Added Interlock

Fixed PID regulation functionality

git-svn-id: https://svn.vbchaos.nl/svn/hsb/trunk@250 05563f52-14a8-4384-a975-3d1654cca0fa

S - Software/0 - HSB MRTS Kathode-MCP/3 - Implementation/0 - Code/HAL/inc/Interlock.h

@@ -0,0 +1,133 @@
+// -----------------------------------------------------------------------------
+/// @file  Interlock.h
+/// @brief File description
+// -----------------------------------------------------------------------------
+//  Micro-Key bv
+//  Industrieweg 28, 9804 TG Noordhorn
+//  Postbus 92, 9800 AB Zuidhorn
+//  The Netherlands
+//  Tel: +31 594 503020
+//  Fax: +31 594 505825
+//  Email: support@microkey.nl
+//  Web: www.microkey.nl
+// -----------------------------------------------------------------------------
+/// $Revision$
+/// $Author$
+/// $Date$
+//  (c) 2015 Micro-Key bv
+// -----------------------------------------------------------------------------
+
+/// @defgroup {group_name} {group_description}
+/// Description
+
+/// @file Interlock.h
+/// @ingroup {group_name}
+
+#ifndef INC_INTERLOCK_H_
+#define INC_INTERLOCK_H_
+
+
+// -----------------------------------------------------------------------------
+// Include files 
+// -----------------------------------------------------------------------------
+
+#include <stdbool.h>
+#include "stm32f10x.h"
+
+#include "platform.h"
+#include "gpio.h"
+
+#include "stm32f10x_exti.h"
+
+// -----------------------------------------------------------------------------
+// Constant and macro definitions 
+// -----------------------------------------------------------------------------
+
+
+
+// -----------------------------------------------------------------------------
+// Type definitions. 
+// -----------------------------------------------------------------------------
+
+struct InterlockElement
+{
+   struct Gpio* io;
+   EXTI_InitTypeDef ioEXTI;
+};
+
+struct Interlock
+{
+   struct InterlockElement NO;
+   struct InterlockElement NC;
+   bool initialized;
+};
+
+// -----------------------------------------------------------------------------
+// Function declarations 
+// -----------------------------------------------------------------------------
+
+
+/** ----------------------------------------------------------------------------
+ * Interlock_construct
+ * Description of function
+ *
+ * @param	self
+ * @param	NO
+ * @param   NOEXTI
+ * @param   NC
+ * @param   NCEXTI
+ *
+ * @return	ErrorStatus
+ *
+ * @todo
+ * -----------------------------------------------------------------------------
+ */
+extern ErrorStatus Interlock_construct(struct Interlock* self, struct Gpio* NO, EXTI_InitTypeDef NOEXTI, struct Gpio* NC, EXTI_InitTypeDef NCEXTI);
+
+
+/** ----------------------------------------------------------------------------
+ * Interlock_getStatus
+ * Get the current status of the interlock
+ *
+ * @param   self                       Interlock object
+ * @param   command                    Interrupt status
+ * @param   NO                         value on GPIO NO
+ * @param   NC                         value on GPIO NC
+ *
+ * @return  void
+ *
+ * @todo
+ * -----------------------------------------------------------------------------
+ */
+extern void Interlock_getStatus(struct Interlock* self, FunctionalState* command, int* NO, int* NC);
+
+
+/** ----------------------------------------------------------------------------
+ * Interlock_isClosed
+ * Check for interlock closed. Scans both I/Os
+ *
+ * @param	self                       The interlock object
+ *
+ * @return	bool                       TRUE is NC=1 and NO=0
+ *
+ * @todo
+ * -----------------------------------------------------------------------------
+ */
+extern bool Interlock_isClosed(struct Interlock* self);
+
+
+/** ----------------------------------------------------------------------------
+ * Interlock_setEXTI
+ * Description of function
+ *
+ * @param	self
+ * @param	command
+ *
+ * @return	void
+ *
+ * @todo
+ * -----------------------------------------------------------------------------
+ */
+extern void Interlock_setEXTI(struct Interlock* self, FunctionalState command);
+
+#endif /* INC_INTERLOCK_H_ */

S - Software/0 - HSB MRTS Kathode-MCP/3 - Implementation/0 - Code/HAL/inc/PID.h

@@ -39,7 +39,7 @@
 // Constant and macro definitions 
 // -----------------------------------------------------------------------------
 
-#define PID_FIXED_POINT_FACTOR         (1000)
+#define PID_FIXED_POINT_FACTOR         (10000)
 
 // -----------------------------------------------------------------------------
 // Type definitions. 
@@ -92,6 +92,6 @@ extern ErrorStatus PID_construct(struct Pid* self, int Kp, int Ki, int Kd, int i
  * @todo
  * -----------------------------------------------------------------------------
  */
-extern int PID_calculate(struct Pid* self, int input, int error);
+extern int PID_calculate(struct Pid* self, int error);
 
 #endif /* INC_PID_H_ */