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Heartbeat feature #32

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Heartbeat feature #32

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6f6fd19
tmp
DaikiMaekawa Feb 13, 2019
c451b4f
Merge branch 'master' of https://github.com/T-frog/tf-2md3-firmware i…
DaikiMaekawa Feb 14, 2019
6db3a6f
change watchdog internal
DaikiMaekawa Feb 14, 2019
62baf03
HEARTBEAT compile option added
DaikiMaekawa Feb 14, 2019
36add60
define a user parameter
DaikiMaekawa Feb 14, 2019
0106191
remove incorrect comment
DaikiMaekawa Feb 14, 2019
14858c1
remove incorrect comment
DaikiMaekawa Feb 14, 2019
1d6b5af
minor fixes
DaikiMaekawa Feb 14, 2019
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7 changes: 5 additions & 2 deletions tfrog-motordriver/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,9 @@ include $(AT91LIB)/boards/$(BOARD)/board.mak
BIN = bin
OBJ = obj

# 1: Enabling heartbeat feature, otherwise 0
HEARTBEAT = 1

#-------------------------------------------------------------------------------
# Tools
#-------------------------------------------------------------------------------
Expand All @@ -94,9 +97,9 @@ INCLUDES += -I$(AT91LIB)/memories
FIRMINFO ?=

CFLAGS = -Wall -mlong-calls $(FIRMINFO) #-ffunction-sections
CFLAGS += $(CPUSPEC) $(OPTIMIZATION) $(INCLUDES) -D$(CHIP) -DTRACE_LEVEL=$(TRACE_LEVEL)
CFLAGS += $(CPUSPEC) $(OPTIMIZATION) $(INCLUDES) -D$(CHIP) -DTRACE_LEVEL=$(TRACE_LEVEL) -DHEARTBEAT=$(HEARTBEAT)
CFLAGS2 = -Wall -mlong-calls $(FIRMINFO) #-ffunction-sections
CFLAGS2 += $(CPUSPEC) -O0 $(INCLUDES) -D$(CHIP) -DTRACE_LEVEL=$(TRACE_LEVEL)
CFLAGS2 += $(CPUSPEC) -O0 $(INCLUDES) -D$(CHIP) -DTRACE_LEVEL=$(TRACE_LEVEL) -DHEARTBEAT=$(HEARTBEAT)
ASFLAGS = $(CPUSPEC) -O0 $(INCLUDES) -D$(CHIP) -D__ASSEMBLY__
LDFLAGS = $(CPUSPEC) -O0 -nostartfiles -Wl,--gc-sections -L$(COMPILER_PREFIX)/lib

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12 changes: 10 additions & 2 deletions tfrog-motordriver/main.c
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Expand Up @@ -586,7 +586,7 @@ int main()

// Enable watchdog
printf("Watchdog init\n\r");
AT91C_BASE_WDTC->WDTC_WDMR = AT91C_WDTC_WDRSTEN | 0xFF00FF; // 1s
AT91C_BASE_WDTC->WDTC_WDMR = AT91C_WDTC_WDRSTEN | 0x7d007d0;
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In my understanding, watchdog count clock is 32.768kHz divided by 128 = 256 Hz. (datasheet 15. Watchdog Timer (WDT))
0x7d0 means 7.8 seconds?

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that's my bad. will revert it back.

AT91C_BASE_WDTC->WDTC_WDCR = 1 | 0xA5000000;

LED_off(0);
Expand Down Expand Up @@ -655,7 +655,8 @@ int main()
// Driver loop
while (1)
{
AT91C_BASE_WDTC->WDTC_WDCR = 1 | 0xA5000000;
if (!HEARTBEAT)
AT91C_BASE_WDTC->WDTC_WDCR = 1 | 0xA5000000;
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The watchdog timer should be reset automatically before entering servo_level > SERVO_LEVEL_STOP.
Otherwise, the device periodically resets its-self including USB connection which is not good behavior.

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it's continuously checked in timer0_vel_calc(), right?
so, you mean, it's better to switch servo_level to STOP if heartbeat doesn't arrive?

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After the power on, servo_level goes SERVO_LEVEL_STOP until PC (yp-spur) starts communicating with the device and changes control mode to SERVO_LEVEL_TORQUE or SERVO_LEVEL_VELOCITY.

If watchdog time is not cleared automatically on SERVO_LEVEL_STOP, the device triggers reset for every watchdog duration.
This resets USB connection and make PC difficult to start the communication.

so, you mean, it's better to switch servo_level to STOP if heartbeat doesn't arrive?

That's not what I would like to say in the previous comment.
But It is sounds also good to make the device always under control. (Everything is uncontrollable during reset.)

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As we discussed, I'm gonna stop the motor from the power cycle via a I/O pin. According to the hardware team, a corresponded pin has not been decided yet.


if (err_chk++ % 20 == 0)
{
Expand Down Expand Up @@ -826,6 +827,7 @@ int main()
if (DBGU_IsRxReady())
{
buf[nbuf] = DBGU_GetChar();

if (buf[nbuf] == '\n' || buf[nbuf] == '\r')
{
buf[nbuf] = 0;
Expand Down Expand Up @@ -860,6 +862,12 @@ int main()
USART_WriteBuffer(AT91C_BASE_US0, &buf[1], nbuf - 1);
}
break;
case 't':
{
if (HEARTBEAT)
AT91C_BASE_WDTC->WDTC_WDCR = 1 | 0xA5000000;
}
break;
}
nbuf = 0;
}
Expand Down