diff options
| -rw-r--r-- | spaghetti-monster/fsm-adc.c | 127 |
1 files changed, 52 insertions, 75 deletions
diff --git a/spaghetti-monster/fsm-adc.c b/spaghetti-monster/fsm-adc.c index 6fae262..d1efff3 100644 --- a/spaghetti-monster/fsm-adc.c +++ b/spaghetti-monster/fsm-adc.c @@ -273,15 +273,24 @@ static inline void ADC_voltage_handler() { #ifdef USE_THERMAL_REGULATION static inline void ADC_temperature_handler() { - // thermal declarations - #ifndef THERMAL_UPDATE_SPEED - #define THERMAL_UPDATE_SPEED 2 + // coarse adjustment + #ifndef THERM_LOOKAHEAD + #define THERM_LOOKAHEAD 5 // can be tweaked per build target #endif - #define NUM_THERMAL_VALUES_HISTORY 8 - static uint8_t history_step = 0; // don't update history as often - static uint16_t temperature_history[NUM_THERMAL_VALUES_HISTORY]; + // fine-grained adjustment + // how proportional should the adjustments be? (not used yet) + #ifndef THERM_RESPONSE_MAGNITUDE + #define THERM_RESPONSE_MAGNITUDE 128 + #endif + // acceptable temperature window size in C + #define THERM_WINDOW_SIZE 3 + + #define NUM_TEMP_HISTORY_STEPS 8 // don't change; it'll break stuff + static uint8_t history_step = 0; + static uint16_t temperature_history[NUM_TEMP_HISTORY_STEPS]; static uint8_t temperature_timer = 0; - #define TEMPERATURE_TIMER_START (THERMAL_WARNING_SECONDS*ADC_CYCLES_PER_SECOND) // N seconds between thermal regulation events + // N seconds between thermal regulation events + #define TEMPERATURE_TIMER_START (THERMAL_WARNING_SECONDS*ADC_CYCLES_PER_SECOND) // latest 16-bit ADC reading uint16_t measurement; @@ -297,105 +306,73 @@ static inline void ADC_temperature_handler() { measurement = adc_raw[1] << 6; // forget any past measurements - for(uint8_t i=0; i<NUM_THERMAL_VALUES_HISTORY; i++) + for(uint8_t i=0; i<NUM_TEMP_HISTORY_STEPS; i++) temperature_history[i] = measurement; } - { // rotate the temperature history - // if it's time to rotate the thermal history, do it - // FIXME? allow more than 255 frames per step - // (that's only about 8 seconds maximum) - history_step ++; - #if (THERMAL_UPDATE_SPEED == 4) // new value every 4s - #define THERM_HISTORY_STEP_MAX (4*ADC_CYCLES_PER_SECOND) - #elif (THERMAL_UPDATE_SPEED == 2) // new value every 2s - #define THERM_HISTORY_STEP_MAX (2*ADC_CYCLES_PER_SECOND) - #elif (THERMAL_UPDATE_SPEED == 1) // new value every 1s - #define THERM_HISTORY_STEP_MAX (ADC_CYCLES_PER_SECOND) - #elif (THERMAL_UPDATE_SPEED == 0) // new value every 0.5s - #define THERM_HISTORY_STEP_MAX (ADC_CYCLES_PER_SECOND/2) - #endif - // FIXME: rotate the index instead of moving the values - if (THERM_HISTORY_STEP_MAX == history_step) { - history_step = 0; - // rotate measurements and add a new one - for (uint8_t i=0; i<NUM_THERMAL_VALUES_HISTORY-1; i++) { - temperature_history[i] = temperature_history[i+1]; - } - temperature_history[NUM_THERMAL_VALUES_HISTORY-1] = measurement; - } - } - // let the UI see the current temperature in C // Convert ADC units to Celsius (ish) temperature = (measurement>>6) - 275 + THERM_CAL_OFFSET + (int16_t)therm_cal_offset; - // guess what the temperature will be in a few seconds - int16_t pt; - { - int16_t diff; - uint16_t t = measurement; + // how much has the temperature changed between now and a few seconds ago? + int16_t diff; + diff = measurement - temperature_history[history_step]; + + // update / rotate the temperature history + temperature_history[history_step] = measurement; + history_step = (history_step + 1) & (NUM_TEMP_HISTORY_STEPS-1); + + // PI[D]: guess what the temperature will be in a few seconds + int16_t pt; // predicted temperature + pt = measurement + (diff * THERM_LOOKAHEAD); + + // P[I]D: average of recent measurements + uint16_t avg = 0; + for(uint8_t i=0; i<NUM_TEMP_HISTORY_STEPS; i++) + avg += (temperature_history[i]>>3); + + uint16_t ceil = therm_ceil << 6; + //uint16_t floor = ceil - (THERM_WINDOW_SIZE << 6); + int16_t offset_pt, offset_avg; + offset_pt = pt - ceil; + offset_avg = avg - ceil; + int16_t offset = offset_pt + offset_avg; + //int16_t offset = (pt - ceil) + (avg - ceil); - // algorithm tweaking; not really intended to be modified - // how far ahead should we predict? - #ifndef THERM_PREDICTION_STRENGTH - #define THERM_PREDICTION_STRENGTH 4 - #endif - // how proportional should the adjustments be? (not used yet) - #ifndef THERM_RESPONSE_MAGNITUDE - #define THERM_RESPONSE_MAGNITUDE 128 - #endif - // acceptable temperature window size in C - #define THERM_WINDOW_SIZE (3<<6) - // highest temperature allowed - #define THERM_CEIL (((int16_t)therm_ceil)<<6) - // bottom of target temperature window - #define THERM_FLOOR (THERM_CEIL - THERM_WINDOW_SIZE) - - // guess what the temp will be several seconds in the future - // diff = rate of temperature change - diff = t - temperature_history[0]; - // slight bias toward zero; ignore very small changes (noise) - /* - // FIXME: this is way too small for 16-bit values - for (uint8_t z=0; z<3; z++) { - if (diff < 0) diff ++; - if (diff > 0) diff --; - } - */ - // projected_temperature = current temp extended forward by amplified rate of change - pt = projected_temperature = t + (diff<<THERM_PREDICTION_STRENGTH); - } if (temperature_timer) { temperature_timer --; } else { // it has been long enough since the last warning // Too hot? - if (pt > THERM_CEIL) { + // (if it's too hot and not getting colder...) + if ((offset > 0) && (diff > (-1 << 5))) { // reset counters temperature_timer = TEMPERATURE_TIMER_START; // how far above the ceiling? - //int16_t howmuch = (pt - THERM_CEIL) * THERM_RESPONSE_MAGNITUDE / 128; - int16_t howmuch = (pt - THERM_CEIL) >> 6; + //int16_t howmuch = (offset >> 6) * THERM_RESPONSE_MAGNITUDE / 128; + int16_t howmuch = (offset >> 6); // send a warning emit(EV_temperature_high, howmuch); } // Too cold? - else if (pt < THERM_FLOOR) { + // (if it's too cold and not getting warmer...) + else if ((offset < -(THERM_WINDOW_SIZE << 6)) + && (diff < (1 << 5))) { // reset counters temperature_timer = TEMPERATURE_TIMER_START; // how far below the floor? - //int16_t howmuch = (THERM_FLOOR - pt) * THERM_RESPONSE_MAGNITUDE / 128; - int16_t howmuch = (THERM_FLOOR - pt) >> 6; + //int16_t howmuch = (((-offset) - (THERM_WINDOW_SIZE<<6)) >> 7) * THERM_WINDOW_SIZE / 128; + int16_t howmuch = ((-offset) - (THERM_WINDOW_SIZE<<6)) >> 7; // send a notification (unless voltage is low) // (LVP and underheat warnings fight each other) if (voltage > VOLTAGE_LOW) emit(EV_temperature_low, howmuch); } - // Goldilocks? (temperature is within target window) + // Goldilocks? + // (temperature is within target window, or at least heading toward it) else { // reset counters temperature_timer = TEMPERATURE_TIMER_START; |