diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Control')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c | 169 | ||||
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h | 8 |
2 files changed, 173 insertions, 4 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c index 968e52d7d..db6624fd4 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c @@ -40,6 +40,13 @@ #include "modules/thread/thread_ex.h" #include "modules/ids/ids_ex.h" +#include "drivers/Flash_Memory/Flash_Memory.h" +#include "drivers/Flash_Memory/fatfs/ff.h" +#include "drivers/Flash_ram/FlashProgram.h" + +#include "third_party/fatfs/src/ffconf.h" +#include "Common/SWUpdate/FileSystem.h" + #include "Communication/Connection.h" Task_Handle Millisecond_Task_Handle; @@ -147,7 +154,11 @@ void MillisecStop(void) MillisecRestart = false; ADCAcquireStop(); } +#ifdef HUNDRED_MICROSECONDS_DANCER_READ +#define HIGH_TASK_FREQUENCY 12000 +#else #define HIGH_TASK_FREQUENCY 120000 +#endif void MillisecStart(void) { MillisecRestart = true; @@ -164,6 +175,8 @@ void OneMilliSecondMillisecInterrupt(UArg arg0) { MillisecMessageStruc MillisecMessage; uint32_t Tenmsec_millisecondCounter = 0; +#ifndef HUNDRED_MICROSECONDS_DANCER_READ + ROM_IntMasterDisable(); ROM_TimerIntClear(Millisec_timerBase, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt if (MillisecRestart == true) @@ -176,6 +189,7 @@ void OneMilliSecondMillisecInterrupt(UArg arg0) ROM_IntMasterEnable(); return; } +#endif if (msec_millisecondCounter%10 == 0) { Tenmsec_millisecondCounter = msec_millisecondCounter; @@ -420,10 +434,13 @@ uint32_t MillisecLoop(uint32_t tick) } } } +#ifdef HUNDRED_MICROSECONDS_DANCER_READ + SaveLogData(); +#else Dancer_Data[FEEDER_DANCER] = Read_Dancer_Position(FEEDER_DANCER); Dancer_Data[POOLER_DANCER] = Read_Dancer_Position(POOLER_DANCER); Dancer_Data[WINDER_DANCER] = Read_Dancer_Position(WINDER_DANCER); - +#endif return OK; } uint32_t MillisecLowLoop(uint32_t tick) @@ -489,10 +506,10 @@ uint32_t MillisecLowLoop(uint32_t tick) if (isMotorConfigured(Motor_i)) MotorGetStatusFromFPGA(Motor_i); } - /* for (Heater_i = 0;Heater_i < NUM_OF_HEATERS;Heater_i++) + for (Heater_i = 0;Heater_i < NUM_OF_HEATERS;Heater_i++) { - Read_Head_MixChip_Heaters_Current(Heater_i); - }*/ + Read_Heaters_Current(Heater_i); + } } if (OneMinute_Tick) { @@ -600,3 +617,147 @@ uint32_t getDrawerFansStatus(void) { return DrawerFansStatus; } +#ifdef HUNDRED_MICROSECONDS_DANCER_READ +uint32_t DancerData[NUM_OF_DANCERS]; +uint32_t Control_Read_Dancer_Position(HardwareDancerType DancerId, uint32_t Parameter1, uint32_t Parameter2) +{ + return DancerData[DancerId]; +} +uint32_t dancer1; +uint32_t dancer2; +uint32_t dancer3; +uint32_t dancer1sum; +uint32_t dancer2sum; +uint32_t dancer3sum; +uint32_t dancer_count; +/*-----------------------*/ +uint32_t StoreBuffer[2][128]; +//char * StoreBuffer[2][512]; +/*-----------------------*/ +int StoreBufferId = 0; +int StoreBufferCounter=0; +uint32_t BufferCounter=0xEEEEEEEE; +bool storeData=false; +uint8_t len=0; +void HundredMicroTimerInterrupt(int ARG0) +{ + ROM_IntMasterDisable(); + ROM_TimerIntClear(Millisec_timerBase, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt + if (MillisecRestart == true) + { + ROM_TimerLoadSet(Millisec_timerBase, TIMER_A,HIGH_TASK_FREQUENCY); + } + else + { + ROM_TimerDisable(Millisec_timerBase,TIMER_A); + ROM_IntMasterEnable(); + return; + } + dancer1 = Read_Dancer_Position(WINDER_DANCER); + dancer2 = Read_Dancer_Position(POOLER_DANCER); + dancer3 = Read_Dancer_Position(FEEDER_DANCER); +//data store - logging +//double buffer switch + /*-----------------------*/ + if (StoreBufferCounter>125) + //if (StoreBufferCounter>490) + /*-----------------------*/ + { + StoreBufferId = 1-StoreBufferId;//switch buffer + StoreBufferCounter=0; + storeData = true; + } +//double buffer initialize + /*-----------------------*/ + if (StoreBufferCounter==0) + { + StoreBuffer[StoreBufferId][StoreBufferCounter] = BufferCounter++; + StoreBufferCounter++; + } + /*-----------------------*/ +//store data + /*-----------------------*/ + StoreBuffer[StoreBufferId][StoreBufferCounter++] = dancer1; + StoreBuffer[StoreBufferId][StoreBufferCounter++] = dancer2; + StoreBuffer[StoreBufferId][StoreBufferCounter++] = dancer3; + /*-----------------------*/ + //len = usprintf(&StoreBuffer[StoreBufferId][StoreBufferCounter], "\r\n%d %d %d", dancer1[dancer_count],dancer2[dancer_count],dancer3[dancer_count]); + //StoreBufferCounter+=(len+1); + /*-----------------------*/ + dancer1sum+=dancer1; + dancer2sum+=dancer2; + dancer3sum+=dancer3; + dancer_count++; + + + if (dancer_count == 10) + { + DancerData[WINDER_DANCER] = dancer1sum/dancer_count; + DancerData[POOLER_DANCER] = dancer2sum/dancer_count; + DancerData[FEEDER_DANCER] = dancer3sum/dancer_count; + dancer_count = 0; + dancer1sum = 0; + dancer2sum = 0; + dancer3sum = 0; + OneMilliSecondMillisecInterrupt(ARG0); + } + ROM_IntMasterEnable(); + return ; + +} +char MillisecPath[50] = "0://SysInfo//Millisec.txt"; +FIL *FileHandle; +void SaveLogData(void) +{ + uint32_t WrittenBytes = 0; + int BufferID = 1- StoreBufferId; + + if (storeData == true) + { + if (FileHandle) + { + f_write(FileHandle,StoreBuffer[BufferID],512,&WrittenBytes ); + storeData = false; + } + } +} +void MillisecLogInit(void) +{ + FRESULT Fresult = FR_OK; + ROM_IntMasterDisable(); + BufferCounter = 0; + FileHandle = my_malloc(sizeof(FIL)); + if (FileHandle == 0) + Fresult = FR_DENIED; + else + Fresult = f_open(FileHandle,MillisecPath,FA_WRITE | FA_OPEN_ALWAYS); + ROM_IntMasterEnable(); + return ; + +} +void MillisecLogClose(void) +{ + FRESULT Fresult = FR_OK; + if (FileHandle == 0) + Fresult = FR_DENIED; + else + { + storeData = false; + ROM_IntMasterDisable(); + Fresult = f_close(FileHandle); + my_free(FileHandle); + FileHandle = 0; + ROM_IntMasterEnable(); + } + return ; + +} +#endif +void MillisecInterrupt(UArg arg0) +{ +#ifdef HUNDRED_MICROSECONDS_DANCER_READ + HundredMicroTimerInterrupt(arg0); +#else + OneMilliSecondMillisecInterrupt(arg0); +#endif +} diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h index 517716c08..61c7df7ee 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h +++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h @@ -36,6 +36,14 @@ void MillisecInit(void); void MillisecStop(void); void MillisecStart(void); +#ifdef HUNDRED_MICROSECONDS_DANCER_READ +void SaveLogData(void); +void MillisecLogInit(void); +void MillisecLogClose(void); + +#endif + + extern bool watchdogCriticalAlarm; extern Task_Handle Millisecond_Task_Handle; |