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Updated PID demo

This commit is contained in:
Fabien Poussin 2018-03-23 11:53:03 +01:00
parent d002f7f837
commit 261c37a0db
1 changed files with 45 additions and 26 deletions
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71
demos/STM32/RT-STM32F303-DISCOVERY-PID/main.c
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@ -17,13 +17,14 @@
#include "ch.h"
#include "hal.h"
#include "pid.h"
#include <stdlib.h>
pid_t pid;
float input = 0, output = 0, target = 3500;
#define STM32_UUID ((uint32_t *)0x1FFFF7AC)
#define ADC_GRP1_NUM_CHANNELS 1
#define ADC_GRP1_BUF_DEPTH 8
static pid_t pid;
static float input = 0, output = 0, target = 0;
static adcsample_t samples[ADC_GRP1_NUM_CHANNELS * ADC_GRP1_BUF_DEPTH];
/*
@ -33,8 +34,22 @@ static void adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n) {
(void)adcp;
(void)n;
uint32_t i, tmp = 0;
if (samples == buffer) {
input = buffer[4];
for (i = 0; i < n; i++) {
tmp += buffer[i];
}
input = tmp / n;
if (input <= target) {
palClearLine(LINE_LED7_GREEN);
palSetLine(LINE_LED6_GREEN);
}
else {
palClearLine(LINE_LED6_GREEN);
palSetLine(LINE_LED7_GREEN);
}
}
}
@ -51,11 +66,11 @@ static const ADCConversionGroup adcgrpcfg1 = {
ADC_CFGR_CONT, /* CFGR */
ADC_TR(0, 4095), /* TR1 */
{ /* SMPR[2] */
ADC_SMPR1_SMP_AN0(ADC_SMPR_SMP_19P5),
ADC_SMPR1_SMP_AN1(ADC_SMPR_SMP_181P5),
0
},
{ /* SQR[4] */
ADC_SQR1_SQ1_N(ADC_CHANNEL_IN0),
ADC_SQR1_SQ1_N(ADC_CHANNEL_IN1),
0,
0,
0
@ -72,32 +87,35 @@ static void gptcb(GPTDriver *drv) {
(void)drv;
pid_compute(&pid);
dacPutChannelX(&DACD1, 0, output);
dacPutChannelX(&DACD1, 0, (dacsample_t)output);
}
/*
* GPT6 configuration.
*/
static const GPTConfig gpt6cfg1 = {
.frequency = 100U,
.frequency = 10000U, // 10 KHz
.callback = gptcb,
.cr2 = TIM_CR2_MMS_1, /* MMS = 010 = TRGO on Update Event. */
.dier = 0U
};
/*
* Red LEDs blinker thread, times are in milliseconds.
*/
static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) {
srand(osalOsGetSystemTimeX() + STM32_UUID[0]);
(void)arg;
chRegSetThreadName("blinker");
while (true) {
palSetPad(GPIOE, GPIOE_LED10_RED);
chThdSleepMilliseconds(500);
palClearPad(GPIOE, GPIOE_LED10_RED);
palToggleLine(LINE_LED10_RED);
chThdSleepMilliseconds(500);
target = 1000 + (rand() % 2500); // Change the PID target every 500ms.
}
}
@ -110,10 +128,10 @@ int main(void) {
chSysInit();
/*
* Set PA0 PA3 PA4 to Analog (ADC1_CH1, DAC1_CH1)
* Set PA0 PA3 PA4 to Analog (ADC1_CH2, DAC1_CH1)
* You will have to connect these with a jumper wire
*/
palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
/*
@ -122,29 +140,30 @@ int main(void) {
adcStart(&ADCD1, NULL);
dacStart(&DACD1, &dac1cfg1);
gptStart(&GPTD6, &gpt6cfg1);
/*
* Start PID
*/
pid_create(&pid, &input, &output, &target, 1.0, 1.0, 1.0, PID_ON_M, PID_DIRECT);
pid_setOutputLimits(&pid, 0.0, 4095.0); // Max DAC range
pid_setSampleTime(&pid, 10);
pid_setMode(&pid, PID_AUTOMATIC);
/*
* Starting a continuous conversion.
*/
gptStartContinuous(&GPTD6, 2U);
pid_create(&pid, &input, &output, &target, 2.0, 5.0, 1.0, PID_ON_M, PID_DIRECT);
pid_setSampleTime(&pid, 10);
pid_setMode(&pid, PID_AUTOMATIC);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
gptStartContinuous(&GPTD6, 101U); // 10000 / 101
adcStartConversion(&ADCD1, &adcgrpcfg1, samples, ADC_GRP1_BUF_DEPTH);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* Normal main() thread activity.
*/
while (true) {
chThdSleepMilliseconds(250);
palToggleLine(LINE_LED3_RED);
}