# HG changeset patch
# User Michiel Broek <mbroek@mbse.eu>
# Date 1424115669 -3600
# Node ID 8448fcf3d7994f951caf7180d51aba1b0eece790
# Parent  7b0f819a3805aa4accf585a4c0e3ec616f6e8799
Code cleanup

diff -r 7b0f819a3805 -r 8448fcf3d799 thermferm/rdconfig.c
--- a/thermferm/rdconfig.c	Mon Feb 16 19:52:42 2015 +0100
+++ b/thermferm/rdconfig.c	Mon Feb 16 20:41:09 2015 +0100
@@ -933,7 +933,7 @@
     unit->idle_rangeL = -1.0;
     unit->prof_started = unit->prof_paused = unit->prof_primary_done = (time_t)0;
     unit->prof_percent = 0;
-    unit->PID_err_old = unit->PID_I_err = unit->PID_Kp = unit->PID_Kd = unit->PID_Ki = 0.0;
+    unit->PID_dState = unit->PID_iState = unit->PID_Kp = unit->PID_Kd = unit->PID_Ki = 0.0;
 
     cur = cur->xmlChildrenNode;
     while (cur != NULL) {
diff -r 7b0f819a3805 -r 8448fcf3d799 thermferm/server.c
--- a/thermferm/server.c	Mon Feb 16 19:52:42 2015 +0100
+++ b/thermferm/server.c	Mon Feb 16 20:41:09 2015 +0100
@@ -1505,7 +1505,7 @@
 	unit->idle_rangeL = -1.0;
 	unit->prof_started = unit->prof_paused = unit->prof_primary_done = (time_t)0;
 	unit->prof_percent = 0;
-	unit->PID_err_old = unit->PID_I_err = unit->PID_Kp = unit->PID_Kd = unit->PID_Ki = 0.0;
+	unit->PID_dState = unit->PID_iState = unit->PID_Kp = unit->PID_Kd = unit->PID_Ki = 0.0;
 
 	/*
 	 * Block main process
@@ -1851,7 +1851,7 @@
 					syslog(LOG_NOTICE, "Fermenter unit %s mode %s to %s", unit->uuid, UNITMODE[unit->mode], UNITMODE[i]);
 					unit->mode = i;
 					/* Allways turn everything off after a mode change */
-					unit->PID_I_err = unit->PID_err_old = 0.0;
+					unit->PID_iState = unit->PID_dState = 0.0;
 					unit->heater_state = unit->cooler_state = unit->fan_state = unit->light_state = 0;
 					unit->heater_wait = unit->cooler_wait = unit->fan_wait = unit->light_wait = 0;
 					device_out(unit->heater_address, unit->heater_state);
@@ -1921,7 +1921,7 @@
 				    /*
 				     * Reset all output devices
 				     */
-				    unit->PID_I_err = unit->PID_err_old = 0.0;
+				    unit->PID_iState = unit->PID_dState = 0.0;
 				    unit->heater_state = unit->cooler_state = unit->fan_state = unit->light_state = 0;
 				    unit->heater_wait = unit->cooler_wait = unit->fan_wait = unit->light_wait = 0;
 				    device_out(unit->heater_address, unit->heater_state);
diff -r 7b0f819a3805 -r 8448fcf3d799 thermferm/thermferm.c
--- a/thermferm/thermferm.c	Mon Feb 16 19:52:42 2015 +0100
+++ b/thermferm/thermferm.c	Mon Feb 16 20:41:09 2015 +0100
@@ -250,7 +250,7 @@
     syslog(LOG_NOTICE, "Mode from %s to %s via panel interface", UNITMODE[current_unit->mode], UNITMODE[mode]);
     current_unit->mode = mode;
     /* Allways turn everything off after a mode change */
-    current_unit->PID_I_err = current_unit->PID_err_old = 0.0;
+    current_unit->PID_iState = current_unit->PID_dState = 0.0;
     current_unit->heater_state = current_unit->cooler_state = current_unit->fan_state = 0;
     current_unit->heater_wait = current_unit->cooler_wait = current_unit->fan_wait = 0;
     device_out(current_unit->heater_address, current_unit->heater_state);
@@ -1330,14 +1330,14 @@
 		    /*
 		     * Calculate the intergral state with appropriate limiting
 		     */
-		    unit->PID_I_err += P_err;
+		    unit->PID_iState += P_err;
 		    /* Limit integral error */
-		    if (unit->PID_I_err < -100.0)
-			unit->PID_I_err = -100.0;
-		    if (unit->PID_I_err > 100.0)
-			unit->PID_I_err = 100.0;
-		    iTerm = unit->PID_I_err * unit->PID_Ki;
-		    dTerm = unit->PID_err_old * unit->PID_Kd;
+		    if (unit->PID_iState < -100.0)
+			unit->PID_iState = -100.0;
+		    if (unit->PID_iState > 100.0)
+			unit->PID_iState = 100.0;
+		    iTerm = unit->PID_iState * unit->PID_Ki;
+		    dTerm = (unit->PID_dState - pv) * unit->PID_Kd;
 
 		    /*
 		     * A postive value means heating, a negative value cooling.
@@ -1351,87 +1351,85 @@
 			Out = 100.0;
 		    if (Out < -100.0)
 			Out = -100.0;
-//			if /* (P_err != 0.0) */ (i == 1) {
-			    if (debug)
-			    	fprintf(stdout, "sp=%.2f pv=%.2f err_old=%.2f P_err=%.2f I_err=%.2f Out=%.2f\n",
-					sp, pv, unit->PID_err_old, P_err, unit->PID_I_err, Out);
-			    syslog(LOG_NOTICE, "sp=%.2f pv=%.2f err_old=%.2f P_err=%.2f I_err=%.2f Out=%.2f pTerm=%.2f iTerm=%.2f dTerm=%.2f, N=%.2f",
-					sp, pv, unit->PID_err_old, P_err, unit->PID_I_err, Out, pTerm, iTerm, dTerm, pTerm + dTerm + iTerm);
-//			}
-		    unit->PID_err_old = P_err;
+		    if (debug)
+		    	fprintf(stdout, "sp=%.2f pv=%.2f dState=%.2f P_err=%.2f iState=%.2f Out=%.2f\n",
+					sp, pv, unit->PID_dState, P_err, unit->PID_iState, Out);
+		    syslog(LOG_NOTICE, "sp=%.2f pv=%.2f dState=%.2f P_err=%.2f iState=%.2f Out=%.2f pTerm=%.2f iTerm=%.2f dTerm=%.2f, N=%.2f",
+					sp, pv, unit->PID_dState, P_err, unit->PID_iState, Out, pTerm, iTerm, dTerm, pTerm + dTerm + iTerm);
+		    unit->PID_dState = pv;
 
 		    if (unit->heater_address) {
-			    if (Out >= 1) {
-				if (unit->heater_wait < unit->heater_delay) {
-				    unit->heater_wait++;
-				    syslog(LOG_NOTICE, "heater_wait + %d/%d", unit->heater_wait, unit->heater_delay);
-				} else {
-				    if (! unit->heater_state && ! unit->cooler_state) {
-					syslog(LOG_NOTICE, "Heater Off => On");
-					unit->heater_state = 100;
-				    }
-				}
+			if (Out >= 1) {
+			    if (unit->heater_wait < unit->heater_delay) {
+				unit->heater_wait++;
+				syslog(LOG_NOTICE, "heater_wait + %d/%d", unit->heater_wait, unit->heater_delay);
 			    } else {
-				if (unit->heater_wait > 0) {
-				    unit->heater_wait--;
-				    syslog(LOG_NOTICE, "heater_wait - %d/%d", unit->heater_wait, unit->heater_delay);
-				} else {
-				    if (unit->heater_state) {
-					syslog(LOG_NOTICE, "Heater On => Off");
-					unit->heater_state = 0;
-				    }
+				if (! unit->heater_state && ! unit->cooler_state) {
+				    syslog(LOG_NOTICE, "Heater Off => On");
+				    unit->heater_state = 100;
 				}
 			    }
-			    device_out(unit->heater_address, unit->heater_state);
+			} else {
+			    if (unit->heater_wait > 0) {
+				unit->heater_wait--;
+				syslog(LOG_NOTICE, "heater_wait - %d/%d", unit->heater_wait, unit->heater_delay);
+			    } else {
+				if (unit->heater_state) {
+				    syslog(LOG_NOTICE, "Heater On => Off");
+				    unit->heater_state = 0;
+				}
+			    }
+			}
+			device_out(unit->heater_address, unit->heater_state);
 		    }
 		    if (unit->cooler_address) {
-			    if (Out <= -1) {
-			    	if (unit->cooler_wait < unit->cooler_delay) {
-				    unit->cooler_wait++;
-				    syslog(LOG_NOTICE, "cooler_wait + %d/%d", unit->cooler_wait, unit->cooler_delay);
-			    	} else {
-				    if (! unit->cooler_state && ! unit->heater_state) {
-				    	syslog(LOG_NOTICE, "Cooler Off => On");
-					unit->cooler_state = 100;
-				    }
-				}
+			if (Out <= -1) {
+			    if (unit->cooler_wait < unit->cooler_delay) {
+				unit->cooler_wait++;
+				syslog(LOG_NOTICE, "cooler_wait + %d/%d", unit->cooler_wait, unit->cooler_delay);
 			    } else {
-				if (unit->cooler_wait > 0) {
-				    unit->cooler_wait--;
-				    syslog(LOG_NOTICE, "cooler_wait - %d/%d", unit->cooler_wait, unit->cooler_delay);
-			    	} else {
-				    if (unit->cooler_state) {
-				    	syslog(LOG_NOTICE, "Cooler On => Off");
-					unit->cooler_state = 0;
-				    }
+				if (! unit->cooler_state && ! unit->heater_state) {
+				    syslog(LOG_NOTICE, "Cooler Off => On");
+				    unit->cooler_state = 100;
 				}
 			    }
-			    device_out(unit->cooler_address, unit->cooler_state);
+			} else {
+			    if (unit->cooler_wait > 0) {
+				unit->cooler_wait--;
+				syslog(LOG_NOTICE, "cooler_wait - %d/%d", unit->cooler_wait, unit->cooler_delay);
+			    } else {
+				if (unit->cooler_state) {
+				    syslog(LOG_NOTICE, "Cooler On => Off");
+				    unit->cooler_state = 0;
+				}
+			    }
+			}
+			device_out(unit->cooler_address, unit->cooler_state);
 		    }
 		    if (unit->heater_address && unit->cooler_address && unit->fan_address) {
-			    /*
-			     * If the temperature difference between air and beer is more then
-			     * xxx degrees, turn the fan on to make an airflow.
-			     * Maybe, run the fan too if the heater is on because the heater in
-			     * most cases will be some sort of radiating heat device.
-			     * For cooling ??? dunno yet.
-			     */
-			    if (((unit->air_temperature - unit->beer_temperature) > 1000) ||
+			/*
+			 * If the temperature difference between air and beer is more then
+			 * xxx degrees, turn the fan on to make an airflow.
+			 * Maybe, run the fan too if the heater is on because the heater in
+			 * most cases will be some sort of radiating heat device.
+			 * For cooling ??? dunno yet.
+			 */
+			if (((unit->air_temperature - unit->beer_temperature) > 1000) ||
 				((unit->air_temperature - unit->beer_temperature) < -1000)) {
-				if (! unit->fan_state)
-				    syslog(LOG_NOTICE, "Fan Off => On");
-				unit->fan_state = 100;
-			    } else {
-				if (unit->fan_state)
-				    syslog(LOG_NOTICE, "Fan On => Off");
-				unit->fan_state = 0;
-			    }
-			    device_out(unit->fan_address, unit->fan_state);
+			    if (! unit->fan_state)
+				syslog(LOG_NOTICE, "Fan Off => On");
+			    unit->fan_state = 100;
+			} else {
+			    if (unit->fan_state)
+				syslog(LOG_NOTICE, "Fan On => Off");
+			    unit->fan_state = 0;
+			}
+			device_out(unit->fan_address, unit->fan_state);
 		    }
 		} else {
-			P_err = 0.0;
-			unit->PID_I_err = 0.0;
-			unit->PID_err_old = 0.0;
+		    P_err = 0.0;
+		    unit->PID_iState = 0.0;
+		    unit->PID_dState = 0.0;
 		}
 	    }
 
diff -r 7b0f819a3805 -r 8448fcf3d799 thermferm/thermferm.h
--- a/thermferm/thermferm.h	Mon Feb 16 19:52:42 2015 +0100
+++ b/thermferm/thermferm.h	Mon Feb 16 20:41:09 2015 +0100
@@ -151,8 +151,8 @@
     float		prof_peak_abs;		/* Profile absolute peak temp	*/
     float		prof_peak_rel;		/* Profile relative peak temp	*/
     time_t		prof_primary_done;	/* Profile primary is done	*/
-    float		PID_I_err;		/* PID Integral error		*/
-    float		PID_err_old;		/* PID old error value		*/
+    double		PID_iState;		/* PID Integral state		*/
+    double		PID_dState;		/* PID last measured value	*/
     float		PID_Kp;			/* PID Kp setting		*/
     float		PID_Kd;			/* PID Kd setting		*/
     float		PID_Ki;			/* PID Ki setting		*/