Add integration for AEA3 encoder (#214)

* added new aea projx files * ems: added test project for the aea3 * added project for AEA3 test. it uses macro TEST_AEA3 to shape used code. * Added support for aea3. Code cleaup is work in progress (look at TODO marker) * bug fix mentioned in: sgiraz@562eb54#r54428766 * mc4plus: moved the tests for aea3 into a dedicated project and also added more heap * Add new target hal-mc4plus-ethdbg-aea3 with AEA3 macros * add missing code for aea3 in EOappEncodersReader.c and others. Edit the way to save the bits retrieved from the sensor in hal_spiencoder.c * Bugfix: EOappEncodersReader now init correctly with AEA * Add missing AEA3_SUPPORT macros * Fix minor improvements to hal * Update: disable TEST_AEA3 macro. Minor refactoring. * Add: define AEA3_MIN_SPIKE for AbsEncoder * Update the AEA3 reading compliant to the datasheet (1x16 consecutives clock cycles) * Fix temporarily spike detection algorithm when zero-crossing has been detected. Now it will not rise a spike when the encoder complete a turn. * Update zero-cross detection condition. Now it is more accurate * Update: AbsEncoder spike detection performed using int16_t overflow as a feature * Update: project settings * Update comments in both AbsEncoder and hal2 * ems: added test project for the aea3 * added project for AEA3 test. it uses macro TEST_AEA3 to shape used code. * Added support for aea3. Code cleaup is work in progress (look at TODO marker) * mc4plus: moved the tests for aea3 into a dedicated project and also added more heap * Add new target hal-mc4plus-ethdbg-aea3 with AEA3 macros * add missing code for aea3 in EOappEncodersReader.c and others. Edit the way to save the bits retrieved from the sensor in hal_spiencoder.c * Fix minor improvements to hal * Update: disable TEST_AEA3 macro. Minor refactoring. * Add: define AEA3_MIN_SPIKE for AbsEncoder * Update the AEA3 reading compliant to the datasheet (1x16 consecutives clock cycles) * Update: project settings * Update comments in both AbsEncoder and hal2 * Update configuration sources and delete test.aea3 project folder * adjusted merge conflicts of hal + appliciation after rebase vs robotology::devel * Removed macro HAL_SYS_VERIFY_STACK_HEAP_SIZES, updated libraried and FW version * Add test AEA2 and AEA3 in overridden_configurator under ifdef macros (disabled by default). * ems, mc4plus, mc2plus: enabled the second RAM bank to be able to increase HEAP to 63K and STACK to 12K increased application version to be one more than latest devel * mc4plus: removed the second RAM bank * ems, mc4plus, mc2plus: adjustment after the rebase vs latest robotology/devel Co-authored-by: marco.accame <[email protected]>
robotology · Nov 24, 2021 · c9e9b37 · c9e9b37
1 parent f0c76ab
commit c9e9b37
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Showing 32 changed files with 447 additions and 126 deletions.
diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/abslayer/hal_core_cfg.h b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/abslayer/hal_core_cfg.h
@@ -66,13 +66,13 @@ extern "C" {
 //   <o> stack size         <0x0-0xFFFFFFFF:8>
 //   <i> define how much stack you want.
 #ifndef HAL_SYS_CFG_STACKSIZE
- #define HAL_SYS_CFG_STACKSIZE      0x00002000
+ #define HAL_SYS_CFG_STACKSIZE      0x00003000
 #endif
 
 //   <o> heap size         <0x0-0xFFFFFFFF:8>
 //   <i> define how much heap you want.
 #ifndef HAL_SYS_CFG_HEAPSIZE
- #define HAL_SYS_CFG_HEAPSIZE      0x00018000
+ #define HAL_SYS_CFG_HEAPSIZE      0x0001FC00
 #endif
 
 // </h>SYS module

diff --git a/...Y/eBcode/arch-arm/board/ems004/appl/v2/cfg/abslayer/hal_startup_mpu_name_stm32f407ig-v6.s b/...Y/eBcode/arch-arm/board/ems004/appl/v2/cfg/abslayer/hal_startup_mpu_name_stm32f407ig-v6.s
@@ -61,7 +61,7 @@
 ;#include "hal_core_cfg.h"
 
 
-Stack_Size      EQU     0x00002000
+Stack_Size      EQU     0x00003000
 ;Stack_Size      EQU     HAL_SYS_CFG_STACKSIZE
                 EXPORT  Stack_Size
 
@@ -74,7 +74,7 @@ __initial_sp
 ;   o  Heap Size (in Bytes) 0x0-0xFFFFFFFF:8
 ; </h>
 
-Heap_Size       EQU     0x00018000
+Heap_Size       EQU     0x0001FC00
 ;Heap_Size       EQU     HAL_SYS_CFG_HEAPSIZE
                 EXPORT Heap_Size
 

diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
@@ -81,7 +81,7 @@ extern "C" {
 #define EOMTHEEMSAPPLCFG_VERSION_MAJOR          (VERSION_MAJOR_OFFSET+3)
 //  <o> minor           <0-255> 
 //  <o> minor           <0-255>
-#define EOMTHEEMSAPPLCFG_VERSION_MINOR          46
+#define EOMTHEEMSAPPLCFG_VERSION_MINOR          47
 
 //  </h>version
 
@@ -93,9 +93,9 @@ extern "C" {
 //  <o> day             <1-31>
 #define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          23
 //  <o> hour            <0-23>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         11
+#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         16
 //  <o> minute          <0-59>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          32
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          34
 //  </h>build date
 // </h>Info 
 

diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/overridden_configurator.c b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/overridden_configurator.c
@@ -105,6 +105,86 @@ extern void eom_emsconfigurator_hid_userdef_ProcessUserdef02Event(EOMtheEMSconfi
 }
 
 
+// simone.girardi on 8 Nov 2021: with the following macro enabled we can test the reading on aea3 encoder.
+// with a minimum effort we can use it to test other similar encoders (e.g. aea1, aea2 ...)  as well.
+//#define TEST_AEA
+//#define TEST_AEA3
+
+#ifdef TEST_AEA
+
+#include <hal_spiencoder.h>
+#include <hal_trace.h>
+
+void cbk(void *p)
+{
+    static volatile uint32_t v = 0;
+    v++;
+}
+
+hal_spiencoder_cfg_t cfgaea = {0};
+hal_spiencoder_diagnostic_t diag = {0};
+
+hal_spiencoder_position_t raw_value = 0;
+
+// This function is called every 10 ms (see eom_emsconfigurator_Initialise)
+extern void eom_emsconfigurator_hid_userdef_ProcessTimeout(EOMtheEMSconfigurator* p)
+{
+    static volatile uint32_t counter = 0;
+    static hal_result_t res;
+
+    if(0 == counter)
+    {
+        // init aea
+        memmove(&cfgaea, &hal_spiencoder_cfg_default, sizeof(hal_spiencoder_cfg_default));
+
+        cfgaea.callback_on_rx       = cbk;
+        cfgaea.priority             = hal_int_priority05;
+        cfgaea.arg                  = NULL;
+
+        #ifdef TEST_AEA3
+        cfgaea.type	                = hal_spiencoder_typeAEA3;
+        #else
+        cfgaea.type	                = hal_spiencoder_typeAEA;
+        #endif
+        cfgaea.sdata_precheck       = hal_false;  
+        cfgaea.reg_addresses[0]	    = 0;
+        cfgaea.reg_addresses[1]	    = 0; 
+
+        hal_spiencoder_init(hal_spiencoder1, &cfgaea);
+
+        diag.type = hal_spiencoder_diagnostic_type_none;
+    }
+    else if(0 == (counter % 1))
+    {
+        // retrieve the reading
+        hal_result_t r = hal_spiencoder_get_value2(hal_spiencoder1, &raw_value, &diag);
+
+        // print value
+        char str[64] = {0};
+        if(hal_res_OK == r)
+        { 
+            #ifdef TEST_AEA3
+                hal_spiencoder_position_t raw_value_shifted =  raw_value >> 1; // sensor return 16 bits --> only 14 are valid
+                snprintf(str, sizeof(str), "%d, %d, %f", raw_value, raw_value_shifted, ((360.0 *  raw_value_shifted) / (1024.0*16)));  // (360*value)/(2^14)
+            #else
+                hal_spiencoder_position_t raw_value_shifted =  (raw_value >> 6) & 0x0FFF; // sensor return 16 bits --> only 12 are valid
+                snprintf(str, sizeof(str), "%d, %d, %f", raw_value, raw_value_shifted, ((360.0 *  raw_value_shifted) / (1024.0*4)));  // (360*value)/(2^14)
+            #endif
+        }
+        else
+        {
+            snprintf(str, sizeof(str), "aea error during hal_spiencoder_get_value2");
+        }
+
+        hal_trace_puts(str);
+
+        // start reading
+        hal_spiencoder_read_start(hal_spiencoder1);
+    }
+    counter++;
+}
+#endif
+
 
 #undef TEST_000
 

diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/proj/eApplication-v6.sct b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/proj/eApplication-v6.sct
@@ -28,12 +28,12 @@ LR_IROM1 0x08020000 0x60000  {    ; load region size_region
    *(InRoot$$Sections)
    .ANY (+RO)
   }
-  RW_IRAM1 0x20000000 0x1FFC0  {  ; RW data
+  RW_IRAM1 0x20000000 0x1FFC0  {    ; RW data - memory hole of 064B on top for ipc
    .ANY (+RW +ZI)
   }
-;  RW_IRAM2 0x10000000 0x10000  {  ; RW data
-;   .ANY (+RW +ZI)
-;  }  
+  RW_IRAM2 0x10000200 0xFE00  {     ; RW data - memory hole of 512B at start for fatal error on restart 
+   .ANY (+RW +ZI)
+  }  
 } 
 
 

diff --git a/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/abslayer/hal_core_cfg.h b/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/abslayer/hal_core_cfg.h
@@ -66,13 +66,13 @@ extern "C" {
 //   <o> stack size         <0x0-0xFFFFFFFF:8>
 //   <i> define how much stack you want.
 #ifndef HAL_SYS_CFG_STACKSIZE
- #define HAL_SYS_CFG_STACKSIZE      0x00002000
+ #define HAL_SYS_CFG_STACKSIZE      0x00003000
 #endif
 
 //   <o> heap size         <0x0-0xFFFFFFFF:8>
 //   <i> define how much heap you want.
 #ifndef HAL_SYS_CFG_HEAPSIZE
- #define HAL_SYS_CFG_HEAPSIZE      0x00018000
+ #define HAL_SYS_CFG_HEAPSIZE      0x0001FC00
 #endif
 
 // </h>SYS module

diff --git a/.../eBcode/arch-arm/board/mc2plus/appl/v2/cfg/abslayer/hal_startup_mpu_name_stm32f407ig-v6.s b/.../eBcode/arch-arm/board/mc2plus/appl/v2/cfg/abslayer/hal_startup_mpu_name_stm32f407ig-v6.s
@@ -61,7 +61,7 @@
 ;#include "hal_core_cfg.h"
 
 
-Stack_Size      EQU     0x00002000
+Stack_Size      EQU     0x00003000
 ;Stack_Size      EQU     HAL_SYS_CFG_STACKSIZE
                 EXPORT  Stack_Size
 
@@ -74,7 +74,7 @@ __initial_sp
 ;   o  Heap Size (in Bytes) 0x0-0xFFFFFFFF:8
 ; </h>
 
-Heap_Size       EQU     0x00018000
+Heap_Size       EQU     0x0001FC00
 ;Heap_Size       EQU     HAL_SYS_CFG_HEAPSIZE
                 EXPORT Heap_Size
 

diff --git a/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h b/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
@@ -75,7 +75,7 @@ extern "C" {
 #define EOMTHEEMSAPPLCFG_VERSION_MAJOR          3
 //  <o> minor           <0-255> 
 //  <o> minor           <0-255>
-#define EOMTHEEMSAPPLCFG_VERSION_MINOR          29
+#define EOMTHEEMSAPPLCFG_VERSION_MINOR          30
 //  </h>version
 
 //  <h> build date
@@ -86,9 +86,9 @@ extern "C" {
 //  <o> day             <1-31>
 #define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          23
 //  <o> hour            <0-23>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         11
+#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         16
 //  <o> minute          <0-59>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          24
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          36
 //  </h>build date
 
 // </h>Info 

diff --git a/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/proj/eApplication-v6.sct b/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/proj/eApplication-v6.sct
@@ -28,13 +28,13 @@ LR_IROM1 0x08020000 0x60000  {    ; load region size_region
    *(InRoot$$Sections)
    .ANY (+RO)
   }
-  RW_IRAM1 0x20000000 0x1FFC0  {  ; RW data
+  RW_IRAM1 0x20000000 0x1FFC0  {    ; RW data - memory hole of 064B on top for ipc
    .ANY (+RW +ZI)
-  }
-;  RW_IRAM2 0x10000000 0x10000  {  ; RW data
-;   .ANY (+RW +ZI)
-;  }  
-} 
+  }                     
+  RW_IRAM2 0x10000200 0xFE00  {     ; RW data - memory hole of 512B at start for fatal error on restart 
+   .ANY (+RW +ZI)
+  }  
+}
 
 
 

diff --git a/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h b/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
@@ -87,7 +87,7 @@ extern "C" {
 //  <o> minor           <0-255> 
 
 
-#define EOMTHEEMSAPPLCFG_VERSION_MINOR          43
+#define EOMTHEEMSAPPLCFG_VERSION_MINOR          44
 
 
 //  </h>version
@@ -100,9 +100,9 @@ extern "C" {
 //  <o> day             <1-31>
 #define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          23
 //  <o> hour            <0-23>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         11
+#define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         16
 //  <o> minute          <0-59>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          21
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          35
 
 //  </h>build date
 

diff --git a/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/overridden_configurator.c b/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/overridden_configurator.c
@@ -102,6 +102,73 @@ extern void eom_emsconfigurator_hid_userdef_ProcessUserdef02Event(EOMtheEMSconfi
     eo_ethmonitor_Tick(eo_ethmonitor_GetHandle());
 }
 
+// simone.girardi on 8 Nov 2021: with the following macro enabled we can test the reading on aea3 encoder.
+// with a minimum effort we can use it to test other similar encoders (e.g. aea1, aea2 ...)  as well.
+#if defined(TEST_AEA3)
+
+#include <hal_spiencoder.h>
+#include <hal_trace.h>
+
+void cbk(void *p)
+{
+    static volatile uint32_t v = 0;
+    v++;
+}
+
+hal_spiencoder_cfg_t cfgaea = {0};
+hal_spiencoder_diagnostic_t diag = {0};
+
+hal_spiencoder_position_t raw_value = 0;
+
+// This function is called every 10 ms (see eom_emsconfigurator_Initialise)
+extern void eom_emsconfigurator_hid_userdef_ProcessTimeout(EOMtheEMSconfigurator* p)
+{
+    static volatile uint32_t counter = 0;
+    static hal_result_t res;
+
+    if(0 == counter)
+    {
+        // init aea
+        memmove(&cfgaea, &hal_spiencoder_cfg_default, sizeof(hal_spiencoder_cfg_default));
+
+        cfgaea.callback_on_rx       = cbk;
+        cfgaea.priority             = hal_int_priority05;
+        cfgaea.arg                  = NULL;
+        cfgaea.type	                = hal_spiencoder_typeAEA3;
+        cfgaea.sdata_precheck       = hal_false;  
+        cfgaea.reg_addresses[0]	    = 0;
+        cfgaea.reg_addresses[1]	    = 0; 
+
+        hal_spiencoder_init(hal_spiencoder1, &cfgaea);
+
+        diag.type = hal_spiencoder_diagnostic_type_none;
+    }
+    else if(0 == (counter % 1))
+    {
+        // retrieve the reading
+        hal_result_t r = hal_spiencoder_get_value2(hal_spiencoder1, &raw_value, &diag);
+
+        // print value
+        char str[64] = {0};
+        if(hal_res_OK == r)
+        { 
+            hal_spiencoder_position_t raw_value_shifted =  raw_value >> 1; // sensor return 16 bits --> only 14 are valid
+            snprintf(str, sizeof(str), "%d, %d, %f", raw_value, raw_value_shifted, ((360.0 *  raw_value_shifted) / (1024.0*16)));  // (360*value)/(2^14)
+        }
+        else
+        {
+            snprintf(str, sizeof(str), "aea error during hal_spiencoder_get_value2");
+        }
+
+        hal_trace_puts(str);
+
+        // start reading
+        hal_spiencoder_read_start(hal_spiencoder1);
+    }
+    counter++;
+}
+#endif
+
 // marco.accame on 20 oct 2015: this function is triggered if function eom_emssocket_Transmit() inside the task 
 // of EOMtheEMSconfigurator it there is a failure to transmit a UDP packet.
 

diff --git a/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/overridden_runner.c b/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/overridden_runner.c
@@ -132,7 +132,7 @@ extern void eom_emsrunner_hid_userdef_taskDO_activity(EOMtheEMSrunner *p)
     // so far we tick only the motion control.
     eo_motioncontrol_Tick(eo_motioncontrol_GetHandle());
 
-	eo_mais_Tick(eo_mais_GetHandle());
+    eo_mais_Tick(eo_mais_GetHandle());
     eo_strain_Tick(eo_strain_GetHandle());
     eo_psc_Tick(eo_psc_GetHandle());
     eo_pos_Tick(eo_pos_GetHandle());

diff --git a/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/proj/eApplication-v6.sct b/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/proj/eApplication-v6.sct
@@ -28,13 +28,13 @@ LR_IROM1 0x08020000 0x60000  {    ; load region size_region
    *(InRoot$$Sections)
    .ANY (+RO)
   }
-  RW_IRAM1 0x20000000 0x1FFC0  {  ; RW data
+  RW_IRAM1 0x20000000 0x1FFC0  {    ; RW data - memory hole of 064B on top for ipc
    .ANY (+RW +ZI)
-  }
-;  RW_IRAM2 0x10000000 0x10000  {  ; RW data
+  }                     
+;  RW_IRAM2 0x10000200 0xFE00  {     ; RW data - memory hole of 512B at start for fatal error on restart 
 ;   .ANY (+RW +ZI)
 ;  }  
-} 
+}
 
 
 

diff --git a/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/proj/mc4plus.diagnostic2ready.uvoptx b/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/proj/mc4plus.diagnostic2ready.uvoptx
@@ -329,7 +329,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>0</IsCurrentTarget>
+        <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
       <DebugOpt>
@@ -555,7 +555,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>1</IsCurrentTarget>
+        <IsCurrentTarget>0</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
       <DebugOpt>
@@ -749,7 +749,7 @@
 
   <Group>
     <GroupName>abslayer-lib</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>