Support dumping EEPROM and FPGA registers (#100)

T-frog · Aug 4, 2023 · 220649d · 220649d
1 parent a8cb1fa
commit 220649d
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Showing 7 changed files with 25 additions and 11 deletions.
diff --git a/tfrog-motordriver/communication.c b/tfrog-motordriver/communication.c
@@ -50,7 +50,6 @@ uint8_t receive_buf485[RECV_BUF_LEN];
 volatile int32_t w_receive_buf485 = 0;
 volatile int32_t r_receive_buf485 = 0;
 extern const Pin pinPWMEnable;
-extern Tfrog_EEPROM_data saved_param;
 extern volatile char rs485_timeout;
 extern volatile int16_t tic;
 extern volatile uint8_t usb_read_pause;

diff --git a/tfrog-motordriver/controlPWM.c b/tfrog-motordriver/controlPWM.c
@@ -43,7 +43,7 @@ static const Pin pinPWMCycle2 = PIN_PWM_CYCLE2;
 // / PWM Enable pin instance.
 static const Pin pinPWMEnable = PIN_PWM_ENABLE;
 
-#define SinTB_2PI 4096
+#define SinTB_2PI  4096
 #define AtanTB_LEN 512
 
 static char init = 1;
@@ -81,7 +81,6 @@ inline int16_t atan_(const int32_t x)
   return AtanTB[AtanTB_LEN - 1];
 }
 
-extern Tfrog_EEPROM_data saved_param;
 extern volatile char rs485_timeout;
 
 void controlPWM_config(int32_t i)

diff --git a/tfrog-motordriver/controlVelocity.c b/tfrog-motordriver/controlVelocity.c
@@ -51,8 +51,6 @@ int16_t soft_start[2] = {0, 0};
 Filter1st accelf[2];
 Filter1st accelf0;
 
-extern Tfrog_EEPROM_data saved_param;
-
 void ISR_VelocityControl() RAMFUNC;
 void timer0_vel_calc() RAMFUNC;
 

diff --git a/tfrog-motordriver/controlVelocity.h b/tfrog-motordriver/controlVelocity.h
@@ -42,9 +42,9 @@ typedef enum _ErrorID
 #define ERROR_NUM 6
 
 // ENC0_BUF_MAX must be 2^n to reduce computation cost.
-#define ENC0_BUF_MAX 64
+#define ENC0_BUF_MAX         64
 #define ENC0_DENOMINATOR_MAX ((int)(ENC0_BUF_MAX / 6))
-#define ENC0_BUF_UNKNOWN 0x7FFFFFF
+#define ENC0_BUF_UNKNOWN     0x7FFFFFF
 
 #ifdef static_assert
 static_assert(
@@ -53,7 +53,7 @@ static_assert(
 #endif
 
 #define ACCEL_FILTER_TIME 15  // Timeconstant in velocity control steps
-#define ENC0_FILTER_TIME 32  // Timeconstant in velocity control steps
+#define ENC0_FILTER_TIME  32  // Timeconstant in velocity control steps
 
 typedef struct _MotorState
 {
@@ -176,6 +176,7 @@ typedef struct _DriverState
   uint8_t protocol_version;
   uint32_t velcontrol;
   uint32_t ping_request;
+  uint32_t odom_drop;
 } DriverState;
 
 #ifdef static_assert

diff --git a/tfrog-motordriver/debug.c b/tfrog-motordriver/debug.c
@@ -20,12 +20,14 @@
 #include "communication.h"
 #include "controlVelocity.h"
 #include "debug.h"
+#include "eeprom.h"
+#include "registerFPGA.h"
 
 extern uint8_t send_buf[SEND_BUF_LEN];
 extern volatile uint32_t send_buf_pos;
 
 static int32_t dump_id = -1;
-static void* dump_ptr = 0;
+static volatile void* dump_ptr = 0;
 static int32_t dump_size = -1;
 static int32_t dump_cnt = 0;
 
@@ -54,6 +56,14 @@ void start_dump(const int32_t imotor, const int32_t arg)
       dump_ptr = &driver_param;
       dump_size = sizeof(DriverParam);
       break;
+    case 4:
+      dump_ptr = &saved_param;
+      dump_size = sizeof(Tfrog_EEPROM_data);
+      break;
+    case 5:
+      dump_ptr = &THEVA;
+      dump_size = sizeof(THEVA_REG);
+      break;
     default:
       dump_ptr = 0;
       break;

diff --git a/tfrog-motordriver/eeprom.h b/tfrog-motordriver/eeprom.h
@@ -72,9 +72,11 @@ typedef struct _Tfrog_EEPROM_data
         0,                          \
   }
 
-#define TFROG_EEPROM_DATA_TEXT 0
-#define TFROG_EEPROM_DATA_BIN 1
+#define TFROG_EEPROM_DATA_TEXT       0
+#define TFROG_EEPROM_DATA_BIN        1
 #define TFROG_EEPROM_DATA_BIN_SAVING 2
 #define TFROG_EEPROM_DATA_BIN_LOCKED 3
 
+extern Tfrog_EEPROM_data saved_param;
+
 #endif
diff --git a/tfrog-motordriver/main.c b/tfrog-motordriver/main.c
@@ -710,6 +710,7 @@ int main()
   driver_state.error.hallenc[1] = 0;
   driver_state.ifmode = 0;
   driver_state.watchdog = 0;
+  driver_state.odom_drop = 0;
   // Driver loop
   while (1)
   {
@@ -942,6 +943,10 @@ int main()
       int32_t i;
       /* 約5msおき */
       driver_state.cnt_updated -= 5;
+      for (; driver_state.cnt_updated >= 5; driver_state.cnt_updated -= 5)
+      {
+        driver_state.odom_drop++;
+      }
 
       mask = driver_state.admask;  // analog_mask;
       if (driver_state.io_mask[0])