diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Control')
4 files changed, 198 insertions, 58 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c b/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c new file mode 100644 index 000000000..216779f8b --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c @@ -0,0 +1,7 @@ +/* + * DriverWithCallbackExample.c + * + * Created on: 11 במרץ 2018 + * Author: shlomo + */ +uint32_t diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c new file mode 100644 index 000000000..6f3a59852 --- /dev/null +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -0,0 +1,165 @@ +/************************************************************************************************************************ + * Millisec.c + * Millisec module + * + * The millisec task is called once every 1 millisecond to gather data from the FPGA crucial modules, + * so it will be ready for the Millisec operations. it is called 300 (TBD, configurable) + * microsecond before the Millisec task, so that the data will be ready for the Millisec handling. + * the ,millisecond task holds the pointer to a double buffer of results, so that the Millisec will handle the + * most updated data, without disturbing data gathering + * + **************************************************************************************************************************/ + +////////////////////////////////State machine operation//////////////////////////////////// +//the state machine operation is used to operate in runtime correct profile flow execution +//by recieved esign flow of the user from the UI +/////////////////////////////////////////////////////////////////////////////////////////// +#include "include.h" +#include "Modules/General/GeneralHardware.h" + +#include <driverlib/timer.h> +#include <inc/hw_ints.h> + +#include "drivers/adc_sampling/adc.h" +#include "control.h" +/******************** Definitions ********************************************/ +#define INVALID_MSG_ID 0xFFFF +#define MAX_TANGO_CONTROL_DEVICES 200 +/******************** STRUCTURES AND ENUMs ********************************************/ + +typedef enum +{ + OneMillisec, +}nillisecMessages; + +typedef struct MillisecMessage{ + uint16_t messageId; + uint16_t msglen; + uint32_t tick; + uint8_t messageData[20]; +}MillisecMessageStruc; +/******************** GLOBAL PARAMETERS ********************************************/ +Mailbox_Handle MillisecMsgQ = NULL; +bool MillisecRestart; +static GateMutex_Handle gateMillisecDB; + +uint32_t MillisecDatalog[MAX_TANGO_CONTROL_DEVICES]; +uint32_t Millisec_timerBase = TIMER1_BASE; //Timer handle +/******************** Functions ********************************************/ + +//********************************************************************** +/******************** CODE ********************************************/ +//********************************************************************** + +void MillisecInit(void) +{ + Error_Block eb; + + MillisecMsgQ = Mailbox_create(sizeof(MillisecMessageStruc), 20, NULL,NULL); + + MillisecRestart = false; + + memset(MillisecDatalog,0,sizeof(uint32_t)*MAX_TANGO_CONTROL_DEVICES); + + + gateMillisecDB = GateMutex_create(NULL, &eb); + if (gateMillisecDB == NULL) + { + System_abort("Could not create USB Wait gate"); + } + + ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0); + ROM_TimerConfigure(Millisec_timerBase, TIMER_CFG_PERIODIC); // 32 bits Timer + //TimerIntRegister(Millisec_timerBase, TIMER_A, Timer0Isr); // Registering isr + ROM_TimerEnable(Millisec_timerBase, TIMER_A); + ROM_IntEnable(INT_TIMER1A); + ROM_TimerIntEnable(Millisec_timerBase, TIMER_TIMA_TIMEOUT); + + ADCAcquireInit(); + + return; +} +void MillisecStop(void) +{ + MillisecRestart = false; + ADCAcquireStop(); +} + +void MillisecStart(void) +{ + MillisecRestart = true; + ROM_TimerLoadSet(Millisec_timerBase, TIMER_A,120000/*one millisecond*/); + ADCAcquireStart(0,1); +} + + +void OneMilliSecondMillisecInterrupt(UArg arg0) +{ + MillisecMessageStruc Message; + bool retcode = false; + ROM_IntMasterDisable(); + if (MillisecRestart == true) + { + ROM_TimerLoadSet(Millisec_timerBase, TIMER_A,120000/*one millisecond*/); + } + else + ROM_TimerDisable(Millisec_timerBase,TIMER_A); + + //trigger the ADC collection - check and set priorities to make sure handling timing is correct. + //we might want to call it from the task, afetr execution of other taks!!! + ADC_TriggerCollection(); + //send message to the Millisec task + Message.messageId = OneMillisec; + Message.tick = UsersysTickGet(); + Message.msglen = sizeof(MillisecMessageStruc); + if (MillisecMsgQ != NULL) + retcode = Mailbox_post(MillisecMsgQ , &Message, BIOS_NO_WAIT); + + ROM_TimerIntClear(Millisec_timerBase, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt + // + // Enable all interrupts. + // + ROM_IntMasterEnable(); + return ; +} + +uint32_t MillisecLoop(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, Hundred_msTick, Onesecond_Tick; + Ten_msTick = (tick%eTenMilliSecond == 0) ?true:false; + Hundred_msTick = (tick%eHunderdMillisecond == 0) ?true:false; + Onesecond_Tick = (tick%eOneSecond == 0) ?true:false; + + //gather data from FPGA + return OK; +} +/****************************************************************************** + * ======== messageTsk ======== + * Task for this function is created statically. See the project's .cfg file. + * this message task is created statically in system initialization, + ******************************************************************************/ +void MillisecTask(UArg arg0, UArg arg1) +{ + MillisecMessageStruc Message; + //char str[60]; + //uint16_t length; + //Clock_setTimeout(HostKAClock, 1000); + //Clock_start(HostKAClock); + MillisecInit(); + + while(1) + { + Mailbox_pend(MillisecMsgQ , &Message, BIOS_WAIT_FOREVER); + switch (Message.messageId) + { + case OneMillisec: + MillisecLoop(Message.tick); + break; + default: + break; + } + } +} diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c index 8f389855e..abc61972d 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/control.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c @@ -56,13 +56,6 @@ #define INVALID_MSG_ID 0xFFFF #define MAX_TANGO_CONTROL_DEVICES 200 /******************** STRUCTURES AND ENUMs ********************************************/ -typedef struct -{ - uint32_t PartId; // the identity of the inspected/controlled part in the Devices enum. - DeviceDataFunction Callback; - uint32_t lastStatus; -}DriverDeviceStruc; -DriverDeviceStruc DevicesArray[MAX_PORT_ENUM]; typedef struct @@ -73,6 +66,7 @@ typedef struct DataReadCBFunction ControlDataReadPtr; ControlCBFunction ControlCallbackPtr; CTRL_TIMING_ENUM ControlTiming; + uint32_t lastStatus; }ControlDeviceStruc; typedef enum @@ -86,6 +80,9 @@ typedef struct ControlMessage{ uint32_t tick; uint8_t messageData[20]; }ControlMessageStruc; + +int ControlPhaseDelay = 300; //the control task enters only after data gathering in the millisecond task is finished. +//this parameters defines how many microseconds in the delay. it is used only on starting the control loop on the first time /******************** GLOBAL PARAMETERS ********************************************/ Mailbox_Handle ControlMsgQ = NULL; bool ControlRestart; @@ -100,6 +97,12 @@ void OneMilliSecondFunction(UArg arg0); //********************************************************************** /******************** CODE ********************************************/ //********************************************************************** +uint32_t TemplateDataReadCBFunction (uint32_t deviceID, uint32_t Parameter) +{ + return 0; +} + + void ControlInit(void) { @@ -114,12 +117,6 @@ void ControlInit(void) for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES; Device_i++) { - DevicesArray[Device_i].Callback = NULL; - DevicesArray[Device_i].lastStatus = ERROR; - } - - for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES; Device_i++) - { ControlArray[Device_i].ControlActive = false; ControlArray[Device_i].ControlCallbackPtr = NULL; ControlArray[Device_i].ControlDataReadPtr = NULL; @@ -151,7 +148,7 @@ void ControlStop(void) void ControlStart(void) { ControlRestart = true; - ROM_TimerLoadSet(Control_timerBase, TIMER_BOTH,120000/*one millisecond*/); + ROM_TimerLoadSet(Control_timerBase, TIMER_A,120000+(ControlPhaseDelay*120)/*one millisecond*/); ADCAcquireStart(0,1); } @@ -163,22 +160,20 @@ void ControlStart(void) * both these callbacks can be removed. if a new call is arriving, it invalidates the previous one (no dual control or data) * ***************************************************************************************************************************************************/ -int AddControlCallback(uint32_t deviceId, ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency ) +int AddControlCallback(uint32_t deviceId, ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t Parameter ) { assert(deviceId < MAX_TANGO_CONTROL_DEVICES); assert(Callback); + assert(DriverfPtr); unsigned int key; - if(ControlArray[deviceId].ControlDataReadPtr == NULL) - { - LOG_ERROR (deviceId, "No dataread function for device"); - return ERROR; - } key = GateMutex_enter(gateControlDB); ControlArray[deviceId].ControlTiming = CtrlFrequency; ControlArray[deviceId].ControlCallbackPtr = Callback; ControlArray[deviceId].ControlActive = true; + ControlArray[deviceId].ControlDataReadPtr = DriverfPtr; + ControlArray[deviceId].Parameter = Parameter; GateMutex_leave(gateControlDB, key); return OK; @@ -194,6 +189,7 @@ int RemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback) key = GateMutex_enter(gateControlDB); ControlArray[deviceId].ControlTiming = eNoControl; ControlArray[deviceId].ControlCallbackPtr = NULL; + ControlArray[deviceId].ControlDataReadPtr = NULL; ControlArray[deviceId].ControlActive = false; GateMutex_leave(gateControlDB, key); return OK; @@ -203,41 +199,18 @@ int RemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback) } -int RegisterDevice(uint32_t deviceId, DataReadCBFunction Callback, uint32_t Parameter) -{ - assert(deviceId < MAX_TANGO_CONTROL_DEVICES); - assert(Callback); - unsigned int key; - key = GateMutex_enter(gateControlDB); - ControlArray[deviceId].Parameter = Parameter; - ControlArray[deviceId].ControlDataReadPtr = Callback; - GateMutex_leave(gateControlDB, key); - return OK; - -} -int UnRegisterDevice(uint32_t deviceId, DataReadCBFunction Callback ) -{ - assert(deviceId < MAX_TANGO_CONTROL_DEVICES); - unsigned int key; - if (Callback == ControlArray[deviceId].ControlDataReadPtr) - { - key = GateMutex_enter(gateControlDB); - ControlArray[deviceId].Parameter = 0; - ControlArray[deviceId].ControlDataReadPtr = NULL; - ControlDatalog[deviceId] = 0; - GateMutex_leave(gateControlDB, key); - return OK; - } - else - return ERROR; - -} void OneMilliSecondControlInterrupt(UArg arg0) { ControlMessageStruc Message; bool retcode = false; ROM_IntMasterDisable(); + if (ControlRestart == true) + { + ROM_TimerLoadSet(Control_timerBase, TIMER_A,120000/*one millisecond*/); + } + else + ROM_TimerDisable(Control_timerBase, TIMER_A); //trigger the ADC collection - check and set priorities to make sure handling timing is correct. //we might want to call it from the task, afetr execution of other taks!!! @@ -248,10 +221,6 @@ void OneMilliSecondControlInterrupt(UArg arg0) Message.msglen = sizeof(ControlMessageStruc); if (ControlMsgQ != NULL) retcode = Mailbox_post(ControlMsgQ , &Message, BIOS_NO_WAIT); - if (ControlRestart == true) - { - ROM_TimerLoadSet(Control_timerBase, TIMER_BOTH,120000/*one millisecond*/); - } ROM_TimerIntClear(Control_timerBase, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt // diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.h b/Software/Embedded_SW/Embedded/Modules/Control/control.h index ab259993a..292bbeb82 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/control.h +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.h @@ -8,7 +8,7 @@ /////////////////////////////////////////////////////////////////////////////////////////// #include "include.h" -typedef uint32_t (* DeviceDataFunction)(uint32_t deviceID, uint32_t *Value); +//typedef uint32_t (* DeviceDataFunction)(uint32_t deviceID, uint32_t *Value); typedef uint32_t (* ControlCBFunction)(uint32_t deviceID, uint32_t ReadValue); typedef uint32_t (* DataReadCBFunction)(uint32_t deviceID, uint32_t Parameter); typedef enum { @@ -23,8 +23,7 @@ typedef enum { void ControlInit(void); void ControlStop(void); void ControlStart(void); -int AddControlCallback(uint32_t deviceID, ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency ); -int RemoveControlCallback(uint32_t deviceID, ControlCBFunction Callback ); -int RegisterDevice(uint32_t deviceID, DataReadCBFunction Callback, uint32_t Parameter); -int UnRegisterDevice(uint32_t deviceID, DataReadCBFunction Callback ); +int AddControlCallback(uint32_t deviceId, ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t Parameter ); +int RemoveControlCallback(uint32_t deviceId, ControlCBFunction Callback ); +uint32_t TemplateDataReadCBFunction (uint32_t deviceId, uint32_t Parameter); |