error handler init, internal watchdog add
This commit is contained in:
@ -36,19 +36,19 @@
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// Application
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#include "VARH_VariableHandler.h"
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#include "PECO_PeltierController.h"
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#include "MAIN_MainApplication.h"
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// Drivers
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//#include "../Drivers/USFL_UserFlash.h"
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#include "../Drivers/USFL_UserFlash.h"
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#include "../Drivers/ANPI_AnalogPortsIn.h"
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#include "../Drivers/ANPO_AnalogPortsOut.h"
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#include "../Drivers/SPID_SpiDriver.h"
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#include "../Drivers/DIPO_DigitalPorts.h"
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#include "../Drivers/ADCD_AdcDriver.h"
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#include "../Drivers/TEMP_Temperature.h"
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#include "../Drivers/PECO_PeltierController.h"
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#include "../Drivers/CAND_CanDriver.h"
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#include "../Drivers/ERRH_ErrorHandler.h"
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// Toolbox
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#include "../Toolbox/UTIL_Utility.h"
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@ -41,7 +41,7 @@
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#include "../Drivers/TEMP_Temperature.h"
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#include "../Drivers/DIPO_DigitalPorts.h"
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#include "../Drivers/CAND_CanDriver.h"
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#include "../Drivers/PECO_PeltierController.h"
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#include "PECO_PeltierController.h"
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#include "../Drivers/ANPI_AnalogPortsIn.h"
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// Toolbox
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@ -229,12 +229,17 @@ PRIVATE VOID vTask( PVOID arg )
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U8 u8Type = stMessage.u8Type;
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if( u8Type == MESSAGE_TYPE_READ ){
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VARH_UVariable uVariable = VARH_uGetVariableData(u8Register);
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if( u8Register >= VARH_eNumberOfVariables ){
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au8Buffer[0] = 0xFF;
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CAND_boSendMessage( au8Buffer, 1 );
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} else {
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VARH_UVariable uVariable = VARH_uGetVariableData(u8Register);
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au8Buffer[0] = u8Register;
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UTIL_vMemCopy(&uVariable, &au8Buffer[1], 4);
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au8Buffer[0] = u8Register;
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UTIL_vMemCopy(&uVariable, &au8Buffer[1], 4);
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CAND_boSendMessage( au8Buffer, 5 );
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CAND_boSendMessage( au8Buffer, 5 );
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}
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} else if( u8Type == MESSAGE_TYPE_WRITE ){
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VARH_UVariable uData;
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UTIL_vMemCopy(&stMessage.au8Data[1], &uData, 4);
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329
Core/Application/PECO_PeltierController.c
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329
Core/Application/PECO_PeltierController.c
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@ -0,0 +1,329 @@
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//=================================================================================================
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//
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// Company: Paul Scherrer Institut
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// 5232 Villigen PSI
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// Switzerland
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//
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//-------------------------------------------------------------------------------------------------
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//
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// Project: Peltier Controller V2
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// Author: Noah Piqué (noah.pique@psi.ch)
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//
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//-------------------------------------------------------------------------------------------------
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//
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// Module: Peltier Controller
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// Filename: PECO_PeltierController.c
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// Date: Handled by Subversion (version control system)
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// Revision: Handled by Subversion (version control system)
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// History: Handled by Subversion (version control system)
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//
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//-------------------------------------------------------------------------------------------------
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//
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// Description: This source file contains all functions dealing with the Peltier Controller Output
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//
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//=================================================================================================
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//=================================================================================================
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// Section: INCLUDES
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// Description: List of required include files.
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//=================================================================================================
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#include "../PDEF_ProjectDefinitions.h"
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#include "PECO_PeltierController.h"
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//Application
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#include "../Application/VARH_VariableHandler.h"
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// Driver
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#include "ANPO_AnalogPortsOut.h"
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#include "DIPO_DigitalPorts.h"
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// Toolbox
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#include "../Toolbox/UTIL_Utility.h"
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// include STM32 drivers
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#include "stm32l4xx_hal.h"
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#include "cmsis_os2.h"
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//=================================================================================================
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// Section: DEFINITIONS
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// Description: Definition of local constants (visible by this module only).
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//=================================================================================================
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#define REFRESH 1000 // Refresh rate in ms
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#define EVENT_TIMER_UPDATE ((U32)(1<<0))
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#define EVENT_FLAGS_ALL ( EVENT_TIMER_UPDATE )
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//=================================================================================================
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// Section: MACROS
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// Description: Definition of local macros (visible by this module only).
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//=================================================================================================
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//=================================================================================================
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// Section: ENUMERATIONS
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// Description: Definition of local enumerations (visible by this module only).
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//=================================================================================================
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//=================================================================================================
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// Section: STRUCTURES
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// Description: Definition of local Structures (visible by this module only).
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//=================================================================================================
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//=================================================================================================
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// Section: LOCAL VARIABLES
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// Description: Definition of local variables (visible by this module only).
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//=================================================================================================
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LOCAL osThreadId_t m_pstThreadID = NULL;
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LOCAL osTimerId_t m_pstUpdateTimer = NULL;
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LOCAL osEventFlagsId_t m_pstEventID = NULL;
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BOOL boEnableOutput = FALSE;
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//=================================================================================================
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// Section: LOCAL CONSTANTS
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// Description: Definition of local constants (visible by this module only).
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//=================================================================================================
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LOCAL CONST osThreadAttr_t stTaskAttribute =
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{
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"PECO_Thread", // name of the thread
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osThreadDetached, // attribute bits
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NULL, // memory for control block
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0, // size of provided memory for control block
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NULL, // memory for stack
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1024, // size of stack
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osPriorityNormal, // initial thread priority (default: osPriorityNormal)
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0, // TrustZone module identifier
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0, // reserved (must be 0)
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};
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LOCAL CONST osTimerAttr_t stTimerAttribute =
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{
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"PECO_UpdateTimer", // name of the timer
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0, // attribute bits
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NULL, // memory for control block
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0, // size of provided memory for control block
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};
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LOCAL CONST osEventFlagsAttr_t stEventAttribute =
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{
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"PECO_Event_Flags", // name of the event flags
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0, // attribute bits
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NULL, // memory for control block
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0, // size of provided memory for control block
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};
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//=================================================================================================
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// Section: LOCAL FUNCTIONS (PROTOTYPES)
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// Description: Definition of local functions (visible by this module only).
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//=================================================================================================
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PRIVATE VOID vTask( PVOID arg );
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BOOL boSetPeltierVoltage( FLOAT Voltage );
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PRIVATE VOID vEventCallback( PVOID pvData );
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//=================================================================================================
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// Section: EXTERNAL FUNCTIONS
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// Description: Definition of external (global) functions.
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//=================================================================================================
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//=================================================================================================
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// Section: EXTERNAL VARIABLES
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// Description: Definition of external (global) variables.
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//=================================================================================================
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extern IWDG_HandleTypeDef hiwdg;
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//=================================================================================================
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// Section: GLOBAL FUNCTIONS
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// Description: Definition (implementation) of global functions.
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//=================================================================================================
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//-------------------------------------------------------------------------------------------------
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// Function: PECO_boInitializeModule
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// Description: Initializes the module. Function must be called once immediately after power-up.
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// Parameters: None
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// Returns: Boolean TRUE if successful
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//-------------------------------------------------------------------------------------------------
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BOOL PECO_boInitializeModule( VOID )
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{
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BOOL boOK = TRUE;
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boOK &= ( ( m_pstThreadID = osThreadNew( vTask, NULL, &stTaskAttribute ) ) == NULL ) ? FALSE : TRUE;
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boOK &= ( ( m_pstEventID = osEventFlagsNew( &stEventAttribute ) ) == NULL) ? FALSE : TRUE;
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boOK &= ( m_pstUpdateTimer = osTimerNew( vEventCallback, osTimerPeriodic, (PVOID)EVENT_TIMER_UPDATE, &stTimerAttribute ) ) == NULL ? FALSE : TRUE;
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boSetPeltierVoltage(0);
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boOK &= (osTimerStart( m_pstUpdateTimer, REFRESH ) == osOK ) ? TRUE : FALSE;
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return( boOK );
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}
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//-------------------------------------------------------------------------------------------------
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// Function: PECO_boSetTemperature
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// Description: Sets the Peltier Controller to a Specific Temperature
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// Parameters: None
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// Returns: Boolean TRUE if successful
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//-------------------------------------------------------------------------------------------------
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BOOL PECO_boSetTemperature( S16 Temperature ){
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BOOL boOK = TRUE;
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boOK &= boSetPeltierVoltage( Temperature );
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return( boOK );
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}
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//-------------------------------------------------------------------------------------------------
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// Function: PECO_Enable
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// Description: Enables the Peltier Controller Output
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// Parameters: BOOL boEnable
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// Returns: None
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//-------------------------------------------------------------------------------------------------
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VOID PECO_Enable( BOOL boEnable ){
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DIPO_vSetState(DIPO_eEN, boEnable);
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boEnableOutput = boEnable;
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}
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//-------------------------------------------------------------------------------------------------
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// Function: PECO_isEnabled
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// Description: Returns true if the Output is enabled
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// Parameters: None
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// Returns: BOOL boEnableOutput
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//-------------------------------------------------------------------------------------------------
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BOOL PECO_isEnabled( VOID ){
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return boEnableOutput;
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}
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//=================================================================================================
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// Section: LOCAL FUNCTIONS
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// Descriptionn: Definition (implementation) of local functions.
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//=================================================================================================
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//-------------------------------------------------------------------------------------------------
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// Function: vTask
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// Description: Task
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// Parameters: None
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// Returns: None
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//-------------------------------------------------------------------------------------------------
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VOID vTask( PVOID arg )
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{
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UNUSED( arg );
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U32 u32Flags;
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FLOAT last_error = 0;
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FLOAT integral = 0;
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FLOAT dT = REFRESH; // 1s
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while ( TRUE )
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{
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u32Flags = osEventFlagsWait( m_pstEventID, EVENT_FLAGS_ALL, osFlagsWaitAny, osWaitForever );
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if( u32Flags & EVENT_TIMER_UPDATE )
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{
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HAL_IWDG_Refresh(&hiwdg);
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if ( VARH_u32GetVariableData( VARH_eMode ) == PECO_eConstTemp )
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{
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// TODO: check the measurements, everything ok?
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// PID Regelung
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FLOAT kp = VARH_flGetVariableData( VARH_ePID_kp );
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FLOAT ki = VARH_flGetVariableData( VARH_ePID_ki );
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FLOAT kd = VARH_flGetVariableData( VARH_ePID_kd );
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FLOAT max = VARH_flGetVariableData( VARH_ePID_Max );
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FLOAT min = VARH_flGetVariableData( VARH_ePID_Min );
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FLOAT Tnow = VARH_flGetVariableData( VARH_eTemp_C );
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FLOAT Tset = VARH_flGetVariableData( VARH_ePID_Temp );
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// -error
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FLOAT error = Tnow - Tset;
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// proportional term
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FLOAT P = kp * error;
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// integral term
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integral += error * dT;
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FLOAT I = ki * integral;
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// derivative term
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FLOAT D = kd * ( error - last_error ) / dT;
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last_error = error;
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// total
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FLOAT output = P + I + D;
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// limitter
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if ( output > max ){
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output = max;
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} else if ( output < min ){
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output = min;
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}
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boSetPeltierVoltage( output ); // set the output
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} else if ( VARH_u32GetVariableData( VARH_eMode ) == PECO_eConst_Voltage )
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{
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boSetPeltierVoltage( VARH_flGetVariableData( VARH_eControlVoltage ) ); // set the output
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}
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}
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}
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}
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//-------------------------------------------------------------------------------------------------
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// Function: boSetPeltierVoltage
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// Description: Sets the Peltier elements to a specific Voltage
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// Parameters: S8 Voltage (12V - -3V)
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// Returns: Boolean TRUE if successful
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//-------------------------------------------------------------------------------------------------
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BOOL boSetPeltierVoltage( FLOAT Voltage ){
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BOOL boOK = TRUE;
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if( Voltage > 12 ) Voltage = 12;
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if( Voltage < -3 ) Voltage = -3;
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ANPO_boSetVoltage( ( ( (FLOAT)Voltage ) + 20.088) / 34.103 );
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return( boOK );
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}
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//-------------------------------------------------------------------------------------------------
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// Function: vEventCallback
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// Description: Callback for events
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// Parameters: None
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// Returns: None
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//-------------------------------------------------------------------------------------------------
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PRIVATE VOID vEventCallback( PVOID pvData )
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{
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osEventFlagsSet( m_pstEventID, (U32)pvData );
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}
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99
Core/Application/PECO_PeltierController.h
Normal file
99
Core/Application/PECO_PeltierController.h
Normal file
@ -0,0 +1,99 @@
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//=================================================================================================
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//
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// Company: Paul Scherrer Institut
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// 5232 Villigen PSI
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// Switzerland
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//
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//-------------------------------------------------------------------------------------------------
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//
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// Project: Peltier Controller V2
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// Author: Noah Piqu<71> (noah.pique@psi.ch)
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//
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//-------------------------------------------------------------------------------------------------
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//
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// Module: Peltier Controller
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// Filename: PECO_PeltierController.h
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// Date: Handled by Subversion (version control system)
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||||
// Revision: Handled by Subversion (version control system)
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// History: Handled by Subversion (version control system)
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//
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//-------------------------------------------------------------------------------------------------
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#ifndef PECO_PELTIERCONTROLLER_H
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#define PECO_PELTIERCONTROLLER_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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//=================================================================================================
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// Section: INCLUDES
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// Description: List of required include files (visible by all modules).
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//=================================================================================================
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#include "../SDEF_StandardDefinitions.h"
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//=================================================================================================
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// Section: DEFINITIONS
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// Description: Definition of global constants (visible by all modules).
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//=================================================================================================
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//=================================================================================================
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// Section: MACROS
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// Description: Definition of global macros (visible by all modules).
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//=================================================================================================
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||||
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//=================================================================================================
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// Section: ENUMERATIONS
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// Description: Definition of global enumerations (visible by all modules).
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//=================================================================================================
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typedef enum {
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PECO_eConstTemp = 0,
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PECO_eConst_Voltage = 1
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} PECO_eMode;
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//=================================================================================================
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// Section: STRUCTURES
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||||
// Description: Definition of global Structures (visible by all modules).
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||||
//=================================================================================================
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||||
|
||||
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||||
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//=================================================================================================
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||||
// Section: GLOBAL VARIABLES
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||||
// Description: Definition of global variables (visible by all modules).
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||||
//=================================================================================================
|
||||
|
||||
|
||||
|
||||
//=================================================================================================
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||||
// Section: GLOBAL CONSTANTS
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||||
// Description: Definition of global constants (visible by all modules).
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//=================================================================================================
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||||
|
||||
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||||
|
||||
//=================================================================================================
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||||
// Section: GLOBAL FUNCTIONS (PROTOTYPES)
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// Description: Definition of global functions (visible by all modules).
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//=================================================================================================
|
||||
|
||||
BOOL PECO_boInitializeModule( VOID );
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BOOL PECO_boSetTemperature( S16 Temperature );
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VOID PECO_Enable( BOOL Enable );
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BOOL PECO_isEnabled( VOID );
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#ifdef __cplusplus
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}
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#endif
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||||
#endif
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Reference in New Issue
Block a user