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split heater thread and heater logic
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,120 @@ | ||
| #include "ch.h" | ||
| #include "hal.h" | ||
| #include "pwm.h" | ||
|
|
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| #include "heater_control.h" | ||
| #include "port.h" | ||
| #include "sampling.h" | ||
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| // 400khz / 1024 = 390hz PWM | ||
| static Pwm heaterPwm(HEATER_PWM_DEVICE); | ||
| static const PWMConfig heaterPwmConfig = { | ||
| .frequency = 400'000, | ||
| .period = 1024, | ||
| .callback = nullptr, | ||
| .channels = { | ||
| {PWM_OUTPUT_ACTIVE_HIGH, nullptr}, | ||
| {PWM_OUTPUT_ACTIVE_HIGH, nullptr}, | ||
| {PWM_OUTPUT_ACTIVE_HIGH, nullptr}, | ||
| {PWM_OUTPUT_ACTIVE_HIGH, nullptr} | ||
| }, | ||
| .cr2 = 0, | ||
| #if STM32_PWM_USE_ADVANCED | ||
| .bdtr = 0, | ||
| #endif | ||
| .dier = 0 | ||
| }; | ||
|
|
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| class HeaterController : public HeaterControllerBase { | ||
| public: | ||
| HeaterController(int ch, int pwm_ch) | ||
| : HeaterControllerBase(ch) | ||
| , pwm_ch(pwm_ch) | ||
| { | ||
| } | ||
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| void SetDuty(float duty) const override | ||
| { | ||
| heaterPwm.SetDuty(pwm_ch, duty); | ||
| } | ||
|
|
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| // TODO: private: | ||
| public: | ||
| const uint8_t pwm_ch; | ||
| }; | ||
|
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| HeaterController heaterControllers[AFR_CHANNELS] = | ||
| { | ||
| { 0, HEATER_PWM_CHANNEL_0 }, | ||
|
|
||
| #if AFR_CHANNELS >= 2 | ||
| { 1, HEATER_PWM_CHANNEL_1 } | ||
| #endif | ||
| }; | ||
|
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| const IHeaterController& GetHeaterController(int ch) | ||
| { | ||
| return heaterControllers[ch]; | ||
| } | ||
|
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| static THD_WORKING_AREA(waHeaterThread, 256); | ||
| static void HeaterThread(void*) | ||
| { | ||
| int i; | ||
|
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| chRegSetThreadName("Heater"); | ||
|
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| // Wait for temperature sensing to stabilize so we don't | ||
| // immediately think we overshot the target temperature | ||
| chThdSleepMilliseconds(1000); | ||
|
|
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| // Configure heater controllers for sensor type | ||
| for (i = 0; i < AFR_CHANNELS; i++) { | ||
| auto& h = heaterControllers[i]; | ||
| switch (GetSensorType()) { | ||
| case SensorType::LSU42: | ||
| return h.Configure(730, 80); | ||
| case SensorType::LSUADV: | ||
| return h.Configure(785, 300); | ||
| case SensorType::LSU49: | ||
| default: | ||
| return h.Configure(780, 300); | ||
| } | ||
| } | ||
|
|
||
| while (true) | ||
| { | ||
| auto heaterAllowState = GetHeaterAllowed(); | ||
|
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| for (i = 0; i < AFR_CHANNELS; i++) { | ||
| const auto& sampler = GetSampler(i); | ||
| auto& heater = heaterControllers[i]; | ||
|
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| heater.Update(sampler, heaterAllowState); | ||
| } | ||
|
|
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| // Loop at ~20hz | ||
| chThdSleepMilliseconds(HEATER_CONTROL_PERIOD); | ||
| } | ||
| } | ||
|
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| void StartHeaterControl() | ||
| { | ||
| heaterPwm.Start(heaterPwmConfig); | ||
| heaterPwm.SetDuty(heaterControllers[0].pwm_ch, 0); | ||
| #if (AFR_CHANNELS > 1) | ||
| heaterPwm.SetDuty(heaterControllers[1].pwm_ch, 0); | ||
| #endif | ||
|
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| chThdCreateStatic(waHeaterThread, sizeof(waHeaterThread), NORMALPRIO + 1, HeaterThread, nullptr); | ||
| } | ||
|
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| float GetHeaterDuty(int ch) | ||
| { | ||
| return heaterPwm.GetLastDuty(heaterControllers[ch].pwm_ch); | ||
| } | ||
|
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| HeaterState GetHeaterState(int ch) | ||
| { | ||
| return heaterControllers[ch].GetHeaterState(); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,2 +1,4 @@ | ||
| WIDEBANDSRC = \ | ||
| $(FIRMWARE_DIR)/pid.cpp \ | ||
| $(FIRMWARE_DIR)/sampling.cpp \ | ||
| $(FIRMWARE_DIR)/heater_control.cpp \ |
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