Index: firmware/App/Controllers/Valves.c =================================================================== diff -u -r9910fec894ece6f3a4845e15c3ca56f56e4e4111 -r771a741a1698770e6997c6657bd520fb557d0f2d --- firmware/App/Controllers/Valves.c (.../Valves.c) (revision 9910fec894ece6f3a4845e15c3ca56f56e4e4111) +++ firmware/App/Controllers/Valves.c (.../Valves.c) (revision 771a741a1698770e6997c6657bd520fb557d0f2d) @@ -1,17 +1,17 @@ /************************************************************************** * -* Copyright (c) 2024-2024 Diality Inc. - All Rights Reserved. +* Copyright (c) 2024-2026 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 ValvesDD.c +* @file Valves.c * -* @author (last) Vinayakam Mani -* @date (last) 14-Aug-2024 +* @author (last) Michael Garthwaite +* @date (last) 12-Dec-2025 * * @author (original) Vinayakam Mani -* @date (original) 14-Aug-2024 +* @date (original) 26-Aug-2024 * ***************************************************************************/ @@ -35,6 +35,10 @@ #define ENERGIZED 1 ///< 1 for energized valve. #define ALL_VALVES_DEENERGIZED 0x0000 ///< 0 in U16 bit field for all valves. +#define VALVE_PWM_PERIOD 50 ///< Valve PWM Period in 0.1 us res ( 20kHz ) +#define VALVE_PWM_LOW ( VALVE_PWM_PERIOD * 0.2 ) ///< Valve low PWM percentage +#define VALVE_PWM_PULL_IN 100 ///< Valve 'strike' period at 100% PWM in ms + #define MAX_VALVE_STATE_MISMATCH_TIMER_COUNT (100 / TASK_PRIORITY_INTERVAL ) ///< Maximum time commanded valves state can fail to match read back valve states in a row. #define VALVES_STATE_PUB_INTERVAL ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) ///< Interval ( ms / task time) at which valves states are published on CAN bus. #define DATA_PUBLISH_COUNTER_START_COUNT 50 ///< Data publish counter start count. @@ -53,7 +57,8 @@ static U16 commandedValvesStates; ///< Initialize commanded valves states bit field. static U08 commandedBCValveStates; ///< Initialize balancing chamber commanded valves states bit field. static U08 commandedSpareValveStates; ///< Initialize commanded spare valves states bit field. -static U16 commandedIOFPValveStates; ///< Initialize commanded IOFP valves states bit field. +static U08 commandedIOValveStates; ///< Initialize commanded IO valves states bit field. +static U08 commandedFPValveStates; ///< Initialize commanded FP valves states bit field. static U32 valveStateMismatchTimerCounter; ///< Initialize valve state mismatch timer. static U32 pendingValveStateChanges[ DD_NUM_OF_VALVES ]; ///< Delayed (pending) valve state changes. static U32 pendingValveStateChangeCountDowns[ DD_NUM_OF_VALVES ]; ///< Delayed (pending) valve state change count down timers (in task intervals). @@ -70,6 +75,7 @@ static BOOL checkValveStateName( DD_VALVES_T valveID, VALVE_STATE_NAMES_T valveStateName ); static U32 convertValveStateNameToValveState( VALVE_STATE_NAMES_T valveStateName ); static U32 getValveState( U32 valveID ); +static void setFPGAPWMConfigurations( void ); /*********************************************************************//** * @brief @@ -111,20 +117,82 @@ commandedValvesStates = ALL_VALVES_DEENERGIZED; commandedBCValveStates = ALL_VALVES_DEENERGIZED; commandedSpareValveStates = ALL_VALVES_DEENERGIZED; - commandedIOFPValveStates = ALL_VALVES_DEENERGIZED; + commandedIOValveStates = ALL_VALVES_DEENERGIZED; + commandedFPValveStates = ALL_VALVES_DEENERGIZED; valveStateMismatchTimerCounter = 0; valvesStatesPublicationTimerCounter = DATA_PUBLISH_COUNTER_START_COUNT; // reset valves states publication timer fpValveStatesPublicationTimerCounter = DATA_PUBLISH_COUNTER_START_COUNT; // reset valves states publication timer readCommandedValveStates(); + + // initially set valve PWM configuration and enable + // setFPGAPWMConfigurations(); + // initially set all valves to de-energized state via FPGA setFPGADDValveStates( commandedValvesStates ); setFPGABCValveStates( commandedBCValveStates ); setFPGASpareValveStates( commandedSpareValveStates ); - setFPGAIOFPValveStates( commandedIOFPValveStates ); + setFPGAFPValveStates( commandedFPValveStates ); + setFPGAIOValveStates( commandedIOValveStates ); } /*********************************************************************//** * @brief + * The setFPGAPWMConfigurations function sets the FPGA for Valve PWM control. + * @details \b Inputs: none + * @details \b Outputs: Valves PWM timing set and enabled. + * @return none + *************************************************************************/ +static void setFPGAPWMConfigurations( void ) +{ + // Balancing Chamber valves are not PWM configured. + U32 i; + U16 valveDDBits = 0; + U08 valveSPBits = 0; + U08 valveIOBits = 0; + U08 valveFPBits = 0; + + // set timing values + setFPGAValveDDPWMPullIn( VALVE_PWM_PULL_IN ); + setFPGAValveDDPWMLow( VALVE_PWM_LOW ); + setFPGAValveDDPWMPeriod( VALVE_PWM_PERIOD ); + + setFPGAValveSPPWMPullIn( VALVE_PWM_PULL_IN ); + setFPGAValveSPPWMLow( VALVE_PWM_LOW ); + setFPGAValveSPPWMPeriod( VALVE_PWM_PERIOD ); + + setFPGAValveIOFPPWMPullIn( VALVE_PWM_PULL_IN ); + setFPGAValveIOFPPWMLow( VALVE_PWM_LOW ); + setFPGAValveIOFPPWMPeriod( VALVE_PWM_PERIOD ); + + for ( i = FIRST_HYD_VALVE; i <= LAST_HYD_VALVE; i++ ) + { + valveDDBits |= 0x01 << i; + } + + for ( i = FIRST_SP_VALVE; i <= LAST_SP_VALVE; i++ ) + { + valveSPBits |= 0x01 << ( i - FIRST_SP_VALVE ); + } + + for ( i = FIRST_IO_VALVE; i <= LAST_IO_VALVE; i++ ) + { + valveIOBits |= 0x01 << ( i - FIRST_IO_VALVE ); + } + + for ( i = FIRST_FP_VALVE; i <= LAST_FP_VALVE; i++ ) + { + valveFPBits |= 0x01 << ( i - FIRST_FP_VALVE ); + } + + // set enable + setFPGAValveDDPWMEnable( valveDDBits ); + setFPGAValveSPPWMEnable( valveSPBits ); + setFPGAValveIOPWMEnable( valveIOBits ); + setFPGAValveFPPWMEnable( valveFPBits ); +} + +/*********************************************************************//** + * @brief * The execValves function executes the valves driver. * @details \b Inputs: valvesStates, valveStateMismatchCounter * pendingValveStateChangeCountDowns, commandedValvesStates, @@ -138,16 +206,18 @@ void execValves( void ) { U32 i; - U16 readValvesStates = getFPGADDValveStates(); - U08 readValveBCStates = getFPGAValveBCStates(); - U08 readValveSpStates = getFPGAValveSpStates(); - U16 readValveIOFPStates = getFPGAIOFPValveStates(); + U16 readValvesStates = getFPGADDValveStates(); + U08 readValveBCStates = getFPGAValveBCStates(); + U08 readValveSpStates = getFPGAValveSpStates(); + U08 readValveIOStates = getFPGAIOValveStates(); + U08 readValveFPStates = getFPGAFPValveStates(); // Verify read back FPGA valve states match last commanded valve states if ( ( readValvesStates != commandedValvesStates ) || ( readValveBCStates != commandedBCValveStates ) || ( readValveSpStates != commandedSpareValveStates ) || - ( readValveIOFPStates != commandedIOFPValveStates ) ) + ( readValveIOStates != commandedIOValveStates ) || + ( readValveFPStates != commandedFPValveStates )) { valveStateMismatchTimerCounter++; // increment valve state mismatch counter by 1 if ( valveStateMismatchTimerCounter > MAX_VALVE_STATE_MISMATCH_TIMER_COUNT ) @@ -179,7 +249,8 @@ setFPGADDValveStates( commandedValvesStates ); setFPGABCValveStates( commandedBCValveStates ); setFPGASpareValveStates( commandedSpareValveStates ); - setFPGAIOFPValveStates( commandedIOFPValveStates ); + setFPGAFPValveStates( commandedFPValveStates ); + setFPGAIOValveStates( commandedIOValveStates ); // Publish valve states on interval publishValvesStates(); @@ -202,7 +273,8 @@ commandedValvesStates = ALL_VALVES_DEENERGIZED; commandedBCValveStates = ALL_VALVES_DEENERGIZED; commandedSpareValveStates = ALL_VALVES_DEENERGIZED; - commandedIOFPValveStates = ALL_VALVES_DEENERGIZED; + commandedIOValveStates = ALL_VALVES_DEENERGIZED; + commandedFPValveStates = ALL_VALVES_DEENERGIZED; // flag hydraulics valves that are currently commanded to be energized for ( i = FIRST_HYD_VALVE; i <= LAST_HYD_VALVE; i++ ) @@ -222,11 +294,16 @@ commandedSpareValveStates |= ( getValveState( i ) == ENERGIZED ? 0x01 << ( i - FIRST_SP_VALVE ) : 0 ); } - // flag IOFP valves that are currently commanded to be energized - for ( i = FIRST_IO_VALVE; i <= LAST_FP_VALVE; i++ ) + // flag IO valves that are currently commanded to be energized + for ( i = FIRST_IO_VALVE; i <= LAST_IO_VALVE; i++ ) { - commandedIOFPValveStates |= ( getValveState( i ) == ENERGIZED ? 0x01 << ( i - FIRST_IO_VALVE ) : 0 ); + commandedIOValveStates |= ( getValveState( i ) == ENERGIZED ? 0x01 << ( i - FIRST_IO_VALVE ) : 0 ); } + // flag FP valves that are currently commanded to be energized + for ( i = FIRST_FP_VALVE; i <= LAST_FP_VALVE; i++ ) + { + commandedFPValveStates |= ( getValveState( i ) == ENERGIZED ? 0x01 << ( i - FIRST_FP_VALVE ) : 0 ); + } } /*********************************************************************//** @@ -253,7 +330,8 @@ ( D40_VALV == valveID ) || ( D47_VALV == valveID ) || ( D3_VALV == valveID ) || ( M4_VALV == valveID ) || ( D23_VALV == valveID ) || ( D19_VALV == valveID ) || ( D25_VALV == valveID ) || ( D21_VALV == valveID ) || ( D24_VALV == valveID ) || ( D20_VALV == valveID ) || ( D26_VALV == valveID ) || ( D22_VALV == valveID ) || ( D80_VALV == valveID ) || ( D81_VALV == valveID ) || ( D79_PMP_VALV == valveID ) || - ( P11_VALV == valveID ) || ( P33_VALV == valveID ) || ( P34_VALV == valveID ) || ( P37_VALV == valveID ) || ( P6_VALV == valveID ) ) + ( P11_VALV == valveID ) || ( P33_VALV == valveID ) || ( P34_VALV == valveID ) || ( P37_VALV == valveID ) || ( P6_VALV == valveID ) || + ( M12_VALV == valveID ) || ( P39_VALV == valveID ) ) { result = TRUE; } @@ -479,7 +557,8 @@ FP_VALVES_DATA_T data; U32 i; - data.valvesCmdState = commandedIOFPValveStates; + data.valvesIOState = commandedIOValveStates; + data.valvesFPState = commandedFPValveStates; for ( i = FIRST_IO_VALVE; i <= LAST_FP_VALVE; i++ ) { data.valvesSensedState[ i - FIRST_IO_VALVE ] = (U08)getValveStateName( (DD_VALVES_T)i );