File content as of revision 2:387240c58110:

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

#define ROTATE_PER_REVOLUTIONS  24 //QEI 1 rotate by count
#define THR 560  /PTH pull up register value
#define THB 3380  //PTH B number
#define THCR 10000 //25C PTH register
#define OV_LL 0.0 //PID calcurate output value 0.0 = 0%
#define OV_HL 1.0 //PID calcurate output value 1.0 = 100%
#define SV_LL 0.0 //PID setpoint % value for lo limit
#define SV_HL 100.0 //PID setpoint % value for high limit
#define P 1.0 //propotional band
#define I 0.2 //Integral
#define D 0.1 //Devide
#define RATE 0.1 //update time sec
#define Bias 0.2 //control output bias
#define InitialSP 50.0 // PID initial setpoint
#define RangeSPL 30.0 //calcurate celcius range
#define RangeSPH 120.0 //same above

//Kc, Ti, Td, interval
PID TIC(P, I, D, RATE);

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

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

//init_massage = 'Hello';
//Rotary encode pin, pinmode and sppecification instance
QEI wheel(dp11, PullUp, dp13, PullUp,NC, ROTATE_PER_REVOLUTIONS, QEI::X2_ENCODING);
//LCD I2C pin asign
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 50C to 120C
 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
 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);


//Insert LCD code
     lcd.printf(0, "Temp SP   %.1f\n", temp_sv_input);
     lcd.printf(1, "Temp PV   %.1f\n", temp_pv);     
                 }
                                        }
 
int main(){
Thread thread(TempCal_thread);
    while (1){
  //Analog input from 50.0C to 120.0C
  TIC.setInputLimits(SV_LL, SV_HL);
  //Pwm output from 0.0 to 1.0
  TIC.setOutputLimits(OV_LL, OV_HL);
  //If there's a bias.
  TIC.setBias(Bias);
  TIC.setMode(Run);
  //We want the process variable to be 1.7V
  TIC.setSetPoint(temp_sv_input);
 
  if (Run == 1){
                out = OV_LL;
                }
  else if (Run == 0){ 
    //Update the process variable.
    TIC.setProcessValue(temp_cal);
    //Set the new output.
    out = TIC.compute();
                    }
    //Wait for another loop calculation.
    Thread::wait(RATE);
             }
          }