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/************************************************************************************************************************
* Heaters_print.c
**************************************************************************************************************************/
////////////////////////////////State machine operation////////////////////////////////////
//the state machine operation is used to operate in runtime correct profile flow execution
//by recieved esign flow of the user from the UI
///////////////////////////////////////////////////////////////////////////////////////////
#include "include.h"
#include <Modules/Stubs_Handler/DataDef.h>
//#include "PMR/Hardware/PIDCluster.pb-c.h"
#include "PMR/Hardware/HardwarePidControlType.pb-c.h"
#include "PMR/Hardware/HardwarePidControl.pb-c.h"
#include "PMR/common/MessageContainer.pb-c.h"
#include "../control/control.h"
#include "../control/pidalgo.h"
#include "include.h"
#include <driverlib/timer.h>
#include "heaters.h"
#include "Drivers/Heater/Heater.h"
/******************** GLOBAL PARAMETERS ********************************************/
HeaterCommand HeaterCmd[MAX_HEATERS_NUM] = {};
int NumberOFSlicesInUse = 0;
bool HeatersRestart = false;
uint32_t OutputProportionalSingleStep = 0; //A/C Heaters step size from one decision point to another - in cpu clocks. 120000 = 1 millisecod
uint32_t Heater_timerBase = TIMER2_BASE; //Timer handle
uint32_t OutputProportionalCycleTime = 0; //A/C Heaters Cycle time in milliseconds - one for all heaters
char TimeSliceAllocation[MAX_TIMESLICES] = {0};
bool InitialHeatingState = false;
/******************** FUNCTIONS ********************************************/
uint32_t HeaterControlCBFunction(uint32_t deviceID, uint32_t ReadValue);
uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue);
/*
* HeaterCommandRequestMessage
* called by: Communication from host
* initialized all global data
*/
uint32_t HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature)
{
//uint32_t status = NOT_SUPPORTED;
//MessageContainer responseContainer;
if ((HeaterId)&&(HeaterId< MAX_HEATERS_NUM))
{
if (HeaterControl[HeaterId].id != HeaterId) // heater configuration missing
{
LOG_ERROR (HeaterId, "Heater is not yet configured");
return ERROR;
}
HeaterCmd[HeaterId].heaterid = HeaterId;
HeaterCmd[HeaterId].command = OnOff;
HeaterCmd[HeaterId].targettemperatue = Temperature;
}
bool HeaterState = GetHeaterState(HeaterId);
if ((HeaterState == HEATER_OFF)&& (OnOff == HEATER_ON)) //start heating
{
//set the heater control parameters
//set the target operation temperature
//start the control
PrepareHeater(HeaterId,Temperature); //prepare the heaters control info
//set the power balance handler (if not set yet)
ROM_TimerConfigure(Heater_timerBase, TIMER_CFG_PERIODIC); // 32 bits Timer
ROM_IntEnable(INT_TIMER2B);
ROM_TimerIntEnable(Heater_timerBase, TIMER_TIMA_TIMEOUT);
// if the heater is off (?) start it.
ActivateHeater(HeaterId);
//set the heater operation mode to fast heating - depended on the current temperature
// timers are prepared but not started yet!!! only when the system is hot.
}
else if ((HeaterState == HEATER_ON)&& (OnOff == HEATER_ON)) //set temperature
{
HeaterPIDConfig[HeaterId].m_SetParam = Temperature;
// if the heater is not on return (?).
//set the target operation temperature
//set the heater operation mode to fast heating - depended on the current temperature
}
else if ((HeaterState == HEATER_ON)&& (OnOff == HEATER_OFF)) //stop heating
{
//turn off the heater
//stop the control
HeaterPIDConfig[HeaterId].m_SetParam = HeaterId;
}
else
{
LOG_ERROR (OnOff, "unsupported command id");
return ERROR;
}
return OK;
}
/*
* PrepareHeater
* called by: Communication from host
* initialized all global data
*/
uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue)
{
assert(HeaterId < MAX_HEATERS_NUM);
assert(SetTemperatue < MAX_HEATERS_TEMPERATURE);
//start thread control for all motors
HeaterPIDConfig[HeaterId].m_params.MAX = HeaterControl[HeaterId].outputproportionalpowerlimit;
HeaterPIDConfig[HeaterId].m_params.MIN = .0;
HeaterPIDConfig[HeaterId].m_params.Kd = HeaterControl[HeaterId].kd;
HeaterPIDConfig[HeaterId].m_params.Kp = HeaterControl[HeaterId].kp;
HeaterPIDConfig[HeaterId].m_params.Ki = HeaterControl[HeaterId].ki;
HeaterPIDConfig[HeaterId].m_params.dt = eHunderdMillisecond;
HeaterPIDConfig[HeaterId].m_calculatedError = 0;
HeaterPIDConfig[HeaterId].m_integral = 0;
HeaterPIDConfig[HeaterId].m_isEnabled = true;
HeaterPIDConfig[HeaterId].m_isReady = true;
HeaterPIDConfig[HeaterId].m_mesuredParam = 0;
HeaterPIDConfig[HeaterId].m_preError = 0;
HeaterPIDConfig[HeaterId].m_SetParam = SetTemperatue;//need to update SetParams on presegment stage
AddControlCallback(DeviceId2Heater[HeaterId], HeaterControlCBFunction, eHunderdMillisecond);
return OK;
}
/*
* HeaterControlCBFunction
* called by: Communication from host
* initialized all global data
*/
uint32_t HeaterControlCBFunction(uint32_t deviceID, uint32_t ReadValue)
{
int i,index=MAX_HEATERS_NUM;
char str[100];
uint8_t len = 0;
for (i=0;i<MAX_HEATERS_NUM;i++)
if (DeviceId2Heater[i] == deviceID)
{
index = i;
break;
}
if (index==MAX_HEATERS_NUM)
{
LOG_ERROR (deviceID, "No heater for device");
return 0xFFFFFFFF;
}
// check if the read value is within the proportional band
if (ReadValue > (HeaterCmd[index].targettemperatue * (1+HeaterControl[index].outputproportionalband)))
{
//Heaters OFF until coming into the proportional band
len = usnprintf(str, 100, "\r\n HeaterControlCBFunction devId %d temp %d over proportional band %d of set temp %d "
,index, ReadValue,HeaterControl[index].outputproportionalband,HeaterCmd[index].targettemperatue);
Report(str, __FILE__,__LINE__,0, RpMessage, index, deviceID);
return OK;
}
if (ReadValue < (HeaterCmd[index].targettemperatue * (1-HeaterControl[index].outputproportionalband)))
{
len = usnprintf(str, 100, "\r\n HeaterControlCBFunction devId %d temp %d below proportional band %d of set temp %d "
,index, ReadValue,HeaterControl[index].outputproportionalband,HeaterCmd[index].targettemperatue);
Report(str, __FILE__,__LINE__,0, RpMessage, index, deviceID);
//Heaters ON until coming into the proportional band
return OK;
}
if(HeaterPIDConfig[index].m_isEnabled && (HeaterPIDConfig[index].m_SetParam != 0))
{
HeaterPIDConfig[index].m_mesuredParam = ReadValue;
HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
&HeaterPIDConfig[index].m_params, &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
if (HeaterPIDConfig[index].m_calculatedError >= HeaterPIDConfig[index].m_params.MAX)
{
HeaterPIDConfig[index].m_calculatedError = HeaterPIDConfig[index].m_params.MAX;
}
if (HeaterPIDConfig[index].m_calculatedError < HeaterPIDConfig[index].m_params.MIN)
{
HeaterPIDConfig[index].m_calculatedError = HeaterPIDConfig[index].m_params.MIN;
}
//SetMotorFreq (index, HeaterControl[index].m_calculatedError);
}
return OK;
}
/*
* EightMilliSecondHeatersInterrupt - a timer based interrupt, that will handle the time sharing between the A/C heaters
* There is a need to prevent the system from activating all A/C heaters at the same time, due to electrical current problems
*/
int SliceCounter = 0;
void EightMilliSecondHeatersInterrupt(UArg arg0)
{
char str[100];
uint8_t len = 0;
len = usnprintf(str, 100, "\r\n EightMilliSecondHeatersInterrupt SliceCounter %d Owner %d H1000 %d H2000 %d"
,SliceCounter,TimeSliceAllocation[SliceCounter],HeatersRestart,NumberOFSlicesInUse);
Report(str, __FILE__,__LINE__,0, RpMessage, SliceCounter, TimeSliceAllocation[SliceCounter]);
ROM_IntMasterDisable();
if (TimeSliceAllocation[SliceCounter] == HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w)
{
//If HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w should be active
//Activate HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w
ActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w);
//DeActivate HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1
DeActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1);
DeActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2);
}
else if (TimeSliceAllocation[SliceCounter] == HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1)
{
//DeActivate HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w
DeActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w);
//If HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1 should be active
//Activate HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1
ActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1);
ActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2);
}
else
{
//DeActivate HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w
DeActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w);
//DeActivate HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1
DeActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1);
DeActivateHeater (HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2);
}
//handle the time sharing module
SliceCounter++;
if (SliceCounter >= NumberOFSlicesInUse)
SliceCounter = 0;
if (HeatersRestart == true)
{
ROM_TimerLoadSet(Heater_timerBase, TIMER_BOTH,OutputProportionalSingleStep/*twelve millisecond???*/);
}
ROM_TimerIntClear(Heater_timerBase, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt
//
// Enable all interrupts.
//
ROM_IntMasterEnable();
return ;
}
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