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https://github.com/Ralim/IronOS.git
synced 2025-02-26 07:53:55 +00:00
Add more F support, protect I2C on accel2 orientation
This commit is contained in:
Ben V. Brown
@@ -60,8 +60,9 @@ int main(void) {
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accel2.initalize(); //startup the accelerometer
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} else {
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PCBVersion = 3;
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systemSettings.SleepTime=0;
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systemSettings.ShutdownTime=0;//No accel -> disable sleep
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systemSettings.SleepTime = 0;
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systemSettings.ShutdownTime = 0; //No accel -> disable sleep
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systemSettings.sensitivity=0;
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}
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HAL_IWDG_Refresh(&hiwdg);
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restoreSettings(); // load the settings from flash
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@@ -70,25 +71,25 @@ int main(void) {
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/* Create the thread(s) */
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/* definition and creation of GUITask */
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osThreadDef(GUITask, startGUITask, osPriorityBelowNormal, 0, 512);
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osThreadDef(GUITask, startGUITask, osPriorityBelowNormal, 0, 768); //3k
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GUITaskHandle = osThreadCreate(osThread(GUITask), NULL);
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/* definition and creation of PIDTask */
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osThreadDef(PIDTask, startPIDTask, osPriorityRealtime, 0, 256);
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osThreadDef(PIDTask, startPIDTask, osPriorityRealtime, 0, 512); //2k
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PIDTaskHandle = osThreadCreate(osThread(PIDTask), NULL);
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/* definition and creation of ROTTask */
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osThreadDef(ROTTask, startRotationTask, osPriorityLow, 0, 256);
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ROTTaskHandle = osThreadCreate(osThread(ROTTask), NULL);
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/* definition and creation of MOVTask */
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osThreadDef(MOVTask, startMOVTask, osPriorityNormal, 0, 256);
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MOVTaskHandle = osThreadCreate(osThread(MOVTask), NULL);
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if (PCBVersion != 3) {
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/* definition and creation of ROTTask */
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osThreadDef(ROTTask, startRotationTask, osPriorityLow, 0, 256); //1k
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ROTTaskHandle = osThreadCreate(osThread(ROTTask), NULL);
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/* definition and creation of MOVTask */
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osThreadDef(MOVTask, startMOVTask, osPriorityNormal, 0, 512); //2k
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MOVTaskHandle = osThreadCreate(osThread(MOVTask), NULL);
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}
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/* Create the objects*/
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rotationChangedSemaphore =
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xSemaphoreCreateBinary(); // Used to unlock rotation thread
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accelDataAvailableSemaphore =
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xSemaphoreCreateBinary(); // Used to unlock the movement thread
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rotationChangedSemaphore = xSemaphoreCreateBinary();
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// Used to unlock rotation thread
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accelDataAvailableSemaphore = xSemaphoreCreateBinary();
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// Used to unlock the movement thread
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/* Start scheduler */
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osKernelStart();
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@@ -627,7 +628,7 @@ static void gui_solderingMode() {
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}
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lcd.refresh();
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if (systemSettings.sensitivity)
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if (systemSettings.sensitivity && systemSettings.SleepTime)
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if (xTaskGetTickCount() - lastMovementTime > sleepThres
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&& xTaskGetTickCount() - lastButtonTime > sleepThres) {
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if (gui_SolderingSleepingMode()) {
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@@ -728,8 +729,8 @@ void startGUITask(void const *argument) {
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lcd.clearScreen(); // Ensure the buffer starts clean
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lcd.setCursor(0, 0); // Position the cursor at the 0,0 (top left)
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lcd.setFont(1); // small font
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lcd.print((char *) "V2.03 PCB"); // Print version number
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lcd.printNumber(PCBVersion, 1);
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lcd.print((char *) "V2.04 PCB"); // Print version number
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lcd.printNumber(PCBVersion, 1); //Print PCB ID number
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lcd.setCursor(0, 8); // second line
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lcd.print(__DATE__); // print the compile date
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lcd.refresh();
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@@ -758,10 +759,15 @@ void startGUITask(void const *argument) {
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default:
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break;
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}
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currentlyActiveTemperatureTarget = 0; // ensure tip is off
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uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(0));
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uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(1));//This forces a faster update rate on the filtering
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if (tipTemp < 50) {
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if (systemSettings.sensitivity) {
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if ((xTaskGetTickCount() - lastMovementTime) > 6000
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&& (xTaskGetTickCount() - lastButtonTime) > 6000) {
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lcd.displayOnOff(false); // turn lcd off when no movement
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@@ -846,11 +852,11 @@ void startPIDTask(void const *argument) {
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int32_t kp, ki, kd;
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kp = 40;
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ki = 60;
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kd = 30;
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kd = 20;
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// REMEBER ^^^^ These constants are backwards
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// They act as dividers, so to 'increase' a P term, you make the number
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// smaller.
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const int32_t itermMax = 60;
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const int32_t itermMax = 100;
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for (;;) {
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uint16_t rawTemp = getTipRawTemp(1); // get instantaneous reading
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if (currentlyActiveTemperatureTarget) {
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@@ -859,6 +865,11 @@ void startPIDTask(void const *argument) {
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// 33 counts per C)
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// P I & D are divisors, so inverse logic applies (beware)
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// Cap the max setpoint to 450C
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if (currentlyActiveTemperatureTarget > ctoTipMeasurement(450)) {
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currentlyActiveTemperatureTarget = ctoTipMeasurement(450);
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}
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int32_t rawTempError = currentlyActiveTemperatureTarget - rawTemp;
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int32_t ierror = (rawTempError / ki);
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integralCount += ierror;
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@@ -892,6 +903,7 @@ void startPIDTask(void const *argument) {
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setTipPWM(0); // disable the output driver if the output is set to be off
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integralCount = 0;
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derivativeLastValue = 0;
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osDelay(100); //sleep for a bit longer
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}
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HAL_IWDG_Refresh(&hiwdg);
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@@ -901,7 +913,7 @@ void startPIDTask(void const *argument) {
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#define MOVFilter 8
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void startMOVTask(void const *argument) {
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osDelay(4000); // wait for accel to stabilize
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lastMovementTime = 0;
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int16_t datax[MOVFilter];
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int16_t datay[MOVFilter];
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int16_t dataz[MOVFilter];
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@@ -922,8 +934,8 @@ void startMOVTask(void const *argument) {
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osDelay(5000);
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}
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for (;;) {
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int32_t threshold = 1200 + (9 * 200);
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threshold -= systemSettings.sensitivity * 200; // 200 is the step size
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int32_t threshold = 1500 + (9 * 200);
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threshold -= systemSettings.sensitivity * 200; // 200 is the step size
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if (PCBVersion == 2)
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accel2.getAxisReadings(&tx, &ty, &tz);
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else if (PCBVersion == 1)
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@@ -961,27 +973,24 @@ void startMOVTask(void const *argument) {
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if (HAL_GPIO_ReadPin(KEY_A_GPIO_Port, KEY_A_Pin) == GPIO_PIN_RESET)
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max = 0;
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#endif
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// Only run the actual processing if the sensitivity is set (aka we are
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// enabled)
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if (systemSettings.sensitivity) {
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// calculate averages
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avgx = avgy = avgz = 0;
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for (uint8_t i = 0; i < MOVFilter; i++) {
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avgx += datax[i];
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avgy += datay[i];
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avgz += dataz[i];
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}
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avgx /= MOVFilter;
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avgy /= MOVFilter;
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avgz /= MOVFilter;
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// So now we have averages, we want to look if these are different by more
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// than the threshold
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int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
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// If error has occured then we update the tick timer
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if (error > threshold) {
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lastMovementTime = xTaskGetTickCount();
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}
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// calculate averages
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avgx = avgy = avgz = 0;
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for (uint8_t i = 0; i < MOVFilter; i++) {
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avgx += datax[i];
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avgy += datay[i];
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avgz += dataz[i];
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}
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avgx /= MOVFilter;
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avgy /= MOVFilter;
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avgz /= MOVFilter;
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// So now we have averages, we want to look if these are different by more
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// than the threshold
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int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
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// If error has occurred then we update the tick timer
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if (error > threshold) {
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lastMovementTime = xTaskGetTickCount();
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}
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osDelay(100); // Slow down update rate
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