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Multiple start of MC service #176

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merged 9 commits into from
Mar 25, 2021
Merged

Multiple start of MC service #176

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7abf1ba
hal_quadencoder: fixed bug which causes crash if function hal_quadenc…
marcoaccame Mar 11, 2021
2ef01a4
hal_spiencoder: fixed a memory leak
marcoaccame Mar 11, 2021
84159c0
EOCurrentsWatchdog: removed a memory leak
marcoaccame Mar 11, 2021
0f799b1
EOappEncodersReader: for test only added macro which disable reading …
marcoaccame Mar 11, 2021
dec8d37
added code activated only under tests by macro TESTethboardsfix
marcoaccame Mar 11, 2021
14b13ba
hal2.*.lib: recompiled after changes that correct bug of hal_quadenco…
marcoaccame Mar 11, 2021
4cb7688
hal2 [ems, mc4plus, mc2plus] w/ macro SPIENC_DEINIT_DEALLOCATE_HEAP d…
marcoaccame Mar 22, 2021
8931b94
ems, mc4plus, mc2plus: advanced application version
marcoaccame Mar 22, 2021
abf002d
[ems, mc4plus, mc2plus] recompiled the hal2 library
marcoaccame Mar 25, 2021
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10 changes: 5 additions & 5 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
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Original file line number Diff line number Diff line change
Expand Up @@ -75,21 +75,21 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR 3
// <o> minor <0-255>
// <o> minor <0-255>
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 37
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 38

// </h>version

// <h> build date
// <o> year <2010-2030>
#define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR 2021
// <o> month <1-12>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 2
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 3
// <o> day <1-31>
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 19
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 22
// <o> hour <0-23>
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 15
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 18
// <o> minute <0-59>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 30
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 24
// </h>build date
// </h>Info

Expand Down
329 changes: 329 additions & 0 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoprot-callbacks/EoProtocolMN_fun_ems4rd.c
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,278 @@ static void s_eoprot_ep_mn_fun_queryarraycommand(eOmn_command_t* command);
// - definition (and initialisation) of static variables
// --------------------------------------------------------------------------------------------------------------------

#if defined(TESTethboardsfix)
static const eOmn_serv_configuration_t s_serv_config_strain_generic =
{
.type = eomn_serv_AS_strain,
.filler = {0},
.data.as.strain =
{
.boardtype =
{
.type = eobrd_strain2,
.firmware = {2, 0, 10},
.protocol = {2, 0}
},
.canloc =
{
.port = eOcanport1,
.addr = 13,
.insideindex = eobrd_caninsideindex_none,
.dummy = 0
}
}
};

static const eOmn_serv_configuration_t s_serv_config_mc_mc4plus_eb24 =
{
.type = eomn_serv_MC_mc4plus,
.filler = {0},
.data.mc.mc4plus_based =
{
.arrayofjomodescriptors =
{
.head =
{
.capacity = 4,
.itemsize = sizeof(eOmc_jomo_descriptor_t),
.size = 4,
.internalmem = 0
},
.data =
{
{ // joint 0
.actuator.pwm =
{
.port = eobrd_port_mc4plusP5,
.dummy = 0
},
.encoder1 =
{
.type = eomc_enc_qenc,
.port = eobrd_port_mc4plusP5,
.pos = eomc_pos_atjoint
},
.encoder2 =
{
.type = eomc_enc_qenc,
.port = eobrd_port_mc4plusP5,
.pos = eomc_pos_atmotor
}
},
{ // joint 1
.actuator.pwm =
{
.port = eobrd_port_mc4plusP2,
.dummy = 0
},
.encoder1 =
{
.type = eomc_enc_aea,
.port = eobrd_port_mc4plusP10,
.pos = eomc_pos_atjoint
},
.encoder2 =
{
.type = eomc_enc_qenc,
.port = eobrd_port_mc4plusP2,
.pos = eomc_pos_atmotor
}
},
{ // joint 2
.actuator.pwm =
{
.port = eobrd_port_mc4plusP4,
.dummy = 0
},
.encoder1 =
{
.type = eomc_enc_aea,
.port = eobrd_port_mc4plusP11,
.pos = eomc_pos_atjoint
},
.encoder2 =
{
.type = eomc_enc_qenc,
.port = eobrd_port_mc4plusP4,
.pos = eomc_pos_atmotor
}
},
{ // joint 3
.actuator.pwm =
{
.port = eobrd_port_mc4plusP3,
.dummy = 0
},
.encoder1 =
{
.type = eomc_enc_absanalog,
.port = eobrd_port_mc4plusP3,
.pos = eomc_pos_atjoint
},
.encoder2 =
{
.type = eomc_enc_none,
.port = eobrd_port_none,
.pos = eomc_pos_none
}
}
}
},
.jomocoupling =
{
.joint2set =
{ // 3 sets: set0 = {0}, set1 = {1, 2}, set2 = {3}
0, 1, 1, 2
},
.joint2motor =
{ // tbd
{ EO_COMMON_FLOAT_TO_Q17_14(1.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
{ EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(1.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
{ EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(-1.0f), EO_COMMON_FLOAT_TO_Q17_14(1.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
{ EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(1.0f) }
},
.encoder2joint =
{ // nearly identical matrix
{ EO_COMMON_FLOAT_TO_Q17_14(1.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
{ EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(1.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
{ EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(1.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
{ EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(1.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) }
}
}
}
};

static const eOmn_serv_configuration_t s_serv_config_mc_eb1_eb3_zeroprotocol =
{ // eb1 / eb3
.type = eomn_serv_MC_foc,
.filler = {0},
.data.mc.foc_based =
{
.version =
{
.firmware = { .major = 0, .minor = 0, .build = 0 },
.protocol = { .major = 0, .minor = 0 }
},
.filler = {0},
.arrayofjomodescriptors =
{
.head =
{
.capacity = 4,
.itemsize = sizeof(eOmc_jomo_descriptor_t),
.size = 4,
.internalmem = 0
},
.data =
{
{ // joint 0
.actuator.foc.canloc =
{
.port = eOcanport1,
.addr = 1,
.insideindex = eobrd_caninsideindex_first
},
.encoder1 =
{
.type = eomc_enc_aea,
.port = eobrd_port_emsP6, // hal_encoder1
.pos = eomc_pos_atjoint
},
.encoder2 =
{
.type = eomc_enc_none,
.port = eobrd_port_none,
.pos = eomc_pos_none
}
},
{ // joint 1
.actuator.foc.canloc =
{
.port = eOcanport1,
.addr = 2,
.insideindex = eobrd_caninsideindex_first
},
.encoder1 =
{
.type = eomc_enc_aea,
.port = eobrd_port_emsP7, // hal_encoder4
.pos = eomc_pos_atjoint
},
.encoder2 =
{
.type = eomc_enc_none,
.port = eobrd_port_none,
.pos = eomc_pos_none
}
},
{ // joint 2
.actuator.foc.canloc =
{
.port = eOcanport1,
.addr = 3,
.insideindex = eobrd_caninsideindex_first
},
.encoder1 =
{
.type = eomc_enc_aea,
.port = eobrd_port_emsP8, // hal_encoder2
.pos = eomc_pos_atjoint
},
.encoder2 =
{
.type = eomc_enc_none,
.port = eobrd_port_none,
.pos = eomc_pos_none
}
},
{ // joint 3
.actuator.foc.canloc =
{
.port = eOcanport1,
.addr = 4,
.insideindex = eobrd_caninsideindex_first
},
.encoder1 =
{
.type = eomc_enc_aea,
.port = eobrd_port_emsP9, // hal_encoder5
.pos = eomc_pos_atjoint
},
.encoder2 =
{
.type = eomc_enc_none,
.port = eobrd_port_none,
.pos = eomc_pos_none
}
}
}
},
.jomocoupling =
{
.joint2set =
{ // each joint is on a different set
0, 1, 2, 3
},
.joint2motor =
{ // zero matrix: use matrix embedded in controller and seecetd by boardtype4mccontroller
{ EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
{ EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
{ EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
{ EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) }
},
.encoder2joint =
{ // identical matrix
{ EO_COMMON_FLOAT_TO_Q17_14(1.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
{ EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(1.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
{ EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(1.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f) },
{ EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(0.0f), EO_COMMON_FLOAT_TO_Q17_14(1.0f) }
}
}
}
};

#endif // TESTethboardsfix

// --------------------------------------------------------------------------------------------------------------------
// - definition (and initialisation) of extern variables
Expand Down Expand Up @@ -411,6 +683,61 @@ extern void eoprot_fun_UPDT_mn_appl_cmmnds_go2state(const EOnv* nv, const eOropd

}


#if defined(TESTethboardsfix)


static eOmn_service_cmmnds_command_t s_command = {0};

volatile uint32_t count = 0;
volatile uint8_t thisstep = 0;
extern void eoprot_fun_UPDT_mn_appl_cmmnds_timeset(const EOnv* nv, const eOropdescriptor_t* rd)
{
eOabstime_t *timeset = (eOabstime_t *)nv->ram;


static const uint8_t period = 4;
static const eOmn_serv_operation_t ops[4] =
{
eomn_serv_operation_verifyactivate,
eomn_serv_operation_start,
eomn_serv_operation_stop,
eomn_serv_operation_deactivate
};


s_command.operation = ops[count % period];

if(count >=8)
{
thisstep = 1;
}

// strain service: it is ok in both ems and mc4plus
// s_command.category = eomn_serv_category_strain;
// memcpy(&s_command.parameter.configuration, &s_serv_config_strain_generic, sizeof(eOmn_serv_configuration_t));


s_command.category = eomn_serv_category_mc;
#if defined(USE_EMS4RD)
memcpy(&s_command.parameter.configuration, &s_serv_config_mc_eb1_eb3_zeroprotocol, sizeof(eOmn_serv_configuration_t));
#else
memcpy(&s_command.parameter.configuration, &s_serv_config_mc_mc4plus_eb24, sizeof(eOmn_serv_configuration_t));
#endif


eOmn_service_cmmnds_command_t *command = &s_command;

count ++;

// ok, we have received a command for a given service. we ask the object theservices to manage the thing

eo_services_ProcessCommand(eo_services_GetHandle(), command);

}

#else // not TESTethboardsfix

extern void eoprot_fun_UPDT_mn_appl_cmmnds_timeset(const EOnv* nv, const eOropdescriptor_t* rd)
{
eOabstime_t *timeset = (eOabstime_t *)nv->ram;
Expand Down Expand Up @@ -484,6 +811,8 @@ extern void eoprot_fun_UPDT_mn_appl_cmmnds_timeset(const EOnv* nv, const eOropde

}

#endif // TESTethboardsfix


extern void eoprot_fun_UPDT_mn_service_cmmnds_command(const EOnv* nv, const eOropdescriptor_t* rd)
{
Expand Down
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/board/ems004/appl/v2/proj/ems4rd.diagnostic2ready.uvoptx
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Original file line number Diff line number Diff line change
Expand Up @@ -2586,7 +2586,7 @@

<Group>
<GroupName>appl-services</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
Expand Down
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