Merge pull request #340 from tinymovr/firmware/reent_warning

Demote schedule reentrance error to warning

docs/protocol/reference.rst

@@ -233,7 +233,7 @@ Processor load in ticks per PWM cycle.
 
 
 
-scheduler.errors
+scheduler.warnings
 -------------------------------------------------------------------
 
 ID: 17
@@ -242,7 +242,7 @@ Type: uint8
 
 
 
-Any scheduler errors, as a bitmask
+Any scheduler warnings, as a bitmask
 
 Flags: 
 

firmware/src/can/can_endpoints.c

@@ -18,7 +18,7 @@
 #include <src/can/can_endpoints.h>
 
 
-uint8_t (*avlos_endpoints[96])(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd) = {&avlos_protocol_hash, &avlos_uid, &avlos_fw_version, &avlos_hw_revision, &avlos_Vbus, &avlos_Ibus, &avlos_power, &avlos_temp, &avlos_calibrated, &avlos_errors, &avlos_warnings, &avlos_save_config, &avlos_erase_config, &avlos_reset, &avlos_enter_dfu, &avlos_config_size, &avlos_scheduler_load, &avlos_scheduler_errors, &avlos_controller_state, &avlos_controller_mode, &avlos_controller_warnings, &avlos_controller_errors, &avlos_controller_position_setpoint, &avlos_controller_position_p_gain, &avlos_controller_velocity_setpoint, &avlos_controller_velocity_limit, &avlos_controller_velocity_p_gain, &avlos_controller_velocity_i_gain, &avlos_controller_velocity_deadband, &avlos_controller_velocity_increment, &avlos_controller_current_Iq_setpoint, &avlos_controller_current_Id_setpoint, &avlos_controller_current_Iq_limit, &avlos_controller_current_Iq_estimate, &avlos_controller_current_bandwidth, &avlos_controller_current_Iq_p_gain, &avlos_controller_current_max_Ibus_regen, &avlos_controller_current_max_Ibrake, &avlos_controller_voltage_Vq_setpoint, &avlos_controller_calibrate, &avlos_controller_idle, &avlos_controller_position_mode, &avlos_controller_velocity_mode, &avlos_controller_current_mode, &avlos_controller_set_pos_vel_setpoints, &avlos_comms_can_rate, &avlos_comms_can_id, &avlos_comms_can_heartbeat, &avlos_motor_R, &avlos_motor_L, &avlos_motor_pole_pairs, &avlos_motor_type, &avlos_motor_calibrated, &avlos_motor_I_cal, &avlos_motor_errors, &avlos_sensors_user_frame_position_estimate, &avlos_sensors_user_frame_velocity_estimate, &avlos_sensors_user_frame_offset, &avlos_sensors_user_frame_multiplier, &avlos_sensors_setup_onboard_calibrated, &avlos_sensors_setup_onboard_errors, &avlos_sensors_setup_external_spi_type, &avlos_sensors_setup_external_spi_calibrated, &avlos_sensors_setup_external_spi_errors, &avlos_sensors_setup_hall_calibrated, &avlos_sensors_setup_hall_errors, &avlos_sensors_select_position_sensor_connection, &avlos_sensors_select_position_sensor_bandwidth, &avlos_sensors_select_position_sensor_raw_angle, &avlos_sensors_select_position_sensor_position_estimate, &avlos_sensors_select_position_sensor_velocity_estimate, &avlos_sensors_select_commutation_sensor_connection, &avlos_sensors_select_commutation_sensor_bandwidth, &avlos_sensors_select_commutation_sensor_raw_angle, &avlos_sensors_select_commutation_sensor_position_estimate, &avlos_sensors_select_commutation_sensor_velocity_estimate, &avlos_traj_planner_max_accel, &avlos_traj_planner_max_decel, &avlos_traj_planner_max_vel, &avlos_traj_planner_t_accel, &avlos_traj_planner_t_decel, &avlos_traj_planner_t_total, &avlos_traj_planner_move_to, &avlos_traj_planner_move_to_tlimit, &avlos_traj_planner_errors, &avlos_homing_velocity, &avlos_homing_max_homing_t, &avlos_homing_retract_dist, &avlos_homing_warnings, &avlos_homing_stall_detect_velocity, &avlos_homing_stall_detect_delta_pos, &avlos_homing_stall_detect_t, &avlos_homing_home, &avlos_watchdog_enabled, &avlos_watchdog_triggered, &avlos_watchdog_timeout };
+uint8_t (*avlos_endpoints[96])(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd) = {&avlos_protocol_hash, &avlos_uid, &avlos_fw_version, &avlos_hw_revision, &avlos_Vbus, &avlos_Ibus, &avlos_power, &avlos_temp, &avlos_calibrated, &avlos_errors, &avlos_warnings, &avlos_save_config, &avlos_erase_config, &avlos_reset, &avlos_enter_dfu, &avlos_config_size, &avlos_scheduler_load, &avlos_scheduler_warnings, &avlos_controller_state, &avlos_controller_mode, &avlos_controller_warnings, &avlos_controller_errors, &avlos_controller_position_setpoint, &avlos_controller_position_p_gain, &avlos_controller_velocity_setpoint, &avlos_controller_velocity_limit, &avlos_controller_velocity_p_gain, &avlos_controller_velocity_i_gain, &avlos_controller_velocity_deadband, &avlos_controller_velocity_increment, &avlos_controller_current_Iq_setpoint, &avlos_controller_current_Id_setpoint, &avlos_controller_current_Iq_limit, &avlos_controller_current_Iq_estimate, &avlos_controller_current_bandwidth, &avlos_controller_current_Iq_p_gain, &avlos_controller_current_max_Ibus_regen, &avlos_controller_current_max_Ibrake, &avlos_controller_voltage_Vq_setpoint, &avlos_controller_calibrate, &avlos_controller_idle, &avlos_controller_position_mode, &avlos_controller_velocity_mode, &avlos_controller_current_mode, &avlos_controller_set_pos_vel_setpoints, &avlos_comms_can_rate, &avlos_comms_can_id, &avlos_comms_can_heartbeat, &avlos_motor_R, &avlos_motor_L, &avlos_motor_pole_pairs, &avlos_motor_type, &avlos_motor_calibrated, &avlos_motor_I_cal, &avlos_motor_errors, &avlos_sensors_user_frame_position_estimate, &avlos_sensors_user_frame_velocity_estimate, &avlos_sensors_user_frame_offset, &avlos_sensors_user_frame_multiplier, &avlos_sensors_setup_onboard_calibrated, &avlos_sensors_setup_onboard_errors, &avlos_sensors_setup_external_spi_type, &avlos_sensors_setup_external_spi_calibrated, &avlos_sensors_setup_external_spi_errors, &avlos_sensors_setup_hall_calibrated, &avlos_sensors_setup_hall_errors, &avlos_sensors_select_position_sensor_connection, &avlos_sensors_select_position_sensor_bandwidth, &avlos_sensors_select_position_sensor_raw_angle, &avlos_sensors_select_position_sensor_position_estimate, &avlos_sensors_select_position_sensor_velocity_estimate, &avlos_sensors_select_commutation_sensor_connection, &avlos_sensors_select_commutation_sensor_bandwidth, &avlos_sensors_select_commutation_sensor_raw_angle, &avlos_sensors_select_commutation_sensor_position_estimate, &avlos_sensors_select_commutation_sensor_velocity_estimate, &avlos_traj_planner_max_accel, &avlos_traj_planner_max_decel, &avlos_traj_planner_max_vel, &avlos_traj_planner_t_accel, &avlos_traj_planner_t_decel, &avlos_traj_planner_t_total, &avlos_traj_planner_move_to, &avlos_traj_planner_move_to_tlimit, &avlos_traj_planner_errors, &avlos_homing_velocity, &avlos_homing_max_homing_t, &avlos_homing_retract_dist, &avlos_homing_warnings, &avlos_homing_stall_detect_velocity, &avlos_homing_stall_detect_delta_pos, &avlos_homing_stall_detect_t, &avlos_homing_home, &avlos_watchdog_enabled, &avlos_watchdog_triggered, &avlos_watchdog_timeout };
 
 uint32_t _avlos_get_proto_hash(void)
 {
@@ -206,11 +206,11 @@ if (AVLOS_CMD_READ == cmd) {
     return AVLOS_RET_NOACTION;
 }
 
-uint8_t avlos_scheduler_errors(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd)
+uint8_t avlos_scheduler_warnings(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd)
 {
 if (AVLOS_CMD_READ == cmd) {
         uint8_t v;
-        v = scheduler_get_errors();
+        v = scheduler_get_warnings();
         *buffer_len = sizeof(v);
         memcpy(buffer, &v, sizeof(v));
         return AVLOS_RET_READ;

firmware/src/can/can_endpoints.h

@@ -10,7 +10,7 @@
 #include <src/common.h>
 #include <src/tm_enums.h>
 
-static const uint32_t avlos_proto_hash = 3066507445;
+static const uint32_t avlos_proto_hash = 318558145;
 extern uint8_t (*avlos_endpoints[96])(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd);
 extern uint32_t _avlos_get_proto_hash(void);
 
@@ -219,16 +219,16 @@ uint8_t avlos_config_size(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command
 uint8_t avlos_scheduler_load(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd);
 
 /*
-* avlos_scheduler_errors
+* avlos_scheduler_warnings
 *
-* Any scheduler errors, as a bitmask
+* Any scheduler warnings, as a bitmask
 *
 * Endpoint ID: 17
 *
 * @param buffer
 * @param buffer_len
 */
-uint8_t avlos_scheduler_errors(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd);
+uint8_t avlos_scheduler_warnings(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd);
 
 /*
 * avlos_controller_state

firmware/src/scheduler/scheduler.c

@@ -92,19 +92,13 @@ void wait_for_control_loop_interrupt(void)
 void ADC_IRQHandler(void)
 {
 	PAC55XX_ADC->ADCINT.ADCIRQ0IF = 1;
-	// Only in case the gate driver is enabled, ensure
-	// the control deadline is not missed,
-	// i.e. the previous control loop is complete prior
-	// to the ADC triggering the next
+	scheduler_state.adc_interrupt = true;
+	// Only in case the gate driver is enabled, raise a
+	// warning if the control loop is about to be
+	// reentered
 	if (gate_driver_is_enabled() && scheduler_state.busy)
 	{
-		scheduler_state.errors |= SCHEDULER_ERRORS_CONTROL_BLOCK_REENTERED;
-		// We do not change the control state here, to
-		// avoid any concurrency issues
-	}
-	else
-	{
-		scheduler_state.adc_interrupt = true;
+		scheduler_state.warnings |= SCHEDULER_WARNINGS_CONTROL_BLOCK_REENTERED;
 	}
 }
 

firmware/src/scheduler/scheduler.h

@@ -26,16 +26,16 @@ typedef struct
 	bool busy;
 	uint32_t load;
 
-    uint8_t errors;
+    uint8_t warnings;
 } SchedulerState;
 
 extern volatile SchedulerState scheduler_state;
 
 void wait_for_control_loop_interrupt(void);
 
-static inline uint8_t scheduler_get_errors(void)
+static inline uint8_t scheduler_get_warnings(void)
 {
-	return scheduler_state.errors;
+	return scheduler_state.warnings;
 }
 
 static inline uint32_t scheduler_get_load(void)

firmware/src/tm_enums.h

@@ -41,9 +41,9 @@ typedef enum
 
 typedef enum
 {
-    SCHEDULER_ERRORS_NONE = 0,
-    SCHEDULER_ERRORS_CONTROL_BLOCK_REENTERED = (1 << 0)
-} scheduler_errors_flags;
+    SCHEDULER_WARNINGS_NONE = 0,
+    SCHEDULER_WARNINGS_CONTROL_BLOCK_REENTERED = (1 << 0)
+} scheduler_warnings_flags;
 
 typedef enum
 {

studio/Python/tinymovr/specs/tinymovr_1_7_x.yaml → studio/Python/tinymovr/specs/tinymovr_2_0_x.yaml

@@ -90,11 +90,11 @@ remote_attributes:
         getter_name: scheduler_get_load
         meta: {dynamic: True}
         dtype: uint32
-      - name: errors
+      - name: warnings
         flags: [CONTROL_BLOCK_REENTERED]
         meta: {dynamic: True}
-        getter_name: scheduler_get_errors
-        summary: Any scheduler errors, as a bitmask
+        getter_name: scheduler_get_warnings
+        summary: Any scheduler warnings, as a bitmask
   - name: controller
     remote_attributes:
       - name: state