State machine states

• INIT

  • toStab

    From init to stabilize, in order to prevent undesired behaviour

    • Destination:STABILIZE
    • Condition: (Not Available)
    • Actions:

      • stopActuation

        ActDrive

        Stops the actuation by setting a duty of 0 in the PWM channel.

        Code

        synthesize_pwmActAction((t_pwm)0);

      • applyDirection

        ActDrive

        Sets the actuation direction to equal the ActDirection.

        Code

        appliedActDirection=actDirection;

      • resetActDriverTimer

        ActDrive

        Resets the timer of the Actuator Driver.

        Code

        actDrvTimer=0L;
      No records to display

  No records to display

• STABILIZE

  • stabLoop

    Stabilization loop

    • Destination:STABILIZE
    • Condition: (Not Available)
    • Actions:

      • stopActuation

        ActDrive

        Stops the actuation by setting a duty of 0 in the PWM channel.

        Code

        synthesize_pwmActAction((t_pwm)0);

      • incrementActDriverTimer

        ActDrive

        Increments the actuator driver timer

        Code

        actDrvTimer++;
      No records to display

  • fromStabToWork

    The new direction requested is not QUIET, so the actuation must begin working.

    • Destination:WORK
    • Condition: stabTimeExpiredToMove
      Code
      (actDirection!=CFG_ACT_DIRECTION_QUIET) && (actDrvTimer>=CFG_ACT_DRIVER_STAB_TIME)
    • Actions:

      • applyActuation

        ActDrive

        Applies the rectifiedActAction to the PWM channel.

        Code

        synthesize_pwmActAction(rectifiedActAction);

      • resetActDriverTimer

        ActDrive

        Resets the timer of the Actuator Driver.

        Code

        actDrvTimer=0L;
      No records to display

  • dirChangeDuringStab

    A new direction arrived during stabilization, the new direction has to be applied and the stab time has to be resetted.

    • Destination:STABILIZE
    • Condition: directionRequestChanged
      Code
      appliedActDirection!=actDirection
    • Actions:

      • stopActuation

        ActDrive

        Stops the actuation by setting a duty of 0 in the PWM channel.

        Code

        synthesize_pwmActAction((t_pwm)0);

      • applyDirection

        ActDrive

        Sets the actuation direction to equal the ActDirection.

        Code

        appliedActDirection=actDirection;

      • resetActDriverTimer

        ActDrive

        Resets the timer of the Actuator Driver.

        Code

        actDrvTimer=0L;
      No records to display

  No records to display

• WORK

  • toDissipate

    The actuation is working and a new request arrived with different direction.

    • Destination:DISSIPATE
    • Condition: directionRequestChanged
      Code
      appliedActDirection!=actDirection
    • Actions:

      • stopActuation

        ActDrive

        Stops the actuation by setting a duty of 0 in the PWM channel.

        Code

        synthesize_pwmActAction((t_pwm)0);

      • resetActDriverTimer

        ActDrive

        Resets the timer of the Actuator Driver.

        Code

        actDrvTimer=0L;
      No records to display

  No records to display

• DISSIPATE

  • endDissipate

    After dissipation time, the actuation applies the direction and goes to STABILIZE time.

    • Destination:STABILIZE
    • Condition: dissipTimeExpired
      Code
      actDrvTimer>=CFG_ACT_DRIVER_DISSIP_TIME
    • Actions:

      • stopActuation

        ActDrive

        Stops the actuation by setting a duty of 0 in the PWM channel.

        Code

        synthesize_pwmActAction((t_pwm)0);

      • applyDirection

        ActDrive

        Sets the actuation direction to equal the ActDirection.

        Code

        appliedActDirection=actDirection;

      • resetActDriverTimer

        ActDrive

        Resets the timer of the Actuator Driver.

        Code

        actDrvTimer=0L;
      No records to display

  • dissipateLoop

    Waiting for power to dissipate

    • Destination:DISSIPATE
    • Condition: (Not Available)
    • Actions:

      • stopActuation

        ActDrive

        Stops the actuation by setting a duty of 0 in the PWM channel.

        Code

        synthesize_pwmActAction((t_pwm)0);

      • incrementActDriverTimer

        ActDrive

        Increments the actuator driver timer

        Code

        actDrvTimer++;
      No records to display

  No records to display