From a39c95e2768e39442b144ff7e13b21eea6b6d520 Mon Sep 17 00:00:00 2001
From: Sebastien Bourdeauducq <sb@m-labs.hk>
Date: Sat, 6 May 2017 17:17:41 +0800
Subject: [PATCH] HV PID control (untested)

---
 firmware/src/main.rs | 31 ++++++++++++++++---
 firmware/src/pid.rs  | 72 ++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 99 insertions(+), 4 deletions(-)
 create mode 100644 firmware/src/pid.rs

diff --git a/firmware/src/main.rs b/firmware/src/main.rs
index 8d0edf3..bf53ea2 100644
--- a/firmware/src/main.rs
+++ b/firmware/src/main.rs
@@ -1,4 +1,4 @@
-#![feature(used, const_fn)]
+#![feature(used, const_fn, core_float)]
 #![no_std]
 
 #[macro_use]
@@ -6,12 +6,30 @@ extern crate cortex_m;
 extern crate cortex_m_rt;
 extern crate tm4c129x;
 
-use core::cell::Cell;
+use core::cell::{Cell, RefCell};
 use cortex_m::ctxt::Local;
 use cortex_m::exception::Handlers as ExceptionHandlers;
+use cortex_m::interrupt::Mutex;
 use tm4c129x::interrupt::Interrupt;
 use tm4c129x::interrupt::Handlers as InterruptHandlers;
 
+mod pid;
+
+
+const HV_PID_PARAMETERS: pid::Parameters = pid::Parameters {
+    kp: 0.01,
+    ki: 0.005,
+    kd: 0.0,
+    output_min: 0.0,
+    output_max: 30.0,
+    integral_min: -5000.0,
+    integral_max: 5000.0
+};
+
+static HV_PID: Mutex<RefCell<pid::Controller>> = Mutex::new(RefCell::new(
+    pid::Controller::new(HV_PID_PARAMETERS)));
+
+
 const LED1: u8 = 0x10; // PF1
 const LED2: u8 = 0x40; // PF3
 
@@ -35,6 +53,7 @@ const AI_ERRN: u8 = 0x10;  // PL4
 const PWM_LOAD: u16 = (/*pwmclk*/16_000_000u32 / /*freq*/100_000) as u16;
 const ADC_TIMER_LOAD: u32 = /*timerclk*/16_000_000 / /*freq*/100;
 
+
 fn set_led(nr: u8, state: bool) {
     cortex_m::interrupt::free(|cs| {
         let gpio_k = tm4c129x::GPIO_PORTK.borrow(cs);
@@ -88,6 +107,7 @@ fn set_emission_range(range: EmissionRange) {
     });
 }
 
+
 fn main() {
     cortex_m::interrupt::free(|cs| {
         let sysctl = tm4c129x::SYSCTL.borrow(cs);
@@ -221,7 +241,7 @@ fn main() {
         timer0.ctl.write(|w| w.taen().bit(true));
 
         set_emission_range(EmissionRange::Med);
-        set_hv_pwm(PWM_LOAD/64);
+        HV_PID.borrow(cs).borrow_mut().set_target(200.0);
         set_fv_pwm(PWM_LOAD/16);
         set_fbv_pwm(PWM_LOAD/8);
     });
@@ -278,8 +298,11 @@ extern fn adc0_ss0(_ctxt: ADC0SS0) {
         let _fbi_sample = adc0.ssfifo0.read().data().bits();
         let _fv_sample  = adc0.ssfifo0.read().data().bits();
         let _fd_sample  = adc0.ssfifo0.read().data().bits();
-        let _av_sample  = adc0.ssfifo0.read().data().bits();
+        let av_sample   = adc0.ssfifo0.read().data().bits();
         let _fbv_sample = adc0.ssfifo0.read().data().bits();
+
+        let mut hv_pid = HV_PID.borrow(cs).borrow_mut();
+        set_hv_pwm(hv_pid.update(av_sample as f32) as u16);
     })
 }
 
diff --git a/firmware/src/pid.rs b/firmware/src/pid.rs
new file mode 100644
index 0000000..2396824
--- /dev/null
+++ b/firmware/src/pid.rs
@@ -0,0 +1,72 @@
+use core::f32;
+use core::num::Float;
+
+#[derive(Clone, Copy)]
+pub struct Parameters {
+    pub kp: f32,
+    pub ki: f32,
+    pub kd: f32,
+    pub output_min: f32,
+    pub output_max: f32,
+    pub integral_min: f32,
+    pub integral_max: f32
+}
+
+pub struct Controller {
+    parameters: Parameters,
+    target: f32,
+    integral: f32,
+    last_input: f32
+}
+
+impl Controller {
+    pub const fn new(parameters: Parameters) -> Controller {
+        Controller {
+            parameters: parameters,
+            target: 0.0,
+            last_input: f32::NAN,
+            integral: 0.0
+        }
+    }
+
+    pub fn update(&mut self, input: f32) -> f32 {
+        let error = self.target - input;
+
+        let p = self.parameters.kp * error;
+
+        self.integral += error;
+        if self.integral < self.parameters.integral_min {
+            self.integral = self.parameters.integral_min;
+        }
+        if self.integral > self.parameters.integral_max {
+            self.integral = self.parameters.integral_max;
+        }
+        let i = self.parameters.ki * self.integral;
+
+        let d = if self.last_input.is_nan() {
+            0.0
+        } else {
+            self.parameters.kd * (self.last_input - input)
+        };
+        self.last_input = input;
+
+        let mut output = p + i + d;
+        if output < self.parameters.output_min {
+            output = self.parameters.output_min;
+        }
+        if output > self.parameters.output_max {
+            output = self.parameters.output_max;
+        }
+        output
+    }
+
+    pub fn set_target(&mut self, target: f32) {
+        self.target = target
+    }
+
+    #[allow(dead_code)]
+    pub fn reset(&mut self) {
+        self.integral = 0.0;
+        self.last_input = f32::NAN;
+    }
+}