From 17cdb8ca93c091a6ff9e0769ba5d0f5d044ace19 Mon Sep 17 00:00:00 2001
From: Carsten Keller <mail@carstenkeller.dev>
Date: Sun, 9 Jun 2024 17:57:49 +0200
Subject: [PATCH] =?UTF-8?q?PID-Controller=20f=C3=BCr=20Stromregelung?=
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---
 Source/ElektronischeLast.cpp | 44 +++++++++++++++++++++++++++++++++++-
 1 file changed, 43 insertions(+), 1 deletion(-)

diff --git a/Source/ElektronischeLast.cpp b/Source/ElektronischeLast.cpp
index ce3b2b8..74dea1a 100644
--- a/Source/ElektronischeLast.cpp
+++ b/Source/ElektronischeLast.cpp
@@ -7,29 +7,71 @@
 
 #include <cstdint>
 #include <cstdio>
+#include <cinttypes>
 #include <stm32g0xx.h>
 #include "STM32G071KBT6.hpp"
 #include "LED.hpp"
 #include "DAC.hpp"
 #include "ADC.hpp"
 #include "serial.hpp"
+#include "PID.h"
 
 using namespace ElektronischeLast;
 
+static std::uint32_t i_soll = 0U;
+static PIDController pid =
+{
+  .Kp = 0.75f,
+  .Ki = 10.0f,
+  .Kd = 0.0f,
+  .limMin = 0.0f,
+  .limMax = 4095.0f,
+  .limMinInt = 0.0f,
+  .limMaxInt = 2048.0f,
+  .T = 0.001f,
+};
+static uint32_t dac_value;
+static struct
+{
+  uint32_t current_min;
+  uint32_t current_max;
+} current_spitze;
+static struct
+{
+  uint32_t voltage_min;
+  uint32_t voltage_max;
+} voltage_spitze;
+
 int main (void)
 {
+
   __enable_irq();
   serial_init();
   LED led = LED(500U);
   iDAC dac = iDAC();
   iADC adc = iADC();
+  std::uint32_t last_tick = systick;
 
   printf("\r\nElektronische Last\r\n");
   printf("- Initialisierung erfolgreich\r\n");
 
+  PIDController_Init(&pid);
+
   while(1)
   {
     led.blink();
-    dac.write(iDAC::CHANNEL_1, adc.get_current());
+
+    if(last_tick != systick)
+    {
+      last_tick = systick;
+      uint32_t tmp = adc.get_current();
+      if(tmp > current_spitze.current_max) current_spitze.current_max = tmp;
+      if(tmp < current_spitze.current_min) current_spitze.current_min = tmp;
+      tmp = adc.get_voltage();
+      if(tmp > voltage_spitze.voltage_max) voltage_spitze.voltage_max = tmp;
+      if(tmp < voltage_spitze.voltage_min) voltage_spitze.voltage_min = tmp;
+      dac_value = (uint32_t)PIDController_Update(&pid, i_soll, adc.get_current());
+      dac.write(iDAC::CHANNEL_1, dac_value);
+    }
   }
 }