byeongho song / Mbed 2 deprecated temp

dd

Dependencies:   BufferedSerial FastAnalogIn FastPWM mbed SHT75

controlt.cpp@7:851659cf185c, 2016-03-25 (annotated)

Committer:
sbh9428
Date:
Fri Mar 25 09:37:04 2016 +0000
Revision:
7:851659cf185c
Parent:
6:c2fb5c188e8a
Child:
8:545391a4a102
gg

;

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 6:c2fb5c188e8a 18 time=0;
sbh9428 1:5c42ec7f1aeb 19
sbh9428 1:5c42ec7f1aeb 20 target_temp=15;
sbh9428 1:5c42ec7f1aeb 21 P_value=0;
sbh9428 1:5c42ec7f1aeb 22 I_value=0;
sbh9428 1:5c42ec7f1aeb 23 D_value=0;
sbh9428 1:5c42ec7f1aeb 24
sbh9428 0:9bfc4aea91e2 25 temp_sensor=_temp_sensor;
sbh9428 0:9bfc4aea91e2 26 peltier=_peltier;
sbh9428 2:4c51394fb35b 27 pc=_pc;
sbh9428 2:4c51394fb35b 28
sbh9428 2:4c51394fb35b 29 table_count=0;
sbh9428 2:4c51394fb35b 30 table_mode=0;
sbh9428 0:9bfc4aea91e2 31 }
sbh9428 0:9bfc4aea91e2 32
sbh9428 0:9bfc4aea91e2 33 control_t::~control_t() {
sbh9428 0:9bfc4aea91e2 34 // TODO Auto-generated destructor stub
sbh9428 0:9bfc4aea91e2 35 }
sbh9428 0:9bfc4aea91e2 36
sbh9428 0:9bfc4aea91e2 37 float control_t::get_temp()
sbh9428 0:9bfc4aea91e2 38 {
sbh9428 0:9bfc4aea91e2 39 return temp_sensor->get_temp();
sbh9428 0:9bfc4aea91e2 40 }
sbh9428 0:9bfc4aea91e2 41
sbh9428 0:9bfc4aea91e2 42 void control_t::control_PWM(float PWM)
sbh9428 0:9bfc4aea91e2 43 {
sbh9428 0:9bfc4aea91e2 44 peltier->set_PWM(PWM);
sbh9428 0:9bfc4aea91e2 45 }
sbh9428 0:9bfc4aea91e2 46
sbh9428 0:9bfc4aea91e2 47 void control_t::control_temp()
sbh9428 0:9bfc4aea91e2 48 {
sbh9428 1:5c42ec7f1aeb 49 PWM_value+=calc_P();
sbh9428 0:9bfc4aea91e2 50
sbh9428 1:5c42ec7f1aeb 51 PWM_value+=calc_I();
sbh9428 0:9bfc4aea91e2 52
sbh9428 1:5c42ec7f1aeb 53 PWM_value+=calc_D();
sbh9428 1:5c42ec7f1aeb 54
sbh9428 1:5c42ec7f1aeb 55 if(PWM_value>1)
sbh9428 1:5c42ec7f1aeb 56 {
sbh9428 1:5c42ec7f1aeb 57 PWM_value=1;
sbh9428 1:5c42ec7f1aeb 58 }
sbh9428 1:5c42ec7f1aeb 59 if(PWM_value<-1)
sbh9428 1:5c42ec7f1aeb 60 {
sbh9428 1:5c42ec7f1aeb 61 PWM_value=-1;
sbh9428 1:5c42ec7f1aeb 62 }
sbh9428 1:5c42ec7f1aeb 63 peltier->set_PWM(PWM_value);
sbh9428 0:9bfc4aea91e2 64 }
sbh9428 0:9bfc4aea91e2 65
sbh9428 0:9bfc4aea91e2 66 void control_t::set_mode(int _mode)
sbh9428 0:9bfc4aea91e2 67 {
sbh9428 0:9bfc4aea91e2 68 mode=_mode;
sbh9428 4:7ca449fca19b 69 if(mode==4)
sbh9428 6:c2fb5c188e8a 70 {
sbh9428 6:c2fb5c188e8a 71 start_temp=temp_sensor->get_temp();
sbh9428 6:c2fb5c188e8a 72 time=0;
sbh9428 6:c2fb5c188e8a 73 }
sbh9428 1:5c42ec7f1aeb 74 }
sbh9428 1:5c42ec7f1aeb 75
sbh9428 1:5c42ec7f1aeb 76 void control_t::set_PWM_value(float _PWM_value)
sbh9428 1:5c42ec7f1aeb 77 {
sbh9428 1:5c42ec7f1aeb 78 PWM_value=_PWM_value;
sbh9428 1:5c42ec7f1aeb 79 }
sbh9428 1:5c42ec7f1aeb 80
sbh9428 1:5c42ec7f1aeb 81 void control_t::set_target_temp(float _target_temp)
sbh9428 1:5c42ec7f1aeb 82 {
sbh9428 1:5c42ec7f1aeb 83 target_temp=_target_temp;
sbh9428 1:5c42ec7f1aeb 84 }
sbh9428 1:5c42ec7f1aeb 85
sbh9428 1:5c42ec7f1aeb 86 void control_t::set_P_value(float _P_value)
sbh9428 1:5c42ec7f1aeb 87 {
sbh9428 1:5c42ec7f1aeb 88 P_value=_P_value;
sbh9428 1:5c42ec7f1aeb 89 }
sbh9428 1:5c42ec7f1aeb 90
sbh9428 1:5c42ec7f1aeb 91 void control_t::set_I_value(float _I_value)
sbh9428 1:5c42ec7f1aeb 92 {
sbh9428 1:5c42ec7f1aeb 93 I_value=_I_value;
sbh9428 1:5c42ec7f1aeb 94 }
sbh9428 1:5c42ec7f1aeb 95
sbh9428 1:5c42ec7f1aeb 96 void control_t::set_D_value(float _D_value)
sbh9428 1:5c42ec7f1aeb 97 {
sbh9428 1:5c42ec7f1aeb 98 D_value=_D_value;
sbh9428 1:5c42ec7f1aeb 99 }
sbh9428 1:5c42ec7f1aeb 100
sbh9428 3:72644690e2e6 101 void control_t::set_period(int _period)
sbh9428 3:72644690e2e6 102 {
sbh9428 3:72644690e2e6 103 period=_period;
sbh9428 3:72644690e2e6 104 }
sbh9428 3:72644690e2e6 105
sbh9428 4:7ca449fca19b 106 void control_t::set_start_temp(float _start_temp)
sbh9428 4:7ca449fca19b 107 {
sbh9428 4:7ca449fca19b 108 start_temp=_start_temp;
sbh9428 4:7ca449fca19b 109 }
sbh9428 4:7ca449fca19b 110
sbh9428 1:5c42ec7f1aeb 111 void control_t::refresh_PWM()
sbh9428 1:5c42ec7f1aeb 112 {
sbh9428 1:5c42ec7f1aeb 113 write_log();
sbh9428 6:c2fb5c188e8a 114 time+=3;
sbh9428 7:851659cf185c 115 printf("\n%1.4f, %1.4f, %1.4f, %1.4f, %2.2f, %d, %d, %d, %2.2f, %2.2f", P_value, I_value, D_value, PWM_value, start_temp, period, time, mode, target_temp, temp_sensor->get_temp());
sbh9428 1:5c42ec7f1aeb 116 if(mode==0)
sbh9428 1:5c42ec7f1aeb 117 {
sbh9428 1:5c42ec7f1aeb 118 PWM_value=0;
sbh9428 1:5c42ec7f1aeb 119 control_PWM(0);
sbh9428 1:5c42ec7f1aeb 120 }
sbh9428 1:5c42ec7f1aeb 121 else if(mode==1)
sbh9428 1:5c42ec7f1aeb 122 {
sbh9428 1:5c42ec7f1aeb 123 }
sbh9428 1:5c42ec7f1aeb 124 else if(mode==2)
sbh9428 1:5c42ec7f1aeb 125 {
sbh9428 1:5c42ec7f1aeb 126 control_temp();
sbh9428 1:5c42ec7f1aeb 127 }
sbh9428 2:4c51394fb35b 128 else if(mode==3)
sbh9428 2:4c51394fb35b 129 {
sbh9428 2:4c51394fb35b 130 build_table();
sbh9428 2:4c51394fb35b 131 }
sbh9428 3:72644690e2e6 132 else if(mode==4)
sbh9428 3:72644690e2e6 133 {
sbh9428 3:72644690e2e6 134 follow_table();
sbh9428 3:72644690e2e6 135 }
sbh9428 1:5c42ec7f1aeb 136 }
sbh9428 1:5c42ec7f1aeb 137
sbh9428 1:5c42ec7f1aeb 138 int control_t::get_mode()
sbh9428 1:5c42ec7f1aeb 139 {
sbh9428 1:5c42ec7f1aeb 140 return mode;
sbh9428 1:5c42ec7f1aeb 141 }
sbh9428 1:5c42ec7f1aeb 142 float control_t::get_target_temp()
sbh9428 1:5c42ec7f1aeb 143 {
sbh9428 1:5c42ec7f1aeb 144 return target_temp;
sbh9428 1:5c42ec7f1aeb 145 }
sbh9428 1:5c42ec7f1aeb 146 float control_t::get_P_value()
sbh9428 1:5c42ec7f1aeb 147 {
sbh9428 1:5c42ec7f1aeb 148 return P_value;
sbh9428 1:5c42ec7f1aeb 149 }
sbh9428 1:5c42ec7f1aeb 150 float control_t::get_I_value()
sbh9428 1:5c42ec7f1aeb 151 {
sbh9428 1:5c42ec7f1aeb 152 return I_value;
sbh9428 1:5c42ec7f1aeb 153 }
sbh9428 1:5c42ec7f1aeb 154 float control_t::get_D_value()
sbh9428 1:5c42ec7f1aeb 155 {
sbh9428 1:5c42ec7f1aeb 156 return D_value;
sbh9428 1:5c42ec7f1aeb 157 }
sbh9428 1:5c42ec7f1aeb 158 float control_t::get_PWM_value()
sbh9428 1:5c42ec7f1aeb 159 {
sbh9428 1:5c42ec7f1aeb 160 return PWM_value;
sbh9428 1:5c42ec7f1aeb 161 }
sbh9428 1:5c42ec7f1aeb 162
sbh9428 3:72644690e2e6 163 int control_t::get_period()
sbh9428 3:72644690e2e6 164 {
sbh9428 3:72644690e2e6 165 return period;
sbh9428 3:72644690e2e6 166 }
sbh9428 3:72644690e2e6 167
sbh9428 2:4c51394fb35b 168 int control_t::get_table_count()
sbh9428 2:4c51394fb35b 169 {
sbh9428 2:4c51394fb35b 170 return table_count;
sbh9428 2:4c51394fb35b 171 }
sbh9428 2:4c51394fb35b 172
sbh9428 1:5c42ec7f1aeb 173 float control_t::calc_P()
sbh9428 1:5c42ec7f1aeb 174 {
sbh9428 1:5c42ec7f1aeb 175 return (target_temp-temp_sensor->get_temp())*P_value;
sbh9428 1:5c42ec7f1aeb 176 }
sbh9428 1:5c42ec7f1aeb 177
sbh9428 1:5c42ec7f1aeb 178 float control_t::calc_I()
sbh9428 1:5c42ec7f1aeb 179 {
sbh9428 1:5c42ec7f1aeb 180 float data=0;
sbh9428 1:5c42ec7f1aeb 181 for(int i=0;i<10;i++)
sbh9428 1:5c42ec7f1aeb 182 {
sbh9428 2:4c51394fb35b 183 data+=PWM_log[i];
sbh9428 1:5c42ec7f1aeb 184 }
sbh9428 1:5c42ec7f1aeb 185 return data*I_value;
sbh9428 1:5c42ec7f1aeb 186 }
sbh9428 1:5c42ec7f1aeb 187
sbh9428 1:5c42ec7f1aeb 188 float control_t::calc_D()
sbh9428 1:5c42ec7f1aeb 189 {
sbh9428 1:5c42ec7f1aeb 190 return -(temp_log[log_count]-temp_log[(log_count-1)%10])*D_value;
sbh9428 1:5c42ec7f1aeb 191 }
sbh9428 1:5c42ec7f1aeb 192
sbh9428 3:72644690e2e6 193 int control_t::get_table_check()
sbh9428 3:72644690e2e6 194 {
sbh9428 3:72644690e2e6 195 return table_check;
sbh9428 3:72644690e2e6 196 }
sbh9428 3:72644690e2e6 197
sbh9428 1:5c42ec7f1aeb 198 void control_t::write_log()
sbh9428 1:5c42ec7f1aeb 199 {
sbh9428 1:5c42ec7f1aeb 200 log_count++;
sbh9428 1:5c42ec7f1aeb 201 log_count=log_count%10;
sbh9428 1:5c42ec7f1aeb 202 temp_log[log_count]=temp_sensor->get_temp();
sbh9428 2:4c51394fb35b 203 PWM_log[log_count]=target_temp-temp_sensor->get_temp();
sbh9428 2:4c51394fb35b 204 }
sbh9428 2:4c51394fb35b 205
sbh9428 2:4c51394fb35b 206 void control_t::build_table()
sbh9428 2:4c51394fb35b 207 {
sbh9428 3:72644690e2e6 208 table_check=1;
sbh9428 2:4c51394fb35b 209 if(table_mode==0)
sbh9428 2:4c51394fb35b 210 {
sbh9428 2:4c51394fb35b 211 peltier->set_PWM(-1);
sbh9428 2:4c51394fb35b 212 table_count++;
sbh9428 6:c2fb5c188e8a 213 pc->printf(",set initial temp %d/30", table_count);
sbh9428 3:72644690e2e6 214 if(table_count>29)
sbh9428 2:4c51394fb35b 215 {
sbh9428 2:4c51394fb35b 216 table_mode=1;
sbh9428 2:4c51394fb35b 217 table_count=0;
sbh9428 6:c2fb5c188e8a 218 time=0;
sbh9428 2:4c51394fb35b 219 }
sbh9428 3:72644690e2e6 220
sbh9428 2:4c51394fb35b 221 }
sbh9428 2:4c51394fb35b 222 else
sbh9428 2:4c51394fb35b 223 {
sbh9428 2:4c51394fb35b 224 table[table_count]=temp_sensor->get_temp();
sbh9428 2:4c51394fb35b 225 table_count++;
sbh9428 5:8e3b5ccf7207 226 PWM_value=(float)-1+0.005*table_count;
sbh9428 5:8e3b5ccf7207 227 peltier->set_PWM(PWM_value);
sbh9428 2:4c51394fb35b 228 if(table_count>=200)
sbh9428 3:72644690e2e6 229 {
sbh9428 3:72644690e2e6 230 table_count=0;
sbh9428 3:72644690e2e6 231 mode=0;
sbh9428 3:72644690e2e6 232 table_min=table[0];
sbh9428 3:72644690e2e6 233 table_max=table[199];
sbh9428 3:72644690e2e6 234 }
sbh9428 6:c2fb5c188e8a 235 pc->printf(",build table %d/200", table_count);
sbh9428 2:4c51394fb35b 236 }
sbh9428 2:4c51394fb35b 237 }
sbh9428 2:4c51394fb35b 238
sbh9428 2:4c51394fb35b 239 void control_t::print_table()
sbh9428 2:4c51394fb35b 240 {
sbh9428 2:4c51394fb35b 241 int i;
sbh9428 2:4c51394fb35b 242 for(i=0;i<201;i++)
sbh9428 2:4c51394fb35b 243 {
sbh9428 6:c2fb5c188e8a 244 pc->printf(",%d/200 PWM: %1.3f, temp:%2.2f",i, (-1+0.005*i), table[i]);
sbh9428 3:72644690e2e6 245 wait_us(2000);
sbh9428 3:72644690e2e6 246 }
sbh9428 3:72644690e2e6 247 }
sbh9428 3:72644690e2e6 248
sbh9428 3:72644690e2e6 249 float control_t::find_table(float _temp)
sbh9428 3:72644690e2e6 250 {
sbh9428 3:72644690e2e6 251 int i;
sbh9428 3:72644690e2e6 252
sbh9428 3:72644690e2e6 253 for (i=0; i<200;i++)
sbh9428 3:72644690e2e6 254 {
sbh9428 3:72644690e2e6 255 if (table[i+1]>_temp)
sbh9428 3:72644690e2e6 256 return -1+0.005*i;
sbh9428 2:4c51394fb35b 257 }
sbh9428 3:72644690e2e6 258 return 0;
sbh9428 3:72644690e2e6 259 }
sbh9428 3:72644690e2e6 260
sbh9428 3:72644690e2e6 261 void control_t::follow_table()
sbh9428 3:72644690e2e6 262 {
sbh9428 3:72644690e2e6 263 if(table_check!=1)
sbh9428 3:72644690e2e6 264 {
sbh9428 3:72644690e2e6 265 mode=0;
sbh9428 6:c2fb5c188e8a 266 pc->printf(",table not built\n");
sbh9428 3:72644690e2e6 267 }
sbh9428 3:72644690e2e6 268 else if(target_temp>table_max|target_temp<table_min)
sbh9428 3:72644690e2e6 269 {
sbh9428 3:72644690e2e6 270 mode=0;
sbh9428 6:c2fb5c188e8a 271 pc->printf(",target temp out of range");
sbh9428 3:72644690e2e6 272 }
sbh9428 3:72644690e2e6 273 else if(period<=step)
sbh9428 3:72644690e2e6 274 {
sbh9428 6:c2fb5c188e8a 275 pc->printf(",table follow end");
sbh9428 3:72644690e2e6 276 step=0;
sbh9428 3:72644690e2e6 277 mode=2;
sbh9428 3:72644690e2e6 278 }
sbh9428 3:72644690e2e6 279 else
sbh9428 3:72644690e2e6 280 {
sbh9428 4:7ca449fca19b 281 PWM_value=find_table(target_temp/period*step+start_temp/period*(period-step));
sbh9428 3:72644690e2e6 282 peltier->set_PWM(PWM_value);
sbh9428 6:c2fb5c188e8a 283 printf(",remain step: %d",period-step);
sbh9428 3:72644690e2e6 284 step++;
sbh9428 3:72644690e2e6 285 }
sbh9428 3:72644690e2e6 286 }