PreHeater firmware product version rev0 include QEI pull up mode include LM26 analog input temperature sensor
Dependencies: PID QEI SB1602E mbed-rtos mbed
PreHeater product. Final PCB version Rev0 firmware.
main.cpp@0:b2cea429ec0b, 2015-07-24 (annotated)
- Committer:
- kazu_zamasu
- Date:
- Fri Jul 24 18:08:18 2015 +0000
- Revision:
- 0:b2cea429ec0b
ProductPreHeater-Rev0
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kazu_zamasu | 0:b2cea429ec0b | 1 | /*The MIT License (MIT) |
kazu_zamasu | 0:b2cea429ec0b | 2 | |
kazu_zamasu | 0:b2cea429ec0b | 3 | Copyright (c) <2015> <Kazumichi Aoki> |
kazu_zamasu | 0:b2cea429ec0b | 4 | |
kazu_zamasu | 0:b2cea429ec0b | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy |
kazu_zamasu | 0:b2cea429ec0b | 6 | of this software and associated documentation files (the "Software"), to deal |
kazu_zamasu | 0:b2cea429ec0b | 7 | in the Software without restriction, including without limitation the rights |
kazu_zamasu | 0:b2cea429ec0b | 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
kazu_zamasu | 0:b2cea429ec0b | 9 | copies of the Software, and to permit persons to whom the Software is |
kazu_zamasu | 0:b2cea429ec0b | 10 | furnished to do so, subject to the following conditions: |
kazu_zamasu | 0:b2cea429ec0b | 11 | |
kazu_zamasu | 0:b2cea429ec0b | 12 | The above copyright notice and this permission notice shall be included in |
kazu_zamasu | 0:b2cea429ec0b | 13 | all copies or substantial portions of the Software. |
kazu_zamasu | 0:b2cea429ec0b | 14 | |
kazu_zamasu | 0:b2cea429ec0b | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
kazu_zamasu | 0:b2cea429ec0b | 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
kazu_zamasu | 0:b2cea429ec0b | 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
kazu_zamasu | 0:b2cea429ec0b | 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
kazu_zamasu | 0:b2cea429ec0b | 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
kazu_zamasu | 0:b2cea429ec0b | 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
kazu_zamasu | 0:b2cea429ec0b | 21 | THE SOFTWARE. |
kazu_zamasu | 0:b2cea429ec0b | 22 | */ |
kazu_zamasu | 0:b2cea429ec0b | 23 | |
kazu_zamasu | 0:b2cea429ec0b | 24 | |
kazu_zamasu | 0:b2cea429ec0b | 25 | |
kazu_zamasu | 0:b2cea429ec0b | 26 | #include "mbed.h" |
kazu_zamasu | 0:b2cea429ec0b | 27 | #include "PID.h" |
kazu_zamasu | 0:b2cea429ec0b | 28 | #include "math.h" |
kazu_zamasu | 0:b2cea429ec0b | 29 | #include "SB1602E.h" |
kazu_zamasu | 0:b2cea429ec0b | 30 | #include "QEI.h" |
kazu_zamasu | 0:b2cea429ec0b | 31 | #include "rtos.h" |
kazu_zamasu | 0:b2cea429ec0b | 32 | //GPIO initilaize |
kazu_zamasu | 0:b2cea429ec0b | 33 | AnalogIn THAI(dp4); |
kazu_zamasu | 0:b2cea429ec0b | 34 | PwmOut out(dp18); |
kazu_zamasu | 0:b2cea429ec0b | 35 | DigitalOut ledR(dp17),ledG(dp25),ledB(dp27); |
kazu_zamasu | 0:b2cea429ec0b | 36 | InterruptIn RunPB(dp10); |
kazu_zamasu | 0:b2cea429ec0b | 37 | Serial pc(dp16, dp15); // tx, rx |
kazu_zamasu | 0:b2cea429ec0b | 38 | |
kazu_zamasu | 0:b2cea429ec0b | 39 | |
kazu_zamasu | 0:b2cea429ec0b | 40 | /* PID constant initialize Kc, Ti, Td, interval */ |
kazu_zamasu | 0:b2cea429ec0b | 41 | #define P 0.1 //propotional band |
kazu_zamasu | 0:b2cea429ec0b | 42 | #define I 1.5 //Integral |
kazu_zamasu | 0:b2cea429ec0b | 43 | #define D 1.0 //Devide |
kazu_zamasu | 0:b2cea429ec0b | 44 | #define RATE 0.1 //update time sec |
kazu_zamasu | 0:b2cea429ec0b | 45 | #define InitialSP 30.0 // Boot Setpoint initial temeprature |
kazu_zamasu | 0:b2cea429ec0b | 46 | PID TIC(P, I, D, RATE); |
kazu_zamasu | 0:b2cea429ec0b | 47 | |
kazu_zamasu | 0:b2cea429ec0b | 48 | /*LCD I2C pin initialize */ |
kazu_zamasu | 0:b2cea429ec0b | 49 | char *init_massage = "Hello!"; |
kazu_zamasu | 0:b2cea429ec0b | 50 | SB1602E lcd(dp5, dp27, init_massage); // SDA, SCL |
kazu_zamasu | 0:b2cea429ec0b | 51 | /*QEI initialize */ |
kazu_zamasu | 0:b2cea429ec0b | 52 | #define ROTATE_PER_REVOLUTIONS 24 |
kazu_zamasu | 0:b2cea429ec0b | 53 | QEI wheel(dp13, dp11, NC, ROTATE_PER_REVOLUTIONS, QEI::X2_ENCODING); |
kazu_zamasu | 0:b2cea429ec0b | 54 | |
kazu_zamasu | 0:b2cea429ec0b | 55 | //Initial |
kazu_zamasu | 0:b2cea429ec0b | 56 | float temp_sv_input = InitialSP, waittime,OV_LL,ticout,qei,Bias; |
kazu_zamasu | 0:b2cea429ec0b | 57 | bool Run(false); |
kazu_zamasu | 0:b2cea429ec0b | 58 | double temp_pv,temp_cal; |
kazu_zamasu | 0:b2cea429ec0b | 59 | int rtostime; |
kazu_zamasu | 0:b2cea429ec0b | 60 | |
kazu_zamasu | 0:b2cea429ec0b | 61 | /*PB control*/ |
kazu_zamasu | 0:b2cea429ec0b | 62 | void runmode() |
kazu_zamasu | 0:b2cea429ec0b | 63 | { |
kazu_zamasu | 0:b2cea429ec0b | 64 | Run = !Run; |
kazu_zamasu | 0:b2cea429ec0b | 65 | } |
kazu_zamasu | 0:b2cea429ec0b | 66 | |
kazu_zamasu | 0:b2cea429ec0b | 67 | void cal_temp(void const *argument) |
kazu_zamasu | 0:b2cea429ec0b | 68 | { |
kazu_zamasu | 0:b2cea429ec0b | 69 | while(1) { |
kazu_zamasu | 0:b2cea429ec0b | 70 | /*input for change to 0 to 100% range by 30C to 120C */ |
kazu_zamasu | 0:b2cea429ec0b | 71 | /*Temperature setpoint low high range */ |
kazu_zamasu | 0:b2cea429ec0b | 72 | #define RangeSPL 30.0 //Celcius low side temperature |
kazu_zamasu | 0:b2cea429ec0b | 73 | temp_sv_input = wheel.getPulses() / 20.0 + RangeSPL; |
kazu_zamasu | 0:b2cea429ec0b | 74 | if (temp_sv_input <= RangeSPL) { |
kazu_zamasu | 0:b2cea429ec0b | 75 | temp_sv_input = RangeSPL; |
kazu_zamasu | 0:b2cea429ec0b | 76 | #define RangeSPH 100.0 //Celcius high side temperature |
kazu_zamasu | 0:b2cea429ec0b | 77 | } else if (temp_sv_input >= RangeSPH) { |
kazu_zamasu | 0:b2cea429ec0b | 78 | temp_sv_input = RangeSPH; |
kazu_zamasu | 0:b2cea429ec0b | 79 | } |
kazu_zamasu | 0:b2cea429ec0b | 80 | |
kazu_zamasu | 0:b2cea429ec0b | 81 | /*six order polynomial calculation value |
kazu_zamasu | 0:b2cea429ec0b | 82 | Thermister pull up resiter 560R |
kazu_zamasu | 0:b2cea429ec0b | 83 | Thermister B value 3380K |
kazu_zamasu | 0:b2cea429ec0b | 84 | Thermister Resistance 10K ohm at 25C |
kazu_zamasu | 0:b2cea429ec0b | 85 | This NTC is NCP18XH103F03RB muRata |
kazu_zamasu | 0:b2cea429ec0b | 86 | */ |
kazu_zamasu | 0:b2cea429ec0b | 87 | temp_cal = THAI.read() * 3.3; |
kazu_zamasu | 0:b2cea429ec0b | 88 | 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 | 0:b2cea429ec0b | 89 | |
kazu_zamasu | 0:b2cea429ec0b | 90 | /*LCD Display section */ |
kazu_zamasu | 0:b2cea429ec0b | 91 | /*LCD Display section */ |
kazu_zamasu | 0:b2cea429ec0b | 92 | lcd.printf(0, "SP %.1f", temp_sv_input); |
kazu_zamasu | 0:b2cea429ec0b | 93 | lcd.printf(0, "PV %.1f\n", temp_pv); |
kazu_zamasu | 0:b2cea429ec0b | 94 | lcd.printf(1, "OUT %.2f", out.read() * 100); |
kazu_zamasu | 0:b2cea429ec0b | 95 | lcd.printf(1, "PB %s\n", Run); |
kazu_zamasu | 0:b2cea429ec0b | 96 | /*Tenperature indicater */ |
kazu_zamasu | 0:b2cea429ec0b | 97 | /* 1.5C high temperature */ |
kazu_zamasu | 0:b2cea429ec0b | 98 | if (Run == true) { |
kazu_zamasu | 0:b2cea429ec0b | 99 | if ((temp_pv - temp_sv_input) >= 1.5) { |
kazu_zamasu | 0:b2cea429ec0b | 100 | ledR = 0; |
kazu_zamasu | 0:b2cea429ec0b | 101 | ledG = 1; |
kazu_zamasu | 0:b2cea429ec0b | 102 | ledB = 1; |
kazu_zamasu | 0:b2cea429ec0b | 103 | /* 1.5C low temperature */ |
kazu_zamasu | 0:b2cea429ec0b | 104 | } else if ((temp_sv_input - temp_pv ) >= 1.5 ) { |
kazu_zamasu | 0:b2cea429ec0b | 105 | ledR = 1; |
kazu_zamasu | 0:b2cea429ec0b | 106 | ledG = 1; |
kazu_zamasu | 0:b2cea429ec0b | 107 | ledB = 0; |
kazu_zamasu | 0:b2cea429ec0b | 108 | } else { |
kazu_zamasu | 0:b2cea429ec0b | 109 | /* control green */ |
kazu_zamasu | 0:b2cea429ec0b | 110 | ledR = 1; |
kazu_zamasu | 0:b2cea429ec0b | 111 | ledG = 0; |
kazu_zamasu | 0:b2cea429ec0b | 112 | ledB = 1; |
kazu_zamasu | 0:b2cea429ec0b | 113 | } |
kazu_zamasu | 0:b2cea429ec0b | 114 | } else { |
kazu_zamasu | 0:b2cea429ec0b | 115 | ledR = 1; |
kazu_zamasu | 0:b2cea429ec0b | 116 | ledG = 1; |
kazu_zamasu | 0:b2cea429ec0b | 117 | ledB = 1; |
kazu_zamasu | 0:b2cea429ec0b | 118 | } |
kazu_zamasu | 0:b2cea429ec0b | 119 | Thread::wait(rtostime * 2); |
kazu_zamasu | 0:b2cea429ec0b | 120 | } |
kazu_zamasu | 0:b2cea429ec0b | 121 | } |
kazu_zamasu | 0:b2cea429ec0b | 122 | |
kazu_zamasu | 0:b2cea429ec0b | 123 | |
kazu_zamasu | 0:b2cea429ec0b | 124 | int main() |
kazu_zamasu | 0:b2cea429ec0b | 125 | { |
kazu_zamasu | 0:b2cea429ec0b | 126 | RunPB.mode(PullDown); |
kazu_zamasu | 0:b2cea429ec0b | 127 | #define LCDCont 0x32 //LCD contrast set from 00 to 3f 64resolution defult set is 32step |
kazu_zamasu | 0:b2cea429ec0b | 128 | lcd.contrast(LCDCont); |
kazu_zamasu | 0:b2cea429ec0b | 129 | out.period(0.02); |
kazu_zamasu | 0:b2cea429ec0b | 130 | RunPB.rise(&runmode); |
kazu_zamasu | 0:b2cea429ec0b | 131 | Thread thread(cal_temp); |
kazu_zamasu | 0:b2cea429ec0b | 132 | rtostime = RATE * 1000; |
kazu_zamasu | 0:b2cea429ec0b | 133 | while (1) { |
kazu_zamasu | 0:b2cea429ec0b | 134 | /*PID control*/ |
kazu_zamasu | 0:b2cea429ec0b | 135 | #define SV_LL 0.0 //PID setpoint % value for lo limit |
kazu_zamasu | 0:b2cea429ec0b | 136 | #define SV_HL 100.0 //PID setpoint % value for high limit |
kazu_zamasu | 0:b2cea429ec0b | 137 | TIC.setInputLimits(SV_LL, SV_HL); |
kazu_zamasu | 0:b2cea429ec0b | 138 | #define OV_LL 0.0 //PID calcurate output value 0.0 = 0% |
kazu_zamasu | 0:b2cea429ec0b | 139 | #define OV_HL 100.0 //PID calcurate output value 1.0 = 100% |
kazu_zamasu | 0:b2cea429ec0b | 140 | if (Run == true) { |
kazu_zamasu | 0:b2cea429ec0b | 141 | TIC.setOutputLimits(OV_LL, OV_HL); |
kazu_zamasu | 0:b2cea429ec0b | 142 | TIC.setSetPoint(temp_sv_input); |
kazu_zamasu | 0:b2cea429ec0b | 143 | TIC.setProcessValue(temp_pv); |
kazu_zamasu | 0:b2cea429ec0b | 144 | TIC.setBias(Bias); //control output bias |
kazu_zamasu | 0:b2cea429ec0b | 145 | TIC.setMode(1); |
kazu_zamasu | 0:b2cea429ec0b | 146 | out = TIC.compute() /100; |
kazu_zamasu | 0:b2cea429ec0b | 147 | TIC.setInterval(RATE); |
kazu_zamasu | 0:b2cea429ec0b | 148 | } else if (Run == false) { |
kazu_zamasu | 0:b2cea429ec0b | 149 | TIC.setMode(0); |
kazu_zamasu | 0:b2cea429ec0b | 150 | TIC.reset(); |
kazu_zamasu | 0:b2cea429ec0b | 151 | out = 0.0; |
kazu_zamasu | 0:b2cea429ec0b | 152 | } |
kazu_zamasu | 0:b2cea429ec0b | 153 | Thread::wait(rtostime); |
kazu_zamasu | 0:b2cea429ec0b | 154 | |
kazu_zamasu | 0:b2cea429ec0b | 155 | } |
kazu_zamasu | 0:b2cea429ec0b | 156 | } |