pump controller

firmware/Makefile

@@ -129,6 +129,7 @@ CPPSRC = $(ALLCPPSRC) \
           sampling.cpp \
           heater_control.cpp \
           pid.cpp \
+          pump_control.cpp \
           main.cpp
 
 # List ASM source files here.

firmware/main.cpp

@@ -4,6 +4,7 @@
 
 #include "can.h"
 #include "heater_control.h"
+#include "pump_control.h"
 #include "pump_dac.h"
 #include "sampling.h"
 
@@ -32,15 +33,16 @@ int main() {
     halInit();
     chSysInit();
 
+    // Fire up all of our threads
     StartSampling();
-
     InitPumpDac();
-
-    InitCan();
+    StartHeaterControl();
+    StartPumpControl();
 
     uartStart(&UARTD1, &uartCfg);
 
-    StartHeaterControl();
+
+    InitCan();
 
     /*for (int i = 0; i < 500; i++) {
         SetPumpCurrentTarget(current);

firmware/pump_control.cpp

@@ -0,0 +1,36 @@
+#include "pump_control.h"
+#include "wideband_config.h"
+#include "heater_control.h"
+#include "sampling.h"
+#include "pump_dac.h"
+#include "pid.h"
+
+#include "ch.h"
+
+static Pid pumpPid(0, 0.01f, 2);
+
+static THD_WORKING_AREA(waPumpThread, 256);
+static void PumpThread(void*)
+{
+    while(true)
+    {
+        // Only actuate pump when running closed loop!
+        if (IsRunningClosedLoop())
+        {
+            float nernstVoltage = GetNernstDc();
+
+            float result = pumpPid.GetOutput(NERNST_TARGET, nernstVoltage);
+
+            // result is in mA
+            SetPumpCurrentTarget(result / 1000.0f);
+
+            // Run at 500hz
+            chThdSleepMilliseconds(2);
+        }
+    }
+}
+
+void StartPumpControl()
+{
+    chThdCreateStatic(waPumpThread, sizeof(waPumpThread), NORMALPRIO + 4, PumpThread, nullptr);
+}

firmware/pump_control.h

@@ -0,0 +1,3 @@
+#pragma once
+
+void StartPumpControl();

firmware/wideband_config.h

@@ -24,11 +24,9 @@
 #define LSU_SENSE_R (61.9f)
 
 // *******************************
-//          Pump driver
+//        Pump controller
 // *******************************
-
-// todo
-
+#define NERNST_TARGET (0.45f)
 
 // *******************************
 //    Heater controller config