feat: Make valve obstacle detection parameters configurable via settings and shell
This commit introduces configurable obstacle detection thresholds for the valve, allowing them to be set and persisted via the Zephyr settings subsystem and controlled through the shell and Modbus tool.
- `software/lib/valve/Kconfig`: Added new Kconfig options `VALVE_OBSTACLE_THRESHOLD_OPEN_MA` and `VALVE_OBSTACLE_THRESHOLD_CLOSE_MA` for compile-time configuration and default values.
- `software/include/lib/valve.h`: Removed hardcoded defines and added API functions for setting and getting obstacle thresholds.
- `software/lib/valve/valve.c`:
- Updated `valve_work_handler` to use the new configurable obstacle thresholds.
- Integrated loading and saving of obstacle thresholds via the settings subsystem in `valve_init`.
- Implemented the new setter and getter functions for obstacle thresholds.
- Updated the `LOG_INF` message in `valve_init` to display the new obstacle threshold values.
- `software/apps/slave_node/prj.conf`: Added default values for the new Kconfig options.
- `software/lib/shell_valve/shell_valve.c`: Added new shell commands `valve set_obstacle_open` and `valve set_obstacle_close` to modify the obstacle thresholds, and updated `valve show` to display them.
- `software/tools/modbus_tool/modbus_tool.py`:
- Defined new Modbus holding registers (`REG_HOLDING_OBSTACLE_THRESHOLD_OPEN_MA`, `REG_HOLDING_OBSTACLE_THRESHOLD_CLOSE_MA`).
- Updated `poll_status` to read these new registers.
- Modified the `main_menu` to include "Set Obstacle Open" and "Set Obstacle Close" options in the settings menu, allowing users to view and modify these parameters.
- `software/lib/modbus_server/modbus_server.c`:
- Updated `holding_reg_rd` to read the new obstacle threshold registers.
- Updated `holding_reg_wr` to write to the new obstacle threshold registers.
- Removed incorrect `REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA` and `REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA` cases from `input_reg_rd`.
- `software/include/lib/modbus_registers.h`: Created a new header file to centralize Modbus register definitions, which were previously hardcoded in `modbus_tool.py`.
Signed-off-by: Eduard Iten <eduard@iten.pro>
This commit is contained in:
@@ -10,31 +10,7 @@ from pymodbus.exceptions import ModbusException
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# --- Register Definitions ---
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# (omitted for brevity, no changes here)
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REG_INPUT_VALVE_STATE_MOVEMENT = 0x0000
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REG_INPUT_MOTOR_OPEN_CURRENT_MA = 0x0001
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REG_INPUT_MOTOR_CLOSE_CURRENT_MA = 0x0002
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REG_INPUT_DIGITAL_INPUTS_STATE = 0x0020
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REG_INPUT_BUTTON_EVENTS = 0x0021
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REG_INPUT_FIRMWARE_VERSION_MAJOR_MINOR = 0x00F0
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REG_INPUT_FIRMWARE_VERSION_PATCH = 0x00F1
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REG_INPUT_DEVICE_STATUS = 0x00F2
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REG_INPUT_UPTIME_SECONDS_LOW = 0x00F3
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REG_INPUT_UPTIME_SECONDS_HIGH = 0x00F4
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REG_INPUT_SUPPLY_VOLTAGE_MV = 0x00F5
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REG_INPUT_FWU_LAST_CHUNK_CRC = 0x0100
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REG_HOLDING_VALVE_COMMAND = 0x0000
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REG_HOLDING_MAX_OPENING_TIME_S = 0x0001
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REG_HOLDING_MAX_CLOSING_TIME_S = 0x0002
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REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA = 0x0003
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REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA = 0x0004
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REG_HOLDING_DIGITAL_OUTPUTS_STATE = 0x0010
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REG_HOLDING_WATCHDOG_TIMEOUT_S = 0x00F0
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REG_HOLDING_DEVICE_RESET = 0x00F1
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REG_HOLDING_FWU_COMMAND = 0x0100
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REG_HOLDING_FWU_CHUNK_OFFSET_LOW = 0x0101
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REG_HOLDING_FWU_CHUNK_OFFSET_HIGH = 0x0102
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REG_HOLDING_FWU_CHUNK_SIZE = 0x0103
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REG_HOLDING_FWU_DATA_BUFFER = 0x0180
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# --- Global State ---
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@@ -92,7 +68,7 @@ def poll_status(slave_id, interval):
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ir_current = client.read_input_registers(REG_INPUT_MOTOR_OPEN_CURRENT_MA, count=2, slave=slave_id)
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ir_dig = client.read_input_registers(REG_INPUT_DIGITAL_INPUTS_STATE, count=2, slave=slave_id)
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ir_sys = client.read_input_registers(REG_INPUT_FIRMWARE_VERSION_MAJOR_MINOR, count=6, slave=slave_id)
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hr_valve = client.read_holding_registers(REG_HOLDING_MAX_OPENING_TIME_S, count=4, slave=slave_id)
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hr_valve = client.read_holding_registers(REG_HOLDING_MAX_OPENING_TIME_S, count=6, slave=slave_id)
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hr_dig = client.read_holding_registers(REG_HOLDING_DIGITAL_OUTPUTS_STATE, count=1, slave=slave_id)
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hr_sys = client.read_holding_registers(REG_HOLDING_WATCHDOG_TIMEOUT_S, count=1, slave=slave_id)
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@@ -111,6 +87,8 @@ def poll_status(slave_id, interval):
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new_data["close_time"] = f"{hr_valve.registers[1]}s"
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new_data["end_curr_open"] = f"{hr_valve.registers[2]}mA"
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new_data["end_curr_close"] = f"{hr_valve.registers[3]}mA"
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new_data["obstacle_open"] = f"{hr_valve.registers[4]}mA"
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new_data["obstacle_close"] = f"{hr_valve.registers[5]}mA"
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new_data["digital_inputs"] = f"0x{ir_dig.registers[0]:04X}"
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new_data["button_events"] = f"0x{ir_dig.registers[1]:04X}"
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new_data["digital_outputs"] = f"0x{hr_dig.registers[0]:04X}"
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@@ -236,7 +214,7 @@ def main_menu(stdscr, slave_id):
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stdscr.bkgd(' ', curses.color_pair(1))
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menu = ["Open Valve", "Close Valve", "Stop Valve", "Settings", "Reset Node", "Firmware Update", "Exit"]
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settings_menu = ["Set Max Open Time", "Set Max Close Time", "Set End Current Open", "Set End Current Close", "Set Watchdog", "Back"]
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settings_menu = ["Set Max Open Time", "Set Max Close Time", "Set End Current Open", "Set End Current Close", "Set Obstacle Open", "Set Obstacle Close", "Set Watchdog", "Back"]
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current_menu = menu
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current_row_idx = 0
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message, message_time = "", 0
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@@ -282,6 +260,10 @@ def main_menu(stdscr, slave_id):
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input_mode, input_prompt, input_target_reg = True, "Enter End Current Threshold Close (mA): ", REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA
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elif selected_option == "Set Watchdog":
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input_mode, input_prompt, input_target_reg = True, "Enter Watchdog Timeout (s): ", REG_HOLDING_WATCHDOG_TIMEOUT_S
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elif selected_option == "Set Obstacle Open":
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input_mode, input_prompt, input_target_reg = True, "Enter Obstacle Threshold Open (mA): ", REG_HOLDING_OBSTACLE_THRESHOLD_OPEN_MA
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elif selected_option == "Set Obstacle Close":
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input_mode, input_prompt, input_target_reg = True, "Enter Obstacle Threshold Close (mA): ", REG_HOLDING_OBSTACLE_THRESHOLD_CLOSE_MA
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elif selected_option == "Reset Node":
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try:
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client.write_register(REG_HOLDING_DEVICE_RESET, 1, slave=slave_id)
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@@ -319,6 +301,8 @@ def main_menu(stdscr, slave_id):
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stdscr.addstr(3, col3, "Watchdog:", bold); stdscr.addstr(3, col3 + 16, str(current_data.get('watchdog', 'N/A')), normal)
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stdscr.addstr(4, col3, "End Curr Open:", bold); stdscr.addstr(4, col3 + 16, str(current_data.get('end_curr_open', 'N/A')), normal)
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stdscr.addstr(5, col3, "End Curr Close:", bold); stdscr.addstr(5, col3 + 16, str(current_data.get('end_curr_close', 'N/A')), normal)
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stdscr.addstr(6, col3, "Obstacle Open:", bold); stdscr.addstr(6, col3 + 16, str(current_data.get('obstacle_open', 'N/A')), normal)
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stdscr.addstr(7, col3, "Obstacle Close:", bold); stdscr.addstr(7, col3 + 16, str(current_data.get('obstacle_close', 'N/A')), normal)
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stdscr.addstr(1, col4, "Firmware:", bold); stdscr.addstr(1, col4 + 14, str(current_data.get('firmware', 'N/A')), normal)
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stdscr.addstr(2, col4, "Uptime:", bold); stdscr.addstr(2, col4 + 14, str(current_data.get('uptime', 'N/A')), normal)
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stdscr.addstr(3, col4, "Dev. Status:", bold); stdscr.addstr(3, col4 + 14, str(current_data.get('device_status', 'N/A')), normal)
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