summaryrefslogtreecommitdiff
path: root/pcr-controller/pcr-controller.c
diff options
context:
space:
mode:
Diffstat (limited to 'pcr-controller/pcr-controller.c')
-rw-r--r--pcr-controller/pcr-controller.c157
1 files changed, 112 insertions, 45 deletions
diff --git a/pcr-controller/pcr-controller.c b/pcr-controller/pcr-controller.c
index 1aed20c..46d48ae 100644
--- a/pcr-controller/pcr-controller.c
+++ b/pcr-controller/pcr-controller.c
@@ -1,5 +1,5 @@
/*
- * OpenPCR Teensy Controller Code
+ * r3PCR Teensy Controller Code
*
*
* Copyright (C) 2013 Bernhard Tittelbach <xro@realraum.at>
@@ -27,7 +27,6 @@
#include <avr/interrupt.h>
#include <avr/power.h>
#include <stdio.h>
-#include <stdlib.h>
#include "util.h"
#include "led.h"
@@ -38,6 +37,8 @@
#include "pwm.h"
#include "pid_control.h"
+#include "temp_curve.h"
+#include "cmd_queue.h"
#define PIN_HIGH(PORT, PIN) PORT |= (1 << PIN)
#define PIN_LOW(PORT, PIN) PORT &= ~(1 << PIN)
@@ -61,6 +62,37 @@
uint8_t num_temp_sensors_ = 0;
int16_t raw_temp_ = 0;
uint8_t debug_ = 0;
+uint8_t monitor_temp_ = 0;
+// at f_system_clk = 10Hz, system_clk_ will not overrun for at least 13 years. PCR won't run that long
+uint32_t system_clk_ = 0;
+
+//with F_CPU = 16MHz and TIMER3 Prescaler set to /1024, TIMER3 increments with f = 16KHz. Thus if TIMER3 reaches 16, 1ms has passed.
+#define T3_MS *16
+//set TICK_TIME to 1/10 of a second
+#define TICK_TIME (100 T3_MS)
+
+ISR(TIMER3_COMPA_vect)
+{
+ //increment system_clk every TIME_TICK (aka 100ms)
+ system_clk_++;
+ //set up "clock" comparator for next tick
+ OCR3A = (OCR3A + TICK_TIME) & 0xFFFF;
+}
+
+void initSysClkTimer3(void)
+{
+ system_clk_ = 0;
+ // set counter to 0
+ TCNT3 = 0x0000;
+ // no outputs
+ TCCR3A = 0;
+ // Prescaler for Timer3: F_CPU / 1024 -> counts with f= 16KHz ms
+ TCCR3B = _BV(CS32) | _BV(CS30);
+ // set up "clock" comparator for first tick
+ OCR3A = TICK_TIME & 0xFFFF;
+ // enable interrupt
+ TIMSK3 = _BV(OCIE3A);
+}
void queryAndSaveTemperature(uint8_t bit_resolution)
{
@@ -114,28 +146,28 @@ void printTemperature(void)
}
}
-void readIntoBuffer(char *buffer, uint8_t buflen)
-{
- while (anyio_bytes_received() == 0);
- int ReceivedByte=0;
- do {
- ReceivedByte = fgetc(stdin);
- if (ReceivedByte != EOF)
- {
- *buffer = (char) ReceivedByte;
- buffer++;
- buflen --;
- }
- } while (ReceivedByte != '\n' && ReceivedByte != '\r' && buflen > 1);
- *buffer = 0;
-}
+//~ void readIntoBuffer(char *buffer, uint8_t buflen)
+//~ {
+ //~ while (anyio_bytes_received() == 0);
+ //~ int ReceivedByte=0;
+ //~ do {
+ //~ ReceivedByte = fgetc(stdin);
+ //~ if (ReceivedByte != EOF)
+ //~ {
+ //~ *buffer = (char) ReceivedByte;
+ //~ buffer++;
+ //~ buflen --;
+ //~ }
+ //~ } while (ReceivedByte != '\n' && ReceivedByte != '\r' && buflen > 1);
+ //~ *buffer = 0;
+//~ }
-int16_t readNumber(void)
-{
- char buffer[20];
- readIntoBuffer(buffer, 20);
- return atoi(buffer);
-}
+//~ int16_t readNumber(void)
+//~ {
+ //~ char buffer[20];
+ //~ readIntoBuffer(buffer, 20);
+ //~ return atoi(buffer);
+//~ }
void setPeltierCoolingDirectionPower(int16_t value)
{
@@ -143,7 +175,7 @@ void setPeltierCoolingDirectionPower(int16_t value)
value = 255;
if (value < -255)
value = -255;
-
+
if (value >= 0)
{
PIN_HIGH(PORTF, PELTIER_INA);
@@ -152,7 +184,7 @@ void setPeltierCoolingDirectionPower(int16_t value)
} else {
PIN_LOW(PORTF, PELTIER_INA);
PIN_HIGH(PORTB, PELTIER_INB);
- pwm_set((uint8_t) (-1 * value));
+ pwm_set((uint8_t) (-1 * value));
}
if (debug_)
printf("Peltier value: %d, INA: %d, INB: %d\r\n", value, (PORTF & _BV(PELTIER_INA)) > 0, (PORTB & _BV(PELTIER_INB)) > 0);
@@ -168,28 +200,38 @@ void handle_cmd(uint8_t cmd)
case 'R':
case 'r': reset2bootloader(); break;
case '?': debug_ = ~debug_; break;
+ case 'm': monitor_temp_ = ~monitor_temp_; break;
case '=': pid_setTargetValue(raw_temp_); break;
case '#': pid_setTargetValue(PID_DISABLED); break;
case 's': printTemperature(); return;
case 'L': led_toggle(); break;
+ case 'l': cmdq_queueCmdWithNumArgs(led_toggle, 0); break;
case 't':
printf("TargetTemp: ");
printRawTemp(pid_getTargetValue());
printf("\r\n");
return;
- case 'p':
+ case 'p':
case 'i':
case 'd':
pid_printVars();
return;
- case 'T': pid_setTargetValue(readNumber()); break;
- case 'P': pid_setP(readNumber()); break;
- case 'I': pid_setI(readNumber()); break;
- case 'D': pid_setD(readNumber()); break;
+ case 'T': cmdq_queueCmdWithNumArgs(pid_setTargetValue, 1); break;
+ case 'P': cmdq_queueCmdWithNumArgs(pid_setP, 1); break;
+ case 'I': cmdq_queueCmdWithNumArgs(pid_setI, 1); break;
+ case 'D': cmdq_queueCmdWithNumArgs(pid_setD, 1); break;
case 'A': PIN_HIGH(PORTB, PUMP_PIN); break;
- case 'a': PIN_LOW(PORTB, PUMP_PIN); break;
+ case 'a': PIN_LOW(PORTB, PUMP_PIN); break;
case 'B': PIN_HIGH(PORTD, TOPHEAT_PIN); break;
- case 'b': PIN_LOW(PORTD, TOPHEAT_PIN); break;
+ case 'b': PIN_LOW(PORTD, TOPHEAT_PIN); break;
+ case '-': //reset temp curve
+ tcurve_reset();
+ break;
+ case '+': //add temp curve entry
+ //~ tcurve_add(readNumber(), readNumber());
+ cmdq_queueCmdWithNumArgs(tcurve_add, 2);
+ break;
+ case 'Z': cmdq_queueCmdWithNumArgs(tcurve_setRepeats, 1); break;
default: printf("ERROR\r\n"); return;
}
printf("OK\r\n");
@@ -214,15 +256,19 @@ int main(void)
PINMODE_OUTPUT(DDRB, PELTIER_INB);
PINMODE_OUTPUT(DDRF, PELTIER_INA);
PINMODE_OUTPUT(DDRD, TOPHEAT_PIN);
-
+
pwm_init();
pwm_set(0);
-
+
pid_loadFromEEPROM();
num_temp_sensors_ = ds1820_discover();
-
- for(;;)
+
+ uint32_t last_time = 0;
+ uint32_t last_time2 = 0;
+ initSysClkTimer3(); //start system clock
+
+ for(;;)
{
int16_t BytesReceived = anyio_bytes_received();
while(BytesReceived > 0)
@@ -230,23 +276,44 @@ int main(void)
int ReceivedByte = fgetc(stdin);
if (ReceivedByte != EOF)
{
- handle_cmd(ReceivedByte);
+ // Ask cmdq_addCharToArgumentBuffer if it wants the current char, otherwise let handle_cmd() have it
+ if (cmdq_addCharToArgumentBuffer(ReceivedByte))
+ handle_cmd(ReceivedByte);
}
BytesReceived--;
}
-
- queryAndSaveTemperature(11);
-
- // PID control
- // FIXME: if we do USB Input / Output (input especially) we delay PID controll too mauch
- // that's bad, since the routing requires that it be called at exact intervalls
- // maybe we should use a interrupt routine
+ cmdq_doWork(); //may call queued functions
+
+ queryAndSaveTemperature(11); //at 11bit resolution, this takes at least 390ms
+
+ if (monitor_temp_)
+ printTemperature();
+
+ if (tcurve_isSet())
+ {
+ uint16_t time_elapsed = (uint16_t) (system_clk_ - last_time);
+ last_time = system_clk_;
+ //PID_DISABLED == TCURVE_ERROR so this works out fine and we disable heating and PID in this case
+ pid_setTargetValue(tcurve_getTempToSet(raw_temp_, time_elapsed));
+ if (debug_)
+ {
+ printf("time: %lu, elapsed: %u, target_temp: %d\r\n", system_clk_, time_elapsed, pid_getTargetValue());
+ }
+ }
+
+ // PID control
+ // make sure this is called at exact periodic intervals (i.e. make sure there are no large variable delays in for loop)
+ // e.g. enable periodic temp monitoring 'm' rather than querying temp at some intervall 's'
if (pid_isEnabled())
{
+ while (system_clk_ - last_time2 < 5 * TICK_TIME); //wait until at least 500ms have passed since last time. Should be enough time for everything else to finish. (after 13 years, code will hang here)
+ last_time2 = system_clk_;
setPeltierCoolingDirectionPower(pid_calc(raw_temp_));
}
-
+ else
+ setPeltierCoolingDirectionPower(0);
+
anyio_task();
}
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-03 10:04:40 +0000