413 lines
8.9 KiB
C
413 lines
8.9 KiB
C
/**
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* @file mode.c
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* @author xxx
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* @date 2023-09-18 10:00:52
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* @brief 此文件用于实现不同工作模式的功能
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* @copyright Copyright (c) 2023 by xxx, All Rights Reserved.
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*/
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#include <math.h>
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#include "app.h"
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#include "main.h"
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#include "filter.h"
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#include "mode.h"
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mode_params_t mode_params; // 模式参数
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volatile static uint8_t last_work_mode = 0xff; // 上一次的工作模式
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volatile static uint8_t manual_test_flag = FALSE; // 手动测试模式
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volatile static BOOL mode_control_state = FALSE; // TRUE:算法控制器可以运行 FALSE:算法控制器不可以运行
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volatile static uint8_t alog_control_count = 0; // 算法控制计数器
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lpf_t show_actual_lpf;
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/**
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* @brief 改变自动重装载寄存器的值
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* @param {uint8_t} autoload
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* @return {*}
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* @note
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*/
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static void mode_autoload_change(uint8_t autoload)
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{
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LL_TIM_SetAutoReload(TIM7, autoload);
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}
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/**
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* @brief 工作模式参数保存,回调处理
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* @return {*}
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* @note
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*/
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static void mode_params_save_cb(void)
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{
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fal_execution_kv_write(KEY_MODE_PARAM, (uint8_t *)&mode_params, sizeof(mode_params_t));
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}
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static void set_manual_test(BOOL status)
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{
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manual_test_flag = status;
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}
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/**
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* @brief
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* > 在线模式：根据4~20ma控制阀位
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* > 离线模式：根据hart指令控制阀位
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* @return {*}
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* @note
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*/
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static void online_offline_mode_adjust(void)
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{
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mode_control_state = TRUE;
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}
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/**
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* @brief 待机模式：DCS专用，阀门保持现状，定位器正常工作，不接收外部信号
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* @return {*}
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* @note
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*/
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static void wait_mode_adjust(void)
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{
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mode_control_state = TRUE;
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}
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/**
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* @brief 按键测试模式
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* @return {*}
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* @note
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*/
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static void manual_test_mode(void)
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{
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set_manual_test(TRUE);
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mode_control_state = TRUE;
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}
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BOOL is_manual_test(void)
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{
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return (manual_test_flag == TRUE) ? TRUE : FALSE;
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}
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/**
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* @brief 行程统计(100ms以上运行一次)
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* @return {*}
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* @note
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*/
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void travel_statistics(void)
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{
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static float32 loop_current_last = 0.0f; // 上一次的电流
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static uint8_t change_count = 0;
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// 输入电流
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loop_current = get_current();
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loop_current = get_current_deal(loop_current);
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if (loop_current_last != loop_current) // 过滤掉不稳定的电流值
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{
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if (change_count++ >= 2)
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{
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loop_current_last = loop_current;
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change_count = 0;
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}
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else
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{
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return;
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}
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}
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else
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{
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change_count = 0;
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}
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// 获取目标行程
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if (uDevice.WorkMode == ON_LINE_MODE) // 在线模式:根据4~20ma控制阀位
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{
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// 目标行程
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target_travel = i2psb(loop_current);
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}
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else if (uDevice.WorkMode == OFF_LINE_MODE) // 离线模式:根据hart指令控制阀位
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{
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target_travel = uRtData.travel_target;
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}
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target_travel = target_travel_deal(target_travel);
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pid_target = get_pid_travel(target_travel);
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show_target = get_show_travel(target_travel);
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// 实际行程处理
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actual_travel = actual_travel_deal(actual_travel);
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show_actual = get_show_travel(actual_travel);
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show_actual = lpf_update(&show_actual_lpf, show_actual);
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show_loop = loop_current;
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}
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/**
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* @brief 算法控制模块
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* @return {*}
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* @note 该模块在TIM7中执行
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*/
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void alog_control_module(void)
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{
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// 注： travel_statistics因为在flow中被更新，如果UI更新时会导致延时，所以在这里更新
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if (alog_control_count++ >= 10) // 100ms
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{
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alog_control_count = 0;
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travel_statistics();
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leds_toggle(LEDS_1_GREEN);
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}
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if (mode_control_state == FALSE)
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{
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// 算法控制器不可以运行
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return;
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}
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// 当电流达到4mA时才进行控制
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if (loop_current >= LOOP_CURRENT_MIN)
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{
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if (uDevice.SpecControlOutputMode == PDCTRL_DAC)
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{
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mode_dac_process();
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}
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else if (uDevice.SpecControlOutputMode == PDCTRL_PWM)
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{
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mode_pwm_process();
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}
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else if (uDevice.SpecControlOutputMode == PDCTRL_PWMP)
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{
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mode_pwmp_process();
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}
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else if (uDevice.SpecControlOutputMode == PDCTRL_PWMP_HD)
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{
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mode_pwmp_hd_process();
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}
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else
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{
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DBG_ASSERT(FALSE __DBG_LINE);
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}
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}
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else
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{
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pdctrl_out(0);
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}
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}
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/**
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* @brief 模式整定开始
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* @return {*}
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* @note
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*/
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void mode_adjust_start(void)
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{
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switch (uDevice.SpecControlOutputMode)
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{
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case PDCTRL_DAC:
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break;
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case PDCTRL_PWM:
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break;
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case PDCTRL_PWMP:
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break;
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case PDCTRL_PWMP_HD:
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pwmp_hd_process_state_set(PWMP_HD_PROCESS_ADJUST);
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break;
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default:
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break;
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}
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}
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/**
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* @brief 模式整定停止
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* @return {*}
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* @note
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*/
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void mode_adjust_stop(void)
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{
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switch (uDevice.SpecControlOutputMode)
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{
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case PDCTRL_DAC:
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break;
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case PDCTRL_PWM:
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break;
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case PDCTRL_PWMP:
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break;
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case PDCTRL_PWMP_HD:
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pwmp_hd_process_state_set(PWMP_HD_PROCESS_STOP);
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break;
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default:
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break;
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}
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}
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/**
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* @brief 获取整定步骤数量
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* @return {*}
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* @note
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*/
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uint8_t mode_adjust_step_count(void)
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{
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switch (uDevice.SpecControlOutputMode)
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{
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case PDCTRL_DAC:
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return 0;
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case PDCTRL_PWM:
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return 0;
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case PDCTRL_PWMP:
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return 0;
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default:
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return 0;
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}
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}
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/**
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* @brief 获取当前整定步骤
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* @return {*}
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* @note
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*/
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uint8_t mode_adjust_step_current(void)
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{
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switch (uDevice.SpecControlOutputMode)
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{
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case PDCTRL_DAC:
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DBG_ASSERT(mode_dac != NULL __DBG_LINE);
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return 0;
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case PDCTRL_PWM:
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DBG_ASSERT(mode_pwm != NULL __DBG_LINE);
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return 0;
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case PDCTRL_PWMP:
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return 0;
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default:
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return 0;
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}
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}
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/**
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* @brief LCD绘图前需要判断算法是否空闲
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* @return {*}
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* @note 在死区或者棒棒控制区间可以绘图，这个功能对算法要求极高，必须在短时间内进入到死区。后面测试看效果考虑是否需要该功能
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*/
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BOOL mode_control_idel(void)
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{
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switch (uDevice.SpecControlOutputMode)
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{
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case PDCTRL_DAC:
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return TRUE;
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case PDCTRL_PWM:
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return TRUE;
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case PDCTRL_PWMP:
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return TRUE;
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default:
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return FALSE;
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}
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}
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/**
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* @brief 模式处理
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* @param {uint8_t} work_mode
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* @return {*}
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* @note
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*/
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void mode_detection(uint8_t work_mode)
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{
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switch (work_mode)
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{
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case ON_LINE_MODE:
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case OFF_LINE_MODE:
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online_offline_mode_adjust();
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break;
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case WAIT_MODE: // 等待模式
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wait_mode_adjust();
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break;
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case MANUAL_TEST_MODE: // 手动测试模式
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manual_test_mode();
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break;
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// 以下状态算法不能运行
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case FORBIDEN_MODE: // 禁止模式
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case STOP_MODE: // 停止模式
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mode_control_state = FALSE;
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break;
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default:
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break;
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}
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// 模式切换时各个组件工作状态的切换
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if (last_work_mode != work_mode)
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{
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last_work_mode = work_mode;
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if (TRUE == mode_control_state)
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{
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// 按键初始化
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key_init();
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// LCD初始化
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lcd_init();
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pdctrl_run(); // 输出软使能
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}
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else
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{
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if (work_mode == STOP_MODE)
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{
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// 禁用LCD显示
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lcd_dinit();
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// 禁用按键
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key_dinit();
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}
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if (work_mode == OFF_LINE_MODE)
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{
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if (uDevice.ControlMode != TRUE) // 不运行到上次位置
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{
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uRtData.travel_target = 0;
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}
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}
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pdctrl_stop(); // 输出软禁止
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}
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}
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if (work_mode != MANUAL_TEST_MODE)
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{
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set_manual_test(FALSE);
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}
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}
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/**
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* @brief 工作模式初始化
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* @return {*}
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* @note
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*/
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void mode_init(void)
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{
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mode_autoload_change(mode_default_autoload);
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// 反初始化，释放内存
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mode_dac_dinit();
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mode_pwm_dinit();
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mode_pwmp_dinit();
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mode_pwmp_hd_dinit();
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if (uDevice.SpecControlOutputMode == PDCTRL_DAC)
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{
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pdctrl_init(PDCTRL_DAC);
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mode_dac_init(&mode_params.mode_dac_params, mode_params_save_cb);
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}
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else if (uDevice.SpecControlOutputMode == PDCTRL_PWM)
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{
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pdctrl_init(PDCTRL_PWM);
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mode_pwm_init(&mode_params.mode_pwm_params, mode_params_save_cb); ///< 要放在pdctrl_init()后面执行
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}
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else if (uDevice.SpecControlOutputMode == PDCTRL_PWMP)
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{
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pdctrl_init(PDCTRL_PWMP);
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mode_pwmp_init(&mode_params.mode_pwmp_params, mode_params_save_cb);
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}
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else if (uDevice.SpecControlOutputMode == PDCTRL_PWMP_HD)
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{
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pdctrl_init(PDCTRL_PWMP_HD);
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mode_pwmp_hd_init(&mode_params.mode_pwmp_hd_params, mode_params_save_cb);
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}
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else
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{
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DBG_ASSERT(FALSE __DBG_LINE);
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}
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show_actual_lpf.alpha = 0.2f;
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lpf_init(&show_actual_lpf);
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}
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