193 lines
5.9 KiB
C
193 lines
5.9 KiB
C
#include "heater.h"
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#include <avr/eeprom.h>
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#include <avr/pgmspace.h>
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#include "arduino.h"
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// #include "timer.h"
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#include "debug.h"
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#ifdef DEBUG
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#include "sersendf.h"
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#endif
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#define HEATER_C
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#include "config.h"
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// this struct holds the heater PID factors that are stored in the EEPROM during poweroff
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struct {
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int32_t p_factor;
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int32_t i_factor;
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int32_t d_factor;
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int16_t i_limit;
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} heaters_pid[NUM_HEATERS];
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// this struct holds the runtime heater data- PID counters and such
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struct {
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int16_t heater_p;
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int16_t heater_i;
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int16_t heater_d;
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uint8_t pid_output;
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uint16_t temp_history[TH_COUNT];
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uint8_t temp_history_pointer;
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} heaters_runtime[NUM_HEATERS];
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#define DEFAULT_P 8192
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#define DEFAULT_I 512
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#define DEFAULT_D -24576
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#define DEFAULT_I_LIMIT 384
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// this lives in the eeprom so we can save our PID settings for each heater
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typedef struct {
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int32_t EE_p_factor;
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int32_t EE_i_factor;
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int32_t EE_d_factor;
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int16_t EE_i_limit;
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} EE_factor;
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EE_factor EEMEM EE_factors[NUM_HEATERS] = {
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{
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DEFAULT_P,
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DEFAULT_I,
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DEFAULT_D,
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DEFAULT_I_LIMIT
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}
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};
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void heater_init() {
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#if NUM_HEATERS > 0
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uint8_t i;
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// setup pins
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for (i = 0; i < NUM_HEATERS; i++) {
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*(heaters[i].heater_port) &= ~MASK(heaters[i].heater_pin);
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// DDR is always 1 address below PORT. ugly code but saves ram and an extra field in heaters[] which will never be used anywhere but here
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*((volatile uint8_t *) (heaters[i].heater_port - 1)) |= MASK(heaters[i].heater_pin);
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if (heaters[i].heater_pwm) {
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*heaters[i].heater_pwm = 0;
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switch((uint16_t) heaters[i].heater_pwm) {
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case (uint16_t) &OCR0A:
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TCCR0A |= MASK(COM0A1);
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break;
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case (uint16_t) &OCR0B:
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TCCR0A |= MASK(COM0B1);
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break;
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case (uint16_t) &OCR2A:
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TCCR2A |= MASK(COM2A1);
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break;
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case (uint16_t) &OCR2B:
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TCCR2A |= MASK(COM2B1);
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break;
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}
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}
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}
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// read factors from eeprom
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for (i = 0; i < NUM_HEATERS; i++) {
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heaters_pid[i].p_factor = eeprom_read_dword((uint32_t *) &EE_factors[i].EE_p_factor);
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heaters_pid[i].i_factor = eeprom_read_dword((uint32_t *) &EE_factors[i].EE_i_factor);
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heaters_pid[i].d_factor = eeprom_read_dword((uint32_t *) &EE_factors[i].EE_d_factor);
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heaters_pid[i].i_limit = eeprom_read_word((uint16_t *) &EE_factors[i].EE_i_limit);
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if ((heaters_pid[i].p_factor == 0) && (heaters_pid[i].i_factor == 0) && (heaters_pid[i].d_factor == 0) && (heaters_pid[i].i_limit == 0)) {
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heaters_pid[i].p_factor = DEFAULT_P;
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heaters_pid[i].i_factor = DEFAULT_I;
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heaters_pid[i].d_factor = DEFAULT_D;
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heaters_pid[i].i_limit = DEFAULT_I_LIMIT;
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}
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}
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#endif
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}
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void heater_save_settings() {
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uint8_t i;
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for (i = 0; i < NUM_HEATERS; i++) {
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eeprom_write_dword((uint32_t *) &EE_factors[i].EE_p_factor, heaters_pid[i].p_factor);
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eeprom_write_dword((uint32_t *) &EE_factors[i].EE_i_factor, heaters_pid[i].i_factor);
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eeprom_write_dword((uint32_t *) &EE_factors[i].EE_d_factor, heaters_pid[i].d_factor);
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eeprom_write_word((uint16_t *) &EE_factors[i].EE_i_limit, heaters_pid[i].i_limit);
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}
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}
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void heater_tick(uint8_t h, uint16_t current_temp, uint16_t target_temp) {
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// now for heater stuff
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int16_t t_error = target_temp - current_temp;
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heaters_runtime[h].temp_history[heaters_runtime[h].temp_history_pointer++] = current_temp;
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heaters_runtime[h].temp_history_pointer &= (TH_COUNT - 1);
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// PID stuff
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// proportional
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heaters_runtime[h].heater_p = t_error;
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// integral
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heaters_runtime[h].heater_i += t_error;
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// prevent integrator wind-up
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if (heaters_runtime[h].heater_i > heaters_pid[h].i_limit)
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heaters_runtime[h].heater_i = heaters_pid[h].i_limit;
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else if (heaters_runtime[h].heater_i < -heaters_pid[h].i_limit)
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heaters_runtime[h].heater_i = -heaters_pid[h].i_limit;
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// derivative
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// note: D follows temp rather than error so there's no large derivative when the target changes
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heaters_runtime[h].heater_d = current_temp - heaters_runtime[h].temp_history[heaters_runtime[h].temp_history_pointer];
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// combine factors
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int32_t pid_output_intermed = (
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(
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(((int32_t) heaters_runtime[h].heater_p) * heaters_pid[h].p_factor) +
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(((int32_t) heaters_runtime[h].heater_i) * heaters_pid[h].i_factor) +
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(((int32_t) heaters_runtime[h].heater_d) * heaters_pid[h].d_factor)
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) / PID_SCALE
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);
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// rebase and limit factors
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if (pid_output_intermed > 255)
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heaters_runtime[h].pid_output = 255;
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else if (pid_output_intermed < 0)
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heaters_runtime[h].pid_output = 0;
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else
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heaters_runtime[h].pid_output = pid_output_intermed & 0xFF;
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#ifdef DEBUG
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if (debug_flags & DEBUG_PID)
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sersendf_P(PSTR("T{E:%d, P:%d * %ld = %ld / I:%d * %ld = %ld / D:%d * %ld = %ld # O: %ld = %u}\n"), t_error, heaters_runtime[h].heater_p, heaters_pid[h].p_factor, (int32_t) heaters_runtime[h].heater_p * heaters_pid[h].p_factor / PID_SCALE, heaters_runtime[h].heater_i, heaters_pid[h].i_factor, (int32_t) heaters_runtime[h].heater_i * heaters_pid[h].i_factor / PID_SCALE, heaters_runtime[h].heater_d, heaters_pid[h].d_factor, (int32_t) heaters_runtime[h].heater_d * heaters_pid[h].d_factor / PID_SCALE, pid_output_intermed, heaters_runtime[h].pid_output);
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#endif
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heater_set(h, heaters_runtime[h].pid_output);
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}
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void heater_set(uint8_t index, uint8_t value) {
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#if NUM_HEATERS > 0
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if (heaters[index].heater_pwm) {
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*(heaters[index].heater_pwm) = value;
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#ifdef DEBUG
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if (debug_flags & DEBUG_PID)
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sersendf_P(PSTR("PWM{%u = %u}\n"), index, OCR0A);
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#endif
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}
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else {
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if (value >= 8)
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*(heaters[index].heater_port) |= MASK(heaters[index].heater_pin);
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else
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*(heaters[index].heater_port) &= ~MASK(heaters[index].heater_pin);
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}
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#endif
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}
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void pid_set_p(uint8_t index, int32_t p) {
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heaters_pid[index].p_factor = p;
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}
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void pid_set_i(uint8_t index, int32_t i) {
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heaters_pid[index].i_factor = i;
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}
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void pid_set_d(uint8_t index, int32_t d) {
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heaters_pid[index].d_factor = d;
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}
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void pid_set_i_limit(uint8_t index, int32_t i_limit) {
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heaters_pid[index].i_limit = i_limit;
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}
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