mirror of
https://github.com/eddyem/stm32samples.git
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320 lines
10 KiB
C
320 lines
10 KiB
C
/*
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* This file is part of the Chiller project.
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* Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "mainloop.h"
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#include "hardware.h"
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#include "adc.h"
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int16_t Tset = 200; // temperature setpoint
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int16_t NTCval[4] = {0,};
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// common status for all functions from this file; pointer to this variable return @mainloop
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static chiller_state retstatus = {
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.common_state = ST_OK,
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.heater_state = ST_OK,
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.cooler_state = ST_OK,
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.pump_state = ST_OK
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};
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/* error bit fields: */
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// chiller_error==0 - no errors
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#define CE_NOERROR (0)
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// heater error (overheating)
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#define CE_HEATER (1<<0)
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// output was too hot
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#define CE_OUTHOT (1<<1)
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// output was too cool
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#define CE_OUTCOOL (1<<2)
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// no flow sensor pulses detected
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#define CE_NOFLOW (1<<3)
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// error code explaining why alarm is working
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static uint8_t chiller_error;
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static inline void increase_pump_pwm(){
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uint16_t pwm = GET_PUMP_PWM();
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if(pwm < 246){
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SET_PUMP_PWM(pwm+10);
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retstatus.pump_state = ST_FASTER;
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}
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}
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static inline void decrease_pump_pwm(){
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uint16_t pwm = GET_PUMP_PWM();
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if(pwm > MIN_PUMP_PWM+9){
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SET_PUMP_PWM(pwm-10);
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retstatus.pump_state = 0; // "ST_SLOWER"
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}
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}
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/**
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* @brief binsrch - binary search for new good value
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* @param oldval - previuos value
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* @param curval - current value
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* @param dir - direction (1 - increase, 0 - decrease)
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* @return new value
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*/
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static inline uint16_t binsrch(uint16_t oldval, uint16_t curval, uint8_t dir){
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if(oldval == curval){
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if(dir) oldval = 256;
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else oldval = 0;
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}else{
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if(dir){ // increase
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if(oldval == 0) oldval = 256;
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else if(oldval < curval){
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oldval = 2*curval - oldval;
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}
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}else{ // decrease
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if(curval == 0) oldval = 0;
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else if(oldval > curval){
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oldval = 2*curval - oldval;
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}
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}
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}
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oldval = (oldval + curval) / 2;
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if(oldval > 255) oldval = 0;
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return oldval;
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}
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// change PWM according to dir (1->up, 0->down)
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static void change_heater_pwm(uint8_t dir){
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static uint16_t oldpwm = 0;
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uint16_t pwm = binsrch(oldpwm, GET_HEATER_PWM(), dir);
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if(pwm != GET_HEATER_PWM()){
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oldpwm = GET_HEATER_PWM();
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SET_HEATER_PWM(pwm);
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if(dir){ // up
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retstatus.heater_state = ST_FASTER;
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}else{ // down
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if(pwm == 0) retstatus.heater_state = ST_OFF;
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else retstatus.heater_state = 0; // "ST_SLOWER"
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}
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}
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}
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static void change_cooler_pwm(uint8_t dir){
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uint16_t pwm = GET_COOLER_PWM();
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if(dir){ // up
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if(pwm < 224) SET_COOLER_PWM(pwm + 32);
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else SET_COOLER_PWM(255);
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if(pwm != GET_COOLER_PWM())
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retstatus.cooler_state = ST_FASTER;
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}else{ // down
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if(pwm > MIN_COOLER_PWM + 31) SET_COOLER_PWM(pwm - 32);
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else SET_COOLER_PWM(0);
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if(pwm != GET_COOLER_PWM())
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retstatus.cooler_state = GET_COOLER_PWM() ? 0 : ST_OFF; // "ST_SLOWER" / ST_OFF
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}
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}
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/**
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* @brief get_critical - check device for critical errors
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* @return 1 if critical error occured
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*/
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static inline uint8_t get_critical(){
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uint8_t ret = 0;
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// critical state: heater can burn out!
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// turn off heater & make signal
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if(HEATER_TEMPERATURE > MAX_HEATER_T){
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// change heater state to CRIT_HOFF
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retstatus.heater_state = ST_CRITICAL;
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if(GET_HEATER_PWM()){
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SET_HEATER_PWM(0);
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retstatus.heater_state |= ST_OFF;
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}
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chiller_error |= CE_HEATER;
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ret = 1;
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}
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// very hot output: turn off heater, turn on cooler & make signal
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if(OUTPUT_TEMPERATURE > MAX_OUTPUT_T){
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// change chiller state to CRIT_HOT
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retstatus.common_state = ST_CRITICAL;
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if(GET_HEATER_PWM()){
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SET_HEATER_PWM(0);
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retstatus.heater_state = ST_OFF;
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}
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if(GET_COOLER_PWM() < 255){
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SET_COOLER_PWM(255);
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retstatus.cooler_state = ST_FASTER;
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}
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// if water @input is also too hot, turn pump to max speed
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if(INPUT_TEMPERATURE > MAX_OUTPUT_T){
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increase_pump_pwm();
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}
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chiller_error |= CE_OUTHOT;
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ret = 1;
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}
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// very cool output: turn on heater (max power), turn off cooler & make signal
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if(OUTPUT_TEMPERATURE < MIN_OUTPUT_T){
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retstatus.common_state = ST_CRITICAL|ST_FASTER;
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if(GET_HEATER_PWM() < 255){
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SET_HEATER_PWM(255);
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retstatus.heater_state = ST_FASTER;
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}
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if(GET_COOLER_PWM()){
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SET_COOLER_PWM(0);
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retstatus.cooler_state = ST_OFF;
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}
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chiller_error |= CE_OUTCOOL;
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ret = 1;
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}
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// check flow rate & pump working
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if(GET_PUMP_PWM() >= MIN_PUMP_PWM){ // pump working
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if(flow_rate < MIN_FLOW_RATE){ // check pump
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// change chiller state to CRIT_NOFLOW
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retstatus.common_state = ST_CRITICAL|ST_OK;
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// increase pump speed
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//increase_pump_pwm();
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retstatus.pump_state = ST_CRITICAL;
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chiller_error |= CE_NOFLOW;
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ret = 1;
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}
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}else{
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// turn ON pump if PWM < minimal
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// (pump should be never off!)
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SET_PUMP_PWM(MIN_PUMP_PWM);
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retstatus.pump_state = ST_FASTER;
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}
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return ret;
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}
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/**
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* @brief check_alarm - check device status and turn off alarm if it is on
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*/
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static inline void check_alarm(){
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if(!ALARM_STATE()) return;
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// check errors & turn alarm OFF if there's no critical situations
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if(chiller_error == CE_NOERROR){
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// turn off alarm if there's no more errors
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ALARM_OFF();
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}else{
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if(chiller_error & CE_HEATER){ // clear CE_HEATER if heater T is normal
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if(HEATER_TEMPERATURE < NORMAL_HEATER_T){
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chiller_error &= ~CE_HEATER;
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}
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}
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if(chiller_error & CE_OUTHOT){ // clear CE_OUTHOT if Tout is normal
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if(OUTPUT_TEMPERATURE < OUTPUT_T_H){
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chiller_error &= ~CE_OUTHOT;
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}
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}
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if(chiller_error & CE_OUTCOOL){ // clear CE_OUTCOOL if Tout is normal
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if(OUTPUT_TEMPERATURE > OUTPUT_T_L){
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chiller_error &= ~CE_OUTCOOL;
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}
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}
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if(chiller_error & CE_NOFLOW){ // clear CE_NOFLOW if there's flow pulses
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if(flow_rate > NORMAL_FLOW_RATE){
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chiller_error &= ~CE_NOFLOW;
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}
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}
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}
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}
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static inline void checkOutT(){
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// check that T is between limits
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int8_t hc = 0; // need heating or cooling?
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if(OUTPUT_TEMPERATURE > Tset + TEMP_TOLERANCE) hc = -1; // need cooling
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else if(OUTPUT_TEMPERATURE < Tset - TEMP_TOLERANCE) hc = 1; // need heating
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if(hc){// out of limits -> check
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if(hc > 0){ // need heating: turn off cooler & turn on heater
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if(GET_COOLER_PWM()){
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SET_COOLER_PWM(0);
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retstatus.cooler_state = ST_OFF;
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}
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if(GET_HEATER_PWM() < 255){
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SET_HEATER_PWM(255);
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retstatus.heater_state = ST_FASTER;
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}else{
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// bad situation: need MORE heating!
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}
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}else{ // need cooling: turn off heater & turn on cooler
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if(GET_HEATER_PWM()){
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SET_HEATER_PWM(0);
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retstatus.heater_state = ST_OFF;
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}
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if(GET_COOLER_PWM() < 255){
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SET_COOLER_PWM(255);
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retstatus.cooler_state = ST_FASTER;
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}else{
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// bad situation: need MORE cooling!
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}
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}
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}else{ // T inside borders -> correct heating/cooling speed
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// Tout > Tset -> heater PWM up & cooler PWM down
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// else -> vice versa
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uint8_t ht = 2; // don't need heater/cooler change
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if(OUTPUT_TEMPERATURE < Tset - DT_TOLERANCE) ht = 1; // need heating
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else if(OUTPUT_TEMPERATURE > Tset + DT_TOLERANCE) ht = 0; // need cooling
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if(ht != 2){
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change_heater_pwm(ht);
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change_cooler_pwm(!ht);
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}
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}
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// if all OK, make pump slower
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if(retstatus.pump_state == ST_OK){
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decrease_pump_pwm();
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}
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}
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/**
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* @brief mainloop - the main chiller loop
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* by timer check current states & change them
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*/
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chiller_state *mainloop(){
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static uint32_t lastTmeas = 0xffff; // Temperatures measurement time
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static uint32_t lastTchk = 0xffff; // last state checking time
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retstatus.common_state = ST_OK;
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retstatus.heater_state = ST_OK;
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retstatus.cooler_state = ST_OK;
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retstatus.pump_state = ST_OK;
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// 1. Get temperatures and check critical situations
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if(Tms - lastTmeas < TMEASURE_MS) return &retstatus;
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lastTmeas = Tms;
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for(int i = 0; i < 4; ++i) // refresh NTC values
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NTCval[i] = getNTC(i);
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uint8_t alrm = get_critical();
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// check cooler
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if(GET_COOLER_PWM() > MIN_COOLER_PWM){ // cooler working
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// air temperature is very hot - cooler useless
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if(AIR_TEMPERATURE > OUTPUT_TEMPERATURE + TEMP_TOLERANCE){
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// change cooler state to OFF
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if(GET_COOLER_PWM()){
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SET_COOLER_PWM(0);
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retstatus.cooler_state = ST_OFF;
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}
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}
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}else{
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if(GET_COOLER_PWM()){
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SET_COOLER_PWM(0);
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retstatus.cooler_state = ST_OFF;
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}
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}
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// check alarm
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if(alrm){
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ALARM_ON();
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return &retstatus;
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}
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// there wasn't critical cases in this iteration, go further
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check_alarm();
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// Now check thermal data and decide what to do
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if(Tms - lastTchk < TCHECK_MS) return &retstatus;
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lastTchk = Tms;
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checkOutT();
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return &retstatus;
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}
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