/************************************************************************** * * Copyright (c) 2024-2024 Diality Inc. - All Rights Reserved. * * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. * * @file Conductivity.c * * @author (last) Vinayakam Mani * @date (last) 10-Sep-2024 * * @author (original) Vinayakam Mani * @date (original) 10-Sep-2024 * ***************************************************************************/ #include // Used for calculating the polynomial calibration equation. #include // For memcpy #include "Conductivity.h" #include "MessageSupport.h" #include "Messaging.h" #include "OperationModes.h" #include "TaskPriority.h" #include "Utilities.h" /** * @addtogroup Conductivity * @{ */ // ********** private definitions ********** #define COND_SENSOR_REPORT_PERIOD ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) ///< Broadcast conductivity values message every second. #define DATA_PUBLISH_COUNTER_START_COUNT 40 ///< Data publish counter start count. #define CONDUCTIVITY_SAMPLE_FILTER_MS ( 500 ) ///< Filter conductivity data for given time #define CONDUCTIVITY_TEMP_SAMPLE_FILTER_MS ( 500 ) ///< Filter conductivity temperature data for given time #define SIZE_OF_FLOW_ROLLING_AVG ( CONDUCTIVITY_SAMPLE_FILTER_MS / TASK_PRIORITY_INTERVAL ) ///< Filtered conductivity moving average sample count. #define SIZE_OF_FLOW_TEMP_ROLLING_AVG ( CONDUCTIVITY_TEMP_SAMPLE_FILTER_MS / TASK_PRIORITY_INTERVAL ) ///< Filtered conductivity temprature moving average sample count. /// Filter conductivity readings record. typedef struct { F32 conductivityReadings[ SIZE_OF_FLOW_ROLLING_AVG ]; ///< Holds conductivity sample rolling average. U32 conductivityReadingsIdx; ///< Index for next sample in rolling average array. F32 conductivityReadingsTotal; ///< Rolling total - used to calc average. U32 conductivityReadingsCount; ///< Number of samples in rolling average buffer } FILTER_CONDUCTIVITY_READINGS_T; /// Filter conductivity sensor temperature readings record. typedef struct { F32 conductivityTempReadings[ SIZE_OF_FLOW_ROLLING_AVG ]; ///< Holds conductivity sample rolling average. U32 conductivityTempReadingsIdx; ///< Index for next sample in rolling average array. F32 conductivityTempReadingsTotal; ///< Rolling total - used to calc average. U32 conductivityTempReadingsCount; ///< Number of samples in rolling average buffer } FILTER_CONDUCTIVITY_TEMPERATURE_READINGS_T; // ********** private data ********** static FILTER_CONDUCTIVITY_READINGS_T filteredConductivityReadings[NUM_OF_CONDUCTIVITY_SENSORS]; ///< Filtered conductivity reading for conductivity sensors. static OVERRIDE_F32_T filteredcurrentConductivityReadings[ NUM_OF_CONDUCTIVITY_SENSORS ]; ///< filtered current conductivity sensor conductivity readings (overrideable). static FILTER_CONDUCTIVITY_TEMPERATURE_READINGS_T filteredConductivityTemperatureReadings[NUM_OF_CONDUCTIVITY_SENSORS]; ///< Filtered temperature reading for conductivity sensors. static OVERRIDE_F32_T filteredcurrentTemperatureReadings[ NUM_OF_CONDUCTIVITY_SENSORS ]; ///< filtered current conductivity sensor temperature readings (overrideable). static U32 ddConductivityPublishTimerCounter; ///< DD Conductivity data publication counter. static OVERRIDE_U32_T ddConductivityDataPublishInterval; ///< DD Conductivity sensors publish time interval override. static U32 fpConductivityPublishTimerCounter; ///< FP Conductivity data publication counter. static OVERRIDE_U32_T fpConductivityDataPublishInterval; ///< FP Conductivity sensors publish time interval override. // ********** private function prototypes ********** static void publishConductivitySensorsData( void ); static void filterConductivitySensors( void ); static void filterConductivitySensorReadings( void ); static void filterConductivitySensorTemperatureReadings( void ); /*********************************************************************//** * @brief * The initConductivity function initializes the ConductivitySensors module. * @details \b Inputs: none * @details \b Outputs: Conductivity unit variables initialized * @return none *************************************************************************/ void initConductivity( void ) { CONDUCTIVITY_SENSORS_T sensor; //initConductivitySensors(); initConductivityTeensy(); ddConductivityPublishTimerCounter = DATA_PUBLISH_COUNTER_START_COUNT; fpConductivityPublishTimerCounter = DATA_PUBLISH_COUNTER_START_COUNT; // Initialize override structures for each conductivity sensor for ( sensor = FIRST_DD_COND_SENSOR; sensor < NUM_OF_CONDUCTIVITY_SENSORS; sensor++ ) { filteredcurrentConductivityReadings[ sensor ].data = 0.0F; filteredcurrentConductivityReadings[ sensor ].ovData = 0.0F; filteredcurrentConductivityReadings[ sensor ].ovInitData = 0.0F; filteredcurrentConductivityReadings[ sensor ].override = OVERRIDE_RESET; filteredConductivityReadings[ sensor ].conductivityReadingsIdx = 0; filteredConductivityReadings[ sensor ].conductivityReadingsTotal = 0.0F; filteredConductivityReadings[ sensor ].conductivityReadingsCount = 0; filteredcurrentTemperatureReadings[ sensor ].data = 0.0F; filteredcurrentTemperatureReadings[ sensor ].ovData = 0.0F; filteredcurrentTemperatureReadings[ sensor ].ovInitData = 0.0F; filteredcurrentTemperatureReadings[ sensor ].override = OVERRIDE_RESET; filteredConductivityTemperatureReadings[ sensor ].conductivityTempReadingsIdx = 0; filteredConductivityTemperatureReadings[ sensor ].conductivityTempReadingsTotal = 0.0F; filteredConductivityTemperatureReadings[ sensor ].conductivityTempReadingsCount = 0; } ddConductivityDataPublishInterval.data = COND_SENSOR_REPORT_PERIOD; ddConductivityDataPublishInterval.ovData = COND_SENSOR_REPORT_PERIOD; ddConductivityDataPublishInterval.ovInitData = 0; ddConductivityDataPublishInterval.override = OVERRIDE_RESET; fpConductivityDataPublishInterval.data = COND_SENSOR_REPORT_PERIOD; fpConductivityDataPublishInterval.ovData = COND_SENSOR_REPORT_PERIOD; fpConductivityDataPublishInterval.ovInitData = 0; fpConductivityDataPublishInterval.override = OVERRIDE_RESET; } /*********************************************************************//** * @brief * The execConductivity function gets conductivity sensors' latest * readings from FPGA and publishes them over CAN. * @details \b Inputs: none * @details \b Outputs: Conductivity sensor latest reading is updated and * published. * @return none *************************************************************************/ void execConductivity( void ) { //read conductivity sensors raw value #ifdef __TEENSY_CONDUCTIVITY_DRIVER__ execConductivityTeensy(); #else readConductivitySensors(); #endif //control conductivity sensor // TODO : need more clarity on why and when to execute following control. #if 0 handleConductivitySensorsReset(); handleConductivitySensorsInitProcedure(); execConductivitySensorWrite(); execConductivitySensorRead(); #endif filterConductivitySensors(); // publish conductivity sensors publishConductivitySensorsData(); } /*********************************************************************//** * @brief * The filterConductivitySensors function gets averages the raw conductivity * and temperature from the conductivity sensor. * @details \b Inputs: conductivity readings from FPGA * @details \b Outputs: filteredConductivityReadings[], filterConductivitySensorTemperatureReadings[] * @return none *************************************************************************/ static void filterConductivitySensors( void ) { //Filter conductivity sensor reading filterConductivitySensorReadings(); //Filter conductivity sensor temperature filterConductivitySensorTemperatureReadings(); } /*********************************************************************//** * @brief * The getFilteredConductivity function gets the filtered current conductivity (in uS/cm) * for a given conductivity sensor. * @details \b Alarm: ALARM_ID_DD_SOFTWARE_FAULT if given sensor is invalid. * @details \b Inputs: filteredcurrentConductivityReadings[] * @details \b Outputs: none * @param sensor ID of conductivity sensor to get filtered conductivity reading for. * @return The filtered current conductivity (in uS/cm) for the given conductivity sensor *************************************************************************/ F32 getFilteredConductivity( CONDUCTIVITY_SENSORS_T sensor ) { F32 result = 0.0F; if ( sensor < NUM_OF_CONDUCTIVITY_SENSORS ) { result = filteredcurrentConductivityReadings[ sensor ].data; if ( OVERRIDE_KEY == filteredcurrentConductivityReadings[ sensor ].override ) { result = filteredcurrentConductivityReadings[ sensor ].ovData; } } else { SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_INVALID_FILTERED_CONDUCTIVITY_SENSOR_ID, (U32)sensor ) } return result; } /*********************************************************************//** * @brief * The filterConductivitySensorReadings function filters the conductivity rates for * defined interval to get average conductivity rates. * @details \b Inputs: filteredConductivityReadings[] * @details \b Outputs: filteredConductivityReadings[], filteredcurrentConductivityReadings[] * @return none *************************************************************************/ static void filterConductivitySensorReadings( void ) { CONDUCTIVITY_SENSORS_T sensor; for ( sensor = FIRST_DD_COND_SENSOR; sensor < NUM_OF_CONDUCTIVITY_SENSORS; sensor++ ) { #ifdef __TEENSY_CONDUCTIVITY_DRIVER__ F32 rawCond = getTeensyConductivityValue( sensor ); #else F32 rawCond = getConductivityValue( sensor ); #endif // TODO - calibrate if ( filteredConductivityReadings[ sensor ].conductivityReadingsCount >= SIZE_OF_FLOW_ROLLING_AVG ) { filteredConductivityReadings[ sensor ].conductivityReadingsTotal -= filteredConductivityReadings[ sensor ].conductivityReadings[ filteredConductivityReadings[ sensor ].conductivityReadingsIdx ]; } filteredConductivityReadings[ sensor ].conductivityReadings[ filteredConductivityReadings[ sensor ].conductivityReadingsIdx ] = rawCond; filteredConductivityReadings[ sensor ].conductivityReadingsTotal += rawCond; filteredConductivityReadings[ sensor ].conductivityReadingsIdx = INC_WRAP( filteredConductivityReadings[ sensor ].conductivityReadingsIdx, 0, SIZE_OF_FLOW_ROLLING_AVG - 1 ); filteredConductivityReadings[ sensor ].conductivityReadingsCount = INC_CAP( filteredConductivityReadings[ sensor ].conductivityReadingsCount, SIZE_OF_FLOW_ROLLING_AVG ); filteredcurrentConductivityReadings[ sensor ].data = filteredConductivityReadings[ sensor ].conductivityReadingsTotal / (F32)filteredConductivityReadings[ sensor ].conductivityReadingsCount; } } /*********************************************************************//** * @brief * The getFilteredConductivitySensorTemperature function gets the filtered * temperature (in C) for a given conductivity sensor. * @details \b Alarm: ALARM_ID_DD_SOFTWARE_FAULT if given sensor is invalid. * @details \b Inputs: filteredConductivityTemperatureReadings[] * @details \b Outputs: none * @param sensor ID of conductivity sensor to get filtered conductivity reading for. * @return The filtered current temperature (in C) for the given conductivity sensor *************************************************************************/ F32 getFilteredConductivitySensorTemperature( CONDUCTIVITY_SENSORS_T sensor ) { F32 result = 0.0F; if ( sensor < NUM_OF_CONDUCTIVITY_SENSORS ) { result = filteredcurrentTemperatureReadings[ sensor ].data; if ( OVERRIDE_KEY == filteredcurrentTemperatureReadings[ sensor ].override ) { result = filteredcurrentTemperatureReadings[ sensor ].ovData; } } else { SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_INVALID_FILTERED_CONDUCTIVITY_SENSOR_ID, (U32)sensor ) } return result; } /*********************************************************************//** * @brief * The filterConductivitySensorTemperatureReadings function filters the temperature * rates for defined interval to get average conductivity rates. * @details \b Inputs: filteredConductivityTemperatureReadings[] * @details \b Outputs: filteredConductivityTemperatureReadings[], filteredcurrentTemperatureReadings[] * @return none *************************************************************************/ static void filterConductivitySensorTemperatureReadings( void ) { CONDUCTIVITY_SENSORS_T sensor; for ( sensor = FIRST_DD_COND_SENSOR; sensor < NUM_OF_CONDUCTIVITY_SENSORS; sensor++ ) { #ifdef __TEENSY_CONDUCTIVITY_DRIVER__ F32 rawTemp = getTeensyConductivityTemperatureValue( sensor ); #else F32 rawTemp = getConductivityTemperatureValue( sensor ); #endif // TODO - calibrate if ( filteredConductivityTemperatureReadings[sensor].conductivityTempReadingsCount >= SIZE_OF_FLOW_ROLLING_AVG ) { filteredConductivityTemperatureReadings[sensor].conductivityTempReadingsTotal -= filteredConductivityTemperatureReadings[sensor].conductivityTempReadings[ filteredConductivityTemperatureReadings[sensor].conductivityTempReadingsIdx ]; } filteredConductivityTemperatureReadings[sensor].conductivityTempReadings[ filteredConductivityTemperatureReadings[sensor].conductivityTempReadingsIdx ] = rawTemp; filteredConductivityTemperatureReadings[sensor].conductivityTempReadingsTotal += rawTemp; filteredConductivityTemperatureReadings[sensor].conductivityTempReadingsIdx = INC_WRAP( filteredConductivityTemperatureReadings[sensor].conductivityTempReadingsIdx, 0, SIZE_OF_FLOW_ROLLING_AVG - 1 ); filteredConductivityTemperatureReadings[sensor].conductivityTempReadingsCount = INC_CAP( filteredConductivityTemperatureReadings[sensor].conductivityTempReadingsCount, SIZE_OF_FLOW_ROLLING_AVG ); filteredcurrentTemperatureReadings[sensor].data = filteredConductivityTemperatureReadings[sensor].conductivityTempReadingsTotal / (F32)filteredConductivityTemperatureReadings[sensor].conductivityTempReadingsCount; } } /*********************************************************************//** * @brief * The publishConductivitySensorsData function publishes DD conductivity data * at a set interval. * @details \b Inputs: conductivityPublishTimerCounter * @details \b Outputs: conductivityPublishTimerCounter * @details \b Message \b Sent: MSG_ID_DD_CONDUCTIVITY_DATA to publish DD conductivity data. * @details \b Message \b Sent: MSG_ID_FP_CONDUCTIVITY_DATA to publish FP conductivity data. * @return none *************************************************************************/ static void publishConductivitySensorsData( void ) { // publish DD conductivity data on interval if ( ++ddConductivityPublishTimerCounter >= getU32OverrideValue( &ddConductivityDataPublishInterval ) ) { DD_CONDUCTIVITY_DATA_T data; data.d17Cond = getFilteredConductivity( D17_COND ); data.d27Cond = getFilteredConductivity( D27_COND ); data.d29Cond = getFilteredConductivity( D29_COND ); data.d43Cond = getFilteredConductivity( D43_COND ); data.d74Cond = getFilteredConductivity( D74_COND ); ddConductivityPublishTimerCounter = 0; broadcastData( MSG_ID_DD_CONDUCTIVITY_DATA, COMM_BUFFER_OUT_CAN_DD_BROADCAST, (U08*)&data, sizeof( DD_CONDUCTIVITY_DATA_T ) ); } // publish FP Conductivity data on interval if ( ++fpConductivityPublishTimerCounter >= getU32OverrideValue( &fpConductivityDataPublishInterval ) ) { FP_CONDUCTIVITY_DATA_T data; data.p9Conductivity = getFilteredConductivity( P9_COND ); data.p18Conductivity = getFilteredConductivity( P18_COND ); fpConductivityPublishTimerCounter = 0; broadcastData( MSG_ID_FP_CONDUCTIVITY_DATA, COMM_BUFFER_OUT_CAN_FP_BROADCAST, (U08*)&data, sizeof( FP_CONDUCTIVITY_DATA_T ) ); } } /************************************************************************* * TEST SUPPORT FUNCTIONS *************************************************************************/ /*********************************************************************//** * @brief * The testConductivitySensorDataPublishIntervalOverride function overrides the * conductivity sensor data publish interval. * @details \b Inputs: none * @details \b Outputs: conductivityDataPublishInterval * @param message Override message from Dialin which includes the value * that override valves states publish interval with (in ms) * @return TRUE if override successful, FALSE if not *************************************************************************/ BOOL testDDConductivitySensorDataPublishIntervalOverride( MESSAGE_T *message ) { BOOL result = u32BroadcastIntervalOverride( message, &ddConductivityDataPublishInterval, TASK_PRIORITY_INTERVAL ); return result; } /*********************************************************************//** * @brief * The testDDConductivitySensorFilteredReadingsOverride function overrides the * filtered value of the specified DD conductivity sensor with a given value. * @details \b Inputs: none * @details \b Outputs: filteredcurrentConductivityReadings[] * @param message Override message from Dialin which includes a sensor * ID and override value of the conductivity rate for that sensor. * @return TRUE if override successful, FALSE if not *************************************************************************/ BOOL testDDConductivitySensorFilteredReadingsOverride( MESSAGE_T *message ) { BOOL result = FALSE; TEST_OVERRIDE_ARRAY_PAYLOAD_T payload; OVERRIDE_TYPE_T ovType = getOverrideArrayPayloadFromMessage( message, &payload ); if ( payload.index <= LAST_DD_COND_SENSOR ) { result = f32ArrayOverride( message, &filteredcurrentConductivityReadings[0], NUM_OF_CONDUCTIVITY_SENSORS - 1 );; } return result; } /*********************************************************************//** * @brief * The testDDConductivitySensorFilteredTemperatureReadingsOverride function * overrides the filtered value of the specified DD conductivity sensor * with a given value. * @details \b Inputs: none * @details \b Outputs: filteredcurrentTemperatureReadings[] * @param message Override message from Dialin which includes a sensor * ID and override value of the conductivity rate for that sensor. * @return TRUE if override successful, FALSE if not *************************************************************************/ BOOL testDDConductivitySensorFilteredTemperatureReadingsOverride( MESSAGE_T *message ) { BOOL result = FALSE; TEST_OVERRIDE_ARRAY_PAYLOAD_T payload; OVERRIDE_TYPE_T ovType = getOverrideArrayPayloadFromMessage( message, &payload ); if ( payload.index <= LAST_DD_COND_SENSOR ) { result = f32ArrayOverride( message, &filteredcurrentTemperatureReadings[0], NUM_OF_CONDUCTIVITY_SENSORS - 1 );; } return result; } /*********************************************************************//** * @brief * The testConductivitySensorDataPublishIntervalOverride function overrides the * conductivity sensor data publish interval. * @details \b Inputs: none * @details \b Outputs: conductivityDataPublishInterval * @param message Override message from Dialin which includes the value * that override valves states publish interval with (in ms) * @return TRUE if override successful, FALSE if not *************************************************************************/ BOOL testFPConductivitySensorDataPublishIntervalOverride( MESSAGE_T *message ) { BOOL result = u32BroadcastIntervalOverride( message, &fpConductivityDataPublishInterval, TASK_PRIORITY_INTERVAL ); return result; } /*********************************************************************//** * @brief * The testFPConductivitySensorFilteredReadingsOverride function overrides the * filtered value of the specified FP conductivity sensor with a given value. * @details \b Inputs: none * @details \b Outputs: filteredcurrentConductivityReadings[] * @param message Override message from Dialin which includes a sensor * ID and override value of the conductivity rate for that sensor. * @return TRUE if override successful, FALSE if not *************************************************************************/ BOOL testFPConductivitySensorFilteredReadingsOverride( MESSAGE_T *message ) { BOOL result = FALSE; TEST_OVERRIDE_ARRAY_PAYLOAD_T payload; OVERRIDE_TYPE_T ovType = getOverrideArrayPayloadFromMessage( message, &payload ); if ( ( payload.index >= FIRST_FP_COND_SENSOR ) && ( payload.index <= LAST_FP_COND_SENSOR ) ) { result = f32ArrayOverride( message, &filteredcurrentConductivityReadings[0], NUM_OF_CONDUCTIVITY_SENSORS - 1 );; } return result; } /*********************************************************************//** * @brief * The testFPConductivitySensorFilteredTemperatureReadingsOverride function * overrides the filtered value of the specified FP conductivity sensor * with a given value. * @details \b Inputs: none * @details \b Outputs: filteredcurrentTemperatureReadings[] * @param message Override message from Dialin which includes a sensor * ID and override value of the conductivity rate for that sensor. * @return TRUE if override successful, FALSE if not *************************************************************************/ BOOL testFPConductivitySensorFilteredTemperatureReadingsOverride( MESSAGE_T *message ) { BOOL result = FALSE; TEST_OVERRIDE_ARRAY_PAYLOAD_T payload; OVERRIDE_TYPE_T ovType = getOverrideArrayPayloadFromMessage( message, &payload ); if ( ( payload.index >= FIRST_FP_COND_SENSOR ) && ( payload.index <= LAST_FP_COND_SENSOR ) ) { result = f32ArrayOverride( message, &filteredcurrentTemperatureReadings[0], NUM_OF_CONDUCTIVITY_SENSORS - 1 );; } return result; } /**@}*/