Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Runtime configuration of encoder port in the amc board #531

Merged
merged 1 commit into from
Oct 29, 2024
Merged

Runtime configuration of encoder port in the amc board #531

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions emBODY/eBcode/arch-arm/board/amc/application/v2/cfg/theApplication_config.h
View file
Open in desktop
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,
Expand Down
130 changes: 65 additions & 65 deletions emBODY/eBcode/arch-arm/embot/app/eth/embot_app_eth_theEncoderReader.cpp
View file
Open in desktop
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