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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@@ @@ -494,13 +494,13 @@ void display_process(void) @@
             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);
+            }
@@ @@ -526,12 +526,13 @@ void display_process(void) @@
             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
@@ @@ -556,12 +557,13 @@ void display_process(void) @@
             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

src/main.c

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Show inline comments

@@ @@ -49,13 +49,13 @@ int main(void) @@
 	// 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)
+		{
@@ @@ -69,21 +69,19 @@ int main(void) @@
 			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();

src/pid.c

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@@ @@ -32,23 +32,23 @@ float pid_process(void) @@
 	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;
+	}
@@ @@ -61,13 +61,14 @@ int16_t pid_update(void) @@
 	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;
@@ @@ -75,20 +76,24 @@ int16_t pid_update(void) @@
 	// 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

src/pwmout.c

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@@ @@ -89,48 +89,18 @@ void pwmout_init(void) @@
 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

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@@ @@ -66,14 +66,14 @@ void flash_restoresettings(void) @@
 			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;
+	}
+}

src/system/interrupts.c

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Show inline comments

@@ @@ -70,11 +70,19 @@ void HAL_TIM_PWM_PulseFinishedCallback(T @@
+}
 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);
+		}
+	}
+}

0 comments (0 inline, 0 general)