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Merge pull request gab-k#20 from gab-k/warnings
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remove some warnings
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@r3drock
r3drock authored Dec 31, 2023
2 parents d7f4621 + 7812366 commit 5ae65b3
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Showing 2 changed files with 42 additions and 47 deletions.
85 changes: 40 additions & 45 deletions core0.c
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Original file line number Diff line number Diff line change
Expand Up @@ -242,8 +242,7 @@ void set_outputs(uint32_t functions_to_set_bitmask) {
uint32_t temp_mask = 1;
for (uint8_t i = 0; i < 32; i++) {
if (temp_mask & functions_to_set_bitmask ){
bool dir = get_direction(0);
outputs_to_set |= get_32bit_CV(i * 8 + 260 - 4 * dir);
outputs_to_set |= get_32bit_CV(i * 8 + 260 - 4 * get_direction(0));
}
temp_mask<<=1;
}
Expand Down Expand Up @@ -272,7 +271,6 @@ void set_outputs(uint32_t functions_to_set_bitmask) {
// Update functions F0 - F31 when function command is received or in case of direction change
void update_active_functions(uint32_t new_function_bitmask, uint8_t clr_bit_ind, bool direction_change) {
static uint32_t active_functions;
static uint32_t prev_active_func;

// Outputs depend on direction
// In case of a direction change every output needs to be set according to configuration for the other direction
Expand All @@ -284,15 +282,16 @@ void update_active_functions(uint32_t new_function_bitmask, uint8_t clr_bit_ind,
new_function_bitmask &= ~(clr_bit_arr[clr_bit_ind]); // Clear every bit except bits corresponding to group of functions
active_functions &= clr_bit_arr[clr_bit_ind]; // Clear bits corresponding to group of functions
active_functions |= new_function_bitmask; // Write bits corresponding to group of functions
uint32_t changes = active_functions ^ prev_active_func; // Checks for changes from previous state
static uint32_t prev_active_func = 0;
const uint32_t changes = active_functions ^ prev_active_func; // Checks for changes from previous state
if(changes) set_outputs(active_functions);
prev_active_func = active_functions;
}
}


// Bitwise XOR for all Bytes -> Successful result is: "0000 0000"
bool error_detection(int8_t number_of_bytes, const uint8_t * const byte_array) {
bool error_detection(const int8_t number_of_bytes, const uint8_t * const byte_array) {
uint8_t xor_byte = 0;
for (int i = 0; i < number_of_bytes; i++) {
xor_byte = xor_byte ^ byte_array[i];
Expand All @@ -302,33 +301,33 @@ bool error_detection(int8_t number_of_bytes, const uint8_t * const byte_array) {


// Check for long address. Function returns true for long address.
bool is_long_address(uint8_t number_of_bytes, const uint8_t * const byte_array) {
bool is_long_address(const uint8_t number_of_bytes, const uint8_t * const byte_array) {
if ((byte_array[number_of_bytes - 1]>>6) == 0b00000011) return true;
return false;
}


// First checks for idle package and then evaluates address included in byte_array[]
bool address_evaluation(uint8_t number_of_bytes,const uint8_t * const byte_array) {
bool address_evaluation(const uint8_t number_of_bytes,const uint8_t * const byte_array) {
// Check for Idle Package
if (byte_array[number_of_bytes - 1] == 255)
{
return false;
}

// Long/extended address decoder configuration (CV_29 Bit5)
bool CV_29_bit5 = (CV_ARRAY_FLASH[28]&0b00100000)>>5;
const bool CV_29_bit5 = (CV_ARRAY_FLASH[28]&0b00100000)>>5;
uint16_t read_address;
// Decoder configured to receive long/extended address
if (CV_29_bit5){
// Package received does contain a long address -> Check for accordance
if (is_long_address(number_of_bytes, byte_array))
{
// start of transmission -> address_byte_1 -> address_byte_0 -> ... -> end of transmission
uint16_t address_byte_1 = (byte_array[number_of_bytes - 1]) - 192; // Remove long address identifier bits
uint16_t address_byte_0 = (byte_array[number_of_bytes - 2]);
const uint16_t address_byte_1 = (byte_array[number_of_bytes - 1]) - 192; // Remove long address identifier bits
const uint16_t address_byte_0 = (byte_array[number_of_bytes - 2]);
read_address = (address_byte_1 << 8) + address_byte_0;
uint16_t long_address = get_16bit_CV(16) & 0x3FFF; // &Mask to remove long address identifier bits
const uint16_t long_address = get_16bit_CV(16) & 0x3FFF; // &Mask to remove long address identifier bits
return (long_address == read_address);
}
// Package received does not contain a long address
Expand All @@ -348,23 +347,22 @@ bool address_evaluation(uint8_t number_of_bytes,const uint8_t * const byte_array


// Evaluate the type of instruction
void instruction_evaluation(uint8_t number_of_bytes,const uint8_t * const byte_array) {
void instruction_evaluation(const uint8_t number_of_bytes,const uint8_t * const byte_array) {
// start of transmission -> ... -> command_byte_n -> ... -> command_byte_0 -> ... -> end of transmission
// The position of command bytes depend on whether the address is long or not
uint8_t command_byte_n;
uint8_t command_byte_start_index;
if (is_long_address(number_of_bytes,byte_array)) {
command_byte_start_index = number_of_bytes - 3;
}
else {
command_byte_start_index = number_of_bytes - 2;
}
command_byte_n = byte_array[command_byte_start_index];
const uint8_t command_byte_n = byte_array[command_byte_start_index];

//0011-1111 (128 Speed Step Control) - 2 Byte length
if (command_byte_n == 0b00111111){
static bool prev_dir;
uint32_t speed_step = byte_array[command_byte_start_index - 1];
const uint32_t speed_step = byte_array[command_byte_start_index - 1];
// LOG(1, "new speed %d", speed_step);
multicore_fifo_push_blocking(speed_step);
// LOG(1, " submitted to list");
Expand Down Expand Up @@ -423,11 +421,11 @@ bool reset_package_check(uint8_t number_of_bytes,const uint8_t * const byte_arra

// Checks for valid package - looking for correct preamble
int8_t check_for_package() { //returns number of bytes if valid bit-pattern is found. Otherwise -1 is returned.
uint64_t package3Masked = input_bit_buffer & PACKAGE_MASK_3_BYTES;
const uint64_t package3Masked = input_bit_buffer & PACKAGE_MASK_3_BYTES;
if (package3Masked == PACKAGE_3_BYTES) return 3;
uint64_t package4Masked = input_bit_buffer & PACKAGE_MASK_4_BYTES;
const uint64_t package4Masked = input_bit_buffer & PACKAGE_MASK_4_BYTES;
if (package4Masked == PACKAGE_4_BYTES) return 4;
uint64_t package5Masked = input_bit_buffer & PACKAGE_MASK_5_BYTES;
const uint64_t package5Masked = input_bit_buffer & PACKAGE_MASK_5_BYTES;
if (package5Masked == PACKAGE_5_BYTES) return 5;
return -1;
}
Expand All @@ -445,7 +443,7 @@ void bits_to_byte_array(int8_t number_of_bytes,uint8_t byte_array[]) {
void evaluation(){
static bool core1_launched = false;
static bool reset_package_flag;
int8_t number_of_bytes = check_for_package();
const int8_t number_of_bytes = check_for_package();
// number_of_bytes contains the amount of bytes when the package is valid, otherwise -1
if (number_of_bytes != -1) {
// Split data into 8Bit array
Expand Down Expand Up @@ -492,7 +490,7 @@ void track_signal_fall(unsigned int gpio, long unsigned int events) {
// Save current timer value
falling_edge_time = get_absolute_time();
// Time difference is equal to the time the signal was in a logical high state
int64_t time_logical_high = absolute_time_diff_us(rising_edge_time,falling_edge_time);
const int64_t time_logical_high = absolute_time_diff_us(rising_edge_time,falling_edge_time);
// When logical high was longer than 87us write 0 bit into buffer otherwise 1
bool bit;
if(time_logical_high > 87) bit = 0;
Expand All @@ -511,18 +509,15 @@ void track_signal_fall(unsigned int gpio, long unsigned int events) {
void init_outputs(){
gpio_init_mask(GPIO_ALLOWED_OUTPUTS);
gpio_set_dir_out_masked(GPIO_ALLOWED_OUTPUTS); // Note: This might also disable UART on GPIO0 & GPIO1
uint32_t PWM_enabled_outputs = get_32bit_CV(111) & GPIO_ALLOWED_OUTPUTS;
uint32_t slice, channel;
uint16_t wrap, level;
uint8_t clock_divider;
const uint32_t PWM_enabled_outputs = get_32bit_CV(111) & GPIO_ALLOWED_OUTPUTS;
uint32_t mask = 1;
for (uint8_t i = 0; i < 32; ++i) {
if (PWM_enabled_outputs & mask){
slice = pwm_gpio_to_slice_num(i);
channel = pwm_gpio_to_channel(i); // Channel A = "0"; Channel B = "1"
wrap = get_16bit_CV(115 + 7*slice);
level = get_16bit_CV(118 + 7*slice + 2*channel);
clock_divider = CV_ARRAY_FLASH[117+7*slice] + 1;
const uint32_t slice = pwm_gpio_to_slice_num(i);
const uint32_t channel = pwm_gpio_to_channel(i); // Channel A = "0"; Channel B = "1"
const uint16_t wrap = get_16bit_CV(115 + 7*slice);
const uint16_t level = get_16bit_CV(118 + 7*slice + 2*channel);
const uint8_t clock_divider = CV_ARRAY_FLASH[117+7*slice] + 1;
gpio_set_function(i,GPIO_FUNC_PWM);
pwm_set_wrap(slice,wrap);
pwm_set_gpio_level(i,0);
Expand All @@ -542,7 +537,7 @@ uint16_t measure_base_pwm(bool direction, uint8_t iterations){
else gpio = MOTOR_REV_PIN;
float level_arr[iterations];
for (int i = 0; i < iterations; ++i) {
uint16_t max_level = _125M/(CV_ARRAY_FLASH[8]*100+10000);
const uint16_t max_level = _125M/(CV_ARRAY_FLASH[8]*100+10000);
uint16_t level = max_level/20;
LOG(3, "iteration %d: maxlevel %d level %d\n", i, max_level, level);
float measurement;
Expand All @@ -567,7 +562,7 @@ uint16_t measure_base_pwm(bool direction, uint8_t iterations){
busy_wait_ms(100);
}
// Find and return overall average discarding outliers in measurement - multiply with 0.9
float retVal = 0.9f*two_std_dev(level_arr,5);
const float retVal = 0.9f*two_std_dev(level_arr,5);
LOG(1, "measure_base_pwm: %d(%f)\n", (uint16_t)retVal, retVal);
return (uint16_t)(retVal);
}
Expand All @@ -580,38 +575,38 @@ void cv_setup_check(){
// Check for flash factory setting and set CV_FLASH_ARRAY to default values when factory condition ("0xFF") is found.
if ( CV_ARRAY_FLASH[64] == 0xFF ){
LOG(1, "found cv[64] equals to 0xff, reseting CVs (and CV[8] = 8)\n");
uint8_t arr[4] = {125,8,7,124};
const uint8_t arr[4] = {125,8,7,124};
program_mode(4,arr); //reset to CV_ARRAY_DEFAULT (write CV_8 = 8)
}

// Check for adc offset setup
if ( CV_ARRAY_FLASH[171] == 0xFF ){
LOG(1, "found cv[171] equals to 0xff, adc offset adjstments (and cr[7] = 7)\n");
uint8_t arr[4] = {125,7,6,124};
const uint8_t arr[4] = {125,7,6,124};
program_mode(4,arr); //ADC offset adjustment (write CV_7 = 7)
}

// Check for base PWM configuration - used for feed-forward
// Forward Direction
if (get_16bit_CV(175) == 0){
LOG(1, "found cv[175] equals to 0, forward direction\n");
uint16_t base_pwm_fwd = measure_base_pwm(true,10);
uint8_t base_pwm_fwd_high_byte = base_pwm_fwd>>8;
uint8_t base_pwm_fwd_low_byte = base_pwm_fwd&0x00FF;
uint8_t arr0[4] = {125,base_pwm_fwd_high_byte,175,124};
const uint16_t base_pwm_fwd = measure_base_pwm(true,10);
const uint8_t base_pwm_fwd_high_byte = base_pwm_fwd>>8;
const uint8_t base_pwm_fwd_low_byte = base_pwm_fwd&0x00FF;
const uint8_t arr0[4] = {125,base_pwm_fwd_high_byte,175,124};
program_mode(4,arr0);
uint8_t arr1[4] = {125,base_pwm_fwd_low_byte,176,124};
const uint8_t arr1[4] = {125,base_pwm_fwd_low_byte,176,124};
program_mode(4,arr1);
}
// Reverse Direction
if (get_16bit_CV(177) == 0){
LOG(1, "found cv[177] equals to 0, reverse direction\n");
uint16_t base_pwm_rev = measure_base_pwm(false,10);
uint8_t base_pwm_rev_high_byte = base_pwm_rev>>8;
uint8_t base_pwm_rev_low_byte = base_pwm_rev&0x00FF;
uint8_t arr0[4] = {125,base_pwm_rev_high_byte,177,124};
const uint16_t base_pwm_rev = measure_base_pwm(false,10);
const uint8_t base_pwm_rev_high_byte = base_pwm_rev>>8;
const uint8_t base_pwm_rev_low_byte = base_pwm_rev&0x00FF;
const uint8_t arr0[4] = {125,base_pwm_rev_high_byte,177,124};
program_mode(4,arr0);
uint8_t arr1[4] = {125,base_pwm_rev_low_byte,178,124};
const uint8_t arr1[4] = {125,base_pwm_rev_low_byte,178,124};
program_mode(4,arr1);
}
LOG(1, "int_lim_max %d\n", CV_ARRAY_FLASH[51]);
Expand Down Expand Up @@ -639,8 +634,8 @@ bool get_direction(bool *direction_ptr){

// Motor PWM initialization
void init_motor_pwm(uint8_t gpio) {
uint16_t wrap_counter = (_125M/(CV_ARRAY_FLASH[8]*100+10000)) - 1;
uint32_t slice_num = pwm_gpio_to_slice_num(gpio);
const uint16_t wrap_counter = (_125M/(CV_ARRAY_FLASH[8]*100+10000)) - 1;
const uint32_t slice_num = pwm_gpio_to_slice_num(gpio);
pwm_set_clkdiv_int_frac(slice_num,CV_ARRAY_FLASH[173],0);
pwm_set_wrap(slice_num, wrap_counter);
pwm_set_gpio_level(gpio,0);
Expand Down
4 changes: 2 additions & 2 deletions core0.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -39,8 +39,8 @@ void write_cv_handler(uint16_t cv_index, uint8_t cv_data);

void program_mode(uint8_t number_of_bytes, const uint8_t byte_array[]);
void set_outputs(uint32_t functions_to_set_bitmask);
void update_active_functions(uint32_t byte, uint8_t clr_bit_ind,bool direction_change);
bool error_detection(int8_t number_of_bytes, const uint8_t byte_array[]);
void update_active_functions(uint32_t new_function_bitmask, uint8_t clr_bit_ind, bool direction_change);
bool error_detection(int8_t number_of_bytes, const uint8_t * byte_array);
bool is_long_address(uint8_t number_of_bytes, const uint8_t byte_array[]);
bool address_evaluation(uint8_t number_of_bytes,const uint8_t byte_array[]);
void instruction_evaluation(uint8_t number_of_bytes,const uint8_t byte_array[]);
Expand Down

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