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-rw-r--r--workspace/TS100/.settings/language.settings.xml4
-rw-r--r--workspace/TS100/inc/main.hpp8
-rw-r--r--workspace/TS100/src/Setup.c9
-rw-r--r--workspace/TS100/src/hardware.c52
-rw-r--r--workspace/TS100/src/main.cpp59
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);
+ }
+}
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-25 05:23:16 +0000