438 lines
17 KiB
C
438 lines
17 KiB
C
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/**
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* tamagawa_diagnostic.c
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*
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* Copyright (c) 2022, Texas Instruments Incorporated
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* * Neither the name of Texas Instruments Incorporated nor the names of
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* its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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* */
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#include <stdio.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <stdbool.h>
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#include <kernel/dpl/DebugP.h>
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#include <drivers/soc.h>
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#include <drivers/sciclient.h>
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#include <kernel/dpl/TaskP.h>
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#include <drivers/pinmux.h>
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#include <drivers/hw_include/hw_types.h>
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#include "ti_drivers_open_close.h"
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#include "ti_drivers_config.h"
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#include "ti_board_open_close.h"
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#include <motor_control/position_sense/tamagawa/include/tamagawa_drv.h>
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#if ((CONFIG_TAMAGAWA0_CHANNEL0 + CONFIG_TAMAGAWA0_CHANNEL1 + CONFIG_TAMAGAWA0_CHANNEL2) == 1)
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#include <motor_control/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h>
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#endif
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#if ((CONFIG_TAMAGAWA0_CHANNEL0 + CONFIG_TAMAGAWA0_CHANNEL1 + CONFIG_TAMAGAWA0_CHANNEL2) > 1)
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#include <motor_control/position_sense/tamagawa/firmware/tamagawa_master_multi_channel_bin.h>
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#endif
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static uint8_t gTamagawa_multi_ch_mask;
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static uint32_t gTamagawa_is_multi_ch;
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struct tamagawa_priv *priv;
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/** \brief Global Structure pointer holding PRU-ICSSx memory Map. */
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PRUICSS_Handle gPruIcssXHandle;
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void *gPru_dramx;
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void tamagawa_pruicss_init(void)
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{
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gPruIcssXHandle = PRUICSS_open(CONFIG_PRU_ICSS0);
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/* PRUICSS_PRUx holds value 0 or 1 depending on whether we are using PRU0 or PRU1 slice */
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PRUICSS_initMemory(gPruIcssXHandle, PRUICSS_DATARAM(PRUICSS_PRUx));
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PRUICSS_disableCore(gPruIcssXHandle, PRUICSS_PRUx);
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PRUICSS_setSaMuxMode(gPruIcssXHandle, PRUICSS_SA_MUX_MODE_SD_ENDAT);
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}
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void tamagawa_pruicss_load_run_fw(void)
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{
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PRUICSS_disableCore(gPruIcssXHandle, PRUICSS_PRUx);
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/*Load firmware. Set buffer = write to Pru memory */
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PRUICSS_writeMemory(gPruIcssXHandle, PRUICSS_IRAM_PRU(PRUICSS_PRUx),0, (uint32_t *) TamagawaFirmware,sizeof(TamagawaFirmware));
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PRUICSS_resetCore(gPruIcssXHandle, PRUICSS_PRUx);
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/*Run firmware */
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PRUICSS_enableCore(gPruIcssXHandle, PRUICSS_PRUx);
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}
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void tamagawa_display_result(struct tamagawa_priv *priv, int32_t cmd)
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{
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/* Prints the position value returned by the encoder for a particular command ID */
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switch(cmd)
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{
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case DATA_ID_7:
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/* Reset */
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DebugP_log("\r\n| ");
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DebugP_log("\r\nABS: 0x%x\tSF: 0x%x\tCF: 0x%x\tCRC: 0x%x\t\n", priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.abs, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.sf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.cf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.crc);
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break;
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case DATA_ID_8:
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/* Reset */
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DebugP_log("\r\n| ");
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DebugP_log("\r\nABS: 0x%x\tSF: 0x%x\tCF: 0x%x\tCRC: 0x%x\t\n", priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.abs, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.sf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.cf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.crc);
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break;
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case DATA_ID_C:
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/* Reset */
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DebugP_log("\r\n| ");
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DebugP_log("\r\nABS: 0x%x\tSF: 0x%x\tCF: 0x%x\tCRC: 0x%x\t\n", priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.abs, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.sf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.cf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.crc);
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break;
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case DATA_ID_0:
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/* Data readout: data in one revolution */
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DebugP_log("\r\n| ");
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DebugP_log("\r\nABS: 0x%x\tSF: 0x%x\tCF: 0x%x\tCRC: 0x%x\t\n", priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.abs, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.sf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.cf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.crc);
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break;
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case DATA_ID_1:
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/* Data readout: multi-turn data */
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DebugP_log("\r\n| ");
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DebugP_log("\r\nABM: 0x%x\tSF: 0x%x\tCF: 0x%x\tCRC: 0x%x\t\n", priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.abm, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.sf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.cf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.crc);
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break;
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case DATA_ID_2:
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/* Data readout: encoder ID */
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DebugP_log("\r\n| ");
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DebugP_log("\r\nENID: 0x%x\tSF: 0x%x\tCF: 0x%x\tCRC: 0x%x\t\n", priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.enid, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.sf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.cf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.crc);
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break;
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case DATA_ID_3:
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/* Data readout: data in one revolution, encoder ID, multi-turn, encoder error */
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DebugP_log("\r\n| ");
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DebugP_log("\r\nABS: 0x%x\tENID: 0x%x\tABM: 0x%x\tALMC: 0x%x\tSF: 0x%x\tCF: 0x%x\tCRC: 0x%x\t\n", priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.abs, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.enid, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.abm, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.almc, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.sf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.cf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.crc);
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break;
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case DATA_ID_6:
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/* EEPROM Write */
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DebugP_log("\r\n| ");
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DebugP_log("\r\nEDF: 0x%x\tADF: 0x%x\tCF: 0x%x\tCRC: 0x%x\t\n", priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.edf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.adf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.cf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.crc);
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break;
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case DATA_ID_D:
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/* EEPROM Read */
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DebugP_log("\r\n| ");
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DebugP_log("\r\nEDF: 0x%x\tADF: 0x%x\tCF: 0x%x\tCRC: 0x%x\t\n", priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.edf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.adf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.cf, priv->tamagawa_xchg->tamagawa_interface.rx_frames_received.crc);
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break;
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default:
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DebugP_log("\r\n| ERROR: unknown Data ID\n");
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break;
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}
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}
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static void tamagawa_handle_rx(struct tamagawa_priv *priv, int32_t cmd)
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{
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DebugP_log("\r\n Parsing process started\n");
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/* Case of parsing failure */
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if (tamagawa_parse(cmd, priv) == -1)
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{
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DebugP_log("\r\n ERROR: Parsing failure\n");
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return;
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}
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/* Case of successful parsing, display the results after CRC check*/
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DebugP_log("\r\n Channel is %x \n",priv->channel);
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DebugP_log("\r\n data id is %x \n",cmd);
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if (tamagawa_crc_verify(priv) == 1)
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{
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DebugP_log("\r\n CRC success \n");
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tamagawa_display_result(priv, cmd);
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return;
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}
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else
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{
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DebugP_log("\r\n CRC Failure \n");
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}
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return;
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}
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static enum data_id tamagawa_get_command(uint8_t *adf, uint8_t *edf)
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{
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int32_t cmd;
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uint32_t val;
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/* Check to make sure that the command issued is correct */
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if(DebugP_scanf("%d\n", &cmd) < 0)
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{
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cmd = DATA_ID_0;
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DebugP_log("\r\n| WARNING: invalid Data ID, Data readout Data ID 0 will be sent\n");
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}
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/* Check to make sure that the command issued is correct */
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if(cmd >= DATA_ID_NUM)
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{
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cmd = DATA_ID_0;
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DebugP_log("\r\n| WARNING: invalid Data ID, Data readout Data ID 0 will be sent\n");
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}
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/* In case of EEPROM commands, take input for Address field for different channels selected*/
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if((cmd == DATA_ID_D) || (cmd == DATA_ID_6))
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{
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uint32_t ch = 0;
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for(ch = 0 ; ch < MAX_CHANNELS ; ch++)
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{
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if(gTamagawa_multi_ch_mask & 1 << ch)
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{
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if(gTamagawa_is_multi_ch != 1)
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{
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DebugP_log("\r\n| Enter EEPROM address (hex value) : ");
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}
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else
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{
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DebugP_log("\r\n| Enter EEPROM address (hex value) for ch %d : ", ch);
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}
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if(DebugP_scanf("%x\n", &val) < 0)
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{
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cmd = DATA_ID_NUM;
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DebugP_log("\r\n| ERROR: invalid EEPROM address\n|\n");
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break;
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}
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if(val > MAX_EEPROM_ADDRESS)
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{
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cmd = DATA_ID_NUM;
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DebugP_log("\r\n| ERROR: invalid EEPROM address\n|\n");
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break;
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}
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*adf = (uint8_t)val;
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tamagawa_update_adf(priv, val, ch);
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}
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}
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}
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/* In case of EEPROM Write, take input for Address field for different channels selected*/
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if(cmd == DATA_ID_6)
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{
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uint32_t ch = 0;
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for(ch = 0 ; ch < MAX_CHANNELS ; ch++)
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{
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if(gTamagawa_multi_ch_mask & 1 << ch)
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{
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if(gTamagawa_is_multi_ch != 1)
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{
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DebugP_log("\r\n| Enter EEPROM data (hex value) : ");
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}
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else
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{
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DebugP_log("\r\n| Enter EEPROM data (hex value) for ch %d : ", ch);
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}
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if(DebugP_scanf("%x\n", &val) < 0)
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{
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cmd = DATA_ID_NUM;
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DebugP_log("\r\n| ERROR: invalid EEPROM data\n|\n");
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break;
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}
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if(val > MAX_EEPROM_WRITE_DATA)
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{
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cmd = DATA_ID_NUM;
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DebugP_log("\r\n| ERROR: invalid EEPROM data\n|\n");
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break;
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}
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*edf = (uint8_t)val;
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tamagawa_update_edf(priv, val, ch);
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}
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}
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}
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return cmd;
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}
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static void tamagawa_display_menu(void)
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{
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DebugP_log("\r\n|------------------------------------------------------------------------------|");
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DebugP_log("\r\n| Select DATA ID Code |");
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DebugP_log("\r\n|------------------------------------------------------------------------------|");
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DebugP_log("\r\n| 0 : Data readout, Absolute (Data ID 0) |");
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DebugP_log("\r\n| 1 : Data readout, Multi-turn (Data ID 1) |");
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DebugP_log("\r\n| 2 : Data readout, Encoder-ID (Data ID 2) |");
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DebugP_log("\r\n| 3 : Data readout, Absolute & Multi-turn (Data ID 3) |");
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DebugP_log("\r\n| 4 : Writing to EEPROM (Data ID 6) |");
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DebugP_log("\r\n| 5 : Reset (Data ID 7) |");
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DebugP_log("\r\n| 6 : Reset (Data ID 8) |");
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DebugP_log("\r\n| 7 : Reset (Data ID C) |");
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DebugP_log("\r\n| 8 : Readout from EEPROM (Data ID D) |");
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DebugP_log("\r\n|------------------------------------------------------------------------------|\n|\n");
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DebugP_log("\r\n| enter value: ");
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}
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uint32_t tamagawa_get_fw_version(void)
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{
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/* Returns the firmware version, depending on Single or Multi-channel configuration */
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return *((uint32_t *)TamagawaFirmware + 1);
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}
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void tamagawa_main(void *args)
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{
|
||
|
|
/* Open drivers to open the UART driver for console */
|
||
|
|
Drivers_open();
|
||
|
|
Board_driversOpen();
|
||
|
|
/*C16 pin High for Enabling ch0 in booster pack */
|
||
|
|
#if (CONFIG_TAMAGAWA0_BOOSTER_PACK)
|
||
|
|
GPIO_setDirMode(ENC1_EN_BASE_ADDR, ENC1_EN_PIN, ENC1_EN_DIR);
|
||
|
|
GPIO_pinWriteHigh(ENC1_EN_BASE_ADDR, ENC1_EN_PIN);
|
||
|
|
#endif
|
||
|
|
void *pruicss_cfg;
|
||
|
|
uint32_t slice_value = 1;
|
||
|
|
uint32_t selected_ch;
|
||
|
|
|
||
|
|
tamagawa_pruicss_init();
|
||
|
|
|
||
|
|
pruicss_cfg = (void *)(((PRUICSS_HwAttrs *)(gPruIcssXHandle->hwAttrs))->cfgRegBase);
|
||
|
|
|
||
|
|
if(PRUICSS_PRUx == 0)
|
||
|
|
{
|
||
|
|
slice_value = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Initialize the priv structure according to the PRUx slice selected */
|
||
|
|
priv = tamagawa_init((struct tamagawa_xchg *)((PRUICSS_HwAttrs *)(
|
||
|
|
gPruIcssXHandle->hwAttrs))->pru1DramBase, pruicss_cfg, slice_value);
|
||
|
|
|
||
|
|
|
||
|
|
tamagawa_set_baudrate(priv, CONFIG_TAMAGAWA0_BAUDRATE);
|
||
|
|
|
||
|
|
DebugP_log("\r\n\nTamagawa PRU-ICSS init done\n\n");
|
||
|
|
|
||
|
|
/* Set the value of gTamagawa_multi_ch_mask based on the channels selected */
|
||
|
|
gTamagawa_multi_ch_mask = (CONFIG_TAMAGAWA0_CHANNEL0<<0|CONFIG_TAMAGAWA0_CHANNEL1<<1|CONFIG_TAMAGAWA0_CHANNEL2<<2);
|
||
|
|
|
||
|
|
if (CONFIG_TAMAGAWA0_CHANNEL0 + CONFIG_TAMAGAWA0_CHANNEL1 + CONFIG_TAMAGAWA0_CHANNEL2 > 1)
|
||
|
|
{
|
||
|
|
gTamagawa_is_multi_ch = 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
if(gTamagawa_is_multi_ch)
|
||
|
|
{
|
||
|
|
tamagawa_config_multi_channel_mask(priv, gTamagawa_multi_ch_mask);
|
||
|
|
}
|
||
|
|
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if (CONFIG_TAMAGAWA0_CHANNEL0 == 1)
|
||
|
|
{
|
||
|
|
selected_ch = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (CONFIG_TAMAGAWA0_CHANNEL1 == 1)
|
||
|
|
{
|
||
|
|
selected_ch = 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (CONFIG_TAMAGAWA0_CHANNEL2 == 1)
|
||
|
|
{
|
||
|
|
selected_ch = 2;
|
||
|
|
}
|
||
|
|
tamagawa_config_channel(priv, selected_ch);
|
||
|
|
}
|
||
|
|
|
||
|
|
uint32_t firmware_ver;
|
||
|
|
firmware_ver = tamagawa_get_fw_version();
|
||
|
|
|
||
|
|
DebugP_log("\r\nTamagawa firmware \t: %x.%x.%x (%s)\n\n", (firmware_ver >> 24) & 0x7F,
|
||
|
|
(firmware_ver >> 16) & 0xFF, firmware_ver & 0xFFFF, firmware_ver & (1 << 31) ? "internal" : "release");
|
||
|
|
|
||
|
|
DebugP_log("\r\nChannel(s) selected: %s %s %s \n\n\n",
|
||
|
|
gTamagawa_multi_ch_mask & TAMAGAWA_MULTI_CH0 ? "0" : "",
|
||
|
|
gTamagawa_multi_ch_mask & TAMAGAWA_MULTI_CH1 ? "1" : "",
|
||
|
|
gTamagawa_multi_ch_mask & TAMAGAWA_MULTI_CH2 ? "2" : "");
|
||
|
|
|
||
|
|
/*Updating the channel mask in interface*/
|
||
|
|
priv->tamagawa_xchg->tamagawa_interface.ch_mask =gTamagawa_multi_ch_mask;
|
||
|
|
|
||
|
|
tamagawa_config_host_trigger(priv);
|
||
|
|
|
||
|
|
tamagawa_pruicss_load_run_fw();
|
||
|
|
DebugP_log("\r\nTamagawa PRU-ICSS firmware loaded and running\n\n\n");
|
||
|
|
|
||
|
|
while(1)
|
||
|
|
{
|
||
|
|
/*
|
||
|
|
* Initialized to zero to remove the compiler warning about the variable being uninitialized.
|
||
|
|
*/
|
||
|
|
uint8_t adf = 0, edf = 0;
|
||
|
|
enum data_id cmd;
|
||
|
|
|
||
|
|
tamagawa_display_menu();
|
||
|
|
cmd = tamagawa_get_command(&adf, &edf);
|
||
|
|
|
||
|
|
if(cmd >= DATA_ID_NUM)
|
||
|
|
{
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
|
||
|
|
tamagawa_update_data_id(priv, cmd);
|
||
|
|
|
||
|
|
/* In case of EEPROM commands, calculate the CRC for the different channels selected */
|
||
|
|
if((cmd == DATA_ID_6) || (cmd == DATA_ID_D))
|
||
|
|
{
|
||
|
|
uint32_t ch = 0;
|
||
|
|
for(ch = 0 ; ch < MAX_CHANNELS ; ch++)
|
||
|
|
{
|
||
|
|
if(gTamagawa_multi_ch_mask & 1 << ch)
|
||
|
|
{
|
||
|
|
tamagawa_update_crc(priv, cmd, ch);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
tamagawa_command_process(priv, cmd, gTamagawa_multi_ch_mask);
|
||
|
|
|
||
|
|
if(gTamagawa_is_multi_ch)
|
||
|
|
{
|
||
|
|
DebugP_log("\r\n Multi-channel mode is enabled\n\n");
|
||
|
|
|
||
|
|
uint32_t ch;
|
||
|
|
for(ch = 0; ch < MAX_CHANNELS; ch++)
|
||
|
|
{
|
||
|
|
if(gTamagawa_multi_ch_mask & 1 << ch)
|
||
|
|
{
|
||
|
|
tamagawa_multi_channel_set_cur(priv, ch);
|
||
|
|
DebugP_log("\r\n\r|\n|\t\t\t\tCHANNEL %d\n", ch);
|
||
|
|
tamagawa_handle_rx(priv, cmd);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
DebugP_log("\r\n Single-channel mode is enabled\n\n");
|
||
|
|
tamagawa_handle_rx(priv, cmd);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
Board_driversClose();
|
||
|
|
Drivers_close();
|
||
|
|
}
|