|
|
| (9 intermediate revisions by the same user not shown) |
| Line 1: |
Line 1: |
| − | | + | delete |
| − | * One primary thread at processor ISR level 0 (eg lowest priority thread)
| |
| − | * At least two ISRs that operate the DMA that move data for the SPI and UARTs
| |
| − | * Tick timer ISR. Believe all it does effectivle is say tic. Don't believe does any actual work.
| |
| − | | |
| − | ==init (ap_main.c)==
| |
| − | * hardware init
| |
| − | * various software init
| |
| − | ==main loop (ap_main.c) ==
| |
| − | This is the primary thread what does ALL the work. Although it appears to have only 2 functions : through nicelty obuscated coding, other functions get called.
| |
| − | | |
| − | At the next highest level we can say following actions are done in the main loop:
| |
| − | * execute_cmd_rsp (see last page of ap_main.)
| |
| − | ** FUP = field update port, this is the ASYNC serial port interface to the outside world
| |
| − | ** difficult to explain as functions convoluted and are misnamed . However over all this code block deals with the MPD command / response protocol.
| |
| − | ***Gets 'messages' from buffers (either locally or from the FUP),
| |
| − | *** Routes /forwards messages to MC/IMU,
| |
| − | *** Processes message locally (command execution). MAJOR problem w/read real time clock, EEPROM
| |
| − | *** Passes back "answers" from the IMU/MC,
| |
| − | *** Answers requests to commands that we locally bound (executed)
| |
| − | **** Only the SC(both locally and via its FUP) can initiate messages that are executed on another processor (MC, IMU);
| |
| − | | |
| − | ** This block of code is the primary problem with the system.
| |
| − | *** We need to be able to send/route messages asynchronois to the STATEMACHINE (eg SM)
| |
| − | *** Thus the simple routing function needs to be in a thread at a HIGHER level than the SM , and we send messages asynchronous from the state controller, and we need to be
| |
| − | | |
| − | =definitions=
| |
| − | *SM, STATEMACHINE : the primary statemachine that doesn't what were here for.
| |
| − | *MC_SM, MOTOR (controller) statemacohne, a statemachgine that runs on the motor controller that does impeadance control, and handles overloads, etc.
| |
| − | | |
| − | *ISP = in system programming - connectors / signals that are connected to ICD2 / Real-ice dsPIC programmer
| |
| − | *FUP = field update port, Either of two 9 pin connectors on SC/MC board, uses ASYNC serial to communication without outside world. Also has pins for ISP
| |
