File content as of revision 4:143b93e499a3:

/*The MIT License (MIT)

Copyright (c) <2015> <Kazumichi Aoki>

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/


#include "mbed.h"
#include "PID.h"
#include "QEI.h"
#include "rtos.h"
#include "math.h"
#include "SB1602E.h"

/* PID constant initialize Kc, Ti, Td, interval */
#define P 1.0 //propotional band
#define I 0.2 //Integral
#define D 0.1 //Devide
#define RATE 0.1 //update time sec
PID TIC(P, I, D, RATE);

//GPIO initilaize
AnalogIn THAI(dp4);
PwmOut   out(dp1);
DigitalOut led1(dp14),led2(dp28);
DigitalIn Run(dp17,PullDown);

/*Power on first setpoint temperature */
#define InitialSP 50.0 // PID initial setpoint
float temp_sv_input = InitialSP;

double temp_pv,temp_cal;
char *init_massage = "Welcome!";


/*Rotary encode pin, pinmode and specification initialize */
#define ROTATE_PER_REVOLUTIONS  24 //QEI 1 rotate by count
QEI wheel(dp11, PullUp, dp13, PullUp,NC, ROTATE_PER_REVOLUTIONS, QEI::X2_ENCODING);

/*LCD I2C pin initialize */
SB1602E lcd(dp5, dp27, init_massage);  //  SDA, SCL


void TempCal_thread(void const *args)
{
    while (true) {
        /*input for change to 0 to 100% range by 30C to 120C */
#define RangeSPL 30.0 //calcurate celcius range
#define RangeSPH 120.0 //same above
        /*Temperature setpoint low high range */
        temp_sv_input = wheel.getPulses() * 0.5 + RangeSPL;
        if (temp_sv_input <= RangeSPL) {
            temp_sv_input = RangeSPL;
        } else if (temp_sv_input >= RangeSPH) {
            temp_sv_input = RangeSPH;
        }
        temp_cal = THAI.read();


        /*six order polynomial calculation value
        Thermister pull up resiter 560R
        Thermister B value 3380K
        Thermister Resistance 10K ohm at 25C
        */
        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;
        Thread::wait(500);


        /*LCD Display section */
        lcd.printf(0, "Temp SP   %.1f\n", temp_sv_input);
        lcd.printf(1, "Temp PV   %.1f\n", temp_pv);
    }
}



int main()
{
    /* call Tmeperature calculate section */
    Thread thread(TempCal_thread);
    //LCD contrast set from 00 to 3f 64resolution defult set is 32step
#define LCDCont 0x32 //LCD contrast set from 00 to 3f 64resolution defult set is 32step
    lcd.contrast(LCDCont);


    while (1) {
        /*Analog input from 30.0C to 120.0C by 0% to 100% */
#define SV_LL 0.0 //PID setpoint % value for lo limit
#define SV_HL 100.0 //PID setpoint % value for high limit
        /* TIC PID setpoit limit set */
        TIC.setInputLimits(SV_LL, SV_HL);

        /* Output from 0.0 to 1.0*/
#define OV_LL 0.0 //PID calcurate output value 0.0 = 0%
#define OV_HL 1.0 //PID calcurate output value 1.0 = 100%
        /* TIC PID control output limit set */
        TIC.setOutputLimits(OV_LL, OV_HL);

        /* TIC PID control output bias */
#define Bias 0.2 //control output bias
        TIC.setBias(Bias);
        /* TIC PID control mode set 0=Stop 1=Auto*/
        TIC.setMode(Run);
        /* TIC PID setpoint temperature read */
        TIC.setSetPoint(temp_sv_input);

        /* TIC PID output control */
        if (Run == 0) {
            out = OV_LL;
        } else if (Run == 1) {
            /* TIC PID read process value */
            TIC.setProcessValue(temp_pv);
            //PID calculate output.
            out = TIC.compute();
        }
        //Wait for another loop calculation.
        Thread::wait(RATE);
    }
}