static void* s_eocanprotASperiodic_get_entity(eOprotEndpoint_t endpoint, eOprot_entity_t entity, eOcanframe_t *frame, eOcanport_t port, uint8_t *index)
{
void * ret = NULL;
uint8_t ii = 0;
eObrd_canlocation_t loc = {0};
loc.port = port;
loc.addr = EOCANPROT_FRAME_GET_SOURCE(frame);
loc.insideindex = eobrd_caninsideindex_none;
ii = eo_canmap_GetEntityIndexExtraCheck(eo_canmap_GetHandle(), loc, endpoint, entity);
if(EOK_uint08dummy == ii)
{
//#warning -> TODO: add diagnostics about not found board as in s_eo_icubCanProto_mb_send_runtime_error_diagnostics()
return(NULL);
}
ret = eoprot_entity_ramof_get(eoprot_board_localboard, endpoint, entity, ii);
if(NULL != index)
{
*index = ii;
}
return(ret);
}
extern void* eo_nvset_RAMofEntity_Get(EOnvSet* p, eOnvEP8_t ep8, eOnvENT_t ent, uint8_t index)
{
if((NULL == p))
{
return(NULL);
}
// get directly the ram using the eoprot function.
return(eoprot_entity_ramof_get(p->theboard.boardnum, ep8, ent, index));
}
extern eOmc_joint_config_t * eo_protocolwrapper_GetJointConfig(EOtheProtocolWrapper *p, eOmc_jointId_t id)
{
// don't do any control on p, as ... it is a dummy object
eOmc_joint_config_t *ret = NULL;
eOmc_joint_t *jo = (eOmc_joint_t *)eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_motioncontrol, eoprot_entity_mc_joint, (eOprotIndex_t)id);
if(NULL != jo)
{
ret = &(jo->config);
}
return(ret);
}
extern eOsk_status_t * eo_protocolwrapper_GetSkinStatus(EOtheProtocolWrapper *p, eOsk_skinId_t id)
{
// don't do any control on p, as ... it is a dummy object
eOsk_status_t *ret = NULL;
eOsk_skin_t *sk = (eOsk_skin_t *)eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_skin, eosk_entity_skin, (eOprotIndex_t)id);
if(NULL != sk)
{
ret = &(sk->status);
}
return(ret);
}
extern eOas_strain_status_t * eo_protocolwrapper_GetStrainStatus(EOtheProtocolWrapper *p, eOas_strainId_t id)
{
// don't do any control on p, as ... it is a dummy object
eOas_strain_status_t *ret = NULL;
eOas_strain_t *st = (eOas_strain_t *)eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_analogsensors, eoprot_entity_as_strain, (eOprotIndex_t)id);
if(NULL != st)
{
ret = &(st->status);
}
return(ret);
}
extern eOas_mais_config_t * eo_protocolwrapper_GetMaisConfig(EOtheProtocolWrapper *p, eOas_maisId_t id)
{
// don't do any control on p, as ... it is a dummy object
eOas_mais_config_t *ret = NULL;
eOas_mais_t *ma = (eOas_mais_t *)eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_analogsensors, eoprot_entity_as_mais, (eOprotIndex_t)id);
if(NULL != ma)
{
ret = &(ma->config);
}
return(ret);
}
extern eOmc_motor_status_t * eo_protocolwrapper_GetMotorStatus(EOtheProtocolWrapper *p, eOmc_motorId_t id)
{
// don't do any control on p, as ... it is a dummy object
eOmc_motor_status_t *ret = NULL;
eOmc_motor_t *mo = (eOmc_motor_t *)eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_motioncontrol, eoprot_entity_mc_motor, (eOprotIndex_t)id);
if(NULL != mo)
{
ret = &(mo->status);
}
return(ret);
}
extern EOCurrentsWatchdog* eo_currents_watchdog_Initialise(void)
{
uint8_t m;
//reserve memory for the number of thresholds needed
s_eo_currents_watchdog.numberofmotors = eo_entities_NumOfMotors(eo_entities_GetHandle());
if (s_eo_currents_watchdog.numberofmotors == 0)
return NULL;
s_eo_currents_watchdog.themotors = (eOmc_motor_t**) eo_mempool_GetMemory(eo_mempool_GetHandle(), eo_mempool_align_auto, sizeof(eOmc_motor_t*), s_eo_currents_watchdog.numberofmotors);
// retrieve pointers to motors
for(m=0; m<s_eo_currents_watchdog.numberofmotors; m++)
{
s_eo_currents_watchdog.themotors[m] = eo_entities_GetMotor(eo_entities_GetHandle(), m);
}
s_eo_currents_watchdog.nominalCurrent2 = (float*) eo_mempool_GetMemory(eo_mempool_GetHandle(), eo_mempool_align_auto, sizeof(float), s_eo_currents_watchdog.numberofmotors);
memset(s_eo_currents_watchdog.nominalCurrent2, 0, s_eo_currents_watchdog.numberofmotors*sizeof(float));
s_eo_currents_watchdog.I2T_threshold = (float*) eo_mempool_GetMemory(eo_mempool_GetHandle(), eo_mempool_align_auto, sizeof(float), s_eo_currents_watchdog.numberofmotors);
memset(s_eo_currents_watchdog.I2T_threshold, 0, s_eo_currents_watchdog.numberofmotors*sizeof(float));
s_eo_currents_watchdog.avgCurrent = (eoCurrentWD_averageData_t*) eo_mempool_GetMemory(eo_mempool_GetHandle(), eo_mempool_align_auto, sizeof(eoCurrentWD_averageData_t), s_eo_currents_watchdog.numberofmotors);
memset(s_eo_currents_watchdog.avgCurrent, 0, s_eo_currents_watchdog.numberofmotors*sizeof(eoCurrentWD_averageData_t));
s_eo_currents_watchdog.accomulatorEp = (float*) eo_mempool_GetMemory(eo_mempool_GetHandle(), eo_mempool_align_auto, sizeof(float), s_eo_currents_watchdog.numberofmotors);
memset(s_eo_currents_watchdog.accomulatorEp, 0, s_eo_currents_watchdog.numberofmotors*sizeof(float));
s_eo_currents_watchdog.motorinI2Tfault = (eObool_t*) eo_mempool_GetMemory(eo_mempool_GetHandle(), eo_mempool_align_auto, sizeof(eObool_t), s_eo_currents_watchdog.numberofmotors);
memset(s_eo_currents_watchdog.motorinI2Tfault, 0, s_eo_currents_watchdog.numberofmotors*sizeof(eObool_t)); //all motors are not in I2t fault
s_eo_currents_watchdog.initted = eobool_true;
suppliedVoltage_counter = 0;
nv_controller_ptr = (eOmc_controller_t*) eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_motioncontrol, eoprot_entity_mc_controller, 0);
if(nv_controller_ptr == NULL)
return NULL;
return(&s_eo_currents_watchdog);
}
extern EOCurrentsWatchdog* eo_currents_watchdog_Initialise(void)
{
uint8_t m;
//reserve memory for the number of thresholds needed
s_eo_currents_watchdog.numberofmotors = eo_entities_NumOfJoints(eo_entities_GetHandle());
if (s_eo_currents_watchdog.numberofmotors == 0)
return NULL;
s_eo_currents_watchdog.themotors = eo_mempool_GetMemory(eo_mempool_GetHandle(), eo_mempool_align_auto, sizeof(eOmc_motor_t*), s_eo_currents_watchdog.numberofmotors);
// retrieve pointers to motors
for(m=0; m<s_eo_currents_watchdog.numberofmotors; m++)
{
s_eo_currents_watchdog.themotors[m] = eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_motioncontrol, eoprot_entity_mc_motor, m);
}
s_eo_currents_watchdog.nominalCurrent2 = eo_mempool_GetMemory(eo_mempool_GetHandle(), eo_mempool_align_auto, sizeof(float), s_eo_currents_watchdog.numberofmotors);
memset(s_eo_currents_watchdog.nominalCurrent2, 0, s_eo_currents_watchdog.numberofmotors*sizeof(float));
s_eo_currents_watchdog.I2T_threshold = eo_mempool_GetMemory(eo_mempool_GetHandle(), eo_mempool_align_auto, sizeof(float), s_eo_currents_watchdog.numberofmotors);
memset(s_eo_currents_watchdog.I2T_threshold, 0, s_eo_currents_watchdog.numberofmotors*sizeof(float));
//s_eo_currents_watchdog.filter_reg = eo_mempool_GetMemory(eo_mempool_GetHandle(), eo_mempool_align_auto, sizeof(float), s_eo_currents_watchdog.numberofmotors);
//memset(s_eo_currents_watchdog.filter_reg, 0, s_eo_currents_watchdog.numberofmotors*sizeof(float));
s_eo_currents_watchdog.avgCurrent = eo_mempool_GetMemory(eo_mempool_GetHandle(), eo_mempool_align_auto, sizeof(eoCurrentWD_averageData_t), s_eo_currents_watchdog.numberofmotors);
memset(s_eo_currents_watchdog.avgCurrent, 0, s_eo_currents_watchdog.numberofmotors*sizeof(eoCurrentWD_averageData_t));
s_eo_currents_watchdog.accomulatorEp = eo_mempool_GetMemory(eo_mempool_GetHandle(), eo_mempool_align_auto, sizeof(float), s_eo_currents_watchdog.numberofmotors);
memset(s_eo_currents_watchdog.accomulatorEp, 0, s_eo_currents_watchdog.numberofmotors*sizeof(float));
s_eo_currents_watchdog.initted = eobool_true;
return(&s_eo_currents_watchdog);
}
extern eOresult_t eo_entities_Reset(EOtheEntities *p)
{
uint8_t i=0;
uint8_t max = 0;
memset(s_eo_theentities.joints, 0, sizeof(s_eo_theentities.joints));
memset(s_eo_theentities.motors, 0, sizeof(s_eo_theentities.motors));
memset(s_eo_theentities.skins, 0, sizeof(s_eo_theentities.skins));
memset(s_eo_theentities.strains, 0, sizeof(s_eo_theentities.strains));
memset(s_eo_theentities.maises, 0, sizeof(s_eo_theentities.maises));
memset(s_eo_theentities.temperatures, 0, sizeof(s_eo_theentities.temperatures));
memset(s_eo_theentities.inertials, 0, sizeof(s_eo_theentities.inertials));
memset(s_eo_theentities.inertials3, 0, sizeof(s_eo_theentities.inertials3));
// joints
max = eoprot_entity_numberof_get(eoprot_board_localboard, eoprot_endpoint_motioncontrol, eoprot_entity_mc_joint);
if(max>eoprotwrap_max_joints) max = eoprotwrap_max_joints;
s_eo_theentities.numofjoints = 0;
for(i=0; i<max; i++)
{
s_eo_theentities.joints[i] = (eOmc_joint_t*) eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_motioncontrol, eoprot_entity_mc_joint, (eOprotIndex_t)i);
}
// motors
max = eoprot_entity_numberof_get(eoprot_board_localboard, eoprot_endpoint_motioncontrol, eoprot_entity_mc_motor);
s_eo_theentities.numofmotors = 0;
if(max>eoprotwrap_max_motors) max = eoprotwrap_max_motors;
for(i=0; i<max; i++)
{
s_eo_theentities.motors[i] = (eOmc_motor_t*) eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_motioncontrol, eoprot_entity_mc_motor, (eOprotIndex_t)i);
}
// skins
max = eoprot_entity_numberof_get(eoprot_board_localboard, eoprot_endpoint_skin, eoprot_entity_sk_skin);
s_eo_theentities.numofskins = 0;
if(max>eoprotwrap_max_skins) max = eoprotwrap_max_skins;
for(i=0; i<max; i++)
{
s_eo_theentities.skins[i] = (eOsk_skin_t*) eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_skin, eoprot_entity_sk_skin, (eOprotIndex_t)i);
}
// strains
max = eoprot_entity_numberof_get(eoprot_board_localboard, eoprot_endpoint_analogsensors, eoprot_entity_as_strain);
s_eo_theentities.numofstrains = 0;
if(max>eoprotwrap_max_strains) max = eoprotwrap_max_strains;
for(i=0; i<max; i++)
{
s_eo_theentities.strains[i] = (eOas_strain_t*) eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_analogsensors, eoprot_entity_as_strain, (eOprotIndex_t)i);
}
// maises
max = eoprot_entity_numberof_get(eoprot_board_localboard, eoprot_endpoint_analogsensors, eoprot_entity_as_mais);
s_eo_theentities.numofmaises = 0;
if(max>eoprotwrap_max_maises) max = eoprotwrap_max_maises;
for(i=0; i<max; i++)
{
s_eo_theentities.maises[i] = (eOas_mais_t*) eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_analogsensors, eoprot_entity_as_mais, (eOprotIndex_t)i);
}
// temperatures
max = eoprot_entity_numberof_get(eoprot_board_localboard, eoprot_endpoint_analogsensors, eoprot_entity_as_temperature);
s_eo_theentities.numoftemperatures = 0;
if(max>eoprotwrap_max_temperatures) max = eoprotwrap_max_temperatures;
for(i=0; i<max; i++)
{
s_eo_theentities.temperatures[i] = (eOas_temperature_t*) eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_analogsensors, eoprot_entity_as_temperature, (eOprotIndex_t)i);
}
// inertials
max = eoprot_entity_numberof_get(eoprot_board_localboard, eoprot_endpoint_analogsensors, eoprot_entity_as_inertial);
s_eo_theentities.numofinertials = 0;
if(max>eoprotwrap_max_inertials) max = eoprotwrap_max_inertials;
for(i=0; i<max; i++)
{
s_eo_theentities.inertials[i] = (eOas_inertial_t*) eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_analogsensors, eoprot_entity_as_inertial, (eOprotIndex_t)i);
}
// inertials3
max = eoprot_entity_numberof_get(eoprot_board_localboard, eoprot_endpoint_analogsensors, eoprot_entity_as_inertial3);
s_eo_theentities.numofinertials3 = 0;
if(max>eoprotwrap_max_inertials3) max = eoprotwrap_max_inertials3;
for(i=0; i<max; i++)
{
s_eo_theentities.inertials3[i] = (eOas_inertial3_t*) eoprot_entity_ramof_get(eoprot_board_localboard, eoprot_endpoint_analogsensors, eoprot_entity_as_inertial3, (eOprotIndex_t)i);
}
return(eores_OK);
}
