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Update diagnostic for aksim2 sending all specific errors per jomo eac…
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…h 10 sec to not overflood eth bus
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@MSECode
MSECode committed Jun 10, 2024
1 parent a268118 commit a51d54c
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Showing 3 changed files with 69 additions and 20 deletions.
2 changes: 1 addition & 1 deletion emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ extern "C" {
#define EOMTHEEMSAPPLCFG_VERSION_MAJOR (VERSION_MAJOR_OFFSET+3)
// <o> minor <0-255>
// <o> minor <0-255>
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 90
#define EOMTHEEMSAPPLCFG_VERSION_MINOR 91

// </h>version

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75 changes: 56 additions & 19 deletions emBODY/eBcode/arch-arm/embobj/plus/board/EOappEncodersReader.c
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Original file line number Diff line number Diff line change
Expand Up @@ -212,6 +212,14 @@ static EOappEncReader s_eo_theappencreader =
EO_INIT(.cnts) { 0, 0},
EO_INIT(.one) { 0, 0, 0, 0, 0 },
EO_INIT(.two) { 0, 0, 0, 0, 0 }
},
EO_INIT(.aksim2DiagnerrorCounters )
{
EO_INIT(.encoder_error_crc_counter ) {0, 0, 0, 0},
EO_INIT(.encoder_error_invalid_data_counter ) {0, 0, 0, 0},
EO_INIT(.encoder_error_close_to_limit_counter ) {0, 0, 0, 0},
EO_INIT(.encoder_error_hal_counter ) {0, 0, 0, 0},
EO_INIT(.encoder_error_total_timer_counter ) {0, 0, 0, 0}
}
};

Expand Down Expand Up @@ -698,18 +706,57 @@ extern eOresult_t eo_appEncReader_GetValue(EOappEncReader *p, uint8_t jomo, eOen
}
else
{ // we dont even have a valid reading from hal or the encoder is not properly connected to the board
++s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_hal_counter[jomo];

prop.valueinfo->errortype = encreader_err_AKSIM2_GENERIC ;
errorparam = 0;

// notify the error (check and re-check)
}

if(++s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_total_timer_counter[jomo] > 10000)
{
// preperare data for diagnostics
eOerrmanDescriptor_t errdes = {0};
errdes.sourcedevice = eo_errman_sourcedevice_localboard;
errdes.sourceaddress = 0;
errdes.par16 = 0;
errdes.par16 = jomo;
errdes.par64 = (uint64_t) (diagn.info.aksim2_status_crc) << 32;
errdes.code = eoerror_code_get(eoerror_category_HardWare, eoerror_value_HW_encoder_not_connected);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdes);

if(s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_hal_counter[jomo] > 0)
{
errdes.code = eoerror_code_get(eoerror_category_HardWare, eoerror_value_HW_encoder_not_connected);
errdes.par64 |= s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_hal_counter[jomo];
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdes);

s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_hal_counter[jomo] = 0;
}
if(s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_invalid_data_counter[jomo] > 0)
{
errdes.code = eoerror_code_get(eoerror_category_HardWare, eoerror_value_HW_encoder_invalid_value);
errdes.par64 |= s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_invalid_data_counter[jomo];
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdes);

s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_invalid_data_counter[jomo] = 0;
}
if(s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_close_to_limit_counter[jomo] > 0)
{
errdes.code = eoerror_code_get(eoerror_category_HardWare, eoerror_value_HW_encoder_close_to_limits);
errdes.par64 |= s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_close_to_limit_counter[jomo];
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdes);

s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_close_to_limit_counter[jomo] = 0;
}
if(s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_crc_counter[jomo] > 0)
{
errdes.code = eoerror_code_get(eoerror_category_HardWare, eoerror_value_HW_encoder_crc);
errdes.par64 |= s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_crc_counter[jomo];
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdes);

s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_crc_counter[jomo] = 0;
}

s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_total_timer_counter[jomo] = 0;
}

#if defined(DEBUG_encoder_AKSIM)
sev->off();
#endif
Expand Down Expand Up @@ -1398,36 +1445,26 @@ static eObool_t s_eo_appEncReader_IsValidValue_AKSIM2(uint8_t jomo, hal_spiencod
{
// in case of errors we return false. Initially we assume no errors
eObool_t ret = eobool_true;

// preperare data for diagnostics
eOerrmanDescriptor_t errdes = {0};
errdes.sourcedevice = eo_errman_sourcedevice_localboard;
errdes.sourceaddress = 0;
errdes.par16 = jomo;
errdes.par64 = (uint64_t) (diag->info.aksim2_status_crc) << 32;

// In case of errors we send human readable diagnostics messages
if(0x04 == (0x04 & diag->info.aksim2_status_crc))
{
errdes.code = eoerror_code_get(eoerror_category_HardWare, eoerror_value_HW_encoder_invalid_value);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdes);
++s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_invalid_data_counter[jomo];
ret = eobool_false;
}

if(0x02 == (0x02 & diag->info.aksim2_status_crc))
{
errdes.code = eoerror_code_get(eoerror_category_HardWare, eoerror_value_HW_encoder_close_to_limits);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdes);
++s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_close_to_limit_counter[jomo];
ret = eobool_false;
}

if(0x01 == (0x01 & diag->info.aksim2_status_crc))
{
errdes.code = eoerror_code_get(eoerror_category_HardWare, eoerror_value_HW_encoder_crc);
eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdes);
++s_eo_theappencreader.aksim2DiagnerrorCounters.encoder_error_crc_counter[jomo];
ret = eobool_false;
}


return ret;
}

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12 changes: 12 additions & 0 deletions emBODY/eBcode/arch-arm/embobj/plus/board/EOappEncodersReader_hid.h
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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,17 @@ typedef struct
} eo_appEncReader_amodiag_t;


// structure defined for counting the errors related to aksim2 encoder
typedef struct
{
uint16_t encoder_error_crc_counter[eOappEncReader_jomos_maxnumberof];
uint16_t encoder_error_invalid_data_counter[eOappEncReader_jomos_maxnumberof];
uint16_t encoder_error_close_to_limit_counter[eOappEncReader_jomos_maxnumberof];
uint16_t encoder_error_hal_counter[eOappEncReader_jomos_maxnumberof];
uint16_t encoder_error_total_timer_counter[eOappEncReader_jomos_maxnumberof];

} eOappEncReader_Aksim2_DiagnosticError_Counters_t;

struct EOappEncReader_hid
{
eObool_t initted;
Expand All @@ -127,6 +138,7 @@ struct EOappEncReader_hid
float maisConversionFactors[eOappEncReader_jomos_maxnumberof];
eOappEncReader_hallAdc_conversionData_t hallAdcConversionData;
eo_appEncReader_amodiag_t amodiag;
eOappEncReader_Aksim2_DiagnosticError_Counters_t aksim2DiagnerrorCounters;
};


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