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implemented PID Loop

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This commit is contained in:
pique_n
2022-01-09 14:23:22 +01:00
parent ff5a05d32b
commit 26522970e7
8 changed files with 74 additions and 27 deletions
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4
Core/Application/MAIN_MainApplication.c
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@ -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){

2
Core/Application/VARH_VariableHandler.h
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@ -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,

4
Core/Drivers/ADCD_AdcDriver.c
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@ -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

4
Core/Drivers/ADCD_AdcDriver.h
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@ -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
}

56
Core/Drivers/PECO_PeltierController.c
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@ -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 );
}
@ -230,6 +229,10 @@ 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)
{
// TODO: check the measurements, everything ok?
// PID Regelung
} else if (VARH_uGetVariableData(VARH_eMode) == PECO_eConstVoltage)
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
}
}

4
Core/Drivers/TEMP_Temperature.c
View File

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

10
Core/Drivers/USFL_UserFlash.c
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@ -21,11 +21,13 @@
//
// 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 */
// .user_data (NOLOAD) :
// {
@ -133,7 +135,7 @@ __attribute__((__section__(".user_data"))) const uint8_t userConfig[8];
BOOL USFL_boInitializeModule( VOID )
{
// TODO: notes
return( TRUE );
}

1
STM32L432KBUX_FLASH.ld
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@ -62,6 +62,7 @@ SECTIONS
*(.user_data)
. = ALIGN(4);
} > DATA
/* The startup code into "FLASH" Rom type memory */
.isr_vector :
{