tested and validated signal injection

sdk/freertos_app_cpu0/src/usr/vsiApp/cmd/cmd_vsiApp.c

@@ -21,6 +21,7 @@ static command_help_t cmd_help[] = {
     { "deinit", "Stop task" },
 	{ "amplitude <value>", "set the analog wave to a specific amplitude" },
 	{ "frequency <value>", "set the analog wave to a specific frequency" },
+	{ "clear", "clear signal injections" },
 	{ "stats print", "Print stats to screen" },
 	{ "stats reset", "Reset the task timing stats" }
 };
@@ -55,6 +56,12 @@ int cmd_vsiApp(int argc, char **argv)
 		}
 		return CMD_SUCCESS;
 	}
+    if (argc == 2 && strcmp("clear", argv[1]) == 0) {
+		if (task_vsiApp_clear_inj() != SUCCESS) {
+			return CMD_FAILURE;
+		}
+		return CMD_SUCCESS;
+	}
 
     if (argc == 2 && strcmp("init", argv[1]) == 0) {
         if (task_vsiApp_init() != SUCCESS) {

sdk/freertos_app_cpu0/src/usr/vsiApp/task_vsiApp.c

@@ -13,6 +13,8 @@
 #include "drv/amds.h"
 #include "sys/defines.h"
 #include "sys/log.h"
+#include "sys/injection.h"
+#include "sys/util.h"
 #include <math.h>
 #include <stdlib.h>
 #include <stdint.h>
@@ -21,28 +23,35 @@
 static TaskHandle_t tcb;
 static uint8_t taskExists = 0; // extra data to ensure tasks don't get duplicated or double free'd
 
-
 static double Ts = 1.0 / 10000.0;          // [sec]
 static double theta = 0.0;                 // [rad]
 static double omega = 10.0 * 2 * PI;       // [rad/s]
 static double Do = 0.3;                    // [--]
 
-/* trying this out */
-#include "xil_io.h"
-#define PWM_MUX_ADDR_LOGGING (0x43C40000)
+/* injection */
+static inj_ctx_t inj_ctx_ctrl[3] = {0};
 
 int task_vsiApp_init(void)
 {
 	if (taskExists) {
 		return FAILURE;
 	}
-
+	/* PWM */
     if (pwm_enable_hw(true) != SUCCESS) {
     	return FAILURE;
     }
     if (pwm_enable() != SUCCESS) {
 		return FAILURE;
 	}
+    /* Initialize signal injection points */
+	injection_ctx_init(&inj_ctx_ctrl[0], "amp*");
+	injection_ctx_init(&inj_ctx_ctrl[1], "theta*");
+	injection_ctx_init(&inj_ctx_ctrl[2], "omega_m*");
+
+	/* Register all signal injection points */
+	for (int i = 0; i < ARRAY_SIZE(inj_ctx_ctrl); i++) {
+		injection_ctx_register(&inj_ctx_ctrl[i]);
+	}
 
     // Fill TCB with parameters
     taskExists = 1;
@@ -78,6 +87,11 @@ void task_vsiApp(void *arg)
 	float amds_current_a = 0.0;
 	for (;;) {
 		vTaskDelay(TASK_VSIAPP_INTERVAL_TICKS);
+		// Perform signal injections
+		injection_inj(&Do, &inj_ctx_ctrl[0], Ts);
+		injection_inj(&theta, &inj_ctx_ctrl[1], Ts);
+		injection_inj(&omega, &inj_ctx_ctrl[2], Ts);
+
 		// Update theta
 		theta += (Ts * omega);
 		theta = fmod(theta, 2.0 * M_PI); // Wrap to 2*pi
@@ -131,7 +145,7 @@ void task_vsiApp(void *arg)
 			// sample value for each channel
 		}
 
-		log_callback(&current_a, LOG_FLOAT, "current_a");
+		log_callback(&Do, LOG_DOUBLE, "current_a");
 		log_callback(&current_b, LOG_FLOAT, "current_b");
 		log_callback(&current_c, LOG_FLOAT, "current_c");
 		log_callback(&voltage_a, LOG_FLOAT, "voltage_a");
@@ -167,4 +181,12 @@ void task_vsiApp_stats_reset(void) {
     /* does nothing */
 }
 
+int task_vsiApp_clear_inj(void) {
+	// Clear all injection points
+	for (int i = 0; i < ARRAY_SIZE(inj_ctx_ctrl); i++) {
+		injection_ctx_clear(&inj_ctx_ctrl[i]);
+	}
+	return SUCCESS;
+}
+
 #endif // APP_BLINK

sdk/freertos_app_cpu0/src/usr/vsiApp/task_vsiApp.h

@@ -11,6 +11,7 @@ void task_vsiApp(void *arg);
 
 int task_vsiApp_amplitude(double amplitude);
 int task_vsiApp_frequency(double frequency);
+int task_vsiApp_clear_inj(void);
 
 void task_vsiApp_stats_print(void);
 void task_vsiApp_stats_reset(void);

sdk/shared/sys/injection.c

@@ -402,18 +402,19 @@ void injection_ramp(inj_ctx_t *ctx, inj_op_e op, double valueMin, double valueMa
 typedef enum sm_states_list_e { LISTING = 1, REMOVE_TASK } sm_states_list_e;
 
 typedef struct sm_ctx_list_t {
-    sm_states_list_e state;
-    TaskHandle_t tcb;
-
+	sm_states_list_e state;
     inj_ctx_t *curr;
+    TaskHandle_t tcb;
 } sm_ctx_list_t;
 
+static sm_ctx_list_t ctx_list;
+
 #define TASK_SM_LIST_UPDATES_PER_SEC (10000)
 #define TASK_SM_LIST_INTERVAL_TICKS (pdMS_TO_TICKS(1000.0 / TASK_SM_LIST_UPDATES_PER_SEC))
 
 void state_machine_list_callback(void *arg)
 {
-    sm_ctx_list_t *ctx = (sm_ctx_list_t *) arg;
+    sm_ctx_list_t *ctx = &ctx_list;
     for (;;) {
     	vTaskDelay(TASK_SM_LIST_INTERVAL_TICKS);
 		switch (ctx->state) {
@@ -440,8 +441,6 @@ void state_machine_list_callback(void *arg)
     }
 }
 
-static sm_ctx_list_t ctx_list;
-
 void injection_list(void)
 {
     if (inj_ctxs == NULL) {