Compare commits
4 Commits
6caa5e453f
...
cd626dca0f
| Author | SHA1 | Date |
|---|---|---|
许晟昊
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cd626dca0f | |
 gaoyuhang
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758bfdea18 | |
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gaoyuhang
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49f1072a7f | |
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gaoyuhang
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db5056cfb0 |
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@ -56,6 +56,8 @@
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"files.associations": {
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"pid_g.h": "c",
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"mode_pwmp.h": "c",
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"eeprom_m95.h": "c"
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}
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"eeprom_m95.h": "c",
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"sys.h": "c"
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},
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"C_Cpp.errorSquiggles": "disabled"
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}
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@ -127,6 +127,7 @@ int main(void)
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leds_dinit(); // LED Deinitialization
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my_mem_init(SRAMIN); // Initialize internal memory pool
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my_mem_init(SRAMEX); // Initialize internal memory pool
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board_init(); // Initialize board
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app_init(); // Initialize application
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@ -163,14 +164,12 @@ void SystemClock_Config(void)
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/* Wait till HSE is ready */
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while (LL_RCC_HSE_IsReady() != 1)
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{
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}
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LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_HSE);
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/* Wait till System clock is ready */
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while (LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_HSE)
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{
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}
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LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_2);
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LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_1);
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@ -194,7 +193,6 @@ void PeriphCommonClock_Config(void)
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/* Wait till PLLSAI1 is ready */
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while (LL_RCC_PLLSAI1_IsReady() != 1)
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{
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}
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}
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@ -103,7 +103,7 @@
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<bEvRecOn>1</bEvRecOn>
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<bSchkAxf>0</bSchkAxf>
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<bTchkAxf>0</bTchkAxf>
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<nTsel>6</nTsel>
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<nTsel>4</nTsel>
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<sDll></sDll>
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<sDllPa></sDllPa>
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<sDlgDll></sDlgDll>
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@ -114,13 +114,13 @@
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<tDlgDll></tDlgDll>
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<tDlgPa></tDlgPa>
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<tIfile></tIfile>
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<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
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<pMon>Segger\JL2CM3.dll</pMon>
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</DebugOpt>
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<TargetDriverDllRegistry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>DLGUARM</Key>
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<Name>(105=-1,-1,-1,-1,0)</Name>
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<Name>d</Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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@ -163,107 +163,102 @@
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<Ww>
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<count>0</count>
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<WinNumber>1</WinNumber>
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<ItemText>mode_pwmp,0x0A</ItemText>
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<ItemText>_pid,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>1</count>
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<WinNumber>1</WinNumber>
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<ItemText>_pid,0x0A</ItemText>
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<ItemText>actual_travel</ItemText>
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</Ww>
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<Ww>
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<count>2</count>
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<WinNumber>1</WinNumber>
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<ItemText>actual_travel</ItemText>
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<ItemText>show_actual</ItemText>
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</Ww>
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<Ww>
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<count>3</count>
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<WinNumber>1</WinNumber>
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<ItemText>show_actual</ItemText>
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<ItemText>loop_current</ItemText>
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</Ww>
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<Ww>
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<count>4</count>
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<WinNumber>1</WinNumber>
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<ItemText>loop_current</ItemText>
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<ItemText>uDevice.SpecControlOutputMode,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>5</count>
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<WinNumber>1</WinNumber>
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<ItemText>uDevice.SpecControlOutputMode,0x0A</ItemText>
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<ItemText>uDevice,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>6</count>
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<WinNumber>1</WinNumber>
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<ItemText>uDevice,0x0A</ItemText>
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<ItemText>pid_actual</ItemText>
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</Ww>
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<Ww>
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<count>7</count>
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<WinNumber>1</WinNumber>
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<ItemText>pid_actual</ItemText>
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<ItemText>adc_raw,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>8</count>
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<WinNumber>1</WinNumber>
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<ItemText>adc_raw,0x0A</ItemText>
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<ItemText>target_travel</ItemText>
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</Ww>
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<Ww>
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<count>9</count>
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<WinNumber>1</WinNumber>
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<ItemText>target_travel</ItemText>
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<ItemText>target_actual_diff,0x10</ItemText>
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</Ww>
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<Ww>
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<count>10</count>
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<WinNumber>1</WinNumber>
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<ItemText>target_actual_diff,0x10</ItemText>
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<ItemText>calib_param[CALIBPARA_PSB]</ItemText>
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</Ww>
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<Ww>
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<count>11</count>
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<WinNumber>1</WinNumber>
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<ItemText>rsp,0x0A</ItemText>
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<ItemText>uDevice.WorkMode,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>12</count>
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<WinNumber>1</WinNumber>
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<ItemText>calib_param[CALIBPARA_PSB]</ItemText>
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<ItemText>loop_current</ItemText>
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</Ww>
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<Ww>
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<count>13</count>
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<WinNumber>1</WinNumber>
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<ItemText>uDevice.WorkMode,0x0A</ItemText>
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<ItemText>out_pos</ItemText>
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</Ww>
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<Ww>
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<count>14</count>
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<WinNumber>1</WinNumber>
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<ItemText>loop_current</ItemText>
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<ItemText>rsp,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>15</count>
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<WinNumber>1</WinNumber>
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<ItemText>out_pos</ItemText>
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<ItemText>out_pos_watch</ItemText>
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</Ww>
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<Ww>
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<count>16</count>
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<WinNumber>1</WinNumber>
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<ItemText>rsp,0x0A</ItemText>
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<ItemText>mode_pwmp_hd_adjust,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>17</count>
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<WinNumber>1</WinNumber>
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<ItemText>out_pos_watch</ItemText>
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<ItemText>pid_autotune_hd,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>18</count>
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<WinNumber>1</WinNumber>
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<ItemText>mode_pwmp_adjust,0x0A</ItemText>
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<ItemText>mode_pwmp_hd,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>19</count>
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<WinNumber>1</WinNumber>
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<ItemText>pid_autotune_hd,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>20</count>
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<WinNumber>1</WinNumber>
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<ItemText>mode_pwmp_hd,0x0A</ItemText>
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<ItemText>s_watch,0x0A</ItemText>
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</Ww>
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</WatchWindow1>
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<Tracepoint>
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@ -426,7 +421,7 @@
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>0</BreakIfRCount>
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<Filename>C:\Users\10575\Desktop\wuxi\hangdian\controller-hd\User\application\src\mode_pwmp.c</Filename>
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<Filename>..\User\application\src\mode_pwmp.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression></Expression>
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</Bp>
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@ -600,7 +595,7 @@
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>0</BreakIfRCount>
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<Filename>C:\Users\10575\Desktop\wuxi\hangdian\controller-hd\User\application\src\mode_pwmp.c</Filename>
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<Filename>..\User\application\src\mode_pwmp.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression></Expression>
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</Bp>
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@ -1404,7 +1399,7 @@
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<Group>
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<GroupName>User/lib</GroupName>
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<tvExp>0</tvExp>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<cbSel>0</cbSel>
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<RteFlg>0</RteFlg>
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@ -10,7 +10,7 @@
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<TargetName>controller-v2</TargetName>
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<ToolsetNumber>0x4</ToolsetNumber>
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<ToolsetName>ARM-ADS</ToolsetName>
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<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
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<pCCUsed>5060061::V5.06 update 1 (build 61)::ARMCC</pCCUsed>
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<uAC6>0</uAC6>
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<TargetOption>
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<TargetCommonOption>
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@ -134,11 +134,11 @@
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<RunIndependent>0</RunIndependent>
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<UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
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<Capability>1</Capability>
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<DriverSelection>4101</DriverSelection>
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<DriverSelection>4096</DriverSelection>
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</Flash1>
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<bUseTDR>1</bUseTDR>
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<Flash2>BIN\UL2CM3.DLL</Flash2>
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<Flash3></Flash3>
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<Flash3>"" ()</Flash3>
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<Flash4></Flash4>
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<pFcarmOut></pFcarmOut>
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<pFcarmGrp></pFcarmGrp>
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Binary file not shown.
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@ -22,6 +22,21 @@ typedef struct
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mode_pwmp_hd_params_u mode_pwmp_hd_params; ///< PWMP模式参数
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} mode_params_t;
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typedef struct
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{
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uint16_t pos0; ///< 位置0 ad
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uint16_t pos100; ///< 位置100 ad
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uint16_t pot0; ///< 位置0 输出
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uint16_t pot100; ///< 位置100 输出
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uint16_t current0; ///< 位置0 电流(毫安，放大100倍, 0.01ma=1)
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uint16_t current100; ///< 位置100 电流(毫安,放大100倍，0.01ma=1)
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uint16_t open_time; ///< 全开时间(秒)
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uint16_t close_time; ///< 全关时间(秒)
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float32 kp; ///< pid 比例系数
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float32 ki; ///< pid 积分系数
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float32 kd; ///< pid 微分系数
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} mode_adjust_data_t;
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extern void mode_init(void); ///< 工作模式初始化
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extern void mode_detection(uint8_t work_mode); ///< 工作模式处理
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extern void travel_statistics(void); ///< 行程统计
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@ -5,6 +5,7 @@
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#define MODE_DEFAULT_AUTOLOAD 99 // 预分频系数
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#define WAIT_COUNT_MAX 10 // 蓝牙等待最大次数
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#define VIP_H_EN_HD 1 // 高电压输出开关
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///////////////////////////////////////*算法整定部分宏定义BEGIN*////////////////////////////////////////
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#define TIME_CYCLE 0.01f // 定义时间周期:10ms
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@ -13,7 +14,7 @@
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#define DIFF_ADC_MAX 6U
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/*阶跃信号大小*/
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#define FULL_TRIP_SIGNAL 936
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#define FULL_TRIP_SIGNAL 925 // 925 2020
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#define HALF_TRIP_SIGNAL 753
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#define SMALL_TRIP_SIGNAL 650
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///////////////////////////////////////*算法整定部分宏定义END*///////////////////////////////////////////
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@ -45,6 +46,10 @@ typedef struct
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uint16_t trip_100; // 词条100位置AD
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uint16_t trip_min0; // 小回路行程0位置AD
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uint16_t trip_min100; // 小回路行程100位置AD
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uint16_t current0; // 电流最小值
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uint16_t current100; // 电流最大值
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uint16_t all_open_time;// 全开时间
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uint16_t all_close_time;// 全关时间
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uint16_t prov_flag; // 磁条安装的正反：倒装：0 正装：1
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uint16_t valve_type; // 阀门正反行程：气开：ATO 气关：ATC
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float32 kp;
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@ -122,8 +127,13 @@ typedef enum
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PWMP_HD_ADJUST_STOP,
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PWMP_HD_ADJUST_FAIL, // 整定失败
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PWMP_HD_ADJUST_TEST,
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PWMP_HD_ADJUST_BLEEDING_TIMER,
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PWMP_HD_ADJUST_AERATE_TIMER,
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PWMP_HD_ADJUST_TUNING,
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} mode_pwmp_hd_adjust_state_e; // 整定状态
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#define PWMP_HD_ADJUST_STEP LCD_ADJUST_STOP // 整定步骤
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typedef enum
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{
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// 自整定结果 0：未整定 1：整定中 2：整定完成 3：整定失败
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@ -186,6 +196,7 @@ typedef struct
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{
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float32 pre_actual; // 前一次的行程
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float32 cur_actual; // 当前的行程
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float32 adjust_tmp_actual; // 临时行程
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float32 actual_error; // 行程的误差
|
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float32 step_signal; // 阶跃信号
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float32 step_signal_delt; // 阶跃信号差值
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|
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@ -248,7 +259,7 @@ typedef struct
|
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} execute_rsp_hd_t;
|
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/////////////////////////////////////////*控制算法END*////////////////////////////////////////
|
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|
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void mode_pwmp_hd_init(mode_pwmp_hd_params_u *params, void (*params_save_cb)(void));
|
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void mode_pwmp_hd_init(uint16_t valve_style, mode_pwmp_hd_params_u *params, void (*params_save_cb)(void));
|
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void mode_pwmp_hd_dinit(void);
|
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void mode_pwmp_hd_process(void);
|
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void pwmp_hd_process_state_set(mode_pwmp_hd_process_state_e state);
|
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|
|
|
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|
|
@ -39,6 +39,13 @@ typedef enum
|
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PRESSURE_PARAM_MAX,
|
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} pressure_type_e;
|
||||
|
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typedef enum
|
||||
{
|
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VALVE_GPS1000 = 1000,
|
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VALVE_GPS3000 = 3000,
|
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VALVE_GPS5000 = 5000,
|
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} valve_style_e; ///< 阀门型号
|
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|
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// 定位器工作模式
|
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#define ON_LINE_MODE 0 ///< 在线模式（根据4~20ma控制阀位）,自动模式
|
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#define OFF_LINE_MODE 1 ///< 离线模式（根据hart指令控制阀位，4~20ma用于供电），手动模式
|
||||
|
|
|
|||
|
|
@ -368,6 +368,48 @@ void mode_detection(uint8_t work_mode)
|
|||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 模式整定数据获取
|
||||
* @param {mode_adjust_data} *data 整定数据
|
||||
* @return {*}
|
||||
* @note
|
||||
*/
|
||||
void mode_adjust_data_get(mode_adjust_data_t *data)
|
||||
{
|
||||
switch (uDevice.SpecControlOutputMode)
|
||||
{
|
||||
case PDCTRL_DAC:
|
||||
{
|
||||
break;
|
||||
}
|
||||
case PDCTRL_PWM:
|
||||
{
|
||||
break;
|
||||
}
|
||||
case PDCTRL_PWMP:
|
||||
{
|
||||
break;
|
||||
}
|
||||
case PDCTRL_PWMP_HD:
|
||||
{
|
||||
data->pos0 = mode_params.mode_pwmp_hd_params.storage.trip_0; ///< 位置0 ad
|
||||
data->pos100 = mode_params.mode_pwmp_hd_params.storage.trip_100; ///< 位置100 ad
|
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data->pot0 = mode_params.mode_pwmp_hd_params.storage.pwmp_min; ///< 位置0 输出
|
||||
data->pot100 = mode_params.mode_pwmp_hd_params.storage.pwmp_max; ///< 位置100 输出
|
||||
data->current0 = mode_params.mode_pwmp_hd_params.storage.current0; ///< 位置0 电流(毫安，放大100倍, 0.01ma=1)
|
||||
data->current100 = mode_params.mode_pwmp_hd_params.storage.current100; ///< 位置100 电流(毫安,放大100倍，0.01ma=1)
|
||||
data->open_time = mode_params.mode_pwmp_hd_params.storage.all_open_time; ///< 全开时间(秒)
|
||||
data->close_time = mode_params.mode_pwmp_hd_params.storage.all_close_time; ///< 全关时间(秒)
|
||||
data->kp = mode_params.mode_pwmp_hd_params.storage.kp; ///< pid 比例系数
|
||||
data->ki = mode_params.mode_pwmp_hd_params.storage.ki; ///< pid 积分系数
|
||||
data->kd = mode_params.mode_pwmp_hd_params.storage.kd; ///< pid 微分系数
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 工作模式初始化
|
||||
* @return {*}
|
||||
|
|
@ -384,23 +426,17 @@ void mode_init(void)
|
|||
|
||||
if (uDevice.SpecControlOutputMode == PDCTRL_DAC)
|
||||
{
|
||||
pdctrl_init(PDCTRL_DAC);
|
||||
mode_dac_init(&mode_params.mode_dac_params, mode_params_save_cb);
|
||||
}
|
||||
else if (uDevice.SpecControlOutputMode == PDCTRL_PWM)
|
||||
{
|
||||
pdctrl_init(PDCTRL_PWM);
|
||||
mode_pwm_init(&mode_params.mode_pwm_params, mode_params_save_cb); ///< 要放在pdctrl_init()后面执行
|
||||
}
|
||||
else if (uDevice.SpecControlOutputMode == PDCTRL_PWMP)
|
||||
{
|
||||
pdctrl_init(PDCTRL_PWMP);
|
||||
mode_pwmp_init(&mode_params.mode_pwmp_params, mode_params_save_cb);
|
||||
}
|
||||
else if (uDevice.SpecControlOutputMode == PDCTRL_PWMP_HD)
|
||||
{
|
||||
pdctrl_init(PDCTRL_PWMP_HD);
|
||||
mode_pwmp_hd_init(&mode_params.mode_pwmp_hd_params, mode_params_save_cb);
|
||||
mode_pwmp_hd_init(uDevice.ValveStyle, &mode_params.mode_pwmp_hd_params, mode_params_save_cb);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
|
|||
|
|
@ -1,10 +1,3 @@
|
|||
/**
|
||||
* @file mode_pwmp_hd.c
|
||||
* @author xxx
|
||||
* @date 2023-10-10 08:58:43
|
||||
* @brief 此文件用于实现定位器自整定、控制功能
|
||||
* @copyright Copyright (c) 2023 by xxx, All Rights Reserved.
|
||||
*/
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include "sys.h"
|
||||
|
|
@ -140,6 +133,63 @@ void mode_pwmp_hd_dinit(void)
|
|||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 是否完成了算法整定校验
|
||||
* @param {uint8_t} mode
|
||||
* @return {*}
|
||||
* @note
|
||||
*/
|
||||
BOOL pwmp_hd_algorithm_calibrated_status(void)
|
||||
{
|
||||
return mode_pwmp_hd->pwmp_save->storage.tuned_flag == 1 && mode_pwmp_hd->pwmp_save->storage.tuned_state == LCD_ADJUST_RESULT_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 获取整定结果
|
||||
* @return {*}
|
||||
* @note
|
||||
*/
|
||||
uint8_t pwmp_hd_process_adjust_result_get(void)
|
||||
{
|
||||
return mode_pwmp_hd->pwmp_save->storage.tuned_state;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 是否正在整定
|
||||
* @return {*}
|
||||
* @note
|
||||
*/
|
||||
BOOL pwmp_hd_process_is_adjust(void)
|
||||
{
|
||||
return mode_pwmp_hd->process_state == PWMP_HD_PROCESS_ADJUST;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 获取整定状态
|
||||
* @return {*}
|
||||
* @note
|
||||
*/
|
||||
uint8_t pwmp_hd_process_adjust_state_get(void)
|
||||
{
|
||||
return mode_pwmp_hd->lcd_adjust_state;
|
||||
}
|
||||
|
||||
// 在进入PID控制区域不要绘图
|
||||
BOOL pwmp_hd_process_idel(void)
|
||||
{
|
||||
if (mode_pwmp_hd->process_state == PWM_PROCESS_CONTROL)
|
||||
{
|
||||
// return fabsf(mode_pwmp_hd->control.real_error) <= get_dead_zone() ||
|
||||
// mode_pwmp_hd->control.stable_flag == TRUE
|
||||
// ? TRUE
|
||||
// : FALSE;
|
||||
return TRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
return TRUE;
|
||||
}
|
||||
}
|
||||
//////////////////////////////*控制BEGIN*//////////////////////////////////////////////////////
|
||||
|
||||
/**
|
||||
|
|
@ -159,10 +209,13 @@ void execute_pid_init(execute_plan_hd_e plan)
|
|||
_pid.pid_u.hd.set_ctrl_prm_position(&_pid.pid_u.hd, get_pwmp_control_kp(), get_pwmp_control_ki(), get_pwmp_control_kd());
|
||||
break;
|
||||
case EXECUTE_PLAN_2:
|
||||
|
||||
break;
|
||||
case EXECUTE_PLAN_3:
|
||||
|
||||
break;
|
||||
case EXECUTE_PLAN_4:
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
|
@ -309,7 +362,9 @@ static void set_step_signal(uint16_t signal_in)
|
|||
static valve_position_change_hd_e pwmp_adjust_hd_valve_position_change(uint8_t *state, uint8_t next_state, uint8_t diff_adc_max)
|
||||
{
|
||||
uint16_t diff_adc = 0;
|
||||
// uint16_t adc = get_actual_travel_adc();
|
||||
uint16_t adc = get_actual_travel_adc();
|
||||
pid_autotune_hd->data.adjust_tmp_actual = adc;
|
||||
|
||||
if (mode_pwmp_hd_adjust->psb_adc != adc)
|
||||
{
|
||||
|
|
@ -355,7 +410,9 @@ static void pwmp_adjust_hd_idle(uint8_t *state, mode_pwmp_hd_adjust_state_e next
|
|||
{
|
||||
if (!FSM_IS_WAIT(*state))
|
||||
{
|
||||
mode_pwmp_hd->auto_tune_state = PWMP_HD_ADJUST_RESULT_TUNING;
|
||||
sys_millis_reset();
|
||||
osel_memset((uint8_t *)&mode_pwmp_hd->pwmp_save->storage, 0, sizeof(mode_pwmp_hd_storage_data_t));
|
||||
mode_pwmp_hd->pwmp_save->storage.tuned_state = LCD_ADJUST_RESULT_ING;
|
||||
/*为指针开辟存储空间*/
|
||||
if (mode_pwmp_hd_adjust == NULL)
|
||||
{
|
||||
|
|
@ -898,6 +955,7 @@ static void pwmp_adjust_hd_fail(uint8_t *state)
|
|||
|
||||
/*PID参数整定模式*/
|
||||
// 通过整定获得K、T、L（tao）
|
||||
int s_watch;
|
||||
static void pwmp_adjust_hd_PID_tuning(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
|
||||
{
|
||||
if (!FSM_IS_WAIT(*state))
|
||||
|
|
@ -910,14 +968,15 @@ static void pwmp_adjust_hd_PID_tuning(uint8_t *state, mode_pwmp_hd_adjust_state_
|
|||
pid_autotune_way_set(PID_AUTOTUNE_WAY_ZN);
|
||||
/*阶跃信号设置*/
|
||||
set_step_signal(FULL_TRIP_SIGNAL);
|
||||
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 80; // 等待八秒
|
||||
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 40; // 等待八秒
|
||||
FSM_WAIT(*state); // 设置等待状态
|
||||
}
|
||||
else
|
||||
{
|
||||
valve_position_change_hd_e s = pwmp_adjust_hd_valve_position_change(state, next_state, DIFF_ADC_MAX);
|
||||
s_watch = s;
|
||||
/*获取实时行程*/
|
||||
pid_autotune_hd->data.cur_actual = get_actual_travel_adc();
|
||||
pid_autotune_hd->data.cur_actual = pid_autotune_hd->data.adjust_tmp_actual;
|
||||
/*计算变化率*/
|
||||
pid_autotune_hd->data.actual_error = pid_autotune_hd->data.cur_actual - pid_autotune_hd->data.pre_actual;
|
||||
if (pid_autotune_hd->data.actual_error > 1000)
|
||||
|
|
@ -958,7 +1017,7 @@ static void pwmp_adjust_hd_PID_tuning(uint8_t *state, mode_pwmp_hd_adjust_state_
|
|||
*state = next_state;
|
||||
break;
|
||||
case POSITION_CHANGE:
|
||||
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 80;
|
||||
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 40;
|
||||
break;
|
||||
case POSITION_NO_CHANGE:
|
||||
break;
|
||||
|
|
@ -1015,9 +1074,19 @@ static void pwmp_adjust_hd_pid_calculate(uint8_t *state, mode_pwmp_hd_adjust_sta
|
|||
static void pwmp_adjust_hd_save(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
|
||||
{
|
||||
*state = next_state;
|
||||
mode_pwmp_hd->pwmp_save->storage.tuned_flag = 1;
|
||||
mode_pwmp_hd->params_save_cb();
|
||||
if (mode_pwmp_hd->pwmp_save->storage.tuned_state == LCD_ADJUST_RESULT_ING)
|
||||
{
|
||||
mode_pwmp_hd->pwmp_save->storage.tuned_state = LCD_ADJUST_RESULT_OK;
|
||||
mode_pwmp_hd->auto_tune_state = PWMP_HD_ADJUST_RESULT_SUCCESS;
|
||||
mode_pwmp_hd->pwmp_save->storage.tuned_flag = 1;
|
||||
pwmp_public_params_update();
|
||||
}
|
||||
else
|
||||
{
|
||||
mode_pwmp_hd->pwmp_save->storage.tuned_state = LCD_ADJUST_RESULT_FAIL;
|
||||
mode_pwmp_hd->pwmp_save->storage.tuned_flag = 0;
|
||||
}
|
||||
mode_pwmp_hd->params_save_cb();
|
||||
}
|
||||
|
||||
//////////////////////////////////*状态机模式END*//////////////////////////////////////////////////////
|
||||
|
|
@ -1047,6 +1116,7 @@ void pwmp_adjust(uint8_t *state)
|
|||
break;
|
||||
case PWMP_HD_ADJUST_CALCULATE:
|
||||
pwmp_adjust_hd_calculate(state, PWMP_HD_ADJUST_PID_TUNING);
|
||||
break;
|
||||
case PWMP_HD_ADJUST_PID_TUNING:
|
||||
pwmp_adjust_hd_PID_tuning(state, PWMP_HD_ADJUST_PID_CALCULATE);
|
||||
break;
|
||||
|
|
@ -1073,6 +1143,42 @@ void pwmp_adjust(uint8_t *state)
|
|||
pwmp_adjust_hd_stop(state);
|
||||
break;
|
||||
}
|
||||
|
||||
switch (ts)
|
||||
{
|
||||
case PWMP_HD_ADJUST_IDEL:
|
||||
mode_pwmp_hd->lcd_adjust_state = LCD_ADJUST_IDEL;
|
||||
break;
|
||||
case PWMP_HD_ADJUST_ROUGH_POSITION0:
|
||||
mode_pwmp_hd->lcd_adjust_state = LCD_ADJUST_POSITION0;
|
||||
break;
|
||||
case PWMP_HD_ADJUST_ACCURATE_POSITION0:
|
||||
mode_pwmp_hd->lcd_adjust_state = LCD_ADJUST_POSITION0;
|
||||
break;
|
||||
case PWMP_HD_ADJUST_ROUGH_POSITION100:
|
||||
mode_pwmp_hd->lcd_adjust_state = LCD_ADJUST_POSITION100;
|
||||
break;
|
||||
case PWMP_HD_ADJUST_ACCURATE_POSITION100:
|
||||
mode_pwmp_hd->lcd_adjust_state = LCD_ADJUST_POSITION100;
|
||||
break;
|
||||
case PWMP_HD_ADJUST_BLEEDING_TIMER:
|
||||
mode_pwmp_hd->lcd_adjust_state = LCD_ADJUST_TIMER;
|
||||
break;
|
||||
case PWMP_HD_ADJUST_AERATE_TIMER:
|
||||
mode_pwmp_hd->lcd_adjust_state = LCD_ADJUST_TIMER;
|
||||
break;
|
||||
case PWMP_HD_ADJUST_TUNING:
|
||||
mode_pwmp_hd->lcd_adjust_state = LCD_ADJUST_TUNING;
|
||||
break;
|
||||
case PWMP_HD_ADJUST_SAVE:
|
||||
mode_pwmp_hd->lcd_adjust_state = LCD_ADJUST_SAVE;
|
||||
break;
|
||||
case PWMP_HD_ADJUST_STOP:
|
||||
mode_pwmp_hd->lcd_adjust_state = LCD_ADJUST_STOP;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
//////////////////////////////*整定程序入口END*//////////////////////////////////////////////////////
|
||||
|
||||
|
|
@ -1091,7 +1197,7 @@ void mode_pwmp_hd_process(void)
|
|||
uint8_t ble_len = 0;
|
||||
osel_memset((uint8_t *)ble_data, 0, 128);
|
||||
// sprintf(ble_data, "%f,%f,%f,%d,%f\r\n", pid_target, show_actual, p->real_error, mode_pwm->output, loop_current);
|
||||
if (mode_pwmp_hd->process_state == PWMP_HD_PROCESS_CONTROL)
|
||||
if (mode_pwmp_hd->process_state == PWMP_HD_PROCESS_ADJUST)
|
||||
{
|
||||
sprintf(ble_data, "%f,%f,%f,%f\r\n", mode_pwmp_hd->control.ctrl_target, mode_pwmp_hd->control.ctrl_feedback, mode_pwmp_hd->control.real_error, loop_current);
|
||||
}
|
||||
|
|
@ -1152,6 +1258,7 @@ void mode_pwmp_hd_process(void)
|
|||
{
|
||||
pdctrl_out(mode_pwmp_hd->output);
|
||||
mode_pwmp_hd->current_adc = get_actual_travel_adc();
|
||||
mode_pwmp_hd->duty_percent = ((float32)mode_pwmp_hd->output / (float32)ADC_OUT_MAX) * 100;
|
||||
mode_pwmp_hd->current_electric = ip2current();
|
||||
break;
|
||||
}
|
||||
|
|
@ -1162,11 +1269,14 @@ void mode_pwmp_hd_process(void)
|
|||
//////////////////////////////*入口END*//////////////////////////////////////////////////////
|
||||
|
||||
/*程序初始化*/
|
||||
void mode_pwmp_hd_init(mode_pwmp_hd_params_u *params, void (*params_save_cb)(void))
|
||||
void mode_pwmp_hd_init(uint16_t valve_style, mode_pwmp_hd_params_u *params, void (*params_save_cb)(void))
|
||||
{
|
||||
DBG_ASSERT(params != NULL __DBG_LINE); // 断言检查
|
||||
DBG_ASSERT(params_save_cb != NULL __DBG_LINE);
|
||||
/*大电流输出使能开关*/
|
||||
#if VIP_H_EN_HD == 1
|
||||
VIP_H_EN_ENABLE();
|
||||
#endif
|
||||
/*为指针开辟存储空间*/
|
||||
if (mode_pwmp_hd == NULL)
|
||||
{
|
||||
|
|
@ -1187,8 +1297,13 @@ void mode_pwmp_hd_init(mode_pwmp_hd_params_u *params, void (*params_save_cb)(voi
|
|||
/*临时参数设置（后续整定）*/
|
||||
mode_pwmp_hd->pwmp_save->storage.trip_0 = 2583;
|
||||
mode_pwmp_hd->pwmp_save->storage.trip_100 = 1722;
|
||||
#if VIP_H_EN_HD == 1
|
||||
mode_pwmp_hd->pwmp_save->storage.pwmp_min = 500;
|
||||
mode_pwmp_hd->pwmp_save->storage.pwmp_max = 925;
|
||||
#else
|
||||
mode_pwmp_hd->pwmp_save->storage.pwmp_min = 1025;
|
||||
mode_pwmp_hd->pwmp_save->storage.pwmp_max = 2050;
|
||||
#endif
|
||||
mode_pwmp_hd->pwmp_save->storage.valve_type = ATO; // 气开阀
|
||||
#if INTEGRAL_SEPARATION == 1
|
||||
#if 1
|
||||
|
|
|
|||
|
|
@ -129,6 +129,8 @@ void params_restart(void)
|
|||
uDevice.DeviceAddr = 0;
|
||||
// 定位器工作模式
|
||||
uDevice.WorkMode = ON_LINE_MODE;
|
||||
// 阀门型号
|
||||
uDevice.ValveStyle = VALVE_GPS3000;
|
||||
// 阀门类型
|
||||
uDevice.eAirAction = ATO;
|
||||
// 定位器控制输出模式
|
||||
|
|
|
|||
|
|
@ -73,10 +73,14 @@ void pdctrl_init(pdctrl_mode_e mode)
|
|||
{
|
||||
pwm_init();
|
||||
}
|
||||
else if (out_mode == PDCTRL_PWMP)
|
||||
else if (out_mode == PDCTRL_PWMP || out_mode == PDCTRL_PWMP_HD)
|
||||
{
|
||||
pwmp_init();
|
||||
}
|
||||
else
|
||||
{
|
||||
DBG_ASSERT(FALSE __DBG_LINE);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -87,7 +91,7 @@ void pdctrl_init(pdctrl_mode_e mode)
|
|||
void pdctrl_stop(void)
|
||||
{
|
||||
pdctrl_run_flag = FALSE;
|
||||
if (out_mode == PDCTRL_DAC || out_mode == PDCTRL_PWMP)
|
||||
if (out_mode == PDCTRL_DAC)
|
||||
{
|
||||
dac_dinit();
|
||||
}
|
||||
|
|
@ -95,10 +99,14 @@ void pdctrl_stop(void)
|
|||
{
|
||||
pwm_dinit();
|
||||
}
|
||||
else if (out_mode == PDCTRL_PWMP)
|
||||
else if (out_mode == PDCTRL_PWMP || out_mode == PDCTRL_PWMP_HD)
|
||||
{
|
||||
pwmp_dinit();
|
||||
}
|
||||
else
|
||||
{
|
||||
DBG_ASSERT(FALSE __DBG_LINE);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -117,10 +125,14 @@ void pdctrl_run(void)
|
|||
{
|
||||
pwm_init();
|
||||
}
|
||||
else if (out_mode == PDCTRL_PWMP)
|
||||
else if (out_mode == PDCTRL_PWMP || out_mode == PDCTRL_PWMP_HD)
|
||||
{
|
||||
pwmp_init();
|
||||
}
|
||||
else
|
||||
{
|
||||
DBG_ASSERT(FALSE __DBG_LINE);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -42,7 +42,7 @@
|
|||
#define SELF_VCHART_LEN 17 ///< 自定义阀门特性长度
|
||||
#define VALVE_SERIAL_NUM_LEN 16 ///< 阀门序列号长度
|
||||
#define INST_SERIAL_NUM_LEN 16 ///< 定位器序列号长度
|
||||
#define DAC_OUT_MAX 4095 ///< DAC输出最大值
|
||||
#define ADC_OUT_MAX 4095 ///< ADC输出最大值
|
||||
|
||||
/**
|
||||
* ADC通道定义: 主频4、分频系数16，根据公式 TCONV(转换时间) = (采样时间 + 12.5 个周期)/(主频/ADC分频系数) 计算每个通道单个采集时间
|
||||
|
|
@ -383,6 +383,24 @@ typedef union
|
|||
} Bits;
|
||||
} driver_icon_enable_u;
|
||||
|
||||
typedef enum
|
||||
{
|
||||
// 这一部分只用于LCD整定界面
|
||||
LCD_ADJUST_IDEL = 1, // 准备中
|
||||
LCD_ADJUST_POSITION0, // 位置0
|
||||
LCD_ADJUST_POSITION100, // 位置100
|
||||
LCD_ADJUST_TIMER, // 计时
|
||||
LCD_ADJUST_TUNING, // 自整定
|
||||
LCD_ADJUST_SAVE, // 存储变量
|
||||
LCD_ADJUST_STOP, // 停止
|
||||
} lcd_adjust_step_e;
|
||||
|
||||
typedef enum
|
||||
{
|
||||
LCD_ADJUST_RESULT_OK, ///< 整定成功
|
||||
LCD_ADJUST_RESULT_FAIL, ///< 整定失败
|
||||
LCD_ADJUST_RESULT_ING, ///< 整定中
|
||||
} lcd_adjust_result_e;
|
||||
#pragma pack() // 编译器中提供了#pragma pack(n)来设定变量以n字节对齐方式
|
||||
|
||||
extern volatile float32 calib_param[CALIBPARA_NUM][2]; ///< 校准参数
|
||||
|
|
|
|||
|
|
@ -15,7 +15,7 @@
|
|||
|
||||
// mem1内存参数设定.mem1完全处于内部SRAM里面.(设置内部SARM的内存池和内存表的参数)
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#define MEM1_BLOCK_SIZE 32 // 一个内存块大小为32字节
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#define MEM1_MAX_SIZE 20 * 1024 // 最大管理内存 1K (我们这个内存管理系统的内部SRAM可控制的内存大小)
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#define MEM1_MAX_SIZE 30 * 1024 // 最大管理内存 1K (我们这个内存管理系统的内部SRAM可控制的内存大小)
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#define MEM1_ALLOC_TABLE_SIZE MEM1_MAX_SIZE / MEM1_BLOCK_SIZE // 内存表大小(有多少块内存块)
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// mem2内存参数设定.mem2的内存池处于外部SRAM里面
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Reference in New Issue