Move unused modules to ems-templates

4 files changed, 650 insertions, 0 deletions

diff --git a/Arduino/ems-templates/Heater.h b/Arduino/ems-templates/Heater.h
new file mode 100755
index 0000000..a498e27
--- /dev/null
+++ b/Arduino/ems-templates/Heater.h
@@ -0,0 +1,263 @@
+/**************************************************
+ * Heater.h - Describe the heater interface
+ * 
+ *
+ */
+ #ifndef HEATER_H
+ #define HEATER_H
+
+#include "Common.h"
+#include "TaskScheduler.h"
+#include "Monitor.h"
+#include "Machine.h"
+
+#include "Thermocouple.h"
+
+// move to common.h
+
+#define HEATER_OFF 0
+#define HEATER_OUT_MAX 255
+#define HEATER_OUT_MIN 0
+#define HEATER_MAX_TEMP 280.00
+#define HEATER_PID_SAMPLE_TIME 100L
+
+static void run();
+static void CheckHeaters();
+
+static void TMP (uint8_t kwIndex, uint8_t verb,char *args);
+static void HSW (uint8_t kwIndex, uint8_t verb,char *args);
+
+static void H1P (uint8_t kwIndex, uint8_t verb,char *args);
+static void H1I (uint8_t kwIndex, uint8_t verb,char *args); 
+static void H1D (uint8_t kwIndex, uint8_t verb,char *args); 
+
+static void H2P (uint8_t kwIndex, uint8_t verb,char *args);
+static void H2I (uint8_t kwIndex, uint8_t verb,char *args); 
+static void H2D (uint8_t kwIndex, uint8_t verb,char *args); 
+
+
+const double SampleTimeInSec = ((double)HEATER_PID_SAMPLE_TIME)/1000;
+
+
+
+class Heater {
+  private:
+    
+    Task runHeaters;
+   
+  public:
+    double setPoint;
+    bool isOn;
+    int H1Output, H2Output;
+    double H1SetPoint, H1LastInput, H1ITerm;
+    double H2SetPoint, H2LastInput, H2ITerm;
+    
+    //TODO: P,I,D 'accessors'
+    double P1, I1, D1, P2, I2, D2;
+    
+
+    void runThermostat(){
+        double input, output, error, i, d;
+        
+        i = I1 * SampleTimeInSec;
+        d = D1 / SampleTimeInSec;
+        input = thermocouple.getTemp1();
+        error = H1SetPoint - input;
+
+        H1ITerm += (i * error);
+        if(H1ITerm > HEATER_OUT_MAX) {
+            H1ITerm = HEATER_OUT_MAX;
+        }
+        else if(H1ITerm < HEATER_OUT_MIN){
+            H1ITerm= HEATER_OUT_MIN;
+        }
+        
+        output = P1 * error + H1ITerm - d * (input - H1LastInput);
+ 
+        if(output > HEATER_OUT_MAX){
+            output = HEATER_OUT_MAX;
+        }
+        else if(output < HEATER_OUT_MIN) {
+            output = HEATER_OUT_MIN;
+        }
+        H1Output = (int) output;
+        
+        if(isOn) {
+            analogWrite(HTR1_PIN,H1Output);
+        }
+        
+        H1LastInput = input;
+        
+        input = thermocouple.getTemp2();
+        error = H2SetPoint - input;
+        i= I2 * SampleTimeInSec;
+        d= D2 / SampleTimeInSec;
+        
+        H2ITerm += (i * error);
+        if(H2ITerm > HEATER_OUT_MAX) {
+            H2ITerm = HEATER_OUT_MAX;
+        }
+        else if(H2ITerm < HEATER_OUT_MIN){
+            H2ITerm= HEATER_OUT_MIN;
+        }
+        
+        output = P2 * error + H2ITerm - d * (input - H2LastInput);
+        if(output > HEATER_OUT_MAX){
+            output = HEATER_OUT_MAX;
+        }
+        else if(output < HEATER_OUT_MIN) {
+            output = HEATER_OUT_MIN;
+        }
+        
+        H2Output = (int) output;
+        
+        if(isOn) {
+            analogWrite(HTR2_PIN,H2Output);
+        }
+        
+        H2LastInput = input;
+        
+    };
+    
+    void init() {
+      pinMode(HTR1_PIN, OUTPUT);
+      pinMode(HTR2_PIN, OUTPUT);
+      analogWrite(HTR1_PIN, HEATER_OFF); // number foo
+      analogWrite(HTR2_PIN, HEATER_OFF);
+        
+        
+      P1=1;
+      I1=0.05;
+      D1=0.25;
+        
+      P2=1;
+      I2=0.05;
+      D2=0.25;
+      
+      isOn=0;
+      setPoint=0.0;
+        
+      // register monitor actions
+      monitor.registerAction(_TMP_, &TMP);
+      monitor.registerAction(_HSW_, &HSW);
+      
+      monitor.registerAction(_H1P_, &H1P);
+      monitor.registerAction(_H1I_, &H1I);
+      monitor.registerAction(_H1D_, &H1D);
+
+      monitor.registerAction(_H2P_, &H2P);
+      monitor.registerAction(_H2I_, &H2I);
+      monitor.registerAction(_H2D_, &H2D);
+
+      // TODO: check to see if turning on the heater will change the temp.
+ 
+      // set tasks for sceduled reads
+      runHeaters.set(HEATER_PID_SAMPLE_TIME, TASK_FOREVER, &run);
+      machine.todolist.addTask(runHeaters);
+      runHeaters.enable();
+    }
+
+    void StopHeaters() {
+        isOn=0;
+        CheckHeaters();
+    }
+    
+   
+
+};
+
+Heater heater;
+
+static void run() {
+       CheckHeaters();
+ 
+}
+
+
+// check heaters and change state if necessary
+// Check the temperature and turn the heater off if the target temp reached.
+// Turn the heater on of the temp is below he target.
+// TODO: add PID functionality here.
+static void CheckHeaters() {
+    double t;
+    t=thermocouple.getTemp1();
+    if (t>HEATER_MAX_TEMP) {
+        heater.isOn=false;
+        monitor.warn("overtmp d.%.02d", FAKE_A_FLOAT(t));
+    }
+    t=thermocouple.getTemp2();
+    if (t>HEATER_MAX_TEMP) {
+        heater.isOn=false;
+        monitor.warn("overtmp d.%.02d", FAKE_A_FLOAT(t));
+    }
+    if (heater.isOn){
+        heater.runThermostat();
+    } else {
+        analogWrite(HTR1_PIN, HEATER_OFF);
+        analogWrite(HTR2_PIN, HEATER_OFF);
+    }
+}
+
+
+
+
+// define or query P, I, and D for heater 1
+
+static void TMP(uint8_t kwIndex, uint8_t verb, char* args) {
+    if (verb == '!') {
+        heater.H1SetPoint = heater.H2SetPoint = heater.setPoint = atof(args);
+    }
+    monitor.update("TMP", "%d.%.02d", FAKE_A_FLOAT(heater.setPoint));
+}
+
+static void HSW(uint8_t kwIndex, uint8_t verb, char* args) {
+    //monitor.debug("atoi('ON')=%d",atoi("ON"));
+    if (verb == '!') {
+        heater.isOn = atoi(args);
+    }
+    monitor.update("HSW", "%d", heater.isOn);
+}
+
+static void H1P(uint8_t kwIndex, uint8_t verb, char* args) {
+    if (verb == '!') {
+        heater.P1 = atof(args);
+    }
+    monitor.update("H1P", "%d.%.02d", FAKE_A_FLOAT(heater.P1));
+}
+
+static void H1I(uint8_t kwIndex, uint8_t verb, char* args) {
+    if (verb == '!') {
+        heater.I1 = atof(args);
+   }
+    monitor.update("H1I", "%d.%.02d", FAKE_A_FLOAT(heater.I1));
+}
+static void H1D(uint8_t kwIndex, uint8_t verb, char* args) {
+    if (verb == '!') {
+        heater.D1 = atof(args);
+    }
+    monitor.update("H1D", "%d.%.02d", FAKE_A_FLOAT(heater.D1));
+}
+
+static void H2P(uint8_t kwIndex, uint8_t verb, char* args) {
+    if (verb == '!') {
+        heater.P2 = atof(args);
+    }
+    monitor.update("H2P", "%d.%.02d", FAKE_A_FLOAT(heater.P2));
+}
+
+static void H2I(uint8_t kwIndex, uint8_t verb, char* args) {
+    if (verb == '!') {
+        heater.I2 = atof(args);
+    }
+    monitor.update("H2I", "%d.%.02d", FAKE_A_FLOAT(heater.I2));
+}
+
+static void H2D(uint8_t kwIndex, uint8_t verb, char* args) {
+    if (verb == '!') {
+        heater.D1 = atof(args);
+    }
+    
+    monitor.update("H2D", "%d.%.02d", FAKE_A_FLOAT(heater.D2));
+}
+
+ #endif // HEATER_H
diff --git a/Arduino/ems-templates/Pump.h b/Arduino/ems-templates/Pump.h
new file mode 100755
index 0000000..c8293dd
--- /dev/null
+++ b/Arduino/ems-templates/Pump.h
@@ -0,0 +1,200 @@
+/*************************************
+ * Pump.h - Manage the hydraulic pump.
+ */
+#ifndef PUMP_H
+#define PUMP_H
+
+#include "Common.h"
+#include "TaskScheduler.h"
+#include "Monitor.h"
+#include "Machine.h"
+#include "Clock.h"
+
+// move to common
+#define PUMP_ON HIGH
+#define PUMP_OFF LOW
+#define MAX_PUMP_RUN_SECONDS 5
+#define GOING_UP LOW
+#define GOING_DOWN HIGH
+#define SOLENOID_OFF LOW
+
+static void runThePump();
+static void readPumpPressure();
+
+static void PMS (uint8_t kwIndex, uint8_t verb,char *args);
+static void MUP (uint8_t kwIndex, uint8_t verb,char *args);
+static void MDN (uint8_t kwIndex, uint8_t verb,char *args);
+
+static void PS1 (uint8_t kwIndex, uint8_t verb,char *args);
+static void SOL (uint8_t kwIndex, uint8_t verb,char *args);
+
+class Pump {
+private:
+    Task checkPressure;
+    Task runPump;
+    bool wereWeGoingDown;
+    bool wasTheMotorOn;
+    long int startedAt;
+    bool motorOn;
+    bool goingDown;
+public:
+    int pressure;
+    bool pressureChanged;
+    
+    void motor(bool state) {
+
+        motorOn=state;
+        
+        if((motorOn==PUMP_ON) && (wasTheMotorOn==PUMP_OFF))
+        {
+            startedAt=clock.second();
+            
+        }
+        digitalWrite(PUMP_PIN, motorOn?PUMP_ON:PUMP_OFF);
+        if (motorOn != wasTheMotorOn) {
+            monitor.update("PMS", "%d", motorOn);
+        }
+        wasTheMotorOn=motorOn;
+    }
+    
+    bool isMotorOn() {return motorOn;}
+    
+    bool areWeGoingDown() {return goingDown;}
+    
+    
+    void solenoid(bool state) {
+        goingDown=state;
+        digitalWrite(SOLENOID_PIN, goingDown?GOING_DOWN:GOING_UP);
+        if (goingDown != wereWeGoingDown) {
+            monitor.update("SOL", "%d", goingDown);
+        }
+        goingDown = wereWeGoingDown;
+        
+        
+    }
+    
+    void init() {
+        
+
+        pinMode(PUMP_PIN, OUTPUT);
+        digitalWrite(PUMP_PIN, PUMP_OFF);
+        pinMode(SOLENOID_PIN, OUTPUT);
+        digitalWrite(SOLENOID_PIN, GOING_UP);
+        StopPump();
+        // register monitor commands
+        monitor.registerAction(_PMS_, &PMS);
+        monitor.registerAction(_PS1_, &PS1);
+        monitor.registerAction(_SOL_, &SOL);
+        monitor.registerAction(_MUP_, &MUP);
+        monitor.registerAction(_MDN_, &MDN);
+        
+        checkPressure.set(100L, TASK_FOREVER, &readPumpPressure);
+        machine.todolist.addTask(checkPressure);
+        checkPressure.enable();
+        
+        runPump.set(100L, TASK_FOREVER, &runThePump);
+        machine.todolist.addTask(runPump);
+        runPump.enable();
+        
+    }
+    
+    void Press() {
+        solenoid(GOING_UP);
+        motor(PUMP_ON);
+        CheckPump(); // ??
+    }
+    
+    void Release() {
+        solenoid(GOING_DOWN);
+        motor(PUMP_ON);
+        CheckPump();
+        
+    }
+    
+    void CheckPump() {
+        if((motorOn) && ((clock.second()-startedAt) > MAX_PUMP_RUN_SECONDS)){
+                monitor.debug("Motor run timed out");
+            motor(PUMP_OFF);
+        }
+        
+        // check here for the home switch.
+        
+    }
+    
+    void StopPump()  {
+        motor(PUMP_OFF);
+        solenoid(SOLENOID_OFF);
+    }
+    
+// 'accessors'
+    bool updatePressure() {
+        int tol = 50; // number foo bad move to macro
+        
+        int thisReading = analogRead(PS1_APIN);
+        if (thisReading < 224) {
+            pressure=0;
+        } else {
+            pressure=(thisReading-200)*10;
+        }
+        pressureChanged = abs(pressure - pressure) >= tol;
+        if (pressureChanged)
+            pressure = pressure;
+        return pressureChanged;
+    }
+    
+    void setPressureChanged(bool v) {
+        pressureChanged = v;
+    }
+};
+
+
+Pump pump;
+
+static void runThePump() {
+    pump.CheckPump();
+}
+
+static void readPumpPressure() {
+    if (pump.updatePressure()) {
+        monitor.update("PS1", "%d", pump.pressure);
+        pump.setPressureChanged(false);
+    }
+}
+
+// should also take on as a value
+
+static void PMS (uint8_t kwIndex, uint8_t verb,char *args) {
+    if (verb == '!') {
+        pump.motor((bool) atoi(args));
+    } else {
+        monitor.update("PMS", "%d", pump.isMotorOn());
+    }
+}
+
+// should also take on as a value
+static void SOL (uint8_t kwIndex, uint8_t verb,char *args) {
+    if (verb == '!') {
+        pump.solenoid((bool)atoi(args));
+    } else {
+        monitor.update("SOL", "%d", pump.areWeGoingDown());
+    }
+}
+
+static void MUP (uint8_t kwIndex, uint8_t verb,char *args) {
+    monitor.update("ACK","Going up");
+    pump.Press();
+}
+
+static void MDN (uint8_t kwIndex, uint8_t verb,char *args) {
+    monitor.update("ACK", "Going down");
+    pump.Release();
+}
+
+
+static void PS1 (uint8_t kwIndex, uint8_t verb,char *args) {
+    monitor.update("PS1", "%d", pump.pressure);
+}
+
+
+#endif // PUMP_H
+
diff --git a/Arduino/ems-templates/Thermocouple.cpp b/Arduino/ems-templates/Thermocouple.cpp
new file mode 100755
index 0000000..c06528c
--- /dev/null
+++ b/Arduino/ems-templates/Thermocouple.cpp
@@ -0,0 +1,9 @@
+/******************************************************************
+ * Thermocouple.cpp - type description for temperature measurement.
+ */
+
+#include "Thermocouple.h"
+
+Thermocouples thermocouple;
+ 
+
diff --git a/Arduino/ems-templates/Thermocouple.h b/Arduino/ems-templates/Thermocouple.h
new file mode 100755
index 0000000..13e72a3
--- /dev/null
+++ b/Arduino/ems-templates/Thermocouple.h
@@ -0,0 +1,178 @@
+/******************************************************************
+ * Thermocouple.h - type description for temperature measurement.
+ * 
+ * this should be generalized into a temperature sensor.
+ *
+ */
+
+ #ifndef THERMOCOUPLE_H
+ #define THERMOCOUPLE_H
+
+
+#include <SPI.h>
+#include "Adafruit_MAX31855.h"
+
+#include "Common.h"
+#include "TaskScheduler.h"
+#include "Monitor.h"
+#include "Machine.h"
+
+static double CtoF(double C) {
+  return (9.0*C)/5.0 + 32.0;
+}
+
+// output temperature values when they have changed
+static void readPlate1Temp();
+static void readPlate2Temp();
+static void readAmbientTemp();
+static void TS1 (uint8_t kwIndex, uint8_t verb,char *args); 
+static void TS2 (uint8_t kwIndex, uint8_t verb,char *args);
+static void AMT (uint8_t kwIndex, uint8_t verb,char *args);
+
+class Thermocouples {
+  private:
+    Adafruit_MAX31855 _therm1;
+    double _temp1;
+    bool _temp1changed;
+
+    Adafruit_MAX31855 _therm2;
+    double _temp2;
+    bool _temp2changed;
+
+    // ambient temp is made up of the avg ambient temp from each thermocouple
+    double _ambientTemp;
+    bool _ambChanged;
+    
+    Task _temp1Read;
+    Task _temp2Read;
+    Task _ambientTempRead;
+    
+  public:
+    Thermocouples() : _therm1(TS1_CS_PIN), _therm2(TS2_CS_PIN) {}
+    Adafruit_MAX31855* therm1()  {return &_therm1;}
+    Adafruit_MAX31855* therm2()  {return &_therm2;}
+
+    // temperature 1 changes
+    bool updateTemp1() {
+      double  tol = 1;
+      double temp = therm1()->readFarenheit();
+      _temp1changed = fabs(_temp1 - temp) >= tol;
+      if (_temp1changed)
+        _temp1 = temp;
+      return _temp1changed;
+    }
+
+    void setTemp1Changed(bool v) {
+      _temp1changed = v;
+    }
+
+    // temperature 2 changes
+    bool updateTemp2() {
+      double  tol = 1;
+      double temp = therm2()->readFarenheit();
+      _temp2changed = fabs(_temp2 - temp) >= tol;
+      if (_temp2changed)
+        _temp2 = temp;
+      return _temp2changed;
+    }
+
+    void setTemp2Changed(bool v) {
+        _temp2changed = v;
+    }
+
+    // Check for Ambient temperature changes
+    bool updateAmbientTemp() {
+      double tol = 1;
+      // Farenheit temperature
+      double avgTemp = CtoF((therm1()->readInternal() + therm2()->readInternal())/2.0);
+      _ambChanged = fabs(_ambientTemp - avgTemp) >= tol;
+      if (_ambChanged) {
+        _ambientTemp = avgTemp;
+      }
+      return _ambChanged;
+    }
+
+    void setAmbChanged(bool v) {
+      _ambChanged = v;
+    }
+    
+    double getTemp1() { return _temp1; }
+    double getTemp2() { return _temp2; }
+    double getAmb()   { return _ambientTemp; }
+    
+    bool updateTemp2(double temp);
+    
+    void init() {
+      monitor.registerAction(_TS1_, &TS1);
+      monitor.registerAction(_TS2_, &TS2);
+      monitor.registerAction(_AMT_, &AMT);
+
+      // set tasks for sceduled reads
+      _temp1Read.set(100L, TASK_FOREVER, &readPlate1Temp);
+      machine.todolist.addTask(_temp1Read);
+      _temp1Read.enable();
+      
+      _temp2Read.set(100L, TASK_FOREVER, &readPlate2Temp);
+      machine.todolist.addTask(_temp2Read);
+      _temp2Read.enable();
+      
+      _ambientTempRead.set(100L, TASK_FOREVER, &readAmbientTemp);
+      machine.todolist.addTask(_ambientTempRead);
+      _ambientTempRead.enable();
+    }
+
+    
+};
+
+extern Thermocouples thermocouple;
+
+/*----------------------------------------------------------------------
+ *  Schedule Callbacks
+ *--------------------------------------------------------------------*/
+// return the temp only if the plate temp has changed
+static void readPlate1Temp() { 
+    if (thermocouple.updateTemp1()) {
+        double _f = thermocouple.getTemp1();
+        monitor.update("TS1", "%d.%.02d", int(_f),int(abs(_f - int(_f))*100));
+        thermocouple.setTemp1Changed(false);
+    }
+}
+
+static void readPlate2Temp() { 
+    if (thermocouple.updateTemp2()) {
+        double _f = thermocouple.getTemp2();
+        monitor.update("TS2", "%d.%.02d", int(_f),int(abs(_f - int(_f))*100));
+        thermocouple.setTemp2Changed(false);
+    }
+}
+
+static void readAmbientTemp() {
+  if (thermocouple.updateAmbientTemp()) {
+        double _f = thermocouple.getAmb();
+        monitor.update("AMT", "%d.%.02d", int(_f),int(abs(_f - int(_f))*100));
+        thermocouple.setAmbChanged(false);
+  }
+}
+
+/*----------------------------------------------------------------------
+ *  Monitor Callbacks
+ *--------------------------------------------------------------------*/
+    
+// unconditionally return temp
+static void TS1 (uint8_t kwIndex, uint8_t verb,char *args) {
+    double _f = thermocouple.getTemp1();
+    monitor.update("TS1", "%d.%.02d", int(_f),int(abs(_f - int(_f))*100));
+}
+
+static void TS2 (uint8_t kwIndex, uint8_t verb,char *args) {
+    double _f = thermocouple.getTemp2();
+    monitor.update("TS2", "%d.%.02d", int(_f),int(abs(_f - int(_f))*100));
+}
+
+static void AMT (uint8_t kwIndex, uint8_t verb,char *args) {
+    double _f = thermocouple.getAmb();
+    monitor.update("AMT", "%d.%.02d", int(_f),int(abs(_f - int(_f))*100));
+}
+
+
+ #endif // THERMOCOUPLE_H