byeongho song / Mbed 2 deprecated temp

dd

Dependencies:   BufferedSerial FastAnalogIn FastPWM mbed SHT75

controlt.cpp@3:72644690e2e6, 2016-03-25 (annotated)

Committer:
sbh9428
Date:
Fri Mar 25 00:10:39 2016 +0000
Revision:
3:72644690e2e6
Parent:
2:4c51394fb35b
Child:
4:7ca449fca19b
00;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sbh9428 0:9bfc4aea91e2 1 /*
sbh9428 0:9bfc4aea91e2 2 * controlt.cpp
sbh9428 0:9bfc4aea91e2 3 *
sbh9428 0:9bfc4aea91e2 4 * Created on: 2016. 2. 19.
sbh9428 0:9bfc4aea91e2 5 * Author: sbh9428
sbh9428 0:9bfc4aea91e2 6 */
sbh9428 0:9bfc4aea91e2 7
sbh9428 0:9bfc4aea91e2 8 #include "controlt.h"
sbh9428 0:9bfc4aea91e2 9
sbh9428 0:9bfc4aea91e2 10 control_t::control_t() {
sbh9428 0:9bfc4aea91e2 11 // TODO Auto-generated constructor stub
sbh9428 0:9bfc4aea91e2 12
sbh9428 0:9bfc4aea91e2 13 }
sbh9428 0:9bfc4aea91e2 14
sbh9428 2:4c51394fb35b 15 control_t::control_t(temp_sensor_t* _temp_sensor, peltier_t* _peltier,BufferedSerial *_pc)
sbh9428 0:9bfc4aea91e2 16 {
sbh9428 1:5c42ec7f1aeb 17 log_count=0;
sbh9428 1:5c42ec7f1aeb 18
sbh9428 1:5c42ec7f1aeb 19 target_temp=15;
sbh9428 1:5c42ec7f1aeb 20 P_value=0;
sbh9428 1:5c42ec7f1aeb 21 I_value=0;
sbh9428 1:5c42ec7f1aeb 22 D_value=0;
sbh9428 1:5c42ec7f1aeb 23
sbh9428 0:9bfc4aea91e2 24 temp_sensor=_temp_sensor;
sbh9428 0:9bfc4aea91e2 25 peltier=_peltier;
sbh9428 2:4c51394fb35b 26 pc=_pc;
sbh9428 2:4c51394fb35b 27
sbh9428 2:4c51394fb35b 28 table_count=0;
sbh9428 2:4c51394fb35b 29 table_mode=0;
sbh9428 0:9bfc4aea91e2 30 }
sbh9428 0:9bfc4aea91e2 31
sbh9428 0:9bfc4aea91e2 32 control_t::~control_t() {
sbh9428 0:9bfc4aea91e2 33 // TODO Auto-generated destructor stub
sbh9428 0:9bfc4aea91e2 34 }
sbh9428 0:9bfc4aea91e2 35
sbh9428 0:9bfc4aea91e2 36 float control_t::get_temp()
sbh9428 0:9bfc4aea91e2 37 {
sbh9428 0:9bfc4aea91e2 38 return temp_sensor->get_temp();
sbh9428 0:9bfc4aea91e2 39 }
sbh9428 0:9bfc4aea91e2 40
sbh9428 0:9bfc4aea91e2 41 void control_t::control_PWM(float PWM)
sbh9428 0:9bfc4aea91e2 42 {
sbh9428 0:9bfc4aea91e2 43 peltier->set_PWM(PWM);
sbh9428 0:9bfc4aea91e2 44 }
sbh9428 0:9bfc4aea91e2 45
sbh9428 0:9bfc4aea91e2 46 void control_t::control_temp()
sbh9428 0:9bfc4aea91e2 47 {
sbh9428 1:5c42ec7f1aeb 48 PWM_value+=calc_P();
sbh9428 0:9bfc4aea91e2 49
sbh9428 1:5c42ec7f1aeb 50 PWM_value+=calc_I();
sbh9428 0:9bfc4aea91e2 51
sbh9428 1:5c42ec7f1aeb 52 PWM_value+=calc_D();
sbh9428 1:5c42ec7f1aeb 53
sbh9428 1:5c42ec7f1aeb 54 if(PWM_value>1)
sbh9428 1:5c42ec7f1aeb 55 {
sbh9428 1:5c42ec7f1aeb 56 PWM_value=1;
sbh9428 1:5c42ec7f1aeb 57 }
sbh9428 1:5c42ec7f1aeb 58 if(PWM_value<-1)
sbh9428 1:5c42ec7f1aeb 59 {
sbh9428 1:5c42ec7f1aeb 60 PWM_value=-1;
sbh9428 1:5c42ec7f1aeb 61 }
sbh9428 1:5c42ec7f1aeb 62 peltier->set_PWM(PWM_value);
sbh9428 0:9bfc4aea91e2 63 }
sbh9428 0:9bfc4aea91e2 64
sbh9428 0:9bfc4aea91e2 65 void control_t::set_mode(int _mode)
sbh9428 0:9bfc4aea91e2 66 {
sbh9428 0:9bfc4aea91e2 67 mode=_mode;
sbh9428 1:5c42ec7f1aeb 68 }
sbh9428 1:5c42ec7f1aeb 69
sbh9428 1:5c42ec7f1aeb 70 void control_t::set_PWM_value(float _PWM_value)
sbh9428 1:5c42ec7f1aeb 71 {
sbh9428 1:5c42ec7f1aeb 72 PWM_value=_PWM_value;
sbh9428 1:5c42ec7f1aeb 73 }
sbh9428 1:5c42ec7f1aeb 74
sbh9428 1:5c42ec7f1aeb 75 void control_t::set_target_temp(float _target_temp)
sbh9428 1:5c42ec7f1aeb 76 {
sbh9428 1:5c42ec7f1aeb 77 target_temp=_target_temp;
sbh9428 1:5c42ec7f1aeb 78 }
sbh9428 1:5c42ec7f1aeb 79
sbh9428 1:5c42ec7f1aeb 80 void control_t::set_P_value(float _P_value)
sbh9428 1:5c42ec7f1aeb 81 {
sbh9428 1:5c42ec7f1aeb 82 P_value=_P_value;
sbh9428 1:5c42ec7f1aeb 83 }
sbh9428 1:5c42ec7f1aeb 84
sbh9428 1:5c42ec7f1aeb 85 void control_t::set_I_value(float _I_value)
sbh9428 1:5c42ec7f1aeb 86 {
sbh9428 1:5c42ec7f1aeb 87 I_value=_I_value;
sbh9428 1:5c42ec7f1aeb 88 }
sbh9428 1:5c42ec7f1aeb 89
sbh9428 1:5c42ec7f1aeb 90 void control_t::set_D_value(float _D_value)
sbh9428 1:5c42ec7f1aeb 91 {
sbh9428 1:5c42ec7f1aeb 92 D_value=_D_value;
sbh9428 1:5c42ec7f1aeb 93 }
sbh9428 1:5c42ec7f1aeb 94
sbh9428 3:72644690e2e6 95 void control_t::set_period(int _period)
sbh9428 3:72644690e2e6 96 {
sbh9428 3:72644690e2e6 97 period=_period;
sbh9428 3:72644690e2e6 98 }
sbh9428 3:72644690e2e6 99
sbh9428 1:5c42ec7f1aeb 100 void control_t::refresh_PWM()
sbh9428 1:5c42ec7f1aeb 101 {
sbh9428 1:5c42ec7f1aeb 102 write_log();
sbh9428 1:5c42ec7f1aeb 103 if(mode==0)
sbh9428 1:5c42ec7f1aeb 104 {
sbh9428 1:5c42ec7f1aeb 105 PWM_value=0;
sbh9428 1:5c42ec7f1aeb 106 control_PWM(0);
sbh9428 1:5c42ec7f1aeb 107 }
sbh9428 1:5c42ec7f1aeb 108 else if(mode==1)
sbh9428 1:5c42ec7f1aeb 109 {
sbh9428 1:5c42ec7f1aeb 110 }
sbh9428 1:5c42ec7f1aeb 111 else if(mode==2)
sbh9428 1:5c42ec7f1aeb 112 {
sbh9428 1:5c42ec7f1aeb 113 control_temp();
sbh9428 1:5c42ec7f1aeb 114 }
sbh9428 2:4c51394fb35b 115 else if(mode==3)
sbh9428 2:4c51394fb35b 116 {
sbh9428 2:4c51394fb35b 117 build_table();
sbh9428 2:4c51394fb35b 118 }
sbh9428 3:72644690e2e6 119 else if(mode==4)
sbh9428 3:72644690e2e6 120 {
sbh9428 3:72644690e2e6 121 follow_table();
sbh9428 3:72644690e2e6 122 }
sbh9428 1:5c42ec7f1aeb 123 }
sbh9428 1:5c42ec7f1aeb 124
sbh9428 1:5c42ec7f1aeb 125 int control_t::get_mode()
sbh9428 1:5c42ec7f1aeb 126 {
sbh9428 1:5c42ec7f1aeb 127 return mode;
sbh9428 1:5c42ec7f1aeb 128 }
sbh9428 1:5c42ec7f1aeb 129 float control_t::get_target_temp()
sbh9428 1:5c42ec7f1aeb 130 {
sbh9428 1:5c42ec7f1aeb 131 return target_temp;
sbh9428 1:5c42ec7f1aeb 132 }
sbh9428 1:5c42ec7f1aeb 133 float control_t::get_P_value()
sbh9428 1:5c42ec7f1aeb 134 {
sbh9428 1:5c42ec7f1aeb 135 return P_value;
sbh9428 1:5c42ec7f1aeb 136 }
sbh9428 1:5c42ec7f1aeb 137 float control_t::get_I_value()
sbh9428 1:5c42ec7f1aeb 138 {
sbh9428 1:5c42ec7f1aeb 139 return I_value;
sbh9428 1:5c42ec7f1aeb 140 }
sbh9428 1:5c42ec7f1aeb 141 float control_t::get_D_value()
sbh9428 1:5c42ec7f1aeb 142 {
sbh9428 1:5c42ec7f1aeb 143 return D_value;
sbh9428 1:5c42ec7f1aeb 144 }
sbh9428 1:5c42ec7f1aeb 145 float control_t::get_PWM_value()
sbh9428 1:5c42ec7f1aeb 146 {
sbh9428 1:5c42ec7f1aeb 147 return PWM_value;
sbh9428 1:5c42ec7f1aeb 148 }
sbh9428 1:5c42ec7f1aeb 149
sbh9428 3:72644690e2e6 150 int control_t::get_period()
sbh9428 3:72644690e2e6 151 {
sbh9428 3:72644690e2e6 152 return period;
sbh9428 3:72644690e2e6 153 }
sbh9428 3:72644690e2e6 154
sbh9428 2:4c51394fb35b 155 int control_t::get_table_count()
sbh9428 2:4c51394fb35b 156 {
sbh9428 2:4c51394fb35b 157 return table_count;
sbh9428 2:4c51394fb35b 158 }
sbh9428 2:4c51394fb35b 159
sbh9428 1:5c42ec7f1aeb 160 float control_t::calc_P()
sbh9428 1:5c42ec7f1aeb 161 {
sbh9428 1:5c42ec7f1aeb 162 return (target_temp-temp_sensor->get_temp())*P_value;
sbh9428 1:5c42ec7f1aeb 163 }
sbh9428 1:5c42ec7f1aeb 164
sbh9428 1:5c42ec7f1aeb 165 float control_t::calc_I()
sbh9428 1:5c42ec7f1aeb 166 {
sbh9428 1:5c42ec7f1aeb 167 float data=0;
sbh9428 1:5c42ec7f1aeb 168 for(int i=0;i<10;i++)
sbh9428 1:5c42ec7f1aeb 169 {
sbh9428 2:4c51394fb35b 170 data+=PWM_log[i];
sbh9428 1:5c42ec7f1aeb 171 }
sbh9428 1:5c42ec7f1aeb 172 return data*I_value;
sbh9428 1:5c42ec7f1aeb 173 }
sbh9428 1:5c42ec7f1aeb 174
sbh9428 1:5c42ec7f1aeb 175 float control_t::calc_D()
sbh9428 1:5c42ec7f1aeb 176 {
sbh9428 1:5c42ec7f1aeb 177 return -(temp_log[log_count]-temp_log[(log_count-1)%10])*D_value;
sbh9428 1:5c42ec7f1aeb 178 }
sbh9428 1:5c42ec7f1aeb 179
sbh9428 3:72644690e2e6 180 int control_t::get_table_check()
sbh9428 3:72644690e2e6 181 {
sbh9428 3:72644690e2e6 182 return table_check;
sbh9428 3:72644690e2e6 183 }
sbh9428 3:72644690e2e6 184
sbh9428 1:5c42ec7f1aeb 185 void control_t::write_log()
sbh9428 1:5c42ec7f1aeb 186 {
sbh9428 1:5c42ec7f1aeb 187 log_count++;
sbh9428 1:5c42ec7f1aeb 188 log_count=log_count%10;
sbh9428 1:5c42ec7f1aeb 189 temp_log[log_count]=temp_sensor->get_temp();
sbh9428 2:4c51394fb35b 190 PWM_log[log_count]=target_temp-temp_sensor->get_temp();
sbh9428 2:4c51394fb35b 191 }
sbh9428 2:4c51394fb35b 192
sbh9428 2:4c51394fb35b 193 void control_t::build_table()
sbh9428 2:4c51394fb35b 194 {
sbh9428 3:72644690e2e6 195 table_check=1;
sbh9428 2:4c51394fb35b 196 if(table_mode==0)
sbh9428 2:4c51394fb35b 197 {
sbh9428 2:4c51394fb35b 198 peltier->set_PWM(-1);
sbh9428 2:4c51394fb35b 199 table_count++;
sbh9428 3:72644690e2e6 200 pc->printf("set initial temp %d/30", table_count);
sbh9428 3:72644690e2e6 201 if(table_count>29)
sbh9428 2:4c51394fb35b 202 {
sbh9428 2:4c51394fb35b 203 table_mode=1;
sbh9428 2:4c51394fb35b 204 table_count=0;
sbh9428 2:4c51394fb35b 205 }
sbh9428 3:72644690e2e6 206
sbh9428 2:4c51394fb35b 207 }
sbh9428 2:4c51394fb35b 208 else
sbh9428 2:4c51394fb35b 209 {
sbh9428 2:4c51394fb35b 210 table[table_count]=temp_sensor->get_temp();
sbh9428 2:4c51394fb35b 211 table_count++;
sbh9428 2:4c51394fb35b 212 peltier->set_PWM((float)-1+0.005*table_count);
sbh9428 2:4c51394fb35b 213 if(table_count>=200)
sbh9428 3:72644690e2e6 214 {
sbh9428 3:72644690e2e6 215 table_count=0;
sbh9428 3:72644690e2e6 216 mode=0;
sbh9428 3:72644690e2e6 217 table_min=table[0];
sbh9428 3:72644690e2e6 218 table_max=table[199];
sbh9428 3:72644690e2e6 219 }
sbh9428 3:72644690e2e6 220 pc->printf("build table %d/200, PWM, temp is %1.3f", table_count,-1+0.005*table_count);
sbh9428 2:4c51394fb35b 221 }
sbh9428 2:4c51394fb35b 222 }
sbh9428 2:4c51394fb35b 223
sbh9428 2:4c51394fb35b 224 void control_t::print_table()
sbh9428 2:4c51394fb35b 225 {
sbh9428 2:4c51394fb35b 226 int i;
sbh9428 2:4c51394fb35b 227 for(i=0;i<201;i++)
sbh9428 2:4c51394fb35b 228 {
sbh9428 3:72644690e2e6 229 pc->printf("%d/200 PWM: %1.3f, temp:%2.2f\n",i, (-1+0.005*i), table[i]);
sbh9428 3:72644690e2e6 230 wait_us(2000);
sbh9428 3:72644690e2e6 231 }
sbh9428 3:72644690e2e6 232 }
sbh9428 3:72644690e2e6 233
sbh9428 3:72644690e2e6 234 float control_t::find_table(float _temp)
sbh9428 3:72644690e2e6 235 {
sbh9428 3:72644690e2e6 236 int i;
sbh9428 3:72644690e2e6 237
sbh9428 3:72644690e2e6 238 for (i=0; i<200;i++)
sbh9428 3:72644690e2e6 239 {
sbh9428 3:72644690e2e6 240 if (table[i+1]>_temp)
sbh9428 3:72644690e2e6 241 return -1+0.005*i;
sbh9428 2:4c51394fb35b 242 }
sbh9428 3:72644690e2e6 243 return 0;
sbh9428 3:72644690e2e6 244 }
sbh9428 3:72644690e2e6 245
sbh9428 3:72644690e2e6 246 void control_t::follow_table()
sbh9428 3:72644690e2e6 247 {
sbh9428 3:72644690e2e6 248 if(table_check!=1)
sbh9428 3:72644690e2e6 249 {
sbh9428 3:72644690e2e6 250 mode=0;
sbh9428 3:72644690e2e6 251 pc->printf("table not built\n");
sbh9428 3:72644690e2e6 252 }
sbh9428 3:72644690e2e6 253 else if(target_temp>table_max|target_temp<table_min)
sbh9428 3:72644690e2e6 254 {
sbh9428 3:72644690e2e6 255 mode=0;
sbh9428 3:72644690e2e6 256 pc->printf("target temp out of range\n");
sbh9428 3:72644690e2e6 257 }
sbh9428 3:72644690e2e6 258 else if(period<=step)
sbh9428 3:72644690e2e6 259 {
sbh9428 3:72644690e2e6 260 pc->printf("table follow end\n");
sbh9428 3:72644690e2e6 261 step=0;
sbh9428 3:72644690e2e6 262 mode=2;
sbh9428 3:72644690e2e6 263 }
sbh9428 3:72644690e2e6 264 else
sbh9428 3:72644690e2e6 265 {
sbh9428 3:72644690e2e6 266 PWM_value=find_table(target_temp/period*step+get_temp()/period*(period-step));
sbh9428 3:72644690e2e6 267 peltier->set_PWM(PWM_value);
sbh9428 3:72644690e2e6 268 printf("remain step, temp: %d",period-step);
sbh9428 3:72644690e2e6 269 step++;
sbh9428 3:72644690e2e6 270 }
sbh9428 3:72644690e2e6 271 }