# STM32F0xx Makefile

# #####################################

#

# Part of the uCtools project

# uctools.github.com

#

#######################################

# user configuration:

#######################################

# SOURCES: list of sources in the user application

# TARGET: name of the user application

TARGET = main

# BUILD_DIR: directory to place output files in

BUILD_DIR = build

# LD_SCRIPT: location of the linker script

LD_SCRIPT = stm32f042c6_flash.ld

# USER_DEFS user defined macros

USER_DEFS = -D HSI48_VALUE=48000000 -D HSE_VALUE=16000000

# USER_INCLUDES: user defined includes

USER_INCLUDES =

# USB_INCLUDES: includes for the usb library

USB_INCLUDES = -Imiddlewares/ST/STM32_USB_Device_Library/Core/Inc

USB_INCLUDES += -Imiddlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

# USER_CFLAGS: user C flags (enable warnings, enable debug info)

USER_CFLAGS = -Wall -g -ffunction-sections -fdata-sections -Os

# USER_LDFLAGS:  user LD flags

USER_LDFLAGS = -fno-exceptions -ffunction-sections -fdata-sections -Wl,--gc-sections

# TARGET_DEVICE: device to compile for

TARGET_DEVICE = STM32F042x6

#######################################

# end of user configuration

#######################################

#

#######################################

# binaries

#######################################

CC = arm-none-eabi-gcc

AR = arm-none-eabi-ar

RANLIB = arm-none-eabi-ranlib

SIZE = arm-none-eabi-size

OBJCOPY = arm-none-eabi-objcopy

MKDIR = mkdir -p

#######################################

# core and CPU type for Cortex M0

# ARM core type (CORE_M0, CORE_M3)

CORE = CORE_M0

# ARM CPU type (cortex-m0, cortex-m3)

CPU = cortex-m0

#ifndef CONFIG_H

#define CONFIG_H

#define VCP_TX_FREQ 1000

#define SSR_PERIOD 200

#define PID_PERIOD 120

#define LED_POWER GPIOF,GPIO_PIN_0

#define MAX_CS GPIOA,GPIO_PIN_15

#define SW_BTN  GPIOB, GPIO_PIN_4

#define SW_UP   GPIOB, GPIO_PIN_7

#define SW_DOWN GPIOB, GPIO_PIN_3

#define SW_LEFT GPIOB, GPIO_PIN_5

#define SW_RIGHT GPIOB, GPIO_PIN_6

#define SSR_PIN GPIOA, GPIO_PIN_1

#endif

// vim:softtabstop=4 shiftwidth=4 expandtab 

#include "stm32f0xx_hal.h"

#include "config.h"

#include "states.h"

#include "ssd1306.h"

#include "gpio.h"

#include "spi.h"

#include "flash.h"

#include "stringhelpers.h"

#include "display.h"

#include "storage.h"

#include "usb_device.h"

#include "usbd_cdc_if.h"

// Prototypes

// Move to header file

void process();

void SystemClock_Config(void);

therm_settings_t set;

therm_status_t status;

// Globalish setting vars

SPI_HandleTypeDef hspi1;

static __IO uint32_t TimingDelay;

void deinit(void)

{

    HAL_DeInit();

}

volatile int i=0;

int main(void)

{

    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */

    HAL_Init();

    /* Configure the system clock */

    SystemClock_Config();

    /* Unset bootloader option bytes (if set) */

    void bootloader_unset(void);

    /* Initialize all configured peripherals */

    init_gpio();

    MX_USB_DEVICE_Init();

//    set.usb_plugged = 

    // USB startup delay

    ssd1306_DrawString("protofusion.org/therm", 3, 0);

    HAL_Delay(1500);

    flash_init(&set);

    HAL_Delay(1500);

    ssd1306_clearscreen();

    // Main loop

    while(1)

    {

        // Process sensor inputs

        process();

        // Run state machine

        display_process(&set, &status); 

    }

}

// Clock configuration

void SystemClock_Config(void)

{

  RCC_OscInitTypeDef RCC_OscInitStruct;

  RCC_ClkInitTypeDef RCC_ClkInitStruct;

  RCC_PeriphCLKInitTypeDef PeriphClkInit;

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48;

  RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;

  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;

  HAL_RCC_OscConfig(&RCC_OscInitStruct);

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK;

  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI48;

  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;

  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;

  HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1);

  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;

  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_HSI48;

  HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);

  __SYSCFG_CLK_ENABLE();

}

// PID implementation

// TODO: Make struct that has the last_temp and i_state in it, pass by ref. Make struct that has other input values maybe.

int16_t last_pid_temp = 0;

uint8_t last_pid_temp_frac = 0;

int32_t i_state = 0;

int16_t update_pid(uint16_t k_p, uint16_t k_i, uint16_t k_d, int16_t temp, uint8_t temp_frac, int16_t setpoint) 

{

  // Calculate instantaneous error

  int16_t error = setpoint - temp; // TODO: Use fixed point fraction

  // Proportional component

  int32_t p_term = k_p * error;

  // Error accumulator (integrator)

  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.windup_guard / k_i;  

  // Calculate integral term with windup guard 

  if (i_state > windup_guard_res) 

    i_state = windup_guard_res;

  else if (i_state < -windup_guard_res) 

    i_state = -windup_guard_res;

  int32_t i_term = k_i * i_state;

  // Calculate differential term (slope since last iteration)

  int32_t d_term = (k_d * (status.temp - last_pid_temp));

  // Save temperature for next iteration

  last_pid_temp = status.temp;

  last_pid_temp_frac = status.temp_frac;

  int16_t result = p_term + i_term - d_term;

  // Put out tenths of percent, 0-1000. 

  if(result > 1000)

    result = 1000;

  else if(result < -1000)

    result = -1000;

  // Return feedback

  return result;

}

uint32_t last_ssr_on = 0;

uint32_t last_vcp_tx = 0;

uint32_t last_led = 0;

uint32_t last_pid = 0;

int16_t ssr_output = 0; // Duty cycle of ssr, 0 to SSR_PERIOD 

// Turn SSR output on/off according to set duty cycle.

// TODO: Eventually maybe replace with a very slow timer or something. Double-check this code...

void process()

{

    uint32_t ticks = HAL_GetTick();

    if(ticks - last_led > 400) 

    {

        last_led = ticks;

    }

    if((ticks - last_pid > PID_PERIOD))

    {

    HAL_GPIO_TogglePin(LED_POWER);

        if(status.pid_enabled) 

        {

            // Get ssr output for next time

            int16_t power_percent = update_pid(set.k_p, set.k_i, set.k_d, status.temp, status.temp_frac, status.setpoint);

            //power-percent is 0-1000

            ssr_output = power_percent; //(((uint32_t)SSR_PERIOD * (uint32_t)10 * (uint32_t)100) * power_percent) / (uint32_t)1000000;

        }

        else 

        {

            ssr_output = 0;

        }

        last_pid = ticks;

    }

    // Every 200ms, set the SSR on unless output is 0

    if((ticks - last_ssr_on > SSR_PERIOD))

    {

        // Only support heating (ssr_output > 0) right now

        if(ssr_output > 0) {

            char tempstr[6];

            itoa(ssr_output, tempstr, 10);

            ssd1306_DrawString(tempstr, 0, 90);

            HAL_GPIO_WritePin(SSR_PIN, 1);

            last_ssr_on = ticks;

        }

    }

    // Kill SSR after elapsed period less than SSR_PERIOD 

    if(ticks - last_ssr_on > ssr_output || ssr_output == 0)

    {

        HAL_GPIO_WritePin(SSR_PIN, 0);

    }

    if(ticks - 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';