bool System::setParameter( u16 paramID, s32 value, SMCommandQueue &queue )
{
bool fail;
SMPayloadCommandForQueue tx;
queue.lockMutex();
//set param address to write
tx.ID = SMPCMD_SET_PARAM_ADDR;
tx.discardRetData = true;
tx.param = paramID;
if (queue.sendCommand( tx ) == false)
{
fail = true;
setFault( FLT_GC_COMM, 150201 );
queue.unlockMutex();
return false;
}
tx.ID = SMPCMD_32B;
tx.param = value;
tx.discardRetData = true;
if (queue.sendCommand( tx ) == false)
{
fail = true;
setFault( FLT_GC_COMM, 150202 );
queue.unlockMutex();
return false;
}
queue.unlockMutex();
return true;
}
s32 System::getParameter( u16 paramID, bool &fail )
{
SMPayloadCommandForQueue tx;
xSemaphoreTake( SysCmdMutex, portMAX_DELAY );
//set return data len to 32b
tx.ID = SMPCMD_SET_PARAM_ADDR;
tx.discardRetData = true;
tx.param = SMP_RETURN_PARAM_LEN;
if (GCCmdStream2_MediumPriority.sendCommand( tx ) == false)
{
fail = true;
setFault( FLT_GC_COMM, 150101 );
xSemaphoreGive( SysCmdMutex );
return -1;
}
tx.ID = SMPCMD_24B;
tx.param = SMPRET_32B;
if (GCCmdStream2_MediumPriority.sendCommand( tx ) == false)
{
fail = true;
setFault( FLT_GC_COMM, 150102 );
xSemaphoreGive( SysCmdMutex );
return -1;
}
//set param address to read
tx.ID = SMPCMD_SET_PARAM_ADDR;
tx.discardRetData = true;
tx.param = SMP_RETURN_PARAM_ADDR;
if (GCCmdStream2_MediumPriority.sendCommand( tx ) == false)
{
fail = true;
setFault( FLT_GC_COMM, 150103 );
xSemaphoreGive( SysCmdMutex );
return -1;
}
tx.ID = SMPCMD_24B;
tx.param = paramID;
tx.discardRetData = false;
if (GCCmdStream2_MediumPriority.sendCommand( tx ) == false)
{
fail = true;
setFault( FLT_GC_COMM, 150104 );
xSemaphoreGive( SysCmdMutex );
return -1;
}
s32 ret = GCCmdStream2_MediumPriority.getReturnValue( fail );
if (fail)
setFault( FLT_GC_COMM, 150105 );
xSemaphoreGive( SysCmdMutex );
return ret;
}
void MonitoringDevice::commandGetEvent(unsigned char* _pArea){
const unsigned int EVENT_ID_OFFSET = 5;
const unsigned int EVENT_FAULT_OFFSET = 7;
const unsigned int EVENT_COUNT_OFFSET = 8;
setFault(_pArea[EVENT_FAULT_OFFSET]);
unsigned short _eventId = _pArea[EVENT_ID_OFFSET] + _pArea[EVENT_ID_OFFSET + 1] * 256;
if (_eventId != eventId){
if (_pArea[EVENT_COUNT_OFFSET] != 0){
if (!SerialDebug::getSingleton().isOn())
redirectToPc(_pArea);
unsigned int messageCount = firstMessage(&_pArea);
for (unsigned int i = 0; i < messageCount; ++i){
if (isEventMessage(_pArea)){
toLog(_pArea);
setOutputs(_pArea);
}
nextMessage(&_pArea);
}
}
}
eventId = _eventId;
}
System::System() :
//SMComm( &serialPortRS485, this, 5 ),
BootloaderInfo((BLHeader*)BLHEADER_ADDRESS),
physIO(this),
SMComm( &serialPortRS485, this, physIO.getDIPSwitchAddress() ),
serialPortRS485( Serial::RS485,
this ), serialPortGC( Serial::DSC, this ), GCCmdStream1_HighPriority(
this, COMMAND_QUEUE1_SIZE, "cmdQ1Hi" ), GCCmdStream2_LowPriority(
this, COMMAND_QUEUE2_SIZE, "cmdQ2Med" ), GCCmdStream2_HighPriority(
this, COMMAND_QUEUE2_SIZE, "cmdQS2High" ), GCCmdStream2_MediumPriority(
this, SYS_COMMAND_QUEUE_SIZE, "cmdQ2Low" ),
resolver(this)
{
lastPositionFBValue=0;
FaultBitsReg = 0;
FirstFaultBitsReg = 0;
FirstFaultLocation = 0;
LastFaultLocation = 0;
StatusBitsReg = 0;
GCStatusBits=STAT_BRAKING;//set braking on initially to prevent brake clitch at boot
GCFaultBits=0;
GCFirstFault=0;
SignalReg=0;
DriveFlagBits=0;
setpointOffset=0;
serialSetpoint=0;
//deviceResetRequested=false;
//encoder is the default setting, changed later if configured so
positionFeedbackDevice=None;
velocityFeedbackDevice=None;
//positionFeedbackDevice=Resolver;
//velocityFeedbackDevice=Resolver; //set also resolver.enableResolverRead(true); later
//digitalCounterInput.setCountMode( DigitalCounterInput::PWM );
setDebugParam(4,-1);
setDebugParam(5,-1);
setDebugParam(6,-1);
updateSpreadSpectrumClockMode();
initGeneralTimer();
enableHighFrequencyTask( true );
//s32 testPulseAmpl=0;
//s32 testPulsePause=0;
vSemaphoreCreateBinary( SysCmdMutex );
if(SysCmdMutex==NULL)
{
setFault( FLT_FIRMWARE|FLT_ALLOC,FAULTLOCATION_BASE+01);
}
INPUT_REFERENCE_QUEUE.setIgnoreSetpointCommands(true);
}
