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-rw-r--r--pcr-controller/pcr-controller.c385
1 files changed, 0 insertions, 385 deletions
diff --git a/pcr-controller/pcr-controller.c b/pcr-controller/pcr-controller.c
deleted file mode 100644
index d3b0ea6..0000000
--- a/pcr-controller/pcr-controller.c
+++ /dev/null
@@ -1,385 +0,0 @@
-/*
- * r3PCR Teensy Controller Code
- *
- *
- * Copyright (C) 2013-2014 Bernhard Tittelbach <xro@realraum.at>
-* uses avr-utils, anyio & co by Christian Pointner <equinox@spreadspace.org>
- *
- * This file is part of spreadspace avr utils.
- *
- * spreadspace avr utils is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * any later version.
- *
- * spreadspace avr utils is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with spreadspace avr utils. If not, see <http://www.gnu.org/licenses/>.
- */
-
-
-#include <avr/io.h>
-#include <avr/wdt.h>
-#include <avr/interrupt.h>
-#include <avr/power.h>
-#include <stdio.h>
-
-#include "util.h"
-#include "led.h"
-#include "anyio.h"
-
-#include "onewire.h"
-#include "ds1820.h"
-
-#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)
-#define PINMODE_OUTPUT PIN_HIGH //just use DDR instead of PORT
-#define PINMODE_INPUT PIN_LOW //just use DDR instead of PORT
-
-#define OP_SETBIT |=
-#define OP_CLEARBIT &= ~
-#define OP_CHECK &
-#define PIN_SW(PORTDDRREG, PIN, OP) PORTDDRREG OP (1 << PIN)
-
-#define HIGHv OP_SETBIT
-#define LOWv OP_CLEARBIT
-
-#define PELTIER_INA_PIN PINF7
-#define PELTIER_INA_PORT PORTF
-#define PELTIER_INA_DDR DDRF
-
-#define PELTIER_INB_PIN PINB6
-#define PELTIER_INB_PORT PORTB
-#define PELTIER_INB_DDR DDRB
-
-//OC1A
-#define PELETIER_PWM_EN_PIN PINB5
-#define PELETIER_PWM_EN_PORT PORTB
-#define PELETIER_PWM_EN_DDR DDRB
-
-//OC4D
-#define TOPHEAT_PIN PIND7
-#define TOPHEAT_PORT PORTD
-#define TOPHEAT_DDR DDRD
-
-#define PUMP_PIN PINC6
-#define PUMP_PORT PORTC
-#define PUMP_DDR DDRC
-
-#define ONEWIRE_PIN PINC7
-#define ONEWIRE_PINBASE PINC
-
-uint8_t num_temp_sensors_ = 0;
-int16_t raw_temp_ = 0;
-uint8_t temp_is_fresh_ = 0;
-uint8_t debug_ = 0;
-uint8_t monitor_temp_ = 0;
-uint8_t pump_autoon_ = 0;
-// at f_system_clk = 10Hz, system_clk_ will not overrun for at least 13 years. PCR won't run that long
-volatile 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 SYSCLKTICK_DURATION_IN_MS 100
-#define TICK_TIME (SYSCLKTICK_DURATION_IN_MS 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;
- if (debug_)
- led_toggle();
-}
-
-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)
-{
- static uint32_t conversion_start_time = 0;
- uint8_t sensor_index = 0;
-
- if (num_temp_sensors_ == 0)
- {
- num_temp_sensors_ = ds1820_discover();
- }
-
- if (conversion_start_time == 0)
- {
- // -- trigger temperatur conversion in sensor
- for (sensor_index=0; sensor_index < num_temp_sensors_; sensor_index++)
- {
- ds1820_set_resolution(sensor_index, bit_resolution);
- ds1820_start_measuring(sensor_index);
- }
- conversion_start_time = system_clk_;
- // -- end trigger
- } else
- if ( (system_clk_ - conversion_start_time)*SYSCLKTICK_DURATION_IN_MS > ds1820_get_conversion_time_ms(bit_resolution))
- {
- // -- receive temperatur after conversion time has passed
- for (sensor_index=0; sensor_index < num_temp_sensors_; sensor_index++)
- {
- raw_temp_ = ds1820_read_temperature(sensor_index);
- if (raw_temp_ != DS1820_ERROR)
- {
- temp_is_fresh_ = 1;
- break; //we need only one successfully read value
- }
- }
- conversion_start_time = 0;
- // -- end receive
- }
-}
-
-void printRawTemp(int16_t raw_temp)
-{
- int16_t decimals = 100 * (raw_temp % 16) / 16;
- if (decimals < 0)
- decimals *= -1;
- printf("%d.%02d", raw_temp / 16, decimals);
-}
-
-void printStatus(void)
-{
- if (num_temp_sensors_ == 0)
- {
- printf("{\"cmd\":\"s\",\"cmd_ok\":false,\"error\": \"No DS1820 sensors on 1wire bus, thus no temperature\"}\r\n");
- return;
- }
- if (raw_temp_ == DS1820_ERROR)
- {
- printf("{\"cmd\":\"s\",\"cmd_ok\":false,\"error\":\"talking to DS18b20, no valid temperature!\"}\r\n");
- } else {
- printf("{\"cmd\":\"s\",\"t\":%lu, \"currtemp\":", system_clk_);
- printRawTemp(raw_temp_);
- printf(", \"targettemp\":");
- printRawTemp(pid_getTargetValue());
- printf(", \"curve\":%s", (tcurve_isSet()?"true":"false"));
- printf(", \"curve_t_elapsed\":%u", tcurve_getTimeElapsed());
- printf(", \"cycles_left\":%u}\r\n", tcurve_getRepeatsLeft());
- }
-}
-
-//~ 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);
-//~ }
-
-void setPeltierCoolingDirectionPower(int16_t value)
-{
- if (value > 255)
- value = 255;
- if (value < -255)
- value = -255;
-
- if (value >= 0)
- {
- PIN_LOW(PELTIER_INA_PORT, PELTIER_INA_PIN);
- PIN_HIGH(PELTIER_INB_PORT, PELTIER_INB_PIN);
- pwm_b5_set((uint8_t) value);
- } else {
- PIN_HIGH(PELTIER_INA_PORT, PELTIER_INA_PIN);
- PIN_LOW(PELTIER_INB_PORT, PELTIER_INB_PIN);
- pwm_b5_set((uint8_t) (-1 * value));
- }
- if (debug_)
- printf("Peltier value: %d, INA: %d, INB: %d, OCR1AH: %d, OCR1AL: %d\r\n", value, (PELTIER_INA_PORT & _BV(PELTIER_INA_PIN)) > 0, (PELTIER_INB_PORT & _BV(PELTIER_INB_PIN)) > 0, OCR1AH, OCR1AL);
-}
-
-void setTopHeaderValue(int16_t value)
-{
- pwm_d7_set((uint8_t) (value & 0xFF));
-}
-
-void handle_cmd(uint8_t cmd)
-{
- switch(cmd) {
- case ' ':
- case '\n':
- case '\r':
- return;
- case 'R':
- case 'r': reset2bootloader(); break;
- case '?': debug_ = ~debug_; break;
- case 'M': monitor_temp_ = 1; break;
- case 'm': monitor_temp_ = 0; break;
- case '=': pid_setTargetValue(raw_temp_); break;
- case '#': pid_setTargetValue(PID_DISABLED); break;
- case 't':
- case 's': printStatus(); return;
- case 'L': led_toggle(); break;
- case 'l': cmdq_queueCmdWithNumArgs((void*) led_toggle, 0, cmd); return;
- case 'p':
- case 'i':
- case 'd':
- pid_printVars();
- return;
- case 'T': cmdq_queueCmdWithNumArgs((void*) pid_setTargetValue, 1, cmd); return;
- case 'P': cmdq_queueCmdWithNumArgs((void*) pid_setP, 1, cmd); return;
- case 'I': cmdq_queueCmdWithNumArgs((void*) pid_setI, 1, cmd); return;
- case 'D': cmdq_queueCmdWithNumArgs((void*) pid_setD, 1, cmd); return;
- case 'A':
- PIN_HIGH(PUMP_PORT, PUMP_PIN);
- pump_autoon_ = 0;
- break;
- case 'a':
- PIN_LOW(PUMP_PORT, PUMP_PIN);
- pump_autoon_ = 0;
- break;
- case 'B': cmdq_queueCmdWithNumArgs((void*) setTopHeaderValue, 1, cmd); return;
- case 'b': setTopHeaderValue(0); break;
- //~ case 'B': PIN_HIGH(TOPHEAT_PORT,TOPHEAT_PIN); break;
- //~ case 'b': PIN_LOW(TOPHEAT_PORT,TOPHEAT_PIN); break;
- case '@': pump_autoon_ = 1; break;
- case '.': tcurve_printCurve(cmd); return;
- case '-': //reset temp curve
- tcurve_reset();
- break;
- case '+': //add temp curve entry
- //~ tcurve_add(readNumber(), readNumber());
- cmdq_queueCmdWithNumArgs((void*) tcurve_add, 2, cmd);
- return;
- case '>': cmdq_queueCmdWithNumArgs((void*) tcurve_setRepeatStartPosToLatestEntry, 0, cmd); return;
- case '<': cmdq_queueCmdWithNumArgs((void*) tcurve_setRepeatEndPosToLatestEntry, 0, cmd); return;
- case 'Z': cmdq_queueCmdWithNumArgs((void*) tcurve_setRepeats, 1, cmd); return;
- default: printf("{\"cmd\":\"%c\",\"cmd_ok\":false,\"error\":\"unknown cmd\"}\r\n",cmd); return;
- }
- printf("{\"cmd\":\"%c\",\"cmd_ok\":true}\r\n",cmd);
-}
-
-int main(void)
-{
- /* Disable watchdog if enabled by bootloader/fuses */
- MCUSR &= ~(1 << WDRF);
- wdt_disable();
-
- cpu_init();
- led_init();
- anyio_init(115200, 0);
- sei();
-
- led_off();
- owi_init(ONEWIRE_PIN, &ONEWIRE_PINBASE);
- PINMODE_OUTPUT(PUMP_DDR, PUMP_PIN);
- PIN_LOW(PUMP_PORT, PUMP_PIN);
- PINMODE_OUTPUT(PELETIER_PWM_EN_DDR, PELETIER_PWM_EN_PIN);
- PINMODE_OUTPUT(PELTIER_INB_DDR, PELTIER_INB_PIN);
- PINMODE_OUTPUT(PELTIER_INA_DDR, PELTIER_INA_PIN);
- PINMODE_OUTPUT(TOPHEAT_DDR, TOPHEAT_PIN);
- PIN_LOW(TOPHEAT_PORT, TOPHEAT_PIN);
-
- pwm_init();
- pwm_b5_set(0);
-
- pid_loadFromEEPROM();
-
- num_temp_sensors_ = ds1820_discover();
-
- uint32_t last_time = 0;
- uint32_t last_time2 = 0;
- initSysClkTimer3(); //start system clock
-
- for(;;)
- {
- int16_t BytesReceived = anyio_bytes_received();
- while(BytesReceived > 0)
- {
- int ReceivedByte = fgetc(stdin);
- if (ReceivedByte != EOF)
- {
- // Ask cmdq_addCharToArgumentBuffer if it wants the current char, otherwise let handle_cmd() have it
- if (cmdq_addCharToArgumentBuffer(ReceivedByte))
- handle_cmd(ReceivedByte);
- }
- BytesReceived--;
- }
-
- cmdq_doWork(); //may call queued functions
-
- queryAndSaveTemperature(11); //at 11bit resolution
-
- if (temp_is_fresh_)
- {
- temp_is_fresh_ = 0; //once used, temp is used up ;->
-
- if (monitor_temp_)
- printStatus();
-
- 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));
- }
-
- // 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())
- {
- if (pump_autoon_)
- PIN_HIGH(PUMP_PORT, PUMP_PIN);
- if (debug_)
- printf("pid_calc..");
- while (system_clk_ - last_time2 < 5); //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)
- if (debug_)
- printf(" clk: %lu, elaps: %lu\r\n",system_clk_ , system_clk_ - last_time2);
- last_time2 = system_clk_;
- temp_is_fresh_ = 0;
- setPeltierCoolingDirectionPower(pid_calc(raw_temp_));
- }
- else
- {
- setPeltierCoolingDirectionPower(0);
- if (pump_autoon_)
- PIN_LOW(PUMP_PORT, PUMP_PIN);
- }
- }
-
- anyio_task();
- }
-}
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