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Signed-off-by: Bernardo Carvalho <bernardo.carvalho@tecnico.ulisboa.pt>
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Bernardo Brotas de Carvalho
2024-04-17 18:17:21 +01:00
parent 5dde338719
commit 06242bd5c9
2 changed files with 658 additions and 0 deletions
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DataSources/AtcaIop/AtcaIopConfigEoWo.cpp Normal file
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/**
* @file AtcaIopConfigEoWo.cpp
* @brief Source file for class AtcaIopConfigEoWo
* @date 19/04/2024
* @author Andre Neto / Bernardo Carvalho
*
* @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
* the Development of Fusion Energy ('Fusion for Energy').
* Licensed under the EUPL, Version 1.1 or - as soon they will be approved
* by the European Commission - subsequent versions of the EUPL (the "Licence")
* You may not use this work except in compliance with the Licence.
* You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
*
* @warning Unless required by applicable law or agreed to in writing,
* software distributed under the Licence is distributed on an "AS IS"
* basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
* or implied. See the Licence permissions and limitations under the Licence.
* @details This source file contains the definition of all the methods for
* the class AtcaIopConfigEoWo (public, protected, and private). Be aware that some
* methods, such as those inline could be defined on the header file, instead.
*
*/
#define DLL_API
/*---------------------------------------------------------------------------*/
/* Standard header includes */
/*---------------------------------------------------------------------------*/
#include <fcntl.h>
#include <unistd.h> // for close()
#include <math.h>
/*---------------------------------------------------------------------------*/
/* Project header includes */
/*---------------------------------------------------------------------------*/
#include "AdvancedErrorManagement.h"
#include "MemoryMapSynchronisedOutputBroker.h"
#include "AtcaIopConfigEoWo.h"
/*---------------------------------------------------------------------------*/
/* Static definitions */
/*---------------------------------------------------------------------------*/
/*---------------------------------------------------------------------------*/
/* Method definitions */
/*---------------------------------------------------------------------------*/
namespace MARTe {
const float32 DAC_RANGE = 20.0;
const float32 ATCA_IOP_MAX_DAC_RANGE = 20.0;
AtcaIopConfigEoWo::AtcaIopConfigEoWo() :
DataSourceI(),
MessageI() {
boardFileDescriptor = -1;
//numberOfDACsEnabled = 0u;
//isMaster = 0u;
deviceName = "";
boardId = 0u;
triggerSet = false;
uint32 n;
synchCounter = 0u;
//channelsMemory = NULL_PTR(float32 *);
eoValues = NULL_PTR(int32 *);
woValues = NULL_PTR(float32 *);
filter = ReferenceT<RegisteredMethodsMessageFilter>(GlobalObjectsDatabase::Instance()->GetStandardHeap());
filter->SetDestination(this);
ErrorManagement::ErrorType ret = MessageI::InstallMessageFilter(filter);
if (!ret.ErrorsCleared()) {
REPORT_ERROR(ErrorManagement::FatalError, "Failed to install message filters");
}
}
/*lint -e{1551} the destructor must guarantee that the Timer SingleThreadService is stopped.*/
AtcaIopConfigEoWo::~AtcaIopConfigEoWo() {
if (boardFileDescriptor != -1) {
uint32 statusReg = 0;
//REPORT_ERROR(ErrorManagement::Information, " Close Device Status Reg %d, 0x%x", rc, statusReg);
close(boardFileDescriptor);
REPORT_ERROR(ErrorManagement::Information, "Close device %d OK. Status Reg 0x%x,", boardFileDescriptor, statusReg);
}
if (eoValues != NULL_PTR(int32 *)) {
delete[] eoValues;
}
if (woValues != NULL_PTR(float32 *)) {
delete[] woValues;
}
//if (channelsMemory != NULL_PTR(float32 *)) {
//delete[] channelsMemory;
//}
}
bool AtcaIopConfigEoWo::AllocateMemory() {
return true;
}
uint32 AtcaIopConfigEoWo::GetNumberOfMemoryBuffers() {
return 1u;
}
/*lint -e{715} [MISRA C++ Rule 0-1-11], [MISRA C++ Rule 0-1-12]. Justification: The memory buffer is independent of the bufferIdx.*/
bool AtcaIopConfigEoWo::GetSignalMemoryBuffer(const uint32 signalIdx, const uint32 bufferIdx, void*& signalAddress) {
//bool ok = (signalIdx < (ATCA_IOP_EOWO_N_SIGNALS));
bool ok = true;
if (signalIdx == 0u) {
signalAddress = &eoValues[0];
}
else if (signalIdx == 1u) {
signalAddress = woValues; //&counterAndTimer[1];
}
else {
ok = false;
}
/*
bool ok = (signalIdx < (ATCA_IOP_MAX_DAC_CHANNELS));
if (ok) {
if (channelsMemory != NULL_PTR(float32 *)) {
signalAddress = &(channelsMemory[signalIdx]);
}
}
*/
return ok;
}
const char8* AtcaIopConfigEoWo::GetBrokerName(StructuredDataI& data, const SignalDirection direction) {
const char8 *brokerName = NULL_PTR(const char8 *);
if (direction == OutputSignals) {
uint32 trigger = 0u;
if (!data.Read("Trigger", trigger)) {
trigger = 0u;
}
if (trigger == 1u) {
brokerName = "MemoryMapSynchronisedOutputBroker";
triggerSet = true;
}
else {
brokerName = "MemoryMapOutputBroker";
}
}
else {
REPORT_ERROR(ErrorManagement::ParametersError, "DataSource not compatible with InputSignals");
}
return brokerName;
}
bool AtcaIopConfigEoWo::GetInputBrokers(ReferenceContainer& inputBrokers, const char8* const functionName, void* const gamMemPtr) {
return false;
}
bool AtcaIopConfigEoWo::GetOutputBrokers(ReferenceContainer& outputBrokers, const char8* const functionName, void* const gamMemPtr) {
//Check if there is a Trigger signal for this function.
uint32 functionIdx = 0u;
uint32 nOfFunctionSignals = 0u;
uint32 i;
bool triggerGAM = false;
bool ok = GetFunctionIndex(functionIdx, functionName);
if (ok) {
ok = GetFunctionNumberOfSignals(OutputSignals, functionIdx, nOfFunctionSignals);
}
uint32 trigger = 0u;
for (i = 0u; (i < nOfFunctionSignals) && (ok) && (!triggerGAM); i++) {
ok = GetFunctionSignalTrigger(OutputSignals, functionIdx, i, trigger);
triggerGAM = (trigger == 1u);
}
if ((ok) && (triggerGAM)) {
ReferenceT<MemoryMapSynchronisedOutputBroker> broker("MemoryMapSynchronisedOutputBroker");
ok = broker.IsValid();
if (ok) {
ok = broker->Init(OutputSignals, *this, functionName, gamMemPtr);
}
if (ok) {
ok = outputBrokers.Insert(broker);
}
//Must also add the signals which are not triggering but that belong to the same GAM...
if (ok) {
if (nOfFunctionSignals > 1u) {
ReferenceT<MemoryMapOutputBroker> brokerNotSync("MemoryMapOutputBroker");
ok = brokerNotSync.IsValid();
if (ok) {
ok = brokerNotSync->Init(OutputSignals, *this, functionName, gamMemPtr);
}
if (ok) {
ok = outputBrokers.Insert(brokerNotSync);
}
}
}
}
else {
ReferenceT<MemoryMapOutputBroker> brokerNotSync("MemoryMapOutputBroker");
ok = brokerNotSync.IsValid();
if (ok) {
ok = brokerNotSync->Init(OutputSignals, *this, functionName, gamMemPtr);
}
if (ok) {
ok = outputBrokers.Insert(brokerNotSync);
}
}
return ok;
}
/*lint -e{715} [MISRA C++ Rule 0-1-11], [MISRA C++ Rule 0-1-12]. Justification: the counter and the timer are always reset irrespectively of the states being changed.*/
bool AtcaIopConfigEoWo::PrepareNextState(const char8* const currentStateName, const char8* const nextStateName) {
REPORT_ERROR(ErrorManagement::Information, " EoWo currentStateName %s, nextStateName %s", currentStateName, nextStateName);
return true;
}
bool AtcaIopConfigEoWo::Initialise(StructuredDataI& data) {
bool ok = DataSourceI::Initialise(data);
if (ok) {
ok = data.Read("DeviceName", deviceName);
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "The DeviceName shall be specified");
}
}
if (ok) {
ok = data.Read("BoardId", boardId);
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "The BoardId shall be specified");
}
}
//Get individual signal parameters
//uint32 i = 0u;
/*
if (ok) {
ok = data.MoveRelative("Signals");
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "Could not move to the Signals section");
}
//Do not allow to add signals in run-time
if (ok) {
ok = signalsDatabase.MoveRelative("Signals");
}
if (ok) {
ok = signalsDatabase.Write("Locked", 1u);
}
if (ok) {
ok = signalsDatabase.MoveToAncestor(1u);
}
while ((i < ATCA_IOP_MAX_DAC_CHANNELS) && (ok)) {
if (data.MoveRelative(data.GetChildName(i))) {
//uint32 channelId;
float32 range;
ok = data.Read("OutputRange", range);
if (ok) {
//if (data.Read("OutputRange", range)) {
ok = (range > 0.0) && (range <= ATCA_IOP_MAX_DAC_RANGE);
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "Invalid OutputRange specified.");
}
if (ok) {
outputRange[i] = range;
REPORT_ERROR(ErrorManagement::Information, " Parameter DAC %d Output Range %f", i, range);
//dacEnabled[i] = true;
numberOfDACsEnabled++;
}
}
else {
REPORT_ERROR(ErrorManagement::ParametersError, "The OutputRange shall be specified.");
}
if (ok) {
ok = data.MoveToAncestor(1u);
}
i++;
}
else {
break;
}
}
}
// REPORT_ERROR(ErrorManagement::Information, "numberOfDACsEnabled %d", numberOfDACsEnabled);
//
*/
return ok;
}
bool AtcaIopConfigEoWo::SetConfiguredDatabase(StructuredDataI& data) {
uint32 i;
bool ok = DataSourceI::SetConfiguredDatabase(data);
if (ok) {
ok = triggerSet;
}
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "At least one Trigger signal shall be set.");
}
// Check the signal index
uint32 nOfSignals = GetNumberOfSignals();
if (ok) {
ok = (nOfSignals > 0u);
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "At least one signal shall be defined");
}
}
if (ok) {
ok = (GetSignalType(0).type == SignedInteger);
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "EO signal shall be of type SignedInteger");
}
else {
//In member function ‘virtual bool MARTe::AtcaIopConfigEoWo::SetConfiguredDatabase(MARTe::StructuredDataI&)’:
//AtcaIopConfigEoWo.cpp:311:49: error: no match for ‘operator==’ (operand types are ‘MARTe::BitRange<short unsigned int, 4, 2>’ and ‘const MARTe::TypeDescriptor’)
ok = (GetSignalType(1) == Float32Bit);
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "WO signal shall be of type Float32Bit");
}
}
}
uint32 nOfFunctions = GetNumberOfFunctions();
uint32 functionIdx;
/*
//Check that the number of samples for all the signals is one
for (functionIdx = 0u; (functionIdx < nOfFunctions) && (ok); functionIdx++) {
for (i = 0u; (i < nOfSignals) && (ok); i++) {
uint32 nSamples = 0u;
ok = GetFunctionSignalSamples(OutputSignals, functionIdx, i, nSamples);
if (ok) {
ok = (nSamples == 1u);
}
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError, "The number of samples shall be exactly one");
}
}
}
*/
StreamString fullDeviceName;
//Configure the board
if (ok) {
ok = fullDeviceName.Printf("%s_eo_%d", deviceName.Buffer(), boardId);
}
if (ok) {
ok = fullDeviceName.Seek(0LLU);
}
if (ok) {
boardFileDescriptor = open(fullDeviceName.Buffer(), O_RDWR);
ok = (boardFileDescriptor > -1);
if (!ok) {
REPORT_ERROR_PARAMETERS(ErrorManagement::ParametersError, "Could not open device %s", fullDeviceName);
}
else
REPORT_ERROR(ErrorManagement::Information, "Open device %s OK", fullDeviceName);
}
if (ok) {
//Allocate memory
//channelsMemory = new float32[ATCA_IOP_MAX_DAC_CHANNELS];
eoValues = new int32[ATCA_IOP_MAX_ADC_CHANNELS];
woValues = new float32[ATCA_IOP_MAX_ADC_CHANNELS];
}
return ok;
}
bool AtcaIopConfigEoWo::Synchronise() {
uint32 i;
int32 w;
bool ok = true;
if((synchCounter++)%4096 == 0) {
REPORT_ERROR(ErrorManagement::Information, " Synchronise");
}
/*
if (channelsMemory != NULL_PTR(float32 *)) {
// value = channelsMemory[0] / DAC_RANGE;
for (i = 0u; (i < 2u) && (ok); i++) {
//for (i = 0u; (i < numberOfDACsEnabled ) && (ok); i++) {
float32 value = channelsMemory[i] / outputRange[i];
w = SetDacReg(i, value);
write(boardFileDescriptor, &w, 4);
// value = channelsMemory[1] / DAC_RANGE;
//value = channelsMemory[1] / DAC_RANGE * pow(2,17);
// w = SetDacReg(1, value);
//w = 0x000FFFFF & static_cast<uint32>(value);
// write(boardFileDescriptor, &w, 4);
//REPORT_ERROR(ErrorManagement::Information, " Writing DAC 0 0x%x", w);
}
}
w = dacValues[i];
}
*/
return ok;
}
int32 AtcaIopConfigEoWo::SetDacReg(uint32 channel, float32 val) const {
if (val > 1.0)
val = 1.0;
if (val < -1.0)
val = -1.0;
int32 dacReg = static_cast<int32>(val * pow(2,17));
if (dacReg > 0x1FFFF) // 131071
dacReg = 0x1FFFF;
if (dacReg < -131072) // -0x20000
dacReg = -131072;
dacReg &= 0x0003FFFF; // keep 18 lsb
dacReg |= (0xF & channel) << 28;
return dacReg;
}
CLASS_REGISTER(AtcaIopConfigEoWo, "1.0")
}
// vim: syntax=cpp ts=4 sw=4 sts=4 sr et

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/**
* @file AtcaIopConfigEoWo.h
* @brief Header file for class AtcaIopConfigEoWo
* @date 19/04/2024
* @author Andre Neto / Bernardo Carvalho
*
* Based on Example:
*
*
* @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
* the Development of Fusion Energy ('Fusion for Energy').
* Licensed under the EUPL, Version 1.1 or - as soon they will be approved
* by the European Commission - subsequent versions of the EUPL (the "Licence")
* You may not use this work except in compliance with the Licence.
* You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
*
* @warning Unless required by applicable law or agreed to in writing,
* software distributed under the Licence is distributed on an "AS IS"
* basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
* or implied. See the Licence permissions and limitations under the Licence.
* @details This header file contains the declaration of the class AtcaIopConfigEoWo
* with all of its public, protected and private members. It may also include
* definitions for inline methods which need to be visible to the compiler.
*/
#ifndef ATCA_IOP_DAC_H
#define ATCA_IOP_DAC_H
/*---------------------------------------------------------------------------*/
/* Standard header includes */
/*-------DTYP--------------------------------------------------------------------*/
/*---------------------------------------------------------------------------*/
/* Project header includes */
/*---------------------------------------------------------------------------*/
#include "DataSourceI.h"
#include "EventSem.h"
#include "EmbeddedServiceMethodBinderI.h"
#include "SingleThreadService.h"
#include "MessageI.h"
#include "RegisteredMethodsMessageFilter.h"
/*---------------------------------------------------------------------------*/
/* Class declaration */
/*---------------------------------------------------------------------------*/
namespace MARTe {
/**
* The number of signals
*/
//const uint32 ATCA_IOP_N_DACs = 2u;
const uint32 ATCA_IOP_EOWO_N_SIGNALS = 2u;
//const uint32 ATCA_IOP_MAX_DAC_CHANNELS = 16u;
const uint32 ATCA_IOP_MAX_ADC_CHANNELS = 16u;
/**
* @brief A DataSource which provides an analogue output interface to the ATCA IOP boards.
* @details The configuration syntax is (names are only given as an example):
*
* <pre>
* +AtcaIopConfigEoWo_2 = {
* Class = AtcaIop::AtcaIopConfigEoWo
* DeviceName = "/dev/atca_v6" //Mandatory
* BoardId = 0 //Mandatory
* Signals = {
* EO = {
* Type = int32 //Mandatory. Only type that is supported.
* }
* WO = {
* Type = float32 //Mandatory. Only type that is supported.
* }
* }
* }
* </pre>
* Note that at least one of the GAMs writing to this DataSource must have set one of the signals with Trigger=1 (which forces the writing of all the signals to the DAC).
*/
class AtcaIopConfigEoWo: public DataSourceI, public MessageI {
public:
CLASS_REGISTER_DECLARATION()
/**
* @brief Default constructor
* @post
* Counter = 0
* Time = 0
*/
AtcaIopConfigEoWo ();
/**
* @brief Destructor. Stops the EmbeddedThread.
*/
virtual ~AtcaIopConfigEoWo();
/**
* @brief See DataSourceI::AllocateMemory.
* * @return true.
*/
virtual bool AllocateMemory();
/**
gg* @brief See DataSourceI::GetNumberOfMemoryBuffers.
* @return 1.
*/
virtual uint32 GetNumberOfMemoryBuffers();
/**
* @brief See DataSourceI::GetSignalMemoryBuffer.
*/
virtual bool GetSignalMemoryBuffer(const uint32 signalIdx,
const uint32 bufferIdx,
void *&signalAddress);
/**
* @brief See DataSourceI::GetNumberOfMemoryBuffers.
* @details Only OutputSignals are supported.
* @return MemoryMapSynchronisedOutputBroker if Trigger == 1 for any of the signals, MemoryMapOutputBroker otherwise.
*/
virtual const char8 *GetBrokerName(StructuredDataI &data, const SignalDirection direction);
/**
* @brief See DataSourceI::GetInputBrokers.
* @return false.
*/
virtual bool GetInputBrokers(ReferenceContainer &inputBrokers,
const char8* const functionName,
void * const gamMemPtr);
/**
* @brief See DataSourceI::GetOutputBrokers.
* @details If the functionName is one of the functions which requested a Trigger,
* it adds a MemoryMapSynchronisedOutputBroker instance to the outputBrokers,
* otherwise it adds a MemoryMapOutputBroker instance to the outputBrokers.
* @param[out] outputBrokers where the BrokerI instances have to be added to.
* @param[in] functionName name of the function being queried.
* @param[in] gamMemPtr the GAM memory where the signals will be read from.
* @return true if the outputBrokers can be successfully configured.
*/
virtual bool GetOutputBrokers(ReferenceContainer &outputBrokers,
const char8* const functionName,
void * const gamMemPtr);
/**
* @brief See StatefulI::PrepareNextState.
* @details NOOP.
* @return true.
*/
virtual bool PrepareNextState(const char8 * const currentStateName,
const char8 * const nextStateName);
/**
* @brief Loads and verifies the configuration parameters detailed in the class description.
* @return true if all the mandatory parameters are correctly specified and if the specified optional parameters have valid values.
uint32 synchCounter;
*/
virtual bool Initialise(StructuredDataI & data);
/**
* @brief Final verification of all the parameters and setup of the board configuration.
* @details This method verifies that all the parameters (e.g. number of samples) requested by the GAMs interacting with this DataSource
* are valid and consistent with the board parameters set during the initialisation phase.
* In particular the following conditions shall be met:
* - At least one triggering signal was requested by a GAM (with the property Trigger = 1)
* - All the DAC channels have type float32.
uint32 synchCounter;
* - The number of samples of all the DAC channels is exactly one.
* @return true if all the parameters are valid and consistent with the board parameters and if the board can be successfully configured with
* these parameters.
*/
virtual bool SetConfiguredDatabase(StructuredDataI & data);
/**
* @details Writes the value of all the DAC channels to the board.
* @return true if the writing of all the channels is successful.
*/
virtual bool Synchronise();
private:
/**
* The board device name
*/
StreamString deviceName;
/**
* The board identifier
*/
uint32 boardId;
/**
* The board file descriptor
*/
int32 boardFileDescriptor;
uint32 synchCounter;
/**
* DAC values
*/
// int32 dacValues[ATCA_IOP_N_DACs];
/**
* EO values Signal
*/
int32 *eoValues;
/**
* WO valuesa Signal
*/
float32 *woValues;
/**
* The signal memory
*/
// float32 *channelsMemory;
/**
* The number of enabled DACs
*/
//uint32 numberOfDACsEnabled;
/**
* Filter to receive the RPC which allows to change the...
*/
ReferenceT<RegisteredMethodsMessageFilter> filter;
/**
* True if at least one trigger was set.
*/
bool triggerSet;
int32 SetDacReg(uint32 channel, float32 val) const;
};
}
/*---------------------------------------------------------------------------*/
/* Inline method definitions */
/*---------------------------------------------------------------------------*/
#endif /* ATCA_IOP_DAC_H */
// vim: syntax=cpp ts=4 sw=4 sts=4 sr et