Index: firmware/App/Controllers/ROPump.c =================================================================== diff -u -r2510a84808ee5179d3f84f0b04f24c5a4122dbe5 -r1d235091e158221f1fa8b1579140905a13249a54 --- firmware/App/Controllers/ROPump.c (.../ROPump.c) (revision 2510a84808ee5179d3f84f0b04f24c5a4122dbe5) +++ firmware/App/Controllers/ROPump.c (.../ROPump.c) (revision 1d235091e158221f1fa8b1579140905a13249a54) @@ -75,11 +75,11 @@ /// Enumeration of RO pump states. typedef enum ROPump_States { - RO_PUMP_OFF_STATE = 0, ///< RO pump off state - RO_PUMP_OPEN_LOOP_STATE, ///< RO pump open loop state + RO_PUMP_OFF_STATE = 0, ///< RO pump off state RO_PUMP_RAMP_UP_STATE, ///< RO pump ramp up to target flow rate state RO_PUMP_VERIFY_FLOW_STATE, ///< RO pump maintain the flow rate for a few seconds state - RO_PUMP_CONTROL_TO_TARGET_STATE, ///< RO pump control to target pressure state + RO_PUMP_CONTROL_TO_TARGET_STATE, ///< RO pump control to target pressure state + RO_PUMP_OPEN_LOOP_STATE, ///< RO pump open loop state NUM_OF_RO_PUMP_STATES ///< Number of RO pump states } RO_PUMP_STATE_T; @@ -105,15 +105,12 @@ static BOOL isROPumpOn = FALSE; ///< RO pump is currently running static F32 roPumpPWMDutyCyclePct = 0.0; ///< initial RO pump PWM duty cycle static F32 roPumpPWMDutyCyclePctSet = 0.0; ///< currently set RO pump PWM duty cycle -static PUMP_CONTROL_MODE_T roPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP; ///< requested RO pump control mode. -static PUMP_CONTROL_MODE_T roPumpControlModeSet = PUMP_CONTROL_MODE_CLOSED_LOOP; ///< currently set RO pump control mode. //TODO remove, the control mode set is picked -// implicitly from the function that is called +static PUMP_CONTROL_MODE_T roPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP; ///< requested RO pump control mode. //TODO remove -static OVERRIDE_F32_T targetROPumpFlowRate = { 0, 0, 0, 0 }; //From Branch ///< Target RO flow rate (in LPM_) // TODO dara +static OVERRIDE_F32_T targetROPumpFlowRate = { 0, 0, 0, 0 }; ///< Target RO flow rate (in LPM_) static OVERRIDE_U32_T roPumpDataPublishInterval = { RO_PUMP_DATA_PUB_INTERVAL, RO_PUMP_DATA_PUB_INTERVAL, 0, 0 }; ///< interval (in ms) at which to publish RO flow data to CAN bus. -static OVERRIDE_U32_T targetROPumpPressure = { 0, 0, 0, 0 }; ///< Target RO pressure (in PSI). //TODO remove static OVERRIDE_F32_T measuredROFlowRateLPM = { 0.0, 0.0, 0.0, 0 }; ///< measured RO flow rate (in LPM). static F32 measuredROPumpPressure = 0.0; ///< measured RO pressure (in PSI). // TODO remove static F32 tgtROPumpPressure = 0.0; @@ -122,8 +119,10 @@ static U32 flowFilterCounter = 0; ///< used to schedule flow filtering. static U32 flowVerificationCounter = 0; ///< Counter to verify the flow is in range -static U32 roControlTimerCounter = 0; ///< determines when to perform control on ro pump +static U32 roControlTimerCounter = 0; ///< determines when to perform control on ro pump +static U32 roPumpOpenLooptargetPWM = 0; + /* The variables used for POST. They are not in use yet, so they are commented out static RO_PUMP_SELF_TEST_STATE_T roPumpSelfTestState = RO_PUMP_SELF_TEST_STATE_START; ///< current ro pump self test state static U32 roPumpSelfTestTimerCount = 0; ///< timer counter for ro pump self test @@ -133,14 +132,15 @@ static RO_PUMP_STATE_T handleROPumpOffState( void ); static RO_PUMP_STATE_T handleROPumpRampUpState( void ); static RO_PUMP_STATE_T handleROPumpVerifyFlowState( void ); -static RO_PUMP_STATE_T handleROPumpControlToTargetState( void ); +static RO_PUMP_STATE_T handleROPumpControlToTargetState( void ); +static RO_PUMP_STATE_T handleROPumpOpenLoopState( void ); static void setROPumpControlSignalPWM( F32 newPWM ); static void stopROPump( void ); static void publishROPumpData( void ); static DATA_GET_PROTOTYPE( U32, getPublishROPumpDataInterval ); /*********************************************************************//** - * @brief initROPump + * @brief * The initROPump function initializes the ROPump module. * @details * Inputs : none @@ -160,45 +160,40 @@ initializePIController( I_CONTROLLER_ID_RO_PUMP_RAMP_UP, MIN_RO_PUMP_PWM_DUTY_CYCLE, ROP_RAMP_UP_P_COEFFICIENT, ROP_RAMP_UP_I_COEFFICIENT, MIN_RO_PUMP_PWM_DUTY_CYCLE, MAX_RO_PUMP_PWM_DUTY_CYCLE ); +} + +/*********************************************************************//** + * @brief + * The setROPumpTargetPWM function sets the PWM that the pump should run + * @details + * Inputs : roPumpOpenLooptargetPWM, roPumpControlMode + * Outputs : roPumpOpenLooptargetPWM, roPumpControlMode + * @param: pwm + * @return whether the value was set (TRUE) or not (FALSE) + *************************************************************************/ +BOOL setROPumpTargetPWM( U32 pwm ) +{ + BOOL result = FALSE; + + if ( pwm > 0 ) + { + roPumpOpenLooptargetPWM = pwm; + roPumpControlMode = PUMP_CONTROL_MODE_OPEN_LOOP; + result = TRUE; + } + return result; } /*********************************************************************//** * @brief - * The setROPumpTargetPressure function sets a new target pressure for the \n + * The setROPumpTargetFlowRate function sets a new target flow rate for the \n * RO pump. * @details * Inputs : none - * Outputs : targetROPumpPressure, roPumpPWMDutyCyclePct - * @param roPressure : new target RO pressure - * @param mode : new control mode - * @return TRUE if new target pressure is set, FALSE if not + * Outputs : targetROPumpFlowRate, roPumpPWMDutyCyclePct + * @param roFlowRate : new target RO flow rate + * @return TRUE if new target flow rate is set, FALSE if not *************************************************************************/ -BOOL setROPumpTargetPressure( U32 roPressure, PUMP_CONTROL_MODE_T mode ) -{ - BOOL result = FALSE; - - // verify pressure - if ( roPressure >= MIN_RO_PRESSURE && roPressure <= MAX_RO_PRESSURE ) - { - targetROPumpPressure.data = roPressure; - roPumpControlMode = mode; - // set PWM duty cycle target to an estimated initial target based on target pressure - then we'll control to pressure going forward -#ifdef EMC_TEST_BUILD - roPumpPWMDutyCyclePct = 1.0; -#else - //roPumpPWMDutyCyclePct = ROP_PSI_TO_PWM_DC( roPressure ); -#endif - - result = TRUE; - } - else // requested pressure out of range - { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, 0, roPressure ) // TODO - replace 1st param with s/w fault enum - } - - return result; -} - BOOL setROPumpTargetFlowRate( F32 roFlowRate ) { BOOL result = FALSE; @@ -207,7 +202,12 @@ { targetROPumpFlowRate.data = roFlowRate; roPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP; - roPumpPWMDutyCyclePct = roFlowRate; + roPumpPWMDutyCyclePct = roFlowRate; +#ifdef EMC_TEST_BUILD + roPumpPWMDutyCyclePct = 1.0; +#else + roPumpPWMDutyCyclePct = ROP_FLOW_TO_PWM_DC( roFlowRate ); +#endif } else // requested pressure out of range { @@ -293,9 +293,6 @@ { case RO_PUMP_OFF_STATE: roPumpState = handleROPumpOffState(); - break; - - case RO_PUMP_OPEN_LOOP_STATE: break; case RO_PUMP_RAMP_UP_STATE: @@ -308,15 +305,17 @@ case RO_PUMP_CONTROL_TO_TARGET_STATE: roPumpState = handleROPumpControlToTargetState(); + break; + + case RO_PUMP_OPEN_LOOP_STATE: + roPumpState = handleROPumpOpenLoopState(); break; default: SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, 0, roPumpState ) // TODO - replace 1st param with s/w fault enum roPumpState = RO_PUMP_OFF_STATE; break; } - - //publishROPumpData(); } /*********************************************************************//** @@ -337,8 +336,8 @@ * @brief * The handleROPumpOffState function handles the ro pump off state \n * of the ro pump controller state machine. - * @details - * Inputs : targetROPumpPressure + * @details + * Inputs : roPumpPWMDutyCyclePctSet, isROPumpOn * Outputs : roPumpPWMDutyCyclePctSet, isROPumpOn * @return next state *************************************************************************/ @@ -372,37 +371,39 @@ // If there is a flow, transition to P controller to get // the corresponding pressure of that flow - if ( getTargetROPumpFlowRate() > 0 ) + if ( getTargetROPumpFlowRate() > 0 && + roPumpControlMode == PUMP_CONTROL_MODE_CLOSED_LOOP ) { - //roPumpControlModeSet = roPumpControlMode; TODO remove this since the mode type is implicitly is picked from the function // set initial PWM duty cycle - roPumpPWMDutyCyclePctSet = ROP_FLOW_TO_PWM_DC( getTargetROPumpFlowRate() ); // Assume a liter/permin for top end + roPumpPWMDutyCyclePctSet = ROP_FLOW_TO_PWM_DC( getTargetROPumpFlowRate() ); setROPumpControlSignalPWM ( roPumpPWMDutyCyclePctSet ); // reset controller resetPIController ( I_CONTROLLER_ID_RO_PUMP_RAMP_UP, roPumpPWMDutyCyclePctSet ); // set pump to on isROPumpOn = TRUE; result = RO_PUMP_RAMP_UP_STATE; + } + + if ( roPumpOpenLooptargetPWM > 0 && + roPumpControlMode == PUMP_CONTROL_MODE_OPEN_LOOP ) + { + setROPumpControlSignalPWM ( roPumpOpenLooptargetPWM ); + isROPumpOn = TRUE; + result = RO_PUMP_OPEN_LOOP_STATE; } - // TODO remove - // if we've been given a pressure, transition to control to target state - /*if ( getTargetROPumpPressure() > 0 ) - { - roPumpControlModeSet = roPumpControlMode; - // set initial PWM duty cycle - roPumpPWMDutyCyclePctSet = roPumpPWMDutyCyclePct; - setROPumpControlSignalPWM( roPumpPWMDutyCyclePctSet ); - // reset controller - resetPIController( PI_CONTROLLER_ID_RO_PUMP, roPumpPWMDutyCyclePctSet ); - // set pump to on - isROPumpOn = TRUE; - result = RO_PUMP_CONTROL_TO_TARGET_STATE; - }*/ - return result; } - + +/*********************************************************************//** + * @brief + * The handleROPumpRampUpState function handles the ro pump ramp up state \n + * of the ro pump controller state machine. + * @details + * Inputs : roControlTimerCounter, roPumpPWMDutyCyclePctSet + * Outputs : roControlTimerCounter, roPumpPWMDutyCyclePctSet + * @return next state + *************************************************************************/ static RO_PUMP_STATE_T handleROPumpRampUpState( void ) { RO_PUMP_STATE_T result = RO_PUMP_RAMP_UP_STATE; @@ -434,6 +435,17 @@ return result; } +/*********************************************************************//** + * @brief + * The handleROPumpVerifyFlowState function handles the ro pump verify \n + * flow state of the ro pump controller state machine. + * @details + * Inputs : flowVerificationCounter, roPumpPWMDutyCyclePctSet, \n + * tgtROPumpPressure + * Outputs : flowVerificationCounter, roPumpPWMDutyCyclePctSet, \n + * tgtROPumpPressure + * @return next state + *************************************************************************/ static RO_PUMP_STATE_T handleROPumpVerifyFlowState( void ) { RO_PUMP_STATE_T result = RO_PUMP_VERIFY_FLOW_STATE; @@ -453,7 +465,6 @@ resetPIController( I_CONTROLLER_ID_RO_PUMP_RAMP_UP, MIN_RO_PUMP_PWM_DUTY_CYCLE ); tgtROPumpPressure = getMeasuredDGPressure( PRESSURE_SENSOR_RO_PUMP_OUTLET ); - roPumpControlModeSet = roPumpControlMode; // set initial PWM duty cycle roPumpPWMDutyCyclePctSet = roPumpPWMDutyCyclePct; setROPumpControlSignalPWM( roPumpPWMDutyCyclePctSet ); @@ -477,8 +488,8 @@ * The handleROPumpControlToTargetState function handles the "control to \n * target" state of the ro pump controller state machine. * @details - * Inputs : none - * Outputs : roPumpState + * Inputs : roPumpPWMDutyCyclePctSet, roControlTimerCounter + * Outputs : roPumpPWMDutyCyclePctSet, roControlTimerCounter * @return next state *************************************************************************/ static RO_PUMP_STATE_T handleROPumpControlToTargetState( void ) @@ -520,6 +531,20 @@ #endif return result; +} + +/*********************************************************************//** + * @brief + * The handleROPumpOpenLoopState function handles the open loop state \n + * of the RO pump controller + * @details + * Inputs : roPumpPWMDutyCyclePctSet, roControlTimerCounter + * Outputs : roPumpPWMDutyCyclePctSet, roControlTimerCounter + * @return next state + *************************************************************************/ +static RO_PUMP_STATE_T handleROPumpOpenLoopState( void ) +{ + return RO_PUMP_OPEN_LOOP_STATE; } /*********************************************************************//** @@ -575,14 +600,13 @@ /*********************************************************************//** * @brief - * The getTargetROPumpPressure function gets the current target RO pump \n - * pressure. + * The getTargetROPumpFlowRate function gets the current target RO pump \n + * flow rate * @details - * Inputs : targetROPumpPressure - * Outputs : none - * @return the current target RO pressure (in PSI). + * Inputs : targetROPumpFlowRate + * Outputs : targetROPumpFlowRate + * @return the current target RO flow rate (in LPM). *************************************************************************/ -//U32 getTargetROPumpPressure( void ) F32 getTargetROPumpFlowRate( void ) { F32 result = targetROPumpFlowRate.data; @@ -714,29 +738,14 @@ /*********************************************************************//** * @brief - * The testSetTargetROPumpPressureOverride function overrides the target \n - * RO pressure. \n + * The testSetTargetROPumpFlowRateOverride function overrides the target \n + * RO flow rate. \n * @details - * Inputs : none + * Inputs : targetROPumpFlowRate * Outputs : targetROPumpPressure - * @param value : override target RO pressure (in PSI) + * @param value : override target RO flow rate (in LPM) * @return TRUE if override successful, FALSE if not *************************************************************************/ -BOOL testSetTargetROPumpPressureOverride( U32 value ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - targetROPumpPressure.ovInitData = targetROPumpPressure.data; // backup current target pressure - targetROPumpPressure.ovData = value; - targetROPumpPressure.override = OVERRIDE_KEY; - result = setROPumpTargetPressure( value, roPumpControlMode ); - } - - return result; -} - BOOL testSetTargetROPumpFlowRateOverride( F32 value ) { BOOL result = FALSE; @@ -751,7 +760,17 @@ return result; } - + +/*********************************************************************//** + * @brief + * The testResetTargetROPumpFlowRateOverride function resets the override of the \n + * target RO flow rate. + * @details + * Inputs : targetROPumpFlowRate + * Outputs : targetROPumpFlowRate + * @param none + * @return TRUE if override reset successful, FALSE if not + *************************************************************************/ BOOL testResetTargetROPumpFlowRateOverride( void ) { BOOL result = FALSE; @@ -770,32 +789,6 @@ /*********************************************************************//** * @brief - * The testResetTargetROPumpPressureOverride function resets the override of the \n - * target RO pressure. - * @details - * Inputs : none - * Outputs : targetROPumpPressure - * @param none - * @return TRUE if override reset successful, FALSE if not - *************************************************************************/ -BOOL testResetTargetROPumpPressureOverride( void ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - targetROPumpPressure.data = targetROPumpPressure.ovInitData; // restore pre-override target pressure - targetROPumpPressure.override = OVERRIDE_RESET; - targetROPumpPressure.ovInitData = 0; - targetROPumpPressure.ovData = 0; - result = setROPumpTargetPressure( targetROPumpPressure.data, roPumpControlMode ); - } - - return result; -} - -/*********************************************************************//** - * @brief * The testSetMeasuredROFlowRateOverride function overrides the measured \n * RO flow rate. * @details