFilter(WHS_filling,"------------ IFS_filling message from PPC is null!!! -----------------", __FILE__,__LINE__,0, RpMessage, 0, 0); + Report("IFS_filling message from PPC is null!!!", __FILE__,__LINE__,0, RpMessage, 0, 0); return ret; } if (response->index < NUM_OF_MIDTANKS) { - IFS_info.Ink.cart_color = response->index; // midtank 1-8 - ReportWithPackageFilter(WHS_filling,"------------ IFS get message response->index is -----------------", __FILE__, __LINE__, response->index, RpMessage, 0, 0); - WHS_info.event = IFS_INK_authentication_pass; + midTankCartColor = response->index; // midtank 1-8 + Report("IFS get message response->index is", __FILE__, __LINE__, response->index, RpMessage, 0, 0); + inkAuthenticationPass = true; } else { - ReportWithPackageFilter(WHS_filling,"------------ IFS get message response->index is out of rang -----------------", __FILE__, __LINE__, response->index, RpMessage, 0, 0); - WHS_info.event = IFS_INK_authentication_fail; + Report("IFS get message response->index is out of rang", __FILE__, __LINE__, response->index, RpMessage, 0, 0); + inkAuthenticationPass = false; } - - WasteTankCBFunction();//call cart is ok - ret = OK; - -return ret; + return OK; } - -/** - * - * @brief that response is from STUB. replace the PPC - * use stub : Poweroff_progress.cs from P:\Users - Public\Shai_Frieder - * ProgressRequest progressRequest = new ProgressRequest(); - * progressRequest.Amount = 0xCC; //porgress id is 0xCC - * progressRequest.Delay = 1; //midtank number from 0-7 - * - * - * @return OK - */ void ResponseDemo(int MidtankId) { - WHS_info.event = IFS_INK_authentication_pass; - //global mid tank id = MidtankId; - IFS_info.Ink.cart_color = MidtankId; - WasteTankCBFunction();//call cart is ok + inkAuthenticationPass = true; + midTankCartColor = MidtankId; } -uint32_t MidTankReadControlId = 0xFF; -int MidTankCounter = 0; -uint32_t MidTankCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) + +void midTankStateMachine(void) { - int MidTankOpenAir = 8; - int MidTankReadPressure = 16; - int MidTankCloseAir = 40; - int MidTankEnd = 48; - int portId; + static int init = 1; + static int authenticationTimeOutCounter = 0; - if (MidTankCounter >= MidTankEnd) - { - SafeRemoveControlCallback(MidTankReadControlId, MidTankCallBackFunction); + if (init) { + doorState = midTankCart_door(); + prevDoorState = doorState; + init = 0; + } else { +#ifndef IFS_DEBUG + doorState = midTankCart_door(); +#endif } - else if (MidTankCounter >= MidTankCloseAir) - { - //close air valve for midtank (MidTankCounter-MidTankCloseAir) - portId = (MidTankCounter - MidTankCloseAir) ; //0-7 - if (IDS_IsHomingActive(portId) == false) - { - Disable_MidTank_Pressure_Reading(portId); - Valve_Set(IDS_Id_to_AirValve[portId], Atm_MidTank_OFF ); //Atm_MidTank_OFF/ON + if (!RdInkCartridgeSensor()) { // cartridge not presence + Pannel_Leds( CART_1, MODE_OFF); + cart1.color = colorOFF; + if (IFS_MidTankFilling()) { + MidTankValvesAction(Cartridge_MidTank_OFF); + Report("Cartridge extracted during filling!!!", __FILE__, __LINE__, midTankState, RpMessage, 0, 0); + Report("Mid-tank # filling fail", __FILE__, __LINE__, midTankState, RpMessage, 0, 0); + midTankState = MidTankStateIdle; } - } - else if (MidTankCounter >= MidTankReadPressure) - { - //read pressure for midtank (MidTankCounter-MidTankCloseAir) - for (portId = 0;portId < MAX_SYSTEM_DISPENSERS;portId++) - { - Read_MidTank_Pressure_Sensor(portId); + } else { // cartridge presence + if (cart1.color == colorOFF) { + Pannel_Leds( CART_1, MODE_ON); + cart1.color = colorON; } } - else if (MidTankCounter >= MidTankOpenAir) + switch (midTankState) { - //open air valve for midtank (MidTankCounter-MidTankOpenAir) - portId = (MidTankCounter - MidTankOpenAir) ; //0-7 - Enable_MidTank_Pressure_Reading(portId); - Valve_Set(IDS_Id_to_AirValve[portId], Atm_MidTank_ON ); //Atm_MidTank_OFF/ON - } - MidTankCounter++; - return OK; -} + case MidTankStateIdle: + if ((doorState == CLOSE) && (prevDoorState == OPEN)) { + //check if power down in process + if (PowerOffInProcessGetState()) { + Report("Power-down in process", __FILE__, __LINE__, 0, RpMessage, 0, 0); + break; + } -uint32_t MidTankReading(void) -{ - MidTankCounter = 0; - if (IFS_info.Ink.time_out > 0) - return ERROR; - MidTankReadControlId = AddControlCallback("MidTankReading", MidTankCallBackFunction, 300/*eHundredMillisecond*/, TemplateDataReadCBFunction,0,0, 0 ); + //check RFID? (TBD) - return OK; -} + // send request for validation to ppc + inkAuthenticationPass = 2; //not defined + authenticationTimeOutCounter = 0; + ReadInkCartridgeData(); -bool INKCartridgeAuthentication(cartridge_name cart_name) -{ - bool ret = notOK; - // TBD; - switch (cart_name) - { - case INK_cartridge: - IFS_info.Ink.autheticate = PASSED; //todo - //Pannel_Leds(CART_1, MODE_ON); + //move to next state + midTankState = MidTankStateWait; + Report("move to midTankStateWait", __FILE__, prevDoorState, doorState, RpMessage, midTankState, 0); + } + if (doorState != prevDoorState) { + prevDoorState = doorState; + } break; + case MidTankStateWait: + if (inkAuthenticationPass == 2) { + authenticationTimeOutCounter++; + Report("MidTank Cartridge authentication wait...", __FILE__, __LINE__, authenticationTimeOutCounter, RpMessage, 0, 0); + if (authenticationTimeOutCounter > 60) { + midTankState = MidTankStateIdle; + } + break; + } + if (inkAuthenticationPass == false) { + Report("MidTank Cartridge authentication fail", __FILE__, __LINE__, 0, RpMessage, 0, 0); + midTankState = MidTankStateIdle; + break; + } + + midTankCapacity = Get_MidTank_Pressure_Sensor(midTankCartColor); + if (midTankCapacity > MidTankEmptyLimit) + { + Pannel_Leds(CART_1, MODE_ON); + cart1.color = fastBILNK; + Report("Mid-tank not empty", __FILE__, __LINE__, midTankCapacity, RpMessage, MidTankEmptyLimit, 0); + midTankState = MidTankStateIdle; + break; + } + Report("Mid-tank filling in process", __FILE__,__LINE__,(int)(MidTankEmptyLimit*1000), RpMessage, (int)(midTankCapacity*1000), 0); + Pannel_Leds(CART_1, MODE_ON); + cart1.color = BLINK; + + if (midTankCartColor == MIDTANK_8) + { + CartridgeInkTimeout = CARTRIDGE_INK_TIMEOUT*4; + CartridgeCheckTime = FIVE_SECONDS*3; + } + // set valve selection + MidTankValvesAction(Cartridge_MidTank_ON); + Report("midTankStateWait set valve", __FILE__, __LINE__, 0, RpMessage, 0, 0); + + // RFID change status - TBD + // set count down + midTankTimeoutCounter = 1; + + //start filling + midTankState = MidTankStateFilling; + break; + case MidTankStateFilling: + // if time out or emptying done - idle + if (midTankTimeoutCounter++ > CartridgeInkTimeout) { + midTankTimeoutCounter = 0; + Pannel_Leds(CART_1, MODE_ON); + cart1.color = fastBILNK; + MidTankValvesAction(Cartridge_MidTank_OFF); + Report("Mid-tank # filling fail", __FILE__, __LINE__, midTankState, RpMessage, 0, 0); + Report("Call customer support", __FILE__, __LINE__, midTankState, RpMessage, 0, 0); + midTankState = MidTankStateIdle; + } else if (CartridgeInkFull()) { + midTankTimeoutCounter = 0; + Pannel_Leds(CART_1, MODE_OFF); + cart1.color = colorOFF; + MidTankValvesAction(Cartridge_MidTank_OFF); + Report("Mid-tank # filling done", __FILE__, __LINE__, midTankState, RpMessage, 0, 0); + midTankState = MidTankStateIdle; + } + break; default: - //WHS_info.cartridge_1.autheticate = FAILED; //todo - // WHS_info.cartridge_2.autheticate = FAILED; //todo - //Pannel_Leds(CART_2, MODE_OFF); - //Pannel_Leds(CART_3, MODE_OFF); + Report("wrong state", __FILE__, __LINE__, midTankState, RpMessage, 0, 0); break; } - ret = OK; - return ret; } diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h index 6225dc1d4..bf42c0e9a 100644 --- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h +++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h @@ -11,55 +11,17 @@ #ifndef MODULES_IFS_IFS_H_ #define MODULES_IFS_IFS_H_ -#include "Modules/Waste/Waste.h" +#define CARTRIDGE_INK_TIMEOUT 420 +#define MidTank_Pressure_EMPTY 0.5 +#define CARTRIDGE_CAPATICY 1500 -//void IFS_Init(void) -#define SECONDS_5 5 /**< 5seconds */ -#define SECONDS_300 300 /**< 300 seconds = 5 minutes */ -#define SECONDS_420 (7*60) /**< 420 seconds = 7 minutes */ -#define SECONDS_600 600 /**< 600 seconds = 10 minutes */ -#define SECONDS_2_DLY 0 /**< dly 0 seconds */ -#define CARTRIDGE_INK_TIMEOUT (SECONDS_420 / SECONDS_5) /**< TimeOut (7 minutes) for finishing transfer the Ink from Ink cartridge to MidTank */ -#define CARTRIDGE_INK_TIMEOUTx2 (CARTRIDGE_INK_TIMEOUT * 2) /**< TimeOut (7 minutes) for second try finishing transfer the Ink from Ink cartridge to MidTank */ -#define CartridgeInkTimeOutCallBackTime (eOneSecond * SECONDS_5) -#define CartridgeInkCallBackTime eOneSecond -#define MidTank_Pressure_EMPTY 0.3 //todo get from Moti the correct number (Oleg -> 300cc) -#define MidTank_PP_Pressure_EMPTY 0.5 //todo get from Moti the correct number (Oleg -> 300cc) -#define CARTRIDGE_CAPATICY 1500 //todo get from Moti the correct number -#define FULL 1000 //todo get from Moti the correct number - - - -/** - * A structure to represent IFS_information - */ -struct IFS_information -{ - struct cartridge_params Ink; /**< cartridge_params */ - CarteidgPrecenseSensorStatus IFS_Ink_precense_sensor; /**< INK cartridge presence(1) or not_precense(0) */ - uint32_t Cartridge_Ink_device_Id; /**< INK device_Id number for callback */ - uint32_t Cartridge_Ink_TimeOut_device_Id; /**< INK device_Id number for TimeOut callback */ - uint32_t INK_isOK_flag ; /**< INK cartridge pass authentication (from PPC) */ - double MidTank_capacity; /**< MidTank current capacity */ -}; - -struct IFS_information IFS_info; - -WHS_sensor CartridgeInkCallBackFunction(); -WHS_sensor CartridgeInkTimeOutCallBackFunction(); -uint32_t ReadCartridgeData(cartridge_name cart_name); -bool INKCartridgeAuthentication(cartridge_name cart_name); -bool MidTankValvesAction(bool action); //Cartridge_MidTank_ON of Cartridge_MidTank_OFF -bool ColorMatch(); -bool IFS_TimeOutAlarm(bool status); -void ResponseDemo(int MidtankId); -bool IFS_MidTankFilling(void); -MidTank_t IFS_MidTankIsActive(void); - -bool IFS_CartridgeLowerPresent(); - -bool CartridgeValidationResponseFunc(MessageContainer* requestContainer); +typedef enum{ + MidTankStateIdle, + MidTankStateWait, + MidTankStateFilling +}MidTankStateEnum; +void midTankStateMachine(void); uint32_t MidTankReading(void); - +void ResponseDemo(int MidtankId); #endif /* MODULES_IFS_IFS_H_ */ diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c index 4a7008a7a..bfea7b13b 100644 --- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c +++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c @@ -63,6 +63,7 @@ extern uint8_t Test_Read_Buf[4]; extern uint8_t Head_Fan_PWM_Command[2]; extern uint16_t Head_Fan_Tach[2]; +extern bool doorState; bool RestartNeeded = false; @@ -525,6 +526,14 @@ void Stub_ProgressRequest(MessageContainer* requestContainer) response.has_progress = true; } else + if(request->amount == 0xAD9) //halt + { + LOG_ERROR(request->delay,"halt"); + memset (0,0,100000); + response.progress = IgnoreConeMissing; + response.has_progress = true; + } + else if((request->amount == 0x01) && ((request->delay &0x010000) == 0x010000)) //change mode powerset01 { response.progress = Power_Step_01_Mode(((request->delay &0x00FF00)>>8), request->delay &0x0000FF); @@ -1051,6 +1060,16 @@ void Stub_ProgressRequest(MessageContainer* requestContainer) response.has_progress = true; } else + if(request->amount == 0xB9) //fast refresh for pressure + { + if ((request->delay == 0) || (request->delay == 1)) { + doorState = request->delay; + LOG_ERROR(request->delay,"door"); + } + response.progress = request->delay; + response.has_progress = true; + } + else if(request->amount == 0xC3) //suspend I2C task { if (request->delay == 0) diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 42a56ae8a..1c52a9b68 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -352,9 +352,9 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue) } if ((CurrentProcessedLength>=CurrentRequestedLength )&&(CurrentRequestedLength > 0.0)) { - usnprintf(Lenstr, 100, "Total processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength); + usnprintf(Lenstr, 100, "Total processed length: Feeder: %d Puller %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength); SendJobProgress(0.0,0,false, Lenstr); - ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0); + ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,__LINE__,(int)(TotalProcessedLength*100),RpWarning,(int)(PoolerTotalProcessedLength*100),0); // segment/intersegment/distance to spool finished if (ProcessedLengthFuncPtr) ProcessedLengthFuncPtr(); @@ -696,18 +696,19 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) }*`/ }*/ calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index]; + calculated_speed = calculated_speed*InitialDryerSpeed/OriginalMotorSpd_2PPS[DRYER_MOTOR]; //calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*CurrentControlledSpeed[index]; - //if (JobCounter % eHundredMillisecond == 50) - if (FirstCalcInJob == true) + if (0)//(JobCounter % 1000 == 0) + //if (JobCounter < 100)//(FirstCalcInJob == true) { - if (index == POOLER_MOTOR) + if (index == FEEDER_MOTOR) { - FirstCalcInJob = false; - len = usnprintf(TMessage, 150, "read %d avg %d error(6) %d integral(9) %d,delta(9) %d, calc(3) %d speed %d", - ReadValue,avreageSampleValue,(int)(MotorControlConfig[index].m_mesuredParam*1000000), + // FirstCalcInJob = false; + len = usnprintf(TMessage, 150, "read %d avg %d error(6) %d integral(9) %d,delta(9) %d, calc(3) %d speed %d %d", + TranslatedReadValue,avreageSampleValue,(int)(MotorControlConfig[index].m_mesuredParam*1000000), (int)(MotorControlConfig[index].m_integral*1000000000),(int)((MotorControlConfig[index].m_mesuredParam*MotorControlConfig[index].m_params.dt)*1000000000), - (int)(MotorControlConfig[index].m_calculatedError*1000),(int)calculated_speed); - ReportWithPackageFilter(ThreadFilter,TMessage,__FILE__,__LINE__,DancerId,RpError,ReadValue,0); + (int)(MotorControlConfig[index].m_calculatedError*1000),(int)calculated_speed, (int)(InitialDryerSpeed*100/OriginalMotorSpd_2PPS[DRYER_MOTOR])); + ReportWithPackageFilter(ThreadFilter,TMessage,__FILE__,MotorSamplePointer[index],JobCounter,RpError,ReadValue,0); } } @@ -720,6 +721,11 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) { if (calculated_speed>5.0) { + if (calculated_speed>(CurrentControlledSpeed[index]+100)) + { + ReportWithPackageFilter(ThreadFilter,"limit acceleration",__FILE__,calculated_speed,CurrentControlledSpeed[index],RpError,CurrentControlledSpeed[index]+100,0); + calculated_speed=CurrentControlledSpeed[index]+100; + } CurrentControlledSpeed[index] = calculated_speed; MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed); } @@ -845,6 +851,7 @@ uint32_t Release_Right_TFU_Tension() return status; } int SecondFeederCorrection = 4; +int PrepareWaitCount = 0; uint32_t Adjust_Right_TFU_Tension_2nd_Callback(uint32_t MotorId, uint32_t ReadValue) { MotorStop (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,Soft_Stop); //per L6470 errata between mov and run commands @@ -854,6 +861,18 @@ uint32_t Adjust_Right_TFU_Tension_2nd_Callback(uint32_t MotorId, uint32_t ReadVa Report("release tension - job aborted",__FILE__,__LINE__,MotorId,RpMessage,0,0); Release_Right_TFU_Tension(); } + if (PrepareWaitCount) + { + ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback",__FILE__,__LINE__,2,RpWarning,PrepareWaitCount,0); + PrepareWaitCount--; + } + if ((PrepareWaitCount == 0)&&(PrepareState == true)) + { + PrepareState = false; + ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback Prepare Ready",__FILE__,__LINE__,2,RpWarning,PrepareWaitCount,0); + PrepareReady(Module_Thread,ModuleDone); + } + return OK; } uint32_t Adjust_Right_TFU_Tension_Callback(uint32_t MotorId, uint32_t ReadValue) @@ -869,16 +888,16 @@ uint32_t Adjust_Right_TFU_Tension(double tension) uint32_t status = OK; if (tension > 0.5) //0 = lower position, 1 = high position { + //PrepareWaitCount++; if (FPGA_Read_limit_Switches(GPI_LS_RDANCER_UP) == NO_LIMIT) { - MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 40, GPI_LS_RDANCER_UP, Adjust_Right_TFU_Tension_Callback,15000); + MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15, GPI_LS_RDANCER_UP, Adjust_Right_TFU_Tension_Callback,15000); Report("Adjust_Right_TFU_Tension",__FILE__,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize,HARDWARE_MOTOR_TYPE__MOTO_RDANCER,RpMessage,GPI_LS_RDANCER_UP,0); } } return status; } -int PrepareWaitCount = 0; uint32_t ThreadPrepare_TensionCallback (int DancerId, double tension) { if (PrepareWaitCount) @@ -886,7 +905,7 @@ uint32_t ThreadPrepare_TensionCallback (int DancerId, double tension) ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback",__FILE__,__LINE__,DancerId,RpWarning,PrepareWaitCount,0); PrepareWaitCount--; } - if (PrepareWaitCount == 0) + if ((PrepareWaitCount == 0)&&(PrepareState == true)) { PrepareState = false; ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_TensionCallback Prepare Ready",__FILE__,__LINE__,DancerId,RpWarning,PrepareWaitCount,0); @@ -1046,71 +1065,73 @@ uint32_t ThreadPrepareState(void *JobDetails) { HW_Motor_Id = ThreadMotorIdToMotorId[Motor_i]; Pid_Id = Motor_i;/*ThreadMotorIdToControlId[Motor_i];*/ - MotorControlConfig[Motor_i].m_params.MAX = 1; - MotorControlConfig[Motor_i].m_params.MIN = MotorsControl[Pid_Id].outputproportionalpowerlimit*-1; - MotorControlConfig[Motor_i].m_params.Kd = MotorsControl[Pid_Id].derivativetime; - MotorControlConfig[Motor_i].m_params.Kp = MotorsControl[Pid_Id].proportionalgain; - MotorControlConfig[Motor_i].m_params.Ki = MotorsControl[Pid_Id].integraltime; - MotorControlConfig[Motor_i].m_params.IntegralErrorMultiplier = MotorsControl[Pid_Id].setpointramprateorsoftstartramp; - MotorControlConfig[Motor_i].m_params.ProportionalErrorMultiplier = MotorsControl[Pid_Id].outputonoffhysteresisvalue; - MotorControlConfig[Motor_i].m_params.epsilon = MotorsControl[Pid_Id].epsilon; - MotorControlConfig[Motor_i].m_params.dt = MotorsControl[Pid_Id].controloutputtype; - MotorControlConfig[Motor_i].m_ingnoreValue = MotorsControl[Pid_Id].sensorcorrectionadjustment; // the minimal change required to change the motor speed in pulses - 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 + MotorControlConfig[Motor_i].m_params.MAX = 1; + MotorControlConfig[Motor_i].m_params.MIN = MotorsControl[Pid_Id].outputproportionalpowerlimit*-1; + MotorControlConfig[Motor_i].m_params.Kd = MotorsControl[Pid_Id].derivativetime; + MotorControlConfig[Motor_i].m_params.Kp = MotorsControl[Pid_Id].proportionalgain; + MotorControlConfig[Motor_i].m_params.Ki = MotorsControl[Pid_Id].integraltime; + MotorControlConfig[Motor_i].m_params.IntegralErrorMultiplier = MotorsControl[Pid_Id].setpointramprateorsoftstartramp; + MotorControlConfig[Motor_i].m_params.ProportionalErrorMultiplier = MotorsControl[Pid_Id].outputonoffhysteresisvalue; + MotorControlConfig[Motor_i].m_params.epsilon = MotorsControl[Pid_Id].epsilon; + MotorControlConfig[Motor_i].m_params.dt = MotorsControl[Pid_Id].controloutputtype; + MotorControlConfig[Motor_i].m_ingnoreValue = MotorsControl[Pid_Id].sensorcorrectionadjustment; // the minimal change required to change the motor speed in pulses + 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 - HandleJobThreadControlParameters(JobTicket->threadparameters); //OVERRIDES CONFIGURATION PARAMETERS!!! + HandleJobThreadControlParameters(JobTicket->threadparameters); //OVERRIDES CONFIGURATION PARAMETERS!!! - temp_dt = MotorControlConfig[Motor_i].m_params.dt/0.001; - MotorTiming[Motor_i] = (int)temp_dt; - if (MotorTiming[Motor_i]) - { - MotorTimer[Motor_i] = MotorTiming[Motor_i]-1; - ReportWithPackageFilter(ThreadFilter,"MotorTiming",__FILE__,Motor_i,MotorTiming[Motor_i],RpWarning,MotorTimer[Motor_i],0); - } + temp_dt = MotorControlConfig[Motor_i].m_params.dt/0.001; + MotorTiming[Motor_i] = (int)temp_dt; + if (MotorTiming[Motor_i]) + { + MotorTimer[Motor_i] = MotorTiming[Motor_i]-1; + ReportWithPackageFilter(ThreadFilter,"MotorTiming",__FILE__,Motor_i,MotorTiming[Motor_i],RpWarning,MotorTimer[Motor_i],0); + } ////////////////////////////////////////////////// - for (i = 0;i < (int)MotorsControl[Motor_i].pvinputfilterfactormode; i++) - { - //if (Motor_i == DRYER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled - MotorSamples[Motor_i][i] = 0; - // else if ((Motor_i == POOLER_MOTOR)||(Motor_i == FEEDER_MOTOR)) - // MotorSamples[Motor_i][i] = DancersCfg[ThreadMotorIdToDancerId[Motor_i]].zeropoint; - //MotorSpeedSamples[Motor_i][i] = 0; - } - MotorSamplePointer[Motor_i] = 0; + for (i = 0;i < (int)MotorsControl[Motor_i].pvinputfilterfactormode; i++) + { + //if (Motor_i == DRYER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled + MotorSamples[Motor_i][i] = 0; + if (Motor_i == FEEDER_MOTOR) + MotorSamples[Motor_i][i] = -500; + // else if ((Motor_i == POOLER_MOTOR)||(Motor_i == FEEDER_MOTOR)) + // MotorSamples[Motor_i][i] = DancersCfg[ThreadMotorIdToDancerId[Motor_i]].zeropoint; + //MotorSpeedSamples[Motor_i][i] = 0; + } + MotorSamplePointer[Motor_i] = 0; ///////////////////////////////////////////////////// - MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize); + MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize); - if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled + if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled + { + ReportWithPackageFilter(ThreadFilter,"Feeder Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0); + if (SpeedControlId != 0xFF) { - ReportWithPackageFilter(ThreadFilter,"Feeder Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0); - if (SpeedControlId != 0xFF) - { - RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction); - SpeedControlId = 0xFF; - } - //SetMotHome(ThreadMotorIdToMotorId[Motor_i]); - LengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); - SpeedControlId = AddControlCallback(NULL,ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); + RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction); + SpeedControlId = 0xFF; } - if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled + //SetMotHome(ThreadMotorIdToMotorId[Motor_i]); + LengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); + SpeedControlId = AddControlCallback(NULL,ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); + } + if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled + { + ReportWithPackageFilter(ThreadFilter,"Puller Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0); + if (PoolerSpeedControlId != 0xFF) { - ReportWithPackageFilter(ThreadFilter,"Puller Control",__FILE__,Motor_i,MotorControlConfig[Motor_i].m_params.Kp,RpWarning,MotorControlConfig[Motor_i].m_params.Ki,0); - if (PoolerSpeedControlId != 0xFF) - { - if (RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction)!=OK) - ReportWithPackageFilter(ThreadFilter,"Remove Control Failed.",__FILE__,__LINE__,(int)Motor_i,RpError,(int)PoolerSpeedControlId,0); - PoolerSpeedControlId = 0xFF; - } - //SetMotHome(ThreadMotorIdToMotorId[Motor_i]); - PoolerLengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); - PoolerSpeedControlId = AddControlCallback(NULL,PoolerThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); + if (RemoveControlCallback(PoolerSpeedControlId,PoolerThreadLengthCBFunction)!=OK) + ReportWithPackageFilter(ThreadFilter,"Remove Control Failed.",__FILE__,__LINE__,(int)Motor_i,RpError,(int)PoolerSpeedControlId,0); + PoolerSpeedControlId = 0xFF; } + //SetMotHome(ThreadMotorIdToMotorId[Motor_i]); + PoolerLengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep); + PoolerSpeedControlId = AddControlCallback(NULL,PoolerThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i); + } if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled { if (ControlIdtoMotorId[Motor_i] != 0xFF) @@ -1152,10 +1173,6 @@ uint32_t ThreadPrepareState(void *JobDetails) ControlIdtoMotorId[Motor_i] = AddControlCallback(NULL,ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); #endif } -// if (HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled -// AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,TemplateDataReadCBFunction,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],0); - if (Motor_i == ThreadMotorIdToMotorId[DRYER_MOTOR]) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled - continue; } #ifdef TEST_PID_THREAD @@ -1382,7 +1399,7 @@ char Endstr[150]; int Motor_i; ThreadControlActive = false; uint32_t status = OK; - usnprintf(Endstr, 100, "Total _processed length: Feeder: %d Pooler %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength); + usnprintf(Endstr, 100, "Total _processed length: Feeder: %d Puller %d",(int)TotalProcessedLength,(int)PoolerTotalProcessedLength); SendJobProgress(0.0,0,false, Endstr); ReportWithPackageFilter(ThreadFilter,Endstr,__FILE__,__LINE__,(int)TotalProcessedLength,RpWarning,(int)PoolerTotalProcessedLength,0); diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h index 2fdd3a479..7d6837018 100644 --- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h +++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_ex.h @@ -1,5 +1,5 @@ -#ifndef WASTE_MAINT_H -#define WASTE_MAINT_H +#ifndef WASTE_EX_H +#define WASTE_EX_H typedef enum { CartridgeStateOUT, diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c index 03ee73daf..870463321 100644 --- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c @@ -1,4 +1,5 @@ /* ---- WHS */ +#if 0 #include <Container.h> #include <DataDef.h> #include "include.h" @@ -1446,7 +1447,7 @@ U8 WHS_HW_test() return ret; } - +#endif /*------------------------------------------------------------------------------------------------*/ diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c index 099fc0c2e..dc76a3390 100644 --- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c +++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c @@ -32,6 +32,10 @@ uint32_t Cartridge_Cover_Control; button *CartLed[MaxWasteCartridges] = {0, &cart2, &cart3}; WasteTankStateEnum WasteTankState = WasteTankStateIdle; +int init = 1; + +bool setWasteValve (WasteCartridgeEnum WasteCartridge); + #define WASTE_CARTRIDGE_SIZE 1500 #define WASTE_LEVEL_OVERFLOW 2700 #define WASTE_LEVEL_FULL 2300 @@ -65,6 +69,8 @@ void cartCART_EXTRACTED(WasteCartridgeEnum CartId) //{called from polling functi Report("Cartridges Cart extracted", __FILE__, __LINE__, CartId, RpMessage, CartState[CartId], 0); CartState[CartId] = CartridgeStateOUT; CartLed[CartId]->color = colorOFF; + if (init==0) + WHS_Set_IFS_Clearing_Suction(NUM_OF_MIDTANKS); } WasteCartridgeEnum cartSELECT_CART(void) //{ if there is no SELECTED cartridge select the first cartridge in IN state. If there is none, return -1} @@ -113,6 +119,8 @@ void cartFILLING_END(void) } else { Report("Cartridges end with no active cartridge", __FILE__, __LINE__, CartState[WasteCartridge_middle], RpMessage, CartState[WasteCartridge_lower], 0); } + setWasteValve(WasteCartridge_middle); + } CartridgeStateEnum cartGetState(WasteCartridgeEnum CartId) @@ -163,6 +171,119 @@ WasteCartridgeEnum cartNotAllFull() return false; } +bool SetWastePump( bool power) +{ + if ( power == OPEN ) { + if (WHS_Type == WHS_TYPE_UNKNOWN) { + Pumps_Control(WHS_WTANKPUMP2, OPEN); //waste_pump_power_on(); + } else { //new WHS + Trigger_SetWHSPump(OPEN); + } + return OPEN; + } else { + if (WHS_Type == WHS_TYPE_UNKNOWN) { + Pumps_Control(WHS_WTANKPUMP2, CLOSE); //waste_pump_power_on(); + } else { //new WHS + Trigger_SetWHSPump(CLOSE); + } + return CLOSE; + } +} + +bool setWasteValve (WasteCartridgeEnum WasteCartridge) +{ + bool direction; + + if (WasteCartridge == WasteCartridge_lower) { + direction = true; + } else { + direction = false; + } + + if (WHS_Type == WHS_TYPE_UNKNOWN) { + Valve_Set(VALVE_WASTE_TANK,direction); + } else { //new WHS + Trigger_SetWHSValveWatseCartridge(direction); + } + return direction; +} + +bool RdWasteTankEmptySensor() +{ + //double WasteLevel = 0.0; + + if (WHS_Type == WHS_TYPE_UNKNOWN) { + return WHS_GPI_WCONTAINER_WARN(); + } else { //new WHS + //WasteLevel = GetWHSWasteTankLevelMiliLiter(); + if (wasteLevel < wasteLevelEmpty) + return 1; //Empty + } + return 0; +} + +bool RdWasteTankFullSensor() +{ + //double WasteLevel = 0.0; + + if (WHS_Type == WHS_TYPE_UNKNOWN) { + return WHS_GPI_WCONTAINER_FULL(); + } else { //new WHS + //WasteLevel = GetWHSWasteTankLevelMiliLiter(); + if (wasteLevel >= wasteLevelFull) + return 1; //full + } + return 0; +} + +bool RdWasteTankOverFlowSensor() +{ + //double WasteLevel = 0.0; + + if (WHS_Type == WHS_TYPE_UNKNOWN) { + return WHS_GPI_WASTE_OVERFULL(); + } else {//new WHS + //WasteLevel = GetWHSWasteTankLevelMiliLiter(); + if (wasteLevel > wasteLevelOverflow) + return 1; //overflow + } + return 0; +} + +bool WHS_IsContainerFull() +{ + return RdWasteTankFullSensor(); +} + +bool WHS_IsContainerEmpty() +{ + return RdWasteTankEmptySensor(); +} + +bool WHS_IsContainerOverflow() +{ + return RdWasteTankOverFlowSensor(); +} + +bool WHS_WasteCartridgeLowerPresent() +{ + return Is_Cartridge_Present(CART_3); +} + +bool WHS_WasteCartridgeMiddlePresent() +{ + return Is_Cartridge_Present(CART_2); +} + +bool WHS_IsEmptying() +{ + if (WasteTankState == WasteTankStateEmptying) { + return true; + } else { + return false; + } +} + void Waste_Init() { CartState[WasteCartridge_middle] = CartridgeStateOUT; @@ -186,7 +307,6 @@ bool cartCart_door()//Polled by polling function. Notify waste. Poll each 1 seco return DoorState; } -//Waste_DoorOpenDuringEmptying uint32_t Waste_DoorOpenDuringEmptying(uint32_t IfIndex, uint32_t ReadValue) { cartCart_door(); @@ -212,7 +332,6 @@ uint32_t Waste_DoorOpenDuringEmptying(uint32_t IfIndex, uint32_t ReadValue) void Waste_StateMachine_OneSecond_Call(void) { - static int init = 1; static WasteTankStateEnum prev_state = 0; static int prev_wasteLevel = 0; @@ -263,7 +382,7 @@ void Waste_StateMachine(void) switch (WasteTankState) { case WasteTankStateIdle: - if (wasteLevel > wasteLevelOverFlow) { + if(WHS_IsContainerOverflow()) { AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_OVERFLOW, true); } else { AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_OVERFLOW, false); @@ -271,7 +390,7 @@ void Waste_StateMachine(void) if (cartNotAllFull() == true) { AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL, false); } - if (wasteLevel > wasteLevelFull) { + if(WHS_IsContainerFull()) { //check if power down in process if ( PowerOffInProcessGetState() ) { Report("Power-down in process", __FILE__, __LINE__, 0, RpMessage, 0, 0); @@ -307,9 +426,8 @@ void Waste_StateMachine(void) // set valve selection activeCart = cartGetActiveCart(); - Valve_Set(VALVE_WASTE_TANK, activeCart); - Report("WasteTankStateEmptying set valve", __FILE__, __LINE__, activeCart, RpMessage, 0, 0); - + //Report("WasteTankStateEmptying set valve", __FILE__, __LINE__, activeCart, RpMessage, 0, 0); + setWasteValve(activeCart); // RFID change status - TBD // set count down @@ -317,6 +435,7 @@ void Waste_StateMachine(void) // set emptying limit wasteLevelEmpty = wasteLevel - WASTE_CARTRIDGE_SIZE; + waste_seq_step1_cont(); // start a timer to observe door opening Cartridge_Cover_Control = AddControlCallback("Cartridge Cover Door", Waste_DoorOpenDuringEmptying, 100, cartCart_door, 0, 0, 0); @@ -338,15 +457,18 @@ void Waste_StateMachine(void) Report("WasteTankStateEmptying TimeOut", __FILE__, __LINE__, 0, RpMessage, 0, 0); AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_EMPTYING_TIMEOUT, true); RemoveControlCallback(Cartridge_Cover_Control, Waste_DoorOpenDuringEmptying); - } else if (wasteLevel < wasteLevelEmpty) { + timeout_counter = 0; + } else if (WHS_IsContainerEmpty()) { SetWastePump(CLOSE); cartFILLING_END(); + waste_seq_cont_stop(); // RFID change status - TBD WasteTankState = WasteTankStateIdle; RemoveControlCallback(Cartridge_Cover_Control, Waste_DoorOpenDuringEmptying); if (cartNotAllFull() == false) AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL, true); Report("WasteTankStateEmptying done", __FILE__, __LINE__, 0, RpMessage, 0, 0); + timeout_counter = 0; } #ifdef WHS_DEBUG wasteLevel -= 100; @@ -355,6 +477,21 @@ void Waste_StateMachine(void) break; case WasteTankStatePaused: Report("WasteTankStatePaused...", __FILE__, __LINE__, 0, RpMessage, 0, 0); + activeCart = cartGetActiveCart(); + if (activeCart == MaxWasteCartridges) + { + SetWastePump(CLOSE); + cartFILLING_END(); + waste_seq_cont_stop(); + // RFID change status - TBD + WasteTankState = WasteTankStateIdle; + RemoveControlCallback(Cartridge_Cover_Control, Waste_DoorOpenDuringEmptying); + if (cartNotAllFull() == false) + AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL, true); + Report("WasteTankStatePaused done", __FILE__, __LINE__, 0, RpMessage, 0, 0); + timeout_counter = 0; + + } break; default: Report("wrong state", __FILE__, WasteTankState, 0, RpMessage, SelectedCard, 0); diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.h b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.h deleted file mode 100644 index e69de29bb..000000000 --- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.h +++ /dev/null diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_print.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_print.c deleted file mode 100644 index e69de29bb..000000000 --- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_print.c +++ /dev/null diff --git a/Software/Embedded_SW/Embedded/Software Release Notes.txt b/Software/Embedded_SW/Embedded/Software Release Notes.txt index 8857b69eb..66a039a7d 100644 --- a/Software/Embedded_SW/Embedded/Software Release Notes.txt +++ b/Software/Embedded_SW/Embedded/Software Release Notes.txt @@ -2,10 +2,28 @@ Embedded SW Release note - Version 1.4.6.35 - Pack Mid alpha ============================================================= Arc head - activate arc heaters gradually stop FPGA Reinit after 20 trials -Head cleaning - move actuators (with stub - 0xAD7) +Head cleaning - move actuators fix RML PID support -head open prevent job - (with stub - 0xAD6) -add stub to overrule cone missing - 0xAD8 +head open prevent job +add stub to overrule cone missing + +fixed I2C delays - will help in real time and disconnection +new blower bug - prevent turning blower off +new blower- minimal voltage 2400 (moti) + +motor alarms - new approach (warning, rises immediately). +new WASTE handling +new IFS handling +IDS - cleaning. FIXED ink calculation info +thread - fix initial feeder dancer drop on job start + +stubs: +skip open lids test (amount = 0xAD6) +skip actuators cleaning sequence (amount = 0xAD7) +skip spool presence check (amount = 0xAD8) +watchdog activity check (amount = 0xAD9) + + Embedded SW Release note - Version 1.4.6.34 - Pack 2+ ============================================================= diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c index 169772480..dfd9ffaa5 100644 --- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c +++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c @@ -34,6 +34,7 @@ #include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h" #include "drivers/Heater/TemperatureSensor.h" #include "drivers/Valves/Valve.h" +#include <Drivers/I2C_Communication/I2C.h> #include <Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.h> #include "StateMachines/Printing/PrintingSTM.h" @@ -484,6 +485,7 @@ uint32_t PowerOffTurnOffCooler(void) uint32_t PowerOffTurnOffBlower(void) { WHS_Set_SetPoint_Q_value(0); + Control_Voltage_To_Blower(500); Turn_the_Blower_Off();//Turn off PowerOffMachineState++; return OK; @@ -492,6 +494,8 @@ uint32_t PowerOffTurnOffBlower(void) uint32_t PowerOffPowerOff(void) { int i; + Task_setPri (I2C_Task_Handle,-1); + for (i = 0;i<10;i++) { REPORT_MSG (10-i, "Power off in x seconds"); diff --git a/Software/Embedded_SW/Embedded/src/makefile.libs b/Software/Embedded_SW/Embedded/src/makefile.libs index f262762ef..ae6999352 100644 --- a/Software/Embedded_SW/Embedded/src/makefile.libs +++ b/Software/Embedded_SW/Embedded/src/makefile.libs @@ -1,6 +1,6 @@ # # This file was generated based on the configuration script: -# C:\Tango\Software\Embedded_SW\Embedded\Embedded.cfg +# C:\tango\Software\Embedded_SW\Embedded\Embedded.cfg # # This makefile may be included in other makefiles that need to build # the libraries containing the compiled source files generated as @@ -14,7 +14,7 @@ # # The absolute path to the generated source directory (at the time the # sources were generated) is: -# C:\Tango\Software\Embedded_SW\Embedded\src +# C:\tango\Software\Embedded_SW\Embedded\src # GEN_SRC_DIR ?= ../src diff --git a/Software/Embedded_SW/Embedded/src/sysbios/makefile b/Software/Embedded_SW/Embedded/src/sysbios/makefile index 0f63ec463..a8280a913 100644 --- a/Software/Embedded_SW/Embedded/src/sysbios/makefile +++ b/Software/Embedded_SW/Embedded/src/sysbios/makefile @@ -1,29 +1,29 @@ -XOPTS = -I"C:/TI/xdctools_3_32_00_06_core/packages/" -Dxdc_target_types__=C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/arm/elf/std.h -Dxdc_target_name__=M4F +XOPTS = -I"C:/ti/xdctools_3_32_00_06_core/packages/" -Dxdc_target_types__=C:/ti/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/targets/arm/elf/std.h -Dxdc_target_name__=M4F -vpath % C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/sysbios/ -vpath %.c C:/TI/xdctools_3_32_00_06_core/packages/ +vpath % C:/ti/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/sysbios/ +vpath %.c C:/ti/xdctools_3_32_00_06_core/packages/ CCOPTS = --endian=little -mv7M4 --abi=eabi --float_support=fpv4spd16 -q -ms --program_level_compile -g -Dxdc_FILE=__FILE__ -Dti_sysbios_knl_Task_minimizeLatency__D=FALSE -Dti_sysbios_knl_Clock_stopCheckNext__D=FALSE -Dti_sysbios_family_arm_m3_Hwi_enableException__D=TRUE -Dti_sysbios_family_arm_m3_Hwi_disablePriority__D=32U -Dti_sysbios_family_arm_m3_Hwi_numSparseInterrupts__D=0U -Dti_sysbios_hal_Core_numCores__D=1 -XDC_ROOT = C:/TI/xdctools_3_32_00_06_core/packages/ +XDC_ROOT = C:/ti/xdctools_3_32_00_06_core/packages/ -BIOS_ROOT = C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/sysbios/ +BIOS_ROOT = C:/ti/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/ti/sysbios/ BIOS_DEFS = -Dti_sysbios_BIOS_swiEnabled__D=TRUE -Dti_sysbios_BIOS_taskEnabled__D=TRUE -Dti_sysbios_BIOS_clockEnabled__D=TRUE -Dti_sysbios_BIOS_runtimeCreatesEnabled__D=TRUE -Dti_sysbios_hal_Hwi_DISABLE_ALL_HOOKS -Dti_sysbios_knl_Swi_DISABLE_ALL_HOOKS -Dti_sysbios_BIOS_smpEnabled__D=FALSE -Dti_sysbios_Build_useHwiMacros -Dti_sysbios_knl_Swi_numPriorities__D=16 -Dti_sysbios_knl_Task_deleteTerminatedTasks__D=FALSE -Dti_sysbios_knl_Task_numPriorities__D=16 -Dti_sysbios_knl_Task_checkStackFlag__D=TRUE -Dti_sysbios_knl_Task_initStackFlag__D=TRUE -Dti_sysbios_knl_Task_DISABLE_ALL_HOOKS -Dti_sysbios_knl_Clock_TICK_SOURCE=ti_sysbios_knl_Clock_TickSource_TIMER -Dti_sysbios_knl_Clock_TICK_MODE=ti_sysbios_knl_Clock_TickMode_PERIODIC -Dti_sysbios_hal_Core_delegate_getId=ti_sysbios_hal_CoreNull_getId__E -Dti_sysbios_hal_Core_delegate_interruptCore=ti_sysbios_hal_CoreNull_interruptCore__E -Dti_sysbios_hal_Core_delegate_lock=ti_sysbios_hal_CoreNull_lock__E -Dti_sysbios_hal_Core_delegate_unlock=ti_sysbios_hal_CoreNull_unlock__E -Dti_sysbios_hal_Core_numCores__D=1 -Dti_sysbios_hal_CoreNull_numCores__D=1 -Dti_sysbios_utils_Load_taskEnabled__D=TRUE -Dti_sysbios_utils_Load_swiEnabled__D=FALSE -Dti_sysbios_utils_Load_hwiEnabled__D=FALSE -Dti_sysbios_family_arm_m3_Hwi_dispatcherSwiSupport__D=TRUE -Dti_sysbios_family_arm_m3_Hwi_dispatcherTaskSupport__D=TRUE -Dti_sysbios_family_arm_m3_Hwi_dispatcherAutoNestingSupport__D=TRUE -Dti_sysbios_family_arm_m3_Hwi_dispatcherIrpTrackingSupport__D=TRUE -Dti_sysbios_knl_Semaphore_supportsEvents__D=FALSE -Dti_sysbios_knl_Semaphore_supportsPriority__D=TRUE -BIOS_INC = -I"C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/" +BIOS_INC = -I"C:/ti/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/" -TARGET_INC = -I"C:/TI/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/" +TARGET_INC = -I"C:/ti/tirtos_tivac_2_16_00_08/products/bios_6_45_01_29/packages/" INCS = $(BIOS_INC) $(TARGET_INC) -CC = C:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS/bin/armcl -c $(CCOPTS) -I C:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS/include -ASM = C:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS/bin/armcl -c $(CCOPTS) -I C:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS/include -AR = C:/TI/ccsv7/tools/compiler/ti-cgt-arm_16.9.4.LTS/bin/armar rq +CC = C:/ti/ccsv7/tools/compiler/ti-cgt-arm_16.9.2.LTS/bin/armcl -c $(CCOPTS) -I C:/ti/ccsv7/tools/compiler/ti-cgt-arm_16.9.2.LTS/include +ASM = C:/ti/ccsv7/tools/compiler/ti-cgt-arm_16.9.2.LTS/bin/armcl -c $(CCOPTS) -I C:/ti/ccsv7/tools/compiler/ti-cgt-arm_16.9.2.LTS/include +AR = C:/ti/ccsv7/tools/compiler/ti-cgt-arm_16.9.2.LTS/bin/armar rq -DEL = C:/TI/xdctools_3_32_00_06_core/packages/../bin/rm -f -CP = C:/TI/xdctools_3_32_00_06_core/packages/../bin/cp -f +DEL = C:/ti/xdctools_3_32_00_06_core/packages/../bin/rm -f +CP = C:/ti/xdctools_3_32_00_06_core/packages/../bin/cp -f define RM $(if $(wildcard $1),$(DEL) $1,:) diff --git a/Software/Embedded_SW/Embedded/src/sysbios/sysbios.aem4f b/Software/Embedded_SW/Embedded/src/sysbios/sysbios.aem4f Binary files differindex 93c4f5655..50096cc7a 100644 --- a/Software/Embedded_SW/Embedded/src/sysbios/sysbios.aem4f +++ b/Software/Embedded_SW/Embedded/src/sysbios/sysbios.aem4f |