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…the TDB and its I2C protocol
robotology · May 24, 2024 · b10757f · b10757f
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diff --git a/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/2FOC-V3.X/nbproject/Makefile-default.mk b/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/2FOC-V3.X/nbproject/Makefile-default.mk
diff --git a/...eBcode/arch-dspic/board/2foc/appl/2FOC-V3/2FOC-V3.X/nbproject/Makefile-genesis.properties b/...eBcode/arch-dspic/board/2foc/appl/2FOC-V3/2FOC-V3.X/nbproject/Makefile-genesis.properties
@@ -1,13 +1,13 @@
 #
-#Thu Dec 21 15:24:27 CET 2023
+#Thu May 23 11:01:33 CEST 2024
 default.languagetoolchain.version=1.24
 default.Pack.dfplocation=C\:\\Program Files\\Microchip\\MPLABX\\v6.15\\packs\\Microchip\\dsPIC33F-GP-MC_DFP\\1.3.64
 conf.ids=default
 default.languagetoolchain.dir=C\:\\Program Files (x86)\\Microchip\\xc16\\v1.24\\bin
-host.id=2o04-h5mj-i
+host.id=jxni-i95q-5
 default.platformTool.md5=null
 configurations-xml=686f227af389f0381a28d871fb823d8b
 com-microchip-mplab-nbide-embedded-makeproject-MakeProject.md5=e62346c0c0ecee2637e613b49cb7b7fa
-proj.dir=C\:\\Users\\ascalzo\\Documents\\Work\\Repos\\TESTANDDELETE\\icub-firmware\\emBODY\\eBcode\\arch-dspic\\board\\2foc\\appl\\2FOC-V3\\2FOC-V3.X
+proj.dir=C\:\\Users\\jlosi\\Workspace\\ICUB-FIRM\\icub-firmware\\emBODY\\eBcode\\arch-dspic\\board\\2foc\\appl\\2FOC-V3\\2FOC-V3.X
 host.platform=windows
 default.com-microchip-mplab-nbide-toolchain-xc16-XC16LanguageToolchain.md5=07f7da95e66d00aa4668de5175f752c5
diff --git a/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/2FOC-V3.X/nbproject/private/private.xml b/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/2FOC-V3.X/nbproject/private/private.xml
@@ -3,12 +3,22 @@
     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
     <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
         <group>
-            <file>file:/C:/Users/ascalzo/Documents/Work/Repos/TESTANDDELETE/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/qep.c</file>
-            <file>file:/C:/Users/ascalzo/Documents/Work/Repos/TESTANDDELETE/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/qep.h</file>
-            <file>file:/C:/Users/ascalzo/Documents/Work/Repos/TESTANDDELETE/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/2FOC.c</file>
-            <file>file:/C:/Users/ascalzo/Documents/Work/Repos/TESTANDDELETE/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/System.c</file>
-            <file>file:/C:/Users/ascalzo/Documents/Work/Repos/TESTANDDELETE/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/can_icubProto_trasmitter.c</file>
-            <file>file:/C:/Users/ascalzo/Documents/Work/Repos/TESTANDDELETE/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/can_icubProto.h</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/Faults.c</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/ecan.c</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/System.c</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/i2cTsens.h</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/Faults.h</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/can_icubProto.h</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/can_icubProto_trasmitter.c</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/can_icubProto_parser.c</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/2FOC.c</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/System.h</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/ecan.h</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/can_icubProto_parser.h</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/2FOC.h</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/qep.c</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/qep.h</file>
+            <file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/i2cTsens.c</file>
         </group>
     </open-files>
 </project-private>
diff --git a/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/i2cTsens.h b/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/i2cTsens.h
@@ -19,7 +19,7 @@ extern "C" {
 int setupI2CTsens(void);
 int readI2CTsens(volatile int* temperature);
 // function used for generating synthetic temperature data useful for testing 
-void generateI2CTsensSynthetic(volatile int* temperature);
+void generateI2CTsensSynthetic(volatile int* temperature, volatile int spikeTemp);
 
 #ifdef	__cplusplus
 }

diff --git a/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/System.c b/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/System.c
@@ -164,7 +164,7 @@ void __attribute__((__interrupt__, no_auto_psv)) _T1Interrupt(void)
                 overheating = TRUE;
             }
             else if (!err)
-            {        
+            {     
                 if (gTemperature > gTemperatureLimit)
                 {
                     ++gTemperatureOverheatingCounter;
@@ -180,26 +180,27 @@ void __attribute__((__interrupt__, no_auto_psv)) _T1Interrupt(void)
                 SysError.OverHeatingFailure = TRUE;
                 FaultConditionsHandler();
             }
-            isTemperatureRead = TRUE;
 
+            // simulating spikes       
             // Synthetic data generation
-            /*
-            generateI2CTsensSynthetic(&gTemperature);    
+            /**
+            generateI2CTsensSynthetic(&gTemperature, gTemperatureSpikeSimulated);  
             if (gTemperature > gTemperatureLimit)
             {
                 overheating = TRUE;
             }
-            else if (gTemperature < (gTemperatureLimit-gTemperatureLimit/8))
+            else if (gTemperature < gTemperatureLimit)
             {
                 overheating = FALSE;
             }
-
-            if (overheating && !SysError.OverHeatingFailure)
+            if ( (overheating) && (!SysError.OverHeatingFailure))
             {
                 SysError.OverHeatingFailure = TRUE;
                 FaultConditionsHandler();
             }
             */
+
+            isTemperatureRead = TRUE;
         }
     }
 

diff --git a/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/i2cTsens.c b/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/i2cTsens.c
@@ -186,10 +186,10 @@ void I2CSequentialReadReg(char addr, char byteHigh, char byteLow, char* buff, in
 
 
 
-volatile int synthTempCounter = 0;//timer for generation of synthetic data
+volatile int synthTempCounter = 0; //timer for generation of synthetic data
 int I2Cwdog = 0;
-volatile int I2Ccomerrwdog = 0; //counts number of continuos communication error
-volatile int I2Cerrcode = 0;
+volatile int I2Ccomerrwdog = 0;   //counts number of continuos communication error
+volatile int I2Cerrcode = 0;      //integer for communication error
 volatile char I2Cdead = 0;
 volatile uint16_t I2Cerrors = 0;
 volatile BOOL overheating = FALSE;
@@ -203,30 +203,31 @@ static int config_sensor(void)
 {
     I2Cerrcode = 0;
 
-    // start
-    I2C1CONbits.ACKDT = 0; // Reset any ACK
+    // start phase
+    I2C1CONbits.ACKDT = 0;                        // Reset any ACK
     I2C1CONbits.SEN = 1;
-    WHILE(I2C1CONbits.SEN, -1, config_error)
+    WHILE(I2C1CONbits.SEN, -1, config_error)      // SEN: Start Condition Enable bit
 
-    // transmit 0xD2        
-    I2C1TRN = 0xD2;
-    WHILE(I2C1STATbits.TBF, -2, config_error)
+    // At each transmission phase you have to wait idle and then ack after transmission
+    // transmit 0xD2 phase      
+    I2C1TRN = 0xD2; // D2 = 1101 0010 --> TABLE 5-1: WRITE CONFIGURATION BITS: MCP3421 device code is 1101. 0010 Initiate Continuous Conversion. Ready bit to zero
+    WHILE(I2C1STATbits.TBF, -2, config_error)      // TBF: Transmit Buffer Full Status bit
     // wait Idle
-    WHILE(I2C1STATbits.TRSTAT, -3, config_error);
+    WHILE(I2C1STATbits.TRSTAT, -3, config_error);  // TRSTAT: Transmit Status bit
     // wait ACK
-    WHILE(I2C1STATbits.ACKSTAT, -4, config_error)
+    WHILE(I2C1STATbits.ACKSTAT, -4, config_error)  // ACKSTAT: Acknowledge Status bit
 
     // transmit 0x19        
-    I2C1TRN = 0x19;
+    I2C1TRN = 0x19;  // 0001 1001 --> PGA: 2x, 15SPS (16 bits), 1 CONT CONV, 5-6 not affected, 7-> RDY -> 0 
     WHILE(I2C1STATbits.TBF, -5, config_error)        
     // wait Idle
     WHILE(I2C1STATbits.TRSTAT, -6, config_error);
     // wait ACK
     WHILE(I2C1STATbits.ACKSTAT, -7, config_error)        
 
-    // stop
-    I2C1CONbits.RCEN = 0;
-    I2C1CONbits.PEN=1;
+    // stop phase
+    I2C1CONbits.RCEN = 0;                          // RCEN: Receive Enable bit
+    I2C1CONbits.PEN=1;                             // PEN: Stop Condition Enable bit 
     WHILE(I2C1CONbits.PEN, -8, config_error)
 
 config_error:
@@ -236,6 +237,7 @@ static int config_sensor(void)
 
 int setupI2CTsens(void)
 {
+    // Need to check these registries
     TRISBbits.TRISB8 = 0;
     RPOR4bits.RP8R = 0;
 
@@ -246,13 +248,13 @@ int setupI2CTsens(void)
     ODCBbits.ODCB9=1;
 
     I2C1BRG = 196;//393;          // @100kHz; (FCY/FSCL - FCY/1e7) - 1
-    I2C1CONbits.I2CEN = 0;  // Disable I2C
-    I2C1CONbits.DISSLW = 1; // Disable slew rate control
-    I2C1CONbits.A10M = 0;   // 7-bit slave addr
-    I2C1CONbits.SCLREL = 1; // SCL release control
-    I2C1CONbits.I2CEN = 1;  // Enable I2C
-    IEC1bits.MI2C1IE = 0;   // Master I2C interrupt
-    IFS1bits.MI2C1IF = 0;   // MI2C Flag
+    I2C1CONbits.I2CEN = 0;        // Disable I2C
+    I2C1CONbits.DISSLW = 1;       // Disable slew rate control
+    I2C1CONbits.A10M = 0;         // 7-bit slave addr
+    I2C1CONbits.SCLREL = 1;       // SCL release control
+    I2C1CONbits.I2CEN = 1;        // Enable I2C
+    IEC1bits.MI2C1IE = 0;         // Master I2C interrupt
+    IFS1bits.MI2C1IF = 0;         // MI2C Flag
 
     __delay32(5000);
 
@@ -294,32 +296,40 @@ int readI2CTsens(volatile int* temperature)
     *temperature = DEF_VAL_TEMP;
 
     // start
-    I2C1CONbits.ACKDT = 0; // Reset any ACK
-    I2C1CONbits.SEN = 1;
+    I2C1CONbits.ACKDT = 0;                      // Reset any ACK
+    // SEN: Start Condition Enable bit (when operating as I2C master)
+    I2C1CONbits.SEN = 1;                        // 1 = Initiate Start condition on SDAx and SCLx pins. Hardware clear at end of master Start sequence
     WHILE(I2C1CONbits.SEN, -9, I2Ctimeout)
 
     // transmit 0xD3        
-    I2C1TRN = 0xD3;
-    WHILE(I2C1STATbits.TBF, -10, I2Ctimeout)
+    I2C1TRN = 0xD3;                             // D3 = 1101 0011 --> TABLE 5-1: WRITE CONFIGURATION BITS: MCP3421 device code is 1101. 0 1 1 Initiate Continuous Conversion. ready bit to 1.
+    // TBF: Transmit Buffer Full Status bit
+    WHILE(I2C1STATbits.TBF, -10, I2Ctimeout)    // 1 = Transmit in progress, I2CxTRN is full - 0 = Transmit complete, I2CxTRN is empty
     // wait Idle
-    WHILE(I2C1STATbits.TRSTAT, -11, I2Ctimeout)
+    // TRSTAT: Transmit Status bit (when operating as I2C master, applicable to master transmit operation)
+    WHILE(I2C1STATbits.TRSTAT, -11, I2Ctimeout) // 1 = Master transmit is in progress (8 bits + ACK) - 0 = Master transmit is not in progress 
     // wait ACK
     //WHILE(I2C1STATbits.ACKSTAT, -12, I2Ctimeout)           
 
-    if (!I2C1STATbits.ACKSTAT)        
+    // ACKSTAT: Acknowledge Status bit
+    if (!I2C1STATbits.ACKSTAT)                  // Hardware set or clear at end of slave Acknowledge. - 1 = NACK received from slave 0 = ACK received from slave
     {
         unsigned int buffer[3]={0xFF,0xFF,0xFF};
         int b;
 
         for (b=0; b<3; ++b)
         {
             // receive enable
-            I2C1CONbits.RCEN = 1;
+            // RCEN: Receive Enable bit (when operating as I2C master)
+            I2C1CONbits.RCEN = 1;                     // 1 = Enables Receive mode for I2C. Hardware clear at end of eighth bit of master receive data byte
             Nop();
-            WHILE(!I2C1STATbits.RBF, -13, I2Ctimeout)
+            // RBF: Receive Buffer Full Status bit
+            WHILE(!I2C1STATbits.RBF, -13, I2Ctimeout) // 1 = Receive complete, I2CxRCV is full
             buffer[b]=I2C1RCV;
-            I2C1CONbits.ACKDT = (b==2); // Send ACK/NACK
-            I2C1CONbits.ACKEN = 1;      // Initiate Acknowledge and transmit ACKDT
+            // ACKDT: Acknowledge Data bit (when operating as I2C master, applicable during master receive)
+            I2C1CONbits.ACKDT = (b==2);               // Send ACK/NACK
+            // ACKEN: Acknowledge Sequence Enable bit
+            I2C1CONbits.ACKEN = 1;                    // Initiate Acknowledge sequence on SDAx and SCLx pins and transmit ACKDT
             WHILE(I2C1CONbits.ACKEN, -14, I2Ctimeout)
         }
 
@@ -373,8 +383,9 @@ int readI2CTsens(volatile int* temperature)
     }
 
     // stop
-    I2C1CONbits.RCEN = 0;
-    I2C1CONbits.PEN = 1;
+    I2C1CONbits.RCEN = 0;  // RCEN: Receive Enable bit
+    // PEN: Stop Condition Enable bit (when operating as I2C master)
+    I2C1CONbits.PEN = 1;  // 1 = Initiate Stop condition on SDAx and SCLx pins. Hardware clear at end of master Stop sequence
     WHILE(I2C1CONbits.PEN, -15, I2Ctimeout)
 
     return I2Cerrcode;
@@ -384,7 +395,8 @@ int readI2CTsens(volatile int* temperature)
     ++I2Cerrors;
 
     // recover
-    I2C1CONbits.I2CEN = 0;
+    // I2CEN: I2Cx Enable bit
+    I2C1CONbits.I2CEN = 0; // 0 = Disables the I2Cx module. All I2C? pins are controlled by port functions
 
     TRISBbits.TRISB8 = 0;
     RPOR4bits.RP8R = 0;
@@ -396,12 +408,12 @@ int readI2CTsens(volatile int* temperature)
         PORTBbits.RB8 = c%2;
         __delay32(400);
     }
-
-    I2C1CONbits.I2CEN = 1;
+    
+    I2C1CONbits.I2CEN = 1; // 1 = Enables the I2Cx module and configures the SDAx and SCLx pins as serial port pins
 
     __delay32(400);
 
-    I2C1CON &= 0xFFE0;
+    I2C1CON &= 0xFFE0; // 1111 1111 1110 0000
     I2C1CONbits.PEN = 1;
     WHILE(I2C1CONbits.PEN, -16, fatal_error)
 
@@ -420,19 +432,57 @@ int readI2CTsens(volatile int* temperature)
     return I2Cerrcode;
 }
 
+/*
+static int rampCounter = 0;
+static int savedTemp = 0;
 // function used for generating synthetic temperature data useful for testing
 // the increase is done in raw value for a PT1000 and the value is 10 deg each 2 call 
-void generateI2CTsensSynthetic(volatile int* temperature)
+void generateI2CTsensSynthetic(volatile int* temperature, volatile int spikeTemp)
 {
-
     // increase temp of 10 raw unit 
-    if(synthTempCounter >= 2)
+    if(synthTempCounter >= 100)
     {
-        *temperature += 897;
+        if(rampCounter == 0)
+        {
+            *temperature += INCR_DEG_10;
+            
+            if(*temperature > 7573)
+            {
+                savedTemp = *temperature;
+                *temperature = spikeTemp;
+                rampCounter = 1;
+            }
+        }
+        else if(rampCounter == 1)
+        {
+            *temperature = ERR_NUM_10;
+            rampCounter = 2;
+        }
+        else if(rampCounter == 2)
+        {
+            *temperature = DEF_VAL_TEMP;
+            rampCounter = 3;
+        }
+        else if(rampCounter == 3)
+        {
+            *temperature = savedTemp;
+            rampCounter = 4;
+        }
+        else if(rampCounter == 4)
+        {
+            *temperature -= INCR_DEG_10;
+            
+            if(*temperature < 2647)
+            {
+                rampCounter = 0;
+            }
+        }
+        
         synthTempCounter = 0;
     }
     else
     {
         ++synthTempCounter;
     }
 }
+*/