aboutsummaryrefslogtreecommitdiffhomepage
path: root/workspace/TS100/src/main.cpp
blob: bb3f107a2025fc6b8eb0e417b08bf7920fa1dbec (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
// By Ben V. Brown - V2.0 of the TS100 firmware
#include <main.hpp>
#include <MMA8652FC.hpp>
#include "stm32f1xx_hal.h"
#include "cmsis_os.h"
#include "OLED.hpp"
#include "Settings.h"
#include "Translation.h"
#include "string.h"
#include "gui.h"
#include "stdlib.h"

//C++ objects
OLED lcd(&hi2c1);
MMA8652FC accel(&hi2c1);

//File local variables
uint16_t currentlyActiveTemperatureTarget = 0;
uint32_t lastMovementTime = 0;
uint32_t lastButtonTime = 0;

// FreeRTOS variables
osThreadId GUITaskHandle;
osThreadId PIDTaskHandle;
osThreadId ROTTaskHandle;
osThreadId MOVTaskHandle;
SemaphoreHandle_t rotationChangedSemaphore = NULL;
SemaphoreHandle_t accelDataAvailableSemaphore = NULL;

void startGUITask(void const * argument);
void startPIDTask(void const * argument);
void startMOVTask(void const * argument);
void startRotationTask(void const * argument);
// End FreeRTOS

//Main inits hardware then hands over to the FreeRTOS kernel
int main(void) {
	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
	HAL_Init();
	Setup_HAL();    //Setup all the HAL objects
	setTipPWM(0);
	lcd.initialize();    //start up the LCD
	lcd.setFont(0);    //default to bigger font
	accel.initalize(); //this sets up the I2C registers and loads up the default settings
	HAL_IWDG_Refresh(&hiwdg);
	restoreSettings();    //load the settings from flash
	setCalibrationOffset(systemSettings.CalibrationOffset);
	HAL_IWDG_Refresh(&hiwdg);
	/* Create the thread(s) */
	/* definition and creation of GUITask */
	osThreadDef(GUITask, startGUITask, osPriorityBelowNormal, 0, 512);
	GUITaskHandle = osThreadCreate(osThread(GUITask), NULL);

	/* definition and creation of PIDTask */
	osThreadDef(PIDTask, startPIDTask, osPriorityRealtime, 0, 256);
	PIDTaskHandle = osThreadCreate(osThread(PIDTask), NULL);

	/* definition and creation of ROTTask */
	osThreadDef(ROTTask, startRotationTask, osPriorityLow, 0, 256);
	ROTTaskHandle = osThreadCreate(osThread(ROTTask), NULL);
	/* definition and creation of MOVTask */
	osThreadDef(MOVTask, startMOVTask, osPriorityNormal, 0, 256);
	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();

	/* We should never get here as control is now taken by the scheduler */
	while (1) {
	}
}
void GUIDelay() {
	osDelay(50);    //20Hz
}
void gui_drawTipTemp() {
	//Draw tip temp handling unit conversion & tolerance near setpoint
	uint16_t Temp = getTipRawTemp(0);

	if (systemSettings.temperatureInF)
		Temp = tipMeasurementToF(Temp);
	else
		Temp = tipMeasurementToC(Temp);
	//[Disabled 24/11/2017] Round if nearby
	//if (abs(Temp - systemSettings.SolderingTemp) < 3)
	//	Temp = systemSettings.SolderingTemp;

	lcd.printNumber(Temp, 3);    //Draw the tip temp out finally

}
ButtonState getButtonState() {
	/*
	 * Read in the buttons and then determine if a state change needs to occur
	 */

	/*
	 * If the previous state was  00 Then we want to latch the new state if different & update time
	 * If the previous state was !00 Then we want to search if we trigger long press (buttons still down), or if release we trigger press (downtime>filter)
	 */
	static uint8_t previousState = 0;
	static uint32_t previousStateChange = 0;
	const uint16_t timeout = 400;
	uint8_t currentState;
	currentState = (
			HAL_GPIO_ReadPin(KEY_A_GPIO_Port, KEY_A_Pin) == GPIO_PIN_RESET ?
					1 : 0) << 0;
	currentState |= (
			HAL_GPIO_ReadPin(KEY_B_GPIO_Port, KEY_B_Pin) == GPIO_PIN_RESET ?
					1 : 0) << 1;

	if (currentState)
		lastButtonTime = HAL_GetTick();
	if (currentState == previousState) {
		if (currentState == 0)
			return BUTTON_NONE;
		if ((HAL_GetTick() - previousStateChange) > timeout) {
			// User has been holding the button down
			// We want to send a buttong is held message
			if (currentState == 0x01)
				return BUTTON_F_LONG;
			else if (currentState == 0x02)
				return BUTTON_B_LONG;
			else
				return BUTTON_NONE; // Both being held case, we dont long hold this
		} else
			return BUTTON_NONE;
	} else {
		// A change in button state has occurred
		ButtonState retVal = BUTTON_NONE;
		if (currentState) {
			//User has pressed a button down (nothing done on down)

		} else {
			// User has released buttons
			// If they previously had the buttons down we want to check if they were < long hold and trigger a press
			if ((HAL_GetTick() - previousStateChange) < timeout) {
				// The user didn't hold the button for long
				// So we send button press

				if (previousState == 0x01)
					retVal = BUTTON_F_SHORT;
				else if (previousState == 0x02)
					retVal = BUTTON_B_SHORT;
				else
					retVal = BUTTON_BOTH;    // Both being held case
			}

		}
		previousState = currentState;
		previousStateChange = HAL_GetTick();
		return retVal;
	}
	return BUTTON_NONE;
}

static void waitForButtonPress() {
	//we are just lazy and sleep until user confirms button press
	//This also eats the button press event!
	ButtonState buttons = getButtonState();
	while (buttons) {
		buttons = getButtonState();
		GUIDelay();
		HAL_IWDG_Refresh(&hiwdg);
		lcd.refresh();
	}
	while (!buttons) {
		buttons = getButtonState();
		GUIDelay();
		HAL_IWDG_Refresh(&hiwdg);
		lcd.refresh();
	}
}
static void waitForButtonPressOrTimeout(uint32_t timeout) {
	timeout += HAL_GetTick();
	//Make timeout our exit value
	for (;;) {
		ButtonState buttons = getButtonState();
		if (buttons)
			return;
		if (HAL_GetTick() > timeout)
			return;
		GUIDelay();
		HAL_IWDG_Refresh(&hiwdg);

	}
}

//returns true if undervoltage has occured
static bool checkVoltageForExit() {
	uint16_t v = getInputVoltageX10(systemSettings.voltageDiv);
	if ((v < lookupVoltageLevel(systemSettings.cutoutSetting))) {
		lcd.clearScreen();
		lcd.setCursor(0, 0);
		if (systemSettings.detailedSoldering) {
			lcd.setFont(1);
			lcd.print("Undervoltage");
			lcd.setCursor(0, 8);
			lcd.print("Input V: ");
			lcd.printNumber(getInputVoltageX10(systemSettings.voltageDiv) / 10,
					2);
			lcd.drawChar('.');
			lcd.printNumber(getInputVoltageX10(systemSettings.voltageDiv) % 10,
					1);
			lcd.print("V");

		} else {
			lcd.setFont(0);
			lcd.print("DC LOW");
		}

		lcd.refresh();
		currentlyActiveTemperatureTarget = 0;
		waitForButtonPress();
		return true;
	}
	return false;
}
static void gui_drawBatteryIcon() {
	if (systemSettings.cutoutSetting) {
		//User is on a lithium battery
		//we need to calculate which of the 10 levels they are on
		uint8_t cellCount = systemSettings.cutoutSetting + 2;
		uint16_t cellV = getInputVoltageX10(systemSettings.voltageDiv)
				/ cellCount;
		//Should give us approx cell voltage X10
		//Range is 42 -> 33 = 9 steps therefore we will use battery 1-10
		if (cellV < 33)
			cellV = 33;
		cellV -= 33;			//Should leave us a number of 0-9
		if (cellV > 9)
			cellV = 9;
		lcd.drawBattery(cellV + 1);
	} else
		lcd.drawSymbol(16);			//Draw the DC Logo

}
static void gui_solderingTempAdjust() {
	uint32_t lastChange = HAL_GetTick();
	currentlyActiveTemperatureTarget = 0;
	for (;;) {
		lcd.setCursor(0, 0);
		lcd.clearScreen();
		lcd.setFont(0);
		ButtonState buttons = getButtonState();
		if (buttons)
			lastChange = HAL_GetTick();
		switch (buttons) {
		case BUTTON_NONE:
			//stay
			break;
		case BUTTON_BOTH:
			//exit
			return;
			break;
		case BUTTON_B_LONG:

			break;
		case BUTTON_F_LONG:

			break;
		case BUTTON_F_SHORT:
			if (lcd.getRotation()) {
				systemSettings.SolderingTemp += 10;    //add 10
			} else {
				systemSettings.SolderingTemp -= 10;    //sub 10
			}
			break;
		case BUTTON_B_SHORT:
			if (!lcd.getRotation()) {
				systemSettings.SolderingTemp += 10;    //add 10
			} else {
				systemSettings.SolderingTemp -= 10;    //sub 10
			}
			break;
		}
		// constrain between 50-450 C
		if (systemSettings.temperatureInF) {
			if (systemSettings.SolderingTemp > 850)
				systemSettings.SolderingTemp = 850;
		} else {
			if (systemSettings.SolderingTemp > 450)
				systemSettings.SolderingTemp = 450;
		}

		if (systemSettings.temperatureInF) {
			if (systemSettings.SolderingTemp < 120)
				systemSettings.SolderingTemp = 120;
		} else {
			if (systemSettings.SolderingTemp < 50)
				systemSettings.SolderingTemp = 50;
		}

		if (HAL_GetTick() - lastChange > 1500)
			return;    // exit if user just doesn't press anything for a bit
		lcd.drawChar('<');
		lcd.drawChar(' ');
		lcd.printNumber(systemSettings.SolderingTemp, 3);
		if (systemSettings.temperatureInF)
			lcd.drawSymbol(0);
		else
			lcd.drawSymbol(1);
		lcd.drawChar(' ');
		lcd.drawChar('>');
		lcd.refresh();
		GUIDelay();
	}
}
static void gui_settingsMenu() {
//Draw the settings menu and provide iteration support etc
	uint8_t currentScreen = 0;
	uint32_t autoRepeatTimer = 0;
	settingsResetRequest = false;
	bool earlyExit = false;
	uint32_t descriptionStart = 0;
	while ((settingsMenu[currentScreen].incrementHandler.func != NULL)
			&& earlyExit == false) {
		lcd.setFont(0);
		lcd.clearScreen();
		lcd.setCursor(0, 0);

		if (HAL_GetTick() - lastButtonTime < 4000) {
			settingsMenu[currentScreen].draw.func();

		} else {
			//Draw description
			//draw string starting from descriptionOffset
			int16_t maxOffset = strlen(settingsMenu[currentScreen].description)
					+ 5;
			if (descriptionStart == 0)
				descriptionStart = HAL_GetTick();

			int16_t descriptionOffset = (((HAL_GetTick() - descriptionStart)
					/ 10) % (maxOffset * 12));
			//^ Rolling offset based on time
			lcd.setCursor(((7 * 12) - descriptionOffset), 0);
			lcd.print(settingsMenu[currentScreen].description);
		}

		ButtonState buttons = getButtonState();

		switch (buttons) {
		case BUTTON_BOTH:
			earlyExit = true;    //will make us exit next loop
			descriptionStart = 0;
			break;
		case BUTTON_F_SHORT:
			//increment
			if (descriptionStart == 0)
				settingsMenu[currentScreen].incrementHandler.func();
			else
				descriptionStart = 0;
			break;
		case BUTTON_B_SHORT:
			if (descriptionStart == 0)
				currentScreen++;
			else
				descriptionStart = 0;
			break;
		case BUTTON_F_LONG:
			if (HAL_GetTick() - autoRepeatTimer > 200) {
				settingsMenu[currentScreen].incrementHandler.func();
				autoRepeatTimer = HAL_GetTick();
				descriptionStart = 0;
			}
			break;
		case BUTTON_B_LONG:
			if (HAL_GetTick() - autoRepeatTimer > 200) {
				currentScreen++;
				autoRepeatTimer = HAL_GetTick();
				descriptionStart = 0;
			}
			break;
		case BUTTON_NONE:
			break;
		}

		lcd.refresh();    //update the LCD
		osDelay(20);
		HAL_IWDG_Refresh(&hiwdg);

	}
	if (settingsResetRequest)
		resetSettings();
	saveSettings();
}
static int gui_showTipTempWarning() {
	for (;;) {

		uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(0));
		lcd.clearScreen();
		lcd.setCursor(0, 0);
		if (systemSettings.detailedSoldering) {
			lcd.setFont(1);
			lcd.print(WarningAdvancedString);
			lcd.setCursor(0, 8);
			lcd.print("Tip Temp: ");

			if (systemSettings.temperatureInF) {
				lcd.printNumber(tipMeasurementToF(getTipRawTemp(0)), 3);
				lcd.print("F");
			} else {
				lcd.printNumber(tipMeasurementToC(getTipRawTemp(0)), 3);
				lcd.print("C");
			}
		} else {
			lcd.setFont(0);
			lcd.drawArea(0, 0, 24, 16, WarningBlock24);
			lcd.setCursor(24, 0);
			//lcd.print(WarningSimpleString);
			lcd.print(" ");
			if (systemSettings.temperatureInF) {
				lcd.printNumber(tipMeasurementToF(getTipRawTemp(0)), 3);
				lcd.drawSymbol(0);
			} else {
				lcd.printNumber(tipMeasurementToC(getTipRawTemp(0)), 3);
				lcd.drawSymbol(1);
			}
		}
		if (systemSettings.coolingTempBlink && tipTemp > 50) {
			if (HAL_GetTick() % 500 < 250)
				lcd.clearScreen();
		}
		lcd.refresh();
		ButtonState buttons = getButtonState();
		if (buttons == BUTTON_F_SHORT)
			return 1;
		else if (buttons == BUTTON_B_SHORT || buttons == BUTTON_BOTH)
			return 0;

		if (tipTemp < 30)
			return 0;

		HAL_IWDG_Refresh(&hiwdg);
		GUIDelay();
	}
}
static uint16_t min(uint16_t a, uint16_t b) {
	if (a > b)
		return b;
	else
		return a;
}
static int gui_SolderingSleepingMode() {
//Drop to sleep temperature and display until movement or button press

	for (;;) {
		ButtonState buttons = getButtonState();
		if (buttons)
			return 0;
		if ((HAL_GetTick() - lastMovementTime < 1000)
				|| (HAL_GetTick() - lastButtonTime < 1000))
			return 0;    //user moved or pressed a button, go back to soldering
		if (checkVoltageForExit())
			return 1;    //return non-zero on error

		if (systemSettings.temperatureInF)
			currentlyActiveTemperatureTarget = ftoTipMeasurement(
					min(systemSettings.SleepTemp,
							systemSettings.SolderingTemp));
		else
			currentlyActiveTemperatureTarget = ctoTipMeasurement(
					min(systemSettings.SleepTemp,
							systemSettings.SolderingTemp));
		//draw the lcd
		uint16_t tipTemp;
		if (systemSettings.temperatureInF)
			tipTemp = tipMeasurementToF(getTipRawTemp(0));
		else
			tipTemp = tipMeasurementToC(getTipRawTemp(0));

		lcd.clearScreen();
		lcd.setCursor(0, 0);
		if (systemSettings.detailedSoldering) {
			lcd.setFont(1);
			lcd.print(SleepingAdvancedString);
			lcd.setCursor(0, 8);
			lcd.print("Tip:");
			lcd.printNumber(tipTemp, 3);
			if (systemSettings.temperatureInF)
				lcd.print("F");
			else
				lcd.print("C");

			lcd.print(" ");
			lcd.printNumber(getInputVoltageX10(systemSettings.voltageDiv) / 10,
					2);
			lcd.drawChar('.');
			lcd.printNumber(getInputVoltageX10(systemSettings.voltageDiv) % 10,
					1);
			lcd.drawChar('V');
		} else {
			lcd.setFont(0);
			lcd.print(SleepingSimpleString);
			lcd.printNumber(tipTemp, 3);
			if (systemSettings.temperatureInF)
				lcd.drawSymbol(0);
			else
				lcd.drawSymbol(1);
		}
		if (systemSettings.ShutdownTime)  //only allow shutdown exit if time > 0
			if (lastMovementTime)
				if (((uint32_t) (HAL_GetTick() - lastMovementTime))
						> (uint32_t) (systemSettings.ShutdownTime * 60 * 1000)) {
					//shutdown
					currentlyActiveTemperatureTarget = 0;
					return 1;    //we want to exit soldering mode
				}
		lcd.refresh();
		GUIDelay();
		HAL_IWDG_Refresh(&hiwdg);

	}
}
static void gui_solderingMode() {
	/*
	 * * Soldering (gui_solderingMode)
	 * -> Main loop where we draw temp, and animations
	 * --> User presses buttons and they goto the temperature adjust screen
	 * ---> Display the current setpoint temperature
	 * ---> Use buttons to change forward and back on temperature
	 * ---> Both buttons or timeout for exiting
	 * --> Long hold front button to enter boost mode
	 * ---> Just temporarily sets the system into the alternate temperature for PID control
	 * --> Long hold back button to exit
	 * --> Double button to exit
	 */
	bool boostModeOn = false;
	uint32_t sleepThres = 0;
	if (systemSettings.SleepTime < 6)
		sleepThres = systemSettings.SleepTime * 10 * 1000;
	else
		sleepThres = (systemSettings.SleepTime - 5) * 60 * 1000;
	for (;;) {
		uint16_t tipTemp = getTipRawTemp(0);

		ButtonState buttons = getButtonState();
		switch (buttons) {
		case BUTTON_NONE:
			//stay
			boostModeOn = false;
			break;
		case BUTTON_BOTH:
			//exit
			return;
			break;
		case BUTTON_B_LONG:
			return;    //exit on back long hold
			break;
		case BUTTON_F_LONG:
			//if boost mode is enabled turn it on
			if (systemSettings.boostModeEnabled)
				boostModeOn = true;
			break;
		case BUTTON_F_SHORT:
		case BUTTON_B_SHORT: {
			uint16_t oldTemp = systemSettings.SolderingTemp;
			gui_solderingTempAdjust();    //goto adjust temp mode
			if (oldTemp != systemSettings.SolderingTemp) {
				saveSettings();    //only save on change
			}
		}
			break;
		}
		//else we update the screen information
		lcd.setCursor(0, 0);
		lcd.clearScreen();
		lcd.setFont(0);
		if (tipTemp > 16300) {
			lcd.print("BAD TIP");
			lcd.refresh();
			currentlyActiveTemperatureTarget = 0;
			waitForButtonPress();
			return;
		} else {
			//We switch the layout direction depending on the orientation of the lcd.
			if (lcd.getRotation()) {
				// battery
				gui_drawBatteryIcon();

				lcd.drawChar(' ');    // Space out gap between battery <-> temp
				if (systemSettings.temperatureInF) {
					gui_drawTipTemp();    //Draw current tip temp
					lcd.drawSymbol(0);    //deg F
				} else {
					gui_drawTipTemp();    //Draw current tip temp
					lcd.drawSymbol(1);    //deg C
				}

				//We draw boost arrow if boosting, or else gap temp <-> heat indicator
				if (boostModeOn)
					lcd.drawSymbol(2);
				else
					lcd.drawChar(' ');

				// Draw heating/cooling symbols
				//If tip PWM > 10% then we are 'heating'
				if (getTipPWM() > 10)
					lcd.drawSymbol(14);
				else
					lcd.drawSymbol(15);
			} else {

				// Draw heating/cooling symbols
				//If tip PWM > 10% then we are 'heating'
				if (getTipPWM() > 10)
					lcd.drawSymbol(14);
				else
					lcd.drawSymbol(15);
				//We draw boost arrow if boosting, or else gap temp <-> heat indicator
				if (boostModeOn)
					lcd.drawSymbol(2);
				else
					lcd.drawChar(' ');

				if (systemSettings.temperatureInF) {
					gui_drawTipTemp();    //Draw current tip temp
					lcd.drawSymbol(0);    //deg F
				} else {
					gui_drawTipTemp();    //Draw current tip temp
					lcd.drawSymbol(1);    //deg C
				}

				lcd.drawChar(' ');    // Space out gap between battery <-> temp

				gui_drawBatteryIcon();
			}
		}

		//Update the setpoints for the temperature
		if (boostModeOn) {
			if (systemSettings.temperatureInF)
				currentlyActiveTemperatureTarget = ftoTipMeasurement(
						systemSettings.BoostTemp);
			else
				currentlyActiveTemperatureTarget = ctoTipMeasurement(
						systemSettings.BoostTemp);

		} else {
			if (systemSettings.temperatureInF)
				currentlyActiveTemperatureTarget = ftoTipMeasurement(
						systemSettings.SolderingTemp);
			else
				currentlyActiveTemperatureTarget = ctoTipMeasurement(
						systemSettings.SolderingTemp);
		}

		//Undervoltage test
		if (checkVoltageForExit()) {
			return;
		}

		lcd.refresh();
		if (systemSettings.sensitivity)
			if (HAL_GetTick() - lastMovementTime > sleepThres
					&& HAL_GetTick() - lastButtonTime > sleepThres) {
				if (gui_SolderingSleepingMode()) {
					return;    //If the function returns non-0 then exit
				}
			}
		GUIDelay();
		HAL_IWDG_Refresh(&hiwdg);
	}

}
#define ACCELDEBUG 0
/* StartGUITask function */
void startGUITask(void const * argument) {
	/*
	 * Main program states:
	 *
	 * * Soldering (gui_solderingMode)
	 * -> Main loop where we draw temp, and animations
	 * --> User presses buttons and they goto the temperature adjust screen
	 * ---> Display the current setpoint temperature
	 * ---> Use buttons to change forward and back on temperature
	 * ---> Both buttons or timeout for exiting
	 * --> Long hold front button to enter boost mode
	 * ---> Just temporarily sets the system into the alternate temperature for PID control
	 * --> Long hold back button to exit
	 * --> Double button to exit
	 * * Settings Menu (gui_settingsMenu)
	 * -> Show setting name
	 * --> If no button press for > 3 Seconds, scroll description
	 * -> If user presses back button, adjust the setting
	 * -> Currently the same as 1.x (future to make more depth based)
	 */

	uint8_t animationStep = 0;
	uint8_t tempWarningState = 0;

	HAL_IWDG_Refresh(&hiwdg);
	if (showBootLogoIfavailable())
		waitForButtonPressOrTimeout(2000);
	HAL_IWDG_Refresh(&hiwdg);
	if (systemSettings.autoStartMode) {
		//jump directly to the autostart mode
		if (systemSettings.autoStartMode == 1)
			gui_solderingMode();
	}
#if ACCELDEBUG

	for (;;) {
		HAL_IWDG_Refresh(&hiwdg);
		osDelay(100);
	}
	//^ Kept here for a way to block this thread
#endif

	for (;;) {
		ButtonState buttons = getButtonState();
		if (tempWarningState == 2)
			buttons = BUTTON_F_SHORT;
		switch (buttons) {
		case BUTTON_NONE:
			//Do nothing
			break;
		case BUTTON_BOTH:
			//Not used yet
			break;

		case BUTTON_B_LONG:
			//Show the version information
		{
			lcd.clearScreen();			//Ensure the buffer starts clean
			lcd.setCursor(0, 0);	//Position the cursor at the 0,0 (top left)
			lcd.setFont(1);					//small font
			lcd.print((char*) "V2.01");    //Print version number
			lcd.setCursor(0, 8);    //second line
			lcd.print(__DATE__);    //print the compile date
			lcd.refresh();
			waitForButtonPress();
			lcd.setFont(0);					//reset font

		}
			break;
		case BUTTON_F_LONG:
			gui_solderingTempAdjust();
			saveSettings();
			break;
		case BUTTON_F_SHORT:
			lcd.setFont(0);
			lcd.displayOnOff(true);    //turn lcd on
			gui_solderingMode();    //enter soldering mode
			tempWarningState = 0;    //make sure warning can show
			break;
		case BUTTON_B_SHORT:
			lcd.setFont(0);
			lcd.displayOnOff(true);    //turn lcd on
			gui_settingsMenu();    //enter the settings menu
			saveSettings();
			setCalibrationOffset(systemSettings.CalibrationOffset); //ensure cal offset is applied
			break;
		}
		currentlyActiveTemperatureTarget = 0;    //ensure tip is off

		if (systemSettings.sensitivity) {
			if ((HAL_GetTick() - lastMovementTime) > 60000
					&& (HAL_GetTick() - lastButtonTime) > 60000)
				lcd.displayOnOff(false);    // turn lcd off when no movement
			else if (HAL_GetTick() - lastMovementTime < 1000
					|| HAL_GetTick() - lastButtonTime < 1000) /*Use short time for test, and prevent lots of I2C writes for no need*/
				lcd.displayOnOff(true);    //turn lcd back on

		}
		uint16_t tipTemp = tipMeasurementToC(getTipRawTemp(0));
		if (tipTemp > 600)
			tipTemp = 0;
		if (tipTemp > 50) {
			if (tempWarningState == 0) {
				currentlyActiveTemperatureTarget = 0;    //ensure tip is off
				lcd.displayOnOff(true);    //force LCD on
				if (gui_showTipTempWarning() == 1) {
					tempWarningState = 2;    //we can re-enter the warning
				} else
					tempWarningState = 1;
			}
		} else
			tempWarningState = 0;
		// Clear the lcd buffer
		lcd.clearScreen();
		lcd.setCursor(0, 0);
		if (systemSettings.detailedIDLE) {
			lcd.setFont(1);
			if (tipTemp > 470) {
				lcd.print("Tip Disconnected!");
			} else {
				lcd.print("Tip:");
				if (systemSettings.temperatureInF)
					lcd.printNumber(tipMeasurementToF(getTipRawTemp(0)), 3);
				else
					lcd.printNumber(tipMeasurementToC(getTipRawTemp(0)), 3);
				lcd.print(" ");
				lcd.print("Set:");
				lcd.printNumber(systemSettings.SolderingTemp, 3);
			}
			lcd.setCursor(0, 8);
			lcd.print("Input V: ");
			lcd.printNumber(getInputVoltageX10(systemSettings.voltageDiv) / 10,
					2);
			lcd.drawChar('.');
			lcd.printNumber(getInputVoltageX10(systemSettings.voltageDiv) % 10,
					1);
			lcd.print("V");

		} else {
			lcd.setFont(0);
			if (lcd.getRotation()) {
				lcd.drawArea(12, 0, 84, 16, idleScreenBG);
				lcd.setCursor(0, 0);
				gui_drawBatteryIcon();
			} else {
				lcd.drawArea(0, 0, 84, 16, idleScreenBGF); //Needs to be flipped
				lcd.setCursor(84, 0);
				gui_drawBatteryIcon();
			}

		}

		lcd.refresh();
		animationStep++;
		HAL_IWDG_Refresh(&hiwdg);
		GUIDelay();

	}
}

/* StartPIDTask function */
void startPIDTask(void const * argument) {
	/*
	 * We take the current tip temperature & evaluate the next step for the tip control PWM
	 * Tip temperature is measured by getTipTemperature(1) so we get instant result
	 * This comes in Cx10 format
	 * We then control the tip temperature to aim for the setpoint in the settings struct
	 *
	 */
	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;
	// 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;
	for (;;) {
		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 (0-16k ~= 33 counts per C)
			//P I & D are divisors, so inverse logic applies (beware)

			int32_t rawTempError = currentlyActiveTemperatureTarget - rawTemp;
			int32_t ierror = (rawTempError / ki);
			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 / kp);
			if (ki)
				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;
			}
			setTipPWM(output);
		} 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
	}
}
#define MOVFilter 8
void startMOVTask(void const * argument) {
	osDelay(4000);    //wait for accel to stabilize
	int16_t datax[MOVFilter];
	int16_t datay[MOVFilter];
	int16_t dataz[MOVFilter];
	uint8_t currentPointer = 0;
	memset(datax, 0, MOVFilter * sizeof(int16_t));
	memset(datay, 0, MOVFilter * sizeof(int16_t));
	memset(dataz, 0, MOVFilter * sizeof(int16_t));
	int16_t tx, ty, tz;
	int32_t avgx, avgy, avgz;
	if (systemSettings.sensitivity > 9)
		systemSettings.sensitivity = 9;
#if ACCELDEBUG
	uint32_t max = 0;
#endif

	for (;;) {
		int32_t threshold = 1200 + (9 * 200);
		threshold -= systemSettings.sensitivity * 200;   // 200 is the step size
		accel.getAxisReadings(&tx, &ty, &tz);

		datax[currentPointer] = (int32_t) tx;
		datay[currentPointer] = (int32_t) ty;
		dataz[currentPointer] = (int32_t) tz;
		currentPointer = (currentPointer + 1) % MOVFilter;
#if ACCELDEBUG
		//Debug for Accel

		avgx = avgy = avgz = 0;
		for (uint8_t i = 0; i < MOVFilter; i++) {
			avgx += datax[i];
			avgy += datay[i];
			avgz += dataz[i];
		}
		avgx /= MOVFilter;
		avgy /= MOVFilter;
		avgz /= MOVFilter;
		lcd.setFont(1);
		lcd.setCursor(0, 0);
		lcd.printNumber(abs(avgx - (int32_t) tx), 5);
		lcd.print(" ");
		lcd.printNumber(abs(avgy - (int32_t) ty), 5);
		if ((abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz)) > max)
		max = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
		lcd.setCursor(0, 8);
		lcd.printNumber(max, 5);
		lcd.print(" ");

		lcd.printNumber((abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz)), 5);
		lcd.refresh();
		if (HAL_GPIO_ReadPin(KEY_A_GPIO_Port, KEY_A_Pin) == GPIO_PIN_RESET)
		max = 0;
#endif
		//Only run the actual processing if the sensitivity is set (aka we are enabled)
		if (systemSettings.sensitivity) {
			//calculate averages
			avgx = avgy = avgz = 0;
			for (uint8_t i = 0; i < MOVFilter; i++) {
				avgx += datax[i];
				avgy += datay[i];
				avgz += dataz[i];
			}
			avgx /= MOVFilter;
			avgy /= MOVFilter;
			avgz /= MOVFilter;

			//So now we have averages, we want to look if these are different by more than the threshold
			int32_t error = (abs(avgx - tx) + abs(avgy - ty) + abs(avgz - tz));
			//If error has occured then we update the tick timer
			if (error > threshold) {
				lastMovementTime = HAL_GetTick();
			}
		}

		osDelay(100);    //Slow down update rate

	}
}
/* StartRotationTask function */
void startRotationTask(void const * argument) {
	/*
	 * This task is used to manage rotation of the LCD screen & button re-mapping
	 *
	 */
	osDelay(1000);    //wait for accel to stabilize
	HAL_NVIC_SetPriority(EXTI3_IRQn, 5, 0);
	HAL_NVIC_EnableIRQ(EXTI3_IRQn);
	HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
	HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
//^ We hold off enabling these until now to ensure the semaphore is available to be used first
	switch (systemSettings.OrientationMode) {
	case 0:
		lcd.setRotation(false);
		break;
	case 1:
		lcd.setRotation(true);
		break;
	case 2:
		lcd.setRotation(false);
		break;
	}
	for (;;) {
		if ( xSemaphoreTake( rotationChangedSemaphore, portMAX_DELAY ) == pdTRUE
				|| (HAL_GPIO_ReadPin(INT_Orientation_GPIO_Port,
				INT_Orientation_Pin) == GPIO_PIN_RESET)) {
			// a rotation event has occured
			bool rotation = accel.getOrientation();
			if (systemSettings.OrientationMode == 2)
				lcd.setRotation(rotation);    // link the data through
		}
		osDelay(300);

	}
}

//Handler called by HAL when a EXTI occurs, but after IRQ bit is cleared
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
	static signed long xHigherPriorityTaskWoken;
	if (GPIO_Pin == INT_Orientation_Pin) {
		xSemaphoreGiveFromISR(rotationChangedSemaphore,
				&xHigherPriorityTaskWoken);
	} else if (GPIO_Pin == INT_Movement_Pin) {
		//New data is available for reading from the unit
		//xSemaphoreGiveFromISR(accelDataAvailableSemaphore, &xHigherPriorityTaskWoken);

	}
}

#define FLASH_LOGOADDR 	(0x8000000|0xB800) /*second last page of flash set aside for logo image*/

bool showBootLogoIfavailable() {
//check if the header is there (0xAA,0x55,0xF0,0x0D)
//If so display logo
	uint16_t temp[98];

	for (uint8_t i = 0; i < (98); i++) {
		temp[i] = *(uint16_t *) (FLASH_LOGOADDR + (i * 2));
	}
	uint8_t temp8[98 * 2];
	for (uint8_t i = 0; i < 98; i++) {
		temp8[i * 2] = temp[i] >> 8;
		temp8[i * 2 + 1] = temp[i] & 0xFF;

	}

	if (temp8[0] != 0xAA)
		return false;
	if (temp8[1] != 0x55)
		return false;
	if (temp8[2] != 0xF0)
		return false;
	if (temp8[3] != 0x0D)
		return false;

	lcd.drawArea(0, 0, 96, 16, (uint8_t*) (temp8 + 4));
	lcd.refresh();
	return true;

}