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Merge branch 'develop' of ssh://git.mannheim.ccc.de:1337/C3MA/PlantCtrl into develop

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This commit is contained in:
Empire Phoenix
2026-03-15 20:02:05 +01:00
parent c61a586595 32db326266
commit 86f29a336c
4 changed files with 60 additions and 19 deletions
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57
Software/MainBoard/rust/src/main.rs
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@@ -39,7 +39,7 @@ use embassy_net::Stack;
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::mutex::{Mutex, MutexGuard};
use embassy_sync::once_lock::OnceLock;
use embassy_time::{Duration, Timer, WithTimeout};
use embassy_time::{Duration, Instant, Timer, WithTimeout};
use esp_hal::rom::ets_delay_us;
use esp_hal::system::software_reset;
use esp_hal_ota::OtaImgState;
@@ -642,17 +642,24 @@ pub async fn do_secure_pump(
plant_config: &PlantConfig,
dry_run: bool,
) -> FatResult<PumpResult> {
let mut current_collector = vec![0_u16; plant_config.pump_time_s.into()];
let mut flow_collector = vec![0_i16; plant_config.pump_time_s.into()];
const STARTUP_IGNORE_MS: u32 = 500;
const STARTUP_ABORT_CURRENT_MA: u16 = 1500;
let steps_in_50ms = plant_config.pump_time_s as usize * 20;
let mut current_collector = vec![0_u16; steps_in_50ms];
let mut flow_collector = vec![0_i16; steps_in_50ms];
let mut error = false;
let mut first_error = true;
let mut pump_time_s = 0;
let mut pump_time_ms: u32 = 0;
if !dry_run {
board.board_hal.get_tank_sensor()?.reset_flow_meter();
board.board_hal.get_tank_sensor()?.start_flow_meter();
board.board_hal.pump(plant_id, true).await?;
Timer::after_millis(10).await;
for step in 0..plant_config.pump_time_s as usize {
for step in 0..steps_in_50ms {
let step_start = Instant::now();
let flow_value = board.board_hal.get_tank_sensor()?.get_flow_meter_value();
flow_collector[step] = flow_value;
let flow_value_ml = flow_value as f32 * board.board_hal.get_config().tank.ml_per_pulse;
@@ -672,7 +679,20 @@ pub async fn do_secure_pump(
let current_ma = current.as_milliamperes() as u16;
current_collector[step] = current_ma;
let high_current = current_ma > plant_config.max_pump_current_ma;
if high_current && first_error {
if pump_time_ms < STARTUP_IGNORE_MS
&& high_current
&& current_ma > STARTUP_ABORT_CURRENT_MA
{
log(
LogMessage::PumpOverCurrent,
plant_id as u32 + 1,
current_ma as u32,
plant_config.max_pump_current_ma.to_string().as_str(),
step.to_string().as_str(),
)
.await;
error = true;
} else if high_current && first_error {
log(
LogMessage::PumpOverCurrent,
plant_id as u32 + 1,
@@ -722,12 +742,27 @@ pub async fn do_secure_pump(
error = true;
break;
} else {
//e.g., v3 without a sensor ends here, do not spam
error!("Error getting pump current: {err}");
}
}
}
Timer::after_millis(1000).await;
pump_time_s += 1;
// Keep the loop period as close to 50ms (including sensor read + processing time) as possible.
// Always sleep at least 1ms to avoid a fully busy loop when we overrun.
let elapsed = step_start.elapsed();
let target = Duration::from_millis(50);
let sleep_time = match target.checked_sub(elapsed) {
Some(remaining) => {
if remaining < Duration::from_millis(1) {
Duration::from_millis(1)
} else {
remaining
}
}
None => Duration::from_millis(1),
};
Timer::after(sleep_time).await;
pump_time_ms += 50;
}
}
board.board_hal.get_tank_sensor()?.stop_flow_meter();
@@ -741,7 +776,7 @@ pub async fn do_secure_pump(
min_current_ma: current_collector[0],
flow_value_ml,
flow_value_count: final_flow_value,
pump_time_s,
pump_time_s: (pump_time_ms / 1000) as u16,
error,
})
}