Sat, 06 Jun 2020 20:20:06 +0200
Websocket selectors using jquery style. During cooling display the pump button on the webpage too.
0 | 1 | |
2 | #include <stddef.h> | |
3 | #include <string.h> | |
4 | #include <stdlib.h> | |
5 | #include <stdbool.h> | |
6 | #include <stdint.h> | |
7 | #include <math.h> | |
8 | ||
9 | #include "freertos/FreeRTOS.h" | |
10 | #include "freertos/task.h" | |
11 | #include "esp_system.h" | |
12 | #include "esp_log.h" | |
13 | ||
14 | #include "PID_v1.h" | |
15 | ||
16 | double dispKp; // we'll hold on to the tuning parameters in user-entered | |
17 | double dispKi; // format for display purposes | |
18 | double dispKd; | |
19 | ||
20 | double kp; // (P)roportional Tuning Parameter | |
21 | double ki; // (I)ntegral Tuning Parameter | |
22 | double kd; // (D)erivative Tuning Parameter | |
23 | ||
24 | int controllerDirection; | |
25 | int pOn; | |
26 | ||
27 | double *myInput; // Pointers to the Input, Output, and Setpoint variables | |
28 | double *myOutput; // This creates a hard link between the variables and the | |
29 | double *mySetpoint; // PID, freeing the user from having to constantly tell us | |
30 | // what these values are. with pointers we'll just know. | |
31 | ||
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ad2c8b13eb88
Updated lots of doxygen comments
Michiel Broek <mbroek@mbse.eu>
parents:
0
diff
changeset
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32 | unsigned long lastTime; ///< Last time of the time window. |
0 | 33 | double outputSum, lastInput; |
34 | ||
35 | unsigned long SampleTime; | |
36 | double outMin, outMax; | |
37 | bool inAuto, pOnE; | |
38 | ||
39 | ||
40 | static const char *TAG = "pid"; | |
41 | ||
42 | void PID_Initialize(void); | |
43 | ||
44 | ||
45 | ||
46 | void PID(double* Input, double* Output, double* Setpoint, double Kp, double Ki, double Kd, PID_PON POn, PID_DIRECTION Direction) { | |
47 | myOutput = Output; | |
48 | myInput = Input; | |
49 | mySetpoint = Setpoint; | |
50 | inAuto = false; | |
51 | ||
52 | PID_SetOutputLimits(0, 255); | |
53 | ||
54 | SampleTime = 100; | |
55 | ||
56 | PID_SetControllerDirection(Direction); | |
57 | PID_SetTunings(Kp, Ki, Kd, POn); | |
58 | ||
59 | lastTime = (xTaskGetTickCount() * portTICK_PERIOD_MS ) - SampleTime; | |
60 | } | |
61 | ||
62 | ||
63 | ||
64 | /* | |
65 | * This, as they say, is where the magic happens. this function should be called | |
66 | * every time "void loop()" executes. the function will decide for itself whether a new | |
67 | * pid Output needs to be computed. returns true when the output is computed, | |
68 | * false when nothing has been done. | |
69 | */ | |
70 | bool PID_Compute(void) | |
71 | { | |
72 | if (!inAuto) | |
73 | return false; | |
74 | ||
75 | unsigned long now = xTaskGetTickCount() * portTICK_PERIOD_MS; | |
76 | unsigned long timeChange = (now - lastTime); | |
77 | if (timeChange >= SampleTime) { | |
78 | /*Compute all the working error variables*/ | |
79 | double input = *myInput; | |
80 | double error = *mySetpoint - input; | |
81 | double dInput = (input - lastInput); | |
82 | outputSum+= (ki * error); | |
83 | ||
84 | /*Add Proportional on Measurement, if P_ON_M is specified*/ | |
85 | if (!pOnE) | |
86 | outputSum-= kp * dInput; | |
87 | ||
88 | if (outputSum > outMax) | |
89 | outputSum= outMax; | |
90 | else if (outputSum < outMin) | |
91 | outputSum= outMin; | |
92 | ||
93 | /*Add Proportional on Error, if P_ON_E is specified*/ | |
94 | double output; | |
95 | if (pOnE) | |
96 | output = kp * error; | |
97 | else | |
98 | output = 0; | |
99 | ||
100 | /*Compute Rest of PID Output*/ | |
101 | output += outputSum - kd * dInput; | |
102 | ||
103 | if (output > outMax) | |
104 | output = outMax; | |
105 | else if (output < outMin) | |
106 | output = outMin; | |
107 | *myOutput = output; | |
108 | ||
109 | /*Remember some variables for next time*/ | |
110 | lastInput = input; | |
111 | lastTime = now; | |
112 | return true; | |
113 | } else | |
114 | return false; | |
115 | } | |
116 | ||
117 | ||
118 | ||
119 | /* | |
120 | * This function allows the controller's dynamic performance to be adjusted. | |
121 | * it's called automatically from the constructor, but tunings can also | |
122 | * be adjusted on the fly during normal operation | |
123 | */ | |
124 | void PID_SetTunings(double Kp, double Ki, double Kd, PID_PON POn) | |
125 | { | |
126 | if (Kp<0 || Ki<0 || Kd<0) { | |
127 | ESP_LOGE(TAG, "SetTunings negative input"); | |
128 | return; | |
129 | } | |
130 | ||
131 | pOn = POn; | |
132 | pOnE = POn == PID_P_ON_E; | |
133 | ||
134 | dispKp = Kp; dispKi = Ki; dispKd = Kd; | |
135 | ||
136 | ESP_LOGI(TAG, "SetTunings(%.3f, %.3f, %.3f, %s)", Kp, Ki, Kd, (POn) ? "P_ON_E":"P_ON_M"); | |
137 | double SampleTimeInSec = ((double)SampleTime)/1000; | |
138 | kp = Kp; | |
139 | ki = Ki * SampleTimeInSec; | |
140 | kd = Kd / SampleTimeInSec; | |
141 | ||
142 | if (controllerDirection == PID_REVERSE) { | |
143 | kp = (0 - kp); | |
144 | ki = (0 - ki); | |
145 | kd = (0 - kd); | |
146 | } | |
147 | } | |
148 | ||
149 | ||
150 | ||
151 | /* | |
152 | * sets the period, in Milliseconds, at which the calculation is performed | |
153 | */ | |
154 | void PID_SetSampleTime(int NewSampleTime) | |
155 | { | |
156 | ESP_LOGI(TAG, "SetSampleTime(%d)", NewSampleTime); | |
157 | ||
158 | if (NewSampleTime > 0) { | |
159 | double ratio = (double)NewSampleTime / (double)SampleTime; | |
160 | ki *= ratio; | |
161 | kd /= ratio; | |
162 | SampleTime = (unsigned long)NewSampleTime; | |
163 | } | |
164 | } | |
165 | ||
166 | ||
167 | ||
168 | /* | |
169 | * This function will be used far more often than SetInputLimits. while | |
170 | * the input to the controller will generally be in the 0-1023 range (which is | |
171 | * the default already,) the output will be a little different. maybe they'll | |
172 | * be doing a time window and will need 0-8000 or something. or maybe they'll | |
173 | * want to clamp it from 0-125. who knows. at any rate, that can all be done | |
174 | * here. | |
175 | */ | |
176 | void PID_SetOutputLimits(double Min, double Max) | |
177 | { | |
178 | if(Min >= Max) { | |
179 | ESP_LOGE(TAG, "SetOutputLimits Min >= Max"); | |
180 | return; | |
181 | } | |
182 | ||
183 | ESP_LOGI(TAG, "SetOutputLimits(%.0f, %.0f)", Min, Max); | |
184 | outMin = Min; | |
185 | outMax = Max; | |
186 | ||
187 | if(inAuto) { | |
188 | if(*myOutput > outMax) | |
189 | *myOutput = outMax; | |
190 | else if(*myOutput < outMin) | |
191 | *myOutput = outMin; | |
192 | ||
193 | if(outputSum > outMax) | |
194 | outputSum= outMax; | |
195 | else if(outputSum < outMin) | |
196 | outputSum= outMin; | |
197 | } | |
198 | } | |
199 | ||
200 | ||
201 | ||
202 | /* | |
203 | * Allows the controller Mode to be set to manual (0) or Automatic (non-zero) | |
204 | * when the transition from manual to auto occurs, the controller is | |
205 | * automatically initialized | |
206 | */ | |
207 | void PID_SetMode(PID_MODE Mode) | |
208 | { | |
209 | bool newAuto = (Mode == PID_AUTOMATIC); | |
210 | ||
211 | ESP_LOGI(TAG, "SetMode(%s)", (Mode) ? "AUTOMATIC":"MANUAL"); | |
212 | if(newAuto && !inAuto) { /*we just went from manual to auto*/ | |
213 | PID_Initialize(); | |
214 | } | |
215 | inAuto = newAuto; | |
216 | } | |
217 | ||
218 | ||
219 | ||
220 | /* | |
221 | * does all the things that need to happen to ensure a bumpless transfer | |
222 | * from manual to automatic mode. | |
223 | */ | |
224 | void PID_Initialize() | |
225 | { | |
226 | outputSum = *myOutput; | |
227 | lastInput = *myInput; | |
228 | if(outputSum > outMax) | |
229 | outputSum = outMax; | |
230 | else if(outputSum < outMin) | |
231 | outputSum = outMin; | |
232 | } | |
233 | ||
234 | ||
235 | ||
236 | /* | |
237 | * The PID will either be connected to a DIRECT acting process (+Output leads | |
238 | * to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to | |
239 | * know which one, because otherwise we may increase the output when we should | |
240 | * be decreasing. This is called from the constructor. | |
241 | */ | |
242 | void PID_SetControllerDirection(PID_DIRECTION Direction) | |
243 | { | |
244 | ESP_LOGI(TAG, "SetControllerDirection(%s)", (Direction) ? "REVERSE":"DIRECT"); | |
245 | ||
246 | if(inAuto && Direction !=controllerDirection) { | |
247 | kp = (0 - kp); | |
248 | ki = (0 - ki); | |
249 | kd = (0 - kd); | |
250 | } | |
251 | controllerDirection = Direction; | |
252 | } | |
253 | ||
254 | ||
255 | ||
256 | /* | |
257 | * Just because you set the Kp=-1 doesn't mean it actually happened. these | |
258 | * functions query the internal state of the PID. they're here for display | |
259 | * purposes. this are the functions the PID Front-end uses for example | |
260 | */ | |
261 | double PID_GetKp() | |
262 | { | |
263 | return dispKp; | |
264 | } | |
265 | ||
266 | double PID_GetKi() | |
267 | { | |
268 | return dispKi; | |
269 | } | |
270 | ||
271 | double PID_GetKd() | |
272 | { | |
273 | return dispKd; | |
274 | } | |
275 | ||
276 | PID_MODE PID_GetMode() | |
277 | { | |
278 | return inAuto ? PID_AUTOMATIC : PID_MANUAL; | |
279 | } | |
280 | ||
281 | PID_DIRECTION PID_GetDirection() | |
282 | { | |
283 | return controllerDirection; | |
284 | } | |
285 | ||
286 |