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start work on PID controller

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This commit is contained in:
Alessandro Mauri 2026-05-09 01:05:49 +02:00
parent f7f5a16d64
commit 0200e47327
5 changed files with 175 additions and 54 deletions
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41
fw/main.c
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@ -94,6 +94,7 @@ void update_encoder(void)
// FIXME: even with interrupts disabled and debounce, a single detent triggers
// multiple interrupts, leading to multiple encoder updates in a short time.
if (funDigitalRead(PIN_BTN) == 0) return;
bool a = funDigitalRead(PIN_ENC_A);
bool b = funDigitalRead(PIN_ENC_B);
Delay_Us(100);
@ -354,9 +355,6 @@ static inline uint16_t isqrt(uint32_t x)
}
#define MIN(a, b) ((a) < (b) ? (a) : (b))
__attribute__((noreturn)) int main(void)
{
SystemInit();
@ -419,8 +417,6 @@ __attribute__((noreturn)) int main(void)
sc7a20_init();
u8g2_ClearBuffer(u8g2);
u8g2_SetBitmapMode(u8g2, 1);
u8g2_SetFontMode(u8g2, 1);
u8g2_SetFont(u8g2, u8g2_font_5x8_tr);
u8g2_DrawStr(u8g2, x_off+0, y_off+7, "Negotiating...");
u8g2_SendBuffer(u8g2);
@ -429,8 +425,6 @@ __attribute__((noreturn)) int main(void)
bool has_pd = pd_negotiate(eUSBPD_VCC_3V3);
if (has_pd == false) {
u8g2_ClearBuffer(u8g2);
u8g2_SetBitmapMode(u8g2, 1);
u8g2_SetFontMode(u8g2, 1);
u8g2_SetFont(u8g2, u8g2_font_5x8_tr);
u8g2_DrawStr(u8g2, x_off+0, y_off+7, "Negotiation FAILED");
u8g2_DrawStr(u8g2, x_off+0, y_off+14, USBPD_ResultToStr(pd_get_result()));
@ -449,8 +443,6 @@ __attribute__((noreturn)) int main(void)
, 100);
u8g2_ClearBuffer(u8g2);
u8g2_SetBitmapMode(u8g2, 1);
u8g2_SetFontMode(u8g2, 1);
u8g2_SetFont(u8g2, u8g2_font_5x8_tr);
// Display tip temperature
u8g2_DrawStr(u8g2, x_off+0, y_off+7, "A:");
@ -478,8 +470,6 @@ __attribute__((noreturn)) int main(void)
poll_input(); // usb
u8g2_ClearBuffer(u8g2);
u8g2_SetBitmapMode(u8g2, 1);
u8g2_SetFontMode(u8g2, 1);
u8g2_SetFont(u8g2, u8g2_font_5x8_tr);
static bool pwm = false; // PWM status
@ -493,6 +483,7 @@ __attribute__((noreturn)) int main(void)
static uint16_t vbus_mv, current_ma;
static int16_t temp_c, tip_temp_c;
static uint16_t power;
static fp24_8_t e;
vbus_mv = U16_FP_EMA_K4(vbus_mv, ((u32)adc_buffer[0]*VCC_MV*11)/4096);
current_ma = U16_FP_EMA_K4(current_ma, get_current_ma(adc_buffer[1]));
temp_c = I16_FP_EMA_K4(temp_c, get_temp_c(adc_buffer[2]));
@ -528,16 +519,17 @@ __attribute__((noreturn)) int main(void)
case STATE_HEATING:
// Display tip temperature
u8g2_DrawStr(u8g2, x_off+0, y_off+7, "TIP:");
u8g2_DrawStr(u8g2, x_off+20, y_off+7, u8g2_u16toa(tip_temp_c, 4));
u8g2_DrawStr(u8g2, x_off+20, y_off+7, u16toa(tip_temp_c));
// Display bus voltage
u8g2_DrawStr(u8g2, x_off+45, y_off+7, "V:");
u8g2_DrawStr(u8g2, x_off+55, y_off+7, u8g2_u16toa(vbus_mv/1000, 2));
u8g2_DrawStr(u8g2, x_off+55, y_off+7, u16toa(vbus_mv/1000));
// Display power
u8g2_DrawStr(u8g2, x_off+0, y_off+15, "W:");
u8g2_DrawStr(u8g2, x_off+10, y_off+15, u8g2_u16toa(power, 3));
//u8g2_DrawStr(u8g2, x_off+0, y_off+15, "W:");
//u8g2_DrawStr(u8g2, x_off+10, y_off+15, u8g2_u16toa(power, 3));
u8g2_DrawStr(u8g2, x_off+0, y_off+15, i16toa(pd_profile.set_temp - tip_temp_c));
// Display current
u8g2_DrawStr(u8g2, x_off+45, y_off+15, "A:");
u8g2_DrawStr(u8g2, x_off+55, y_off+15, u8g2_u16toa(current_ma, 5));
u8g2_DrawStr(u8g2, x_off+55, y_off+15, u16toa(current_ma));
if (enabled) {
@ -566,8 +558,23 @@ __attribute__((noreturn)) int main(void)
if (pwm) {
const uint16_t tim_max = FUNCONF_SYSTEM_CORE_CLOCK / PWM_FREQ_HZ - 1;
static int16_t err_p, err_i, err_d, prev_delta;
int16_t delta = pd_profile.set_temp - tip_temp_c;
uint16_t duty = MIN((25*pd_profile.max_duty*delta)/(pd_profile.set_temp*10), pd_profile.max_duty);
err_p = delta;
err_i += delta;
err_i = MAX(-1000, MIN(1000, err_i));
err_d = delta - prev_delta;
prev_delta = delta;
const fp24_8_t kp = f32_to_fp24_8(0.8f);
const fp24_8_t ki = f32_to_fp24_8(0.15f);
const fp24_8_t kd = f32_to_fp24_8(0.0f);
e = fp24_8_mul(i16_to_fp24_8(err_p), kp) +
fp24_8_mul(i16_to_fp24_8(err_i), ki) +
fp24_8_mul(i16_to_fp24_8(err_d), kd);
uint16_t duty = MAX(0, MIN(I(e), pd_profile.max_duty));
pwm_set(((u32)duty*tim_max)/100);
u8g2_DrawBox(u8g2, x_off+92, y_off+12, 4, 4);
} else {