Mercurial > mbsePi-apps / file comparison
comparison: thermferm/thermferm.c
thermferm/thermferm.c
- changeset 317
- 18dd6eadba31
- parent 316
- 73cd31dc6ce1
- child 318
- aad7789a40f2
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inserted
replaced
| 316:73cd31dc6ce1 | 317:18dd6eadba31 |
|---|---|
| 1309 * PID controller per unit, each second | 1309 * PID controller per unit, each second |
| 1310 */ | 1310 */ |
| 1311 for (unit = Config.units; unit; unit = unit->next) { | 1311 for (unit = Config.units; unit; unit = unit->next) { |
| 1312 if ((unit->mode == UNITMODE_FRIDGE) || (unit->mode == UNITMODE_BEER) || (unit->mode == UNITMODE_PROFILE)) { | 1312 if ((unit->mode == UNITMODE_FRIDGE) || (unit->mode == UNITMODE_BEER) || (unit->mode == UNITMODE_PROFILE)) { |
| 1313 // double pTerm, dTerm, iTerm; | 1313 // double pTerm, dTerm, iTerm; |
| 1314 int usePid = TRUE; | |
| 1314 | 1315 |
| 1315 sp = unit->beer_set; | 1316 sp = unit->beer_set; |
| 1316 pv = unit->beer_temperature / 1000.0; | 1317 pv = unit->beer_temperature / 1000.0; |
| 1317 if (unit->mode == UNITMODE_FRIDGE) { | 1318 if (unit->mode == UNITMODE_FRIDGE) { |
| 1318 sp = unit->fridge_set; | 1319 sp = unit->fridge_set; |
| 1319 pv = unit->air_temperature / 1000.0; | 1320 pv = unit->air_temperature / 1000.0; |
| 1321 usePid = FALSE; | |
| 1320 } else if (unit->mode == UNITMODE_PROFILE) { | 1322 } else if (unit->mode == UNITMODE_PROFILE) { |
| 1321 sp = unit->prof_target; | 1323 sp = unit->prof_target; |
| 1322 } | 1324 } |
| 1323 | 1325 |
| 1324 /* | |
| 1325 * PID controller compute | |
| 1326 */ | |
| 1327 P_err = sp - pv; | 1326 P_err = sp - pv; |
| 1328 if (P_err < unit->idle_rangeH && P_err > unit->idle_rangeL) { | 1327 if (P_err < unit->idle_rangeH && P_err > unit->idle_rangeL) { |
| 1329 P_err = 0.0; | 1328 P_err = 0.0; |
| 1330 } | 1329 } |
| 1331 | 1330 |
| 1332 pid = (pid_var *)malloc(sizeof(pid_var)); | 1331 if (usePid) { |
| 1333 pid->dState = unit->PID_dState; | 1332 /* |
| 1334 pid->iState = unit->PID_iState; | 1333 * PID controller compute |
| 1335 pid->iMax = 100.0; | 1334 */ |
| 1336 pid->iMin = -100.0; | 1335 pid = (pid_var *)malloc(sizeof(pid_var)); |
| 1337 pid->pGain = unit->PID_Kp; | 1336 pid->dState = unit->PID_dState; |
| 1338 pid->iGain = unit->PID_Ki; | 1337 pid->iState = unit->PID_iState; |
| 1339 pid->dGain = unit->PID_Kd; | 1338 pid->iMax = 100.0; |
| 1340 | 1339 pid->iMin = -100.0; |
| 1341 Out = UpdatePID(pid, P_err, pv); | 1340 pid->pGain = unit->PID_Kp; |
| 1342 | 1341 pid->iGain = unit->PID_Ki; |
| 1343 if (Out > 100.0) | 1342 pid->dGain = unit->PID_Kd; |
| 1344 Out = 100.0; | 1343 |
| 1345 if (Out < -100.0) | 1344 Out = UpdatePID(pid, P_err, pv); |
| 1346 Out = -100.0; | 1345 |
| 1347 | 1346 if (Out > 100.0) |
| 1348 if (debug) | 1347 Out = 100.0; |
| 1349 fprintf(stdout, "sp=%.2f pv=%.2f dState=%.2f P_err=%.2f iState=%.2f Out=%.2f\n", | 1348 if (Out < -100.0) |
| 1349 Out = -100.0; | |
| 1350 | |
| 1351 if (debug) | |
| 1352 fprintf(stdout, "sp=%.2f pv=%.2f dState=%.2f P_err=%.2f iState=%.2f Out=%.2f\n", | |
| 1350 sp, pv, unit->PID_dState, P_err, unit->PID_iState, Out); | 1353 sp, pv, unit->PID_dState, P_err, unit->PID_iState, Out); |
| 1351 if ((Out >= 1) || (Out <= -1) || (seconds == 60) || unit->heater_state || unit->cooler_state) { | 1354 if ((Out >= 1) || (Out <= -1) || (seconds == 60) || unit->heater_state || unit->cooler_state) { |
| 1352 syslog(LOG_NOTICE, "sp=%.2f pv=%.2f P_err=%.2f dState=%.2f iState=%.2f Out=%.2f", | 1355 syslog(LOG_NOTICE, "sp=%.2f pv=%.2f P_err=%.2f dState=%.2f iState=%.2f Out=%.2f", |
| 1353 sp, pv, P_err, unit->PID_dState, unit->PID_iState, Out); | 1356 sp, pv, P_err, unit->PID_dState, unit->PID_iState, Out); |
| 1357 } | |
| 1358 | |
| 1359 unit->PID_iState = pid->iState; | |
| 1360 unit->PID_dState = pid->dState; | |
| 1361 free(pid); | |
| 1362 pid = NULL; | |
| 1363 } else { | |
| 1364 /* | |
| 1365 * Simple temperature control | |
| 1366 */ | |
| 1367 if (P_err < 0) { | |
| 1368 Out = 100.0; | |
| 1369 } else if (P_err > 0) { | |
| 1370 Out = -100.0; | |
| 1371 } else { | |
| 1372 Out = 0.0; | |
| 1373 } | |
| 1374 if ((Out >= 1) || (Out <= -1) || (seconds == 60) || unit->heater_state || unit->cooler_state) { | |
| 1375 syslog(LOG_NOTICE, "sp=%.2f pv=%.2f P_err=%.2f Out=%.2f", | |
| 1376 sp, pv, P_err, Out); | |
| 1377 } | |
| 1354 } | 1378 } |
| 1355 | |
| 1356 unit->PID_iState = pid->iState; | |
| 1357 unit->PID_dState = pid->dState; | |
| 1358 | 1379 |
| 1359 // pTerm = unit->PID_Kp * P_err; | 1380 // pTerm = unit->PID_Kp * P_err; |
| 1360 | 1381 |
| 1361 /* | 1382 /* |
| 1362 * Calculate the intergral state with appropriate limiting | 1383 * Calculate the intergral state with appropriate limiting |
