Add PID controller to oven driver module

stm-firmware/include/reflow-controller/oven-driver.h

@@ -22,6 +22,16 @@
 #define __OVEN_DRIVER_H__
 
 #include <stdint.h>
+#include <stdbool.h>
+#include <reflow-controller/pid-controller.h>
+
+struct oven_pid_status {
+	bool active;
+	bool aborted;
+	float target_temp;
+	float current_temp;
+	uint64_t timestamp_last_run;
+};
 
 void oven_driver_init(void);
 
@@ -29,4 +39,14 @@ void oven_driver_set_power(uint8_t power);
 
 void oven_driver_disable(void);
 
+void oven_pid_init(struct pid_controller *controller_to_copy);
+
+void oven_pid_handle(float target_temp, float current_temp);
+
+void oven_pid_stop();
+
+void oven_pid_report_error(void);
+
+const struct oven_pid_status *oven_pid_get_status(void);
+
 #endif /* __OVEN_DRIVER_H__ */

stm-firmware/include/reflow-controller/pid-controller.h

@@ -45,4 +45,6 @@ float pid_sample(struct pid_controller *pid, float deviation);
 
 float pid_get_control_output(const struct pid_controller *pid);
 
+int pid_copy(struct pid_controller *dest, const struct pid_controller *src);
+
 #endif /* __PID_CONTROLLER_H__ */

stm-firmware/main.c

@@ -37,7 +37,6 @@
 #include <reflow-controller/digio.h>
 #include "fatfs/shimatta_sdio_driver/shimatta_sdio.h"
 #include <reflow-controller/temp-converter.h>
-#include <reflow-controller/pid-controller.h>
 #include <stm-periph/stm32-gpio-macros.h>
 #include <stm-periph/clock-enable-manager.h>
 #include <stm-periph/uart.h>
@@ -61,7 +60,6 @@ static void setup_nvic_priorities()
 
 /* Process parameters are defined static globally to be watched in debugger from any context */
 static float target_temperature;
-static struct pid_controller pid;
 
 FATFS fs;
 FATFS *fs_ptr = &fs;
@@ -219,9 +217,6 @@ int main()
 	shell_handle = shell_init(write_shell_callback);
 	shell_print_motd(shell_handle);
 
-	pid_init(&pid, 0.1, 0.1, 4.0, 0.0, 100.0, 40.0, 0.25);
-	pid_zero(&pid);
-
 	while (1) {
 		sd_card_mounted = mount_sd_card_if_avail(sd_card_mounted);
 

stm-firmware/oven-driver.c

@@ -21,6 +21,17 @@
 #include <reflow-controller/oven-driver.h>
 #include <reflow-controller/periph-config/oven-driver-hwcfg.h>
 #include <stm-periph/clock-enable-manager.h>
+#include <reflow-controller/systick.h>
+
+static struct pid_controller oven_pid;
+
+static struct oven_pid_status oven_pid_current_status = {
+	.active = false,
+	.aborted = false,
+	.target_temp = 0.0f,
+	.current_temp = 0.0f,
+	.timestamp_last_run = 0ULL
+};
 
 void oven_driver_init()
 {
@@ -57,3 +68,47 @@ void oven_driver_disable()
 	rcc_manager_disable_clock(&RCC->AHB1ENR, BITMASK_TO_BITNO(OVEN_CONTROLLER_PORT_RCC_MASK));
 	rcc_manager_disable_clock(&RCC->APB1ENR, BITMASK_TO_BITNO(OVEN_CONTROLLER_TIM_RCC_MASK));
 }
+
+void oven_pid_init(struct pid_controller *controller_to_copy)
+{
+	pid_copy(&oven_pid, controller_to_copy);
+	oven_pid.output_sat_min = 0.0f;
+	oven_pid.output_sat_max = 100.0f;
+	oven_pid_current_status.timestamp_last_run = 0ULL;
+	oven_pid_current_status.active = true;
+}
+
+void oven_pid_handle(float target_temp, float current_temp)
+{
+	float pid_out;
+
+	if (oven_pid_current_status.active) {
+		if (systick_ticks_have_passed(oven_pid_current_status.timestamp_last_run,
+					      (uint64_t)(oven_pid.sample_period * 1000))) {
+			pid_out = pid_sample(&oven_pid, target_temp - current_temp);
+			oven_driver_set_power((uint8_t)pid_out);
+			oven_pid_current_status.timestamp_last_run = systick_get_global_tick();
+			oven_pid_current_status.active = true;
+			oven_pid_current_status.target_temp = target_temp;
+			oven_pid_current_status.current_temp = current_temp;
+		}
+	}
+}
+
+void oven_pid_report_error()
+{
+	oven_pid_current_status.active = false;
+	oven_pid_current_status.aborted = true;
+}
+
+const struct oven_pid_status *oven_pid_get_status()
+{
+	return &oven_pid_current_status;
+}
+
+void oven_pid_stop()
+{
+	oven_pid_current_status.active = false;
+	oven_pid_current_status.target_temp = 0.0f;
+	oven_pid_current_status.current_temp = 0.0f;
+}

stm-firmware/pid-controller.c

@@ -19,6 +19,7 @@
 */
 
 #include <reflow-controller/pid-controller.h>
+#include <string.h>
 
 void pid_init(struct pid_controller *pid, float k_deriv, float k_int, float k_p, float output_sat_min, float output_sat_max, float integral_max, float sample_period)
 {
@@ -38,6 +39,16 @@ void pid_init(struct pid_controller *pid, float k_deriv, float k_int, float k_p,
 	pid_zero(pid);
 }
 
+int pid_copy(struct pid_controller *dest, const struct pid_controller *src)
+{
+	if (!dest || !src)
+		return -1;
+
+	memcpy(dest, src, sizeof(struct pid_controller));
+
+	return 0;
+}
+
 void pid_zero(struct pid_controller *pid)
 {
 	pid->control_output = 0.0f;