mhu
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reflow-oven-control-sw
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Merge branch 'dev' into ui

This commit is contained in:
Mario Hüttel 2020-06-01 20:53:43 +02:00
parent c18acba48b 5819a0736c
commit 6477950eea
9 changed files with 108 additions and 27 deletions
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70
stm-firmware/digio.c
View File

@ -27,6 +27,7 @@
static const uint8_t digio_pins[] = {DIGIO_PINS};
static const uint8_t digio_default_io[] = {DIGIO_INOUT_DEFAULT};
static const uint8_t digio_default_altfunc[] = {DIGIO_ALTFUNC_DEFAULT};
static uint16_t loudspeaker_val;
static void digio_setup_pin_int(uint8_t bit_no, uint8_t in_out, uint8_t alt_func)
{
@ -118,6 +119,19 @@ int led_get(uint8_t num)
return ((LED_PORT->ODR & (1<<led_pins[num])) ? 1 : 0);
}
static void loudspeaker_freq_timer_init(void)
{
#if LOUDSPEAKER_MULTIFREQ
rcc_manager_enable_clock(&RCC->APB1ENR, BITMASK_TO_BITNO(RCC_APB1ENR_TIM7EN));
TIM7->CR1 = 0UL;
TIM7->CR2 = 0UL;
TIM7->PSC = 1000;
TIM7->DIER = TIM_DIER_UIE;
NVIC_EnableIRQ(TIM7_IRQn);
#endif
}
void loudspeaker_setup()
{
rcc_manager_enable_clock(&RCC->AHB1ENR, BITMASK_TO_BITNO(LOUDSPEAKER_RCC_MASK));
@ -125,16 +139,56 @@ void loudspeaker_setup()
LOUDSPEAKER_PORT->MODER &= MODER_DELETE(LOUDSPEAKER_PIN);
LOUDSPEAKER_PORT->MODER |= OUTPUT(LOUDSPEAKER_PIN);
loudspeaker_set(0);
loudspeaker_freq_timer_init();
loudspeaker_set(0U);
}
void loudspeaker_set(int val)
static void loudspeaker_start_beep(uint16_t val)
{
if (val)
LOUDSPEAKER_PORT->ODR |= (1<<LOUDSPEAKER_PIN);
else
LOUDSPEAKER_PORT->ODR &= ~(1<<LOUDSPEAKER_PIN);
#if LOUDSPEAKER_MULTIFREQ
TIM7->ARR = val;
TIM7->CNT = 0UL;
TIM7->CR1 |= TIM_CR1_CEN;
#else
(void)val;
LOUDSPEAKER_PORT->ODR |= (1<<LOUDSPEAKER_PIN);
#endif
}
int loudspeaker_get()
static void loudspeaker_stop_beep(void)
{
return ((LOUDSPEAKER_PORT->ODR & (1<<LOUDSPEAKER_PIN)) ? 1 : 0);
#if LOUDSPEAKER_MULTIFREQ
TIM7->CR1 &= ~TIM_CR1_CEN;
__DSB();
TIM7->SR = 0UL;
__DSB();
LOUDSPEAKER_PORT->ODR &= ~(1<<LOUDSPEAKER_PIN);
#else
LOUDSPEAKER_PORT->ODR &= ~(1<<LOUDSPEAKER_PIN);
#endif
}
void loudspeaker_set(uint16_t val)
{
loudspeaker_val = val;
if (!val) {
loudspeaker_stop_beep();
} else {
loudspeaker_start_beep(val);
}
}
uint16_t loudspeaker_get()
{
return loudspeaker_val;
}
#if LOUDSPEAKER_MULTIFREQ
void TIM7_IRQHandler(void)
{
TIM7->SR = 0UL;
__DSB();
LOUDSPEAKER_PORT->ODR ^= (1<<LOUDSPEAKER_PIN);
}
#endif

5
stm-firmware/include/reflow-controller/digio.h
View File

@ -58,10 +58,11 @@ int led_get(uint8_t num);
#define LOUDSPEAKER_PORT GPIOB
#define LOUDSPEAKER_RCC_MASK RCC_AHB1ENR_GPIOBEN
#define LOUDSPEAKER_PIN 1
#define LOUDSPEAKER_MULTIFREQ 1
void loudspeaker_setup();
void loudspeaker_set(int val);
int loudspeaker_get();
void loudspeaker_set(uint16_t val);
uint16_t loudspeaker_get();
#endif /* __DIGIO_H__ */

7
stm-firmware/include/reflow-controller/periph-config/safety-adc-hwcfg.h
View File

@ -28,4 +28,11 @@
#define TEMP_CHANNEL_NUM (16)
#define INT_REF_CHANNEL_NUM (17)
#define SAFETY_ADC_INT_REF_MV 1210.0f
#define SAFETY_ADC_TEMP_NOM 25.0f
#define SAFETY_ADC_TEMP_NOM_MV 760.0f
#define SAFETY_ADC_TEMP_MV_SLOPE 2.5f
#endif /* __SAFETY_ADC_HWCFG_H__ */

6
stm-firmware/include/reflow-controller/pid-controller.h
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@ -25,15 +25,19 @@ struct pid_controller {
float k_deriv;
float k_int;
float k_p;
float k_int_t;
float k_deriv_t;
float output_sat_max;
float output_sat_min;
float integral_max;
float sample_period;
volatile float control_output;
volatile float last_in;
volatile float integral;
volatile float derivate;
};
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);
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);
void pid_zero(struct pid_controller *pid);

2
stm-firmware/include/reflow-controller/systick.h
View File

@ -45,7 +45,7 @@ extern volatile uint32_t wait_tick_ms;
* @brief Systemclock in milliseconds.
*
* This value must not be reset during the whole runtime.
*
* @warning In order to use this, you must assure that the read access is atomic.
*/
extern volatile uint64_t global_tick_ms;

4
stm-firmware/main.c
View File

@ -221,7 +221,7 @@ 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);
pid_init(&pid, 0.1, 0.1, 4.0, 0.0, 100.0, 40.0, 0.25);
pid_zero(&pid);
while (1) {
@ -259,7 +259,7 @@ int main()
oven_driver_set_power(0U);
/* Activate loundspeaker permanently */
loudspeaker_set(1);
loudspeaker_set(100);
} else if (pid_controller_active) {
/* In case temperature measurement is okay and controlelr is working, write output power */
oven_driver_set_power(pid_controller_output < 0 ? 0U : (uint8_t)pid_controller_output);

28
stm-firmware/pid-controller.c
View File

@ -20,18 +20,22 @@
#include <reflow-controller/pid-controller.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)
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)
{
if (!pid)
return;
pid->sample_period = sample_period;
pid->k_p = k_p;
pid->k_int = k_int;
pid->k_deriv = k_deriv;
pid->k_int_t = pid->k_int * pid->sample_period / 2.0f;
pid->k_deriv_t = pid->k_deriv * 2.0f / pid->sample_period;
pid->output_sat_max = output_sat_max;
pid->output_sat_min = output_sat_min;
pid->control_output = 0;
pid->integral_max = integral_max;
pid_zero(pid);
}
void pid_zero(struct pid_controller *pid)
@ -43,12 +47,13 @@ void pid_zero(struct pid_controller *pid)
static void calculate_integral(struct pid_controller *pid, float deviation)
{
pid->integral += deviation * pid->k_int;
pid->integral = pid->integral + pid->k_int_t * (deviation + pid->last_in);
/* Saturate integral term to spoecified maximum */
if (pid->integral > pid->integral_max) {
pid->integral = pid->integral_max;
} else if (pid->integral < -pid->integral_max) {
pid->integral = -pid->integral_max;
} else if (pid->integral < -pid->integral_max){
pid->integral = - pid->integral_max;
}
}
@ -66,17 +71,20 @@ float pid_sample(struct pid_controller *pid, float deviation)
calculate_integral(pid, deviation);
}
/* Calculate derivative part */
pid->derivate = pid->k_deriv_t * (deviation - pid->last_in) - pid->derivate;
output += pid->derivate;
output += pid->integral;
output -= (deviation - pid->last_in) * pid->k_deriv;
pid->last_in = deviation;
if (output > pid->output_sat_max)
output = pid->output_sat_max;
/* Saturate output */
if (output < pid->output_sat_min)
output = pid->output_sat_min;
else if (output > pid->output_sat_max)
output = pid->output_sat_max;
pid->control_output = output;
pid->last_in = deviation;
return output;
}

5
stm-firmware/safety-adc.c
View File

@ -53,11 +53,12 @@ enum safety_adc_check_result safety_adc_check_results(uint16_t vref_result, uint
if (vref_calculated) {
*vref_calculated = (1210.0 * 4095) / (float)vref_result;
*vref_calculated = (SAFETY_ADC_INT_REF_MV * 4095.0f) / (float)vref_result;
}
if (temp_calculated) {
*temp_calculated = (((float)temp_result / 4095.0f * 2500.0f - 760.0f) / 2.5f) + 25.0f;
*temp_calculated = (((float)temp_result / 4095.0f * 2500.0f -
SAFETY_ADC_TEMP_NOM_MV) / SAFETY_ADC_TEMP_MV_SLOPE) + SAFETY_ADC_TEMP_NOM;
}
return res;

8
stm-firmware/systick.c
View File

@ -43,7 +43,13 @@ void systick_wait_ms(uint32_t ms)
uint64_t systick_get_global_tick()
{
return global_tick_ms;
uint64_t temp;
__disable_irq();
temp = global_tick_ms;
__enable_irq();
return temp;
}
bool __attribute__((optimize("O3"))) systick_ticks_have_passed(uint64_t start_timestamp, uint64_t ticks)