Index: firmware/App/Services/FPGA.c =================================================================== diff -u -r47eb930c3f010b7933ddf1b5d2d9f1a95be90c58 -r04f033af4174bf41a7aa0ff9ccaae45b77472e01 --- firmware/App/Services/FPGA.c (.../FPGA.c) (revision 47eb930c3f010b7933ddf1b5d2d9f1a95be90c58) +++ firmware/App/Services/FPGA.c (.../FPGA.c) (revision 04f033af4174bf41a7aa0ff9ccaae45b77472e01) @@ -109,7 +109,7 @@ } FPGA_HEADER_T; // Read only on FPGA /// Record structure for FPGA continuous priority reads. -typedef struct // TODO - add all sensor readings to this structure per FPGA register map +typedef struct { U08 errorCountProcessor; ///< Reg 256. TBD. U08 errorCountPC; ///< Reg 257. TBD. @@ -175,13 +175,15 @@ U16 VDiPWMTarget; ///< Reg 374. PWM target duty cycle for VDi pinch valve. U16 VDoPWMTarget; ///< Reg 376. PWM target duty cycle for VDo pinch valve. U16 VSparePWMTarget; ///< Reg 378. PWM target duty cycle for Vspare pinch valve. - U16 SyringePumpStatus; ///< Reg 380. Syringe pump status register - U16 SyringePumpEncStatus; ///< Reg 382. Syringe pump encoder status - U32 SyringePumpEncPosition; ///< Reg 384. Syringe pump encoder position - U16 sPumpAdcDataReadChannel0; ///< Reg 388. - U16 sPumpAdcDataReadCh1; ///< Reg 390. - U16 sPumpAdcDataReadCh2; ///< Reg 392. - U16 sPumpAdcDataReadCh3; ///< Reg 394. + U08 syringePumpStatus; ///< Reg 380. Syringe pump status register. + U08 syringePumpADCReadCounter; ///< Reg 381. Syringe pump ADC read counter. + U08 syringePumpADCandDACStatus; ///< Reg 382. Syringe pump ADC and DAC status register. + U08 syringePumpEncoderStatus; ///< Reg 383. Syringe pump encoder status register. + U32 syringePumpEncPosition; ///< Reg 384. Syringe pump encoder position + U16 syringePumpAdcDataReadCh0; ///< Reg 388. Syringe pump ADC channel 0 register (10 bit). + U16 syringePumpAdcDataReadCh1; ///< Reg 390. Syringe pump ADC channel 1 register (10 bit). + U16 syringePumpAdcDataReadCh2; ///< Reg 392. Syringe pump ADC channel 2 register (10 bit). + U16 syringePumpAdcDataReadCh3; ///< Reg 394. Syringe pump ADC channel 3 register (10 bit). U16 VBASpeed; ///< Reg 396. VBA pinch valve speed (Register VAUX0) U16 VBVSpeed; ///< Reg 398. VBV pinch valve speed (Register VAUX1) U16 VBVCurrent; ///< Reg 400. VBV pinch valve current (Register VAUX2) @@ -195,7 +197,7 @@ } FPGA_SENSORS_T; /// Record structure for FPGA continuous priority writes. -typedef struct // TODO - add all actuator set points to this structure per FPGA register map +typedef struct { U08 fpgaSensorTest; ///< Reg 11. Blood leak and bubble detector sensor test register. U16 fpgaPIDControl; ///< Reg 12. Valve PID enables. @@ -209,12 +211,16 @@ U16 VDiPWMFixed; ///< Reg 28. VDi PWM set to fixed current by setting fixed PWM duty cycle. Range 750 to 4250. < 2500 is reverse direction. U16 VDoPWMFixed; ///< Reg 30. VDo PWM set to fixed current by setting fixed PWM duty cycle. Range 750 to 4250. < 2500 is reverse direction. U16 VSparePWMFixed; ///< Reg 32. Vspare PWM set to fixed current by setting fixed PWM duty cycle. Range 750 to 4250. < 2500 is reverse direction. - U08 AlarmControl; ///< Reg 34. Alarm (audio) control register. + U08 alarmControl; ///< Reg 34. Alarm (audio) control register. + U08 syringePumpControl; ///< Reg 35. Syringe pump control register. + U32 syringePumpStepToggleTime; ///< Reg 36. Syringe pump step time toggle register. Sets time between step toggle which dictates stepper motor speed. + U16 syringePumpDACOut; ///< Reg 40. Syringe pump DAC output level (12-bit). + U08 syringePumpADCandDACControl; ///< Reg 42. Syringe pump ADC and DAC control register. } FPGA_ACTUATORS_T; // TODO clean up the struct /// Record structure for FPGA async (as needed) reads. -typedef struct // TODO - add all sensor readings to this structure per FPGA register map +typedef struct { U16 fpgaDieTemp; ///< Reg 512. Internal FPGA die temperature. U16 fpgaADCVccVoltage; ///< Reg 514. Internal FPGA Vcc voltage. @@ -308,7 +314,7 @@ memset( &fpgaHeader, 0, sizeof(FPGA_HEADER_T) ); memset( &fpgaSensorReadings, 0, sizeof(FPGA_SENSORS_T) ); memset( &fpgaActuatorSetPoints, 0, sizeof(FPGA_ACTUATORS_T) ); - fpgaActuatorSetPoints.AlarmControl = (U08)MIN_ALARM_VOLUME_ATTENUATION << 2; // Start alarm audio volume at maximum + fpgaActuatorSetPoints.alarmControl = (U08)MIN_ALARM_VOLUME_ATTENUATION << 2; // Start alarm audio volume at maximum // Initialize fpga comm buffers memset( &fpgaWriteCmdBuffer, 0, FPGA_WRITE_CMD_BUFFER_LEN ); @@ -491,8 +497,6 @@ fpgaState = handleFPGAReceiveHeaderState(); break; - // TODO - sensor/ADC init/configuration states - case FPGA_STATE_RCV_ALL_SENSORS: fpgaState = handleFPGAReceiveAllSensorsState(); break; @@ -545,8 +549,6 @@ fpgaState = handleFPGAReadHeaderState(); break; - // TODO - sensor/ADC init/configuration states - case FPGA_STATE_WRITE_ALL_ACTUATORS: fpgaState = handleFPGAWriteAllActuatorsState(); break; @@ -1083,15 +1085,15 @@ U08 audioCmd = (U08)state; audioCmd |= ( (U08)volumeLevel << 2 ); - fpgaActuatorSetPoints.AlarmControl = audioCmd; + fpgaActuatorSetPoints.alarmControl = audioCmd; } else { U08 audioCmd = (U08)ALARM_PRIORITY_HIGH; // Set alarm audio to high priority, max volume for safety since s/w seems to be having trouble setting audio correctly audioCmd |= ( (U08)MIN_ALARM_VOLUME_ATTENUATION << 2 ); - fpgaActuatorSetPoints.AlarmControl = audioCmd; + fpgaActuatorSetPoints.alarmControl = audioCmd; // S/w fault to indicate issue w/ s/w SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_INVALID_ALARM_AUDIO_PARAM, volumeLevel ) @@ -1338,6 +1340,184 @@ /*********************************************************************//** * @brief + * The setFPGASyringePumpControlFlags function sets the syringe pump control + * register per given bit flags. + * @details Inputs: none + * @details Outputs: fpgaActuatorSetPoints + * @param bitFlags control bit settings for syringe pump + * @return none + *************************************************************************/ +void setFPGASyringePumpControlFlags( U08 bitFlags ) +{ + fpgaActuatorSetPoints.syringePumpControl = bitFlags; +} + +/*********************************************************************//** + * @brief + * The setFPGASyringePumpADCandDACControlFlags function sets the syringe pump + * ADC/DAC control register per given bit flags. + * @details Inputs: none + * @details Outputs: fpgaActuatorSetPoints + * @param bitFlags ADC/DAC control bit settings for syringe pump + * @return none + *************************************************************************/ +void setFPGASyringePumpADCandDACControlFlags( U08 bitFlags ) +{ + fpgaActuatorSetPoints.syringePumpADCandDACControl = bitFlags; +} + +/*********************************************************************//** + * @brief + * The setFPGASyringePumpDACOutputLevel function sets the syringe pump force + * sensor DAC output level register to a given value. + * @details Inputs: none + * @details Outputs: fpgaActuatorSetPoints + * @param counts level to set syringe pump force sensor DAC to + * @return none + *************************************************************************/ +void setFPGASyringePumpDACOutputLevel( U16 counts ) +{ + fpgaActuatorSetPoints.syringePumpDACOut = counts; +} + +/*********************************************************************//** + * @brief + * The setFPGASyringePumpStepToggleTime function sets the syringe pump stepper + * toggle time register to a given period (in uSec). + * @details Inputs: none + * @details Outputs: fpgaActuatorSetPoints + * @param microSeconds toggle the stepper motor at this time interval to set pump speed + * @return none + *************************************************************************/ +void setFPGASyringePumpStepToggleTime( U32 microSeconds ) +{ + fpgaActuatorSetPoints.syringePumpStepToggleTime = microSeconds; +} + +/*********************************************************************//** + * @brief + * The getFPGASyringePumpStatus function gets the latest syringe pump status + * register reading. Bit 0 indicates a fault. + * @details Inputs: fpgaSensorReadings + * @details Outputs: none + * @return last syringe pump status reading + *************************************************************************/ +U08 getFPGASyringePumpStatus( void ) +{ + return fpgaSensorReadings.syringePumpStatus; +} + +/*********************************************************************//** + * @brief + * The getFPGASyringePumpADCReadCounter function gets the latest syringe pump + * ADC read counter. Counter is 8-bit and rolls over when exceeding 255. + * @details Inputs: fpgaSensorReadings + * @details Outputs: none + * @return last syringe pump ADC read counter + *************************************************************************/ +U08 getFPGASyringePumpADCReadCounter( void ) +{ + return fpgaSensorReadings.syringePumpADCReadCounter; +} + +/*********************************************************************//** + * @brief + * The getFPGASyringePumpADCandDACStatus function gets the latest syringe pump + * ADC/DAC status register reading. + * Bit 7 = DAC write and read-back done + * Bit 6 = I2C error on DAC data transfer + * Bit 0..5 = count of I2C errors, rolls over after 63 + * @details Inputs: fpgaSensorReadings + * @details Outputs: none + * @return last syringe pump ADC/DAC status reading + *************************************************************************/ +U08 getFPGASyringePumpADCandDACStatus( void ) +{ + return fpgaSensorReadings.syringePumpADCandDACStatus; +} + +/*********************************************************************//** + * @brief + * The getFPGASyringePumpEncoderStatus function gets the latest syringe pump + * encoder status register reading. + * Bit 7 = direction (0=fwd, 1=rev) + * Bit 0..5 = direction error count (# of errors after power up, rolls over after 63) + * @details Inputs: fpgaSensorReadings + * @details Outputs: none + * @return last syringe pump encoder status reading + *************************************************************************/ +U08 getFPGASyringePumpEncoderStatus( void ) +{ + return fpgaSensorReadings.syringePumpEncoderStatus; +} + +/*********************************************************************//** + * @brief + * The getFPGASyringePumpEncoderPosition function gets the latest syringe pump + * encoder position reading. + * @details Inputs: fpgaSensorReadings + * @details Outputs: none + * @return last syringe pump encoder position reading + *************************************************************************/ +U32 getFPGASyringePumpEncoderPosition( void ) +{ + return fpgaSensorReadings.syringePumpEncPosition; +} + +/*********************************************************************//** + * @brief + * The getFPGASyringePumpADCChannel0 function gets the latest syringe pump ADC + * channel 0 register reading (syringe pump force sensor). + * @details Inputs: fpgaSensorReadings + * @details Outputs: none + * @return last syringe pump ADC channel 0 reading + *************************************************************************/ +U16 getFPGASyringePumpADCChannel0( void ) +{ + return fpgaSensorReadings.syringePumpAdcDataReadCh0; +} + +/*********************************************************************//** + * @brief + * The getFPGASyringePumpADCChannel1 function gets the latest syringe pump ADC + * channel 1 register reading (syringe detection switch). + * @details Inputs: fpgaSensorReadings + * @details Outputs: none + * @return last syringe pump ADC channel 1 reading + *************************************************************************/ +U16 getFPGASyringePumpADCChannel1( void ) +{ + return fpgaSensorReadings.syringePumpAdcDataReadCh1; +} + +/*********************************************************************//** + * @brief + * The getFPGASyringePumpADCChannel2 function gets the latest syringe pump ADC + * channel 2 register reading (syringe pump home position sensor). + * @details Inputs: fpgaSensorReadings + * @details Outputs: none + * @return last syringe pump ADC channel 2 reading + *************************************************************************/ +U16 getFPGASyringePumpADCChannel2( void ) +{ + return fpgaSensorReadings.syringePumpAdcDataReadCh2; +} + +/*********************************************************************//** + * @brief + * The getFPGASyringePumpADCChannel3 function gets the latest syringe pump ADC + * channel 3 register reading. + * @details Inputs: fpgaSensorReadings + * @details Outputs: none + * @return last syringe pump ADC channel 3 reading + *************************************************************************/ +U16 getFPGASyringePumpADCChannel3( void ) +{ + return fpgaSensorReadings.syringePumpAdcDataReadCh3; +} + +/*********************************************************************//** + * @brief * The getFPGAAccelAxes function gets the accelerometer axis readings. * Axis readings are in ADC counts. 0.004 g per LSB. * @details Inputs: fpgaSensorReadings @@ -1419,7 +1599,7 @@ { U16 const status = fpgaSensorReadings.fpgaGPIO & FPGA_ADA_INPUT_STATUS_MASK; - return ( 0 == status ? FALSE : TRUE ); + return ( 0 == status ? TRUE : FALSE ); } /*********************************************************************//**