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feat: Implement obstacle detection for valve movement 

Implement obstacle detection for valve movement that stops the motor if the current exceeds a predefined threshold during opening or closing.

- :
    - Added new defines  and  with a default value of 500 mA.
- :
    - Modified  function to compare the measured current with the new obstacle thresholds.
    - If the threshold is exceeded, the valve movement is stopped and the status is set to .

Signed-off-by: Your Name <your.email@example.com>
This commit is contained in:
Your Name 2025-07-11 01:21:41 +02:00 committed by Eduard Iten
parent 3de42a46c2
commit 76d0d0647c
2 changed files with 19 additions and 2 deletions
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3
software/include/lib/valve.h
View File

@ -17,6 +17,9 @@
#define VALVE_CHANNEL_CLOSE 1 #define VALVE_CHANNEL_CLOSE 1
#define VALVE_ENDPOSITION_CHECK_INTERVAL K_MSEC(100) #define VALVE_ENDPOSITION_CHECK_INTERVAL K_MSEC(100)
#define VALVE_OBSTACLE_THRESHOLD_OPEN_MA 500
#define VALVE_OBSTACLE_THRESHOLD_CLOSE_MA 500
/** /**
* @brief Represents the static state of the valve (open or closed). * @brief Represents the static state of the valve (open or closed).
*/ */

18
software/lib/valve/valve.c
View File

@ -47,14 +47,28 @@ static void valve_work_handler(struct k_work *work)
if (current_movement == VALVE_MOVEMENT_OPENING) { if (current_movement == VALVE_MOVEMENT_OPENING) {
vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_OPEN, &current_ma); vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_OPEN, &current_ma);
if (current_ma > end_current_threshold_open_ma) { if (current_ma > VALVE_OBSTACLE_THRESHOLD_OPEN_MA) {
LOG_ERR(
"Obstacle detected during opening (current: %d mA), stopping motor.",
current_ma);
current_movement = VALVE_MOVEMENT_ERROR;
valve_stop();
return;
} else if (current_ma > end_current_threshold_open_ma) {
k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL); k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL);
return; return;
} }
LOG_INF("Valve finished opening"); LOG_INF("Valve finished opening");
} else if (current_movement == VALVE_MOVEMENT_CLOSING) { } else if (current_movement == VALVE_MOVEMENT_CLOSING) {
vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, &current_ma); vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, &current_ma);
if (current_ma > end_current_threshold_close_ma) { if (current_ma > VALVE_OBSTACLE_THRESHOLD_CLOSE_MA) {
LOG_ERR(
"Obstacle detected during closing (current: %d mA), stopping motor.",
current_ma);
current_movement = VALVE_MOVEMENT_ERROR;
valve_stop();
return;
} else if (current_ma > end_current_threshold_close_ma) {
k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL); k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL);
return; return;
} }