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PID retune, ADC Blocks PID properly

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This commit is contained in:
Ben V. Brown
2018-04-13 16:19:05 +10:00
parent f2f20111b6
commit 586267f586
5 changed files with 59 additions and 73 deletions
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59
workspace/TS100/src/main.cpp
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@@ -27,8 +27,8 @@ osThreadId GUITaskHandle;
osThreadId PIDTaskHandle;
osThreadId ROTTaskHandle;
osThreadId MOVTaskHandle;
SemaphoreHandle_t rotationChangedSemaphore = NULL;
SemaphoreHandle_t accelDataAvailableSemaphore = NULL;
static TaskHandle_t pidTaskNotification = NULL;
void startGUITask(void const *argument);
void startPIDTask(void const *argument);
@@ -62,7 +62,7 @@ int main(void) {
PCBVersion = 3;
systemSettings.SleepTime = 0;
systemSettings.ShutdownTime = 0; //No accel -> disable sleep
systemSettings.sensitivity=0;
systemSettings.sensitivity = 0;
}
HAL_IWDG_Refresh(&hiwdg);
restoreSettings(); // load the settings from flash
@@ -85,11 +85,7 @@ int main(void) {
osThreadDef(MOVTask, startMOVTask, osPriorityNormal, 0, 512); //2k
MOVTaskHandle = osThreadCreate(osThread(MOVTask), NULL);
}
/* Create the objects*/
rotationChangedSemaphore = xSemaphoreCreateBinary();
// Used to unlock rotation thread
accelDataAvailableSemaphore = xSemaphoreCreateBinary();
// Used to unlock the movement thread
/* Start scheduler */
osKernelStart();
@@ -98,7 +94,7 @@ int main(void) {
}
}
void GUIDelay() {
osDelay(50); // 20Hz
osDelay(66); // 15Hz
}
void gui_drawTipTemp() {
// Draw tip temp handling unit conversion & tolerance near setpoint
@@ -762,7 +758,7 @@ void startGUITask(void const *argument) {
currentlyActiveTemperatureTarget = 0; // ensure tip is off
uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(1));//This forces a faster update rate on the filtering
uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(1)); //This forces a faster update rate on the filtering
if (tipTemp < 50) {
@@ -854,17 +850,20 @@ void startPIDTask(void const *argument) {
int32_t kp, ki, kd;
kp = 40;
ki = 60;
kd = 20;
kd = 15;
// REMEBER ^^^^ These constants are backwards
// They act as dividers, so to 'increase' a P term, you make the number
// smaller.
if(getInputVoltageX10(systemSettings.voltageDiv) < 150)
{
if (getInputVoltageX10(systemSettings.voltageDiv) < 150) {
//Boot P term if < 15 Volts
kp=30;
kp = 30;
}
const int32_t itermMax = 100;
pidTaskNotification = xTaskGetCurrentTaskHandle();
uint32_t ulNotificationValue;
for (;;) {
ulNotificationValue = ulTaskNotifyTake( pdTRUE, 100);//Wait a max of 100ms
//This is a call to block this thread until the ADC does its samples
uint16_t rawTemp = getTipRawTemp(1); // get instantaneous reading
if (currentlyActiveTemperatureTarget) {
// Compute the PID loop in here
@@ -900,9 +899,9 @@ void startPIDTask(void const *argument) {
output = 0;
}
if (currentlyActiveTemperatureTarget < rawTemp) {
/*if (currentlyActiveTemperatureTarget < rawTemp) {
output = 0;
}
}*/
setTipPWM(output);
derivativeLastValue = rawTemp; // store for next loop
@@ -914,12 +913,11 @@ void startPIDTask(void const *argument) {
}
HAL_IWDG_Refresh(&hiwdg);
osDelay(10); // 100 Hz temp loop
}
}
#define MOVFilter 8
void startMOVTask(void const *argument) {
osDelay(4000); // wait for accel to stabilize
osDelay(250); // wait for accelerometer to stabilize
lastMovementTime = 0;
int16_t datax[MOVFilter];
int16_t datay[MOVFilter];
@@ -936,10 +934,6 @@ void startMOVTask(void const *argument) {
uint32_t max = 0;
#endif
if (PCBVersion == 3) {
for (;;)
osDelay(5000);
}
for (;;) {
int32_t threshold = 1500 + (9 * 200);
threshold -= systemSettings.sensitivity * 200; // 200 is the step size
@@ -1009,10 +1003,6 @@ 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);
}
switch (systemSettings.OrientationMode) {
case 0:
lcd.setRotation(false);
@@ -1026,7 +1016,7 @@ void startRotationTask(void const *argument) {
default:
break;
}
osDelay(500); // wait for accel to stabilize
osDelay(250); // wait for accel to stabilize
for (;;) {
@@ -1077,3 +1067,18 @@ bool showBootLogoIfavailable() {
lcd.refresh();
return true;
}
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (pidTaskNotification) {
/* Notify the task that the transmission is complete. */
vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
/* If xHigherPriorityTaskWoken is now set to pdTRUE then a context switch
should be performed to ensure the interrupt returns directly to the highest
priority task. The macro used for this purpose is dependent on the port in
use and may be called portEND_SWITCHING_ISR(). */
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
}