byeongho song / Mbed 2 deprecated temp

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Dependencies:   BufferedSerial FastAnalogIn FastPWM mbed SHT75

controlt.cpp@5:8e3b5ccf7207, 2016-03-25 (annotated)

Committer:
sbh9428
Date:
Fri Mar 25 08:58:51 2016 +0000
Revision:
5:8e3b5ccf7207
Parent:
4:7ca449fca19b
Child:
6:c2fb5c188e8a
hh

;

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