Drivers + Threads
This commit is contained in:
Ben V. Brown
@@ -38,12 +38,6 @@ static const size_t MOVTaskStackSize = 512 / 4;
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uint32_t MOVTaskBuffer[MOVTaskStackSize];
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osStaticThreadDef_t MOVTaskControlBlock;
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static TaskHandle_t pidTaskNotification = NULL;
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static TickType_t powerPulseRate = 1000;
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static TickType_t powerPulseDuration = 50;
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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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// End FreeRTOS
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// Main sets up the hardware then hands over to the FreeRTOS kernel
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@@ -51,7 +45,7 @@ int main(void) {
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preRToSInit();
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setTipX10Watts(0); // force tip off
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FRToSI2C::init (&hi2c1);
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FRToSI2C::init(&hi2c1);
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OLED::initialize(); // start up the LCD
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OLED::setFont(0); // default to bigger font
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// Testing for which accelerometer is mounted
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@@ -100,114 +94,6 @@ int main(void) {
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}
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}
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/* StartPIDTask function */
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void startPIDTask(void const *argument __unused) {
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/*
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* We take the current tip temperature & evaluate the next step for the tip
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* control PWM.
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*/
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setTipX10Watts(0); // disable the output driver if the output is set to be off
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TickType_t lastPowerPulseStart = 0;
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TickType_t lastPowerPulseEnd = 0;
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history<int32_t, PID_TIM_HZ> tempError = { { 0 }, 0, 0 };
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currentTempTargetDegC = 0; // Force start with no output (off). If in sleep / soldering this will
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// be over-ridden rapidly
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pidTaskNotification = xTaskGetCurrentTaskHandle();
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uint32_t PIDTempTarget = 0;
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for (;;) {
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if (ulTaskNotifyTake(pdTRUE, 2000)) {
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// This is a call to block this thread until the ADC does its samples
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int32_t x10WattsOut = 0;
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// Do the reading here to keep the temp calculations churning along
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uint32_t currentTipTempInC = TipThermoModel::getTipInC(true);
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PIDTempTarget = currentTempTargetDegC;
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if (PIDTempTarget) {
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// Cap the max set point to 450C
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if (PIDTempTarget > (450)) {
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//Maximum allowed output
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PIDTempTarget = (450);
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}
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//Safety check that not aiming higher than current tip can measure
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if (PIDTempTarget > TipThermoModel::getTipMaxInC()) {
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PIDTempTarget = TipThermoModel::getTipMaxInC();
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}
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// Convert the current tip to degree's C
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// As we get close to our target, temp noise causes the system
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// to be unstable. Use a rolling average to dampen it.
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// We overshoot by roughly 1 degree C.
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// This helps stabilize the display.
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int32_t tError = PIDTempTarget - currentTipTempInC + 1;
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tError = tError > INT16_MAX ? INT16_MAX : tError;
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tError = tError < INT16_MIN ? INT16_MIN : tError;
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tempError.update(tError);
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// Now for the PID!
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// P term - total power needed to hit target temp next cycle.
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// thermal mass = 1690 milliJ/*C for my tip.
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// = Watts*Seconds to raise Temp from room temp to +100*C, divided by 100*C.
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// we divide milliWattsNeeded by 20 to let the I term dominate near the set point.
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// This is necessary because of the temp noise and thermal lag in the system.
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// Once we have feed-forward temp estimation we should be able to better tune this.
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int32_t x10WattsNeeded = tempToX10Watts(tError);
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// tempError.average());
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// note that milliWattsNeeded is sometimes negative, this counters overshoot
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// from I term's inertia.
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x10WattsOut += x10WattsNeeded;
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// I term - energy needed to compensate for heat loss.
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// We track energy put into the system over some window.
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// Assuming the temp is stable, energy in = energy transfered.
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// (If it isn't, P will dominate).
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x10WattsOut += x10WattHistory.average();
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// D term - use sudden temp change to counter fast cooling/heating.
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// In practice, this provides an early boost if temp is dropping
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// and counters extra power if the iron is no longer losing temp.
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// basically: temp - lastTemp
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// Unfortunately, our temp signal is too noisy to really help.
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}
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//If the user turns on the option of using an occasional pulse to keep the power bank on
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if (systemSettings.KeepAwakePulse) {
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if (xTaskGetTickCount() - lastPowerPulseStart
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> powerPulseRate) {
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lastPowerPulseStart = xTaskGetTickCount();
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lastPowerPulseEnd = lastPowerPulseStart
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+ powerPulseDuration;
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}
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//If current PID is less than the pulse level, check if we want to constrain to the pulse as the floor
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if (x10WattsOut < systemSettings.KeepAwakePulse
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&& xTaskGetTickCount() < lastPowerPulseEnd) {
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x10WattsOut = systemSettings.KeepAwakePulse;
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}
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}
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//Secondary safety check to forcefully disable header when within ADC noise of top of ADC
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if (getTipRawTemp(0) > (0x7FFF - 150)) {
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x10WattsOut = 0;
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}
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if (systemSettings.powerLimitEnable
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&& x10WattsOut > (systemSettings.powerLimit * 10)) {
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setTipX10Watts(systemSettings.powerLimit * 10);
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} else {
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setTipX10Watts(x10WattsOut);
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}
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HAL_IWDG_Refresh (&hiwdg);
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} else {
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//ADC interrupt timeout
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setTipPWM(0);
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}
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}
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}
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#define MOVFilter 8
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void startMOVTask(void const *argument __unused) {
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OLED::setRotation(true);
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