Retune PID, improve response rate slightly. (But slightly more oscillation)v1.16.3

8 files changed, 90 insertions, 51 deletions

diff --git a/workspace/ts100/inc/Modes.h b/workspace/ts100/inc/Modes.h
index d81209cc..5684afe4 100644
--- a/workspace/ts100/inc/Modes.h
+++ b/workspace/ts100/inc/Modes.h
@@ -18,6 +18,7 @@
 #include "Analog.h"
 #include "MMA8652FC.h"
 #include <string.h>
+
 typedef enum {
 	STARTUP, 		//we are sitting on the prompt to push a button
 	SOLDERING, 		//Normal operating mode
@@ -31,8 +32,12 @@ typedef enum {
 	TEMPCAL,		//Cal tip temp offset
 
 } operatingModeEnum;
-#define SETTINGSOPTIONSCOUNT 11 /*Number of settings in the settings menu*/
-
+//#define PIDTUNING
+#ifdef PIDTUNING
+#define SETTINGSOPTIONSCOUNT (11+3) /*Number of settings in the settings menu*/
+#else
+#define SETTINGSOPTIONSCOUNT (11) /*Number of settings in the settings menu*/
+#endif
 typedef enum {
 	UVCO = 0,
 	SLEEP_TEMP,
@@ -46,6 +51,11 @@ typedef enum {
 	BOOSTMODE,
 	BOOSTTEMP,
 	POWERDISPLAY,
+#ifdef PIDTUNING
+	PIDP,
+	PIDI,
+	PIDD,
+#endif
 } settingsPageEnum;
 
 void ProcessUI();
diff --git a/workspace/ts100/inc/PID.h b/workspace/ts100/inc/PID.h
index 4f6105a9..ad6138ca 100644
--- a/workspace/ts100/inc/PID.h
+++ b/workspace/ts100/inc/PID.h
@@ -18,4 +18,5 @@ typedef struct {
 
 int32_t computePID(uint16_t setpoint);
 void setupPID(void);
+extern pidSettingsType pidSettings;
 #endif /* PID_H_ */
diff --git a/workspace/ts100/src/Analog.c b/workspace/ts100/src/Analog.c
index 9f6e8996..c746fe60 100644
--- a/workspace/ts100/src/Analog.c
+++ b/workspace/ts100/src/Analog.c
@@ -23,7 +23,7 @@ uint16_t readDCVoltage(uint16_t divFactor) {
 //This allows us to read it in X10 mode
 //Returns temperature in C X10 mode
 int16_t readTipTemp() {
-	static uint32_t rollingAverage[16];
+	static uint32_t rollingAverage[8];
 	static uint8_t rIndex = 0;
 
 	/*The head has a thermocouple inline with the heater
@@ -54,13 +54,10 @@ int16_t readTipTemp() {
 	ad_sum = ad_sum - max - min; //remove the two outliers
 	avg_data = ad_sum / 8; //take the average
 	rollingAverage[rIndex] = avg_data;
-	rIndex = (rIndex + 1) % 16;
+	rIndex = (rIndex + 1) % 8;
 	return (rollingAverage[0] + rollingAverage[1] + rollingAverage[2]
 			+ rollingAverage[3] + rollingAverage[4] + rollingAverage[5]
-			+ rollingAverage[6] + rollingAverage[7] + rollingAverage[8]
-			+ rollingAverage[9] + rollingAverage[10] + rollingAverage[11]
-			+ rollingAverage[12] + rollingAverage[13] + rollingAverage[14]
-			+ rollingAverage[15]) / 16; //get the average
+			+ rollingAverage[6] + rollingAverage[7]) / 8;
 
 }
 
diff --git a/workspace/ts100/src/I2C.c b/workspace/ts100/src/I2C.c
index 5703f961..e0a4ae13 100644
--- a/workspace/ts100/src/I2C.c
+++ b/workspace/ts100/src/I2C.c
@@ -81,7 +81,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 	volatile int I2C_TimeOut = 0;

 

 	// /* While the bus is busy * /

-	I2C_TimeOut = 3000;

+	I2C_TimeOut = 1000;

 	while (I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY)) {

 		if (I2C_TimeOut-- <= 0) {

 			return 1;

@@ -92,7 +92,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 	I2C_GenerateSTART(I2C1, ENABLE);

 

 	// / * Test on EV5 and clear it * /

-	I2C_TimeOut = 3000;

+	I2C_TimeOut = 1000;

 	while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT)) {

 		if (I2C_TimeOut-- <= 0) {

 			return 1;

@@ -103,7 +103,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 	I2C_Send7bitAddress(I2C1, deviceAddr, I2C_Direction_Transmitter);

 

 	// / * Test on EV6 and clear it * /

-	I2C_TimeOut = 3000;

+	I2C_TimeOut = 1000;

 	while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)) {

 		if (I2C_TimeOut-- <= 0) {

 			return 1;

@@ -114,7 +114,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 	I2C_SendData(I2C1, readAddr);

 

 	/// * Test on EV8 and clear it * /

-	I2C_TimeOut = 3000;

+	I2C_TimeOut = 1000;

 	while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED)) {

 		if (I2C_TimeOut-- <= 0) {

 			return 1;

@@ -125,7 +125,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 	I2C_GenerateSTART(I2C1, ENABLE);

 

 	/// * Test on EV5 and clear it * /

-	I2C_TimeOut = 3000;

+	I2C_TimeOut = 1000;

 	while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT)) {

 		if (I2C_TimeOut-- <= 0) {

 			return 1;

@@ -137,7 +137,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 

 	if (numByteToRead == 1) {

 		/* Wait until ADDR is set */

-		I2C_TimeOut = 3000;

+		I2C_TimeOut = 1000;

 		while ((I2C1->SR1 & 0x0002) != 0x0002) {

 			if (I2C_TimeOut-- <= 0) {

 				return 1;

@@ -155,7 +155,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 		/* Re-enable IRQs */

 		__enable_irq();

 		/* Wait until a data is received in DR register (RXNE = 1) EV7 */

-		I2C_TimeOut = 3000;

+		I2C_TimeOut = 1000;

 		while ((I2C1->SR1 & 0x00040) != 0x000040) {

 			if (I2C_TimeOut-- <= 0) {

 				return 1;

@@ -169,7 +169,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 		/* Set POS bit */

 		I2C1->CR1 |= CR1_POS_Set;

 		/* Wait until ADDR is set: EV6 */

-		I2C_TimeOut = 3000;

+		I2C_TimeOut = 1000;

 		while ((I2C1->SR1 & 0x0002) != 0x0002) {

 			if (I2C_TimeOut-- <= 0) {

 				return 1;

@@ -186,7 +186,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 		/*Re-enable IRQs */

 		__enable_irq();

 		/* Wait until BTF is set */

-		I2C_TimeOut = 3000;

+		I2C_TimeOut = 1000;

 		while ((I2C1->SR1 & 0x00004) != 0x000004) {

 			if (I2C_TimeOut-- <= 0) {

 				return 1;

@@ -210,7 +210,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 

 	else { //numByteToRead > 2

 		   // * Test on EV6 and clear it * /

-		I2C_TimeOut = 3000;

+		I2C_TimeOut = 1000;

 		while (!I2C_CheckEvent(I2C1,

 		I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED)) {

 			if (I2C_TimeOut-- <= 0) {

@@ -223,7 +223,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 			if (numByteToRead != 3) {

 				/* Poll on BTF to receive data because in polling mode we can not guarantee the

 				 EV7 software sequence is managed before the current byte transfer completes */

-				I2C_TimeOut = 3000;

+				I2C_TimeOut = 1000;

 				while ((I2C1->SR1 & 0x00004) != 0x000004) {

 					if (I2C_TimeOut-- <= 0) {

 						return 1;

@@ -239,7 +239,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 			/* it remains to read three data: data N-2, data N-1, Data N */

 			if (numByteToRead == 3) {

 				/* Wait until BTF is set: Data N-2 in DR and data N -1 in shift register */

-				I2C_TimeOut = 3000;

+				I2C_TimeOut = 1000;

 				while ((I2C1->SR1 & 0x00004) != 0x000004) {

 					if (I2C_TimeOut-- <= 0) {

 						return 1;

@@ -263,7 +263,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 				/* Increment */

 				pBuffer++;

 				/* Wait until RXNE is set (DR contains the last data) */

-				I2C_TimeOut = 3000;

+				I2C_TimeOut = 1000;

 				while ((I2C1->SR1 & 0x00040) != 0x000040) {

 					if (I2C_TimeOut-- <= 0) {

 						return 1;

@@ -278,7 +278,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
 	}

 

 	/* Make sure that the STOP bit is cleared by Hardware before CR1 write access */

-	I2C_TimeOut = 3000;

+	I2C_TimeOut = 1000;

 	while ((I2C1->CR1 & 0x200) == 0x200) {

 		if (I2C_TimeOut-- <= 0) {

 			return 1;

diff --git a/workspace/ts100/src/Interrupt.c b/workspace/ts100/src/Interrupt.c
index bbe34e86..f3b9f27d 100644
--- a/workspace/ts100/src/Interrupt.c
+++ b/workspace/ts100/src/Interrupt.c
@@ -24,7 +24,7 @@ uint8_t getButtons() {
 	//We want to check the times for the lat buttons & also the rawKeys state

 	//If a key has just gone down, rawKeys & KEY ==1

 	uint8_t out = 0;

-	if (millis() - AkeyChange > 30) {

+	if (millis() - AkeyChange > 100) {

 		if (LongKeys & BUT_A) {

 			if (rawKeys & BUT_A) {

 				if (millis() - AkeyChange > 800) {

@@ -41,7 +41,7 @@ uint8_t getButtons() {
 

 		} else if (LongKeys & (BUT_A << 2)) {

 			if (rawKeys & BUT_A) {

-				if (millis() - AkeyChange > 300) {

+				if (millis() - AkeyChange > 100) {

 					out |= BUT_A;

 					AkeyChange = millis();

 				}

@@ -61,7 +61,7 @@ uint8_t getButtons() {
 			}

 		}

 	}

-	if (millis() - BkeyChange > 30) {

+	if (millis() - BkeyChange > 100) {

 		if (LongKeys & BUT_B) {

 			if (rawKeys & BUT_B) {

 				if (millis() - BkeyChange > 800) {

@@ -76,7 +76,7 @@ uint8_t getButtons() {
 			}

 		} else if (LongKeys & (BUT_B << 2)) {

 			if (rawKeys & BUT_B) {

-				if (millis() - BkeyChange > 300) {

+				if (millis() - BkeyChange > 100) {

 					out |= BUT_B;

 					BkeyChange = millis();

 				}

diff --git a/workspace/ts100/src/Main.c b/workspace/ts100/src/Main.c
index 0e156213..c257a76b 100644
--- a/workspace/ts100/src/Main.c
+++ b/workspace/ts100/src/Main.c
@@ -18,7 +18,7 @@ int main(void) {
 		Clear_Watchdog(); //reset the Watch dog timer

 		ProcessUI();

 		DrawUI();

-		delayMs(50); //Slow the system down a little bit

+		delayMs(30); //Slow the system down a little bit

 		if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_5) == Bit_RESET) {

 			lastMovement = millis();

 			//This is a workaround for the line staying low as the user is still moving. (ie sensitivity is too high for their amount of movement)

@@ -39,13 +39,13 @@ void setup() {
 	setupPID(); 										//Init the PID values

 	readIronTemp(systemSettings.tempCalibration, 0, 0); //load the default calibration value

 	if (systemSettings.OrientationMode == 2)

-		Init_Oled(!getOrientation()); 				//Init the OLED display

+		Init_Oled(0); 									//Init the OLED display in RH mode, since accel wont have started up yet

 	else

-		Init_Oled(systemSettings.OrientationMode); 			//Init the OLED display

+		Init_Oled(systemSettings.OrientationMode); 		//Init the OLED display

 

 	OLED_DrawString("VER 1.16", 8); 					//Version Number

-	delayMs(400);								//Pause to show version number

+	delayMs(400);						//Pause to show version number

 	showBootLogoIfavailable();

-	Start_Watchdog(5000); 		//start the system watch dog as 5 second timeout

+	Start_Watchdog(5000); //start the system watch dog as 5 second timeout

 

 }

diff --git a/workspace/ts100/src/Modes.c b/workspace/ts100/src/Modes.c
index 6d9588d4..eb9f081f 100644
--- a/workspace/ts100/src/Modes.c
+++ b/workspace/ts100/src/Modes.c
@@ -27,7 +27,6 @@ void ProcessUI() {
 	uint8_t Buttons = getButtons(); //read the buttons status
 	static uint32_t lastModeChange = 0;
 
-
 	switch (operatingMode) {
 	case STARTUP:
 
@@ -175,7 +174,7 @@ void ProcessUI() {
 				case SLEEP_TEMP:
 					systemSettings.SleepTemp += 100;	//Go up 10C at a time
 					if (systemSettings.SleepTemp > 3000)
-						systemSettings.SleepTemp = 1000;//cant sleep higher than 300
+						systemSettings.SleepTemp = 500;	//cant sleep higher than 300 or less than 50
 					break;
 				case SLEEP_TIME:
 					++systemSettings.SleepTime;		//Go up 1 minute at a time
@@ -194,7 +193,8 @@ void ProcessUI() {
 					break;
 				case SCREENROTATION:
 					systemSettings.OrientationMode++;
-					systemSettings.OrientationMode = systemSettings.OrientationMode % 3;
+					systemSettings.OrientationMode =
+							systemSettings.OrientationMode % 3;
 
 					break;
 				case MOTIONSENSITIVITY:
@@ -225,6 +225,20 @@ void ProcessUI() {
 				case POWERDISPLAY:
 					systemSettings.powerDisplay = !systemSettings.powerDisplay;
 					break;
+#ifdef PIDTUNING
+					case PIDP:
+					pidSettings.kp++;
+					pidSettings.kp %= 20;
+					break;
+					case PIDI:
+					pidSettings.ki++;
+					pidSettings.ki %= 10;
+					break;
+					case PIDD:
+					pidSettings.kd++;
+					pidSettings.kd %= 30;
+					break;
+#endif
 				default:
 					break;
 				}
@@ -474,7 +488,7 @@ void DrawUI() {
 		if (systemSettings.powerDisplay) {
 			//We want to draw in a neat little bar graph of power being pushed to the tip
 			//ofset 11
-			uint16_t count = getIronTimer() / (30000 / 28);
+			uint16_t count = getIronTimer() / (1000 / 28);
 			if (count > 28)
 				count = 28;
 			OLED_DrawWideChar((count), 6);
@@ -641,7 +655,22 @@ void DrawUI() {
 					break;
 				}
 				break;
+#ifdef PIDTUNING
+				case PIDP:
+				OLED_DrawString("PIDP ", 5);
+				OLED_DrawThreeNumber(pidSettings.kp, 5);
+				break;
+				case PIDI:
+				OLED_DrawString("PIDI ", 5);
+				OLED_DrawThreeNumber(pidSettings.ki, 5);
+				break;
+				case PIDD:
+				OLED_DrawString("PIDD ", 5);
+				OLED_DrawThreeNumber(pidSettings.kd, 5);
+				break;
+#endif
 			default:
+
 				break;
 			}
 		}
diff --git a/workspace/ts100/src/PID.c b/workspace/ts100/src/PID.c
index 37b11551..159d72a5 100644
--- a/workspace/ts100/src/PID.c
+++ b/workspace/ts100/src/PID.c
@@ -7,38 +7,40 @@
 
 #include "PID.h"
 #define MAXPIDOUTPUT 50000
+//MAXPIDOUTPUT is the maximum time duration we can support for the irons output, as anything longer than this will be cut off by the next PID iteration
 
 pidSettingsType pidSettings;
 
 //This function computes the new value for the ON time of the system
 //This is the return value from this function
 int32_t computePID(uint16_t setpoint) {
-	int32_t ITerm = 0;
-	static int16_t lastReading = 0;
-	uint16_t currentReading = readIronTemp(0, 1,setpoint); //get the current temp of the iron
+	static int32_t ITerm = 0; //Used to store the integral error
+	static int16_t lastError = 0;
+	uint16_t currentReading = readIronTemp(0, 1, setpoint); //get the current temp of the iron
 	int16_t error = (int16_t) setpoint - (int16_t) currentReading; //calculate the error term
-	ITerm += (pidSettings.ki * error);
-	if (ITerm > MAXPIDOUTPUT/2)
-		ITerm = MAXPIDOUTPUT/2;
-	else if (ITerm < 0)
-		ITerm = 0; //cap at 0 since we cant force the iron to cool itself :)
+	int16_t DInput = (error - lastError) / 10; //compute the input to the D term
 
-	int16_t DInput = (currentReading - lastReading); //compute the input to the D term
-	int32_t output = (pidSettings.kp * error) + (ITerm)
+	ITerm += ((error) / 20);
+	if (ITerm > 300)
+		ITerm = 0; //Prevents this accumulating too much during inital heatup
+	else if (ITerm < 0)
+		ITerm = 0; //Cap at 0 as we can't force cool
+	if (DInput > 1000)
+		DInput = 0;
+	int32_t output = (pidSettings.kp * error) + (ITerm * pidSettings.ki)
 			- (pidSettings.kd * DInput);
 	if (output > MAXPIDOUTPUT)
 		output = MAXPIDOUTPUT;
 	else if (output < 0)
 		output = 0;
-
-	lastReading = currentReading; //storing values for next iteration of the loop
+	lastError = error;
 	return output;
 
 }
-/*Sets up the pid values*/
+/*Sets up the pid values to  defaults*/
 void setupPID(void) {
-	pidSettings.kp = 15;
-	pidSettings.ki = 2;
-	pidSettings.kd = 3;
+	pidSettings.kp = 8;
+	pidSettings.ki = 1;
+	pidSettings.kd = 0; //Not using D atm
 
 }