Index: firmware/App/Controllers/AlarmLamp.c =================================================================== diff -u -r31c4bf94671f58375d2e1dbbbb37b37c6949e0c4 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Controllers/AlarmLamp.c (.../AlarmLamp.c) (revision 31c4bf94671f58375d2e1dbbbb37b37c6949e0c4) +++ firmware/App/Controllers/AlarmLamp.c (.../AlarmLamp.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -156,7 +156,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_LAMP_INVALID_PATTERN_REQUESTED, lampPattern ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_LAMP_INVALID_PATTERN_REQUESTED, lampPattern ) } } @@ -229,7 +229,7 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_LAMP_INVALID_SELF_TEST_STATE, alarmLampSelfTestState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_LAMP_INVALID_SELF_TEST_STATE, alarmLampSelfTestState ) result = SELF_TEST_STATUS_FAILED; break; } Index: firmware/App/Controllers/BloodFlow.c =================================================================== diff -u -r31c4bf94671f58375d2e1dbbbb37b37c6949e0c4 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Controllers/BloodFlow.c (.../BloodFlow.c) (revision 31c4bf94671f58375d2e1dbbbb37b37c6949e0c4) +++ firmware/App/Controllers/BloodFlow.c (.../BloodFlow.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -274,7 +274,7 @@ } else // requested flow rate too high { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_SET_TOO_HIGH, flowRate ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_SET_TOO_HIGH, flowRate ) } } @@ -417,7 +417,7 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_INVALID_BLOOD_PUMP_STATE, bloodPumpState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_INVALID_BLOOD_PUMP_STATE, bloodPumpState ) break; } } @@ -640,7 +640,7 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_INVALID_BLOOD_PUMP_DIRECTION, dir ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_INVALID_BLOOD_PUMP_DIRECTION, dir ) break; } } Index: firmware/App/Controllers/Buttons.c =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Controllers/Buttons.c (.../Buttons.c) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Controllers/Buttons.c (.../Buttons.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -229,7 +229,7 @@ default: result = SELF_TEST_STATUS_FAILED; - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_BUTTONS_INVALID_SELF_TEST_STATE, buttonSelfTestState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BUTTONS_INVALID_SELF_TEST_STATE, buttonSelfTestState ) break; } @@ -415,7 +415,7 @@ if ( TRUE == didTimeout( stopButtonPendingTimer, STOP_BUTTON_PENDING_TIMEOUT ) ) { stopButtonPressPending = FALSE; - SET_ALARM_WITH_1_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_BUTTONS_STOP_BUTTON_NOT_CONSUMED ) + SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BUTTONS_STOP_BUTTON_NOT_CONSUMED ) } } } Index: firmware/App/Controllers/DGInterface.c =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Controllers/DGInterface.c (.../DGInterface.c) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Controllers/DGInterface.c (.../DGInterface.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -312,7 +312,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_INVALID_DG_PRESSURE_ID, sensorID ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_INVALID_DG_PRESSURE_ID, sensorID ) } return result; Index: firmware/App/Controllers/DialInFlow.c =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Controllers/DialInFlow.c (.../DialInFlow.c) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Controllers/DialInFlow.c (.../DialInFlow.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -271,7 +271,7 @@ } else // requested flow rate too high { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_SET_TOO_HIGH, flowRate ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_SET_TOO_HIGH, flowRate ) } } @@ -414,7 +414,7 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_INVALID_DIAL_IN_PUMP_STATE, dialInPumpState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_INVALID_DIAL_IN_PUMP_STATE, dialInPumpState ) break; } } @@ -637,7 +637,7 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_INVALID_DIAL_IN_PUMP_DIRECTION, dir ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_INVALID_DIAL_IN_PUMP_DIRECTION, dir ) break; } } Index: firmware/App/Controllers/DialOutFlow.c =================================================================== diff -u -r31c4bf94671f58375d2e1dbbbb37b37c6949e0c4 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Controllers/DialOutFlow.c (.../DialOutFlow.c) (revision 31c4bf94671f58375d2e1dbbbb37b37c6949e0c4) +++ firmware/App/Controllers/DialOutFlow.c (.../DialOutFlow.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -284,7 +284,7 @@ } else // requested flow rate too high { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_OUT_FLOW_SET_TOO_HIGH, flowRate ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_OUT_FLOW_SET_TOO_HIGH, flowRate ) } } @@ -468,7 +468,7 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_OUT_FLOW_INVALID_DIAL_OUT_PUMP_STATE, dialOutPumpState ); + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_OUT_FLOW_INVALID_DIAL_OUT_PUMP_STATE, dialOutPumpState ); break; } } @@ -703,7 +703,7 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_OUT_FLOW_INVALID_DIAL_OUT_PUMP_DIRECTION, dir ); + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_OUT_FLOW_INVALID_DIAL_OUT_PUMP_DIRECTION, dir ); break; } } @@ -1017,7 +1017,7 @@ } else { - activateAlarmNoData( ALARM_ID_SOFTWARE_FAULT ); + activateAlarmNoData( ALARM_ID_HD_SOFTWARE_FAULT ); } return result; Index: firmware/App/Controllers/PresOccl.c =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Controllers/PresOccl.c (.../PresOccl.c) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Controllers/PresOccl.c (.../PresOccl.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -133,7 +133,7 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PRES_OCCL_INVALID_PRES_SENSOR, sensor ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_PRES_OCCL_INVALID_PRES_SENSOR, sensor ) break; } } @@ -166,7 +166,7 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PRES_OCCL_INVALID_OCCL_SENSOR, sensor ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_PRES_OCCL_INVALID_OCCL_SENSOR, sensor ) break; } } @@ -193,7 +193,7 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PRES_OCCL_INVALID_STATE, presOcclState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_PRES_OCCL_INVALID_STATE, presOcclState ) break; } Index: firmware/App/Drivers/InternalADC.c =================================================================== diff -u -r31c4bf94671f58375d2e1dbbbb37b37c6949e0c4 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Drivers/InternalADC.c (.../InternalADC.c) (revision 31c4bf94671f58375d2e1dbbbb37b37c6949e0c4) +++ firmware/App/Drivers/InternalADC.c (.../InternalADC.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -150,7 +150,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_INT_ADC_DATA_OVERRUN, adcRawReadingsCount ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_INT_ADC_DATA_OVERRUN, adcRawReadingsCount ) } // start an adc channel group conversion @@ -177,7 +177,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_INT_ADC_INVALID_CHANNEL_REQUESTED, channel ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_INT_ADC_INVALID_CHANNEL_REQUESTED, channel ) } return result; Index: firmware/App/Modes/Dialysis.c =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Modes/Dialysis.c (.../Dialysis.c) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Modes/Dialysis.c (.../Dialysis.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -360,7 +360,7 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_DIALYSIS_INVALID_STATE, currentDialysisState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIALYSIS_INVALID_STATE, currentDialysisState ) break; } } @@ -401,7 +401,7 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_DIALYSIS_INVALID_UF_STATE, currentUFState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIALYSIS_INVALID_UF_STATE, currentUFState ) break; } Index: firmware/App/Modes/ModeInitPOST.c =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Modes/ModeInitPOST.c (.../ModeInitPOST.c) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Modes/ModeInitPOST.c (.../ModeInitPOST.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -154,7 +154,7 @@ case POST_STATE_FAILED: // should not get here - any failed post test should have already triggered a fault and taken us to fault mode default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_MODE_INIT_POST_INVALID_POST_STATE, postState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_MODE_INIT_POST_INVALID_POST_STATE, postState ) postState = POST_STATE_FAILED; break; } Index: firmware/App/Modes/ModeTreatment.c =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Modes/ModeTreatment.c (.../ModeTreatment.c) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Modes/ModeTreatment.c (.../ModeTreatment.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -226,7 +226,7 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_MODE_TREATMENT_INVALID_STATE, currentTreatmentState ); + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_MODE_TREATMENT_INVALID_STATE, currentTreatmentState ); currentTreatmentState = TREATMENT_END_STATE; break; } Index: firmware/App/Modes/OperationModes.c =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Modes/OperationModes.c (.../OperationModes.c) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Modes/OperationModes.c (.../OperationModes.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -120,7 +120,7 @@ // is requested new mode valid and legal at this time? if ( newMode >= MODE_NLEG ) { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_ILLEGAL_MODE_TRANSITION_REQUESTED, newMode ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_ILLEGAL_MODE_TRANSITION_REQUESTED, newMode ) newMode = currentMode; } @@ -170,7 +170,7 @@ default: currentMode = MODE_FAUL; currentSubMode = 0; - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_STATE, currentMode ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_STATE, currentMode ) break; } // end switch @@ -197,7 +197,7 @@ } else { // invalid mode requested - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_REQUESTED, newMode ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_REQUESTED, newMode ) } } @@ -293,7 +293,7 @@ transitionToPostTreatmentMode(); break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_TO_TRANSITION_TO, newMode ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_TO_TRANSITION_TO, newMode ) break; } } Index: firmware/App/Services/AlarmMgmt.c =================================================================== diff -u -r31c4bf94671f58375d2e1dbbbb37b37c6949e0c4 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Services/AlarmMgmt.c (.../AlarmMgmt.c) (revision 31c4bf94671f58375d2e1dbbbb37b37c6949e0c4) +++ firmware/App/Services/AlarmMgmt.c (.../AlarmMgmt.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -61,7 +61,7 @@ const ALARM_T alarmTable[ NUM_OF_ALARM_IDS ] = { // Priority Escalate In Escalate To Fault Stops NoClr NoRes NoRin NoEnd NoNew Bypass { ALARM_PRIORITY_NONE, 0, ALARM_ID_NO_ALARM, FALSE, FALSE, FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }, // ALARM_ID_NO_ALARM - { ALARM_PRIORITY_HIGH, 0, ALARM_ID_NO_ALARM, TRUE , TRUE , TRUE , TRUE , TRUE , TRUE , TRUE , FALSE }, // ALARM_ID_SOFTWARE_FAULT + { ALARM_PRIORITY_HIGH, 0, ALARM_ID_NO_ALARM, TRUE , TRUE , TRUE , TRUE , TRUE , TRUE , TRUE , FALSE }, // ALARM_ID_HD_SOFTWARE_FAULT { ALARM_PRIORITY_HIGH, 0, ALARM_ID_NO_ALARM, TRUE , TRUE , TRUE , TRUE , TRUE , TRUE , TRUE , FALSE }, // ALARM_ID_STUCK_BUTTON_TEST_FAILED { ALARM_PRIORITY_HIGH, 0, ALARM_ID_NO_ALARM, TRUE , TRUE , TRUE , TRUE , TRUE , TRUE , TRUE , FALSE }, // ALARM_ID_FPGA_POST_TEST_FAILED { ALARM_PRIORITY_HIGH, 0, ALARM_ID_NO_ALARM, TRUE , TRUE , TRUE , TRUE , TRUE , TRUE , TRUE , FALSE }, // ALARM_ID_WATCHDOG_POST_TEST_FAILED @@ -118,7 +118,11 @@ { ALARM_PRIORITY_HIGH, ALM_ESC_4_MIN, ALARM_ID_BLOOD_SITTING_WARNING, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }, // ALARM_ID_BLOOD_PUMP_MOTOR_SPEED_CHECK { ALARM_PRIORITY_HIGH, ALM_ESC_4_MIN, ALARM_ID_BLOOD_SITTING_WARNING, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }, // ALARM_ID_DIAL_IN_PUMP_MOTOR_SPEED_CHECK { ALARM_PRIORITY_HIGH, ALM_ESC_4_MIN, ALARM_ID_BLOOD_SITTING_WARNING, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }, // ALARM_ID_DIAL_OUT_PUMP_MOTOR_SPEED_CHECK - { ALARM_PRIORITY_HIGH, ALM_ESC_4_MIN, ALARM_ID_BLOOD_SITTING_WARNING, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }, // ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_TOO_HIGH + { ALARM_PRIORITY_HIGH, ALM_ESC_4_MIN, ALARM_ID_BLOOD_SITTING_WARNING, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }, // ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_TOO_HIGH + { ALARM_PRIORITY_MEDIUM, ALM_ESC_4_MIN, ALARM_ID_BLOOD_SITTING_WARNING, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }, // ALARM_ID_INLET_WATER_TEMPERATURE_OUT_OF_RANGE + { ALARM_PRIORITY_MEDIUM, ALM_ESC_4_MIN, ALARM_ID_BLOOD_SITTING_WARNING, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }, // ALARM_ID_INLET_WATER_LOW_CONDUCTIVITY + { ALARM_PRIORITY_MEDIUM, ALM_ESC_4_MIN, ALARM_ID_BLOOD_SITTING_WARNING, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }, // ALARM_ID_INLET_WATER_HIGH_CONDUCTIVITY + { ALARM_PRIORITY_HIGH, 0, ALARM_ID_NO_ALARM, TRUE , TRUE , TRUE , TRUE , TRUE , TRUE , TRUE , FALSE }, // ALARM_ID_DG_SOFTWARE_FAULT }; /// A blank alarm data record for alarms that do not include alarm data when triggered. @@ -267,7 +271,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_MGMT_INVALID_ALARM_TO_ACTIVATE, alarm ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_MGMT_INVALID_ALARM_TO_ACTIVATE, alarm ) } } @@ -419,7 +423,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_MGMT_INVALID_ALARM_TO_CLEAR, alarm ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_MGMT_INVALID_ALARM_TO_CLEAR, alarm ) } } @@ -532,7 +536,7 @@ default: requestAlarmLampPattern( LAMP_PATTERN_FAULT ); - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_MGMT_LAMP_INVALID_ALARM_STATE, alarmStatus.alarmsState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_MGMT_LAMP_INVALID_ALARM_STATE, alarmStatus.alarmsState ) break; } } @@ -563,7 +567,7 @@ default: // TODO - high priority audio - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_MGMT_LAMP_INVALID_ALARM_STATE, alarmStatus.alarmsState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_MGMT_LAMP_INVALID_ALARM_STATE, alarmStatus.alarmsState ) break; } } @@ -744,7 +748,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_MGMT_INVALID_FIFO_TO_RESET, priority ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_MGMT_INVALID_FIFO_TO_RESET, priority ) } } Index: firmware/App/Services/AlarmMgmt.h =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Services/AlarmMgmt.h (.../AlarmMgmt.h) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Services/AlarmMgmt.h (.../AlarmMgmt.h) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -172,6 +172,11 @@ SW_FAULT_ID_MODE_TREATMENT_INVALID_STATE, SW_FAULT_ID_INTERRUPTS_INVALID_EDGE_DETECTED, // 60 SW_FAULT_ID_INVALID_DG_PRESSURE_ID, + SW_FAULT_ID_CAN_PARITY_ERROR, + SW_FAULT_ID_CAN_PASSIVE_WARNING, + SW_FAULT_ID_CAN_OFF_ERROR, + SW_FAULT_ID_FPGA_UART_FRAME_ERROR, // 65 + SW_FAULT_ID_FPGA_UART_OVERRUN_ERROR, NUM_OF_SW_FAULT_IDS } SW_FAULT_ID_T; Index: firmware/App/Services/CommBuffers.c =================================================================== diff -u -r72f847f5a701cf0e10e8803ea6bd0ad5fab1f284 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Services/CommBuffers.c (.../CommBuffers.c) (revision 72f847f5a701cf0e10e8803ea6bd0ad5fab1f284) +++ firmware/App/Services/CommBuffers.c (.../CommBuffers.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -18,7 +18,8 @@ #include #include // for memcpy() -#include "CommBuffers.h" +#include "CommBuffers.h" +#include "SystemComm.h" #include "SystemCommMessages.h" #include "Timers.h" @@ -37,7 +38,6 @@ // ********** private function prototypes ********** -static void clearBuffer( COMM_BUFFER_T buffer ); static U32 switchDoubleBuffer( COMM_BUFFER_T buffer ); static void getDataFromInactiveBuffer( COMM_BUFFER_T buffer, U08 *data, U32 len ); @@ -72,7 +72,7 @@ * @param buffer : the buffer to clear * @return none *************************************************************************/ -static void clearBuffer( COMM_BUFFER_T buffer ) +void clearBuffer( COMM_BUFFER_T buffer ) { if ( buffer < NUM_OF_COMM_BUFFERS ) { @@ -120,34 +120,39 @@ { BOOL bufferFull = FALSE; U32 activeBuffer; - U32 currentActiveBufCount; // where to start adding new data to buffer (after existing data) + U32 currentActiveBufCount; // where to start adding new data to buffer (after existing data) + + if ( ( FALSE == isHDOnlyCANNode() ) || + ( FALSE == isCANBoxForXmit( (CAN_MESSAGE_BOX_T)buffer ) ) ) + { + // thread protection for queue operations + _disable_IRQ(); - // thread protection for queue operations - _disable_IRQ(); + activeBuffer = activeDoubleBuffer[ buffer ]; + currentActiveBufCount = commBufferByteCount[ buffer ][ activeBuffer ]; - activeBuffer = activeDoubleBuffer[ buffer ]; - currentActiveBufCount = commBufferByteCount[ buffer ][ activeBuffer ]; + // check to make sure buffer is not too full to service this add + if ( len <= ( COMM_BUFFER_LENGTH - currentActiveBufCount ) ) + { + U08 *buffPtr; // buffer destination for added data - // check to make sure buffer is not too full to service this add - if ( len <= ( COMM_BUFFER_LENGTH - currentActiveBufCount ) ) - { - U08 *buffPtr; // buffer destination for added data + // set destination pointer to end of active buffer data + buffPtr = &commBuffers[ buffer ][ activeBuffer ][ currentActiveBufCount ]; + // copy source data to destination buffer + memcpy( buffPtr, data, len ); + // adjust buffer count per this data add (also reserves space to add data before releasing thread protection) + commBufferByteCount[ buffer ][ activeBuffer ] += len; + // data successfully added to buffer + result = TRUE; + } + else // buffer too full to add this much data + { + bufferFull = TRUE; + } + // release thread protection + _enable_IRQ(); + } - // set destination pointer to end of active buffer data - buffPtr = &commBuffers[ buffer ][ activeBuffer ][ currentActiveBufCount ]; - // copy source data to destination buffer - memcpy( buffPtr, data, len ); - // adjust buffer count per this data add (also reserves space to add data before releasing thread protection) - commBufferByteCount[ buffer ][ activeBuffer ] += len; - // data successfully added to buffer - result = TRUE; - } - else // buffer too full to add this much data - { - bufferFull = TRUE; - } - // release thread protection - _enable_IRQ(); // if buffer was full, check persistence - trigger s/w fault if persists if ( TRUE == bufferFull ) { @@ -164,7 +169,7 @@ // if buffer overflows persists, fault if ( calcTimeSince( firstBufferOverflowTimeStamp ) > BUFFER_OVERFLOW_PERSISTENCE_MS ) { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_COMM_BUFFERS_ADD_TOO_MUCH_DATA, len ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_COMM_BUFFERS_ADD_TOO_MUCH_DATA, (U32)buffer ) } } else // first overflow - set time stamp for persistence check @@ -182,7 +187,7 @@ } else // invalid buffer given { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_COMM_BUFFERS_ADD_INVALID_BUFFER, buffer ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_COMM_BUFFERS_ADD_INVALID_BUFFER, buffer ) } return result; @@ -243,7 +248,7 @@ } else // invalid buffer given { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_COMM_BUFFERS_GET_INVALID_BUFFER, buffer ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_COMM_BUFFERS_GET_INVALID_BUFFER, buffer ) } return result; @@ -301,7 +306,7 @@ } else // invalid buffer given { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_COMM_BUFFERS_PEEK_INVALID_BUFFER, buffer ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_COMM_BUFFERS_PEEK_INVALID_BUFFER, buffer ) } return numOfBytesPeeked; @@ -332,7 +337,7 @@ } else // invalid buffer { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_COMM_BUFFERS_COUNT_INVALID_BUFFER, buffer ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_COMM_BUFFERS_COUNT_INVALID_BUFFER, buffer ) } return result; Index: firmware/App/Services/CommBuffers.h =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Services/CommBuffers.h (.../CommBuffers.h) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Services/CommBuffers.h (.../CommBuffers.h) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -47,6 +47,7 @@ // ********** public function prototypes ********** void initCommBuffers( void ); +void clearBuffer( COMM_BUFFER_T buffer ); BOOL addToCommBuffer( COMM_BUFFER_T buffer, U08 *data, U32 len ); U32 getFromCommBuffer( COMM_BUFFER_T buffer, U08 *data, U32 len ); U32 peekFromCommBuffer( COMM_BUFFER_T buffer, U08 *data, U32 len ); Index: firmware/App/Services/FPGA.c =================================================================== diff -u -r31c4bf94671f58375d2e1dbbbb37b37c6949e0c4 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Services/FPGA.c (.../FPGA.c) (revision 31c4bf94671f58375d2e1dbbbb37b37c6949e0c4) +++ firmware/App/Services/FPGA.c (.../FPGA.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -484,7 +484,7 @@ default: if ( fpgaState >= NUM_OF_FPGA_STATES ) { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_INVALID_IN_STATE, fpgaState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_INVALID_IN_STATE, fpgaState ) } else { @@ -539,7 +539,7 @@ default: if ( fpgaState >= NUM_OF_FPGA_STATES ) { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_INVALID_OUT_STATE, fpgaState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_INVALID_OUT_STATE, fpgaState ) } else { @@ -879,7 +879,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_WRITE_CMD_TOO_MUCH_DATA, bytes2Transmit ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_WRITE_CMD_TOO_MUCH_DATA, bytes2Transmit ) } } @@ -918,7 +918,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_WRITE_RSP_TOO_MUCH_DATA, bytes2Receive ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_WRITE_RSP_TOO_MUCH_DATA, bytes2Receive ) } } @@ -957,7 +957,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_READ_CMD_TOO_MUCH_DATA, bytes2Transmit ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_READ_CMD_TOO_MUCH_DATA, bytes2Transmit ) } } @@ -996,7 +996,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_READ_RSP_TOO_MUCH_DATA, bytes2Receive ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_READ_RSP_TOO_MUCH_DATA, bytes2Receive ) } } Index: firmware/App/Services/Interrupts.c =================================================================== diff -u -r31c4bf94671f58375d2e1dbbbb37b37c6949e0c4 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Services/Interrupts.c (.../Interrupts.c) (revision 31c4bf94671f58375d2e1dbbbb37b37c6949e0c4) +++ firmware/App/Services/Interrupts.c (.../Interrupts.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -1,4 +1,4 @@ -/************************************************************************** +/**********************************************************************//** * * Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved. * @@ -32,13 +32,22 @@ #include "SystemComm.h" #include "TaskGeneral.h" #include "TaskPriority.h" -#include "TaskTimer.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 #define HET1_EDGE_DPI_ROTOR_HALL_SENSOR 1 #define HET1_EDGE_DPO_ROTOR_HALL_SENSOR 2 @@ -59,22 +68,47 @@ // ********** private function prototypes ********** +/*********************************************************************//** + * @brief + * The initInterrupts function initializes the Interrupts module. + * @details + * Inputs : none + * 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 * The phantomInterrupt function handles phantom interrupts. * @details * Inputs : none * Outputs : phantom interrupt handled. - * @param none * @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 * The rtiNotification function handles real-time interrupt notifications. * @details @@ -109,7 +143,7 @@ } } -/************************************************************************* +/*********************************************************************//** * @brief * The canMessageNotification function handles CAN message notifications. * @details @@ -127,7 +161,7 @@ } } -/************************************************************************* +/*********************************************************************//** * @brief * The canErrorNotification function handles CAN error notifications. * @details @@ -151,6 +185,10 @@ 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 sprintf( debugStr, "CAN parity error:%5d \n", can1ParityCnt ); sendDebugData( (U08*)debugStr, strlen(debugStr) ); @@ -160,6 +198,10 @@ 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 sprintf( debugStr, "CAN bus off error:%5d \n", can1BusOffCnt ); sendDebugData( (U08*)debugStr, strlen(debugStr) ); @@ -178,6 +220,10 @@ 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 sprintf( debugStr, "CAN passive warning:%5d \n", can1PassiveCnt ); sendDebugData( (U08*)debugStr, strlen(debugStr) ); @@ -191,7 +237,7 @@ } } -/************************************************************************* +/*********************************************************************//** * @brief * The sciNotification function handles UART communication error interrupts. \n * Frame and Over-run errors are handled. @@ -215,6 +261,10 @@ { 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 ) + } // TODO - try to do something to recover (+ max retries = comm fault) #ifdef DEBUG_ENABLED sprintf( debugStr, "FPGA UART FR err:%5d \n", sci2FrameErrorCnt ); @@ -226,6 +276,10 @@ { 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 ) + } // TODO - try to do something to recover (+ max retries = comm fault) #ifdef DEBUG_ENABLED sprintf( debugStr, "FPGA UART OR err:%5d \n", sci2OverrunErrorCnt ); @@ -259,7 +313,7 @@ #endif } -/************************************************************************* +/*********************************************************************//** * @brief * The dmaGroupANotification function handles communication DMA interrupts. * @details @@ -306,7 +360,7 @@ } } -/************************************************************************* +/*********************************************************************//** * @brief * The edgeNotification function handles rotor hall sensor interrupts. * @details @@ -337,8 +391,10 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_INTERRUPTS_INVALID_EDGE_DETECTED, edge ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_INTERRUPTS_INVALID_EDGE_DETECTED, edge ) break; } } } + +/**@}*/ Index: firmware/App/Services/Interrupts.h =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Services/Interrupts.h (.../Interrupts.h) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Services/Interrupts.h (.../Interrupts.h) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -1,4 +1,4 @@ -/************************************************************************** +/**********************************************************************//** * * Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved. * @@ -20,8 +20,20 @@ #include "HDCommon.h" +/** + * @defgroup Interrupts Interrupts + * @brief Interrupts module handles various peripheral interrupts. + * + * @addtogroup Interrupts + * @{ + */ + // ********** public definitions ********** // ********** public function prototypes ********** +void initInterrupts( void ); + +/**@}*/ + #endif Index: firmware/App/Services/MsgQueues.c =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Services/MsgQueues.c (.../MsgQueues.c) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Services/MsgQueues.c (.../MsgQueues.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -86,12 +86,12 @@ } else // msg queue is full { - SET_ALARM_WITH_1_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_MSG_QUEUES_ADD_QUEUE_FULL ) + SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_MSG_QUEUES_ADD_QUEUE_FULL ) } } else // invalid message queue { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_MSG_QUEUES_ADD_INVALID_QUEUE, queue ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_MSG_QUEUES_ADD_INVALID_QUEUE, queue ) } return result; @@ -133,7 +133,7 @@ } else // invalid message queue { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_MSG_QUEUES_GET_INVALID_QUEUE, queue ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_MSG_QUEUES_GET_INVALID_QUEUE, queue ) } return result; @@ -162,7 +162,7 @@ } else // invalid message queue { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_MSG_QUEUES_IS_EMPTY_INVALID_QUEUE, queue ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_MSG_QUEUES_IS_EMPTY_INVALID_QUEUE, queue ) } return result; @@ -191,7 +191,7 @@ } else // invalid message queue { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_MSG_QUEUES_IS_FULL_INVALID_QUEUE, queue ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_MSG_QUEUES_IS_FULL_INVALID_QUEUE, queue ) } return result; Index: firmware/App/Services/PIControllers.c =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Services/PIControllers.c (.../PIControllers.c) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Services/PIControllers.c (.../PIControllers.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -100,7 +100,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) } } @@ -130,7 +130,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) } } @@ -176,7 +176,7 @@ } else { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) } return result; @@ -235,13 +235,13 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID ) break; } // end of switch } else { // invalid controller given - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) } return output; Index: firmware/App/Services/SystemComm.c =================================================================== diff -u -r31c4bf94671f58375d2e1dbbbb37b37c6949e0c4 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Services/SystemComm.c (.../SystemComm.c) (revision 31c4bf94671f58375d2e1dbbbb37b37c6949e0c4) +++ firmware/App/Services/SystemComm.c (.../SystemComm.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -1,4 +1,4 @@ -/************************************************************************** +/**********************************************************************//** * * Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved. * @@ -32,33 +32,40 @@ #include "CPLD.h" #endif +/** + * @addtogroup SystemComm + * @{ + */ + // ********** private definitions ********** -#define NUM_OF_CAN_OUT_BUFFERS 5 // # of CAN buffers for transmit -#define NUM_OF_CAN_IN_BUFFERS 7 // # of CAN buffers for receiving -#ifdef DEBUG_ENABLED - #define NUM_OF_MSG_IN_BUFFERS 8 // # of Msg buffers for receiving - 1 is UART +#define NUM_OF_CAN_OUT_BUFFERS 5 ///< # of CAN buffers for transmit +#define NUM_OF_CAN_IN_BUFFERS 7 ///< # of CAN buffers for receiving +#ifndef DEBUG_ENABLED + #define NUM_OF_MSG_IN_BUFFERS 7 ///< # of Msg buffers for receiving #else - #define NUM_OF_MSG_IN_BUFFERS 7 // # of Msg buffers for receiving + #define NUM_OF_MSG_IN_BUFFERS 8 + #define SCI1_RECEIVE_DMA_REQUEST 30 + #define SCI1_TRANSMIT_DMA_REQUEST 31 #endif -#define SCI1_RECEIVE_DMA_REQUEST 30 -#define SCI1_TRANSMIT_DMA_REQUEST 31 #define CAN_XMIT_PACKET_TIMEOUT_MS 200 ///< if transmitted CAN frame does not cause a transmit complete interrupt within this time, re-send or move on +#define MAX_XMIT_RETRIES 5 ///< maximum number of retries on no transmit complete interrupt timeout -#define UI_COMM_TIMEOUT_IN_MS 5000 -#define DG_COMM_TIMEOUT_IN_MS 2000 +#define UI_COMM_TIMEOUT_IN_MS 5000 ///< UI has not checked in for this much time +#define DG_COMM_TIMEOUT_IN_MS 2000 ///< DG has not checked in for this much time -#define MAX_COMM_CRC_FAILURES 5 -#define MAX_COMM_CRC_FAILURE_WINDOW_MS (10 * SEC_PER_MIN * MS_PER_SECOND) +#define MAX_COMM_CRC_FAILURES 5 ///< maximum number of CRC errors within window period before alarm +#define MAX_COMM_CRC_FAILURE_WINDOW_MS (10 * SEC_PER_MIN * MS_PER_SECOND) ///< CRC error window -#define MSG_NOT_ACKED_TIMEOUT_MS 150 -#define MSG_NOT_ACKED_MAX_RETRIES 3 -#define PENDING_ACK_LIST_SIZE 25 +#define MSG_NOT_ACKED_TIMEOUT_MS 150 ///< maximum time for a Denali message that requires ACK to be ACK'd +#define MSG_NOT_ACKED_MAX_RETRIES 3 ///< maximum number of times a message that requires ACK that was not ACK'd can be re-sent before alarm +#define PENDING_ACK_LIST_SIZE 25 ///< maximum number of Delanli messages that can be pending ACK at any given time #pragma pack(push, 1) +/// Record for transmitted message that is pending acknowledgement from receiver. typedef struct { BOOL used; @@ -74,6 +81,7 @@ // ********** private data ********** +/// Array of out-going CAN buffers. const COMM_BUFFER_T CAN_OUT_BUFFERS[ NUM_OF_CAN_OUT_BUFFERS ] = { COMM_BUFFER_OUT_CAN_HD_ALARM, @@ -83,6 +91,7 @@ COMM_BUFFER_OUT_CAN_PC }; +/// Array of in-coming CAN buffers. const COMM_BUFFER_T MSG_IN_BUFFERS[ NUM_OF_MSG_IN_BUFFERS ] = { COMM_BUFFER_IN_CAN_DG_ALARM, @@ -97,45 +106,38 @@ #endif }; -static U08 lastCANPacketSent[ CAN_MESSAGE_PAYLOAD_SIZE ]; -static CAN_MESSAGE_BOX_T lastCANPacketSentChannel = (CAN_MESSAGE_BOX_T)0; -static U32 lastCANPacketSentTimeStamp = 0; +static U08 lastCANPacketSent[ CAN_MESSAGE_PAYLOAD_SIZE ]; ///< Keep last packet sent on CAN bus in case we need to re-send. +static CAN_MESSAGE_BOX_T lastCANPacketSentChannel = (CAN_MESSAGE_BOX_T)0; ///< Keep channel last packet was sent on CAN bus in case we need to re-send. +static U32 lastCANPacketSentTimeStamp = 0; ///< Keep time last packet sent on CAN bus so we can timeout on transmission attempt. -#ifdef DEBUG_ENABLED - static U08 pcXmitPacket[ 1024 ]; - static U08 pcRecvPacket[ PC_MESSAGE_PACKET_SIZE ] = { 0, 0, 0, 0, 0, 0, 0, 0 }; +static PENDING_ACK_RECORD_T pendingAckList[ PENDING_ACK_LIST_SIZE ]; ///< list of outgoing messages that are awaiting an ACK - // DMA control records - static g_dmaCTRL pcDMAXmitControlRecord; // DMA transmit control record (UART-debug) - static g_dmaCTRL pcDMARecvControlRecord; // DMA receive control record (UART-debug) -#endif +static volatile BOOL hdIsOnlyCANNode = TRUE; ///< flag indicating whether HD is alone on CAN bus. +static U32 canXmitRetryCtr = 0; ///< counter for CAN transmit retries. +static volatile BOOL dgIsCommunicating = FALSE; ///< has DG sent a message since last check +static U32 timeOfLastDGCheckIn = 0; ///< last time DG checked in +static volatile BOOL uiIsCommunicating = FALSE; ///< has UI sent a message since last check +static U32 timeOfLastUICheckIn = 0; ///< last time UI checked in +static volatile BOOL uiDidCommunicate = FALSE; ///< has UI every sent a message -static PENDING_ACK_RECORD_T pendingAckList[ PENDING_ACK_LIST_SIZE ]; // list of outgoing messages that are awaiting an ACK - -static volatile BOOL dgIsCommunicating = FALSE; // has DG sent a message since last check -static U32 timeOfLastDGCheckIn = 0; // last time DG checked in -static volatile BOOL uiIsCommunicating = FALSE; // has UI sent a message since last check -static U32 timeOfLastUICheckIn = 0; // last time UI checked in -static volatile BOOL uiDidCommunicate = FALSE; // has UI every sent a message - -static U32 badCRCTimeStamps[ MAX_COMM_CRC_FAILURES ]; // time of last five bad message CRCs (wrapping list) -static U32 badCRCListIdx = 0; // where next bad message CRC time stamp will go in list -static U32 badCRCListCount = 0; // # of bad CRCs in the list - #ifdef EMC_TEST_BUILD -static U32 badCANCount; // test code in support of EMC testing + static U32 badCANCount; // test code in support of EMC testing #endif +#ifdef DEBUG_ENABLED + // debug buffers + static U08 pcXmitPacket[ 1024 ]; + static U08 pcRecvPacket[ PC_MESSAGE_PACKET_SIZE ] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + + // DMA control records + static g_dmaCTRL pcDMAXmitControlRecord; + static g_dmaCTRL pcDMARecvControlRecord; +#endif + // ********** private function prototypes ********** -#ifdef DEBUG_ENABLED - static void initUARTAndDMA( void ); - static U32 transmitNextUARTPacket( void ); -#endif +static void clearCANXmitBuffers( void ); -static BOOL isCANBoxForXmit( CAN_MESSAGE_BOX_T srcCANBox ); -static BOOL isCANBoxForRecv( CAN_MESSAGE_BOX_T srcCANBox ); - static COMM_BUFFER_T findNextHighestPriorityCANPacketToTransmit( void ); static U32 transmitNextCANPacket( void ); @@ -151,13 +153,17 @@ static BOOL matchACKtoPendingACKList( S16 seqNo ); static void checkPendingACKList( void ); -/************************************************************************* - * @brief initSystemComm +#ifdef DEBUG_ENABLED + static void initUARTAndDMA( void ); + static U32 transmitNextUARTPacket( void ); +#endif + +/*********************************************************************//** + * @brief * The initSystemComm function initializes the SystemComm module. * @details * Inputs : none * Outputs : SystemComm module initialized. - * @param none * @return none *************************************************************************/ void initSystemComm( void ) @@ -169,11 +175,8 @@ initUARTAndDMA(); #endif - // initialize bad message CRC list - for ( i = 0; i < MAX_COMM_CRC_FAILURES; i++ ) - { - badCRCTimeStamps[ i ] = 0; - } + // initialize bad message CRC time windowed count + initTimeWindowedCount( TIME_WINDOWED_COUNT_BAD_MSG_CRC, MAX_COMM_CRC_FAILURES, MAX_COMM_CRC_FAILURE_WINDOW_MS ); // initialize pending ACK list for ( i = 0; i < PENDING_ACK_LIST_SIZE; i++ ) @@ -182,14 +185,13 @@ } } -/************************************************************************* - * @brief checkInFromDG +/*********************************************************************//** + * @brief * The checkInFromDG function checks in the DG with the HD - indicating that \n * the DG is communicating. * @details * Inputs : none * Outputs : dgIsCommunicating - * @param none * @return none *************************************************************************/ void checkInFromDG( void ) @@ -198,14 +200,13 @@ timeOfLastDGCheckIn = getMSTimerCount(); } -/************************************************************************* - * @brief checkInFromUI +/*********************************************************************//** + * @brief * The checkInFromUI function checks in the UI with the HD - indicating that \n * the UI is communicating. * @details * Inputs : none * Outputs : uiIsCommunicating - * @param none * @return none *************************************************************************/ void checkInFromUI( void ) @@ -215,14 +216,13 @@ uiDidCommunicate = TRUE; } -/************************************************************************* - * @brief isDGCommunicating +/*********************************************************************//** + * @brief * The isDGCommunicating function determines whether the DG is communicating \n * with the HD. * @details * Inputs : dgIsCommunicating * Outputs : none - * @param none * @return TRUE if DG has checked in since last call, FALSE if not *************************************************************************/ BOOL isDGCommunicating( void ) @@ -234,14 +234,13 @@ return result; } -/************************************************************************* - * @brief isUICommunicating +/*********************************************************************//** + * @brief * The isUICommunicating function determines whether the UI is communicating \n * with the HD. * @details * Inputs : uiIsCommunicating * Outputs : none - * @param none * @return TRUE if UI has checked in since last call, FALSE if not *************************************************************************/ BOOL isUICommunicating( void ) @@ -253,27 +252,39 @@ return result; } -/************************************************************************* - * @brief uiCommunicated +/*********************************************************************//** + * @brief * The uiCommunicated function determines whether the UI has communicated. * @details * Inputs : uiDidCommunicate * Outputs : none - * @param none * @return TRUE if UI has communicated since power up, FALSE if not *************************************************************************/ BOOL uiCommunicated( void ) { return uiDidCommunicate; +} + +/*********************************************************************//** + * @brief + * The isHDOnlyCANNode function determines whether the HD is the only node \n + * currently on the CAN bus. + * @details + * Inputs : hdIsOnlyCANNode + * Outputs : none + * @return TRUE if HD is only node on CAN bus, FALSE if not + *************************************************************************/ +BOOL isHDOnlyCANNode( void ) +{ + return hdIsOnlyCANNode; } -/************************************************************************* - * @brief execSystemCommRx +/*********************************************************************//** + * @brief * The execSystemCommRx function manages received data from other sub-systems. * @details * Inputs : none - * Outputs : none - * @param none + * Outputs : Incoming messages parsed and processed. * @return none *************************************************************************/ void execSystemCommRx( void ) @@ -291,30 +302,53 @@ checkPendingACKList(); } -/************************************************************************* - * @brief execSystemCommTx +/*********************************************************************//** + * @brief * The execSystemCommTx function manages data to be transmitted to other \n * sub-systems. * @details * Inputs : none - * Outputs : none - * @param none + * Outputs : Outgoing messages transmitted. * @return none *************************************************************************/ void execSystemCommTx( void ) { // if CAN transmitter is idle, start transmitting any pending packets - if ( FALSE == isCAN1TransmitInProgress() ) + if ( ( FALSE == hdIsOnlyCANNode ) && ( FALSE == isCAN1TransmitInProgress() ) ) { transmitNextCANPacket(); } else { // generally, transmitter should not be busy at time of this function call - check timeout just in case so we don't get stuck waiting forever if ( TRUE == didTimeout( lastCANPacketSentTimeStamp, CAN_XMIT_PACKET_TIMEOUT_MS ) ) - { - // TODO - depending on why we timed out, we may need to reset CAN controller??? - // assume last packet was not successfully transmitted. TODO - Re-send last packet? Or should we move on? - canTransmit( canREG1, lastCANPacketSentChannel, lastCANPacketSent ); + { + // assume last packet was not successfully transmitted. Re-send last packet. + if ( ++canXmitRetryCtr <= MAX_XMIT_RETRIES ) + { + canTransmit( canREG1, lastCANPacketSentChannel, lastCANPacketSent ); +#ifdef DEBUG_ENABLED + { + char debugStr[100]; + sprintf( debugStr, "SystemComm-HD resend Last Frame. %2d\n", lastCANPacketSentChannel ); + sendDebugDataToUI( (U08*)debugStr ); + } +#endif + } + // we must be only node on CAN bus - nobody is ACKing our transmitted frames + else + { + hdIsOnlyCANNode = TRUE; // set only CAN node flag + canXmitRetryCtr = MAX_XMIT_RETRIES; + signalCANXmitsCompleted(); // clear pending xmit flag + clearCANXmitBuffers(); // clear xmit buffers - nothing is going out right now +#ifdef DEBUG_ENABLED + { + char debugStr[100]; + sprintf( debugStr, "SystemComm-HD is only node.\n" ); + sendDebugDataToUI( (U08*)debugStr ); + } +#endif + } } } @@ -327,8 +361,8 @@ #endif } -/************************************************************************* - * @brief handleCANMsgInterrupt +/*********************************************************************//** + * @brief * The handleCANMsgInterrupt function handles a CAN message interrupt. \n * This may have occurred because a CAN packet transmission has completed \n * or because a CAN packet has been received. The appropriate handler is \n @@ -378,14 +412,13 @@ } } -/************************************************************************* - * @brief handleUARTMsgRecvPacketInterrupt +/*********************************************************************//*** + * @brief * The handleUARTMsgRecvPacketInterrupt function handles a DMA UART receive \n * packet completed interrupt. * @details * Inputs : none - * Outputs : none - * @param none + * Outputs : UART received packet interrupt handled. * @return none *************************************************************************/ #ifdef DEBUG_ENABLED @@ -400,14 +433,13 @@ } #endif -/************************************************************************* - * @brief handleUARTMsgXmitPacketInterrupt +/*********************************************************************//** + * @brief * The handleUARTMsgXmitPacketInterrupt function handles a DMA UART transmit \n * packet completed interrupt. * @details * Inputs : none - * Outputs : none - * @param none + * Outputs : UART transmit packet interrupt handled. * @return none *************************************************************************/ #ifdef DEBUG_ENABLED @@ -422,14 +454,13 @@ } #endif -/************************************************************************* - * @brief initUARTAndDMA +/*********************************************************************//** + * @brief * The initUARTAndDMA function initializes the SCI1 peripheral and the DMA \n * to go with it for PC communication. * @details * Inputs : none * Outputs : SCI1 and DMA initialized - * @param none * @return none *************************************************************************/ #ifdef DEBUG_ENABLED @@ -489,8 +520,8 @@ } #endif -/************************************************************************* - * @brief isCANBoxForXmit +/*********************************************************************//** + * @brief * The isCANBoxForXmit function determines whether a given CAN message box \n * is configured for transmit. * @details @@ -499,7 +530,7 @@ * @param srcCANBox : which CAN message box to check * @return TRUE if the given CAN message box is configured for transmit, FALSE if not. *************************************************************************/ -static BOOL isCANBoxForXmit( CAN_MESSAGE_BOX_T srcCANBox ) +BOOL isCANBoxForXmit( CAN_MESSAGE_BOX_T srcCANBox ) { BOOL result = FALSE; U32 i; @@ -516,8 +547,8 @@ return result; } -/************************************************************************* - * @brief isCANBoxForRecv +/*********************************************************************//** + * @brief * The isCANBoxForRecv function determines whether a given CAN message box \n * is configured for receiving. * @details @@ -526,7 +557,7 @@ * @param srcCANBox : which CAN message box to check * @return TRUE if the given CAN message box is configured for receiving, FALSE if not. *************************************************************************/ -static BOOL isCANBoxForRecv( CAN_MESSAGE_BOX_T srcCANBox ) +BOOL isCANBoxForRecv( CAN_MESSAGE_BOX_T srcCANBox ) { BOOL result = FALSE; U32 i; @@ -541,6 +572,24 @@ } return result; +} + +/*********************************************************************//** + * @brief + * The clearCANXmitBuffers function clears all CAN transmit buffers. + * @details + * Inputs : CAN_OUT_BUFFERS[] + * Outputs : CAN transmit buffers cleared. + * @return none + *************************************************************************/ +static void clearCANXmitBuffers( void ) +{ + U32 i; + + for ( i = 0; i < NUM_OF_CAN_OUT_BUFFERS; i++ ) + { + clearBuffer( CAN_OUT_BUFFERS[ i ] ); + } } @@ -549,14 +598,13 @@ *************************************************************************/ -/************************************************************************* - * @brief findNextHighestPriorityCANPacketToTransmit +/*********************************************************************//** + * @brief * The findNextHighestPriorityCANPacketToTransmit function gets the next \n * 8 byte packet and initiates a CAN transmit on the appropriate CAN channel. \n * @details * Inputs : Output CAN Comm Buffer(s) * Outputs : none - * @param msg : none * @return buffer with highest priority CAN packet to transmit, \n * COMM_BUFFER_NOT_USED if not CAN packets pending transmit found *************************************************************************/ @@ -578,14 +626,13 @@ return result; } -/************************************************************************* - * @brief transmitNextCANPacket +/*********************************************************************//** + * @brief * The transmitNextCANPacket function gets the next 8 byte packet and initiates \n * a CAN transmit on the appropriate CAN channel. * @details * Inputs : Output CAN Comm Buffers * Outputs : CAN packet transmit initiated. - * @param msg : none * @return # of bytes transmitted *************************************************************************/ static U32 transmitNextCANPacket( void ) @@ -617,26 +664,25 @@ { signalCANXmitsCompleted(); // TODO - shouldn't get here, but let's see if we do - SET_ALARM_WITH_1_U32_DATA( ALARM_ID_SOFTWARE_FAULT, (U32)mBox ) + SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, (U32)mBox ) } } else { // TODO - shouldn't get here - just testing - set first data to new s/w fault enum later - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, (U32)buffer, (U32)dataSize ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, (U32)buffer, (U32)dataSize ) } } return result; } -/************************************************************************* - * @brief transmitNextUARTPacket +/*********************************************************************//** + * @brief * The transmitNextUARTPacket function sets up and initiates a DMA transmit \n * of the next packet pending transmit (if any) via UART. * @details * Inputs : Output UART Comm Buffer(s) * Outputs : UART DMA transmit initiated. - * @param msg : none * @return # of bytes transmitted *************************************************************************/ #ifdef DEBUG_ENABLED @@ -669,14 +715,13 @@ *************************************************************************/ -/************************************************************************* - * @brief processIncomingData +/*********************************************************************//** + * @brief * The processIncomingData function parses out messages from the Input \n * Comm Buffers and adds them to the Received Message Queue. * @details * Inputs : Input Comm Buffers * Outputs : Parsed message(s) added to Received Message Queue - * @param msg : none * @return none *************************************************************************/ static void processIncomingData( void ) @@ -704,7 +749,10 @@ if ( numOfBytesInBuffer >= MESSAGE_OVERHEAD_SIZE ) { // peek at minimum of all bytes available or max message size (+1 for sync byte) U32 bytesPeeked = peekFromCommBuffer( MSG_IN_BUFFERS[ i ], data, MIN( numOfBytesInBuffer, sizeof( MESSAGE_WRAPPER_T ) + 1 ) ); - S32 msgSize = parseMessageFromBuffer( data, bytesPeeked ); + S32 msgSize = parseMessageFromBuffer( data, bytesPeeked ); + + hdIsOnlyCANNode = FALSE; // if we're getting a message, we can't be alone + canXmitRetryCtr = 0; if ( msgSize > 0 ) // valid, complete message found? { @@ -749,13 +797,13 @@ } } -/************************************************************************* - * @brief consumeBufferPaddingBeforeSync +/*********************************************************************//** + * @brief * The consumeBufferPaddingBeforeSync function removes any bytes in a given \n * buffer that lie before a sync byte. * @details * Inputs : none - * Outputs : none + * Outputs : Any padding at front of buffer is consumed. * @param msg : buffer : the comm buffer to process * @return none *************************************************************************/ @@ -780,8 +828,8 @@ } } -/************************************************************************* - * @brief parseMessageFromBuffer +/*********************************************************************//** + * @brief * The parseMessageFromBuffer function looks for a complete message in a \n * given buffer. If a message is found, its size is returned. * @details @@ -832,14 +880,13 @@ return result; } -/************************************************************************* - * @brief processReceivedMessages +/*********************************************************************//** + * @brief * The processReceivedMessages function processes any messages in the \n * received message queues. * @details * Inputs : Received Message Queues * Outputs : Message(s) processed. - * @param msg : none * @return none *************************************************************************/ static void processReceivedMessages( void ) @@ -883,14 +930,13 @@ } } -/************************************************************************* - * @brief checkForCommTimeouts +/*********************************************************************//** + * @brief * The checkForCommTimeouts function checks for sub-system communication \n * timeout errors. * @details * Inputs : timeOfLastDGCheckIn, timeOfLastUICheckIn * Outputs : possibly a comm t/o alarm - * @param none * @return none *************************************************************************/ static void checkForCommTimeouts( void ) @@ -905,8 +951,8 @@ // TODO - check DG comm timeout } -/************************************************************************* - * @brief checkTooManyBadMsgCRCs +/*********************************************************************//** + * @brief * The checkTooManyBadMsgCRCs function checks for too many bad message CRCs \n * within a set period of time. Assumed function is being called when a new \n * bad CRC is detected so a new bad CRC will be added to the list. @@ -917,26 +963,23 @@ *************************************************************************/ static void checkTooManyBadMsgCRCs( void ) { - U32 listTimeInMS; - - // replace oldest bad CRC in list with this new one - badCRCTimeStamps[ badCRCListIdx ] = getMSTimerCount(); - // move list index to next position (may wrap) - badCRCListIdx = INC_WRAP( badCRCListIdx, 0, MAX_COMM_CRC_FAILURES - 1 ); - // update list count - badCRCListCount = INC_CAP( badCRCListCount, MAX_COMM_CRC_FAILURES ); - // check if too many bad CRCs in window of time - listTimeInMS = calcTimeSince( badCRCTimeStamps[ badCRCListIdx ] ); - if ( ( badCRCListCount >= MAX_COMM_CRC_FAILURES ) && ( listTimeInMS <= MAX_COMM_CRC_FAILURE_WINDOW_MS ) ) - { -#ifndef DISABLE_CRC_ERROR - activateAlarmNoData( ALARM_ID_COMM_TOO_MANY_BAD_CRCS ); -#endif - } + if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_BAD_MSG_CRC ) ) + { +#ifndef DISABLE_CRC_ERROR + SET_ALARM_WITH_1_U32_DATA( ALARM_ID_COMM_TOO_MANY_BAD_CRCS, 1 ); // 1 for HD +#endif + } +#ifdef DEBUG_ENABLED + { + char debugStr[100]; + sprintf( debugStr, "SystemComm-HD-Bad Msg CRC.\n" ); + sendDebugDataToUI( (U08*)debugStr ); + } +#endif } -/************************************************************************* - * @brief addMsgToPendingACKList +/*********************************************************************//** + * @brief * The addMsgToPendingACKList function adds a given message to the pending \n * ACK list. Messages in this list will require receipt of an ACK message \n * for this particular message within a limited time. @@ -981,8 +1024,8 @@ return result; } -/************************************************************************* - * @brief matchACKtoPendingACKList +/*********************************************************************//** + * @brief * The matchACKtoPendingACKList function searches the pending ACK list to \n * see if the sequence # from a received ACK msg matches any. If found, \n * the list entry is removed. @@ -1011,15 +1054,14 @@ return result; } -/************************************************************************* - * @brief checkPendingACKList +/*********************************************************************//** + * @brief * The checkPendingACKList function searches the pending ACK list to \n * see if any have expired. Any such messages will be queued for retransmission \n * and if max retries reached a fault is triggered. * @details * Inputs : pendingAckList[] * Outputs : pendingAckList[] - * @param none * @return none *************************************************************************/ static void checkPendingACKList( void ) @@ -1048,8 +1090,8 @@ } } -/************************************************************************* - * @brief processReceivedMessage +/*********************************************************************//** + * @brief * The processReceivedMessage function processes a given message. * @details * Inputs : none @@ -1311,3 +1353,5 @@ } } } + +/**@}*/ Index: firmware/App/Services/SystemComm.h =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Services/SystemComm.h (.../SystemComm.h) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Services/SystemComm.h (.../SystemComm.h) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -1,4 +1,4 @@ -/************************************************************************** +/**********************************************************************//** * * Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved. * @@ -22,22 +22,30 @@ #include "CommBuffers.h" #include "MsgQueues.h" +/** + * @defgroup SystemComm SystemComm + * @brief System communication module. Manages incoming and outgoing CAN frames. + * + * @addtogroup SystemComm + * @{ + */ + // ********** public definitions ********** -#define MESSAGE_SYNC_BYTE 0xA5 +#define MESSAGE_SYNC_BYTE 0xA5 ///< Denali message syncronization byte. -#define CAN_MESSAGE_PAYLOAD_SIZE 8 +#define CAN_MESSAGE_PAYLOAD_SIZE 8 ///< CAN frame payload size (in bytes). #ifdef DEBUG_ENABLED #define PC_MESSAGE_PACKET_SIZE 8 #endif -#define MSG_ID_ACK 0xFFFF -#define MSG_ACK_BIT 0x8000 -#define MAX_MSG_SEQ_NO 0x7FFF -#define MIN_MSG_SEQ_NO 0x0001 -#define MAX_ACK_MSG_SIZE ( sizeof( MESSAGE_WRAPPER_T ) + 1 + CAN_MESSAGE_PAYLOAD_SIZE ) // must hold full (wrapped) message + sync + any CAN padding +#define MSG_ID_ACK 0xFFFF ///< Denali message ID for acknowledging received messages (when required). +#define MSG_ACK_BIT 0x8000 ///< ACK bit in sequence number that indicates an ACK is required. +#define MAX_MSG_SEQ_NO 0x7FFF ///< Maximum sequence number for Denali message (then wraps to 1). +#define MIN_MSG_SEQ_NO 0x0001 ///< Minimum sequence number for Denali message. +#define MAX_ACK_MSG_SIZE ( sizeof( MESSAGE_WRAPPER_T ) + 1 + CAN_MESSAGE_PAYLOAD_SIZE ) ///< Maximum size (in bytes) of Denali message including full (wrapped) message + sync + any CAN padding) -typedef COMM_BUFFER_T CAN_MESSAGE_BOX_T; // the CAN comm buffers align with the active CAN message boxes +typedef COMM_BUFFER_T CAN_MESSAGE_BOX_T; ///< the CAN comm buffers align with the active CAN message boxes // ********** public function prototypes ********** @@ -49,11 +57,16 @@ void handleUARTMsgRecvPacketInterrupt( void ); void handleUARTMsgXmitPacketInterrupt( void ); #endif +BOOL isCANBoxForXmit( CAN_MESSAGE_BOX_T srcCANBox ); +BOOL isCANBoxForRecv( CAN_MESSAGE_BOX_T srcCANBox ); void checkInFromDG( void ); void checkInFromUI( void ); BOOL isDGCommunicating( void ); BOOL isUICommunicating( void ); -BOOL uiCommunicated( void ); +BOOL uiCommunicated( void ); +BOOL isHDOnlyCANNode( void ); BOOL addMsgToPendingACKList( MESSAGE_T *msg, COMM_BUFFER_T channel, U08 *msgData, U32 len ); + +/**@}*/ #endif Index: firmware/App/Services/WatchdogMgmt.c =================================================================== diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/App/Services/WatchdogMgmt.c (.../WatchdogMgmt.c) (revision de5a0d43bdef611d963d11855bc958a8d8899a09) +++ firmware/App/Services/WatchdogMgmt.c (.../WatchdogMgmt.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -199,7 +199,7 @@ default: result = SELF_TEST_STATUS_FAILED; - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_WATCHDOG_INVALID_SELF_TEST_STATE, watchdogSelfTestState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_WATCHDOG_INVALID_SELF_TEST_STATE, watchdogSelfTestState ) break; } Index: firmware/source/sys_main.c =================================================================== diff -u -r9d4666bf3064df18a6d935125d7a69e4e8234e84 -rc0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b --- firmware/source/sys_main.c (.../sys_main.c) (revision 9d4666bf3064df18a6d935125d7a69e4e8234e84) +++ firmware/source/sys_main.c (.../sys_main.c) (revision c0273c73da6b6dee4ad6f1d54cb6c6f27a262b5b) @@ -71,6 +71,7 @@ #include "DialOutFlow.h" #include "FPGA.h" #include "InternalADC.h" +#include "Interrupts.h" #include "MsgQueues.h" #include "NVDataMgmt.h" #include "OperationModes.h" @@ -165,6 +166,7 @@ initCPLD(); initSafetyShutdown(); initWatchdogMgmt(); + initInterrupts(); initFPGA(); initAlarmLamp(); initButtons();