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Rough refactor main control loop to C

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This commit is contained in:
Ben V. Brown
2019-10-07 18:58:51 +11:00
parent c5f6f6d044
commit 1cf88b2cd6
11 changed files with 233 additions and 496 deletions
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44
workspace/TS100/Core/Src/main.cpp
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@@ -11,10 +11,10 @@
#include "stdlib.h"
#include "stm32f1xx_hal.h"
#include "string.h"
#include "TipThermoModel.h"
uint8_t PCBVersion = 0;
// File local variables
uint32_t currentlyActiveTemperatureTarget = 0;
uint32_t currentTempTargetDegC = 0; // Current temperature target in C
uint32_t lastMovementTime = 0;
int16_t idealQCVoltage = 0;
// FreeRTOS variables
@@ -71,9 +71,7 @@ int main(void) {
}
HAL_IWDG_Refresh(&hiwdg);
restoreSettings(); // load the settings from flash
setCalibrationOffset(systemSettings.CalibrationOffset);
setTipType((enum TipType) systemSettings.tipType,
systemSettings.customTipGain); // apply tip type selection
HAL_IWDG_Refresh(&hiwdg);
/* Create the thread(s) */
@@ -112,7 +110,6 @@ void startPIDTask(void const *argument __unused) {
#ifdef MODEL_TS80
idealQCVoltage = calculateMaxVoltage(systemSettings.cutoutSetting);
#endif
uint8_t rawC = ctoTipMeasurement(101) - ctoTipMeasurement(100); // 1*C change in raw.
#ifdef MODEL_TS80
//Set power management code to the tip resistance in ohms * 10
@@ -122,30 +119,30 @@ void startPIDTask(void const *argument __unused) {
#endif
history<int32_t, 16> tempError = { { 0 }, 0, 0 };
currentlyActiveTemperatureTarget = 0; // Force start with no output (off). If in sleep / soldering this will
// be over-ridden rapidly
currentTempTargetDegC = 0; // Force start with no output (off). If in sleep / soldering this will
// be over-ridden rapidly
pidTaskNotification = xTaskGetCurrentTaskHandle();
for (;;) {
if (ulTaskNotifyTake(pdTRUE, 2000)) {
// This is a call to block this thread until the ADC does its samples
uint16_t rawTemp = getTipRawTemp(1); // get instantaneous reading
if (currentlyActiveTemperatureTarget) {
if (currentTempTargetDegC) {
// Cap the max set point to 450C
if (currentlyActiveTemperatureTarget > ctoTipMeasurement(450)) {
if (currentTempTargetDegC > (450)) {
//Maximum allowed output
currentlyActiveTemperatureTarget = ctoTipMeasurement(450);
} else if (currentlyActiveTemperatureTarget > 32400) {
//Cap to max adc reading
currentlyActiveTemperatureTarget = 32400;
currentTempTargetDegC = (450);
}
// Convert the current tip to degree's C
uint32_t currentTipTempInC =
TipThermoModel::convertTipRawADCToDegC(rawTemp);
currentTipTempInC += getHandleTemperature() / 10; //Add handle offset
// As we get close to our target, temp noise causes the system
// to be unstable. Use a rolling average to dampen it.
// We overshoot by roughly 1/2 of 1 degree Fahrenheit.
// We overshoot by roughly 1 degree C.
// This helps stabilize the display.
int32_t tError = currentlyActiveTemperatureTarget - rawTemp
+ (rawC / 4);
int32_t tError = currentTempTargetDegC - currentTipTempInC + 1;
tError = tError > INT16_MAX ? INT16_MAX : tError;
tError = tError < INT16_MIN ? INT16_MIN : tError;
tempError.update(tError);
@@ -160,15 +157,8 @@ void startPIDTask(void const *argument __unused) {
// This is necessary because of the temp noise and thermal lag in the system.
// Once we have feed-forward temp estimation we should be able to better tune this.
#ifdef MODEL_TS100
const uint16_t mass = 2020 / 20; // divide here so division is compile-time.
#endif
#ifdef MODEL_TS80
const uint16_t mass = 2020 / 50;
#endif
int32_t milliWattsNeeded = tempToMilliWatts(tempError.average(),
mass);
int32_t milliWattsNeeded = tempToMilliWatts(
tempError.average());
// note that milliWattsNeeded is sometimes negative, this counters overshoot
// from I term's inertia.
milliWattsOut += milliWattsNeeded;
@@ -193,7 +183,7 @@ void startPIDTask(void const *argument __unused) {
// This is purely guesswork :'( as everyone implements stuff differently
if (xTaskGetTickCount() - lastPowerPulse < 10) {
// for the first 100mS turn on for a bit
setTipMilliWatts(5000); // typically its around 5W to hold the current temp, so this wont raise temp much
setTipMilliWatts(2500); // typically its around 5W to hold the current temp, so this wont raise temp much
} else
setTipMilliWatts(0);
//Then wait until the next 0.5 seconds