From 01c8f289ea295c289fa3c2048aac8c321a1d5628 Mon Sep 17 00:00:00 2001
From: Anton Mukhin <mcfly@mcflyer.ru>
Date: Wed, 9 Aug 2023 02:07:22 +0300
Subject: [PATCH] Wider Triac pulse; PID parameters are tuned

---
 firmware/PCB-Heater/.cproject                 |  2 +-
 .../.settings/language.settings.xml           |  4 +-
 firmware/PCB-Heater/Core/Src/app_freertos.c   | 78 +++++++++++--------
 firmware/PCB-Heater/Core/Src/main.c           |  1 +
 firmware/PCB-Heater/Core/Src/pid.c            |  2 +-
 .../PCB-Heater/Core/Src/stm32g0xx_hal_msp.c   |  1 +
 firmware/PCB-Heater/Core/Src/tim.c            |  2 +-
 firmware/PCB-Heater/PCB-Heater.ioc            |  8 +-
 8 files changed, 57 insertions(+), 41 deletions(-)

diff --git a/firmware/PCB-Heater/.cproject b/firmware/PCB-Heater/.cproject
index 3921886..44025fb 100644
--- a/firmware/PCB-Heater/.cproject
+++ b/firmware/PCB-Heater/.cproject
@@ -23,7 +23,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1482216284" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1344937624" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32G070RBTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32G0xx_HAL_Driver/Inc | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Drivers/CMSIS/Device/ST/STM32G0xx/Include | ../Drivers/STM32G0xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM0 ||  ||  || USE_HAL_DRIVER | STM32G070xx | CMSIS_device_header=&lt;stm32g0xx.h&gt; ||  || Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32G070RBTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1224262438" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="64" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.989318517" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" value="true" valueType="boolean"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.989318517" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1893601218" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/PCB-Heater}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1892196526" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1860582162" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
diff --git a/firmware/PCB-Heater/.settings/language.settings.xml b/firmware/PCB-Heater/.settings/language.settings.xml
index 8bb4761..702716d 100644
--- a/firmware/PCB-Heater/.settings/language.settings.xml
+++ b/firmware/PCB-Heater/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-412172835581539755" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-690114333473919073" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -17,7 +17,7 @@
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
 			<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-412172835581539755" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-690114333473919073" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/firmware/PCB-Heater/Core/Src/app_freertos.c b/firmware/PCB-Heater/Core/Src/app_freertos.c
index 3cf5c83..2a37698 100644
--- a/firmware/PCB-Heater/Core/Src/app_freertos.c
+++ b/firmware/PCB-Heater/Core/Src/app_freertos.c
@@ -103,6 +103,10 @@ typedef struct {
 #define SCR_DIALOG		3
 #define SCR_BOOT			99
 
+//Pulses
+#define P_WIDTH				40        // Triac gate Pulse width
+#define P_DELAY        5				// Minimum delay before gate pulse
+
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
@@ -160,6 +164,7 @@ static uint8_t	Stage = 0;									//current stage of a profile
 static float		spp;												//Seconds per pixel (horizontal)
 static float		dpp;												//Degrees per pixel (vertical)
 uint16_t				Timer = 0;									//Time counter
+uint16_t				Timer10 = 0;								//Time x10 counter
 static uint8_t  fanActive = 0;							//Fans are active flag
 static uint8_t  Running = 0;								//Running program flag
 settings_t 			settings = {								//settings structure
@@ -186,12 +191,12 @@ const presets_t presets[4] = {
 
 PIDController pid = {
 		.Kp  = 40.0f,
-		.Ki  = 20.0f,
-		.Kd  = 5.0f,
-		.T   = 0.5f,			//2 times per second
+		.Ki  = 1.0f,
+		.Kd  = 3.0f,
+		.T   = 0.25f,			//2 times per second
 		.tau = 0.2f,			//Low-pass filter (0 - no filter)
 		.limMin = -100.0f,
-		.limMax = 969.0f
+		.limMax = 1000.0f - P_WIDTH - P_DELAY - 1 // 949.0
 };
 
 /* USER CODE END Variables */
@@ -474,7 +479,7 @@ void svc_sensor(void *argument)
 	if (!Running && Temperature > 50.0f) setFansSpeed(100);
 	if (!Running && Temperature <= 44.0f && fanActive) setFansSpeed(0);
 
-	osDelay(500);
+	osDelay(250);
   }
   /* USER CODE END svc_sensor */
 }
@@ -527,13 +532,45 @@ void clockTick(void *argument)
 		return;
 	}
 
-	if (Timer == 0) {
+
+	//PID
+	PID_Update(&pid, aimTemperature, Temperature);
+	if (pid.out >= 0.0f) {
+		pulse = (uint16_t)(pid.limMax - pid.out)+P_DELAY;
+		if (fanActive) setFansSpeed(0);
+	}
+	else {
+		pulse = 1020;
+		setFansSpeed((uint8_t)(pid.out * -1));
+	}
+	TIM1->ARR = pulse+P_WIDTH;
+	TIM1->CCR2 = pulse;
+
+	//Draw PID value
+	if (Screen == SCR_RUNNING) {
+		snprintf(str, 7, "%3.2f", pid.out);
+		//snprintf(str, 7, "%3d.%02d", (int)pid.out, (int)((pid.out-(int)pid.out)*100));
+		osMutexAcquire(mutScreenHandle, osWaitForever);
+		ST7793_SetFontSize(1);
+		ST7793_FillRect(Darkergray, 11, 180, 27, 192);
+		ST7793_DrawString(Black, Darkergray, str, 11, 180);
+
+		snprintf(str, 7, "P:%4d", pulse);
+		ST7793_FillRect(Lightgray, 100, 50, 116, 62);
+		ST7793_DrawString(Black, Lightgray, str, 100, 50);
+		osMutexRelease(mutScreenHandle);
+	}
+
+	if (Timer == 0 && Timer10 == 0) {
 		stime = 0;
 		stemp = 20;
 		dps = (presets[Preset].temperature[Stage] - stemp) / (float)(presets[Preset].time[Stage]);
 		Running = 1;
 	}
 
+	Timer10++;
+	if (Timer10%4 != 0) return;
+
 	Timer++;
 	osMutexAcquire(mutScreenHandle, osWaitForever);
 
@@ -577,33 +614,7 @@ void clockTick(void *argument)
 
 	osMutexRelease(mutScreenHandle);
 
-	//PID
-	PID_Update(&pid, aimTemperature, Temperature);
-	if (pid.out >= 0.0f) {
-		pulse = (uint16_t)(pid.limMax - pid.out)+20;
-		if (fanActive) setFansSpeed(0);
-	}
-	else {
-		pulse = 1020;
-		setFansSpeed((uint8_t)(pid.out * -1));
-	}
-	TIM1->ARR = pulse+10;
-	TIM1->CCR2 = pulse;
 
-	//Draw PID value
-	if (Screen == SCR_RUNNING) {
-		snprintf(str, 7, "%3.2f", pid.out);
-		//snprintf(str, 7, "%3d.%02d", (int)pid.out, (int)((pid.out-(int)pid.out)*100));
-		osMutexAcquire(mutScreenHandle, osWaitForever);
-		ST7793_SetFontSize(1);
-		ST7793_FillRect(Darkergray, 11, 180, 27, 192);
-		ST7793_DrawString(Black, Darkergray, str, 11, 180);
-
-		snprintf(str, 7, "P:%4d", pulse);
-		ST7793_FillRect(Lightgray, 100, 50, 116, 62);
-		ST7793_DrawString(Black, Lightgray, str, 100, 50);
-		osMutexRelease(mutScreenHandle);
-	}
 
   /* USER CODE END clockTick */
 }
@@ -629,9 +640,10 @@ void btnPressed(uint8_t id) {
 		break;
 	case BTN_START:								// START
 		Timer = 0;
+		Timer10 = 0;
 		Stage = 0;
 		drawRunningScreen();
-		osTimerStart(secTimerHandle, 1000);
+		osTimerStart(secTimerHandle, 250);
 		break;
 	case BTN_COG:								// COG (Settings)
 		drawSettingsScreen();
diff --git a/firmware/PCB-Heater/Core/Src/main.c b/firmware/PCB-Heater/Core/Src/main.c
index 35475c6..27adcd2 100644
--- a/firmware/PCB-Heater/Core/Src/main.c
+++ b/firmware/PCB-Heater/Core/Src/main.c
@@ -133,6 +133,7 @@ int main(void)
 
   /* Start scheduler */
   osKernelStart();
+
   /* We should never get here as control is now taken by the scheduler */
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
diff --git a/firmware/PCB-Heater/Core/Src/pid.c b/firmware/PCB-Heater/Core/Src/pid.c
index 5da1b51..3a9de57 100644
--- a/firmware/PCB-Heater/Core/Src/pid.c
+++ b/firmware/PCB-Heater/Core/Src/pid.c
@@ -22,7 +22,7 @@ void PID_Init(PIDController *pid) {
 float PID_Update(PIDController *pid, float setpoint, float measurement) {
 	// PID = Kp + Ki * 1/s + Kd * s/(s*tau+1)
 
-	// e = error tothe setpoint
+	// e = error to the setpoint
 	// p[n] = Kp * e[n]
 	// i[n] = Ki*T/2 * (e[n]+e[n-1]) + i[n-1]
 	// d[n] = 2*Kd/(2*tau+T) * (e[n]-e[n-1]) + (2*tau-T)/(2*tau+T) * d[n-1]
diff --git a/firmware/PCB-Heater/Core/Src/stm32g0xx_hal_msp.c b/firmware/PCB-Heater/Core/Src/stm32g0xx_hal_msp.c
index dfadb15..4abb1a1 100644
--- a/firmware/PCB-Heater/Core/Src/stm32g0xx_hal_msp.c
+++ b/firmware/PCB-Heater/Core/Src/stm32g0xx_hal_msp.c
@@ -20,6 +20,7 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+
 /* USER CODE BEGIN Includes */
 
 /* USER CODE END Includes */
diff --git a/firmware/PCB-Heater/Core/Src/tim.c b/firmware/PCB-Heater/Core/Src/tim.c
index 65f240b..c8f0f47 100644
--- a/firmware/PCB-Heater/Core/Src/tim.c
+++ b/firmware/PCB-Heater/Core/Src/tim.c
@@ -51,7 +51,7 @@ void MX_TIM1_Init(void)
   htim1.Instance = TIM1;
   htim1.Init.Prescaler = 640-1;
   htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.Period = 999;
+  htim1.Init.Period = 1000-1;
   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim1.Init.RepetitionCounter = 0;
   htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
diff --git a/firmware/PCB-Heater/PCB-Heater.ioc b/firmware/PCB-Heater/PCB-Heater.ioc
index 19a84f9..c83a4df 100644
--- a/firmware/PCB-Heater/PCB-Heater.ioc
+++ b/firmware/PCB-Heater/PCB-Heater.ioc
@@ -87,8 +87,8 @@ Mcu.PinsNb=42
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32G070RBTx
-MxCube.Version=6.8.1
-MxDb.Version=DB.6.0.81
+MxCube.Version=6.9.1
+MxDb.Version=DB.6.0.91
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -259,6 +259,8 @@ ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=STM32CubeIDE
 ProjectManager.ToolChainLocation=
+ProjectManager.UAScriptAfterPath=
+ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=true
 ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_TIM1_Init-TIM1-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_SPI2_Init-SPI2-false-HAL-true,6-MX_TIM17_Init-TIM17-false-HAL-true,7-MX_TIM15_Init-TIM15-false-HAL-true,8-MX_TIM14_Init-TIM14-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true,10-MX_TIM16_Init-TIM16-false-HAL-true
 RCC.ADCFreq_Value=64000000
@@ -316,7 +318,7 @@ TIM1.IPParameters=AutoReloadPreload,Prescaler,Period,BreakState,AutomaticOutput,
 TIM1.OC2Preload_PWM=DISABLE
 TIM1.OCMode_PWM-PWM\ Generation2\ CH2=TIM_OCMODE_PWM2
 TIM1.OCPolarity_2=TIM_OCPOLARITY_HIGH
-TIM1.Period=999
+TIM1.Period=1000-1
 TIM1.Prescaler=640-1
 TIM1.Pulse-PWM\ Generation2\ CH2=1020
 TIM14.Channel=TIM_CHANNEL_1