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wip refactors

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This commit is contained in:
MightyPork
2023-03-06 00:39:01 +01:00
parent 9bbed9f1c4
commit 58afb1e8a5
24 changed files with 615 additions and 4027 deletions
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Core/Inc/rtc.h
-52
View File
@@ -1,52 +0,0 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file rtc.h
* @brief This file contains all the function prototypes for
* the rtc.c file
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __RTC_H__
#define __RTC_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern RTC_HandleTypeDef hrtc;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_RTC_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __RTC_H__ */
Core/Inc/stm32f1xx_hal_conf.h
+1 -1
View File
@@ -57,7 +57,7 @@
/*#define HAL_HCD_MODULE_ENABLED */
/*#define HAL_PWR_MODULE_ENABLED */
/*#define HAL_RCC_MODULE_ENABLED */
#define HAL_RTC_MODULE_ENABLED
/*#define HAL_RTC_MODULE_ENABLED */
/*#define HAL_SD_MODULE_ENABLED */
/*#define HAL_MMC_MODULE_ENABLED */
/*#define HAL_SDRAM_MODULE_ENABLED */
Core/Src/app.c
+21 -224
View File
@@ -3,7 +3,6 @@
*/
#include <stdio.h>
#include <string.h>
#include "FreeRTOS.h"
#include "task.h"
@@ -12,218 +11,27 @@
#include "ufb/framebuffer.h"
#include "iwdg.h"
#include "tim.h"
#include "adc.h"
#include "oled.h"
#include "ufb/fb_text.h"
/* DMA dest */
static volatile uint16_t adc_values[4];
const float V_REFINT = 1.23f;
#define AVERAGEBUF_DEPTH 16
#define OVENTEMP_HISTORY_DEPTH 10
#include "app_analog.h"
#include "app_knob.h"
#include "app_buzzer.h"
#include "app_heater.h"
static struct App {
bool heating;
float oven_temp;
int16_t set_temp;
int16_t wheel_normed;
float oven_temp;
float soc_temp;
float v_sensor;
uint16_t wheel;
bool push;
uint16_t adc_averagebuf[AVERAGEBUF_DEPTH * 4];
uint8_t averagebuf_ptr;
float adc_averages[4];
float oventemp_history[OVENTEMP_HISTORY_DEPTH];
uint8_t oventemp_history_ptr;
bool heating;
} s_app = {};
#define TSENSE_LOOKUP_LEN 101
#define TSENSE_T_STEP 5.0f
#define TSENSE_T_MIN 0.0f
#define TSENSE_T_MAX 500.0f
static const float TSENSE_LOOKUP[TSENSE_LOOKUP_LEN] = {
0.092678405931418f,
0.0943174479327356f,
0.095948157844312f,
0.0975706768542549f,
0.0991848957506647f,
0.100791037522732f,
0.102388993070241f,
0.103978983136042f,
0.105560980458654f,
0.107135039851509f,
0.108701215616829f,
0.110259642413441f,
0.111810211533421f,
0.113353137226489f,
0.114888310929339f,
0.11641594480226f,
0.117936009906507f,
0.119448557132363f,
0.120953636903929f,
0.122451377845456f,
0.12394167187544f,
0.125424725109556f,
0.126900429638119f,
0.128368989630084f,
0.129830374697352f,
0.131284632150064f,
0.132731808872517f,
0.134172027901771f,
0.135605181883591f,
0.13703146935069f,
0.138450783142958f,
0.139863319976468f,
0.14126904821384f,
0.142668011892657f,
0.144060254660872f,
0.145445894373796f,
0.146824824486877f,
0.14819723645253f,
0.149563023938454f,
0.150922376699229f,
0.15227526202401f,
0.153621720954182f,
0.15496179417407f,
0.156295594725426f,
0.157623016940038f,
0.158944245649448f,
0.160259175412251f,
0.16156798947087f,
0.162870654195634f,
0.164167207880495f,
0.165457688491696f,
0.166742204592451f,
0.168020651444079f,
0.169293207677971f,
0.170559768793747f,
0.171820511933356f,
0.173075402684405f,
0.174324476817747f,
0.175567769803026f,
0.176805386030345f,
0.178037221732226f,
0.179263449725904f,
0.180483966491086f,
0.181698943447122f,
0.182908345518766f,
0.184112206156428f,
0.185310558533273f,
0.186503503145257f,
0.187690937227925f,
0.188873028139146f,
0.190049673368296f,
0.191221038959601f,
0.192387089280576f,
0.193547855644572f,
0.194703369109397f,
0.195853726532112f,
0.196998826174689f,
0.19813883026229f,
0.199273637315452f,
0.200403408323351f,
0.201528107189346f,
0.20264776325594f,
0.203762405629782f,
0.204872127762998f,
0.205976828960191f,
0.207076666615101f,
0.208171540293999f,
0.209261606226334f,
0.210346827933364f,
0.211427232937629f,
0.212502848543705f,
0.213573765013592f,
0.214639882704581f,
0.215701354457324f,
0.216758080892489f,
0.217810213752734f,
0.218857716249547f,
0.219900614222686f,
0.220938933310224f,
0.221972760781578f,
0.223001998051553f,
};
static float val_to_c(float val)
{
// TODO use binary search.. lol
for (int i = 1; i < TSENSE_LOOKUP_LEN; i++) {
float cur = TSENSE_LOOKUP[i];
if (cur >= val) {
float prev = TSENSE_LOOKUP[i - 1];
float ratio = (val - prev) / (cur - prev);
return TSENSE_T_MIN + ((float) i + ratio) * TSENSE_T_STEP;
}
}
return TSENSE_T_MAX;
}
void calculate_analog_values()
{
uint32_t sums[4] = {};
for (int i = 0; i < AVERAGEBUF_DEPTH * 4; i += 4) {
sums[0] += s_app.adc_averagebuf[i];
sums[1] += s_app.adc_averagebuf[i + 1];
sums[2] += s_app.adc_averagebuf[i + 2];
sums[3] += s_app.adc_averagebuf[i + 3];
}
s_app.adc_averages[0] = (float) sums[0] / AVERAGEBUF_DEPTH;
s_app.adc_averages[1] = (float) sums[1] / AVERAGEBUF_DEPTH;
s_app.adc_averages[2] = (float) sums[2] / AVERAGEBUF_DEPTH;
s_app.adc_averages[3] = (float) sums[3] / AVERAGEBUF_DEPTH;
/* r_pt100, r_ref, internal_temp, v_ref_int */
float refint = s_app.adc_averages[3];
float scale = V_REFINT / refint;
const float avg_slope = 4.3f * scale;
const float v25 = 1.43f;
const float v_tsen = s_app.adc_averages[2] * scale;
s_app.soc_temp = (v25 - v_tsen) / avg_slope + 25.f;
s_app.v_sensor = s_app.adc_averages[0] * scale; // good for debug/tuning
// using a voltage divider, so assuming the reference resistor is measured well,
// we can just use the ratio and the exact voltage value is not important.
float actual_temp = val_to_c(s_app.adc_averages[0] / s_app.adc_averages[1]);
s_app.oventemp_history[s_app.oventemp_history_ptr] = actual_temp;
s_app.oventemp_history_ptr = (s_app.oventemp_history_ptr + 1) % OVENTEMP_HISTORY_DEPTH;
float sum = 0;
for (int i = 0; i < OVENTEMP_HISTORY_DEPTH; i++) {
sum += s_app.oventemp_history[i];
}
sum /= OVENTEMP_HISTORY_DEPTH;
s_app.oven_temp = sum;
}
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
{
// notify
memcpy((void *) &s_app.adc_averagebuf[s_app.averagebuf_ptr * 4], (const void *) adc_values, 8);
s_app.averagebuf_ptr = (s_app.averagebuf_ptr + 1) % AVERAGEBUF_DEPTH;
}
static void hw_init()
{
HAL_ADCEx_Calibration_Start(&hadc1);
/* Start periodic reading of the ADC channels */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *) (void *) adc_values, 4);
/* Enable the rotary encoder */
HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL);
/* Enable buzzer PWM */
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
app_analog_init();
app_buzzer_init();
app_heater_init();
app_knob_init();
/* Prepare the framebuffer and OLED interface */
oled_init();
@@ -236,22 +44,13 @@ void app_main_task(void *argument)
/* Infinite loop */
for (;;) {
//HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
// printf("Knob %d (P=%d), ADC %.2f %.2f %.2f %.2f, oven %.2f°C, soc %.2f°C, divider %.3f V \r\n",
// (int) s_app.wheel, s_app.push,
// s_app.adc_averages[0], s_app.adc_averages[1], s_app.adc_averages[2], s_app.adc_averages[3],
//
// s_app.oven_temp,
// s_app.soc_temp,
// s_app.v_sensor
// );
calculate_analog_values();
s_app.oven_temp = app_analog_get_temp();
for (int i = 0; i < 50; i++) {
uint16_t old_wheel = s_app.wheel;
s_app.wheel = htim4.Instance->CNT;
s_app.wheel = app_knob_get_raw();
int16_t wheel_change = (int16_t)(s_app.wheel - old_wheel);
@@ -264,10 +63,16 @@ void app_main_task(void *argument)
s_app.wheel_normed = 500;
}
int16_t old_temp = s_app.set_temp;
s_app.set_temp = (s_app.wheel_normed / 2) * 5;
if (old_temp != s_app.set_temp) {
app_buzzer_beep();
}
}
s_app.push = 0 == HAL_GPIO_ReadPin(KNOB_PUSH_GPIO_Port, KNOB_PUSH_Pin);
//s_app.push = 0 == HAL_GPIO_ReadPin(KNOB_PUSH_GPIO_Port, KNOB_PUSH_Pin);
if (wheel_change != 0 || i == 0) {
fb_clear();
@@ -301,15 +106,7 @@ void app_main_task(void *argument)
s_app.heating = false;
}
HAL_GPIO_WritePin(HEATER_GPIO_Port, HEATER_Pin, s_app.heating);
/*
// beep
htim2.Instance->ARR = 12000 + (int16_t)s_app.wheel * 100;
htim2.Instance->CCR1 = htim2.Instance->ARR/2;
vTaskDelay(50);
htim2.Instance->ARR = 0;
*/
app_heater_set(s_app.heating);
// feed dogs
HAL_IWDG_Refresh(&hiwdg);
Core/Src/app_analog.c
+210
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@@ -0,0 +1,210 @@
/**
* TODO file description
*/
#include "main.h"
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "app_analog.h"
#include "adc.h"
/* DMA dest */
static volatile uint16_t adc_values[4];
const float V_REFINT = 1.23f;
#define AVERAGEBUF_DEPTH 16
#define OVENTEMP_HISTORY_DEPTH 10
static struct App {
float oven_temp;
float soc_temp;
float v_sensor;
uint16_t adc_averagebuf[AVERAGEBUF_DEPTH * 4];
uint8_t averagebuf_ptr;
float adc_averages[4];
float oventemp_history[OVENTEMP_HISTORY_DEPTH];
uint8_t oventemp_history_ptr;
} s_analog = {};
#define TSENSE_LOOKUP_LEN 101
#define TSENSE_T_STEP 5.0f
#define TSENSE_T_MIN 0.0f
#define TSENSE_T_MAX 500.0f
static const float TSENSE_LOOKUP[TSENSE_LOOKUP_LEN] = {
0.092678405931418f,
0.0943174479327356f,
0.095948157844312f,
0.0975706768542549f,
0.0991848957506647f,
0.100791037522732f,
0.102388993070241f,
0.103978983136042f,
0.105560980458654f,
0.107135039851509f,
0.108701215616829f,
0.110259642413441f,
0.111810211533421f,
0.113353137226489f,
0.114888310929339f,
0.11641594480226f,
0.117936009906507f,
0.119448557132363f,
0.120953636903929f,
0.122451377845456f,
0.12394167187544f,
0.125424725109556f,
0.126900429638119f,
0.128368989630084f,
0.129830374697352f,
0.131284632150064f,
0.132731808872517f,
0.134172027901771f,
0.135605181883591f,
0.13703146935069f,
0.138450783142958f,
0.139863319976468f,
0.14126904821384f,
0.142668011892657f,
0.144060254660872f,
0.145445894373796f,
0.146824824486877f,
0.14819723645253f,
0.149563023938454f,
0.150922376699229f,
0.15227526202401f,
0.153621720954182f,
0.15496179417407f,
0.156295594725426f,
0.157623016940038f,
0.158944245649448f,
0.160259175412251f,
0.16156798947087f,
0.162870654195634f,
0.164167207880495f,
0.165457688491696f,
0.166742204592451f,
0.168020651444079f,
0.169293207677971f,
0.170559768793747f,
0.171820511933356f,
0.173075402684405f,
0.174324476817747f,
0.175567769803026f,
0.176805386030345f,
0.178037221732226f,
0.179263449725904f,
0.180483966491086f,
0.181698943447122f,
0.182908345518766f,
0.184112206156428f,
0.185310558533273f,
0.186503503145257f,
0.187690937227925f,
0.188873028139146f,
0.190049673368296f,
0.191221038959601f,
0.192387089280576f,
0.193547855644572f,
0.194703369109397f,
0.195853726532112f,
0.196998826174689f,
0.19813883026229f,
0.199273637315452f,
0.200403408323351f,
0.201528107189346f,
0.20264776325594f,
0.203762405629782f,
0.204872127762998f,
0.205976828960191f,
0.207076666615101f,
0.208171540293999f,
0.209261606226334f,
0.210346827933364f,
0.211427232937629f,
0.212502848543705f,
0.213573765013592f,
0.214639882704581f,
0.215701354457324f,
0.216758080892489f,
0.217810213752734f,
0.218857716249547f,
0.219900614222686f,
0.220938933310224f,
0.221972760781578f,
0.223001998051553f,
};
void app_analog_init()
{
HAL_ADCEx_Calibration_Start(&hadc1);
/* Start periodic reading of the ADC channels */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *) (void *) adc_values, 4);
}
static float val_to_c(float val)
{
// TODO use binary search.. lol
for (int i = 1; i < TSENSE_LOOKUP_LEN; i++) {
float cur = TSENSE_LOOKUP[i];
if (cur >= val) {
float prev = TSENSE_LOOKUP[i - 1];
float ratio = (val - prev) / (cur - prev);
return TSENSE_T_MIN + ((float) i + ratio) * TSENSE_T_STEP;
}
}
return TSENSE_T_MAX;
}
float app_analog_get_temp()
{
uint32_t sums[4] = {};
for (int i = 0; i < AVERAGEBUF_DEPTH * 4; i += 4) {
sums[0] += s_analog.adc_averagebuf[i];
sums[1] += s_analog.adc_averagebuf[i + 1];
sums[2] += s_analog.adc_averagebuf[i + 2];
sums[3] += s_analog.adc_averagebuf[i + 3];
}
s_analog.adc_averages[0] = (float) sums[0] / AVERAGEBUF_DEPTH;
s_analog.adc_averages[1] = (float) sums[1] / AVERAGEBUF_DEPTH;
s_analog.adc_averages[2] = (float) sums[2] / AVERAGEBUF_DEPTH;
s_analog.adc_averages[3] = (float) sums[3] / AVERAGEBUF_DEPTH;
/* r_pt100, r_ref, internal_temp, v_ref_int */
float refint = s_analog.adc_averages[3];
float scale = V_REFINT / refint;
const float avg_slope = 4.3f * scale;
const float v25 = 1.43f;
const float v_tsen = s_analog.adc_averages[2] * scale;
s_analog.soc_temp = (v25 - v_tsen) / avg_slope + 25.f;
s_analog.v_sensor = s_analog.adc_averages[0] * scale; // good for debug/tuning
// using a voltage divider, so assuming the reference resistor is measured well,
// we can just use the ratio and the exact voltage value is not important.
float actual_temp = val_to_c(s_analog.adc_averages[0] / s_analog.adc_averages[1]);
s_analog.oventemp_history[s_analog.oventemp_history_ptr] = actual_temp;
s_analog.oventemp_history_ptr = (s_analog.oventemp_history_ptr + 1) % OVENTEMP_HISTORY_DEPTH;
float sum = 0;
for (int i = 0; i < OVENTEMP_HISTORY_DEPTH; i++) {
sum += s_analog.oventemp_history[i];
}
sum /= OVENTEMP_HISTORY_DEPTH;
s_analog.oven_temp = sum;
return s_analog.oven_temp;
}
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
{
// notify
memcpy((void *) &s_analog.adc_averagebuf[s_analog.averagebuf_ptr * 4], (const void *) adc_values, 8);
s_analog.averagebuf_ptr = (s_analog.averagebuf_ptr + 1) % AVERAGEBUF_DEPTH;
}
Core/Src/app_analog.h
+19
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@@ -0,0 +1,19 @@
/**
* TODO file description
*/
#ifndef BLUEPILLTROUBA_APP_ANALOG_H
#define BLUEPILLTROUBA_APP_ANALOG_H
void app_analog_init();
/**
* Get current oven temp.
*
* A slow float calculation is done here - call only when needed, at a roughly constant rate (e.g. 1s) to make smoothing work properly.
*
* @return the value in celsius
*/
float app_analog_get_temp();
#endif //BLUEPILLTROUBA_APP_ANALOG_H
Core/Src/app_buzzer.c
+25
View File
@@ -0,0 +1,25 @@
/**
* TODO file description
*/
#include "main.h"
#include "app_buzzer.h"
#include "tim.h"
#include "FreeRTOS.h"
#include "task.h"
void app_buzzer_init()
{
/* Enable buzzer PWM */
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
}
void app_buzzer_beep() {
// TODO make this non-blocking
TIM2->ARR = 25714;
TIM2->CCR1 = TIM2->ARR/2;
vTaskDelay(50);
TIM2->CCR1 = 0;
vTaskDelay(50);
}
Core/Src/app_buzzer.h
+13
View File
@@ -0,0 +1,13 @@
/**
* TODO file description
*/
#ifndef BLUEPILLTROUBA_APP_BUZZER_H
#define BLUEPILLTROUBA_APP_BUZZER_H
void app_buzzer_init();
void app_buzzer_beep();
#endif //BLUEPILLTROUBA_APP_BUZZER_H
Core/Src/app_heater.c
+25
View File
@@ -0,0 +1,25 @@
/**
* TODO file description
*/
#include "main.h"
#include "app_heater.h"
#include "tim.h"
void app_heater_init()
{
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
TIM3->ARR = 25714;
}
void app_heater_set(bool active)
{
if (active) {
TIM3->CCR1 = TIM3->ARR / 2; // testing - 50%
} else {
TIM3->CCR1 = 0;
}
//HAL_GPIO_WritePin(HEATER_GPIO_Port, HEATER_Pin, active);
}
Core/Src/app_heater.h
+14
View File
@@ -0,0 +1,14 @@
/**
* TODO file description
*/
#ifndef BLUEPILLTROUBA_APP_HEATER_H
#define BLUEPILLTROUBA_APP_HEATER_H
#include <stdbool.h>
void app_heater_init();
void app_heater_set(bool active);
#endif //BLUEPILLTROUBA_APP_HEATER_H
Core/Src/app_knob.c
+23
View File
@@ -0,0 +1,23 @@
/**
* TODO file description
*/
#include <stdbool.h>
#include "main.h"
#include "app_knob.h"
#include "tim.h"
static struct {
uint16_t wheel;
bool push;
} s_knob = {};
void app_knob_init()
{
/* Enable the rotary encoder */
HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL);
}
uint16_t app_knob_get_raw() {
return htim4.Instance->CNT;
}
Core/Src/app_knob.h
+12
View File
@@ -0,0 +1,12 @@
/**
* TODO file description
*/
#ifndef BLUEPILLTROUBA_APP_KNOB_H
#define BLUEPILLTROUBA_APP_KNOB_H
void app_knob_init();
uint16_t app_knob_get_raw();
#endif //BLUEPILLTROUBA_APP_KNOB_H
Core/Src/app_pid.c
+108
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@@ -0,0 +1,108 @@
#include "app_pid.h"
#include <stdbool.h>
#include <stdint.h>
#include <FreeRTOS.h>
#include <task.h>
static void clampOutput(struct PID *self)
{
if (self->Output > self->outMax) { self->Output = self->outMax; }
else if (self->Output < self->outMin) { self->Output = self->outMin; }
}
static void clampIterm(struct PID *self)
{
if (self->ITerm > self->outMax) { self->ITerm = self->outMax; }
else if (self->ITerm < self->outMin) { self->ITerm = self->outMin; }
}
void PID_Compute(struct PID *self, float Input)
{
if (!self->ctlMode) { return; }
self->Input = Input;
uint32_t now = xTaskGetTickCount();
int32_t timeChange = (now - self->lastTime) * (uint32_t) 1000 / (uint32_t) configTICK_RATE_HZ;
if (timeChange >= self->SampleTime) {
/*Compute all the working error variables*/
float error = self->Setpoint - Input;
self->ITerm += (self->ki * error);
clampIterm(self);
float dInput = (Input - self->lastInput);
/*Compute PID Output*/
self->Output = self->kp * error + self->ITerm - self->kd * dInput;
clampOutput(self);
/*Remember some variables for next time*/
self->lastInput = Input;
self->lastTime = now;
}
}
void PID_SetSetpoint(struct PID *self, float Setpoint)
{
self->Setpoint = Setpoint;
}
void PID_SetTunings(struct PID *self, float Kp, float Ki, float Kd)
{
if (Kp < 0 || Ki < 0 || Kd < 0) { return; }
float SampleTimeInSec = ((float) self->SampleTime) / 1000;
self->kp = Kp;
self->ki = Ki * SampleTimeInSec;
self->kd = Kd / SampleTimeInSec;
if (self->controllerDirection == PID_REVERSE) {
self->kp = -self->kp;
self->ki = -self->ki;
self->kd = -self->kd;
}
}
void PID_SetSampleTime(struct PID *self, uint32_t NewSampleTime)
{
if (NewSampleTime > 0) {
float ratio = (float) NewSampleTime
/ (float) self->SampleTime;
self->ki *= ratio;
self->kd /= ratio;
self->SampleTime = (uint32_t) NewSampleTime;
}
}
void PID_SetOutputLimits(struct PID *self, float Min, float Max)
{
if (Min > Max) { return; }
self->outMin = Min;
self->outMax = Max;
clampOutput(self);
clampIterm(self);
}
void PID_SetCtlMode(struct PID *self, enum PIDCtlMode Mode)
{
bool newAuto = (Mode == PID_AUTOMATIC);
if (newAuto == !self->ctlMode) { /*we just went from manual to auto*/
PID_Initialize(self);
}
self->ctlMode = newAuto;
}
void PID_Initialize(struct PID *self)
{
self->lastInput = self->Input;
self->ITerm = self->Output;
clampIterm(self);
}
void PID_SetControllerDirection(struct PID *self, enum PIDDirection Direction)
{
self->controllerDirection = Direction;
}
Core/Src/app_pid.h
+52
View File
@@ -0,0 +1,52 @@
/**
* adapted from the Arduino PID library
*
* Created on 2020/01/08.
*/
#ifndef ARDUINOPID_H
#define ARDUINOPID_H
#include <stdint.h>
enum PIDCtlMode {
PID_MANUAL = 0,
PID_AUTOMATIC = 1,
};
enum PIDDirection {
PID_DIRECT = 0,
PID_REVERSE = 1,
};
struct PID {
/*working variables*/
uint32_t lastTime;
float Input, Output, Setpoint;
float ITerm, lastInput;
float kp, ki, kd;
uint32_t SampleTime; // millis
float outMin, outMax;
enum PIDCtlMode ctlMode; // false
enum PIDDirection controllerDirection;
};
#define PID_DEFAULT() { .SampleTime = 1000, .ctlMode=PID_MANUAL, .controllerDirection=PID_DIRECT }
void PID_Compute(struct PID *self, float Input);
void PID_SetTunings(struct PID *self, float Kp, float Ki, float Kd);
void PID_SetSampleTime(struct PID *self, uint32_t NewSampleTime);
void PID_SetOutputLimits(struct PID *self, float Min, float Max);
void PID_SetCtlMode(struct PID *self, enum PIDCtlMode Mode);
void PID_Initialize(struct PID *self);
void PID_SetSetpoint(struct PID *self, float Setpoint);
void PID_SetControllerDirection(struct PID *self, enum PIDDirection Direction);
#endif //ARDUINOPID_H
Core/Src/main.c
+2 -7
View File
@@ -22,7 +22,6 @@
#include "adc.h"
#include "dma.h"
#include "iwdg.h"
#include "rtc.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
@@ -105,7 +104,6 @@ int main(void)
MX_DMA_Init();
MX_TIM4_Init();
MX_TIM2_Init();
MX_RTC_Init();
MX_TIM3_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
@@ -142,11 +140,9 @@ void SystemClock_Config(void)
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE
|RCC_OSCILLATORTYPE_LSE;
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.LSEState = RCC_LSE_ON;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.LSIState = RCC_LSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
@@ -170,8 +166,7 @@ void SystemClock_Config(void)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_RTC|RCC_PERIPHCLK_ADC;
PeriphClkInit.RTCClockSelection = RCC_RTCCLKSOURCE_LSE;
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV8;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Core/Src/rtc.c
-120
View File
@@ -1,120 +0,0 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file rtc.c
* @brief This file provides code for the configuration
* of the RTC instances.
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "rtc.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
RTC_HandleTypeDef hrtc;
/* RTC init function */
void MX_RTC_Init(void)
{
/* USER CODE BEGIN RTC_Init 0 */
/* USER CODE END RTC_Init 0 */
RTC_TimeTypeDef sTime = {0};
RTC_DateTypeDef DateToUpdate = {0};
/* USER CODE BEGIN RTC_Init 1 */
/* USER CODE END RTC_Init 1 */
/** Initialize RTC Only
*/
hrtc.Instance = RTC;
hrtc.Init.AsynchPrediv = RTC_AUTO_1_SECOND;
hrtc.Init.OutPut = RTC_OUTPUTSOURCE_NONE;
if (HAL_RTC_Init(&hrtc) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN Check_RTC_BKUP */
/* USER CODE END Check_RTC_BKUP */
/** Initialize RTC and set the Time and Date
*/
sTime.Hours = 0x0;
sTime.Minutes = 0x0;
sTime.Seconds = 0x0;
if (HAL_RTC_SetTime(&hrtc, &sTime, RTC_FORMAT_BCD) != HAL_OK)
{
Error_Handler();
}
DateToUpdate.WeekDay = RTC_WEEKDAY_MONDAY;
DateToUpdate.Month = RTC_MONTH_JANUARY;
DateToUpdate.Date = 0x1;
DateToUpdate.Year = 0x0;
if (HAL_RTC_SetDate(&hrtc, &DateToUpdate, RTC_FORMAT_BCD) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN RTC_Init 2 */
/* USER CODE END RTC_Init 2 */
}
void HAL_RTC_MspInit(RTC_HandleTypeDef* rtcHandle)
{
if(rtcHandle->Instance==RTC)
{
/* USER CODE BEGIN RTC_MspInit 0 */
/* USER CODE END RTC_MspInit 0 */
HAL_PWR_EnableBkUpAccess();
/* Enable BKP CLK enable for backup registers */
__HAL_RCC_BKP_CLK_ENABLE();
/* RTC clock enable */
__HAL_RCC_RTC_ENABLE();
/* USER CODE BEGIN RTC_MspInit 1 */
/* USER CODE END RTC_MspInit 1 */
}
}
void HAL_RTC_MspDeInit(RTC_HandleTypeDef* rtcHandle)
{
if(rtcHandle->Instance==RTC)
{
/* USER CODE BEGIN RTC_MspDeInit 0 */
/* USER CODE END RTC_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_RTC_DISABLE();
/* USER CODE BEGIN RTC_MspDeInit 1 */
/* USER CODE END RTC_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
Core/Src/tim.c
+2 -2
View File
@@ -123,7 +123,7 @@ void MX_TIM3_Init(void)
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 32768;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
@@ -274,7 +274,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
*/
GPIO_InitStruct.Pin = HEATER_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(HEATER_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM3_MspPostInit 1 */