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Tudor OS - System Reference Guide
1. Basic (Identity)
Device Name: The unique name of this specific board on the network (e.g., Barrier_01). Essential for identifying the machine via Bluetooth or in error logs.
Group ID: Shared identifier for multiple barriers that need to act together (e.g., doors at the same entrance).
Installation Location: A descriptive string to inform the technician about the physical location of the equipment (e.g., North_Corridor).
Client Code: The registration code of the client where the barrier is installed.
2. Network (WiFi & Bluetooth)
Wi-Fi Mode: Defines the network role: 'Client' (connects to a router), 'AP' (creates its own network), or 'Mesh' (decentralized network between barriers).
Network Name (SSID): The name of the Wi-Fi network the system should connect to or broadcast.
Wi-Fi Password: The password associated with the Wi-Fi network.
Share Wired Internet: If connected to a switch (via RJ45), allows routing internet to other barriers connected via Wi-Fi.
IP Address: 'DHCP' for a floating IP or a fixed IP (e.g., 192.168.1.100) to facilitate strict network architectures.
Cloud API URL: The secure HTTPS endpoint where the Cloud Leader will transmit the group's telemetry and error logs.
Enable Bluetooth: Allows completely disabling Bluetooth emission for clients requiring zero radio frequency on site.
Broadcast Name: The Bluetooth SSID that will appear on technicians' phones and tablets.
Pairing PIN: Legacy code for very old equipment or simple OS pairings.
Idle Timeout (s): If the technician is far away without sending commands for X seconds, the barrier cuts the Bluetooth socket for safety.
Security Level: The encryption level (1 for normal PIN, 2 for advanced Challenge-Response).
Crypto Key: The massive cryptographic string required during the Handshake (without it, the Front-End panel won't read any data).
3. Motor (Power, Ramps & Limits)
Max Open Power (%): Absolute physical maximum speed limit (0-100) stipulated by the manufacturer for opening.
Open Power (%): Current opening speed, adjusted by the administrator (cannot exceed the Max).
Max Close Power (%): Absolute physical maximum speed limit stipulated for closing (usually slower for safety).
Close Power (%): Current closing speed, adjusted by the administrator.
Calibration Speed (%): Ultra-slow speed (PWM) used exclusively during the calibration/trajectory learning routine.
Ramp Step (ms): Sweep cycle (in ms) of the motor thread. Defines the time between each mathematical step in the acceleration ramp.
Open Accel. (ms): Time (in ms) the machine takes to accelerate from zero to the PWM_Open speed.
Open Decel. (ms): Time (in ms) the machine takes to brake from the opening speed until it stops.
Close Accel. (ms): Time (in ms) the machine takes to accelerate from zero to the PWM_Close speed.
Close Decel. (ms): Time (in ms) the machine takes to brake from the closing speed until it softly touches the zero stop.
Friction Tolerance (A): The margin of fluctuation allowed above the 'Motor 1st Run'. If the machine exceeds this combined value, the Virtual Mechanic triggers a structural friction alert.
Max Physical Open (Pulses): Absolute mechanical roof (in pulses) that the track possesses.
Target Open Limit: Virtual limit defined by the admin for the door to stop opening (e.g., programmed to open only up to 80% of the track).
Open Braking Distance: Exact amount of pulses before the open limit where the machine must start the braking ramp (Open_Down).
Max Physical Close (0): Zero mechanical physical limit (door fully closed).
Target Close Limit): Virtual closing limit (in case the admin wants to leave a small programmed gap).
Close Braking Distance: Amount of pulses before the close limit where the machine starts the soft stop braking (Close_Down).
Belt Inertia Tolerance: Mechanical slack allowed (in pulses) to absorb belt slips without the system declaring a fatal hardware error.
4. Safety (Interlocks & Timers)
Crush Detect Threshold: Value to identify blockages or crushing.
Crush Action: Defines the system's attitude upon detecting a crush (1 = Invert movement opening; 2 = Dry emergency stop).
Anti-Forcing Power (%): If someone tries to manually force the locked door open, injects this percentage of force (PWM) in the opposite direction to fight the intruder.
Anti-Forcing Time (ms): Time (in ms) the motor is allowed to fight the intruder before yielding, to avoid melting the coils.
Power Failure Action: What to do in case of grid power loss (e.g., Open_And_Shutdown evacuates people and turns off; Emergency_Stop locks everything immediately).
Photocell Health Check: If 'Yes', the firmware emits a pulse to the photocells and waits for the relay to blink before each trip to ensure the sensor is not stuck/broken.
Impact Sensitivity: Defines the sensitivity threshold for the encoder's algorithmic anti-crush feature.
Hold Open Time (s): Time in seconds the door waits fully open before triggering the close by "Timeout".
Sensor Debounce Filter (ms): Milliseconds of continuous reading required from a sensor for the system to ignore electrical vibrations (Debounce).
Close After Passage: If 'Yes', the door interrupts the Open_Timer and starts closing the exact moment the last safety beam is cleared.
Passage Safety Delay (s): An extra safety slack (in seconds) after passage is completed, ensuring bags or clothes are not caught if the person walks too slowly.
5. System (General & Diagnostics)
Default Operation Mode: Represents the system's virtual key dictated by the schedule or app (Auto, Off, Open, Close, Maintenance).
System Calibrated: Boolean managed by Python (Yes/No). If 'No', blocks travel until the technician redoes the Learning.
Enable RGB Strip: Allows turning off the decorative RGB lights for dark environments or clean architecture.
Enable File Logging: If 'Yes', the system writes persistent data to disk (.log) for future auditing.
Log Detail Level: The degree of verbosity for recordings (1 records only fatal errors; 2 records errors and user accesses; 3 records everything, including every time the door opens).
Maintenance Alert (Cycles): The virtual mileage (in cycles) at which the system should notify that the gate needs bearings or lubrication.
Current Cycle Count: The machine's odometer. Counts the total cycles performed since the factory.
Timeout Tolerance (%): Percentage margin (e.g., 20%) applied over the auto-calculated times to trigger the "Timeout".
Learned Open Time (s)): Real time in seconds the door took to open during the last calibration.
Learned Close Time (s): Real time in seconds the door took to close during the last calibration.
6. GPIO (Hardware Pins)
Motor Open: Defines the PWM pin that sends the power signal to open the door on the BTS7960 driver.
Motor Close: Defines the PWM pin that sends the power signal to close the door on the BTS7960 driver.
Motor Enable: Pin that turns the H-bridge relays on or off. When off (0), the motor is in "Freewheel" (loose).
Open Limit Switch: Reading pin for the physical limit switch sensor for the 100% open position.
Close Limit Switch: Reading pin for the physical limit switch sensor for the 100% closed position.
Front Pos. IR: Reading pin for the front infrared positioning sensor.
Back Pos. IR: Reading pin for the rear infrared positioning sensor.
Inside Safety Laser: Pin that groups and receives the signal from the inner anti-crush laser receivers.
Outside Safety Laser: Pin that groups and receives the signal from the outer anti-crush laser receivers.
Inside Motion Radar: Receives the signal from the motion sensor (radar/PIR) identifying approach from the inside.
Outside Motion Radar: Receives the signal from the motion sensor (radar/PIR) identifying approach from the outside.
RF Receiver Ch0: Receives the signal from Channel 0 of the 433MHz RF radio receiver (Command).
RF Receiver Ch1: Receives the signal from Channel 1 of the 433MHz RF radio receiver.
RF Receiver Ch2: Receives the signal from Channel 2 of the 433MHz RF radio receiver.
RF Receiver Ch3: Receives the signal from Channel 3 of the 433MHz RF radio receiver.
Fire Alarm Interlock: Receives the interlock signal directly from the building's fire alarm central.
Power Source Monitor: Analytical pin that monitors the state of the main grid power versus the battery bank.
Switch Auto: Pin that detects if the physical selector switch was turned to "Automatic" mode.
Switch Open: Pin that detects if the physical selector switch was turned to "Lock Open" mode.
Switch Close: Pin that detects if the physical selector switch was turned to "Lock Closed" mode.
Encoder SPI CS: Chip Select pin used in SPI communication with the LS7366R encoder controller chip.
RGB LED (Red): Pin that controls the Red component of the RGB LED signaling strip.
RGB LED (Green): Pin that controls the Green component of the RGB LED strip.
RGB LED (Blue): Pin that controls the Blue component of the RGB LED strip.
7. Relay (Hardware Logic States NO/NC)
Open Limit: Defines if the opening limit switch is normally open (NO) or normally closed (NC).
Close Limit: Defines if the closing limit switch is NO or NC.
Front Pos. IR: Defines the logic (NO/NC) of the front position IR sensor.
Back Pos. IR: Defines the logic (NO/NC) of the rear position IR sensor.
Inside Safety: Logic for the inner safety laser. Recommended NC (if the wire breaks, it reports a blocked barrier).
Outside Safety: Logic for the outer safety laser. Recommended NC.
Inside Radar: Logic for the inner motion radar. Generally NO.
Outside Radar: Logic for the outer motion radar. Generally NO.
Fire Alarm: Logic for the fire central. Most buildings use NC (the relay cuts power during a fire).
RF Ch0: Electrical logic for channel 0 of the radio receiver.
RF Ch1: Electrical logic for channel 1 of the radio receiver.
RF Ch2: Electrical logic for channel 2 of the radio receiver.
RF Ch3: Electrical logic for channel 3 of the radio receiver.
Switch Open: Contact logic for the key barrel (open mode).
Switch Close: Contact logic for the key barrel (closed mode).
Switch Auto: Contact logic for the key barrel (auto mode).
8. Power & Battery Management
Number of Batteries: The total physical number of battery units connected to the system. This tells the software how many INA228 nodes it needs to read via the I2C bus. Set to 0 if running exclusively on grid power without backup.
Connection Type: Defines the wiring topology. 'Series' (adds voltage together) or 'Parallel' (adds capacity together). This is crucial for the system to accurately calculate the total bus voltage supplied to the motor.
Nominal Voltage per Battery: The factory-rated voltage of a single battery unit (e.g., 12V or 24V). Used as a mathematical baseline to detect critical voltage drops (Voltage Sag) under load.
Nominal Capacity per Battery: The factory-rated capacity in Ampere-hours (Ah). Essential for calculating the depth of discharge and estimating the overall health of the battery bank.
I2C Bus Number (INA228): The hardware Linux bus number where the INA228 monitor chips are physically connected (e.g., 7 for /dev/i2c-7). Do not change this parameter unless instructed by the hardware engineering team, as it will blind the system to the battery data.