File content as of revision 3:9af1bd67c5f8:

#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 sppecification instance */
#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_cal);
            //PID calculate output.
            out = TIC.compute();
        }
        //Wait for another loop calculation.
        Thread::wait(RATE);
    }
}