HAPI- Tech / Mbed 2 deprecated PreHeater-Rev2

Rev0

Dependencies:   PID QEI-Intruptinmode-set SB1602E mbed

Fork of PreHeater-Rev2 by Kazu Zamasu

プリヒータ基板のファームウェアです。 Rev2基板用ですので、温度センサーなどが変更になっています。

This is Pre Heater device firmware. This firmware is Rev2 PCB design.

main.cpp@1:1440321bc326, 2015-07-28 (annotated)

Committer:
Hapi_Tech
Date:
Tue Jul 28 18:59:40 2015 +0000
Revision:
1:1440321bc326
Parent:
0:b2cea429ec0b
Child:
2:6315824f8a29
First commit.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kazu_zamasu 0:b2cea429ec0b 1 /*The MIT License (MIT)
kazu_zamasu 0:b2cea429ec0b 2
kazu_zamasu 0:b2cea429ec0b 3 Copyright (c) <2015> <Kazumichi Aoki>
kazu_zamasu 0:b2cea429ec0b 4
kazu_zamasu 0:b2cea429ec0b 5 Permission is hereby granted, free of charge, to any person obtaining a copy
kazu_zamasu 0:b2cea429ec0b 6 of this software and associated documentation files (the "Software"), to deal
kazu_zamasu 0:b2cea429ec0b 7 in the Software without restriction, including without limitation the rights
kazu_zamasu 0:b2cea429ec0b 8 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
kazu_zamasu 0:b2cea429ec0b 9 copies of the Software, and to permit persons to whom the Software is
kazu_zamasu 0:b2cea429ec0b 10 furnished to do so, subject to the following conditions:
kazu_zamasu 0:b2cea429ec0b 11
kazu_zamasu 0:b2cea429ec0b 12 The above copyright notice and this permission notice shall be included in
kazu_zamasu 0:b2cea429ec0b 13 all copies or substantial portions of the Software.
kazu_zamasu 0:b2cea429ec0b 14
kazu_zamasu 0:b2cea429ec0b 15 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
kazu_zamasu 0:b2cea429ec0b 16 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
kazu_zamasu 0:b2cea429ec0b 17 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
kazu_zamasu 0:b2cea429ec0b 18 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
kazu_zamasu 0:b2cea429ec0b 19 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
kazu_zamasu 0:b2cea429ec0b 20 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
kazu_zamasu 0:b2cea429ec0b 21 THE SOFTWARE.
kazu_zamasu 0:b2cea429ec0b 22 */
kazu_zamasu 0:b2cea429ec0b 23
kazu_zamasu 0:b2cea429ec0b 24
kazu_zamasu 0:b2cea429ec0b 25
kazu_zamasu 0:b2cea429ec0b 26 #include "mbed.h"
kazu_zamasu 0:b2cea429ec0b 27 #include "PID.h"
kazu_zamasu 0:b2cea429ec0b 28 #include "math.h"
kazu_zamasu 0:b2cea429ec0b 29 #include "SB1602E.h"
kazu_zamasu 0:b2cea429ec0b 30 #include "QEI.h"
kazu_zamasu 0:b2cea429ec0b 31 #include "rtos.h"
kazu_zamasu 0:b2cea429ec0b 32 //GPIO initilaize
kazu_zamasu 0:b2cea429ec0b 33 AnalogIn THAI(dp4);
kazu_zamasu 0:b2cea429ec0b 34 PwmOut out(dp18);
Hapi_Tech 1:1440321bc326 35 DigitalOut ledR(dp17),ledG(dp25),ledB(dp26);
kazu_zamasu 0:b2cea429ec0b 36 InterruptIn RunPB(dp10);
kazu_zamasu 0:b2cea429ec0b 37 Serial pc(dp16, dp15); // tx, rx
kazu_zamasu 0:b2cea429ec0b 38
kazu_zamasu 0:b2cea429ec0b 39
kazu_zamasu 0:b2cea429ec0b 40 /* PID constant initialize Kc, Ti, Td, interval */
Hapi_Tech 1:1440321bc326 41 #define P 1.5 //propotional band
Hapi_Tech 1:1440321bc326 42 #define I 50.0 //Integral
Hapi_Tech 1:1440321bc326 43 #define D 0.5 //Devide
kazu_zamasu 0:b2cea429ec0b 44 #define RATE 0.1 //update time sec
Hapi_Tech 1:1440321bc326 45 //#define InitialSP 45.0 // Boot Setpoint initial temeprature
kazu_zamasu 0:b2cea429ec0b 46 PID TIC(P, I, D, RATE);
kazu_zamasu 0:b2cea429ec0b 47
kazu_zamasu 0:b2cea429ec0b 48 /*LCD I2C pin initialize */
kazu_zamasu 0:b2cea429ec0b 49 char *init_massage = "Hello!";
kazu_zamasu 0:b2cea429ec0b 50 SB1602E lcd(dp5, dp27, init_massage); // SDA, SCL
kazu_zamasu 0:b2cea429ec0b 51 /*QEI initialize */
kazu_zamasu 0:b2cea429ec0b 52 #define ROTATE_PER_REVOLUTIONS 24
Hapi_Tech 1:1440321bc326 53 QEI wheel(dp11, dp13, NC, PullUp, ROTATE_PER_REVOLUTIONS, QEI::X2_ENCODING);
kazu_zamasu 0:b2cea429ec0b 54
kazu_zamasu 0:b2cea429ec0b 55 //Initial
Hapi_Tech 1:1440321bc326 56 float temp_sv_input, waittime,OV_LL,ticout,qei,Bias;
kazu_zamasu 0:b2cea429ec0b 57 bool Run(false);
kazu_zamasu 0:b2cea429ec0b 58 double temp_pv,temp_cal;
kazu_zamasu 0:b2cea429ec0b 59 int rtostime;
Hapi_Tech 1:1440321bc326 60 int encPulseCnt = 0;
Hapi_Tech 1:1440321bc326 61 int encPulses = 0;
Hapi_Tech 1:1440321bc326 62 int end_getPulses_old = 0;
kazu_zamasu 0:b2cea429ec0b 63
kazu_zamasu 0:b2cea429ec0b 64 /*PB control*/
kazu_zamasu 0:b2cea429ec0b 65 void runmode()
kazu_zamasu 0:b2cea429ec0b 66 {
kazu_zamasu 0:b2cea429ec0b 67 Run = !Run;
kazu_zamasu 0:b2cea429ec0b 68 }
kazu_zamasu 0:b2cea429ec0b 69
kazu_zamasu 0:b2cea429ec0b 70 void cal_temp(void const *argument)
kazu_zamasu 0:b2cea429ec0b 71 {
kazu_zamasu 0:b2cea429ec0b 72 while(1) {
kazu_zamasu 0:b2cea429ec0b 73 /*input for change to 0 to 100% range by 30C to 120C */
kazu_zamasu 0:b2cea429ec0b 74 /*Temperature setpoint low high range */
Hapi_Tech 1:1440321bc326 75 #define RangeSPL 45.0 //Celcius low side temperature
Hapi_Tech 1:1440321bc326 76 #define EncoderDiv 25.0
Hapi_Tech 1:1440321bc326 77 #define RangeSPH 100.0 //Celcius high side temperature
Hapi_Tech 1:1440321bc326 78
Hapi_Tech 1:1440321bc326 79 encPulses = wheel.getPulses();
Hapi_Tech 1:1440321bc326 80 if(end_getPulses_old != encPulses)
Hapi_Tech 1:1440321bc326 81 {
Hapi_Tech 1:1440321bc326 82 encPulseCnt = encPulseCnt + (encPulses - end_getPulses_old);
Hapi_Tech 1:1440321bc326 83
Hapi_Tech 1:1440321bc326 84 if( encPulseCnt < 0 )
Hapi_Tech 1:1440321bc326 85 {
Hapi_Tech 1:1440321bc326 86 encPulseCnt = 0;
Hapi_Tech 1:1440321bc326 87 }
Hapi_Tech 1:1440321bc326 88 if( encPulseCnt > ( (RangeSPH-RangeSPL) * EncoderDiv) )
Hapi_Tech 1:1440321bc326 89 {
Hapi_Tech 1:1440321bc326 90 encPulseCnt = (RangeSPH-RangeSPL) * EncoderDiv;
Hapi_Tech 1:1440321bc326 91 }
kazu_zamasu 0:b2cea429ec0b 92 }
Hapi_Tech 1:1440321bc326 93 end_getPulses_old = encPulses;
Hapi_Tech 1:1440321bc326 94
Hapi_Tech 1:1440321bc326 95
Hapi_Tech 1:1440321bc326 96 temp_sv_input = encPulseCnt / EncoderDiv + RangeSPL;
kazu_zamasu 0:b2cea429ec0b 97
kazu_zamasu 0:b2cea429ec0b 98 /*six order polynomial calculation value
kazu_zamasu 0:b2cea429ec0b 99 Thermister pull up resiter 560R
kazu_zamasu 0:b2cea429ec0b 100 Thermister B value 3380K
kazu_zamasu 0:b2cea429ec0b 101 Thermister Resistance 10K ohm at 25C
kazu_zamasu 0:b2cea429ec0b 102 This NTC is NCP18XH103F03RB muRata
kazu_zamasu 0:b2cea429ec0b 103 */
Hapi_Tech 1:1440321bc326 104 //temp_cal = THAI.read() * 3.3;
Hapi_Tech 1:1440321bc326 105 //temp_pv =-0.7964*pow(temp_cal,6.0) - 2.5431*pow(temp_cal,5.0) +63.605*pow(temp_cal,4.0) - 274.1*pow(temp_cal,3.0) + 522.57*pow(temp_cal,2.0) - 539.26*temp_cal + 405.76;
Hapi_Tech 1:1440321bc326 106
Hapi_Tech 1:1440321bc326 107 /*LM26LVCISDX-115 Factory Preset Temperature Switch and Temperature Sensor Gain3 115C trip sensor calculation value.*/
Hapi_Tech 1:1440321bc326 108 temp_cal = THAI.read() * 3300;
Hapi_Tech 1:1440321bc326 109 temp_pv = -0.00000000007*pow(temp_cal,3.0)-0.000002*pow(temp_cal,2.0)-0.091*temp_cal+201.5;
kazu_zamasu 0:b2cea429ec0b 110
kazu_zamasu 0:b2cea429ec0b 111 /*LCD Display section */
kazu_zamasu 0:b2cea429ec0b 112 /*LCD Display section */
Hapi_Tech 1:1440321bc326 113 lcd.printf(0,0, "SP %.1f", temp_sv_input);
Hapi_Tech 1:1440321bc326 114 lcd.printf(0,1, "PV %.1f\n", temp_pv);
Hapi_Tech 1:1440321bc326 115 //lcd.printf(1, "OUT %.2f", out.read() * 100);
Hapi_Tech 1:1440321bc326 116 //lcd.printf(1, "PB %s\n", Run);
Hapi_Tech 1:1440321bc326 117 printf("\033[1;1H");
Hapi_Tech 1:1440321bc326 118 printf("OUT %.6f", out.read() * 100);
Hapi_Tech 1:1440321bc326 119 printf("\033[1;20H");
Hapi_Tech 1:1440321bc326 120 printf("PB %s\n", Run);
Hapi_Tech 1:1440321bc326 121 printf("\033[2;1H");
Hapi_Tech 1:1440321bc326 122 printf("PV %.6f\n", temp_pv);
Hapi_Tech 1:1440321bc326 123 printf("\033[2;20H");
Hapi_Tech 1:1440321bc326 124 printf("SP %.6f", temp_sv_input);
Hapi_Tech 1:1440321bc326 125 printf("\033[3;1H");
Hapi_Tech 1:1440321bc326 126 printf("PV %.6f\n", THAI.read());
kazu_zamasu 0:b2cea429ec0b 127 /*Tenperature indicater */
kazu_zamasu 0:b2cea429ec0b 128 /* 1.5C high temperature */
kazu_zamasu 0:b2cea429ec0b 129 if (Run == true) {
kazu_zamasu 0:b2cea429ec0b 130 if ((temp_pv - temp_sv_input) >= 1.5) {
kazu_zamasu 0:b2cea429ec0b 131 ledR = 0;
kazu_zamasu 0:b2cea429ec0b 132 ledG = 1;
kazu_zamasu 0:b2cea429ec0b 133 ledB = 1;
kazu_zamasu 0:b2cea429ec0b 134 /* 1.5C low temperature */
kazu_zamasu 0:b2cea429ec0b 135 } else if ((temp_sv_input - temp_pv ) >= 1.5 ) {
kazu_zamasu 0:b2cea429ec0b 136 ledR = 1;
kazu_zamasu 0:b2cea429ec0b 137 ledG = 1;
kazu_zamasu 0:b2cea429ec0b 138 ledB = 0;
kazu_zamasu 0:b2cea429ec0b 139 } else {
kazu_zamasu 0:b2cea429ec0b 140 /* control green */
kazu_zamasu 0:b2cea429ec0b 141 ledR = 1;
kazu_zamasu 0:b2cea429ec0b 142 ledG = 0;
kazu_zamasu 0:b2cea429ec0b 143 ledB = 1;
kazu_zamasu 0:b2cea429ec0b 144 }
kazu_zamasu 0:b2cea429ec0b 145 } else {
kazu_zamasu 0:b2cea429ec0b 146 ledR = 1;
kazu_zamasu 0:b2cea429ec0b 147 ledG = 1;
kazu_zamasu 0:b2cea429ec0b 148 ledB = 1;
kazu_zamasu 0:b2cea429ec0b 149 }
Hapi_Tech 1:1440321bc326 150 Thread::wait(rtostime * 1);
kazu_zamasu 0:b2cea429ec0b 151 }
kazu_zamasu 0:b2cea429ec0b 152 }
kazu_zamasu 0:b2cea429ec0b 153
kazu_zamasu 0:b2cea429ec0b 154
kazu_zamasu 0:b2cea429ec0b 155 int main()
kazu_zamasu 0:b2cea429ec0b 156 {
kazu_zamasu 0:b2cea429ec0b 157 RunPB.mode(PullDown);
kazu_zamasu 0:b2cea429ec0b 158 #define LCDCont 0x32 //LCD contrast set from 00 to 3f 64resolution defult set is 32step
kazu_zamasu 0:b2cea429ec0b 159 lcd.contrast(LCDCont);
kazu_zamasu 0:b2cea429ec0b 160 out.period(0.02);
kazu_zamasu 0:b2cea429ec0b 161 RunPB.rise(&runmode);
kazu_zamasu 0:b2cea429ec0b 162 Thread thread(cal_temp);
kazu_zamasu 0:b2cea429ec0b 163 rtostime = RATE * 1000;
kazu_zamasu 0:b2cea429ec0b 164 while (1) {
kazu_zamasu 0:b2cea429ec0b 165 /*PID control*/
kazu_zamasu 0:b2cea429ec0b 166 #define SV_LL 0.0 //PID setpoint % value for lo limit
kazu_zamasu 0:b2cea429ec0b 167 #define SV_HL 100.0 //PID setpoint % value for high limit
kazu_zamasu 0:b2cea429ec0b 168 TIC.setInputLimits(SV_LL, SV_HL);
kazu_zamasu 0:b2cea429ec0b 169 #define OV_LL 0.0 //PID calcurate output value 0.0 = 0%
kazu_zamasu 0:b2cea429ec0b 170 #define OV_HL 100.0 //PID calcurate output value 1.0 = 100%
kazu_zamasu 0:b2cea429ec0b 171 if (Run == true) {
kazu_zamasu 0:b2cea429ec0b 172 TIC.setOutputLimits(OV_LL, OV_HL);
kazu_zamasu 0:b2cea429ec0b 173 TIC.setSetPoint(temp_sv_input);
kazu_zamasu 0:b2cea429ec0b 174 TIC.setProcessValue(temp_pv);
kazu_zamasu 0:b2cea429ec0b 175 TIC.setBias(Bias); //control output bias
kazu_zamasu 0:b2cea429ec0b 176 TIC.setMode(1);
kazu_zamasu 0:b2cea429ec0b 177 out = TIC.compute() /100;
kazu_zamasu 0:b2cea429ec0b 178 TIC.setInterval(RATE);
kazu_zamasu 0:b2cea429ec0b 179 } else if (Run == false) {
kazu_zamasu 0:b2cea429ec0b 180 TIC.setMode(0);
kazu_zamasu 0:b2cea429ec0b 181 TIC.reset();
kazu_zamasu 0:b2cea429ec0b 182 out = 0.0;
kazu_zamasu 0:b2cea429ec0b 183 }
kazu_zamasu 0:b2cea429ec0b 184 Thread::wait(rtostime);
kazu_zamasu 0:b2cea429ec0b 185
kazu_zamasu 0:b2cea429ec0b 186 }
kazu_zamasu 0:b2cea429ec0b 187 }