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PID retune, ADC Blocks PID properly

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This commit is contained in:
Ben V. Brown
2018-04-13 16:19:05 +10:00
parent f2f20111b6
commit 586267f586
5 changed files with 59 additions and 73 deletions
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52
workspace/TS100/src/hardware.c
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@@ -60,35 +60,17 @@ uint16_t getTipInstantTemperature() {
}
uint16_t getTipRawTemp(uint8_t instant) {
#define filterDepth1 1
/*Pre filter used before PID*/
#define filterDepth2 48
/*Post filter used for UI display*/
static uint16_t filterLayer1[filterDepth1];
static uint16_t filterLayer2[filterDepth2];
static uint8_t index = 0;
static uint8_t indexFilter = 0;
static int64_t filterFP = 0;
const uint8_t filterBeta = 5; //higher values smooth out more, but reduce responsiveness
if (instant) {
uint16_t itemp = getTipInstantTemperature();
filterLayer1[index] = itemp;
index = (index + 1) % filterDepth1;
uint32_t total = 0;
for (uint8_t i = 0; i < filterDepth1; i++)
total += filterLayer1[i];
return total / filterDepth1;
filterFP = (filterFP << filterBeta) - filterFP;
filterFP += (itemp << 9);
filterFP = filterFP >> filterBeta;
return itemp;
} else {
uint32_t total = 0;
for (uint8_t i = 0; i < filterDepth1; i++)
total += filterLayer1[i];
filterLayer2[indexFilter] = total / filterDepth1;
indexFilter = (indexFilter + 1) % filterDepth2;
total = 0;
for (uint8_t i = 0; i < filterDepth2; i++)
total += filterLayer2[i];
return total / filterDepth2;
return filterFP >> 9;
}
}
uint16_t getInputVoltageX10(uint8_t divisor) {
@@ -120,15 +102,10 @@ uint8_t getTipPWM() {
return htim2.Instance->CCR4;
}
void setTipPWM(uint8_t pulse) {
PWMSafetyTimer = 640; //This is decremented in the handler for PWM so that the tip pwm is disabled if the PID task is not scheduled often enough.
PWMSafetyTimer = 2; //This is decremented in the handler for PWM so that the tip pwm is disabled if the PID task is not scheduled often enough.
if (pulse > 100)
pulse = 100;
if (pulse) {
htim2.Instance->CCR4 = pulse;
} else {
htim2.Instance->CCR4 = 0;
}
htim2.Instance->CCR4 = pulse;
}
//Thse are called by the HAL after the corresponding events from the system timers.
@@ -138,7 +115,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
if (htim->Instance == TIM2) {
//we want to turn on the output again
PWMSafetyTimer--; //We decrement this safety value so that lockups in the scheduler will not cause the PWM to become locked in an active driving state.
//While we could assume this could never happened, its a small price for increased safety
//While we could assume this could never happen, its a small price for increased safety
if (htim2.Instance->CCR4 && PWMSafetyTimer) {
htim3.Instance->CCR1 = 50;
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
@@ -159,12 +136,9 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) {
htim3.Instance->CCR1 = 0;
} /*else if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_13, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_14, GPIO_PIN_RESET);
}*/
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_13, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_14, GPIO_PIN_RESET);
}*/
}
}
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc) {
}