Pinecil v2 tune via PID (#1827)

* Start PWM after adc irq fully done

* Filter len 4

* Use comparitor 2 on timer for wrap around

* Update IRQ.cpp

* Tip measurements are uint16_t

Update BSP.cpp

Update BSP.cpp

* WiP PID

move pid tuning to config

Update PIDThread.cpp

* Handle PWM Timer gitchy comparitor

* Tuning

* Dampen with Kd

* Cleaning up

* Use TemperatureType_t for getTipTemp()

* Add small rolling average to user GUI temp to reduce flicker

* Trigger PID when adc is skipped (will use old values)

source/Core/BSP/BSP_Power.h

@@ -19,9 +19,8 @@ void power_check();
 // Returns the tip resistance in x10 ohms, so 7.5 = 75; 14=140 etc
 uint8_t getTipResistanceX10();
 
-uint8_t getTipThermalMass();
-uint8_t getTipInertia();
-
+uint16_t getTipThermalMass();
+uint16_t getTipInertia();
 
 #ifdef __cplusplus
 }

source/Core/BSP/MHP30/BSP.cpp

@@ -472,7 +472,7 @@ uint64_t getDeviceID() {
 
 uint8_t preStartChecksDone() { return 1; }
 
-uint8_t getTipThermalMass() { return TIP_THERMAL_MASS; }
-uint8_t getTipInertia() { return TIP_THERMAL_MASS; }
+uint16_t getTipThermalMass() { return TIP_THERMAL_MASS; }
+uint16_t getTipInertia() { return TIP_THERMAL_MASS; }
 
 void showBootLogo(void) { BootLogo::handleShowingLogo((uint8_t *)FLASH_LOGOADDR); }

source/Core/BSP/Miniware/BSP.cpp

@@ -396,7 +396,7 @@ bool isTipShorted() { return tipShorted; }
 #else
 bool isTipShorted() { return false; }
 #endif
-uint8_t getTipThermalMass() {
+uint16_t getTipThermalMass() {
 #ifdef TIP_RESISTANCE_SENSE_Pin
   if (lastTipResistance >= 80) {
     return TIP_THERMAL_MASS;
@@ -406,7 +406,7 @@ uint8_t getTipThermalMass() {
   return TIP_THERMAL_MASS;
 #endif
 }
-uint8_t getTipInertia() {
+uint16_t getTipInertia() {
 #ifdef TIP_RESISTANCE_SENSE_Pin
   if (lastTipResistance >= 80) {
     return TIP_THERMAL_MASS;

source/Core/BSP/Pinecil/BSP.cpp

@@ -97,7 +97,7 @@ uint8_t getTipResistanceX10() { return TIP_RESISTANCE; }
 bool    isTipShorted() { return false; }
 uint8_t preStartChecksDone() { return 1; }
 
-uint8_t getTipThermalMass() { return TIP_THERMAL_MASS; }
-uint8_t getTipInertia() { return TIP_THERMAL_MASS; }
+uint16_t getTipThermalMass() { return TIP_THERMAL_MASS; }
+uint16_t getTipInertia() { return TIP_THERMAL_MASS; }
 
 void showBootLogo(void) { BootLogo::handleShowingLogo((uint8_t *)FLASH_LOGOADDR); }

source/Core/BSP/Pinecilv2/BSP.cpp

@@ -160,18 +160,8 @@ uint8_t       getTipResistanceX10() {
   return lastTipResistance;
 }
 
-uint8_t getTipThermalMass() {
-  if (lastTipResistance >= 80) {
-    return 65;
-  }
-  return 45;
-}
-uint8_t getTipInertia() {
-  if (lastTipResistance >= 80) {
-    return 90;
-  }
-  return 10;
-}
+uint16_t getTipThermalMass() { return 120; }
+uint16_t getTipInertia() { return 750; }
 // We want to calculate lastTipResistance
 // If tip is connected, and the tip is cold and the tip is not being heated
 // We can use the GPIO to inject a small current into the tip and measure this
@@ -180,7 +170,7 @@ uint8_t getTipInertia() {
 // Which is around 0.54mA this will induce:
 // 6 ohm tip -> 3.24mV (Real world ~= 3320)
 // 8 ohm tip -> 4.32mV (Real world ~= 4500)
-// Which is definitely measureable
+// Which is definitely measurable
 // Taking shortcuts here as we know we only really have to pick apart 6 and 8 ohm tips
 // These are reported as 60 and 75 respectively
 void performTipResistanceSampleReading() {

source/Core/BSP/Pinecilv2/IRQ.cpp

@@ -19,17 +19,17 @@ extern "C" {
 }
 void start_PWM_output(void);
 
-#define ADC_Filter_Smooth 1
+#define ADC_Filter_Smooth 4 /* This basically smooths over one PWM cycle / set of readings */
 history<uint16_t, ADC_Filter_Smooth> ADC_Vin;
 history<uint16_t, ADC_Filter_Smooth> ADC_Temp;
 history<uint16_t, ADC_Filter_Smooth> ADC_Tip;
-volatile uint8_t                     ADCBurstCounter = 0;
-void                                 adc_fifo_irq(void) {
+
+// IRQ is called at the end of the 8 set readings, pop these from the FIFO and send to filters
+void adc_fifo_irq(void) {
   if (ADC_GetIntStatus(ADC_INT_FIFO_READY) == SET) {
     // Read out all entries in the fifo
     while (ADC_Get_FIFO_Count()) {
-      ADCBurstCounter++;
-      volatile uint32_t reading = ADC_Read_FIFO();
+      uint32_t reading = ADC_Read_FIFO();
       // As per manual, 26 bit reading; lowest 16 are the ADC
       uint16_t sample = reading & 0xFFFF;
       uint8_t  source = (reading >> 21) & 0b11111;
@@ -43,23 +43,16 @@ void                                 adc_fifo_irq(void) {
       case VIN_ADC_CHANNEL:
         ADC_Vin.update(sample);
         break;
-
       default:
         break;
       }
     }
-
-    if (ADCBurstCounter >= 8) {
-      ADCBurstCounter = 0;
-      start_PWM_output();
-
-      // unblock the PID controller thread
-      if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
-        BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-        if (pidTaskNotification) {
-          vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
-          portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
-        }
+    // unblock the PID controller thread
+    if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
+      BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+      if (pidTaskNotification) {
+        vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
+        portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
       }
     }
   }
@@ -100,16 +93,43 @@ void start_PWM_output(void) {
     PWM_Channel_Disable(PWM_Channel);
     switchToFastPWM();
   }
-  TIMER_Enable(TIMER_CH0);
 }
 
 // Timer 0 is used to co-ordinate the ADC and the output PWM
 void timer0_comp0_callback(void) {
-  TIMER_Disable(TIMER_CH0);
-  ADC_Start();
+  if (PWM_Channel_Is_Enabled(PWM_Channel)) {
+    // So there appears to be a bug _somewhere_ where sometimes the comparator doesn't fire
+    // Its not re-occurring with specific values, so suspect its a weird bug
+    // For now, we just skip the cycle and throw away the ADC readings. Its a waste but
+    // It stops stupid glitches in readings, i'd take slight instability from the time jump
+    // Over the readings we get that are borked as the header is left on
+    // <Ralim 2023/10/14>
+    PWM_Channel_Disable(PWM_Channel);
+    // MSG("ALERT PWM Glitch\r\n");
+    // Triger the PID now instead
+    if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
+      BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+      if (pidTaskNotification) {
+        vTaskNotifyGiveFromISR(pidTaskNotification, &xHigherPriorityTaskWoken);
+        portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+      }
+    }
+  } else {
+    ADC_Start();
+  }
+  TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_0);
+}
+void timer0_comp1_callback(void) {
+  // Trigged at end of output cycle; turn off the tip PWM
+  PWM_Channel_Disable(PWM_Channel);
+  TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_1);
 }
-void timer0_comp1_callback(void) { PWM_Channel_Disable(PWM_Channel); } // Trigged at end of output cycle; turn off the tip PWM
 
+void timer0_comp2_callback(void) {
+  // Triggered at end of timer cycle; re-start the tip driver
+  start_PWM_output();
+  TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_2);
+}
 void switchToFastPWM(void) {
   inFastPWMMode    = true;
   holdoffTicks     = 10;
@@ -119,8 +139,8 @@ void switchToFastPWM(void) {
 
   // ~10Hz
   TIMER_SetCompValue(TIMER_CH0, TIMER_COMP_ID_0, powerPWM + holdoffTicks);
-  // Set divider to 10 ~= 10.5Hz
 
+  // Set divider to 10 ~= 10.5Hz
   uint32_t tmpVal = BL_RD_REG(TIMER_BASE, TIMER_TCDR);
 
   tmpVal = BL_SET_REG_BITS_VAL(tmpVal, TIMER_TCDR2, 10);
@@ -139,7 +159,7 @@ void switchToSlowPWM(void) {
   // Adjust ADC
   TIMER_SetCompValue(TIMER_CH0, TIMER_COMP_ID_0, powerPWM + holdoffTicks);
 
-  // Set divider to 22
+  // Set divider for ~ 5Hz
 
   uint32_t tmpVal = BL_RD_REG(TIMER_BASE, TIMER_TCDR);
 
@@ -193,5 +213,6 @@ uint16_t getADCHandleTemp(uint8_t sample) { return ADC_Temp.average(); }
 
 uint16_t getADCVin(uint8_t sample) { return ADC_Vin.average(); }
 
-// Returns either average or instant value. When sample is set the samples from the injected ADC are copied to the filter and then the raw reading is returned
+// Returns the current raw tip reading after any cleanup filtering
+// For Pinecil V2 we dont do any rolling filtering other than just averaging all 4 readings in the adc snapshot
 uint16_t getTipRawTemp(uint8_t sample) { return ADC_Tip.average() >> 1; }

source/Core/BSP/Pinecilv2/Setup.cpp

@@ -102,7 +102,7 @@ void setup_adc(void) {
 
   adc_cfg.clkDiv         = ADC_CLK_DIV_4;
   adc_cfg.vref           = ADC_VREF_3P2V;
-  adc_cfg.resWidth       = ADC_DATA_WIDTH_14_WITH_64_AVERAGE;
+  adc_cfg.resWidth       = ADC_DATA_WIDTH_14_WITH_16_AVERAGE;
   adc_cfg.inputMode      = ADC_INPUT_SINGLE_END;
   adc_cfg.v18Sel         = ADC_V18_SEL_1P72V;
   adc_cfg.v11Sel         = ADC_V11_SEL_1P1V;
@@ -111,7 +111,7 @@ void setup_adc(void) {
   adc_cfg.chopMode       = ADC_CHOP_MOD_AZ_ON;
   adc_cfg.biasSel        = ADC_BIAS_SEL_MAIN_BANDGAP;
   adc_cfg.vcm            = ADC_PGA_VCM_1P6V;
-  adc_cfg.offsetCalibEn  = ENABLE;
+  adc_cfg.offsetCalibEn  = DISABLE;
   adc_cfg.offsetCalibVal = 0;
 
   ADC_Disable();
@@ -120,7 +120,7 @@ void setup_adc(void) {
 
   ADC_Init(&adc_cfg);
   adc_fifo_cfg.dmaEn         = DISABLE;
-  adc_fifo_cfg.fifoThreshold = ADC_FIFO_THRESHOLD_8;
+  adc_fifo_cfg.fifoThreshold = ADC_FIFO_THRESHOLD_8; // Triger FIFO when all 8 measurements are done
   ADC_FIFO_Cfg(&adc_fifo_cfg);
   ADC_MIC_Bias_Disable();
   ADC_Tsen_Disable();
@@ -138,26 +138,29 @@ void setup_timer_scheduler() {
   TIMER_Disable(TIMER_CH0);
 
   TIMER_CFG_Type cfg = {
-      TIMER_CH0,                           // Channel
-      TIMER_CLKSRC_32K,                    // Clock source
-      TIMER_PRELOAD_TRIG_COMP0,            // Trigger; reset after trigger 0
-      TIMER_COUNT_PRELOAD,                 // Counter mode
-      22,                                  // Clock div
-      (uint16_t)(powerPWM + holdoffTicks), // CH0 compare (adc)
-      0,                                   // CH1 compare (pwm out)
-      0,                                   // CH2 compare not used
-      0,                                   // Preload
+      TIMER_CH0,                                              // Channel
+      TIMER_CLKSRC_32K,                                       // Clock source
+      TIMER_PRELOAD_TRIG_COMP2,                               // Trigger; reset after trigger 0
+      TIMER_COUNT_PRELOAD,                                    // Counter mode
+      22,                                                     // Clock div
+      (uint16_t)(powerPWM + holdoffTicks),                    // CH0 compare (adc)
+      (uint16_t)(powerPWM),                                   // CH1 compare (pwm out)
+      (uint16_t)(powerPWM + holdoffTicks + tempMeasureTicks), // CH2 compare end of cycle
+      0,                                                      // Preload
   };
   TIMER_Init(&cfg);
 
   Timer_Int_Callback_Install(TIMER_CH0, TIMER_INT_COMP_0, timer0_comp0_callback);
   Timer_Int_Callback_Install(TIMER_CH0, TIMER_INT_COMP_1, timer0_comp1_callback);
+  Timer_Int_Callback_Install(TIMER_CH0, TIMER_INT_COMP_2, timer0_comp2_callback);
 
   TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_0);
   TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_1);
+  TIMER_ClearIntStatus(TIMER_CH0, TIMER_COMP_ID_2);
 
   TIMER_IntMask(TIMER_CH0, TIMER_INT_COMP_0, UNMASK);
   TIMER_IntMask(TIMER_CH0, TIMER_INT_COMP_1, UNMASK);
+  TIMER_IntMask(TIMER_CH0, TIMER_INT_COMP_2, UNMASK);
   CPU_Interrupt_Enable(TIMER_CH0_IRQn);
   TIMER_Enable(TIMER_CH0);
 }