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/************************************************************
* 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)
{
// 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;
}
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