345 lines
12 KiB
C
345 lines
12 KiB
C
//=================================================================================================
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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 "PECO_PeltierController.h"
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// Application
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#include "../Application/VARH_VariableHandler.h"
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#include "ERRH_ErrorHandler.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 200 // 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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#define MAX_POWER_PELTIER 110 // safety for pid regulations
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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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//=================================================================================================
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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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osPriorityHigh, // 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_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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{
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DIPO_vSetState(DIPO_eEN, boEnable);
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VARH_vSetVariableDataFromSystemU32(VARH_ePowerState, (U32)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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{
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return (BOOL)VARH_u32GetVariableData(VARH_ePowerState);
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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 error_prev = 0;
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FLOAT Tc_prev = 0;
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FLOAT i_prev = 0;
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FLOAT d_prev = 0;
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FLOAT tau = 0.4f;
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FLOAT dT = REFRESH / 1000.0f; // 0.2s
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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 (PECO_isEnabled())
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{
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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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FLOAT power = VARH_flGetVariableData(VARH_ePeltier_P);
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if(power > MAX_POWER_PELTIER){
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PECO_Enable(FALSE);
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ERRH_vSetError(PELTIER_ERROR_MASK | PELTIER_ERROR_MAX_POWER);
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}
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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 Umax = VARH_flGetVariableData(VARH_ePID_Max);
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FLOAT Umin = VARH_flGetVariableData(VARH_ePID_Min);
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FLOAT Tc = VARH_flGetVariableData(VARH_eTemp_Module);
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FLOAT Ts = VARH_flGetVariableData(VARH_ePID_Temp);
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// calculate error
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FLOAT error = Tc - Ts;
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// proportional term
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FLOAT P = Kp * error;
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// integral term
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FLOAT I = i_prev + 0.5f * Ki * dT * (error + error_prev);
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// compute integral limits (anti-windup via dynamic integrator clamping)
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FLOAT limMinInt = 0.0f;
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FLOAT limMaxInt = 0.0f;
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if(Umax > P) limMaxInt = Umax - P;
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if(Umin < P) limMinInt = Umin - P;
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// clamp integrator
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if(I > limMaxInt) I = limMaxInt;
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else if (I < limMinInt) I = limMinInt;
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// derivative term
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FLOAT D = -(2.0f * Kd * (Tc - Tc_prev) /* Note: derivative on measurement, therefore minus sign in front of equation! */
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+ (2.0f * tau - dT) * d_prev)
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/ (2.0f * tau + dT);
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// total
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FLOAT Uout = P + I + D;
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// limitter
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if (Uout > Umax) Uout = Umax;
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else if (Uout < Umin) Uout = Umin;
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Tc_prev = Tc;
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error_prev = error;
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d_prev = D;
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i_prev = I;
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if(!boSetPeltierVoltage(Uout)) ERRH_vSetError(PELTIER_ERROR_MASK | PELTIER_ERROR_SETVOLTAGE_PID); // set the output
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}
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else if (VARH_u32GetVariableData(VARH_eMode) == PECO_eConst_Voltage)
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{
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if(!boSetPeltierVoltage(VARH_flGetVariableData(VARH_eControlVoltage))) ERRH_vSetError(PELTIER_ERROR_MASK | PELTIER_ERROR_SETVOLTAGE); // set the output
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// reset PID Vars
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error_prev = 0;
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Tc_prev = 0;
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i_prev = 0;
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d_prev = 0;
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}
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}
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else
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{
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// reset PID vars
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error_prev = 0;
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Tc_prev = 0;
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i_prev = 0;
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d_prev = 0;
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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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{
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BOOL boOK = TRUE;
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if (Voltage > 12)
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Voltage = 12;
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if (Voltage < -5)
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Voltage = -5;
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boOK &= ANPO_boSetVoltage(Voltage);
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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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