Index: PIControllers.c =================================================================== diff -u -rcaf43526e79b7e324f32524d5dc1eee0b40805ab -r742ee2add33924e4b6750bc88622f09e0791feb4 --- PIControllers.c (.../PIControllers.c) (revision caf43526e79b7e324f32524d5dc1eee0b40805ab) +++ PIControllers.c (.../PIControllers.c) (revision 742ee2add33924e4b6750bc88622f09e0791feb4) @@ -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 PIControllers.c * -* @author (last) Vinayakam Mani -* @date (last) 02-Oct-2024 +* @author (last) “rkallala” +* @date (last) 09-Dec-2025 * * @author (original) Vinayakam Mani -* @date (original) 02-Oct-2024 +* @date (original) 07-Oct-2024 * ***************************************************************************/ @@ -68,17 +68,18 @@ { 0.0, 0.0, 0.90, 0.10, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 100.0, CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_BLOOD_FLOW #endif #ifdef _DD_ - { 0.0, 0.0, 2650, 350, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.0, CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_D12_PUMP - { 0.0, 0.0, 2650, 350, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.0, CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_D48_PUMP - { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 15.0, CONTROLLER_BIDIRECTIONAL, TRUE, 0.0 }, // PI_CONTROLLER_ID_D5_HEAT - { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0, CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_D45_HEAT + { 0.0, 0.0, 2650, 350, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.0, CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_D12_PUMP + { 0.0, 0.0, 2650, 350, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.0, CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_D48_PUMP + { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 15.0, CONTROLLER_BIDIRECTIONAL, TRUE, 0.0 }, // PI_CONTROLLER_ID_D5_HEAT + { 0.0, 0.0, 55.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 100.0, CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_D5_HEAT_OUTER_LOOP + { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0, CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_D45_HEAT + { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 50.0, CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_RO_PUMP + { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_RO_PUMP_MAX_PRES + { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_BOOST_PUMP_FLOW + { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_BOOST_PUMP_PRES + { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 75, CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_BICARB_VOL + { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 300, CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_ACID_VOL #endif -#ifdef _RO_ - { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 50.0, CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_RO_PUMP - { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_RO_PUMP_MAX_PRES - { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_BOOST_PUMP_FLOW - { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 }, // PI_CONTROLLER_ID_BOOST_PUMP_PRES -#endif }; /*********************************************************************//** @@ -128,9 +129,6 @@ #ifdef _DD_ SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) #endif -#ifdef _RO_ - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) -#endif } } @@ -167,9 +165,6 @@ #ifdef _DD_ SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) #endif -#ifdef _RO_ - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) -#endif } } @@ -267,9 +262,6 @@ #ifdef _DD_ SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) #endif -#ifdef _RO_ - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) -#endif } return result; @@ -339,9 +331,6 @@ #ifdef _DD_ SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID ) #endif -#ifdef _RO_ - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID ) -#endif break; } // End of switch } @@ -350,26 +339,64 @@ #ifdef _DD_ SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) #endif -#ifdef _RO_ - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) -#endif } return output; } + /*********************************************************************//** * @brief * The getPIControllerSignals function returns the latest requested signal sample. * @details \b Inputs: none - * @details \b Outputs: maxErrorSumStep of controller ID + * @details \b Outputs: none * @details \b Alarms: ALARM_ID_XX_SOFTWARE_FAULT when invalid PI controller * Id is passed. * @details \b Alarms: ALARM_ID_XX_SOFTWARE_FAULT when invalid PI controller - * stemp limit is passed. + * signal is passed. * @param controllerID ID filter number - * @param stepLimit maximum step limit + * @param signalID signal sample ID request * @return latest sample requested *************************************************************************/ +PI_CONTROLLER_SIGNALS_DATA getDebugPIControllerSignals( PI_CONTROLLER_ID_T controllerID ) +{ + PI_CONTROLLER_T *controller; + PI_CONTROLLER_SIGNALS_DATA signals; + + if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS ) + { + SET_CONTROLLER( controller, controllerID ); + + signals.controlSignalReference = controller->referenceSignal; + signals.controlSignalMeasured = controller->measuredSignal; + signals.controlSignalError = controller->errorSignal; + signals.controlSignalErrorSum = controller->errorSumBeforeWindUp; + signals.controlSignalErrorSumAfterWindup = controller->errorSum; + signals.controlSignalProportionalOutput = controller->Kp * controller->errorSignal; + signals.controlSignalIntegralOutput = controller->Ki * controller->errorSum; + signals.controlSignalFeedDorwardOutput = controller->feedForward; + signals.controlSingalControl = controller->controlSignal; + } + else + { // Invalid controller given +#ifdef _DD_ + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) +#endif + } + + return signals; +} + +/*********************************************************************//** + * @brief + * The setPIControllerStepLimit function sets the step limit value. + * @details \b Inputs: none + * @details \b Outputs: maxErrorSumStep of controller ID + * @details \b Alarms: ALARM_ID_XX_SOFTWARE_FAULT when invalid PI controller + * Id is passed. + * @param controllerID ID filter number + * @param stepLimit maximum step limit + * @return none + *************************************************************************/ void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, F32 stepLimit ) { PI_CONTROLLER_T *controller; @@ -378,7 +405,7 @@ { SET_CONTROLLER( controller, controllerID ); - if ( ( stepLimit > NEARLY_ZERO ) && ( stepLimit < MAX_ILIMIT ) ) + if ( ( stepLimit > controller->uMin ) && ( stepLimit < controller->uMax ) ) { controller->maxErrorSumStep = stepLimit; } @@ -387,21 +414,53 @@ #ifdef _DD_ SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_STEP_LIMIT, (U32)stepLimit ) #endif -#ifdef _RO_ - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_STEP_LIMIT, (U32)stepLimit ) -#endif } - } else { #ifdef _DD_ // Invalid controller given SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) #endif -#ifdef _RO_ + } +} + +/*********************************************************************//** + * @brief + * The setPIControllerFeedForward function sets the latest feed forward value + * to the corresponding PI controller. + * @details \b Inputs: none + * @details \b Outputs: feedforward of controller ID + * @details \b Alarms: ALARM_ID_XX_SOFTWARE_FAULT when invalid PI controller + * Id is passed. + * @param controllerID ID filter number + * @param feedforward calculated feed forward control value + * @return none + *************************************************************************/ +void setPIControllerFeedForward( PI_CONTROLLER_ID_T controllerID, F32 feedforward ) +{ + PI_CONTROLLER_T *controller; + + if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS ) + { + SET_CONTROLLER( controller, controllerID ); + + if ( ( feedforward > controller->uMin ) && ( feedforward < controller->uMax ) ) + { + controller->feedForward = feedforward; + } + else + { +#ifdef _DD_ + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_FEED_FORWARD_LIMIT, (U32)feedforward ) +#endif + } + } + else + { +#ifdef _DD_ // Invalid controller given - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID ) #endif } }