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  1.  
  2. #include "act_PIDv1.h"
  3. #include <drivers/misc/PID_v1.h>
  4. #include <string.h>
  5. #include <drivers/misc/PID_AutoTune.h>
  6.  
  7. #if act_PIDv1_USEEEPROM==1
  8. #include "act_PIDv1_eeprom.h"
  9. struct eeprom_act_PIDv1 EEMEM eeprom_act_PIDv1 =
  10. {
  11.     {
  12.         ///TODO: Define initialization values on the EEPROM variables here, this will generate a *.eep file that can be used to store this values to the node, can in future be done with a EEPROM module and the make-scrips. Write the values in the exact same order as the struct is defined in the *.h file.
  13.         0x00000000, // referenceValue
  14.         CAN_MODULE_TYPE_SNS_DS18X20,    //SensorModuleType
  15.         0x00,   //SensorModuleId
  16.         0x00,   //SensorId
  17.         0x00000000, //uint32_t K_P; (float)
  18.         0x00000000, //uint32_t K_I; (float)
  19.         0x00000000, //uint32_t K_D; (float)
  20.         0x00,   //uint8_t TimeMsOrS;
  21.         0x0000, //uint16_t Time;
  22.         CAN_MODULE_TYPE_ACT_SOFTPWM,    //ActuatorModuleType
  23.         0x00,   //ActuatorModuleId
  24.         0x00,   //ActuatorId
  25.     },
  26.     0   // crc, must be a correct value, but this will also be handled by the EEPROM module or make scripts
  27. };
  28. #endif
  29. #define PID_ON 1
  30. #define PID_OFF 0
  31. #define PID_AUTO 2
  32.  
  33. //! Parameters for regulator
  34. PidType pid;
  35.  
  36. //struct PID_DATA pidData;
  37. //struct PIDv1_DEBUG_DATA pidDebugData;
  38.  
  39. uint8_t sensorModuleType, sensorModuleId,sensorId;
  40. uint8_t PID_Status;
  41. uint8_t sendDebug_flag = 0;
  42. uint16_t pwmValue=0;
  43. float referenceValue, measurementValue, outputValue;
  44.  
  45. void sendPID(void)
  46. {
  47.     if (eeprom_read_byte(EEDATA.actuatorModuleType) != 0) {
  48.         StdCan_Msg_t txMsg;
  49.         StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
  50.         StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_TO_OWNER);
  51.         txMsg.Header.ModuleType = eeprom_read_byte(EEDATA.actuatorModuleType); ///TODO: Change this to the actual module type
  52.         txMsg.Header.ModuleId = eeprom_read_byte(EEDATA.actuatorModuleId);
  53.         txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PWM;
  54.         txMsg.Length = 3;
  55.         txMsg.Data[0] = eeprom_read_byte(EEDATA.actuatorId);
  56.         //uint16_t tempPWM =(uint16_t) (pwmValue*10000);
  57.         txMsg.Data[1] = ( ((uint16_t)outputValue)>>8)&0xff;
  58.         txMsg.Data[2] = ( ((uint16_t)outputValue))&0xff;
  59.         while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  60.     }
  61.     StdCan_Msg_t txMsg;
  62.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
  63.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  64.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID; ///TODO: Change this to the actual module type
  65.     txMsg.Header.ModuleId = act_PIDv1_ID;
  66.     txMsg.Header.Command = CAN_MODULE_CMD_PID_PID_STATUS;
  67.     txMsg.Length = 8;
  68.     txMsg.Data[0] = (uint8_t)0x00ff & (((uint32_t)(measurementValue*64))>>8);
  69.     txMsg.Data[1] = (uint8_t)0x00ff & ((uint32_t)(measurementValue*64));
  70.     txMsg.Data[2] = (uint8_t)0x00ff & (((uint32_t)(referenceValue*64))>>8);
  71.     txMsg.Data[3] = (uint8_t)0x00ff & ((uint32_t)(referenceValue*64));
  72.     //uint16_t tempPWM =(uint16_t) (pwmValue*10000);
  73.         txMsg.Data[4] = (uint8_t)( ((uint16_t)outputValue)>>8)&0xff;
  74.         txMsg.Data[5] = (uint8_t)( ((uint16_t)outputValue))&0xff;
  75.     txMsg.Data[6] = ((int16_t) (PID_GetITerm(&pid))>>8)&0xff;
  76.     txMsg.Data[7] = ((int16_t) (PID_GetITerm(&pid)))&0xff;
  77.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  78. }
  79.  
  80. #ifdef act_PIDv1_SEND_DEBUG
  81. void sendDebug(void)
  82. {
  83.     StdCan_Msg_t txMsg;
  84.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
  85.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  86.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID;
  87.     txMsg.Header.ModuleId = act_PIDv1_ID;
  88.     txMsg.Header.Command = CAN_MODULE_CMD_PID_P_I_TERM;
  89.     txMsg.Length = 8;
  90.     FloatType data = PID_GetPTerm(&pid);
  91.     uint8_t *ptr;
  92.     ptr = (uint8_t*)&data;
  93.     txMsg.Data[0] = ptr[0];
  94.     txMsg.Data[1] = ptr[1];
  95.     txMsg.Data[2] = ptr[2];
  96.     txMsg.Data[3] = ptr[3];
  97.     data = PID_GetITerm(&pid);
  98.     ptr = (uint8_t*)&data;
  99.     txMsg.Data[4] = ptr[0];
  100.     txMsg.Data[5] = ptr[1];
  101.     txMsg.Data[6] = ptr[2];
  102.     txMsg.Data[7] = ptr[3];
  103.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  104.    
  105.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
  106.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  107.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID;
  108.     txMsg.Header.ModuleId = act_PIDv1_ID;
  109.     txMsg.Header.Command = CAN_MODULE_CMD_PID_D_TERM_OUT;
  110.     txMsg.Length = 8;
  111.     data = PID_GetDTerm(&pid);
  112.     ptr = (uint8_t*)&data;
  113.     txMsg.Data[0] = ptr[0];
  114.     txMsg.Data[1] = ptr[1];
  115.     txMsg.Data[2] = ptr[2];
  116.     txMsg.Data[3] = ptr[3];
  117.     ptr = (uint8_t*)&outputValue;
  118.     txMsg.Data[4] = ptr[0];
  119.     txMsg.Data[5] = ptr[1];
  120.     txMsg.Data[6] = ptr[2];
  121.     txMsg.Data[7] = ptr[3];
  122.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);   
  123.    
  124. //printf("PID: P:%d, I:%d, D:%d, S:%d\n",(int16_t)pidDebugData.P_term,(int16_t)pidDebugData.I_term,(int16_t)pidDebugData.D_term,(int16_t)pidDebugData.Sum);
  125. }
  126. #endif
  127. void act_PIDv1_Init(void)
  128. {
  129. #if act_PIDv1_USEEEPROM==1
  130.     if (EEDATA_OK)
  131.     {
  132.     } else
  133.     {   //The CRC of the EEPROM is not correct, store default values and update CRC
  134.       eeprom_write_dword_crc(EEDATA32.referenceValue, 20.0f, WITHOUT_CRC);
  135.       eeprom_write_byte_crc(EEDATA.sensorModuleType, PIDv1_TEMPERATURE_SENSOR_MODULE_TYPE, WITHOUT_CRC);
  136.       eeprom_write_byte_crc(EEDATA.sensorModuleId, PIDv1_TEMPERATURE_SENSOR_MODULE_ID, WITHOUT_CRC);
  137.       eeprom_write_byte_crc(EEDATA.sensorId, PIDv1_TEMPERATURE_SENSOR, WITHOUT_CRC);
  138.       eeprom_write_dword_crc(EEDATA32.K_P, 850.0f, WITHOUT_CRC);
  139.       eeprom_write_dword_crc(EEDATA32.K_I, 0.5f, WITHOUT_CRC);
  140.       eeprom_write_dword_crc(EEDATA32.K_D, 0.1f, WITHOUT_CRC);
  141.       eeprom_write_byte_crc(EEDATA.TimeMsOrS, DEFAULT_PIDv1_CALC_PERIOD_UNIT, WITHOUT_CRC);
  142.       eeprom_write_word_crc(EEDATA16.Time, DEFAULT_PIDv1_CALC_PERIOD, WITHOUT_CRC);
  143.       eeprom_write_byte_crc(EEDATA.actuatorModuleType, PIDv1_PWM_ACTUATOR_MODULE_TYPE, WITHOUT_CRC);
  144.       eeprom_write_byte_crc(EEDATA.actuatorModuleId, PIDv1_PWM_ACTUATOR_MODULE_ID, WITHOUT_CRC);
  145.       eeprom_write_byte_crc(EEDATA.actuatorId, PIDv1_PWM_ACTUATOR, WITHOUT_CRC);
  146.       EEDATA_UPDATE_CRC;
  147.     }
  148.    
  149. #else
  150. #error this driver needs EEPROM support
  151. #endif
  152.    
  153.     referenceValue = (float) eeprom_read_dword(EEDATA32.referenceValue);
  154.     sensorModuleType = eeprom_read_byte(EEDATA.sensorModuleType);
  155.     sensorModuleId = eeprom_read_byte(EEDATA.sensorModuleId);
  156.     sensorId = eeprom_read_byte(EEDATA.sensorId);
  157.     uint32_t data_P = eeprom_read_dword(EEDATA32.K_P);
  158.     uint32_t data_I = eeprom_read_dword(EEDATA32.K_I);
  159.     uint32_t data_D = eeprom_read_dword(EEDATA32.K_D);
  160.     float data_P_f;// = *((float*)((&data_P)));
  161.     float data_I_f;// = *((float*)((&data_I)));
  162.     float data_D_f;// = *((float*)(&data_D));
  163.     memcpy(&data_P_f, &data_P, sizeof(data_P));
  164.     memcpy(&data_I_f, &data_I, sizeof(data_I));
  165.     memcpy(&data_D_f, &data_D, sizeof(data_D));
  166.     PID_init(&pid, &measurementValue, &outputValue, &referenceValue, data_P_f, data_I_f, data_D_f, PID_Direction_Direct);
  167.  
  168.     if (eeprom_read_byte(EEDATA.TimeMsOrS) == CAN_MODULE_ENUM_PID_CONFIG_PARAMETER_TIMEUNIT_S) {
  169.         PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time))*1000);
  170.  
  171.     } else {
  172.         PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time)));
  173.     }
  174.  
  175.     outputValue = DEFAULT_PWM_VALUE;
  176.  
  177.     PID_SetMode(&pid, PID_Mode_Automatic);
  178. }
  179.  
  180. void act_PIDv1_Process(void)
  181. {
  182.     uint8_t newValueCalculated = PID_Compute(&pid);
  183.    
  184.     if (newValueCalculated) {
  185.         sendPID();
  186.     #ifdef act_PIDv1_SEND_DEBUG
  187.         sendDebug_flag= 1;
  188.         return;
  189.     }
  190.     if (sendDebug_flag) {
  191.         sendDebug_flag = 0;
  192.         sendDebug();
  193.     }
  194.     #else
  195.     }
  196.     #endif
  197. }
  198.  
  199. void act_PIDv1_HandleMessage(StdCan_Msg_t *rxMsg)
  200. {
  201.     FloatType data2;
  202.     uint8_t *ptr;
  203.     if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_ACT &&
  204.             StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_TO_OWNER &&
  205.             rxMsg->Header.ModuleType == CAN_MODULE_TYPE_ACT_PID &&
  206.             rxMsg->Header.ModuleId == act_PIDv1_ID)
  207.     {
  208.         switch (rxMsg->Header.Command)
  209.         {
  210.         case CAN_MODULE_CMD_PHYSICAL_TEMPERATURE_CELSIUS:
  211.             if (rxMsg->Data[0]==0)  //sensor id shall be zero
  212.             {
  213.                 //printf("New setpoint with: %X %X\n",rxMsg->Data[1],rxMsg->Data[2]);
  214.  
  215.                 if (rxMsg->Length == 3)
  216.                 {
  217.                     if (0x80 == rxMsg->Data[1] && 0x00 == rxMsg->Data[2]) //512 degrees
  218.                     {
  219.                         //pid_Reset_Integrator(&pidData);
  220.                         PID_Status = PID_AUTO;
  221.                     }
  222.                     else
  223.                     {
  224.                         //pid_Reset_Integrator(&pidData);
  225.                         referenceValue = (((float)((rxMsg->Data[1]<<8) + rxMsg->Data[2]))/64);
  226.                         eeprom_write_dword_crc(EEDATA32.referenceValue, referenceValue, WITH_CRC);
  227.                     }
  228.                 }
  229.                 rxMsg->Data[1] = (uint8_t)0x00ff & (((uint32_t)(referenceValue*64))>>8);
  230.                 rxMsg->Data[2] = (uint8_t)0x00ff & ((uint32_t)referenceValue*64);
  231.                 StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  232.                 rxMsg->Length = 3;
  233.                 while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  234.             }
  235.         break;
  236.         case CAN_MODULE_CMD_PID_CONFIG_SENSOR:
  237.             if (rxMsg->Length == 3)
  238.             {
  239.                 eeprom_write_byte_crc(EEDATA.sensorModuleType, rxMsg->Data[0] , WITHOUT_CRC);
  240.                 eeprom_write_byte_crc(EEDATA.sensorModuleId, rxMsg->Data[1] , WITHOUT_CRC);
  241.                 eeprom_write_byte_crc(EEDATA.sensorId, rxMsg->Data[2] , WITH_CRC);
  242.                 sensorModuleType = eeprom_read_byte(EEDATA.sensorModuleType);
  243.                 sensorModuleId = eeprom_read_byte(EEDATA.sensorModuleId);
  244.                 sensorId = eeprom_read_byte(EEDATA.sensorId);
  245.             }
  246.             rxMsg->Data[0] = eeprom_read_byte(EEDATA.sensorModuleType);
  247.             rxMsg->Data[1] = eeprom_read_byte(EEDATA.sensorModuleId);
  248.             rxMsg->Data[2] = eeprom_read_byte(EEDATA.sensorId);
  249.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  250.             rxMsg->Length = 3;
  251.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  252.         break;
  253.         case CAN_MODULE_CMD_PID_CONFIG_ACTUATOR:
  254.             if (rxMsg->Length == 3)
  255.             {
  256.                 eeprom_write_byte_crc(EEDATA.actuatorModuleType, rxMsg->Data[0] , WITHOUT_CRC);
  257.                 eeprom_write_byte_crc(EEDATA.actuatorModuleId, rxMsg->Data[1] , WITHOUT_CRC);
  258.                 eeprom_write_byte_crc(EEDATA.actuatorId, rxMsg->Data[2] , WITH_CRC);
  259.             }
  260.             rxMsg->Data[0] = eeprom_read_byte(EEDATA.actuatorModuleType);
  261.             rxMsg->Data[1] = eeprom_read_byte(EEDATA.actuatorModuleId);
  262.             rxMsg->Data[2] = eeprom_read_byte(EEDATA.actuatorId);
  263.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  264.             rxMsg->Length = 3;
  265.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  266.         break;
  267.        
  268.         case CAN_MODULE_CMD_PID_CONFIG_PARAMETER_D_T:
  269.             if (rxMsg->Length == 8)
  270.             {
  271.                 uint32_t* data_32;
  272.                 float* data = (float*)&rxMsg->Data[0];
  273.                 data_32 = (uint32_t*)data;
  274.                 eeprom_write_dword_crc(EEDATA32.K_D, *data_32, WITHOUT_CRC);               
  275.                 eeprom_write_byte_crc(EEDATA.TimeMsOrS, ((rxMsg->Data[6]&0x80)>>7), WITHOUT_CRC);
  276.                 eeprom_write_word_crc(EEDATA16.Time, (uint16_t)rxMsg->Data[7]+((rxMsg->Data[6]&0x7f)<<8), WITH_CRC);
  277.                 PID_SetTunings(&pid, PID_GetKp(&pid), PID_GetKi(&pid), *data);
  278.                 if (eeprom_read_byte(EEDATA.TimeMsOrS) == CAN_MODULE_ENUM_PID_CONFIG_PARAMETER_TIMEUNIT_S) {
  279.                     PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time))*1000);
  280.  
  281.                 } else {
  282.                     PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time)));
  283.                 }
  284.                 PID_Status = PID_ON;
  285.                 pwmValue = DEFAULT_PWM_VALUE;
  286.             }
  287.             data2 = PID_GetKd(&pid);
  288.             ptr = (uint8_t*)&data2;
  289.             rxMsg->Data[0] = ptr[0];
  290.             rxMsg->Data[1] = ptr[1];
  291.             rxMsg->Data[2] = ptr[2];
  292.             rxMsg->Data[3] = ptr[3];
  293.             rxMsg->Data[4] = 0u;
  294.             rxMsg->Data[5] = 0u;
  295.             rxMsg->Data[6] = (0x7f&(eeprom_read_word(EEDATA16.Time)>>8));
  296.             rxMsg->Data[7] = (0xff&(eeprom_read_word(EEDATA16.Time)));
  297.             rxMsg->Data[6] |= (0x80&(eeprom_read_byte(EEDATA.TimeMsOrS))<<7);
  298.            
  299.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  300.             rxMsg->Length = 8;
  301.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  302.         break;
  303.         case CAN_MODULE_CMD_PID_CONFIG_PARAMETER_P_I:
  304.             if (rxMsg->Length == 8)
  305.             {
  306.                 uint32_t* data_32;
  307.                 float* data = (float*)&rxMsg->Data[0];
  308.                 data_32 = (uint32_t*)data;
  309.                 eeprom_write_dword_crc(EEDATA32.K_P, *data_32, WITHOUT_CRC);
  310.                 //data = (float*)&rxMsg->Data[4];
  311.                 float* data1 = (float*)&rxMsg->Data[4];
  312.                 data_32 = (uint32_t*)data1;
  313.                 eeprom_write_dword_crc(EEDATA32.K_I, *data_32, WITH_CRC);
  314.                
  315.                 PID_SetTunings(&pid, *data, *data1, PID_GetKd(&pid));
  316.                 PID_Status = PID_ON;
  317.                 pwmValue = DEFAULT_PWM_VALUE;
  318.             }
  319.             data2 = PID_GetKp(&pid);
  320.             ptr = (uint8_t*)&data2;
  321.             rxMsg->Data[0] = ptr[0];
  322.             rxMsg->Data[1] = ptr[1];
  323.             rxMsg->Data[2] = ptr[2];
  324.             rxMsg->Data[3] = ptr[3];
  325.             data2 = PID_GetKi(&pid);
  326.             ptr = (uint8_t*)&data2;
  327.             rxMsg->Data[4] = ptr[0];
  328.             rxMsg->Data[5] = ptr[1];
  329.             rxMsg->Data[6] = ptr[2];
  330.             rxMsg->Data[7] = ptr[3];
  331.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  332.             rxMsg->Length = 8;
  333.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  334.         break;
  335.         }
  336.     }
  337.  
  338.  
  339.     if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_SNS &&
  340.                 StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_FROM_OWNER &&
  341.                 rxMsg->Header.ModuleType == sensorModuleType &&
  342.                 rxMsg->Header.ModuleId == sensorModuleId &&
  343.                 rxMsg->Header.Command == CAN_MODULE_CMD_PHYSICAL_TEMPERATURE_CELSIUS &&
  344.                 rxMsg->Data[0] == sensorId)
  345.         {
  346.             if (0x80 == rxMsg->Data[1] && 0x00 == rxMsg->Data[2])
  347.             {
  348.                 //Error on the temperature signal, do something
  349.             }
  350.             else
  351.             {
  352.                 measurementValue = ((float)((rxMsg->Data[1]<<8) + rxMsg->Data[2]))/64;
  353.             }
  354.  
  355.         }
  356. }
  357.  
  358. void act_PIDv1_List(uint8_t ModuleSequenceNumber)
  359. {
  360.     StdCan_Msg_t txMsg;
  361.  
  362.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
  363.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  364.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID; ///TODO: Change this to the actual module type
  365.     txMsg.Header.ModuleId = act_PIDv1_ID;
  366.     txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
  367.     txMsg.Length = 6;
  368.  
  369.     uint32_t HwId=BIOS_GetHwId();
  370.     txMsg.Data[0] = HwId&0xff;
  371.     txMsg.Data[1] = (HwId>>8)&0xff;
  372.     txMsg.Data[2] = (HwId>>16)&0xff;
  373.     txMsg.Data[3] = (HwId>>24)&0xff;
  374.  
  375.     txMsg.Data[4] = NUMBER_OF_MODULES;
  376.     txMsg.Data[5] = ModuleSequenceNumber;
  377.  
  378.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  379. }
  380.