error_handler.cpp

00001 /*
00002     STM3_ESC    Electronic Speed Controller board, drives Two Brushless Motors, full Four Quadrant Control.
00003     Jon Freeman  B. Eng Hons
00004     2015 - 2019
00005 */
00006 #include "mbed.h"
00007 #include "STM3_ESC.h"
00008 #include "BufferedSerial.h"
00009 extern  BufferedSerial  pc;
00010 
00011 /*class   error_handling_Jan_2019
00012 {
00013     int32_t    TS_fault[NUMOF_REPORTABLE_TS_ERRORS]    ;   //  Some number of reportable error codes, accessible through set and read members
00014     public:
00015     error_handling_Jan_2019 ()  {   //  default constructor
00016         for (int i = 0; i < (sizeof(TS_fault) / sizeof(int32_t)); i++)
00017             TS_fault[i] = 0;
00018     }
00019     void        set   (uint32_t, int32_t)   ;
00020     uint32_t    read  (uint32_t)   ;
00021     bool        all_good    ()  ;
00022     void        report_any  ()  ;
00023 }   ;
00024 */
00025 
00026 const char * FaultList[] = {
00027 /*
00028     FAULT_0,
00029     FAULT_EEPROM,
00030     FAULT_BOARD_ID,
00031     FAULT_COM_LINE_LEN,
00032     FAULT_COM_LINE_NOMATCH,
00033     FAULT_COM_LINE_LEN_PC,
00034     FAULT_COM_LINE_LEN_TS,
00035     FAULT_COM_LINE_NOMATCH_PC,
00036     FAULT_COM_LINE_NOMATCH_TS,
00037     FAULT_MAX,
00038     NUMOF_REPORTABLE_TS_ERRORS
00039 */
00040     "Zero",
00041     "EEPROM",
00042     "board ID",
00043     "com line len",
00044     "com line nomatch",
00045     "com line len",
00046     "com line len",
00047     "com no match",
00048     "com no match",
00049     "max",
00050     "endoflist",
00051     " ",
00052     }   ;
00053 
00054 bool    error_handling_Jan_2019::all_good   ()  {
00055     for (int i = 0; i < NUMOF_REPORTABLE_TS_ERRORS; i++)
00056         if  (ESC_fault[i])
00057             return  false;
00058     return  true;
00059 }
00060 
00061 /**void    error_handling_Jan_2019::set  (uint32_t err_no, int32_t bits_to_set) {
00062     Used to set bits in error int
00063     Uses OR to set new bits without clearing other bits set previously
00064 */
00065 void    error_handling_Jan_2019::set  (uint32_t err_no, int32_t bits_to_set) {
00066     if  (bits_to_set)   {
00067         pc.printf   ("At Error.set, err_no %d, bits %lx\r\n", err_no, bits_to_set);
00068         ESC_fault[err_no] |= bits_to_set;    //  Uses OR to set new bits without clearing other bits set previously
00069     }
00070 }
00071 
00072 /**void    error_handling_Jan_2019::clr  (uint32_t err_no) {
00073     Used to clear all bits in error int
00074 */
00075 void    error_handling_Jan_2019::clr  (uint32_t err_no) {
00076     ESC_fault[err_no] = 0;
00077 }
00078 
00079 uint32_t    error_handling_Jan_2019::read (uint32_t err_no) {
00080     return  ESC_fault[err_no];
00081 }
00082 
00083 void    error_handling_Jan_2019::report_any (bool   retain)  {
00084     for (int i = 0; i < NUMOF_REPORTABLE_TS_ERRORS; i++)  {
00085         if  (ESC_fault[i])  {
00086             pc.printf   ("Error report, number %d, value %d, %s\r\n", i, ESC_fault[i], FaultList[i]);
00087             if  (!retain)
00088                 ESC_fault[i] = 0;
00089         }
00090     }
00091 }
00092