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PID rework - use watts

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This commit is contained in:
David P Hilton
2018-10-28 20:46:55 -06:00
parent febf55ad43
commit 76b460cd77
7 changed files with 188 additions and 132 deletions
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137
workspace/TS100/src/main.cpp
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@@ -3,6 +3,8 @@
#include <gui.hpp>
#include <main.hpp>
#include "LIS2DH12.hpp"
#include <history.hpp>
#include <power.hpp>
#include "Settings.h"
#include "Translation.h"
#include "cmsis_os.h"
@@ -36,7 +38,7 @@ int main(void) {
HAL_Init();
Setup_HAL(); // Setup all the HAL objects
HAL_IWDG_Refresh(&hiwdg);
setTipPWM(0); // force tip off
setTipMilliWatts(0); // force tip off
FRToSI2C::init(&hi2c1);
OLED::initialize(); // start up the LCD
OLED::setFont(0); // default to bigger font
@@ -87,6 +89,21 @@ int main(void) {
while (1) {
}
}
void debugNumber(int32_t val) {
if (abs(val) > 99999) {
OLED::print(" OoB"); // out of bounds
return;
}
if (val >= 0) {
OLED::drawChar(' ');
OLED::printNumber(val, 5);
} else {
OLED::drawChar('-');
OLED::printNumber(-val, 5);
}
}
void printVoltage() {
OLED::printNumber(getInputVoltageX10(systemSettings.voltageDiv) / 10, 2);
OLED::drawChar('.');
@@ -535,8 +552,10 @@ static void gui_solderingMode(uint8_t jumpToSleep) {
if (systemSettings.detailedSoldering) {
OLED::setFont(1);
OLED::print(SolderingAdvancedPowerPrompt); // Power:
OLED::printNumber(getTipPWM(), 3);
OLED::print("%");
OLED::printNumber(milliWattHistory[0] / 1000, 2);
OLED::drawChar('.');
OLED::printNumber(milliWattHistory[0] / 100 % 10, 1);
OLED::drawChar('W');
if (systemSettings.sensitivity && systemSettings.SleepTime) {
OLED::print(" ");
@@ -723,7 +742,7 @@ void startGUITask(void const *argument __unused) {
uint8_t tempWarningState = 0;
bool buttonLockout = false;
bool tempOnDisplay = false;
getTipRawTemp(2); // reset filter
getTipRawTemp(1); // reset filter
OLED::setRotation(systemSettings.OrientationMode & 1);
uint32_t ticks = xTaskGetTickCount();
ticks += 400; // 4 seconds from now
@@ -786,8 +805,7 @@ void startGUITask(void const *argument __unused) {
#ifdef MODEL_TS80
//Here we re-check for tip presence
if (idealQCVoltage < 90)
idealQCVoltage = calculateMaxVoltage(1,
systemSettings.cutoutSetting); // 1 means use filtered values rather than do its own
idealQCVoltage = calculateMaxVoltage(systemSettings.cutoutSetting);
seekQC(idealQCVoltage,systemSettings.voltageDiv);
#endif
gui_solderingMode(0); // enter soldering mode
@@ -807,7 +825,7 @@ void startGUITask(void const *argument __unused) {
currentlyActiveTemperatureTarget = 0; // ensure tip is off
uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(1)); // This forces a faster update rate on the filtering
uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(0));
if (tipTemp < 50) {
if (systemSettings.sensitivity) {
@@ -906,37 +924,15 @@ void startPIDTask(void const *argument __unused) {
* struct
*
*/
setTipPWM(0); // disable the output driver if the output is set to be off
#ifdef MODEL_TS100
for (uint8_t i = 0; i < 50; i++) {
osDelay(10);
getTipRawTemp(1); // cycle up the tip temp filter
HAL_IWDG_Refresh(&hiwdg);
}
#else
// On the TS80 we can measure the tip resistance before cycling the filter a
// bit
idealQCVoltage = 0;
idealQCVoltage = calculateMaxVoltage(0, systemSettings.cutoutSetting);
// Rapidly cycle the filter to help converge
HAL_IWDG_Refresh(&hiwdg);
for (uint8_t i = 0; i < 50; i++) {
osDelay(11);
getTipRawTemp(1); // cycle up the tip temp filter
}
HAL_IWDG_Refresh(&hiwdg);
setTipMilliWatts(0); // disable the output driver if the output is set to be off
#ifdef MODEL_TS80
idealQCVoltage = calculateMaxVoltage(systemSettings.cutoutSetting);
#endif
int32_t rawC = ctoTipMeasurement(100) - ctoTipMeasurement(101); // 1*C change in raw.
currentlyActiveTemperatureTarget = 0; // Force start with no output (off). If in sleep / soldering this will
// be over-ridded rapidly
int32_t integralCount = 0;
int32_t derivativeLastValue = 0;
// be over-ridden rapidly
history<int16_t> tempError = {{0}, 0, 0};
// REMEBER ^^^^ These constants are backwards
// They act as dividers, so to 'increase' a P term, you make the number
// smaller.
const int32_t itermMax = 100;
pidTaskNotification = xTaskGetCurrentTaskHandle();
for (;;) {
if (ulTaskNotifyTake(pdTRUE, 50)) {
@@ -944,69 +940,54 @@ void startPIDTask(void const *argument __unused) {
// This is a call to block this thread until the ADC does its samples
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 (0-32k
// ~= 66 counts per C) P I & D are divisors, so inverse logic applies
// (beware)
// Cap the max set point to 450C
if (currentlyActiveTemperatureTarget > ctoTipMeasurement(450)) {
currentlyActiveTemperatureTarget = ctoTipMeasurement(450);
}
int32_t rawTempError = currentlyActiveTemperatureTarget
- rawTemp;
// 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.
// This helps stabilize the display.
tempError.update(currentlyActiveTemperatureTarget - rawTemp + rawC/4);
int32_t ierror = (rawTempError
/ ((int32_t) systemSettings.PID_I));
// Now for the PID!
int32_t milliWattsOut = 0;
integralCount += ierror;
// P term - total power needed to hit target temp next cycle.
// thermal mass = 1690 milliJ/*C for my tip.
// = Watts*Seconds to raise Temp from room temp to +100*C, divided by 100*C.
// divided by 4 to let I term dominate near set point.
const uint16_t mass = 1690 / 4;
int32_t milliWattsNeeded = tempToMilliWatts(tempError.average(), mass, rawC);
milliWattsOut += milliWattsNeeded;
if (integralCount > (itermMax / 2))
integralCount = itermMax / 2; // prevent too much lead
else if (integralCount < -itermMax)
integralCount = itermMax;
// I term - energy needed to compensate for heat loss.
// We track energy put into the system over some window.
// Assuming the temp is stable, energy in = energy transfered.
// (If it isn't, P will dominate).
milliWattsOut += milliWattHistory.average();
int32_t dInput = (rawTemp - derivativeLastValue);
/*Compute PID Output*/
int32_t output = (rawTempError
/ ((int32_t) systemSettings.PID_P));
if (((int32_t) systemSettings.PID_I))
output += integralCount;
if (((int32_t) systemSettings.PID_D))
output -= (dInput / ((int32_t) systemSettings.PID_D));
if (output > 100) {
output = 100; // saturate
} else if (output < 0) {
output = 0;
}
if (currentlyActiveTemperatureTarget < rawTemp) {
output = 0;
integralCount = 0;
derivativeLastValue = 0;
}
setTipPWM(output);
derivativeLastValue = rawTemp; // store for next loop
// D term - use sudden temp change to counter fast cooling/heating.
// In practice, this provides an early boost if temp is dropping
// and counters extra power if the iron is no longer losing temp.
// basically: temp - lastTemp
// Unfortunately, our temp signal is too noisy to really help.
setTipMilliWatts(milliWattsOut);
} else {
setTipPWM(0); // disable the output driver if the output is set to be off
integralCount = 0;
derivativeLastValue = 0;
setTipMilliWatts(0);
}
HAL_IWDG_Refresh(&hiwdg);
} else {
if (currentlyActiveTemperatureTarget == 0) {
setTipPWM(0); // disable the output driver if the output is set to be off
integralCount = 0;
derivativeLastValue = 0;
setTipMilliWatts(0);
}
}
}
}
#define MOVFilter 8
void startMOVTask(void const *argument __unused) {
OLED::setRotation(false);