Index: firmware/App/Services/Interrupts.c =================================================================== diff -u -rf7e3018ec6ab762fe08efb42b21fb2ca970174b0 -r8e7158d8231435496fcf1d5649e51babf859ccc7 --- firmware/App/Services/Interrupts.c (.../Interrupts.c) (revision f7e3018ec6ab762fe08efb42b21fb2ca970174b0) +++ firmware/App/Services/Interrupts.c (.../Interrupts.c) (revision 8e7158d8231435496fcf1d5649e51babf859ccc7) @@ -1,75 +1,152 @@ -/************************************************************************** - * - * Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved. - * - * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN - * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. - * - * @file Interrupts.c - * - * @date 22-Oct-2019 - * @author S. Nash - * - * @brief Interrupts service module. Provides interrupt handling \n - * functions. - * - **************************************************************************/ +/************************************************************************** +* +* Copyright (c) 2019-2021 Diality Inc. - All Rights Reserved. +* +* THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN +* WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. +* +* @file Interrupts.c +* +* @author (last) Sean Nash +* @date (last) 24-Sep-2020 +* +* @author (original) Dara Navaei +* @date (original) 05-Nov-2019 +* +***************************************************************************/ +#include #include "can.h" +#include "het.h" +#include "rti.h" #include "sci.h" #include "sys_dma.h" -#include "Common.h" - #include "AlarmMgmt.h" -#include "Comm.h" +#include "BloodFlow.h" +#include "Comm.h" +#include "DialInFlow.h" +#include "DialOutFlow.h" #include "Interrupts.h" #include "FPGA.h" #include "SystemComm.h" +#include "TaskGeneral.h" +#include "TaskPriority.h" +#include "TaskTimer.h" +#include "Utilities.h" #ifdef DEBUG_ENABLED #include "SystemCommMessages.h" #endif -// ********** private definitions ********** +/** + * @addtogroup Interrupts + * @{ + */ + +// ********** private definitions ********** + +#define MAX_COMM_ERRORS 5 ///< Maximum number of a given comm error for a given time window. +#define COMM_ERROR_TIME_WINDOW_MS (10 * SEC_PER_MIN * MS_PER_SECOND) ///< Time window for comm error counts. + +#define HET1_EDGE_BP_ROTOR_HALL_SENSOR 0 ///< HET1 edge detector associated with blood pump rotor hall sensor. +#define HET1_EDGE_DPI_ROTOR_HALL_SENSOR 1 ///< HET1 edge detector associated with dialysate inlet pump rotor hall sensor. +#define HET1_EDGE_DPO_ROTOR_HALL_SENSOR 2 ///< HET1 edge detector associated with dialysate outlet pump rotor hall sensor. - // ********** private data ********** -static U32 sci1FrameErrorCnt = 0; -static U32 sci1OverrunErrorCnt = 0; -static U32 sci2FrameErrorCnt = 0; -static U32 sci2OverrunErrorCnt = 0; +#ifdef DEBUG_ENABLED + static U32 sci1FrameErrorCnt = 0; + static U32 sci1OverrunErrorCnt = 0; +#endif +static U32 sci2FrameErrorCnt = 0; ///< FPGA serial frame error counter. +static U32 sci2OverrunErrorCnt = 0; ///< FPGA serial overrun error counter. -static U32 can1PassiveCnt = 0; -static U32 can1WarningCnt = 0; -static U32 can1BusOffCnt = 0; -static U32 can1ParityCnt = 0; +static U32 can1PassiveCnt = 0; ///< CAN passive mode counter. +static U32 can1WarningCnt = 0; ///< CAN warning mode counter. +static U32 can1BusOffCnt = 0; ///< CAN buss off mode counter. +static U32 can1ParityCnt = 0; ///< CAN parity error counter. // ********** private function prototypes ********** +/*********************************************************************//** + * @brief + * The initInterrupts function initializes the Interrupts module. + * @details Inputs: none + * @details Outputs: Interrupts module initialized. + * @return none + *************************************************************************/ +void initInterrupts( void ) +{ + // initialize various time windowed counts for monitoring CAN & UART errors and warnings + initTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_PASSIVE, MAX_COMM_ERRORS, COMM_ERROR_TIME_WINDOW_MS ); + initTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_OFF, MAX_COMM_ERRORS, COMM_ERROR_TIME_WINDOW_MS ); + initTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_PARITY, MAX_COMM_ERRORS, COMM_ERROR_TIME_WINDOW_MS ); + initTimeWindowedCount( TIME_WINDOWED_COUNT_FPGA_UART_FRAME_ERROR, MAX_COMM_ERRORS, COMM_ERROR_TIME_WINDOW_MS ); + initTimeWindowedCount( TIME_WINDOWED_COUNT_FPGA_UART_OVERRUN, MAX_COMM_ERRORS, COMM_ERROR_TIME_WINDOW_MS ); +} -/************************************************************************* - * @brief phantomInterrupt +/*********************************************************************//** + * @brief * The phantomInterrupt function handles phantom interrupts. - * @details - * Inputs : none - * Outputs : phantom interrupt handled. - * @param none + * @details Inputs: none + * @details Outputs: phantom interrupt handled. * @return none *************************************************************************/ void phantomInterrupt(void) { // TODO - what to do with phantom interrupts? +#ifdef DEBUG_ENABLED + { + char debugStr[ 256 ]; + + sprintf( debugStr, "HD-phantom interrupt\n" ); + sendDebugData( (U08*)debugStr, strlen(debugStr) ); + sendDebugDataToUI( (U08*)debugStr ); + } +#endif } -/************************************************************************* - * @brief canMessageNotification +/*********************************************************************//** + * @brief + * The rtiNotification function handles real-time interrupt notifications. + * @details Inputs: none + * @details Outputs: RTI notification handled. + * @param notification Which RTI timer caused this interrupt + * @return none + *************************************************************************/ +void rtiNotification(uint32 notification) +{ + switch ( notification ) + { + case rtiNOTIFICATION_COMPARE0: + taskTimer(); + break; + + case rtiNOTIFICATION_COMPARE1: + taskPriority(); + break; + + case rtiNOTIFICATION_COMPARE2: + // do nothing - unused at this time + break; + + case rtiNOTIFICATION_COMPARE3: + taskGeneral(); + break; + + default: + // TODO - s/w fault? + break; + } +} + +/*********************************************************************//** + * @brief * The canMessageNotification function handles CAN message notifications. - * @details - * Inputs : none - * Outputs : CAN message notification handled. - * @param node : which CAN controller - * @param messageBox : which message box triggered the message notification + * @details Inputs: none + * @details Outputs: CAN message notification handled. + * @param node which CAN controller + * @param messageBox which message box triggered the message notification * @return none *************************************************************************/ void canMessageNotification(canBASE_t *node, uint32 messageBox) @@ -80,79 +157,89 @@ } } -/************************************************************************* - * @brief canErrorNotification +/*********************************************************************//** + * @brief * The canErrorNotification function handles CAN error notifications. - * @details - * Inputs : none - * Outputs : CAN error notification handled. - * @param node : which CAN controller - * @param notification : canLEVEL_PASSIVE (0x20) : When RX- or TX error counter are between 32 and 63 \n - * canLEVEL_WARNING (0x40) : When RX- or TX error counter are between 64 and 127 \n - * canLEVEL_BUS_OFF (0x80) : When RX- or TX error counter are between 128 and 255 \n - * canLEVEL_PARITY_ERR (0x100): When parity error detected on CAN RAM read access + * @details Inputs: none + * @details Outputs: CAN error notification handled. + * @param node which CAN controller + * @param notification canLEVEL_PASSIVE (0x20) : When RX- or TX error counter are between 32 and 63 + * canLEVEL_WARNING (0x40) : When RX- or TX error counter are between 64 and 127 + * canLEVEL_BUS_OFF (0x80) : When RX- or TX error counter are between 128 and 255 + * canLEVEL_PARITY_ERR (0x100): When parity error detected on CAN RAM read access * @return none *************************************************************************/ void canErrorNotification(canBASE_t *node, uint32 notification) { #ifdef DEBUG_ENABLED - // TODO - temporary debug code - remove later char debugStr[ 256 ]; -#endif +#endif + if ( node == canREG1 ) { if ( notification & canLEVEL_PARITY_ERR ) { can1ParityCnt++; + if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_PARITY ) ) + { + SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_CAN_PARITY_ERROR ) + } #ifdef DEBUG_ENABLED - // TODO - temporary debug code - remove later - sprintf( debugStr, "CAN parity error:%5d \n", can1ParityCnt ); - sendDebugData( (U08*)debugStr, strlen(debugStr) ); + sprintf( debugStr, "CAN parity error:%5d \n", can1ParityCnt ); + sendDebugData( (U08*)debugStr, strlen(debugStr) ); + sendDebugDataToUI( (U08*)debugStr ); #endif } else if ( notification & canLEVEL_BUS_OFF ) { can1BusOffCnt++; + if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_OFF ) ) + { + SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_CAN_OFF_ERROR ) + } #ifdef DEBUG_ENABLED - // TODO - temporary debug code - remove later - sprintf( debugStr, "CAN bus off error:%5d \n", can1BusOffCnt ); - sendDebugData( (U08*)debugStr, strlen(debugStr) ); + sprintf( debugStr, "CAN bus off error:%5d \n", can1BusOffCnt ); + sendDebugData( (U08*)debugStr, strlen(debugStr) ); + sendDebugDataToUI( (U08*)debugStr ); #endif } else if ( notification & canLEVEL_WARNING ) { can1WarningCnt++; #ifdef DEBUG_ENABLED - // TODO - temporary debug code - remove later - sprintf( debugStr, "CAN bus warning:%5d \n", can1WarningCnt ); - sendDebugData( (U08*)debugStr, strlen(debugStr) ); + sprintf( debugStr, "CAN bus warning:%5d \n", can1WarningCnt ); + sendDebugData( (U08*)debugStr, strlen(debugStr) ); + sendDebugDataToUI( (U08*)debugStr ); #endif } else if ( notification & canLEVEL_PASSIVE ) { can1PassiveCnt++; + if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_PASSIVE ) ) + { + SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_CAN_PASSIVE_WARNING ) + } #ifdef DEBUG_ENABLED - // TODO - temporary debug code - remove later - sprintf( debugStr, "CAN passive warning:%5d \n", can1PassiveCnt ); - sendDebugData( (U08*)debugStr, strlen(debugStr) ); + sprintf( debugStr, "CAN passive warning:%5d \n", can1PassiveCnt ); + sendDebugData( (U08*)debugStr, strlen(debugStr) ); + sendDebugDataToUI( (U08*)debugStr ); #endif } else { - // ignore - other bits undefined + // ignore - other notifications undefined } } } -/************************************************************************* - * @brief sciNotification - * The sciNotification function handles UART communication error interrupts. \n +/*********************************************************************//** + * @brief + * The sciNotification function handles UART communication error interrupts. * Frame and Over-run errors are handled. - * @details - * Inputs : none - * Outputs : UART error interrupts handled. - * @param sci : Pointer to the SCI peripheral that detected the error - * @param flags : error flag(s) + * @details Inputs: none + * @details Outputs: UART error interrupts handled. + * @param sci Pointer to the SCI peripheral that detected the error + * @param flags error flag(s) * @return none *************************************************************************/ void sciNotification(sciBASE_t *sci, uint32 flags) @@ -161,70 +248,68 @@ // TODO - temporary debug code - remove later char debugStr[ 256 ]; #endif - if ( sci == sciREG ) + + if ( sci == scilinREG ) { if ( ( flags & SCI_FE_INT ) != 0 ) { - sci1FrameErrorCnt++; - clearSCI1CommErrors(); - // TODO - try to do something to recover (+ max retries = comm fault) + sci2FrameErrorCnt++; + clearSCI2CommErrors(); + if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_FPGA_UART_FRAME_ERROR ) ) + { + SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_UART_FRAME_ERROR ) + } #ifdef DEBUG_ENABLED - // TODO - temporary debug code - remove later - sprintf( debugStr, "Debug UART frame error:%5d \n", sci1FrameErrorCnt ); + sprintf( debugStr, "FPGA UART FR err:%5d \n", sci2FrameErrorCnt ); sendDebugData( (U08*)debugStr, strlen(debugStr) ); + sendDebugDataToUI( (U08*)debugStr ); #endif } if ( ( flags & SCI_OE_INT ) != 0 ) { - sci1OverrunErrorCnt++; - clearSCI1CommErrors(); - // TODO - try to do something to recover (+ max retries = comm fault) + sci2OverrunErrorCnt++; + clearSCI2CommErrors(); + if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_FPGA_UART_OVERRUN ) ) + { + SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_UART_OVERRUN_ERROR ) + } #ifdef DEBUG_ENABLED - // TODO - temporary debug code - remove later - sprintf( debugStr, "Debug UART overrun error:%5d \n", sci1OverrunErrorCnt ); + sprintf( debugStr, "FPGA UART OR err:%5d \n", sci2OverrunErrorCnt ); sendDebugData( (U08*)debugStr, strlen(debugStr) ); + sendDebugDataToUI( (U08*)debugStr ); #endif } } - else if ( sci == scilinREG ) +#ifdef DEBUG_ENABLED + if ( sci == sciREG ) { if ( ( flags & SCI_FE_INT ) != 0 ) { - sci2FrameErrorCnt++; - clearSCI2CommErrors(); - // TODO - try to do something to recover (+ max retries = comm fault) -#ifdef DEBUG_ENABLED - // TODO - temporary debug code - remove later - sprintf( debugStr, "FPGA UART frame error:%5d \n", sci2FrameErrorCnt ); + sci1FrameErrorCnt++; + clearSCI1CommErrors(); + sprintf( debugStr, "Debug UART FR err:%5d\n", sci1FrameErrorCnt ); sendDebugData( (U08*)debugStr, strlen(debugStr) ); -#endif + sendDebugDataToUI( (U08*)debugStr ); } if ( ( flags & SCI_OE_INT ) != 0 ) { - sci2OverrunErrorCnt++; - clearSCI2CommErrors(); - // TODO - try to do something to recover (+ max retries = comm fault) -#ifdef DEBUG_ENABLED - // TODO - temporary debug code - remove later - sprintf( debugStr, "FPGA UART overrun error:%5d \n", sci2OverrunErrorCnt ); + sci1OverrunErrorCnt++; + clearSCI1CommErrors(); + sprintf( debugStr, "Debug UART OR err:%5d\n", sci1OverrunErrorCnt ); sendDebugData( (U08*)debugStr, strlen(debugStr) ); -#endif + sendDebugDataToUI( (U08*)debugStr ); } } - else - { - // TODO - ignore? - should not be any other SCI peripherals - } +#endif } -/************************************************************************* - * @brief dmaGroupANotification +/*********************************************************************//** + * @brief * The dmaGroupANotification function handles communication DMA interrupts. - * @details - * Inputs : none - * Outputs : DMA interrupt is handled. - * @param inttype : type of DMA interrupt - * @param channel : DMA channel that caused the interrupt + * @details Inputs: none + * @details Outputs: DMA interrupt is handled. + * @param inttype type of DMA interrupt + * @param channel DMA channel that caused the interrupt * @return none *************************************************************************/ void dmaGroupANotification(dmaInterrupt_t inttype, uint32 channel) @@ -238,27 +323,66 @@ signalFPGAReceiptCompleted(); break; +#ifdef DEBUG_ENABLED case DMA_CH1: // PC receive channel clearSCI1DMAReceiveInterrupt(); // handle received packet from PC handleUARTMsgRecvPacketInterrupt(); break; - +#endif case DMA_CH2: // FPGA transmit channel clearSCI2DMATransmitInterrupt(); signalFPGATransmitCompleted(); break; +#ifdef DEBUG_ENABLED case DMA_CH3: // PC transmit channel clearSCI1DMATransmitInterrupt(); // send next pending packet to PC (if any) handleUARTMsgXmitPacketInterrupt(); break; - +#endif default: // TODO - ignore? break; } } } +/*********************************************************************//** + * @brief + * The edgeNotification function handles rotor hall sensor interrupts. + * @details Inputs: none + * @details Outputs: Rotor hall sensor interrupt is handled according to pin associated with given edge. + * @param hetREG HET controller associated with the edge + * @param edge Which edge was detected + * @return none + *************************************************************************/ +void edgeNotification(hetBASE_t * hetREG, uint32 edge) +{ + if ( hetREG == hetREG1 ) + { + switch ( edge ) + { + case HET1_EDGE_BP_ROTOR_HALL_SENSOR: + signalBloodPumpRotorHallSensor(); + break; + + case HET1_EDGE_DPI_ROTOR_HALL_SENSOR: + //signalDialInPumpRotorHallSensor(); + signalDialOutPumpRotorHallSensor(); + break; + + case HET1_EDGE_DPO_ROTOR_HALL_SENSOR: + //signalDialOutPumpRotorHallSensor(); + signalDialInPumpRotorHallSensor(); + break; + + default: + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_INTERRUPTS_INVALID_EDGE_DETECTED, edge ) + break; + } + } +} + +/**@}*/