#ifndef FIXTURE_H #define FIXTURE_H #ifdef __cplusplus extern "C" { #endif #include //----------------------------------------------------------------------------- // Fixture Modes //----------------------------------------------------------------------------- #define FIXMODE_NONE 0 //Not assigned, or invalid #define FIXMODE_DEBUG 1 #define FIXMODE_BODY0A 4 #define FIXMODE_BODY0 5 #define FIXMODE_BODY1 6 #define FIXMODE_BODY1_OL 7 #define FIXMODE_BODY2 8 #define FIXMODE_BODY3 9 #define FIXMODE_HEAD1 11 #define FIXMODE_HEAD1_OL 12 #define FIXMODE_HEAD2 13 #define FIXMODE_HELPER1 14 #define FIXMODE_BACKPACK1 16 #define FIXMODE_CUBE_OL 18 /*DEBUG*/ #define FIXMODE_CUBEFCC 19 #define FIXMODE_CUBE0 20 /*DEBUG*/ #define FIXMODE_CUBE1 21 #define FIXMODE_CUBE2 22 #define FIXMODE_ROBOT0 24 #define FIXMODE_ROBOT1_OL 25 #define FIXMODE_ROBOT1 26 #define FIXMODE_ROBOT2 27 #define FIXMODE_ROBOT3 28 #define FIXMODE_ROBOT3_OL 29 #define FIXMODE_ROBOT_GYM 30 #define FIXMODE_INFO 31 #define FIXMODE_PACKOUT 33 #define FIXMODE_PACKOUT_OL 34 #define FIXMODE_RECHARGE0 37 #define FIXMODE_RECHARGE1 38 #define FIXMODE_SOUND1 40 #define FIXMODE_SOUND2 41 #define FIXMODE_LOG_DL 43 #define FIXMODE_MOTOR1 46 #define FIXMODE_MOTOR2 47 #define FIXMODE_MOTOR3 48 #define FIXMODE_BLOCK1 56 #define FIXMODE_BLOCK2 57 //----------------------------------------------------------------------------- // Fixture Mode extended info //----------------------------------------------------------------------------- #ifndef FIXTURE_EXTERNAL #include "tests.h" #include "time.h" typedef struct { const char *name; bool (*Detect)(void); //true if test pcba/assembly is detected TestFunction* (*GetTests)(void); //return ptr to NULL-terminated array of test functions void (*Cleanup)(void); //called after tests (or after an exception) to de-init any resources and exit gracefully int mode; //include the [redundant] mode field for runtime DDC (dynamic dummy check) } fixmode_info_t; //Global data extern int g_fixmode; //runtime fixture mode extern const fixmode_info_t g_fixmode_info[]; //mode information (see array init dat below) extern const int g_num_fixmodes; //number of modes extern bool g_allowOutdated; //Fixture prototypes #ifdef __cplusplus void fixtureInit(void); //initialize fixture, board rev, pins etc. const char* fixtureName(void); //gets name of the current fixmode bool fixtureDetect(int min_delay_us = 1000); //runs detect on the current fixmode. 'min_delay_us' pads out a minimum execution time per call. void fixtureCleanup(void); //runs cleanup on the current fixmode TestFunction* fixtureGetTests(void); //gets tests for the current fixmode int fixtureGetTestCount(void); //gets the # of test functions for the current fixmode bool fixtureValidateFixmodeInfo(bool print=0); //dev tool - validate const info array. print=1 -> print the array to console uint32_t fixtureGetSerial(void); // Get a serial number for a device in the normal 12.20 fixture.sequence format uint32_t fixtureReadSerial(void); // Read-only (NO MODIFY) current serial number position 12.20 format int fixtureReadSequence(void); //read the current sequence #. DOES NOT make any sequence changes. reporting API only. int fixtureSetTime(time_t time); //return 0=success time_t fixtureGetTime(void); time_t fixtureGetSetTime(void); //returns last successful fixtureSetTime() value, 0 if unknown bool fixtureTimeIsValid(void); const char* fixtureTimeStr(time_t time); //short (20char) string representation of the timestamp #endif //Init data for g_fixmode_info[] - keep all mode info organized in one file! //note: FIXMODE_x must equal array index - very important, don't screw it up. #define FIXMODE_INFO_INIT_DATA \ { "NONE" , NULL , NULL , NULL , FIXMODE_NONE }, /*0*/ \ { "DEBUG" , TestDebugDetect , TestDebugGetTests , TestDebugCleanup , FIXMODE_DEBUG }, /*1*/ \ { NULL , NULL , NULL , NULL , -1 }, \ { NULL , NULL , NULL , NULL , -1 }, \ { "BODY0A" , TestBodyDetect , TestBody0GetTests , TestBodyCleanup , FIXMODE_BODY0A }, /*4*/ \ { "BODY0" , TestBodyDetect , TestBody0GetTests , TestBodyCleanup , FIXMODE_BODY0 }, /*5*/ \ { "BODY1" , TestBodyDetect , TestBody1GetTests , TestBodyCleanup , FIXMODE_BODY1 }, /*6*/ \ { "BODY1-OL" , TestBodyDetect , TestBody1GetTests , TestBodyCleanup , FIXMODE_BODY1_OL }, /*7*/ \ { "BODY2" , TestBodyDetect , TestBody2GetTests , TestBodyCleanup , FIXMODE_BODY2 }, /*8*/ \ { "BODY3" , TestBodyDetect , TestBody3GetTests , TestBodyCleanup , FIXMODE_BODY3 }, /*9*/ \ { NULL , NULL , NULL , NULL , -1 }, \ { "HEAD1" , TestHeadDetect , TestHead1GetTests , TestHeadCleanup , FIXMODE_HEAD1 }, /*11*/ \ { "HEAD1-OL" , TestHeadDetect , TestHead1GetTests , TestHeadCleanup , FIXMODE_HEAD1_OL }, /*12*/ \ { "HEAD2" , TestHeadDetect , TestHead2GetTests , TestHeadCleanup , FIXMODE_HEAD2 }, /*13*/ \ { "HELPER1" , TestHeadDetect , TestHelper1GetTests , TestHeadCleanup , FIXMODE_HELPER1 }, /*14*/ \ { NULL , NULL , NULL , NULL , -1 }, \ { "BACKPACK1" , TestBackpackDetect , TestBackpack1GetTests , TestBackpackCleanup , FIXMODE_BACKPACK1 }, /*16*/ \ { NULL , NULL , NULL , NULL , -1 }, \ { "CUBE-OL" , TestCubeDetect , TestCubeOLGetTests , TestCubeCleanup , FIXMODE_CUBE_OL }, /*18*/ \ { "CUBEFCC" , TestCubeDetect , TestCubeFccGetTests , TestCubeCleanup , FIXMODE_CUBEFCC }, /*19*/ \ { "CUBE0" , TestCubeDetect , TestCube0GetTests , TestCubeCleanup , FIXMODE_CUBE0 }, /*20*/ \ { "CUBE1" , TestCubeDetect , TestCube1GetTests , TestCubeCleanup , FIXMODE_CUBE1 }, /*21*/ \ { "CUBE2" , TestCubeDetect , TestCube2GetTests , TestCubeCleanup , FIXMODE_CUBE2 }, /*22*/ \ { NULL , NULL , NULL , NULL , -1 }, \ { "ROBOT0" , TestRobotDetect , TestRobot0GetTests , TestRobotCleanup , FIXMODE_ROBOT0 }, /*24*/ \ { "ROBOT1-OL" , TestRobotDetect , TestRobot1GetTests , TestRobotCleanup , FIXMODE_ROBOT1_OL }, /*25*/ \ { "ROBOT1" , TestRobotDetect , TestRobot1GetTests , TestRobotCleanup , FIXMODE_ROBOT1 }, /*26*/ \ { "ROBOT2" , TestRobotDetect , TestRobot2GetTests , TestRobotCleanup , FIXMODE_ROBOT2 }, /*27*/ \ { "ROBOT3" , TestRobotDetect , TestRobot3GetTests , TestRobotCleanup , FIXMODE_ROBOT3 }, /*28*/ \ { "ROBOT3-OL" , TestRobotDetect , TestRobot3GetTests , TestRobotCleanup , FIXMODE_ROBOT3_OL }, /*29*/ \ { "ROBOT-GYM" , TestRobotDetect , TestRobotGymGetTests , TestRobotCleanup , FIXMODE_ROBOT_GYM }, /*30*/ \ { "ROBOTINFO" , TestRobotDetect , TestRobotInfoGetTests , TestRobotCleanup , FIXMODE_INFO }, /*31*/ \ { NULL , NULL , NULL , NULL , -1 }, \ { "PACKOUT" , TestRobotDetect , TestRobotPackoutGetTests , TestRobotCleanup , FIXMODE_PACKOUT }, /*33*/ \ { "PACKOUT-OL" , TestRobotDetect , TestRobotPackoutGetTests , TestRobotCleanup , FIXMODE_PACKOUT_OL }, /*34*/ \ { NULL , NULL , NULL , NULL , -1 }, \ { NULL , NULL , NULL , NULL , -1 }, \ { "RECHARGE0" , TestRobotDetect , TestRobotRechargeGetTests , TestRobotCleanup , FIXMODE_RECHARGE0 }, /*37*/ \ { "RECHARGE1" , TestRobotDetect , TestRobotRechargeGetTests , TestRobotCleanup , FIXMODE_RECHARGE1 }, /*38*/ \ { NULL , NULL , NULL , NULL , -1 }, \ { "SOUND1" , TestRobotDetect , TestRobotSoundGetTests , TestRobotCleanup , FIXMODE_SOUND1 }, /*40*/ \ { "SOUND2" , TestRobotDetect , TestRobotSoundGetTests , TestRobotCleanup , FIXMODE_SOUND2 }, /*41*/ \ { NULL , NULL , NULL , NULL , -1 }, \ { "LOG-DL" , TestRobotDetect , TestRobotLogDownloadTests , TestRobotCleanup , FIXMODE_LOG_DL }, /*43*/ \ { NULL , NULL , NULL , NULL , -1 }, \ { NULL , NULL , NULL , NULL , -1 }, \ { "MOTOR1" , TestMotorDetect , TestMotor1GetTests , TestMotorCleanup , FIXMODE_MOTOR1 }, /*46*/ \ { "MOTOR2" , TestMotorDetect , TestMotor2GetTests , TestMotorCleanup , FIXMODE_MOTOR2 }, /*47*/ \ { "MOTOR3" , TestMotorDetect , TestMotor3GetTests , TestMotorCleanup , FIXMODE_MOTOR3 }, /*48*/ \ { NULL , NULL , NULL , NULL , -1 }, \ { NULL , NULL , NULL , NULL , -1 }, \ { NULL , NULL , NULL , NULL , -1 }, \ { NULL , NULL , NULL , NULL , -1 }, \ { NULL , NULL , NULL , NULL , -1 }, \ { NULL , NULL , NULL , NULL , -1 }, \ { NULL , NULL , NULL , NULL , -1 }, \ { "BLOCK1" , TestBlockDetect , TestBlock1GetTests , TestBlockCleanup , FIXMODE_BLOCK1 }, /*56*/ \ { "BLOCK2" , TestBlockDetect , TestBlock2GetTests , TestBlockCleanup , FIXMODE_BLOCK2 }, /*57*/ \ { NULL , NULL , NULL , NULL , -1 }, \ { NULL , NULL , NULL , NULL , -1 }, \ { NULL , NULL , NULL , NULL , -1 }, \ { NULL , NULL , NULL , NULL , -1 }, \ { NULL , NULL , NULL , NULL , -1 }, \ /*FIXMODE_INFO_ARRAY_INIT*/ #endif //ifndef SYSTEST //----------------------------------------------------------------------------- // Fixture Errors //----------------------------------------------------------------------------- typedef int error_t; //RESERVED RANGES: //001-099 Playpen //100-199 Syscon //200-219 Recovery / OTA //220-299 Robot Process //300-799 Factory fixtures //800-999 Power on self check error code #define IS_INTERNAL_ERROR(e) (e >= 750 && e <= 799) #define ERROR_OK 0 //Note: export tags, , are used by a script to export error code listing to a CSV file // // ANKI VICTOR FIXTURE ERROR CODES // General Motor Errors #define ERROR_MOTOR_LEFT 310 // Problem driving left motor //#define ERROR_MOTOR_LEFT_SPEED 311 // Problem driving left motor at full speed //#define ERROR_MOTOR_LEFT_JAM 312 // Jamming test failed on left motor #define ERROR_MOTOR_RIGHT 320 // Problem driving right motor //#define ERROR_MOTOR_RIGHT_SPEED 321 // Problem driving right motor at full speed //#define ERROR_MOTOR_RIGHT_JAM 322 // Jamming test failed on right motor #define ERROR_MOTOR_LIFT 330 // Problem driving lift motor #define ERROR_MOTOR_LIFT_RANGE 331 // Lift can't reach full range (bad encoder/mechanical blockage) #define ERROR_MOTOR_LIFT_BACKWARD 332 // Lift is wired backward #define ERROR_MOTOR_LIFT_NOSTOP 333 // Lift does not hit stop (bad encoder/missing lift arm) #define ERROR_MOTOR_LIFT_SPEED 334 // Lift moving too slowly (sticky). check obstructions & gearbox //#define ERROR_MOTOR_LIFT_JAM 334 // Jamming test failed on lift motor #define ERROR_MOTOR_HEAD 340 // Problem driving head motor #define ERROR_MOTOR_HEAD_RANGE 341 // Head can't reach full range (bad encoder/mechanical blockage) #define ERROR_MOTOR_HEAD_BACKWARD 342 // Head is wired backward #define ERROR_MOTOR_HEAD_NOSTOP 343 // Head does not hit stop (bad encoder/missing head arm) #define ERROR_MOTOR_HEAD_SPEED 344 // Head moving too slowly (sticky). check obstructions & gearbox //#define ERROR_MOTOR_HEAD_SLOW_RANGE 345 // Head can't reach full range when run at low voltage //#define ERROR_MOTOR_HEAD_JAM 346 // Jamming test failed on head motor // Sensor Errors #define ERROR_SENSOR_VBAT 350 // unable to read battery voltage. check body firmware. possible SMT problem #define ERROR_SENSOR_CLIFF_FL 351 // cliff sensor malfunction (front left) #define ERROR_SENSOR_CLIFF_FR 352 // cliff sensor malfunction (front right) #define ERROR_SENSOR_CLIFF_BL 353 // cliff sensor malfunction (back left) #define ERROR_SENSOR_CLIFF_BR 354 // cliff sensor malfunction (back right) #define ERROR_SENSOR_TOF 355 // distance sensor malfunction #define ERROR_SENSOR_TOUCH 356 // touch sensor malfunction // Robot Errors #define ERROR_ROBOT_TEST_SEQUENCE 370 // This test cannot run until all previous tests have passed #define ERROR_ROBOT_PACKED_OUT 371 // test or function is locked because the robot is packed out #define ERROR_ROBOT_MISSING_LOGFILE 372 // expected logfile not found on this robot #define ERROR_ROBOT_INVALID_ESN 373 // invalid ESN read from the robot #define ERROR_ROBOT_INVALID_BODY_EIN 374 // invalid EIN read from robot body pcba #define ERROR_ROBOT_BAD_LOGFILE 375 // missing, bad or corrupt logfile // Testport Errors - charge contact communications (BODY ROBOT PACKOUT) #define ERROR_TESTPORT_CMD_TIMEOUT 400 //timeout waiting for response to a command #define ERROR_TESTPORT_RSP_MISMATCH 401 //response doesn't match command #define ERROR_TESTPORT_RSP_MISSING_ARGS 402 //response is missing required arguments #define ERROR_TESTPORT_RSP_BAD_ARG 403 //response arg incorrect or improperly formatted #define ERROR_TESTPORT_CMD_FAILED 404 //returned fail code #define ERROR_TESTPORT_RX_ERROR 405 //driver (uart) overflow or dropped chars detected #define ERROR_SPINE_RX_ERROR 410 //driver (uart) overflow or dropped chars detected (internal error - Anki code fault) #define ERROR_SPINE_PKT_UNSUPPORTED_TYPE 411 //received unsuppoted packet type (check firmware versions) #define ERROR_SPINE_PKT_CHECKSUM 412 //received packet with bad checksum (bad wire? check firmware versions) #define ERROR_SPINE_PKT_TIMEOUT 413 //timeout waiting for spine packets (check power. bad spine wire?) #define ERROR_SPINE_CMD_TIMEOUT 414 //timeout waiting for response to spine command (check power. check firmware versions) #define ERROR_SPINE_POWER 415 //bad power from spine cable // SWD Errors (mcu programming interface) #define ERROR_SWD_CHIPINIT 420 // failed to initialze mcu core over SWD (check power & wiring) #define ERROR_SWD_INIT_FAIL 421 // failed to initialze mcu core over SWD (check power & wiring) #define ERROR_SWD_READ_FAULT 422 // SWD register read failed #define ERROR_SWD_WRITE_FAULT 423 // SWD register write failed #define ERROR_SWD_FLASH_ERASE 424 // SWD flash erase operation failed #define ERROR_SWD_FLASH_WRITE 425 // SWD flash write operation failed #define ERROR_SWD_FLASH_VERIFY 426 // SWD flash verify operation failed #define ERROR_SWD_JTAG_LOCK 427 // failed to lock jtag // Headprogram Errors //RESERVED RANGE: 500-520 for helper 'headprogram' script exit codes #define ERROR_HEADPGM 500 // Headprogram script error (general failure) #define ERROR_HEADPGM_MISSING_CERT 501 // no cloud certificate matching the given ESN (need new cloud cert file?) #define ERROR_HEADPGM_BAD_CERT 502 // detect bad,corrupt cloud certificate file #define ERROR_HEADPGM_FAC_IMG 503 // error provisioning factory partition image #define ERROR_HEADPGM_USB_DEV_NOT_FOUND 504 // no valid DUT detected on USB - check power and wiring #define ERROR_HEADPGM_USB_MODE_SWITCH 505 // fixture usb driver error - failed to enter otg host mode - POWER CYCLE FIXTURE #define ERROR_HEADPGM_RANGE_END 520 // RANGE CHECK FOR HEADPGM ERRORS, do not throw this! // Body Errors #define ERROR_BODY 550 // body error (general) //#define ERROR_BODY_BOOTLOADER 551 // Can't load bootloader onto body //#define ERROR_BODY_OUTOFDATE 552 // Body board is running out of date firmware #define ERROR_BODY_TREAD_ENC_LEFT 553 // left tread encoder failed self test #define ERROR_BODY_TREAD_ENC_RIGHT 554 // right tread encoder failed self test //#define ERROR_BODY_BACKPACK_PULL 555 // backpack pull-up incorrect //#define ERROR_BODYCOLOR_INVALID 556 // an invalid color code was detected #define ERROR_BODY_CANNOT_POWER_OFF 557 // robot can't turn off. check test connection and button not held. Possible damage on Body PCBA #define ERROR_BODY_PROGRAMMED 558 // already has production fw (jtag lock prevents reprogram) #define ERROR_BODY_NO_BOOT_MSG 559 // Could not detect production fw boot msg #define ERROR_BODY_RANGE_END 560 // RANGE CHECK FOR BODY ERRORS, do not throw this! // Drop Sensor Errors //#define ERROR_DROP_LEAKAGE 570 // Drop leakage detected //#define ERROR_DROP_TOO_DIM 571 // Drop sensor bad LED (or reading too dim) //#define ERROR_DROP_TOO_BRIGHT 572 // Drop sensor bad photodiode (or too much ambient light) // Power System Errors #define ERROR_POWER_SHORT 619 // Power short circuit detected //#define ERROR_BAT_LEAKAGE 620 // Too much leakage through battery when turned off #define ERROR_BAT_UNDERVOLT 621 // Battery voltage too low #define ERROR_BAT_CHARGER 622 // Battery charger not working #define ERROR_BAT_OVERVOLT 623 // Battery voltage too high for this test (e.g. charge test) #define ERROR_OUTPUT_VOLTAGE_LOW 624 // Fixture's output voltage is too low - check supply and wiring #define ERROR_OUTPUT_VOLTAGE_HIGH 625 // Fixture's output voltage is too high - check supply and wiring // Backpack Errors #define ERROR_BACKP_LED 650 // Backpack LED miswired or bad LED #define ERROR_BACKP_BTN_PRESS_TIMEOUT 651 // Timeout waiting for backpack button to be pressed #define ERROR_BACKP_BTN_RELEASE_TIMEOUT 652 // Timeout waiting for backpack button to be released //#define ERROR_BACKP_BTN_THRESH 653 // Button voltage detected outside digital thresholds // Cube Errors #define ERROR_CUBE_CANNOT_WRITE 700 // MCU is locked #define ERROR_CUBE_NO_COMMUNICATION 701 // MCU broken wire or locked. Already OTP'd? Bad crystal? #define ERROR_CUBE_VERIFY_FAILED 702 // OTP is not empty or did not program correctly #define ERROR_CUBE_LED 703 // Detected bad LED #define ERROR_CUBE_LED_D1 704 // Detected bad LED [D1] #define ERROR_CUBE_LED_D2 705 // Detected bad LED [D2] #define ERROR_CUBE_LED_D3 706 // Detected bad LED [D3] #define ERROR_CUBE_LED_D4 707 // Detected bad LED [D4] #define ERROR_CUBE_ACCEL 708 // Accelerometer cannot communicate #define ERROR_CUBE_ACCEL_PWR 709 // Accelerometer power fault #define ERROR_CUBE_BAD_BINARY 710 // Fixture has corrupted binary (contact Anki for firmware update) #define ERROR_CUBE_FW_MISMATCH 711 // Cube already has fw burned to OTP -- different than current version #define ERROR_CUBE_FW_MATCH 712 // Cube already has fw burned to OTP -- same as current version #define ERROR_CUBE_BAD_POWER 713 // Cube no-power or unstable voltage (bad wire or mcu boost reg) //#define ERROR_CUBE_UNDERPOWER 714 // Bad power regulator //#define ERROR_CUBE_OVERPOWER 715 // Too much power in active mode //#define ERROR_CUBE_STANDBY 716 // Too much power in standby mode //#define ERROR_CUBEX_SCAN_FAILED 720 // Did not detect advertising packets from the cube's radio //#define ERROR_CUBEX_TYPE 721 // Cube type (1 2...) does not match fixture type (1 2...) //#define ERROR_CUBEX_RADIO 722 // Bad radio/antenna // General Errors #define ERROR_DEVICE_NOT_DETECTED 740 // Manual test start - DUT was not detected // Internal Errors - generally programming or hardware errors #define ERROR_TIMEOUT 750 // The operation timed out #define ERROR_EMPTY_COMMAND 751 #define ERROR_ACK1 752 #define ERROR_ACK2 753 #define ERROR_UNKNOWN_MODE 754 #define ERROR_OUT_OF_RANGE 755 #define ERROR_SERIAL_EXISTS 756 #define ERROR_LOT_CODE 757 #define ERROR_OUT_OF_SERIALS 758 // When the fixture itself runs out of 500000 serial numbers #define ERROR_FLASH_VERIFY 759 // Flash verification failed #define ERROR_SERIAL_INVALID 760 // valid fixture serial # {1-4095} required to generate ESN for production programming #define ERROR_INCOMPATIBLE_FIX_REV 761 // Test is incompatible with the current fixture hardware revision #define ERROR_INVALID_STATE 762 // Internal state is out of sync #define ERROR_BAD_ARG 763 // Argument errror #define ERROR_THROW_0 764 // Test threw exception with ERROR_OK? #define ERROR_UNHANDLED_EXCEPTION 765 // 'safe' operation threw an uncategorized error #define ERROR_BUFFER_TOO_SMALL 766 // provided buffer was too small #define ERROR_INVALID_RTC 767 // RTC clock needs to be set. Replace backup battery, if requried // #ifdef __cplusplus } #endif #endif //FIXTURE_H