therm-ng Changeset - 7fc667dd7f38 · protofusion repositories

Changeset - 7fc667dd7f38

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Ethan Zonca - 8 years ago 2017-07-28 13:27:26
ez@ethanzonca.com

Decent working pid

6 files changed with 28 insertions and 45 deletions:

src/display.c

src/main.c

src/pid.c

src/pwmout.c

src/system/flash.c

src/system/interrupts.c

0 comments (0 inline, 0 general)

src/display.c

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@@ @@ -452,158 +452,160 @@ void display_process(void) @@
             // [ g = 12         ]
             ssd1306_drawstring("Units: ", 0, 40);
             ssd1306_drawlogo();
             ssd1306_drawchar(updown(), 1, 52);
             if(set->val.temp_units == TEMP_UNITS_FAHRENHEIT)
                 ssd1306_drawstring("Fahrenheit", 1, 60);
             else
                 ssd1306_drawstring("Celsius   ", 1, 60);
             ssd1306_drawstring("Press to accept", 3, 40);
             // Button handler
             if(SW_BTN_PRESSED) {
                 status->state = STATE_SETTEMPOFFSET;
+            }
             else if(!HAL_GPIO_ReadPin(SW_UP)) {
                 set->val.temp_units = TEMP_UNITS_FAHRENHEIT;
+            }
             else if(!HAL_GPIO_ReadPin(SW_DOWN)) {
                 set->val.temp_units = TEMP_UNITS_CELSIUS;
+            }
             // Event Handler
             // N/A
         } break;
         case STATE_SETTEMPOFFSET:
+        {
             // Write text to OLED
             // [ therm :: set temp offset ]
             // [ g = 12         ]
             ssd1306_drawstring("Temp Cal Offset", 0, 40);
             ssd1306_drawlogo();
             ssd1306_drawchar(updown(), 1, 52);
             char tempstr[12];
             snprintf(tempstr, 12, "O=%d", set->val.temp_offset);
             ssd1306_drawstring(tempstr, 1, 60);
             ssd1306_drawstring("Press to accept", 3, 40);
             // Button handler
             if(SW_BTN_PRESSED) {
-//                flash_save(set);
+            	flash_savesettings();
                 status->state = STATE_IDLE;
+            }
             else {
                 user_input_signed(&set->val.temp_offset);
+            }
             // Event Handler
             // N/A
         } break;
         case STATE_PREHEAT:
+        {
             // Write text to OLED
             // [ therm : preheating brew ]
             // [ 30 => 120 C             ]
             if(set->val.plant_type == PLANT_HEATER)
                 ssd1306_drawstring("Preheating...", 0, 0);
             else
                 ssd1306_drawstring("Precooling...", 0, 0);
             //ssd1306_drawlogo();
             draw_setpoint(status);
             status->pid_enabled = 1;
             status->setpoint = set->val.setpoint_brew;
             // Button handler
             if(SW_BTN_PRESSED) {
                 status->state = STATE_IDLE;
                 flash_savesettings();
+            }
             else {
                 user_input_signed(&set->val.setpoint_brew);
+            }
             // Event Handler
             if(status->temp >= status->setpoint) {
                 status->state = STATE_MAINTAIN;
+            }
         } break;
         case STATE_MAINTAIN:
+        {
             // Write text to OLED
             // [ therm : ready to brew ]
             // [ 30 => 120 C           ]
             if(set->val.plant_type == PLANT_HEATER)
                 ssd1306_drawstring("Preheated!", 0, 0);
             else
                 ssd1306_drawstring("Precooled!", 0, 0);
             draw_setpoint(status);
             status->pid_enabled = 1;
             status->setpoint = set->val.setpoint_brew;
             // Button handler
             if(SW_BTN_PRESSED) {
                 status->state = STATE_IDLE;
                 flash_savesettings();
+            }
             else {
                 user_input_signed(&set->val.setpoint_brew);
+            }
             // Event Handler
             // N/A
         } break;
         // Thermocouple error
         case STATE_TC_ERROR:
+        {
             // Write text to OLED
             // [ therm : ready to steam ]
             // [ 30 => 120 C            ]
             ssd1306_drawstring("Error:              ", 0, 0);
             char tempstr[6];
             itoa(status->error_code, tempstr, 10);
             ssd1306_drawstring(tempstr, 0, 57);
             //TODO: add RTD error codes
             if(status->error_code == 1)
                 ssd1306_drawstring("    TC Open Circuit", 1, 0);
             else if(status->error_code == 4)
                 ssd1306_drawstring("    TC Short to GND", 1, 0);
             else if(status->error_code == 8)
                 ssd1306_drawstring("    TC Short to VCC", 1, 0);
             else
                 ssd1306_drawstring("#?, Unknown Error", 1, 0);
             ssd1306_drawstring("                    ", 2, 0);
             ssd1306_drawstring("-> to ignore all or", 2, 0);
             ssd1306_drawstring("press to continue", 3, 0);
             // Button handler
             if(SW_BTN_PRESSED) {
                 status->state = STATE_IDLE;
 				#ifdef MAX31865_RTD_SENSOR
 				max31865_clear_errors(spi_get());
 				#endif
+            }
             else if(SW_RIGHT_PRESSED) {
                 set->val.ignore_error = 1;
                 status->state = STATE_IDLE;
+            }

src/main.c

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@@ @@ -7,107 +7,105 @@ @@
 #include "stm32f3xx_hal.h"
 #include "config.h"
 #include "watchdog.h"
 #include "system.h"
 #include "display.h"
 #include "thermostat.h"
 #include "gpio.h"
 #include "tempsense.h"
 #include "pid.h"
 #include "error.h"
 #include "flash.h"
 #include "ssd1306/ssd1306.h"
 #include "pwmout.h"
 int main(void)
+{
 	sysclock_init();
 	hal_init();
 	gpio_init();
 	ssd1306_init();
 	// Startup screen
     display_startup_screen();
     HAL_Delay(2000);
     ssd1306_clearscreen();
 	ssd1306_drawlogo();
     // Default status
 	runtime_status()->temp = 0.0;
 	runtime_status()->state_resume = 0;
 	runtime_status()->state = STATE_IDLE;
 	runtime_status()->setpoint = 70;
 	runtime_status()->pid_enabled = 0;
     pid_init();
     pwmout_init();
     flash_init();
 	watchdog_init();
 	tempsense_init();
 	// Soft timers
     uint32_t last_pid = 0;
     uint32_t last_thermostat = 0;
     uint32_t last_1hz = 0;
     uint32_t last_5hz = 0;
-	float duty = 0.0;
+	int16_t duty = 0;
 	while (1)
+	{
 		if(HAL_GetTick() - last_1hz > 750)
+		{
 			display_1hz();
 			last_1hz = HAL_GetTick();
+		}
 		if(HAL_GetTick() - last_5hz > 200)
+		{
 			tempsense_readtemp();
 			runtime_status()->temp = tempsense_gettemp();
 			last_5hz = HAL_GetTick();
+		}
         if(flash_getsettings()->val.control_mode == MODE_PID && (HAL_GetTick() - last_pid > PID_PERIOD))
+        {
 //        	runtime_status()->temp = tempsense_readtemp();
         	duty = pid_process();
             last_pid = HAL_GetTick();
+        }
         // Thermostatic control
         if(flash_getsettings()->val.control_mode == MODE_THERMOSTAT && HAL_GetTick() - last_thermostat > SSR_PERIOD)
+        {
 //        	runtime_status()->temp = tempsense_readtemp();
         	duty = thermostat_process();
             last_thermostat = HAL_GetTick();
+        }
         pwmout_process((int16_t)duty);
         display_process();
         watchdog_feed();
 //        // Transmit temperature over USB-CDC on a regular basis
 //        if(HAL_GetTick() - last_vcp_tx > VCP_TX_FREQ)
 //        {
 //            // Print temp to cdc
 //            char tempstr[16];
 //            itoa_fp(status.temp, status.temp_frac, tempstr);
 //            uint8_t numlen = strlen(tempstr);
 //            tempstr[numlen] = '\r';
 //            tempstr[numlen+1] = '\n';
 //
 //    //        if(set.val.usb_plugged)
 //    //            CDC_Transmit_FS(tempstr, numlen+2);
 //           // while(CDC_Transmit_FS("\r\n", 2) == USBD_BUSY);
 //
 //            last_vcp_tx = HAL_GetTick();
 //        }
+	}
+}

src/pid.c

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 //
 // PID: proportional/integral/derivative controller
 //
 #include "pid.h"
 #include "flash.h"
 // PID implementation
 static pid_state_t state;
 void pid_init()
+{
 	state.i_state = 0;
 	state.last_pid_temp = 0;
 	state.last_pid_temp_frac = 0;
+}
 float pid_process(void)
+{
 //            #ifdef MAX31865_RTD_SENSOR
 //            max31865_readtemp(spi_get(), &set, &status);
 //			#else
 //			max31855_readtemp(spi_get(), &set, &status); // Read MAX31855
 //			#endif
 	float ssr_output = 0;
 	if(runtime_status()->pid_enabled)
+	{
 		// Get ssr output for next time
 		int16_t power_percent = pid_update();
-		if(flash_getsettings()->val.plant_type == PLANT_HEATER)
+		if(flash_getsettings()->val.plant_type == PLANT_COOLER)
 			power_percent *= -1;
 		//power-percent is 0-1000?
 		ssr_output = power_percent; //(((uint32_t)SSR_PERIOD * (uint32_t)10 * (uint32_t)100) * power_percent) / (uint32_t)1000000;
 		// put ssr output on display
 		ssd1306_drawstring("      ", 0, 90); //fixme: this is bad, but I can't get the old digits to clear otherwise
 		char tempstr[6];
 		snprintf(tempstr, 6, "%g", ssr_output);
 		ssd1306_drawstring(tempstr, 0, 90);
 		char tempstr[8];
 		snprintf(tempstr, 8, "%4.1f%%", ssr_output/10.0);
 		ssd1306_drawstring(tempstr, 0, 85);
+	}
 	else
+	{
 		ssr_output = 0.0;
+	}
 	return ssr_output; //ssr_output;
+}
 int16_t pid_update(void)
+{
 	therm_status_t* status = runtime_status();
 	therm_settings_t* set = flash_getsettings();
 	// Convert temperature to fixed point number with 1/10th resolution
 	float temp = status->temp;
 	// Calculate instantaneous error
 	int16_t error = status->setpoint - temp; // TODO: Use fixed point fraction
 	// EMZ FIXME: was regulating to 1 degree below the setpoint! +1 accomadates for this
 	int16_t error = (status->setpoint+1) - temp;
 	// Proportional component
 	int32_t p_term = set->val.k_p * error;
 	// Error accumulator (integrator)
 	state.i_state += error;
 	// to prevent the iTerm getting huge from lots of
 	//  error, we use a "windup guard"
 	// (this happens when the machine is first turned on and
 	// 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) / set->val.k_i;
+	int32_t windup_guard_res = (set->val.windup_guard * 10) / set->val.k_i;
 	// Calculate integral term with windup guard
 	if (state.i_state > windup_guard_res)
 	  state.i_state = windup_guard_res;
 	else if (state.i_state < -windup_guard_res)
 	  state.i_state = -windup_guard_res;
 	// Discard I if we've achieved the setpoint (TODO: add setting disable/enable)
 	if(error <= 0)
 		state.i_state = 0;
 	int32_t i_term = set->val.k_i * state.i_state;
 	// Calculate differential term (slope since last iteration)
 	int32_t d_term = (set->val.k_d * (temp - state.last_pid_temp));
 	// Save temperature for next iteration
 	state.last_pid_temp = temp;
 	int16_t result = (p_term + i_term - d_term) / 10;
 	// Put out tenths of percent, 0-1000.
 	if(result > 1000)
 	result = 1000;
 	else if(result < -1000)
 	result = -1000;
 	// Return feedback
 	return result;
+}

src/pwmout.c

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Show inline comments

@@ @@ -47,90 +47,60 @@ void pwmout_init(void) @@
 		error_assert(ERR_PERIPHINIT);
+	}
 	sConfigOC.OCMode = TIM_OCMODE_TOGGLE; //TIM_OCMODE_PWM1;
 	sConfigOC.Pulse = 200;
 	sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
 	sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
 	sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
 	sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
 	sConfigOC.OCNIdleState = TIM_OCIDLESTATE_SET;
 	if (HAL_TIM_OC_ConfigChannel(&htim17, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+	{
 		error_assert(ERR_PERIPHINIT);
+	}
 	sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
 	sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
 	sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
 	sBreakDeadTimeConfig.DeadTime = 0;
 	sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
 	sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
 	sBreakDeadTimeConfig.BreakFilter = 0;
 	sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
 	if (HAL_TIMEx_ConfigBreakDeadTime(&htim17, &sBreakDeadTimeConfig) != HAL_OK)
+	{
 		error_assert(ERR_PERIPHINIT);
+	}
     HAL_NVIC_SetPriority(TIM1_TRG_COM_TIM17_IRQn, 0, 0);
     HAL_NVIC_EnableIRQ(TIM1_TRG_COM_TIM17_IRQn);
 	HAL_TIM_OC_Start_IT(&htim17, TIM_CHANNEL_1);
     __HAL_TIM_ENABLE_IT(&htim17, TIM_IT_UPDATE);
+}
 // freaking integral term isn't compatible with both heating and cooling... due to the discard
 // functionality. this is a problem.
 // also duty cycling isn't working correctly...
 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;
+		duty = 0;
 	htim17.Instance->CCR1 = duty; //duty;
 //	HAL_GPIO_TogglePin(SSR_GPIO_Port, SSR_PIN);
 //	uint32_t ssr_output = duty; // meh
 //
 //	// Kill SSR once the desired on-time has elapsed
 //	if(flash_getsettings()->val.control_mode == MODE_PID && ((HAL_GetTick() - last_ssr_on > ssr_output) || ssr_output <= 0))
 //	{
 //		HAL_GPIO_WritePin(SSR, 0);
 //		HAL_GPIO_WritePin(LED, 0);
 //	}
 //
 //
 //	// Every 200ms, set the SSR on unless output is 0
 //	if(flash_getsettings()->val.control_mode == MODE_PID && HAL_GetTick() - last_ssr_on > SSR_PERIOD)
 //	{
 //		// Heat or cool, if we need to
 //		if(ssr_output > 0)
 //		{
 //			HAL_GPIO_WritePin(SSR, 1);
 //			HAL_GPIO_WritePin(LED, 1);
 //			last_ssr_on = HAL_GetTick();
 //		}
 //		else {
 //			// Make sure everything is off
 //			HAL_GPIO_WritePin(SSR, 0);
 //			HAL_GPIO_WritePin(LED, 0);
 //		}
 //
 //	}
+}
 TIM_HandleTypeDef* pwmout_get_tim(void)
+{
 	return &htim17;
+}

src/system/flash.c

➞

Show inline comments

@@ @@ -24,69 +24,69 @@ void flash_savesettings() @@
+{
 	// Unlock flash memory
 	HAL_FLASH_Unlock();
 	// Initialize eraser to erase one page of flash
 	FLASH_EraseInitTypeDef eraser =
+	{
 			.TypeErase = TYPEERASE_PAGES,
 			.PageAddress = eeprom_emulation,
 			.NbPages = 1,
 	};
 	uint32_t errvar = 0;
 	// Erase flash page
 	HAL_FLASHEx_Erase(&eraser, &errvar);
 	// Write new flash data
 	uint16_t writectr;
 	for(writectr = 0; writectr < 128; writectr++)// 128 bytes data
+	{
 		HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, eeprom_emulation+writectr,settings.data[writectr]);
+	}
 	// Write magic value to flash
 	HAL_FLASH_Program(TYPEPROGRAM_HALFWORD, eeprom_emulation+FLASH_MAGIC_LOC,FLASH_MAGIC_VALUE);
 	// Lock flash memory
 	HAL_FLASH_Lock();
 	HAL_Delay(2);
+}
 // Restore configuration from flash memory, if any was previously saved
 void flash_restoresettings(void)
+{
 	// Check for magic flash value
 	if(eeprom_emulation[FLASH_MAGIC_LOC] == FLASH_MAGIC_VALUE)
+	{
 		// Read page of flash into settings structure
 		uint16_t readctr = 0;
 		for(readctr = 0; readctr < 128; readctr++)
+		{
 			settings.data[readctr] = eeprom_emulation[readctr];
+		}
+	}
 	// No data in flash! Set defaults here
 	else
+	{
 		settings.val.k_p = 10;
 		settings.val.k_i = 0;
 		settings.val.k_p = 100;
 		settings.val.k_i = 2;
 		settings.val.k_d = 0;
 		settings.val.windup_guard = 300;
 		settings.val.sensor_type = 1;
 		//torestore.values.can_id = 22;
+	}
+}
 // Accessor to retrieve settings structure
 inline therm_settings_t* flash_getsettings(void)
+{
 	return &settings;
+}
 inline therm_status_t* runtime_status(void)
+{
 	return &status;
+}

src/system/interrupts.c

➞

Show inline comments

@@ @@ -28,53 +28,61 @@ void EXTI15_10_IRQHandler(void) @@
+{
   HAL_GPIO_EXTI_IRQHandler(SW_BTN_Pin);
+}
 uint32_t last_button_press = 0;
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
 	switch(GPIO_Pin)
+	{
 		case SW_BTN_Pin:
+		{
 //			if(HAL_GetTick() > last_button_press + 100)
 //			{
 //				HAL_GPIO_TogglePin(LED_RED);
 //				HAL_GPIO_TogglePin(GATE_DRIVE);
 //				last_button_press = HAL_GetTick();
 //			}
 		} break;
+	}
+}
 void TIM1_TRG_COM_TIM17_IRQHandler(void)
+{
   /* USER CODE BEGIN TIM1_TRG_COM_TIM17_IRQn 0 */
   /* USER CODE END TIM1_TRG_COM_TIM17_IRQn 0 */
   HAL_TIM_IRQHandler(pwmout_get_tim());
   /* USER CODE BEGIN TIM1_TRG_COM_TIM17_IRQn 1 */
   /* USER CODE END TIM1_TRG_COM_TIM17_IRQn 1 */
+}
 void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
+{
 	if(htim == pwmout_get_tim())
+	{
 		HAL_GPIO_WritePin(SSR, 0);
 		HAL_GPIO_WritePin(LED, 0);
+	}
+}
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
 	if(htim == pwmout_get_tim())
+	{
 		HAL_GPIO_WritePin(LED, 1);
 		HAL_GPIO_WritePin(SSR, 1);
 		if(htim->Instance->CCR1 == 0)
+		{
 			HAL_GPIO_WritePin(LED, 0);
 			HAL_GPIO_WritePin(SSR, 0);
+		}
 		else
+		{
 			HAL_GPIO_WritePin(LED, 1);
 			HAL_GPIO_WritePin(SSR, 1);
+		}
+	}
+}

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