Pinecil v2 tune via PID (#1827)v2.22-rc3v2.22

* Start PWM after adc irq fully done

* Filter len 4

* Use comparitor 2 on timer for wrap around

* Update IRQ.cpp

* Tip measurements are uint16_t

Update BSP.cpp

Update BSP.cpp

* WiP PID

move pid tuning to config

Update PIDThread.cpp

* Handle PWM Timer gitchy comparitor

* Tuning

* Dampen with Kd

* Cleaning up

* Use TemperatureType_t for getTipTemp()

* Add small rolling average to user GUI temp to reduce flicker

* Trigger PID when adc is skipped (will use old values)

16 files changed, 271 insertions, 178 deletions

diff --git a/source/Core/BSP/BSP_Power.h b/source/Core/BSP/BSP_Power.h
index 46c4ae2e..348dc7a7 100644
--- a/source/Core/BSP/BSP_Power.h
+++ b/source/Core/BSP/BSP_Power.h
@@ -19,9 +19,8 @@ void power_check();
 // Returns the tip resistance in x10 ohms, so 7.5 = 75; 14=140 etc
 uint8_t getTipResistanceX10();
 
-uint8_t getTipThermalMass();
-uint8_t getTipInertia();
-
+uint16_t getTipThermalMass();
+uint16_t getTipInertia();
 
 #ifdef __cplusplus
 }
diff --git a/source/Core/BSP/MHP30/BSP.cpp b/source/Core/BSP/MHP30/BSP.cpp
index 7d42019f..70149f4f 100644
--- a/source/Core/BSP/MHP30/BSP.cpp
+++ b/source/Core/BSP/MHP30/BSP.cpp
@@ -472,7 +472,7 @@ uint64_t getDeviceID() {
 

 uint8_t preStartChecksDone() { return 1; }

 

-uint8_t getTipThermalMass() { return TIP_THERMAL_MASS; }

-uint8_t getTipInertia() { return TIP_THERMAL_MASS; }

+uint16_t getTipThermalMass() { return TIP_THERMAL_MASS; }

+uint16_t getTipInertia() { return TIP_THERMAL_MASS; }

 

 void showBootLogo(void) { BootLogo::handleShowingLogo((uint8_t *)FLASH_LOGOADDR); }

diff --git a/source/Core/BSP/Miniware/BSP.cpp b/source/Core/BSP/Miniware/BSP.cpp
index f7e2053b..e930f682 100644
--- a/source/Core/BSP/Miniware/BSP.cpp
+++ b/source/Core/BSP/Miniware/BSP.cpp
@@ -396,7 +396,7 @@ bool isTipShorted() { return tipShorted; }
 #else

 bool isTipShorted() { return false; }

 #endif

-uint8_t getTipThermalMass() {

+uint16_t getTipThermalMass() {

 #ifdef TIP_RESISTANCE_SENSE_Pin

   if (lastTipResistance >= 80) {

     return TIP_THERMAL_MASS;

@@ -406,7 +406,7 @@ uint8_t getTipThermalMass() {
   return TIP_THERMAL_MASS;

 #endif

 }

-uint8_t getTipInertia() {

+uint16_t getTipInertia() {

 #ifdef TIP_RESISTANCE_SENSE_Pin

   if (lastTipResistance >= 80) {

     return TIP_THERMAL_MASS;

diff --git a/source/Core/BSP/Pinecil/BSP.cpp b/source/Core/BSP/Pinecil/BSP.cpp
index 1c7a3888..56e96810 100644
--- a/source/Core/BSP/Pinecil/BSP.cpp
+++ b/source/Core/BSP/Pinecil/BSP.cpp
@@ -97,7 +97,7 @@ uint8_t getTipResistanceX10() { return TIP_RESISTANCE; }
 bool    isTipShorted() { return false; }

 uint8_t preStartChecksDone() { return 1; }

 

-uint8_t getTipThermalMass() { return TIP_THERMAL_MASS; }

-uint8_t getTipInertia() { return TIP_THERMAL_MASS; }

+uint16_t getTipThermalMass() { return TIP_THERMAL_MASS; }

+uint16_t getTipInertia() { return TIP_THERMAL_MASS; }

 

 void showBootLogo(void) { BootLogo::handleShowingLogo((uint8_t *)FLASH_LOGOADDR); }

diff --git a/source/Core/BSP/Pinecilv2/BSP.cpp b/source/Core/BSP/Pinecilv2/BSP.cpp
index 7c711a61..c511be2e 100644
--- a/source/Core/BSP/Pinecilv2/BSP.cpp
+++ b/source/Core/BSP/Pinecilv2/BSP.cpp
@@ -160,18 +160,8 @@ uint8_t       getTipResistanceX10() {
   return lastTipResistance;

 }

 

-uint8_t getTipThermalMass() {

-  if (lastTipResistance >= 80) {

-    return 65;

-  }

-  return 45;

-}

-uint8_t getTipInertia() {

-  if (lastTipResistance >= 80) {

-    return 90;

-  }

-  return 10;

-}

+uint16_t getTipThermalMass() { return 120; }

+uint16_t getTipInertia() { return 750; }

 // We want to calculate lastTipResistance

 // If tip is connected, and the tip is cold and the tip is not being heated

 // We can use the GPIO to inject a small current into the tip and measure this

@@ -180,7 +170,7 @@ uint8_t getTipInertia() {
 // Which is around 0.54mA this will induce:

 // 6 ohm tip -> 3.24mV (Real world ~= 3320)

 // 8 ohm tip -> 4.32mV (Real world ~= 4500)

-// Which is definitely measureable

+// Which is definitely measurable

 // Taking shortcuts here as we know we only really have to pick apart 6 and 8 ohm tips

 // These are reported as 60 and 75 respectively

 void performTipResistanceSampleReading() {

diff --git a/source/Core/BSP/Pinecilv2/IRQ.cpp b/source/Core/BSP/Pinecilv2/IRQ.cpp
index bd64a96e..7a857b18 100644
--- a/source/Core/BSP/Pinecilv2/IRQ.cpp
+++ b/source/Core/BSP/Pinecilv2/IRQ.cpp
@@ -19,17 +19,17 @@ extern "C" {
 }

 void start_PWM_output(void);

 

-#define ADC_Filter_Smooth 1

+#define ADC_Filter_Smooth 4 /* This basically smooths over one PWM cycle / set of readings */

 history<uint16_t, ADC_Filter_Smooth> ADC_Vin;

 history<uint16_t, ADC_Filter_Smooth> ADC_Temp;

 history<uint16_t, ADC_Filter_Smooth> ADC_Tip;

-volatile uint8_t                     ADCBurstCounter = 0;

-void                                 adc_fifo_irq(void) {

+

+// IRQ is called at the end of the 8 set readings, pop these from the FIFO and send to filters

+void adc_fifo_irq(void) {

   if (ADC_GetIntStatus(ADC_INT_FIFO_READY) == SET) {

     // Read out all entries in the fifo

     while (ADC_Get_FIFO_Count()) {

-      ADCBurstCounter++;

-      volatile uint32_t reading = ADC_Read_FIFO();

+      uint32_t reading = ADC_Read_FIFO();

       // As per manual, 26 bit reading; lowest 16 are the ADC

       uint16_t sample = reading & 0xFFFF;

       uint8_t  source = (reading >> 21) & 0b11111;

@@ -43,23 +43,16 @@ void                                 adc_fifo_irq(void) {
       case VIN_ADC_CHANNEL:

         ADC_Vin.update(sample);

         break;

-

       default:

         break;

       }

     }

-

-    if (ADCBurstCounter >= 8) {

-      ADCBurstCounter = 0;

-      start_PWM_output();

-

-      // unblock the PID controller thread

-      if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {

-        BaseType_t xHigherPriorityTaskWoken = pdFALSE;

-        if (pidTaskNotification) {

-          vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);

-          portYIELD_FROM_ISR(xHigherPriorityTaskWoken);

-        }

+    // unblock the PID controller thread

+    if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {

+      BaseType_t xHigherPriorityTaskWoken = pdFALSE;

+      if (pidTaskNotification) {

+        vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);

+        portYIELD_FROM_ISR(xHigherPriorityTaskWoken);

       }

     }

   }

@@ -100,16 +93,43 @@ void start_PWM_output(void) {
     PWM_Channel_Disable(PWM_Channel);

     switchToFastPWM();

   }

-  TIMER_Enable(TIMER_CH0);

 }

 

 // Timer 0 is used to co-ordinate the ADC and the output PWM

 void timer0_comp0_callback(void) {

-  TIMER_Disable(TIMER_CH0);

-  ADC_Start();

+  if (PWM_Channel_Is_Enabled(PWM_Channel)) {

+    // So there appears to be a bug _somewhere_ where sometimes the comparator doesn't fire

+    // Its not re-occurring with specific values, so suspect its a weird bug

+    // For now, we just skip the cycle and throw away the ADC readings. Its a waste but

+    // It stops stupid glitches in readings, i'd take slight instability from the time jump

+    // Over the readings we get that are borked as the header is left on

+    // <Ralim 2023/10/14>

+    PWM_Channel_Disable(PWM_Channel);

+    // MSG("ALERT PWM Glitch\r\n");

+    // Triger the PID now instead

+    if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {

+      BaseType_t xHigherPriorityTaskWoken = pdFALSE;

+      if (pidTaskNotification) {

+        vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);

+        portYIELD_FROM_ISR(xHigherPriorityTaskWoken);

+      }

+    }

+  } else {

+    ADC_Start();

+  }

+  TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_0);

+}

+void timer0_comp1_callback(void) {

+  // Trigged at end of output cycle; turn off the tip PWM

+  PWM_Channel_Disable(PWM_Channel);

+  TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_1);

 }

-void timer0_comp1_callback(void) { PWM_Channel_Disable(PWM_Channel); } // Trigged at end of output cycle; turn off the tip PWM

 

+void timer0_comp2_callback(void) {

+  // Triggered at end of timer cycle; re-start the tip driver

+  start_PWM_output();

+  TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_2);

+}

 void switchToFastPWM(void) {

   inFastPWMMode    = true;

   holdoffTicks     = 10;

@@ -119,8 +139,8 @@ void switchToFastPWM(void) {
 

   // ~10Hz

   TIMER_SetCompValue(TIMER_CH0, TIMER_COMP_ID_0, powerPWM + holdoffTicks);

-  // Set divider to 10 ~= 10.5Hz

 

+  // Set divider to 10 ~= 10.5Hz

   uint32_t tmpVal = BL_RD_REG(TIMER_BASE, TIMER_TCDR);

 

   tmpVal = BL_SET_REG_BITS_VAL(tmpVal, TIMER_TCDR2, 10);

@@ -139,7 +159,7 @@ void switchToSlowPWM(void) {
   // Adjust ADC

   TIMER_SetCompValue(TIMER_CH0, TIMER_COMP_ID_0, powerPWM + holdoffTicks);

 

-  // Set divider to 22

+  // Set divider for ~ 5Hz

 

   uint32_t tmpVal = BL_RD_REG(TIMER_BASE, TIMER_TCDR);

 

@@ -193,5 +213,6 @@ uint16_t getADCHandleTemp(uint8_t sample) { return ADC_Temp.average(); }
 

 uint16_t getADCVin(uint8_t sample) { return ADC_Vin.average(); }

 

-// Returns either average or instant value. When sample is set the samples from the injected ADC are copied to the filter and then the raw reading is returned

+// Returns the current raw tip reading after any cleanup filtering

+// For Pinecil V2 we dont do any rolling filtering other than just averaging all 4 readings in the adc snapshot

 uint16_t getTipRawTemp(uint8_t sample) { return ADC_Tip.average() >> 1; }

diff --git a/source/Core/BSP/Pinecilv2/Setup.cpp b/source/Core/BSP/Pinecilv2/Setup.cpp
index 96d9a5d0..120ba237 100644
--- a/source/Core/BSP/Pinecilv2/Setup.cpp
+++ b/source/Core/BSP/Pinecilv2/Setup.cpp
@@ -102,7 +102,7 @@ void setup_adc(void) {
 
   adc_cfg.clkDiv         = ADC_CLK_DIV_4;
   adc_cfg.vref           = ADC_VREF_3P2V;
-  adc_cfg.resWidth       = ADC_DATA_WIDTH_14_WITH_64_AVERAGE;
+  adc_cfg.resWidth       = ADC_DATA_WIDTH_14_WITH_16_AVERAGE;
   adc_cfg.inputMode      = ADC_INPUT_SINGLE_END;
   adc_cfg.v18Sel         = ADC_V18_SEL_1P72V;
   adc_cfg.v11Sel         = ADC_V11_SEL_1P1V;
@@ -111,7 +111,7 @@ void setup_adc(void) {
   adc_cfg.chopMode       = ADC_CHOP_MOD_AZ_ON;
   adc_cfg.biasSel        = ADC_BIAS_SEL_MAIN_BANDGAP;
   adc_cfg.vcm            = ADC_PGA_VCM_1P6V;
-  adc_cfg.offsetCalibEn  = ENABLE;
+  adc_cfg.offsetCalibEn  = DISABLE;
   adc_cfg.offsetCalibVal = 0;
 
   ADC_Disable();
@@ -120,7 +120,7 @@ void setup_adc(void) {
 
   ADC_Init(&adc_cfg);
   adc_fifo_cfg.dmaEn         = DISABLE;
-  adc_fifo_cfg.fifoThreshold = ADC_FIFO_THRESHOLD_8;
+  adc_fifo_cfg.fifoThreshold = ADC_FIFO_THRESHOLD_8; // Triger FIFO when all 8 measurements are done
   ADC_FIFO_Cfg(&adc_fifo_cfg);
   ADC_MIC_Bias_Disable();
   ADC_Tsen_Disable();
@@ -138,26 +138,29 @@ void setup_timer_scheduler() {
   TIMER_Disable(TIMER_CH0);
 
   TIMER_CFG_Type cfg = {
-      TIMER_CH0,                           // Channel
-      TIMER_CLKSRC_32K,                    // Clock source
-      TIMER_PRELOAD_TRIG_COMP0,            // Trigger; reset after trigger 0
-      TIMER_COUNT_PRELOAD,                 // Counter mode
-      22,                                  // Clock div
-      (uint16_t)(powerPWM + holdoffTicks), // CH0 compare (adc)
-      0,                                   // CH1 compare (pwm out)
-      0,                                   // CH2 compare not used
-      0,                                   // Preload
+      TIMER_CH0,                                              // Channel
+      TIMER_CLKSRC_32K,                                       // Clock source
+      TIMER_PRELOAD_TRIG_COMP2,                               // Trigger; reset after trigger 0
+      TIMER_COUNT_PRELOAD,                                    // Counter mode
+      22,                                                     // Clock div
+      (uint16_t)(powerPWM + holdoffTicks),                    // CH0 compare (adc)
+      (uint16_t)(powerPWM),                                   // CH1 compare (pwm out)
+      (uint16_t)(powerPWM + holdoffTicks + tempMeasureTicks), // CH2 compare end of cycle
+      0,                                                      // Preload
   };
   TIMER_Init(&cfg);
 
   Timer_Int_Callback_Install(TIMER_CH0, TIMER_INT_COMP_0, timer0_comp0_callback);
   Timer_Int_Callback_Install(TIMER_CH0, TIMER_INT_COMP_1, timer0_comp1_callback);
+  Timer_Int_Callback_Install(TIMER_CH0, TIMER_INT_COMP_2, timer0_comp2_callback);
 
   TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_0);
   TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_1);
+  TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_2);
 
   TIMER_IntMask(TIMER_CH0, TIMER_INT_COMP_0, UNMASK);
   TIMER_IntMask(TIMER_CH0, TIMER_INT_COMP_1, UNMASK);
+  TIMER_IntMask(TIMER_CH0, TIMER_INT_COMP_2, UNMASK);
   CPU_Interrupt_Enable(TIMER_CH0_IRQn);
   TIMER_Enable(TIMER_CH0);
 }
diff --git a/source/Core/BSP/Pinecilv2/bl_mcu_sdk/drivers/bl702_driver/std_drv/inc/bl702_pwm.h b/source/Core/BSP/Pinecilv2/bl_mcu_sdk/drivers/bl702_driver/std_drv/inc/bl702_pwm.h
index a158885f..44e5db58 100644
--- a/source/Core/BSP/Pinecilv2/bl_mcu_sdk/drivers/bl702_driver/std_drv/inc/bl702_pwm.h
+++ b/source/Core/BSP/Pinecilv2/bl_mcu_sdk/drivers/bl702_driver/std_drv/inc/bl702_pwm.h
@@ -1,43 +1,44 @@
 /**

-  ******************************************************************************

-  * @file    bl702_pwm.h

-  * @version V1.0

-  * @date

-  * @brief   This file is the standard driver header file

-  ******************************************************************************

-  * @attention

-  *

-  * <h2><center>&copy; COPYRIGHT(c) 2020 Bouffalo Lab</center></h2>

-  *

-  * Redistribution and use in source and binary forms, with or without modification,

-  * are permitted provided that the following conditions are met:

-  *   1. Redistributions of source code must retain the above copyright notice,

-  *      this list of conditions and the following disclaimer.

-  *   2. Redistributions in binary form must reproduce the above copyright notice,

-  *      this list of conditions and the following disclaimer in the documentation

-  *      and/or other materials provided with the distribution.

-  *   3. Neither the name of Bouffalo Lab nor the names of its contributors

-  *      may be used to endorse or promote products derived from this software

-  *      without specific prior written permission.

-  *

-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE

-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL

-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR

-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,

-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

-  *

-  ******************************************************************************

-  */

+ ******************************************************************************

+ * @file    bl702_pwm.h

+ * @version V1.0

+ * @date

+ * @brief   This file is the standard driver header file

+ ******************************************************************************

+ * @attention

+ *

+ * <h2><center>&copy; COPYRIGHT(c) 2020 Bouffalo Lab</center></h2>

+ *

+ * Redistribution and use in source and binary forms, with or without modification,

+ * are permitted provided that the following conditions are met:

+ *   1. Redistributions of source code must retain the above copyright notice,

+ *      this list of conditions and the following disclaimer.

+ *   2. Redistributions in binary form must reproduce the above copyright notice,

+ *      this list of conditions and the following disclaimer in the documentation

+ *      and/or other materials provided with the distribution.

+ *   3. Neither the name of Bouffalo Lab nor the names of its contributors

+ *      may be used to endorse or promote products derived from this software

+ *      without specific prior written permission.

+ *

+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE

+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL

+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR

+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,

+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+ *

+ ******************************************************************************

+ */

 #ifndef __BL702_PWM_H__

 #define __BL702_PWM_H__

 

-#include "pwm_reg.h"

 #include "bl702_common.h"

+#include "pwm_reg.h"

+

 

 /** @addtogroup  BL702_Peripheral_Driver

  *  @{

@@ -55,61 +56,60 @@
  *  @brief PWM No. type definition

  */

 typedef enum {

-    PWM_CH0 = 0, /*!< PWM Channel 0 define */

-    PWM_CH1,     /*!< PWM Channel 1 define */

-    PWM_CH2,     /*!< PWM Channel 2 define */

-    PWM_CH3,     /*!< PWM Channel 3 define */

-    PWM_CH4,     /*!< PWM Channel 4 define */

-    PWM_CH_MAX,  /*!<  */

+  PWM_CH0 = 0, /*!< PWM Channel 0 define */

+  PWM_CH1,     /*!< PWM Channel 1 define */

+  PWM_CH2,     /*!< PWM Channel 2 define */

+  PWM_CH3,     /*!< PWM Channel 3 define */

+  PWM_CH4,     /*!< PWM Channel 4 define */

+  PWM_CH_MAX,  /*!<  */

 } PWM_CH_ID_Type;

 

 /**

  *  @brief PWM Clock definition

  */

 typedef enum {

-    PWM_CLK_XCLK = 0, /*!< PWM Clock source :XTAL CLK */

-    PWM_CLK_BCLK,     /*!< PWM Clock source :Bus CLK */

-    PWM_CLK_32K,      /*!< PWM Clock source :32K CLK */

+  PWM_CLK_XCLK = 0, /*!< PWM Clock source :XTAL CLK */

+  PWM_CLK_BCLK,     /*!< PWM Clock source :Bus CLK */

+  PWM_CLK_32K,      /*!< PWM Clock source :32K CLK */

 } PWM_Clk_Type;

 

 /**

  *  @brief PWM Stop Mode definition

  */

 typedef enum {

-    PWM_STOP_ABRUPT = 0, /*!< PWM stop abrupt select define */

-    PWM_STOP_GRACEFUL,   /*!< PWM stop graceful select define */

+  PWM_STOP_ABRUPT = 0, /*!< PWM stop abrupt select define */

+  PWM_STOP_GRACEFUL,   /*!< PWM stop graceful select define */

 } PWM_Stop_Mode_Type;

 

 /**

  *  @brief PWM mode type def

  */

 typedef enum {

-    PWM_POL_NORMAL = 0, /*!< PWM normal polarity mode define */

-    PWM_POL_INVERT,     /*!< PWM invert polarity mode define */

+  PWM_POL_NORMAL = 0, /*!< PWM normal polarity mode define */

+  PWM_POL_INVERT,     /*!< PWM invert polarity mode define */

 } PWM_Polarity_Type;

 

 /**

  *  @brief PWM interrupt type def

  */

 typedef enum {

-    PWM_INT_PULSE_CNT = 0, /*!< PWM Pulse count interrupt define */

-    PWM_INT_ALL,           /*!<  */

+  PWM_INT_PULSE_CNT = 0, /*!< PWM Pulse count interrupt define */

+  PWM_INT_ALL,           /*!<  */

 } PWM_INT_Type;

 

 /**

  *  @brief PWM configuration structure type definition

  */

-typedef struct

-{

-    PWM_CH_ID_Type ch;           /*!< PWM channel */

-    PWM_Clk_Type clk;            /*!< PWM Clock */

-    PWM_Stop_Mode_Type stopMode; /*!< PWM Stop Mode */

-    PWM_Polarity_Type pol;       /*!< PWM mode type */

-    uint16_t clkDiv;             /*!< PWM clkDiv num */

-    uint16_t period;             /*!< PWM period set */

-    uint16_t threshold1;         /*!< PWM threshold1 num */

-    uint16_t threshold2;         /*!< PWM threshold2 num */

-    uint16_t intPulseCnt;        /*!< PWM interrupt pulse count */

+typedef struct {

+  PWM_CH_ID_Type     ch;          /*!< PWM channel */

+  PWM_Clk_Type       clk;         /*!< PWM Clock */

+  PWM_Stop_Mode_Type stopMode;    /*!< PWM Stop Mode */

+  PWM_Polarity_Type  pol;         /*!< PWM mode type */

+  uint16_t           clkDiv;      /*!< PWM clkDiv num */

+  uint16_t           period;      /*!< PWM period set */

+  uint16_t           threshold1;  /*!< PWM threshold1 num */

+  uint16_t           threshold2;  /*!< PWM threshold2 num */

+  uint16_t           intPulseCnt; /*!< PWM interrupt pulse count */

 } PWM_CH_CFG_Type;

 

 /*@} end of group PWM_Public_Types */

@@ -121,37 +121,27 @@ typedef struct
 /** @defgroup  PWM_CH_ID_TYPE

  *  @{

  */

-#define IS_PWM_CH_ID_TYPE(type) (((type) == PWM_CH0) || \

-                                 ((type) == PWM_CH1) || \

-                                 ((type) == PWM_CH2) || \

-                                 ((type) == PWM_CH3) || \

-                                 ((type) == PWM_CH4) || \

-                                 ((type) == PWM_CH_MAX))

+#define IS_PWM_CH_ID_TYPE(type) (((type) == PWM_CH0) || ((type) == PWM_CH1) || ((type) == PWM_CH2) || ((type) == PWM_CH3) || ((type) == PWM_CH4) || ((type) == PWM_CH_MAX))

 

 /** @defgroup  PWM_CLK_TYPE

  *  @{

  */

-#define IS_PWM_CLK_TYPE(type) (((type) == PWM_CLK_XCLK) || \

-                               ((type) == PWM_CLK_BCLK) || \

-                               ((type) == PWM_CLK_32K))

+#define IS_PWM_CLK_TYPE(type) (((type) == PWM_CLK_XCLK) || ((type) == PWM_CLK_BCLK) || ((type) == PWM_CLK_32K))

 

 /** @defgroup  PWM_STOP_MODE_TYPE

  *  @{

  */

-#define IS_PWM_STOP_MODE_TYPE(type) (((type) == PWM_STOP_ABRUPT) || \

-                                     ((type) == PWM_STOP_GRACEFUL))

+#define IS_PWM_STOP_MODE_TYPE(type) (((type) == PWM_STOP_ABRUPT) || ((type) == PWM_STOP_GRACEFUL))

 

 /** @defgroup  PWM_POLARITY_TYPE

  *  @{

  */

-#define IS_PWM_POLARITY_TYPE(type) (((type) == PWM_POL_NORMAL) || \

-                                    ((type) == PWM_POL_INVERT))

+#define IS_PWM_POLARITY_TYPE(type) (((type) == PWM_POL_NORMAL) || ((type) == PWM_POL_INVERT))

 

 /** @defgroup  PWM_INT_TYPE

  *  @{

  */

-#define IS_PWM_INT_TYPE(type) (((type) == PWM_INT_PULSE_CNT) || \

-                               ((type) == PWM_INT_ALL))

+#define IS_PWM_INT_TYPE(type) (((type) == PWM_INT_PULSE_CNT) || ((type) == PWM_INT_ALL))

 

 /*@} end of group PWM_Public_Constants */

 

@@ -173,21 +163,21 @@ typedef struct
 void PWM_IRQHandler(void);

 #endif

 BL_Err_Type PWM_Channel_Init(PWM_CH_CFG_Type *chCfg);

-void PWM_Channel_Update(PWM_CH_ID_Type ch, uint16_t period, uint16_t threshold1, uint16_t threshold2);

-void PWM_Channel_Set_Div(PWM_CH_ID_Type ch, uint16_t div);

-void PWM_Channel_Set_Threshold1(PWM_CH_ID_Type ch, uint16_t threshold1);

-void PWM_Channel_Set_Threshold2(PWM_CH_ID_Type ch, uint16_t threshold2);

-void PWM_Channel_Set_Period(PWM_CH_ID_Type ch, uint16_t period);

-void PWM_Channel_Get(PWM_CH_ID_Type ch, uint16_t *period, uint16_t *threshold1, uint16_t *threshold2);

-void PWM_IntMask(PWM_CH_ID_Type ch, PWM_INT_Type intType, BL_Mask_Type intMask);

-void PWM_Channel_Enable(PWM_CH_ID_Type ch);

-void PWM_Channel_Disable(PWM_CH_ID_Type ch);

-void PWM_SW_Mode(PWM_CH_ID_Type ch, BL_Fun_Type enable);

-void PWM_SW_Force_Value(PWM_CH_ID_Type ch, uint8_t value);

-void PWM_Int_Callback_Install(PWM_CH_ID_Type ch, uint32_t intType, intCallback_Type *cbFun);

+void        PWM_Channel_Update(PWM_CH_ID_Type ch, uint16_t period, uint16_t threshold1, uint16_t threshold2);

+void        PWM_Channel_Set_Div(PWM_CH_ID_Type ch, uint16_t div);

+void        PWM_Channel_Set_Threshold1(PWM_CH_ID_Type ch, uint16_t threshold1);

+void        PWM_Channel_Set_Threshold2(PWM_CH_ID_Type ch, uint16_t threshold2);

+void        PWM_Channel_Set_Period(PWM_CH_ID_Type ch, uint16_t period);

+void        PWM_Channel_Get(PWM_CH_ID_Type ch, uint16_t *period, uint16_t *threshold1, uint16_t *threshold2);

+void        PWM_IntMask(PWM_CH_ID_Type ch, PWM_INT_Type intType, BL_Mask_Type intMask);

+void        PWM_Channel_Enable(PWM_CH_ID_Type ch);

+uint8_t     PWM_Channel_Is_Enabled(PWM_CH_ID_Type ch);

+void        PWM_Channel_Disable(PWM_CH_ID_Type ch);

+void        PWM_SW_Mode(PWM_CH_ID_Type ch, BL_Fun_Type enable);

+void        PWM_SW_Force_Value(PWM_CH_ID_Type ch, uint8_t value);

+void        PWM_Int_Callback_Install(PWM_CH_ID_Type ch, uint32_t intType, intCallback_Type *cbFun);

 BL_Err_Type PWM_Smart_Configure(PWM_CH_ID_Type ch, uint32_t frequency, uint8_t dutyCycle);

 

-

 /*@} end of group PWM_Public_Functions */

 

 /*@} end of group PWM */

diff --git a/source/Core/BSP/Pinecilv2/bl_mcu_sdk/drivers/bl702_driver/std_drv/src/bl702_pwm.c b/source/Core/BSP/Pinecilv2/bl_mcu_sdk/drivers/bl702_driver/std_drv/src/bl702_pwm.c
index 535ef94e..b6315801 100644
--- a/source/Core/BSP/Pinecilv2/bl_mcu_sdk/drivers/bl702_driver/std_drv/src/bl702_pwm.c
+++ b/source/Core/BSP/Pinecilv2/bl_mcu_sdk/drivers/bl702_driver/std_drv/src/bl702_pwm.c
@@ -354,7 +354,18 @@ void PWM_Channel_Enable(PWM_CH_ID_Type ch) {
   tmpVal = BL_RD_REG(PWMx, PWM_CONFIG);

   BL_WR_REG(PWMx, PWM_CONFIG, BL_CLR_REG_BIT(tmpVal, PWM_STOP_EN));

 }

+uint8_t PWM_Channel_Is_Enabled(PWM_CH_ID_Type ch) {

+  uint32_t tmpVal;

+  /* Get channel register */

+  uint32_t PWMx = PWM_Get_Channel_Reg(ch);

 

+  /* Check the parameters */

+  CHECK_PARAM(IS_PWM_CH_ID_TYPE(ch));

+

+  /* Config pwm clock to enable pwm */

+  tmpVal = BL_RD_REG(PWMx, PWM_CONFIG);

+  return BL_GET_REG_BITS_VAL(tmpVal, PWM_STOP_EN) == 0;

+}

 /****************************************************************************

  * @brief  PWM disable

  *

diff --git a/source/Core/BSP/Pinecilv2/configuration.h b/source/Core/BSP/Pinecilv2/configuration.h
index 3683b085..5297f3a4 100644
--- a/source/Core/BSP/Pinecilv2/configuration.h
+++ b/source/Core/BSP/Pinecilv2/configuration.h
@@ -160,10 +160,16 @@
 #define HALL_SI7210
 #define DEBUG_UART_OUTPUT
 #define HAS_POWER_DEBUG_MENU
-#define HARDWARE_MAX_WATTAGE_X10 750
-#define BLE_ENABLED
-#define NEEDS_VBUS_PROBE 0
-#define CANT_DIRECT_READ_SETTINGS
+#define HARDWARE_MAX_WATTAGE_X10  750
+#define BLE_ENABLED                   // We have a BLE stack
+#define NEEDS_VBUS_PROBE          0   // No vbus probe, its not connected in pcb
+#define CANT_DIRECT_READ_SETTINGS     // We cant memcpy settings due to flash cache
+#define TIP_CONTROL_PID               // We use PID rather than integrator
+#define TIP_PID_KP                45  // Reasonable compromise for most tips so far
+#define TIP_PID_KI                9   // About as high for stability across tips
+#define TIP_PID_KD                200 // Helps dampen smaller tips; ~= nothing for larger tips
+#define FILTER_DISPLAYED_TIP_TEMP 8   // Filtering for GUI display
+
 #endif /* Pinecilv2 */
 
 #define FLASH_PAGE_SIZE (1024) // Read pages
diff --git a/source/Core/BSP/Sequre_S60/BSP.cpp b/source/Core/BSP/Sequre_S60/BSP.cpp
index 25ad176e..f960cd0d 100644
--- a/source/Core/BSP/Sequre_S60/BSP.cpp
+++ b/source/Core/BSP/Sequre_S60/BSP.cpp
@@ -234,8 +234,8 @@ uint8_t getTipResistanceX10() { return TIP_RESISTANCE; }
 bool    isTipShorted() { return false; }

 uint8_t preStartChecksDone() { return 1; }

 

-uint8_t getTipThermalMass() { return TIP_THERMAL_MASS; }

-uint8_t getTipInertia() { return TIP_THERMAL_INERTIA; }

+uint16_t getTipThermalMass() { return TIP_THERMAL_MASS; }

+uint16_t getTipInertia() { return TIP_THERMAL_INERTIA; }

 

 void setBuzzer(bool on) {}

 

diff --git a/source/Core/Threads/OperatingModes/OperatingModes.h b/source/Core/Threads/OperatingModes/OperatingModes.h
index 8ab84391..c552e327 100644
--- a/source/Core/Threads/OperatingModes/OperatingModes.h
+++ b/source/Core/Threads/OperatingModes/OperatingModes.h
@@ -10,6 +10,7 @@ extern "C" {
 #include "Settings.h"
 #include "TipThermoModel.h"
 #include "Translation.h"
+#include "Types.h"
 #include "cmsis_os.h"
 #include "configuration.h"
 #include "history.hpp"
@@ -25,12 +26,12 @@ extern "C" {
 
 // Exposed modes
 enum OperatingMode {
-    idle      = 0,
-    soldering = 1,
-    boost     = 2,
-    sleeping  = 3,
-    settings  = 4,
-    debug     = 5
+  idle      = 0,
+  soldering = 1,
+  boost     = 2,
+  sleeping  = 3,
+  settings  = 4,
+  debug     = 5
 };
 
 // Main functions
@@ -46,6 +47,6 @@ void drawHomeScreen(bool buttonLockout) __attribute__((noreturn)); // IDLE / Hom
 void renderHomeScreenAssets(void);                                 // Called to act as start delay and used to render out flipped images for home screen graphics
 
 // Common helpers
-int8_t   getPowerSourceNumber(void);                               // Returns number ID of power source
-uint16_t getTipTemp(void);                                         // Returns temperature of the tip in *C/*F (based on user settings)
+int8_t            getPowerSourceNumber(void); // Returns number ID of power source
+TemperatureType_t getTipTemp(void);           // Returns temperature of the tip in *C/*F (based on user settings)
 #endif
diff --git a/source/Core/Threads/OperatingModes/Sleep.cpp b/source/Core/Threads/OperatingModes/Sleep.cpp
index 9839a25d..5c3c47e7 100644
--- a/source/Core/Threads/OperatingModes/Sleep.cpp
+++ b/source/Core/Threads/OperatingModes/Sleep.cpp
@@ -25,7 +25,7 @@ int gui_SolderingSleepingMode(bool stayOff, bool autoStarted) {
     }
 
     // draw the lcd
-    uint16_t tipTemp = getTipTemp();
+    TemperatureType_t tipTemp = getTipTemp();
 
     OLED::clearScreen();
     OLED::setCursor(0, 0);
diff --git a/source/Core/Threads/OperatingModes/utils/DrawTipTemperature.cpp b/source/Core/Threads/OperatingModes/utils/DrawTipTemperature.cpp
index b14cf64f..7e5cff17 100644
--- a/source/Core/Threads/OperatingModes/utils/DrawTipTemperature.cpp
+++ b/source/Core/Threads/OperatingModes/utils/DrawTipTemperature.cpp
@@ -4,7 +4,7 @@
 
 void gui_drawTipTemp(bool symbol, const FontStyle font) {
   // Draw tip temp handling unit conversion & tolerance near setpoint
-  uint16_t Temp = getTipTemp();
+  TemperatureType_t Temp = getTipTemp();
 
   OLED::printNumber(Temp, 3, font); // Draw the tip temp out
   if (symbol) {
diff --git a/source/Core/Threads/OperatingModes/utils/SolderingCommon.cpp b/source/Core/Threads/OperatingModes/utils/SolderingCommon.cpp
index e8e457fa..0f1bbd2a 100644
--- a/source/Core/Threads/OperatingModes/utils/SolderingCommon.cpp
+++ b/source/Core/Threads/OperatingModes/utils/SolderingCommon.cpp
@@ -4,6 +4,8 @@
 
 #include "SolderingCommon.h"
 #include "OperatingModes.h"
+#include "configuration.h"
+#include "history.hpp"
 
 extern bool heaterThermalRunaway;
 
@@ -166,4 +168,14 @@ int8_t getPowerSourceNumber(void) {
 }
 
 // Returns temperature of the tip in *C/*F (based on user settings)
-uint16_t getTipTemp(void) { return getSettingValue(SettingsOptions::TemperatureInF) ? TipThermoModel::getTipInF() : TipThermoModel::getTipInC(); }
+TemperatureType_t getTipTemp(void) {
+#ifdef FILTER_DISPLAYED_TIP_TEMP
+  static history<TemperatureType_t, FILTER_DISPLAYED_TIP_TEMP> Filter_Temp;
+  TemperatureType_t                                            reading = getSettingValue(SettingsOptions::TemperatureInF) ? TipThermoModel::getTipInF() : TipThermoModel::getTipInC();
+  Filter_Temp.update(reading);
+  return Filter_Temp.average();
+
+#else
+  return getSettingValue(SettingsOptions::TemperatureInF) ? TipThermoModel::getTipInF() : TipThermoModel::getTipInC();
+#endif
+}
diff --git a/source/Core/Threads/PIDThread.cpp b/source/Core/Threads/PIDThread.cpp
index 7118273b..615a966d 100644
--- a/source/Core/Threads/PIDThread.cpp
+++ b/source/Core/Threads/PIDThread.cpp
@@ -10,6 +10,7 @@
 #include "Settings.h"

 #include "TipThermoModel.h"

 #include "cmsis_os.h"

+#include "configuration.h"

 #include "history.hpp"

 #include "main.hpp"

 #include "power.hpp"

@@ -22,7 +23,7 @@ volatile TemperatureType_t currentTempTargetDegC   = 0; // Current temperature t
 int32_t                    powerSupplyWattageLimit = 0;

 bool                       heaterThermalRunaway    = false;

 

-static int32_t getPIDResultX10Watts(TemperatureType_t tError);

+static int32_t getPIDResultX10Watts(TemperatureType_t set_point, TemperatureType_t current_value);

 static void    detectThermalRunaway(const TemperatureType_t currentTipTempInC, const TemperatureType_t tError);

 static void    setOutputx10WattsViaFilters(int32_t x10Watts);

 static int32_t getX10WattageLimits();

@@ -71,10 +72,9 @@ void startPIDTask(void const *argument __unused) {
         if (PIDTempTarget > TipThermoModel::getTipMaxInC()) {

           PIDTempTarget = TipThermoModel::getTipMaxInC();

         }

-        TemperatureType_t tError = PIDTempTarget - currentTipTempInC;

 

-        detectThermalRunaway(currentTipTempInC, tError);

-        x10WattsOut = getPIDResultX10Watts(tError);

+        detectThermalRunaway(currentTipTempInC, PIDTempTarget - currentTipTempInC);

+        x10WattsOut = getPIDResultX10Watts(PIDTempTarget, currentTipTempInC);

       } else {

         detectThermalRunaway(currentTipTempInC, 0);

       }

@@ -89,6 +89,53 @@ void startPIDTask(void const *argument __unused) {
   }

 }

 

+#ifdef TIP_CONTROL_PID

+template <class T, T Kp, T Ki, T Kd, T integral_limit_scale> struct PID {

+  T previous_error_term;

+  T integration_running_sum;

+

+  T update(const T set_point, const T new_reading, const TickType_t interval_ms, const T max_output) {

+    const T target_delta = set_point - new_reading;

+

+    // Proportional term

+    const T kp_result = Kp * target_delta;

+

+    // Integral term as we use mixed sampling rates, we cant assume a constant sample interval

+    // Thus we multiply this out by the interval time to ~= dv/dt

+    // Then the shift by 1000 is ms -> Seconds

+

+    integration_running_sum += (target_delta * interval_ms * Ki) / 1000;

+

+    // We constrain integration_running_sum to limit windup

+    // This is not overly required for most use cases but can prevent large overshoot in constrained implementations

+    if (integration_running_sum > integral_limit_scale * max_output) {

+      integration_running_sum = integral_limit_scale * max_output;

+    } else if (integration_running_sum < -integral_limit_scale * max_output) {

+      integration_running_sum = -integral_limit_scale * max_output;

+    }

+    // Calculate the integral term, we use a shift 100 to get precision in integral as we often need small amounts

+    T ki_result = integration_running_sum / 100;

+

+    // Derivative term

+    T derivative = (target_delta - previous_error_term);

+    T kd_result  = ((Kd * derivative) / (T)(interval_ms));

+

+    // Summation of the outputs

+    T output = kp_result + ki_result + kd_result;

+

+    // Restrict to max / 0

+    if (output > max_output)

+      output = max_output;

+    else if (output < 0)

+      output = 0;

+

+    // Save target_delta to previous target_delta

+    previous_error_term = target_delta;

+

+    return output;

+  }

+};

+#else

 template <class T = TemperatureType_t> struct Integrator {

   T sum;

 

@@ -114,12 +161,20 @@ template <class T = TemperatureType_t> struct Integrator {
 

   T get(bool positiveOnly = true) const { return (positiveOnly) ? ((sum > 0) ? sum : 0) : sum; }

 };

-int32_t getPIDResultX10Watts(TemperatureType_t setpointDelta) {

-  static TickType_t                    lastCall   = 0;

-  static Integrator<TemperatureType_t> powerStore = {0};

+#endif

+int32_t getPIDResultX10Watts(TemperatureType_t set_point, TemperatureType_t current_reading) {

+  static TickType_t lastCall = 0;

+

+#ifdef TIP_CONTROL_PID

+  static PID<TemperatureType_t, TIP_PID_KP, TIP_PID_KI, TIP_PID_KD, 5> pid = {0, 0};

 

-  const TickType_t rate = TICKS_SECOND / (xTaskGetTickCount() - lastCall);

-  lastCall              = xTaskGetTickCount();

+  const TickType_t interval = (xTaskGetTickCount() - lastCall);

+

+#else

+  static Integrator<TemperatureType_t> powerStore = {0};

+  const TickType_t                     rate       = TICKS_SECOND / (xTaskGetTickCount() - lastCall);

+#endif

+  lastCall = xTaskGetTickCount();

   // Sandman note:

   // PID Challenge - we have a small thermal mass that we to want heat up as fast as possible but we don't

   // want to overshot excessively (if at all) the set point temperature. In the same time we have 'imprecise'

@@ -141,11 +196,16 @@ int32_t getPIDResultX10Watts(TemperatureType_t setpointDelta) {
   // tip temperature with (Delta Temperature ) °C in 1 second.

   // Note on powerStore. On update, if the value is provided in X10 (W) units then inertia shall be provided

   // in X10 (J / °C) units as well.

-  return powerStore.update(((TemperatureType_t)getTipThermalMass()) * setpointDelta, // the required power

-                           getTipInertia(),                                          // Inertia, smaller numbers increase dominance of the previous value

-                           2,                                                        // gain

-                           rate,                                                     // PID cycle frequency

+

+#ifdef TIP_CONTROL_PID

+  return pid.update(set_point, current_reading, interval, getX10WattageLimits());

+#else

+  return powerStore.update(((TemperatureType_t)getTipThermalMass()) * (set_point - current_reading), // the required power

+                           getTipInertia(),                                                          // Inertia, smaller numbers increase dominance of the previous value

+                           2,                                                                        // gain

+                           rate,                                                                     // PID cycle frequency

                            getX10WattageLimits());

+#endif

 }

 

 void detectThermalRunaway(const TemperatureType_t currentTipTempInC, const TemperatureType_t tError) {