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Layer embot::hw::motor + motorhal for board amc2c #376

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merged 5 commits into from
May 3, 2023
Merged

Layer embot::hw::motor + motorhal for board amc2c #376

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44e999d
added
marcoaccame Apr 20, 2023
e33c04c
date changed
marcoaccame Apr 21, 2023
c19db46
motorhal rc is in embot::hw::motor for amc2c
marcoaccame May 3, 2023
3113aac
amc2c: cleaned up the motorhal and performed some basic tests
marcoaccame May 3, 2023
e7fbf0d
fixed the use of tests
marcoaccame May 3, 2023
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26 changes: 6 additions & 20 deletions emBODY/eBcode/arch-arm/board/amc2c/application/proj/amc2c-appl-can.uvoptx
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Expand Up @@ -371,7 +371,7 @@
<OPTFL>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>0</IsCurrentTarget>
<IsCurrentTarget>1</IsCurrentTarget>
</OPTFL>
<CpuCode>18</CpuCode>
<DebugOpt>
Expand Down Expand Up @@ -651,7 +651,7 @@
<OPTFL>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>1</IsCurrentTarget>
<IsCurrentTarget>0</IsCurrentTarget>
</OPTFL>
<CpuCode>18</CpuCode>
<DebugOpt>
Expand Down Expand Up @@ -679,7 +679,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>6</nTsel>
<nTsel>1</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
Expand All @@ -690,7 +690,7 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
<pMon>BIN\ULP2CM3.DLL</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
Expand Down Expand Up @@ -726,7 +726,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name>(105=-1,-1,-1,-1,0)</Name>
<Name></Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint/>
Expand Down Expand Up @@ -758,7 +758,7 @@
<DebugFlag>
<trace>0</trace>
<periodic>1</periodic>
<aLwin>1</aLwin>
<aLwin>0</aLwin>
<aCover>0</aCover>
<aSer1>0</aSer1>
<aSer2>0</aSer2>
Expand Down Expand Up @@ -794,20 +794,6 @@
<pszMrulep></pszMrulep>
<pSingCmdsp></pSingCmdsp>
<pMultCmdsp></pMultCmdsp>
<SystemViewers>
<Entry>
<Name>System Viewer\GPIOE</Name>
<WinId>35903</WinId>
</Entry>
<Entry>
<Name>System Viewer\GPIOG</Name>
<WinId>35905</WinId>
</Entry>
<Entry>
<Name>System Viewer\TIM1</Name>
<WinId>35904</WinId>
</Entry>
</SystemViewers>
<DebugDescription>
<Enable>1</Enable>
<EnableFlashSeq>0</EnableFlashSeq>
Expand Down
108 changes: 105 additions & 3 deletions emBODY/eBcode/arch-arm/board/amc2c/application/proj/amc2c-appl-can.uvprojx
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Expand Up @@ -1047,7 +1047,7 @@
<TargetName>appl-can-ulpro</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>6180000::V6.18::ARMCLANG</pCCUsed>
<pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
<uAC6>1</uAC6>
<TargetOption>
<TargetCommonOption>
Expand Down Expand Up @@ -2288,7 +2288,7 @@
<TargetName>appl-can-ulpro-test</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>6180000::V6.18::ARMCLANG</pCCUsed>
<pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
<uAC6>1</uAC6>
<TargetOption>
<TargetCommonOption>
Expand Down Expand Up @@ -2616,7 +2616,7 @@
<v6Rtti>0</v6Rtti>
<VariousControls>
<MiscControls>-Wno-pragma-pack -Wno-deprecated-register -DEMBOT_USE_rtos_osal</MiscControls>
<Define>USE_STM32HAL STM32HAL_BOARD_AMC2C STM32HAL_DRIVER_V1A0</Define>
<Define>USE_STM32HAL STM32HAL_BOARD_AMC2C STM32HAL_DRIVER_V1A0 MOTORHALCONFIG_enabletests</Define>
<Undefine></Undefine>
<IncludePath>..\..\..\..\libs\lowlevel\stm32hal\api;..\..\..\..\libs\highlevel\abslayer\osal\api;..\..\..\..\..\..\..\..\icub-firmware-shared\embot\core;..\..\..\..\embot\hw;..\..\..\..\embot\os;..\..\..\..\embot\app;..\..\..\..\embot\app;..\..\..\..\libs\midware\eventviewer\api;..\..\..\..\libs\highlevel\services\embenv\api;..\..\..\..\embot\prot\can;..\..\..\..\..\..\..\..\icub-firmware-shared\can\canProtocolLib;..\..\..\..\..\..\..\..\icub-firmware-shared\embot\tools;..\..\bsp;..\..\..\..\embot\app\eth;..\..\..\..\embot\app\bldc;..\src\app-board-amc2c;..\..\..\amcbldc\application\src\model-based-design\sharedutils;..\..\..\amcbldc\application\src\model-based-design\can-decoder;..\..\..\amcbldc\application\src\model-based-design\can-encoder;..\..\..\amcbldc\application\src\model-based-design\supervisor-rx;..\..\..\amcbldc\application\src\model-based-design\supervisor-tx;..\..\..\amcbldc\application\src\model-based-design\control-outer;..\..\..\amcbldc\application\src\model-based-design\control-foc;..\..\..\amcbldc\application\src\model-based-design\estimator;..\..\..\amcbldc\application\src\model-based-design\amc-bldc;..\..\..\amcbldc\application\src\model-based-design\filter-current;..\..\..\..\libs\lowlevel\cmsis\dsp\v160\Include;..\..\bsp\motorhal</IncludePath>
</VariousControls>
Expand Down Expand Up @@ -2968,6 +2968,57 @@
<FileName>embot_hw_motor.cpp</FileName>
<FileType>8</FileType>
<FilePath>..\..\..\..\embot\hw\embot_hw_motor.cpp</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>2</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
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<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>1</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
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<vShortWch>2</vShortWch>
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<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
</Files>
</Group>
Expand Down Expand Up @@ -3289,6 +3340,57 @@
<FileName>motorhal.cpp</FileName>
<FileType>8</FileType>
<FilePath>..\..\bsp\motorhal\motorhal.cpp</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>2</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>1</Optim>
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<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
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<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
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<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
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<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File>
<FileName>motorhal_config.c</FileName>
Expand Down
5 changes: 4 additions & 1 deletion ...e/arch-arm/board/amc2c/application/src/app-board-amc2c/embot_app_board_amc2c_mbd.demo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,10 @@

#include "embot_hw_timer.h"

#include "motorhal.h"
#include "adcm.h"
#include "enc.h"
#include "hall.h"
#include "pwm.h"

#include "embot_hw_motor.h"

Expand Down
22 changes: 17 additions & 5 deletions ...Bcode/arch-arm/board/amc2c/application/src/app-board-amc2c/embot_app_board_amc2c_test.cpp
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Expand Up @@ -20,14 +20,18 @@

#include "embot_hw_timer.h"

#include "motorhal.h"

#include "embot_hw_motor.h"
#include "motorhal_config.h"
#include "embot_hw_motor_bsp_amc2c.h"

extern void HallSetPwm(int32_t pwm);

using namespace embot::hw;

#if !defined(MOTORHALCONFIG_enabletests)
#error: MOTORHALCONFIG_enabletests must be defined
#endif

namespace embot::app::board::amc2c::mbd {

// forward declaration
Expand All @@ -38,9 +42,17 @@ namespace embot::app::board::amc2c::mbd {

void Startup(embot::prot::can::Address adr)
{
embot::hw::motor::bsp::amc2c::Init_MOTORHAL_testmode(embot::hw::MOTOR::one);

AdcMotInit();
EncInit();
HallInit();
PwmInit();


// in debug mode questa init non viene chiamata a meno che non si clicca "RUN" manualmente prima che venga sbloccato dal CM7
embot::hw::motor::init(embot::hw::MOTOR::one, {});
embot::app::board::amc2c::theMBD::getInstance().initialise({adr});
// embot::hw::motor::init(embot::hw::MOTOR::one, {});
// embot::app::board::amc2c::theMBD::getInstance().initialise({adr});

// embot::hw::timer::Config cfg{embot::core::time1millisec, embot::hw::timer::Mode::periodic, cc};
// embot::hw::timer::init(embot::hw::TIMER::one, cfg);
Expand Down Expand Up @@ -86,7 +98,7 @@ namespace embot::app::board::amc2c::mbd {
}
}

embot::app::board::amc2c::theMBD::getInstance().tick(input, output);
// embot::app::board::amc2c::theMBD::getInstance().tick(input, output);


// if(numRXframes > 0)
Expand Down
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