P020_29_KG3_ENC.h

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//------------------------------------------------------------------------------
//! @file       P020_29_KG3_ENC.h
//! @brief      KG3 encoder board P020.29 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/P020_29_KG3_ENC/P020_29_KG3_ENC.h $
//!             $Revision: 2451 $
//!             $Date: 2021-03-09 17:33:37 +0500 (Вт, 09 мар 2021) $
//!             $Author: ggavrituhin $
//------------------------------------------------------------------------------
//
// 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.
//
//------------------------------------------------------------------------------
//  
// TP020_29_KG3_ENC_T0
//   Emulation of the DIO board.
//
// TP020_29_KG3_ENC_T1
//
//------------------------------------------------------------------------------
 
//------------------------------------------------------------------------------
// 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
//------------------------------------------------------------------------------
 
//------------------------------------------------------------------------------
// Macros
//------------------------------------------------------------------------------
 
//------------------------------------------------------------------------------
 
//! @brief KG3 digital I/O board (P020.29 / KG3 ENC T1) type 1 class
class TP020_29_KG3_ENC_T1 : public TFunction_Block_Base
{
  
  //--------------------------------------------------------------------------
  // Public defines, methods and variables
  //--------------------------------------------------------------------------
 
  public:
 
    //------------------------------------------------------------------------
    // Public defines
    //------------------------------------------------------------------------
  
    //! @brief Register structure for digital I/O access
    typedef struct
    {
 
      //! @brief 0x00 : Module identification low register
      U16 u16_Unit_ID_L;        
      
      //! @brief 0x01 : Module identification high register
      U16 u16_Unit_ID_H;
 
      //! @brief 0x02 : Control and status registers
      union
      {
 
        // 0x02 : RELAY_DATA_READ_REGISTER
        //        Bit 15 : Reserved
        //        Bit 14 : Reserved
        //        Bit 13 : Reserved
        //        Bit 12 : Reserved
        //        Bit 11 : Reserved
        //        Bit 10 : Channel Z direction
        //        Bit 9  : Channel Z output data
        //        Bit 8  : Channel Z input data
        //        Bit 7  : Reserved
        //        Bit 6  : Channel B direction
        //        Bit 5  : Channel B output data
        //        Bit 4  : Channel B input data
        //        Bit 3  : Reserved
        //        Bit 2  : Channel A direction
        //        Bit 1  : Channel A output data
        //        Bit 0  : Channel A input data 
        U16 u16_Relay_Data_Read_Register;   //!< Offset 0x02, Data read redister
        
        // 0x02 : RELAY_DATA_WRITE_REGISTER
        //        Bit 15 : Reserved
        //        Bit 14 : Reserved
        //        Bit 13 : Reserved
        //        Bit 12 : Reserved
        //        Bit 11 : Reserved
        //        Bit 10 : Channel Z direction
        //                 0 - Select receive mode
        //                 1 - Select transmit mode
        //        Bit 9  : Channel Z output data
        //                 0 - Set channel output to logical '0'
        //                 1 - Set channel output to logical '1'
        //        Bit 8  : Reserved
        //        Bit 7  : Reserved
        //        Bit 6  : Channel B direction
        //                 0 - Select receive mode
        //                 1 - Select transmit mode
        //        Bit 5  : Channel B output data
        //                 0 - Set channel output to logical '0'
        //                 1 - Set channel output to logical '1'
        //        Bit 4  : Reserved
        //        Bit 3  : Reserved
        //        Bit 2  : Channel A direction
        //                 0 - Select receive mode
        //                 1 - Select transmit mode
        //        Bit 1  : Channel A output data
        //                 0 - Set channel output to logical '0'
        //                 1 - Set channel output to logical '1'
        //        Bit 0  : Reserved
        U16 u16_Relay_Data_Write_Register;  //!< Offset 0x02, Data write redister
      };  
      
      //! @brief 0x03 : Relay data set register
      //        Bit 15 : Reserved
      //        Bit 14 : Reserved
      //        Bit 13 : Reserved
      //        Bit 12 : Reserved
      //        Bit 11 : Reserved
      //        Bit 10 : Channel Z direction
      //                 0 - No action
      //                 1 - Select transmit mode
      //        Bit 9  : Channel Z output data
      //                 0 - No action
      //                 1 - Set channel output to logical '1'
      //        Bit 8  : Reserved
      //        Bit 7  : Reserved
      //        Bit 6  : Channel B direction
      //                 0 - No action
      //                 1 - Select transmit mode
      //        Bit 5  : Channel B output data
      //                 0 - No action
      //                 1 - Set channel output to logical '1'
      //        Bit 4  : Reserved
      //        Bit 3  : Reserved
      //        Bit 2  : Channel A direction
      //                 0 - No action
      //                 1 - Select transmit mode
      //        Bit 1  : Channel A output data
      //                 0 - No action
      //                 1 - Set channel output to logical '1'
      //        Bit 0  : Reserved 
      U16 u16_Relay_Data_Set_Register;        
      
      //! @brief 0x04 : Relay data clear register
      //        Bit 15 : Reserved
      //        Bit 14 : Reserved
      //        Bit 13 : Reserved
      //        Bit 12 : Reserved
      //        Bit 11 : Reserved
      //        Bit 10 : Channel Z direction
      //                 0 - No action
      //                 1 - Select receive mode
      //        Bit 9  : Channel Z output data
      //                 0 - No action
      //                 1 - Set channel output to logical '0'
      //        Bit 8  : Reserved
      //        Bit 7  : Reserved
      //        Bit 6  : Channel B direction
      //                 0 - No action
      //                 1 - Select receive mode
      //        Bit 5  : Channel B output data
      //                 0 - No action
      //                 1 - Set channel output to logical '0'
      //        Bit 4  : Reserved
      //        Bit 3  : Reserved
      //        Bit 2  : Channel A direction
      //                 0 - No action
      //                 1 - Select receive mode
      //        Bit 1  : Channel A output data
      //                 0 - No action
      //                 1 - Set channel output to logical '0'
      //        Bit 0  : Reserved 
      U16 u16_Relay_Data_Clear_Register;        
      
      //! @brief 0x05 : Relay data toggle register
      //        Bit 15 : Reserved
      //        Bit 14 : Reserved
      //        Bit 13 : Reserved
      //        Bit 12 : Reserved
      //        Bit 11 : Reserved
      //        Bit 10 : Channel Z direction
      //                 0 - No action
      //                 1 - Togle between receive and transmit mode
      //        Bit 9 : Channel Z output data
      //                 0 - No action
      //                 1 - Toggle channel output between logical '0' and '1'
      //        Bit 8 : Reserved
      //        Bit 7 : Reserved
      //        Bit 6 : Channel B direction
      //                 0 - No action
      //                 1 - Toggle between receive and transmit mode
      //        Bit 5 : Channel B output data
      //                 0 - No action
      //                 1 - Toggle channel output between logical '0' and '1'
      //        Bit 4 : Reserved
      //        Bit 3 : Reserved
      //        Bit 2 : Channel A direction
      //                 0 - No action
      //                 1 - Toggle between receive and transmit mode
      //        Bit 1 : Channel A output data
      //                 0 - No action
      //                 1 - Toggle channel output between logical '0' and '1'
      //        Bit 0 : Reserved
      U16 u16_Relay_Data_Toggle_Register;       
 
      //! @brief 0x06 : Reserved
      U16 u16_Reserve_6;  
      
      //! @brief 0x07 : Reserved
      U16 u16_Reserve_7;        
      
      //! @brief 0x08 : Reserved
      U16 u16_Reserve_8;        
      
      //! @brief 0x09 : Reserved
      U16 u16_Reserve_9;        
      
      //! @brief 0x0A : Reserved
      U16 u16_Reserve_10; 
      
      //! @brief 0x0B : Reserved
      U16 u16_Reserve_11; 
      
      //! @brief 0x0C : Reserved
      U16 u16_Reserve_12;       
      
      //! @brief 0x0D : Reserved
      U16 u16_Reserve_13;       
      
      //! @brief 0x0E : Reserved
      U16 u16_Reserve_14;       
      
      //! @brief 0x0F : Reserved
      U16 u16_Reserve_15;       
 
    } TP020_29_KG3_ENC_Registers;
 
    //--------------------------------------------------------------------------
    // Public methods
    //--------------------------------------------------------------------------
    
    //!-------------------------------------------------------------------------
    //! @brief     Function block class constructor method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention Don't call this method directly.
    //--------------------------------------------------------------------------
    
    TP020_29_KG3_ENC_T1(); 
    
    //!-------------------------------------------------------------------------
    //! @brief     Function block class destructor method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention Don't call this method directly.
    //--------------------------------------------------------------------------
 
    virtual ~TP020_29_KG3_ENC_T1();
 
    //!-------------------------------------------------------------------------
    //! @brief     Hardware mapping method.
    //! @note      None
    //! @param     [in] *struct_Registers_Base_Address - Base adress to register structure mapping
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    VOID Map( TP020_29_KG3_ENC_Registers *struct_Registers_Base_Address );
    
    //!-------------------------------------------------------------------------
    //! @brief     Function block initialisation method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    virtual VOID Init();
    
    //!-------------------------------------------------------------------------
    //! @brief     Function block execution method.
    //! @note      None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    virtual VOID Execute();
 
    //--------------------------------------------------------------------------
    // Deprecated
    //--------------------------------------------------------------------------
 
    VOID Execute_Inputs();
 
    //--------------------------------------------------------------------------
    // Deprecated
    //--------------------------------------------------------------------------
 
    VOID Execute_Outputs();
 
    //--------------------------------------------------------------------------
    // ??? ==> ANVILEX KM: Move to the hardware class
    //--------------------------------------------------------------------------
 
    U32 Get_Module_ID();
 
    //!-------------------------------------------------------------------------
    //! @brief     Send information about digital I/O baortd driver over communication link protocol
    //! @note      This method sends information about digital I/O driver over specified communication link protocol.
    //! @param     [in] *object_Protocol - Pointer to the communication link protocol
    //! @return    None
    //! \par       Override
    //!            Not allowed
    //! @attention None
    //--------------------------------------------------------------------------
 
    virtual VOID Send_Information( TProtocol_Base *object_Protocol );
 
    //--------------------------------------------------------------------------
    // Public variables
    //--------------------------------------------------------------------------
 
    //--------------------------------------------------------------------------
    // Parameters
    //--------------------------------------------------------------------------
 
    //--------------------------------------------------------------------------
    // Input signal connectors
    //--------------------------------------------------------------------------
 
    //! @brief Digital output 1 for channel A
    TBlock_Input_Connector object_bool_Channel_A_Data;
    
    //! @brief Digital output for channel B
    TBlock_Input_Connector object_bool_Channel_B_Data;
 
    //! @brief Digital output for channel Z
    TBlock_Input_Connector object_bool_Channel_Z_Data;
 
    //--------------------------------------------------------------------------
    // Output signal connectorss
    //--------------------------------------------------------------------------
    
  //----------------------------------------------------------------------------
  // Protected defines, mathods and variables
  //----------------------------------------------------------------------------
 
  protected:
 
  //----------------------------------------------------------------------------
  // Private defines, mathods and variables
  //----------------------------------------------------------------------------
 
  private:
 
    //--------------------------------------------------------------------------
    // Private defines
    //--------------------------------------------------------------------------
 
    //! @brief Structure for bit parsing
    typedef union
    {
      
      //! @brief Raw data
      U16 u16_Raw_Data;
      
      //! @brief Structure of the bits
      struct
      {
        
        //! @brief Bit 0, Reserved
        U16 :1;
        
        //! @brief Bit 1, Channel A data
        U16 bool_Channel_A_Output:1;
        
        //! @brief Bit 2, Channel 3 direction
        U16 bool_Channel_A_Direction:1;
        
        //! @brief Bit 3, Channel 4
        U16 :1;
        
        //! @brief Bit 4, Channel 5
        U16 :1;
        
        //! @brief Bit 5, Channel B data
        U16 bool_Channel_B_Output:1;
        
        //! @brief Bit 6, Channel B direction
        U16 bool_Channel_B_Direction:1;
        
        //! @brief Bit 7, Channel 8
        U16 :1;
        
        //! @brief Bit 8, Channel 8
        U16 :1;
        
        //! @brief Bit 9, Channel Z data
        U16 bool_Channel_Z_Output:1;
        
        //! @brief Bit 10, Channel Z direction
        U16 bool_Channel_Z_Direction:1;
        
        //! @brief Bits 11..15, unused bits
        U16 :5;
        
      };
      
    } TEncoder_Data;
 
 
    //--------------------------------------------------------------------------
    // Private variables
    //--------------------------------------------------------------------------
    
    //! @brief Pointer to the memory area in FPGA address space
    volatile TP020_29_KG3_ENC_Registers *struct_Registers;
 
};
 
//------------------------------------------------------------------------------
 
//! @brief KG3 digital I/O board (P020.29 / KG3 ENC T2) type 2 class
class TP020_29_KG3_ENC_T2 : public TFunction_Block_Base
{
  
  //----------------------------------------------------------------------------
  // Public methods and variables
  //----------------------------------------------------------------------------
  
  public:
 
    // Register structure for generic access
    typedef struct
    {
      
      // Analog value registers
      U16 u16_Status; //!< Status register
      U16 u16_Counter; //!< Counter register
      U16 u16_Counter_Latch;  //!< Counter latch register
      U16 u16_Period; //!< Period in FPGA clocks
      U16 u16_Unused_0x04;  //!< Reserved register
      U16 u16_Unused_0x05;  //!< Reserved register
      U16 u16_Unused_0x06;  //!< Reserved register
      U16 u16_Unused_0x07;  //!< Reserved register
      
    } TP020_29_KG3_ENC_Registers;
    
    
    
    //--------------------------------------------------------------------------
    // Public methods
    //--------------------------------------------------------------------------
 
    // Constructor and destructor
    TP020_29_KG3_ENC_T2();  //!< Constructor method
    virtual ~TP020_29_KG3_ENC_T2(); //!< Destructor method
 
    VOID Map( TP020_29_KG3_ENC_Registers *struct_Registers_Base_Address );
    virtual VOID Init();    //!< Initialisation method
    virtual VOID Execute(); //!< Execute method
    U32 Get_Module_ID();
    virtual VOID Send_Information( TProtocol_Base *object_Protocol ); //!< Send information about functional block
 
    //--------------------------------------------------------------------------
    // Block inputs
    //--------------------------------------------------------------------------
    
    TBlock_Input_Connector object_u32_Pulse; //!< [-] Encoder pulse per revolution
    TBlock_Input_Connector object_f32_Counter_Clock_Frequency; //!< [Hz] Counter clock frequency
//    TBlock_Input_Connector object_f32_Theta_Offset;
    TBlock_Input_Connector object_f32_Max_Omega_Change_Rate; //!< [rad/s] Maximal omega change rate
    
    //--------------------------------------------------------------------------
    // Block outputs
    //--------------------------------------------------------------------------
 
    TBlock_Output_Connector object_f32_Counter; //!< Encoder counter
    
    TBlock_Output_Connector object_f32_Theta;  //!< [rad] Rotor theta
    TBlock_Output_Connector object_f32_Omega;  //!< [rad/s] Rotor speed
    TBlock_Output_Connector object_bool_Error; //!< Error flag
            
  //----------------------------------------------------------------------------
  // Protected methods and variables
  //----------------------------------------------------------------------------
  
  protected:
  
  //----------------------------------------------------------------------------
  // Private methods and variables
  //----------------------------------------------------------------------------
 
  private:
    
    volatile TP020_29_KG3_ENC_Registers *struct_Registers = (TP020_29_KG3_ENC_Registers*)NULL; //!< Hardware mapped registers
 
    U32 u32_Error_Counter = (U32)0; //!< Error counter
 
    F32 f32_Theta_Gain = (F32)0.0f; //!< Internal variable
    F32 f32_Omega_Gain = (F32)0.0f; //!< Internal variable
    F32 f32_Omega_Magnitude_Storage = (F32)0.0f; //!< Omega magnitude storage
    F32 f32_Max_Omega_Change_Rate = (F32)0.0f; //!< Maximal omega change rate
  
    BOOL bool_First_Iteration = (BOOL)true; //!< First iteration flag
  
    #ifdef FUNCTIONAL_BLOCK_CREATE_DIAGNOSE_OUTPUTS
    U16 u16_Status = (U16)0x0000; //!< Quadrature encoder status
    U16 u16_Counter = (U16)0x0000; //!< Quadrature counter
    U16 u16_Period = (U16)0x0000; //!< Rotation period in FPGA clocks
    #endif
 
};
 
//------------------------------------------------------------------------------
// End of file 
//------------------------------------------------------------------------------