main.cpp

00001 /*The MIT License (MIT)
00002 
00003 Copyright (c) <2015> <Kazumichi Aoki>
00004 
00005 Permission is hereby granted, free of charge, to any person obtaining a copy
00006 of this software and associated documentation files (the "Software"), to deal
00007 in the Software without restriction, including without limitation the rights
00008 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00009 copies of the Software, and to permit persons to whom the Software is
00010 furnished to do so, subject to the following conditions:
00011 
00012 The above copyright notice and this permission notice shall be included in
00013 all copies or substantial portions of the Software.
00014 
00015 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00016 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00017 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00018 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00019 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00020 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00021 THE SOFTWARE.
00022 */
00023 
00024 
00025 
00026 #include "mbed.h"
00027 #include "PID.h"
00028 #include "math.h"
00029 #include "SB1602E.h"
00030 #include "QEI.h"
00031 #include "rtos.h"
00032 //GPIO initilaize
00033 AnalogIn THAI(dp4);
00034 PwmOut   out(dp1);
00035 DigitalOut ledR(dp28),ledG(dp26),ledB(dp14);
00036 InterruptIn RunPB(dp13);
00037 Serial pc(dp16, dp15); // tx, rx
00038 
00039 
00040 /* PID constant initialize Kc, Ti, Td, interval */
00041 #define P 0.1 //propotional band
00042 #define I 1.5 //Integral
00043 #define D 1.0 //Devide
00044 #define RATE 0.05 //update time sec
00045 #define InitialSP 30.0 // Boot Setpoint initial temeprature
00046 PID TIC(P, I, D, RATE);
00047 
00048 /*LCD I2C pin initialize */
00049 char *init_massage = "Hello!";
00050 SB1602E lcd(dp5, dp27, init_massage);  //  SDA, SCL
00051 /*QEI initialize */
00052 #define ROTATE_PER_REVOLUTIONS  24
00053 QEI wheel(dp17, dp18, NC, ROTATE_PER_REVOLUTIONS, QEI::X2_ENCODING);
00054 
00055 //Initial
00056 float temp_sv_input = InitialSP, waittime,OV_LL,ticout,qei,Bias;
00057 bool Run(false);
00058 double temp_pv,temp_cal;
00059 int rtostime;
00060 
00061 /*PB control*/
00062 void runmode()
00063 {
00064     Run = !Run;
00065 }
00066 
00067 void cal_temp(void const *argument)
00068 {
00069     while(1) {
00070         /*input for change to 0 to 100% range by 30C to 120C */
00071         /*Temperature setpoint low high range */
00072 #define RangeSPL 30.0 //Celcius low side temperature 
00073         temp_sv_input = wheel.getPulses() / 20.0 + RangeSPL;
00074         if (temp_sv_input <= RangeSPL) {
00075             temp_sv_input = RangeSPL;
00076 #define RangeSPH 100.0 //Celcius high side temperature
00077         } else if (temp_sv_input >= RangeSPH) {
00078             temp_sv_input = RangeSPH;
00079         }
00080 
00081         /*six order polynomial calculation value
00082         Thermister pull up resiter 560R
00083         Thermister B value 3380K
00084         Thermister Resistance 10K ohm at 25C
00085         This NTC is NCP18XH103F03RB muRata
00086         */
00087         temp_cal = THAI.read() * 3.3;
00088         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;
00089 
00090         /*LCD Display section */
00091         /*LCD Display section */
00092         lcd.printf(0, "SP %.1f", temp_sv_input);
00093         lcd.printf(0, "PV %.1f\n", temp_pv);
00094         lcd.printf(1, "OUT %.2f", out.read() * 100);
00095         lcd.printf(1, "PB %s\n", Run);
00096         /*Tenperature indicater */
00097         /* 1.5C high temperature */
00098         if (Run == true) {
00099             if ((temp_pv - temp_sv_input) >= 1.5) {
00100                 ledR = 0;
00101                 ledG = 1;
00102                 ledB = 1;
00103                 /* 1.5C low temperature */
00104             } else if ((temp_sv_input - temp_pv ) >= 1.5 ) {
00105                 ledR = 1;
00106                 ledG = 1;
00107                 ledB = 0;
00108             } else {
00109                 /* control green */
00110                 ledR = 1;
00111                 ledG = 0;
00112                 ledB = 1;
00113             }
00114         } else {
00115             ledR = 1;
00116             ledG = 1;
00117             ledB = 1;
00118         }
00119         Thread::wait(rtostime * 2);
00120     }
00121 }
00122 
00123 
00124 int main()
00125 {
00126     RunPB.mode(PullDown);
00127 #define LCDCont 0x32 //LCD contrast set from 00 to 3f 64resolution defult set is 32step
00128     lcd.contrast(LCDCont);
00129     out.period(0.02);
00130     RunPB.rise(&runmode);
00131     Thread thread(cal_temp);
00132     rtostime = RATE * 1000;
00133 
00134 /* Initial startup bias culcuration */
00135     if ((temp_sv_input - temp_pv) >= 50) {
00136         Bias = 50.0;
00137         }else if ((temp_sv_input - temp_pv) >= 30){
00138             Bias = 30.0;
00139                     }else if ((temp_sv_input - temp_pv) >= 20){
00140                         Bias = 20.0;
00141         } else {
00142             Bias = 0.0;
00143         }
00144         
00145     while (1) {
00146         /*PID control*/
00147 #define SV_LL 30.0 //PID setpoint TempC value for lo limit
00148 #define SV_HL 100.0 //PID setpoint TempC value for high limit
00149         TIC.setInputLimits(SV_LL, SV_HL);
00150 #define OV_LL 0.0 //PID calcurate output value 0.0 = 0%
00151 #define OV_HL 100.0 //PID calcurate output value 1.0 = 100%
00152         if (Run == true) {
00153             TIC.setOutputLimits(OV_LL, OV_HL);
00154             TIC.setSetPoint(temp_sv_input);
00155             TIC.setProcessValue(temp_pv);
00156             TIC.setBias(Bias); //control output bias
00157             TIC.setMode(1);
00158             out = TIC.compute() /100;
00159             TIC.setInterval(RATE);
00160         } else if (Run == false) {
00161             TIC.setMode(0);
00162             TIC.reset();
00163             out = 0.0;
00164         }
00165         Thread::wait(rtostime);
00166 
00167     }
00168 }