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-rw-r--r--workspace/TS100/src/main.cpp147
1 files changed, 64 insertions, 83 deletions
diff --git a/workspace/TS100/src/main.cpp b/workspace/TS100/src/main.cpp
index 94599d85..be365ab8 100644
--- a/workspace/TS100/src/main.cpp
+++ b/workspace/TS100/src/main.cpp
@@ -3,6 +3,8 @@
#include <gui.hpp>
#include <main.hpp>
#include "LIS2DH12.hpp"
+#include <history.hpp>
+#include <power.hpp>
#include "Settings.h"
#include "Translation.h"
#include "cmsis_os.h"
@@ -36,7 +38,7 @@ int main(void) {
HAL_Init();
Setup_HAL(); // Setup all the HAL objects
HAL_IWDG_Refresh(&hiwdg);
- setTipPWM(0); // force tip off
+ setTipMilliWatts(0); // force tip off
FRToSI2C::init(&hi2c1);
OLED::initialize(); // start up the LCD
OLED::setFont(0); // default to bigger font
@@ -87,6 +89,21 @@ int main(void) {
while (1) {
}
}
+
+void debugNumber(int32_t val) {
+ if (abs(val) > 99999) {
+ OLED::print(" OoB"); // out of bounds
+ return;
+ }
+ if (val >= 0) {
+ OLED::drawChar(' ');
+ OLED::printNumber(val, 5);
+ } else {
+ OLED::drawChar('-');
+ OLED::printNumber(-val, 5);
+ }
+}
+
void printVoltage() {
OLED::printNumber(getInputVoltageX10(systemSettings.voltageDiv) / 10, 2);
OLED::drawChar('.');
@@ -535,8 +552,10 @@ static void gui_solderingMode(uint8_t jumpToSleep) {
if (systemSettings.detailedSoldering) {
OLED::setFont(1);
OLED::print(SolderingAdvancedPowerPrompt); // Power:
- OLED::printNumber(getTipPWM(), 3);
- OLED::print("%");
+ OLED::printNumber(milliWattHistory[0] / 1000, 2);
+ OLED::drawChar('.');
+ OLED::printNumber(milliWattHistory[0] / 100 % 10, 1);
+ OLED::drawChar('W');
if (systemSettings.sensitivity && systemSettings.SleepTime) {
OLED::print(" ");
@@ -723,7 +742,7 @@ void startGUITask(void const *argument __unused) {
uint8_t tempWarningState = 0;
bool buttonLockout = false;
bool tempOnDisplay = false;
- getTipRawTemp(2); // reset filter
+ getTipRawTemp(1); // reset filter
OLED::setRotation(systemSettings.OrientationMode & 1);
uint32_t ticks = xTaskGetTickCount();
ticks += 400; // 4 seconds from now
@@ -786,8 +805,7 @@ void startGUITask(void const *argument __unused) {
#ifdef MODEL_TS80
//Here we re-check for tip presence
if (idealQCVoltage < 90)
- idealQCVoltage = calculateMaxVoltage(1,
- systemSettings.cutoutSetting); // 1 means use filtered values rather than do its own
+ idealQCVoltage = calculateMaxVoltage(systemSettings.cutoutSetting);
seekQC(idealQCVoltage,systemSettings.voltageDiv);
#endif
gui_solderingMode(0); // enter soldering mode
@@ -807,7 +825,7 @@ void startGUITask(void const *argument __unused) {
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(0));
if (tipTemp < 50) {
if (systemSettings.sensitivity) {
@@ -906,37 +924,15 @@ void startPIDTask(void const *argument __unused) {
* struct
*
*/
- setTipPWM(0); // disable the output driver if the output is set to be off
-#ifdef MODEL_TS100
- for (uint8_t i = 0; i < 50; i++) {
- osDelay(10);
- getTipRawTemp(1); // cycle up the tip temp filter
- HAL_IWDG_Refresh(&hiwdg);
- }
-#else
- // On the TS80 we can measure the tip resistance before cycling the filter a
- // bit
- idealQCVoltage = 0;
- idealQCVoltage = calculateMaxVoltage(0, systemSettings.cutoutSetting);
- // Rapidly cycle the filter to help converge
- HAL_IWDG_Refresh(&hiwdg);
- for (uint8_t i = 0; i < 50; i++) {
- osDelay(11);
- getTipRawTemp(1); // cycle up the tip temp filter
- }
- HAL_IWDG_Refresh(&hiwdg);
-
+ setTipMilliWatts(0); // disable the output driver if the output is set to be off
+#ifdef MODEL_TS80
+ idealQCVoltage = calculateMaxVoltage(systemSettings.cutoutSetting);
#endif
+ int32_t rawC = ctoTipMeasurement(100) - ctoTipMeasurement(101); // 1*C change in raw.
currentlyActiveTemperatureTarget = 0; // Force start with no output (off). If in sleep / soldering this will
- // be over-ridded rapidly
- int32_t integralCount = 0;
- int32_t derivativeLastValue = 0;
-
- // REMEBER ^^^^ These constants are backwards
- // They act as dividers, so to 'increase' a P term, you make the number
- // smaller.
+ // be over-ridden rapidly
+ history<int16_t> tempError = {{0}, 0, 0};
- const int32_t itermMax = 100;
pidTaskNotification = xTaskGetCurrentTaskHandle();
for (;;) {
if (ulTaskNotifyTake(pdTRUE, 50)) {
@@ -944,69 +940,54 @@ void startPIDTask(void const *argument __unused) {
// 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
- // Because our values here are quite large for all measurements (0-32k
- // ~= 66 counts per C) P I & D are divisors, so inverse logic applies
- // (beware)
-
// Cap the max set point to 450C
if (currentlyActiveTemperatureTarget > ctoTipMeasurement(450)) {
currentlyActiveTemperatureTarget = ctoTipMeasurement(450);
}
- int32_t rawTempError = currentlyActiveTemperatureTarget
- - rawTemp;
-
- int32_t ierror = (rawTempError
- / ((int32_t) systemSettings.PID_I));
-
- integralCount += ierror;
-
- if (integralCount > (itermMax / 2))
- integralCount = itermMax / 2; // prevent too much lead
- else if (integralCount < -itermMax)
- integralCount = itermMax;
-
- int32_t dInput = (rawTemp - derivativeLastValue);
-
- /*Compute PID Output*/
- int32_t output = (rawTempError
- / ((int32_t) systemSettings.PID_P));
- if (((int32_t) systemSettings.PID_I))
- output += integralCount;
- if (((int32_t) systemSettings.PID_D))
- output -= (dInput / ((int32_t) systemSettings.PID_D));
-
- if (output > 100) {
- output = 100; // saturate
- } else if (output < 0) {
- output = 0;
- }
-
- if (currentlyActiveTemperatureTarget < rawTemp) {
- output = 0;
- integralCount = 0;
- derivativeLastValue = 0;
- }
- setTipPWM(output);
- derivativeLastValue = rawTemp; // store for next loop
-
+ // As we get close to our target, temp noise causes the system
+ // to be unstable. Use a rolling average to dampen it.
+ // We overshoot by roughly 1/2 of 1 degree Fahrenheit.
+ // This helps stabilize the display.
+ tempError.update(currentlyActiveTemperatureTarget - rawTemp + rawC/4);
+
+ // Now for the PID!
+ int32_t milliWattsOut = 0;
+
+ // P term - total power needed to hit target temp next cycle.
+ // thermal mass = 1690 milliJ/*C for my tip.
+ // = Watts*Seconds to raise Temp from room temp to +100*C, divided by 100*C.
+ // divided by 4 to let I term dominate near set point.
+ const uint16_t mass = 1690 / 4;
+ int32_t milliWattsNeeded = tempToMilliWatts(tempError.average(), mass, rawC);
+ milliWattsOut += milliWattsNeeded;
+
+ // I term - energy needed to compensate for heat loss.
+ // We track energy put into the system over some window.
+ // Assuming the temp is stable, energy in = energy transfered.
+ // (If it isn't, P will dominate).
+ milliWattsOut += milliWattHistory.average();
+
+ // D term - use sudden temp change to counter fast cooling/heating.
+ // In practice, this provides an early boost if temp is dropping
+ // and counters extra power if the iron is no longer losing temp.
+ // basically: temp - lastTemp
+ // Unfortunately, our temp signal is too noisy to really help.
+
+ setTipMilliWatts(milliWattsOut);
} else {
- setTipPWM(0); // disable the output driver if the output is set to be off
- integralCount = 0;
- derivativeLastValue = 0;
+ setTipMilliWatts(0);
}
HAL_IWDG_Refresh(&hiwdg);
} else {
if (currentlyActiveTemperatureTarget == 0) {
- setTipPWM(0); // disable the output driver if the output is set to be off
- integralCount = 0;
- derivativeLastValue = 0;
+ setTipMilliWatts(0);
}
}
}
}
+
#define MOVFilter 8
void startMOVTask(void const *argument __unused) {
OLED::setRotation(false);
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