From 9136dc196cce631ea0cdb7b83d68440cf9633be2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mario=20H=C3=BCttel?= Date: Thu, 9 Jul 2020 22:31:42 +0200 Subject: [PATCH] Further rewrite safety handling --- .../include/helper-macros/helper-macros.h | 2 + .../include/reflow-controller/oven-driver.h | 33 +---- .../reflow-controller/safety/safety-adc.h | 26 +--- .../reflow-controller/safety/safety-config.h | 5 + .../safety/safety-controller.h | 12 ++ stm-firmware/main.c | 50 +------ stm-firmware/oven-driver.c | 112 +++++--------- stm-firmware/reflow-menu.c | 6 +- stm-firmware/safety/safety-adc.c | 112 ++------------ stm-firmware/safety/safety-controller.c | 140 +++++++++++++++--- stm-firmware/shell.c | 29 +--- 11 files changed, 209 insertions(+), 318 deletions(-) diff --git a/stm-firmware/include/helper-macros/helper-macros.h b/stm-firmware/include/helper-macros/helper-macros.h index 5ef4c12..8fb4fad 100644 --- a/stm-firmware/include/helper-macros/helper-macros.h +++ b/stm-firmware/include/helper-macros/helper-macros.h @@ -36,4 +36,6 @@ #define ABS(a) ((a) < 0 ? (-1*(a)) : (a)) +#define is_power_of_two(num) ((num) && !((num) & ((num) - 1))) + #endif /* __HELPER_MACROS_H__ */ diff --git a/stm-firmware/include/reflow-controller/oven-driver.h b/stm-firmware/include/reflow-controller/oven-driver.h index 8230e15..dacf21f 100644 --- a/stm-firmware/include/reflow-controller/oven-driver.h +++ b/stm-firmware/include/reflow-controller/oven-driver.h @@ -25,32 +25,9 @@ #include #include -enum oven_pid_error_report { - OVEN_PID_NO_ERROR = 0, - OVEN_PID_ERR_PT1000_ADC_WATCHDOG = (1<<0), - OVEN_PID_ERR_PT1000_ADC_OFF = (1<<1), - OVEN_PID_ERR_PT1000_OTHER = (1<<2), - OVEN_PID_ERR_VREF_TOL = (1<<3), - OVEN_PID_ERR_OVERTEMP = (1<<4), -}; - -struct oven_pid_errors { - bool generic_error; - bool pt1000_adc_watchdog; - bool pt1000_adc_off; - bool pt1000_other; - bool vref_tol; - bool controller_overtemp; -}; - -struct oven_pid_status { - bool active; - bool error_set; - struct oven_pid_errors error_flags; - float target_temp; - float current_temp; - uint64_t timestamp_last_run; -}; +enum oven_pid_status {OVEN_PID_DEACTIVATED, + OVEN_PID_RUNNING, + OVEN_PID_ABORTED}; void oven_driver_init(void); @@ -66,8 +43,8 @@ void oven_pid_handle(float target_temp); void oven_pid_stop(); -void oven_pid_report_error(enum oven_pid_error_report report); +void oven_driver_apply_power_level(void); -const struct oven_pid_status *oven_pid_get_status(void); +enum oven_pid_status oven_pid_get_status(void); #endif /* __OVEN_DRIVER_H__ */ diff --git a/stm-firmware/include/reflow-controller/safety/safety-adc.h b/stm-firmware/include/reflow-controller/safety/safety-adc.h index 17082eb..bcbb2e0 100644 --- a/stm-firmware/include/reflow-controller/safety/safety-adc.h +++ b/stm-firmware/include/reflow-controller/safety/safety-adc.h @@ -29,26 +29,7 @@ #include #include -#define SAFETY_ADC_VREF_MVOLT (2500.0f) -#define SAFETY_ADC_VREF_TOL_MVOLT (100.0f) -#define SAFETY_ADC_TEMP_LOW_LIM (0.0f) -#define SAFETY_ADC_TEMP_HIGH_LIM (65.0f) - enum safety_adc_meas_channel {SAFETY_ADC_MEAS_VREF, SAFETY_ADC_MEAS_TEMP}; -enum safety_adc_check_result { - SAFETY_ADC_CHECK_OK = 0UL, - SAFETY_ADC_CHECK_VREF_LOW = (1U<<0), - SAFETY_ADC_CHECK_VREF_HIGH = (1U<<1), - SAFETY_ADC_CHECK_TEMP_LOW = (1U<<2), - SAFETY_ADC_CHECK_TEMP_HIGH = (1U<<3), - SAFETY_ADC_INTERNAL_ERROR = (1U<<4), - }; - -extern enum safety_adc_check_result global_safety_adc_status; - -enum safety_adc_check_result safety_adc_get_errors(); - -void safety_adc_clear_errors(void); void safety_adc_init(); @@ -63,14 +44,9 @@ void safety_adc_trigger_meas(enum safety_adc_meas_channel measurement); */ int safety_adc_poll_result(uint16_t *adc_result); -enum safety_adc_check_result safety_adc_check_results(uint16_t vref_result, uint16_t temp_result, - float *vref_calculated, float *temp_calculated); - enum safety_adc_check_result handle_safety_adc(); -float safety_adc_get_temp(); - -float safety_adc_get_vref(); +float safety_adc_convert_channel(enum safety_adc_meas_channel channel, uint16_t analog_value); #endif /* __SAFETY_ADC_H__ */ diff --git a/stm-firmware/include/reflow-controller/safety/safety-config.h b/stm-firmware/include/reflow-controller/safety/safety-config.h index 6d1ca80..b15ddcf 100644 --- a/stm-firmware/include/reflow-controller/safety/safety-config.h +++ b/stm-firmware/include/reflow-controller/safety/safety-config.h @@ -68,4 +68,9 @@ enum analog_value_monitor { #define HALTING_CAREMASK (ERR_FLAG_STACK | ERR_FLAG_AMON_UC_TEMP) +#define SAFETY_ADC_VREF_MVOLT (2500.0f) +#define SAFETY_ADC_VREF_TOL_MVOLT (100.0f) +#define SAFETY_ADC_TEMP_LOW_LIM (0.0f) +#define SAFETY_ADC_TEMP_HIGH_LIM (65.0f) + #endif /* __SAFETY_CONFIG_H__ */ diff --git a/stm-firmware/include/reflow-controller/safety/safety-controller.h b/stm-firmware/include/reflow-controller/safety/safety-controller.h index 2f1ea12..8a31b3b 100644 --- a/stm-firmware/include/reflow-controller/safety/safety-controller.h +++ b/stm-firmware/include/reflow-controller/safety/safety-controller.h @@ -30,6 +30,12 @@ #include #include +enum analog_monitor_status {ANALOG_MONITOR_OK = 0, + ANALOG_MONITOR_ERROR, + ANALOG_MONITOR_INACTIVE, + ANALOG_MONITOR_OVER, + ANALOG_MONITOR_UNDER}; + /** * @brief Initialize the safety controller * @@ -50,8 +56,14 @@ int safety_controller_report_error(enum safety_flag flag); void safety_controller_report_timing(enum timing_monitor monitor); +void safety_controller_report_analog_value(enum analog_value_monitor monitor, float value); + int safety_controller_enable_timing_mon(enum timing_monitor monitor, bool enable); +enum analog_monitor_status safety_controller_get_analog_mon_value(enum analog_value_monitor monitor, float *value); + +bool safety_controller_get_flag(enum safety_flag); + #endif /* __SAFETY_CONTROLLER_H__ */ /** @} */ diff --git a/stm-firmware/main.c b/stm-firmware/main.c index 55c6ae5..292172c 100644 --- a/stm-firmware/main.c +++ b/stm-firmware/main.c @@ -41,9 +41,9 @@ #include #include #include -#include #include #include +#include bool global_error_state; @@ -154,12 +154,14 @@ static inline void setup_system(void) led_setup(); loudspeaker_setup(); reflow_menu_init(); - safety_adc_init(); + uart_gpio_config(); setup_shell_uart(&shell_uart); setup_unused_pins(); + + } static void handle_shell_uart_input(shellmatta_handle_t shell_handle) @@ -188,39 +190,12 @@ static void zero_ccm_ram(void) ptr[i] = 0UL; } -/** - * @brief This function sets the appropriate error flags in the oven PID controller - * depending on the Safety ADC measurements. - * The PID controller's error flags have to be cleared via the GUI by either starting a new RUN or explicitly - * ack'ing these errors. - */ -static void propagate_safety_adc_error_to_oven_pid(void) -{ - enum safety_adc_check_result safety_adc_result; - - safety_adc_result = safety_adc_get_errors(); - - if (safety_adc_result & SAFETY_ADC_CHECK_TEMP_LOW || - safety_adc_result & SAFETY_ADC_CHECK_TEMP_HIGH) - oven_pid_report_error(OVEN_PID_ERR_OVERTEMP); - - if (safety_adc_result & SAFETY_ADC_CHECK_VREF_LOW || - safety_adc_result & SAFETY_ADC_CHECK_VREF_HIGH) - oven_pid_report_error(OVEN_PID_ERR_VREF_TOL); - - if (safety_adc_result & SAFETY_ADC_INTERNAL_ERROR) - oven_pid_report_error(0); -} - int main(void) { bool sd_card_mounted = false; shellmatta_handle_t shell_handle; int menu_wait_request; uint64_t quarter_sec_timestamp = 0ULL; - const struct oven_pid_status *pid_status; - enum adc_pt1000_error pt1000_status; - zero_ccm_ram(); setup_system(); @@ -232,31 +207,20 @@ int main(void) while (1) { sd_card_mounted = mount_sd_card_if_avail(sd_card_mounted); - pid_status = oven_pid_get_status(); - if (systick_ticks_have_passed(quarter_sec_timestamp, 250)) { quarter_sec_timestamp = systick_get_global_tick(); - (void)handle_safety_adc(); - propagate_safety_adc_error_to_oven_pid(); - - if (global_error_state) + if (0) led_set(0, !led_get(0)); else led_set(0, 0); } - pt1000_status = adc_pt1000_check_error(); - global_error_state = pid_status->error_set || !!safety_adc_get_errors() || !!pt1000_status; - menu_wait_request = reflow_menu_handle(); - - /* Deactivate oven output in case of error! */ - if (!pid_status->active || global_error_state) - oven_driver_set_power(0U); - handle_shell_uart_input(shell_handle); + oven_driver_apply_power_level(); + if (menu_wait_request) __WFI(); else diff --git a/stm-firmware/oven-driver.c b/stm-firmware/oven-driver.c index 87f16aa..857e230 100644 --- a/stm-firmware/oven-driver.c +++ b/stm-firmware/oven-driver.c @@ -24,16 +24,12 @@ #include #include #include +#include static struct pid_controller oven_pid; - -static struct oven_pid_status oven_pid_current_status = { - .active = false, - .error_set = false, - .target_temp = 0.0f, - .current_temp = 0.0f, - .timestamp_last_run = 0ULL -}; +static bool oven_pid_running = false; +static bool oven_pid_aborted = false; +static uint8_t oven_driver_power_level = 0U; void oven_driver_init() { @@ -60,7 +56,12 @@ void oven_driver_set_power(uint8_t power) if (power > 100U) power = 100U; - OVEN_CONTROLLER_PWM_TIMER->CCR3 = power * 10; + oven_driver_power_level = power; +} + +void oven_driver_apply_power_level(void) +{ + OVEN_CONTROLLER_PWM_TIMER->CCR3 = oven_driver_power_level * 10; } void oven_driver_disable() @@ -71,93 +72,52 @@ void oven_driver_disable() rcc_manager_disable_clock(&RCC->APB1ENR, BITMASK_TO_BITNO(OVEN_CONTROLLER_TIM_RCC_MASK)); } -void oven_pid_ack_errors(void) -{ - oven_pid_current_status.error_set = false; - oven_pid_current_status.error_flags.vref_tol = false; - oven_pid_current_status.error_flags.pt1000_other = false; - oven_pid_current_status.error_flags.generic_error = false; - oven_pid_current_status.error_flags.pt1000_adc_off = false; - oven_pid_current_status.error_flags.controller_overtemp = false; - oven_pid_current_status.error_flags.pt1000_adc_watchdog = false; -} - void oven_pid_init(struct pid_controller *controller_to_copy) { pid_copy(&oven_pid, controller_to_copy); oven_pid.output_sat_min = 0.0f; oven_pid.output_sat_max = 100.0f; - oven_pid_current_status.timestamp_last_run = 0ULL; - oven_pid_current_status.active = true; - oven_pid_ack_errors(); + + oven_pid_running = true; + oven_pid_aborted = false; + safety_controller_report_timing(ERR_TIMING_PID); } void oven_pid_handle(float target_temp) { float pid_out; float current_temp; - int resistance_status; - enum adc_pt1000_error pt1000_error; - - if (oven_pid_current_status.active && !oven_pid_current_status.error_set) { - if (systick_ticks_have_passed(oven_pid_current_status.timestamp_last_run, - (uint64_t)(oven_pid.sample_period * 1000))) { - - resistance_status = adc_pt1000_get_current_resistance(¤t_temp); - if (resistance_status < 0) { - oven_driver_set_power(0); - pt1000_error = adc_pt1000_check_error(); - if (pt1000_error & ADC_PT1000_WATCHDOG_ERROR) - oven_pid_report_error(OVEN_PID_ERR_PT1000_ADC_WATCHDOG); - if (pt1000_error & ADC_PT1000_INACTIVE) - oven_pid_report_error(OVEN_PID_ERR_PT1000_ADC_OFF); - if (pt1000_error & ADC_PT1000_OVERFLOW) - oven_pid_report_error(OVEN_PID_ERR_PT1000_OTHER); - - return; - } + static uint64_t timestamp_last_run; + if (oven_pid_running && !oven_pid_aborted) { + if (systick_ticks_have_passed(timestamp_last_run, (uint64_t)(oven_pid.sample_period * 1000))) { + /* No need to check. Safety controller will monitor this */ + (void)adc_pt1000_get_current_resistance(¤t_temp); (void)temp_converter_convert_resistance_to_temp(current_temp, ¤t_temp); pid_out = pid_sample(&oven_pid, target_temp - current_temp); oven_driver_set_power((uint8_t)pid_out); - oven_pid_current_status.timestamp_last_run = systick_get_global_tick(); - oven_pid_current_status.target_temp = target_temp; - oven_pid_current_status.current_temp = current_temp; + timestamp_last_run = systick_get_global_tick(); + + safety_controller_report_timing(ERR_TIMING_PID); } } } -void oven_pid_report_error(enum oven_pid_error_report report) -{ - struct oven_pid_errors *e = &oven_pid_current_status.error_flags; - - oven_pid_current_status.active = false; - oven_pid_current_status.error_set = true; - - if (report == 0) { - e->generic_error = true; - } - if (report & OVEN_PID_ERR_OVERTEMP) - e->controller_overtemp = true; - if (report & OVEN_PID_ERR_VREF_TOL) - e->controller_overtemp = true; - if (report & OVEN_PID_ERR_PT1000_OTHER) - e->pt1000_other = true; - if (report & OVEN_PID_ERR_PT1000_ADC_OFF) - e->pt1000_adc_off = true; - if (report & OVEN_PID_ERR_PT1000_ADC_WATCHDOG) - e->pt1000_adc_watchdog = true; -} - -const struct oven_pid_status *oven_pid_get_status() -{ - return &oven_pid_current_status; -} - void oven_pid_stop() { - oven_pid_current_status.active = false; - oven_pid_current_status.target_temp = 0.0f; - oven_pid_current_status.current_temp = 0.0f; + oven_pid_running = false; + safety_controller_enable_timing_mon(ERR_TIMING_PID, false); +} + +enum oven_pid_status oven_pid_get_status(void) +{ + enum oven_pid_status ret = OVEN_PID_ABORTED; + + if (oven_pid_running && !oven_pid_aborted) + ret = OVEN_PID_RUNNING; + else if (!oven_pid_running && !oven_pid_aborted) + ret = OVEN_PID_DEACTIVATED; + + return ret; } diff --git a/stm-firmware/reflow-menu.c b/stm-firmware/reflow-menu.c index 253d805..dec89b1 100644 --- a/stm-firmware/reflow-menu.c +++ b/stm-firmware/reflow-menu.c @@ -24,7 +24,7 @@ #include #include #include -#include +#include #include #include #include @@ -90,11 +90,11 @@ static void reflow_menu_monitor(struct lcd_menu *menu, enum menu_entry_func_entr snprintf(line, sizeof(line), "Temp: %s%.1f " LCD_DEGREE_SYMBOL_STRING "C", prefix, tmp); menu->update_display(1, line); - tmp = safety_adc_get_temp(); + (void)safety_controller_get_analog_mon_value(ERR_AMON_UC_TEMP, &tmp); snprintf(line, sizeof(line), "Tj: %.1f " LCD_DEGREE_SYMBOL_STRING "C", tmp); menu->update_display(2, line); - tmp = safety_adc_get_vref(); + (void)safety_controller_get_analog_mon_value(ERR_AMON_VREF, &tmp); snprintf(line, sizeof(line), "Vref: %.1f mV", tmp); menu->update_display(3, line); } diff --git a/stm-firmware/safety/safety-adc.c b/stm-firmware/safety/safety-adc.c index cadc9d6..152414e 100644 --- a/stm-firmware/safety/safety-adc.c +++ b/stm-firmware/safety/safety-adc.c @@ -28,24 +28,10 @@ #include #include -enum safety_adc_check_result global_safety_adc_status; - -enum safety_adc_check_result safety_adc_get_errors() -{ - return global_safety_adc_status; -} - -void safety_adc_clear_errors(void) -{ - global_safety_adc_status = SAFETY_ADC_CHECK_OK; -} - void safety_adc_init() { rcc_manager_enable_clock(&RCC->APB2ENR, BITMASK_TO_BITNO(SAFETY_ADC_ADC_RCC_MASK)); - safety_adc_clear_errors(); - /* Enable temperature and VREFINT measurement */ ADC->CCR |= ADC_CCR_TSVREFE; @@ -65,38 +51,27 @@ void safety_adc_deinit() rcc_manager_enable_clock(&RCC->APB1ENR, BITMASK_TO_BITNO(RCC_APB2ENR_ADC2EN)); } -enum safety_adc_check_result safety_adc_check_results(uint16_t vref_result, uint16_t temp_result, - float *vref_calculated, float *temp_calculated) +float safety_adc_convert_channel(enum safety_adc_meas_channel channel, uint16_t analog_value) { - enum safety_adc_check_result res = SAFETY_ADC_CHECK_OK; - float vref; - float temp; + float converted_val; - vref = (SAFETY_ADC_INT_REF_MV * 4095.0f) / (float)vref_result; - if (vref_calculated) { - *vref_calculated = vref; + + switch (channel) { + case SAFETY_ADC_MEAS_TEMP: + converted_val = (((float)channel / 4095.0f * 2500.0f - SAFETY_ADC_TEMP_NOM_MV) / + SAFETY_ADC_TEMP_MV_SLOPE) + SAFETY_ADC_TEMP_NOM; + break; + case SAFETY_ADC_MEAS_VREF: + converted_val = (SAFETY_ADC_INT_REF_MV * 4095.0f) / (float)analog_value; + break; + default: + /* Generate NaN value as default return */ + converted_val = 0.0f / 0.0f; + break; } - temp = (((float)temp_result / 4095.0f * 2500.0f - - SAFETY_ADC_TEMP_NOM_MV) / SAFETY_ADC_TEMP_MV_SLOPE) + SAFETY_ADC_TEMP_NOM; - if (temp_calculated) { - *temp_calculated = temp; - } - - if (ABS(vref - SAFETY_ADC_VREF_MVOLT) > SAFETY_ADC_VREF_TOL_MVOLT) { - if (vref > SAFETY_ADC_VREF_MVOLT) - res |= SAFETY_ADC_CHECK_VREF_HIGH; - else - res |= SAFETY_ADC_CHECK_VREF_LOW; - } - - if (temp < SAFETY_ADC_TEMP_LOW_LIM) - res |= SAFETY_ADC_CHECK_TEMP_LOW; - else if (temp < SAFETY_ADC_CHECK_TEMP_HIGH) - res |= SAFETY_ADC_CHECK_TEMP_HIGH; - - return res; + return converted_val; } int safety_adc_poll_result(uint16_t *adc_result) @@ -136,60 +111,5 @@ void safety_adc_trigger_meas(enum safety_adc_meas_channel measurement) SAFETY_ADC_ADC_PERIPHERAL->CR2 |= ADC_CR2_SWSTART; } -static uint16_t safety_vref_meas_raw; -static bool safety_vref_valid = false; -static uint16_t safety_temp_meas_raw; -static bool safety_temp_valid = false; -static float safety_vref; -static float safety_temp; - -enum safety_adc_check_result handle_safety_adc() -{ - static enum safety_adc_meas_channel safety_meas_channel = SAFETY_ADC_MEAS_VREF; - enum safety_adc_check_result check_result; - uint16_t result; - int poll_status; - - poll_status = safety_adc_poll_result(&result); - - if (poll_status < 0) { - safety_adc_trigger_meas(safety_meas_channel); - } else if (poll_status > 0) { - switch (safety_meas_channel) { - case SAFETY_ADC_MEAS_TEMP: - safety_temp_meas_raw = result; - safety_temp_valid = true; - safety_meas_channel = SAFETY_ADC_MEAS_VREF; - break; - case SAFETY_ADC_MEAS_VREF: - safety_vref_meas_raw = result; - safety_vref_valid = true; - safety_meas_channel = SAFETY_ADC_MEAS_TEMP; - break; - default: - safety_meas_channel = SAFETY_ADC_MEAS_VREF; - return SAFETY_ADC_INTERNAL_ERROR; - } - } - - if (safety_temp_valid && safety_vref_valid) { - check_result = safety_adc_check_results(safety_vref_meas_raw, safety_temp_meas_raw, &safety_vref, &safety_temp); - global_safety_adc_status |= check_result; - } else { - check_result = SAFETY_ADC_CHECK_OK; - } - - return check_result; -} - -float safety_adc_get_temp() -{ - return safety_temp; -} - -float safety_adc_get_vref() -{ - return safety_vref; -} /** @} */ diff --git a/stm-firmware/safety/safety-controller.c b/stm-firmware/safety/safety-controller.c index ea7993f..112dd35 100644 --- a/stm-firmware/safety/safety-controller.c +++ b/stm-firmware/safety/safety-controller.c @@ -26,6 +26,8 @@ #include #include #include +#include +#include #include #include @@ -42,6 +44,7 @@ struct error_flag { struct timing_mon { const char *name; enum timing_monitor monitor; + enum safety_flag associated_flag; uint64_t min_delta; uint64_t max_delta; uint64_t last; @@ -51,6 +54,7 @@ struct timing_mon { struct analog_mon { const char *name; enum analog_value_monitor monitor; + enum safety_flag associated_flag; float min; float max; float value; @@ -64,8 +68,8 @@ struct analog_mon { #define COUNT_OF(x) ((sizeof(x)/sizeof(0[x])) / ((size_t)(!(sizeof(x) % sizeof(0[x]))))) #define ERR_FLAG_ENTRY(errflag, persistency) {.name=#errflag, .flag = (errflag), .error_state = false, .persistent = (persistency)} -#define TIM_MON_ENTRY(mon, min, max) {.name=#mon, .monitor = (mon), .min_delta = (min), .max_delta = (max), .last = 0ULL, .enabled= false} -#define ANA_MON_ENTRY(mon, min_value, max_value) {.name=#mon, .monitor = (mon), .min = (min_value), .max = (max_value), .value = 0.0f, .valid = false} +#define TIM_MON_ENTRY(mon, min, max, flag) {.name=#mon, .monitor = (mon), .associated_flag=(flag), .min_delta = (min), .max_delta = (max), .last = 0ULL, .enabled= false} +#define ANA_MON_ENTRY(mon, min_value, max_value, flag) {.name=#mon, .monitor = (mon), .associated_flag=(flag), .min = (min_value), .max = (max_value), .value = 0.0f, .valid = false} static struct error_flag flags[] = { ERR_FLAG_ENTRY(ERR_FLAG_MEAS_ADC_OFF, false), @@ -80,16 +84,59 @@ static struct error_flag flags[] = { }; static struct timing_mon timings[] = { - TIM_MON_ENTRY(ERR_TIMING_PID, 1, 800), - TIM_MON_ENTRY(ERR_TIMING_MEAS_ADC, 1, 50), - TIM_MON_ENTRY(ERR_TIMING_SAFETY_ADC, 220, 500), + TIM_MON_ENTRY(ERR_TIMING_PID, 1, 800, ERR_FLAG_TIMING_PID), + TIM_MON_ENTRY(ERR_TIMING_MEAS_ADC, 1, 50, ERR_FLAG_TIMING_MEAS_ADC), }; static struct analog_mon analog_mons[] = { - ANA_MON_ENTRY(ERR_AMON_VREF, 2480.0f, 2520.0f), - ANA_MON_ENTRY(ERR_AMON_UC_TEMP, 0.0f, 55.0f), + ANA_MON_ENTRY(ERR_AMON_VREF, 2480.0f, 2520.0f, ERR_FLAG_AMON_VREF), + ANA_MON_ENTRY(ERR_AMON_UC_TEMP, 0.0f, 55.0f, ERR_FLAG_AMON_UC_TEMP), }; +static struct analog_mon *find_analog_mon(enum analog_value_monitor mon) +{ + uint32_t i; + struct analog_mon *ret = NULL; + + for (i = 0; i < COUNT_OF(analog_mons); i++) { + if (analog_mons[i].monitor == mon) + ret = &analog_mons[i]; + } + + return ret; +} + +static struct timing_mon *find_timing_mon(enum timing_monitor mon) +{ + uint32_t i; + struct timing_mon *ret = NULL; + + for (i = 0; i < COUNT_OF(timings); i++) { + if (timings[i].monitor == mon) + ret = &timings[i]; + } + + return ret; +} + +static struct error_flag *find_error_flag(enum safety_flag flag) +{ + uint32_t i; + struct error_flag *ret = NULL; + + for (i = 0; i < COUNT_OF(flags); i++) { + if (flags[i].flag == flag) + ret = &flags[i]; + } + + return ret; +} + +static void safety_controller_process_checks() +{ + // TODO: Implement +} + int safety_controller_report_error(enum safety_flag flag) { uint32_t i; @@ -102,11 +149,11 @@ int safety_controller_report_error(enum safety_flag flag) } } + safety_controller_process_checks(); + return ret; } -/** @} */ - void safety_controller_report_timing(enum timing_monitor monitor) { uint32_t i; @@ -115,22 +162,41 @@ void safety_controller_report_timing(enum timing_monitor monitor) timestamp = systick_get_global_tick(); - for (i = 0; i < COUNT_OF(timings); i++) { - tim = &timings[i]; - if (tim->monitor & monitor) { - tim->enabled = true; - tim->last = timestamp; - } + tim = find_timing_mon(monitor); + if (tim) { + tim->last = timestamp; + tim->enabled = true; } + + safety_controller_process_checks(); +} + +void safety_controller_report_analog_value(enum analog_value_monitor monitor, float value) +{ + struct analog_mon *ana; + + /* Return if not a power of two */ + if (!is_power_of_two(monitor)) + return; + ana = find_analog_mon(monitor); + if (ana) { + ana->valid = true; + ana->value = value; + } + + safety_controller_process_checks(); } void safety_controller_init() { + safety_adc_init(); watchdog_setup(WATCHDOG_PRESCALER); } int safety_controller_handle() { + static + int ret = 0; /* TODO: Handle safety ADC */ @@ -144,19 +210,49 @@ int safety_controller_handle() int safety_controller_enable_timing_mon(enum timing_monitor monitor, bool enable) { - uint32_t i; struct timing_mon *tim; if (enable) { safety_controller_report_timing(monitor); } else { - for (i = 0; i < COUNT_OF(timings); i++) { - tim = &timings[i]; - if (tim->monitor & monitor) { - tim->enabled = false; - } - } + tim = find_timing_mon(monitor); + if (!tim) + return -1; + tim->enabled = false; } return 0; } + +enum analog_monitor_status safety_controller_get_analog_mon_value(enum analog_value_monitor monitor, float *value) +{ + struct analog_mon *mon; + int ret = ANALOG_MONITOR_ERROR; + + if (!is_power_of_two(monitor)) + goto go_out; + + if (!value) + goto go_out; + + mon = find_analog_mon(monitor); + if (mon) { + if (!mon->valid) { + ret = ANALOG_MONITOR_INACTIVE; + goto go_out; + } + + *value = mon->value; + if (mon->value < mon->min) + ret = ANALOG_MONITOR_UNDER; + else if (mon->value > mon->max) + ret = ANALOG_MONITOR_OVER; + else + ret = ANALOG_MONITOR_OK; + } + +go_out: + return ret; +} + +/** @} */ diff --git a/stm-firmware/shell.c b/stm-firmware/shell.c index f40a63d..f3b00ab 100644 --- a/stm-firmware/shell.c +++ b/stm-firmware/shell.c @@ -358,22 +358,10 @@ static shellmatta_retCode_t shell_cmd_safety_adc(const shellmatta_handle_t handl (void)length; (void)arguments; - shellmatta_printf(handle, "VREF:\t%8.2f\tmV\r\n", safety_adc_get_vref()); - shellmatta_printf(handle, "TEMP:\t%8.2f\tdeg. Celsius\r\n", safety_adc_get_temp()); + shellmatta_printf(handle, "VREF:\t%8.2f\tmV\r\n", 2500.0f); + shellmatta_printf(handle, "TEMP:\t%8.2f\tdeg. Celsius\r\n", 25.0f); - shellmatta_printf(handle, "Errors:\t%X", safety_adc_get_errors()); - - return SHELLMATTA_OK; -} - -static shellmatta_retCode_t shell_cmd_safety_adc_clear_error(const shellmatta_handle_t handle, const char *arguments, - uint32_t length) -{ - (void)length; - (void)arguments; - (void)handle; - - safety_adc_clear_errors(); + shellmatta_printf(handle, "Errors:\t%X", 0); return SHELLMATTA_OK; } @@ -388,7 +376,7 @@ static shellmatta_retCode_t shell_cmd_safety_adc_clear_error(const shellmatta_ha // struct shellmatta_cmd *next; /**< pointer to next command or NULL */ //} shellmatta_cmd_t; -static shellmatta_cmd_t cmd[15] = { +static shellmatta_cmd_t cmd[14] = { { .cmd = "version", .cmdAlias = "ver", @@ -499,17 +487,8 @@ static shellmatta_cmd_t cmd[15] = { .helpText = "", .usageText = "", .cmdFct = shell_cmd_safety_adc, - .next = &cmd[14], - }, - { - .cmd = "safety-adc-clear-error", - .cmdAlias = NULL, - .helpText = "", - .usageText = "", - .cmdFct = shell_cmd_safety_adc_clear_error, .next = NULL, }, - }; shellmatta_handle_t shell_init(shellmatta_write_t write_func)