aniketSaha/NorthStar-Endurance-TestBench
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Node handling corrected

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This commit is contained in:
VineetaGupta 2025-03-17 16:44:58 +01:00
parent 9ac0b4ff69
commit 18d169eaa5
1 changed files with 67 additions and 50 deletions
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59
EnduranceTestBench/nehemis/enduranceTestBench.c
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@ -56,6 +56,13 @@ static TestBenchData_en testBenchData_en;
static uint8 currentNode_gu8 = 0u;
static SdlTestBenchState_en testBenchState_en = TEST_BENCH_IDLE;
static uint32 readPosition_gu32;
static uint8 batchCompleted_u8 = 1u; /* Indicates if we need to populate a new batch */
static uint64 readExecutedTime_u64 = 0uLL;
static uint64 writeTime_u64 = 0uLL;
static uint8 position_u8;
static uint16 writeCounter;
static uint16 readCounter;
/******************************************************************************
* Public Function Definitions
******************************************************************************/
@ -63,8 +70,8 @@ static uint32 readPosition_gu32;
void EnduranceTestBenchRun(void)
{
static uint64 startTime_u64 = 0uLL;
static uint64 timeDelay_u64 = 0uLL;
static uint8 alternate_u8 = 0u;
static uint8 batchCompleted_u8 = 1u; /* Indicates if we need to populate a new batch */
static uint8 retries_u8 = 0u;
uint64 currentTime_u64;
@ -155,20 +162,21 @@ void EnduranceTestBenchRun(void)
case TEST_BENCH_WRITE_REQUEST:
{
if (batchCompleted_u8 == 0)
{
if (currentNode_gu8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT)
{
testBenchData_en.targetPositions_gau8[currentNode_gu8] = (uint8)(rand() % 256);
testBenchData_en.targetPositions_gau8[currentNode_gu8] = (uint8)(rand() % 255);
RET_T retVal_en = coSdoWrite((1), ENDURANCE_TEST_BENCH_POSITION_SETPOINT_INDEX, ENDURANCE_TEST_BENCH_POSITION_SETPOINT_SUB_INDEX,
&testBenchData_en.targetPositions_gau8[currentNode_gu8], sizeof(uint8),
CO_FALSE, ENDURANCE_TEST_BENCH_TIMEOUT);
RET_T retVal_en = coSdoWrite((19), ENDURANCE_TEST_BENCH_POSITION_SETPOINT_INDEX, ENDURANCE_TEST_BENCH_POSITION_SETPOINT_SUB_INDEX,
&testBenchData_en.targetPositions_gau8[currentNode_gu8], sizeof(uint8), CO_FALSE, ENDURANCE_TEST_BENCH_TIMEOUT);
if (retVal_en == RET_OK)
{
retries_u8 = 0u;
currentNode_gu8++;
HalSystemGetRunTimeMs(&startTime_u64);
HalSystemGetRunTimeMs(&writeTime_u64);
}
else
{
@ -180,16 +188,21 @@ void EnduranceTestBenchRun(void)
}
}
}
}
break;
case TEST_BENCH_READ_FEEDBACK:
{
RET_T retVal_en = coSdoRead((1),ENDURANCE_TEST_BENCH_POSITION_FEEDBACK_INDEX, ENDURANCE_TEST_BENCH_POSITION_FEEDBACK_SUB_INDEX,
if (currentNode_gu8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT)
{
RET_T retVal_en = coSdoRead((19),ENDURANCE_TEST_BENCH_POSITION_FEEDBACK_INDEX, ENDURANCE_TEST_BENCH_POSITION_FEEDBACK_SUB_INDEX,
(uint8*)&readPosition_gu32, sizeof(uint32), CO_FALSE, ENDURANCE_TEST_BENCH_TIMEOUT);
if (retVal_en == RET_OK)
{
/* Wait for indication */
retries_u8 = 0u;
currentNode_gu8++;
}
else if (retVal_en == RET_SERVICE_BUSY && retries_u8 < ENDURANCE_TEST_BENCH_MAX_RETRY_CNT)
@ -199,22 +212,24 @@ void EnduranceTestBenchRun(void)
else
{
currentNode_gu8++;
retries_u8 = 0;
retries_u8 = 0u;
}
}
}
break;
case TEST_BENCH_VERIFY_RESULTS:
{
timeDelay_u64 = readExecutedTime_u64 - writeTime_u64;
for (uint8 index_u8 = 0u; index_u8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT; index_u8++)
{
if (testBenchData_en.targetPositions_gau8[index_u8] != testBenchData_en.readPosition_gau8[index_u8])
if (testBenchData_en.targetPositions_gau8[index_u8] - testBenchData_en.readPosition_gau8[index_u8] <= 2u)
{
testBenchData_en.status[index_u8] = 1u;
testBenchData_en.status[index_u8] = 0u;
}
else
{
testBenchData_en.status[index_u8] = 0u;
testBenchData_en.status[index_u8] = 1u;
}
}
testBenchState_en = TEST_BENCH_DELAY_BEFORE_NEXT;
@ -237,14 +252,16 @@ void EnduranceTestBenchRun(void)
}
}
/******************************************************************************
* Callback Function
******************************************************************************/
void EnduranceTestBenchWriteInd(uint8 sdoNr_u8, uint16 index_u16, uint8 subIndex_u8, uint32 errorVal_u32)
{
writeCounter++;
HalSystemGetRunTimeMs(&writeTime_u64);
if (currentNode_gu8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT)
{
HAL_Delay(100);
testBenchState_en = TEST_BENCH_WRITE_REQUEST;
}
else
@ -257,17 +274,17 @@ void EnduranceTestBenchWriteInd(uint8 sdoNr_u8, uint16 index_u16, uint8 subIndex
void EnduranceTestBenchReadInd(uint8 sdoNr_u8, uint16 index_u16, uint8 subIndex_u8, uint32 size, uint32 errorVal_u32)
{
if (sdoNr_u8 <= ENDURANCE_TEST_BENCH_LSS_NODE_COUNT)
{
testBenchData_en.readPosition_gau8[currentNode_gu8] = readPosition_gu32;
readCounter++;
HalSystemGetRunTimeMs(&readExecutedTime_u64);
testBenchData_en.readPosition_gau8[currentNode_gu8 - 1u] = (uint8)readPosition_gu32;
if (currentNode_gu8 + 1 == ENDURANCE_TEST_BENCH_LSS_NODE_COUNT)
{
testBenchState_en = TEST_BENCH_VERIFY_RESULTS;
}
else
if (currentNode_gu8 < ENDURANCE_TEST_BENCH_LSS_NODE_COUNT)
{
testBenchState_en = TEST_BENCH_READ_FEEDBACK;
}
else
{
currentNode_gu8 = 0u;
testBenchState_en = TEST_BENCH_VERIFY_RESULTS;
}
}