From fc3276d57c54af5929b1f02f2c271058e025d163 Mon Sep 17 00:00:00 2001 From: Michael Buesch Date: Sat, 13 Jun 2009 15:04:02 +0200 Subject: pressure_control: Add support for two control circuits Signed-off-by: Michael Buesch --- pressure_control/firmware/main.c | 72 +++++++++++++++------- pressure_control/firmware/main.h | 16 +++-- pressure_control/firmware/remote.c | 120 +++++++++++++++++++++++-------------- pressure_control/firmware/remote.h | 17 ++++-- 4 files changed, 149 insertions(+), 76 deletions(-) (limited to 'pressure_control/firmware') diff --git a/pressure_control/firmware/main.c b/pressure_control/firmware/main.c index 65443cc..0534231 100644 --- a/pressure_control/firmware/main.c +++ b/pressure_control/firmware/main.c @@ -33,18 +33,20 @@ struct eeprom_data { - struct pressure_config cfg; + struct pressure_config cfg_xy; + struct pressure_config cfg_z; }; /* The pressure configuration data. */ -struct pressure_config cfg; +struct pressure_config cfg_xy; +struct pressure_config cfg_z; /* The pressure state data. */ struct pressure_state state; /* The 1000Hz jiffies counter */ static jiffies_t jiffies_counter; DEFINE_VALVE(xy_control_valves, VALVES_2MAG, D, 6, 7, 4, 5); -DEFINE_VALVE(z_control_valves, VALVES_1MAG, C, 2, 3, 4, 5); +DEFINE_VALVE(z_control_valves, VALVES_1MAG, C, 2, -1, 3, -1); static DEFINE_SENSOR(xy_control_sensor, 0, 245, 4400, 10000); static DEFINE_SENSOR(z_control_sensor, (1<autoadjust_enable) { + offset = (int32_t)mbar - (int32_t)cfg->desired; abs_offset = abs(offset); is_too_big = (offset >= 0); cur_state = valves_get_global_state(valves); - if (abs_offset > cfg.hysteresis) { + if (abs_offset > cfg->hysteresis) { /* Adjust the pressure */ report_change = (cur_state == VALVES_IDLE); if (is_too_big) valves_global_switch(valves, VALVES_FLOW_OUT); else valves_global_switch(valves, VALVES_FLOW_IN); - } else if (abs_offset > cfg.hysteresis / 4) { + } else if (abs_offset > cfg->hysteresis / 4) { /* If we're idle, stay idle. * If we're increasing or decreasing pressure, * keep on doing this to reach the desired center value @@ -186,11 +202,12 @@ static void do_check_pressure(struct valves *valves, uint16_t mbar) valves_disarm_auto_idle(valves); } } - if (abs((int32_t)mbar - (int32_t)state.reported_mbar) >= 100) + if (abs((int32_t)mbar - (int32_t)(*reported_mbar)) >= 100) report_change = 1; if (report_change) { - remote_pressure_change_notification(mbar); - state.reported_mbar = mbar; + remote_pressure_change_notification(state.measured_mbar_xy, + state.measured_mbar_z); + *reported_mbar = mbar; } } @@ -198,10 +215,20 @@ static void check_pressure(void) { switch (sensor_cycle) { case SENSOR_CYCLE_XY: - do_check_pressure(&xy_control_valves, state.measured_mbar); + state.measured_mbar_xy = state.measured_mbar; + if (state.device_enabled) { + do_check_pressure(&xy_control_valves, &cfg_xy, + state.measured_mbar_xy, + &state.reported_mbar_xy); + } break; case SENSOR_CYCLE_Z: - do_check_pressure(&z_control_valves, state.measured_mbar); + state.measured_mbar_z = state.measured_mbar; + if (state.device_enabled) { + do_check_pressure(&z_control_valves, &cfg_z, + state.measured_mbar_z, + &state.reported_mbar_z); + } break; default: BUG_ON(1); @@ -281,8 +308,7 @@ int main(void) mb(); now = get_jiffies(); if (state.needs_checking) { - if (state.device_enabled) - check_pressure(); + check_pressure(); /* Trigger another measurement in * a few milliseconds. */ if (++sensor_cycle == __NR_SENSOR_CYCLE) diff --git a/pressure_control/firmware/main.h b/pressure_control/firmware/main.h index 279b7e0..28b15c1 100644 --- a/pressure_control/firmware/main.h +++ b/pressure_control/firmware/main.h @@ -44,10 +44,16 @@ struct pressure_config { struct pressure_state { /* Sensing and adjustment logic enabled? */ bool device_enabled; - /* The last measured pressure (in mBar) */ + /* The last measured pressure (in mBar). + * It depends on sensor_cycle which valves this + * value belongs to. */ uint16_t measured_mbar; + /* The current pressure for the individual valves */ + uint16_t measured_mbar_xy; + uint16_t measured_mbar_z; /* Reported pressure via RS232 */ - uint16_t reported_mbar; + uint16_t reported_mbar_xy; + uint16_t reported_mbar_z; /* True, if the current pressure value needs checking against * the desired pressure config. */ bool needs_checking; @@ -58,8 +64,10 @@ struct pressure_state { int8_t sensor_trigger_cnt; }; -void get_pressure_config(struct pressure_config *cfg); -void set_pressure_config(struct pressure_config *cfg); +void get_pressure_config(struct pressure_config *xy, + struct pressure_config *z); +void set_pressure_config(struct pressure_config *xy, + struct pressure_config *z); void get_pressure_state(struct pressure_state *state); void prepare_turn_on(void); void prepare_shutdown(void); diff --git a/pressure_control/firmware/remote.c b/pressure_control/firmware/remote.c index b6d6141..1945ef4 100644 --- a/pressure_control/firmware/remote.c +++ b/pressure_control/firmware/remote.c @@ -29,8 +29,8 @@ #include -#define BAUDRATE 38400 /* Error = 0.2% */ -#define USE_2X 0 +#define BAUDRATE 115200 +#define USE_2X 1 static struct remote_message rx_msg; @@ -119,95 +119,123 @@ static void handle_received_message(void) case MSG_GET_CURRENT_PRESSURE: { struct pressure_state state; -//FIXME get_pressure_state(&state); reply.id = MSG_CURRENT_PRESSURE; - reply.pressure.mbar = state.measured_mbar; + reply.pressure.mbar[0] = state.measured_mbar_xy; + reply.pressure.mbar[1] = state.measured_mbar_z; send_message(&reply); break; } case MSG_GET_DESIRED_PRESSURE: { - struct pressure_config conf; + struct pressure_config xy, z; - get_pressure_config(&conf); + get_pressure_config(&xy, &z); reply.id = MSG_DESIRED_PRESSURE; - reply.pressure.mbar = conf.desired; + reply.pressure.mbar[0] = xy.desired; + reply.pressure.mbar[1] = z.desired; send_message(&reply); break; } case MSG_GET_HYSTERESIS: { - struct pressure_config conf; + struct pressure_config xy, z; - get_pressure_config(&conf); + get_pressure_config(&xy, &z); reply.id = MSG_HYSTERESIS; - reply.pressure.mbar = conf.hysteresis; + reply.pressure.mbar[0] = xy.hysteresis; + reply.pressure.mbar[1] = z.hysteresis; send_message(&reply); break; } case MSG_GET_CONFIG_FLAGS: { - struct pressure_config conf; + struct pressure_config xy, z; - get_pressure_config(&conf); + get_pressure_config(&xy, &z); reply.id = MSG_CONFIG_FLAGS; - if (conf.autoadjust_enable) - reply.config.flags |= (1 << CFG_FLAG_AUTOADJUST_ENABLE); + if (xy.autoadjust_enable) + reply.config.flags[0] |= (1 << CFG_FLAG_AUTOADJUST_ENABLE); + if (z.autoadjust_enable) + reply.config.flags[1] |= (1 << CFG_FLAG_AUTOADJUST_ENABLE); send_message(&reply); break; } case MSG_SET_DESIRED_PRESSURE: { - struct pressure_config conf; + struct pressure_config xy, z; cli(); - get_pressure_config(&conf); - conf.desired = rx_msg.pressure.mbar; - set_pressure_config(&conf); + get_pressure_config(&xy, &z); + if (rx_msg.setpressure.island == 0) + xy.desired = rx_msg.setpressure.mbar; + else if (rx_msg.setpressure.island == 1) + z.desired = rx_msg.setpressure.mbar; + set_pressure_config(&xy, &z); sei(); break; } case MSG_SET_HYSTERESIS: { - struct pressure_config conf; + struct pressure_config xy, z; cli(); - get_pressure_config(&conf); - conf.hysteresis = rx_msg.pressure.mbar; - set_pressure_config(&conf); + get_pressure_config(&xy, &z); + if (rx_msg.setpressure.island == 0) + xy.hysteresis = rx_msg.setpressure.mbar; + else if (rx_msg.setpressure.island == 1) + z.hysteresis = rx_msg.setpressure.mbar; + set_pressure_config(&xy, &z); sei(); break; } case MSG_SET_CONFIG_FLAGS: { - struct pressure_config conf; + struct pressure_config xy, z; bool flag; cli(); - get_pressure_config(&conf); - flag = !!(rx_msg.config.flags & (1 << CFG_FLAG_AUTOADJUST_ENABLE)); - if (conf.autoadjust_enable != flag) { - conf.autoadjust_enable = flag; - /* Make sure the values are idle. */ - valves_global_switch(&xy_control_valves, VALVES_IDLE); + get_pressure_config(&xy, &z); + flag = !!(rx_msg.setconfig.flags & (1 << CFG_FLAG_AUTOADJUST_ENABLE)); + if (rx_msg.setconfig.island == 0) { + if (xy.autoadjust_enable != flag) { + xy.autoadjust_enable = flag; + /* Make sure the values are idle. */ + valves_global_switch(&xy_control_valves, VALVES_IDLE); + } + } else if (rx_msg.setconfig.island == 1) { + if (z.autoadjust_enable != flag) { + z.autoadjust_enable = flag; + /* Make sure the values are idle. */ + valves_global_switch(&z_control_valves, VALVES_IDLE); + } } - set_pressure_config(&conf); + set_pressure_config(&xy, &z); sei(); break; } case MSG_SET_VALVE: { - struct pressure_config conf; + struct pressure_config xy, z; + struct valves *v; - get_pressure_config(&conf); - if (conf.autoadjust_enable) { - err = MSG_ERR_BUSY; - break; + get_pressure_config(&xy, &z); + if (rx_msg.valve.island == 0) { + if (xy.autoadjust_enable) { + err = MSG_ERR_BUSY; + break; + } + v = &xy_control_valves; + } else { + if (z.autoadjust_enable) { + err = MSG_ERR_BUSY; + break; + } + v = &z_control_valves; } if (rx_msg.valve.nr == 0) { - valve0_switch(&xy_control_valves, rx_msg.valve.state == 0 ? + valve0_switch(v, rx_msg.valve.state == 0 ? VALVE_STATE_CLOSE : VALVE_STATE_OPEN); - valve_wait_toggle(&xy_control_valves); - valve0_switch(&xy_control_valves, VALVE_STATE_IDLE); + valve_wait_toggle(v); + valve0_switch(v, VALVE_STATE_IDLE); } else if (rx_msg.valve.nr == 1) { - valve1_switch(&xy_control_valves, rx_msg.valve.state == 0 ? + valve1_switch(v, rx_msg.valve.state == 0 ? VALVE_STATE_CLOSE : VALVE_STATE_OPEN); - valve_wait_toggle(&xy_control_valves); - valve0_switch(&xy_control_valves, VALVE_STATE_IDLE); + valve_wait_toggle(v); + valve0_switch(v, VALVE_STATE_IDLE); } else err = MSG_ERR_INVAL; break; @@ -215,6 +243,7 @@ static void handle_received_message(void) case MSG_SHUTDOWN: prepare_shutdown(); valves_shutdown(&xy_control_valves); + valves_shutdown(&z_control_valves); break; case MSG_TURNON: prepare_turn_on(); @@ -383,13 +412,14 @@ void remote_work(void) sei(); } -void remote_pressure_change_notification(uint16_t mbar) +void remote_pressure_change_notification(uint16_t xy_mbar, uint16_t z_mbar) { struct remote_message msg; memset(&msg, 0, sizeof(msg)); msg.id = MSG_CURRENT_PRESSURE; - msg.pressure.mbar = mbar; + msg.pressure.mbar[0] = xy_mbar; + msg.pressure.mbar[1] = z_mbar; send_message(&msg); } @@ -418,8 +448,8 @@ static void usart_init(void) #if USE_2X UCSRA = (1 << U2X); #endif - /* 8 Data bits, 1 Stop bit, No parity */ - UCSRC = (1 << URSEL) | (1 << UCSZ0) | (1 << UCSZ1); + /* 8 Data bits, 2 Stop bits, No parity */ + UCSRC = (1 << URSEL) | (1 << UCSZ0) | (1 << UCSZ1) | (1 << USBS); /* Enable transceiver and RX IRQs */ UCSRB = (1 << RXEN) | (1 << TXEN) | (1 << RXCIE); /* Drain the RX buffer */ diff --git a/pressure_control/firmware/remote.h b/pressure_control/firmware/remote.h index 709a1f0..c587782 100644 --- a/pressure_control/firmware/remote.h +++ b/pressure_control/firmware/remote.h @@ -57,13 +57,22 @@ struct remote_message { char str[8]; } __attribute__((packed)) logmessage; struct { - uint16_t mbar; + uint16_t mbar[2]; } __attribute__((packed)) pressure; struct { - uint32_t flags; + uint8_t island; /* Valve island */ + uint16_t mbar; + } __attribute__((packed)) setpressure; + struct { + uint32_t flags[2]; } __attribute__((packed)) config; struct { - uint8_t nr; /* Valve ID */ + uint8_t island; /* Valve island */ + uint32_t flags; + } __attribute__((packed)) setconfig; + struct { + uint8_t island; /* Valve island */ + uint8_t nr; /* Valve ID in the island */ uint8_t state; } __attribute__((packed)) valve; @@ -81,7 +90,7 @@ void print_dec(uint16_t number); void print_dec_signed(int16_t number); void print_hex(uint8_t number); -void remote_pressure_change_notification(uint16_t mbar); +void remote_pressure_change_notification(uint16_t xy_mbar, uint16_t z_mbar); void remote_notify_restart(void); void remote_work(void); -- cgit v1.2.3