pid adjusts

Core/Src/Gui/screen_calibration.c

@@ -81,6 +81,7 @@ static void sample1_menu_cb(int opt) {
             // Continue
             next_phase();
             request_paint();
+            s_calib.temp1 = 100;
             s_calib.sample1 = app_temp_read_oven_raw();
             app_heater_enable(false);
             break;
@@ -104,6 +105,7 @@ static void sample2_menu_cb(int opt) {
             // Continue
             next_phase();
             request_paint();
+            s_calib.temp2 = 200;
             s_calib.sample2 = app_temp_read_oven_raw();
             app_heater_enable(false);
             break;
@@ -197,6 +199,8 @@ void screen_calibration(GuiEvent event)
                     next_phase();
                     request_paint();
 
+                    PRINTF("KNOB_REL PH %d\r\n", s_calib.phase);
+
                     if (s_calib.phase == PH_DONE) {
                         app_heater_set_target(0);
                         app_heater_enable(false);

Core/Src/app_heater.c

@@ -188,6 +188,8 @@ void app_task_heater(void *argument)
     heaterEnterCritical();
     // TODO load from flash
     PID_SetTunings(&state.pid, state.tuning_p, state.tuning_i, state.tuning_d);
+    PID_SetOutputLimits(&state.pid, 0, 100);
+    PID_SetITermLimits(&state.pid, 0, 100);
     PID_Initialize(&state.pid);
     heaterExitCritical();
 

Core/Src/app_knob.c

@@ -71,7 +71,7 @@ bool app_knob_pushed() {
 
 void app_knob_push_isr(bool push)
 {
-    PUTCHAR(push ? '#' : '.');
+    //PUTCHAR(push ? '#' : '.');
 
     BaseType_t yield = pdFALSE;
     if (push) {

Core/Src/app_pid.c

@@ -13,8 +13,8 @@ static void clampOutput(struct PID *self)
 
 static void clampIterm(struct PID *self)
 {
-    if (self->ITerm > self->outMax) { self->ITerm = self->outMax; }
+    if (self->ITerm > self->iTermMax) { self->ITerm = self->iTermMax; }
-    else if (self->ITerm < self->outMin) { self->ITerm = self->outMin; }
+    else if (self->ITerm < self->iTermMin) { self->ITerm = self->iTermMin; }
 }
 
 void PID_Compute(struct PID *self, float input)
@@ -32,6 +32,11 @@ void PID_Compute(struct PID *self, float input)
 
         clampIterm(self);
 
+        // Shortcut to reduce overshoot
+        if (error < 0 && self->ITerm > 0) {
+            self->ITerm = 0;
+        }
+
         float dInput = (input - self->lastInput);
 
 
@@ -91,6 +96,14 @@ void PID_SetOutputLimits(struct PID *self, float min, float max)
     self->outMax = max;
 
     clampOutput(self);
+}
+
+void PID_SetITermLimits(struct PID *self, float min, float max)
+{
+    if (min > max) { return; }
+    self->iTermMin = min;
+    self->iTermMax = max;
+
     clampIterm(self);
 }
 

Core/Src/app_pid.h

@@ -27,6 +27,7 @@ struct PID {
   float kp, ki, kd;
   uint32_t SampleTimeTicks;
   float outMin, outMax;
+  float iTermMin, iTermMax;
   enum PIDCtlMode ctlMode; // false
   enum PIDDirection controllerDirection;
 };
@@ -41,6 +42,8 @@ void PID_SetSampleTime(struct PID *self, uint32_t new_sample_time);
 
 void PID_SetOutputLimits(struct PID *self, float min, float max);
 
+void PID_SetITermLimits(struct PID *self, float min, float max);
+
 void PID_SetCtlMode(struct PID *self, enum PIDCtlMode mode);
 
 void PID_Initialize(struct PID *self);