From 021d746ab7cfdb97b6fcc92192dd5535cde81d0e Mon Sep 17 00:00:00 2001
From: Bernhard Tittelbach <xro@realraum.at>
Date: Fri, 11 Oct 2013 16:10:29 +0000
Subject: bugfixes

git-svn-id: https://svn.spreadspace.org/avr/trunk@241 aa12f405-d877-488e-9caf-2d797e2a1cc7
---
 pcr-controller/pcr-controller.c | 19 ++++++++++++++++---
 pcr-controller/pid_control.c    | 30 +++++++++++++++++++-----------
 pcr-controller/pid_control.h    |  9 ++++++---
 3 files changed, 41 insertions(+), 17 deletions(-)

(limited to 'pcr-controller')

diff --git a/pcr-controller/pcr-controller.c b/pcr-controller/pcr-controller.c
index ac064e0..1aed20c 100644
--- a/pcr-controller/pcr-controller.c
+++ b/pcr-controller/pcr-controller.c
@@ -59,7 +59,8 @@
 #define TOPHEAT_PIN PIND7
 
 uint8_t num_temp_sensors_ = 0;
-uint16_t raw_temp_ = 0;
+int16_t raw_temp_ = 0;
+uint8_t debug_ = 0;
 
 void queryAndSaveTemperature(uint8_t bit_resolution)
 {
@@ -90,7 +91,10 @@ void queryAndSaveTemperature(uint8_t bit_resolution)
 
 void printRawTemp(int16_t raw_temp)
 {
-  printf("%d.%02d", raw_temp / 16, 100 * (raw_temp % 16) / 16);
+  int16_t decimals = 100 * (raw_temp % 16) / 16;
+  if (decimals < 0)
+    decimals *= -1;
+  printf("%d.%02d", raw_temp / 16, decimals);
 }
 
 void printTemperature(void)
@@ -150,6 +154,8 @@ void setPeltierCoolingDirectionPower(int16_t value)
     PIN_HIGH(PORTB, PELTIER_INB);
     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);
 }
 
 void handle_cmd(uint8_t cmd)
@@ -161,6 +167,9 @@ void handle_cmd(uint8_t cmd)
     return;
   case 'R':
   case 'r': reset2bootloader(); break;
+  case '?': debug_ = ~debug_; break;
+  case '=': pid_setTargetValue(raw_temp_); break;
+  case '#': pid_setTargetValue(PID_DISABLED); break;
   case 's': printTemperature(); return;
   case 'L': led_toggle(); break;
   case 't':
@@ -207,6 +216,7 @@ int main(void)
   PINMODE_OUTPUT(DDRD, TOPHEAT_PIN);
   
   pwm_init();
+  pwm_set(0);
   
   pid_loadFromEEPROM();
 
@@ -232,7 +242,10 @@ int main(void)
     //              that's bad, since the routing requires that it be called at exact intervalls
     //              maybe we should use a interrupt routine
 
-    setPeltierCoolingDirectionPower(pid_calc(raw_temp_));
+    if (pid_isEnabled())
+    {
+      setPeltierCoolingDirectionPower(pid_calc(raw_temp_));
+    }
     
     anyio_task();
   }
diff --git a/pcr-controller/pid_control.c b/pcr-controller/pid_control.c
index ee1d4f6..4ab3a99 100644
--- a/pcr-controller/pid_control.c
+++ b/pcr-controller/pid_control.c
@@ -24,52 +24,60 @@ int32_t pid_i_ = 512;
 int32_t pid_d_ = 24576;
 
 int32_t pid_i_integralsum_ = 0;
-int32_t pid_d_last_error_ = 0;
+int32_t pid_last_input_ = 0;
 
-uint16_t pid_target_value_ = 0;
+int16_t pid_target_value_ = PID_DISABLED;
 
 void pid_setP(int16_t p)
 {
-    pid_p_ = (int32_t) p * PID_SCALE;
+    pid_p_ = (int32_t) p;
     pid_saveToEEPROM();
 }
 
 void pid_setI(int16_t i)
 {
-    pid_i_ = (int32_t) i * PID_SCALE;
+    pid_i_ = (int32_t) i;
     pid_saveToEEPROM();
 }
 
 void pid_setD(int16_t d)
 {
-    pid_d_ = (int32_t) d * PID_SCALE;
+    pid_d_ = (int32_t) d;
     pid_saveToEEPROM();
 }
 
 void pid_printVars(void)
 {
-    printf("PID P: %d\r\nPID I: %d\r\nPID D: %d\r\n", (int16_t) (pid_p_ / PID_SCALE), (int16_t) (pid_i_ / PID_SCALE), (int16_t) (pid_d_ / PID_SCALE));
+    printf("PID P: %d /%d\r\nPID I: %d /%d\r\nPID D: %d /%d\r\n", (int16_t) (pid_p_), (int16_t) PID_SCALE, (int16_t) (pid_i_), (int16_t) PID_SCALE, (int16_t) (pid_d_), (int16_t) PID_SCALE);
 }
 
-void pid_setTargetValue(uint16_t v)
+void pid_setTargetValue(int16_t v)
 {
     pid_target_value_ = v; 
 }
 
-uint16_t pid_getTargetValue(void)
+int16_t pid_getTargetValue(void)
 {
     return pid_target_value_;
 }
 
+int pid_isEnabled(void)
+{
+    return pid_target_value_ != PID_DISABLED;
+}
+
 // PRE-CONDITION: call pid_calc at exactly regular intervals !!
-int16_t pid_calc(uint16_t current_value)
+int16_t pid_calc(int16_t current_value)
 {
+    if (pid_target_value_ == PID_DISABLED)
+        return PID_DISABLED;
+
     int32_t		error = pid_target_value_ - current_value;
     // derivative
     // instead of derivative of error we take derivative on measurement
     // since dError/dt = - dInput/dt   (note the - )    
-    int32_t		d_measure = current_value - pid_d_last_error_;
-    pid_d_last_error_ = error;
+    int32_t		d_measure = current_value - pid_last_input_;
+    pid_last_input_ = current_value;
 
     // integral (bring pid_i_ into integral, so we get smooth transfer if pid_i_ suddenly changes)
     pid_i_integralsum_ += pid_i_ * error;
diff --git a/pcr-controller/pid_control.h b/pcr-controller/pid_control.h
index 4304565..4cff977 100644
--- a/pcr-controller/pid_control.h
+++ b/pcr-controller/pid_control.h
@@ -10,13 +10,16 @@
 
 #include <stdio.h>
 
+#define PID_DISABLED (1<<15)
+
 void pid_setP(int16_t p);
 void pid_setI(int16_t i);
 void pid_setD(int16_t d);
 void pid_printVars(void);
-void pid_setTargetValue(uint16_t v);
-uint16_t pid_getTargetValue(void);
-int16_t pid_calc(uint16_t current_value);
+void pid_setTargetValue(int16_t v);
+int pid_isEnabled(void);
+int16_t pid_getTargetValue(void);
+int16_t pid_calc(int16_t current_value);
 void pid_loadFromEEPROM(void);
 void pid_saveToEEPROM(void);
 
-- 
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