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Wake PID after ADC

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This commit is contained in:
Ben V. Brown
2022-04-21 18:30:18 +10:00
parent 8ea1edf7a7
commit 1c4dfd8f5f
1 changed files with 14 additions and 8 deletions
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22
source/Core/BSP/Magic/IRQ.cpp
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@@ -26,6 +26,7 @@ history<uint16_t, ADC_Filter_Smooth> ADC_Tip;
void adc_fifo_irq(void) { void adc_fifo_irq(void) {
if (ADC_GetIntStatus(ADC_INT_FIFO_READY) == SET) { if (ADC_GetIntStatus(ADC_INT_FIFO_READY) == SET) {
bool wakePID = false;
// Read out all entries in the fifo // Read out all entries in the fifo
const uint8_t cnt = ADC_Get_FIFO_Count(); const uint8_t cnt = ADC_Get_FIFO_Count();
for (uint8_t i = 0; i < cnt; i++) { for (uint8_t i = 0; i < cnt; i++) {
@@ -39,6 +40,7 @@ void adc_fifo_irq(void) {
break; break;
case TIP_TEMP_ADC_CHANNEL: case TIP_TEMP_ADC_CHANNEL:
ADC_Tip.update(sample); ADC_Tip.update(sample);
wakePID = true;
break; break;
case VIN_ADC_CHANNEL: case VIN_ADC_CHANNEL:
ADC_Vin.update(sample); ADC_Vin.update(sample);
@@ -50,6 +52,16 @@ void adc_fifo_irq(void) {
} }
} }
// MSG((char *)"ADC Reading %d %d %d\r\n", ADC_Temp.average(), ADC_Vin.average(), ADC_Tip.average()); // MSG((char *)"ADC Reading %d %d %d\r\n", ADC_Temp.average(), ADC_Vin.average(), ADC_Tip.average());
if (wakePID) {
// unblock the PID controller thread
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (pidTaskNotification) {
vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
}
}
// Clear IRQ // Clear IRQ
ADC_IntClr(ADC_INT_FIFO_READY); ADC_IntClr(ADC_INT_FIFO_READY);
} }
@@ -66,6 +78,7 @@ volatile bool lastPeriodWasFast = false;
void timer0_comp0_callback(void) { ADC_Start(); } void timer0_comp0_callback(void) { ADC_Start(); }
void timer0_comp1_callback(void) { PWM_Channel_Disable(PWM_Channel); } void timer0_comp1_callback(void) { PWM_Channel_Disable(PWM_Channel); }
void timer0_comp2_callback(void) { void timer0_comp2_callback(void) {
// This occurs at timer rollover, so if we want to turn on the output PWM; we do so // This occurs at timer rollover, so if we want to turn on the output PWM; we do so
if (PWMSafetyTimer) { if (PWMSafetyTimer) {
PWMSafetyTimer--; PWMSafetyTimer--;
@@ -87,14 +100,6 @@ void timer0_comp2_callback(void) {
PWM_Channel_Disable(PWM_Channel); PWM_Channel_Disable(PWM_Channel);
} }
} }
// unblock the PID controller thread
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (pidTaskNotification) {
vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
}
} }
void switchToFastPWM(void) { void switchToFastPWM(void) {
@@ -135,6 +140,7 @@ void setTipPWM(const uint8_t pulse, const bool shouldUseFastModePWM) {
// disabled if the PID task is not scheduled often enough. // disabled if the PID task is not scheduled often enough.
pendingPWM = pulse; pendingPWM = pulse;
fastPWM = shouldUseFastModePWM; fastPWM = shouldUseFastModePWM;
// MSG((char *)"PWM Output %d, %d\r\n", pulse, (int)shouldUseFastModePWM); // MSG((char *)"PWM Output %d, %d\r\n", pulse, (int)shouldUseFastModePWM);
} }
extern osThreadId POWTaskHandle; extern osThreadId POWTaskHandle;