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Pull out more QC hooks

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This commit is contained in:
Ben V. Brown
2020-05-30 12:05:11 +10:00
parent 2bcebd473e
commit 5bb85a4a32
6 changed files with 739 additions and 782 deletions
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1302
workspace/TS100/Core/Threads/GUIThread.cpp
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158
workspace/TS100/Core/Threads/MOVThread.cpp
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@@ -5,105 +5,87 @@
* Author: Ralim
*/
#include "main.hpp"
#include "BSP.h"
#include "power.hpp"
#include "history.hpp"
#include "FreeRTOS.h"
#include "I2C_Wrapper.hpp"
#include "LIS2DH12.hpp"
#include "MMA8652FC.hpp"
#include "QC3.h"
#include "Settings.h"
#include "TipThermoModel.h"
#include "cmsis_os.h"
#include "FreeRTOS.h"
#include "task.h"
#include "Settings.h"
#include "I2C_Wrapper.hpp"
#include "history.hpp"
#include "main.hpp"
#include "power.hpp"
#include "stdlib.h"
#include "LIS2DH12.hpp"
#include <MMA8652FC.hpp>
#include "QC3.h"
#include "task.h"
#define MOVFilter 8
uint8_t accelInit = 0;
uint32_t lastMovementTime = 0;
void startMOVTask(void const *argument __unused) {
OLED::setRotation(true);
OLED::setRotation(true);
postRToSInit();
#ifdef MODEL_TS80
startQC(systemSettings.voltageDiv);
while (pidTaskNotification == 0)
osDelay(30); // To ensure we return after idealQCVoltage/tip resistance
OLED::setRotation(systemSettings.OrientationMode & 1);
lastMovementTime = 0;
int16_t datax[MOVFilter] = {0};
int16_t datay[MOVFilter] = {0};
int16_t dataz[MOVFilter] = {0};
uint8_t currentPointer = 0;
int16_t tx = 0, ty = 0, tz = 0;
int32_t avgx, avgy, avgz;
if (systemSettings.sensitivity > 9) systemSettings.sensitivity = 9;
Orientation rotation = ORIENTATION_FLAT;
for (;;) {
int32_t threshold = 1500 + (9 * 200);
threshold -= systemSettings.sensitivity * 200; // 200 is the step size
seekQC((systemSettings.cutoutSetting) ? 120 : 90,
systemSettings.voltageDiv); // this will move the QC output to the preferred voltage to start with
if (PCBVersion == 2) {
LIS2DH12::getAxisReadings(tx, ty, tz);
rotation = LIS2DH12::getOrientation();
} else if (PCBVersion == 1) {
MMA8652FC::getAxisReadings(tx, ty, tz);
rotation = MMA8652FC::getOrientation();
}
if (systemSettings.OrientationMode == 2) {
if (rotation != ORIENTATION_FLAT) {
OLED::setRotation(rotation == ORIENTATION_LEFT_HAND); // link the data through
}
}
datax[currentPointer] = (int32_t)tx;
datay[currentPointer] = (int32_t)ty;
dataz[currentPointer] = (int32_t)tz;
if (!accelInit) {
for (uint8_t i = currentPointer + 1; i < MOVFilter; i++) {
datax[i] = (int32_t)tx;
datay[i] = (int32_t)ty;
dataz[i] = (int32_t)tz;
}
accelInit = 1;
}
currentPointer = (currentPointer + 1) % MOVFilter;
avgx = avgy = avgz = 0;
// calculate averages
for (uint8_t i = 0; i < MOVFilter; i++) {
avgx += datax[i];
avgy += datay[i];
avgz += dataz[i];
}
avgx /= MOVFilter;
avgy /= MOVFilter;
avgz /= MOVFilter;
#else
osDelay(250); // wait for accelerometer to stabilize
#endif
// Sum the deltas
int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
// So now we have averages, we want to look if these are different by more
// than the threshold
OLED::setRotation(systemSettings.OrientationMode & 1);
lastMovementTime = 0;
int16_t datax[MOVFilter] = { 0 };
int16_t datay[MOVFilter] = { 0 };
int16_t dataz[MOVFilter] = { 0 };
uint8_t currentPointer = 0;
int16_t tx = 0, ty = 0, tz = 0;
int32_t avgx = 0, avgy = 0, avgz = 0;
if (systemSettings.sensitivity > 9)
systemSettings.sensitivity = 9;
#ifdef ACCELDEBUG
uint32_t max = 0;
#endif
Orientation rotation = ORIENTATION_FLAT;
for (;;) {
int32_t threshold = 1500 + (9 * 200);
threshold -= systemSettings.sensitivity * 200; // 200 is the step size
// If error has occurred then we update the tick timer
if (error > threshold) {
lastMovementTime = xTaskGetTickCount();
}
if (PCBVersion == 2) {
LIS2DH12::getAxisReadings(tx, ty, tz);
rotation = LIS2DH12::getOrientation();
} else if (PCBVersion == 1) {
MMA8652FC::getAxisReadings(tx, ty, tz);
rotation = MMA8652FC::getOrientation();
}
if (systemSettings.OrientationMode == 2) {
if (rotation != ORIENTATION_FLAT) {
OLED::setRotation(rotation == ORIENTATION_LEFT_HAND); // link the data through
}
}
datax[currentPointer] = (int32_t) tx;
datay[currentPointer] = (int32_t) ty;
dataz[currentPointer] = (int32_t) tz;
if (!accelInit) {
for (uint8_t i = currentPointer + 1; i < MOVFilter; i++) {
datax[i] = (int32_t) tx;
datay[i] = (int32_t) ty;
dataz[i] = (int32_t) tz;
}
accelInit = 1;
}
currentPointer = (currentPointer + 1) % MOVFilter;
avgx = avgy = avgz = 0;
// calculate averages
for (uint8_t i = 0; i < MOVFilter; i++) {
avgx += datax[i];
avgy += datay[i];
avgz += dataz[i];
}
avgx /= MOVFilter;
avgy /= MOVFilter;
avgz /= MOVFilter;
// Sum the deltas
int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
// So now we have averages, we want to look if these are different by more
// than the threshold
// If error has occurred then we update the tick timer
if (error > threshold) {
lastMovementTime = xTaskGetTickCount();
}
osDelay(100); // Slow down update rate
#ifdef MODEL_TS80
seekQC((systemSettings.cutoutSetting) ? 120 : 90,
systemSettings.voltageDiv); // Run the QC seek again if we have drifted too much
#endif
}
osDelay(100); // Slow down update rate
QC_resync();
}
}