P018_34_KG3_BLCP.h

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//------------------------------------------------------------------------------
//! @file       P018_34_KG3_BLCP.h
//! @brief      KG3 control board P013.34 V1 T1 hardware driver header file.
//! @attention  No special attention requered.
//! @copyright  (C) 2015-2020 ANVILEX LLC
//!             $HeadURL: https://192.168.3.4:8443/svn/P004_07/ConOpSys/Hardware/P018_34_KG3_BLCP/P018_34_KG3_BLCP.h $
//!             $Revision: 2328 $
//!             $Date: 2020-12-29 09:26:49 +0500 (Di, 29 Dez 2020) $
//!             $Author: minch $
//------------------------------------------------------------------------------
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice,
//    this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice,
//    this list of conditions and the following disclaimer in the documentation
//    and/or other materials provided with the distribution.
//
// 3. Neither the name of ANVILEX nor the names of its contributors may be
//    used to endorse or promote products derived from this software without
//    specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
//------------------------------------------------------------------------------
 
//------------------------------------------------------------------------------
// Protecting header files from mutual, recursive inclusion.
//------------------------------------------------------------------------------
 
#pragma once
 
//------------------------------------------------------------------------------
// Include standard libraries header files
//------------------------------------------------------------------------------
 
//------------------------------------------------------------------------------
// Include thrid party header files
//------------------------------------------------------------------------------
 
//------------------------------------------------------------------------------
// Include ConOpSys header files
//------------------------------------------------------------------------------
 
#include "Function_Block_Base.h"
 
//------------------------------------------------------------------------------
// Include ConOpSys application header files
//------------------------------------------------------------------------------
 
//! @brief Control panel board P018.34 class
class TP018_34_KG3_BLCP_T1 : public TFunction_Block_Base
{
 
  //----------------------------------------------------------------------------
  // Public defines, methods and variables
  //----------------------------------------------------------------------------
 
  public:
 
    //! @brief Encoder status register structure
    typedef union
    {
 
      //! @brief Encoder status word
      U16 u16_Status;
 
      //! @brief Encoder status bits
      struct
      {
 
        //! @brief Bit 0 :
        U16 bool_Channel_A:1;
 
        //! @brief Bit 1 :
        U16 bool_Channel_B:1;
 
        //! @brief Bit 2 : reserved
        U16 :1;
 
        //! @brief Bit 3 :
        U16 bool_Filtered_Channel_A:1;
 
        //! @brief Bit 4 :
        U16 bool_Filtered_Channel_B:1;
 
        //! @brief Bit 5 : Reserved
        U16 :1;
 
        //! @brief Bits 6..7 : Rotation direction
        U16 u8_Direction:2;
 
        //! @brief Bit 8 : Button status
        U16 bool_Button_Status:1;
 
        //! @brief Bit 9 : Button filtered status
        U16 bool_Filtered_Button_Status:1;
 
        //! @brief Bits 10..15 : Reserved
        U16 :6;
 
      }; // u16_Status_Bits;
 
    } TEncoder_Status;
 
    //! @brief Register structure of the board for generic access
    typedef struct
    {
 
      // Unit identification registers
      U16 u16_Unit_ID_L;        //!< 0x00 : Module identification register
      U16 u16_Unit_ID_H;        //!< 0x01 : Module identification register
 
      U16 u16_Unused_0x02;      //!< 0x02 : Reserved register
      U16 u16_Unused_0x03;      //!< 0x03 : Reserved register
      U16 u16_Unused_0x04;      //!< 0x04 : Reserved register
      U16 u16_Unused_0x05;      //!< 0x05 : Reserved register
      U16 u16_Unused_0x06;      //!< 0x06 : Reserved register
      U16 u16_Unused_0x07;      //!< 0x07 : Reserved register
 
      U16 u16_Encoder_Status;               //!< 0x08 : Encoder status register
      U16 u16_Encoder_Counter;              //!< 0x09 : Encoder counter register
      U16 u16_Encoder_Counter_Latch;        //!< 0x0A : Encoder counter latch register
      U16 u16_Encoder_Counter_Delta_Latch;  //!< 0x0B : Encoder counter latch register
 
//      U16 u16_Unused_0x0B;      //!< 0x0B : Reserved register
      U16 u16_Unused_0x0C;      //!< 0x0C : Reserved register
      U16 u16_Unused_0x0D;      //!< 0x0D : Reserved register
      U16 u16_Unused_0x0E;      //!< 0x0E : Reserved register
      U16 u16_Unused_0x0F;      //!< 0x0F : Reserved register
 
      U16 u16_Display_D2_P1_A;  //!< 0x10 : Display 2, segnant A dara register
      U16 u16_Display_D2_P1_B;  //!< 0x11 :
      U16 u16_Display_D2_P1_C;  //!< 0x12 :
      U16 u16_Display_D2_P1_D;  //!< 0x13 :
      U16 u16_Display_D2_P1_E;  //!< 0x14 :
      U16 u16_Display_D2_P1_F;  //!< 0x15 :
      U16 u16_Display_D2_P1_G;  //!< 0x16 :
      U16 u16_Display_D2_P1_DP; //!< 0x17 :
 
      U16 u16_Display_D2_P2_A;  //!< 0x18 :
      U16 u16_Display_D2_P2_B;  //!< 0x19 :
      U16 u16_Display_D2_P2_C;  //!< 0x1A :
      U16 u16_Display_D2_P2_D;  //!< 0x1B :
      U16 u16_Display_D2_P2_E;  //!< 0x1C :
      U16 u16_Display_D2_P2_F;  //!< 0x1D :
      U16 u16_Display_D2_P2_G;  //!< 0x1E :
      U16 u16_Display_D2_P2_DP; //!< 0x1F :
 
      U16 u16_Display_D2_P3_A;  //!< 0x20 :
      U16 u16_Display_D2_P3_B;  //!< 0x21 :
      U16 u16_Display_D2_P3_C;  //!< 0x22 :
      U16 u16_Display_D2_P3_D;  //!< 0x23 :
      U16 u16_Display_D2_P3_E;  //!< 0x24 :
      U16 u16_Display_D2_P3_F;  //!< 0x25 :
      U16 u16_Display_D2_P3_G;  //!< 0x26 :
      U16 u16_Display_D2_P3_DP; //!< 0x27 :
 
      U16 u16_Display_D1_P1_A;  //!< 0x28 :
      U16 u16_Display_D1_P1_B;  //!< 0x29 :
      U16 u16_Display_D1_P1_C;  //!< 0x2A :
      U16 u16_Display_D1_P1_D;  //!< 0x2B :
      U16 u16_Display_D1_P1_E;  //!< 0x2C :
      U16 u16_Display_D1_P1_F;  //!< 0x2D :
      U16 u16_Display_D1_P1_G;  //!< 0x2E :
      U16 u16_Display_D1_P1_DP; //!< 0x2F :
 
      U16 u16_Display_D1_P2_A;  //!< 0x30 :
      U16 u16_Display_D1_P2_B;  //!< 0x31 :
      U16 u16_Display_D1_P2_C;  //!< 0x32 :
      U16 u16_Display_D1_P2_D;  //!< 0x33 :
      U16 u16_Display_D1_P2_E;  //!< 0x34 :
      U16 u16_Display_D1_P2_F;  //!< 0x35 :
      U16 u16_Display_D1_P2_G;  //!< 0x36 :
      U16 u16_Display_D1_P2_DP; //!< 0x37 :
 
      U16 u16_Display_D1_P3_A;  //!< 0x38 :
      U16 u16_Display_D1_P3_B;  //!< 0x39 :
      U16 u16_Display_D1_P3_C;  //!< 0x3A :
      U16 u16_Display_D1_P3_D;  //!< 0x3B :
      U16 u16_Display_D1_P3_E;  //!< 0x3C :
      U16 u16_Display_D1_P3_F;  //!< 0x3D :
      U16 u16_Display_D1_P3_G;  //!< 0x3E :
      U16 u16_Display_D1_P3_DP; //!< 0x3F :
 
    } TP018_34_KG3_BLCP_Registers;
 
    //--------------------------------------------------------------------------
    // Public methods
    //--------------------------------------------------------------------------
 
    //!-------------------------------------------------------------------------
    //! @brief     Class constructor method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention Don't call this method directly.
    //--------------------------------------------------------------------------
 
    TP018_34_KG3_BLCP_T1();
 
    //!-------------------------------------------------------------------------
    //! @brief     Class destructor method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention Don't call this method directly.
    //--------------------------------------------------------------------------
 
    virtual ~TP018_34_KG3_BLCP_T1();
 
    VOID Map( TP018_34_KG3_BLCP_Registers *struct_Registers_Base_Address );
    virtual VOID Init();    //!< Initialisation method
    virtual VOID Execute(); //!< Execute method
    virtual VOID Send_Information( TProtocol_Base *object_Protocol ); //!< Send information about functional block
 
    //--------------------------------------------------------------------------
    // Function block parameters
    //--------------------------------------------------------------------------
 
    //! @brief Function block sample timr in seconds
    TBlock_Input_Connector object_f32_Sample_Time;
 
//    TBlock_Input_Connector object_u32_Pulse; //!< [-] Encoder pulse per revolution
 
    //! @brief Encoder counter clock frequency in herz
    TBlock_Input_Connector object_f32_Counter_Clock_Frequency;
 
    //--------------------------------------------------------------------------
    // Function block inputs
    //--------------------------------------------------------------------------
 
    //! @brief Display 1, position 1 symbol data
    TBlock_Input_Connector object_u8_Display_1_Position_1;
 
    //! @brief Display 1, position 2 symbol data
    TBlock_Input_Connector object_u8_Display_1_Position_2;
 
    //! @brief Display 1, position 3 symbol data
    TBlock_Input_Connector object_u8_Display_1_Position_3;
 
    //! @brief Display 1 symbol color data
    TBlock_Input_Connector object_u16_Display_1_Color_Data;
 
    //! @brief Display 2, position 1 symbol data
    TBlock_Input_Connector object_u8_Display_2_Position_1;
 
    //! @brief Display 2, position 2 symbol data
    TBlock_Input_Connector object_u8_Display_2_Position_2;
 
    //! @brief Display 2, position 3 symbol data
    TBlock_Input_Connector object_u8_Display_2_Position_3;
 
    //! @brief Display 2 symbol color data
    TBlock_Input_Connector object_u16_Display_2_Color_Data;
 
    //--------------------------------------------------------------------------
    // Function block outputs
    //--------------------------------------------------------------------------
 
    //! @brief Encoder counter
    TBlock_Output_Connector object_f32_Counter;
 
    //! @brief Encoder counter delta
    TBlock_Output_Connector object_f32_Delta;
 
    //! @brief Encoder button status
    TBlock_Output_Connector object_bool_Button;
 
    //! @brief Error flag
    TBlock_Output_Connector object_bool_Error;
 
  //----------------------------------------------------------------------------
  // Protected defines, methods and variables
  //----------------------------------------------------------------------------
 
  protected:
 
  //----------------------------------------------------------------------------
  // Private defines, methods and variables
  //----------------------------------------------------------------------------
 
  private:
 
    //! @brief Hardware mapped registers
    volatile TP018_34_KG3_BLCP_Registers *struct_Registers;
 
    //! @brief Error counter
    U32 u32_Error_Counter;
 
    //! @brief Display update timr
    U32 u32_Display_Update_Time;
 
    //! @brief Display update counter
    U32 u32_Display_Update_Counter;
 
//    F32 f32_Theta_Gain; //!< Internal variable
//    F32 f32_Omega_Gain; //!< Internal variable
//    F32 f32_Omega_Magnitude_Storage; //!< Omega magnitude storage
//    F32 f32_Max_Omega_Change_Rate; //!< Maximal omega change rate
 
    //! @brief First iteration flag
    BOOL bool_First_Iteration;
 
    I16 i16_Debug;
 
};
 
//------------------------------------------------------------------------------
// End of file
//------------------------------------------------------------------------------