ejung/extr
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

integrate pid

Browse Source 
2nd and 3rd channel can be coupled via percentage
This commit is contained in:
Eggert Jung
2021-05-25 18:09:13 +02:00
parent ab8fb924ed
commit f85971e49b
4 changed files with 151 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

135
main.c
View File

@@ -14,18 +14,34 @@
#include "modbus.h"
#include "menu.h"
#include "adc.h"
#include "pid.h"
#define COIL1 1<<1
#define COIL2 1<<0
#define COIL3 1<<2
#define COIL4 1<<3
volatile uint16_t holdingRegisters[10];
volatile uint16_t temp_values[4];
volatile uint16_t temp_setpoints[4];
volatile uint16_t output;
volatile struct pid controller;
volatile uint32_t duty[3];
void modbusGet(void) {
if (modbusGetBusState() & (1<<ReceiveCompleted))
{
switch(rxbuffer[1]) {
case fcReadHoldingRegisters:
holdingRegisters[0] = menu_state;
holdingRegisters[0] = OCR1A;
holdingRegisters[1] = duty[0];
holdingRegisters[2] = duty[1];
holdingRegisters[3] = duty[2];
modbusExchangeRegisters(holdingRegisters,0,10);
break;
case fcPresetSingleRegister:
case fcPresetMultipleRegisters:
modbusExchangeRegisters(holdingRegisters,0,4);
@@ -38,7 +54,7 @@ void modbusGet(void) {
}
}
void do_buttons(){
void read_buttons(){
i2c_start(0x71);
uint8_t buttons = i2c_readNak();
i2c_stop();
@@ -58,29 +74,39 @@ void do_buttons(){
int main(void)
{
DDRB |= 0x0F; // output coils
DDRD |= (1 << 4); // board LED
i2c_init();
lcd_init();
adc_init();
enc_init();
lcd_clear();
init_pid(&controller, 3, 0.13, 0);
sei();
modbusSetAddress(1);
modbusInit();
TCCR0B|=(1<<CS01); //prescaler 8
//modbus timer
TCCR0B|=(1<<CS01);
TIMSK0|=(1<<TOIE0);
PORTD |= (1<<6) | (1 << 7);
PCICR |= (1<<PCIE2);
PCMSK2 |= (1<<PCINT23);
// timer for regulator
TCCR1B|=(1<<CS12) | (1<<CS10);
TIMSK1|=(1<<TOIE1)|(1<<OCIE1A);
sei();
lcd_clear();
draw_menu();
uint16_t x = 0;
while(1){
modbusGet();
do_buttons();
read_buttons();
//update lcd every once in a while
if(x==0){
write_temps();
write_setpoints();
@@ -92,24 +118,87 @@ int main(void)
}
}
ISR(PCINT2_vect){
encoder_isr();
}
ISR(TIMER0_OVF_vect) { //this ISR is called 9765.625 times per second
modbusTickTimer();
}
ISR(PCINT2_vect){
//TODO good quadrature reading code
if((PIND & (1<<7)) && (menu_state >= 1) && (menu_state <= 3)){
if(PIND & (1<<6))
temp_setpoints[menu_state-1]--;
else
temp_setpoints[menu_state-1]++;
ISR(TIMER1_COMPA_vect) {
/* turn off outputs */
if(OCR1A >= duty[0]){
PORTB &= ~(COIL1);
PORTD &= ~(1 << 4);
}
if(OCR1A >= duty[1])
PORTB &= ~(COIL2);
if(OCR1A >= duty[2])
PORTB &= ~(COIL3);
uint16_t new_ocr = 0xFFFE;
for(uint8_t i = 0; i < 3; i++){
if((duty[i] > OCR1A) && (duty[i] < new_ocr))
new_ocr = duty[i];
}
OCR1A = new_ocr;
//uint16_t tmp1 = duty[0];
//uint16_t tmp2;
//for(uint8_t i = 0; i < 3; i++){
// if(duty[i] < tmp1 && duty[i] > OCR1A)
// tmp2 = duty[i];
//}
//OCR1A = tmp2;
}
ISR(TIMER1_OVF_vect) {
int16_t tmp_pid = pid_step(&controller, 1, temp_setpoints[0] - temp_values[0]);
if(tmp_pid>=0)
output = tmp_pid;
else
output = 0;
if(output >= 128){
output = 128;
duty[0]=0xFFFE;
}
else if(output >= 1){
uint32_t tmp = output * 512;
duty[0] = tmp;
}
else
duty[0]=0;
duty[1] = duty[0] / 100 * temp_setpoints[1];
duty[2] = duty[0] / 100 * temp_setpoints[2];
for(uint8_t i = 0; i < 3; i++){
if(duty[i] >= 0xFFFE)
duty[i] = 0xFFFE;
}
//if(PIND & (1<<7))
// if(PIND & (1<<6)){
// if(temp_setpoints[menu_state] > 0)
// }
// else{
// if(temp_setpoints[menu_state] < 300)
// }
OCR1A = 0xFFFE;
for(uint8_t i = 0; i < 3; i++){
if(duty[i] < OCR1A && duty[i] >= (uint16_t)1000)
OCR1A = duty[i];
}
if(duty[0] >= 1000){
PORTB |= COIL1;
PORTD |= 1<<4;
}
if(duty[1] >= 1000)
PORTB |= COIL2;
if(duty[2] >= 1000)
PORTB |= COIL3;
}

2
makefile
View File

@@ -1,5 +1,5 @@
TARGET = main
FILES = main i2c lcd modbus menu adc
FILES = main i2c lcd modbus menu adc pid
MCU = atmega328p
PROGC = m328p
CC = avr-gcc

41
menu.c
View File

@@ -19,15 +19,15 @@ void write_heater_set_temp(uint8_t n, uint16_t temp){
void update_cursor(){
switch(menu_state){
case 1:
lcd_set_position(2,6);
lcd_set_position(2,8);
lcd_cursor(1);
break;
case 2:
lcd_set_position(2,11);
lcd_set_position(2,13);
lcd_cursor(1);
break;
case 3:
lcd_set_position(2,16);
lcd_set_position(2,18);
lcd_cursor(1);
break;
default:
@@ -53,14 +53,17 @@ void write_temps(){
lcd_set_position(3, 6);
sprintf(str, "%3i", temp_values[0]);
str[3] = 0xDF;
lcd_print_str(str);
lcd_set_position(3, 11);
sprintf(str, "%3i", temp_values[1]);
str[3] = 0xDF;
lcd_print_str(str);
lcd_set_position(3, 16);
sprintf(str, "%3d", temp_values[2]);
str[3] = 0xDF;
lcd_print_str(str);
}
@@ -69,14 +72,15 @@ void write_setpoints(){
lcd_set_position(2, 6);
sprintf(str, "%3i", temp_setpoints[0]);
str[3] = 0xDF;
lcd_print_str(str);
lcd_set_position(2, 11);
sprintf(str, "%3i", temp_setpoints[1]);
sprintf(str, "%3i%%", temp_setpoints[1]);
lcd_print_str(str);
lcd_set_position(2, 16);
sprintf(str, "%3i", temp_setpoints[2]);
sprintf(str, "%3i%%", temp_setpoints[2]);
lcd_print_str(str);
}
@@ -84,6 +88,31 @@ void set_item(uint8_t page_num){
//if(menu_state=page_num)
// menu_state=0;
//else
menu_state = page_num;
menu_state = page_num;
}
void enc_init(){
PORTD |= (1<<6) | (1 << 7);
PCICR |= (1<<PCIE2);
PCMSK2 |= (1<<PCINT23);
}
void encoder_isr(){
//TODO good quadrature reading code
if((PIND & (1<<7)) && (menu_state >= 1) && (menu_state <= 3)){
if(PIND & (1<<6))
temp_setpoints[menu_state-1]--;
else
temp_setpoints[menu_state-1]++;
}
//if(PIND & (1<<7))
// if(PIND & (1<<6)){
// if(temp_setpoints[menu_state] > 0)
// }
// else{
// if(temp_setpoints[menu_state] < 300)
// }
}

2
menu.h
View File

@@ -11,5 +11,7 @@ void write_setpoints(void);
void update_cursor(void);
void set_item(uint8_t page_num);
void draw_menu(void);
void enc_init(void);
void encoder_isr(void);
#endif