implemented PID Loop

Core/Application/MAIN_MainApplication.c

@@ -227,6 +227,8 @@ PRIVATE VOID vMainTask( PVOID arg )
 		
 		if( u32Flags & EVENT_NEW_MESSAGE ) {
 
+      // TODO: implement new protocol
+
 			CAND_Message stMessage;
       		osMessageQueueGet( m_pstCANRxMsgQueueID, &stMessage, NULL, 0 );
 			
@@ -234,7 +236,7 @@ PRIVATE VOID vMainTask( PVOID arg )
 
 				S16 s16Voltage = stMessage.au8Data[0] << 8;
 				s16Voltage |= stMessage.au8Data[1];
-				PECO_boSetTemperature( s16Voltage );
+        VARH_vSetVariableData(VARH_eControlVoltage, s16Voltage);
 				
 			} else if(stMessage.u8Id == 0x13){
 

Core/Application/VARH_VariableHandler.h

@@ -71,7 +71,7 @@ typedef enum
 
   VARH_ePID_kp,
   VARH_ePID_ki,
-  VARH_ePID_ki,
+  VARH_ePID_kd,
   VARH_ePID_Temp,
   VARH_ePID_Max,
   VARH_ePID_Min,

Core/Drivers/ADCD_AdcDriver.c

@@ -234,13 +234,13 @@ BOOL ADCD_boInitializeModule( VOID )
 }
 
 //-------------------------------------------------------------------------------------------------
-// Function:      ADCD_dReadData
+// Function:      ADCD_boReadData
 // Description:   Reads the conversion data form the ADC
 // Parameters:    PU8 pu8Error              error
 // Returns:       DOUBLE                    conversion data
 //                                          
 //-------------------------------------------------------------------------------------------------
-BOOL ADCD_dReadData(ADCD_EnTemps eChannel, PU8 pu8Error, PU16 pu16Data)
+BOOL ADCD_boReadData(ADCD_EnTemps eChannel, PU8 pu8Error, PU16 pu16Data)
 {
   BOOL boOK       = TRUE;
   *pu8Error       = 0;      // reset error state

Core/Drivers/ADCD_AdcDriver.h

@@ -7,7 +7,7 @@
 //-------------------------------------------------------------------------------------------------
 //
 // Project:       Peltier Controller V2
-// Author:        Noah Piqu<71> (noah.pique@psi.ch)
+// Author:        Noah Piqu<71> (noah.pique@psi.ch)
 //
 //-------------------------------------------------------------------------------------------------
 //
@@ -89,7 +89,7 @@ typedef enum {
 
 BOOL    ADCD_boInitializeModule( VOID );
 //BOOL    ADCD_boConfig( BOOL boFast, ADCD_pfnCallback pfnDataReadyCallback, PVOID pvCallbackArg );
-BOOL ADCD_dReadData(ADCD_EnTemps eChannel, PU8 pu8Error, PU16 pu16Data);
+BOOL ADCD_boReadData(ADCD_EnTemps eChannel, PU8 pu8Error, PU16 pu16Data);
 
 #ifdef __cplusplus
 }

Core/Drivers/PECO_PeltierController.c

@@ -53,6 +53,8 @@
 // Description:   Definition of local constants (visible by this module only).
 //=================================================================================================
 
+#define REFRESH 1000 // Refresh rate in ms
+
 #define EVENT_TIMER_UPDATE          ((U32)(1<<0))
 
 #define EVENT_FLAGS_ALL             ( EVENT_TIMER_UPDATE )
@@ -91,7 +93,6 @@ LOCAL osEventFlagsId_t    m_pstEventID            = NULL;
 
 BOOL boEnableOutput = FALSE;
 
-
 //=================================================================================================
 // Section:       LOCAL CONSTANTS
 // Description:   Definition of local constants (visible by this module only).
@@ -142,13 +143,11 @@ PRIVATE VOID vEventCallback( PVOID pvData );
 //=================================================================================================
 
 
-
 //=================================================================================================
 // Section:       EXTERNAL VARIABLES
 // Description:   Definition of external (global) variables.
 //=================================================================================================
 
-extern DAC_HandleTypeDef hdac1;
 
 //=================================================================================================
 // Section:       GLOBAL FUNCTIONS
@@ -172,7 +171,7 @@ BOOL PECO_boInitializeModule( VOID )
 	
 	boSetPeltierVoltage(0);
 
-	boOK &= (osTimerStart( m_pstUpdateTimer, 1000 ) == osOK ) ? TRUE : FALSE;
+	boOK &= (osTimerStart( m_pstUpdateTimer, REFRESH ) == osOK ) ? TRUE : FALSE;
 
   return( boOK );
 }
@@ -229,6 +228,10 @@ VOID PECO_vTask( PVOID arg )
 
   UNUSED( arg );
   U32 u32Flags;
+
+  FLOAT last_error = 0;
+  FLOAT integral = 0;
+  FLOAT dT = REFRESH; // 1s
 	
 	while ( TRUE )
   {
@@ -238,12 +241,51 @@ VOID PECO_vTask( PVOID arg )
     if( u32Flags & EVENT_TIMER_UPDATE )
     {
 
-      if (VARH_uGetVariableData(VARH_eMode) == PECO_eConstTemp)
+      if (VARH_uGetVariableData(VARH_eMode).u32Val == PECO_eConstTemp)
       {
-        // PID Regelung
+      // TODO: check the measurements, everything ok?
-      } else if (VARH_uGetVariableData(VARH_eMode) == PECO_eConstVoltage)
+      
+      
+      // PID Regelung
+
+      FLOAT kp = VARH_uGetVariableData(VARH_ePID_kp).flVal;
+      FLOAT ki = VARH_uGetVariableData(VARH_ePID_ki).flVal;
+      FLOAT kd = VARH_uGetVariableData(VARH_ePID_kd).flVal;
+      FLOAT max = VARH_uGetVariableData(VARH_ePID_Max).flVal;
+      FLOAT min = VARH_uGetVariableData(VARH_ePID_Min).flVal;
+      
+      FLOAT Tnow = VARH_uGetVariableData(VARH_eTemp_C).flVal;
+      FLOAT Tset = VARH_uGetVariableData(VARH_ePID_Temp).flVal;
+
+      // -error
+      FLOAT error = Tnow - Tset;
+
+      // proportional term
+      FLOAT P = kp * error;
+      
+      // integral term
+      integral += error * dT;
+      FLOAT I = ki * integral;
+      
+      // derivative term
+      FLOAT D = kd * (error - last_error) / dT;
+      last_error = error;
+      
+      // total
+      FLOAT output = P + I + D;
+      
+      // limitter
+      if (output > max){
+        output = max;
+      } else if (output < min){
+        output = min;
+      }
+
+      boSetPeltierVoltage(output); // set the output
+
+      } else if (VARH_uGetVariableData(VARH_eMode).u32Val == PECO_eConstVoltage)
       {
-        boSetPeltierVoltage(VARH_uGetVariableData(VARH_eControlVoltage))
+        boSetPeltierVoltage(VARH_uGetVariableData(VARH_eControlVoltage).flVal) // set the output
       }
 
     }

Core/Drivers/TEMP_Temperature.c

@@ -156,8 +156,8 @@ PRIVATE VOID vTempTask( PVOID arg )
   
   while( TRUE )
   {		
-    boOK &= ADCD_dReadData(ADCD_eHot, &error, &u16ADC_data[ADCD_eHot]);
+    boOK &= ADCD_boReadData(ADCD_eHot, &error, &u16ADC_data[ADCD_eHot]);
-    boOK &= ADCD_dReadData(ADCD_eCold, &error, &u16ADC_data[ADCD_eCold]);
+    boOK &= ADCD_boReadData(ADCD_eCold, &error, &u16ADC_data[ADCD_eCold]);
     if( boOK )
     {
       flTempData[ADCD_eHot] = flConvertADCData( u16ADC_data[ADCD_eHot] );

Core/Drivers/USFL_UserFlash.c

@@ -21,18 +21,20 @@
 //
 // Description:   This source file contains all functions dealing with internal flash for User Settings
 //
+// STM32L432KBUX_FLASH.ld
+//
 //  DATA    (rwx) : ORIGIN = 0x801F800, LENGTH = 2K
 //
-///* Sections */
+// /* Sections */
-//SECTIONS
+// SECTIONS
-//{
+// {
-//  /* NOLOAD is required for not ereasing this block */
+//   /* NOLOAD is required for not ereasing this block */
-//  .user_data (NOLOAD) :
+//   .user_data (NOLOAD) :
-//  {
+//   {
-//  . = ALIGN(4);
+//   . = ALIGN(4);
-//  *(.user_data)
+//   *(.user_data)
-//  . = ALIGN(4);
+//   . = ALIGN(4);
-//  } > DATA*/
+//   } > DATA*/
 //
 //=================================================================================================
 
@@ -133,7 +135,7 @@ __attribute__((__section__(".user_data"))) const uint8_t userConfig[8];
 BOOL USFL_boInitializeModule( VOID )
 {
 
-
+  // TODO: notes
   return( TRUE );
 }
 

STM32L432KBUX_FLASH.ld

@@ -62,6 +62,7 @@ SECTIONS
 	*(.user_data)
 	. = ALIGN(4);
 	} > DATA
+  
   /* The startup code into "FLASH" Rom type memory */
   .isr_vector :
   {