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Add more F support, protect I2C on accel2 orientation

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This commit is contained in:
Ben V. Brown
2018-04-06 13:13:37 +10:00
parent 080ca31890
commit c9cfe965ef
6 changed files with 90 additions and 56 deletions
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4
workspace/TS100/.settings/language.settings.xml
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@@ -6,7 +6,7 @@
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/> <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
<provider class="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" console="false" env-hash="3703734836139458" id="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="Ac6 SW4 STM32 MCU Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true"> <provider class="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" console="false" env-hash="1750838549288477430" id="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="Ac6 SW4 STM32 MCU Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>
@@ -18,7 +18,7 @@
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/> <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
<provider class="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" console="false" env-hash="3703734836139458" id="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="Ac6 SW4 STM32 MCU Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true"> <provider class="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" console="false" env-hash="1750838549288477430" id="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="Ac6 SW4 STM32 MCU Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>

4
workspace/TS100/src/LIS2DH12.cpp
View File

@@ -33,7 +33,9 @@ void LIS2DH12::initalize() {
uint8_t LIS2DH12::getOrientation() { uint8_t LIS2DH12::getOrientation() {
// 8=right handed,4=left,16=flat // 8=right handed,4=left,16=flat
//So we ignore if not 8/4 //So we ignore if not 8/4
taskENTER_CRITICAL();
uint8_t pos = I2C_RegisterRead(LIS_INT2_SRC); uint8_t pos = I2C_RegisterRead(LIS_INT2_SRC);
taskEXIT_CRITICAL();
if (pos == 8) if (pos == 8)
return 1; return 1;
else if (pos == 4) else if (pos == 4)
@@ -59,7 +61,6 @@ void LIS2DH12::setSensitivity(uint8_t threshold, uint8_t filterTime) {
} }
void LIS2DH12::I2C_RegisterWrite(uint8_t reg, uint8_t data) { void LIS2DH12::I2C_RegisterWrite(uint8_t reg, uint8_t data) {
HAL_I2C_Mem_Write(i2c, LIS2DH_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, &data, HAL_I2C_Mem_Write(i2c, LIS2DH_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, &data,
1, 500); 1, 500);
} }
@@ -68,6 +69,5 @@ uint8_t LIS2DH12::I2C_RegisterRead(uint8_t reg) {
uint8_t tx_data[1]; uint8_t tx_data[1];
HAL_I2C_Mem_Read(i2c, LIS2DH_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT, HAL_I2C_Mem_Read(i2c, LIS2DH_I2C_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT,
tx_data, 1, 500); tx_data, 1, 500);
return tx_data[0]; return tx_data[0];
} }

4
workspace/TS100/src/Setup.c
View File

@@ -36,7 +36,7 @@ void Setup_HAL() {
MX_TIM2_Init(); MX_TIM2_Init();
MX_IWDG_Init(); MX_IWDG_Init();
HAL_ADC_Start_DMA(&hadc1, (uint32_t*) ADCReadings, 64); HAL_ADC_Start_DMA(&hadc1, (uint32_t*) ADCReadings, 64);//start DMA of normal readings
HAL_ADCEx_InjectedStart(&hadc1); //enable injected readings HAL_ADCEx_InjectedStart(&hadc1); //enable injected readings
} }
@@ -252,7 +252,7 @@ static void MX_TIM2_Init(void) {
HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig); HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 117; sConfigOC.Pulse = 118;
/* /*
* It takes 4 milliseconds for output to be stable after PWM turns off. * It takes 4 milliseconds for output to be stable after PWM turns off.
* Assume ADC samples in 0.5ms * Assume ADC samples in 0.5ms

33
workspace/TS100/src/gui.cpp
View File

@@ -285,9 +285,16 @@ static void settings_displayInputVRange(void) {
} }
static void settings_setSleepTemp(void) { static void settings_setSleepTemp(void) {
systemSettings.SleepTemp += 10; //If in C, 10 deg, if in F 20 deg
if (systemSettings.SleepTemp > 300) if (systemSettings.temperatureInF) {
systemSettings.SleepTemp = 50; systemSettings.SleepTemp += 20;
if (systemSettings.SleepTemp > 580)
systemSettings.SleepTemp = 120;
} else {
systemSettings.SleepTemp += 10;
if (systemSettings.SleepTemp > 300)
systemSettings.SleepTemp = 50;
}
} }
static void settings_displaySleepTemp(void) { static void settings_displaySleepTemp(void) {
@@ -339,6 +346,22 @@ static void settings_displayShutdownTime(void) {
static void settings_setTempF(void) { static void settings_setTempF(void) {
systemSettings.temperatureInF = !systemSettings.temperatureInF; systemSettings.temperatureInF = !systemSettings.temperatureInF;
if (systemSettings.temperatureInF) {
//Change sleep, boost and soldering temps to the F equiv
//C to F == F= ( (C*9) +160)/5
systemSettings.BoostTemp = ((systemSettings.BoostTemp * 9) + 160) / 5;
systemSettings.SolderingTemp =
((systemSettings.SolderingTemp * 9) + 160) / 5;
systemSettings.SleepTemp = ((systemSettings.SleepTemp * 9) + 160) / 5;
} else {
//Change sleep, boost and soldering temps to the C equiv
// F->C == C = ((F-32)*5)/9
systemSettings.BoostTemp = ((systemSettings.BoostTemp - 32) * 5) / 9;
systemSettings.SolderingTemp = ((systemSettings.SolderingTemp - 32) * 5)
/ 9;
systemSettings.SleepTemp = ((systemSettings.SleepTemp - 32) * 5) / 9;
}
} }
static void settings_displayTempF(void) { static void settings_displayTempF(void) {
@@ -438,12 +461,14 @@ static void settings_displayBoostModeEnabled(void) {
} }
static void settings_setBoostTemp(void) { static void settings_setBoostTemp(void) {
systemSettings.BoostTemp += 10; // Go up 10 at a time
if (systemSettings.temperatureInF) { if (systemSettings.temperatureInF) {
systemSettings.BoostTemp += 20; // Go up 20F at a time
if (systemSettings.BoostTemp > 850) { if (systemSettings.BoostTemp > 850) {
systemSettings.BoostTemp = 480; // loop back at 250 systemSettings.BoostTemp = 480; // loop back at 250
} }
} else { } else {
systemSettings.BoostTemp += 10; // Go up 10C at a time
if (systemSettings.BoostTemp > 450) { if (systemSettings.BoostTemp > 450) {
systemSettings.BoostTemp = 250; // loop back at 250 systemSettings.BoostTemp = 250; // loop back at 250
} }

2
workspace/TS100/src/hardware.c
View File

@@ -62,7 +62,7 @@ uint16_t getTipInstantTemperature() {
uint16_t getTipRawTemp(uint8_t instant) { uint16_t getTipRawTemp(uint8_t instant) {
#define filterDepth1 1 #define filterDepth1 1
/*Pre filter used before PID*/ /*Pre filter used before PID*/
#define filterDepth2 32 #define filterDepth2 64
/*Post filter used for UI display*/ /*Post filter used for UI display*/
static uint16_t filterLayer1[filterDepth1]; static uint16_t filterLayer1[filterDepth1];
static uint16_t filterLayer2[filterDepth2]; static uint16_t filterLayer2[filterDepth2];

99
workspace/TS100/src/main.cpp
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@@ -60,8 +60,9 @@ int main(void) {
accel2.initalize(); //startup the accelerometer accel2.initalize(); //startup the accelerometer
} else { } else {
PCBVersion = 3; PCBVersion = 3;
systemSettings.SleepTime=0; systemSettings.SleepTime = 0;
systemSettings.ShutdownTime=0;//No accel -> disable sleep systemSettings.ShutdownTime = 0; //No accel -> disable sleep
systemSettings.sensitivity=0;
} }
HAL_IWDG_Refresh(&hiwdg); HAL_IWDG_Refresh(&hiwdg);
restoreSettings(); // load the settings from flash restoreSettings(); // load the settings from flash
@@ -70,25 +71,25 @@ int main(void) {
/* Create the thread(s) */ /* Create the thread(s) */
/* definition and creation of GUITask */ /* definition and creation of GUITask */
osThreadDef(GUITask, startGUITask, osPriorityBelowNormal, 0, 512); osThreadDef(GUITask, startGUITask, osPriorityBelowNormal, 0, 768); //3k
GUITaskHandle = osThreadCreate(osThread(GUITask), NULL); GUITaskHandle = osThreadCreate(osThread(GUITask), NULL);
/* definition and creation of PIDTask */ /* definition and creation of PIDTask */
osThreadDef(PIDTask, startPIDTask, osPriorityRealtime, 0, 256); osThreadDef(PIDTask, startPIDTask, osPriorityRealtime, 0, 512); //2k
PIDTaskHandle = osThreadCreate(osThread(PIDTask), NULL); PIDTaskHandle = osThreadCreate(osThread(PIDTask), NULL);
if (PCBVersion != 3) {
/* definition and creation of ROTTask */ /* definition and creation of ROTTask */
osThreadDef(ROTTask, startRotationTask, osPriorityLow, 0, 256); osThreadDef(ROTTask, startRotationTask, osPriorityLow, 0, 256); //1k
ROTTaskHandle = osThreadCreate(osThread(ROTTask), NULL); ROTTaskHandle = osThreadCreate(osThread(ROTTask), NULL);
/* definition and creation of MOVTask */ /* definition and creation of MOVTask */
osThreadDef(MOVTask, startMOVTask, osPriorityNormal, 0, 256); osThreadDef(MOVTask, startMOVTask, osPriorityNormal, 0, 512); //2k
MOVTaskHandle = osThreadCreate(osThread(MOVTask), NULL); MOVTaskHandle = osThreadCreate(osThread(MOVTask), NULL);
}
/* Create the objects*/ /* Create the objects*/
rotationChangedSemaphore = rotationChangedSemaphore = xSemaphoreCreateBinary();
xSemaphoreCreateBinary(); // Used to unlock rotation thread // Used to unlock rotation thread
accelDataAvailableSemaphore = accelDataAvailableSemaphore = xSemaphoreCreateBinary();
xSemaphoreCreateBinary(); // Used to unlock the movement thread // Used to unlock the movement thread
/* Start scheduler */ /* Start scheduler */
osKernelStart(); osKernelStart();
@@ -627,7 +628,7 @@ static void gui_solderingMode() {
} }
lcd.refresh(); lcd.refresh();
if (systemSettings.sensitivity) if (systemSettings.sensitivity && systemSettings.SleepTime)
if (xTaskGetTickCount() - lastMovementTime > sleepThres if (xTaskGetTickCount() - lastMovementTime > sleepThres
&& xTaskGetTickCount() - lastButtonTime > sleepThres) { && xTaskGetTickCount() - lastButtonTime > sleepThres) {
if (gui_SolderingSleepingMode()) { if (gui_SolderingSleepingMode()) {
@@ -728,8 +729,8 @@ void startGUITask(void const *argument) {
lcd.clearScreen(); // Ensure the buffer starts clean lcd.clearScreen(); // Ensure the buffer starts clean
lcd.setCursor(0, 0); // Position the cursor at the 0,0 (top left) lcd.setCursor(0, 0); // Position the cursor at the 0,0 (top left)
lcd.setFont(1); // small font lcd.setFont(1); // small font
lcd.print((char *) "V2.03 PCB"); // Print version number lcd.print((char *) "V2.04 PCB"); // Print version number
lcd.printNumber(PCBVersion, 1); lcd.printNumber(PCBVersion, 1); //Print PCB ID number
lcd.setCursor(0, 8); // second line lcd.setCursor(0, 8); // second line
lcd.print(__DATE__); // print the compile date lcd.print(__DATE__); // print the compile date
lcd.refresh(); lcd.refresh();
@@ -758,10 +759,15 @@ void startGUITask(void const *argument) {
default: default:
break; break;
} }
currentlyActiveTemperatureTarget = 0; // ensure tip is off currentlyActiveTemperatureTarget = 0; // ensure tip is off
uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(0));
uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(1));//This forces a faster update rate on the filtering
if (tipTemp < 50) { if (tipTemp < 50) {
if (systemSettings.sensitivity) { if (systemSettings.sensitivity) {
if ((xTaskGetTickCount() - lastMovementTime) > 6000 if ((xTaskGetTickCount() - lastMovementTime) > 6000
&& (xTaskGetTickCount() - lastButtonTime) > 6000) { && (xTaskGetTickCount() - lastButtonTime) > 6000) {
lcd.displayOnOff(false); // turn lcd off when no movement lcd.displayOnOff(false); // turn lcd off when no movement
@@ -846,11 +852,11 @@ void startPIDTask(void const *argument) {
int32_t kp, ki, kd; int32_t kp, ki, kd;
kp = 40; kp = 40;
ki = 60; ki = 60;
kd = 30; kd = 20;
// REMEBER ^^^^ These constants are backwards // REMEBER ^^^^ These constants are backwards
// They act as dividers, so to 'increase' a P term, you make the number // They act as dividers, so to 'increase' a P term, you make the number
// smaller. // smaller.
const int32_t itermMax = 60; const int32_t itermMax = 100;
for (;;) { for (;;) {
uint16_t rawTemp = getTipRawTemp(1); // get instantaneous reading uint16_t rawTemp = getTipRawTemp(1); // get instantaneous reading
if (currentlyActiveTemperatureTarget) { if (currentlyActiveTemperatureTarget) {
@@ -859,6 +865,11 @@ void startPIDTask(void const *argument) {
// 33 counts per C) // 33 counts per C)
// P I & D are divisors, so inverse logic applies (beware) // P I & D are divisors, so inverse logic applies (beware)
// Cap the max setpoint to 450C
if (currentlyActiveTemperatureTarget > ctoTipMeasurement(450)) {
currentlyActiveTemperatureTarget = ctoTipMeasurement(450);
}
int32_t rawTempError = currentlyActiveTemperatureTarget - rawTemp; int32_t rawTempError = currentlyActiveTemperatureTarget - rawTemp;
int32_t ierror = (rawTempError / ki); int32_t ierror = (rawTempError / ki);
integralCount += ierror; integralCount += ierror;
@@ -892,6 +903,7 @@ void startPIDTask(void const *argument) {
setTipPWM(0); // disable the output driver if the output is set to be off setTipPWM(0); // disable the output driver if the output is set to be off
integralCount = 0; integralCount = 0;
derivativeLastValue = 0; derivativeLastValue = 0;
osDelay(100); //sleep for a bit longer
} }
HAL_IWDG_Refresh(&hiwdg); HAL_IWDG_Refresh(&hiwdg);
@@ -901,7 +913,7 @@ void startPIDTask(void const *argument) {
#define MOVFilter 8 #define MOVFilter 8
void startMOVTask(void const *argument) { void startMOVTask(void const *argument) {
osDelay(4000); // wait for accel to stabilize osDelay(4000); // wait for accel to stabilize
lastMovementTime = 0;
int16_t datax[MOVFilter]; int16_t datax[MOVFilter];
int16_t datay[MOVFilter]; int16_t datay[MOVFilter];
int16_t dataz[MOVFilter]; int16_t dataz[MOVFilter];
@@ -922,8 +934,8 @@ void startMOVTask(void const *argument) {
osDelay(5000); osDelay(5000);
} }
for (;;) { for (;;) {
int32_t threshold = 1200 + (9 * 200); int32_t threshold = 1500 + (9 * 200);
threshold -= systemSettings.sensitivity * 200; // 200 is the step size threshold -= systemSettings.sensitivity * 200; // 200 is the step size
if (PCBVersion == 2) if (PCBVersion == 2)
accel2.getAxisReadings(&tx, &ty, &tz); accel2.getAxisReadings(&tx, &ty, &tz);
else if (PCBVersion == 1) else if (PCBVersion == 1)
@@ -961,27 +973,24 @@ void startMOVTask(void const *argument) {
if (HAL_GPIO_ReadPin(KEY_A_GPIO_Port, KEY_A_Pin) == GPIO_PIN_RESET) if (HAL_GPIO_ReadPin(KEY_A_GPIO_Port, KEY_A_Pin) == GPIO_PIN_RESET)
max = 0; max = 0;
#endif #endif
// Only run the actual processing if the sensitivity is set (aka we are
// enabled)
if (systemSettings.sensitivity) {
// calculate averages
avgx = avgy = avgz = 0;
for (uint8_t i = 0; i < MOVFilter; i++) {
avgx += datax[i];
avgy += datay[i];
avgz += dataz[i];
}
avgx /= MOVFilter;
avgy /= MOVFilter;
avgz /= MOVFilter;
// So now we have averages, we want to look if these are different by more // calculate averages
// than the threshold avgx = avgy = avgz = 0;
int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz)); for (uint8_t i = 0; i < MOVFilter; i++) {
// If error has occured then we update the tick timer avgx += datax[i];
if (error > threshold) { avgy += datay[i];
lastMovementTime = xTaskGetTickCount(); avgz += dataz[i];
} }
avgx /= MOVFilter;
avgy /= MOVFilter;
avgz /= MOVFilter;
// So now we have averages, we want to look if these are different by more
// than the threshold
int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
// If error has occurred then we update the tick timer
if (error > threshold) {
lastMovementTime = xTaskGetTickCount();
} }
osDelay(100); // Slow down update rate osDelay(100); // Slow down update rate