HAPI- Tech / Mbed 2 deprecated PreHeater

Origin firmware.

Dependencies:   PID QEI SB1602E mbed-rtos mbed

Fork of PreHeater by Kazu Zamasu

main.cpp@1:f974481c37b6, 2015-06-13 (annotated)

Committer:
kazu_zamasu
Date:
Sat Jun 13 04:30:15 2015 +0000
Revision:
1:f974481c37b6
Parent:
0:b1d44d6f9adf
Child:
2:387240c58110
Change Thread

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kazu_zamasu 0:b1d44d6f9adf 1 #include "mbed.h"
kazu_zamasu 0:b1d44d6f9adf 2 #include "PID.h"
kazu_zamasu 0:b1d44d6f9adf 3 #include "QEI.h"
kazu_zamasu 0:b1d44d6f9adf 4 #include "rtos.h"
kazu_zamasu 0:b1d44d6f9adf 5 #include "math.h"
kazu_zamasu 0:b1d44d6f9adf 6
kazu_zamasu 0:b1d44d6f9adf 7 #define ROTATE_PER_REVOLUTIONS 24 //QEI 1 rotate by count
kazu_zamasu 0:b1d44d6f9adf 8 #define THR 560 /PTH pull up register value
kazu_zamasu 0:b1d44d6f9adf 9 #define THB 3380 //PTH B number
kazu_zamasu 0:b1d44d6f9adf 10 #define THCR 10000 //25C PTH register
kazu_zamasu 0:b1d44d6f9adf 11 #define OV_LL 0.0 //PID calcurate output value 0.0 = 0%
kazu_zamasu 0:b1d44d6f9adf 12 #define OV_HL 1.0 //PID calcurate output value 1.0 = 100%
kazu_zamasu 0:b1d44d6f9adf 13 #define SV_LL 0.0 //PID setpoint % value for lo limit
kazu_zamasu 0:b1d44d6f9adf 14 #define SV_HL 100.0 //PID setpoint % value for high limit
kazu_zamasu 1:f974481c37b6 15 #define P 1.0 //propotional band
kazu_zamasu 1:f974481c37b6 16 #define I 0.2 //Integral
kazu_zamasu 1:f974481c37b6 17 #define D 0.1 //Devide
kazu_zamasu 1:f974481c37b6 18 #define RATE 0.1 //update time sec
kazu_zamasu 1:f974481c37b6 19 #define Bias 0.2 //control output bias
kazu_zamasu 0:b1d44d6f9adf 20 #define InitialSP 50.0 // PID initial setpoint
kazu_zamasu 1:f974481c37b6 21 #define RangeSPL 30.0 //calcurate celcius range
kazu_zamasu 1:f974481c37b6 22 #define RangeSPH 120.0 //same above
kazu_zamasu 0:b1d44d6f9adf 23
kazu_zamasu 0:b1d44d6f9adf 24 //Kc, Ti, Td, interval
kazu_zamasu 0:b1d44d6f9adf 25 PID TIC(P, I, D, RATE);
kazu_zamasu 0:b1d44d6f9adf 26
kazu_zamasu 1:f974481c37b6 27 //GPIO initilaize
kazu_zamasu 0:b1d44d6f9adf 28 AnalogIn THAI(dp4);
kazu_zamasu 0:b1d44d6f9adf 29 PwmOut out(dp1);
kazu_zamasu 0:b1d44d6f9adf 30 DigitalOut led1(dp14),led2(dp28);
kazu_zamasu 0:b1d44d6f9adf 31 DigitalIn Run(dp17,PullUp);
kazu_zamasu 1:f974481c37b6 32
kazu_zamasu 1:f974481c37b6 33 //Rotary encode pin, pinmode and sppecification instance
kazu_zamasu 1:f974481c37b6 34 QEI wheel(dp11, PullUp, dp13, PullUp,NC, ROTATE_PER_REVOLUTIONS, QEI::X2_ENCODING);
kazu_zamasu 1:f974481c37b6 35
kazu_zamasu 0:b1d44d6f9adf 36 float temp_sv_input;
kazu_zamasu 0:b1d44d6f9adf 37 double temp_pv,temp_cal;
kazu_zamasu 0:b1d44d6f9adf 38
kazu_zamasu 1:f974481c37b6 39 void TempCal_thread(void const *args) {
kazu_zamasu 0:b1d44d6f9adf 40 while (true) {
kazu_zamasu 0:b1d44d6f9adf 41 //input for change to 0 to 100% range by 50C to 120C
kazu_zamasu 0:b1d44d6f9adf 42 temp_sv_input = wheel.getPulses() * 0.5 + RangeSPL;
kazu_zamasu 0:b1d44d6f9adf 43 if (temp_sv_input <= RangeSPL){
kazu_zamasu 0:b1d44d6f9adf 44 temp_sv_input = RangeSPL;
kazu_zamasu 1:f974481c37b6 45 }
kazu_zamasu 0:b1d44d6f9adf 46 else if (temp_sv_input >= RangeSPH){
kazu_zamasu 0:b1d44d6f9adf 47 temp_sv_input = RangeSPH;
kazu_zamasu 0:b1d44d6f9adf 48 }
kazu_zamasu 0:b1d44d6f9adf 49 temp_cal = THAI.read();
kazu_zamasu 0:b1d44d6f9adf 50 //six order polynomial
kazu_zamasu 0:b1d44d6f9adf 51 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 52 Thread::wait(500);
kazu_zamasu 0:b1d44d6f9adf 53
kazu_zamasu 1:f974481c37b6 54
kazu_zamasu 1:f974481c37b6 55 //Insert LCD code
kazu_zamasu 1:f974481c37b6 56 /*xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
kazu_zamasu 1:f974481c37b6 57 xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx
kazu_zamasu 1:f974481c37b6 58 */
kazu_zamasu 1:f974481c37b6 59 }
kazu_zamasu 1:f974481c37b6 60 }
kazu_zamasu 1:f974481c37b6 61
kazu_zamasu 1:f974481c37b6 62 int main(){
kazu_zamasu 1:f974481c37b6 63 Thread thread(TempCal_thread);
kazu_zamasu 1:f974481c37b6 64 while (1){
kazu_zamasu 0:b1d44d6f9adf 65 //Analog input from 50.0C to 120.0C
kazu_zamasu 0:b1d44d6f9adf 66 TIC.setInputLimits(SV_LL, SV_HL);
kazu_zamasu 0:b1d44d6f9adf 67 //Pwm output from 0.0 to 1.0
kazu_zamasu 0:b1d44d6f9adf 68 TIC.setOutputLimits(OV_LL, OV_HL);
kazu_zamasu 0:b1d44d6f9adf 69 //If there's a bias.
kazu_zamasu 0:b1d44d6f9adf 70 TIC.setBias(Bias);
kazu_zamasu 0:b1d44d6f9adf 71 TIC.setMode(Run);
kazu_zamasu 0:b1d44d6f9adf 72 //We want the process variable to be 1.7V
kazu_zamasu 0:b1d44d6f9adf 73 TIC.setSetPoint(temp_sv_input);
kazu_zamasu 0:b1d44d6f9adf 74
kazu_zamasu 1:f974481c37b6 75 if (Run == 1){
kazu_zamasu 1:f974481c37b6 76 out = OV_LL;
kazu_zamasu 1:f974481c37b6 77 }
kazu_zamasu 1:f974481c37b6 78 else if (Run == 0){
kazu_zamasu 0:b1d44d6f9adf 79 //Update the process variable.
kazu_zamasu 0:b1d44d6f9adf 80 TIC.setProcessValue(temp_cal);
kazu_zamasu 0:b1d44d6f9adf 81 //Set the new output.
kazu_zamasu 0:b1d44d6f9adf 82 out = TIC.compute();
kazu_zamasu 0:b1d44d6f9adf 83 //Wait for another loop calculation.
kazu_zamasu 1:f974481c37b6 84 Thread::wait(RATE);
kazu_zamasu 1:f974481c37b6 85 }
kazu_zamasu 0:b1d44d6f9adf 86
kazu_zamasu 1:f974481c37b6 87 }
kazu_zamasu 1:f974481c37b6 88 }