# HG changeset patch
# User Ethan Zonca <ezonca@sealandaire.com>
# Date 2017-07-27 13:12:04
# Node ID f153d4ca027cc4b85d12f9a87142ad86d5d7c3d3
# Parent  a2c96432427bf7ed4d59fd1320404cbdd1805a19

PID control kinda working, still can't do 0percent duty

diff --git a/inc/pwmout.h b/inc/pwmout.h
--- a/inc/pwmout.h
+++ b/inc/pwmout.h
@@ -9,7 +9,7 @@
 
 
 void pwmout_init(void);
-void pwmout_process(uint16_t duty);
+void pwmout_process(int16_t duty);
 TIM_HandleTypeDef* pwmout_get_tim(void);
 
 #endif
diff --git a/src/main.c b/src/main.c
--- a/src/main.c
+++ b/src/main.c
@@ -52,9 +52,10 @@ int main(void)
     uint32_t last_1hz = 0;
     uint32_t last_5hz = 0;
 
+	float duty = 0.0;
+
 	while (1)
 	{
-		float duty = 0.0;
 
 		if(HAL_GetTick() - last_1hz > 750)
 		{
@@ -84,7 +85,7 @@ int main(void)
             last_thermostat = HAL_GetTick();
         }
 
-        pwmout_process(duty);
+        pwmout_process((int16_t)duty);
         display_process();
         watchdog_feed();
 
diff --git a/src/pid.c b/src/pid.c
--- a/src/pid.c
+++ b/src/pid.c
@@ -52,7 +52,7 @@ float pid_process(void)
 		ssr_output = 0.0;
 	}
 
-	return ssr_output;
+	return ssr_output; //ssr_output;
 }
 
 int16_t pid_update(void)
@@ -64,7 +64,7 @@ int16_t pid_update(void)
 	float temp = status->temp;
 
 	// Calculate instantaneous error
-	int16_t error = status->setpoint * 10 - temp; // TODO: Use fixed point fraction
+	int16_t error = status->setpoint - temp; // TODO: Use fixed point fraction
 
 	// Proportional component
 	int32_t p_term = set->val.k_p * error;
@@ -78,7 +78,7 @@ int16_t pid_update(void)
 	// it cant help be cold despite its best efforts)
 	// not necessary, but this makes windup guard values
 	// relative to the current iGain
-	int32_t windup_guard_res = (set->val.windup_guard * 10) / set->val.k_i;
+	int32_t windup_guard_res = (set->val.windup_guard) / set->val.k_i;
 
 	// Calculate integral term with windup guard
 	if (state.i_state > windup_guard_res)
diff --git a/src/pwmout.c b/src/pwmout.c
--- a/src/pwmout.c
+++ b/src/pwmout.c
@@ -86,10 +86,19 @@ void pwmout_init(void)
 // functionality. this is a problem.
 
 // also duty cycling isn't working correctly...
-void pwmout_process(uint16_t duty)
+void pwmout_process(int16_t duty)
 {
+	if(duty == 0)
+	{
+		HAL_GPIO_WritePin(SSR, 0);
+		HAL_GPIO_WritePin(LED, 0);
+		// TODO: Disable timer
+	}
+	if(duty < 0)
+		duty = -duty;
 
-	htim17.Instance->CCR1 = duty;
+
+	htim17.Instance->CCR1 = duty; //duty;
 //	HAL_GPIO_TogglePin(SSR_GPIO_Port, SSR_PIN);
 
 //	uint32_t ssr_output = duty; // meh