229 lines
8.1 KiB
C
229 lines
8.1 KiB
C
/**
|
|
* @file processBoard.c
|
|
*
|
|
* @copyright Nehemis SARL reserves all rights even in the event of industrial
|
|
* property rights. We reserve all rights of disposal such as
|
|
* copying and passing on to third parties.
|
|
*
|
|
* @brief This file provides the firmware for running the Production unit board.
|
|
*
|
|
*/
|
|
|
|
/******************************************************************************
|
|
* Include Header Files
|
|
******************************************************************************/
|
|
#include "processBoard.h"
|
|
#include "flowmeter.h"
|
|
#include "pressureSensor.h"
|
|
#include "grundfos.h"
|
|
#include "od_entries.h"
|
|
#include "nms_can.h"
|
|
#include "analogMeasurement.h"
|
|
#include "hal_system.h"
|
|
/******************************************************************************
|
|
* Type declarations
|
|
******************************************************************************/
|
|
|
|
/******************************************************************************
|
|
* Macro Constant Declarations
|
|
******************************************************************************/
|
|
#define NMS_CAN_CANOPEN_MASTER_LINE 1u
|
|
|
|
#define PU_PUMP_SPEED_CHANGE_INTERVAL 900000uLL
|
|
#define PU_PUMP_MAX_SPEED 10u
|
|
#define PU_PUMP_MIN_SPEED 2u
|
|
#define PU_PMP_ENABLE 1u
|
|
#define PU_PMP_DISABLE 0u
|
|
#define PU_PMP_RATED_SPEED 3600uL
|
|
#define PU_MAX_PRESSURE 20u
|
|
/******************************************************************************
|
|
* Global variables
|
|
******************************************************************************/
|
|
FlowmeterMain_st flowmeterFM1_gst;
|
|
FlowmeterMain_st flowmeterFM2_gst;
|
|
FlowmeterMain_st flowmeterFM3_gst;
|
|
FlowmeterMain_st flowmeterFM4_gst;
|
|
|
|
PressureSensorMain_st pressureSensorPS1_gst;
|
|
PressureSensorMain_st pressureSensorPS2_gst;
|
|
PressureSensorMain_st pressureSensorPS3_gst;
|
|
PressureSensorMain_st pressureSensorPS4_gst;
|
|
|
|
GrundfosMain_st grundfosPMP_gst;
|
|
/******************************************************************************
|
|
* Private Function Declarations
|
|
******************************************************************************/
|
|
static void ProcessBoardFlowmeterDataOUT(float32 rawQ_f32);
|
|
static void ProcessBoardPressureSensorDataOUT(float32 rawT_f32);
|
|
static void ProcessBoardPumpSpeedDataOUT(uint32 pmpSpeed_u32);
|
|
/******************************************************************************
|
|
* Extern Function Declarations
|
|
******************************************************************************/
|
|
void ProcessBoardInit(void)
|
|
{
|
|
HalSystemInit();
|
|
AnalogMeasurementInit();
|
|
|
|
/* Initializing the structures (Pressure sensor, Flow
|
|
* meter, and Grundfos) with their respective ADC channel */
|
|
pressureSensorPS1_gst.channel_u32 = PS1_ADC_CHANNEL;
|
|
pressureSensorPS2_gst.channel_u32 = PS2_ADC_CHANNEL;
|
|
pressureSensorPS3_gst.channel_u32 = PS3_ADC_CHANNEL;
|
|
pressureSensorPS4_gst.channel_u32 = PS4_ADC_CHANNEL;
|
|
|
|
grundfosPMP_gst.channel_u32 = PMP_ADC_CHANNEL;
|
|
|
|
flowmeterFM1_gst.channel_u32 = FM1_ADC_CHANNEL;
|
|
flowmeterFM2_gst.channel_u32 = FM2_ADC_CHANNEL;
|
|
flowmeterFM3_gst.channel_u32 = FM3_ADC_CHANNEL;
|
|
flowmeterFM4_gst.channel_u32 = FM4_ADC_CHANNEL;
|
|
|
|
FlowmeterInit(&flowmeterFM1_gst);
|
|
FlowmeterInit(&flowmeterFM2_gst);
|
|
FlowmeterInit(&flowmeterFM3_gst);
|
|
FlowmeterInit(&flowmeterFM4_gst);
|
|
|
|
PressureSensorInit(&pressureSensorPS1_gst);
|
|
PressureSensorInit(&pressureSensorPS2_gst);
|
|
PressureSensorInit(&pressureSensorPS3_gst);
|
|
PressureSensorInit(&pressureSensorPS4_gst);
|
|
|
|
GrundfosPmpInit(&grundfosPMP_gst);
|
|
}
|
|
|
|
void ProcessBoardRun(bool pumpTurnOn_b)
|
|
{
|
|
AnalogMesaurementRun();
|
|
|
|
if (pumpTurnOn_b == true)
|
|
{
|
|
GrundfosPmpEnable(PU_PMP_ENABLE);
|
|
/* Flowmeter data IN */
|
|
FlowmeterGetFlow(&flowmeterFM1_gst);
|
|
FlowmeterGetFlow(&flowmeterFM2_gst);
|
|
FlowmeterGetFlow(&flowmeterFM3_gst);
|
|
FlowmeterGetFlow(&flowmeterFM4_gst);
|
|
|
|
/* Pressure sensor data IN */
|
|
// PressureSensorGetVal(&pressureSensorPS1_gst);
|
|
// PressureSensorGetVal(&pressureSensorPS2_gst);
|
|
// PressureSensorGetVal(&pressureSensorPS3_gst);
|
|
|
|
/* Flowmeter data OUT */
|
|
ProcessBoardFlowmeterDataOUT(flowmeterFM1_gst.rawQ_f32);
|
|
ProcessBoardFlowmeterDataOUT(flowmeterFM2_gst.rawQ_f32);
|
|
ProcessBoardFlowmeterDataOUT(flowmeterFM3_gst.rawQ_f32);
|
|
ProcessBoardFlowmeterDataOUT(flowmeterFM4_gst.rawQ_f32);
|
|
|
|
/* Pressure sensor data OUT */
|
|
ProcessBoardPressureSensorDataOUT(pressureSensorPS1_gst.rawT_f32);
|
|
ProcessBoardPressureSensorDataOUT(pressureSensorPS2_gst.rawT_f32);
|
|
ProcessBoardPressureSensorDataOUT(pressureSensorPS3_gst.rawT_f32);
|
|
ProcessBoardPressureSensorDataOUT(pressureSensorPS4_gst.rawT_f32);
|
|
|
|
ProcessBoardPumpSpeedDataOUT(grundfosPMP_gst.rawQ_f32);
|
|
|
|
ProcessBoardGrundfosPumpHandler(pumpTurnOn_b);
|
|
}
|
|
else
|
|
{
|
|
GrundfosPmpEnable(PU_PMP_DISABLE);
|
|
}
|
|
}
|
|
|
|
|
|
void ProcessBoardGrundfosPumpHandler(uint8 speed_u8)
|
|
{
|
|
GrundfosPmpSetSpeed(speed_u8);
|
|
|
|
/* Grundfos Pump feedback speed OUT */
|
|
GrundfosPmpFeedback(&grundfosPMP_gst);
|
|
|
|
if ((uint8)(grundfosPMP_gst.rawQ_f32) > PU_PMP_RATED_SPEED)
|
|
{
|
|
speed_u8 -= 2u;
|
|
}
|
|
}
|
|
/******************************************************************************
|
|
* Private function definitions
|
|
******************************************************************************/
|
|
//static void ProcessBoardGrundfosPumpHandler(bool pumpTurnOn_b)
|
|
//{
|
|
// static uint8 speed_u8 = PU_PUMP_MIN_SPEED;
|
|
// static uint64 startTime_u64 = 0uLL;
|
|
// uint64 currentTimeMs_u64;
|
|
//
|
|
// HalSystemGetRunTimeMs(¤tTimeMs_u64);
|
|
//
|
|
// if (startTime_u64 == 0uLL)
|
|
// {
|
|
// HalSystemGetRunTimeMs(&startTime_u64);
|
|
// }
|
|
//
|
|
// if (pumpTurnOn_b == true)
|
|
// {
|
|
// GrundfosPmpEnable(PU_PMP_ENABLE);
|
|
// }
|
|
// else
|
|
// {
|
|
// GrundfosPmpEnable(PU_PMP_DISABLE);
|
|
// }
|
|
//
|
|
//
|
|
// if ((currentTimeMs_u64 - startTime_u64) >= PU_PUMP_SPEED_CHANGE_INTERVAL)
|
|
// {
|
|
// if (pressureSensorPS1_gst.rawT_f32 > PU_MAX_PRESSURE || pressureSensorPS2_gst.rawT_f32 > PU_MAX_PRESSURE ||
|
|
// pressureSensorPS3_gst.rawT_f32 > PU_MAX_PRESSURE || pressureSensorPS4_gst.rawT_f32 > PU_MAX_PRESSURE)
|
|
// {
|
|
// /* Decrease speed if pressure is too high */
|
|
// if (speed_u8 > PU_PUMP_MIN_SPEED)
|
|
// {
|
|
// speed_u8 -= 2u;
|
|
// }
|
|
// }
|
|
// else if (speed_u8 <= PU_PUMP_MAX_SPEED)
|
|
// {
|
|
// speed_u8 += 2u;
|
|
// }
|
|
// else
|
|
// {
|
|
// speed_u8 = PU_PUMP_MIN_SPEED;
|
|
// }
|
|
//
|
|
// startTime_u64 = currentTimeMs_u64;
|
|
// }
|
|
//
|
|
// GrundfosPmpSetSpeed(speed_u8);
|
|
//
|
|
// /* Grundfos Pump feedback speed OUT */
|
|
// GrundfosPmpFeedback(&grundfosPMP_gst);
|
|
//
|
|
// if ((uint8)(grundfosPMP_gst.rawQ_f32) > PU_PMP_RATED_SPEED)
|
|
// {
|
|
// speed_u8 -= 2u;
|
|
// }
|
|
//}
|
|
|
|
static void ProcessBoardFlowmeterDataOUT(float32 rawQ_f32)
|
|
{
|
|
NmsCanPutObj_u16(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, (uint16)(flowmeterFM1_gst.rawQ_f32 * 100.0f));
|
|
NmsCanPutObj_u16(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER2_DATA_OUT_SUB_INDEX, (uint16)(flowmeterFM2_gst.rawQ_f32 * 100.0f));
|
|
NmsCanPutObj_u16(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER3_DATA_OUT_SUB_INDEX, (uint16)(flowmeterFM3_gst.rawQ_f32 * 100.0f));
|
|
NmsCanPutObj_u16(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER4_DATA_OUT_SUB_INDEX, (uint16)(flowmeterFM4_gst.rawQ_f32 * 100.0f));
|
|
}
|
|
|
|
|
|
static void ProcessBoardPressureSensorDataOUT(float32 rawT_f32)
|
|
{
|
|
NmsCanPutObj_u16(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, (uint16)pressureSensorPS1_gst.rawT_f32 * 100u);
|
|
NmsCanPutObj_u16(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE2_DATA_OUT_SUB_INDEX, (uint16)pressureSensorPS2_gst.rawT_f32 * 100u);
|
|
NmsCanPutObj_u16(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE3_DATA_OUT_SUB_INDEX, (uint16)(pressureSensorPS3_gst.rawT_f32 * 100.0f));
|
|
NmsCanPutObj_u16(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE4_DATA_OUT_SUB_INDEX, (uint16)pressureSensorPS4_gst.rawT_f32 * 100u);
|
|
}
|
|
|
|
|
|
static void ProcessBoardPumpSpeedDataOUT(uint32 pmpSpeed_u32)
|
|
{
|
|
NmsCanPutObj_u16(OD_ENTRY_PU_GRUNDFOS_PUMP_CONTROL_INDEX, OD_ENTRY_PU_GRUNDFOS_PUMP_FEEDBACK_SUB_INDEX, (uint16)grundfosPMP_gst.rawQ_f32);
|
|
}
|