PID retune, ADC Blocks PID properlyv2.04-RC2

5 files changed, 59 insertions, 73 deletions

diff --git a/workspace/TS100/.settings/language.settings.xml b/workspace/TS100/.settings/language.settings.xml
index 3174fb8a..1765bf7f 100644
--- a/workspace/TS100/.settings/language.settings.xml
+++ b/workspace/TS100/.settings/language.settings.xml
@@ -6,7 +6,7 @@
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>

 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>

 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>

-			<provider class="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" console="false" env-hash="1750838549288477430" id="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="Ac6 SW4 STM32 MCU Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">

+			<provider class="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" console="false" env-hash="1349131645423570210" id="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="Ac6 SW4 STM32 MCU Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">

 				<language-scope id="org.eclipse.cdt.core.gcc"/>

 				<language-scope id="org.eclipse.cdt.core.g++"/>

 			</provider>

@@ -18,7 +18,7 @@
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>

 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>

 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>

-			<provider class="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" console="false" env-hash="1750838549288477430" id="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="Ac6 SW4 STM32 MCU Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">

+			<provider class="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" console="false" env-hash="1349131645423570210" id="fr.ac6.mcu.ide.build.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="Ac6 SW4 STM32 MCU Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">

 				<language-scope id="org.eclipse.cdt.core.gcc"/>

 				<language-scope id="org.eclipse.cdt.core.g++"/>

 			</provider>

diff --git a/workspace/TS100/inc/main.hpp b/workspace/TS100/inc/main.hpp
index 3e522de0..91ebaa86 100644
--- a/workspace/TS100/inc/main.hpp
+++ b/workspace/TS100/inc/main.hpp
@@ -25,5 +25,11 @@ enum ButtonState {
 
 ButtonState getButtonState();
 void waitForButtonPressOrTimeout(uint32_t timeout);
-
+#ifdef __cplusplus
+ extern "C" {
+#endif
+ void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc);
+#ifdef __cplusplus
+ }
+#endif
 #endif /* __MAIN_H */
diff --git a/workspace/TS100/src/Setup.c b/workspace/TS100/src/Setup.c
index 7f5a450b..d3ab5c9d 100644
--- a/workspace/TS100/src/Setup.c
+++ b/workspace/TS100/src/Setup.c
@@ -134,11 +134,12 @@ static void MX_ADC1_Init(void) {
 	sConfigInjected.InjectedChannel = ADC_CHANNEL_8;
 	sConfigInjected.InjectedRank = 1;
 	sConfigInjected.InjectedNbrOfConversion = 4;
-	sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_13CYCLES_5;
+	sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_7CYCLES_5;
 	sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T2_CC1;
 	sConfigInjected.AutoInjectedConv = DISABLE;
 	sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
 	sConfigInjected.InjectedOffset = 0;
+
 	HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected);
 	sConfigInjected.InjectedRank = 2;
 	HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected);
@@ -146,14 +147,14 @@ 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
+	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;    //300Khz
 	hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
 	hi2c1.Init.OwnAddress1 = 0;
 	hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
@@ -256,7 +257,7 @@ static void MX_TIM2_Init(void) {
 	/*
 	 * 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
+	 * We need to set this to 100% + 5.5ms
 	 * */
 	sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
 	sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
diff --git a/workspace/TS100/src/hardware.c b/workspace/TS100/src/hardware.c
index 84359c11..37955e70 100644
--- a/workspace/TS100/src/hardware.c
+++ b/workspace/TS100/src/hardware.c
@@ -60,35 +60,17 @@ uint16_t getTipInstantTemperature() {
 
 }
 uint16_t getTipRawTemp(uint8_t instant) {
-#define  filterDepth1 1
-	/*Pre filter used before PID*/
-#define  filterDepth2 48
-	/*Post filter used for UI display*/
-	static uint16_t filterLayer1[filterDepth1];
-	static uint16_t filterLayer2[filterDepth2];
-	static uint8_t index = 0;
-	static uint8_t indexFilter = 0;
+	static int64_t filterFP = 0;
+	const uint8_t filterBeta = 5; //higher values smooth out more, but reduce responsiveness
 
 	if (instant) {
 		uint16_t itemp = getTipInstantTemperature();
-		filterLayer1[index] = itemp;
-		index = (index + 1) % filterDepth1;
-		uint32_t total = 0;
-		for (uint8_t i = 0; i < filterDepth1; i++)
-			total += filterLayer1[i];
-
-		return total / filterDepth1;
+		filterFP = (filterFP << filterBeta) - filterFP;
+		filterFP += (itemp << 9);
+		filterFP = filterFP >> filterBeta;
+		return itemp;
 	} else {
-		uint32_t total = 0;
-		for (uint8_t i = 0; i < filterDepth1; i++)
-			total += filterLayer1[i];
-		filterLayer2[indexFilter] = total / filterDepth1;
-		indexFilter = (indexFilter + 1) % filterDepth2;
-		total = 0;
-		for (uint8_t i = 0; i < filterDepth2; i++)
-			total += filterLayer2[i];
-
-		return total / filterDepth2;
+		return filterFP >> 9;
 	}
 }
 uint16_t getInputVoltageX10(uint8_t divisor) {
@@ -120,15 +102,10 @@ uint8_t getTipPWM() {
 	return htim2.Instance->CCR4;
 }
 void setTipPWM(uint8_t pulse) {
-	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.
+	PWMSafetyTimer = 2; //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) {
-		htim2.Instance->CCR4 = pulse;
-	} else {
-		htim2.Instance->CCR4 = 0;
-	}
-
+	htim2.Instance->CCR4 = pulse;
 }
 
 //Thse are called by the HAL after the corresponding events from the system timers.
@@ -138,7 +115,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 	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.
-		//While we could assume this could never happened, its a small price for increased safety
+		//While we could assume this could never happen, its a small price for increased safety
 		if (htim2.Instance->CCR4 && PWMSafetyTimer) {
 			htim3.Instance->CCR1 = 50;
 			HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
@@ -159,12 +136,9 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) {
 			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);
-		}*/
+		 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 a32de0ad..acb7a467 100644
--- a/workspace/TS100/src/main.cpp
+++ b/workspace/TS100/src/main.cpp
@@ -27,8 +27,8 @@ osThreadId GUITaskHandle;
 osThreadId PIDTaskHandle;
 osThreadId ROTTaskHandle;
 osThreadId MOVTaskHandle;
-SemaphoreHandle_t rotationChangedSemaphore = NULL;
-SemaphoreHandle_t accelDataAvailableSemaphore = NULL;
+
+static TaskHandle_t pidTaskNotification = NULL;
 
 void startGUITask(void const *argument);
 void startPIDTask(void const *argument);
@@ -62,7 +62,7 @@ int main(void) {
 		PCBVersion = 3;
 		systemSettings.SleepTime = 0;
 		systemSettings.ShutdownTime = 0;			//No accel -> disable sleep
-		systemSettings.sensitivity=0;
+		systemSettings.sensitivity = 0;
 	}
 	HAL_IWDG_Refresh(&hiwdg);
 	restoreSettings();  // load the settings from flash
@@ -85,11 +85,7 @@ int main(void) {
 		osThreadDef(MOVTask, startMOVTask, osPriorityNormal, 0, 512);  //2k
 		MOVTaskHandle = osThreadCreate(osThread(MOVTask), NULL);
 	}
-	/* Create the objects*/
-	rotationChangedSemaphore = xSemaphoreCreateBinary();
-	// Used to unlock rotation thread
-	accelDataAvailableSemaphore = xSemaphoreCreateBinary();
-	// Used to unlock the movement thread
+
 	/* Start scheduler */
 	osKernelStart();
 
@@ -98,7 +94,7 @@ int main(void) {
 	}
 }
 void GUIDelay() {
-	osDelay(50);  // 20Hz
+	osDelay(66);  // 15Hz
 }
 void gui_drawTipTemp() {
 	// Draw tip temp handling unit conversion & tolerance near setpoint
@@ -762,7 +758,7 @@ void startGUITask(void const *argument) {
 
 		currentlyActiveTemperatureTarget = 0;  // ensure tip is off
 
-		uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(1));//This forces a faster update rate on the filtering
+		uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(1)); //This forces a faster update rate on the filtering
 
 		if (tipTemp < 50) {
 
@@ -854,17 +850,20 @@ void startPIDTask(void const *argument) {
 	int32_t kp, ki, kd;
 	kp = 40;
 	ki = 60;
-	kd = 20;
+	kd = 15;
 	// REMEBER ^^^^ These constants are backwards
 	// They act as dividers, so to 'increase' a P term, you make the number
 	// smaller.
-	if(getInputVoltageX10(systemSettings.voltageDiv) < 150)
-	{
+	if (getInputVoltageX10(systemSettings.voltageDiv) < 150) {
 		//Boot P term if < 15 Volts
-		kp=30;
+		kp = 30;
 	}
 	const int32_t itermMax = 100;
+	pidTaskNotification = xTaskGetCurrentTaskHandle();
+	uint32_t ulNotificationValue;
 	for (;;) {
+		ulNotificationValue = ulTaskNotifyTake( pdTRUE, 100);//Wait a max of 100ms
+		//This is a call to block this thread until the ADC does its samples
 		uint16_t rawTemp = getTipRawTemp(1);  // get instantaneous reading
 		if (currentlyActiveTemperatureTarget) {
 			// Compute the PID loop in here
@@ -900,9 +899,9 @@ void startPIDTask(void const *argument) {
 				output = 0;
 			}
 
-			if (currentlyActiveTemperatureTarget < rawTemp) {
+			/*if (currentlyActiveTemperatureTarget < rawTemp) {
 				output = 0;
-			}
+			}*/
 			setTipPWM(output);
 			derivativeLastValue = rawTemp;  // store for next loop
 
@@ -914,12 +913,11 @@ void startPIDTask(void const *argument) {
 		}
 
 		HAL_IWDG_Refresh(&hiwdg);
-		osDelay(10);  // 100 Hz temp loop
 	}
 }
 #define MOVFilter 8
 void startMOVTask(void const *argument) {
-	osDelay(4000);  // wait for accel to stabilize
+	osDelay(250);  // wait for accelerometer to stabilize
 	lastMovementTime = 0;
 	int16_t datax[MOVFilter];
 	int16_t datay[MOVFilter];
@@ -936,10 +934,6 @@ void startMOVTask(void const *argument) {
 	uint32_t max = 0;
 #endif
 
-	if (PCBVersion == 3) {
-		for (;;)
-			osDelay(5000);
-	}
 	for (;;) {
 		int32_t threshold = 1500 + (9 * 200);
 		threshold -= systemSettings.sensitivity * 200; // 200 is the step size
@@ -1009,10 +1003,6 @@ 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);
-	}
 	switch (systemSettings.OrientationMode) {
 	case 0:
 		lcd.setRotation(false);
@@ -1026,7 +1016,7 @@ void startRotationTask(void const *argument) {
 	default:
 		break;
 	}
-	osDelay(500);  // wait for accel to stabilize
+	osDelay(250);  // wait for accel to stabilize
 
 	for (;;) {
 
@@ -1077,3 +1067,18 @@ bool showBootLogoIfavailable() {
 	lcd.refresh();
 	return true;
 }
+
+void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc) {
+	BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+
+	if (pidTaskNotification) {
+		/* Notify the task that the transmission is complete. */
+		vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
+
+		/* If xHigherPriorityTaskWoken is now set to pdTRUE then a context switch
+		 should be performed to ensure the interrupt returns directly to the highest
+		 priority task.  The macro used for this purpose is dependent on the port in
+		 use and may be called portEND_SWITCHING_ISR(). */
+		portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+	}
+}