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/*
* Dancer.c
*
* Created on: Aug 5, 2018
* Author: avi
*/
#include "include.h"
#include <stdbool.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <string.h>
#include "inc/hw_memmap.h"
#include "driverlib/gpio.h"
#include "driverlib/pin_map.h"
#include "driverlib/ssi.h"
#include "driverlib/sysctl.h"
#include "utils/uartstdio.h"
#include <driverlib/rom.h>
#include <driverlib/rom_map.h>
#include <DataDef.h>
#include <Drivers/SSI_Comm/SSI_Comm.h>
#include "driverlib/uart.h"
#include "drivers/FPGA/FPGA_SSI_Comm.h"
#include "PMR/Hardware/HardwareDancerType.pb-c.h"
#include <driverlib/timer.h>
#include "Modules/Control/MillisecTask.h"
extern SSI_DANCER_ENC DANCER_ENC[NUM_OF_ROTENC];
typedef struct // 24bit
{
unsigned short Position:14;
unsigned char Gen_status:2;
unsigned char Det_status:8;
}SSI_ENC;
SSI_ENC SSI_enc;
#ifndef HUNDRED_MICROSECONDS_DANCER_READ
#ifdef FOUR_WINDERS
uint32_t Control_Read_Dancer_Position(Dancers_4_Winders DancerId, uint32_t Parameter1)
#else
uint32_t Control_Read_Dancer_Position(HardwareDancerType DancerId, uint32_t Parameter1)
#endif
{
return DANCER_ENC[DancerId].Position;
//return SSI_enc.Position;
}
#endif
#ifdef FOUR_WINDERS
uint32_t Read_Dancer_Position (Dancers_4_Winders DancerId)
#else
uint32_t Read_Dancer_Position (HardwareDancerType DancerId)
#endif
{
#ifdef EVALUATION_BOARD
uint32_t ENC_SSI_Data = 0;
SSIEnable(SSI1_BASE);
ENC_SSI_Data = Write_Dummy_Byte();
//SSI_enc.Det_status = ENC_SSI_Data & 0xFF;
//ENC_SSI_Data = ENC_SSI_Data >> 8;
SSI_enc.Det_status = 0;
SSI_enc.Gen_status = ENC_SSI_Data & 0x3;
ENC_SSI_Data = ENC_SSI_Data >> 2;
SSI_enc.Position = ENC_SSI_Data & 0x3FFF; // up 11130 down 8747
SSIDisable(SSI1_BASE);
return SSI_enc.Position;
#else
// must call FPGA_SSI_Transmit first!
#ifdef FOUR_WINDERS
Dancers_4_Winders Dancer_Id = (Dancers_4_Winders)DancerId;//to remove warning
#else
HardwareDancerType Dancer_Id = (HardwareDancerType)DancerId;//to remove warning
#endif
FPGA_SSI_Receive(Dancer_Id);
FPGA_SSI_Transmit(Dancer_Id);
return DANCER_ENC[Dancer_Id].Position;
#endif
}
uint32_t Read_Dryer_ENC_Position ()
{
// must call FPGA_SSI_Dryer_ENC_Transnit first!
FPGA_SSI_Dryer_ENC_Receive();
FPGA_SSI_Dryer_ENC_Transnit();
//REPORT_MSG(Dryer_ENC.Position,"Read_Dryer_ENC_Position");
return Dryer_ENC.Position;
}
#ifdef FOUR_WINDERS
uint32_t Read_Dryer_Status(Dancers_4_Winders DancerId)
#else
uint32_t Read_Dryer_Status(HardwareDancerType DancerId)
#endif
{
return Dryer_ENC.Gen_status;
}
#ifdef FOUR_WINDERS
uint32_t Control_Read_Dryer_Position(Dancers_4_Winders DancerId, uint32_t Parameter1)
#else
uint32_t Control_Read_Dryer_Position(HardwareDancerType DancerId, uint32_t Parameter1)
#endif
{
return Dryer_ENC.Position;
//return SSI_enc.Position;
}
void Loop_SSI()
{
while(1)
{
Read_Dancer_Position(HARDWARE_DANCER_TYPE__RightDancer);
SysCtlDelay(1000); // Min 1000 (Pause time > 20uSec)
}
}
//-----------------------------------------------------------------
#include "drivers/FPGA/FPGA_SPI_Comm.h"
bool test_dancer_direction = false, test_dancer_flag = false;
void test_dancer_responce_RTFU()
{
static uint32_t i = 0, FT = 0;
static uint32_t save_milisec = 0;
static uint16_t Save_start_ENC = 0;
if(test_dancer_flag == true)
{
i=1;
test_dancer_flag = false;
MotorDriverRequest[21].Direction = test_dancer_direction;
//MotorDriverRequest[21].Speed = 60;
//FPGA_SetMotSpeedDirect(21);//RDancer
MotorSetSpeed(21, 60);
save_milisec = msec_millisecondCounter;
}
if((i>0)&&(i<5000))
{
FPGA_SSI_Transmit(2);//RDancer
delayUs(100);
FPGA_SSI_Receive(2);//RDancer
if(i == 1)
{
Save_start_ENC = DANCER_ENC[2].Position;
}
if((((DANCER_ENC[2].Position - Save_start_ENC) >= 2 ) || ((Save_start_ENC - DANCER_ENC[2].Position) >= 2 )) && (FT == 0))
{
FT = 1;
Report("*-*-*-*-* time till movement mSec *-*-*-*-*", __FILE__, __LINE__, 0, RpMessage, (int)(/*abs*/(msec_millisecondCounter-save_milisec)), 0);
}
Report("*-*-*-*-* test_dancer_responce_RTFU *-*-*-*-*", __FILE__, __LINE__, 0, RpMessage, (int)(DANCER_ENC[2].Position), 0);
i=i+1;
}
else
{
i=0;
FT = 0;
//MotorDriverRequest[21].Stop = Hard_Stop;
//FPGA_SetMotStop(21);
}
}
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