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Add PID controller and oven driver module

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Mario Hüttel 2020-04-20 21:16:39 +02:00
parent 985c29b281
commit c419ca7bcb
5 changed files with 181 additions and 0 deletions
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2
stm-firmware/Makefile
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@ -53,6 +53,8 @@ CFILES += stack-check.c
CFILES += fatfs/diskio.c fatfs/ff.c fatfs/ffsystem.c fatfs/ffunicode.c fatfs/shimatta_sdio_driver/shimatta_sdio.c
CFILES += pid-controller.c oven-driver.c
DEFINES += -DDEBUGBUILD
###################################################################################

24
stm-firmware/include/reflow-controller/oven-driver.h Normal file
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@ -0,0 +1,24 @@
/* Reflow Oven Controller
*
* Copyright (C) 2020 Mario Hüttel <mario.huettel@gmx.net>
*
* This file is part of the Reflow Oven Controller Project.
*
* The reflow oven controller is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the reflow oven controller project.
* If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __OVEN_DRIVER_H__
#define __OVEN_DRIVER_H__
#endif /* __OVEN_DRIVER_H__ */

44
stm-firmware/include/reflow-controller/pid-controller.h Normal file
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@ -0,0 +1,44 @@
/* Reflow Oven Controller
*
* Copyright (C) 2020 Mario Hüttel <mario.huettel@gmx.net>
*
* This file is part of the Reflow Oven Controller Project.
*
* The reflow oven controller is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the reflow oven controller project.
* If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __PID_CONTROLLER_H__
#define __PID_CONTROLLER_H__
struct pid_controller {
float k_deriv;
float k_int;
float k_p;
float output_sat_max;
float output_sat_min;
float integral_max;
volatile float control_output;
volatile float last_in;
volatile float integral;
};
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_zero(struct pid_controller *pid);
float pid_sample(struct pid_controller *pid, float deviation);
float pid_get_control_output(const struct pid_controller *pid);
#endif /* __PID_CONTROLLER_H__ */

21
stm-firmware/oven-driver.c Normal file
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@ -0,0 +1,21 @@
/* Reflow Oven Controller
*
* Copyright (C) 2020 Mario Hüttel <mario.huettel@gmx.net>
*
* This file is part of the Reflow Oven Controller Project.
*
* The reflow oven controller is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the reflow oven controller project.
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <reflow-controller/oven-driver.h>

90
stm-firmware/pid-controller.c Normal file
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@ -0,0 +1,90 @@
/* Reflow Oven Controller
*
* Copyright (C) 2020 Mario Hüttel <mario.huettel@gmx.net>
*
* This file is part of the Reflow Oven Controller Project.
*
* The reflow oven controller is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* The Reflow Oven Control Firmware is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the reflow oven controller project.
* If not, see <http://www.gnu.org/licenses/>.
*/
#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)
{
if (!pid)
return;
pid->k_p = k_p;
pid->k_int = k_int;
pid->k_deriv = k_deriv;
pid->output_sat_max = output_sat_max;
pid->output_sat_min = output_sat_min;
pid->control_output = 0;
pid->integral_max = integral_max;
}
void pid_zero(struct pid_controller *pid)
{
pid->control_output = 0.0f;
pid->last_in = 0.0f;
pid->integral = 0.0f;
}
static void calculate_integral(struct pid_controller *pid, float deviation)
{
pid->integral += deviation * pid->k_int;
if (pid->integral > pid->integral_max) {
pid->integral = pid->integral_max;
} else if (pid->integral < -pid->integral_max) {
pid->integral = -pid->integral_max;
}
}
float pid_sample(struct pid_controller *pid, float deviation)
{
float output;
if (!pid)
return 0.0;
output = deviation * pid->k_p;
if (!(deviation > 0.0f && pid->control_output > pid->output_sat_max - 0.5) &&
!(deviation < 0.0f && pid->control_output < pid->output_sat_min + 0.5)) {
calculate_integral(pid, deviation);
}
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;
if (output < pid->output_sat_min)
output = pid->output_sat_min;
pid->control_output = output;
return output;
}
float pid_get_control_output(const struct pid_controller *pid)
{
if (!pid)
return 0.0f;
return pid->control_output;
}