ADC Timing alignment bought in

4 files changed, 75 insertions, 60 deletions

diff --git a/workspace/TS100/src/Setup.c b/workspace/TS100/src/Setup.c
index af37dde1..83a55491 100644
--- a/workspace/TS100/src/Setup.c
+++ b/workspace/TS100/src/Setup.c
@@ -10,7 +10,6 @@ DMA_HandleTypeDef hdma_adc1;
 
 I2C_HandleTypeDef hi2c1;
 
-
 IWDG_HandleTypeDef hiwdg;
 TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
@@ -59,27 +58,29 @@ void SystemClock_Config(void) {
 
 	/**Initializes the CPU, AHB and APB busses clocks
 	 */
-	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI | RCC_OSCILLATORTYPE_LSI;
+	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI
+			| RCC_OSCILLATORTYPE_LSI;
 	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
 	RCC_OscInitStruct.HSICalibrationValue = 16;
 	RCC_OscInitStruct.LSIState = RCC_LSI_ON;
 	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
 	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
-	RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
+	RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;    //64MHz
 	HAL_RCC_OscConfig(&RCC_OscInitStruct);
 
 	/**Initializes the CPU, AHB and APB busses clocks
 	 */
-	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
+	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
+			| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
 	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
 	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
-	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV16;
-	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV16; //TIM 2,3,4,5,6,7,12,13,14
+	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; //64 mhz to soem peripherals and adc
 
 	HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2);
 
 	PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
-	PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV2;
+	PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6; //6 or 8 are the only non overclocked options
 	HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);
 
 	/**Configure the Systick interrupt time
@@ -99,7 +100,6 @@ static void MX_ADC1_Init(void) {
 
 	ADC_ChannelConfTypeDef sConfig;
 	ADC_InjectionConfTypeDef sConfigInjected;
-
 	/**Common config
 	 */
 	hadc1.Instance = ADC1;
@@ -126,10 +126,15 @@ static void MX_ADC1_Init(void) {
 
 	/**Configure Injected Channel
 	 */
+	//F in = 10.66 MHz
+	/*
+	 * Injected time is 1 delay clock + (12 adc cycles*4)+4*sampletime =~217 clocks = 0.2ms
+	 *
+	 * */
 	sConfigInjected.InjectedChannel = ADC_CHANNEL_8;
 	sConfigInjected.InjectedRank = 1;
 	sConfigInjected.InjectedNbrOfConversion = 4;
-	sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_71CYCLES_5;
+	sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_13CYCLES_5;
 	sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T2_CC1;
 	sConfigInjected.AutoInjectedConv = DISABLE;
 	sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
@@ -141,14 +146,14 @@ static void MX_ADC1_Init(void) {
 	HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected);
 	sConfigInjected.InjectedRank = 4;
 	HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected);
-
+	//SET_BIT(hadc1.Instance->CR1, ( ADC_CR1_JEOCIE ));//Enable end of injected conv irq
 }
 
 /* I2C1 init function */
 static void MX_I2C1_Init(void) {
 
 	hi2c1.Instance = I2C1;
-	hi2c1.Init.ClockSpeed = 300000;//200Khz
+	hi2c1.Init.ClockSpeed = 300000;    //200Khz
 	hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
 	hi2c1.Init.OwnAddress1 = 0;
 	hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
@@ -178,10 +183,10 @@ static void MX_TIM3_Init(void) {
 	TIM_OC_InitTypeDef sConfigOC;
 
 	htim3.Instance = TIM3;
-	htim3.Init.Prescaler = 1;
+	htim3.Init.Prescaler = 2;
 	htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
-	htim3.Init.Period = 100;
-	htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4;    //2mhz
+	htim3.Init.Period = 100;    //10 Khz PWM freq
+	htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4;    //4mhz before div
 	htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
 	HAL_TIM_Base_Init(&htim3);
 
@@ -229,10 +234,10 @@ static void MX_TIM2_Init(void) {
 
 	//Timer 2 is fairly slow as its being used to run the PWM and trigger the ADC in the PWM off time.
 	htim2.Instance = TIM2;
-	htim2.Init.Prescaler = 1500;
+	htim2.Init.Prescaler = 2000; // pwm out is 10k, we want to run our PWM at around 100hz
 	htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
 	htim2.Init.Period = 120;
-	htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4;    //2mhz
+	htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4;    //4mhz before divide
 	htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
 	HAL_TIM_Base_Init(&htim2);
 
@@ -247,7 +252,12 @@ static void MX_TIM2_Init(void) {
 	HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig);
 
 	sConfigOC.OCMode = TIM_OCMODE_PWM1;
-	sConfigOC.Pulse = 110;
+	sConfigOC.Pulse = 117;
+	/*
+	 * It takes 4 milliseconds for output to be stable after PWM turns off.
+	 * Assume ADC samples in 0.5ms
+	 * We need to set this to 100% + 4.5ms
+	 * */
 	sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
 	sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
 	HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1);
@@ -318,13 +328,15 @@ static void MX_GPIO_Init(void) {
 
 	/*Configure GPIO pins : PA0 PA1 PA2 PA3
 	 PA4 PA5 PA10 PA15 */
-	GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_10
-			| GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_15;
+	GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3
+			| GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_10 | GPIO_PIN_11 | GPIO_PIN_12
+			| GPIO_PIN_15;
 	GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
 	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-	//Set PA 11 and PA 12 to GND to stop usb detection
-	GPIO_InitStruct.Pin = GPIO_PIN_11 | GPIO_PIN_12;
+	//Set PA 11 and PA 12 to GND to stop usb detection, 14 re-rused for debug
+	GPIO_InitStruct.Pin = GPIO_PIN_11 | GPIO_PIN_12 | GPIO_PIN_14 | GPIO_PIN_13;
 	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
 	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 	HAL_GPIO_WritePin(GPIOA, GPIO_PIN_11, GPIO_PIN_RESET);
 	HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
@@ -349,7 +361,7 @@ static void MX_GPIO_Init(void) {
 	/*Configure GPIO pins : INT_Orientation_Pin INT_Movement_Pin */
 	GPIO_InitStruct.Pin = INT_Orientation_Pin | INT_Movement_Pin;
 	GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
-	GPIO_InitStruct.Pull = GPIO_PULLUP;    //Technically the IMU is P-P but safer to pullup (very tiny current cost)
+	GPIO_InitStruct.Pull = GPIO_PULLUP; //Technically the IMU is P-P but safer to pullup (very tiny current cost)
 	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
 	/*Configure peripheral I/O remapping */
diff --git a/workspace/TS100/src/hardware.c b/workspace/TS100/src/hardware.c
index c29bff34..4f710190 100644
--- a/workspace/TS100/src/hardware.c
+++ b/workspace/TS100/src/hardware.c
@@ -18,7 +18,7 @@ uint16_t getHandleTemperature() {
 	// STM32 = 4096 count @ 3.3V input -> But
 	// We oversample by 32/(2^2) = 8 times oversampling
 	// Therefore 32768 is the 3.3V input, so 0.201416015625 mV per count
-	// So we need to subtract an offset of 0.5V to center on 0C (2482 counts)
+	// So we need to subtract an offset of 0.5V to center on 0C (2482*2 counts)
 	//
 	uint16_t result = getADC(0);
 	if (result < 4964)
@@ -29,21 +29,25 @@ uint16_t getHandleTemperature() {
 
 }
 uint16_t tipMeasurementToC(uint16_t raw) {
-	return ((raw - 532) / 33) + (getHandleTemperature() / 10) - CalibrationTempOffset;
+	return ((raw - 532) / 33) + (getHandleTemperature() / 10)
+			- CalibrationTempOffset;
 	//Surprisingly that appears to be a fairly good linear best fit
 }
 uint16_t ctoTipMeasurement(uint16_t temp) {
 	//We need to compensate for cold junction temp
-	return ((temp - (getHandleTemperature() / 10) + CalibrationTempOffset) * 33) + 532;
+	return ((temp - (getHandleTemperature() / 10) + CalibrationTempOffset) * 33)
+			+ 532;
 }
 
 uint16_t tipMeasurementToF(uint16_t raw) {
-	return ((((raw - 532) / 33) + (getHandleTemperature() / 10) - CalibrationTempOffset) * 9) / 5 + 32;
+	return ((((raw - 532) / 33) + (getHandleTemperature() / 10)
+			- CalibrationTempOffset) * 9) / 5 + 32;
 
 }
 uint16_t ftoTipMeasurement(uint16_t temp) {
 
-	return (((((temp - 32) * 5) / 9) - (getHandleTemperature() / 10) + CalibrationTempOffset) * 33) + 532;
+	return (((((temp - 32) * 5) / 9) - (getHandleTemperature() / 10)
+			+ CalibrationTempOffset) * 33) + 532;
 }
 
 uint16_t getTipInstantTemperature() {
@@ -116,7 +120,7 @@ uint8_t getTipPWM() {
 	return htim2.Instance->CCR4;
 }
 void setTipPWM(uint8_t pulse) {
-	PWMSafetyTimer = 100;    //This is decremented in the handler for PWM so that the tip pwm is disabled if the PID task is not scheduled often enough.
+	PWMSafetyTimer = 640; //This is decremented in the handler for PWM so that the tip pwm is disabled if the PID task is not scheduled often enough.
 	if (pulse > 100)
 		pulse = 100;
 	if (pulse) {
@@ -133,7 +137,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 	//Period has elapsed
 	if (htim->Instance == TIM2) {
 		//we want to turn on the output again
-		PWMSafetyTimer--;    //We decrement this safety value so that lockups in the scheduler will not cause the PWM to become locked in an active driving state.
+		PWMSafetyTimer--; //We decrement this safety value so that lockups in the scheduler will not cause the PWM to become locked in an active driving state.
 		//While we could assume this could never happened, its a small price for increased safety
 		if (htim2.Instance->CCR4 && PWMSafetyTimer) {
 			htim3.Instance->CCR1 = 50;
@@ -153,6 +157,14 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) {
 		if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_4) {
 			HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);
 			htim3.Instance->CCR1 = 0;
-		}
+
+		} /*else if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
+			HAL_GPIO_WritePin(GPIOA, GPIO_PIN_13, GPIO_PIN_RESET);
+			HAL_GPIO_WritePin(GPIOA, GPIO_PIN_14, GPIO_PIN_RESET);
+		}*/
 	}
 }
+
+void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc) {
+
+}
diff --git a/workspace/TS100/src/main.cpp b/workspace/TS100/src/main.cpp
index 6b7f58fe..54a94a03 100644
--- a/workspace/TS100/src/main.cpp
+++ b/workspace/TS100/src/main.cpp
@@ -842,16 +842,14 @@ void startPIDTask(void const *argument) {
 	 */
 	int32_t integralCount = 0;
 	int32_t derivativeLastValue = 0;
-	int32_t kp, ki, kd, kb;
-	int32_t backoffOverflow = 0;
-	kp = 20;
-	ki = 50;
-	kd = 40;
-	kb = 0;
+	int32_t kp, ki, kd;
+	kp = 80;
+	ki = 120;
+	kd = 60;
 	// REMEBER ^^^^ These constants are backwards
 	// They act as dividers, so to 'increase' a P term, you make the number
 	// smaller.
-	const int32_t itermMax = 40;
+	const int32_t itermMax = 60;
 	for (;;) {
 		uint16_t rawTemp = getTipRawTemp(1);  // get instantaneous reading
 		if (currentlyActiveTemperatureTarget) {
@@ -876,34 +874,27 @@ void startPIDTask(void const *argument) {
 				output += integralCount;
 			if (kd)
 				output -= (dInput / kd);
-			if (kb)
-				output -= backoffOverflow / kb;
 
 			if (output > 100) {
-				backoffOverflow = output;
 				output = 100;  // saturate
 			} else if (output < 0) {
-				backoffOverflow = output;
 				output = 0;
-			} else
-				backoffOverflow = 0;
-			if (currentlyActiveTemperatureTarget < rawTemp) {
-				output = 0;
-				integralCount = 0;
-				backoffOverflow = 0;
-				derivativeLastValue = 0;
 			}
+
+			/*if (currentlyActiveTemperatureTarget < rawTemp) {
+			 output = 0;
+			 }*/
 			setTipPWM(output);
+			derivativeLastValue = rawTemp;  // store for next loop
+
 		} else {
 			setTipPWM(0); // disable the output driver if the output is set to be off
-						  // elsewhere
 			integralCount = 0;
-			backoffOverflow = 0;
 			derivativeLastValue = 0;
 		}
-		derivativeLastValue = rawTemp;  // store for next loop
+
 		HAL_IWDG_Refresh(&hiwdg);
-		osDelay(100);  // 10 Hz temp loop
+		osDelay(10);  // 100 Hz temp loop
 	}
 }
 #define MOVFilter 8
@@ -1001,11 +992,10 @@ void startRotationTask(void const *argument) {
 	 * This task is used to manage rotation of the LCD screen & button re-mapping
 	 *
 	 */
-	if(PCBVersion==3)
-		{
-			for(;;)
-				osDelay(5000);
-		}
+	if (PCBVersion == 3) {
+		for (;;)
+			osDelay(5000);
+	}
 	switch (systemSettings.OrientationMode) {
 	case 0:
 		lcd.setRotation(false);
@@ -1024,7 +1014,7 @@ void startRotationTask(void const *argument) {
 	for (;;) {
 
 		// a rotation event has occurred
-		uint8_t rotation;
+		uint8_t rotation = 0;
 		if (PCBVersion == 2) {
 			rotation = accel2.getOrientation();
 		} else if (PCBVersion == 1) {
diff --git a/workspace/TS100/src/stm32f1xx_hal_msp.c b/workspace/TS100/src/stm32f1xx_hal_msp.c
index 1306f350..6b8884b6 100644
--- a/workspace/TS100/src/stm32f1xx_hal_msp.c
+++ b/workspace/TS100/src/stm32f1xx_hal_msp.c
@@ -28,8 +28,9 @@ void HAL_MspInit(void) {
 
 	/**NOJTAG: JTAG-DP Disabled and SW-DP Enabled
 	 */
-	__HAL_AFIO_REMAP_SWJ_NOJTAG()
-	;
+//	__HAL_AFIO_REMAP_SWJ_NOJTAG()
+	__HAL_AFIO_REMAP_SWJ_DISABLE(); /*Disable swd for debug io use*/
+
 
 }