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Runtime configuration of encoder port in the amc board (#531)
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@marcoaccame
marcoaccame authored Oct 29, 2024
1 parent 3cfdf30 commit c15523e
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Showing 2 changed files with 67 additions and 67 deletions.
4 changes: 2 additions & 2 deletions emBODY/eBcode/arch-arm/board/amc/application/v2/cfg/theApplication_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,8 @@ namespace embot { namespace app { namespace eth {
.property =
{
Process::eApplication,
{2, 10},
{2024, Month::Oct, Day::twentyeight, 16, 00}
{2, 11},
{2024, Month::Oct, Day::twentynine, 11, 15}
},
.OStick = 1000*embot::core::time1microsec,
.OSstacksizeinit = 10*1024,
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130 changes: 65 additions & 65 deletions emBODY/eBcode/arch-arm/embot/app/eth/embot_app_eth_theEncoderReader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,11 +71,11 @@ struct embot::app::eth::theEncoderReader::Impl
static constexpr size_t max_number_of_encoders { 2 * max_number_of_jomos };


typedef struct
struct jomoconfig_t
{
eOmc_encoder_descriptor_t encoder1des;
eOmc_encoder_descriptor_t encoder2des;
} jomoconfig_t;
};

struct ImplConfig
{
Expand All @@ -95,11 +95,13 @@ struct embot::app::eth::theEncoderReader::Impl

std::array<std::array<embot::app::eth::encoder::experimental::RawValueEncoder, 2>, max_number_of_jomos> rawvalues {};

typedef struct
struct eOencoderProperties_t
{
eOmc_encoder_descriptor_t *descriptor;
embot::app::eth::encoder::v1::valueInfo *valueinfo;
} eOencoderProperties_t;
eOencoderProperties_t() = default;
eOencoderProperties_t(eOmc_encoder_descriptor_t *d, embot::app::eth::encoder::v1::valueInfo *v) : descriptor(d), valueinfo(v) {}
};

constexpr static const char s_eobj_ownname[] = "theEncoderReader";

Expand Down Expand Up @@ -136,6 +138,19 @@ struct embot::app::eth::theEncoderReader::Impl
eOipv4port_t hostport {6666};
char sss[512] = {0};
#endif


// port is a uint8_t taken by eOmc_encoder_descriptor_t::port
embot::hw::ENCODER port2encoder(uint8_t port)
{
// marco.accame on 29 oct 2024: for now it is simple ....
// on the amc we have port equal only to eobrd_port_amc_J5_X1 / X2 / X3 = 0 / 1 / 2
// and we want them to be mapped onto embot::hw::ENCODER::one / two / three = 0 / 1 / 2
// so .... if we have an amc and port is 0, 1, or 2 we just do a static_cast<>
// for other boards to come (amcfoc, etc) the port will have the same values 0, 1, 2 so that
// it is easy to convert w/ a static_cast<>
return static_cast<embot::hw::ENCODER>(port);
}

};

Expand Down Expand Up @@ -232,16 +247,19 @@ bool embot::app::eth::theEncoderReader::Impl::Verify(const Config &config, bool

bool embot::app::eth::theEncoderReader::Impl::Activate(const Config &config)
{
eo_errman_Trace(eo_errman_GetHandle(), "::Activate()", s_eobj_ownname);
// eo_errman_Trace(eo_errman_GetHandle(), "::Activate()", s_eobj_ownname);
bool ret {true};

if((nullptr == config.carrayofjomodes))
{
return false;
ret = false;
return ret;
}

if(eo_constarray_Size(config.carrayofjomodes) > max_number_of_jomos)
{
return false;
ret = false;
return ret;
}

EOconstarray* carray = eo_constarray_Load(reinterpret_cast<EOconstarray*>(config.carrayofjomodes));
Expand Down Expand Up @@ -285,69 +303,51 @@ bool embot::app::eth::theEncoderReader::Impl::Activate(const Config &config)
default:
{
// unsupported encoder
return eores_NOK_unsupported;
ret = false;
} break;
}

// 2. configure and initialize SPI encoders
switch(_implconfig.jomo_cfg[i].encoder1des.port)
// 2. configure and initialize SPI encoder

embot::hw::ENCODER enc = port2encoder(_implconfig.jomo_cfg[i].encoder1des.port);
embot::hw::result_t r = embot::hw::encoder::init(enc, cfg);
if(embot::hw::resOK != r)
{
case eobrd_port_amc_J5_X1:
{
embot::hw::encoder::init(embot::hw::ENCODER::one, cfg);
} break;

case eobrd_port_amc_J5_X2:
{
embot::hw::encoder::init(embot::hw::ENCODER::two, cfg);
} break;

case eobrd_port_amc_J5_X3:
{
embot::hw::encoder::init(embot::hw::ENCODER::three, cfg);
} break;

default:
{
// error invalid SPI
return eores_NOK_generic;
} break;
ret = false;
}

}
}

if(false == ret)
{
Deactivate();
}

_actived = true;
_actived = ret;

return true;
return _actived;
}

bool embot::app::eth::theEncoderReader::Impl::Deactivate()
{
eo_errman_Trace(eo_errman_GetHandle(), "::Deactivate()", s_eobj_ownname);

if(false == _actived)
{
return true;
}
// eo_errman_Trace(eo_errman_GetHandle(), "::Deactivate()", s_eobj_ownname);

if((resOK == embot::hw::encoder::deinit(embot::hw::ENCODER::one)) &&
(resOK == embot::hw::encoder::deinit(embot::hw::ENCODER::two)) &&
(resOK == embot::hw::encoder::deinit(embot::hw::ENCODER::three)))
{
_implconfig.numofjomos = 0;
_actived = false;

return true;
}
_implconfig.numofjomos = 0;
embot::hw::encoder::deinit(embot::hw::ENCODER::one);
embot::hw::encoder::deinit(embot::hw::ENCODER::two);
embot::hw::encoder::deinit(embot::hw::ENCODER::three);
_actived = false;

return false;
return _actived;
}

bool embot::app::eth::theEncoderReader::Impl::StartReading()
{
//eo_errman_Trace(eo_errman_GetHandle(), "::Start()", s_eobj_ownname);

// start the encoder reading
// marco.accame on 29 oct 2024: maybe we can read just the configured ones.
embot::hw::encoder::startRead(embot::hw::ENCODER::one);
embot::hw::encoder::startRead(embot::hw::ENCODER::two);
embot::hw::encoder::startRead(embot::hw::ENCODER::three);
Expand All @@ -362,23 +362,22 @@ bool embot::app::eth::theEncoderReader::Impl::Read(uint8_t jomo, embot::app::eth
{ // nothing to do because we dont have it
return true;
}

embot::hw::ENCODER e = static_cast<embot::hw::ENCODER>(jomo);
if(e >= embot::hw::ENCODER::maxnumberof)

if(jomo >= _implconfig.numofjomos)
{
return false;
}

eOencoderProperties_t encProp[2] = {nullptr};

encProp[0].descriptor = &_implconfig.jomo_cfg[jomo].encoder1des;
encProp[0].valueinfo = &primary;
constexpr size_t numOfEncodersPerJoint {2};

encProp[1].descriptor = &_implconfig.jomo_cfg[jomo].encoder2des;
encProp[1].valueinfo = &secondary;

for(uint8_t i=0; i<2; i++)
eOencoderProperties_t encProp[numOfEncodersPerJoint] = {
{&_implconfig.jomo_cfg[jomo].encoder1des, &primary},
{&_implconfig.jomo_cfg[jomo].encoder2des, &secondary }
};

for(uint8_t i=0; i<numOfEncodersPerJoint; i++)
{ // for each of the two encoders ....

eOencoderProperties_t prop = encProp[i];
uint16_t errorparam = 0;

Expand Down Expand Up @@ -408,12 +407,13 @@ bool embot::app::eth::theEncoderReader::Impl::Read(uint8_t jomo, embot::app::eth
switch(prop.descriptor->type)
{
// they are: eomc_enc_aea3, eomc_enc_aea, eomc_enc_amo, eomc_enc_spichainof2,
// eomc_enc_spichainof3, eomc_enc_qenc, eomc_enc_absanalog, eomc_enc_mais
// eomc_enc_spichainof3, eomc_enc_qenc, eomc_enc_absanalog, eomc_enc_mais
// however, in here we support (so far) only: aea and aea3

case eomc_enc_aea:
{
{
embot::hw::ENCODER e = port2encoder(prop.descriptor->port);

// if(hal_res_OK == hal_spiencoder_get_value((hal_spiencoder_t)prop.descriptor->port, &spiRawValue, &flags))
if(resOK == (rr = embot::hw::encoder::getValue(e, spiRawValue/*, &diagn*/)))
{ // ok, the hal reads correctly
if(true == isValidValue_AEA(spiRawValue, prop.valueinfo->errortype))
Expand Down Expand Up @@ -447,9 +447,9 @@ bool embot::app::eth::theEncoderReader::Impl::Read(uint8_t jomo, embot::app::eth


case eomc_enc_aea3:
{
// if(hal_res_OK == hal_spiencoder_get_value((hal_spiencoder_t)prop.descriptor->port, &spiRawValue, &flags))
{
embot::hw::ENCODER e = port2encoder(prop.descriptor->port);

if(resOK == (rr = embot::hw::encoder::getValue(e, spiRawValue/*, &diagn*/)))
{ // ok, the hal reads correctly
if(true == isValidValue_AEA3(spiRawValue, prop.valueinfo->errortype))
Expand Down

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