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More refactoring for the movement thread

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This commit is contained in:
Ben V. Brown
2020-05-29 21:54:09 +10:00
parent 6bb56c28ba
commit a13f501dfd
6 changed files with 164 additions and 132 deletions
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2
workspace/TS100/Core/BSP/BSP.h
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@@ -38,6 +38,8 @@ uint8_t getButtonB();
// This should toggle the SCL line until SDA goes high to end the current transaction // This should toggle the SCL line until SDA goes high to end the current transaction
void unstick_I2C(); void unstick_I2C();
//Reboot the IC when things go seriously wrong
void reboot();
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

42
workspace/TS100/Core/BSP/Miniware/BSP.cpp
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@@ -4,11 +4,12 @@
#include "Setup.h" #include "Setup.h"
#include "history.hpp" #include "history.hpp"
#include "Pins.h" #include "Pins.h"
#include "main.hpp"
#include "history.hpp" #include "history.hpp"
#include "FRToSI2C.hpp"
volatile uint16_t PWMSafetyTimer = 0; volatile uint16_t PWMSafetyTimer = 0;
volatile uint8_t pendingPWM = 0; volatile uint8_t pendingPWM = 0;
//2 second filter (ADC is PID_TIM_HZ Hz) //2 second filter (ADC is PID_TIM_HZ Hz)
history<uint16_t, PID_TIM_HZ> rawTempFilter = { { 0 }, 0, 0 }; history<uint16_t, PID_TIM_HZ> rawTempFilter = { { 0 }, 0, 0 };
void resetWatchdog() { void resetWatchdog() {
@@ -210,3 +211,42 @@ uint8_t getButtonB() {
return HAL_GPIO_ReadPin(KEY_B_GPIO_Port, KEY_B_Pin) == GPIO_PIN_RESET ? return HAL_GPIO_ReadPin(KEY_B_GPIO_Port, KEY_B_Pin) == GPIO_PIN_RESET ?
1 : 0; 1 : 0;
} }
/*
* Catch the IRQ that says that the conversion is done on the temperature
* readings coming in Once these have come in we can unblock the PID so that it
* runs again
*/
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *hadc) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (hadc == &hadc1) {
if (pidTaskNotification) {
vTaskNotifyGiveFromISR(pidTaskNotification,
&xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
}
}
void HAL_I2C_MasterRxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
FRToSI2C::CpltCallback();
}
void HAL_I2C_MasterTxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
FRToSI2C::CpltCallback();
}
void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
FRToSI2C::CpltCallback();
}
void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c __unused) {
FRToSI2C::CpltCallback();
}
void HAL_I2C_AbortCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
FRToSI2C::CpltCallback();
}
void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
FRToSI2C::CpltCallback();
}
void reboot() {
NVIC_SystemReset();
}

4
workspace/TS100/Core/Inc/main.hpp
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@@ -25,7 +25,9 @@ void vApplicationStackOverflowHook(xTaskHandle *pxTask,
void startGUITask(void const *argument); void startGUITask(void const *argument);
void startPIDTask(void const *argument); void startPIDTask(void const *argument);
void startMOVTask(void const *argument); void startMOVTask(void const *argument);
extern TaskHandle_t pidTaskNotification ; extern TaskHandle_t pidTaskNotification;
extern uint8_t accelInit;
extern uint32_t lastMovementTime;
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

8
workspace/TS100/Core/Src/FreeRTOSHooks.c
View File

@@ -22,3 +22,11 @@ void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE; *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
/* place for user code */ /* place for user code */
} }
void vApplicationStackOverflowHook(xTaskHandle *pxTask,
signed portCHAR *pcTaskName) {
(void) pxTask;
(void) pcTaskName;
// We dont have a good way to handle a stack overflow at this point in time
reboot();
}

131
workspace/TS100/Core/Src/main.cpp
View File

@@ -2,10 +2,10 @@
#include "BSP.h" #include "BSP.h"
#include <MMA8652FC.hpp>
#include <gui.hpp> #include <gui.hpp>
#include <main.hpp> #include <main.hpp>
#include "LIS2DH12.hpp" #include "LIS2DH12.hpp"
#include <MMA8652FC.hpp>
#include <history.hpp> #include <history.hpp>
#include <power.hpp> #include <power.hpp>
#include "Settings.h" #include "Settings.h"
@@ -18,8 +18,6 @@
uint8_t PCBVersion = 0; uint8_t PCBVersion = 0;
// File local variables // File local variables
uint32_t currentTempTargetDegC = 0; // Current temperature target in C uint32_t currentTempTargetDegC = 0; // Current temperature target in C
uint8_t accelInit = 0;
uint32_t lastMovementTime = 0;
bool settingsWereReset = false; bool settingsWereReset = false;
// FreeRTOS variables // FreeRTOS variables
@@ -94,92 +92,6 @@ int main(void) {
} }
} }
#define MOVFilter 8
void startMOVTask(void const *argument __unused) {
OLED::setRotation(true);
#ifdef MODEL_TS80
startQC(systemSettings.voltageDiv);
while (pidTaskNotification == 0)
osDelay(30); // To ensure we return after idealQCVoltage/tip resistance
seekQC((systemSettings.cutoutSetting) ? 120 : 90,
systemSettings.voltageDiv); // this will move the QC output to the preferred voltage to start with
#else
osDelay(250); // wait for accelerometer to stabilize
#endif
OLED::setRotation(systemSettings.OrientationMode & 1);
lastMovementTime = 0;
int16_t datax[MOVFilter] = { 0 };
int16_t datay[MOVFilter] = { 0 };
int16_t dataz[MOVFilter] = { 0 };
uint8_t currentPointer = 0;
int16_t tx = 0, ty = 0, tz = 0;
int32_t avgx = 0, avgy = 0, avgz = 0;
if (systemSettings.sensitivity > 9)
systemSettings.sensitivity = 9;
#ifdef ACCELDEBUG
uint32_t max = 0;
#endif
Orientation rotation = ORIENTATION_FLAT;
for (;;) {
int32_t threshold = 1500 + (9 * 200);
threshold -= systemSettings.sensitivity * 200; // 200 is the step size
if (PCBVersion == 2) {
LIS2DH12::getAxisReadings(tx, ty, tz);
rotation = LIS2DH12::getOrientation();
} else if (PCBVersion == 1) {
MMA8652FC::getAxisReadings(tx, ty, tz);
rotation = MMA8652FC::getOrientation();
}
if (systemSettings.OrientationMode == 2) {
if (rotation != ORIENTATION_FLAT) {
OLED::setRotation(rotation == ORIENTATION_LEFT_HAND); // link the data through
}
}
datax[currentPointer] = (int32_t) tx;
datay[currentPointer] = (int32_t) ty;
dataz[currentPointer] = (int32_t) tz;
if (!accelInit) {
for (uint8_t i = currentPointer + 1; i < MOVFilter; i++) {
datax[i] = (int32_t) tx;
datay[i] = (int32_t) ty;
dataz[i] = (int32_t) tz;
}
accelInit = 1;
}
currentPointer = (currentPointer + 1) % MOVFilter;
avgx = avgy = avgz = 0;
// calculate averages
for (uint8_t i = 0; i < MOVFilter; i++) {
avgx += datax[i];
avgy += datay[i];
avgz += dataz[i];
}
avgx /= MOVFilter;
avgy /= MOVFilter;
avgz /= MOVFilter;
// Sum the deltas
int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
// So now we have averages, we want to look if these are different by more
// than the threshold
// If error has occurred then we update the tick timer
if (error > threshold) {
lastMovementTime = xTaskGetTickCount();
}
osDelay(100); // Slow down update rate
#ifdef MODEL_TS80
seekQC((systemSettings.cutoutSetting) ? 120 : 90,
systemSettings.voltageDiv); // Run the QC seek again if we have drifted too much
#endif
}
}
// Second last page of flash set aside for logo image. // Second last page of flash set aside for logo image.
#define FLASH_LOGOADDR (0x8000000 | 0xF800) #define FLASH_LOGOADDR (0x8000000 | 0xF800)
@@ -199,44 +111,3 @@ bool showBootLogoIfavailable() {
return true; return true;
} }
/*
* Catch the IRQ that says that the conversion is done on the temperature
* readings coming in Once these have come in we can unblock the PID so that it
* runs again
*/
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *hadc) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (hadc == &hadc1) {
if (pidTaskNotification) {
vTaskNotifyGiveFromISR(pidTaskNotification,
&xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
}
}
void HAL_I2C_MasterRxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
FRToSI2C::CpltCallback();
}
void HAL_I2C_MasterTxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
FRToSI2C::CpltCallback();
}
void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
FRToSI2C::CpltCallback();
}
void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c __unused) {
FRToSI2C::CpltCallback();
}
void HAL_I2C_AbortCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
FRToSI2C::CpltCallback();
}
void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c __unused) {
FRToSI2C::CpltCallback();
}
void vApplicationStackOverflowHook(xTaskHandle *pxTask __unused,
signed portCHAR *pcTaskName __unused) {
// We dont have a good way to handle a stack overflow at this point in time
NVIC_SystemReset();
}

109
workspace/TS100/Core/Threads/MOVThread.cpp Normal file
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@@ -0,0 +1,109 @@
/*
* MOVThread.cpp
*
* Created on: 29 May 2020
* Author: Ralim
*/
#include "main.hpp"
#include "BSP.h"
#include "power.hpp"
#include "history.hpp"
#include "TipThermoModel.h"
#include "cmsis_os.h"
#include "FreeRTOS.h"
#include "task.h"
#include "Settings.h"
#include "FRToSI2C.hpp"
#include "stdlib.h"
#include "LIS2DH12.hpp"
#include <MMA8652FC.hpp>
#define MOVFilter 8
uint8_t accelInit = 0;
uint32_t lastMovementTime = 0;
void startMOVTask(void const *argument __unused) {
OLED::setRotation(true);
#ifdef MODEL_TS80
startQC(systemSettings.voltageDiv);
while (pidTaskNotification == 0)
osDelay(30); // To ensure we return after idealQCVoltage/tip resistance
seekQC((systemSettings.cutoutSetting) ? 120 : 90,
systemSettings.voltageDiv); // this will move the QC output to the preferred voltage to start with
#else
osDelay(250); // wait for accelerometer to stabilize
#endif
OLED::setRotation(systemSettings.OrientationMode & 1);
lastMovementTime = 0;
int16_t datax[MOVFilter] = { 0 };
int16_t datay[MOVFilter] = { 0 };
int16_t dataz[MOVFilter] = { 0 };
uint8_t currentPointer = 0;
int16_t tx = 0, ty = 0, tz = 0;
int32_t avgx = 0, avgy = 0, avgz = 0;
if (systemSettings.sensitivity > 9)
systemSettings.sensitivity = 9;
#ifdef ACCELDEBUG
uint32_t max = 0;
#endif
Orientation rotation = ORIENTATION_FLAT;
for (;;) {
int32_t threshold = 1500 + (9 * 200);
threshold -= systemSettings.sensitivity * 200; // 200 is the step size
if (PCBVersion == 2) {
LIS2DH12::getAxisReadings(tx, ty, tz);
rotation = LIS2DH12::getOrientation();
} else if (PCBVersion == 1) {
MMA8652FC::getAxisReadings(tx, ty, tz);
rotation = MMA8652FC::getOrientation();
}
if (systemSettings.OrientationMode == 2) {
if (rotation != ORIENTATION_FLAT) {
OLED::setRotation(rotation == ORIENTATION_LEFT_HAND); // link the data through
}
}
datax[currentPointer] = (int32_t) tx;
datay[currentPointer] = (int32_t) ty;
dataz[currentPointer] = (int32_t) tz;
if (!accelInit) {
for (uint8_t i = currentPointer + 1; i < MOVFilter; i++) {
datax[i] = (int32_t) tx;
datay[i] = (int32_t) ty;
dataz[i] = (int32_t) tz;
}
accelInit = 1;
}
currentPointer = (currentPointer + 1) % MOVFilter;
avgx = avgy = avgz = 0;
// calculate averages
for (uint8_t i = 0; i < MOVFilter; i++) {
avgx += datax[i];
avgy += datay[i];
avgz += dataz[i];
}
avgx /= MOVFilter;
avgy /= MOVFilter;
avgz /= MOVFilter;
// Sum the deltas
int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
// So now we have averages, we want to look if these are different by more
// than the threshold
// If error has occurred then we update the tick timer
if (error > threshold) {
lastMovementTime = xTaskGetTickCount();
}
osDelay(100); // Slow down update rate
#ifdef MODEL_TS80
seekQC((systemSettings.cutoutSetting) ? 120 : 90,
systemSettings.voltageDiv); // Run the QC seek again if we have drifted too much
#endif
}
}