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error handler init, internal watchdog add

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pique_n
2022-06-22 14:54:21 +02:00
parent 17ccf56463
commit 96b27b020b
15 changed files with 819 additions and 27 deletions
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124
Core/Drivers/ERRH_ErrorHandler.c Normal file
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@ -0,0 +1,124 @@
//=================================================================================================
//
// Company: Paul Scherrer Institut
// 5232 Villigen PSI
// Switzerland
//
//-------------------------------------------------------------------------------------------------
//
// Project: Peltier Controller V2
// Author: Noah Piqué (noah.pique@psi.ch)
//
//-------------------------------------------------------------------------------------------------
//
// Module: Error Handler
// Filename: ERRH_ErrorHandler.c
// Date: Handled by Subversion (version control system)
// Revision: Handled by Subversion (version control system)
// History: Handled by Subversion (version control system)
//
//-------------------------------------------------------------------------------------------------
//
// Description: This source file contains all functions dealing with internal Errors
//
//=================================================================================================
//=================================================================================================
// Section: INCLUDES
// Description: List of required include files.
//=================================================================================================
#include "../PDEF_ProjectDefinitions.h"
#include "ERRH_ErrorHandler.h"
// Toolbox
#include "../Toolbox/UTIL_Utility.h"
// include STM32 drivers
#include "stm32l4xx_hal.h"
#include "cmsis_os2.h"
//=================================================================================================
// Section: DEFINITIONS
// Description: Definition of local constants (visible by this module only).
//=================================================================================================
//=================================================================================================
// Section: MACROS
// Description: Definition of local macros (visible by this module only).
//=================================================================================================
//=================================================================================================
// Section: ENUMERATIONS
// Description: Definition of local enumerations (visible by this module only).
//=================================================================================================
//=================================================================================================
// Section: STRUCTURES
// Description: Definition of local Structures (visible by this module only).
//=================================================================================================
//=================================================================================================
// Section: LOCAL VARIABLES
// Description: Definition of local variables (visible by this module only).
//=================================================================================================
//=================================================================================================
// Section: LOCAL CONSTANTS
// Description: Definition of local constants (visible by this module only).
//=================================================================================================
//=================================================================================================
// Section: LOCAL FUNCTIONS (PROTOTYPES)
// Description: Definition of local functions (visible by this module only).
//=================================================================================================
//=================================================================================================
// Section: GLOBAL FUNCTIONS
// Description: Definition (implementation) of global functions.
//=================================================================================================
//-------------------------------------------------------------------------------------------------
// Function: USFL_boInitializeModule
// Description: Initializes the module. Function must be called once immediately after power-up.
// Parameters: None
// Returns: Boolean TRUE if successful
//-------------------------------------------------------------------------------------------------
BOOL ERRH_boInitializeModule( VOID )
{
BOOL boOK = TRUE;
return( boOK );
}
//=================================================================================================
// Section: LOCAL FUNCTIONS
// Descriptionn: Definition (implementation) of local functions.
//=================================================================================================

22
Core/Drivers/PECO_PeltierController.h → Core/Drivers/ERRH_ErrorHandler.h
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@ -7,20 +7,20 @@
//-------------------------------------------------------------------------------------------------
//
// Project: Peltier Controller V2
// Author: Noah Piqu<EFBFBD> (noah.pique@psi.ch)
// Author: Noah Piqué (noah.pique@psi.ch)
//
//-------------------------------------------------------------------------------------------------
//
// Module: Peltier Controller
// Filename: PECO_PeltierController.h
// Module: Error Handler
// Filename: ERRH_ErrorHandler.h
// Date: Handled by Subversion (version control system)
// Revision: Handled by Subversion (version control system)
// History: Handled by Subversion (version control system)
//
//-------------------------------------------------------------------------------------------------
#ifndef PECO_PELTIERCONTROLLER_H
#define PECO_PELTIERCONTROLLER_H
#ifndef ERRH_ERRORHANDLER_H
#define ERRH_ERRORHANDLER_H
#ifdef __cplusplus
extern "C" {
@ -56,10 +56,9 @@ extern "C" {
// Description: Definition of global enumerations (visible by all modules).
//=================================================================================================
typedef enum {
PECO_eConstTemp = 0,
PECO_eConst_Voltage = 1
} PECO_eMode;
//=================================================================================================
// Section: STRUCTURES
@ -87,10 +86,7 @@ typedef enum {
// Description: Definition of global functions (visible by all modules).
//=================================================================================================
BOOL PECO_boInitializeModule( VOID );
BOOL PECO_boSetTemperature( S16 Temperature );
VOID PECO_Enable( BOOL Enable );
BOOL PECO_isEnabled( VOID );
BOOL ERRH_boInitializeModule( VOID );
#ifdef __cplusplus
}

326
Core/Drivers/PECO_PeltierController.c
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@ -1,326 +0,0 @@
//=================================================================================================
//
// Company: Paul Scherrer Institut
// 5232 Villigen PSI
// Switzerland
//
//-------------------------------------------------------------------------------------------------
//
// Project: Peltier Controller V2
// Author: Noah Piqué (noah.pique@psi.ch)
//
//-------------------------------------------------------------------------------------------------
//
// Module: Peltier Controller
// Filename: PECO_PeltierController.c
// Date: Handled by Subversion (version control system)
// Revision: Handled by Subversion (version control system)
// History: Handled by Subversion (version control system)
//
//-------------------------------------------------------------------------------------------------
//
// Description: This source file contains all functions dealing with the Peltier Controller Output
//
//=================================================================================================
//=================================================================================================
// Section: INCLUDES
// Description: List of required include files.
//=================================================================================================
#include "../PDEF_ProjectDefinitions.h"
#include "PECO_PeltierController.h"
//Application
#include "../Application/VARH_VariableHandler.h"
// Driver
#include "ANPO_AnalogPortsOut.h"
#include "DIPO_DigitalPorts.h"
// Toolbox
#include "../Toolbox/UTIL_Utility.h"
// include STM32 drivers
#include "stm32l4xx_hal.h"
#include "cmsis_os2.h"
//=================================================================================================
// Section: DEFINITIONS
// Description: Definition of local constants (visible by this module only).
//=================================================================================================
#define REFRESH 1000 // Refresh rate in ms
#define EVENT_TIMER_UPDATE ((U32)(1<<0))
#define EVENT_FLAGS_ALL ( EVENT_TIMER_UPDATE )
//=================================================================================================
// Section: MACROS
// Description: Definition of local macros (visible by this module only).
//=================================================================================================
//=================================================================================================
// Section: ENUMERATIONS
// Description: Definition of local enumerations (visible by this module only).
//=================================================================================================
//=================================================================================================
// Section: STRUCTURES
// Description: Definition of local Structures (visible by this module only).
//=================================================================================================
//=================================================================================================
// Section: LOCAL VARIABLES
// Description: Definition of local variables (visible by this module only).
//=================================================================================================
LOCAL osThreadId_t m_pstThreadID = NULL;
LOCAL osTimerId_t m_pstUpdateTimer = NULL;
LOCAL osEventFlagsId_t m_pstEventID = NULL;
BOOL boEnableOutput = FALSE;
//=================================================================================================
// Section: LOCAL CONSTANTS
// Description: Definition of local constants (visible by this module only).
//=================================================================================================
LOCAL CONST osThreadAttr_t stTaskAttribute =
{
"PECO_Thread", // name of the thread
osThreadDetached, // attribute bits
NULL, // memory for control block
0, // size of provided memory for control block
NULL, // memory for stack
1024, // size of stack
osPriorityNormal, // initial thread priority (default: osPriorityNormal)
0, // TrustZone module identifier
0, // reserved (must be 0)
};
LOCAL CONST osTimerAttr_t stTimerAttribute =
{
"PECO_UpdateTimer", // name of the timer
0, // attribute bits
NULL, // memory for control block
0, // size of provided memory for control block
};
LOCAL CONST osEventFlagsAttr_t stEventAttribute =
{
"PECO_Event_Flags", // name of the event flags
0, // attribute bits
NULL, // memory for control block
0, // size of provided memory for control block
};
//=================================================================================================
// Section: LOCAL FUNCTIONS (PROTOTYPES)
// Description: Definition of local functions (visible by this module only).
//=================================================================================================
PRIVATE VOID vTask( PVOID arg );
BOOL boSetPeltierVoltage( FLOAT Voltage );
PRIVATE VOID vEventCallback( PVOID pvData );
//=================================================================================================
// Section: EXTERNAL FUNCTIONS
// Description: Definition of external (global) functions.
//=================================================================================================
//=================================================================================================
// Section: EXTERNAL VARIABLES
// Description: Definition of external (global) variables.
//=================================================================================================
//=================================================================================================
// Section: GLOBAL FUNCTIONS
// Description: Definition (implementation) of global functions.
//=================================================================================================
//-------------------------------------------------------------------------------------------------
// Function: PECO_boInitializeModule
// Description: Initializes the module. Function must be called once immediately after power-up.
// Parameters: None
// Returns: Boolean TRUE if successful
//-------------------------------------------------------------------------------------------------
BOOL PECO_boInitializeModule( VOID )
{
BOOL boOK = TRUE;
boOK &= ( ( m_pstThreadID = osThreadNew( vTask, NULL, &stTaskAttribute ) ) == NULL ) ? FALSE : TRUE;
boOK &= ( ( m_pstEventID = osEventFlagsNew( &stEventAttribute ) ) == NULL) ? FALSE : TRUE;
boOK &= ( m_pstUpdateTimer = osTimerNew( vEventCallback, osTimerPeriodic, (PVOID)EVENT_TIMER_UPDATE, &stTimerAttribute ) ) == NULL ? FALSE : TRUE;
boSetPeltierVoltage(0);
boOK &= (osTimerStart( m_pstUpdateTimer, REFRESH ) == osOK ) ? TRUE : FALSE;
return( boOK );
}
//-------------------------------------------------------------------------------------------------
// Function: PECO_boSetTemperature
// Description: Sets the Peltier Controller to a Specific Temperature
// Parameters: None
// Returns: Boolean TRUE if successful
//-------------------------------------------------------------------------------------------------
BOOL PECO_boSetTemperature( S16 Temperature ){
BOOL boOK = TRUE;
boOK &= boSetPeltierVoltage( Temperature );
return( boOK );
}
//-------------------------------------------------------------------------------------------------
// Function: PECO_Enable
// Description: Enables the Peltier Controller Output
// Parameters: BOOL boEnable
// Returns: None
//-------------------------------------------------------------------------------------------------
VOID PECO_Enable( BOOL boEnable ){
DIPO_vSetState(DIPO_eEN, boEnable);
boEnableOutput = boEnable;
}
//-------------------------------------------------------------------------------------------------
// Function: PECO_isEnabled
// Description: Returns true if the Output is enabled
// Parameters: None
// Returns: BOOL boEnableOutput
//-------------------------------------------------------------------------------------------------
BOOL PECO_isEnabled( VOID ){
return boEnableOutput;
}
//=================================================================================================
// Section: LOCAL FUNCTIONS
// Descriptionn: Definition (implementation) of local functions.
//=================================================================================================
//-------------------------------------------------------------------------------------------------
// Function: vTask
// Description: Task
// Parameters: None
// Returns: None
//-------------------------------------------------------------------------------------------------
VOID vTask( PVOID arg )
{
UNUSED( arg );
U32 u32Flags;
FLOAT last_error = 0;
FLOAT integral = 0;
FLOAT dT = REFRESH; // 1s
while ( TRUE )
{
u32Flags = osEventFlagsWait( m_pstEventID, EVENT_FLAGS_ALL, osFlagsWaitAny, osWaitForever );
if( u32Flags & EVENT_TIMER_UPDATE )
{
if ( VARH_u32GetVariableData( VARH_eMode ) == PECO_eConstTemp )
{
// TODO: check the measurements, everything ok?
// PID Regelung
FLOAT kp = VARH_flGetVariableData( VARH_ePID_kp );
FLOAT ki = VARH_flGetVariableData( VARH_ePID_ki );
FLOAT kd = VARH_flGetVariableData( VARH_ePID_kd );
FLOAT max = VARH_flGetVariableData( VARH_ePID_Max );
FLOAT min = VARH_flGetVariableData( VARH_ePID_Min );
FLOAT Tnow = VARH_flGetVariableData( VARH_eTemp_C );
FLOAT Tset = VARH_flGetVariableData( VARH_ePID_Temp );
// -error
FLOAT error = Tnow - Tset;
// proportional term
FLOAT P = kp * error;
// integral term
integral += error * dT;
FLOAT I = ki * integral;
// derivative term
FLOAT D = kd * ( error - last_error ) / dT;
last_error = error;
// total
FLOAT output = P + I + D;
// limitter
if ( output > max ){
output = max;
} else if ( output < min ){
output = min;
}
boSetPeltierVoltage( output ); // set the output
} else if ( VARH_u32GetVariableData( VARH_eMode ) == PECO_eConst_Voltage )
{
boSetPeltierVoltage( VARH_flGetVariableData( VARH_eControlVoltage ) ); // set the output
}
}
}
}
//-------------------------------------------------------------------------------------------------
// Function: boSetPeltierVoltage
// Description: Sets the Peltier elements to a specific Voltage
// Parameters: S8 Voltage (12V - -3V)
// Returns: Boolean TRUE if successful
//-------------------------------------------------------------------------------------------------
BOOL boSetPeltierVoltage( FLOAT Voltage ){
BOOL boOK = TRUE;
if( Voltage > 12 ) Voltage = 12;
if( Voltage < -3 ) Voltage = -3;
ANPO_boSetVoltage( ( ( (FLOAT)Voltage ) + 20.088) / 34.103 );
return( boOK );
}
//-------------------------------------------------------------------------------------------------
// Function: vEventCallback
// Description: Callback for events
// Parameters: None
// Returns: None
//-------------------------------------------------------------------------------------------------
PRIVATE VOID vEventCallback( PVOID pvData )
{
osEventFlagsSet( m_pstEventID, (U32)pvData );
}

5
Core/Drivers/USFL_UserFlash.c
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@ -66,7 +66,7 @@
#define STARTDEF 0xAA01F055
#define VARDEF 0xABCDEF00
#define VARDEF 0xABCDEF05
//=================================================================================================
// Section: MACROS
@ -115,6 +115,7 @@ __attribute__((__section__(".user_data"))) const U64 UserFlash[USERFLASHSIZE];
//=================================================================================================
BOOL vEreaseUserFlash( void );
U32 vFindNextFreePointer( void );
//=================================================================================================
// Section: GLOBAL FUNCTIONS
@ -149,7 +150,7 @@ BOOL USFL_boInitializeModule( VOID )
//=================================================================================================
//-------------------------------------------------------------------------------------------------
// Function: vEreaseUserFlash
// Function: vFindNextFreePointer
// Description: Ereases the User Flash Sector
// Parameters: None
// Returns: Boolean TRUE if successful