PID regulating (fix error being unsigned..)

workspace/ts100/inc/Analog.h

@@ -10,6 +10,7 @@
 #include "stm32f10x.h"
 #include "S100V0_1.h"
 #include "Bios.h"
+#include "Interrupt.h"
 extern volatile uint16_t ADC1ConvertedValue[2];
 
 uint16_t Get_ADC1Value(uint8_t i);

workspace/ts100/inc/Modes.h

@@ -10,7 +10,7 @@
 #include "Interrupt.h"
 #include "S100V0_1.h"
 #include "Oled.h"
-
+#include "PID.h"
 enum {
 	STARTUP, //we are sitting on the prompt to push a button
 	SOLDERING,

workspace/ts100/src/Analog.c

@@ -103,8 +103,16 @@ uint16_t Get_ADC1Value(uint8_t i) {
 //This returns the calibrated temperature reading of the iron temp
 uint16_t readIronTemp(uint16_t calibration_temp) {
 	static uint16_t calTemp = 0;
+	static uint16_t lastVal = 0;
+	static uint32_t lastUpdate = 0;
 	if (calibration_temp != 0)
 		calTemp = calibration_temp;
-	return (readTipTemp() * 1000 + 806 * readSensorTemp() - calTemp * 1000)
-			/ 806;
+	if (millis() - lastUpdate > 50) {
+		lastVal = (readTipTemp() * 1000 + 806 * readSensorTemp()
+				- calTemp * 1000) / 806;
+		lastUpdate = millis();
+	}
+
+	return lastVal;
+
 }

workspace/ts100/src/Bios.c

@@ -258,7 +258,7 @@ void Init_EXTI(void) {
 	NVIC_InitTypeDef NVIC_InitStructure;
 
 	GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,
-			GPIO_PinSource6 | GPIO_PinSource9);
+	GPIO_PinSource6 | GPIO_PinSource9);
 
 	/* Configure EXTI0 line */
 	EXTI_InitStructure.EXTI_Line = EXTI_Line6 | EXTI_Line9;

workspace/ts100/src/Main.c

@@ -15,7 +15,7 @@
 #include "Bios.h"
 #include "I2C.h"
 #include "MMA8652FC.h"
-
+#include "PID.h"
 #include "Oled.h"
 #include "Interrupt.h"
 
@@ -35,10 +35,11 @@ int main(void) {
 
 	Init_Oled(); //init the OLED display
 	Clear_Screen(); //clear the display buffer to black
-	systemSettings.SleepTemp = 200;
+	systemSettings.SleepTemp = 1000;
 	systemSettings.SleepTime = 1;
-	systemSettings.SolderingTemp = 320;
-	readIronTemp(239);//load the default calibration value
+	systemSettings.SolderingTemp = 1500;
+	readIronTemp(239); //load the default calibration value
+	setupPID(); //init the PID values
 	//OLED_DrawString("TEST012",7);
 
 	/*for (;;) {

workspace/ts100/src/Modes.c

@@ -40,8 +40,15 @@ void ProcessUI() {
 					operatingMode = SLEEP; //Goto Sleep Mode
 					return;
 				}
-			//If no buttons pushed we need to read the current temperatures
-			// and then setup the drive signal time for the iron
+			/*if (millis() - getLastButtonPress()
+					> (systemSettings.SleepTime * 60000))
+				operatingMode = SLEEP;
+			return;*/
+			//If no buttons pushed we need to perform the PID loop for the iron temp
+			int32_t newOutput = computePID(systemSettings.SolderingTemp);
+			if (newOutput >= 0) {
+				setIronTimer(newOutput);
+			}
 		}
 		break;
 	case TEMP_ADJ:
@@ -99,15 +106,21 @@ void ProcessUI() {
 		if (Buttons & BUT_A) {
 			//A Button was pressed so we are moving back to soldering
 			operatingMode = SOLDERING;
+			return;
 		} else if (Buttons & BUT_B) {
 			//B Button was pressed so we are moving back to soldering
 			operatingMode = SOLDERING;
+			return;
 		} else if (systemSettings.movementEnabled)
 			if (millis() - getLastMovement() > 100) {
 				operatingMode = SOLDERING; //Goto active mode again
 				return;
 			}
-
+		//else if nothing has been pushed we need to compute the PID to keep the iron at the sleep temp
+		int32_t newOutput = computePID(systemSettings.SleepTemp);
+		if (newOutput >= 0) {
+			setIronTimer(newOutput);
+		}
 		break;
 	default:
 		break;
@@ -132,7 +145,7 @@ void DrawUI() {
 		//We draw in the current system temp and an indicator if the iron is heating or not
 		//First lets draw the current tip temp
 		//OLED_DrawString("SOLD  ", 6);
-		OLED_DrawThreeNumber(readIronTemp(0), 0);
+		OLED_DrawThreeNumber(readIronTemp(0)/10, 0);
 
 		break;
 	case TEMP_ADJ:

workspace/ts100/src/PID.c

@@ -14,9 +14,9 @@ int32_t computePID(uint16_t setpoint) {
 	 int32_t ITerm = 0;
 	static int16_t lastReading = 0;
 	if (millis() - lastSample > 50) {
-		//only sample every 100 milliseconds
+		//only sample every 50 milliseconds
 		uint16_t currentReading = readIronTemp(0); //get the current temp of the iron
-		uint16_t error = setpoint - currentReading; //calculate the error term
+		int16_t error = (int16_t)setpoint - (int16_t)currentReading; //calculate the error term
 		ITerm += (pidSettings.ki * error);
 		if (ITerm > MAXPIDOUTPUT)
 			ITerm = MAXPIDOUTPUT;