f3fad021bd
I've now roughly placed all the components on the pcb and will work on fine adjustment and routing in the next commit. I've also migrated to KiCAD, the workflow works slightly nicer for how I work because I can just draw the schematics before actually having to worry about footprints or picking the correct part.
416 lines
12 KiB
C
416 lines
12 KiB
C
/* USER CODE BEGIN Header */
|
|
/**
|
|
******************************************************************************
|
|
* @file : main.c
|
|
* @brief : Main program body
|
|
******************************************************************************
|
|
** This notice applies to any and all portions of this file
|
|
* that are not between comment pairs USER CODE BEGIN and
|
|
* USER CODE END. Other portions of this file, whether
|
|
* inserted by the user or by software development tools
|
|
* are owned by their respective copyright owners.
|
|
*
|
|
* COPYRIGHT(c) 2019 STMicroelectronics
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without modification,
|
|
* are permitted provided that the following conditions are met:
|
|
* 1. Redistributions of source code must retain the above copyright notice,
|
|
* this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
|
* this list of conditions and the following disclaimer in the documentation
|
|
* and/or other materials provided with the distribution.
|
|
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
|
* may be used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
|
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
|
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
|
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
|
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
******************************************************************************
|
|
*/
|
|
/* USER CODE END Header */
|
|
|
|
/* Includes ------------------------------------------------------------------*/
|
|
#include "main.h"
|
|
|
|
/* Private includes ----------------------------------------------------------*/
|
|
/* USER CODE BEGIN Includes */
|
|
#include <math.h>
|
|
/* USER CODE END Includes */
|
|
|
|
/* Private typedef -----------------------------------------------------------*/
|
|
/* USER CODE BEGIN PTD */
|
|
|
|
/* USER CODE END PTD */
|
|
|
|
/* Private define ------------------------------------------------------------*/
|
|
/* USER CODE BEGIN PD */
|
|
|
|
/* USER CODE END PD */
|
|
|
|
/* Private macro -------------------------------------------------------------*/
|
|
/* USER CODE BEGIN PM */
|
|
|
|
/* USER CODE END PM */
|
|
|
|
/* Private variables ---------------------------------------------------------*/
|
|
ADC_HandleTypeDef hadc2;
|
|
|
|
TIM_HandleTypeDef htim4;
|
|
|
|
/* USER CODE BEGIN PV */
|
|
uint32_t tempValue = 0;
|
|
double tempK = 0;
|
|
double tempC = 0;
|
|
double tempF = 0;
|
|
double kp, ki, kd;
|
|
uint32_t currentTime, previousTime;
|
|
double elapsedTime;
|
|
double setPoint = 70;
|
|
double error, cumError, rateError, lastError;
|
|
unsigned char counter = 0;
|
|
unsigned int myPID = 0;
|
|
uint32_t finalAdc, beginAdc, adcTime;
|
|
/* USER CODE END PV */
|
|
|
|
/* Private function prototypes -----------------------------------------------*/
|
|
void SystemClock_Config(void);
|
|
static void MX_GPIO_Init(void);
|
|
static void MX_ADC2_Init(void);
|
|
static void MX_TIM4_Init(void);
|
|
/* USER CODE BEGIN PFP */
|
|
int computePID(double inp);
|
|
|
|
/* USER CODE END PFP */
|
|
|
|
/* Private user code ---------------------------------------------------------*/
|
|
/* USER CODE BEGIN 0 */
|
|
|
|
/* USER CODE END 0 */
|
|
|
|
/**
|
|
* @brief The application entry point.
|
|
* @retval int
|
|
*/
|
|
int main(void)
|
|
{
|
|
/* USER CODE BEGIN 1 */
|
|
|
|
/* USER CODE END 1 */
|
|
|
|
/* MCU Configuration--------------------------------------------------------*/
|
|
|
|
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
|
|
HAL_Init();
|
|
|
|
/* USER CODE BEGIN Init */
|
|
|
|
/* USER CODE END Init */
|
|
|
|
/* Configure the system clock */
|
|
SystemClock_Config();
|
|
|
|
/* USER CODE BEGIN SysInit */
|
|
|
|
/* USER CODE END SysInit */
|
|
|
|
/* Initialize all configured peripherals */
|
|
MX_GPIO_Init();
|
|
MX_ADC2_Init();
|
|
MX_TIM4_Init();
|
|
/* USER CODE BEGIN 2 */
|
|
HAL_ADC_Start_IT(&hadc2);
|
|
//Use PWM to control? or simple loop?
|
|
kp = 19.56;
|
|
ki = 0.71;
|
|
kd = 134.26;
|
|
TIM4->CCR2 = 300;
|
|
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
|
|
|
|
/* USER CODE END 2 */
|
|
|
|
/* Infinite loop */
|
|
/* USER CODE BEGIN WHILE */
|
|
while (1)
|
|
{
|
|
if(counter==0){
|
|
myPID = computePID(tempF);
|
|
TIM4->CCR2 = (int)myPID;
|
|
HAL_Delay(200);
|
|
TIM4->CCR2 = 0;
|
|
HAL_Delay(200);
|
|
}
|
|
/* USER CODE END WHILE */
|
|
|
|
/* USER CODE BEGIN 3 */
|
|
}
|
|
/* USER CODE END 3 */
|
|
}
|
|
|
|
/**
|
|
* @brief System Clock Configuration
|
|
* @retval None
|
|
*/
|
|
void SystemClock_Config(void)
|
|
{
|
|
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
|
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
|
|
|
/**Configure the main internal regulator output voltage
|
|
*/
|
|
__HAL_RCC_PWR_CLK_ENABLE();
|
|
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
|
|
/**Initializes the CPU, AHB and APB busses clocks
|
|
*/
|
|
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
|
|
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
|
|
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
|
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
|
|
RCC_OscInitStruct.PLL.PLLM = 4;
|
|
RCC_OscInitStruct.PLL.PLLN = 100;
|
|
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
|
|
RCC_OscInitStruct.PLL.PLLQ = 4;
|
|
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/**Initializes the CPU, AHB and APB busses clocks
|
|
*/
|
|
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|
|
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
|
|
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
|
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
|
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
|
|
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
|
|
|
|
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief ADC2 Initialization Function
|
|
* @param None
|
|
* @retval None
|
|
*/
|
|
static void MX_ADC2_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN ADC2_Init 0 */
|
|
|
|
/* USER CODE END ADC2_Init 0 */
|
|
|
|
ADC_ChannelConfTypeDef sConfig = {0};
|
|
|
|
/* USER CODE BEGIN ADC2_Init 1 */
|
|
|
|
/* USER CODE END ADC2_Init 1 */
|
|
/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
|
|
*/
|
|
hadc2.Instance = ADC2;
|
|
hadc2.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
|
|
hadc2.Init.Resolution = ADC_RESOLUTION_12B;
|
|
hadc2.Init.ScanConvMode = DISABLE;
|
|
hadc2.Init.ContinuousConvMode = DISABLE;
|
|
hadc2.Init.DiscontinuousConvMode = DISABLE;
|
|
hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
|
|
hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
|
|
hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
|
|
hadc2.Init.NbrOfConversion = 1;
|
|
hadc2.Init.DMAContinuousRequests = DISABLE;
|
|
hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
|
|
if (HAL_ADC_Init(&hadc2) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
|
|
*/
|
|
sConfig.Channel = ADC_CHANNEL_6;
|
|
sConfig.Rank = 1;
|
|
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
|
|
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN ADC2_Init 2 */
|
|
|
|
/* USER CODE END ADC2_Init 2 */
|
|
|
|
}
|
|
|
|
/**
|
|
* @brief TIM4 Initialization Function
|
|
* @param None
|
|
* @retval None
|
|
*/
|
|
static void MX_TIM4_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN TIM4_Init 0 */
|
|
|
|
/* USER CODE END TIM4_Init 0 */
|
|
|
|
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
|
TIM_OC_InitTypeDef sConfigOC = {0};
|
|
|
|
/* USER CODE BEGIN TIM4_Init 1 */
|
|
|
|
/* USER CODE END TIM4_Init 1 */
|
|
htim4.Instance = TIM4;
|
|
htim4.Init.Prescaler = 7;
|
|
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
|
|
htim4.Init.Period = 0xFFFF;
|
|
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
|
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
|
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
|
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sConfigOC.OCMode = TIM_OCMODE_PWM1;
|
|
sConfigOC.Pulse = 0;
|
|
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
|
|
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
|
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN TIM4_Init 2 */
|
|
|
|
/* USER CODE END TIM4_Init 2 */
|
|
HAL_TIM_MspPostInit(&htim4);
|
|
|
|
}
|
|
|
|
/**
|
|
* @brief GPIO Initialization Function
|
|
* @param None
|
|
* @retval None
|
|
*/
|
|
static void MX_GPIO_Init(void)
|
|
{
|
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
|
|
|
/* GPIO Ports Clock Enable */
|
|
__HAL_RCC_GPIOH_CLK_ENABLE();
|
|
__HAL_RCC_GPIOA_CLK_ENABLE();
|
|
__HAL_RCC_GPIOD_CLK_ENABLE();
|
|
__HAL_RCC_GPIOG_CLK_ENABLE();
|
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
|
|
|
/*Configure GPIO pin Output Level */
|
|
HAL_GPIO_WritePin(GPIOG, GPIO_PIN_13, GPIO_PIN_RESET);
|
|
|
|
/*Configure GPIO pin : PG13 */
|
|
GPIO_InitStruct.Pin = GPIO_PIN_13;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
|
|
|
|
}
|
|
|
|
/* USER CODE BEGIN 4 */
|
|
|
|
|
|
|
|
|
|
|
|
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc){
|
|
tempValue = HAL_ADC_GetValue(&hadc2);
|
|
|
|
tempK = 1.0/((1.0/298.15)+((1.0/4390.0)*(log(((4096.0/(double)tempValue)-1.0)))));//B value equation to calculate temprature of thermistor
|
|
tempC = tempK - 273.15; //K to C
|
|
tempF = ((9.0*tempC)/5.0)+32.0; //C to F
|
|
tempF = tempF+20;
|
|
|
|
|
|
HAL_ADC_Start_IT(&hadc2);
|
|
|
|
}
|
|
|
|
int computePID(double inp){
|
|
currentTime = HAL_GetTick(); //get current time
|
|
elapsedTime = (double)(currentTime - previousTime); //compute time elapsed from previous computation
|
|
|
|
error = setPoint - inp; // determine error
|
|
cumError += error * elapsedTime; // compute integral
|
|
rateError = (error - lastError)/elapsedTime; // compute derivative
|
|
double out;
|
|
if(cumError < -0xFFFF){
|
|
cumError = -0xFFFF; //Clamping
|
|
}
|
|
if(cumError > 0xFFFF){
|
|
cumError = 0xFFFF; //Clamping
|
|
}
|
|
|
|
out = kp*error + ki*cumError + kd*rateError;
|
|
|
|
if(out < 0){
|
|
out = 0;
|
|
}
|
|
if(out > 0xFFFF){
|
|
out = 0xFFFF;
|
|
}
|
|
lastError = error; //remember current error
|
|
previousTime = currentTime; //remember current time
|
|
|
|
return (int)out;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/* USER CODE END 4 */
|
|
|
|
/**
|
|
* @brief This function is executed in case of error occurrence.
|
|
* @retval None
|
|
*/
|
|
void Error_Handler(void)
|
|
{
|
|
/* USER CODE BEGIN Error_Handler_Debug */
|
|
/* User can add his own implementation to report the HAL error return state */
|
|
|
|
/* USER CODE END Error_Handler_Debug */
|
|
}
|
|
|
|
#ifdef USE_FULL_ASSERT
|
|
/**
|
|
* @brief Reports the name of the source file and the source line number
|
|
* where the assert_param error has occurred.
|
|
* @param file: pointer to the source file name
|
|
* @param line: assert_param error line source number
|
|
* @retval None
|
|
*/
|
|
void assert_failed(uint8_t *file, uint32_t line)
|
|
{
|
|
/* USER CODE BEGIN 6 */
|
|
/* User can add his own implementation to report the file name and line number,
|
|
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
|
|
/* USER CODE END 6 */
|
|
}
|
|
#endif /* USE_FULL_ASSERT */
|
|
|
|
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|