#include #include "main.h" #include "FreeRTOS.h" #include "task.h" #include "app_temp.h" #include "app_pid.h" #include "app_heater.h" #include "cmsis_os2.h" #include "tim.h" extern osMutexId_t heaterMutexHandle; static void heater_pwm_init() { LL_TIM_OC_SetCompareCH1(TIM_HEATER, 0); // Off LL_TIM_EnableCounter(TIM_HEATER); LL_TIM_CC_EnableChannel(TIM_HEATER, LL_TIM_CHANNEL_CH1); } static void heater_pwm_set_perc(float perc) { uint16_t perc_u = (uint16_t) perc; if (perc_u > 100) { perc_u = 100; } // (TIM3->ARR / 100) LL_TIM_OC_SetCompareCH1(TIM_HEATER, 640 * perc_u); // TIM3->CCR1 = 640 * perc_u; } static struct { float oven_temp; float soc_temp; // these will be loaded from flash and stored back float tuning_p; float tuning_i; float tuning_d; // PID state struct PID pid; } state = { .tuning_p = 10.0f, .tuning_i = 0.052f, .tuning_d = 100.0f, .pid = { .SampleTimeTicks = pdMS_TO_TICKS(1000), .outMax = 100.0f, .outMin = 0.0f, .ctlMode = PID_MANUAL, .controllerDirection = PID_DIRECT, }, }; static inline void heaterEnterCritical() { osMutexAcquire(heaterMutexHandle, portMAX_DELAY); } static inline void heaterExitCritical() { osMutexRelease(heaterMutexHandle); } void app_heater_set_tuning(float p, float i, float d) { heaterEnterCritical(); PID_SetTunings(&state.pid, p, i, d); heaterExitCritical(); } void app_heater_enable(bool enable) { PRINTF("Set heater enabled = %d\r\n", (int) enable); heaterEnterCritical(); PID_SetCtlMode(&state.pid, enable ? PID_AUTOMATIC : PID_MANUAL); heaterExitCritical(); } void app_heater_set_target(float target) { PRINTF("Set heater target = %d\r\n", (int) target); heaterEnterCritical(); PID_SetSetpoint(&state.pid, target); heaterExitCritical(); } void app_task_heater(void *argument) { heater_pwm_init(); heaterEnterCritical(); // TODO load from flash PID_SetTunings(&state.pid, state.tuning_p, state.tuning_i, state.tuning_d); PID_Initialize(&state.pid); heaterExitCritical(); uint32_t wake_time = xTaskGetTickCount(); while (1) { app_temp_sample(); state.oven_temp = app_temp_read_oven(); state.soc_temp = app_temp_read_soc(); heaterEnterCritical(); PID_Compute(&state.pid, state.oven_temp); if (state.pid.ctlMode == PID_AUTOMATIC) { PRINTF("temp %d, output %d\r\n", (int) state.oven_temp, (int) state.pid.Output); heater_pwm_set_perc(state.pid.Output); } else { // turn it off heater_pwm_set_perc(0); } heaterExitCritical(); // TODO notify UI thread of the new temperature and heating percent vTaskDelayUntil(&wake_time, pdMS_TO_TICKS(100)); } }