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fxk8y
CyanLight
Commits
5e18f2b0
Commit
5e18f2b0
authored
1 year ago
by
fxk8y
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Add debug stuff
parent
bc2274c2
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2 changed files
CLC-qthing/SiliconTorch/Service/SpiderFurnace.cpp
+67
-37
67 additions, 37 deletions
CLC-qthing/SiliconTorch/Service/SpiderFurnace.cpp
CLC-qthing/SiliconTorch/Service/SpiderFurnace.hpp
+14
-6
14 additions, 6 deletions
CLC-qthing/SiliconTorch/Service/SpiderFurnace.hpp
with
81 additions
and
43 deletions
CLC-qthing/SiliconTorch/Service/SpiderFurnace.cpp
+
67
−
37
View file @
5e18f2b0
...
...
@@ -16,6 +16,7 @@
// qthing stuff
#include
<qthing>
//#include <qthing/mqtt_common.hpp>
#include
"SiliconTorch/CyanBus.hpp"
// misc
...
...
@@ -25,6 +26,7 @@
using
nlohmann
::
json
;
using
SpiderLib
::
Time
;
static
const
char
*
TAG
=
"SpiderFurnace"
;
...
...
@@ -97,61 +99,89 @@ namespace SiliconTorch {
// Set-up PID controller
pidTask
=
new
SpiderLib
::
Util
::
LambdaTask
([
&
](){
if
(
CFG_EN_PIDTask
)
{
pidTask
=
new
SpiderLib
::
Util
::
LambdaTask
([
&
](){
TickType_t
lastWakeTime
=
xTaskGetTickCount
();
tc0age
=
Time
::
ms
();
f32
error
=
0.0
f
;
f32
sum_error
=
0.0
f
;
f32
diff_error
=
0.0
f
;
f32
last_error
=
0.0
f
;
while
(
true
)
{
faultReg
.
value
=
tc0
->
readU8
(
MAX31856
::
SR
::
addr
);
if
(
!
hasFault
())
{
f32
t
=
tc0
->
getTemperature
();
TickType_t
lastWakeTime
=
xTaskGetTickCount
(
);
tc0age
=
Time
::
ms
()
;
f32
deltaT
=
abs
(
t
-
temperature
()
);
//if (deltaT < 0) deltaT *= -1.0f
;
f32
error
=
0.0
f
;
f32
sum_error
=
0.0
f
;
f32
diff_error
=
0.0
f
;
f32
last_error
=
0.0
f
;
f32
tc0age_
=
(
Time
::
ms
()
-
tc0age
)
/
1000.0
f
;
// change to seconds
if
(
deltaT
>
tc0age_
*
MaxTempChangePerSecond
)
{
// temp changed too fast!
faultReg
.
OPEN
=
true
;
// mimic fault!
}
else
{
tc0dat
->
insert
(
t
);
tc0age
=
Time
::
ms
();
}
}
f32
t
=
temperature
();
while
(
true
)
{
if
(
!
hasFault
()
&&
t
<=
MAX_TEMP
)
{
faultReg
.
value
=
tc0
->
readU8
(
MAX31856
::
SR
::
addr
);
error
=
targetTemperature
-
t
;
sum_error
+=
error
;
// TODO: "I festhalten"
diff_error
=
last_error
-
error
;
last_error
=
error
;
if
(
!
hasFault
())
{
f32
t
=
tc0
->
getTemperature
();
f32
out
=
kP
*
error
;
out
+=
kI
*
sum_error
;
out
+=
kD
*
diff_error
;
f32
deltaT
=
abs
(
t
-
temperature
());
//if (deltaT < 0) deltaT *= -1.0f;
// if (out > MAX_PWM)
// TODO: "I festhalten" ??
f32
tc0age_
=
(
Time
::
ms
()
-
tc0age
)
/
1000.0
f
;
// change to seconds
if
(
deltaT
>
tc0age_
*
MaxTempChangePerSecond
)
{
// temp changed too fast!
faultReg
.
OPEN
=
true
;
// mimic fault!
setPWM
(
out
);
}
else
{
tc0dat
->
insert
(
t
);
tc0age
=
Time
::
ms
();
setPWM
(
0.0
f
);
}
ESP_LOGI
(
TAG
,
"T: %.2f °C Fault: %s _i: %.2f PWM: %.2f"
,
t
,
hasFault
()
?
"true"
:
"false"
,
sum_error
,
pwmVal
);
vTaskDelayUntil
(
&
lastWakeTime
,
1000
/
TICK_FREQ
/
portTICK_PERIOD_MS
);
}
});
f32
t
=
temperature
();
}
else
{
if
(
!
hasFault
()
&&
t
<=
MAX_TEMP
)
{
qthing
::
add_message_callback
(
deviceTopic
(
TAG
,
"setPWM"
),
[
&
](
const
str
&
message
)
{
setPWM
(
std
::
strtof
(
message
.
c_str
(),
NULL
));
});
error
=
targetTemperature
-
t
;
sum_error
+=
error
;
// TODO: "I festhalten"
diff_error
=
last_error
-
error
;
last_error
=
error
;
}
f32
out
=
kP
*
error
;
out
+=
kI
*
sum_error
;
out
+=
kD
*
diff_error
;
// if (out > MAX_PWM)
// TODO: "I festhalten" ??
if
(
CFG_EN_MQTT_PIDvals
)
{
setPWM
(
out
);
}
else
{
setPWM
(
0.0
f
);
}
qthing
::
add_message_callback
(
deviceTopic
(
TAG
,
"kP"
),
[
&
](
const
str
&
message
)
{
kP
=
std
::
strtof
(
message
.
c_str
(),
NULL
);
});
qthing
::
add_message_callback
(
deviceTopic
(
TAG
,
"kI"
),
[
&
](
const
str
&
message
)
{
kI
=
std
::
strtof
(
message
.
c_str
(),
NULL
);
});
qthing
::
add_message_callback
(
deviceTopic
(
TAG
,
"kD"
),
[
&
](
const
str
&
message
)
{
kD
=
std
::
strtof
(
message
.
c_str
(),
NULL
);
});
ESP_LOGI
(
TAG
,
"T: %.2f °C Fault: %s _i: %.2f PWM: %.2f"
,
t
,
hasFault
()
?
"true"
:
"false"
,
sum_error
,
pwmVal
);
}
vTaskDelayUntil
(
&
lastWakeTime
,
1000
/
TICK_FREQ
/
portTICK_PERIOD_MS
);
}
});
}
void
SpiderFurnace
::
setTargetTemperature
(
f32
t
)
{
...
...
This diff is collapsed.
Click to expand it.
CLC-qthing/SiliconTorch/Service/SpiderFurnace.hpp
+
14
−
6
View file @
5e18f2b0
...
...
@@ -45,15 +45,23 @@ namespace SiliconTorch {
constexpr
u8
IO_HEATER
=
25
;
enum
FurnaceState
{
RUNNING
,
PAUSED
,
STOPPED
};
// enum FurnaceState {
// RUNNING,
// PAUSED,
// STOPPED
// };
// TODO: ???
// Compile-time config
constexpr
bool
CFG_EN_PIDTask
=
false
;
// !!
constexpr
bool
CFG_EN_MQTT_PIDvals
=
true
;
class
SpiderFurnace
:
public
ServiceManager
::
Service
{
class
SpiderFurnace
:
public
ServiceManager
::
Service
,
public
SpiderLib
::
HasMQTT
{
public:
...
...
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