438 lines
13 KiB
C
438 lines
13 KiB
C
/*
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* @Date: 2025-06-23 13:04:20
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* @Author: mypx
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* @LastEditors: mypx mypx_coder@163.com
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* @LastEditTime: 2025-10-27 08:42:50
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* @FilePath: tec_control.c
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* @Description:
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* Copyright (c) 2025 by mypx, All Rights Reserved.
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*/
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#include "tec_control.h"
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#include "ad7793.h"
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#include "bsp_misc.h"
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#include "bsp_tec.h"
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#include "bsp_temper_sampling.h"
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#include "et_log.h"
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#include "etk_utils.h"
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#include "mb_interface.h"
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#include "pm_common.h"
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#include "pt100x.h"
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#include <math.h>
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h> /* rand, RAND_MAX */
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#if TEC_CONTROL_PERIOD < ADC_SAMPLE_PERIOD
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#error "TEC_CONTROL_PERIOD must be greater than ADC_SAMPLE_PERIOD"
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#endif
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#define TEST_TEMPER_XFER 0
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/* Local helpers to avoid implicit prototypes on some embedded libc's */
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static inline int _isnan_f(float v)
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{
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return v != v;
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}
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static inline float _fabs_f(float v)
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{
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return v < 0.0f ? -v : v;
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}
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/* Define AD7793 device structure */
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ad7793_dev_t ad7793_dev;
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#if (USING_SOFT_SPI == 1)
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extern soft_spi_t soft_spi;
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#endif
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tec_control_t *tec_control = NULL;
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ad7793_hw_if_t ad7793_hw_if = {
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.spi_transfer = bsp_ad7793_spi_transfer,
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.spi_write = bsp_ad7793_spi_write,
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.spi_read = bsp_ad7793_spi_read,
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.gpio_set = bsp_ad7793_gpio_set,
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.gpio_get = bsp_ad7793_gpio_get,
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.delay_ms = bsp_ad7793_delay_ms,
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};
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/* -------------------------------------------------------------
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* AD7793 应用层配置
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* 依据提供原理图的典型 RTD/PT100 测温拓扑做如下假设：
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* 1. 仅测量正向电压 => 使用单极 (unipolar)
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* 2. 传感器电流源(或恒流驱动)下 PT100 产生的电压几十 mV 级，选择增益 16：
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* - 内部参考 1.17V / GAIN16 满量程约 73mV，有足够余量覆盖 0~200+℃ (约 21mV~37mV)
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* - 若后续发现仍远低于满量程，可改为 GAIN32；若出现接近饱和则降为 GAIN8。
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* 3. 启用输入缓冲 (buffered=true) 以减小前端阻抗对 ADC 的影响。
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* 4. 采用内部参考 (1.17V) 简化；若外部精密参考芯片实际接入 REF+ / REF-，
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* 将 use_internal_ref 改为 false 并填写 external_ref (例如 2.500f 或 3.000f)。
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* 5. 选择较低输出数据速率 8.33Hz 获取更好噪声性能（速率越低，数字滤波越强）。
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* 6. 上电后做一次 system zero 校准，提高 offset 精度。
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* ------------------------------------------------------------- */
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static const ad7793_config_t g_ad7793_config = {
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.use_internal_ref = false, /* 现在使用板上 2.5V 外部参考 (已实测 REFIN+=2.5V) */
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.external_ref = 2.500f,
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/* 传感器差分约 0.044V, 需保证 < Vref / Gain
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选择 GAIN=4 -> 满量程 2.5/4=0.625V (安全覆盖 0.44V); 若后续电压更低可再调高增益 */
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.gain = AD7793_GAIN_4,
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.channel = AD7793_CHANNEL_1, /* AIN1(+) - AIN1(-) */
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.rate = AD7793_RATE_8_33HZ,
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.unipolar_mode = true, /* 只测正向信号 */
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.buffered = true, /* 启用缓冲 */
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.calibrate_system_zero = false /* 暂停 system zero 校准 (之前 OFFSET/FULLSC 已被污染) */
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};
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/* Shared data structure for temperature sampling and TEC control */
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static struct
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{
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float current_temperature;
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bool temp_updated;
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rt_mutex_t data_mutex;
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} temp_shared_data;
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float tec_get_target_voltage(float r)
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{
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double numerator = 135 - 675 * r;
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double denominator = 390 * r + 1343;
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if (denominator == 0)
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{
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ET_ERR("Error: Denominator is zero for r = %.2f", r);
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return 0.0;
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}
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return numerator / denominator;
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}
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/**
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* @param voltage: Voltage value in volts
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* @return double: Resistance in ohms
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*/
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static double solve_resistance(double voltage)
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{
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double numerator = 135 - 1343 * voltage;
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double denominator = 390 * voltage + 675;
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if (denominator == 0)
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{
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ET_ERR("Error: Denominator is zero for v = %.2f", voltage);
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return 0.0;
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}
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return numerator * 1000 / denominator;
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}
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void tec_pid_init(tec_control_t *tec)
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{
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float kp = 15.0f;
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float ki = 0.2f;
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float kd = 0.05f;
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float threshold = 0.5f; // 积分分离阈值，可根据实际情况调整
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et_integral_separation_pid_init(&tec->pid, kp, ki, kd, threshold);
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}
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float tec_pid_update(tec_control_t *tec, float set_point, float current_temp, float dt)
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{
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tec->pid.set_point = set_point;
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return et_integral_separation_pid_update(&tec->pid, current_temp, dt);
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}
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void tec_control_reset(void)
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{
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if (tec_control != NULL)
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{
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tec_control->target_temper = 0.0f;
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}
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}
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int tec_control_resume(void)
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{
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if (tec_control == NULL)
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{
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ET_ERR("TEC control not initialized");
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return -1;
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}
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if (tec_control->cur_temper > tec_control->exception_temper)
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{
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ET_WARN("current temperature is too high, cannot start TEC");
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return -2;
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}
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tec_control->is_control = true;
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return 0;
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}
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int tec_control_pause(void)
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{
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if (tec_control == RT_NULL)
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{
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ET_ERR("TEC control not initialized");
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return -1;
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}
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tec_control->is_control = false;
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return 0;
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}
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void tec_calculate_temperature(uint32_t adc_value)
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{
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float mv = 0;
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double resistance;
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mv = ad7793_convert_to_voltage(&ad7793_dev, adc_value) * 1000;
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//ET_DBG("voltage:%.2f", mv);
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resistance = solve_resistance(mv / 1000);
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//ET_DBG("resistance:%.2f", resistance);
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//ET_PRINTF_FLOAT("resistance:", resistance);
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tec_control->cur_temper = pt_precise_temperature(resistance, PT100);
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tec_control->cur_temper = et_ema_filter_process(&tec_control->ema_filter, tec_control->cur_temper);
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if (_isnan_f(tec_control->cur_temper))
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{
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ET_DBG("Invalid resistance value, cannot calculate temperature.\n");
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}
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else
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{
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//ET_DBG("temperature:%.4f", tec_control->cur_temper);
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/* Update shared data */
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rt_mutex_take(temp_shared_data.data_mutex, RT_WAITING_FOREVER);
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temp_shared_data.current_temperature = tec_control->cur_temper;
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temp_shared_data.temp_updated = true;
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rt_mutex_release(temp_shared_data.data_mutex);
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}
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}
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#if TEST_TEMPER_XFER
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float generate_random_temperature(void)
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{
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static uint32_t lfsr = 0xACE1u; /* simple LFSR to avoid rand() dependency */
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lfsr ^= lfsr << 7;
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lfsr ^= lfsr >> 9;
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lfsr ^= lfsr << 8;
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return (lfsr & 0xFFFF) * (55.0f / 65535.0f);
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}
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#endif
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/* Temperature sampling thread entry function */
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static void temper_sampling_thread_entry(void *parameter)
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{
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ETK_UNUSED(parameter);
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uint32_t adc_value = 0;
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const uint32_t LOW_CODE_THRESHOLD = 0x200; /* 约 0.125% 满量程，可调 */
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uint32_t consecutive_err = 0;
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ET_INFO("Temperature sampling thread started");
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while (1)
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{
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#if !TEST_TEMPER_XFER
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/* Wait for ADC ready and read data */
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if (ad7793_wait_ready(&ad7793_dev, 1000) == true)
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{
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if (ad7793_read_data(&ad7793_dev, &adc_value))
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{
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/* 低码过滤：避免极低噪声或参考丢失导致的虚假高温 */
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if (adc_value < LOW_CODE_THRESHOLD)
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{
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ad7793_dev.low_code_drops++;
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ET_DBG("drop low code: 0x%06X (drops=%lu)", (unsigned)adc_value,
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(unsigned long)ad7793_dev.low_code_drops);
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}
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else
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{
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//ET_DBG("raw code: 0x%06X", (unsigned)adc_value);
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tec_calculate_temperature(adc_value);
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}
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}
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else
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{
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ET_ERR("Failed to read ADC data.\n");
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}
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}
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mb_write_current_temp(tec_control->cur_temper);
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#else
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mb_write_current_temp(generate_random_temperature()); // test only
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mb_write_current_rotation(generate_random_temperature()); // test only
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#endif
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/* Delay for next sampling period */
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rt_thread_mdelay(ADC_SAMPLE_PERIOD);
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}
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}
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// pwm: 0.0 ~ 1.0
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void tec_adjust_pwm(float pwm, float cur_temper, float target_temper)
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{
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if (_fabs_f(cur_temper - target_temper) < TEC_TEMPER_PRECISE)
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{
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// within precise range, stop adjustment
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bsp_tec_close();
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bsp_fan_stop();
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return;
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}
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//bsp_fan_start();
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if (cur_temper > target_temper)
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{
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// cooling
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bsp_tec_cooling_adjust(pwm);
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}
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else
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{
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// heating
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bsp_tec_heating_adjust(pwm);
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}
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}
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void tec_control_temperature(tec_control_t *tec)
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{
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float pid_out = 0;
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float current_temp;
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if (tec == NULL)
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{
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ET_ERR("tec is NULL");
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return;
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}
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if (tec->is_control == false)
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return;
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/* Get current temperature from shared data */
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rt_mutex_take(temp_shared_data.data_mutex, RT_WAITING_FOREVER);
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current_temp = temp_shared_data.current_temperature;
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temp_shared_data.temp_updated = false;
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rt_mutex_release(temp_shared_data.data_mutex);
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/* Update tec control current temperature */
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tec->cur_temper = current_temp;
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// dt convert to seconds
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pid_out = tec_pid_update(tec, tec->target_temper, current_temp, TEC_CONTROL_PERIOD / 1000.0f);
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ET_INFO("pid_out:%.2f", pid_out);
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tec_adjust_pwm(pid_out, current_temp, tec->target_temper);
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}
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static void tec_control_thread_entry(void *parameter)
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{
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ETK_UNUSED(parameter);
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rt_tick_t last_ms = rt_tick_get_millisecond();
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rt_uint32_t received;
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tec_pid_init(tec_control);
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tec_control->is_control = false; // control disabled by default
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//bsp_fan_start();
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tec_control->target_temper = 25.0f;
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ET_INFO("TEC control thread started");
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while (1)
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{
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// wait for control events with timeout
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rt_event_recv(tec_control->control_event,
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TEC_CONTROL_START_EVENT | TEC_CONTROL_STOP_EVENT | TEC_TEMP_UPDATE_EVENT,
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RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR, TEC_CONTROL_PERIOD / 2, &received);
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// handle received events
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if (received & TEC_CONTROL_START_EVENT)
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{
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tec_control_resume();
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ET_INFO("TEC control started by event");
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}
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if (received & TEC_CONTROL_STOP_EVENT)
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{
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tec_control_pause();
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ET_INFO("TEC control stopped by event");
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}
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if (received & TEC_TEMP_UPDATE_EVENT)
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{
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ET_INFO("Target temperature updated to: %.2f°C", tec_control->target_temper);
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}
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// perform temperature control at specified period
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if (rt_tick_get_millisecond() - last_ms > TEC_CONTROL_PERIOD)
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{
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last_ms = rt_tick_get_millisecond();
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tec_control_temperature(tec_control);
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}
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}
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}
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int tec_control_sercie_start(tec_control_t *tec)
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{
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(void)tec; /* unused parameter for now */
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rt_thread_t temp_tid;
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rt_thread_t ctrl_tid;
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(void)ctrl_tid;
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// create temperature sampling thread
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temp_tid = rt_thread_create("temp-sample", temper_sampling_thread_entry, RT_NULL, TEMP_SAMPLE_THREAD_STACK_SIZE,
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TEMP_SAMPLE_THREAD_PRIORITY, TEMP_SAMPLE_THREAD_TIMESLICE);
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if (temp_tid == RT_NULL)
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{
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ET_ERR("Failed to create temperature sampling thread");
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return -6;
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}
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rt_thread_startup(temp_tid);
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/* create TEC control thread */
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ctrl_tid = rt_thread_create("tec-control", tec_control_thread_entry, RT_NULL, TEC_CONTROL_THREAD_STACK_SIZE,
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TEC_CONTROL_THREAD_PRIORITY, TEC_CONTROL_THREAD_TIMESLICE);
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if (ctrl_tid == RT_NULL)
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{
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ET_ERR("Failed to create tec-control thread");
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return -7;
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}
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rt_thread_startup(ctrl_tid);
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return 0;
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}
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int tec_control_init(tec_control_t *tec)
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{
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if (tec == NULL)
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{
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ET_ERR("tec is NULL");
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return -1;
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}
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tec_control = tec;
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et_ema_filter_init(&tec_control->ema_filter, EMA_FILTER_ALPHA);
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// create event object for temperature control
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tec_control->control_event = rt_event_create("tec_event", RT_IPC_FLAG_FIFO);
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if (tec_control->control_event == RT_NULL)
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{
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ET_ERR("Failed to create TEC control event");
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return -3;
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}
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// create mutex for shared data protection
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temp_shared_data.data_mutex = rt_mutex_create("temp_mutex", RT_IPC_FLAG_FIFO);
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if (temp_shared_data.data_mutex == RT_NULL)
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{
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ET_ERR("Failed to create temperature data mutex");
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return -5;
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}
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// initialize shared data
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temp_shared_data.current_temperature = 25.0f;
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temp_shared_data.temp_updated = false;
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#if (USING_SOFT_SPI == 1)
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if (ad7793_init(&ad7793_dev, &ad7793_hw_if, soft_spi.cs_pin, &g_ad7793_config))
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#else
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if (ad7793_init(&ad7793_dev, &ad7793_hw_if, SPI3_AD7793_CS_Pin, &g_ad7793_config))
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#endif
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{
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rt_kprintf("AD7793 device initialized successfully.\n");
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}
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else
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{
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rt_kprintf("Failed to initialize AD7793 device.\n");
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return -2;
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}
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return 0;
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}
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