Index: firmware/App/Services/FPGA.c =================================================================== diff -u -r16a65b53941177fb79af9a262740da5f992f4776 -r2f2d0ccadd8a09037eb3d0dd144549b2c8c8129b --- firmware/App/Services/FPGA.c (.../FPGA.c) (revision 16a65b53941177fb79af9a262740da5f992f4776) +++ firmware/App/Services/FPGA.c (.../FPGA.c) (revision 2f2d0ccadd8a09037eb3d0dd144549b2c8c8129b) @@ -1,3 +1,4 @@ + /************************************************************************** * * Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved. @@ -7,978 +8,964 @@ * * @file FPGA.c * -* @author (last) Sean Nash -* @date (last) 15-Jun-2020 +* @author (last) Quang Nguyen +* @date (last) 18-Sep-2020 * * @author (original) Dara Navaei * @date (original) 05-Nov-2019 * ***************************************************************************/ - -#include // for memset(), memcpy() - -#include "sci.h" -#include "sys_dma.h" - -#include "FPGA.h" -#include "Comm.h" -#include "SystemCommMessages.h" -#include "Utilities.h" - -// ********** private definitions ********** - -typedef enum FPGA_States -{ - FPGA_STATE_START = 0, - FPGA_STATE_READ_HEADER, - FPGA_STATE_RCV_HEADER, - FPGA_STATE_WRITE_ALL_ACTUATORS, - FPGA_STATE_RCV_ALL_SENSORS, - FPGA_STATE_FAILED, - NUM_OF_FPGA_STATES -} FPGA_STATE_T; - -#define FPGA_PAGE_SIZE 256 -#define FPGA_EXPECTED_ID 0x60 - -#define FPGA_HEADER_START_ADDR 0x0000 -#define FPGA_BULK_READ_START_ADDR 0x0100 - -#define FPGA_BULK_WRITE_START_ADDR 0x000E - -#define FPGA_WRITE_CMD_BUFFER_LEN (FPGA_PAGE_SIZE+8) -#define FPGA_READ_CMD_BUFFER_LEN 8 -#define FPGA_WRITE_RSP_BUFFER_LEN 8 -#define FPGA_READ_RSP_BUFFER_LEN (FPGA_PAGE_SIZE+8) - -#define FPGA_WRITE_CMD_CODE 0x55 -#define FPGA_READ_CMD_CODE 0x5A -#define FPGA_WRITE_CMD_ACK 0xA5 -#define FPGA_READ_CMD_ACK 0xAA -#define FPGA_CMD_NAK 0xEE - -#define FPGA_CRC_LEN 2 -#define FPGA_WRITE_CMD_HDR_LEN 4 -#define FPGA_READ_CMD_HDR_LEN 4 -#define FPGA_WRITE_RSP_HDR_LEN 3 -#define FPGA_READ_RSP_HDR_LEN 3 - -#define SCI2_RECEIVE_DMA_REQUEST 28 -#define SCI2_TRANSMIT_DMA_REQUEST 29 - -#define MAX_COMM_ERROR_RETRIES 5 - -#define MASK_OFF_U32_MSB 0x00FFFFFF -#define DRAIN_PUMP_DAC_SHIFT_BITS 4 - -// FPGA Sensors Record -#pragma pack(push,1) -typedef struct -{ - U08 fpgaId; ///< Reg 0. FPGA ID code. Checked against expected value at power up to verify basic FPGA communication and operation. - U08 fpgaRev; ///< Reg 1. FPGA revision being reported. - U08 fpgaRevLab; ///< Reg 2. FPGA lab rev number. - U08 fpgaRevMajor; ///< Reg 3. FPGA minor rev number. -} FPGA_HEADER_T; // read only on FPGA - -typedef struct // TODO - add all sensor readings to this structure per FPGA register map -{ - U32 fpgaLCA1; ///< Reg 256. ADC1 channel 0 - load cell A1. - U32 fpgaLCB1; ///< Reg 260. ADC1 channel 1 - load cell B1. - U32 fpgaADC1Temp; ///< Reg 264. ADC1 channel 2 - internal temperature. - - U32 fpgaLCA2; ///< Reg 268. ADC2 channel 0 - load cell A2. - U32 fpgaLCB2; ///< Reg 272. ADC2 channel 1 - load cell B2. - U32 fpgaADC2Temp; ///< Reg 276. ADC2 channel 2 - internal temperature. - - U32 fpgaCD1Temp; ///< Reg 280. ADC RTD channel 0 - conductivity sensor 1 temperature. - U32 fpgaCD2Temp; ///< Reg 284. ADC RTD channel 1 - conductivity sensor 2 temperature. - - U32 fpgaTPoTemp; ///< Reg 288. ADC RTD channel 2 - conductivity sensor CPo temperature. - U32 fpgaTPiTemp; ///< Reg 292. ADC RTD channel 3 - conductivity sensor CPi temperature. - U32 fpgaRTDTemp; ///< Reg 296. ADC RTD channel 4 - internal temperature. - - U32 fpgaTHDo; ///< Reg 300. ADC THDo channel 0 - temperature. - U32 fpgaTHDoTemp; ///< Reg 304. ADC THDo channel 1 - internal temperature. - - U32 fpgaTDi; ///< Reg 308. ADC TDi channel 0 - temperature. - U32 fpgaTDiTemp; ///< Reg 312. ADC TDi channel 1 - internal temperature. - - U32 fpgaCPo; ///< Reg 316. Conductivity CPo. - U32 fpgaCPi; ///< Reg 320. Conductivity CPi. - - U16 fpgaPrimaryHeaterIntTemp; ///< Reg 324. Primary heater temperature. - U16 fpgaPrimaryHeaterIntJunctionTemp; ///< Reg 326. Primary heater internal temperature. - U16 fpgaTrimmerHeaterIntTemp; ///< Reg 328. Trimmer heater temperature. - U16 fpgaTrimmerHeaterIntJunctionTemp; ///< Reg 330. Trimmer heater internal temperature. - - U16 fpgaDrainPumpSpeed; ///< Reg 332. Drain pump speed feedback. - U16 fpgaROFlowRate; ///< Reg 334. RO flow. - - U16 accelX; ///< Reg 336. Accelerometer X axis data. - U16 accelY; ///< Reg 338. Accelerometer Y axis data. - U16 accelZ; ///< Reg 340. Accelerometer Z axis data. - U16 accelXMax; ///< Reg 342. Accelerometer X axis max data (since last read). - U16 accelYMax; ///< Reg 344. Accelerometer Y axis max data (since last read). - U16 accelZMax; ///< Reg 346. Accelerometer Z axis max data (since last read). - U16 accelFaultRegister; ///< Reg 348. Accelerometer fault register. - U16 accelSampleCounter; ///< Reg 350. Accelerometer sample count. - - U08 fpgaIOErrorCntProcessor; ///< Reg 352. - U08 fpgaIOErrorCntPC; ///< Reg 353. - U08 fpgaADC1ReadCnt; ///< Reg 354. - U08 fpgaADC1ErrorCnt; ///< Reg 355. - U08 fpgaADC2ReadCnt; ///< Reg 356. - U08 fpgaADC2ErrorCnt; ///< Reg 357. - U08 fpgaRTDReadCnt; ///< Reg 358. - U08 fpgaRTDErrorCnt; ///< Reg 359. - U08 fpgaTHDoReadCnt; ///< Reg 360. - U08 fpgaTHDoErrorCnt; ///< Reg 361. - U08 fpgaTDiReadCnt; ///< Reg 362. - U08 fpgaTDiErrorCnt; ///< Reg 363. - U08 fpgaPrimaryHeaterFlags; ///< Reg 364. - U08 fpgaPrimaryHeaterReadCnt; ///< Reg 365. - U08 fpgaTrimmerHeaterFlags; ///< Reg 366. - U08 fpgaTrimmerHeaterReadCnt; ///< Reg 367. - U08 fpgaCPoFault; ///< Reg 368. - U08 fpgaCPoReadCnt; ///< Reg 369. - U08 fpgaCPoErrorCnt; ///< Reg 370. - U08 fpgaCPiFault; ///< Reg 371. - U08 fpgaCPiReadCnt; ///< Reg 372. - U08 fpgaCPiErrorCnt; ///< Reg 373. - U08 fpgaCP1CP2Fault; ///< Reg 374. - U08 fpgaReserved1; ///< Reg 375. - - U16 fpgaValveStates; ///< Reg 376. -} DG_FPGA_SENSORS_T; - -typedef struct -{ - U16 fpgaCPoProbeType; - U16 fpgaCPiProbeType; - U16 fpgaDrainPumpSetSpeed; - U16 fpgaValveStates; -} FPGA_ACTUATORS_T; -#pragma pack(pop) - -// ********** private data ********** - -// FPGA state -static FPGA_STATE_T fpgaState = FPGA_STATE_START; - -static U32 fpgaCommRetryCount = 0; -static U32 fpgaReceiptCounter = 0; -static U32 fpgaTransmitCounter = 0; -static BOOL fpgaWriteCommandInProgress = FALSE; -static BOOL fpgaReadCommandInProgress = FALSE; -static BOOL fpgaBulkWriteAndReadInProgress = FALSE; -static BOOL fpgaWriteCommandResponseReceived = FALSE; -static BOOL fpgaReadCommandResponseReceived = FALSE; - -// FPGA comm buffers -static U08 fpgaWriteCmdBuffer[ FPGA_WRITE_CMD_BUFFER_LEN ]; -static U08 fpgaReadCmdBuffer[ FPGA_READ_CMD_BUFFER_LEN ]; -static U08 fpgaWriteResponseBuffer[ FPGA_WRITE_RSP_BUFFER_LEN ]; -static U08 fpgaReadResponseBuffer[ FPGA_READ_RSP_BUFFER_LEN ]; - -// DMA control records -static g_dmaCTRL fpgaDMAWriteControlRecord; -static g_dmaCTRL fpgaDMAWriteRespControlRecord; -static g_dmaCTRL fpgaDMAReadControlRecord; -static g_dmaCTRL fpgaDMAReadRespControlRecord; - -// FPGA data -static FPGA_HEADER_T fpgaHeader; -static DG_FPGA_SENSORS_T fpgaSensorReadings; -static FPGA_ACTUATORS_T fpgaActuatorSetPoints; - -// ********** private function prototypes ********** - -static FPGA_STATE_T handleFPGAReadHeaderState( void ); -static FPGA_STATE_T handleFPGAReceiveHeaderState( void ); -static FPGA_STATE_T handleFPGAWriteAllActuatorsState( void ); -static FPGA_STATE_T handleFPGAReceiveAllSensorsState( void ); - -static void resetFPGACommFlags( void ); -static void setupDMAForWriteCmd( U32 bytes2Transmit ); -static void startDMAWriteCmd( void ); -static void setupDMAForWriteResp( U32 bytes2Receive ); -static void startDMAReceiptOfWriteResp( void ); -static void setupDMAForReadCmd( U32 bytes2Transmit ); -static void startDMAReadCmd( void ); -static void setupDMAForReadResp( U32 bytes2Receive ); -static void startDMAReceiptOfReadResp( void ); - -static void consumeUnexpectedData( void ); - -/*********************************************************************//** - * @brief - * The initFPGA function initializes the FPGA module. - * @details - * Inputs : none - * Outputs : FPGA module initialized. - * @param none - * @return none - *************************************************************************/ -void initFPGA( void ) -{ - // initialize fpga data structures - memset( &fpgaHeader, 0, sizeof(FPGA_HEADER_T) ); - memset( &fpgaSensorReadings, 0, sizeof(DG_FPGA_SENSORS_T) ); - memset( &fpgaActuatorSetPoints, 0, sizeof(FPGA_ACTUATORS_T) ); - - // initialize fpga comm buffers - memset( &fpgaWriteCmdBuffer, 0, FPGA_WRITE_CMD_BUFFER_LEN ); - memset( &fpgaReadCmdBuffer, 0, FPGA_READ_CMD_BUFFER_LEN ); - memset( &fpgaWriteResponseBuffer, 0, FPGA_WRITE_RSP_BUFFER_LEN ); - memset( &fpgaReadResponseBuffer, 0, FPGA_READ_RSP_BUFFER_LEN ); - - // enable interrupt notifications for FPGA serial port - sciEnableNotification( scilinREG, SCI_OE_INT | SCI_FE_INT ); - - // assign DMA channels to h/w DMA requests - dmaReqAssign( DMA_CH0, SCI2_RECEIVE_DMA_REQUEST ); - dmaReqAssign( DMA_CH2, SCI2_TRANSMIT_DMA_REQUEST ); - // set DMA channel priorities - dmaSetPriority( DMA_CH0, HIGHPRIORITY ); - dmaSetPriority( DMA_CH2, LOWPRIORITY ); - // Enable DMA block transfer complete interrupts - dmaEnableInterrupt( DMA_CH0, BTC ); - dmaEnableInterrupt( DMA_CH2, BTC ); - - // initialize FPGA DMA Write Control Record - fpgaDMAWriteControlRecord.PORTASGN = 4; // port B (only choice per datasheet) - fpgaDMAWriteControlRecord.SADD = (U32)fpgaWriteCmdBuffer; // transfer source address - fpgaDMAWriteControlRecord.DADD = (U32)(&(scilinREG->TD)); // dest. is SCI2 xmit register - fpgaDMAWriteControlRecord.CHCTRL = 0; // no chaining - fpgaDMAWriteControlRecord.ELCNT = 1; // frame is 1 element - fpgaDMAWriteControlRecord.FRCNT = 0; // block is TBD frames - will be populated later when known - fpgaDMAWriteControlRecord.RDSIZE = ACCESS_8_BIT; // element size is 1 byte - fpgaDMAWriteControlRecord.WRSIZE = ACCESS_8_BIT; // - fpgaDMAWriteControlRecord.TTYPE = FRAME_TRANSFER; // transfer type is block transfer - fpgaDMAWriteControlRecord.ADDMODERD = ADDR_INC1; // source addressing mode is post-increment - fpgaDMAWriteControlRecord.ADDMODEWR = ADDR_FIXED; // dest. addressing mode is fixed - fpgaDMAWriteControlRecord.AUTOINIT = AUTOINIT_OFF; // auto-init off - fpgaDMAWriteControlRecord.ELSOFFSET = 0; // not used - fpgaDMAWriteControlRecord.ELDOFFSET = 0; // not used - fpgaDMAWriteControlRecord.FRSOFFSET = 0; // not used - fpgaDMAWriteControlRecord.FRDOFFSET = 0; // not used - - // initialize FPGA DMA Write Response Control Record - fpgaDMAWriteRespControlRecord.PORTASGN = 4; // port B (only choice per datasheet) - fpgaDMAWriteRespControlRecord.SADD = (U32)(&(scilinREG->RD));// source is SCI2 recv register - fpgaDMAWriteRespControlRecord.DADD = (U32)fpgaWriteResponseBuffer; // transfer destination address - fpgaDMAWriteRespControlRecord.CHCTRL = 0; // no chaining - fpgaDMAWriteRespControlRecord.ELCNT = 1; // frame is 1 element - fpgaDMAWriteRespControlRecord.FRCNT = 0; // block is TBD frames - will be populated later when known - fpgaDMAWriteRespControlRecord.RDSIZE = ACCESS_8_BIT; // element size is 1 byte - fpgaDMAWriteRespControlRecord.WRSIZE = ACCESS_8_BIT; // - fpgaDMAWriteRespControlRecord.TTYPE = FRAME_TRANSFER; // transfer type is block transfer - fpgaDMAWriteRespControlRecord.ADDMODERD = ADDR_FIXED; // source addressing mode is fixed - fpgaDMAWriteRespControlRecord.ADDMODEWR = ADDR_INC1; // dest. addressing mode is post-increment - fpgaDMAWriteRespControlRecord.AUTOINIT = AUTOINIT_OFF; // auto-init off - fpgaDMAWriteRespControlRecord.ELDOFFSET = 0; // not used - fpgaDMAWriteRespControlRecord.ELSOFFSET = 0; // not used - fpgaDMAWriteRespControlRecord.FRDOFFSET = 0; // not used - fpgaDMAWriteRespControlRecord.FRSOFFSET = 0; // not used - - // initialize FPGA DMA Read Control Record - fpgaDMAReadControlRecord.PORTASGN = 4; // port B (only choice per datasheet) - fpgaDMAReadControlRecord.SADD = (U32)fpgaReadCmdBuffer; // transfer source address - fpgaDMAReadControlRecord.DADD = (U32)(&(scilinREG->TD)); // dest. is SCI2 xmit register - fpgaDMAReadControlRecord.CHCTRL = 0; // no chaining - fpgaDMAReadControlRecord.ELCNT = 1; // frame is 1 element - fpgaDMAReadControlRecord.FRCNT = 0; // block is TBD frames - will be populated later when known - fpgaDMAReadControlRecord.RDSIZE = ACCESS_8_BIT; // element size is 1 byte - fpgaDMAReadControlRecord.WRSIZE = ACCESS_8_BIT; // - fpgaDMAReadControlRecord.TTYPE = FRAME_TRANSFER; // transfer type is block transfer - fpgaDMAReadControlRecord.ADDMODERD = ADDR_INC1; // source addressing mode is post-increment - fpgaDMAReadControlRecord.ADDMODEWR = ADDR_FIXED; // dest. addressing mode is fixed - fpgaDMAReadControlRecord.AUTOINIT = AUTOINIT_OFF; // auto-init off - fpgaDMAReadControlRecord.ELSOFFSET = 0; // not used - fpgaDMAReadControlRecord.ELDOFFSET = 0; // not used - fpgaDMAReadControlRecord.FRSOFFSET = 0; // not used - fpgaDMAReadControlRecord.FRDOFFSET = 0; // not used - - // initialize FPGA DMA Read Response Control Record - fpgaDMAReadRespControlRecord.PORTASGN = 4; // port B (only choice per datasheet) - fpgaDMAReadRespControlRecord.SADD = (U32)(&(scilinREG->RD)); // source is SCI2 recv register - fpgaDMAReadRespControlRecord.DADD = (U32)fpgaReadResponseBuffer; // transfer destination address - fpgaDMAReadRespControlRecord.CHCTRL = 0; // no chaining - fpgaDMAReadRespControlRecord.ELCNT = 1; // frame is 1 element - fpgaDMAReadRespControlRecord.FRCNT = 0; // block is TBD frames - will be populated later when known - fpgaDMAReadRespControlRecord.RDSIZE = ACCESS_8_BIT; // element size is 1 byte - fpgaDMAReadRespControlRecord.WRSIZE = ACCESS_8_BIT; // - fpgaDMAReadRespControlRecord.TTYPE = FRAME_TRANSFER; // transfer type is block transfer - fpgaDMAReadRespControlRecord.ADDMODERD = ADDR_FIXED; // source addressing mode is fixed - fpgaDMAReadRespControlRecord.ADDMODEWR = ADDR_INC1; // dest. addressing mode is post-increment - fpgaDMAReadRespControlRecord.AUTOINIT = AUTOINIT_OFF; // auto-init off - fpgaDMAReadRespControlRecord.ELDOFFSET = 0; // not used - fpgaDMAReadRespControlRecord.ELSOFFSET = 0; // not used - fpgaDMAReadRespControlRecord.FRDOFFSET = 0; // not used - fpgaDMAReadRespControlRecord.FRSOFFSET = 0; // not used - - // there shouldn't be any data pending yet - consumeUnexpectedData(); -} - -/*********************************************************************//** - * @brief - * The resetFPGACommFlags function resets the various fpga comm flags and \n - * counters. - * @details - * Inputs : none - * Outputs : fpga comm flags & counters reset - * @param none - * @return none - *************************************************************************/ -static void resetFPGACommFlags( void ) -{ - fpgaWriteCommandResponseReceived = FALSE; - fpgaReadCommandResponseReceived = FALSE; - fpgaWriteCommandInProgress = FALSE; - fpgaReadCommandInProgress = FALSE; - fpgaBulkWriteAndReadInProgress = FALSE; - fpgaTransmitCounter = 0; - fpgaReceiptCounter = 0; -} - -/*********************************************************************//** - * @brief - * The signalFPGAReceiptCompleted function increments a counter to indicate \n - * that another DMA receipt from the FPGA has completed. - * @details - * Inputs : none - * Outputs : fpgaReceiptCounter - * @param none - * @return none - *************************************************************************/ -void signalFPGAReceiptCompleted( void ) -{ - fpgaReceiptCounter++; - // did FPGA Ack last command? - if ( TRUE == fpgaWriteCommandInProgress ) - { - fpgaWriteCommandInProgress = FALSE; - fpgaWriteCommandResponseReceived = TRUE; - } - else if ( TRUE == fpgaReadCommandInProgress ) - { - fpgaReadCommandInProgress = FALSE; - fpgaReadCommandResponseReceived = TRUE; - } - - // see if we want to follow up with a bulk read command - if ( TRUE == fpgaBulkWriteAndReadInProgress ) - { - fpgaBulkWriteAndReadInProgress = FALSE; - fpgaReadCommandInProgress = TRUE; - // initiate bulk read command - startDMAReceiptOfReadResp(); - startDMAReadCmd(); - } -} - -/*********************************************************************//** - * @brief - * The signalFPGATransmitCompleted function increments a counter to indicate \n - * that another DMA transmit to the FPGA has completed. - * @details - * Inputs : none - * Outputs : fpgaReceiptCounter - * @param none - * @return none - *************************************************************************/ -void signalFPGATransmitCompleted( void ) -{ - fpgaTransmitCounter++; -} - -/*********************************************************************//** - * @brief - * The execFPGA function manages incoming data exchanges with the FPGA. - * @details - * Inputs : fpgaState - * Outputs : fpgaState - * @param none - * @return none - *************************************************************************/ -void execFPGAIn( void ) -{ - // FPGA incoming state machine - switch ( fpgaState ) - { - case FPGA_STATE_START: - fpgaState = FPGA_STATE_READ_HEADER; - break; - - case FPGA_STATE_RCV_HEADER: - fpgaState = handleFPGAReceiveHeaderState(); - break; - - // TODO - sensor/ADC init/configuration states - - case FPGA_STATE_RCV_ALL_SENSORS: - fpgaState = handleFPGAReceiveAllSensorsState(); - break; - - case FPGA_STATE_FAILED: - // do nothing - we'll be stuck here - break; - - default: - if ( fpgaState >= NUM_OF_FPGA_STATES ) - { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_INVALID_IN_STATE, fpgaState ) - } - else - { - // ok, some states handled in the outgoing state machine - } - break; - } - - // if retries for commands exceeds limit, fault - if ( fpgaCommRetryCount > MAX_COMM_ERROR_RETRIES ) - { - // TODO - FPGA comm fault - } - - // reset comm flags after processing incoming responses - resetFPGACommFlags(); -} - -/*********************************************************************//** - * @brief - * The execFPGAOut function manages outgoing data exchanges with the FPGA. - * @details - * Inputs : fpgaState - * Outputs : fpgaState - * @param none - * @return none - *************************************************************************/ -void execFPGAOut( void ) -{ - // FPGA outgoing state machine - switch ( fpgaState ) - { - case FPGA_STATE_READ_HEADER: - fpgaState = handleFPGAReadHeaderState(); - break; - - // TODO - sensor/ADC init/configuration states - - case FPGA_STATE_WRITE_ALL_ACTUATORS: - fpgaState = handleFPGAWriteAllActuatorsState(); - break; - - case FPGA_STATE_FAILED: - // do nothing - we'll be stuck here - break; - - default: - if ( fpgaState >= NUM_OF_FPGA_STATES ) - { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_INVALID_OUT_STATE, fpgaState ) - } - else - { - // ok, some states handled in the incoming state machine - } - break; - } -} - -/*********************************************************************//** - * @brief - * The handleFPGAReadHeaderState function handles the FPGA state where \n - * the read header registers command is sent to the FPGA. - * @details - * Inputs : none - * Outputs : read command sent to FPGA - * @param none - * @return next FPGA state - *************************************************************************/ -static FPGA_STATE_T handleFPGAReadHeaderState( void ) -{ - FPGA_STATE_T result = FPGA_STATE_RCV_HEADER; - U16 crc; - - // construct read command to read 3 registers starting at address 0 - fpgaReadCmdBuffer[ 0 ] = FPGA_READ_CMD_CODE; - fpgaReadCmdBuffer[ 1 ] = GET_LSB_OF_WORD( FPGA_HEADER_START_ADDR ); - fpgaReadCmdBuffer[ 2 ] = GET_MSB_OF_WORD( FPGA_HEADER_START_ADDR ); - fpgaReadCmdBuffer[ 3 ] = sizeof(FPGA_HEADER_T); - crc = crc16( fpgaReadCmdBuffer, FPGA_READ_CMD_HDR_LEN ); - fpgaReadCmdBuffer[ 4 ] = GET_MSB_OF_WORD( crc ); - fpgaReadCmdBuffer[ 5 ] = GET_LSB_OF_WORD( crc ); - // prep DMA for sending the read cmd and receiving the response - fpgaReadCommandInProgress = TRUE; - setupDMAForReadResp( FPGA_READ_RSP_HDR_LEN + sizeof(FPGA_HEADER_T) + FPGA_CRC_LEN ); - setupDMAForReadCmd( FPGA_READ_CMD_HDR_LEN + FPGA_CRC_LEN ); - startDMAReceiptOfReadResp(); - startDMAReadCmd(); - - return result; -} - -/*********************************************************************//** - * @brief - * The handleFPGAReceiveHeaderState function handles the FPGA state \n - * where the header registers read response should be ready to take in. - * @details - * Inputs : none - * Outputs : header register values updated - * @param none - * @return next FPGA state - *************************************************************************/ -static FPGA_STATE_T handleFPGAReceiveHeaderState( void ) -{ - FPGA_STATE_T result = FPGA_STATE_READ_HEADER; - - // did we get an FPGA response? - if ( TRUE == fpgaReadCommandResponseReceived ) - { - // did FPGA Ack the read command? - if ( fpgaReadResponseBuffer[ 0 ] == FPGA_READ_CMD_ACK ) - { - U32 rspSize = FPGA_READ_RSP_HDR_LEN + sizeof(FPGA_HEADER_T); - U32 crcPos = rspSize; - U16 crc = MAKE_WORD_OF_BYTES( fpgaReadResponseBuffer[ crcPos ], fpgaReadResponseBuffer[ crcPos + 1 ] ); - - // does the FPGA response CRC check out? - if ( crc == crc16( fpgaReadResponseBuffer, rspSize ) ) - { - fpgaCommRetryCount = 0; - // capture the read values - memcpy( &fpgaHeader, &fpgaReadResponseBuffer[ FPGA_READ_RSP_HDR_LEN ], sizeof( FPGA_HEADER_T ) ); - result = FPGA_STATE_WRITE_ALL_ACTUATORS; - } - else - { - fpgaCommRetryCount++; - } - } - else // header read was NAK'd - { - fpgaCommRetryCount++; - } - } - else // no response to read command - { - fpgaCommRetryCount++; - } - - // shouldn't be any data received at this time - consumeUnexpectedData(); - - return result; -} - -/*********************************************************************//** - * @brief - * The handleFPGAWriteAllActuatorsState function handles the FPGA state \n - * where the bulk write command is sent to the FPGA. - * @details - * Inputs : actuator set points - * Outputs : actuator set points sent to FPGA - * @param none - * @return next FPGA state - *************************************************************************/ -static FPGA_STATE_T handleFPGAWriteAllActuatorsState( void ) -{ - FPGA_STATE_T result = FPGA_STATE_RCV_ALL_SENSORS; - U16 crc; - - // construct bulk write command to write actuator data registers starting at address 3 (TODO - change address later) - fpgaWriteCmdBuffer[ 0 ] = FPGA_WRITE_CMD_CODE; - fpgaWriteCmdBuffer[ 1 ] = GET_LSB_OF_WORD( FPGA_BULK_WRITE_START_ADDR ); - fpgaWriteCmdBuffer[ 2 ] = GET_MSB_OF_WORD( FPGA_BULK_WRITE_START_ADDR ); - fpgaWriteCmdBuffer[ 3 ] = sizeof(FPGA_ACTUATORS_T); - memcpy( &( fpgaWriteCmdBuffer[ FPGA_WRITE_CMD_HDR_LEN ] ), &fpgaActuatorSetPoints, sizeof( FPGA_ACTUATORS_T ) ); - crc = crc16( fpgaWriteCmdBuffer, FPGA_WRITE_CMD_HDR_LEN + sizeof( FPGA_ACTUATORS_T ) ); - fpgaWriteCmdBuffer[ FPGA_WRITE_CMD_HDR_LEN + sizeof( FPGA_ACTUATORS_T ) ] = GET_MSB_OF_WORD( crc ); - fpgaWriteCmdBuffer[ FPGA_WRITE_CMD_HDR_LEN + sizeof( FPGA_ACTUATORS_T ) + 1 ] = GET_LSB_OF_WORD( crc ); - // construct bulk read command to read sensor data registers starting at address 8 - fpgaReadCmdBuffer[ 0 ] = FPGA_READ_CMD_CODE; - fpgaReadCmdBuffer[ 1 ] = GET_LSB_OF_WORD( FPGA_BULK_READ_START_ADDR ); - fpgaReadCmdBuffer[ 2 ] = GET_MSB_OF_WORD( FPGA_BULK_READ_START_ADDR ); - fpgaReadCmdBuffer[ 3 ] = sizeof(DG_FPGA_SENSORS_T); - crc = crc16( fpgaReadCmdBuffer, FPGA_READ_CMD_HDR_LEN ); - fpgaReadCmdBuffer[ 4 ] = GET_MSB_OF_WORD( crc ); - fpgaReadCmdBuffer[ 5 ] = GET_LSB_OF_WORD( crc ); - // prep DMA for sending the bulk write cmd and receiving its response - setupDMAForWriteCmd( FPGA_WRITE_CMD_HDR_LEN + sizeof( FPGA_ACTUATORS_T ) + FPGA_CRC_LEN ); - setupDMAForWriteResp( FPGA_WRITE_RSP_HDR_LEN + FPGA_CRC_LEN ); - // prep DMA for sending the bulk read cmd and receiving its response - setupDMAForReadCmd( FPGA_READ_CMD_HDR_LEN + FPGA_CRC_LEN ); - setupDMAForReadResp( FPGA_READ_RSP_HDR_LEN + sizeof( DG_FPGA_SENSORS_T ) + FPGA_CRC_LEN ); - // set fpga comm flags for bulk write cmd and follow-up bulk read command - fpgaWriteCommandInProgress = TRUE; - fpgaBulkWriteAndReadInProgress = TRUE; - // initiate bulk write command and it's receipt - read will follow - startDMAReceiptOfWriteResp(); - startDMAWriteCmd(); - - return result; -} - -/*********************************************************************//** - * @brief - * The handleFPGAReceiveAllSensorsState function handles the FPGA state \n - * where the bulk read response should be ready to parse. - * @details - * Inputs : none - * Outputs : sensor values updated - * @param none - * @return next FPGA state - *************************************************************************/ -static FPGA_STATE_T handleFPGAReceiveAllSensorsState( void ) -{ - FPGA_STATE_T result = FPGA_STATE_WRITE_ALL_ACTUATORS; - - // check bulk write command success - if ( ( FALSE == fpgaWriteCommandResponseReceived ) || ( fpgaWriteResponseBuffer[ 0 ] != FPGA_WRITE_CMD_ACK ) ) - { - fpgaCommRetryCount++; - } - - // if bulk read command is ACK'd, collect the readings - if ( TRUE == fpgaReadCommandResponseReceived ) - { - // did FPGA Ack the read command? - if ( fpgaReadResponseBuffer[ 0 ] == FPGA_READ_CMD_ACK ) - { - U32 rspSize = FPGA_READ_RSP_HDR_LEN + sizeof(DG_FPGA_SENSORS_T); - U32 crcPos = rspSize; - U16 crc = MAKE_WORD_OF_BYTES( fpgaReadResponseBuffer[ crcPos ], fpgaReadResponseBuffer[ crcPos + 1 ] ); - - // does the FPGA response CRC check out? - if ( crc == crc16( fpgaReadResponseBuffer, rspSize ) ) - { - fpgaCommRetryCount = 0; - // capture the read values - memcpy( &fpgaSensorReadings, &fpgaReadResponseBuffer[ FPGA_READ_RSP_HDR_LEN ], sizeof( DG_FPGA_SENSORS_T ) ); - result = FPGA_STATE_WRITE_ALL_ACTUATORS; - } - else // bad CRC - { - fpgaCommRetryCount++; - } - } - else // read command was NAK'd - { - fpgaCommRetryCount++; - } - } - else // no response to read command - { - fpgaCommRetryCount++; - } - - // shouldn't be any data received at this time - consumeUnexpectedData(); - - return result; -} - -/*********************************************************************//** - * @brief - * The execFPGATest function executes the FPGA self-test. \n - * @details - * Inputs : fpgaHeader - * Outputs : none - * @param none - * @return passed, or failed - *************************************************************************/ -SELF_TEST_STATUS_T execFPGATest( void ) -{ - SELF_TEST_STATUS_T result; - - // check FPGA reported correct ID -#ifndef RM46_EVAL_BOARD_TARGET - if ( FPGA_EXPECTED_ID == fpgaHeader.fpgaId ) -#else - if ( 1 ) -#endif - { - result = SELF_TEST_STATUS_PASSED; - } - else - { - result = SELF_TEST_STATUS_FAILED; - SET_ALARM_WITH_1_U32_DATA( ALARM_ID_FPGA_POST_TEST_FAILED, (U32)fpgaHeader.fpgaId ) - } - - return result; -} - -/*********************************************************************//** - * @brief - * The setupDMAForWriteCmd function sets the byte count for the next DMA \n - * write command to the FPGA. - * @details - * Inputs : none - * Outputs : # of bytes for next FPGA write command is set - * @param bytes2Transmit : # of bytes to be transmitted via DMA to the FPGA. - * @return none - *************************************************************************/ -static void setupDMAForWriteCmd( U32 bytes2Transmit ) -{ - // verify # of bytes does not exceed buffer length - if ( bytes2Transmit <= FPGA_WRITE_CMD_BUFFER_LEN ) - { - fpgaDMAWriteControlRecord.FRCNT = bytes2Transmit; - } - else - { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_WRITE_CMD_TOO_MUCH_DATA, bytes2Transmit ) - } -} - -/*********************************************************************//** - * @brief - * The startDMAWriteCmd function initiates the DMA transmit for the next \n - * DMA write command to the FPGA. - * @details - * Inputs : none - * Outputs : DMA write command to FPGA is initiated - * @param none - * @return none - *************************************************************************/ -static void startDMAWriteCmd( void ) -{ - dmaSetCtrlPacket( DMA_CH2, fpgaDMAWriteControlRecord ); - dmaSetChEnable( DMA_CH2, DMA_HW ); - setSCI2DMATransmitInterrupt(); -} - -/*********************************************************************//** - * @brief - * The setupDMAForWriteResp function sets the expected byte count for the \n - * next DMA write command response from the FPGA. - * @details - * Inputs : none - * Outputs : # of expected bytes for next FPGA write command response is set - * @param bytes2Receive : # of bytes expected to be transmitted via DMA from the FPGA. - * @return none - *************************************************************************/ -static void setupDMAForWriteResp( U32 bytes2Receive ) -{ - // verify # of bytes does not exceed buffer length - if ( bytes2Receive <= FPGA_WRITE_RSP_BUFFER_LEN ) - { - fpgaDMAWriteRespControlRecord.FRCNT = bytes2Receive; - } - else - { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_WRITE_RSP_TOO_MUCH_DATA, bytes2Receive ) - } -} - -/*********************************************************************//** - * @brief - * The startDMAReceiptOfWriteResp function initiates readiness of the DMA \n - * receiver for the next DMA write command response from the FPGA. - * @details - * Inputs : none - * Outputs : DMA write command response is ready to be received from the FPGA - * @param none - * @return none - *************************************************************************/ -static void startDMAReceiptOfWriteResp( void ) -{ - dmaSetCtrlPacket( DMA_CH0, fpgaDMAWriteRespControlRecord ); - dmaSetChEnable( DMA_CH0, DMA_HW ); - setSCI2DMAReceiveInterrupt(); -} - -/*********************************************************************//** - * @brief - * The setupDMAForReadCmd function sets the byte count for the next DMA \n - * read command to the FPGA. - * @details - * Inputs : none - * Outputs : # of bytes for next FPGA read command is set - * @param bytes2Transmit : # of bytes to be transmitted via DMA to the FPGA. - * @return none - *************************************************************************/ -static void setupDMAForReadCmd( U32 bytes2Transmit ) -{ - // verify # of bytes does not exceed buffer length - if ( bytes2Transmit <= FPGA_READ_CMD_BUFFER_LEN ) - { - fpgaDMAReadControlRecord.FRCNT = bytes2Transmit; - } - else - { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_READ_CMD_TOO_MUCH_DATA, bytes2Transmit ) - } -} - -/*********************************************************************//** - * @brief - * The startDMAReadCmd function initiates the DMA transmit for the next \n - * DMA read command to the FPGA. - * @details - * Inputs : none - * Outputs : DMA read command to FPGA is initiated - * @param none - * @return none - *************************************************************************/ -static void startDMAReadCmd( void ) -{ - dmaSetCtrlPacket( DMA_CH2, fpgaDMAReadControlRecord ); - dmaSetChEnable( DMA_CH2, DMA_HW ); - setSCI2DMATransmitInterrupt(); -} - -/*********************************************************************//** - * @brief - * The setupDMAForReadResp function sets the expected byte count for the \n - * next DMA read command response from the FPGA. - * @details - * Inputs : none - * Outputs : # of expected bytes for next FPGA read command response is set - * @param bytes2Receive : # of expected bytes to be transmitted via DMA from the FPGA. - * @return none - *************************************************************************/ -static void setupDMAForReadResp( U32 bytes2Receive ) -{ - // verify # of bytes does not exceed buffer length - if ( bytes2Receive <= FPGA_READ_RSP_BUFFER_LEN ) - { - fpgaDMAReadRespControlRecord.FRCNT = bytes2Receive; - } - else - { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_READ_RSP_TOO_MUCH_DATA, bytes2Receive ) - } -} - -/*********************************************************************//** - * @brief - * The startDMAReceiptOfReadResp function initiates readiness of the DMA \n - * receiver for the next DMA read command response from the FPGA. - * @details - * Inputs : none - * Outputs : DMA read command response is ready to be received from the FPGA - * @param none - * @return none - *************************************************************************/ -static void startDMAReceiptOfReadResp( void ) -{ - dmaSetCtrlPacket( DMA_CH0, fpgaDMAReadRespControlRecord ); - dmaSetChEnable( DMA_CH0, DMA_HW ); - setSCI2DMAReceiveInterrupt(); -} - -/*********************************************************************//** - * @brief - * The consumeUnexpectedData function checks to see if a byte is sitting in \n - * the SCI2 received data register. - * @details - * Inputs : fpgaHeader - * Outputs : none - * @param none - * @return fpgaDiag - *************************************************************************/ -static void consumeUnexpectedData( void ) -{ - // clear any errors - sciRxError( scilinREG ); - // if a byte is pending read, read it - if ( sciIsRxReady( scilinREG ) != 0 ) - { - sciReceiveByte( scilinREG ); - } -} - -/*********************************************************************//** - * @brief - * The setFPGAValveStates function sets the DG valve states with a 16-bit \n - * set of states - one bit per valve, with a 1 meaning "energized" and a 0 \n - * meaning "de-energized". The bit positions for these bit states are as follows: \n - * 0 - VRf.\n - * 1 - VRi.\n - * 2 - VRd.\n - * 3 - VRo.\n - * 4 - VPo.\n - * 5 - VBf.\n - * 6 - VRc.\n - * 7 - VDr.\n - * 8 - VPi.\n - * 9 - VSP.\n - * 10..11 - reserved (spare).\n - * 12- VPd.\n - * 13..15 - reserved or unused. - * @details - * Inputs : none - * Outputs : fpgaActuatorSetPoints.fpgaValveStates - * @param valveStates - * @return none - *************************************************************************/ -void setFPGAValveStates( U16 valveStates ) -{ - fpgaActuatorSetPoints.fpgaValveStates = valveStates; -} - -/*********************************************************************//** - * @brief - * The setFPGADrainPumpSpeed function sets the drain pump target speed. \n - * The drain pump DAC value should be set to 1 count for each 12.94 RPM desired. - * @details - * Inputs : none - * Outputs : fpgaActuatorSetPoints.fpgaDrainPumpSetSpeed - * @param drainPumpDAC - * @return none - *************************************************************************/ -void setFPGADrainPumpSpeed( U08 drainPumpDAC ) -{ - U16 dac = (U16)drainPumpDAC & MASK_OFF_MSB; - - dac = dac << DRAIN_PUMP_DAC_SHIFT_BITS; - fpgaActuatorSetPoints.fpgaDrainPumpSetSpeed = dac; -} - -/*********************************************************************//** - * @brief - * The getFPGAId function gets the version read from the Id register \n - * of the FPGA. - * @details - * Inputs : fpgaHeader - * Outputs : none - * @param none - * @return Id - *************************************************************************/ -U08 getFPGAId( void ) -{ - return fpgaHeader.fpgaId; -} - -/*********************************************************************//** - * @brief - * The getFPGARev function gets the revision read from the Rev register \n - * of the FPGA. - * @details - * Inputs : fpgaHeader - * Outputs : none - * @param none - * @return Revision - *************************************************************************/ -U08 getFPGARev( void ) -{ - return fpgaHeader.fpgaRev; -} - + +#include // for memset(), memcpy() + +#include "sci.h" +#include "sys_dma.h" + +#include "FPGA.h" +#include "Comm.h" +#include "SystemCommMessages.h" +#include "Utilities.h" + +/** + * @addtogroup FPGA + * @{ + */ + +// ********** private definitions ********** + +/// List of FPGA states. +typedef enum FPGA_States +{ + FPGA_STATE_START = 0, ///< FPGA start state + FPGA_STATE_READ_HEADER, ///< FPGA read header state + FPGA_STATE_RCV_HEADER, ///< FPGA receive header state + FPGA_STATE_WRITE_ALL_ACTUATORS, ///< FPGA write all actuators state + FPGA_STATE_RCV_ALL_SENSORS, ///< FPGA receive all sensors state + FPGA_STATE_FAILED, ///< FPGA failed state + NUM_OF_FPGA_STATES ///< Number of FPGA states +} FPGA_STATE_T; + +#define FPGA_PAGE_SIZE 256 ///< FPGA page size. +#define FPGA_EXPECTED_ID 0x60 ///< FPGA expected ID. + +#define FPGA_HEADER_START_ADDR 0x0000 ///< FPGA header start address. +#define FPGA_BULK_READ_START_ADDR 0x0100 ///< FPGA bulk read start address. +#define FPGA_BULK_WRITE_START_ADDR 0x000C ///< FPGA bulk write start address. + +#define FPGA_WRITE_CMD_BUFFER_LEN ( FPGA_PAGE_SIZE + 8 ) ///< FPGA write command buffer length. +#define FPGA_READ_CMD_BUFFER_LEN 8 ///< FPGA read command buffer length. +#define FPGA_WRITE_RSP_BUFFER_LEN 8 ///< FPGA write response buffer length. +#define FPGA_READ_RSP_BUFFER_LEN ( FPGA_PAGE_SIZE + 8 ) ///< FPGA read response buffer length. + +#define FPGA_WRITE_CMD_CODE 0x55 ///< FPGA write command code. +#define FPGA_READ_CMD_CODE 0x5A ///< FPGA read command code. +#define FPGA_WRITE_CMD_ACK 0xA5 ///< FPGA write command ack. +#define FPGA_READ_CMD_ACK 0xAA ///< FPGA read command ack. +#define FPGA_CMD_NAK 0xEE ///< FPGA command nack. + +#define FPGA_CRC_LEN 2 ///< FPGA crc length. +#define FPGA_WRITE_CMD_HDR_LEN 4 ///< FPGA write command header length. +#define FPGA_READ_CMD_HDR_LEN 4 ///< FPGA read command header length. +#define FPGA_WRITE_RSP_HDR_LEN 3 ///< FPGA write response header length. +#define FPGA_READ_RSP_HDR_LEN 3 ///< FPGA read response header length. + +#define SCI2_RECEIVE_DMA_REQUEST 28 ///< SCI2 receive DMA request +#define SCI2_TRANSMIT_DMA_REQUEST 29 ///< SCI2 transmit DMA request + +#define MAX_COMM_ERROR_RETRIES 5 ///< Maximum number of communication error retries + +#define DRAIN_PUMP_DAC_SHIFT_BITS 4 ///< Drain pump DAC shift bits. + +// FPGA header struct. +#pragma pack(push,1) +typedef struct +{ + U08 fpgaId; ///< Reg 0. FPGA ID code. Checked against expected value at power up to verify basic FPGA communication and operation + U08 fpgaRev; ///< Reg 1. FPGA revision being reported + U08 fpgaRevLab; ///< Reg 2. FPGA lab rev number + U08 fpgaRevMajor; ///< Reg 3. FPGA minor rev number +} FPGA_HEADER_T; // read only on FPGA + +/// FPGA sensors' readings struct. +typedef struct // TODO - add all sensor readings to this structure per FPGA register map +{ + U32 fpgaLCA1; ///< Reg 256. ADC1 channel 0 - load cell A1 + U32 fpgaLCB1; ///< Reg 260. ADC1 channel 1 - load cell B1 + U32 fpgaADC1Temp; ///< Reg 264. ADC1 channel 2 - internal temperature + + U32 fpgaLCA2; ///< Reg 268. ADC2 channel 0 - load cell A2 + U32 fpgaLCB2; ///< Reg 272. ADC2 channel 1 - load cell B2 + U32 fpgaADC2Temp; ///< Reg 276. ADC2 channel 2 - internal temperature + + U32 fpgaCD1Temp; ///< Reg 280. ADC RTD channel 0 - conductivity sensor 1 temperature + U32 fpgaCD2Temp; ///< Reg 284. ADC RTD channel 1 - conductivity sensor 2 temperature + + U32 fpgaTPoTemp; ///< Reg 288. ADC RTD channel 2 - conductivity sensor CPo temperature + U32 fpgaTPiTemp; ///< Reg 292. ADC RTD channel 3 - conductivity sensor CPi temperature + U32 fpgaRTDTemp; ///< Reg 296. ADC RTD channel 4 - internal temperature + + U32 fpgaTHDo; ///< Reg 300. ADC THDo channel 0 - temperature + U32 fpgaTHDoTemp; ///< Reg 304. ADC THDo channel 1 - internal temperature + + U32 fpgaTDi; ///< Reg 308. ADC TDi channel 0 - temperature + U32 fpgaTDiTemp; ///< Reg 312. ADC TDi channel 1 - internal temperature + + U32 fpgaCPo; ///< Reg 316. CPo conductivity sensor value + U32 fpgaCPi; ///< Reg 320. CPi conductivity sensor value + + U16 fpgaPrimaryHeaterIntTemp; ///< Reg 324. Primary heater temperature + U16 fpgaPrimaryHeaterIntJunctionTemp; ///< Reg 326. Primary heater internal temperature + U16 fpgaTrimmerHeaterIntTemp; ///< Reg 328. Trimmer heater temperature + U16 fpgaTrimmerHeaterIntJunctionTemp; ///< Reg 330. Trimmer heater internal temperature + + U16 fpgaDrainPumpSpeed; ///< Reg 332. Drain pump speed feedback + U16 fpgaROFlowRate; ///< Reg 334. RO flow + + U16 accelX; ///< Reg 336. Accelerometer X axis data + U16 accelY; ///< Reg 338. Accelerometer Y axis data + U16 accelZ; ///< Reg 340. Accelerometer Z axis data + U16 accelXMax; ///< Reg 342. Accelerometer X axis max data (since last read) + U16 accelYMax; ///< Reg 344. Accelerometer Y axis max data (since last read) + U16 accelZMax; ///< Reg 346. Accelerometer Z axis max data (since last read) + U16 accelFaultRegister; ///< Reg 348. Accelerometer fault register + U16 accelSampleCounter; ///< Reg 350. Accelerometer sample count + + U08 fpgaIOErrorCntProcessor; ///< Reg 352. Error count for processor communications + U08 fpgaIOErrorCntPC; ///< Reg 353. Error count for PC communications + U08 fpgaADC1ReadCnt; ///< Reg 354. + U08 fpgaADC1ErrorCnt; ///< Reg 355. + U08 fpgaADC2ReadCnt; ///< Reg 356. + U08 fpgaADC2ErrorCnt; ///< Reg 357. + U08 fpgaRTDReadCnt; ///< Reg 358. Temperature sensors read count + U08 fpgaRTDErrorCnt; ///< Reg 359. Temperature sensors error count + U08 fpgaTHDoReadCnt; ///< Reg 360. Redundant outlet temperature sensor read count + U08 fpgaTHDoErrorCnt; ///< Reg 361. Redundant outlet temperature sensor error count + U08 fpgaTDiReadCnt; ///< Reg 362. Dialysate inlet temperature sensor read count + U08 fpgaTDiErrorCnt; ///< Reg 363. Dialysate inlet temperature sensor error count + U08 fpgaPrimaryHeaterFlags; ///< Reg 364. Primary heater flags + U08 fpgaPrimaryHeaterReadCnt; ///< Reg 365. Primary heater read count + U08 fpgaTrimmerHeaterFlags; ///< Reg 366. Trimmer heater flags + U08 fpgaTrimmerHeaterReadCnt; ///< Reg 367. Trimmer heater read count + U08 fpgaCPoFault; ///< Reg 368. CPo conductivity sensor fault + U08 fpgaCPoReadCnt; ///< Reg 369. CPo conductivity sensor read count + U08 fpgaCPoErrorCnt; ///< Reg 370. CPo conductivity sensor error count + U08 fpgaCPiFault; ///< Reg 371. CPi conductivity sensor fault + U08 fpgaCPiReadCnt; ///< Reg 372. CPi conductivity sensor read count + U08 fpgaCPiErrorCnt; ///< Reg 373. CPi conductivity sensor error count + U08 fpgaCP1CP2Fault; ///< Reg 374. Concentrate pump fault register for CP1 and CP2 + U08 fpgaReserved1; ///< Reg 375. Reserved + + U16 fpgaValveStates; ///< Reg 376. Valves states + U16 fpgaFan1Pulse; ///< Reg 378. Fan 1 pulse + U16 fpgaFan2Pulse; ///< Reg 380. Fan 2 pulse +} DG_FPGA_SENSORS_T; + +typedef struct +{ + U08 fpgaCPoControlReg; ///< Reg 12. CPo control register + U08 fpgaCPiControlReg; ///< Reg 13. CPi control register + U16 fpgaCPoProbeType; ///< Reg 14. CPo probe type + U16 fpgaCPiProbeType; ///< Reg 16. CPi probe type + U16 fpgaDrainPumpSetSpeed; ///< Reg 18. Drain pump control register + U16 fpgaValveStates; ///< Reg 20. Valve control register +} FPGA_ACTUATORS_T; +#pragma pack(pop) + +// ********** private data ********** + +static FPGA_STATE_T fpgaState = FPGA_STATE_START; ///< FPGA current state. + +static U32 fpgaCommRetryCount = 0; ///< FPGA communication retry count. +static U32 fpgaReceiptCounter = 0; ///< FPGA receipt completed counter. +static U32 fpgaTransmitCounter = 0; ///< FPGA transmit completed counter. +static BOOL fpgaWriteCommandInProgress = FALSE; ///< Flag indicates whether a FPGA write command is in progress. +static BOOL fpgaReadCommandInProgress = FALSE; ///< Flag indicates whether a FPGA read command is in progress. +static BOOL fpgaBulkWriteAndReadInProgress = FALSE; ///< Flag indicates whether a FPGA bulk write and read is in progress. +static BOOL fpgaWriteCommandResponseReceived = FALSE; ///< Flag indicates whether a FPGA write command response has been received. +static BOOL fpgaReadCommandResponseReceived = FALSE; ///< Flag indicates whether a FPGA read command response has been received. + +// FPGA comm buffers +static U08 fpgaWriteCmdBuffer[ FPGA_WRITE_CMD_BUFFER_LEN ]; ///< FPGA write command buffer. +static U08 fpgaReadCmdBuffer[ FPGA_READ_CMD_BUFFER_LEN ]; ///< FPGA read command buffer. +static U08 fpgaWriteResponseBuffer[ FPGA_WRITE_RSP_BUFFER_LEN ]; ///< FPGA write response buffer. +static U08 fpgaReadResponseBuffer[ FPGA_READ_RSP_BUFFER_LEN ]; ///< FPGA read response buffer. + +// DMA control records +static g_dmaCTRL fpgaDMAWriteControlRecord; ///< FPGA DMA write control record. +static g_dmaCTRL fpgaDMAWriteRespControlRecord; ///< FPGA DMA write response control record. +static g_dmaCTRL fpgaDMAReadControlRecord; ///< FPGA DMA read control record. +static g_dmaCTRL fpgaDMAReadRespControlRecord; ///< FPGA DMA read response control record. + +// FPGA data +static FPGA_HEADER_T fpgaHeader; ///< FPGA header structure. +static DG_FPGA_SENSORS_T fpgaSensorReadings; ///< DG FPGA sensors structure. +static FPGA_ACTUATORS_T fpgaActuatorSetPoints; ///< FPGA actuator set points structure. + +// ********** private function prototypes ********** + +static FPGA_STATE_T handleFPGAReadHeaderState( void ); +static FPGA_STATE_T handleFPGAReceiveHeaderState( void ); +static FPGA_STATE_T handleFPGAWriteAllActuatorsState( void ); +static FPGA_STATE_T handleFPGAReceiveAllSensorsState( void ); + +static void resetFPGACommFlags( void ); +static void setupDMAForWriteCmd( U32 bytes2Transmit ); +static void startDMAWriteCmd( void ); +static void setupDMAForWriteResp( U32 bytes2Receive ); +static void startDMAReceiptOfWriteResp( void ); +static void setupDMAForReadCmd( U32 bytes2Transmit ); +static void startDMAReadCmd( void ); +static void setupDMAForReadResp( U32 bytes2Receive ); +static void startDMAReceiptOfReadResp( void ); + +static void consumeUnexpectedData( void ); + /*********************************************************************//** * @brief - * The getFPGAVersions function gets the fpga version numbers. + * The initFPGA function initializes the FPGA module. * @details + * Inputs : none + * Outputs : FPGA module initialized. + * @return none + *************************************************************************/ +void initFPGA( void ) +{ + // initialize fpga data structures + memset( &fpgaHeader, 0, sizeof(FPGA_HEADER_T) ); + memset( &fpgaSensorReadings, 0, sizeof(DG_FPGA_SENSORS_T) ); + memset( &fpgaActuatorSetPoints, 0, sizeof(FPGA_ACTUATORS_T) ); + + // TODO Remove the below line + // Initialize the valves + fpgaActuatorSetPoints.fpgaValveStates = 0x015F; + // TODO Remove the above line + + // initialize fpga comm buffers + memset( &fpgaWriteCmdBuffer, 0, FPGA_WRITE_CMD_BUFFER_LEN ); + memset( &fpgaReadCmdBuffer, 0, FPGA_READ_CMD_BUFFER_LEN ); + memset( &fpgaWriteResponseBuffer, 0, FPGA_WRITE_RSP_BUFFER_LEN ); + memset( &fpgaReadResponseBuffer, 0, FPGA_READ_RSP_BUFFER_LEN ); + + // enable interrupt notifications for FPGA serial port + sciEnableNotification( scilinREG, SCI_OE_INT | SCI_FE_INT ); + + // assign DMA channels to h/w DMA requests + dmaReqAssign( DMA_CH0, SCI2_RECEIVE_DMA_REQUEST ); + dmaReqAssign( DMA_CH2, SCI2_TRANSMIT_DMA_REQUEST ); + // set DMA channel priorities + dmaSetPriority( DMA_CH0, HIGHPRIORITY ); + dmaSetPriority( DMA_CH2, LOWPRIORITY ); + // Enable DMA block transfer complete interrupts + dmaEnableInterrupt( DMA_CH0, BTC ); + dmaEnableInterrupt( DMA_CH2, BTC ); + + // initialize FPGA DMA Write Control Record + fpgaDMAWriteControlRecord.PORTASGN = 4; // port B (only choice per datasheet) + fpgaDMAWriteControlRecord.SADD = (U32)fpgaWriteCmdBuffer; // transfer source address + fpgaDMAWriteControlRecord.DADD = (U32)(&(scilinREG->TD)); // dest. is SCI2 xmit register + fpgaDMAWriteControlRecord.CHCTRL = 0; // no chaining + fpgaDMAWriteControlRecord.ELCNT = 1; // frame is 1 element + fpgaDMAWriteControlRecord.FRCNT = 0; // block is TBD frames - will be populated later when known + fpgaDMAWriteControlRecord.RDSIZE = ACCESS_8_BIT; // element size is 1 byte + fpgaDMAWriteControlRecord.WRSIZE = ACCESS_8_BIT; // + fpgaDMAWriteControlRecord.TTYPE = FRAME_TRANSFER; // transfer type is block transfer + fpgaDMAWriteControlRecord.ADDMODERD = ADDR_INC1; // source addressing mode is post-increment + fpgaDMAWriteControlRecord.ADDMODEWR = ADDR_FIXED; // dest. addressing mode is fixed + fpgaDMAWriteControlRecord.AUTOINIT = AUTOINIT_OFF; // auto-init off + fpgaDMAWriteControlRecord.ELSOFFSET = 0; // not used + fpgaDMAWriteControlRecord.ELDOFFSET = 0; // not used + fpgaDMAWriteControlRecord.FRSOFFSET = 0; // not used + fpgaDMAWriteControlRecord.FRDOFFSET = 0; // not used + + // initialize FPGA DMA Write Response Control Record + fpgaDMAWriteRespControlRecord.PORTASGN = 4; // port B (only choice per datasheet) + fpgaDMAWriteRespControlRecord.SADD = (U32)(&(scilinREG->RD));// source is SCI2 recv register + fpgaDMAWriteRespControlRecord.DADD = (U32)fpgaWriteResponseBuffer; // transfer destination address + fpgaDMAWriteRespControlRecord.CHCTRL = 0; // no chaining + fpgaDMAWriteRespControlRecord.ELCNT = 1; // frame is 1 element + fpgaDMAWriteRespControlRecord.FRCNT = 0; // block is TBD frames - will be populated later when known + fpgaDMAWriteRespControlRecord.RDSIZE = ACCESS_8_BIT; // element size is 1 byte + fpgaDMAWriteRespControlRecord.WRSIZE = ACCESS_8_BIT; // + fpgaDMAWriteRespControlRecord.TTYPE = FRAME_TRANSFER; // transfer type is block transfer + fpgaDMAWriteRespControlRecord.ADDMODERD = ADDR_FIXED; // source addressing mode is fixed + fpgaDMAWriteRespControlRecord.ADDMODEWR = ADDR_INC1; // dest. addressing mode is post-increment + fpgaDMAWriteRespControlRecord.AUTOINIT = AUTOINIT_OFF; // auto-init off + fpgaDMAWriteRespControlRecord.ELDOFFSET = 0; // not used + fpgaDMAWriteRespControlRecord.ELSOFFSET = 0; // not used + fpgaDMAWriteRespControlRecord.FRDOFFSET = 0; // not used + fpgaDMAWriteRespControlRecord.FRSOFFSET = 0; // not used + + // initialize FPGA DMA Read Control Record + fpgaDMAReadControlRecord.PORTASGN = 4; // port B (only choice per datasheet) + fpgaDMAReadControlRecord.SADD = (U32)fpgaReadCmdBuffer; // transfer source address + fpgaDMAReadControlRecord.DADD = (U32)(&(scilinREG->TD)); // dest. is SCI2 xmit register + fpgaDMAReadControlRecord.CHCTRL = 0; // no chaining + fpgaDMAReadControlRecord.ELCNT = 1; // frame is 1 element + fpgaDMAReadControlRecord.FRCNT = 0; // block is TBD frames - will be populated later when known + fpgaDMAReadControlRecord.RDSIZE = ACCESS_8_BIT; // element size is 1 byte + fpgaDMAReadControlRecord.WRSIZE = ACCESS_8_BIT; // + fpgaDMAReadControlRecord.TTYPE = FRAME_TRANSFER; // transfer type is block transfer + fpgaDMAReadControlRecord.ADDMODERD = ADDR_INC1; // source addressing mode is post-increment + fpgaDMAReadControlRecord.ADDMODEWR = ADDR_FIXED; // dest. addressing mode is fixed + fpgaDMAReadControlRecord.AUTOINIT = AUTOINIT_OFF; // auto-init off + fpgaDMAReadControlRecord.ELSOFFSET = 0; // not used + fpgaDMAReadControlRecord.ELDOFFSET = 0; // not used + fpgaDMAReadControlRecord.FRSOFFSET = 0; // not used + fpgaDMAReadControlRecord.FRDOFFSET = 0; // not used + + // initialize FPGA DMA Read Response Control Record + fpgaDMAReadRespControlRecord.PORTASGN = 4; // port B (only choice per datasheet) + fpgaDMAReadRespControlRecord.SADD = (U32)(&(scilinREG->RD)); // source is SCI2 recv register + fpgaDMAReadRespControlRecord.DADD = (U32)fpgaReadResponseBuffer; // transfer destination address + fpgaDMAReadRespControlRecord.CHCTRL = 0; // no chaining + fpgaDMAReadRespControlRecord.ELCNT = 1; // frame is 1 element + fpgaDMAReadRespControlRecord.FRCNT = 0; // block is TBD frames - will be populated later when known + fpgaDMAReadRespControlRecord.RDSIZE = ACCESS_8_BIT; // element size is 1 byte + fpgaDMAReadRespControlRecord.WRSIZE = ACCESS_8_BIT; // + fpgaDMAReadRespControlRecord.TTYPE = FRAME_TRANSFER; // transfer type is block transfer + fpgaDMAReadRespControlRecord.ADDMODERD = ADDR_FIXED; // source addressing mode is fixed + fpgaDMAReadRespControlRecord.ADDMODEWR = ADDR_INC1; // dest. addressing mode is post-increment + fpgaDMAReadRespControlRecord.AUTOINIT = AUTOINIT_OFF; // auto-init off + fpgaDMAReadRespControlRecord.ELDOFFSET = 0; // not used + fpgaDMAReadRespControlRecord.ELSOFFSET = 0; // not used + fpgaDMAReadRespControlRecord.FRDOFFSET = 0; // not used + fpgaDMAReadRespControlRecord.FRSOFFSET = 0; // not used + + // there shouldn't be any data pending yet + consumeUnexpectedData(); +} + +/*********************************************************************//** + * @brief + * The resetFPGACommFlags function resets the various fpga comm flags and counters. + * @details + * Inputs : none + * Outputs : fpga comm flags & counters reset + * @return none + *************************************************************************/ +static void resetFPGACommFlags( void ) +{ + fpgaWriteCommandResponseReceived = FALSE; + fpgaReadCommandResponseReceived = FALSE; + fpgaWriteCommandInProgress = FALSE; + fpgaReadCommandInProgress = FALSE; + fpgaBulkWriteAndReadInProgress = FALSE; + fpgaTransmitCounter = 0; + fpgaReceiptCounter = 0; +} + +/*********************************************************************//** + * @brief + * The signalFPGAReceiptCompleted function increments a counter to indicate + * that another DMA receipt from the FPGA has completed. + * @details + * Inputs : none + * Outputs : fpgaReceiptCounter + * @return none + *************************************************************************/ +void signalFPGAReceiptCompleted( void ) +{ + fpgaReceiptCounter++; + // did FPGA Ack last command? + if ( TRUE == fpgaWriteCommandInProgress ) + { + fpgaWriteCommandInProgress = FALSE; + fpgaWriteCommandResponseReceived = TRUE; + } + else if ( TRUE == fpgaReadCommandInProgress ) + { + fpgaReadCommandInProgress = FALSE; + fpgaReadCommandResponseReceived = TRUE; + } + + // see if we want to follow up with a bulk read command + if ( TRUE == fpgaBulkWriteAndReadInProgress ) + { + fpgaBulkWriteAndReadInProgress = FALSE; + fpgaReadCommandInProgress = TRUE; + // initiate bulk read command + startDMAReceiptOfReadResp(); + startDMAReadCmd(); + } +} + +/*********************************************************************//** + * @brief + * The signalFPGATransmitCompleted function increments a counter to indicate + * that another DMA transmit to the FPGA has completed. + * @details + * Inputs : none + * Outputs : fpgaReceiptCounter + * @return none + *************************************************************************/ +void signalFPGATransmitCompleted( void ) +{ + fpgaTransmitCounter++; +} + +/*********************************************************************//** + * @brief + * The execFPGA function manages incoming data exchanges with the FPGA. + * @details + * Inputs : fpgaState + * Outputs : fpgaState + * @return none + *************************************************************************/ +void execFPGAIn( void ) +{ + // FPGA incoming state machine + switch ( fpgaState ) + { + case FPGA_STATE_START: + fpgaState = FPGA_STATE_READ_HEADER; + break; + + case FPGA_STATE_RCV_HEADER: + fpgaState = handleFPGAReceiveHeaderState(); + break; + + // TODO - sensor/ADC init/configuration states + + case FPGA_STATE_RCV_ALL_SENSORS: + fpgaState = handleFPGAReceiveAllSensorsState(); + break; + + case FPGA_STATE_FAILED: + // do nothing - we'll be stuck here + break; + + default: + if ( fpgaState >= NUM_OF_FPGA_STATES ) + { + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_INVALID_IN_STATE, fpgaState ) + } + else + { + // ok, some states handled in the outgoing state machine + } + break; + } + + // if retries for commands exceeds limit, fault + if ( fpgaCommRetryCount > MAX_COMM_ERROR_RETRIES ) + { + // TODO - FPGA comm fault + } + + // reset comm flags after processing incoming responses + resetFPGACommFlags(); +} + +/*********************************************************************//** + * @brief + * The execFPGAOut function manages outgoing data exchanges with the FPGA. + * @details + * Inputs : fpgaState + * Outputs : fpgaState + * @return none + *************************************************************************/ +void execFPGAOut( void ) +{ + // FPGA outgoing state machine + switch ( fpgaState ) + { + case FPGA_STATE_READ_HEADER: + fpgaState = handleFPGAReadHeaderState(); + break; + + // TODO - sensor/ADC init/configuration states + + case FPGA_STATE_WRITE_ALL_ACTUATORS: + fpgaState = handleFPGAWriteAllActuatorsState(); + break; + + case FPGA_STATE_FAILED: + // do nothing - we'll be stuck here + break; + + default: + if ( fpgaState >= NUM_OF_FPGA_STATES ) + { + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_INVALID_OUT_STATE, fpgaState ) + } + else + { + // ok, some states handled in the incoming state machine + } + break; + } +} + +/*********************************************************************//** + * @brief + * The handleFPGAReadHeaderState function handles the FPGA state where + * the read header registers command is sent to the FPGA. + * @details + * Inputs : none + * Outputs : read command sent to FPGA + * @return next FPGA state + *************************************************************************/ +static FPGA_STATE_T handleFPGAReadHeaderState( void ) +{ + FPGA_STATE_T result = FPGA_STATE_RCV_HEADER; + U16 crc; + + // construct read command to read 3 registers starting at address 0 + fpgaReadCmdBuffer[ 0 ] = FPGA_READ_CMD_CODE; + fpgaReadCmdBuffer[ 1 ] = GET_LSB_OF_WORD( FPGA_HEADER_START_ADDR ); + fpgaReadCmdBuffer[ 2 ] = GET_MSB_OF_WORD( FPGA_HEADER_START_ADDR ); + fpgaReadCmdBuffer[ 3 ] = sizeof(FPGA_HEADER_T); + crc = crc16( fpgaReadCmdBuffer, FPGA_READ_CMD_HDR_LEN ); + fpgaReadCmdBuffer[ 4 ] = GET_MSB_OF_WORD( crc ); + fpgaReadCmdBuffer[ 5 ] = GET_LSB_OF_WORD( crc ); + // prep DMA for sending the read cmd and receiving the response + fpgaReadCommandInProgress = TRUE; + setupDMAForReadResp( FPGA_READ_RSP_HDR_LEN + sizeof(FPGA_HEADER_T) + FPGA_CRC_LEN ); + setupDMAForReadCmd( FPGA_READ_CMD_HDR_LEN + FPGA_CRC_LEN ); + startDMAReceiptOfReadResp(); + startDMAReadCmd(); + + return result; +} + +/*********************************************************************//** + * @brief + * The handleFPGAReceiveHeaderState function handles the FPGA state + * where the header registers read response should be ready to take in. + * @details + * Inputs : none + * Outputs : header register values updated + * @return next FPGA state + *************************************************************************/ +static FPGA_STATE_T handleFPGAReceiveHeaderState( void ) +{ + FPGA_STATE_T result = FPGA_STATE_READ_HEADER; + + // did we get an FPGA response? + if ( TRUE == fpgaReadCommandResponseReceived ) + { + // did FPGA Ack the read command? + if ( fpgaReadResponseBuffer[ 0 ] == FPGA_READ_CMD_ACK ) + { + U32 rspSize = FPGA_READ_RSP_HDR_LEN + sizeof(FPGA_HEADER_T); + U32 crcPos = rspSize; + U16 crc = MAKE_WORD_OF_BYTES( fpgaReadResponseBuffer[ crcPos ], fpgaReadResponseBuffer[ crcPos + 1 ] ); + + // does the FPGA response CRC check out? + if ( crc == crc16( fpgaReadResponseBuffer, rspSize ) ) + { + fpgaCommRetryCount = 0; + // capture the read values + memcpy( &fpgaHeader, &fpgaReadResponseBuffer[ FPGA_READ_RSP_HDR_LEN ], sizeof( FPGA_HEADER_T ) ); + result = FPGA_STATE_WRITE_ALL_ACTUATORS; + } + else + { + fpgaCommRetryCount++; + } + } + else // header read was NAK'd + { + fpgaCommRetryCount++; + } + } + else // no response to read command + { + fpgaCommRetryCount++; + } + + // shouldn't be any data received at this time + consumeUnexpectedData(); + + return result; +} + +/*********************************************************************//** + * @brief + * The handleFPGAWriteAllActuatorsState function handles the FPGA state + * where the bulk write command is sent to the FPGA. + * @details + * Inputs : actuator set points + * Outputs : actuator set points sent to FPGA + * @return next FPGA state + *************************************************************************/ +static FPGA_STATE_T handleFPGAWriteAllActuatorsState( void ) +{ + FPGA_STATE_T result = FPGA_STATE_RCV_ALL_SENSORS; + U16 crc; + + // construct bulk write command to write actuator data registers starting at address 3 (TODO - change address later) + fpgaWriteCmdBuffer[ 0 ] = FPGA_WRITE_CMD_CODE; + fpgaWriteCmdBuffer[ 1 ] = GET_LSB_OF_WORD( FPGA_BULK_WRITE_START_ADDR ); + fpgaWriteCmdBuffer[ 2 ] = GET_MSB_OF_WORD( FPGA_BULK_WRITE_START_ADDR ); + fpgaWriteCmdBuffer[ 3 ] = sizeof(FPGA_ACTUATORS_T); + memcpy( &( fpgaWriteCmdBuffer[ FPGA_WRITE_CMD_HDR_LEN ] ), &fpgaActuatorSetPoints, sizeof( FPGA_ACTUATORS_T ) ); + crc = crc16( fpgaWriteCmdBuffer, FPGA_WRITE_CMD_HDR_LEN + sizeof( FPGA_ACTUATORS_T ) ); + fpgaWriteCmdBuffer[ FPGA_WRITE_CMD_HDR_LEN + sizeof( FPGA_ACTUATORS_T ) ] = GET_MSB_OF_WORD( crc ); + fpgaWriteCmdBuffer[ FPGA_WRITE_CMD_HDR_LEN + sizeof( FPGA_ACTUATORS_T ) + 1 ] = GET_LSB_OF_WORD( crc ); + + // construct bulk read command to read sensor data registers starting at address 8 + fpgaReadCmdBuffer[ 0 ] = FPGA_READ_CMD_CODE; + fpgaReadCmdBuffer[ 1 ] = GET_LSB_OF_WORD( FPGA_BULK_READ_START_ADDR ); + fpgaReadCmdBuffer[ 2 ] = GET_MSB_OF_WORD( FPGA_BULK_READ_START_ADDR ); + fpgaReadCmdBuffer[ 3 ] = sizeof(DG_FPGA_SENSORS_T); + crc = crc16( fpgaReadCmdBuffer, FPGA_READ_CMD_HDR_LEN ); + fpgaReadCmdBuffer[ 4 ] = GET_MSB_OF_WORD( crc ); + fpgaReadCmdBuffer[ 5 ] = GET_LSB_OF_WORD( crc ); + + // prep DMA for sending the bulk write cmd and receiving its response + setupDMAForWriteCmd( FPGA_WRITE_CMD_HDR_LEN + sizeof( FPGA_ACTUATORS_T ) + FPGA_CRC_LEN ); + setupDMAForWriteResp( FPGA_WRITE_RSP_HDR_LEN + FPGA_CRC_LEN ); + + // prep DMA for sending the bulk read cmd and receiving its response + setupDMAForReadCmd( FPGA_READ_CMD_HDR_LEN + FPGA_CRC_LEN ); + setupDMAForReadResp( FPGA_READ_RSP_HDR_LEN + sizeof( DG_FPGA_SENSORS_T ) + FPGA_CRC_LEN ); + + // set fpga comm flags for bulk write cmd and follow-up bulk read command + fpgaWriteCommandInProgress = TRUE; + fpgaBulkWriteAndReadInProgress = TRUE; + // initiate bulk write command and it's receipt - read will follow + startDMAReceiptOfWriteResp(); + startDMAWriteCmd(); + + return result; +} + +/*********************************************************************//** + * @brief + * The handleFPGAReceiveAllSensorsState function handles the FPGA state + * where the bulk read response should be ready to parse. + * @details + * Inputs : none + * Outputs : sensor values updated + * @return next FPGA state + *************************************************************************/ +static FPGA_STATE_T handleFPGAReceiveAllSensorsState( void ) +{ + FPGA_STATE_T result = FPGA_STATE_WRITE_ALL_ACTUATORS; + + // check bulk write command success + if ( ( FALSE == fpgaWriteCommandResponseReceived ) || ( fpgaWriteResponseBuffer[ 0 ] != FPGA_WRITE_CMD_ACK ) ) + { + fpgaCommRetryCount++; + } + + // if bulk read command is ACK'd, collect the readings + if ( TRUE == fpgaReadCommandResponseReceived ) + { + // did FPGA Ack the read command? + if ( fpgaReadResponseBuffer[ 0 ] == FPGA_READ_CMD_ACK ) + { + U32 rspSize = FPGA_READ_RSP_HDR_LEN + sizeof(DG_FPGA_SENSORS_T); + U32 crcPos = rspSize; + U16 crc = MAKE_WORD_OF_BYTES( fpgaReadResponseBuffer[ crcPos ], fpgaReadResponseBuffer[ crcPos + 1 ] ); + + // does the FPGA response CRC check out? + if ( crc == crc16( fpgaReadResponseBuffer, rspSize ) ) + { + fpgaCommRetryCount = 0; + // capture the read values + memcpy( &fpgaSensorReadings, &fpgaReadResponseBuffer[ FPGA_READ_RSP_HDR_LEN ], sizeof( DG_FPGA_SENSORS_T ) ); + result = FPGA_STATE_WRITE_ALL_ACTUATORS; + } + else // bad CRC + { + fpgaCommRetryCount++; + } + } + else // read command was NAK'd + { + fpgaCommRetryCount++; + } + } + else // no response to read command + { + fpgaCommRetryCount++; + } + + // shouldn't be any data received at this time + consumeUnexpectedData(); + + return result; +} + +/*********************************************************************//** + * @brief + * The execFPGATest function executes the FPGA self-test. + * @details * Inputs : fpgaHeader * Outputs : none + * @return passed, or failed + *************************************************************************/ +SELF_TEST_STATUS_T execFPGATest( void ) +{ + SELF_TEST_STATUS_T result; + + // check FPGA reported correct ID +#ifndef RM46_EVAL_BOARD_TARGET + if ( FPGA_EXPECTED_ID == fpgaHeader.fpgaId ) +#else + if ( 1 ) +#endif + { + result = SELF_TEST_STATUS_PASSED; + } + else + { + result = SELF_TEST_STATUS_FAILED; + SET_ALARM_WITH_1_U32_DATA( ALARM_ID_FPGA_POST_TEST_FAILED, (U32)fpgaHeader.fpgaId ) + } + + return result; +} + +/*********************************************************************//** + * @brief + * The setupDMAForWriteCmd function sets the byte count for the next DMA + * write command to the FPGA. + * @details + * Inputs : none + * Outputs : number of bytes for next FPGA write command is set + * @param bytes2Transmit number of bytes to be transmitted via DMA to the FPGA. * @return none *************************************************************************/ +static void setupDMAForWriteCmd( U32 bytes2Transmit ) +{ + // verify # of bytes does not exceed buffer length + if ( bytes2Transmit <= FPGA_WRITE_CMD_BUFFER_LEN ) + { + fpgaDMAWriteControlRecord.FRCNT = bytes2Transmit; + } + else + { + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_WRITE_CMD_TOO_MUCH_DATA, bytes2Transmit ) + } +} + +/*********************************************************************//** + * @brief + * The startDMAWriteCmd function initiates the DMA transmit for the next + * DMA write command to the FPGA. + * @details + * Inputs : none + * Outputs : DMA write command to FPGA is initiated + * @return none + *************************************************************************/ +static void startDMAWriteCmd( void ) +{ + dmaSetCtrlPacket( DMA_CH2, fpgaDMAWriteControlRecord ); + dmaSetChEnable( DMA_CH2, DMA_HW ); + setSCI2DMATransmitInterrupt(); +} + +/*********************************************************************//** + * @brief + * The setupDMAForWriteResp function sets the expected byte count for the + * next DMA write command response from the FPGA. + * @details + * Inputs : none + * Outputs : number of expected bytes for next FPGA write command response is set + * @param bytes2Receive number of bytes expected to be transmitted via DMA from the FPGA. + * @return none + *************************************************************************/ +static void setupDMAForWriteResp( U32 bytes2Receive ) +{ + // verify # of bytes does not exceed buffer length + if ( bytes2Receive <= FPGA_WRITE_RSP_BUFFER_LEN ) + { + fpgaDMAWriteRespControlRecord.FRCNT = bytes2Receive; + } + else + { + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_WRITE_RSP_TOO_MUCH_DATA, bytes2Receive ) + } +} + +/*********************************************************************//** + * @brief + * The startDMAReceiptOfWriteResp function initiates readiness of the DMA + * receiver for the next DMA write command response from the FPGA. + * @details + * Inputs : none + * Outputs : DMA write command response is ready to be received from the FPGA + * @return none + *************************************************************************/ +static void startDMAReceiptOfWriteResp( void ) +{ + dmaSetCtrlPacket( DMA_CH0, fpgaDMAWriteRespControlRecord ); + dmaSetChEnable( DMA_CH0, DMA_HW ); + setSCI2DMAReceiveInterrupt(); +} + +/*********************************************************************//** + * @brief + * The setupDMAForReadCmd function sets the byte count for the next DMA + * read command to the FPGA. + * @details + * Inputs : none + * Outputs : number of bytes for next FPGA read command is set + * @param bytes2Transmit number of bytes to be transmitted via DMA to the FPGA. + * @return none + *************************************************************************/ +static void setupDMAForReadCmd( U32 bytes2Transmit ) +{ + // verify # of bytes does not exceed buffer length + if ( bytes2Transmit <= FPGA_READ_CMD_BUFFER_LEN ) + { + fpgaDMAReadControlRecord.FRCNT = bytes2Transmit; + } + else + { + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_READ_CMD_TOO_MUCH_DATA, bytes2Transmit ) + } +} + +/*********************************************************************//** + * @brief + * The startDMAReadCmd function initiates the DMA transmit for the next + * DMA read command to the FPGA. + * @details + * Inputs : none + * Outputs : DMA read command to FPGA is initiated + * @return none + *************************************************************************/ +static void startDMAReadCmd( void ) +{ + dmaSetCtrlPacket( DMA_CH2, fpgaDMAReadControlRecord ); + dmaSetChEnable( DMA_CH2, DMA_HW ); + setSCI2DMATransmitInterrupt(); +} + +/*********************************************************************//** + * @brief + * The setupDMAForReadResp function sets the expected byte count for the + * next DMA read command response from the FPGA. + * @details + * Inputs : none + * Outputs : number of expected bytes for next FPGA read command response is set + * @param bytes2Receive number of expected bytes to be transmitted via DMA from the FPGA. + * @return none + *************************************************************************/ +static void setupDMAForReadResp( U32 bytes2Receive ) +{ + // verify # of bytes does not exceed buffer length + if ( bytes2Receive <= FPGA_READ_RSP_BUFFER_LEN ) + { + fpgaDMAReadRespControlRecord.FRCNT = bytes2Receive; + } + else + { + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_READ_RSP_TOO_MUCH_DATA, bytes2Receive ) + } +} + +/*********************************************************************//** + * @brief + * The startDMAReceiptOfReadResp function initiates readiness of the DMA + * receiver for the next DMA read command response from the FPGA. + * @details + * Inputs : none + * Outputs : DMA read command response is ready to be received from the FPGA + * @return none + *************************************************************************/ +static void startDMAReceiptOfReadResp( void ) +{ + dmaSetCtrlPacket( DMA_CH0, fpgaDMAReadRespControlRecord ); + dmaSetChEnable( DMA_CH0, DMA_HW ); + setSCI2DMAReceiveInterrupt(); +} + +/*********************************************************************//** + * @brief + * The consumeUnexpectedData function checks to see if a byte is sitting in + * the SCI2 received data register. + * @details + * Inputs : fpgaHeader + * Outputs : none + * @return fpgaDiag + *************************************************************************/ +static void consumeUnexpectedData( void ) +{ + // clear any errors + sciRxError( scilinREG ); + // if a byte is pending read, read it + if ( sciIsRxReady( scilinREG ) != 0 ) + { + sciReceiveByte( scilinREG ); + } +} + +/*********************************************************************//** + * @brief + * The setFPGAValveStates function sets the DG valve states with a 16-bit + * set of states - one bit per valve, with a 1 meaning "energized" and a 0 + * meaning "de-energized". The bit positions for these bit states are as follows: + * 0 - VRf.\n + * 1 - VRi.\n + * 2 - VRd.\n + * 3 - VRo.\n + * 4 - VPo.\n + * 5 - VBf.\n + * 6 - VRc.\n + * 7 - VDr.\n + * 8 - VPi.\n + * 9 - VSP.\n + * 10..11 - reserved (spare).\n + * 12- VPd.\n + * 13..15 - reserved or unused. + * @details + * Inputs : none + * Outputs : fpgaActuatorSetPoints.fpgaValveStates + * @param valveStates bit mask for the various valve states + * @return none + *************************************************************************/ +void setFPGAValveStates( U16 valveStates ) +{ + fpgaActuatorSetPoints.fpgaValveStates = valveStates; +} + +/*********************************************************************//** + * @brief + * The setFPGADrainPumpSpeed function sets the drain pump target speed. + * The drain pump DAC value should be set to 1 count for each 12.94 RPM desired. + * @details + * Inputs : none + * Outputs : fpgaActuatorSetPoints.fpgaDrainPumpSetSpeed + * @param drainPumpDAC DAC value to command for the drain pump + * @return none + *************************************************************************/ +void setFPGADrainPumpSpeed( U08 drainPumpDAC ) +{ + U16 dac = (U16)drainPumpDAC & MASK_OFF_MSB; + + dac = dac << DRAIN_PUMP_DAC_SHIFT_BITS; + fpgaActuatorSetPoints.fpgaDrainPumpSetSpeed = dac; +} + +/*********************************************************************//** + * @brief + * The setFPGACPoProbeType function sets the CPo sensor probe type and + * sets the control register to write probte type to the device. + * @details + * Inputs : none + * Outputs : fpgaActuatorSetPoints.fpgaCPoProbeType, fpgaActuatorSetPoints.fpgaCPoControlReg + * @param probeType The probe cell constant value to set to + * @return none + *************************************************************************/ +void setFPGACPoProbeType( U16 probeType ) +{ + fpgaActuatorSetPoints.fpgaCPoProbeType = probeType; + fpgaActuatorSetPoints.fpgaCPoControlReg = 0x1; +} + +/*********************************************************************//** + * @brief + * The getFPGAVersions function gets the FPGA version numbers. + * @details + * Inputs : fpgaHeader + * Outputs : none + * @return none + *************************************************************************/ void getFPGAVersions( U08 *Id, U08 *Maj, U08 *Min, U08 *Lab ) { *Id = fpgaHeader.fpgaId; @@ -987,400 +974,552 @@ *Lab = fpgaHeader.fpgaRevLab; } -/*********************************************************************//** - * @brief - * The getFPGALoadCellA1 function gets the latest load cell A 1 reading. - * @details - * Inputs : fpgaSensorReadings - * Outputs : none - * @param none - * @return last load cell A 1 reading - *************************************************************************/ -U32 getFPGALoadCellA1( void ) -{ - return ( fpgaSensorReadings.fpgaLCA1 & MASK_OFF_U32_MSB ); -} - -/*********************************************************************//** - * @brief - * The getFPGALoadCellA2 function gets the latest load cell A 2 reading. - * @details - * Inputs : fpgaSensorReadings - * Outputs : none - * @param none - * @return last load cell A 2 reading - *************************************************************************/ -U32 getFPGALoadCellA2( void ) -{ - return ( fpgaSensorReadings.fpgaLCA2 & MASK_OFF_U32_MSB ); -} - -/*********************************************************************//** - * @brief - * The getFPGALoadCellB1 function gets the latest load cell B 1 reading. - * @details - * Inputs : fpgaSensorReadings - * Outputs : none - * @param none - * @return last load cell B 1 reading - *************************************************************************/ -U32 getFPGALoadCellB1( void ) -{ - return ( fpgaSensorReadings.fpgaLCB1 & MASK_OFF_U32_MSB ); -} - -/*********************************************************************//** - * @brief - * The getFPGALoadCellB2 function gets the latest load cell B 2 reading. - * @details - * Inputs : fpgaSensorReadings - * Outputs : none - * @param none - * @return last load cell B 2 reading - *************************************************************************/ -U32 getFPGALoadCellB2( void ) -{ - return ( fpgaSensorReadings.fpgaLCB2 & MASK_OFF_U32_MSB ); -} - -/*********************************************************************//** - * @brief - * The getFPGAValveStates function gets the latest sensed valve states. \n - * See setFPGAValveStates for valve state bit positions. - * @details - * Inputs : fpgaSensorReadings.fpgaValveStates - * Outputs : none - * @param none - * @return last valve states reading - *************************************************************************/ -U16 getFPGAValveStates( void ) -{ - return fpgaSensorReadings.fpgaValveStates; -} - -/*********************************************************************//** - * @brief - * The getFPGAROPumpFlowRate function gets the latest RO flow rate. - * @details - * Inputs : fpgaSensorReadings.fpgaROFlowRate - * Outputs : none - * @param none - * @return last RO flow rate reading - *************************************************************************/ -U16 getFPGAROPumpFlowRate( void ) -{ - return fpgaSensorReadings.fpgaROFlowRate; -} - -/*********************************************************************//** - * @brief - * The getFPGADrainPumpSpeed function gets the latest sensed drain pump speed. - * @details - * Inputs : fpgaSensorReadings.fpgaDrainPumpSpeed - * Outputs : none - * @param none - * @return last drain pump speed reading - *************************************************************************/ -U16 getFPGADrainPumpSpeed( void ) -{ - return fpgaSensorReadings.fpgaDrainPumpSpeed; -} - -/*********************************************************************//** - * @brief - * The getFPGATPiTemp function gets the latest primary heater inlet \n - * temperature reading. - * @details - * Inputs : fpgaSensorReadings.fpgaTPiTemp - * Outputs : none - * @param none - * @return last primary heater inlet temperature reading - *************************************************************************/ -U32 getFPGATPiTemp( void ) -{ - return fpgaSensorReadings.fpgaTPiTemp; -} - -/*********************************************************************//** - * @brief - * The getFPGATPoTemp function gets the latest primary heater outlet \n - * temperature reading. - * @details - * Inputs : fpgaSensorReadings.fpgaTPoTemp - * Outputs : none - * @param none - * @return last primary heater outlet temperature reading - *************************************************************************/ -U32 getFPGATPoTemp( void ) -{ - return fpgaSensorReadings.fpgaTPoTemp; -} - -/*********************************************************************//** - * @brief - * The getFPGATD1Temp function gets the latest conductivity sensor 1 \n - * temperature reading in ADC. - * @details - * Inputs : fpgaSensorReadings.fpgaCD1Temp - * Outputs : none - * @param none - * @return last conductivity sensor 1 outlet temperature reading - *************************************************************************/ -U32 getFPGACD1Temp( void ) -{ - return fpgaSensorReadings.fpgaCD1Temp; -} - -/*********************************************************************//** - * @brief - * The getFPGATD2Temp function gets the latest conductivity sensor 2 \n - * temperature reading in ADC. - * @details - * Inputs : fpgaSensorReadings.fpgaCD2Temp - * Outputs : none - * @param none - * @return last conductivity sensor 2 outlet temperature reading - *************************************************************************/ -U32 getFPGACD2Temp( void ) -{ - return fpgaSensorReadings.fpgaCD2Temp; -} - -/*********************************************************************//** - * @brief - * The getFPGARTDErrorCount function gets error count of the RTD. It covers \n - * all the four conductivity sensors which include temperature sensors - * @details - * Inputs : fpgaSensorReadings.fpgaRTDErrorCnt - * Outputs : none - * @param none - * @return Last error count of the RTD conductivity sensors - *************************************************************************/ -U08 getFPGARTDErrorCount( void ) -{ - return fpgaSensorReadings.fpgaRTDErrorCnt; -} - -/*********************************************************************//** - * @brief - * The getFPGARTDReadCount function gets the read count of the RTD \n - * conductivity sensors. It covers all the 4 conductivity sensors - * @details - * Inputs : fpgaSensorReadings.fpgaRTDReadCnt - * Outputs : none - * @param none - * @return Last read count of the RTC conductivity sensors - *************************************************************************/ -U08 getFPGARTDReadCount( void ) -{ - return fpgaSensorReadings.fpgaRTDReadCnt; -} - -/*********************************************************************//** - * @brief - * The getFPGATRoTemp function gets the latest redundant sensor outlet \n - * temperature reading in ADC. - * @details - * Inputs : fpgaSensorReadings.fpgaTHDoTemp - * Outputs : none - * @param none - * @return Last redundant sensor outlet temperature reading - *************************************************************************/ -U32 getFPGATHDoTemp( void ) -{ - return fpgaSensorReadings.fpgaTHDo; -} - -/*********************************************************************//** - * @brief - * The getFPGATHDoErrorCount gets the error count of the THDo (redundant) \n - * temperature sensor - * @details - * Inputs : fpgaSensorReadings.fpgaTHDoErrorCnt - * Outputs : none - * @param none - * @return Last redundant sensor outlet temperature error count - *************************************************************************/ -U08 getFPGATHDoErrorCount( void ) -{ - return fpgaSensorReadings.fpgaTHDoErrorCnt; -} - -/*********************************************************************//** - * @brief - * The getFPGATHDoReadCount gets the read count of the THDo (redundant) \n - * @details - * Inputs : fpgaSensorReadings.fpgaTHDoReadCnt - * Outputs : none - * @param none - * @return Last redundant sensor outlet temperature error count reading - *************************************************************************/ -U08 getFPGATHDoReadCount( void ) -{ - return fpgaSensorReadings.fpgaTHDoReadCnt; -} - -/*********************************************************************//** - * @brief - * The getFPGATDiTemp function gets the latest dialysate inlet \n - * temperature reading in ADC. - * @details - * Inputs : fpgaSensorReadings.fpgaTDiTemp - * Outputs : none - * @param none - * @return last primary heater outlet temperature reading - *************************************************************************/ -U32 getFPGATDiTemp( void ) -{ - return fpgaSensorReadings.fpgaTDi; -} - -/*********************************************************************//** - * @brief - * The getFPGATDiErrorCount function gets the latest dialysate inlet \n - * temperature error count. - * @details - * Inputs : fpgaSensorReadings.fpgaTDiErrorCnt - * Outputs : none - * @param none - * @return Last dialysate inlet error count - *************************************************************************/ -U08 getFPGATDiErrorCount( void ) -{ - return fpgaSensorReadings.fpgaTDiErrorCnt; -} - -/*********************************************************************//** - * @brief - * The getFPGATDiReadCount function gets the latest dialysate inlet \n - * temperature read count. - * @details - * Inputs : fpgaSensorReadings.fpgaTDiReadCnt - * Outputs : none - * @param none - * @return Last dialysate inlet read count - *************************************************************************/ -U08 getFPGATDiReadCount( void ) -{ - return fpgaSensorReadings.fpgaTDiReadCnt; -} - -/*********************************************************************//** - * @brief - * The getFPGAPrimaryHeaterTemp function gets the latest primary heater \n - * internal temperature reading. - * @details - * Inputs : fpgaSensorReadings.fpgaPrimaryHeaterIntTemp - * Outputs : none - * @param none - * @return last primary heater temperature reading - *************************************************************************/ -U16 getFPGAPrimaryHeaterTemp( void ) -{ - return fpgaSensorReadings.fpgaPrimaryHeaterIntTemp; -} - -/*********************************************************************//** - * @brief - * The getFPGAPrimaryHeaterFlags function gets the latest primary heater \n - * internal temperature sensor flags read - * @details - * Inputs : fpgaSensorReadings.fpgaPrimaryHeaterFlags - * Outputs : none - * @param none - * @return Last primary heater internal temperature sensor flag read - *************************************************************************/ -U08 getFPGAPrimaryHeaterFlags( void ) -{ - return fpgaSensorReadings.fpgaPrimaryHeaterFlags; -} - -/*********************************************************************//** - * @brief - * The geetFPGAPrimaryHeaterReadCount function gets the latest primary heater \n - * internal temperature sensor read count - * @details - * Inputs : fpgaSensorReadings.fpgaPrimaryHeaterReadCnt - * Outputs : none - * @param none - * @return Last primary heater internal temperature sensor read count - *************************************************************************/ -U08 getFPGAPrimaryHeaterReadCount( void ) -{ - return fpgaSensorReadings.fpgaPrimaryHeaterReadCnt; -} - -/*********************************************************************//** - * @brief - * The getFPGATrimmerHeaterTemp function gets the latest trimmer heater \n - * internal temperature sensor reading. - * @details - * Inputs : fpgaSensorReadings.fpgaTrimmerHeaterIntTemp - * Outputs : none - * @param none - * @return last trimmer heater temperature reading - *************************************************************************/ -U16 getFPGATrimmerHeaterTemp( void ) -{ - return fpgaSensorReadings.fpgaTrimmerHeaterIntTemp; -} - -/*********************************************************************//** - * @brief - * The getFPGATrimmerHeaterFlags function gets the latest trimmer heater \n - * internal temperature flags read. - * @details - * Inputs : fpgaSensorReadings.fpgaTrimmerHeaterFlags - * Outputs : none - * @param none - * @return Last trimmer heater internal temperature flags read - *************************************************************************/ -U08 getFPGATrimmerHeaterFlags( void ) -{ - return fpgaSensorReadings.fpgaTrimmerHeaterFlags; -} - -/*********************************************************************//** - * @brief - * The getFPGATrimmerHeaterReadCount function gets the latest trimmer heater \n - * internal temperature read count. - * @details - * Inputs : fpgaSensorReadings.fpgaTrimmerHeaterReadCnt - * Outputs : none - * @param none - * @return Last trimmer heater internal temperature read count - *************************************************************************/ -U08 getFPGATrimmerHeaterReadCount( void ) -{ - return fpgaSensorReadings.fpgaTrimmerHeaterReadCnt; -} - -/*********************************************************************//** - * @brief - * The getFPGAPRimaryColdJunctionTemp function gets primary cold junction - * temperature - * @details - * Inputs : fpgaSensorReadings.fpgaPrimaryHeaterIntJunctionTemp - * Outputs : none - * @param none - * @return Last primary cold junction temperature - *************************************************************************/ -U16 getFPGAPRimaryColdJunctionTemp ( void ) -{ - return fpgaSensorReadings.fpgaPrimaryHeaterIntJunctionTemp; -} - -/*********************************************************************//** - * @brief - * The getFPGATrimmerColdJunctionTemp function gets trimmer cold junction - * temperature - * @details - * Inputs : fpgaSensorReadings.fpgaTrimmerHeaterIntJunctionTemp - * Outputs : none - * @param none - * @return Last trimmer cold junction temperature - *************************************************************************/ -U16 getFPGATrimmerColdJunctionTemp ( void ) -{ - return fpgaSensorReadings.fpgaTrimmerHeaterIntJunctionTemp; -} +/*********************************************************************//** + * @brief + * The getFPGALoadCellA1 function gets the latest load cell A 1 reading. + * @details + * Inputs : fpgaSensorReadings + * Outputs : none + * @return last load cell A 1 reading + *************************************************************************/ +U32 getFPGALoadCellA1( void ) +{ + return ( fpgaSensorReadings.fpgaLCA1 & MASK_OFF_U32_MSB ); +} + +/*********************************************************************//** + * @brief + * The getFPGALoadCellA2 function gets the latest load cell A 2 reading. + * @details + * Inputs : fpgaSensorReadings + * Outputs : none + * @return last load cell A 2 reading + *************************************************************************/ +U32 getFPGALoadCellA2( void ) +{ + return ( fpgaSensorReadings.fpgaLCA2 & MASK_OFF_U32_MSB ); +} + +/*********************************************************************//** + * @brief + * The getFPGALoadCellB1 function gets the latest load cell B 1 reading. + * @details + * Inputs : fpgaSensorReadings + * Outputs : none + * @return last load cell B 1 reading + *************************************************************************/ +U32 getFPGALoadCellB1( void ) +{ + return ( fpgaSensorReadings.fpgaLCB1 & MASK_OFF_U32_MSB ); +} + +/*********************************************************************//** + * @brief + * The getFPGALoadCellB2 function gets the latest load cell B 2 reading. + * @details + * Inputs : fpgaSensorReadings + * Outputs : none + * @return last load cell B 2 reading + *************************************************************************/ +U32 getFPGALoadCellB2( void ) +{ + return ( fpgaSensorReadings.fpgaLCB2 & MASK_OFF_U32_MSB ); +} + +/*********************************************************************//** + * @brief + * The getFPGAValveStates function gets the latest sensed valve states. + * See setFPGAValveStates for valve state bit positions. + * @details + * Inputs : fpgaSensorReadings.fpgaValveStates + * Outputs : none + * @return last valve states reading + *************************************************************************/ +U16 getFPGAValveStates( void ) +{ + return fpgaSensorReadings.fpgaValveStates; +} + +/*********************************************************************//** + * @brief + * The getFPGAROPumpFlowRate function gets the latest RO flow rate. + * @details + * Inputs : fpgaSensorReadings.fpgaROFlowRate + * Outputs : none + * @return last RO flow rate reading + *************************************************************************/ +U16 getFPGAROPumpFlowRate( void ) +{ + return fpgaSensorReadings.fpgaROFlowRate; +} + +/*********************************************************************//** + * @brief + * The getFPGADrainPumpSpeed function gets the latest sensed drain pump speed. + * @details + * Inputs : fpgaSensorReadings.fpgaDrainPumpSpeed + * Outputs : none + * @return last drain pump speed reading + *************************************************************************/ +U16 getFPGADrainPumpSpeed( void ) +{ + return fpgaSensorReadings.fpgaDrainPumpSpeed; +} + +/*********************************************************************//** + * @brief + * The getFPGATPiTemp function gets the latest primary heater inlet temperature reading. + * @details + * Inputs : fpgaSensorReadings.fpgaTPiTemp + * Outputs : none + * @return last primary heater inlet temperature reading + *************************************************************************/ +U32 getFPGATPiTemp( void ) +{ + return fpgaSensorReadings.fpgaTPiTemp; +} + +/*********************************************************************//** + * @brief + * The getFPGATPoTemp function gets the latest primary heater outlet temperature reading. + * @details + * Inputs : fpgaSensorReadings.fpgaTPoTemp + * Outputs : none + * @return last primary heater outlet temperature reading + *************************************************************************/ +U32 getFPGATPoTemp( void ) +{ + return fpgaSensorReadings.fpgaTPoTemp; +} + +/*********************************************************************//** + * @brief + * The getFPGATD1Temp function gets the latest conductivity sensor 1 + * temperature reading in ADC. + * @details + * Inputs : fpgaSensorReadings.fpgaCD1Temp + * Outputs : none + * @return last conductivity sensor 1 outlet temperature reading + *************************************************************************/ +U32 getFPGACD1Temp( void ) +{ + return fpgaSensorReadings.fpgaCD1Temp; +} + +/*********************************************************************//** + * @brief + * The getFPGATD2Temp function gets the latest conductivity sensor 2 + * temperature reading in ADC. + * @details + * Inputs : fpgaSensorReadings.fpgaCD2Temp + * Outputs : none + * @return last conductivity sensor 2 outlet temperature reading + *************************************************************************/ +U32 getFPGACD2Temp( void ) +{ + return fpgaSensorReadings.fpgaCD2Temp; +} + +/*********************************************************************//** + * @brief + * The getFPGARTDErrorCount function gets error count of the RTD. It covers + * all the four temperature sensors associates with conductivity sensors. + * @details + * Inputs : fpgaSensorReadings.fpgaRTDErrorCnt + * Outputs : none + * @return Last error count of the RTD temperature sensors + *************************************************************************/ +U08 getFPGARTDErrorCount( void ) +{ + return fpgaSensorReadings.fpgaRTDErrorCnt; +} + +/*********************************************************************//** + * @brief + * The getFPGARTDReadCount function gets the read count of the RTD + * temperature sensors. It covers all the four temperature sensors associates + * with conductivity sensors. + * @details + * Inputs : fpgaSensorReadings.fpgaRTDReadCnt + * Outputs : none + * @return Last read count of the RTC temperature sensors + *************************************************************************/ +U08 getFPGARTDReadCount( void ) +{ + return fpgaSensorReadings.fpgaRTDReadCnt; +} + +/*********************************************************************//** + * @brief + * The getFPGATRoTemp function gets the latest redundant sensor outlet + * temperature reading in ADC. + * @details + * Inputs : fpgaSensorReadings.fpgaTHDoTemp + * Outputs : none + * @return Last redundant sensor outlet temperature reading + *************************************************************************/ +U32 getFPGATHDoTemp( void ) +{ + return fpgaSensorReadings.fpgaTHDo; +} + +/*********************************************************************//** + * @brief + * The getFPGATHDoErrorCount gets the error count of the THDo (redundant) temperature sensor. + * @details + * Inputs : fpgaSensorReadings.fpgaTHDoErrorCnt + * Outputs : none + * @return Last redundant sensor outlet temperature error count + *************************************************************************/ +U08 getFPGATHDoErrorCount( void ) +{ + return fpgaSensorReadings.fpgaTHDoErrorCnt; +} + +/*********************************************************************//** + * @brief + * The getFPGATHDoReadCount gets the read count of the THDo (redundant) temperature sensor. + * @details + * Inputs : fpgaSensorReadings.fpgaTHDoReadCnt + * Outputs : none + * @return Last redundant sensor outlet temperature error count reading + *************************************************************************/ +U08 getFPGATHDoReadCount( void ) +{ + return fpgaSensorReadings.fpgaTHDoReadCnt; +} + +/*********************************************************************//** + * @brief + * The getFPGATDiTemp function gets the latest dialysate inlet temperature reading in ADC. + * @details + * Inputs : fpgaSensorReadings.fpgaTDiTemp + * Outputs : none + * @return last primary heater outlet temperature reading + *************************************************************************/ +U32 getFPGATDiTemp( void ) +{ + return fpgaSensorReadings.fpgaTDi; +} + +/*********************************************************************//** + * @brief + * The getFPGATDiErrorCount function gets the latest dialysate inlet temperature error count. + * @details + * Inputs : fpgaSensorReadings.fpgaTDiErrorCnt + * Outputs : none + * @return Last dialysate inlet error count + *************************************************************************/ +U08 getFPGATDiErrorCount( void ) +{ + return fpgaSensorReadings.fpgaTDiErrorCnt; +} + +/*********************************************************************//** + * @brief + * The getFPGATDiReadCount function gets the latest dialysate inlet temperature read count. + * @details + * Inputs : fpgaSensorReadings.fpgaTDiReadCnt + * Outputs : none + * @return Last dialysate inlet read count + *************************************************************************/ +U08 getFPGATDiReadCount( void ) +{ + return fpgaSensorReadings.fpgaTDiReadCnt; +} + +/*********************************************************************//** + * @brief + * The getFPGAPrimaryHeaterTemp function gets the latest primary heater + * internal temperature reading. + * @details + * Inputs : fpgaSensorReadings.fpgaPrimaryHeaterIntTemp + * Outputs : none + * @return last primary heater temperature reading + *************************************************************************/ +U16 getFPGAPrimaryHeaterTemp( void ) +{ + return fpgaSensorReadings.fpgaPrimaryHeaterIntTemp; +} + +/*********************************************************************//** + * @brief + * The getFPGAPrimaryHeaterFlags function gets the latest primary heater + * internal temperature sensor flags read. + * @details + * Inputs : fpgaSensorReadings.fpgaPrimaryHeaterFlags + * Outputs : none + * @return Last primary heater internal temperature sensor flag read + *************************************************************************/ +U08 getFPGAPrimaryHeaterFlags( void ) +{ + return fpgaSensorReadings.fpgaPrimaryHeaterFlags; +} + +/*********************************************************************//** + * @brief + * The geetFPGAPrimaryHeaterReadCount function gets the latest primary heater + * internal temperature sensor read count. + * @details + * Inputs : fpgaSensorReadings.fpgaPrimaryHeaterReadCnt + * Outputs : none + * @return Last primary heater internal temperature sensor read count + *************************************************************************/ +U08 getFPGAPrimaryHeaterReadCount( void ) +{ + return fpgaSensorReadings.fpgaPrimaryHeaterReadCnt; +} + +/*********************************************************************//** + * @brief + * The getFPGATrimmerHeaterTemp function gets the latest trimmer heater + * internal temperature sensor reading. + * @details + * Inputs : fpgaSensorReadings.fpgaTrimmerHeaterIntTemp + * Outputs : none + * @return last trimmer heater temperature reading + *************************************************************************/ +U16 getFPGATrimmerHeaterTemp( void ) +{ + return fpgaSensorReadings.fpgaTrimmerHeaterIntTemp; +} + +/*********************************************************************//** + * @brief + * The getFPGATrimmerHeaterFlags function gets the latest trimmer heater + * internal temperature flags read. + * @details + * Inputs : fpgaSensorReadings.fpgaTrimmerHeaterFlags + * Outputs : none + * @return Last trimmer heater internal temperature flags read + *************************************************************************/ +U08 getFPGATrimmerHeaterFlags( void ) +{ + return fpgaSensorReadings.fpgaTrimmerHeaterFlags; +} + +/*********************************************************************//** + * @brief + * The getFPGATrimmerHeaterReadCount function gets the latest trimmer heater + * internal temperature read count. + * @details + * Inputs : fpgaSensorReadings.fpgaTrimmerHeaterReadCnt + * Outputs : none + * @return Last trimmer heater internal temperature read count + *************************************************************************/ +U08 getFPGATrimmerHeaterReadCount( void ) +{ + return fpgaSensorReadings.fpgaTrimmerHeaterReadCnt; +} + +/*********************************************************************//** + * @brief + * The getFPGAPrimaryColdJunctionTemp function gets primary cold junction temperature. + * @details + * Inputs : fpgaSensorReadings.fpgaPrimaryHeaterIntJunctionTemp + * Outputs : none + * @return Last primary cold junction temperature + *************************************************************************/ +U16 getFPGAPrimaryColdJunctionTemp( void ) +{ + return fpgaSensorReadings.fpgaPrimaryHeaterIntJunctionTemp; +} + +/*********************************************************************//** + * @brief + * The getFPGATrimmerColdJunctionTemp function gets trimmer cold junction temperature. + * @details + * Inputs : fpgaSensorReadings.fpgaTrimmerHeaterIntJunctionTemp + * Outputs : none + * @return Last trimmer cold junction temperature + *************************************************************************/ +U16 getFPGATrimmerColdJunctionTemp( void ) +{ + return fpgaSensorReadings.fpgaTrimmerHeaterIntJunctionTemp; +} + +/*********************************************************************//** + * @brief + * The getFPGAAccelAxes function gets the accelerometer axis readings. + * Axis readings are in ADC counts. 0.004 g per LSB. + * @details + * Inputs : fpgaSensorReadings + * Outputs : none + * @param x Populate this param with X axis reading + * @param y Populate this param with Y axis reading + * @param z Populate this param with Z axis reading + * @return none + *************************************************************************/ +void getFPGAAccelAxes( S16 *x, S16 *y, S16 *z ) +{ + *x = (S16)fpgaSensorReadings.accelX; + *y = (S16)fpgaSensorReadings.accelY; + *z = (S16)fpgaSensorReadings.accelZ; +} + +/*********************************************************************//** + * @brief + * The getFPGAAccelMaxes function gets the maximum accelerometer axis readings from + * last FPGA read (every 10 ms). Axis readings are in ADC counts. 0.004 g per LSB. + * @details + * Inputs : fpgaSensorReadings + * Outputs : none + * @param x Populate this param with maximum X axis reading + * @param y Populate this param with maximum Y axis reading + * @param z Populate this param with maximum Z axis reading + * @return none + *************************************************************************/ +void getFPGAAccelMaxes( S16 *xmax, S16*ymax, S16*zmax ) +{ + *xmax = (S16)fpgaSensorReadings.accelXMax; + *ymax = (S16)fpgaSensorReadings.accelYMax; + *zmax = (S16)fpgaSensorReadings.accelZMax; +} + +/*********************************************************************//** + * @brief + * The getFPGAAccelStatus function gets the accelerometer reading count + * and error register values. + * @details + * Inputs : fpgaSensorReadings + * Outputs : none + * @param cnt Populate this param with latest sample counter value + * @param err Populate this param with latest error + * @return none + *************************************************************************/ +void getFPGAAccelStatus( U16 *cnt, U16 *err ) +{ + *cnt = fpgaSensorReadings.accelSampleCounter; + *err = fpgaSensorReadings.accelFaultRegister; +} + +/*********************************************************************//** + * @brief + * The getFPGACPiFault function gets CPi conductivity sensor fault. + * @details + * Inputs : fpgaSensorReadings.fpgaCPiFault + * Outputs : none + * @return Latest CPi conductivity sensor fault + *************************************************************************/ +U08 getFPGACPiFault( void ) +{ + return fpgaSensorReadings.fpgaCPiFault; +} + +/*********************************************************************//** + * @brief + * The getFPGACPiReadCount function gets CPi conductivity sensor read count. + * @details + * Inputs : fpgaSensorReadings.fpgaCPiReadCnt + * Outputs : none + * @return Latest CPi conductivity sensor read count + *************************************************************************/ +U08 getFPGACPiReadCount( void ) +{ + return fpgaSensorReadings.fpgaCPiReadCnt; +} + +/*********************************************************************//** + * @brief + * The getFPGACPiErrorCount function gets CPi conductivity sensor error count. + * @details + * Inputs : fpgaSensorReadings.fpgaCPiErrorCnt + * Outputs : none + * @return Latest CPi conductivity sensor read error count + *************************************************************************/ +U08 getFPGACPiErrorCount( void ) +{ + return fpgaSensorReadings.fpgaCPiErrorCnt; +} + +/*********************************************************************//** + * @brief + * The getFPGACPi function gets CPi conductivity sensor value. + * @details + * Inputs : fpgaSensorReadings.fpgaCPi + * Outputs : none + * @return Latest CPi conductivity sensor value + *************************************************************************/ +U32 getFPGACPi( void ) +{ + return fpgaSensorReadings.fpgaCPi; +} + +/*********************************************************************//** + * @brief + * The getFPGACPoFault function gets CPo conductivity sensor fault. + * @details + * Inputs : fpgaSensorReadings.fpgaCPoFault + * Outputs : none + * @return Latest CPo sensor fault + *************************************************************************/ +U08 getFPGACPoFault( void ) +{ + return fpgaSensorReadings.fpgaCPoFault; +} + +/*********************************************************************//** + * @brief + * The getFPGACPoReadCount function gets CPo conductivity sensor read count. + * @details + * Inputs : fpgaSensorReadings.fpgaCPoReadCnt + * Outputs : none + * @return Latest CPo conductivity sensor read count + *************************************************************************/ +U08 getFPGACPoReadCount( void ) +{ + return fpgaSensorReadings.fpgaCPoReadCnt; +} + +/*********************************************************************//** + * @brief + * The getFPGACPoErrorCount function gets CPo conductivity sensor error count. + * error count + * @details + * Inputs : fpgaSensorReadings.fpgaCPoErrorCnt + * Outputs : none + * @return Latest CPo conductivity sensor read error count + *************************************************************************/ +U08 getFPGACPoErrorCount( void ) +{ + return fpgaSensorReadings.fpgaCPoErrorCnt; +} + +/*********************************************************************//** + * @brief + * The getFPGACPo function gets CPo conductivity sensor value. + * @details + * Inputs : fpgaSensorReadings.fpgaCPo + * Outputs : none + * @return Latest CPo conductivity sensor value + *************************************************************************/ +U32 getFPGACPo( void ) +{ + return fpgaSensorReadings.fpgaCPo; +} + +/*********************************************************************//** + * @brief + * The getFPGAFan1Pulse function gets fan 1 pulse value. + * @details Inputs: fpgaSensorReadings + * @details Outputs: none + * @return fan 1 pulse value + *************************************************************************/ +U16 getFPGAFan1Pulse( void ) +{ + return fpgaSensorReadings.fpgaFan1Pulse; +} + +/*********************************************************************//** + * @brief + * The getFPGAFan2Pulse function gets fan 2 pulse value. + * @details Inputs: fpgaSensorReadings + * @details Outputs: none + * @return fan 2 pulse value + *************************************************************************/ +U16 getFPGAFan2Pulse( void ) +{ + return fpgaSensorReadings.fpgaFan2Pulse; +} + +/**@}*/