284 lines
10 KiB
C
284 lines
10 KiB
C
/**
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* @file processBoard.c
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*
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* @copyright Nehemis SARL reserves all rights even in the event of industrial
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* property rights. We reserve all rights of disposal such as
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* copying and passing on to third parties.
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*
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* @brief This file provides the firmware for running the Production unit board.
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*
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*/
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/******************************************************************************
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* Include Header Files
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******************************************************************************/
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#include "processBoard.h"
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#include "flowmeter.h"
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#include "pressureSensor.h"
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#include "grundfos.h"
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#include "od_entries.h"
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#include "nms_can.h"
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#include "analogMeasurement.h"
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#include "hal_system.h"
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/******************************************************************************
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* Type declarations
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******************************************************************************/
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/******************************************************************************
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* Macro Constant Declarations
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******************************************************************************/
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#define PROCESS_BOARD_VALVE_POS_INDEX 0x6002
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#define PROCESS_BOARD_VALVE_FLOW_INDEX 0x6006
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#define PROCESS_BOARD_VALVE_PRESSURE_INDEX 0x6001
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#define PROCESS_BOARD_VALVE_SUB_INDEX 0x0
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#define PU_CANOPEN_SLAVE_LINE 0u
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#define PU_CANOPEN_MASTER_LINE 1u
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#define PU_PUMP_SPEED_CHANGE_INTERVAL 900000uLL
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#define PU_PUMP_MAX_SPEED 10u
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#define PU_PUMP_MIN_SPEED 0u
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#define PU_PMP_ENABLE 1u
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#define PU_PMP_DISABLE 0u
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/******************************************************************************
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* Global variables
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******************************************************************************/
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static volatile uint8 motorCmd_gu8;
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static volatile float32 flow_gf32 = 0.0f;
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static volatile float32 pressure_gf32 = 0.0f;
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FlowmeterMain_st flowmeterFM1_gst;
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FlowmeterMain_st flowmeterFM2_gst;
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FlowmeterMain_st flowmeterFM3_gst;
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FlowmeterMain_st flowmeterFM4_gst;
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PressureSensorMain_st pressureSensorPS1_gst;
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PressureSensorMain_st pressureSensorPS2_gst;
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PressureSensorMain_st pressureSensorPS3_gst;
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PressureSensorMain_st pressureSensorPS4_gst;
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GrundfosMain_st grundfosPMP_gst;
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ProcessBoardCondDataSt condBoard1_gst;
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ProcessBoardCondDataSt condBoard2_gst;
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ProcessBoardCondDataSt condBoard3_gst;
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ProcessBoardMvDataSt mvBoard1_gst;
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ProcessBoardMvDataSt mvBoard2_gst;
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ProcessBoardMvDataSt mvBoard3_gst;
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ProcessBoardMvDataSt mvBoard4_gst;
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ProcessBoardMvDataSt mvBoard5_gst;
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ProcessBoardMvDataSt mvBoard6_gst;
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ProcessBoardMvDataSt mvBoard7_gst;
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ProcessBoardMvDataSt mvBoard8_gst;
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/******************************************************************************
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* Private Function Declarations
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******************************************************************************/
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static void ProcessBoardTriggerMvPosCtrl(uint8 motorId_u8, uint8 posData_u8);
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static void ProcessBoardTriggerMvCartCtrl(uint8 motorId_u8, uint8 flowRate_u8, uint8 pressure_u8);
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static void ProcessBoardReadCondDataIN(void);
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static void ProcessBoardWriteCondDataOUT(void);
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static void ProcessBoardReadMvDataIN(void);
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static void ProcessBoardFlowmeterDataOUT(float32 rawQ_f32);
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static void ProcessBoardPressureSensorDataOUT(float32 rawT_f32);
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static void ProcessBoardPumpSpeedDataOUT(uint32 pmpSpeed_u32);
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static void ProcessBoardGrundfosPumpHandler(void);
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/******************************************************************************
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* Extern Function Declarations
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******************************************************************************/
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void ProcessBoardInit(void)
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{
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HalSystemInit();
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AnalogMeasurementInit();
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motorCmd_gu8 = 0u;
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/* Initializing the structures (Pressure sensor, Flow
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* meter, and Grundfos) with their respective ADC channel */
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pressureSensorPS1_gst.channel_u32 = PS1_ADC_CHANNEL;
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pressureSensorPS2_gst.channel_u32 = PS2_ADC_CHANNEL;
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pressureSensorPS3_gst.channel_u32 = PS3_ADC_CHANNEL;
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pressureSensorPS4_gst.channel_u32 = PS4_ADC_CHANNEL;
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grundfosPMP_gst.channel_u32 = PMP_ADC_CHANNEL;
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flowmeterFM1_gst.channel_u32 = FM1_ADC_CHANNEL;
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flowmeterFM2_gst.channel_u32 = FM2_ADC_CHANNEL;
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flowmeterFM3_gst.channel_u32 = FM3_ADC_CHANNEL;
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flowmeterFM4_gst.channel_u32 = FM4_ADC_CHANNEL;
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FlowmeterInit(&flowmeterFM1_gst);
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FlowmeterInit(&flowmeterFM2_gst);
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FlowmeterInit(&flowmeterFM3_gst);
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FlowmeterInit(&flowmeterFM4_gst);
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}
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void ProcessBoardRun(void)
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{
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uint8 id_u8 = 0u;
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uint8 motorCmd_u8 = 0u;
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uint8 posData_u8 = 0u;
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uint8 flowRate_u8 = 0u;
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uint8 pressure_u8 = 0u;
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AnalogMesaurementRun();
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/* DEBUG code to be replaced. Logic to be changed based on state machine
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* implementation. */
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if(motorCmd_u8 == 1u)
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{
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ProcessBoardTriggerMvPosCtrl(11, posData_u8); /* DEBUG */
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}
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else
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{
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ProcessBoardTriggerMvCartCtrl(id_u8, flowRate_u8, pressure_u8);
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}
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/* Flowmeter data IN */
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FlowmeterGetFlow(&flowmeterFM1_gst);
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FlowmeterGetFlow(&flowmeterFM2_gst);
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FlowmeterGetFlow(&flowmeterFM3_gst);
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FlowmeterGetFlow(&flowmeterFM4_gst);
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/* Pressure sensor data IN */
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PressureSensorGetVal(&pressureSensorPS1_gst);
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PressureSensorGetVal(&pressureSensorPS2_gst);
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PressureSensorGetVal(&pressureSensorPS3_gst);
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PressureSensorGetVal(&pressureSensorPS4_gst);
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/* Flowmeter data OUT */
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ProcessBoardFlowmeterDataOUT(flowmeterFM1_gst.rawQ_f32);
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ProcessBoardFlowmeterDataOUT(flowmeterFM2_gst.rawQ_f32);
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ProcessBoardFlowmeterDataOUT(flowmeterFM3_gst.rawQ_f32);
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ProcessBoardFlowmeterDataOUT(flowmeterFM4_gst.rawQ_f32);
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/* Pressure sensor data OUT */
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ProcessBoardPressureSensorDataOUT(pressureSensorPS1_gst.rawT_f32);
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ProcessBoardPressureSensorDataOUT(pressureSensorPS2_gst.rawT_f32);
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ProcessBoardPressureSensorDataOUT(pressureSensorPS3_gst.rawT_f32);
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ProcessBoardPressureSensorDataOUT(pressureSensorPS4_gst.rawT_f32);
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ProcessBoardGrundfosPumpHandler();
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ProcessBoardReadCondDataIN();
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ProcessBoardWriteCondDataOUT();
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}
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/******************************************************************************
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* Private function definitions
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******************************************************************************/
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static void ProcessBoardGrundfosPumpHandler(void)
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{
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static uint32 pmpSpeed_u32 = 0uL;
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static uint8 speed_u8 = 0u;
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static uint64 startTime_u64 = 0uLL;
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uint64 currentTimeMs_u64;
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HalSystemGetRunTimeMs(¤tTimeMs_u64);
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if (startTime_u64 == 0uLL)
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{
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HalSystemGetRunTimeMs(&startTime_u64);
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}
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GrundfosPmpEnable(PU_PMP_ENABLE);
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if ((currentTimeMs_u64 - startTime_u64) >= PU_PUMP_SPEED_CHANGE_INTERVAL)
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{
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// Update speed
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if (speed_u8 < PU_PUMP_MAX_SPEED)
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{
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speed_u8 += 2u;
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}
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else
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{
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speed_u8 = PU_PUMP_MIN_SPEED;
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}
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GrundfosPmpSetSpeed(speed_u8);
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startTime_u64 = currentTimeMs_u64;
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/* Grundfos Pump feedback speed OUT */
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pmpSpeed_u32 = GrundfosPmpFeedbackSpeed(PMP_ADC_CHANNEL);
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/* To be verified */
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if (pmpSpeed_u32 > PU_PUMP_MAX_SPEED)
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{
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GrundfosPmpEnable(PU_PMP_DISABLE);
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}
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}
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}
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static void ProcessBoardTriggerMvPosCtrl(uint8 motorId_u8, uint8 posData_u8)
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{
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}
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static void ProcessBoardTriggerMvCartCtrl(uint8 motorId_u8, uint8 flowRate_u8, uint8 pressure_u8)
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{
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}
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static void ProcessBoardReadCondDataIN(void)
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{
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NmsCanGetObj_u32(OD_ENTRY_PU_COND_DATA_IN_INDEX, OD_ENTRY_PU_COND1_DATA_IN_SUB_INDEX, &condBoard1_gst.conductivityData_u32);
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NmsCanGetObj_u32(OD_ENTRY_PU_COND_DATA_IN_INDEX, OD_ENTRY_PU_TEMP1_DATA_IN_SUB_INDEX, &condBoard1_gst.temperature_u32);
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NmsCanGetObj_u32(OD_ENTRY_PU_COND_DATA_IN_INDEX, OD_ENTRY_PU_COND1_DATA_IN_SUB_INDEX, &condBoard2_gst.conductivityData_u32);
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NmsCanGetObj_u32(OD_ENTRY_PU_COND_DATA_IN_INDEX, OD_ENTRY_PU_TEMP2_DATA_IN_SUB_INDEX, &condBoard2_gst.temperature_u32);
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NmsCanGetObj_u32(OD_ENTRY_PU_COND_DATA_IN_INDEX, OD_ENTRY_PU_COND1_DATA_IN_SUB_INDEX, &condBoard3_gst.conductivityData_u32);
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NmsCanGetObj_u32(OD_ENTRY_PU_COND_DATA_IN_INDEX, OD_ENTRY_PU_TEMP3_DATA_IN_SUB_INDEX, &condBoard3_gst.temperature_u32);
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}
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static void ProcessBoardWriteCondDataOUT(void)
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{
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NmsCanPutObj_u32(OD_ENTRY_PU_COND_DATA_OUT_INDEX, OD_ENTRY_PU_COND1_DATA_IN_SUB_INDEX, condBoard1_gst.conductivityData_u32);
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NmsCanPutObj_u32(OD_ENTRY_PU_COND_DATA_OUT_INDEX, OD_ENTRY_PU_TEMP1_DATA_IN_SUB_INDEX, condBoard1_gst.temperature_u32);
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NmsCanPutObj_u32(OD_ENTRY_PU_COND_DATA_OUT_INDEX, OD_ENTRY_PU_COND2_DATA_IN_SUB_INDEX, condBoard2_gst.conductivityData_u32);
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NmsCanPutObj_u32(OD_ENTRY_PU_COND_DATA_OUT_INDEX, OD_ENTRY_PU_TEMP2_DATA_IN_SUB_INDEX, condBoard2_gst.temperature_u32);
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NmsCanPutObj_u32(OD_ENTRY_PU_COND_DATA_OUT_INDEX, OD_ENTRY_PU_COND3_DATA_IN_SUB_INDEX, condBoard3_gst.conductivityData_u32);
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NmsCanPutObj_u32(OD_ENTRY_PU_COND_DATA_OUT_INDEX, OD_ENTRY_PU_TEMP3_DATA_IN_SUB_INDEX, condBoard3_gst.temperature_u32);
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}
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static void ProcessBoardFlowmeterDataOUT(float32 rawQ_f32)
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{
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NmsCanPutObj_f32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, rawQ_f32);
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NmsCanPutObj_f32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, rawQ_f32);
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NmsCanPutObj_f32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, rawQ_f32);
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NmsCanPutObj_f32(OD_ENTRY_PU_FLOWMETER_DATA_OUT_INDEX, OD_ENTRY_PU_FLOWMETER1_DATA_OUT_SUB_INDEX, rawQ_f32);
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}
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static void ProcessBoardPressureSensorDataOUT(float32 rawT_f32)
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{
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NmsCanPutObj_f32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, rawT_f32);
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NmsCanPutObj_f32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, rawT_f32);
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NmsCanPutObj_f32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, rawT_f32);
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NmsCanPutObj_f32(OD_ENTRY_PU_PRESSURE_DATA_OUT_INDEX, OD_ENTRY_PU_PRESSURE1_DATA_OUT_SUB_INDEX, rawT_f32);
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}
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static void ProcessBoardPumpSpeedDataOUT(uint32 pmpSpeed_u32)
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{
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NmsCanPutObj_u32(OD_ENTRY_PU_GRUNDFOS_PUMP_CONTROL_INDEX, OD_ENTRY_PU_GRUNDFOS_PUMP_FEEDBACK_SUB_INDEX, pmpSpeed_u32);
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}
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static void ProcessBoardReadMvDataIN(void)
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{
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// NmsCanGetObj_u8(uint8 canLine_u8, uint16 index_u16, uint8 subIndex_u8, uint8 *pObj_pu8);
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}
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