From 89136a907fcc2ab46ec332e71c1cb4dc478830a9 Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Wed, 29 Aug 2018 11:20:09 +0300 Subject: some malloc bugs. remove speed sensor noise reduction. --- .../Embedded/Common/protobuf-c/protobuf-c.c | 2 ++ .../Embedded/Common/report/distributor.c | 6 ++-- .../Embedded_SW/Embedded/Communication/Container.c | 11 ++++-- .../Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c | 2 +- .../Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c | 41 ++-------------------- .../Embedded/Modules/AlarmHandling/AlarmHandling.c | 14 +++++--- .../Embedded/Modules/Diagnostics/Diagnostics.c | 31 ++++++++-------- .../Embedded/StateMachines/Printing/JobSTM.c | 16 +++++---- 8 files changed, 54 insertions(+), 69 deletions(-) (limited to 'Software/Embedded_SW/Embedded') diff --git a/Software/Embedded_SW/Embedded/Common/protobuf-c/protobuf-c.c b/Software/Embedded_SW/Embedded/Common/protobuf-c/protobuf-c.c index 5debac820..917022de5 100644 --- a/Software/Embedded_SW/Embedded/Common/protobuf-c/protobuf-c.c +++ b/Software/Embedded_SW/Embedded/Common/protobuf-c/protobuf-c.c @@ -778,6 +778,8 @@ uint32_pack(uint32_t value, uint8_t *out) { unsigned rv = 0; + assert(out > 0); + if (value >= 0x80) { out[rv++] = value | 0x80; value >>= 7; diff --git a/Software/Embedded_SW/Embedded/Common/report/distributor.c b/Software/Embedded_SW/Embedded/Common/report/distributor.c index e587e0575..46a3affd6 100644 --- a/Software/Embedded_SW/Embedded/Common/report/distributor.c +++ b/Software/Embedded_SW/Embedded/Common/report/distributor.c @@ -700,6 +700,7 @@ STATUS ReportMessage2Dist(DistributorHandle distributor, const char *message) * None * */ +char reportmsg[254]; static void messageDistribute(char *msg, int DistTableEntry, @@ -722,11 +723,12 @@ static void messageDistribute(char *msg, Dist_Table[DistTableEntry].dest[index].function(msg,FileName,LineNumber,errorCode,parameter1,parameter2); } */ + strcpy (reportmsg,msg); if (ReportFunc1 != NULL) - ReportFunc1(msg, FileName,LineNumber,errorCode,Severity, parameter); + ReportFunc1(reportmsg, FileName,LineNumber,errorCode,Severity, parameter); if (ReportFunc2 != NULL) - ReportFunc2(msg, FileName,LineNumber,errorCode,Severity, parameter); + ReportFunc2(reportmsg, FileName,LineNumber,errorCode,Severity, parameter); } diff --git a/Software/Embedded_SW/Embedded/Communication/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c index 96f5b6a3e..bf27c9a56 100644 --- a/Software/Embedded_SW/Embedded/Communication/Container.c +++ b/Software/Embedded_SW/Embedded/Communication/Container.c @@ -61,9 +61,14 @@ MessageContainer createContainer(MessageType type, char* token, protobuf_c_boole uint8_t* response_buffer = malloc((*sizePtr)(response)); - size_t response_size = (*packPtr)(response, response_buffer); - container.data.data = response_buffer; - container.data.len = response_size; + size_t response_size = 0; + if (response_buffer) + { + response_size = (*packPtr)(response, response_buffer); + } + container.data.data = response_buffer; + container.data.len = response_size; + TxmsgId[Txindex] = type; TxLength[Txindex] = response_size; if (Txindex++>=50) diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c index da15c6151..d2392323f 100644 --- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c +++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c @@ -309,7 +309,7 @@ bool FPGA_Read_limit_Switches(FPGA_GPI_ENUM Limit_Switch) LS_Dispenser_7_8.bits.F2_LS_DISPENSER_UP_8 = NO_LIMIT; break;/**/ default : - #warning temporary !!!! +// #warning temporary !!!! return NO_LIMIT; break; } diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c index f3c351a1e..a5c122574 100644 --- a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c +++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c @@ -74,35 +74,6 @@ uint32_t Read_Speed_Sensor () // //The speed sensor, RMB14SC12BC59N , is 12bit S FPGA_SSI_Speed_Sensor_Receive(); return SpeedSensorResponseS.Speed; } -/******************************************************************** -* -* Name : GTIME_Delta_Time_Pass -* -* Parameters : start_time. -* -* Return : time pass from start time -* -* Description : -* -*********************************************************************/ - -uint32_t Speed_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read) -{ - uint32_t Time_Pass; - #define MAX_COUNTER 0xFFF //12 bits -// #define MAX_COUNTER 0x3FFFFF //22 bits - - - if (Current_Read < Previous_Read) - Time_Pass = (MAX_COUNTER - Previous_Read) + Current_Read + 1; - else - Time_Pass = Current_Read - Previous_Read; - - return (Time_Pass); -} -int Position[100] = {0}; -int PositionIndex = 0; - float Calculate_Speed_Sensor_Velocity( void ) // Call the function every 10mSec (read at least once every { @@ -118,34 +89,28 @@ float Calculate_Speed_Sensor_Velocity( void ) // Call the function every 10mSec static uint32_t Prev_Enc_Position = 0; uint32_t Enc_Position = Read_Speed_Sensor(); - uint32_t number_of_pulses,cmp_number_of_pulses; + uint32_t number_of_pulses; float velocity; float temp; // for CCW Enc_Position < Prev_Enc_Position - cmp_number_of_pulses = Speed_Delta_Position_Pass(Prev_Enc_Position,Enc_Position); - if(Prev_Enc_Position == 0) { number_of_pulses = Enc_Position; } else if(Prev_Enc_Position < Enc_Position) { - if((Enc_Position - Prev_Enc_Position)<10)//noise + /*if((Enc_Position - Prev_Enc_Position)<10)//noise { number_of_pulses = Enc_Position - Prev_Enc_Position; } - else + else*/ number_of_pulses = Prev_Enc_Position + (0xFFF - Enc_Position); } else { number_of_pulses = Prev_Enc_Position - Enc_Position; } - Position[PositionIndex] = cmp_number_of_pulses - number_of_pulses; - if (PositionIndex++ >= 99) - PositionIndex = 0; - //uint32_t sampling_period_mSec = 10;//10mSec uint32_t pulses_per_rotation = 4096; // 12 bit diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c index f9f075477..7ffba4d69 100644 --- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c +++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c @@ -516,15 +516,19 @@ void SendEventNotifications(void) responseContainer.continuous = true; uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)); - size_t container_size = message_container__pack(&responseContainer, container_buffer); - - if (SendChars(container_buffer, container_size) == false) //comm tx mailbox full + if (container_buffer) { - AlarmHandlingToken[0] = 0; + size_t container_size = message_container__pack(&responseContainer, container_buffer); + + if (SendChars(container_buffer, container_size) == false) //comm tx mailbox full + { + AlarmHandlingToken[0] = 0; + } } if (response.events) free (response.events); - free(responseContainer.data.data); + if (responseContainer.data.data) + free(responseContainer.data.data); } uint32_t StartEventsNotificationRequestFunc(MessageContainer* requestContainer) diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c index a85e1cfde..495b7bded 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c @@ -476,23 +476,26 @@ void SendDiagnostics(void) diagnosticsresponseContainer = createContainer(MESSAGE_TYPE__StartDiagnosticsResponse, DiagnosticsToken, false, &response, &start_diagnostics_response__pack, &start_diagnostics_response__get_packed_size); diagnosticsresponseContainer.continuous = true; - diagnosticscontainer_buffer = 0; - diagnosticscontainer_buffer = malloc(message_container__get_packed_size(&diagnosticsresponseContainer)); - if (diagnosticscontainer_buffer) + if (diagnosticsresponseContainer.data.data) { - size_t container_size = message_container__pack(&diagnosticsresponseContainer, diagnosticscontainer_buffer); - //memmap(); - free(diagnosticsresponseContainer.data.data); - //free(DiagnosticsMonitor.dispenserspressure); - //free(DiagnosticsMonitor.dispensersmotorsfrequency); - if (SendChars(diagnosticscontainer_buffer, container_size) == false) //comm tx mailbox full + diagnosticscontainer_buffer = 0; + diagnosticscontainer_buffer = malloc(message_container__get_packed_size(&diagnosticsresponseContainer)); + if (diagnosticscontainer_buffer) { - DiagnosticsStop(); + size_t container_size = message_container__pack(&diagnosticsresponseContainer, diagnosticscontainer_buffer); + //memmap(); + //free(DiagnosticsMonitor.dispenserspressure); + //free(DiagnosticsMonitor.dispensersmotorsfrequency); + if (SendChars(diagnosticscontainer_buffer, container_size) == false) //comm tx mailbox full + { + DiagnosticsStop(); + } } - } - else - { - LOG_ERROR(Task_self(),"malloc failed"); + else + { + LOG_ERROR(Task_self(),"malloc failed"); + } + free(diagnosticsresponseContainer.data.data); } DiagnosticsReset(); diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c index 79eacf9b3..7a3771de9 100644 --- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c +++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c @@ -399,20 +399,24 @@ void JobRequestFunc(MessageContainer* requestContainer) //free(requestContainer); } //******************************************************************************************************************** -//char logmsg[150]; +char logmsg[254]; +char infomsg[254]; void SendJobProgress(double ProcessedLength, int SegmentId, bool done, char *Message) { MessageContainer responseContainer; uint8_t* container_buffer; // -// int len; -// static msdid = 0; -// int length = (int)ProcessedLength; -// len = usnprintf(logmsg, 150, "MSG: Job Progress Length %d, Seg %d Done %d %s",length, SegmentId, done, Message); + strcpy (infomsg,Message); + + int len; + static msdid = 0; + int length = (int)ProcessedLength; + len = usnprintf(logmsg, 254, "MSG: Job Progress Length %f, Seg %d Done %d ",ProcessedLength, SegmentId, done); //REPORT_MSG(msdid++,logmsg); - // Report(logmsg,__FILE__,__LINE__,msdid,RpWarning,SegmentId, done); + Report(logmsg,__FILE__,__LINE__,SegmentId,RpWarning,SegmentId, done); + Report(infomsg,__FILE__,__LINE__,55,RpWarning,33, 44); if (JobToken[0] == 0) return; -- cgit v1.3.1 From 62db371c2acc1564cc8bedbe2e355dd863d2bac4 Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Thu, 30 Aug 2018 17:20:06 +0300 Subject: support fast communication (multiple Rx messages from PC). set dispenser homing microstep to 1 --- .../Embedded/Communication/CommunicationTask.c | 92 ++++++++++++++-------- .../Embedded/Communication/CommunicationTask.h | 6 +- .../Embedded/Drivers/USB_Communication/USBCDCD.c | 10 ++- .../Embedded_SW/Embedded/Drivers/Uart_Comm/Uart.c | 9 ++- .../Modules/Diagnostics/DiagnosticsHoming.c | 2 + 5 files changed, 76 insertions(+), 43 deletions(-) (limited to 'Software/Embedded_SW/Embedded') diff --git a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c index 91f1a78aa..b0b5115a2 100644 --- a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c +++ b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c @@ -16,6 +16,7 @@ Mailbox_Handle CommunicationTxMsgQ = NULL; typedef struct CommRxMessage{ uint16_t messageId; uint16_t msgSize; + uint32_t BuffId; }CommRxMessageStruc; typedef struct CommTxMessage{ uint16_t messageId; @@ -30,28 +31,65 @@ struct serialBuffer { size_t used; size_t size; } typedef SerialBuffer; - +#define SHORT_BUFFER_SIZE 100 char CommRxBuffer[COMM_MAX_BUFFER_SIZE]; -SerialBuffer inBuffer; -uint32_t initArray(size_t initialSize) { - SerialBuffer *a = &inBuffer; +char CommShortRxBuffer[10][SHORT_BUFFER_SIZE]; +SerialBuffer inBuffer[11]; +bool SerialBufferUsed[11] = {false,false,false,false,false,false,false,false,false,false,false,false}; +uint32_t initArray(size_t initialSize) +{ if (initialSize >= COMM_MAX_BUFFER_SIZE) return 0; + if (initialSize > SHORT_BUFFER_SIZE) + { + if (SerialBufferUsed[10] == true) + { + return 0xFF; + } + else + { + SerialBufferUsed[10] = true; + inBuffer[10].buffer = CommRxBuffer; + inBuffer[10].used = 0; + inBuffer[10].size = initialSize; + return 10; + } + } + else + { + int i; + for (i = 0; i < 10; i++) + { + if (SerialBufferUsed[i] == false) + break; + } + if (i == 10) return 0xFF; + else + { + SerialBufferUsed[i] = true; + inBuffer[i].buffer = CommRxBuffer; + inBuffer[i].used = 0; + inBuffer[i].size = initialSize; + return i; + } + } + /*SerialBuffer *a = &inBuffer; a->buffer = CommRxBuffer; a->used = 0; a->size = initialSize; - return initialSize; + return initialSize;*/ } -void insertArray(char element) { - SerialBuffer *a = &inBuffer; +void insertArray(uint32_t buffer,char element) +{ + SerialBuffer *a = &inBuffer[buffer]; // a->used is the number of used entries, because a->array[a->used++] updates a->used only *after* the array has been accessed. // Therefore a->used can go up to a->size a->buffer[a->used++] = element; } -void freeArray(void) { - SerialBuffer *a = &inBuffer; - a->used = a->size = 0; +void freeArray(uint32_t buffer) +{ + SerialBufferUsed[buffer] = false; } uint32_t CommunicationTaskInit(void) @@ -62,13 +100,14 @@ uint32_t CommunicationTaskInit(void) } uint32_t CommTxMsgCounter = 0; uint32_t CommRxMsgCounter = 0; -uint32_t CommunicationTaskMessageReceived(uint16_t msgSize) +uint32_t CommunicationTaskMessageReceived(uint32_t buffer,uint16_t msgSize) { CommRxMessageStruc Message; CommRxMsgCounter++; Message.messageId = 1; Message.msgSize = msgSize; + Message.BuffId = buffer; if (CommunicationRxMsgQ != NULL) /*retcode =*/ Mailbox_post(CommunicationRxMsgQ , &Message, BIOS_NO_WAIT); @@ -86,13 +125,13 @@ void RegisterReceiveCallback(void (*callback_ptr)(char* buffer, size_t length)) * this communication task is created statically in system initialization, in blocking mode * over one of the chosen ommunication methods (USB or Blutooth). ******************************************************************************/ +uint32_t cLength[50] = {0}; +byte cindex = 0; void communicationTask(UArg arg0, UArg arg1) { - //uint32_t ui32RxCount; CommRxMessageStruc Message; - initArray(1); //ui32RxCount = 0; CommunicationRxMsgQ = Mailbox_create(sizeof(CommRxMessageStruc), 4, NULL,NULL); @@ -109,11 +148,13 @@ void communicationTask(UArg arg0, UArg arg1) //ui32RxCount += Message.msgSize; if (callback != NULL) { - callback(inBuffer.buffer,inBuffer.used); + cLength[cindex] = Message.msgSize; + if (cindex++>=50) + cindex = 0; + callback(inBuffer[Message.BuffId].buffer,inBuffer[Message.BuffId].used); } - freeArray(); - initArray( 1); + freeArray(Message.BuffId); break; default: break; @@ -150,27 +191,10 @@ int32_t SetCommunicationPath(bool UARTorUSB) void communicationTxTask(UArg arg0, UArg arg1) { - //uint32_t ui32RxCount; CommTxMessageStruc Message; -/* typedef struct CommRxMessage{ - uint16_t messageId; - uint16_t msgSize; - char *Buff; - }CommTxMessageStruc; -*/ - initArray(1); - - /*#ifdef USE_USB - SetCommunicationPath(isUSB); - #else - SetCommunicationPath(isUART); - #endif*/ - //ui32RxCount = 0; + //initArray(1); CommunicationTxMsgQ = Mailbox_create(sizeof(CommTxMessageStruc), 20, NULL,NULL); - /* Block while the device is NOT connected to the USB */ -// Semaphore_pend(initConnectionSem, BIOS_WAIT_FOREVER); - while(1) { Mailbox_pend(CommunicationTxMsgQ , &Message, BIOS_WAIT_FOREVER); diff --git a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.h b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.h index 50309c899..27907ee07 100644 --- a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.h +++ b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.h @@ -13,13 +13,13 @@ void RegisterReceiveCallback(void (*callback_ptr)(char* buffer, size_t length)); uint32_t initArray( size_t initialSize); -void insertArray( char element); +void insertArray(uint32_t buffer, char element); -void freeArray(void); +void freeArray(uint32_t buffer); extern uint32_t CommunicationTaskInit(void); -extern uint32_t CommunicationTaskMessageReceived(uint16_t msgSize); +extern uint32_t CommunicationTaskMessageReceived(uint32_t buffer,uint16_t msgSize); extern bool CommunicationTaskSendMessage(char* buffer,size_t length); diff --git a/Software/Embedded_SW/Embedded/Drivers/USB_Communication/USBCDCD.c b/Software/Embedded_SW/Embedded/Drivers/USB_Communication/USBCDCD.c index 04561139e..b4da9afa9 100644 --- a/Software/Embedded_SW/Embedded/Drivers/USB_Communication/USBCDCD.c +++ b/Software/Embedded_SW/Embedded/Drivers/USB_Communication/USBCDCD.c @@ -530,6 +530,8 @@ uint32_t ControlHandler(void *pvCBData, uint32_t ui32Event, uint32_t ui32MsgValu return(0); } +uint32_t buffId = 0xFF; + void handleRx(void) { uint32_t ui32Read; @@ -551,7 +553,9 @@ if (expected_message_size == 0) } while(size_bar < 4); expected_message_size = *(int *)size; - initArray( expected_message_size); + buffId = initArray( expected_message_size); + if (buffId == 0xFF) + expected_message_size = 0; } do @@ -561,14 +565,14 @@ if (expected_message_size == 0) // Did we get a character? if(ui32Read) { - insertArray(ui8Char); + insertArray(buffId,ui8Char); current_message_size++; } if (current_message_size == expected_message_size) { g_RxCount += current_message_size; - CommunicationTaskMessageReceived(g_RxCount); + CommunicationTaskMessageReceived(buffId,current_message_size); expected_message_size = 0; current_message_size = 0; break; diff --git a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/Uart.c b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/Uart.c index ec61f414c..b5c61eb46 100644 --- a/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/Uart.c +++ b/Software/Embedded_SW/Embedded/Drivers/Uart_Comm/Uart.c @@ -199,6 +199,8 @@ void UART_ResetBuffers(void) // The UART interrupt handler. // //***************************************************************************** +uint32_t U0buffId = 0xFF; + void UARTIntHandler(UArg arg0) { uint32_t ui32Status; @@ -235,7 +237,8 @@ void UARTIntHandler(UArg arg0) //uDataLength[uindex] = U0_expected_message_size; //if (uindex++>=50) // uindex = 0; - if (initArray( U0_expected_message_size) == 0) + U0buffId = initArray( U0_expected_message_size); + if (U0buffId == 0xFF) U0_expected_message_size = 0; U0_size_bar = 0; memcpy (oldsize,size,4); @@ -246,7 +249,7 @@ void UARTIntHandler(UArg arg0) ui8Char = (char)ROM_UARTCharGetNonBlocking(UART_BASE); Uart_rx_TotalCounter++; - insertArray(ui8Char); + insertArray(U0buffId,ui8Char); U0_current_message_size++; if (U0_current_message_size == U0_expected_message_size) @@ -254,7 +257,7 @@ void UARTIntHandler(UArg arg0) Clock_setTimeout(UartClock, UartClockTimeout); Clock_start(UartClock); Uart_rx_Counter+=(4+U0_current_message_size); - CommunicationTaskMessageReceived(U0_current_message_size); + CommunicationTaskMessageReceived(U0buffId, U0_current_message_size); U0_expected_message_size = 0; U0_current_message_size = 0; break; diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c index af8932872..70ede0916 100644 --- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c +++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c @@ -183,6 +183,7 @@ uint32_t DispenserHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue) //close dry air valve in the dispenser Valve_Set((Valves_t) (DispenserId+VALVE_2W_MID_AIR_LF), Atm_MidTank_OFF); + MotorSetMicroStep(deviceID, MotorsCfg[deviceID].microstep); responseContainer = createContainer(MESSAGE_TYPE__DispenserHomingResponse, HomingToken[deviceID], true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size); responseContainer.continuous = true; @@ -230,6 +231,7 @@ uint32_t DispenserHomingRequestFunc(MessageContainer* requestContainer) //open dry air valve in the dispenser Valve_Set((Valves_t) (request->index+VALVE_2W_MID_AIR_LF), Atm_MidTank_ON); + MotorSetMicroStep(MotorId, 1); MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed, Motor_Id_to_LS_Id[MotorId], DispenserHomingRequestCallback); return OK; -- cgit v1.3.1