HAPI- Tech / Mbed 2 deprecated PreHeater

Origin firmware.

Dependencies:   PID QEI SB1602E mbed-rtos mbed

Fork of PreHeater by Kazu Zamasu

main.cpp@5:bfbc802f4958, 2015-07-03 (annotated)

Committer:
kazu_zamasu
Date:
Fri Jul 03 11:19:56 2015 +0000
Revision:
5:bfbc802f4958
Parent:
4:143b93e499a3
Child:
6:704706b288b4
Rev5

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kazu_zamasu 4:143b93e499a3 1 /*The MIT License (MIT)
kazu_zamasu 4:143b93e499a3 2
kazu_zamasu 4:143b93e499a3 3 Copyright (c) <2015> <Kazumichi Aoki>
kazu_zamasu 4:143b93e499a3 4
kazu_zamasu 4:143b93e499a3 5 Permission is hereby granted, free of charge, to any person obtaining a copy
kazu_zamasu 4:143b93e499a3 6 of this software and associated documentation files (the "Software"), to deal
kazu_zamasu 4:143b93e499a3 7 in the Software without restriction, including without limitation the rights
kazu_zamasu 4:143b93e499a3 8 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
kazu_zamasu 4:143b93e499a3 9 copies of the Software, and to permit persons to whom the Software is
kazu_zamasu 4:143b93e499a3 10 furnished to do so, subject to the following conditions:
kazu_zamasu 4:143b93e499a3 11
kazu_zamasu 4:143b93e499a3 12 The above copyright notice and this permission notice shall be included in
kazu_zamasu 4:143b93e499a3 13 all copies or substantial portions of the Software.
kazu_zamasu 4:143b93e499a3 14
kazu_zamasu 4:143b93e499a3 15 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
kazu_zamasu 4:143b93e499a3 16 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
kazu_zamasu 4:143b93e499a3 17 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
kazu_zamasu 4:143b93e499a3 18 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
kazu_zamasu 4:143b93e499a3 19 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
kazu_zamasu 4:143b93e499a3 20 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
kazu_zamasu 4:143b93e499a3 21 THE SOFTWARE.
kazu_zamasu 4:143b93e499a3 22 */
kazu_zamasu 4:143b93e499a3 23
kazu_zamasu 4:143b93e499a3 24
kazu_zamasu 5:bfbc802f4958 25
kazu_zamasu 0:b1d44d6f9adf 26 #include "mbed.h"
kazu_zamasu 0:b1d44d6f9adf 27 #include "PID.h"
kazu_zamasu 0:b1d44d6f9adf 28 #include "math.h"
kazu_zamasu 2:387240c58110 29 #include "SB1602E.h"
kazu_zamasu 5:bfbc802f4958 30 #include "QEI.h"
kazu_zamasu 5:bfbc802f4958 31 #include "rtos.h"
kazu_zamasu 1:f974481c37b6 32 //GPIO initilaize
kazu_zamasu 0:b1d44d6f9adf 33 AnalogIn THAI(dp4);
kazu_zamasu 0:b1d44d6f9adf 34 PwmOut out(dp1);
kazu_zamasu 5:bfbc802f4958 35 DigitalOut ledR(dp28),ledG(dp26),ledB(dp14);
kazu_zamasu 5:bfbc802f4958 36 InterruptIn RunPB(dp13);
kazu_zamasu 5:bfbc802f4958 37 Serial pc(dp16, dp15); // tx, rx
kazu_zamasu 2:387240c58110 38
kazu_zamasu 3:9af1bd67c5f8 39
kazu_zamasu 5:bfbc802f4958 40 /* PID constant initialize Kc, Ti, Td, interval */
kazu_zamasu 5:bfbc802f4958 41 #define P 0.1 //propotional band
kazu_zamasu 5:bfbc802f4958 42 #define I 1.5 //Integral
kazu_zamasu 5:bfbc802f4958 43 #define D 1.0 //Devide
kazu_zamasu 5:bfbc802f4958 44 #define RATE 0.1 //update time sec
kazu_zamasu 5:bfbc802f4958 45 #define InitialSP 30.0 // Boot Setpoint initial temeprature
kazu_zamasu 5:bfbc802f4958 46 PID TIC(P, I, D, RATE);
kazu_zamasu 3:9af1bd67c5f8 47
kazu_zamasu 3:9af1bd67c5f8 48 /*LCD I2C pin initialize */
kazu_zamasu 5:bfbc802f4958 49 char *init_massage = "Hello!";
kazu_zamasu 2:387240c58110 50 SB1602E lcd(dp5, dp27, init_massage); // SDA, SCL
kazu_zamasu 5:bfbc802f4958 51 /*QEI initialize */
kazu_zamasu 5:bfbc802f4958 52 #define ROTATE_PER_REVOLUTIONS 24
kazu_zamasu 5:bfbc802f4958 53 QEI wheel(dp17, dp18, NC, ROTATE_PER_REVOLUTIONS, QEI::X2_ENCODING);
kazu_zamasu 1:f974481c37b6 54
kazu_zamasu 5:bfbc802f4958 55 //Initial
kazu_zamasu 5:bfbc802f4958 56 float temp_sv_input = InitialSP, waittime,OV_LL,ticout,qei,Bias;
kazu_zamasu 5:bfbc802f4958 57 bool Run(false);
kazu_zamasu 5:bfbc802f4958 58 double temp_pv,temp_cal;
kazu_zamasu 5:bfbc802f4958 59 int rtostime;
kazu_zamasu 2:387240c58110 60
kazu_zamasu 5:bfbc802f4958 61 /*PB control*/
kazu_zamasu 5:bfbc802f4958 62 void runmode() {
kazu_zamasu 5:bfbc802f4958 63 Run = !Run;
kazu_zamasu 5:bfbc802f4958 64 }
kazu_zamasu 5:bfbc802f4958 65
kazu_zamasu 5:bfbc802f4958 66 void cal_temp(void const *argument) {
kazu_zamasu 5:bfbc802f4958 67 while(1){
kazu_zamasu 5:bfbc802f4958 68 /*input for change to 0 to 100% range by 30C to 120C */
kazu_zamasu 3:9af1bd67c5f8 69 /*Temperature setpoint low high range */
kazu_zamasu 5:bfbc802f4958 70 #define RangeSPL 30.0 //Celcius low side temperature
kazu_zamasu 5:bfbc802f4958 71 temp_sv_input = wheel.getPulses() / 20.0 + RangeSPL;
kazu_zamasu 3:9af1bd67c5f8 72 if (temp_sv_input <= RangeSPL) {
kazu_zamasu 3:9af1bd67c5f8 73 temp_sv_input = RangeSPL;
kazu_zamasu 5:bfbc802f4958 74 #define RangeSPH 100.0 //Celcius high side temperature
kazu_zamasu 3:9af1bd67c5f8 75 } else if (temp_sv_input >= RangeSPH) {
kazu_zamasu 3:9af1bd67c5f8 76 temp_sv_input = RangeSPH;
kazu_zamasu 3:9af1bd67c5f8 77 }
kazu_zamasu 5:bfbc802f4958 78
kazu_zamasu 3:9af1bd67c5f8 79 /*six order polynomial calculation value
kazu_zamasu 3:9af1bd67c5f8 80 Thermister pull up resiter 560R
kazu_zamasu 3:9af1bd67c5f8 81 Thermister B value 3380K
kazu_zamasu 3:9af1bd67c5f8 82 Thermister Resistance 10K ohm at 25C
kazu_zamasu 5:bfbc802f4958 83 This NTC is NCP18XH103F03RB muRata
kazu_zamasu 3:9af1bd67c5f8 84 */
kazu_zamasu 5:bfbc802f4958 85 temp_cal = THAI.read() * 3.3;
kazu_zamasu 3:9af1bd67c5f8 86 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;
kazu_zamasu 1:f974481c37b6 87
kazu_zamasu 3:9af1bd67c5f8 88 /*LCD Display section */
kazu_zamasu 5:bfbc802f4958 89 /*LCD Display section */
kazu_zamasu 5:bfbc802f4958 90 lcd.printf(0, "SP %.1f", temp_sv_input);
kazu_zamasu 5:bfbc802f4958 91 lcd.printf(0, "PV %.1f\n", temp_pv);
kazu_zamasu 5:bfbc802f4958 92 lcd.printf(1, "OUT %.2f", out.read() * 100);
kazu_zamasu 5:bfbc802f4958 93 lcd.printf(1, "PB %s\n", Run);
kazu_zamasu 5:bfbc802f4958 94 /*Tenperature indicater */
kazu_zamasu 5:bfbc802f4958 95 /* 1.5C high temperature */
kazu_zamasu 5:bfbc802f4958 96 if (Run == true){
kazu_zamasu 5:bfbc802f4958 97 if ((temp_pv - temp_sv_input) >= 1.5) {
kazu_zamasu 5:bfbc802f4958 98 ledR = 0;
kazu_zamasu 5:bfbc802f4958 99 ledG = 1;
kazu_zamasu 5:bfbc802f4958 100 ledB = 1;
kazu_zamasu 5:bfbc802f4958 101 /* 1.5C low temperature */
kazu_zamasu 5:bfbc802f4958 102 } else if ((temp_sv_input - temp_pv ) >= 1.5 ){
kazu_zamasu 5:bfbc802f4958 103 ledR = 1;
kazu_zamasu 5:bfbc802f4958 104 ledG = 1;
kazu_zamasu 5:bfbc802f4958 105 ledB = 0;
kazu_zamasu 5:bfbc802f4958 106 } else {
kazu_zamasu 5:bfbc802f4958 107 /* control green */
kazu_zamasu 5:bfbc802f4958 108 ledR = 1;
kazu_zamasu 5:bfbc802f4958 109 ledG = 0;
kazu_zamasu 5:bfbc802f4958 110 ledB = 1;
kazu_zamasu 5:bfbc802f4958 111 }
kazu_zamasu 5:bfbc802f4958 112 } else {
kazu_zamasu 5:bfbc802f4958 113 ledR = 1;
kazu_zamasu 5:bfbc802f4958 114 ledG = 1;
kazu_zamasu 5:bfbc802f4958 115 ledB = 1;
kazu_zamasu 5:bfbc802f4958 116 }
kazu_zamasu 5:bfbc802f4958 117 Thread::wait(rtostime * 2);
kazu_zamasu 3:9af1bd67c5f8 118 }
kazu_zamasu 5:bfbc802f4958 119 }
kazu_zamasu 3:9af1bd67c5f8 120
kazu_zamasu 3:9af1bd67c5f8 121
kazu_zamasu 3:9af1bd67c5f8 122 int main()
kazu_zamasu 3:9af1bd67c5f8 123 {
kazu_zamasu 5:bfbc802f4958 124 RunPB.mode(PullDown);
kazu_zamasu 3:9af1bd67c5f8 125 #define LCDCont 0x32 //LCD contrast set from 00 to 3f 64resolution defult set is 32step
kazu_zamasu 3:9af1bd67c5f8 126 lcd.contrast(LCDCont);
kazu_zamasu 5:bfbc802f4958 127 out.period(0.02);
kazu_zamasu 5:bfbc802f4958 128 RunPB.rise(&runmode);
kazu_zamasu 5:bfbc802f4958 129 Thread thread(cal_temp);
kazu_zamasu 5:bfbc802f4958 130 rtostime = RATE * 1000;
kazu_zamasu 5:bfbc802f4958 131 while (1) {
kazu_zamasu 5:bfbc802f4958 132 /*PID control*/
kazu_zamasu 3:9af1bd67c5f8 133 #define SV_LL 0.0 //PID setpoint % value for lo limit
kazu_zamasu 3:9af1bd67c5f8 134 #define SV_HL 100.0 //PID setpoint % value for high limit
kazu_zamasu 5:bfbc802f4958 135 TIC.setInputLimits(SV_LL, SV_HL);
kazu_zamasu 3:9af1bd67c5f8 136 #define OV_LL 0.0 //PID calcurate output value 0.0 = 0%
kazu_zamasu 5:bfbc802f4958 137 #define OV_HL 100.0 //PID calcurate output value 1.0 = 100%
kazu_zamasu 5:bfbc802f4958 138 if (Run == true) {
kazu_zamasu 5:bfbc802f4958 139 TIC.setOutputLimits(OV_LL, OV_HL);
kazu_zamasu 5:bfbc802f4958 140 TIC.setSetPoint(temp_sv_input);
kazu_zamasu 5:bfbc802f4958 141 TIC.setProcessValue(temp_pv);
kazu_zamasu 5:bfbc802f4958 142 TIC.setBias(Bias); //control output bias
kazu_zamasu 5:bfbc802f4958 143 TIC.setMode(1);
kazu_zamasu 5:bfbc802f4958 144 out = TIC.compute() /100;
kazu_zamasu 5:bfbc802f4958 145 TIC.setInterval(RATE);
kazu_zamasu 5:bfbc802f4958 146 }else if (Run == false){
kazu_zamasu 5:bfbc802f4958 147 TIC.setMode(0);
kazu_zamasu 5:bfbc802f4958 148 TIC.reset();
kazu_zamasu 5:bfbc802f4958 149 out = 0.0;
kazu_zamasu 5:bfbc802f4958 150 }
kazu_zamasu 5:bfbc802f4958 151 Thread::wait(rtostime);
kazu_zamasu 3:9af1bd67c5f8 152
kazu_zamasu 5:bfbc802f4958 153 }
kazu_zamasu 3:9af1bd67c5f8 154 }