Formatting the C/C++ files
This commit is contained in:
Ben V. Brown
File diff suppressed because it is too large
Load Diff
@@ -6,7 +6,6 @@
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*/
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#include "BMA223.hpp"
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#include "SC7A20.hpp"
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#include "BSP.h"
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#include "FreeRTOS.h"
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#include "I2C_Wrapper.hpp"
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@@ -14,6 +13,7 @@
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#include "MMA8652FC.hpp"
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#include "MSA301.h"
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#include "QC3.h"
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#include "SC7A20.hpp"
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#include "Settings.h"
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#include "TipThermoModel.h"
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#include "cmsis_os.h"
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@@ -23,60 +23,60 @@
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#include "stdlib.h"
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#include "task.h"
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#define MOVFilter 8
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uint8_t accelInit = 0;
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uint8_t accelInit = 0;
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TickType_t lastMovementTime = 0;
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void detectAccelerometerVersion() {
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DetectedAccelerometerVersion = 99;
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void detectAccelerometerVersion() {
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DetectedAccelerometerVersion = 99;
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#ifdef ACCEL_MMA
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if (MMA8652FC::detect()) {
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if (MMA8652FC::initalize()) {
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DetectedAccelerometerVersion = 1;
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DetectedAccelerometerVersion = 1;
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}
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} else
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#endif
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#ifdef ACCEL_LIS
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if (LIS2DH12::detect()) {
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// Setup the ST Accelerometer
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if (LIS2DH12::initalize()) {
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DetectedAccelerometerVersion = 2;
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}
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} else
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if (LIS2DH12::detect()) {
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// Setup the ST Accelerometer
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if (LIS2DH12::initalize()) {
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DetectedAccelerometerVersion = 2;
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}
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} else
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#endif
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#ifdef ACCEL_BMA
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if (BMA223::detect()) {
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// Setup the ST Accelerometer
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if (BMA223::initalize()) {
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DetectedAccelerometerVersion = 3;
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DetectedAccelerometerVersion = 3;
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}
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} else
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#endif
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#ifdef ACCEL_MSA
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if (MSA301::detect()) {
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// Setup the MSA301 Accelerometer
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if (MSA301::initalize()) {
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DetectedAccelerometerVersion = 4;
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}
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} else
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if (MSA301::detect()) {
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// Setup the MSA301 Accelerometer
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if (MSA301::initalize()) {
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DetectedAccelerometerVersion = 4;
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}
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} else
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#endif
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#ifdef ACCEL_SC7
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if (SC7A20::detect()) {
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// Setup the SC7A20 Accelerometer
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if (SC7A20::initalize()) {
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DetectedAccelerometerVersion = 5;
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}
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} else
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if (SC7A20::detect()) {
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// Setup the SC7A20 Accelerometer
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if (SC7A20::initalize()) {
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DetectedAccelerometerVersion = 5;
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}
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} else
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#endif
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{
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// disable imu sensitivity
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systemSettings.sensitivity = 0;
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}
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{
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// disable imu sensitivity
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systemSettings.sensitivity = 0;
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}
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}
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inline void readAccelerometer(int16_t &tx, int16_t &ty, int16_t &tz, Orientation &rotation) {
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#ifdef ACCEL_LIS
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if (DetectedAccelerometerVersion == 2) {
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LIS2DH12::getAxisReadings(tx, ty, tz);
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rotation = LIS2DH12::getOrientation();
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} else
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if (DetectedAccelerometerVersion == 2) {
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LIS2DH12::getAxisReadings(tx, ty, tz);
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rotation = LIS2DH12::getOrientation();
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} else
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#endif
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#ifdef ACCEL_MMA
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if (DetectedAccelerometerVersion == 1) {
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@@ -91,81 +91,81 @@ inline void readAccelerometer(int16_t &tx, int16_t &ty, int16_t &tz, Orientation
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} else
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#endif
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#ifdef ACCEL_MSA
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if (DetectedAccelerometerVersion == 4) {
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MSA301::getAxisReadings(tx, ty, tz);
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rotation = MSA301::getOrientation();
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} else
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if (DetectedAccelerometerVersion == 4) {
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MSA301::getAxisReadings(tx, ty, tz);
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rotation = MSA301::getOrientation();
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} else
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#endif
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#ifdef ACCEL_SC7
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if (DetectedAccelerometerVersion == 5) {
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SC7A20::getAxisReadings(tx, ty, tz);
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rotation = SC7A20::getOrientation();
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} else
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if (DetectedAccelerometerVersion == 5) {
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SC7A20::getAxisReadings(tx, ty, tz);
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rotation = SC7A20::getOrientation();
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} else
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#endif
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{
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// do nothing :(
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}
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{
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// do nothing :(
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}
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}
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void startMOVTask(void const *argument __unused) {
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detectAccelerometerVersion();
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osDelay(TICKS_100MS / 2); // wait ~50ms for setup of accel to finalise
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lastMovementTime = 0;
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// Mask 2 seconds if we are in autostart so that if user is plugging in and
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// then putting in stand it doesnt wake instantly
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if (systemSettings.autoStartMode)
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osDelay(2 * TICKS_SECOND);
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detectAccelerometerVersion();
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osDelay(TICKS_100MS / 2); // wait ~50ms for setup of accel to finalise
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lastMovementTime = 0;
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// Mask 2 seconds if we are in autostart so that if user is plugging in and
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// then putting in stand it doesnt wake instantly
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if (systemSettings.autoStartMode)
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osDelay(2 * TICKS_SECOND);
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int16_t datax[MOVFilter] = { 0 };
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int16_t datay[MOVFilter] = { 0 };
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int16_t dataz[MOVFilter] = { 0 };
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uint8_t currentPointer = 0;
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int16_t tx = 0, ty = 0, tz = 0;
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int32_t avgx, avgy, avgz;
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if (systemSettings.sensitivity > 9)
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systemSettings.sensitivity = 9;
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Orientation rotation = ORIENTATION_FLAT;
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for (;;) {
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int32_t threshold = 1500 + (9 * 200);
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threshold -= systemSettings.sensitivity * 200; // 200 is the step size
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readAccelerometer(tx, ty, tz, rotation);
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if (systemSettings.OrientationMode == 2) {
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if (rotation != ORIENTATION_FLAT) {
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OLED::setRotation(rotation == ORIENTATION_LEFT_HAND); // link the data through
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}
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}
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datax[currentPointer] = (int32_t) tx;
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datay[currentPointer] = (int32_t) ty;
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dataz[currentPointer] = (int32_t) tz;
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if (!accelInit) {
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for (uint8_t i = currentPointer + 1; i < MOVFilter; i++) {
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datax[i] = (int32_t) tx;
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datay[i] = (int32_t) ty;
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dataz[i] = (int32_t) tz;
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}
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accelInit = 1;
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}
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currentPointer = (currentPointer + 1) % MOVFilter;
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avgx = avgy = avgz = 0;
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// calculate averages
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for (uint8_t i = 0; i < MOVFilter; i++) {
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avgx += datax[i];
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avgy += datay[i];
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avgz += dataz[i];
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}
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avgx /= MOVFilter;
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avgy /= MOVFilter;
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avgz /= MOVFilter;
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int16_t datax[MOVFilter] = {0};
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int16_t datay[MOVFilter] = {0};
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int16_t dataz[MOVFilter] = {0};
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uint8_t currentPointer = 0;
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int16_t tx = 0, ty = 0, tz = 0;
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int32_t avgx, avgy, avgz;
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if (systemSettings.sensitivity > 9)
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systemSettings.sensitivity = 9;
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Orientation rotation = ORIENTATION_FLAT;
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for (;;) {
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int32_t threshold = 1500 + (9 * 200);
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threshold -= systemSettings.sensitivity * 200; // 200 is the step size
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readAccelerometer(tx, ty, tz, rotation);
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if (systemSettings.OrientationMode == 2) {
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if (rotation != ORIENTATION_FLAT) {
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OLED::setRotation(rotation == ORIENTATION_LEFT_HAND); // link the data through
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}
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}
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datax[currentPointer] = (int32_t)tx;
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datay[currentPointer] = (int32_t)ty;
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dataz[currentPointer] = (int32_t)tz;
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if (!accelInit) {
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for (uint8_t i = currentPointer + 1; i < MOVFilter; i++) {
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datax[i] = (int32_t)tx;
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datay[i] = (int32_t)ty;
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dataz[i] = (int32_t)tz;
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}
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accelInit = 1;
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}
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currentPointer = (currentPointer + 1) % MOVFilter;
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avgx = avgy = avgz = 0;
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// calculate averages
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for (uint8_t i = 0; i < MOVFilter; i++) {
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avgx += datax[i];
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avgy += datay[i];
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avgz += dataz[i];
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}
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avgx /= MOVFilter;
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avgy /= MOVFilter;
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avgz /= MOVFilter;
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// Sum the deltas
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int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
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// So now we have averages, we want to look if these are different by more
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// than the threshold
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// Sum the deltas
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int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
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// So now we have averages, we want to look if these are different by more
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// than the threshold
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// If movement has occurred then we update the tick timer
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if (error > threshold) {
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lastMovementTime = xTaskGetTickCount();
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}
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// If movement has occurred then we update the tick timer
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if (error > threshold) {
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lastMovementTime = xTaskGetTickCount();
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}
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osDelay(TICKS_100MS); // Slow down update rate
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}
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osDelay(TICKS_100MS); // Slow down update rate
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}
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}
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@@ -5,124 +5,119 @@
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* Author: Ralim
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*/
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#include "main.hpp"
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#include "BSP.h"
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#include "power.hpp"
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#include "history.hpp"
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#include "FreeRTOS.h"
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#include "Settings.h"
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#include "TipThermoModel.h"
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#include "cmsis_os.h"
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#include "FreeRTOS.h"
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#include "history.hpp"
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#include "main.hpp"
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#include "power.hpp"
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#include "task.h"
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#include "Settings.h"
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static TickType_t powerPulseRate = 10000;
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static TickType_t powerPulseDuration = 250;
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TaskHandle_t pidTaskNotification = NULL;
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uint32_t currentTempTargetDegC = 0; // Current temperature target in C
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static TickType_t powerPulseRate = 10000;
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static TickType_t powerPulseDuration = 250;
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TaskHandle_t pidTaskNotification = NULL;
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uint32_t currentTempTargetDegC = 0; // Current temperature target in C
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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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/*
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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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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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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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// 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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// 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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// 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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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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// 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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// 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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}
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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 > powerPulseRate) {
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lastPowerPulseStart = xTaskGetTickCount();
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lastPowerPulseEnd = lastPowerPulseStart + powerPulseDuration;
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}
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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 && xTaskGetTickCount() < lastPowerPulseEnd) {
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x10WattsOut = systemSettings.KeepAwakePulse;
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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
|
||||
if (x10WattsOut < systemSettings.KeepAwakePulse
|
||||
&& xTaskGetTickCount() < lastPowerPulseEnd) {
|
||||
x10WattsOut = systemSettings.KeepAwakePulse;
|
||||
}
|
||||
}
|
||||
// Secondary safety check to forcefully disable header when within ADC noise of top of ADC
|
||||
if (getTipRawTemp(0) > (0x7FFF - 150)) {
|
||||
x10WattsOut = 0;
|
||||
}
|
||||
if (systemSettings.powerLimit && x10WattsOut > (systemSettings.powerLimit * 10)) {
|
||||
setTipX10Watts(systemSettings.powerLimit * 10);
|
||||
} else {
|
||||
setTipX10Watts(x10WattsOut);
|
||||
}
|
||||
|
||||
//Secondary safety check to forcefully disable header when within ADC noise of top of ADC
|
||||
if (getTipRawTemp(0) > (0x7FFF - 150)) {
|
||||
x10WattsOut = 0;
|
||||
}
|
||||
if (systemSettings.powerLimit
|
||||
&& x10WattsOut > (systemSettings.powerLimit * 10)) {
|
||||
setTipX10Watts(systemSettings.powerLimit * 10);
|
||||
} else {
|
||||
setTipX10Watts(x10WattsOut);
|
||||
}
|
||||
|
||||
resetWatchdog();
|
||||
} else {
|
||||
//ADC interrupt timeout
|
||||
setTipPWM(0);
|
||||
}
|
||||
}
|
||||
resetWatchdog();
|
||||
} else {
|
||||
// ADC interrupt timeout
|
||||
setTipPWM(0);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -17,9 +17,9 @@
|
||||
// Small worker thread to handle power (mostly QC) related steps
|
||||
|
||||
void startPOWTask(void const *argument __unused) {
|
||||
postRToSInit();
|
||||
for (;;) {
|
||||
osDelay(TICKS_100MS); // Slow down update rate
|
||||
power_check();
|
||||
}
|
||||
postRToSInit();
|
||||
for (;;) {
|
||||
osDelay(TICKS_100MS); // Slow down update rate
|
||||
power_check();
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user