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ADC Timing alignment bought in

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This commit is contained in:
Ben V. Brown
2018-03-23 12:57:06 +11:00
parent 85869d507e
commit 37d5cf1e70
4 changed files with 75 additions and 60 deletions
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56
workspace/TS100/src/Setup.c
View File

@@ -10,7 +10,6 @@ DMA_HandleTypeDef hdma_adc1;
I2C_HandleTypeDef hi2c1;
IWDG_HandleTypeDef hiwdg;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
@@ -59,27 +58,29 @@ void SystemClock_Config(void) {
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI | RCC_OSCILLATORTYPE_LSI;
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI
| RCC_OSCILLATORTYPE_LSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.LSIState = RCC_LSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16; //64MHz
HAL_RCC_OscConfig(&RCC_OscInitStruct);
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV16;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV16; //TIM 2,3,4,5,6,7,12,13,14
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; //64 mhz to soem peripherals and adc
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV2;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; //6 or 8 are the only non overclocked options
HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
/**Configure the Systick interrupt time
@@ -99,7 +100,6 @@ static void MX_ADC1_Init(void) {
ADC_ChannelConfTypeDef sConfig;
ADC_InjectionConfTypeDef sConfigInjected;
/**Common config
*/
hadc1.Instance = ADC1;
@@ -126,10 +126,15 @@ static void MX_ADC1_Init(void) {
/**Configure Injected Channel
*/
//F in = 10.66 MHz
/*
* Injected time is 1 delay clock + (12 adc cycles*4)+4*sampletime =~217 clocks = 0.2ms
*
* */
sConfigInjected.InjectedChannel = ADC_CHANNEL_8;
sConfigInjected.InjectedRank = 1;
sConfigInjected.InjectedNbrOfConversion = 4;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_71CYCLES_5;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_13CYCLES_5;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T2_CC1;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
@@ -141,14 +146,14 @@ static void MX_ADC1_Init(void) {
HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected);
sConfigInjected.InjectedRank = 4;
HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected);
//SET_BIT(hadc1.Instance->CR1, ( ADC_CR1_JEOCIE ));//Enable end of injected conv irq
}
/* I2C1 init function */
static void MX_I2C1_Init(void) {
hi2c1.Instance = I2C1;
hi2c1.Init.ClockSpeed = 300000;//200Khz
hi2c1.Init.ClockSpeed = 300000; //200Khz
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
@@ -178,10 +183,10 @@ static void MX_TIM3_Init(void) {
TIM_OC_InitTypeDef sConfigOC;
htim3.Instance = TIM3;
htim3.Init.Prescaler = 1;
htim3.Init.Prescaler = 2;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 100;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4; //2mhz
htim3.Init.Period = 100; //10 Khz PWM freq
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4; //4mhz before div
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
HAL_TIM_Base_Init(&htim3);
@@ -229,10 +234,10 @@ static void MX_TIM2_Init(void) {
//Timer 2 is fairly slow as its being used to run the PWM and trigger the ADC in the PWM off time.
htim2.Instance = TIM2;
htim2.Init.Prescaler = 1500;
htim2.Init.Prescaler = 2000; // pwm out is 10k, we want to run our PWM at around 100hz
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 120;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4; //2mhz
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4; //4mhz before divide
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
HAL_TIM_Base_Init(&htim2);
@@ -247,7 +252,12 @@ static void MX_TIM2_Init(void) {
HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 110;
sConfigOC.Pulse = 117;
/*
* It takes 4 milliseconds for output to be stable after PWM turns off.
* Assume ADC samples in 0.5ms
* We need to set this to 100% + 4.5ms
* */
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1);
@@ -318,13 +328,15 @@ static void MX_GPIO_Init(void) {
/*Configure GPIO pins : PA0 PA1 PA2 PA3
PA4 PA5 PA10 PA15 */
GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_10
| GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_15;
GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3
| GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12
| GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
//Set PA 11 and PA 12 to GND to stop usb detection
GPIO_InitStruct.Pin = GPIO_PIN_11 | GPIO_PIN_12;
//Set PA 11 and PA 12 to GND to stop usb detection, 14 re-rused for debug
GPIO_InitStruct.Pin = GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_14 | GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
@@ -349,7 +361,7 @@ static void MX_GPIO_Init(void) {
/*Configure GPIO pins : INT_Orientation_Pin INT_Movement_Pin */
GPIO_InitStruct.Pin = INT_Orientation_Pin | INT_Movement_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP; //Technically the IMU is P-P but safer to pullup (very tiny current cost)
GPIO_InitStruct.Pull = GPIO_PULLUP; //Technically the IMU is P-P but safer to pullup (very tiny current cost)
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure peripheral I/O remapping */

28
workspace/TS100/src/hardware.c
View File

@@ -18,7 +18,7 @@ uint16_t getHandleTemperature() {
// STM32 = 4096 count @ 3.3V input -> But
// We oversample by 32/(2^2) = 8 times oversampling
// Therefore 32768 is the 3.3V input, so 0.201416015625 mV per count
// So we need to subtract an offset of 0.5V to center on 0C (2482 counts)
// So we need to subtract an offset of 0.5V to center on 0C (2482*2 counts)
//
uint16_t result = getADC(0);
if (result < 4964)
@@ -29,21 +29,25 @@ uint16_t getHandleTemperature() {
}
uint16_t tipMeasurementToC(uint16_t raw) {
return ((raw - 532) / 33) + (getHandleTemperature() / 10) - CalibrationTempOffset;
return ((raw - 532) / 33) + (getHandleTemperature() / 10)
- CalibrationTempOffset;
//Surprisingly that appears to be a fairly good linear best fit
}
uint16_t ctoTipMeasurement(uint16_t temp) {
//We need to compensate for cold junction temp
return ((temp - (getHandleTemperature() / 10) + CalibrationTempOffset) * 33) + 532;
return ((temp - (getHandleTemperature() / 10) + CalibrationTempOffset) * 33)
+ 532;
}
uint16_t tipMeasurementToF(uint16_t raw) {
return ((((raw - 532) / 33) + (getHandleTemperature() / 10) - CalibrationTempOffset) * 9) / 5 + 32;
return ((((raw - 532) / 33) + (getHandleTemperature() / 10)
- CalibrationTempOffset) * 9) / 5 + 32;
}
uint16_t ftoTipMeasurement(uint16_t temp) {
return (((((temp - 32) * 5) / 9) - (getHandleTemperature() / 10) + CalibrationTempOffset) * 33) + 532;
return (((((temp - 32) * 5) / 9) - (getHandleTemperature() / 10)
+ CalibrationTempOffset) * 33) + 532;
}
uint16_t getTipInstantTemperature() {
@@ -116,7 +120,7 @@ uint8_t getTipPWM() {
return htim2.Instance->CCR4;
}
void setTipPWM(uint8_t pulse) {
PWMSafetyTimer = 100; //This is decremented in the handler for PWM so that the tip pwm is disabled if the PID task is not scheduled often enough.
PWMSafetyTimer = 640; //This is decremented in the handler for PWM so that the tip pwm is disabled if the PID task is not scheduled often enough.
if (pulse > 100)
pulse = 100;
if (pulse) {
@@ -133,7 +137,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
//Period has elapsed
if (htim->Instance == TIM2) {
//we want to turn on the output again
PWMSafetyTimer--; //We decrement this safety value so that lockups in the scheduler will not cause the PWM to become locked in an active driving state.
PWMSafetyTimer--; //We decrement this safety value so that lockups in the scheduler will not cause the PWM to become locked in an active driving state.
//While we could assume this could never happened, its a small price for increased safety
if (htim2.Instance->CCR4 && PWMSafetyTimer) {
htim3.Instance->CCR1 = 50;
@@ -153,6 +157,14 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) {
if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_4) {
HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);
htim3.Instance->CCR1 = 0;
}
} /*else if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_13, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_14, GPIO_PIN_RESET);
}*/
}
}
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc) {
}

46
workspace/TS100/src/main.cpp
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@@ -842,16 +842,14 @@ void startPIDTask(void const *argument) {
*/
int32_t integralCount = 0;
int32_t derivativeLastValue = 0;
int32_t kp, ki, kd, kb;
int32_t backoffOverflow = 0;
kp = 20;
ki = 50;
kd = 40;
kb = 0;
int32_t kp, ki, kd;
kp = 80;
ki = 120;
kd = 60;
// REMEBER ^^^^ These constants are backwards
// They act as dividers, so to 'increase' a P term, you make the number
// smaller.
const int32_t itermMax = 40;
const int32_t itermMax = 60;
for (;;) {
uint16_t rawTemp = getTipRawTemp(1); // get instantaneous reading
if (currentlyActiveTemperatureTarget) {
@@ -876,34 +874,27 @@ void startPIDTask(void const *argument) {
output += integralCount;
if (kd)
output -= (dInput / kd);
if (kb)
output -= backoffOverflow / kb;
if (output > 100) {
backoffOverflow = output;
output = 100; // saturate
} else if (output < 0) {
backoffOverflow = output;
output = 0;
} else
backoffOverflow = 0;
if (currentlyActiveTemperatureTarget < rawTemp) {
output = 0;
integralCount = 0;
backoffOverflow = 0;
derivativeLastValue = 0;
}
/*if (currentlyActiveTemperatureTarget < rawTemp) {
output = 0;
}*/
setTipPWM(output);
derivativeLastValue = rawTemp; // store for next loop
} else {
setTipPWM(0); // disable the output driver if the output is set to be off
// elsewhere
integralCount = 0;
backoffOverflow = 0;
derivativeLastValue = 0;
}
derivativeLastValue = rawTemp; // store for next loop
HAL_IWDG_Refresh(&hiwdg);
osDelay(100); // 10 Hz temp loop
osDelay(10); // 100 Hz temp loop
}
}
#define MOVFilter 8
@@ -1001,11 +992,10 @@ void startRotationTask(void const *argument) {
* This task is used to manage rotation of the LCD screen & button re-mapping
*
*/
if(PCBVersion==3)
{
for(;;)
osDelay(5000);
}
if (PCBVersion == 3) {
for (;;)
osDelay(5000);
}
switch (systemSettings.OrientationMode) {
case 0:
lcd.setRotation(false);
@@ -1024,7 +1014,7 @@ void startRotationTask(void const *argument) {
for (;;) {
// a rotation event has occurred
uint8_t rotation;
uint8_t rotation = 0;
if (PCBVersion == 2) {
rotation = accel2.getOrientation();
} else if (PCBVersion == 1) {

5
workspace/TS100/src/stm32f1xx_hal_msp.c
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@@ -28,8 +28,9 @@ void HAL_MspInit(void) {
/**NOJTAG: JTAG-DP Disabled and SW-DP Enabled
*/
__HAL_AFIO_REMAP_SWJ_NOJTAG()
;
// __HAL_AFIO_REMAP_SWJ_NOJTAG()
__HAL_AFIO_REMAP_SWJ_DISABLE(); /*Disable swd for debug io use*/
}