WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/AVR/module/act_PIDv1/act_PIDv1.c

 PidType pid;
 //struct PID_DATA pidData;
 //struct PIDv1_DEBUG_DATA pidDebugData;
-uint8_t sensorModuleType, sensorModuleId,sensorId;
+uint8_t sensorModuleType, sensorModuleId,sensorId, sensorReportIntervall;
 uint8_t PID_Status;
 uint8_t sendDebug_flag = 0;
 uint16_t pwmValue=0;
 float referenceValue, measurementValue, outputValue;
     txMsg.Length = 8;
     txMsg.Data[0] = (uint8_t)0x00ff & (((uint32_t)(measurementValue*64))>>8);
     txMsg.Data[1] = (uint8_t)0x00ff & ((uint32_t)(measurementValue*64));
     txMsg.Data[2] = (uint8_t)0x00ff & (((uint32_t)(referenceValue*64))>>8);
     txMsg.Data[3] = (uint8_t)0x00ff & ((uint32_t)(referenceValue*64));
-    //uint16_t tempPWM =(uint16_t) (pwmValue*10000);
-        txMsg.Data[4] = (uint8_t)( ((uint16_t)outputValue)>>8)&0xff;
+    txMsg.Data[4] = (uint8_t)( ((uint16_t)outputValue)>>8)&0xff;
-        txMsg.Data[5] = (uint8_t)( ((uint16_t)outputValue))&0xff;
+    txMsg.Data[5] = (uint8_t)( ((uint16_t)outputValue))&0xff;
     txMsg.Data[6] = ((int16_t) (PID_GetITerm(&pid))>>8)&0xff;
     txMsg.Data[7] = ((int16_t) (PID_GetITerm(&pid)))&0xff;
     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
+    }
     PID_SetOutputLimits(&pid, Min_out_f, Max_out_f);
     outputValue = DEFAULT_PWM_VALUE;
     PID_SetMode(&pid, PID_Mode_Automatic);
+    /* Send request for sensor report intervall */
+    StdCan_Msg_t txMsg;
+    StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
+    StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_TO_OWNER);
+    txMsg.Header.ModuleType = sensorModuleType;
+    txMsg.Header.ModuleId = sensorModuleId;
+    txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_REPORT_INTERVAL;
+    txMsg.Length = 0;
+    while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
+}
 void act_PIDv1_Process(void)
+{
     uint8_t newValueCalculated = PID_Compute(&pid);
             rxMsg->Data[0] = eeprom_read_byte(EEDATA.actuatorModuleType);
             rxMsg->Data[1] = eeprom_read_byte(EEDATA.actuatorModuleId);
             rxMsg->Data[2] = eeprom_read_byte(EEDATA.actuatorId);
             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
             rxMsg->Length = 3;
             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
         break;
         case CAN_MODULE_CMD_PID_CONFIG_PARAMETER_D_T:
             if (rxMsg->Length == 8)
+            {
                 eeprom_write_byte_crc(EEDATA.ControllerDirection, ((rxMsg->Data[5]&0x80)>>7), WITHOUT_CRC);
                 eeprom_write_word_crc(EEDATA16.Time, (uint16_t)rxMsg->Data[7]+((rxMsg->Data[6]&0x7f)<<8), WITH_CRC);
                 PID_SetTunings(&pid, PID_GetKp(&pid), PID_GetKi(&pid), *data);
                 if (eeprom_read_byte(EEDATA.TimeMsOrS) == CAN_MODULE_ENUM_PID_CONFIG_PARAMETER_TIMEUNIT_S) {
                     PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time))*1000);
                 } else {
                     PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time)));
+                }
                 PID_SetControllerDirection(&pid, eeprom_read_byte(EEDATA.ControllerDirection));
                 PID_Status = PID_ON;
                 pwmValue = DEFAULT_PWM_VALUE;
+                /* Send request for sensor report intervall */
+                StdCan_Msg_t txMsg;
+                StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
+                StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_TO_OWNER);
+                txMsg.Header.ModuleType = sensorModuleType;
+                txMsg.Header.ModuleId = sensorModuleId;
+                txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_REPORT_INTERVAL;
+                txMsg.Length = 0;
+                while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
+            }
             data2 = PID_GetKd(&pid);
             ptr = (uint8_t*)&data2;
             rxMsg->Data[0] = ptr[0];
             rxMsg->Data[1] = ptr[1];
             rxMsg->Data[4] = 0u;
             rxMsg->Data[5] = (0x80&(eeprom_read_byte(EEDATA.ControllerDirection))<<7);
             rxMsg->Data[6] = (0x7f&(eeprom_read_word(EEDATA16.Time)>>8));
             rxMsg->Data[7] = (0xff&(eeprom_read_word(EEDATA16.Time)));
             rxMsg->Data[6] |= (0x80&(eeprom_read_byte(EEDATA.TimeMsOrS))<<7);
             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
             rxMsg->Length = 8;
             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
         break;
         case CAN_MODULE_CMD_PID_CONFIG_PARAMETER_P_I:
             if (rxMsg->Length == 8)
+            {
                 uint32_t* data_32;
                 float* data = (float*)&rxMsg->Data[0];
+    }
     if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_SNS &&
-                StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_FROM_OWNER &&
+        StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_FROM_OWNER &&
-                rxMsg->Header.ModuleType == sensorModuleType &&
+        rxMsg->Header.ModuleType == sensorModuleType &&
-                rxMsg->Header.ModuleId == sensorModuleId &&
+        rxMsg->Header.ModuleId == sensorModuleId)
-                rxMsg->Header.Command == CAN_MODULE_CMD_PHYSICAL_TEMPERATURE_CELSIUS &&
-                rxMsg->Data[0] == sensorId)
+    {
+        switch (rxMsg->Header.Command)
+        {
+        case CAN_MODULE_CMD_GLOBAL_REPORT_INTERVAL:
+            sensorReportIntervall = rxMsg->Data[0];
+            if (sensorReportIntervall*1000 > PID_GetSampleTime(&pid))
+            {
+                uint8_t newReportTime = 20;
+                if (PID_GetSampleTime(&pid) < 2000)
+                {
+                newReportTime = 1;
+                } else if (PID_GetSampleTime(&pid) > 20000)
+                {
+                newReportTime = 20;
+                } else
+                {
+                newReportTime = (uint8_t)(PID_GetSampleTime(&pid)/1000) - 1;
+                }
+                StdCan_Msg_t txMsg;
+                StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
+                StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_TO_OWNER);
+                txMsg.Header.ModuleType = sensorModuleType;
+                txMsg.Header.ModuleId = sensorModuleId;
+                txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_REPORT_INTERVAL;
+                txMsg.Length = 1;
+                txMsg.Data[0] = newReportTime;
+                while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
+            }
+            break;
+        case CAN_MODULE_CMD_PHYSICAL_TEMPERATURE_CELSIUS:
+            if (rxMsg->Data[0] == sensorId)
+            {
-            if (0x80 == rxMsg->Data[1] && 0x00 == rxMsg->Data[2])
+                if (0x80 == rxMsg->Data[1] && 0x00 == rxMsg->Data[2])
+                {
-                //Error on the temperature signal, do something
+                    //Error on the temperature signal, do something
-            }
+                }
-            else
+                else
+                {
-                measurementValue = ((float)((rxMsg->Data[1]<<8) + rxMsg->Data[2]))/64;
+                    measurementValue = ((float)((rxMsg->Data[1]<<8) + rxMsg->Data[2]))/64;
+                }
             }
+            break;
+        }
+    }
+}
 void act_PIDv1_List(uint8_t ModuleSequenceNumber)
+{

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/AVR/module/act_PIDv1/act_PIDv1.c – Rev 2282 → 2283