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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
Download Patch File Download Diff File Expand all files Collapse all files

5
source/Core/BSP/BSP_Power.h
View File

@@ -19,9 +19,8 @@ void power_check();
// Returns the tip resistance in x10 ohms, so 7.5 = 75; 14=140 etc
uint8_t getTipResistanceX10();
uint8_t getTipThermalMass();
uint8_t getTipInertia();
uint16_t getTipThermalMass();
uint16_t getTipInertia();
#ifdef __cplusplus
}

4
source/Core/BSP/MHP30/BSP.cpp
View File

@@ -472,7 +472,7 @@ uint64_t getDeviceID() {
uint8_t preStartChecksDone() { return 1; }
uint8_t getTipThermalMass() { return TIP_THERMAL_MASS; }
uint8_t getTipInertia() { return TIP_THERMAL_MASS; }
uint16_t getTipThermalMass() { return TIP_THERMAL_MASS; }
uint16_t getTipInertia() { return TIP_THERMAL_MASS; }
void showBootLogo(void) { BootLogo::handleShowingLogo((uint8_t *)FLASH_LOGOADDR); }

4
source/Core/BSP/Miniware/BSP.cpp
View File

@@ -396,7 +396,7 @@ bool isTipShorted() { return tipShorted; }
#else
bool isTipShorted() { return false; }
#endif
uint8_t getTipThermalMass() {
uint16_t getTipThermalMass() {
#ifdef TIP_RESISTANCE_SENSE_Pin
if (lastTipResistance >= 80) {
return TIP_THERMAL_MASS;
@@ -406,7 +406,7 @@ uint8_t getTipThermalMass() {
return TIP_THERMAL_MASS;
#endif
}
uint8_t getTipInertia() {
uint16_t getTipInertia() {
#ifdef TIP_RESISTANCE_SENSE_Pin
if (lastTipResistance >= 80) {
return TIP_THERMAL_MASS;

4
source/Core/BSP/Pinecil/BSP.cpp
View File

@@ -97,7 +97,7 @@ uint8_t getTipResistanceX10() { return TIP_RESISTANCE; }
bool isTipShorted() { return false; }
uint8_t preStartChecksDone() { return 1; }
uint8_t getTipThermalMass() { return TIP_THERMAL_MASS; }
uint8_t getTipInertia() { return TIP_THERMAL_MASS; }
uint16_t getTipThermalMass() { return TIP_THERMAL_MASS; }
uint16_t getTipInertia() { return TIP_THERMAL_MASS; }
void showBootLogo(void) { BootLogo::handleShowingLogo((uint8_t *)FLASH_LOGOADDR); }

16
source/Core/BSP/Pinecilv2/BSP.cpp
View File

@@ -160,18 +160,8 @@ uint8_t getTipResistanceX10() {
return lastTipResistance;
}
uint8_t getTipThermalMass() {
if (lastTipResistance >= 80) {
return 65;
}
return 45;
}
uint8_t getTipInertia() {
if (lastTipResistance >= 80) {
return 90;
}
return 10;
}
uint16_t getTipThermalMass() { return 120; }
uint16_t getTipInertia() { return 750; }
// We want to calculate lastTipResistance
// If tip is connected, and the tip is cold and the tip is not being heated
// We can use the GPIO to inject a small current into the tip and measure this
@@ -180,7 +170,7 @@ uint8_t getTipInertia() {
// Which is around 0.54mA this will induce:
// 6 ohm tip -> 3.24mV (Real world ~= 3320)
// 8 ohm tip -> 4.32mV (Real world ~= 4500)
// Which is definitely measureable
// Which is definitely measurable
// Taking shortcuts here as we know we only really have to pick apart 6 and 8 ohm tips
// These are reported as 60 and 75 respectively
void performTipResistanceSampleReading() {

55
source/Core/BSP/Pinecilv2/IRQ.cpp
View File

@@ -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;
// 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;
@@ -43,16 +43,10 @@ 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;
@@ -62,7 +56,6 @@ void adc_fifo_irq(void) {
}
}
}
}
// Clear IRQ
ADC_IntClr(ADC_INT_ALL);
}
@@ -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);
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();
}
void timer0_comp1_callback(void) { PWM_Channel_Disable(PWM_Channel); } // Trigged at end of output cycle; turn off the tip PWM
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_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; }

15
source/Core/BSP/Pinecilv2/Setup.cpp
View File

@@ -102,7 +102,7 @@ void setup_adc(void) {
adc_cfg.clkDiv = ADC_CLK_DIV_4;
adc_cfg.vref = ADC_VREF_3P2V;
adc_cfg.resWidth = ADC_DATA_WIDTH_14_WITH_64_AVERAGE;
adc_cfg.resWidth = ADC_DATA_WIDTH_14_WITH_16_AVERAGE;
adc_cfg.inputMode = ADC_INPUT_SINGLE_END;
adc_cfg.v18Sel = ADC_V18_SEL_1P72V;
adc_cfg.v11Sel = ADC_V11_SEL_1P1V;
@@ -111,7 +111,7 @@ void setup_adc(void) {
adc_cfg.chopMode = ADC_CHOP_MOD_AZ_ON;
adc_cfg.biasSel = ADC_BIAS_SEL_MAIN_BANDGAP;
adc_cfg.vcm = ADC_PGA_VCM_1P6V;
adc_cfg.offsetCalibEn = ENABLE;
adc_cfg.offsetCalibEn = DISABLE;
adc_cfg.offsetCalibVal = 0;
ADC_Disable();
@@ -120,7 +120,7 @@ void setup_adc(void) {
ADC_Init(&adc_cfg);
adc_fifo_cfg.dmaEn = DISABLE;
adc_fifo_cfg.fifoThreshold = ADC_FIFO_THRESHOLD_8;
adc_fifo_cfg.fifoThreshold = ADC_FIFO_THRESHOLD_8; // Triger FIFO when all 8 measurements are done
ADC_FIFO_Cfg(&adc_fifo_cfg);
ADC_MIC_Bias_Disable();
ADC_Tsen_Disable();
@@ -140,24 +140,27 @@ void setup_timer_scheduler() {
TIMER_CFG_Type cfg = {
TIMER_CH0, // Channel
TIMER_CLKSRC_32K, // Clock source
TIMER_PRELOAD_TRIG_COMP0, // Trigger; reset after trigger 0
TIMER_PRELOAD_TRIG_COMP2, // Trigger; reset after trigger 0
TIMER_COUNT_PRELOAD, // Counter mode
22, // Clock div
(uint16_t)(powerPWM + holdoffTicks), // CH0 compare (adc)
0, // CH1 compare (pwm out)
0, // CH2 compare not used
(uint16_t)(powerPWM), // CH1 compare (pwm out)
(uint16_t)(powerPWM + holdoffTicks + tempMeasureTicks), // CH2 compare end of cycle
0, // Preload
};
TIMER_Init(&cfg);
Timer_Int_Callback_Install(TIMER_CH0, TIMER_INT_COMP_0, timer0_comp0_callback);
Timer_Int_Callback_Install(TIMER_CH0, TIMER_INT_COMP_1, timer0_comp1_callback);
Timer_Int_Callback_Install(TIMER_CH0, TIMER_INT_COMP_2, timer0_comp2_callback);
TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_0);
TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_1);
TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_2);
TIMER_IntMask(TIMER_CH0, TIMER_INT_COMP_0, UNMASK);
TIMER_IntMask(TIMER_CH0, TIMER_INT_COMP_1, UNMASK);
TIMER_IntMask(TIMER_CH0, TIMER_INT_COMP_2, UNMASK);
CPU_Interrupt_Enable(TIMER_CH0_IRQn);
TIMER_Enable(TIMER_CH0);
}

28
source/Core/BSP/Pinecilv2/bl_mcu_sdk/drivers/bl702_driver/std_drv/inc/bl702_pwm.h
View File

@@ -36,8 +36,9 @@
#ifndef __BL702_PWM_H__
#define __BL702_PWM_H__
#include "pwm_reg.h"
#include "bl702_common.h"
#include "pwm_reg.h"
/** @addtogroup BL702_Peripheral_Driver
* @{
@@ -99,8 +100,7 @@ typedef enum {
/**
* @brief PWM configuration structure type definition
*/
typedef struct
{
typedef struct {
PWM_CH_ID_Type ch; /*!< PWM channel */
PWM_Clk_Type clk; /*!< PWM Clock */
PWM_Stop_Mode_Type stopMode; /*!< PWM Stop Mode */
@@ -121,37 +121,27 @@ typedef struct
/** @defgroup PWM_CH_ID_TYPE
* @{
*/
#define IS_PWM_CH_ID_TYPE(type) (((type) == PWM_CH0) || \
((type) == PWM_CH1) || \
((type) == PWM_CH2) || \
((type) == PWM_CH3) || \
((type) == PWM_CH4) || \
((type) == PWM_CH_MAX))
#define IS_PWM_CH_ID_TYPE(type) (((type) == PWM_CH0) || ((type) == PWM_CH1) || ((type) == PWM_CH2) || ((type) == PWM_CH3) || ((type) == PWM_CH4) || ((type) == PWM_CH_MAX))
/** @defgroup PWM_CLK_TYPE
* @{
*/
#define IS_PWM_CLK_TYPE(type) (((type) == PWM_CLK_XCLK) || \
((type) == PWM_CLK_BCLK) || \
((type) == PWM_CLK_32K))
#define IS_PWM_CLK_TYPE(type) (((type) == PWM_CLK_XCLK) || ((type) == PWM_CLK_BCLK) || ((type) == PWM_CLK_32K))
/** @defgroup PWM_STOP_MODE_TYPE
* @{
*/
#define IS_PWM_STOP_MODE_TYPE(type) (((type) == PWM_STOP_ABRUPT) || \
((type) == PWM_STOP_GRACEFUL))
#define IS_PWM_STOP_MODE_TYPE(type) (((type) == PWM_STOP_ABRUPT) || ((type) == PWM_STOP_GRACEFUL))
/** @defgroup PWM_POLARITY_TYPE
* @{
*/
#define IS_PWM_POLARITY_TYPE(type) (((type) == PWM_POL_NORMAL) || \
((type) == PWM_POL_INVERT))
#define IS_PWM_POLARITY_TYPE(type) (((type) == PWM_POL_NORMAL) || ((type) == PWM_POL_INVERT))
/** @defgroup PWM_INT_TYPE
* @{
*/
#define IS_PWM_INT_TYPE(type) (((type) == PWM_INT_PULSE_CNT) || \
((type) == PWM_INT_ALL))
#define IS_PWM_INT_TYPE(type) (((type) == PWM_INT_PULSE_CNT) || ((type) == PWM_INT_ALL))
/*@} end of group PWM_Public_Constants */
@@ -181,13 +171,13 @@ void PWM_Channel_Set_Period(PWM_CH_ID_Type ch, uint16_t period);
void PWM_Channel_Get(PWM_CH_ID_Type ch, uint16_t *period, uint16_t *threshold1, uint16_t *threshold2);
void PWM_IntMask(PWM_CH_ID_Type ch, PWM_INT_Type intType, BL_Mask_Type intMask);
void PWM_Channel_Enable(PWM_CH_ID_Type ch);
uint8_t PWM_Channel_Is_Enabled(PWM_CH_ID_Type ch);
void PWM_Channel_Disable(PWM_CH_ID_Type ch);
void PWM_SW_Mode(PWM_CH_ID_Type ch, BL_Fun_Type enable);
void PWM_SW_Force_Value(PWM_CH_ID_Type ch, uint8_t value);
void PWM_Int_Callback_Install(PWM_CH_ID_Type ch, uint32_t intType, intCallback_Type *cbFun);
BL_Err_Type PWM_Smart_Configure(PWM_CH_ID_Type ch, uint32_t frequency, uint8_t dutyCycle);
/*@} end of group PWM_Public_Functions */
/*@} end of group PWM */

11
source/Core/BSP/Pinecilv2/bl_mcu_sdk/drivers/bl702_driver/std_drv/src/bl702_pwm.c
View File

@@ -354,7 +354,18 @@ void PWM_Channel_Enable(PWM_CH_ID_Type ch) {
tmpVal = BL_RD_REG(PWMx, PWM_CONFIG);
BL_WR_REG(PWMx, PWM_CONFIG, BL_CLR_REG_BIT(tmpVal, PWM_STOP_EN));
}
uint8_t PWM_Channel_Is_Enabled(PWM_CH_ID_Type ch) {
uint32_t tmpVal;
/* Get channel register */
uint32_t PWMx = PWM_Get_Channel_Reg(ch);
/* Check the parameters */
CHECK_PARAM(IS_PWM_CH_ID_TYPE(ch));
/* Config pwm clock to enable pwm */
tmpVal = BL_RD_REG(PWMx, PWM_CONFIG);
return BL_GET_REG_BITS_VAL(tmpVal, PWM_STOP_EN) == 0;
}
/****************************************************************************
* @brief PWM disable
*

12
source/Core/BSP/Pinecilv2/configuration.h
View File

@@ -161,9 +161,15 @@
#define DEBUG_UART_OUTPUT
#define HAS_POWER_DEBUG_MENU
#define HARDWARE_MAX_WATTAGE_X10 750
#define BLE_ENABLED
#define NEEDS_VBUS_PROBE 0
#define CANT_DIRECT_READ_SETTINGS
#define BLE_ENABLED // We have a BLE stack
#define NEEDS_VBUS_PROBE 0 // No vbus probe, its not connected in pcb
#define CANT_DIRECT_READ_SETTINGS // We cant memcpy settings due to flash cache
#define TIP_CONTROL_PID // We use PID rather than integrator
#define TIP_PID_KP 45 // Reasonable compromise for most tips so far
#define TIP_PID_KI 9 // About as high for stability across tips
#define TIP_PID_KD 200 // Helps dampen smaller tips; ~= nothing for larger tips
#define FILTER_DISPLAYED_TIP_TEMP 8 // Filtering for GUI display
#endif /* Pinecilv2 */
#define FLASH_PAGE_SIZE (1024) // Read pages

4
source/Core/BSP/Sequre_S60/BSP.cpp
View File

@@ -234,8 +234,8 @@ uint8_t getTipResistanceX10() { return TIP_RESISTANCE; }
bool isTipShorted() { return false; }
uint8_t preStartChecksDone() { return 1; }
uint8_t getTipThermalMass() { return TIP_THERMAL_MASS; }
uint8_t getTipInertia() { return TIP_THERMAL_INERTIA; }
uint16_t getTipThermalMass() { return TIP_THERMAL_MASS; }
uint16_t getTipInertia() { return TIP_THERMAL_INERTIA; }
void setBuzzer(bool on) {}

3
source/Core/Threads/OperatingModes/OperatingModes.h
View File

@@ -10,6 +10,7 @@ extern "C" {
#include "Settings.h"
#include "TipThermoModel.h"
#include "Translation.h"
#include "Types.h"
#include "cmsis_os.h"
#include "configuration.h"
#include "history.hpp"
@@ -47,5 +48,5 @@ void renderHomeScreenAssets(void); // Called to
// Common helpers
int8_t getPowerSourceNumber(void); // Returns number ID of power source
uint16_t getTipTemp(void); // Returns temperature of the tip in *C/*F (based on user settings)
TemperatureType_t getTipTemp(void); // Returns temperature of the tip in *C/*F (based on user settings)
#endif

2
source/Core/Threads/OperatingModes/Sleep.cpp
View File

@@ -25,7 +25,7 @@ int gui_SolderingSleepingMode(bool stayOff, bool autoStarted) {
}
// draw the lcd
uint16_t tipTemp = getTipTemp();
TemperatureType_t tipTemp = getTipTemp();
OLED::clearScreen();
OLED::setCursor(0, 0);

2
source/Core/Threads/OperatingModes/utils/DrawTipTemperature.cpp
View File

@@ -4,7 +4,7 @@
void gui_drawTipTemp(bool symbol, const FontStyle font) {
// Draw tip temp handling unit conversion & tolerance near setpoint
uint16_t Temp = getTipTemp();
TemperatureType_t Temp = getTipTemp();
OLED::printNumber(Temp, 3, font); // Draw the tip temp out
if (symbol) {

14
source/Core/Threads/OperatingModes/utils/SolderingCommon.cpp
View File

@@ -4,6 +4,8 @@
#include "SolderingCommon.h"
#include "OperatingModes.h"
#include "configuration.h"
#include "history.hpp"
extern bool heaterThermalRunaway;
@@ -166,4 +168,14 @@ int8_t getPowerSourceNumber(void) {
}
// Returns temperature of the tip in *C/*F (based on user settings)
uint16_t getTipTemp(void) { return getSettingValue(SettingsOptions::TemperatureInF) ? TipThermoModel::getTipInF() : TipThermoModel::getTipInC(); }
TemperatureType_t getTipTemp(void) {
#ifdef FILTER_DISPLAYED_TIP_TEMP
static history<TemperatureType_t, FILTER_DISPLAYED_TIP_TEMP> Filter_Temp;
TemperatureType_t reading = getSettingValue(SettingsOptions::TemperatureInF) ? TipThermoModel::getTipInF() : TipThermoModel::getTipInC();
Filter_Temp.update(reading);
return Filter_Temp.average();
#else
return getSettingValue(SettingsOptions::TemperatureInF) ? TipThermoModel::getTipInF() : TipThermoModel::getTipInC();
#endif
}

74
source/Core/Threads/PIDThread.cpp
View File

@@ -10,6 +10,7 @@
#include "Settings.h"
#include "TipThermoModel.h"
#include "cmsis_os.h"
#include "configuration.h"
#include "history.hpp"
#include "main.hpp"
#include "power.hpp"
@@ -22,7 +23,7 @@ volatile TemperatureType_t currentTempTargetDegC = 0; // Current temperature t
int32_t powerSupplyWattageLimit = 0;
bool heaterThermalRunaway = false;
static int32_t getPIDResultX10Watts(TemperatureType_t tError);
static int32_t getPIDResultX10Watts(TemperatureType_t set_point, TemperatureType_t current_value);
static void detectThermalRunaway(const TemperatureType_t currentTipTempInC, const TemperatureType_t tError);
static void setOutputx10WattsViaFilters(int32_t x10Watts);
static int32_t getX10WattageLimits();
@@ -71,10 +72,9 @@ void startPIDTask(void const *argument __unused) {
if (PIDTempTarget > TipThermoModel::getTipMaxInC()) {
PIDTempTarget = TipThermoModel::getTipMaxInC();
}
TemperatureType_t tError = PIDTempTarget - currentTipTempInC;
detectThermalRunaway(currentTipTempInC, tError);
x10WattsOut = getPIDResultX10Watts(tError);
detectThermalRunaway(currentTipTempInC, PIDTempTarget - currentTipTempInC);
x10WattsOut = getPIDResultX10Watts(PIDTempTarget, currentTipTempInC);
} else {
detectThermalRunaway(currentTipTempInC, 0);
}
@@ -89,6 +89,53 @@ void startPIDTask(void const *argument __unused) {
}
}
#ifdef TIP_CONTROL_PID
template <class T, T Kp, T Ki, T Kd, T integral_limit_scale> struct PID {
T previous_error_term;
T integration_running_sum;
T update(const T set_point, const T new_reading, const TickType_t interval_ms, const T max_output) {
const T target_delta = set_point - new_reading;
// Proportional term
const T kp_result = Kp * target_delta;
// Integral term as we use mixed sampling rates, we cant assume a constant sample interval
// Thus we multiply this out by the interval time to ~= dv/dt
// Then the shift by 1000 is ms -> Seconds
integration_running_sum += (target_delta * interval_ms * Ki) / 1000;
// We constrain integration_running_sum to limit windup
// This is not overly required for most use cases but can prevent large overshoot in constrained implementations
if (integration_running_sum > integral_limit_scale * max_output) {
integration_running_sum = integral_limit_scale * max_output;
} else if (integration_running_sum < -integral_limit_scale * max_output) {
integration_running_sum = -integral_limit_scale * max_output;
}
// Calculate the integral term, we use a shift 100 to get precision in integral as we often need small amounts
T ki_result = integration_running_sum / 100;
// Derivative term
T derivative = (target_delta - previous_error_term);
T kd_result = ((Kd * derivative) / (T)(interval_ms));
// Summation of the outputs
T output = kp_result + ki_result + kd_result;
// Restrict to max / 0
if (output > max_output)
output = max_output;
else if (output < 0)
output = 0;
// Save target_delta to previous target_delta
previous_error_term = target_delta;
return output;
}
};
#else
template <class T = TemperatureType_t> struct Integrator {
T sum;
@@ -114,11 +161,19 @@ template <class T = TemperatureType_t> struct Integrator {
T get(bool positiveOnly = true) const { return (positiveOnly) ? ((sum > 0) ? sum : 0) : sum; }
};
int32_t getPIDResultX10Watts(TemperatureType_t setpointDelta) {
#endif
int32_t getPIDResultX10Watts(TemperatureType_t set_point, TemperatureType_t current_reading) {
static TickType_t lastCall = 0;
static Integrator<TemperatureType_t> powerStore = {0};
#ifdef TIP_CONTROL_PID
static PID<TemperatureType_t, TIP_PID_KP, TIP_PID_KI, TIP_PID_KD, 5> pid = {0, 0};
const TickType_t interval = (xTaskGetTickCount() - lastCall);
#else
static Integrator<TemperatureType_t> powerStore = {0};
const TickType_t rate = TICKS_SECOND / (xTaskGetTickCount() - lastCall);
#endif
lastCall = xTaskGetTickCount();
// Sandman note:
// PID Challenge - we have a small thermal mass that we to want heat up as fast as possible but we don't
@@ -141,11 +196,16 @@ int32_t getPIDResultX10Watts(TemperatureType_t setpointDelta) {
// tip temperature with (Delta Temperature ) °C in 1 second.
// Note on powerStore. On update, if the value is provided in X10 (W) units then inertia shall be provided
// in X10 (J / °C) units as well.
return powerStore.update(((TemperatureType_t)getTipThermalMass()) * setpointDelta, // the required power
#ifdef TIP_CONTROL_PID
return pid.update(set_point, current_reading, interval, getX10WattageLimits());
#else
return powerStore.update(((TemperatureType_t)getTipThermalMass()) * (set_point - current_reading), // the required power
getTipInertia(), // Inertia, smaller numbers increase dominance of the previous value
2, // gain
rate, // PID cycle frequency
getX10WattageLimits());
#endif
}
void detectThermalRunaway(const TemperatureType_t currentTipTempInC, const TemperatureType_t tError) {