therm Changeset - db81b1787e6e · protofusion repositories

Changeset - db81b1787e6e

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cortex-f0

0 8 0

matthewreed - 9 years ago 2015-12-23 22:37:10

Cleaned up pid code and several other todos

8 files changed with 66 insertions and 50 deletions:

display.c

display.h

gpio.c

gpio.h

main.c

max31865.c

pid.c

pid.h

0 comments (0 inline, 0 general)

display.c

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@@ @@ -326,25 +326,25 @@ void display_process(therm_settings_t* s @@
             ssd1306_drawstring("O=", 1, 45);
             ssd1306_drawstring("    ", 1, 57);
             ssd1306_drawstring(tempstr, 1, 57);
             ssd1306_drawstring("Press to accept", 3, 40);
             // Button handler
             if(SW_BTN_PRESSED) {
                 flash_save(set);
                 status->state = STATE_IDLE;
+            }
             else {
-                user_input_signed((int16_t*)(&set->val.temp_offset));
                 user_input_signed(&set->val.temp_offset);
+            }
             // Event Handler
             // N/A
         } break;
         case STATE_PREHEAT:
+        {
             // Write text to OLED
             // [ therm : preheating brew ]
@@ @@ -558,13 +558,19 @@ static void draw_setpoint(therm_status_t @@
     if(status->setpoint != setpoint_last || trigger_drawsetpoint) {
         char tempstr[3];
         itoa(status->setpoint, tempstr, 10);
         ssd1306_drawstringbig("   ", 3, 90);
         ssd1306_drawstringbig(tempstr, 3, 90);
+    }
     trigger_drawsetpoint = 0;
     setpoint_last = status->setpoint;
     temp_last = status->temp;
+}
 void display_startup_screen() {
     ssd1306_clearscreen();
     ssd1306_drawstring("therm v0.2", 1, 40);
     ssd1306_drawstring("protofusion.org/therm", 3, 0);
+}
 // vim:softtabstop=4 shiftwidth=4 expandtab

display.h

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@@ @@ -6,15 +6,16 @@ @@
 #include "states.h"
 #include "ssd1306.h"
 #include "stringhelpers.h"
 #include "config.h"
 #include "states.h"
 #include "syslib.h"
 #include "flash.h"
 #include "gpio.h"
 #ifdef MAX31865_RTD_SENSOR
 #include "max31865.h"
 #endif
 void display_startup_screen();
 void display_process(therm_settings_t* set, therm_status_t* status);
 #endif

gpio.c

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@@ @@ -12,34 +12,36 @@ void user_input(uint16_t* to_modify) @@
             CHANGE_RESET;
             (*to_modify)++;
+        }
         else if(!HAL_GPIO_ReadPin(SW_DOWN) && (*to_modify) > 0) {
             CHANGE_RESET;
             (*to_modify)--;
+        }
+    }
+}
 // Increment/decrement signed variable with up/down buttons
-void user_input_signed(int16_t* to_modify)
+void user_input_signed(int32_t* to_modify)
+{
-    // TODO: Bounds check on int16_t
+	//fixme: need to cast to 16/32 bits correctly
     if(CHANGE_ELAPSED) {
         if(!HAL_GPIO_ReadPin(SW_UP) ) {
             CHANGE_RESET;
             if (*to_modify < 32768)
             (*to_modify)++;
+        }
         else if(!HAL_GPIO_ReadPin(SW_DOWN)) {
             CHANGE_RESET;
             if (*to_modify >= -32768)
             (*to_modify)--;
+        }
+    }
+}
 // Initialize GPIO
 void gpio_init(void)
+{
   GPIO_InitTypeDef GPIO_InitStruct;
     /* GPIO Ports Clock Enable */

gpio.h

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@@ @@ -3,18 +3,18 @@ @@
 #include <inttypes.h>
 #include "stm32f0xx_hal.h"
 #include "stm32f0xx_hal_conf.h"
 #include "config.h"
 #define CHANGE_PERIOD_MS 100
 #define CHANGE_ELAPSED (HAL_GetTick() - change_time_reset) > CHANGE_PERIOD_MS
 #define CHANGE_RESET change_time_reset = HAL_GetTick()
 void user_input(uint16_t* to_modify);
-void user_input_signed(int16_t* to_modify);
+void user_input_signed(int32_t* to_modify);
 void gpio_init(void);
 #endif
 // vim:softtabstop=4 shiftwidth=4 expandtab

main.c

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 #include "stm32f0xx_hal.h"
 #include "config.h"
 #include "syslib.h"
 #include "pid.h"
 #include "states.h"
 #include "ssd1306.h"
 #ifdef MAX31855_TC_SENSOR
 #include "max31855.h"
 #endif
 #ifdef MAX31865_RTD_SENSOR
 #include "max31865.h"
 #else
 #include "max31855.h"
 #endif
 #include "gpio.h"
 #include "spi.h"
 #include "flash.h"
 #include "stringhelpers.h"
 #include "display.h"
 #include "usb_device.h"
 #include "usbd_cdc_if.h"
 therm_settings_t set;
 therm_status_t status;
 pid_state_t pid_state;
 int main(void)
+{
     // Initialize HAL
     hal_init();
     // Configure the system clock
     systemclock_init();
     // Unset bootloader option bytes (if set)
     // FIXME this was never getting called. Try again sometime.
     //bootloader_unset();
@@ @@ -44,129 +44,132 @@ int main(void) @@
     // USB startup delay
     HAL_Delay(500);
     HAL_GPIO_WritePin(LED_POWER, 1);
     // Enter into bootloader if up button pressed on boot
     if(!HAL_GPIO_ReadPin(SW_UP))
         bootloader_enter();
     // Init SPI busses
     spi_init();
     // Init RTD chip
     #ifdef MAX31865_RTD_SENSOR
     max31865_config(spi_get());
     #endif
     // Init OLED over SPI
     ssd1306_init();
     ssd1306_clearscreen();
     // Startup screen
     display_startup_screen();
     // Default status
     status.temp = 0;
     status.temp_frac = 0;
     status.state_resume = 0;
     status.state = STATE_IDLE;
     status.setpoint = 70;
     status.pid_enabled = 0;
     pid_init(&pid_state);
     // Go to brew instead of idle if configured thusly
     if(set.val.boottobrew)
       status.state = STATE_PREHEAT;
     // Startup screen
     ssd1306_drawstring("therm v0.2", 1, 40);
     ssd1306_drawstring("protofusion.org/therm", 3, 0);
     HAL_Delay(1000);
     // Restore settings from flash memory
     flash_restore(&set);
-    HAL_Delay(1000);
+    HAL_Delay(2000);
     ssd1306_clearscreen();
     // Soft timers
     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
     // Main loop
     while(1)
+    {
         // Process sensor inputs
         if(HAL_GetTick() - last_led > 400)
+        {
             last_led = HAL_GetTick();
+        }
         if((HAL_GetTick() - last_pid > PID_PERIOD))
+        {
             #ifdef MAX31855_TC_SENSOR
             max31855_readtemp(spi_get(), &set, &status); // Read MAX31855
             #endif
             #ifdef MAX31865_RTD_SENSOR
             max31865_readtemp(spi_get(), &set, &status);
 			#else
 			max31855_readtemp(spi_get(), &set, &status); // Read MAX31855
             #endif
             if(status.pid_enabled)
+            {
                 // Get ssr output for next time
-                int16_t power_percent = pid_update(set.val.k_p, set.val.k_i, set.val.k_d, status.temp, status.temp_frac, status.setpoint, &set, &status);
+                int16_t power_percent = pid_update(&set, &status, &pid_state);
                 //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];
                 itoa(ssr_output, tempstr, 10);
                 ssd1306_drawstring(tempstr, 0, 90);
+            }
             else
+            {
                 ssr_output = 0;
+            }
             last_pid = HAL_GetTick();
+        }
         // Kill SSR once the desired on-time has elapsed
         if(HAL_GetTick() - last_ssr_on > ssr_output || ssr_output <= 0)
+        {
             HAL_GPIO_WritePin(SSR_PIN, 0);
             HAL_GPIO_WritePin(LED_POWER, 0);
+        }
         // Every 200ms, set the SSR on unless output is 0
         if(HAL_GetTick() - 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);
                 HAL_GPIO_WritePin(LED_POWER, 1);
                 last_ssr_on = HAL_GetTick();
+            }
             else {
                 // Make sure everything is off
                 HAL_GPIO_WritePin(SSR_PIN, 0);
                 HAL_GPIO_WritePin(LED_POWER, 0);
+            }
+        }
-        // Transmit temperature over USB-CDC on a regulat basis
+        // 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);

max31865.c

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@@ @@ -44,32 +44,26 @@ void max31865_config(SPI_HandleTypeDef* @@
     // Release CS
     HAL_GPIO_WritePin(MAX_CS, 1);
+}
 void max31865_clear_errors(SPI_HandleTypeDef* hspi1) {
 	max31865_config(hspi1);
+}
 // Grab temperature reading from MAX31865
 void max31865_readtemp(SPI_HandleTypeDef* hspi1, therm_settings_t* set, therm_status_t* status)
+{
     ///////////////////////////////////
     // This is duplicated from MAX31855, update for MAX31865 registers/etc
     ///////////////////////////////////
     // TODO: Set configuration register based on params in config.h (2-wire, 4-wire, etc RTD). This is register 0x00.
         // 2-wire RTC or 2-wire (duh) NTC thermistor will be the only options
         // Need option for resistance of RTD
         // These options should be stored in the set structure and should be menu-selectable
     // TODO: Set RTD ref resistance in set struct
     // Assert CS
     HAL_GPIO_WritePin(MAX_CS, 0);
     uint8_t regh = MAX31865_REG_RTD_MSB;
     uint8_t rxdatah[1] = {0x00};
     uint8_t rxdatal[1] = {0x00};
     HAL_SPI_Transmit(hspi1, &regh, 1, 100);
     HAL_SPI_Receive(hspi1, rxdatah, 1, 100);
     HAL_SPI_Receive(hspi1, rxdatal, 1, 100);

pid.c

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 #include "stm32f0xx_hal.h"
 #include "states.h"
 #include "pid.h"
 // 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.
 static int16_t last_pid_temp = 0;
 static uint8_t last_pid_temp_frac = 0;
 static int32_t i_state = 0;
 int16_t pid_update(uint16_t k_p, uint16_t k_i, uint16_t k_d, int16_t temp, uint8_t temp_frac, int16_t setpoint, therm_settings_t* set, therm_status_t* status)
 void pid_init(pid_state_t* state)
+{
 	state->i_state = 0;
 	state->last_pid_temp = 0;
 	state->last_pid_temp_frac = 0;
+}
 int16_t pid_update(therm_settings_t* set, therm_status_t* status, pid_state_t *state)
+{
   // Calculate instantaneous error
   int16_t error = setpoint - temp; // TODO: Use fixed point fraction
+  int16_t error = status->setpoint - status->temp; // TODO: Use fixed point fraction
   // Proportional component
   int32_t p_term = k_p * error;
+  int32_t p_term = set->val.k_p * error;
   // Error accumulator (integrator)
   i_state += error;
+  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 / k_i;
+  int32_t windup_guard_res = set->val.windup_guard / set->val.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;
   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;
   int32_t i_term = k_i * i_state;
+  int32_t i_term = set->val.k_i * state->i_state;
   // Calculate differential term (slope since last iteration)
   int32_t d_term = (k_d * (status->temp - last_pid_temp));
+  int32_t d_term = (set->val.k_d * (status->temp - state->last_pid_temp));
   // Save temperature for next iteration
   last_pid_temp = status->temp;
   last_pid_temp_frac = status->temp_frac;
   state->last_pid_temp = status->temp;
   state->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;
+}

pid.h

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 #ifndef PIDS_H
 #define PIDS_H
 #include "stm32f0xx_hal.h"
 #include "states.h"
 int16_t pid_update(uint16_t k_p, uint16_t k_i, uint16_t k_d, int16_t temp, uint8_t temp_frac, int16_t setpoint, therm_settings_t* set, therm_status_t* status);
 typedef struct {
 	int16_t last_pid_temp;
 	uint8_t last_pid_temp_frac;
 	int32_t i_state;
 } pid_state_t;
 void pid_init(pid_state_t* state);
 int16_t pid_update(therm_settings_t* set, therm_status_t* status, pid_state_t* state);
 #endif

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