diff options
Diffstat (limited to 'Arduino/ems/Heater.h')
| -rwxr-xr-x | Arduino/ems/Heater.h | 263 |
1 files changed, 263 insertions, 0 deletions
diff --git a/Arduino/ems/Heater.h b/Arduino/ems/Heater.h new file mode 100755 index 0000000..a498e27 --- /dev/null +++ b/Arduino/ems/Heater.h @@ -0,0 +1,263 @@ +/************************************************** + * Heater.h - Describe the heater interface + * + * + */ + #ifndef HEATER_H + #define HEATER_H + +#include "Common.h" +#include "TaskScheduler.h" +#include "Monitor.h" +#include "Machine.h" + +#include "Thermocouple.h" + +// move to common.h + +#define HEATER_OFF 0 +#define HEATER_OUT_MAX 255 +#define HEATER_OUT_MIN 0 +#define HEATER_MAX_TEMP 280.00 +#define HEATER_PID_SAMPLE_TIME 100L + +static void run(); +static void CheckHeaters(); + +static void TMP (uint8_t kwIndex, uint8_t verb,char *args); +static void HSW (uint8_t kwIndex, uint8_t verb,char *args); + +static void H1P (uint8_t kwIndex, uint8_t verb,char *args); +static void H1I (uint8_t kwIndex, uint8_t verb,char *args); +static void H1D (uint8_t kwIndex, uint8_t verb,char *args); + +static void H2P (uint8_t kwIndex, uint8_t verb,char *args); +static void H2I (uint8_t kwIndex, uint8_t verb,char *args); +static void H2D (uint8_t kwIndex, uint8_t verb,char *args); + + +const double SampleTimeInSec = ((double)HEATER_PID_SAMPLE_TIME)/1000; + + + +class Heater { + private: + + Task runHeaters; + + public: + double setPoint; + bool isOn; + int H1Output, H2Output; + double H1SetPoint, H1LastInput, H1ITerm; + double H2SetPoint, H2LastInput, H2ITerm; + + //TODO: P,I,D 'accessors' + double P1, I1, D1, P2, I2, D2; + + + void runThermostat(){ + double input, output, error, i, d; + + i = I1 * SampleTimeInSec; + d = D1 / SampleTimeInSec; + input = thermocouple.getTemp1(); + error = H1SetPoint - input; + + H1ITerm += (i * error); + if(H1ITerm > HEATER_OUT_MAX) { + H1ITerm = HEATER_OUT_MAX; + } + else if(H1ITerm < HEATER_OUT_MIN){ + H1ITerm= HEATER_OUT_MIN; + } + + output = P1 * error + H1ITerm - d * (input - H1LastInput); + + if(output > HEATER_OUT_MAX){ + output = HEATER_OUT_MAX; + } + else if(output < HEATER_OUT_MIN) { + output = HEATER_OUT_MIN; + } + H1Output = (int) output; + + if(isOn) { + analogWrite(HTR1_PIN,H1Output); + } + + H1LastInput = input; + + input = thermocouple.getTemp2(); + error = H2SetPoint - input; + i= I2 * SampleTimeInSec; + d= D2 / SampleTimeInSec; + + H2ITerm += (i * error); + if(H2ITerm > HEATER_OUT_MAX) { + H2ITerm = HEATER_OUT_MAX; + } + else if(H2ITerm < HEATER_OUT_MIN){ + H2ITerm= HEATER_OUT_MIN; + } + + output = P2 * error + H2ITerm - d * (input - H2LastInput); + if(output > HEATER_OUT_MAX){ + output = HEATER_OUT_MAX; + } + else if(output < HEATER_OUT_MIN) { + output = HEATER_OUT_MIN; + } + + H2Output = (int) output; + + if(isOn) { + analogWrite(HTR2_PIN,H2Output); + } + + H2LastInput = input; + + }; + + void init() { + pinMode(HTR1_PIN, OUTPUT); + pinMode(HTR2_PIN, OUTPUT); + analogWrite(HTR1_PIN, HEATER_OFF); // number foo + analogWrite(HTR2_PIN, HEATER_OFF); + + + P1=1; + I1=0.05; + D1=0.25; + + P2=1; + I2=0.05; + D2=0.25; + + isOn=0; + setPoint=0.0; + + // register monitor actions + monitor.registerAction(_TMP_, &TMP); + monitor.registerAction(_HSW_, &HSW); + + monitor.registerAction(_H1P_, &H1P); + monitor.registerAction(_H1I_, &H1I); + monitor.registerAction(_H1D_, &H1D); + + monitor.registerAction(_H2P_, &H2P); + monitor.registerAction(_H2I_, &H2I); + monitor.registerAction(_H2D_, &H2D); + + // TODO: check to see if turning on the heater will change the temp. + + // set tasks for sceduled reads + runHeaters.set(HEATER_PID_SAMPLE_TIME, TASK_FOREVER, &run); + machine.todolist.addTask(runHeaters); + runHeaters.enable(); + } + + void StopHeaters() { + isOn=0; + CheckHeaters(); + } + + + +}; + +Heater heater; + +static void run() { + CheckHeaters(); + +} + + +// check heaters and change state if necessary +// Check the temperature and turn the heater off if the target temp reached. +// Turn the heater on of the temp is below he target. +// TODO: add PID functionality here. +static void CheckHeaters() { + double t; + t=thermocouple.getTemp1(); + if (t>HEATER_MAX_TEMP) { + heater.isOn=false; + monitor.warn("overtmp d.%.02d", FAKE_A_FLOAT(t)); + } + t=thermocouple.getTemp2(); + if (t>HEATER_MAX_TEMP) { + heater.isOn=false; + monitor.warn("overtmp d.%.02d", FAKE_A_FLOAT(t)); + } + if (heater.isOn){ + heater.runThermostat(); + } else { + analogWrite(HTR1_PIN, HEATER_OFF); + analogWrite(HTR2_PIN, HEATER_OFF); + } +} + + + + +// define or query P, I, and D for heater 1 + +static void TMP(uint8_t kwIndex, uint8_t verb, char* args) { + if (verb == '!') { + heater.H1SetPoint = heater.H2SetPoint = heater.setPoint = atof(args); + } + monitor.update("TMP", "%d.%.02d", FAKE_A_FLOAT(heater.setPoint)); +} + +static void HSW(uint8_t kwIndex, uint8_t verb, char* args) { + //monitor.debug("atoi('ON')=%d",atoi("ON")); + if (verb == '!') { + heater.isOn = atoi(args); + } + monitor.update("HSW", "%d", heater.isOn); +} + +static void H1P(uint8_t kwIndex, uint8_t verb, char* args) { + if (verb == '!') { + heater.P1 = atof(args); + } + monitor.update("H1P", "%d.%.02d", FAKE_A_FLOAT(heater.P1)); +} + +static void H1I(uint8_t kwIndex, uint8_t verb, char* args) { + if (verb == '!') { + heater.I1 = atof(args); + } + monitor.update("H1I", "%d.%.02d", FAKE_A_FLOAT(heater.I1)); +} +static void H1D(uint8_t kwIndex, uint8_t verb, char* args) { + if (verb == '!') { + heater.D1 = atof(args); + } + monitor.update("H1D", "%d.%.02d", FAKE_A_FLOAT(heater.D1)); +} + +static void H2P(uint8_t kwIndex, uint8_t verb, char* args) { + if (verb == '!') { + heater.P2 = atof(args); + } + monitor.update("H2P", "%d.%.02d", FAKE_A_FLOAT(heater.P2)); +} + +static void H2I(uint8_t kwIndex, uint8_t verb, char* args) { + if (verb == '!') { + heater.I2 = atof(args); + } + monitor.update("H2I", "%d.%.02d", FAKE_A_FLOAT(heater.I2)); +} + +static void H2D(uint8_t kwIndex, uint8_t verb, char* args) { + if (verb == '!') { + heater.D1 = atof(args); + } + + monitor.update("H2D", "%d.%.02d", FAKE_A_FLOAT(heater.D2)); +} + + #endif // HEATER_H |