Skip to content

Commit

Permalink
Improved diagnostics for AksIM2 encoder (#341)
Browse files Browse the repository at this point in the history
  • Loading branch information
@sgiraz
sgiraz authored Feb 22, 2023
1 parent ddf8021 commit 530a4d5
Show file tree
Hide file tree
Showing 10 changed files with 92 additions and 45 deletions.
10 changes: 5 additions & 5 deletions emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -81,21 +81,21 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR (VERSION_MAJOR_OFFSET+3)
// <o> minor <0-255>
// <o> minor <0-255>
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 60
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 61

// </h>version

// <h> build date
// <o> year <2010-2030>
#define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR 2023
// <o> month <1-12>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 1
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 2
// <o> day <1-31>
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 25
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 21
// <o> hour <0-23>
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 12
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 14
// <o> minute <0-59>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 11
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 30
// </h>build date
// </h>Info

Expand Down
3 changes: 2 additions & 1 deletion emBODY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/EOtheEncoderReader.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,8 @@ typedef enum
encreader_err_NOTCONNECTED = 15, /* this error happens when the encoder type is none or encoder is not local, for example it is connected to 2foc board */
encreader_err_AKSIM2_INVALID_DATA = 16,
encreader_err_AKSIM2_CLOSE_TO_LIMITS= 17,
encreader_err_AKSIM2_CRC_ERROR = 18
encreader_err_AKSIM2_CRC_ERROR = 18,
encreader_err_AKSIM2_GENERIC = 19

} eOencoderreader_errortype_t;

Expand Down
10 changes: 5 additions & 5 deletions emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -75,20 +75,20 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR 3
// <o> minor <0-255>
// <o> minor <0-255>
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 42
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 43
// </h>version

// <h> build date
// <o> year <2010-2030>
#define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR 2023
// <o> month <1-12>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 1
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 2
// <o> day <1-31>
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 25
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 21
// <o> hour <0-23>
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 12
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 14
// <o> minute <0-59>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 12
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 30
// </h>build date

// </h>Info
Expand Down
10 changes: 5 additions & 5 deletions emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ extern "C" {
// <o> minor <0-255>


#define EOMTHEEMSAPPLCFG_VERSION_MINOR 61
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 62


// </h>version
Expand All @@ -96,13 +96,13 @@ extern "C" {
// <o> year <2010-2030>
#define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR 2023
// <o> month <1-12>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 1
#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH 2
// <o> day <1-31>
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 27
#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY 21
// <o> hour <0-23>
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 13
#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR 14
// <o> minute <0-59>
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 28
#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN 30

// </h>build date

Expand Down
93 changes: 64 additions & 29 deletions emBODY/eBcode/arch-arm/embobj/plus/board/EOappEncodersReader.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -657,9 +657,18 @@ extern eOresult_t eo_appEncReader_GetValue(EOappEncReader *p, uint8_t jomo, eOen
}
}
else
{ // we dont even have a valid reading from hal
prop.valueinfo->errortype = encreader_err_AEA_READING;
errorparam = 0xffff;
{ // we dont even have a valid reading from hal or the encoder is not properly connected to the board
prop.valueinfo->errortype = encreader_err_AKSIM2_GENERIC ;
errorparam = 0;

// notify the error (check and re-check)
eOerrmanDescriptor_t errdes = {0};
errdes.sourcedevice = eo_errman_sourcedevice_localboard;
errdes.sourceaddress = 0;
errdes.par16 = 0;
errdes.par64 = (uint64_t) (diagn.info.aksim2_status_crc) << 32;
errdes.code = eoerror_code_get(eoerror_category_HardWare, eoerror_value_HW_encoder_not_connected);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdes);
}
} break;

Expand Down Expand Up @@ -869,7 +878,7 @@ extern eOresult_t eo_appEncReader_GetValue(EOappEncReader *p, uint8_t jomo, eOen
// in par16[1] and par64[1] we put info of the 4 secondary encoders.
// so far we use prop.valueinfo->errortype but we may use also diagn for the amo

eObool_t filldiagnostics = eo_common_byte_bitcheck(p->diagnostics.config.jomomask, jomo);
eObool_t filldiagnostics = eo_common_byte_bitcheck(p->diagnostics.config.jomomask, jomo);
if(eobool_true == filldiagnostics)
{
if(eomc_enc_amo == prop.descriptor->type)
Expand All @@ -882,11 +891,11 @@ extern eOresult_t eo_appEncReader_GetValue(EOappEncReader *p, uint8_t jomo, eOen
// select only 2 bytes: 1 from from diagn.type and one from diagn.info.value
uint64_t word = (0x0ff & diagn.type) | ((0xff & diagn.info.value) << 8);
// copy the word in correct position so that we have [word-enc3 | word-enc2 | word-enc1 | word-enc0]
p->diagnostics.par64[i] |= (word << (16*jomo));
p->diagnostics.par64[i] |= (word << (16*jomo));
}
}
else
{
{
switch(prop.valueinfo->errortype)
{
case encreader_err_NONE:
Expand All @@ -897,10 +906,14 @@ extern eOresult_t eo_appEncReader_GetValue(EOappEncReader *p, uint8_t jomo, eOen
default:
case encreader_err_GENERIC:
{ // we dont know what is happening ... we just set the flag in par16[i].
p->diagnostics.par16[i] |= (encreader_err_GENERIC<<(4*jomo)); // shift by nibbles ..
p->diagnostics.par16[i] |= (encreader_err_GENERIC<<(4*jomo)); // shift by nibbles ..
} break;

case encreader_err_AEA_READING:
case encreader_err_AKSIM2_CLOSE_TO_LIMITS:
case encreader_err_AKSIM2_CRC_ERROR:
case encreader_err_AKSIM2_INVALID_DATA:
case encreader_err_AKSIM2_GENERIC:
case encreader_err_AEA_READING:
case encreader_err_AEA_PARITY:
case encreader_err_AEA_CHIP:
case encreader_err_QENC_GENERIC:
Expand All @@ -909,25 +922,22 @@ extern eOresult_t eo_appEncReader_GetValue(EOappEncReader *p, uint8_t jomo, eOen
case encreader_err_PSC_GENERIC:
case encreader_err_POS_GENERIC:
case encreader_err_AMO_GENERIC:
case encreader_err_AKSIM2_CLOSE_TO_LIMITS:
case encreader_err_AKSIM2_CRC_ERROR:
case encreader_err_AKSIM2_INVALID_DATA:
case encreader_err_SPICHAINOF2_GENERIC:
case encreader_err_SPICHAINOF3_GENERIC:
{ // in such cases, we report the errortype and the errorparam that someone has prepared
p->diagnostics.par16[i] |= (prop.valueinfo->errortype<<(4*jomo)); // shift by nibbles ..
p->diagnostics.par64[i] &= (errorparam<<(16*jomo)); // shift by two bytes
} break;
p->diagnostics.par64[i] &= (errorparam<<(16*jomo)); // shift by two bytes
} break;
}
}
}
}

// ok, we now go to next encoder or ... we terminate the for() loop

} // for()


// now the return value. we return always OK
// now the return value. we return always OK
return eores_OK;
}

Expand Down Expand Up @@ -1332,7 +1342,7 @@ static eObool_t s_eo_appEncReader_IsValidValue_AEA(uint32_t *valueraw, eOencoder

static eObool_t s_eo_appEncReader_IsValidValue_AEA3(uint32_t *valueraw, eOencoderreader_errortype_t *error)
{
// TODO: there are no way to check the validity when using the AEA3 in SSI mode
// TODO: there is no way to check the validity when using the AEA3 in SSI mode
// if((*valueraw & 0x01) != 0x00)
// {
// *error = encreader_err_AEA_CHIP;
Expand All @@ -1343,19 +1353,44 @@ static eObool_t s_eo_appEncReader_IsValidValue_AEA3(uint32_t *valueraw, eOencode

static eObool_t s_eo_appEncReader_IsValidValue_AKSIM2(hal_spiencoder_diagnostic_t* diag, eOencoderreader_errortype_t *error)
{
switch(diag->type)
{
case hal_spiencoder_diagnostic_type_aksim2_invalid_data:
*error = encreader_err_AKSIM2_INVALID_DATA;
return eobool_false;
case hal_spiencoder_diagnostic_type_aksim2_crc_error:
*error = encreader_err_AKSIM2_CRC_ERROR;
return eobool_false;
case hal_spiencoder_diagnostic_type_aksim2_close_to_limits:
*error = encreader_err_AKSIM2_CLOSE_TO_LIMITS;
break;
default:
*error = encreader_err_NONE;
// switch(diag->type)
// {
// case hal_spiencoder_diagnostic_type_aksim2_invalid_data:
// *error = encreader_err_AKSIM2_INVALID_DATA;
// return eobool_false;
// case hal_spiencoder_diagnostic_type_aksim2_crc_error:
// *error = encreader_err_AKSIM2_CRC_ERROR;
// return eobool_false;
// case hal_spiencoder_diagnostic_type_aksim2_close_to_limits:
// *error = encreader_err_AKSIM2_CLOSE_TO_LIMITS;
// break;
// default:
// *error = encreader_err_NONE;
// }
//
// TODO: check and re-check
eOerrmanDescriptor_t errdes = {0};
errdes.sourcedevice = eo_errman_sourcedevice_localboard;
errdes.sourceaddress = 0;
errdes.par16 = 0;
errdes.par64 = (uint64_t) (diag->info.aksim2_status_crc) << 32;

if(0x04 == (0x04 & diag->info.aksim2_status_crc))
{
errdes.code = eoerror_code_get(eoerror_category_HardWare, eoerror_value_HW_encoder_invalid_value);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdes);
}

if(0x02 == (0x02 & diag->info.aksim2_status_crc))
{
errdes.code = eoerror_code_get(eoerror_category_HardWare, eoerror_value_HW_encoder_close_to_limits);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdes);
}

if(0x01 == (0x01 & diag->info.aksim2_status_crc))
{
errdes.code = eoerror_code_get(eoerror_category_HardWare, eoerror_value_HW_encoder_crc);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdes);
}

return eobool_true;
Expand Down
1 change: 1 addition & 0 deletions emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/api/hal_spiencoder.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -126,6 +126,7 @@ typedef enum
hal_spiencoder_diagnostic_type_aksim2_invalid_data = 5,
hal_spiencoder_diagnostic_type_aksim2_close_to_limits = 6,
hal_spiencoder_diagnostic_type_aksim2_crc_error = 7,
hal_spiencoder_diagnostic_type_aksim2_not_connected = 8,
} hal_spiencoder_diagnostic_type_t;

typedef struct
Expand Down
Binary file modified emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.ems4rd.ethdbg.lib
View file
Binary file not shown.
Binary file modified emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc2plus.ethdbg.lib
View file
Binary file not shown.
Binary file modified emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/lib/hal2.mc4plus.ethdbg.lib
View file
Binary file not shown.
10 changes: 10 additions & 0 deletions emBODY/eBcode/arch-arm/libs/highlevel/abslayer/hal2/src/extra/devices/hal_spiencoder.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -832,6 +832,16 @@ extern hal_result_t hal_spiencoder_get_value2(hal_spiencoder_t id, hal_spiencode
diagn->info.aksim2_status_crc |= 0x01;
}


// Check for SPI reading errors: if all data are FF then the encoder is not connected or the SPI is not working.
if (intitem->multiturncounter == 0xFFFF && intitem->position == 0x7FFFF && intitem->status_bits == 0x03 && intitem->crc == 0xFF)
{
// TODO: check if it can be manage it, or remove everything berfore the return because these diagnostic is not currently used.
diagn->type = hal_spiencoder_diagnostic_type_aksim2_not_connected;
diagn->info.value = 0;
return hal_res_NOK_generic;
}

*pos = intitem->position;
}
else if (intitem->config.type == hal_spiencoder_typeAMO)
Expand Down

0 comments on commit 530a4d5

Please sign in to comment.