byeongho song / Mbed 2 deprecated temp

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Dependencies:   BufferedSerial FastAnalogIn FastPWM mbed SHT75

controlt.cpp@10:c751a0e8b7f9, 2016-07-11 (annotated)

Committer:
sbh9428
Date:
Mon Jul 11 01:05:52 2016 +0000
Revision:
10:c751a0e8b7f9
Parent:
9:6ef12ac2ddc3 
fff;

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 10:c751a0e8b7f9 31
sbh9428 10:c751a0e8b7f9 32 repeatTime=0;
sbh9428 10:c751a0e8b7f9 33 repeatCount=0;
sbh9428 10:c751a0e8b7f9 34 repeatSide=0;
sbh9428 0:9bfc4aea91e2 35 }
sbh9428 0:9bfc4aea91e2 36
sbh9428 0:9bfc4aea91e2 37 control_t::~control_t() {
sbh9428 0:9bfc4aea91e2 38 // TODO Auto-generated destructor stub
sbh9428 0:9bfc4aea91e2 39 }
sbh9428 0:9bfc4aea91e2 40
sbh9428 0:9bfc4aea91e2 41 float control_t::get_temp()
sbh9428 0:9bfc4aea91e2 42 {
sbh9428 0:9bfc4aea91e2 43 return temp_sensor->get_temp();
sbh9428 0:9bfc4aea91e2 44 }
sbh9428 0:9bfc4aea91e2 45
sbh9428 0:9bfc4aea91e2 46 void control_t::control_PWM(float PWM)
sbh9428 0:9bfc4aea91e2 47 {
sbh9428 0:9bfc4aea91e2 48 peltier->set_PWM(PWM);
sbh9428 0:9bfc4aea91e2 49 }
sbh9428 0:9bfc4aea91e2 50
sbh9428 0:9bfc4aea91e2 51 void control_t::control_temp()
sbh9428 0:9bfc4aea91e2 52 {
sbh9428 1:5c42ec7f1aeb 53 PWM_value+=calc_P();
sbh9428 0:9bfc4aea91e2 54
sbh9428 1:5c42ec7f1aeb 55 PWM_value+=calc_I();
sbh9428 0:9bfc4aea91e2 56
sbh9428 1:5c42ec7f1aeb 57 PWM_value+=calc_D();
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 if(PWM_value<-1)
sbh9428 1:5c42ec7f1aeb 64 {
sbh9428 1:5c42ec7f1aeb 65 PWM_value=-1;
sbh9428 1:5c42ec7f1aeb 66 }
sbh9428 1:5c42ec7f1aeb 67 peltier->set_PWM(PWM_value);
sbh9428 0:9bfc4aea91e2 68 }
sbh9428 0:9bfc4aea91e2 69
sbh9428 0:9bfc4aea91e2 70 void control_t::set_mode(int _mode)
sbh9428 0:9bfc4aea91e2 71 {
sbh9428 0:9bfc4aea91e2 72 mode=_mode;
sbh9428 4:7ca449fca19b 73 if(mode==4)
sbh9428 6:c2fb5c188e8a 74 {
sbh9428 6:c2fb5c188e8a 75 start_temp=temp_sensor->get_temp();
sbh9428 6:c2fb5c188e8a 76 time=0;
sbh9428 6:c2fb5c188e8a 77 }
sbh9428 1:5c42ec7f1aeb 78 }
sbh9428 1:5c42ec7f1aeb 79
sbh9428 1:5c42ec7f1aeb 80 void control_t::set_PWM_value(float _PWM_value)
sbh9428 1:5c42ec7f1aeb 81 {
sbh9428 1:5c42ec7f1aeb 82 PWM_value=_PWM_value;
sbh9428 1:5c42ec7f1aeb 83 }
sbh9428 1:5c42ec7f1aeb 84
sbh9428 1:5c42ec7f1aeb 85 void control_t::set_target_temp(float _target_temp)
sbh9428 1:5c42ec7f1aeb 86 {
sbh9428 1:5c42ec7f1aeb 87 target_temp=_target_temp;
sbh9428 1:5c42ec7f1aeb 88 }
sbh9428 1:5c42ec7f1aeb 89
sbh9428 1:5c42ec7f1aeb 90 void control_t::set_P_value(float _P_value)
sbh9428 1:5c42ec7f1aeb 91 {
sbh9428 1:5c42ec7f1aeb 92 P_value=_P_value;
sbh9428 1:5c42ec7f1aeb 93 }
sbh9428 1:5c42ec7f1aeb 94
sbh9428 1:5c42ec7f1aeb 95 void control_t::set_I_value(float _I_value)
sbh9428 1:5c42ec7f1aeb 96 {
sbh9428 1:5c42ec7f1aeb 97 I_value=_I_value;
sbh9428 1:5c42ec7f1aeb 98 }
sbh9428 1:5c42ec7f1aeb 99
sbh9428 1:5c42ec7f1aeb 100 void control_t::set_D_value(float _D_value)
sbh9428 1:5c42ec7f1aeb 101 {
sbh9428 1:5c42ec7f1aeb 102 D_value=_D_value;
sbh9428 1:5c42ec7f1aeb 103 }
sbh9428 1:5c42ec7f1aeb 104
sbh9428 3:72644690e2e6 105 void control_t::set_period(int _period)
sbh9428 3:72644690e2e6 106 {
sbh9428 3:72644690e2e6 107 period=_period;
sbh9428 3:72644690e2e6 108 }
sbh9428 3:72644690e2e6 109
sbh9428 4:7ca449fca19b 110 void control_t::set_start_temp(float _start_temp)
sbh9428 4:7ca449fca19b 111 {
sbh9428 4:7ca449fca19b 112 start_temp=_start_temp;
sbh9428 4:7ca449fca19b 113 }
sbh9428 4:7ca449fca19b 114
sbh9428 1:5c42ec7f1aeb 115 void control_t::refresh_PWM()
sbh9428 1:5c42ec7f1aeb 116 {
sbh9428 1:5c42ec7f1aeb 117 write_log();
sbh9428 10:c751a0e8b7f9 118 time+=10;
sbh9428 10:c751a0e8b7f9 119 printf("\n%1.4f, %d, %d, %d, %d, %d, %d, %d, %2.2f, %2.2f, %2.2f, %2.2f", P_value, time, mode, repeatTime, repeatCount, repeatSide, highTempTime, lowTempTime, highTemp, lowTemp, target_temp, temp_sensor->get_temp());
sbh9428 1:5c42ec7f1aeb 120 if(mode==0)
sbh9428 1:5c42ec7f1aeb 121 {
sbh9428 1:5c42ec7f1aeb 122 PWM_value=0;
sbh9428 1:5c42ec7f1aeb 123 control_PWM(0);
sbh9428 1:5c42ec7f1aeb 124 }
sbh9428 1:5c42ec7f1aeb 125 else if(mode==1)
sbh9428 1:5c42ec7f1aeb 126 {
sbh9428 1:5c42ec7f1aeb 127 }
sbh9428 1:5c42ec7f1aeb 128 else if(mode==2)
sbh9428 1:5c42ec7f1aeb 129 {
sbh9428 1:5c42ec7f1aeb 130 control_temp();
sbh9428 1:5c42ec7f1aeb 131 }
sbh9428 2:4c51394fb35b 132 else if(mode==3)
sbh9428 2:4c51394fb35b 133 {
sbh9428 2:4c51394fb35b 134 build_table();
sbh9428 2:4c51394fb35b 135 }
sbh9428 3:72644690e2e6 136 else if(mode==4)
sbh9428 3:72644690e2e6 137 {
sbh9428 3:72644690e2e6 138 follow_table();
sbh9428 3:72644690e2e6 139 }
sbh9428 10:c751a0e8b7f9 140 else if(mode==5)
sbh9428 10:c751a0e8b7f9 141 {
sbh9428 10:c751a0e8b7f9 142 repeatPeriod();
sbh9428 10:c751a0e8b7f9 143 }
sbh9428 1:5c42ec7f1aeb 144 }
sbh9428 1:5c42ec7f1aeb 145
sbh9428 1:5c42ec7f1aeb 146 int control_t::get_mode()
sbh9428 1:5c42ec7f1aeb 147 {
sbh9428 1:5c42ec7f1aeb 148 return mode;
sbh9428 1:5c42ec7f1aeb 149 }
sbh9428 1:5c42ec7f1aeb 150 float control_t::get_target_temp()
sbh9428 1:5c42ec7f1aeb 151 {
sbh9428 1:5c42ec7f1aeb 152 return target_temp;
sbh9428 1:5c42ec7f1aeb 153 }
sbh9428 1:5c42ec7f1aeb 154 float control_t::get_P_value()
sbh9428 1:5c42ec7f1aeb 155 {
sbh9428 1:5c42ec7f1aeb 156 return P_value;
sbh9428 1:5c42ec7f1aeb 157 }
sbh9428 1:5c42ec7f1aeb 158 float control_t::get_I_value()
sbh9428 1:5c42ec7f1aeb 159 {
sbh9428 1:5c42ec7f1aeb 160 return I_value;
sbh9428 1:5c42ec7f1aeb 161 }
sbh9428 1:5c42ec7f1aeb 162 float control_t::get_D_value()
sbh9428 1:5c42ec7f1aeb 163 {
sbh9428 1:5c42ec7f1aeb 164 return D_value;
sbh9428 1:5c42ec7f1aeb 165 }
sbh9428 1:5c42ec7f1aeb 166 float control_t::get_PWM_value()
sbh9428 1:5c42ec7f1aeb 167 {
sbh9428 1:5c42ec7f1aeb 168 return PWM_value;
sbh9428 1:5c42ec7f1aeb 169 }
sbh9428 1:5c42ec7f1aeb 170
sbh9428 3:72644690e2e6 171 int control_t::get_period()
sbh9428 3:72644690e2e6 172 {
sbh9428 3:72644690e2e6 173 return period;
sbh9428 3:72644690e2e6 174 }
sbh9428 3:72644690e2e6 175
sbh9428 2:4c51394fb35b 176 int control_t::get_table_count()
sbh9428 2:4c51394fb35b 177 {
sbh9428 2:4c51394fb35b 178 return table_count;
sbh9428 2:4c51394fb35b 179 }
sbh9428 2:4c51394fb35b 180
sbh9428 1:5c42ec7f1aeb 181 float control_t::calc_P()
sbh9428 1:5c42ec7f1aeb 182 {
sbh9428 1:5c42ec7f1aeb 183 return (target_temp-temp_sensor->get_temp())*P_value;
sbh9428 1:5c42ec7f1aeb 184 }
sbh9428 1:5c42ec7f1aeb 185
sbh9428 1:5c42ec7f1aeb 186 float control_t::calc_I()
sbh9428 1:5c42ec7f1aeb 187 {
sbh9428 1:5c42ec7f1aeb 188 float data=0;
sbh9428 1:5c42ec7f1aeb 189 for(int i=0;i<10;i++)
sbh9428 1:5c42ec7f1aeb 190 {
sbh9428 2:4c51394fb35b 191 data+=PWM_log[i];
sbh9428 1:5c42ec7f1aeb 192 }
sbh9428 1:5c42ec7f1aeb 193 return data*I_value;
sbh9428 1:5c42ec7f1aeb 194 }
sbh9428 1:5c42ec7f1aeb 195
sbh9428 1:5c42ec7f1aeb 196 float control_t::calc_D()
sbh9428 1:5c42ec7f1aeb 197 {
sbh9428 1:5c42ec7f1aeb 198 return -(temp_log[log_count]-temp_log[(log_count-1)%10])*D_value;
sbh9428 1:5c42ec7f1aeb 199 }
sbh9428 1:5c42ec7f1aeb 200
sbh9428 3:72644690e2e6 201 int control_t::get_table_check()
sbh9428 3:72644690e2e6 202 {
sbh9428 3:72644690e2e6 203 return table_check;
sbh9428 3:72644690e2e6 204 }
sbh9428 3:72644690e2e6 205
sbh9428 1:5c42ec7f1aeb 206 void control_t::write_log()
sbh9428 1:5c42ec7f1aeb 207 {
sbh9428 1:5c42ec7f1aeb 208 log_count++;
sbh9428 1:5c42ec7f1aeb 209 log_count=log_count%10;
sbh9428 1:5c42ec7f1aeb 210 temp_log[log_count]=temp_sensor->get_temp();
sbh9428 2:4c51394fb35b 211 PWM_log[log_count]=target_temp-temp_sensor->get_temp();
sbh9428 2:4c51394fb35b 212 }
sbh9428 2:4c51394fb35b 213
sbh9428 2:4c51394fb35b 214 void control_t::build_table()
sbh9428 2:4c51394fb35b 215 {
sbh9428 3:72644690e2e6 216 table_check=1;
sbh9428 2:4c51394fb35b 217 if(table_mode==0)
sbh9428 2:4c51394fb35b 218 {
sbh9428 2:4c51394fb35b 219 peltier->set_PWM(-1);
sbh9428 2:4c51394fb35b 220 table_count++;
sbh9428 6:c2fb5c188e8a 221 pc->printf(",set initial temp %d/30", table_count);
sbh9428 3:72644690e2e6 222 if(table_count>29)
sbh9428 2:4c51394fb35b 223 {
sbh9428 2:4c51394fb35b 224 table_mode=1;
sbh9428 2:4c51394fb35b 225 table_count=0;
sbh9428 6:c2fb5c188e8a 226 time=0;
sbh9428 2:4c51394fb35b 227 }
sbh9428 3:72644690e2e6 228
sbh9428 2:4c51394fb35b 229 }
sbh9428 2:4c51394fb35b 230 else
sbh9428 2:4c51394fb35b 231 {
sbh9428 2:4c51394fb35b 232 table[table_count]=temp_sensor->get_temp();
sbh9428 2:4c51394fb35b 233 table_count++;
sbh9428 5:8e3b5ccf7207 234 PWM_value=(float)-1+0.005*table_count;
sbh9428 5:8e3b5ccf7207 235 peltier->set_PWM(PWM_value);
sbh9428 8:545391a4a102 236 pc->printf(",build table %d/200", table_count);
sbh9428 9:6ef12ac2ddc3 237 if(table_count>=200)
sbh9428 3:72644690e2e6 238 {
sbh9428 3:72644690e2e6 239 table_count=0;
sbh9428 3:72644690e2e6 240 mode=0;
sbh9428 3:72644690e2e6 241 table_min=table[0];
sbh9428 8:545391a4a102 242 table_max=table[200];
sbh9428 3:72644690e2e6 243 }
sbh9428 2:4c51394fb35b 244 }
sbh9428 2:4c51394fb35b 245 }
sbh9428 2:4c51394fb35b 246
sbh9428 2:4c51394fb35b 247 void control_t::print_table()
sbh9428 2:4c51394fb35b 248 {
sbh9428 2:4c51394fb35b 249 int i;
sbh9428 2:4c51394fb35b 250 for(i=0;i<201;i++)
sbh9428 2:4c51394fb35b 251 {
sbh9428 6:c2fb5c188e8a 252 pc->printf(",%d/200 PWM: %1.3f, temp:%2.2f",i, (-1+0.005*i), table[i]);
sbh9428 9:6ef12ac2ddc3 253 wait_us(3000);
sbh9428 3:72644690e2e6 254 }
sbh9428 3:72644690e2e6 255 }
sbh9428 3:72644690e2e6 256
sbh9428 3:72644690e2e6 257 float control_t::find_table(float _temp)
sbh9428 3:72644690e2e6 258 {
sbh9428 3:72644690e2e6 259 int i;
sbh9428 3:72644690e2e6 260
sbh9428 3:72644690e2e6 261 for (i=0; i<200;i++)
sbh9428 3:72644690e2e6 262 {
sbh9428 3:72644690e2e6 263 if (table[i+1]>_temp)
sbh9428 3:72644690e2e6 264 return -1+0.005*i;
sbh9428 2:4c51394fb35b 265 }
sbh9428 3:72644690e2e6 266 return 0;
sbh9428 3:72644690e2e6 267 }
sbh9428 3:72644690e2e6 268
sbh9428 3:72644690e2e6 269 void control_t::follow_table()
sbh9428 3:72644690e2e6 270 {
sbh9428 3:72644690e2e6 271 if(table_check!=1)
sbh9428 3:72644690e2e6 272 {
sbh9428 3:72644690e2e6 273 mode=0;
sbh9428 6:c2fb5c188e8a 274 pc->printf(",table not built\n");
sbh9428 3:72644690e2e6 275 }
sbh9428 3:72644690e2e6 276 else if(target_temp>table_max|target_temp<table_min)
sbh9428 3:72644690e2e6 277 {
sbh9428 3:72644690e2e6 278 mode=0;
sbh9428 6:c2fb5c188e8a 279 pc->printf(",target temp out of range");
sbh9428 3:72644690e2e6 280 }
sbh9428 3:72644690e2e6 281 else if(period<=step)
sbh9428 3:72644690e2e6 282 {
sbh9428 6:c2fb5c188e8a 283 pc->printf(",table follow end");
sbh9428 3:72644690e2e6 284 step=0;
sbh9428 3:72644690e2e6 285 mode=2;
sbh9428 3:72644690e2e6 286 }
sbh9428 3:72644690e2e6 287 else
sbh9428 3:72644690e2e6 288 {
sbh9428 4:7ca449fca19b 289 PWM_value=find_table(target_temp/period*step+start_temp/period*(period-step));
sbh9428 3:72644690e2e6 290 peltier->set_PWM(PWM_value);
sbh9428 6:c2fb5c188e8a 291 printf(",remain step: %d",period-step);
sbh9428 3:72644690e2e6 292 step++;
sbh9428 3:72644690e2e6 293 }
sbh9428 10:c751a0e8b7f9 294 }
sbh9428 10:c751a0e8b7f9 295
sbh9428 10:c751a0e8b7f9 296 void control_t::repeatPeriod()
sbh9428 10:c751a0e8b7f9 297 {
sbh9428 10:c751a0e8b7f9 298 repeatTime+=10;
sbh9428 10:c751a0e8b7f9 299 if(repeatSide==0)
sbh9428 10:c751a0e8b7f9 300 {
sbh9428 10:c751a0e8b7f9 301 target_temp=lowTemp;
sbh9428 10:c751a0e8b7f9 302 if(repeatTime>lowTempTime)
sbh9428 10:c751a0e8b7f9 303 {
sbh9428 10:c751a0e8b7f9 304 repeatSide=1;
sbh9428 10:c751a0e8b7f9 305 repeatTime=0;
sbh9428 10:c751a0e8b7f9 306 }
sbh9428 10:c751a0e8b7f9 307 }
sbh9428 10:c751a0e8b7f9 308 else
sbh9428 10:c751a0e8b7f9 309 {
sbh9428 10:c751a0e8b7f9 310 target_temp=highTemp;
sbh9428 10:c751a0e8b7f9 311 if(repeatTime>highTempTime)
sbh9428 10:c751a0e8b7f9 312 {
sbh9428 10:c751a0e8b7f9 313 repeatSide=0;
sbh9428 10:c751a0e8b7f9 314 repeatTime=0;
sbh9428 10:c751a0e8b7f9 315 repeatCount++;
sbh9428 10:c751a0e8b7f9 316 if(repeatCount>=periodNumber)
sbh9428 10:c751a0e8b7f9 317 {
sbh9428 10:c751a0e8b7f9 318 repeatSide=0;
sbh9428 10:c751a0e8b7f9 319 repeatTime=0;
sbh9428 10:c751a0e8b7f9 320 repeatCount=0;
sbh9428 10:c751a0e8b7f9 321 mode=0;
sbh9428 10:c751a0e8b7f9 322 }
sbh9428 10:c751a0e8b7f9 323 }
sbh9428 10:c751a0e8b7f9 324
sbh9428 10:c751a0e8b7f9 325 }
sbh9428 10:c751a0e8b7f9 326 control_temp();
sbh9428 10:c751a0e8b7f9 327
sbh9428 10:c751a0e8b7f9 328 }