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Rev 2263 Rev 2264
Line 38... Line 38...
38 
uint8_t sensorModuleType, sensorModuleId,sensorId;
 38 
uint8_t sensorModuleType, sensorModuleId,sensorId;
39 
uint8_t PID_Status;
 39 
uint8_t PID_Status;
40 
uint8_t calculatePID_flag,sendPID_flag = 0;
 40 
uint8_t calculatePID_flag,sendPID_flag = 0;
41 
uint16_t pwmValue=0;
 41 
uint16_t pwmValue=0;
42 
float referenceValue, measurementValue, outputValue;
 42 
float referenceValue, measurementValue, outputValue;
43 
 
 - 
 
44 
void calculatePID(void) {
 - 
 
45 
    if (PID_Status == PID_OFF){
 - 
 
46 
        ;// use current PWMvalue
 - 
 
47 
    } else {
 - 
 
48 
//printf("PWM: %d\n",pwmValue);
 - 
 
49 
uint16_t tempPwm = pwmValue;
 - 
 
50 
        //tempPwm += (int16_t) pid_Controller(referenceValue, measurementValue, &pidData, &pidDebugData);
 - 
 
51 
//printf("InOut: ref: %d, meas: %d\n",(int16_t) (referenceValue*10), (int16_t) (measurementValue*10));
 - 
 
52 
//printf("PWM: %d\n",pwmValue);
 - 
 
53 
 
 - 
 
54 
        if (tempPwm < MIN_PWM_VALUE) {
 - 
 
55 
            tempPwm = MIN_PWM_VALUE;
 - 
 
56 
        }
 - 
 
57 
        else if (tempPwm > MAX_PWM_VALUE) {
 - 
 
58 
            tempPwm = MAX_PWM_VALUE-1;
 - 
 
59 
        }
 - 
 
60 
        cli();
 - 
 
61 
        pwmValue = tempPwm;
 - 
 
62 
        sei();
 - 
 
63 
//printf("PWM: %d\n",pwmValue);
 - 
 
64 
        //send current PWM value as soon as possible
 - 
 
65 
        sendPID_flag=1;
 - 
 
66 
    }
 - 
 
67 
 
 - 
 
68 
}
 - 
 
69 
 
 - 
 
70 
 
 - 
 
71 
void calculatePID_callback(uint8_t timer)
 - 
 
72 
{
 - 
 
73 
 
 - 
 
74 
    if (eeprom_read_byte(EEDATA.TimeMsOrS) == CAN_MODULE_ENUM_PID_CONFIG_PARAMETER_TIMEUNIT_S) {
 - 
 
75 
        static uint8_t seconds = 0;
 - 
 
76 
        seconds++;
 - 
 
77 
        if (seconds >= eeprom_read_word(EEDATA16.Time))
 - 
 
78 
        {
 - 
 
79 
            seconds = 0;
 - 
 
80 
            calculatePID_flag = 1;
 - 
 
81 
        }
 - 
 
82 
    } else {
 - 
 
83 
        calculatePID_flag = 1;
 - 
 
84 
    }
 - 
 
85 
}
 - 
 
86 
 
 43 
 
87 
void sendPID(void)
 44 
void sendPID(void)
88 
{
 45 
{
89 
    if (eeprom_read_byte(EEDATA.actuatorModuleType) != 0) {
 46 
    if (eeprom_read_byte(EEDATA.actuatorModuleType) != 0) {
90 
        StdCan_Msg_t txMsg;
 47 
        StdCan_Msg_t txMsg;
Line 110... Line 67...
110 
    txMsg.Data[0] = (uint8_t)0x00ff & (((uint32_t)(measurementValue*64))>>8);
 67 
    txMsg.Data[0] = (uint8_t)0x00ff & (((uint32_t)(measurementValue*64))>>8);
111 
    txMsg.Data[1] = (uint8_t)0x00ff & ((uint32_t)(measurementValue*64));
 68 
    txMsg.Data[1] = (uint8_t)0x00ff & ((uint32_t)(measurementValue*64));
112 
    txMsg.Data[2] = (uint8_t)0x00ff & (((uint32_t)(referenceValue*64))>>8);
 69 
    txMsg.Data[2] = (uint8_t)0x00ff & (((uint32_t)(referenceValue*64))>>8);
113 
    txMsg.Data[3] = (uint8_t)0x00ff & ((uint32_t)(referenceValue*64));
 70 
    txMsg.Data[3] = (uint8_t)0x00ff & ((uint32_t)(referenceValue*64));
114 
    //uint16_t tempPWM =(uint16_t) (pwmValue*10000);
 71 
    //uint16_t tempPWM =(uint16_t) (pwmValue*10000);
115 
        txMsg.Data[4] = ( ((uint16_t)outputValue)>>8)&0xff;
 72 
        txMsg.Data[4] = (uint8_t)( ((uint16_t)outputValue)>>8)&0xff;
116 
        txMsg.Data[5] = ( ((uint16_t)outputValue))&0xff;
 73 
        txMsg.Data[5] = (uint8_t)( ((uint16_t)outputValue))&0xff;
117 
    txMsg.Data[6] = ((int16_t) (PID_GetITerm(&pid))>>8)&0xff;
 74 
    txMsg.Data[6] = ((int16_t) (PID_GetITerm(&pid))>>8)&0xff;
118 
    txMsg.Data[7] = ((int16_t) (PID_GetITerm(&pid)))&0xff;
 75 
    txMsg.Data[7] = ((int16_t) (PID_GetITerm(&pid)))&0xff;
119 
    while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
 76 
    while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
120 
}
 77 
}
121 
 
 78 
 
Line 157... Line 114...
157 
    {   //The CRC of the EEPROM is not correct, store default values and update CRC
 114 
    {   //The CRC of the EEPROM is not correct, store default values and update CRC
158 
      eeprom_write_dword_crc(EEDATA32.referenceValue, 20.0, WITHOUT_CRC);
 115 
      eeprom_write_dword_crc(EEDATA32.referenceValue, 20.0, WITHOUT_CRC);
159 
      eeprom_write_byte_crc(EEDATA.sensorModuleType, PIDv1_TEMPERATURE_SENSOR_MODULE_TYPE, WITHOUT_CRC);
 116 
      eeprom_write_byte_crc(EEDATA.sensorModuleType, PIDv1_TEMPERATURE_SENSOR_MODULE_TYPE, WITHOUT_CRC);
160 
      eeprom_write_byte_crc(EEDATA.sensorModuleId, PIDv1_TEMPERATURE_SENSOR_MODULE_ID, WITHOUT_CRC);
 117 
      eeprom_write_byte_crc(EEDATA.sensorModuleId, PIDv1_TEMPERATURE_SENSOR_MODULE_ID, WITHOUT_CRC);
161 
      eeprom_write_byte_crc(EEDATA.sensorId, PIDv1_TEMPERATURE_SENSOR, WITHOUT_CRC);
 118 
      eeprom_write_byte_crc(EEDATA.sensorId, PIDv1_TEMPERATURE_SENSOR, WITHOUT_CRC);
162 
      eeprom_write_dword_crc(EEDATA32.K_P, 0, WITHOUT_CRC);
 119 
      eeprom_write_dword_crc(EEDATA32.K_P, 850.0, WITHOUT_CRC);
163 
      eeprom_write_dword_crc(EEDATA32.K_I, 0, WITHOUT_CRC);
 120 
      eeprom_write_dword_crc(EEDATA32.K_I, 0.5, WITHOUT_CRC);
164 
      eeprom_write_dword_crc(EEDATA32.K_D, 0, WITHOUT_CRC);
 121 
      eeprom_write_dword_crc(EEDATA32.K_D, 0.1, WITHOUT_CRC);
165 
      eeprom_write_byte_crc(EEDATA.TimeMsOrS, DEFAULT_PIDv1_CALC_PERIOD_UNIT, WITHOUT_CRC);
 122 
      eeprom_write_byte_crc(EEDATA.TimeMsOrS, DEFAULT_PIDv1_CALC_PERIOD_UNIT, WITHOUT_CRC);
166 
      eeprom_write_word_crc(EEDATA16.Time, DEFAULT_PIDv1_CALC_PERIOD, WITHOUT_CRC);
 123 
      eeprom_write_word_crc(EEDATA16.Time, DEFAULT_PIDv1_CALC_PERIOD, WITHOUT_CRC);
167 
      eeprom_write_byte_crc(EEDATA.actuatorModuleType, PIDv1_PWM_ACTUATOR_MODULE_TYPE, WITHOUT_CRC);
 124 
      eeprom_write_byte_crc(EEDATA.actuatorModuleType, PIDv1_PWM_ACTUATOR_MODULE_TYPE, WITHOUT_CRC);
168 
      eeprom_write_byte_crc(EEDATA.actuatorModuleId, PIDv1_PWM_ACTUATOR_MODULE_ID, WITHOUT_CRC);
 125 
      eeprom_write_byte_crc(EEDATA.actuatorModuleId, PIDv1_PWM_ACTUATOR_MODULE_ID, WITHOUT_CRC);
169 
      eeprom_write_byte_crc(EEDATA.actuatorId, PIDv1_PWM_ACTUATOR, WITHOUT_CRC);
 126 
      eeprom_write_byte_crc(EEDATA.actuatorId, PIDv1_PWM_ACTUATOR, WITHOUT_CRC);
Line 308... Line 265...
308 
                eeprom_write_word_crc(EEDATA16.K_I, (uint16_t)rxMsg->Data[3]+(rxMsg->Data[2]<<8), WITHOUT_CRC);
 265 
                eeprom_write_word_crc(EEDATA16.K_I, (uint16_t)rxMsg->Data[3]+(rxMsg->Data[2]<<8), WITHOUT_CRC);
309 
                eeprom_write_word_crc(EEDATA16.K_D, (uint16_t)rxMsg->Data[5]+(rxMsg->Data[4]<<8), WITHOUT_CRC);
 266 
                eeprom_write_word_crc(EEDATA16.K_D, (uint16_t)rxMsg->Data[5]+(rxMsg->Data[4]<<8), WITHOUT_CRC);
310 
                eeprom_write_byte_crc(EEDATA.TimeMsOrS, ((rxMsg->Data[6]&0x80)>>7), WITHOUT_CRC);
 267 
                eeprom_write_byte_crc(EEDATA.TimeMsOrS, ((rxMsg->Data[6]&0x80)>>7), WITHOUT_CRC);
311 
                eeprom_write_word_crc(EEDATA16.Time, (uint16_t)rxMsg->Data[7]+((rxMsg->Data[6]&0x7f)<<8), WITH_CRC);
 268 
                eeprom_write_word_crc(EEDATA16.Time, (uint16_t)rxMsg->Data[7]+((rxMsg->Data[6]&0x7f)<<8), WITH_CRC);
312 
                if (eeprom_read_byte(EEDATA.TimeMsOrS) == 0) {
 269 
                if (eeprom_read_byte(EEDATA.TimeMsOrS) == 0) {
313 
                    Timer_SetTimeout(act_PIDv1_TIMER, 1000, TimerTypeFreeRunning, &calculatePID_callback);
 270 
                    //Timer_SetTimeout(act_PIDv1_TIMER, 1000, TimerTypeFreeRunning, &calculatePID_callback);
314 
                } else {
 271 
                } else {
315 
                    Timer_SetTimeout(act_PIDv1_TIMER, eeprom_read_word(EEDATA16.Time), TimerTypeFreeRunning, &calculatePID_callback);
 272 
                    //Timer_SetTimeout(act_PIDv1_TIMER, eeprom_read_word(EEDATA16.Time), TimerTypeFreeRunning, &calculatePID_callback);
316 
                }
 273 
                }
317 
 
 274 
 
318 
                //pid_Init((float) eeprom_read_word(EEDATA16.K_P)/64 * SCALING_FACTOR, (float) eeprom_read_word(EEDATA16.K_I)/64 * SCALING_FACTOR , (float) eeprom_read_word(EEDATA16.K_D)/64 * SCALING_FACTOR , &pidData);
 275 
                //pid_Init((float) eeprom_read_word(EEDATA16.K_P)/64 * SCALING_FACTOR, (float) eeprom_read_word(EEDATA16.K_I)/64 * SCALING_FACTOR , (float) eeprom_read_word(EEDATA16.K_D)/64 * SCALING_FACTOR , &pidData);
319 
                //pwmValue += (int16_t) pid_Controller(referenceValue, measurementValue, &pidData, &pidDebugData);
 276 
                //pwmValue += (int16_t) pid_Controller(referenceValue, measurementValue, &pidData, &pidDebugData);
320 
                PID_Status = PID_ON;
 277 
                PID_Status = PID_ON;