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am64x/am243x: EnDat: Enable long time test run

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- Enable long time test run for position command
- Load all core firmware in load share mode

Fixes: PINDSW-6686

Signed-off-by: Achala Ram <a-ram@ti.com>
This commit is contained in:
Achala Ram 2023-09-11 11:26:35 +05:30
parent a3cfd189bf
commit af61f50a46
2 changed files with 102 additions and 16 deletions
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99
examples/position_sense/endat_diagnostic/endat_diagnostic.c
View File

@ -66,15 +66,15 @@
#include <position_sense/endat/firmware/endat_master_multi_bin.h>
#endif
#if (CONFIG_ENDAT0_CHANNEL0) && (CONFIG_ENDAT0_MODE == ENDAT_MODE_MULTI_CHANNEL_MULTI_PRU)
#if (CONFIG_ENDAT0_MODE == ENDAT_MODE_MULTI_CHANNEL_MULTI_PRU)
#include <position_sense/endat/firmware/endat_master_multi_RTU_bin.h>
#endif
#if (CONFIG_ENDAT0_CHANNEL1) && (CONFIG_ENDAT0_MODE == ENDAT_MODE_MULTI_CHANNEL_MULTI_PRU)
#if (CONFIG_ENDAT0_MODE == ENDAT_MODE_MULTI_CHANNEL_MULTI_PRU)
#include <position_sense/endat/firmware/endat_master_multi_PRU_bin.h>
#endif
#if (CONFIG_ENDAT0_CHANNEL2) && (CONFIG_ENDAT0_MODE == ENDAT_MODE_MULTI_CHANNEL_MULTI_PRU)
#if (CONFIG_ENDAT0_MODE == ENDAT_MODE_MULTI_CHANNEL_MULTI_PRU)
#include <position_sense/endat/firmware/endat_master_multi_TXPRU_bin.h>
#endif
@ -109,11 +109,11 @@ TaskP_Object gTaskObject;
#define VALID_PERIODIC_CMD(x) ((x) == 200)
#define VALID_HOST_CMD(x) ((x == 100) || ((x) == 101) || ((x) == 102) || ((x) == 103) || ((x) == 104) || ((x) == 105) || \
((x) == 106) || ((x) == 107) || ((x) == 108) || ((x) == 109) || ((x) == 110))
((x) == 106) || ((x) == 107) || ((x) == 108) || ((x) == 109) || ((x) == 110) || ((x) == 111))
#define HAVE_COMMAND_SUPPLEMENT(x) (((x) == 2) || ((x) == 3) || ((x) == 4) || ((x) == 7) || \
((x) == 9) || ((x) == 10) || ((x) == 11) || ((x) == 13) || ((x) == 14) || \
((x) == 100) || ((x) == 101) || ((x)== 103) || ((x) == 105) || ((x) == 106) || ((x) == 107) || ((x) == 108) || ((x) == 109)||((x) == 200))
((x) == 100) || ((x) == 101) || ((x)== 103) || ((x) == 105) || ((x) == 106) || ((x) == 107) || ((x) == 108) || ((x) == 109) || ((x) == 200))
#define ENDAT_INPUT_CLOCK_UART_FREQUENCY 192000000
/* use uart clock only to start with */
@ -206,7 +206,7 @@ uint32_t endat_pruss_load_run_fw(struct endat_priv *priv)
#if CONFIG_ENDAT0_MODE == ENDAT_MODE_MULTI_CHANNEL_MULTI_PRU /*enable loadshare mode*/
#if(CONFIG_ENDAT0_CHANNEL0)
status = PRUICSS_disableCore(gPruIcssXHandle, PRUICSS_RTUPRUx);
DebugP_assert(SystemP_SUCCESS == status);
@ -219,9 +219,6 @@ uint32_t endat_pruss_load_run_fw(struct endat_priv *priv)
status = PRUICSS_enableCore(gPruIcssXHandle, PRUICSS_RTUPRUx);
DebugP_assert(SystemP_SUCCESS == status);
#endif
#if(CONFIG_ENDAT0_CHANNEL1)
status=PRUICSS_disableCore(gPruIcssXHandle, PRUICSS_PRUx );
DebugP_assert(SystemP_SUCCESS == status);
@ -234,9 +231,6 @@ uint32_t endat_pruss_load_run_fw(struct endat_priv *priv)
status = PRUICSS_enableCore(gPruIcssXHandle, PRUICSS_PRUx);
DebugP_assert(SystemP_SUCCESS == status);
#endif
#if(CONFIG_ENDAT0_CHANNEL2)
status = PRUICSS_disableCore(gPruIcssXHandle, PRUICSS_TXPRUx);
DebugP_assert(SystemP_SUCCESS == status);
@ -249,7 +243,7 @@ uint32_t endat_pruss_load_run_fw(struct endat_priv *priv)
status = PRUICSS_enableCore(gPruIcssXHandle, PRUICSS_TXPRUx);
DebugP_assert(SystemP_SUCCESS == status);
#endif
status=endat_wait_initialization(priv, WAIT_5_SECOND, gEndat_multi_ch_mask);
@ -358,8 +352,9 @@ static void endat_print_menu(void)
DebugP_log("\r|109: Configure wire delay |\n");
}
DebugP_log("\r|110: Recovery Time (RT) |\n");
DebugP_log("\r|200: Start periodic continuous mode |\n");
DebugP_log("\r|110: Recovery Time (RT) |\n");
DebugP_log("\r|111: Simulate motor control 2.1 position loop for long time |\n");
DebugP_log("\r|200: Start periodic continuous mode |\n");
DebugP_log("\r|------------------------------------------------------------------------------|\n\r|\n");
DebugP_log("\r| enter value: ");
@ -861,7 +856,6 @@ static int32_t endat_get_command_supplement(int32_t cmd,
}
break;
case 200:
if(gEndat_is_load_share_mode)
@ -1954,6 +1948,79 @@ static void endat_process_host_command(int32_t cmd,
}
}
else if(cmd == 111)
{
DebugP_log("\r|press enter to stop the long time continuous mode\n|");
if(endat_loop_task_create() != SystemP_SUCCESS)
{
DebugP_log("\r| ERROR: OS not allowing position loop as related Task creation failed\n|\n|\n");
DebugP_log("\rTask_create() failed!\n");
return;
}
endat_position_loop_status = ENDAT_POSITION_LOOP_START;
uint64_t poaition_read = 0;
/*clear CRC error count */
memset(gEndat_mtrctrl_crc_err, 0, 3);
while(1)
{
if(endat_position_loop_status == ENDAT_POSITION_LOOP_STOP)
{
if(gEndat_is_multi_ch || gEndat_is_load_share_mode)
{
int32_t j;
for(j = 0; j < 3; j++)
{
if(gEndat_multi_ch_mask & 1 << j)
{
DebugP_log("\r -------Channel %u ------\n", j);
DebugP_log("\r position command sent = %u \n", poaition_read);
DebugP_log("\r CRC failures encountered = %u \n", gEndat_mtrctrl_crc_err[j]);
DebugP_log(" ");
DebugP_log("\r");
}
}
}
else
{
DebugP_log("\r position command sent = %u \n", poaition_read);
DebugP_log("\r CRC failures encountered = %u \n", gEndat_mtrctrl_crc_err[0]);
DebugP_log(" ");
DebugP_log("\r");
}
return;
}
else
{
poaition_read++;
if(gEndat_is_multi_ch || gEndat_is_load_share_mode)
{
int32_t j;
for(j = 0; j < 3; j++)
{
if(gEndat_multi_ch_mask & 1 << j)
{
endat_multi_channel_set_cur(priv, j);
endat_process_position_command(j);
}
}
}
else
{
endat_process_position_command(0);
}
/* increase sleep value if glitches in display to be prevented (and would result in slower position display freq) */
ClockP_usleep(500);
}
}
}
else
{
DebugP_log("\r| ERROR: non host command being requested to be handled as host command\n|\n|\n");

19
source/position_sense/endat/driver/endat_drv.c
View File

@ -1943,6 +1943,25 @@ uint8_t endat_multi_channel_detected(struct endat_priv *priv)
void endat_multi_channel_set_cur(struct endat_priv *priv, int32_t ch)
{
priv->channel = ch;
if(priv->load_share)
{
if(priv->channel == 0)
{
priv->pos_res = priv->pos_rx_bits_21_RTUPRU - (ENDAT_NUM_BITS_POSITION_CRC + ENDAT_NUM_BITS_F1);
}
else if(priv->channel == 1)
{
priv->pos_res = priv->pos_rx_bits_21_PRU - (ENDAT_NUM_BITS_POSITION_CRC + ENDAT_NUM_BITS_F1);
}
else
{
priv->pos_res = priv->pos_rx_bits_21_TXPRU - (ENDAT_NUM_BITS_POSITION_CRC + ENDAT_NUM_BITS_F1);
}
}
else
{
priv->pos_res = priv->pos_rx_bits_21_RTUPRU - (ENDAT_NUM_BITS_POSITION_CRC + ENDAT_NUM_BITS_F1);
}
}
int32_t endat_wait_initialization(struct endat_priv *priv, uint32_t timeout, uint8_t mask)