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heater: fixes for multi channel mode

This commit is contained in:
Andrey Gusakov 2022-06-19 14:54:57 +03:00
parent 200a6054e6
commit 7978c1c057
1 changed files with 64 additions and 27 deletions
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91
firmware/heater_control.cpp
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@ -13,20 +13,72 @@
using namespace wbo;
// 400khz / 1024 = 390hz PWM
static Pwm heaterPwm(HEATER_PWM_DEVICE, HEATER_PWM_CHANNEL, 400'000, 1024);
static Pwm heaterPwm(HEATER_PWM_DEVICE);
PWMConfig heaterPwmConfig = {
400'000,
1024,
nullptr,
{
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr},
{PWM_OUTPUT_ACTIVE_HIGH, nullptr}
},
0,
0,
#if STM32_PWM_USE_ADVANCED
0
#endif
};
static constexpr int preheatTimeCounter = HEATER_PREHEAT_TIME / HEATER_CONTROL_PERIOD;
static constexpr int batteryStabTimeCounter = HEATER_BATTERY_STAB_TIME / HEATER_CONTROL_PERIOD;
struct heater_state {
Pid heaterPid;
int timeCounter;
int batteryStabTime;
float rampVoltage;
HeaterState heaterState;
int ch;
uint8_t ch;
uint8_t pwm_ch;
};
static struct heater_state state[AFR_CHANNELS];
static struct heater_state state[AFR_CHANNELS] =
{
{
.heaterPid = Pid(
0.3f, // kP
0.3f, // kI
0.01f, // kD
3.0f, // Integrator clamp (volts)
HEATER_CONTROL_PERIOD
),
.timeCounter = preheatTimeCounter,
.batteryStabTime = batteryStabTimeCounter,
.rampVoltage = 0,
.heaterState = HeaterState::Preheat,
.ch = 0,
.pwm_ch = HEATER_PWM_CHANNEL_0,
},
#if (AFR_CHANNELS > 1)
{
.heaterPid = Pid(
0.3f, // kP
0.3f, // kI
0.01f, // kD
3.0f, // Integrator clamp (volts)
HEATER_CONTROL_PERIOD
),
.timeCounter = preheatTimeCounter,
.batteryStabTime = batteryStabTimeCounter,
.rampVoltage = 0,
.heaterState = HeaterState::Preheat,
.ch = 1,
.pwm_ch = HEATER_PWM_CHANNEL_1,
},
#endif
};
static HeaterState GetNextState(struct heater_state *s, HeaterAllow heaterAllowState, float batteryVoltage, float sensorEsr)
{
@ -109,14 +161,6 @@ static HeaterState GetNextState(struct heater_state *s, HeaterAllow heaterAllowS
return s->heaterState;
}
static Pid heaterPid(
0.3f, // kP
0.3f, // kI
0.01f, // kD
3.0f, // Integrator clamp (volts)
HEATER_CONTROL_PERIOD
);
static float GetVoltageForState(struct heater_state *s, float heaterEsr)
{
switch (s->heaterState)
@ -137,7 +181,7 @@ static float GetVoltageForState(struct heater_state *s, float heaterEsr)
case HeaterState::ClosedLoop:
// "nominal" heater voltage is 7.5v, so apply correction around that point (instead of relying on integrator so much)
// Negated because lower resistance -> hotter
return 7.5f - heaterPid.GetOutput(HEATER_TARGET_ESR, heaterEsr);
return 7.5f - s->heaterPid.GetOutput(HEATER_TARGET_ESR, heaterEsr);
case HeaterState::Stopped:
// Something has gone wrong, turn off the heater.
return 0;
@ -152,16 +196,6 @@ static void HeaterThread(void*)
{
int ch;
/* reset */
for (ch = 0; ch < AFR_CHANNELS; ch++) {
struct heater_state *s = &state[ch];
s->timeCounter = preheatTimeCounter;
s->batteryStabTime = batteryStabTimeCounter;
s->rampVoltage = 0;
s->heaterState = HeaterState::Preheat;
s->ch = ch;
}
// Wait for temperature sensing to stabilize so we don't
// immediately think we overshot the target temperature
chThdSleepMilliseconds(1000);
@ -204,12 +238,12 @@ static void HeaterThread(void*)
if (batteryVoltage < 23)
{
// Pipe the output to the heater driver
heaterPwm.SetDuty(duty);
heaterPwm.SetDuty(s->pwm_ch, duty);
}
else
{
// Overvoltage protection - sensor not rated for PWM above 24v
heaterPwm.SetDuty(0);
heaterPwm.SetDuty(s->pwm_ch, 0);
}
}
@ -220,8 +254,11 @@ static void HeaterThread(void*)
void StartHeaterControl()
{
heaterPwm.Start();
heaterPwm.SetDuty(0);
heaterPwm.Start(&heaterPwmConfig);
heaterPwm.SetDuty(state[0].pwm_ch, 0);
#if (AFR_CHANNELS > 1)
heaterPwm.SetDuty(state[1].pwm_ch, 0);
#endif
chThdCreateStatic(waHeaterThread, sizeof(waHeaterThread), NORMALPRIO + 1, HeaterThread, nullptr);
}
@ -233,7 +270,7 @@ bool IsRunningClosedLoop(int ch)
float GetHeaterDuty(int ch)
{
return heaterPwm.GetLastDuty();
return heaterPwm.GetLastDuty(state[ch].pwm_ch);
}
HeaterState GetHeaterState(int ch)