J L
Neptune_170620
Diff: Controls.cpp
- Revision:
- 0:20b4b057fa7f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Controls.cpp Wed Jun 17 10:11:19 2020 +0000
@@ -0,0 +1,600 @@
+#include <string>
+#include "main.h"
+#include "Functions.h"
+#include "Definitions.h"
+#include "Boolean.h"
+#include "NextionLCD.h"
+#include "mbed_debug.h"
+#include "mbed.h"
+#include "Languages.h"
+#include "Ser25lcxxx.h"
+#include "NVM.h"
+#include "Watchdog.h"
+#include "NextionPages.h"
+#include "Controls.h"
+#include "ISR.h"
+#include "FastPWM.h"
+
+/*
+ CONTROLS
+
+ Start Button
+ Stop Button
+ Analogue Input
+ Analogue Output
+ Motor Control
+*/
+
+///////////////////////////////////////////////////////////////////////////////
+// MBED OBJECTS
+///////////////////////////////////////////////////////////////////////////////
+extern NextionLCD lcd;//Tx, Rx, Nextion Port
+
+//ADC/DAC
+AnalogIn ain(ANA_IN_A0);
+AnalogOut aout(ANA_OUT_DAC1);
+
+//Button Membrane
+DigitalOut startLED(START_LED);
+DigitalOut stopLED(STOP_LED);
+DigitalIn startButton(START_BTN);
+DigitalIn stopButton(STOP_BTN);
+
+//4-20mA Control Inputs
+DigitalIn rmtRunStop(RUN_STOP);// Run / Stop Input
+DigitalIn rmtExtCont(EXT_CONT);//External Contact Input
+DigitalIn rmtFldRec(RMT_FLD_REC);//Remote Fluid Recovery Input
+
+//Leak detection
+DigitalIn leakIn(LEAK_DETECT_INPUT);//Pump head leak detection
+
+//4-20mA Control Outputs
+DigitalOut alarmOut1(ALARM_OUT1);
+DigitalOut alarmOut2(ALARM_OUT2);
+
+//Nucleo Debug LEDs
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+
+//DVR8603 BLDC Motor Controller
+DigitalOut motEnable(MOT_EN);
+DigitalOut motDir(MOT_DIR);
+DigitalOut nBrake(N_BRK);
+DigitalIn nFault(N_FAULT);
+
+//Netxion Power Control
+DigitalOut nexPwrCont(NEX_PWR);
+
+//3V3 Power Good signal from power supply
+DigitalIn pwrGood(PWR_GOOD);
+
+FastPWM pwm(PWM, PWM_PRESCALER);//leave prescaler at 1 so that that the smallest speed inc/dec results in a measureable PWM change, resolution is ~20ns/bit
+
+float motorSpeed = ZERO;
+float motSpeedSetPoint = ZERO;
+float flowPercent = ZERO;
+float lastMaxScale = maxScale;
+
+bool leakDetect(bool leakInput){
+ bool leak = false;
+
+ if(leakInput == true){
+ leak = true;
+ }
+
+ return(leak);
+}
+
+bool outputFluidLevMon(void){
+
+ return(0);
+}
+
+bool outputContactMode(void){
+
+ /*
+
+ need debouce routine
+ measure pulse time, 40 - 1000ms
+
+ if valid do stuff, if pulse not valid ignore
+
+ count the pulses also
+
+ */
+ return(0);
+}
+
+bool startBtn(bool byPassPress){//Interrupt pin
+/*
+ byPassPress if true allows the fucntion to be used for LED indicators without pressing the start button
+*/
+ bool state = OFF;
+
+ if((startButton == _ON)||(byPassPress == true)){
+ startLED = ON;//Keypad LEDs OFF ta power up
+ stopLED = OFF;
+ state = ON;
+ }
+ return(state);
+}
+
+bool stopBtn(bool byPassPress){//Interrupt pin
+/*
+ byPassPress if true allows the fucntion to be used for LED indicators without pressing the stop button
+*/
+ bool state = OFF;
+
+ if((stopButton == _ON)||(byPassPress == true)){
+ startLED = OFF;//Keypad LEDs OFF ta power up
+ stopLED = ON;
+ state = ON;
+ }
+ return(state);
+}
+
+void reset(void){
+ ml=ZERO;
+ arrowFlag = false;
+ motorSpeed = ZERO;
+ motSpeedSetPoint = ZERO;
+ ConfInputSw();
+ confBtn();
+ confMotor();//turn motor off
+ confPWM();//Reset
+}
+
+void confBtn(void){
+ startLED = OFF;//Keypad LEDs OFF ta power up
+ stopLED = OFF;
+ startButton.mode(PullUp);//Enable pull up resistors to 3V3
+ stopButton.mode(PullUp);
+}
+
+void ConfInputSw(void){
+ rmtFldRec.mode(PullDown);
+ rmtExtCont.mode(PullDown);
+ rmtRunStop.mode(PullDown);
+}
+
+void confMotor(void){
+ motEnable = OFF;
+ motDir = CCW;//Default motor direction
+ nBrake = _OFF;
+ tachoIn.mode(PullUp);//Speed feedback, OD Output from motor controller
+ nFault.mode(PullUp);
+}
+
+uint8_t fluidRecMode(void){
+
+ return(0);
+}
+
+uint8_t flowCalMode(void){
+
+ return(0);
+}
+
+uint8_t contactMode(void){
+
+ return(0);
+}
+
+void anaOutScale(float mA_FullScale, float mA_MatchScale){
+
+ if(nvm._4_20mAoutPut == _4_20MA_OUT_FULL_SCALE)
+ anaOut_mA(mA_FullScale);
+ else
+ if(nvm._4_20mAoutPut == _4_20MA_OUT_MATCH_INPUT_SCALE)
+ anaOut_mA(mA_MatchScale);
+}
+
+void anaOut_mA(float mA){
+/*
+ Current to DAC Voltage converter
+ aout.write() has range 0.0 - 1.0
+*/
+
+ float rawDAC_V = ZERO;
+ float lpfDAC_V = ZERO;
+
+ rawDAC_V = mapF(mA, I_3MA, I_20MA, DAC_V_LOW, DAC_V_HIGH);
+ aout.write(rawDAC_V);
+}
+
+float anaIn_mA(void){
+/*
+ Low Pass Filtered analogue signal
+*/
+ float rawADC_V = ZERO;//Raw ADC voltage
+ float lpfADC_V = ZERO;//Low Pass Filtered ADC Voltage
+ float ana_mA = ZERO; //ADC Voltage convered to mA
+
+ rawADC_V = (ain.read() * VDD);//Output in V
+ lpfADC_V = low_pass_filterF(rawADC_V);
+ ana_mA = mapF(lpfADC_V, ADC_MIN_V, ADC_MAX_V, I_0MA, I_22_4MA);
+
+ return(ana_mA);
+}
+
+uint8_t anaIn(void){
+/*
+ Convert analogue signal to mA output and control motor speed
+ Measured Hyteresis band is approx 50uA on QDOS 30
+*/
+
+ float lpfADC_V = ZERO;//ADC variable from Low Pass Filter
+ float ana_mA = ZERO;
+ static float flowPercent;//flow rate percentage, used for map calculations
+ static float hyst_mA = ZERO;//
+ static bool pumpMotor = OFF;//make sure the motor is off by default
+
+ uint8_t task = RUNNING;//next normal task
+
+ ana_mA = anaIn_mA();//get the analogue current from external equipment
+
+ //lcd.nexSendFloat("p1left",ana_mA,2);//update
+
+ if(ana_mA >= (nvm.mA_low - hyst_mA)){//hysteresis to stop noise triggering motor control
+ hyst_mA = HYST_MA;
+ pumpMotor = ON;
+ startBtn(ON);
+ }
+ else{
+ hyst_mA = ZERO;
+ pumpMotor = OFF;
+ stopBtn(ON);
+ }
+
+ if((runStopSignal(rmtRunStop, &nvm) == false)&&(pumpMotor == ON)){//Pump is ON
+ lcd.nexRotArrow(ON);
+ lcd.nexSetFontCol("p1mid",BLACK);
+ lcd.nexSendTxt("p1mid","4-20mA Input Mode");//page 1 middle text box
+
+ flowPercent = mapF(ana_mA, nvm.mA_low, nvm.mA_high, nvm.flow_low, nvm.flow_high);//this outputs flow rate % used in map calculations
+
+ nvm.flowUnitVal = mapF(flowPercent, 0.0, 100.0, minScale, maxScale);
+
+ lcd.nexSendFloat("meter", nvm.flowUnitVal, precision);//display the flow units
+
+ motor(flowPercent, CCW, BRAKE_OFF, MOTOR_ENABLE, 1);
+
+ anaOutScale((mapF(nvm.flowUnitVal, minScale, maxScale, I_4MA, I_20MA)), (mapF(nvm.flowUnitVal, minScale, nvm.flow_high, I_4MA, I_20MA)));
+
+ }
+ else
+ {//Pump is OFF
+ //lcd.nexDispSymbol("stop", OFF);
+ lcd.nexRotArrow(OFF);
+ lcd.nexSetFontCol("p1mid",RED);
+ lcd.nexSendTxt("p1mid","4-20mA Input Mode");//page 1 middle text box
+ lcd.nexSendFloat("meter", METER_ZERO, precision);//bug warning: writting 0.00 result in blank writted to meter, writing 0.00001 to the meter then displays 0.0
+ motor(ZERO, CCW, BRAKE_OFF, MOTOR_DISABLE, 1);
+ anaOut_mA(I_3MA);//analogue output forced to 3mA
+ }
+ return(task);
+}
+
+uint8_t manual(void){
+
+ float ana_mA = 0;
+ static float lastFlowUnitVal = nvm.flowUnitVal;
+ uint8_t task = RUNNING;
+
+ if(runStopSignal(rmtRunStop, &nvm) == false){//Run/Stop signal logic
+
+ flowPercent = incDecControl(&nvm.flowUnitVal, precision, minScale, maxScale, nvm.speedLimit);
+
+ if((tPop.read() > 1.0)&&(lastFlowUnitVal == nvm.flowUnitVal)){//x seconds has expired save the updated flowUnitVal to NVM memory and reload NVM
+ tPop.stop();
+ tPop.reset();
+ stopLED = ON;
+ wait(0.01);
+ stopLED = OFF;
+ writeNVMfloat(NVM_FLOWU_VAL,nvm.flowUnitVal);
+ }
+
+ lcd.nexRotArrow(ON);
+ lcd.nexSetFontCol("p1mid",BLACK);
+ lcd.nexSendTxt("p1mid","Manual Mode");//page 1 middle text box
+
+ nvm.flowUnitVal = ((flowPercent/100)*maxScale);
+ lcd.nexSendFloat("meter", nvm.flowUnitVal, precision);//display the flow units
+
+ motor(flowPercent, CCW, BRAKE_OFF, MOTOR_ENABLE, 1);
+
+ anaOut_mA(mapF(nvm.flowUnitVal, minScale, maxScale, I_4MA, I_20MA));//convert flow rate % to analogue output current
+
+ lastFlowUnitVal = nvm.flowUnitVal;//update
+ //}
+ }
+ else{
+ //lcd.nexDispSymbol("stop", OFF);
+ lcd.nexRotArrow(OFF);
+ lcd.nexSetFontCol("p1mid",RED);
+ lcd.nexSendTxt("p1mid","Manual Mode");//page 1 middle text box
+ motor(flowPercent, CCW, BRAKE_OFF, MOTOR_DISABLE, 1);
+ }
+
+ return(task);
+}
+
+uint8_t motor(float rpmSetPoint, bool dir, bool brake, bool enable, float rampTime){
+
+ uint8_t task = RUNNING;//next normal task
+
+ static float rpmRamp = ZERO;
+
+ motEnable = enable;
+ motDir = dir;
+ nBrake = brake;
+
+ if((motEnable == MOTOR_DISABLE)||(nBrake == BRAKE_ON))
+ rpmRamp = ZERO;
+ else{
+
+ if(rpmRamp > rpmSetPoint){
+
+ pwm.pulsewidth_us(rpmRamp);
+
+ if(rpmRamp > MOTOR_PWM_MIN)
+ rpmRamp-=0.1;
+ else
+ rpmRamp = MOTOR_RPM_MIN;
+ }
+
+ if(rpmRamp < rpmSetPoint){
+
+ pwm.pulsewidth_us(rpmRamp);
+
+ if(rpmRamp < MOTOR_PWM_MAX)
+ rpmRamp+=0.1;
+ else
+ rpmRamp = MOTOR_PWM_MAX;
+ }
+ }
+
+ lcd.nexSetPrgBar("progBar",rpmRamp);
+
+ return(task);
+}
+
+void confPWM(void){
+ pwm.period_us(PWM_PERIOD);
+ pwm.pulsewidth_us(ZERO);
+}
+
+void ledClr(void){
+ led1=OFF;
+ led2=OFF;
+ led3=OFF;
+}
+
+uint8_t startUpMode(uint8_t runMode){
+ uint8_t task = START;
+ uint8_t setRunMode;
+
+ setRunMode = runModeNVM(runMode);//retreive the run mode stored in NVM
+
+ if(setRunMode == ANALOGUE_SET)//if set for analogue start
+ task = ANALOGUE_SET;
+ else
+ {
+ if((startBtn(BTN_AND_IND))&&(setRunMode == MANUAL_SET))//if set for manual bypass start button and start
+ task = MANUAL_SET;
+ }
+ return(task);
+}
+
+bool runStopSignal(bool runStopSig, struct settingsNVM *nvm){
+
+ //#define DEBUG_LOCAL
+
+ #ifdef DEBUG_LOCAL
+ uint8_t selected=0;
+ #endif
+
+ bool pumpPause = false;
+
+
+ if((nvm->rmtStopPump == RMT_STOP_PUMP_HIGH)&&(runStopSig == HI)){
+
+ #ifdef DEBUG_LOCAL
+ selected=1;
+ #endif
+
+ lcd.nexDispSymbol("pause", ON);
+ nvm->pumpOnOff = PUMP_OFF;
+ writeNVMByte(PUMP_ON_OFF,nvm->pumpOnOff);
+ pumpPause = true;
+ }
+ else
+ if((nvm->rmtStopPump == RMT_STOP_PUMP_HIGH)&&(runStopSig == LO)){
+
+ #ifdef DEBUG_LOCAL
+ selected=2;
+ #endif
+
+ lcd.nexDispSymbol("pause", OFF);
+ nvm->pumpOnOff = PUMP_ON;
+ writeNVMByte(PUMP_ON_OFF,nvm->pumpOnOff);
+ pumpPause = false;
+ }
+ else
+ if((nvm->rmtStopPump == RMT_STOP_PUMP_LOW)&&(runStopSig == HI)){
+
+ #ifdef DEBUG_LOCAL
+ selected=3;
+ #endif
+
+ lcd.nexDispSymbol("pause", OFF);
+ nvm->pumpOnOff = PUMP_ON;
+ writeNVMByte(PUMP_ON_OFF,nvm->pumpOnOff);
+ pumpPause = false;
+ }
+ else
+ if((nvm->rmtStopPump == RMT_STOP_PUMP_LOW)&&(runStopSig == LO)){
+
+ #ifdef DEBUG_LOCAL
+ selected=4;
+ #endif
+
+ lcd.nexDispSymbol("pause", ON);
+ nvm->pumpOnOff = PUMP_OFF;
+ writeNVMByte(PUMP_ON_OFF,nvm->pumpOnOff);
+ pumpPause = true;
+ }
+
+ #ifdef DEBUG_LOCAL
+ pc.printf("\r\n\nPump On/Off = 0x%02X, Selected = %d",nvm->pumpOnOff, selected);
+ #endif
+
+
+ return(pumpPause);
+}
+
+void outPuts(bool leakDetection, struct settingsNVM *nvm){
+
+ if((nvm->outPut1 == OUT1_RUN_STATUS)&&(nvm->outPut1Logic == OUT1_LOGIC_LO)&&(nvm->pumpOnOff == PUMP_ON)){
+ // Run status ok for manual and analogue
+
+ alarmOut1 = OFF;
+ }
+ else
+ if((nvm->outPut1 == OUT1_RUN_STATUS)&&(nvm->outPut1Logic == OUT1_LOGIC_LO)&&(nvm->pumpOnOff == PUMP_OFF)){
+ alarmOut1 = ON;
+ }
+ else
+ if((nvm->outPut1 == OUT1_RUN_STATUS)&&(nvm->outPut1Logic == OUT1_LOGIC_HI)&&(nvm->pumpOnOff == PUMP_ON)){
+ alarmOut1 = ON;
+ }
+ else
+ if((nvm->outPut1 == OUT1_RUN_STATUS)&&(nvm->outPut1Logic == OUT1_LOGIC_HI)&&(nvm->pumpOnOff == PUMP_OFF)){
+ alarmOut1 = OFF;
+ }
+ else
+ if((nvm->outPut1 == OUT1_MANUAL_MODE)&&(nvm->outPut1Logic == OUT1_LOGIC_HI)&&(nvm->runMode == MANUAL)){
+ alarmOut1 = ON;
+ }
+ else
+ if((nvm->outPut1 == OUT1_MANUAL_MODE)&&(nvm->outPut1Logic == OUT1_LOGIC_LO)&&(nvm->runMode == MANUAL)){
+ alarmOut1 = OFF;
+ }
+ else
+ if((nvm->outPut1 == OUT1_ANALOGUE_MODE)&&(nvm->outPut1Logic == OUT1_LOGIC_HI)&&(nvm->runMode == ANALOGUE)){
+ alarmOut1 = ON;
+ }
+ else
+ if((nvm->outPut1 == OUT1_ANALOGUE_MODE)&&(nvm->outPut1Logic == OUT1_LOGIC_LO)&&(nvm->runMode == ANALOGUE)){
+ alarmOut1 = OFF;
+ }
+ else
+ if((nvm->outPut1 == OUT1_CONTACT_MODE)&&(nvm->outPut1Logic == OUT1_LOGIC_HI)){
+ alarmOut1 = ON;
+ }
+ else
+ if((nvm->outPut1 == OUT1_CONTACT_MODE)&&(nvm->outPut1Logic == OUT1_LOGIC_LO)){
+ alarmOut1 = OFF;
+ }
+ else
+ if((nvm->outPut1 == OUT1_FLUID_LEVEL)&&(nvm->outPut1Logic == OUT1_LOGIC_HI)){
+ alarmOut1 = ON;
+ }
+ else
+ if((nvm->outPut1 == OUT1_FLUID_LEVEL)&&(nvm->outPut1Logic == OUT1_LOGIC_LO)){
+ alarmOut1 = OFF;
+ }
+ else
+ if((nvm->outPut1 == OUT1_LEAK_DETECT)&&(nvm->outPut1Logic == OUT1_LOGIC_HI)){
+ alarmOut1 = ~leakDetect(leakDetection);
+ }
+ else
+ if((nvm->outPut1 == OUT1_LEAK_DETECT)&&(nvm->outPut1Logic == OUT1_LOGIC_LO)){
+ alarmOut1 = leakDetect(leakDetection);
+ }
+ else
+ if((nvm->outPut1 == OUT1_GENERAL_ALARM)&&(nvm->outPut1Logic == OUT1_LOGIC_HI)){
+ /* Not defined in QDOS documents, I know leak detect triggers this there will be
+ others faults tha trigger this but at this time they are not known.
+
+ */
+ alarmOut1 = ~leakDetect(leakDetection);
+ }
+ else
+ if((nvm->outPut1 == OUT1_GENERAL_ALARM)&&(nvm->outPut1Logic == OUT1_LOGIC_LO)){
+ alarmOut1 = leakDetect(leakDetection);
+ }
+
+
+
+ if((nvm->outPut2 == OUT2_RUN_STATUS)&&(nvm->outPut2Logic == OUT2_LOGIC_LO)&&(nvm->pumpOnOff == PUMP_ON)){
+ alarmOut2 = OFF;
+ }
+ else
+ if((nvm->outPut2 == OUT2_RUN_STATUS)&&(nvm->outPut2Logic == OUT2_LOGIC_LO)&&(nvm->pumpOnOff == PUMP_OFF)){
+ alarmOut2 = ON;
+ }
+ else
+ if((nvm->outPut2 == OUT2_RUN_STATUS)&&(nvm->outPut2Logic == OUT2_LOGIC_HI)&&(nvm->pumpOnOff == PUMP_ON)){
+ alarmOut2 = ON;
+ }
+ else
+ if((nvm->outPut2 == OUT2_RUN_STATUS)&&(nvm->outPut2Logic == OUT2_LOGIC_HI)&&(nvm->pumpOnOff == PUMP_OFF)){
+ alarmOut2 = OFF;
+ }
+ else
+ if((nvm->outPut2 == OUT2_MANUAL_MODE)&&(nvm->outPut2Logic == OUT2_LOGIC_HI)&&(nvm->runMode == MANUAL)){
+ alarmOut2 = ON;
+ }
+ else
+ if((nvm->outPut2 == OUT2_MANUAL_MODE)&&(nvm->outPut2Logic == OUT2_LOGIC_LO)&&(nvm->runMode == MANUAL)){
+ alarmOut2 = OFF;
+ }
+ else
+ if((nvm->outPut2 == OUT2_ANALOGUE_MODE)&&(nvm->outPut2Logic == OUT2_LOGIC_HI)&&(nvm->runMode == ANALOGUE)){
+ alarmOut2 = ON;
+ }
+ else
+ if((nvm->outPut2 == OUT2_ANALOGUE_MODE)&&(nvm->outPut2Logic == OUT2_LOGIC_LO)&&(nvm->runMode == ANALOGUE)){
+ alarmOut2 = OFF;
+ }
+ else
+ if((nvm->outPut2 == OUT2_CONTACT_MODE)&&(nvm->outPut2Logic == OUT2_LOGIC_HI)){
+ alarmOut2 = ON;
+ }
+ else
+ if((nvm->outPut2 == OUT2_CONTACT_MODE)&&(nvm->outPut2Logic == OUT2_LOGIC_LO)){
+ alarmOut2 = OFF;
+ }
+ else
+ if((nvm->outPut1 == OUT1_FLUID_LEVEL)&&(nvm->outPut1Logic == OUT1_LOGIC_HI)){
+ alarmOut1 = ON;
+ }
+ else
+ if((nvm->outPut2 == OUT2_FLUID_LEVEL)&&(nvm->outPut2Logic == OUT2_LOGIC_LO)){
+ alarmOut2 = OFF;
+ }
+ else
+ if((nvm->outPut2 == OUT2_LEAK_DETECT)&&(nvm->outPut2Logic == OUT2_LOGIC_HI)){
+ alarmOut2 = ~leakDetect(leakDetection);
+ }
+ else
+ if((nvm->outPut2 == OUT2_LEAK_DETECT)&&(nvm->outPut2Logic == OUT2_LOGIC_LO)){
+ alarmOut2 = leakDetect(leakDetection);
+ }
+ else
+ if((nvm->outPut2 == OUT2_GENERAL_ALARM)&&(nvm->outPut2Logic == OUT2_LOGIC_HI)){
+ /* Not defined in QDOS documents, I know leak detect triggers this there will be
+ others faults tha trigger this but at this time they are not known.
+
+ */
+ alarmOut2 = ~leakDetect(leakDetection);
+ }
+ else
+ if((nvm->outPut2 == OUT2_GENERAL_ALARM)&&(nvm->outPut2Logic == OUT2_LOGIC_LO)){
+ alarmOut2 = leakDetect(leakDetection);
+ }
+}
+
+