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Pinecil v2 tune via PID (#1827)

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* Start PWM after adc irq fully done

* Filter len 4

* Use comparitor 2 on timer for wrap around

* Update IRQ.cpp

* Tip measurements are uint16_t

Update BSP.cpp

Update BSP.cpp

* WiP PID

move pid tuning to config

Update PIDThread.cpp

* Handle PWM Timer gitchy comparitor

* Tuning

* Dampen with Kd

* Cleaning up

* Use TemperatureType_t for getTipTemp()

* Add small rolling average to user GUI temp to reduce flicker

* Trigger PID when adc is skipped (will use old values)
This commit is contained in:
Ben V. Brown
2023-10-21 08:21:08 +11:00
committed by GitHub
parent 9c7ad43a76
commit c308fe8cc2
16 changed files with 271 additions and 178 deletions
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71
source/Core/BSP/Pinecilv2/IRQ.cpp
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@@ -19,17 +19,17 @@ extern "C" {
}
void start_PWM_output(void);
#define ADC_Filter_Smooth 1
#define ADC_Filter_Smooth 4 /* This basically smooths over one PWM cycle / set of readings */
history<uint16_t, ADC_Filter_Smooth> ADC_Vin;
history<uint16_t, ADC_Filter_Smooth> ADC_Temp;
history<uint16_t, ADC_Filter_Smooth> ADC_Tip;
volatile uint8_t ADCBurstCounter = 0;
void adc_fifo_irq(void) {
// IRQ is called at the end of the 8 set readings, pop these from the FIFO and send to filters
void adc_fifo_irq(void) {
if (ADC_GetIntStatus(ADC_INT_FIFO_READY) == SET) {
// Read out all entries in the fifo
while (ADC_Get_FIFO_Count()) {
ADCBurstCounter++;
volatile uint32_t reading = ADC_Read_FIFO();
uint32_t reading = ADC_Read_FIFO();
// As per manual, 26 bit reading; lowest 16 are the ADC
uint16_t sample = reading & 0xFFFF;
uint8_t source = (reading >> 21) & 0b11111;
@@ -43,23 +43,16 @@ void adc_fifo_irq(void) {
case VIN_ADC_CHANNEL:
ADC_Vin.update(sample);
break;
default:
break;
}
}
if (ADCBurstCounter >= 8) {
ADCBurstCounter = 0;
start_PWM_output();
// unblock the PID controller thread
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (pidTaskNotification) {
vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
// unblock the PID controller thread
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (pidTaskNotification) {
vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
}
}
@@ -100,16 +93,43 @@ void start_PWM_output(void) {
PWM_Channel_Disable(PWM_Channel);
switchToFastPWM();
}
TIMER_Enable(TIMER_CH0);
}
// Timer 0 is used to co-ordinate the ADC and the output PWM
void timer0_comp0_callback(void) {
TIMER_Disable(TIMER_CH0);
ADC_Start();
if (PWM_Channel_Is_Enabled(PWM_Channel)) {
// So there appears to be a bug _somewhere_ where sometimes the comparator doesn't fire
// Its not re-occurring with specific values, so suspect its a weird bug
// For now, we just skip the cycle and throw away the ADC readings. Its a waste but
// It stops stupid glitches in readings, i'd take slight instability from the time jump
// Over the readings we get that are borked as the header is left on
// <Ralim 2023/10/14>
PWM_Channel_Disable(PWM_Channel);
// MSG("ALERT PWM Glitch\r\n");
// Triger the PID now instead
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (pidTaskNotification) {
vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
}
} else {
ADC_Start();
}
TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_0);
}
void timer0_comp1_callback(void) {
// Trigged at end of output cycle; turn off the tip PWM
PWM_Channel_Disable(PWM_Channel);
TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_1);
}
void timer0_comp1_callback(void) { PWM_Channel_Disable(PWM_Channel); } // Trigged at end of output cycle; turn off the tip PWM
void timer0_comp2_callback(void) {
// Triggered at end of timer cycle; re-start the tip driver
start_PWM_output();
TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_2);
}
void switchToFastPWM(void) {
inFastPWMMode = true;
holdoffTicks = 10;
@@ -119,8 +139,8 @@ void switchToFastPWM(void) {
// ~10Hz
TIMER_SetCompValue(TIMER_CH0, TIMER_COMP_ID_0, powerPWM + holdoffTicks);
// Set divider to 10 ~= 10.5Hz
// Set divider to 10 ~= 10.5Hz
uint32_t tmpVal = BL_RD_REG(TIMER_BASE, TIMER_TCDR);
tmpVal = BL_SET_REG_BITS_VAL(tmpVal, TIMER_TCDR2, 10);
@@ -139,7 +159,7 @@ void switchToSlowPWM(void) {
// Adjust ADC
TIMER_SetCompValue(TIMER_CH0, TIMER_COMP_ID_0, powerPWM + holdoffTicks);
// Set divider to 22
// Set divider for ~ 5Hz
uint32_t tmpVal = BL_RD_REG(TIMER_BASE, TIMER_TCDR);
@@ -193,5 +213,6 @@ uint16_t getADCHandleTemp(uint8_t sample) { return ADC_Temp.average(); }
uint16_t getADCVin(uint8_t sample) { return ADC_Vin.average(); }
// Returns either average or instant value. When sample is set the samples from the injected ADC are copied to the filter and then the raw reading is returned
// Returns the current raw tip reading after any cleanup filtering
// For Pinecil V2 we dont do any rolling filtering other than just averaging all 4 readings in the adc snapshot
uint16_t getTipRawTemp(uint8_t sample) { return ADC_Tip.average() >> 1; }