Fillout settings functions
Settings menu works Movement working & TMP calibrated Tip reading sensibily Accuracy seems ok Trimmed down overshoot by biasing integral Saving to flash working, detailed idle Sleep mode Description scrolls Building for DFU working Motion detection update Use manual alg instead, using highpass filter, then sum current change vs rolling average Re-shuffle the pwm code organisation
This commit is contained in:
Ben V. Brown
849
workspace/TS100/src/main.cpp
Normal file
849
workspace/TS100/src/main.cpp
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@@ -0,0 +1,849 @@
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// By Ben V. Brown - V2.0 of the TS100 firmware
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#include <main.hpp>
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#include <MMA8652FC.hpp>
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#include "stm32f1xx_hal.h"
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#include "cmsis_os.h"
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#include "OLED.hpp"
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#include "Settings.h"
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#include "Translation.h"
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#include "string.h"
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#include "gui.h"
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#include "stdlib.h"
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//C++ objects
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OLED lcd(&hi2c1);
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MMA8652FC accel(&hi2c1);
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//File local variables
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uint16_t currentlyActiveTemperatureTarget = 0;
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uint32_t lastMovementTime = 0;
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uint32_t lastButtonTime = 0;
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// FreeRTOS variables
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osThreadId GUITaskHandle;
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osThreadId PIDTaskHandle;
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osThreadId ROTTaskHandle;
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osThreadId MOVTaskHandle;
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SemaphoreHandle_t rotationChangedSemaphore = NULL;
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SemaphoreHandle_t accelDataAvailableSemaphore = NULL;
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void startGUITask(void const * argument);
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void startPIDTask(void const * argument);
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void startMOVTask(void const * argument);
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void startRotationTask(void const * argument);
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// End FreeRTOS
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//Main inits hardware then hands over to the FreeRTOS kernel
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int main(void) {
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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Setup_HAL(); //Setup all the HAL objects
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setTipPWM(0);
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lcd.initialize(); //start up the LCD
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lcd.setFont(0); //default to bigger font
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accel.initalize(); //this sets up the I2C registers and loads up the default settings
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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*) "V2.00"); //Print version 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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HAL_IWDG_Refresh(&hiwdg);
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HAL_Delay(500);
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restoreSettings(); //load the settings from flash
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showBootLogoIfavailable();
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HAL_IWDG_Refresh(&hiwdg);
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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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GUITaskHandle = osThreadCreate(osThread(GUITask), NULL);
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/* definition and creation of PIDTask */
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osThreadDef(PIDTask, startPIDTask, osPriorityHigh, 0, 256);
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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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/* Create the objects*/
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rotationChangedSemaphore = xSemaphoreCreateBinary(); // Used to unlock rotation thread
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accelDataAvailableSemaphore = xSemaphoreCreateBinary(); // Used to unlock the movement thread
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/* Start scheduler */
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osKernelStart();
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/* We should never get here as control is now taken by the scheduler */
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while (1) {
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}
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}
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enum ButtonState {
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BUTTON_NONE = 0, /* No buttons pressed / < filter time*/
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BUTTON_F_SHORT = 1, /* User has pressed the front button*/
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BUTTON_B_SHORT = 2, /* User has pressed the back button*/
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BUTTON_F_LONG = 4, /* User is holding the front button*/
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BUTTON_B_LONG = 8, /* User is holding the back button*/
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BUTTON_BOTH = 16, /* User has pressed both buttons*/
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/*
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* Note:
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* Pressed means press + release, we trigger on a full \__/ pulse
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* holding means it has gone low, and been low for longer than filter time
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*/
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};
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ButtonState getButtonState() {
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/*
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* Read in the buttons and then determine if a state change needs to occur
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*/
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/*
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* If the previous state was 00 Then we want to latch the new state if different & update time
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* If the previous state was !00 Then we want to search if we trigger long press (buttons still down), or if release we trigger press (downtime>filter)
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*/
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static uint8_t previousState = 0;
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static uint32_t previousStateChange = 0;
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const uint16_t timeout = 400;
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uint8_t currentState;
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currentState = (HAL_GPIO_ReadPin(KEY_A_GPIO_Port, KEY_A_Pin) == GPIO_PIN_RESET ? 1 : 0) << 0;
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currentState |= (HAL_GPIO_ReadPin(KEY_B_GPIO_Port, KEY_B_Pin) == GPIO_PIN_RESET ? 1 : 0) << 1;
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if (currentState)
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lastButtonTime = HAL_GetTick();
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if (currentState == previousState) {
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if (currentState == 0)
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return BUTTON_NONE;
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if ((HAL_GetTick() - previousStateChange) > timeout) {
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// User has been holding the button down
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// We want to send a buttong is held message
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if (currentState == 0x01)
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return BUTTON_F_LONG;
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else if (currentState == 0x02)
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return BUTTON_B_LONG;
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else
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return BUTTON_NONE; // Both being held case, we dont long hold this
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} else
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return BUTTON_NONE;
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} else {
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// A change in button state has occurred
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ButtonState retVal = BUTTON_NONE;
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if (currentState) {
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//User has pressed a button down (nothing done on down)
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} else {
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// User has released buttons
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// If they previously had the buttons down we want to check if they were < long hold and trigger a press
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if ((HAL_GetTick() - previousStateChange) < timeout) {
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// The user didn't hold the button for long
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// So we send button press
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if (previousState == 0x01)
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retVal = BUTTON_F_SHORT;
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else if (previousState == 0x02)
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retVal = BUTTON_B_SHORT;
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else
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retVal = BUTTON_BOTH; // Both being held case
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}
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}
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previousState = currentState;
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previousStateChange = HAL_GetTick();
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return retVal;
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}
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return BUTTON_NONE;
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}
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static void waitForButtonPress() {
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//we are just lazy and sleep until user confirms button press
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//This also eats the button press event!
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for (;;) {
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ButtonState buttons = getButtonState();
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if (buttons)
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return;
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osDelay(100);
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HAL_IWDG_Refresh(&hiwdg);
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}
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}
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//returns true if undervoltage has occured
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static bool checkVoltageForExit() {
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uint16_t v = getInputVoltageX10();
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if ((v < lookupVoltageLevel(systemSettings.cutoutSetting))) {
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lcd.clearScreen();
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lcd.setCursor(0, 0);
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if (systemSettings.advancedScreens) {
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lcd.setFont(1);
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lcd.print("Undervoltage");
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lcd.setCursor(0, 8);
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lcd.print("Input V: ");
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lcd.printNumber(getInputVoltageX10() / 10, 2);
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lcd.drawChar('.');
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lcd.printNumber(getInputVoltageX10() % 10, 1);
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lcd.print("V");
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} else {
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lcd.setFont(0);
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lcd.print("DC LOW");
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}
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lcd.refresh();
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currentlyActiveTemperatureTarget = 0;
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waitForButtonPress();
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return true;
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}
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return false;
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}
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static void gui_solderingTempAdjust() {
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uint32_t lastChange = HAL_GetTick();
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currentlyActiveTemperatureTarget = 0;
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for (;;) {
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lcd.setCursor(0, 0);
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lcd.clearScreen();
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lcd.setFont(0);
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ButtonState buttons = getButtonState();
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if (buttons)
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lastChange = HAL_GetTick();
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switch (buttons) {
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case BUTTON_NONE:
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//stay
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break;
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case BUTTON_BOTH:
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//exit
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return;
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break;
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case BUTTON_B_LONG:
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break;
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case BUTTON_F_LONG:
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break;
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case BUTTON_F_SHORT:
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if (lcd.getRotation()) {
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systemSettings.SolderingTemp += 10; //add 10C
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if (systemSettings.SolderingTemp > 450)
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systemSettings.SolderingTemp = 450;
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} else {
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systemSettings.SolderingTemp -= 10; //sub 10C
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if (systemSettings.SolderingTemp <= 50)
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systemSettings.SolderingTemp = 50;
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}
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break;
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case BUTTON_B_SHORT:
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if (!lcd.getRotation()) {
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systemSettings.SolderingTemp += 10; //add 10C
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if (systemSettings.SolderingTemp > 450)
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systemSettings.SolderingTemp = 450;
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} else {
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systemSettings.SolderingTemp -= 10; //sub 10C
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if (systemSettings.SolderingTemp <= 50)
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systemSettings.SolderingTemp = 50;
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}
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break;
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}
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if (HAL_GetTick() - lastChange > 1500)
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return; // exit if user just doesn't press anything for a bit
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lcd.drawChar('<');
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lcd.drawChar(' ');
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lcd.printNumber(systemSettings.SolderingTemp, 3);
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lcd.drawSymbol(1);
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lcd.drawChar('>');
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lcd.refresh();
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osDelay(10);
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}
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}
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static void gui_settingsMenu() {
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//Draw the settings menu and provide iteration support etc
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uint8_t currentScreen = 0;
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uint32_t autoRepeatTimer = 0;
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settingsResetRequest = false;
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bool earlyExit = false;
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uint32_t descriptionStart = 0;
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while ((settingsMenu[currentScreen].description != NULL) && earlyExit == false) {
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lcd.clearScreen();
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lcd.setCursor(0, 0);
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if (HAL_GetTick() - lastButtonTime < 4000) {
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settingsMenu[currentScreen].draw.func();
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descriptionStart = 0;
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} else {
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//Draw description
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//draw string starting from descriptionOffset
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lcd.setFont(0);
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int16_t maxOffset = strlen(settingsMenu[currentScreen].description);
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if (!descriptionStart)
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descriptionStart = HAL_GetTick();
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int16_t descriptionOffset = ((HAL_GetTick() - descriptionStart) / 150) % maxOffset;
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lcd.setCursor(12 * (7 - descriptionOffset), 0);
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lcd.print(settingsMenu[currentScreen].description);
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}
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ButtonState buttons = getButtonState();
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if (descriptionStart)
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buttons = BUTTON_NONE;
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switch (buttons) {
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case BUTTON_BOTH:
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earlyExit = true; //will make us exit next loop
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break;
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case BUTTON_F_SHORT:
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//increment
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settingsMenu[currentScreen].incrementHandler.func();
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break;
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case BUTTON_B_SHORT:
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currentScreen++;
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break;
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case BUTTON_F_LONG:
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if (HAL_GetTick() - autoRepeatTimer > 200) {
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settingsMenu[currentScreen].incrementHandler.func();
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autoRepeatTimer = HAL_GetTick();
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}
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break;
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case BUTTON_B_LONG:
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if (HAL_GetTick() - autoRepeatTimer > 200) {
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currentScreen++;
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autoRepeatTimer = HAL_GetTick();
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}
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break;
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case BUTTON_NONE:
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break;
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}
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lcd.refresh(); //update the LCD
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osDelay(20); //pause for a sec
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HAL_IWDG_Refresh(&hiwdg);
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}
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if (settingsResetRequest)
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resetSettings();
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else
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saveSettings();
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}
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static void gui_showTipTempWarning() {
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for (;;) {
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uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(0));
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lcd.clearScreen();
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lcd.setCursor(0, 0);
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if (systemSettings.advancedScreens) {
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lcd.setFont(1);
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lcd.print("WARNING! TIP HOT!");
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lcd.setCursor(0, 8);
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lcd.print("Tip Temp: ");
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lcd.printNumber(tipTemp, 3);
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lcd.print("C");
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} else {
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lcd.setFont(0);
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lcd.print("WARN!");
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lcd.printNumber(tipTemp, 3);
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}
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if (systemSettings.coolingTempBlink) {
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if (HAL_GetTick() % 500 < 250)
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lcd.clearScreen();
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}
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lcd.refresh();
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ButtonState buttons = getButtonState();
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if (buttons == BUTTON_B_SHORT || buttons == BUTTON_F_SHORT || buttons == BUTTON_BOTH)
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return;
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if (tipTemp < 30)
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return;
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HAL_IWDG_Refresh(&hiwdg);
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osDelay(200);
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}
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}
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static int gui_SolderingSleepingMode() {
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//Drop to sleep temperature and display until movement or button press
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for (;;) {
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ButtonState buttons = getButtonState();
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if (buttons)
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return 0;
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if ((HAL_GetTick() - lastMovementTime < 1000) || (HAL_GetTick() - lastButtonTime < 1000))
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return 0; //user moved or pressed a button, go back to soldering
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if (checkVoltageForExit())
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return 1; //return non-zero on error
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currentlyActiveTemperatureTarget = ctoTipMeasurement(systemSettings.SleepTemp);
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//draw the lcd
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uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(0));
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lcd.clearScreen();
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lcd.setCursor(0, 0);
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if (systemSettings.advancedScreens) {
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lcd.setFont(1);
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lcd.print("Sleeping...");
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lcd.setCursor(0, 8);
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lcd.print("Tip:");
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lcd.printNumber(tipTemp, 3);
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lcd.print(" VIN:");
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lcd.printNumber(getInputVoltageX10() / 10, 2);
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lcd.drawChar('.');
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lcd.printNumber(getInputVoltageX10() % 10, 1);
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lcd.print("V");
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} else {
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lcd.setFont(0);
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lcd.print("SLEEP");
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lcd.printNumber(tipTemp, 3);
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}
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if (lastMovementTime)
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if (((uint32_t) (HAL_GetTick() - lastMovementTime))
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> (uint32_t) (systemSettings.ShutdownTime * 60 * 1000)) {
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//shutdown
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currentlyActiveTemperatureTarget = 0;
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return 1; //we want to exit soldering mode
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}
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lcd.refresh();
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osDelay(100);
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HAL_IWDG_Refresh(&hiwdg);
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}
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}
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static void gui_solderingMode() {
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/*
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* * Soldering (gui_solderingMode)
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* -> Main loop where we draw temp, and animations
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* --> User presses buttons and they goto the temperature adjust screen
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* ---> Display the current setpoint temperature
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* ---> Use buttons to change forward and back on temperature
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* ---> Both buttons or timeout for exiting
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* --> Long hold front button to enter boost mode
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* ---> Just temporarily sets the system into the alternate temperature for PID control
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* --> Long hold back button to exit
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* --> Double button to exit
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*/
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bool boostModeOn = false;
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uint32_t sleepThres = 0;
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if (systemSettings.SleepTime < 6)
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sleepThres = systemSettings.SleepTime * 10 * 1000;
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else
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sleepThres = (systemSettings.SleepTime - 5) * 60 * 1000;
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for (;;) {
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uint16_t tipTemp = getTipRawTemp(0);
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ButtonState buttons = getButtonState();
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switch (buttons) {
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case BUTTON_NONE:
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//stay
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boostModeOn = false;
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break;
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case BUTTON_BOTH:
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//exit
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return;
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break;
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case BUTTON_B_LONG:
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return; //exit on back long hold
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break;
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case BUTTON_F_LONG:
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//if boost mode is enabled turn it on
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if (systemSettings.boostModeEnabled)
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boostModeOn = true;
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break;
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case BUTTON_F_SHORT:
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case BUTTON_B_SHORT: {
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uint16_t oldTemp = systemSettings.SolderingTemp;
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gui_solderingTempAdjust(); //goto adjust temp mode
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if (oldTemp != systemSettings.SolderingTemp) {
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saveSettings(); //only save on change
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}
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}
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break;
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}
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//else we update the screen information
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lcd.setCursor(0, 0);
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lcd.clearScreen();
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lcd.setFont(0);
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if (tipTemp > 16300) {
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lcd.print("BAD TIP");
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lcd.refresh();
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currentlyActiveTemperatureTarget = 0;
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waitForButtonPress();
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return;
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} else {
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lcd.printNumber(tipMeasurementToC(tipTemp), 3);
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lcd.drawSymbol(1);
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if (boostModeOn)
|
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lcd.drawSymbol(2);
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//6 gap
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lcd.drawChar(' ');
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||||
//7 battery
|
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if (systemSettings.cutoutSetting) {
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//User is on a lithium battery
|
||||
//we need to calculate which of the 10 levels they are on
|
||||
uint8_t cellCount = systemSettings.cutoutSetting + 2;
|
||||
uint16_t cellV = getInputVoltageX10() / cellCount;
|
||||
//Should give us approx cell voltage X10
|
||||
//Range is 42 -> 33 = 9 steps therefore we will use battery 1-10
|
||||
if (cellV < 33)
|
||||
cellV = 33;
|
||||
cellV -= 33; //Should leave us a number of 0-9
|
||||
if (cellV > 9)
|
||||
cellV = 9;
|
||||
lcd.drawBattery(cellV + 1);
|
||||
}
|
||||
//8 ^V indicators
|
||||
|
||||
}
|
||||
// Draw heating/cooling symbols
|
||||
|
||||
//Update the setpoints for the temperature
|
||||
if (boostModeOn)
|
||||
currentlyActiveTemperatureTarget = ctoTipMeasurement(systemSettings.BoostTemp);
|
||||
else
|
||||
currentlyActiveTemperatureTarget = ctoTipMeasurement(systemSettings.SolderingTemp);
|
||||
|
||||
//Undervoltage test
|
||||
if (checkVoltageForExit()) {
|
||||
return;
|
||||
}
|
||||
|
||||
lcd.refresh();
|
||||
if (systemSettings.sensitivity)
|
||||
if (HAL_GetTick() - lastMovementTime > sleepThres && HAL_GetTick() - lastButtonTime > sleepThres) {
|
||||
if (gui_SolderingSleepingMode())
|
||||
return; //If the function returns non-0 then exit
|
||||
}
|
||||
osDelay(100);
|
||||
HAL_IWDG_Refresh(&hiwdg);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* StartGUITask function */
|
||||
void startGUITask(void const * argument) {
|
||||
/*
|
||||
* Main program states:
|
||||
*
|
||||
* * Soldering (gui_solderingMode)
|
||||
* -> Main loop where we draw temp, and animations
|
||||
* --> User presses buttons and they goto the temperature adjust screen
|
||||
* ---> Display the current setpoint temperature
|
||||
* ---> Use buttons to change forward and back on temperature
|
||||
* ---> Both buttons or timeout for exiting
|
||||
* --> Long hold front button to enter boost mode
|
||||
* ---> Just temporarily sets the system into the alternate temperature for PID control
|
||||
* --> Long hold back button to exit
|
||||
* --> Double button to exit
|
||||
* * Settings Menu (gui_settingsMenu)
|
||||
* -> Show setting name
|
||||
* --> If no button press for > 3 Seconds, scroll description
|
||||
* -> If user presses back button, adjust the setting
|
||||
* -> Currently the same as 1.x (future to make more depth based)
|
||||
*/
|
||||
|
||||
uint8_t animationStep = 0;
|
||||
uint8_t tempWarningState = 0;
|
||||
if (systemSettings.autoStartMode) {
|
||||
//jump directly to the autostart mode
|
||||
if (systemSettings.autoStartMode == 1)
|
||||
gui_solderingMode();
|
||||
}
|
||||
HAL_IWDG_Refresh(&hiwdg);
|
||||
osDelay(1000);
|
||||
HAL_IWDG_Refresh(&hiwdg);
|
||||
|
||||
/*for (;;) {
|
||||
HAL_IWDG_Refresh(&hiwdg);
|
||||
lcd.clearScreen();
|
||||
lcd.setCursor(0, 0);
|
||||
lcd.setFont(1);
|
||||
lcd.printNumber(lastMovementTime, 5);
|
||||
lcd.refresh();
|
||||
osDelay(100);
|
||||
HAL_IWDG_Refresh(&hiwdg);
|
||||
|
||||
}*/
|
||||
//^ Kept here for a way to block this thread
|
||||
for (;;) {
|
||||
ButtonState buttons = getButtonState();
|
||||
switch (buttons) {
|
||||
case BUTTON_NONE:
|
||||
//Do nothing
|
||||
break;
|
||||
case BUTTON_BOTH:
|
||||
//pressing both is ignored for now
|
||||
break;
|
||||
//Long presses are ignored for now
|
||||
case BUTTON_B_LONG:
|
||||
break;
|
||||
case BUTTON_F_LONG:
|
||||
gui_solderingTempAdjust();
|
||||
saveSettings();
|
||||
break;
|
||||
case BUTTON_F_SHORT:
|
||||
lcd.setFont(0);
|
||||
lcd.displayOnOff(true); //turn lcd on
|
||||
gui_solderingMode(); //enter soldering mode
|
||||
tempWarningState = 0; //make sure warning can show
|
||||
HAL_IWDG_Refresh(&hiwdg);
|
||||
osDelay(500);
|
||||
break;
|
||||
case BUTTON_B_SHORT:
|
||||
lcd.setFont(0);
|
||||
lcd.displayOnOff(true); //turn lcd on
|
||||
gui_settingsMenu(); //enter the settings menu
|
||||
HAL_IWDG_Refresh(&hiwdg);
|
||||
osDelay(500);
|
||||
//tempWarningState=0;//make sure warning can show
|
||||
break;
|
||||
}
|
||||
currentlyActiveTemperatureTarget = 0; //ensure tip is off
|
||||
|
||||
if (systemSettings.sensitivity) {
|
||||
if ((HAL_GetTick() - lastMovementTime) > 60000 && (HAL_GetTick() - lastButtonTime) > 60000)
|
||||
lcd.displayOnOff(false); // turn lcd off when no movement
|
||||
else if (HAL_GetTick() - lastMovementTime < 1000 || HAL_GetTick() - lastButtonTime < 1000) /*Use short time for test, and prevent lots of I2C writes for no need*/
|
||||
lcd.displayOnOff(true); //turn lcd back on
|
||||
|
||||
}
|
||||
uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(0));
|
||||
if (tipTemp > 600)
|
||||
tipTemp = 0;
|
||||
if (tipTemp > 50) {
|
||||
if (tempWarningState == 0) {
|
||||
currentlyActiveTemperatureTarget = 0; //ensure tip is off
|
||||
gui_showTipTempWarning();
|
||||
tempWarningState = 1;
|
||||
}
|
||||
} else
|
||||
tempWarningState = 0;
|
||||
// Clear the lcd buffer
|
||||
lcd.clearScreen();
|
||||
lcd.setCursor(0, 0);
|
||||
if (systemSettings.advancedScreens) {
|
||||
lcd.setFont(1);
|
||||
if (tipTemp > 470) {
|
||||
lcd.print("Tip Disconnected!");
|
||||
} else {
|
||||
lcd.print("Tip:");
|
||||
lcd.printNumber(tipTemp, 3);
|
||||
lcd.print(" ");
|
||||
lcd.print("Set:");
|
||||
lcd.printNumber(systemSettings.SolderingTemp, 3);
|
||||
}
|
||||
lcd.setCursor(0, 8);
|
||||
lcd.print("Input V: ");
|
||||
lcd.printNumber(getInputVoltageX10() / 10, 2);
|
||||
lcd.drawChar('.');
|
||||
lcd.printNumber(getInputVoltageX10() % 10, 1);
|
||||
lcd.print("V");
|
||||
|
||||
} else {
|
||||
lcd.setFont(0);
|
||||
|
||||
if (animationStep & 0x80) {
|
||||
if (animationStep & 0x08)
|
||||
lcd.drawArea(0, 0, 96, 8, Iron_RightArrow_UP);
|
||||
else
|
||||
lcd.drawArea(0, 0, 96, 8, Iron_RightArrow_DOWN);
|
||||
|
||||
lcd.drawArea(0, 8, 96, 8, Iron_Base);
|
||||
} else {
|
||||
if (animationStep & 0x08)
|
||||
lcd.drawArea(0, 0, 96, 8, Iron_LeftArrow_UP);
|
||||
else
|
||||
lcd.drawArea(0, 0, 96, 8, Iron_LeftArrow_DOWN);
|
||||
lcd.drawArea(0, 8, 96, 8, Iron_Base);
|
||||
}
|
||||
}
|
||||
|
||||
lcd.refresh();
|
||||
animationStep++;
|
||||
HAL_IWDG_Refresh(&hiwdg);
|
||||
osDelay(80);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
/* StartPIDTask function */
|
||||
void startPIDTask(void const * argument) {
|
||||
/*
|
||||
* We take the current tip temperature & evaluate the next step for the tip control PWM
|
||||
* Tip temperature is measured by getTipTemperature(1) so we get instant result
|
||||
* This comes in Cx10 format
|
||||
* We then control the tip temperature to aim for the setpoint in the settings struct
|
||||
*
|
||||
*/
|
||||
int32_t integralCount = 0;
|
||||
int32_t derivativeLastValue = 0;
|
||||
int32_t kp, ki, kd, kb;
|
||||
int32_t backoffOverflow = 0;
|
||||
kp = 20;
|
||||
ki = 50;
|
||||
kd = 40;
|
||||
kb = 0;
|
||||
const int32_t itermMax = 40;
|
||||
for (;;) {
|
||||
uint16_t rawTemp = getTipRawTemp(1); //get instantaneous reading
|
||||
if (currentlyActiveTemperatureTarget) {
|
||||
//Compute the PID loop in here
|
||||
//Because our values here are quite large for all measurements (0-16k ~= 33 counts per C)
|
||||
//P I & D are divisors, so inverse logic applies (beware)
|
||||
|
||||
int32_t rawTempError = currentlyActiveTemperatureTarget - rawTemp;
|
||||
int32_t ierror = (rawTempError / ki);
|
||||
integralCount += ierror;
|
||||
if (integralCount > (itermMax / 2))
|
||||
integralCount = itermMax / 2; //prevent too much lead
|
||||
else if (integralCount < -itermMax)
|
||||
integralCount = itermMax;
|
||||
|
||||
int32_t dInput = (rawTemp - derivativeLastValue);
|
||||
|
||||
/*Compute PID Output*/
|
||||
int32_t output = (rawTempError / kp);
|
||||
if (ki)
|
||||
output += integralCount;
|
||||
if (kd)
|
||||
output -= (dInput / kd);
|
||||
if (kb)
|
||||
output -= backoffOverflow / kb;
|
||||
|
||||
if (output > 100) {
|
||||
backoffOverflow = output;
|
||||
output = 100; //saturate
|
||||
} else if (output < 0) {
|
||||
backoffOverflow = output;
|
||||
output = 0;
|
||||
} else
|
||||
backoffOverflow = 0;
|
||||
|
||||
setTipPWM(output);
|
||||
} else {
|
||||
setTipPWM(0); //disable the output driver if the output is set to be off elsewhere
|
||||
integralCount = 0;
|
||||
backoffOverflow = 0;
|
||||
}
|
||||
derivativeLastValue = rawTemp; //store for next loop
|
||||
HAL_IWDG_Refresh(&hiwdg);
|
||||
osDelay(10); // 100 Hz temp loop
|
||||
}
|
||||
}
|
||||
#define MOVFilter 4
|
||||
void startMOVTask(void const * argument) {
|
||||
osDelay(4000); //wait for accel to stabilize
|
||||
int16_t datax[MOVFilter];
|
||||
int16_t datay[MOVFilter];
|
||||
int16_t dataz[MOVFilter];
|
||||
uint8_t currentPointer = 0;
|
||||
memset(datax, 0, MOVFilter);
|
||||
memset(datay, 0, MOVFilter);
|
||||
memset(dataz, 0, MOVFilter);
|
||||
int16_t tx, ty, tz;
|
||||
int32_t avgx, avgy, avgz;
|
||||
|
||||
for (;;) {
|
||||
int32_t threshold = 550 + (9 * 50);
|
||||
threshold -= systemSettings.sensitivity * 50;
|
||||
accel.getAxisReadings(&tx, &ty, &tz);
|
||||
|
||||
datax[currentPointer] = tx;
|
||||
datay[currentPointer] = ty;
|
||||
dataz[currentPointer] = tz;
|
||||
currentPointer = (currentPointer + 1) % MOVFilter;
|
||||
|
||||
//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 than the threshold
|
||||
int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
|
||||
|
||||
if (error > threshold) {
|
||||
lastMovementTime = HAL_GetTick();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
osDelay(10);
|
||||
|
||||
}
|
||||
}
|
||||
/* StartRotationTask function */
|
||||
void startRotationTask(void const * argument) {
|
||||
/*
|
||||
* This task is used to manage rotation of the LCD screen & button re-mapping
|
||||
*
|
||||
*/
|
||||
osDelay(1000); //wait for accel to stabilize
|
||||
HAL_NVIC_SetPriority(EXTI3_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(EXTI3_IRQn);
|
||||
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
|
||||
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
|
||||
//^ We hold off enabling these until now to ensure the semaphore is available to be used first
|
||||
switch (systemSettings.OrientationMode) {
|
||||
case 0:
|
||||
lcd.setRotation(false);
|
||||
break;
|
||||
case 1:
|
||||
lcd.setRotation(true);
|
||||
break;
|
||||
case 2:
|
||||
lcd.setRotation(false);
|
||||
break;
|
||||
}
|
||||
for (;;) {
|
||||
if ( xSemaphoreTake( rotationChangedSemaphore, portMAX_DELAY ) == pdTRUE
|
||||
|| (HAL_GPIO_ReadPin(INT_Orientation_GPIO_Port, INT_Orientation_Pin) == GPIO_PIN_RESET)) {
|
||||
// a rotation event has occured
|
||||
bool rotation = accel.getOrientation();
|
||||
if (systemSettings.OrientationMode == 2)
|
||||
lcd.setRotation(rotation); // link the data through
|
||||
}
|
||||
osDelay(300);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
//Handler called by HAL when a EXTI occurs, but after IRQ bit is cleared
|
||||
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
|
||||
static signed long xHigherPriorityTaskWoken;
|
||||
if (GPIO_Pin == INT_Orientation_Pin) {
|
||||
xSemaphoreGiveFromISR(rotationChangedSemaphore, &xHigherPriorityTaskWoken);
|
||||
} else if (GPIO_Pin == INT_Movement_Pin) {
|
||||
//New data is available for reading from the unit
|
||||
//xSemaphoreGiveFromISR(accelDataAvailableSemaphore, &xHigherPriorityTaskWoken);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#define FLASH_LOGOADDR (0x8000000|0xB800) /*second last page of flash set aside for logo image*/
|
||||
|
||||
void showBootLogoIfavailable() {
|
||||
//check if the header is there (0xAA,0x55,0xF0,0x0D)
|
||||
//If so display logo
|
||||
uint16_t temp[98];
|
||||
|
||||
for (uint8_t i = 0; i < (98); i++) {
|
||||
temp[i] = *(uint16_t *) (FLASH_LOGOADDR + (i * 2));
|
||||
}
|
||||
uint8_t temp8[98 * 2];
|
||||
for (uint8_t i = 0; i < 98; i++) {
|
||||
temp8[i * 2] = temp[i] >> 8;
|
||||
temp8[i * 2 + 1] = temp[i] & 0xFF;
|
||||
|
||||
}
|
||||
|
||||
if (temp8[0] != 0xAA)
|
||||
return;
|
||||
if (temp8[1] != 0x55)
|
||||
return;
|
||||
if (temp8[2] != 0xF0)
|
||||
return;
|
||||
if (temp8[3] != 0x0D)
|
||||
return;
|
||||
|
||||
lcd.drawArea(0, 0, 96, 16, (uint8_t*) (temp8 + 4));
|
||||
lcd.refresh();
|
||||
|
||||
}
|
||||
Reference in New Issue
Block a user