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actuators.c
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// actuators.c - Copyright (c) 2016-24 Andre M. Maree / KSS Technologies (Pty) Ltd.
#include "hal_platform.h"
#if (HAL_XXO > 0)
#include "actuators.h"
#include "endpoints.h"
#include "hal_device_includes.h"
#include "hal_gpio.h"
#if (halUSE_I2C > 0)
#include "hal_i2c_common.h"
#endif
#include "hal_memory.h"
#include "hal_options.h"
#include "printfx.h"
#include "rules.h"
#include "syslog.h"
#include "systiming.h"
#include "errors_events.h"
#include "x_ubuf.h"
#include "esp_attr.h"
#include <string.h>
// ############################### BUILD: debug configuration options ##############################
#define debugFLAG 0xF000
#define debugPHYS (debugFLAG & 0x0001)
#define debugFUNC (debugFLAG & 0x0002)
#define debugUSER (debugFLAG & 0x0004)
#define debugDUTY (debugFLAG & 0x0008)
#define debugDUTY_CYCLE (debugFLAG & 0x0010)
#define debugFUNC_RULES (debugFLAG & 0x0040)
#define debugTIMING (debugFLAG_GLOBAL & debugFLAG & 0x1000)
#define debugTRACK (debugFLAG_GLOBAL & debugFLAG & 0x2000)
#define debugPARAM (debugFLAG_GLOBAL & debugFLAG & 0x4000)
#define debugRESULT (debugFLAG_GLOBAL & debugFLAG & 0x8000)
/*
* Theory of operation: DIGital outputs
* ------------------------------------
* Minimum interval for ANYTHING is 1mS (1 or more ticks)
* Fixed number of levels = 100 to provide 0->100 %
* Therefore, any stage being OFF -> FI -> ON -> FO must a multiple of 100mS
* To control the intensity of an LED using a DIGital 0/1 pin we vary
* the number of mSec (of this fixed 100mS period) that pin is 0/1
*
* Logic per mS/tick (FI & FO stages):
* -----------------------------------
* if tNow = 0 (1st time in stage)
*
* Update tNow counter.
* If tNow = tXXX
* reset tNow and step to next stage
* Update the level count.
* If level count equal match count
* switch the output
* If level count wrapped (100)
* reset level to 0
* recalc new match level
*
* Logic per mS/tick (ON & OFF stages):
* Update tNow counter.
* If tNow = tXXX
* reset tNow and step to next stage
* Update the level count.
* If level count equal 0 (OFF) or 100(ON)
* switch the output OFF or ON
* If level count wrapped (100)
* reset level to 0
*
* Theory of operation: ANA outputs
* --------------------------------
*
*
* Theory of operation: PWM outputs
* --------------------------------
*
*
*/
// ############################################ Macros #############################################
/* DIGital default was 10, timing worked exactly but flashing is prominent
* 25 reduces flashing, provides more steps in intensity, smoother FI & FO
* 50 is very smooth, no/minimal flicker, but slightly abrupt at end of FO
* 100 is smooth but FI/FO look abrupt at start & end
*/
#define actFREQ_DEF_DIG 33
#define actFREQ_DEF_ANA 250
#define halFREQ_DEF_PWM 1000
#define actFREQ_MIN 1
#define actFREQ_MAX configTICK_RATE_HZ
#define halPWM_MAX_COUNT (1 << 24) // 24 bit register
#define halPWM_CLOCK_HZ configCLOCKS_PER_SEC
#define halPWM_MIN_FREQ ((halPWM_CLOCK_HZ / halPWM_MAX_COUNT) + 1)
#define halPWM_MAX_FREQ (halPWM_CLOCK_HZ / 8)
#define stACT_ALL_MASK (1<<stACT_S0 | 1<<stACT_S1 | 1<<stACT_S2 | 1<<stACT_S3 | 1<<stACT_SX)
// #################################### Global & Local variables ###################################
const char * const StageNames[] = { "FI ", "ON ", "FO ", "OFF" };
const char * const ActBusNames[] = { "SoC", "I2C", "SPI", "" };
const char * const ActTypeNames[] = { "DIG", "PWM", "ANA", "" };
/* Objective is to facilitate a number of predefined sequences with a simple single actuation command.
* SEQUENCE Ch# m0 m1 m2 m3 etc mZ will result in the first mode (m0) being loaded immediately with the
* rest of the mode numbers going into a queue to be loaded sequentially after completion of the previous
*/
const act_seq_t sAS[actNUM_SEQUENCES] = {
// Rpt tFI tON tFO tOFF
{ 5, 0, 1000, 0, 1000, }, // 0.50Hz x5 10Sec OK
{ 1, 0, 0, 0, 25000, }, // OFF x1 25Sec BUSY
{ 5, 0, 1000, 0, 1000, }, // 0.50Hz x5 10Sec OK
{ 1, 0, 0, 0, 275000, }, // OFF x1 275Sec BUSY
{ 30, 0, 500, 0, 500, }, // 1.00Hz x30 30Sec WARNING
{ 15, 500, 0, 500, 0, }, // 1.00Hz x15 15Sec WAIT !!!
{ 8, 0, 250, 0, 250, }, // 2.00 Hz x8 4Sec
{ 6, 0, 500, 0, 500, }, // 1.00 Hz x6 6Sec
{ 4, 0, 750, 0, 750, }, // 0.67 Hz x4 6Sec
{ 3, 0, 1000, 0, 1000, }, // 0.50 Hz x3 6Sec
};
const act_init_t ActInit[HAL_XXO] = { // Static configuration info
#if (buildPLTFRM == HW_AC01)
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 0),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 1),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 2),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 3),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 4),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 5),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 6),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 7),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 8),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 9),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 10),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 11),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 12),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 13),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 14),
actMAKE_DEF(actTYPE_DIG,actBUS_I2C, 15),
#elif (buildPLTFRM == HW_EM1P2) || (buildPLTFRM == HW_EM3P2)
// actMAKE_DEF(actTYPE_DIG,actBUS_SOC, HAL_GDO_0), // cannot use, pin conflicts with SCL
#elif (buildPLTFRM == HW_KC868A4)
actMAKE_DEF(actTYPE_DIG,actBUS_SOC, 0),
actMAKE_DEF(actTYPE_DIG,actBUS_SOC, 1),
actMAKE_DEF(actTYPE_DIG,actBUS_SOC, 2),
actMAKE_DEF(actTYPE_DIG,actBUS_SOC, 3),
actMAKE_DEF(actTYPE_ANA,actBUS_SOC, 0),
actMAKE_DEF(actTYPE_ANA,actBUS_SOC, 1),
#elif (buildPLTFRM == HW_KC868A6)
actMAKE_DEF(actTYPE_DIG, actBUS_I2C, pcf8574IO8),
actMAKE_DEF(actTYPE_DIG, actBUS_I2C, pcf8574IO9),
actMAKE_DEF(actTYPE_DIG, actBUS_I2C, pcf8574IO10),
actMAKE_DEF(actTYPE_DIG, actBUS_I2C, pcf8574IO11),
actMAKE_DEF(actTYPE_DIG, actBUS_I2C, pcf8574IO12),
actMAKE_DEF(actTYPE_DIG, actBUS_I2C, pcf8574IO13),
actMAKE_DEF(actTYPE_ANA, actBUS_SOC, 0),
actMAKE_DEF(actTYPE_ANA, actBUS_SOC, 1),
#elif (buildPLTFRM == HW_DK41)
actMAKE_DEF(actTYPE_DIG,actBUS_SOC, 0),
actMAKE_DEF(actTYPE_DIG,actBUS_SOC, 1),
actMAKE_DEF(actTYPE_DIG,actBUS_SOC, 2),
#elif (buildPLTFRM == HW_WIPY3)
actMAKE_DEF(actTYPE_DIG,actBUS_SOC, 0),
#elif (buildPLTFRM == HW_SP2PM)
actMAKE_DEF(actTYPE_DIG,actBUS_SOC, 0),
actMAKE_DEF(actTYPE_DIG,actBUS_SOC, 1),
actMAKE_DEF(actTYPE_DIG,actBUS_SOC, 2),
#endif
};
StaticTask_t ttsACT = { 0 };
StackType_t tsbACT[actuateSTACK_SIZE] = { 0 };
/* In order to optimise MCU utilisation, especially since the actuator task runs EVERY couple of mS,
* we try to only start the task if there is something to do. Hence, the task is started every time
* a LOAD command is executed. During the running of the task the 'ActuatorsRunning' variable is set
* to the number of actuators serviced during that task cycle. At the end of the task cycle, if NO
* actuators were serviced, the task RUN status is cleared, only to be restarted with the next LOAD.
*/
u8_t ActuatorsRunning = 0;
act_info_t sAI[HAL_XXO];
// #################################### Common support functions ###################################
static int xActuatorLogError(const char * pFname, u8_t eCh) {
const act_init_t * psAI = &ActInit[eCh];
vSyslog(SL_SEV_ERROR, pFname, "Ch=%d B=%s/%d T=%s/%d N=%d", eCh, ActBusNames[psAI->ioBus], psAI->ioBus,
ActTypeNames[psAI->ioType], psAI->ioType, psAI->ioNum);
return erFAILURE;
}
/**
* @brief Wait until actuator not busy then mark as busy...
*/
static void vActuatorBusySET(act_info_t * psAI) {
while (psAI->Busy)
vTaskDelay(pdMS_TO_TICKS(2));
psAI->Busy = 1;
}
/**
* @brief Clear actuator busy flag
*/
static void vActuatorBusyCLR(act_info_t * psAI) { psAI->Busy = 0; }
/**
* @brief UNTESTED
* @param psAI
* @return
*/
static int IRAM_ATTR xActuatorAlert(act_info_t * psAI, u8_t Type, u8_t Level) {
epi_t sEI = { 0 };
event_t sEvent = { 0 };
alert_t sAlert = { 0 };
ubuf_t sBuf = { 0 };
vEpGetInfoWithIndex(&sEI, URI_ACT);
IF_RETURN_X(sEI.psES == NULL, erFAILURE);
sEI.psEvent = &sEvent;
sEI.psAlert = &sAlert;
sEI.psUB = &sBuf;
// configure the type, level and supporting field/channel info
sAlert.Type = Type;
sAlert.Level = Level;
sAlert.pvValue = psAI;
return xEpGenerateAlert(&sEI);
}
static int xAxtuatorCheckValidity(u8_t eCh) {
int iRV;
if (eCh >= HAL_XXO) iRV = erACT_INV_CH;
else if (!sAI[eCh].ConfigOK) iRV = erACT_NOT_CFG;
else if (sAI[eCh].Blocked) iRV = erACT_BLOCKED;
else return erSUCCESS;
IF_PX(debugTRACK && ioB2GET(dbgActuate), "%s (%d)" strNL, pcStrError(iRV), eCh);
return iRV;
}
#if (buildAEP > 0)
static int xActuatorVerifyParameters(u8_t eCh, u8_t Field) {
if (eCh >= HAL_XXO || sAI[eCh].Blocked || OUTSIDE(selACT_T_FI, Field, selACT_T_REM)) {
SL_ERR("Invalid actuator(%d) / field (%d) / status (%d)", eCh, Field, sAI[eCh].Blocked);
return erFAILURE;
}
return erSUCCESS;
}
#endif
// ##################### Hardware dependent (DIG/PWM/ANA) local-only functions #####################
#if (HAL_XDO > 0) // All DIGital type actuators
/**
* @brief LL=NL
*/
void IRAM_ATTR vActuateSetLevelDIG(u8_t eCh, u8_t NewState) {
switch(ActInit[eCh].ioBus) { // handle hardware dependent component
#if (HAL_GDO > 0)
case actBUS_SOC:
halGDO_SetState(ActInit[eCh].ioNum, NewState);
break;
#endif
#if (HAL_IDO > 0)
case actBUS_I2C:
#if (HAL_PCA9555 > 0) && (HAL_PCF8574 == 0)
pca9555DIG_OUT_SetStateLazy(ActInit[eCh].ioNum, NewState);
#elif (HAL_PCF8574 > 0) && (HAL_PCA9555 == 0)
pcf8574DIG_OUT_SetState(ActInit[eCh].ioNum, NewState);
#else
#error "Can only support 1 or the other at any stage"
#endif
break;
#endif
default:
xActuatorLogError(__FUNCTION__, eCh);
}
}
/**
* @brief LL=NL
*/
int xActuateGetLevelDIG(u8_t eCh) {
int iRV = erFAILURE;
switch(ActInit[eCh].ioBus) { // handle hardware dependent component
#if (HAL_GDO > 0)
case actBUS_SOC:
iRV = halGDO_GetState(ActInit[eCh].ioNum);
break;
#endif
#if (HAL_IDO > 0)
case actBUS_I2C:
#if (HAL_PCA9555 > 0)
iRV = pca9555DIG_OUT_GetState(ActInit[eCh].ioNum);
#elif (HAL_PCF8574 > 0)
iRV = pcf8574DIG_IO_GetState(ActInit[eCh].ioNum);
#else
myASSERT(0);
#endif
break;
#endif
default:
xActuatorLogError(__FUNCTION__, eCh);
}
return iRV;
}
#endif
#if (HAL_XPO > 0) // All PWM type actuators
/**
* @brief LL=NL
*/
void IRAM_ATTR vActuateSetLevelPWM(u8_t eCh, u8_t NewState) {
switch(ActInit[eCh].ioBus) { // handle hardware dependent component
#if (HAL_GPO > 0)
case actBUS_SOC:
halGPIO_PWM_OUT_SetCycle(eCh, NewState);
break;
#endif
#if (HAL_IPO > 0)
case actBUS_I2C:
break;
#endif
#if (HAL_SPO > 0)
case actBUS_SPI:
break;
#endif
default:
xActuatorLogError(__FUNCTION__, eCh);
}
}
/**
* @brief LL=NL
*/
int xActuateGetLevelPWM(u8_t eCh) {
int iRV = erFAILURE;
switch(ActInit[eCh].ioBus) { // handle hardware dependent component
#if (HAL_GPO > 0)
case actBUS_SOC:
break;
#endif
#if (HAL_IPO > 0)
case actBUS_I2C:
break;
#endif
#if (HAL_SPO > 0)
case actBUS_SPI:
break;
#endif
default:
xActuatorLogError(__FUNCTION__, eCh);
}
return iRV;
}
#endif
#if (HAL_XAO > 0) // All ANAlog type actuators
/**
* @brief LL=NL
*/
void IRAM_ATTR vActuateSetLevelANA(u8_t eCh, u8_t NewState) {
switch(ActInit[eCh].ioBus) { // handle hardware dependent component
#if (HAL_GAO > 0)
case actBUS_SOC:
halGAO_WriteRAW(ActInit[eCh].ioNum, NewState);
break;
#endif
#if (HAL_IAO > 0)
case actBUS_I2C:
break;
#endif
#if (HAL_SAO > 0)
case actBUS_SPI:
break;
#endif
default:
xActuatorLogError(__FUNCTION__, eCh);
}
}
/**
* @brief LL=NL
*/
int xActuateGetLevelANA(u8_t eCh) {
int iRV = erFAILURE;
switch(ActInit[eCh].ioBus) { // handle hardware dependent component
#if (HAL_GAO > 0)
case actBUS_SOC:
halGAO_ReadRAW(ActInit[eCh].ioNum);
break;
#endif
#if (HAL_IAO > 0)
case actBUS_I2C:
break;
#endif
#if (HAL_SAO > 0)
case actBUS_SPI:
break;
#endif
default:
xActuatorLogError(__FUNCTION__, eCh);
}
return iRV;
}
#endif
/**
* @brief LL=NL configure channel for a specific [soft] PWM frequency
* @brief The timer will be stopped and a new frequency will be configured
* The timer will NOT be restarted until a new duty cycle is configured
* @param eCh - logical PWM channel
* @param Frequency - desired frequency trimmed to be within the supported range
* @return none
*/
static void vActuatorSetFrequency(u8_t eCh, u32_t Frequency) {
switch(ActInit[eCh].ioType) { // handle hardware dependent component
#if (HAL_XDO > 0)
case actTYPE_DIG:
FIT2RANGE(actFREQ_MIN, Frequency, actFREQ_MAX, u32_t);
sAI[eCh].Divisor = (MILLIS_IN_SECOND / actuateTASK_PERIOD) / Frequency;
break;
#endif
#if (HAL_XPO > 0)
case actTYPE_PWM:
FIT2RANGE(halPWM_MIN_FREQ, Frequency, halPWM_MAX_FREQ, u32_t);
sAI[eCh].Divisor = (halPWM_CLOCK_HZ / Frequency);
halGPIO_PWM_OUT_SetFrequency(ActInit[eCh].ioNum, sAI[eCh].Divisor - 1);
break;
#endif
#if (HAL_XAO > 0)
case actTYPE_ANA:
FIT2RANGE(actFREQ_MIN, Frequency, actFREQ_MAX, u32_t);
sAI[eCh].Divisor = (MILLIS_IN_SECOND / actuateTASK_PERIOD) / Frequency;
break;
#endif
default: xActuatorLogError(__FUNCTION__, eCh);
}
}
/**
* @brief LL=NL Recalc & set duty cycle (brightness/speed level)
* @param logical (soft) PWM channel
*/
static void IRAM_ATTR vActuatorSetDC(u8_t eCh, u8_t CurDC) {
act_info_t * psAI = &sAI[eCh];
psAI->CurDC = CurDC;
switch(ActInit[eCh].ioType) {
#if (HAL_XDO > 0) // All (SOC + I2C + SPI) DIGital type actuators
case actTYPE_DIG:
switch(psAI->StageNow) {
case actSTAGE_FI:
psAI->Match = psAI->MaxDC - psAI->CurDC;
break;
case actSTAGE_ON:
psAI->Match = psAI->MinDC;
break;
case actSTAGE_FO:
psAI->Match = psAI->MaxDC - psAI->CurDC;
break;
case actSTAGE_OFF:
psAI->Match = psAI->MaxDC;
break;
}
vActuateSetLevelDIG(eCh, (psAI->Count >= psAI->Match) ? 1 : 0);
break;
#endif
#if (HAL_XPO > 0)
case actTYPE_PWM:
psAI->Match = u32ScaleValue(CurDC, psAI->MinDC, psAI->MaxDC, halPWM_MIN_FREQ, halPWM_MAX_FREQ);
vActuateSetLevelPWM(eCh, psAI->Match);
break;
#endif
#if (HAL_XAO > 0)
case actTYPE_ANA:
switch(psAI->StageNow) {
case actSTAGE_FI:
psAI->Match = psAI->MaxDC - psAI->CurDC;
break;
case actSTAGE_ON:
psAI->Match = psAI->MinDC;
break;
case actSTAGE_FO:
psAI->Match = psAI->MaxDC - psAI->CurDC;
break;
case actSTAGE_OFF:
psAI->Match = psAI->MaxDC;
break;
}
vActuateSetLevelANA(eCh, (255 * psAI->CurDC) / 100);
break;
#endif
default: xActuatorLogError(__FUNCTION__, eCh);
}
IF_EXEC_2(debugDUTY, xActuatorReportChan, NULL, eCh);
}
/* ########################## Hardware INDEPENDENT Actuator functions ##############################
* To provide transparent "soft" PWM support for DIGital OUTput pins.
* Background as follows:
* To simulate PWM we will use a regularly running FreeRTOS task to toggle pins on/off
* The brightness of the LED attached will be controlled by the ratio of pin LOW vs HIGH state
* The smoothness of the LED change in brightness will be determined by ???
* Logic as follows:
* Working on ranges of 100 / 1000 / 10000 ticks per second
* MaxCount = configTICK_RATE_HZ / Frequency ~ number of ticks in a single (ON - OFF) cycle
* Divisor = Frequency
*/
/**
* @brief configure the hardware pin associated with a channel
* Uses the definitions in the hal_gpio module to define the specific pin,
* its configuration and (optionally) the associated timer module for hard PWM
* @param Channel
* @return None
*/
static void vActuatorConfig(u8_t eCh) {
const act_init_t * psAIS = &ActInit[eCh];
IF_RETURN(sAI[eCh].Blocked);
switch(psAIS->ioType) {
case actTYPE_DIG: vActuatorSetFrequency(eCh, actFREQ_DEF_DIG); break;
case actTYPE_PWM: vActuatorSetFrequency(eCh, halFREQ_DEF_PWM); break;
case actTYPE_ANA: vActuatorSetFrequency(eCh, actFREQ_DEF_ANA); break;
default: xActuatorLogError(__FUNCTION__, eCh); return;
}
act_info_t * psAID = &sAI[eCh];
memset(psAID->Seq, 0xFF, SO_MEM(act_info_t, Seq));
psAID->StageBeg = psAID->StageNow = actSTAGE_FI;
psAID->ChanNum = eCh;
psAID->MaxDC = psAID->DelDC = 100;
psAID->ConfigOK = 1;
vActuatorSetDC(eCh, psAID->MinDC = 0);
IF_EXEC_2(debugTRACK && (ioB2GET(dbgActuate) & 2), xActuatorReportChan, NULL, eCh);
}
/**
* @brief LowLevel-NoLocking timing values are supplied in mSec, converted and stored as ticks
* @param eCh, tOFF, tFI, tON, tFO
* @return erFAILURE or erSUCCESS
*/
static void vActuatorSetTiming(u8_t eCh, u32_t tFI, u32_t tON, u32_t tFO, u32_t tOFF) {
act_info_t * psAI = &sAI[eCh];
// set configuration to max 1 day...
psAI->tFI = pdMS_TO_TICKS(tFI > MILLIS_IN_DAY ? MILLIS_IN_DAY : tFI);
psAI->tON = pdMS_TO_TICKS(tON > MILLIS_IN_DAY ? MILLIS_IN_DAY : tON);
psAI->tFO = pdMS_TO_TICKS(tFO > MILLIS_IN_DAY ? MILLIS_IN_DAY : tFO);
psAI->tOFF = pdMS_TO_TICKS(tOFF > MILLIS_IN_DAY ? MILLIS_IN_DAY : tOFF);
IF_PXT(debugTRACK && (ioB2GET(dbgActuate) & 2), "[ACT] SetTiming Ch=%d tFI=%u tON=%u tFO=%u tOFF=%u" strNL, eCh, tFI, tON, tFO, tOFF);
}
/**
* @brief LL-NL
*/
static void vActuatorStart(u8_t eCh, u32_t Repeats) {
act_info_t * psAI = &sAI[eCh];
psAI->tNOW = psAI->Count = 0;
psAI->StageNow = psAI->StageBeg;
psAI->CurDC = psAI->MinDC;
psAI->Match = psAI->tNOW;
if (psAI->tXXX[psAI->StageNow]) {
psAI->CurDC += ((psAI->tNOW * psAI->DelDC) / psAI->tXXX[psAI->StageNow]);
psAI->Match = psAI->tNOW / ( psAI->tXXX[psAI->StageNow] / psAI->Divisor);
}
vActuatorSetDC(eCh, psAI->CurDC);
psAI->Rpt = Repeats;
halEventUpdateRunTasks(taskACTUATE_MASK, 1);
IF_PXT(debugTRACK && (ioB2GET(dbgActuate) & 2), "[ACT] Start Ch=%hhu Rpt=%lu" strNL, eCh, Repeats);
}
/**
* @brief LL-NL
*/
static void vActuatorStop(u8_t eCh) {
act_info_t * psAI = &sAI[eCh];
// reset ONLY the tXXX values (incl Rpt + tNow)
memset(&psAI->tXXX, 0, sizeof(sAI[0].tXXX));
memset(&psAI->Seq, 0xFF, sizeof(sAI[0].Seq));
psAI->StageNow = psAI->StageBeg;
psAI->alertDone = psAI->alertStage = 0;
vActuatorSetDC(eCh, 0);
IF_PXT(debugTRACK && (ioB2GET(dbgActuate) & 2), "[ACT] Stop Ch=%d" strNL, eCh);
}
/**
* @brief LL-NL
*/
static void vActuatorAddSequences(u8_t eCh, int Idx, u8_t * paSeq) {
act_info_t * psAI = &sAI[eCh];
for (; Idx < actMAX_SEQUENCE; ++Idx) {
if (*paSeq < NO_MEM(sAS)) { // if a valid SEQuence number
psAI->Seq[Idx] = *paSeq++; // store it
} else {
psAI->Seq[Idx] = 0xFF; // if not, mark it unused
break; // and go no further
}
}
IF_EXEC_2(debugTRACK && (ioB2GET(dbgActuate) & 2), xActuatorReportChan, NULL, eCh);
}
/**
* @brief LL-NL
*/
static void IRAM_ATTR xActuatorNextStage(act_info_t * psAI) {
if ((psAI->alertStage == 1) && (psAI->tXXX[psAI->StageNow] > 0))
xActuatorAlert(psAI, alertTYPE_ACT_STAGE, alertLEVEL_INFO);
if (++psAI->StageNow == actSTAGE_NUM)
psAI->StageNow = actSTAGE_FI;
if (psAI->StageNow == psAI->StageBeg) { // back at starting stage?
if (psAI->Rpt != UINT32_MAX) { // yes, but running unlimited repeats ?
--psAI->Rpt; // No, decrement the repeat count
if (psAI->Rpt == 0) { // all repeats done?
if (psAI->alertDone) // yes, check if we should raise alert
xActuatorAlert(psAI, alertTYPE_ACT_DONE, alertLEVEL_WARNING);
if (psAI->Seq[0] != 0xFF) { // another sequence in the queue?
const act_seq_t * psAS = &sAS[psAI->Seq[0]]; // load values from sequence #
vActuatorSetTiming(psAI->ChanNum, psAS->tFI, psAS->tON, psAS->tFO, psAS->tOFF);
vActuatorStart(psAI->ChanNum, psAS->Rpt);
int Idx;
for (Idx = 0; Idx < (actMAX_SEQUENCE - 1); ++Idx)
psAI->Seq[Idx] = psAI->Seq[Idx+1];
psAI->Seq[Idx] = 0xFF;
} else { // no, all sequences done
vActuatorStop(psAI->ChanNum); // stop & reset all values..
}
}
}
}
}
/**
* @brief LL-NL
*/
static void IRAM_ATTR vActuatorUpdateTiming(act_info_t * psAI) {
psAI->Count += actuateTASK_PERIOD;
if (psAI->Count >= psAI->Divisor)
psAI->Count = 0;
psAI->tNOW += actuateTASK_PERIOD;
if (psAI->tNOW >= psAI->tXXX[psAI->StageNow]) {
psAI->tNOW = psAI->Count = 0;
xActuatorNextStage(psAI);
}
}
// ####################################### Actual task #############################################
static void IRAM_ATTR vTaskActuator(void * pvPara) {
IF_SYSTIMER_INIT(debugTIMING, stACT_S0, stMICROS, "ActS0_FI", 1, 10);
IF_SYSTIMER_INIT(debugTIMING, stACT_S1, stMICROS, "ActS1_ON", 1, 10);
IF_SYSTIMER_INIT(debugTIMING, stACT_S2, stMICROS, "ActS2_FO", 1, 10);
IF_SYSTIMER_INIT(debugTIMING, stACT_S3, stMICROS, "ActS3_OF", 1, 10);
IF_SYSTIMER_INIT(debugTIMING, stACT_SX, stMICROS, "ActSXall", 1, 100);
#if (halUSE_I2C == 1)
halEventWaitStatus(flagAPP_I2C, portMAX_DELAY); // ensure I2C config done before initialising
#endif
for(u8_t eCh = 0; eCh < HAL_XXO; ++eCh) vActuatorConfig(eCh);
halEventUpdateRunTasks(0, 1);
while(halEventWaitTasksOK(0, portMAX_DELAY)) {
TickType_t ActLWtime = xTaskGetTickCount(); // Get the ticks as starting reference
IF_SYSTIMER_START(debugTIMING, stACT_SX);
act_info_t * psAI = &sAI[0];
ActuatorsRunning = 0;
for (u8_t eCh = 0; eCh < HAL_XXO; ++eCh, ++psAI) {
if (psAI->Rpt == 0 || psAI->Blocked || psAI->ConfigOK == 0) continue;
++ActuatorsRunning;
if (psAI->Busy) continue; // being changed from somewhere else
psAI->Busy = 1;
switch(psAI->StageNow) {
case actSTAGE_FI: { // Step UP from 0% to 100% over tFI mSec
IF_SYSTIMER_START(debugTIMING, stACT_S0);
if (psAI->tFI > 0) {
vActuatorSetDC(eCh, psAI->MinDC + ((psAI->tNOW * psAI->DelDC) / psAI->tFI));
vActuatorUpdateTiming(psAI);
IF_SYSTIMER_STOP(debugTIMING, stACT_S0);
break;
}
xActuatorNextStage(psAI);
IF_SYSTIMER_STOP(debugTIMING, stACT_S0);
} /* FALLTHRU */ /* no break */
case actSTAGE_ON: { // remain on 100% for tON mSec
IF_SYSTIMER_START(debugTIMING, stACT_S1);
if (psAI->tON > 0) {
if (psAI->tNOW == 0) vActuatorSetDC(eCh, psAI->MaxDC);
vActuatorUpdateTiming(psAI);
IF_SYSTIMER_STOP(debugTIMING, stACT_S1);
break;
}
xActuatorNextStage(psAI);
IF_SYSTIMER_STOP(debugTIMING, stACT_S1);
} /* FALLTHRU */ /* no break */
case actSTAGE_FO: { // Step DOWN 100% -> 0% over tFO mSec
IF_SYSTIMER_START(debugTIMING, stACT_S2);
if (psAI->tFO > 0) {
vActuatorSetDC(eCh, psAI->MaxDC - ((psAI->tNOW * psAI->DelDC) / psAI->tFO));
vActuatorUpdateTiming(psAI);
IF_SYSTIMER_STOP(debugTIMING, stACT_S2);
break;
}
xActuatorNextStage(psAI);
IF_SYSTIMER_STOP(debugTIMING, stACT_S2);
} /* FALLTHRU */ /* no break */
case actSTAGE_OFF: { // remain off 0% for tOFF mSec
IF_SYSTIMER_START(debugTIMING, stACT_S3);
if (psAI->tOFF > 0) {
if (psAI->tNOW == 0) vActuatorSetDC(eCh, psAI->MinDC);
vActuatorUpdateTiming(psAI);
IF_SYSTIMER_STOP(debugTIMING, stACT_S3);
break;
}
xActuatorNextStage(psAI);
IF_SYSTIMER_STOP(debugTIMING, stACT_S3);
break;
}
}
psAI->Busy = 0;
}
#if (HAL_PCA9555 == 1)
// Considering that we might be running actuator task every 1mS and that it is
// possible for every I2C connected actuator pin to change state every 1mS, we
// could be trying to write each bit each 1mS, hence 16x I2C writes per 1mS.
// Hence we are doing a batch max write once per cycle, if any bit changed
if (pca9555DIG_OUT_WriteAll() == 1) { // if it was a dirty write, check if write OK...
// With both water valves and door strikers we have a situation where a reverse EMF is induced
// in the solenoid when power is removed from the actuator. This EMF can, if left undamped,
// reflect back along the cabling to the controller and has been knows to cause I2C bus problems.
// In order to damp the EMF right at the source a reverse biased signal diode should be wired
// across. the solenoid connectors, as close as possible to the source. To diagnose possible
// diode absence or failure we regularly perform a check to verify the actual I2C device state
// against what we believe it should be
pca9555Check();
}
#endif
IF_SYSTIMER_STOP(debugTIMING, stACT_SX);
if (ActuatorsRunning) { // Some active actuators, delay till next cycle
xTaskDelayUntil(&ActLWtime, actuateTASK_PERIOD);
} else { // NO active actuators
halEventUpdateRunTasks(taskACTUATE_MASK, 0); // clear RUN state & wait at top....
}
}
vTaskDelete(NULL);
}
task_param_t sActuatorParam = {
.pxTaskCode = vTaskActuator,
.pcName = "actuate",
.usStackDepth = actuateSTACK_SIZE,
.uxPriority = actuateTASK_PRIORITY,
.pxStackBuffer = tsbACT,
.pxTaskBuffer = &ttsACT,
.xCoreID = tskNO_AFFINITY,
.xMask = taskACTUATE_MASK,
};
void vTaskActuatorInit(void) { xTaskCreateWithMask(&sActuatorParam, NULL); }
// ######################################### Public APIs ###########################################
u8_t xActuatorGetBus(u8_t eCh) {
if (xAxtuatorCheckValidity(eCh) == erACT_INV_CH) return ruleINV_ACT;
return ActInit[eCh].ioBus;
}
u8_t xActuatorGetType(u8_t eCh) {
if (xAxtuatorCheckValidity(eCh) == erACT_INV_CH) return ruleINV_ACT;
return ActInit[eCh].ioType;
}
void vActuatorLoad(u8_t eCh, u32_t Rpt, u32_t tFI, u32_t tON, u32_t tFO, u32_t tOFF) {
if (xAxtuatorCheckValidity(eCh) < erSUCCESS) return;
vActuatorBusySET(&sAI[eCh]);
vActuatorStop(eCh);
vActuatorSetTiming(eCh, tFI, tON, tFO, tOFF);
vActuatorStart(eCh, Rpt);
vActuatorBusyCLR(&sAI[eCh]);
IF_EXEC_2(debugTRACK && (ioB2GET(dbgActuate) & 2), xActuatorReportChan, NULL, eCh);
}
void vActuatorBreath(u8_t eCh) { vActuatorLoad(eCh, 0xFFFFFFFF, 750, 750, 750, 750); }
void vActuatorPanic(u8_t eCh) { vActuatorLoad(eCh, 0xFFFFFFFF, 150, 150, 150, 150); }
void vActuatorOn(u8_t eCh) { vActuatorLoad(eCh, 0xFFFFFFFF, 0, 0xFFFFFFFF, 0, 0); }
void vActuatorOff(u8_t eCh) { vActuatorLoad(eCh, 0xFFFFFFFF, 0, 0, 0, 0xFFFFFFFF); }
void vActuatorUpdate(u8_t eCh, int Rpt, int tFI, int tON, int tFO, int tOFF) {
if (xAxtuatorCheckValidity(eCh) < erSUCCESS) return;
act_info_t * psAI = &sAI[eCh];
vActuatorBusySET(psAI);
u32_t CurRpt = sAI[eCh].Rpt;
sAI[eCh].Rpt = 0;
// XXX: Add range checking to not wrap around any member
psAI->tFI += (tFI * configTICK_RATE_HZ) / MILLIS_IN_SECOND;
psAI->tON += (tON * configTICK_RATE_HZ) / MILLIS_IN_SECOND;
psAI->tFO += (tFO * configTICK_RATE_HZ) / MILLIS_IN_SECOND;
psAI->tOFF += (tOFF * configTICK_RATE_HZ) / MILLIS_IN_SECOND;
sAI[eCh].Rpt = (CurRpt == 0xFFFFFFFF) ? CurRpt : CurRpt + Rpt;
vActuatorBusyCLR(psAI);
}
void vActuatorAdjust(u8_t eCh, int Stage, int Adjust) {
if (xAxtuatorCheckValidity(eCh) < erSUCCESS) return;
if (OUTSIDE(actSTAGE_FI, Stage, actSTAGE_OFF)) {
SL_ERR("Invalid Stage %d requested", Stage);
return;
}
act_info_t * psAI = &sAI[eCh];
Adjust = (Adjust * configTICK_RATE_HZ) / MILLIS_IN_SECOND; // convert adjustment to Ticks
vActuatorBusySET(psAI);
u32_t CurVal = psAI->tXXX[Stage]; // save the selected stage value
u32_t NewVal = CurVal + Adjust;
if (Adjust < 0) psAI->tXXX[Stage] = (NewVal < CurVal) ? NewVal : 0;
else psAI->tXXX[Stage] = (NewVal > CurVal) ? NewVal : UINT32_MAX;
vActuatorBusyCLR(psAI);
IF_EXEC_2(debugTRACK && (ioB2GET(dbgActuate) & 2), xActuatorReportChan, NULL, eCh);
}
void xActuatorToggle(u8_t eCh) {
if (xAxtuatorCheckValidity(eCh) < erSUCCESS) return;
act_info_t * psAI = &sAI[eCh];
vActuatorBusySET(psAI);
SWAP(psAI->tFI, psAI->tFO, u32_t);
SWAP(psAI->tON, psAI->tOFF, u32_t);
vActuatorBusyCLR(psAI);
}
int xActuatorRunningCount(void) { return ActuatorsRunning; }
void vActuatorBlock(u8_t eCh) {
IF_myASSERT(debugTRACK, eCh < HAL_XXO);
sAI[eCh].Blocked = 1;
}
void vActuatorUnBlock(u8_t eCh) {
IF_myASSERT(debugTRACK, eCh < HAL_XXO);
sAI[eCh].Blocked = 0;
}
/**
* @brief calculate number of mSec remaining for a specific actuator channel
*/
u64_t xActuatorGetRemainingTime(u8_t eCh) {
if (xAxtuatorCheckValidity(eCh) < erSUCCESS) return 0ULL;
act_info_t * psAI = &sAI[eCh];
if (psAI->Rpt == 0) return 0ULL;
if (psAI->Rpt == UINT32_MAX) return UINT64_MAX;
// calculate remaining time for full repeats
vActuatorBusySET(psAI);
u64_t u64Value = (psAI->Rpt > 1) ? (psAI->tFI + psAI->tON + psAI->tFO + psAI->tOFF) * (psAI->Rpt - 1) : 0;
u8_t Stage = psAI->StageNow; // now add remaining time in current stage
do {
u64Value += (Stage == psAI->StageNow) ? psAI->tXXX[Stage] - psAI->tNOW : psAI->tXXX[Stage];
++Stage;
Stage %= actSTAGE_NUM;
} while (Stage != psAI->StageBeg);
// now add the time for the (optional) sequences
for (int Idx = 0; psAI->Seq[Idx] < NO_MEM(sAS); ++Idx) {
const act_seq_t * psAS = &sAS[psAI->Seq[Idx]];
u64Value += psAS->Rpt * (psAS->tFI + psAS->tON + psAS->tFO + psAS->tOFF);
}
vActuatorBusyCLR(psAI);
return u64Value;
}
/**
* @brief Calculate maximum possible remaining run time, not the sum of ALL
* @return Remaining maximum actuator running time in mSecs
*/
u64_t xActuatorGetMaxRemainingTime (void) {
u64_t u64Max = 0;
for (int eCh = 0; eCh < HAL_XXO; ++eCh) {
u64_t u64Now = xActuatorGetRemainingTime(eCh);
if (u64Now > u64Max) u64Max = u64Now; // save current as new Max value
}
return u64Max;
}
void vActuatorsWinddown(void) {
for(u8_t eCh = 0; eCh < HAL_XXO; ++eCh) {
act_info_t * psAI = &sAI[eCh];
if (psAI->Rpt == 0xFFFFFFFF) psAI->Rpt = 1; // if Rpt is forever, change to 1
}
}
/* ############################ Actuator alerting support functions ################################
* Start (OFF -> FI/ON)
* Stop (ON/FO -> OFF)
* Stage (OFF -> FI -> ON -> FO -> OFF)
* Event Blocked due to any reason, especially pending restart
*/
void xActuatorSetAlertStage(u8_t eCh, int OnOff) {
if (xAxtuatorCheckValidity(eCh) < erSUCCESS) return;
act_info_t * psAI = &sAI[eCh];
psAI->alertStage = OnOff ? 1 : 0;
}
void xActuatorSetAlertDone(u8_t eCh, int OnOff) {
if (xAxtuatorCheckValidity(eCh) < erSUCCESS) return;
act_info_t * psAI = &sAI[eCh];
psAI->alertDone = OnOff ? 1 : 0;
}
void xActuatorSetStartStage(u8_t eCh, int Stage) {
if (xAxtuatorCheckValidity(eCh) < erSUCCESS) return;
if (INRANGE(actSTAGE_FI, Stage, actSTAGE_OFF)) sAI[eCh].StageBeg = Stage;
}
void vActuatorSetMinMaxDC(u8_t eCh, int iMin, int iMax) {
if (xAxtuatorCheckValidity(eCh) < erSUCCESS) return;
IF_myASSERT(debugTRACK, INRANGE(0, iMin, 100) && INRANGE(0, iMax, 100));
if (iMin > iMax) SWAP(iMin, iMax, u8_t);
act_info_t * psAI = &sAI[eCh];
psAI->MinDC = iMin;
psAI->MaxDC = iMax;
IF_PXT(debugDUTY_CYCLE, "[ACT] SetMMDC Ch=%d Min=%d->%d Max=%d->%d" strNL, eCh, iMin, psAI->MinDC, iMax, psAI->MaxDC);
}
// ###################################### Sequence support #########################################
/**
* @brief Load up to a maximum of actMAX_SEQUENCE sequence numbers to the
* sequence table, overwriting any existing (pending) sequences
* Expects a full array of actMAX_SEQUENCE size, unused elements to be 0xFF
* @param eCh Channel number
* @param paSeq pointer to array of sequence numbers
* @return
*/
void xActuatorLoadSequences(u8_t eCh, u8_t * paSeq) {
if (xAxtuatorCheckValidity(eCh) < erSUCCESS) return;
IF_myASSERT(debugTRACK, halMemoryANY(paSeq));
vActuatorAddSequences(eCh, 0, paSeq);
}
/**
* @brief Append additional sequence numbers to the end of the sequence table
* Expects an array of up to actMAX_SEQUENCE size, unused elements to be 0xFF
* @param eCh - Channel number
* @param paSeq - pointer to array of sequence numbers
* @return erFAILURE if none appended else number of sequences appended
*/
void vActuatorQueSequences(u8_t eCh, u8_t * paSeq) {
IF_myASSERT(debugTRACK, (eCh < HAL_XXO) && sAI[eCh].ConfigOK && !sAI[eCh].Blocked);
IF_myASSERT(debugTRACK, halMemoryANY(paSeq));
for (int Idx = 0; Idx < actMAX_SEQUENCE; ++Idx) {
if (sAI[eCh].Seq[Idx] == 0xFF) {
vActuatorAddSequences(eCh, Idx, paSeq);
return;
}
}
}
void vActuatorStartSequence(u8_t eCh, int Seq) {
IF_myASSERT(debugTRACK, (eCh < HAL_XXO) && sAI[eCh].ConfigOK && !sAI[eCh].Blocked);
IF_myASSERT(debugTRACK, INRANGE(0, Seq, actMAX_SEQUENCE-1));
const act_seq_t * psAS = &sAS[Seq];
vActuatorLoad(eCh, psAS->Rpt, psAS->tFI, psAS->tON, psAS->tFO, psAS->tOFF);
}
// ############################## Private & Public reporting APIs ##################################
/**
* @brief
* @note No UART locking at individual channel level
*/
int xActuatorReportChan(report_t * psR, u8_t eCh) {
int iRV = 0;
act_info_t * psAI = &sAI[eCh];
#define HDR1 "%C Ch|Value|Stage| Repeat| tFI | tON | tFO | tOFF | tNOW | Div Cnt Mtch| Min DC Max| Sequence%C" strNL
if (eCh == 0)