diff --git a/CLC-qthing/SiliconTorch/Service/SpiderFurnace.cpp b/CLC-qthing/SiliconTorch/Service/SpiderFurnace.cpp
index 5cd06d6e0db28879820f983161cc5f8b5ba8a549..387b3c8181cc46b59243723e93b1f66e830b370d 100644
--- a/CLC-qthing/SiliconTorch/Service/SpiderFurnace.cpp
+++ b/CLC-qthing/SiliconTorch/Service/SpiderFurnace.cpp
@@ -7,6 +7,7 @@
// ESP32 specific
#include "esp_log.h"
#include "driver/gpio.h"
+#include "driver/ledc.h"
// project specific
#include <Types.hpp>
@@ -39,15 +40,10 @@ namespace SiliconTorch {
setNameSpace("SpiderFurnace");
}
- void SpiderFurnace::start() {
- // TODO: Make configurable"
- const u8 MISO = 17;
- const u8 MOSI = 16;
- const u8 SCLK = 27;
- const u8 CS = 26;
+ void SpiderFurnace::start() {
- tc0 = new MAX31856::MAX31856(MISO, MOSI, SCLK, CS);
+ tc0 = new MAX31856::MAX31856(IO_MISO, IO_MOSI, IO_SCLK, IO_CS);
// TODO: Configure tc0!!
tc0->setConversionMode(false); // disable automatic conversions
@@ -59,14 +55,58 @@ namespace SiliconTorch {
tc0->setConversionMode(true); // re-enable automatic conversions
+ // Set-up Heater IO
+ gpio_config_t conf;
+
+ conf.intr_type = GPIO_INTR_DISABLE;
+ conf.mode = GPIO_MODE_OUTPUT;
+ conf.pin_bit_mask = 1ULL << IO_HEATER;
+ conf.pull_up_en = GPIO_PULLUP_DISABLE;
+ conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
+
+ gpio_config(&conf);
+ gpio_set_level((gpio_num_t)IO_HEATER, 0);
+
+
+ // Set-up Heater PWM
+ ledc_timer_config_t timer_cfg;
+ timer_cfg.duty_resolution = (ledc_timer_bit_t)PWM_BITS;
+ timer_cfg.freq_hz = PWM_FREQ;
+ timer_cfg.speed_mode = LEDC_HIGH_SPEED_MODE;
+ timer_cfg.timer_num = LEDC_TIMER_1; // FxCyanF uses ch0
+ timer_cfg.clk_cfg = LEDC_AUTO_CLK;
+
+ ledc_channel_config_t ledc_channel;
+ ledc_channel.channel = pwmCh;
+ ledc_channel.duty = 0;
+ ledc_channel.gpio_num = (gpio_num_t)IO_HEATER;
+ ledc_channel.speed_mode = LEDC_HIGH_SPEED_MODE;
+ ledc_channel.hpoint = 0;
+ ledc_channel.timer_sel = LEDC_TIMER_1;
+ ledc_channel.intr_type = LEDC_INTR_DISABLE;
+
+ ledc_fade_func_install(0);
+ ledc_timer_config(&timer_cfg);
+ ledc_channel_config(&ledc_channel);
+
+
+ // pre-seed sliding window
f32 t = tc0->getTemperature();
- for (u8 n = 0; n < 10; n++)
+ for (u8 n = 0; n < SlidingWindowLength; n++)
tc0dat->insert(t);
+ // Set-up PID controller
pidTask = new SpiderLib::Util::LambdaTask([&](){
+
TickType_t lastWakeTime = xTaskGetTickCount();
tc0age = Time::ms();
+
+ f32 error = 0.0f;
+ f32 sum_error = 0.0f;
+ f32 diff_error = 0.0f;
+ f32 last_error = 0.0f;
+
while (true) {
faultReg.value = tc0->readU8(MAX31856::SR::addr);
@@ -86,23 +126,38 @@ namespace SiliconTorch {
}
}
- ESP_LOGI(TAG, "T: %.2f °C Fault: %s", temperature(), hasFault() ? "true" : "false");
+ f32 t = temperature();
- if (!hasFault()) {
+ if (!hasFault() && t <= MAX_TEMP) {
+
+ error = targetTemperature - t;
+ sum_error += error; // TODO: "I festhalten"
+ diff_error = last_error - error;
+ last_error = error;
- // Do actual PID stuff…
+ f32 out = kP * error;
+ out += kI * sum_error;
+ out += kD * diff_error;
+
+ // if (out > MAX_PWM)
+ // TODO: "I festhalten" ??
+
+ setPWM(out);
} else {
- // PWM = 0
+ setPWM(0.0f);
}
+ ESP_LOGI(TAG, "T: %.2f °C Fault: %s _i: %.2f PWM: %.2f", t, hasFault() ? "true" : "false", sum_error, pwmOut);
+
vTaskDelayUntil(&lastWakeTime, 1000 / TICK_FREQ / portTICK_PERIOD_MS);
}
});
-
-
}
+ void SpiderFurnace::setTargetTemperature(f32 t) {
+ if (t >= 0.0f && t <= MAX_TEMP) targetTemperature = t;
+ }
json SpiderFurnace::getConfigJSON() const {
@@ -113,6 +168,16 @@ namespace SiliconTorch {
return out;
}
+ void SpiderFurnace::setPWM(f32 value) {
+ if (value < 0.0f) value = 0.0f;
+ if (value > MAX_PWM) value = MAX_PWM;
+
+ u32 maxVal = (1 << PWM_BITS) - 1;
+ u32 pwmVal = value * maxVal;
+
+ ledc_set_duty(LEDC_HIGH_SPEED_MODE, pwmCh, pwmVal);
+ ledc_update_duty(LEDC_HIGH_SPEED_MODE, pwmCh);
+ }
f32 SpiderFurnace::temperature() const {
return tc0dat->average();
diff --git a/CLC-qthing/SiliconTorch/Service/SpiderFurnace.hpp b/CLC-qthing/SiliconTorch/Service/SpiderFurnace.hpp
index 230f383c12a2db7ee2f28f30ee70fce6bd1bcdec..6dde523c1dd65ccfd5ae722788000ace4ecd5c4d 100644
--- a/CLC-qthing/SiliconTorch/Service/SpiderFurnace.hpp
+++ b/CLC-qthing/SiliconTorch/Service/SpiderFurnace.hpp
@@ -8,6 +8,7 @@
// ESP32 specific
#include "esp_log.h"
+#include "driver/ledc.h"
// project specific
#include <SpiderLib.hpp>
@@ -28,9 +29,20 @@ namespace SiliconTorch {
namespace SpiderFurnace {
+ constexpr u8 PWM_BITS = 12;
+ constexpr u32 PWM_FREQ = 10000; // Hz
+ constexpr u8 TICK_FREQ = 10; // Hz
+ constexpr u8 SlidingWindowLength = 8;
+ constexpr f32 MaxTempChangePerSecond = 1000; // K // TODO: formally set to 100 but triggers too often?!
+ constexpr f32 MAX_TEMP = 1320.0f; // °C
+ constexpr f32 MAX_PWM = 0.5f; // p%
- constexpr u8 TICK_FREQ = 10; // Hz
- constexpr f32 MaxTempChangePerSecond = 100; // K
+ // TODO: Make configurable"
+ constexpr u8 IO_CS = 26;
+ constexpr u8 IO_MISO = 17;
+ constexpr u8 IO_MOSI = 16;
+ constexpr u8 IO_SCLK = 27;
+ constexpr u8 IO_HEATER = 25;
enum FurnaceState {
@@ -57,7 +69,7 @@ namespace SiliconTorch {
f32 temperature() const;
-
+ void setTargetTemperature(f32 t);
@@ -68,17 +80,25 @@ namespace SiliconTorch {
private:
- FurnaceState state = RUNNING;
+ f32 kP = 0.0f;
+ f32 kI = 0.0f;
+ f32 kD = 0.0f;
+
+ f32 targetTemperature = 0.0f;
+
+ // FurnaceState state = RUNNING;
+
+ ledc_channel_t pwmCh;
MAX31856::SR faultReg;
u64 tc0age = 0; // ms
MAX31856::MAX31856* tc0;
- SlidingWindow<f32>* tc0dat = new SlidingWindow<f32>(8); // TODO: Make configurable!
-
+ SlidingWindow<f32>* tc0dat = new SlidingWindow<f32>(SlidingWindowLength);
SpiderLib::Util::LambdaTask* pidTask = NULL;
+ void setPWM(f32 value);
};