diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Common/Utilities/Utils.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Common/Utilities/Utils.c | 245 |
1 files changed, 245 insertions, 0 deletions
diff --git a/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c new file mode 100644 index 000000000..d792d9b5f --- /dev/null +++ b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c @@ -0,0 +1,245 @@ +/************************************************************ + * Utils.h + * general module of system utility functions + **************************************************************/ + +#include <inc/hw_ints.h> +#include <inc/hw_memmap.h> +#include <driverlib/rom.h> +#include <time.h> +#include "Common/Utilities/Utils.h" +//#include <driverlib/systick.h> +#include "driverlib/hibernate.h" + +static const float speedCoef = 5.3051647697298445256294587790838f;//(200 micro steping)/2*Pi*Radius - 200 micro steping + +//***************************************************************************** + +bool DanserCheckPosition(uint16_t position , Danser_t danser, bool test) +{ + if (test == false) return true; +#ifdef DEBUG_DANCER + ProfileType_t profileType = GetCurrentProfileType(); + if (position < DANSER_POS_MIN) + { + if(danser == Winder) + { + if(profileType == Manual) + { + JigStopAllWithError("Thread torn in winder danser");//for stoping the system operation + } + else if (profileType == User) + { + //notify the UI about an error and pause the system + SendMessageToHost(ERROR_IN_PROFILE_EXECUTION,"Thread torn in winder danser"); + JigPauseAll(); + } + } + else + { + if(profileType == Manual) + { + JigStopAllWithError("Thread torn in pooler danser");//for stoping the system operation + } + else if (profileType == User) + { + //notify the UI about an error and pause the system + SendMessageToHost(ERROR_IN_PROFILE_EXECUTION,"Thread torn in pooler danser"); + JigPauseAll(); + } + } + return false; + } + + if (position > DANSER_POS_MAX) + { + if(danser == Pooler) + { + if(profileType == Manual) + { + JigStopAllWithError("Thread stocked in pooler danser"); + } + else if (profileType == User) + { + SendMessageToHost(ERROR_IN_PROFILE_EXECUTION,"Thread stuck in pooler danser"); + JigPauseAll(); + } + } + else + { + if(profileType == Manual) + { + JigStopAllWithError("Thread stocked in winder danser"); + } + else if (profileType ==User) + { + SendMessageToHost(ERROR_IN_PROFILE_EXECUTION,"Thread stuck in winder danser"); + JigPauseAll(); + } + } + return false; + } +#endif + return true; +} + +//***************************************************************************** +//convert thread speed recieved in milimeters per second into motor steps of pps +//***************************************************************************** +uint16_t ConvertSpeed2Pps(uint16_t milimeterPerSecond) +{ + float res = speedCoef*(float)milimeterPerSecond; + return (uint16_t)res; +} +//***************************************************************************** + +uint16_t ConvertPpsToSpeed(uint16_t Pps) +{ + float res = (float)Pps/speedCoef; + return (uint16_t)res; + +} + +//***************************************************************************** +// +// Init WD timer +// +//***************************************************************************** +void InitWatchdog(uint32_t clock) +{ + // + // Enable the watchdog interrupt. + // + ROM_IntEnable(INT_WATCHDOG); + + // + // Set the period of the watchdog timer. + // + ROM_WatchdogReloadSet(WATCHDOG0_BASE, clock); + + // + // Enable reset generation from the watchdog timer. + // + ROM_WatchdogResetEnable(WATCHDOG0_BASE); + + // + // Enable the watchdog timer. + // + ROM_WatchdogEnable(WATCHDOG0_BASE); +} +void utilsInit(uint32_t ui32SysClock) +{ + + cb_init(); +// SysTickPeriodSet(120000); +// SysTickEnable(); + // Configure Hibernate module clock. + // + HibernateEnableExpClk(ui32SysClock); + + + // Enable RTC mode. + // + HibernateRTCEnable(); + + // + // Configure the hibernate module counter to 24-hour calendar mode. + // + // HibernateCounterMode(HIBERNATE_COUNTER_24HR); + // Configure the hibernate module counter to RTC counter mode. + HibernateCounterMode(HIBERNATE_COUNTER_RTC); + + +} + + +uint32_t UsersysTickGet (void) { + uint32_t tick = 0; +// tick = SysTickValueGet(); + tick = HibernateRTCSSGet()*10000/0x8000; + return tick; +} + +//***************************************************************************** +// +// The interrupt handler for the watchdog. This feeds the dog (so that the +// processor does not get reset) and winks the LED connected to GPIO B3. +// +//***************************************************************************** +void WatchdogIntHandler(void) +{ + // + // Clear the watchdog interrupt. + // + ROM_WatchdogIntClear(WATCHDOG0_BASE); +} + +bool sendDataToHost = false; +void UtilsSetCommunicationOk(void) +{ + sendDataToHost = true; +} + +typedef struct circular_buffer +{ + void *buffer; // data buffer + void *buffer_end; // end of data buffer + uint16_t capacity; // maximum number of items in the buffer + uint16_t count; // number of items in the buffer + uint16_t sz; // size of each item in the buffer + void *head; // pointer to head + void *tail; // pointer to tail +} circular_buffer; + +uint8_t LogBuffer[8002]; +circular_buffer cb; +void cb_init() +{ + //cb.buffer = malloc(capacity * sz); + //if(cb.buffer == NULL) + // handle error + cb.buffer = LogBuffer; + cb.buffer_end = &LogBuffer[3950]; + cb.capacity = 4000; + cb.count = 0; + cb.sz = 60; + cb.head = cb.buffer; + cb.tail = cb.buffer; +} + +void cb_free(circular_buffer *cb) +{ + //free(cb.buffer); + // clear out other fields too, just to be safe +} + +void cb_push_back(/*circular_buffer *cb,*/ const void *item, int size) +{ + if(cb.count == cb.capacity){ + return; + // handle error + } + if ((int)(cb.head) + size > (int)(cb.buffer_end)){ + size = (int)(cb.buffer_end) - (int)(cb.head); + } + + memcpy(cb.head, item, size); + cb.head = (char*)cb.head + size; + if(cb.head >= cb.buffer_end) + cb.head = cb.buffer; + cb.count++; +// if (sendDataToHost) +// SendMessageToHost(DEBUG_LOG,item); +} + +void cb_pop_front(/*circular_buffer *cb,*/ void *item) +{ + if(cb.count == 0){ + // handle error + } + memcpy(item, cb.tail, cb.sz); + cb.tail = (char*)cb.tail + cb.sz; + if(cb.tail == cb.buffer_end) + cb.tail = cb.buffer; + cb.count--; +} |