Mercurial > mbsePi-apps / changeset

--- a/thermferm/pid.c	Sat Mar 05 12:50:23 2016 +0100
+++ b/thermferm/pid.c	Fri Mar 11 20:27:02 2016 +0100
@@ -26,7 +26,7 @@
 
 void InitPID(pid_var *pid, int type)
 {
-    pid->Err = pid->ErrLast = pid->iState = 0.0;
+    pid->Err = pid->InputLast = pid->iState = 0.0;
     pid->Input = pid->OutP = pid->SetP = 0.0;
     pid->pGain = pid->iGain = pid->dGain = 0.0;
     pid->idleRange = 0.4;
@@ -41,7 +41,7 @@
 {
     if (pid->Mode == PID_MODE_AUTO) {
 
-	double	pTerm, dTerm, iTerm;
+	double	dTerm;
 
 	if (pid->Type == PID_TYPE_HEAT)
 	    pid->Err = pid->SetP - pid->Input;
@@ -52,24 +52,22 @@
 	 * Calculate the integral state with appopriate limiting.
 	 * Use ErrLastLast as iState
 	 */
-	pid->iState += pid->Err;
-	if (pid->iState > PID_WINDUP_GUARD)
-	    pid->iState = PID_WINDUP_GUARD;
-	else if (pid->iState < -PID_WINDUP_GUARD)
-	    pid->iState = -PID_WINDUP_GUARD;
+	pid->iState += (pid->iGain * pid->Err);
+	if (pid->iState > pid->iMax)
+	    pid->iState = pid->iMax;
+	else if (pid->iState < 0)
+	    pid->iState = 0;
 
-	pTerm = pid->pGain * pid->Err;
-	iTerm = pid->iGain * pid->iState;
-	dTerm = pid->dGain * (pid->Err - pid->ErrLast);
+	dTerm = (pid->Input - pid->InputLast);
 
-	pid->OutP = pTerm + dTerm + iTerm;
-	pid->ErrLast = pid->Err;
+	pid->OutP = (pid->pGain * pid->Err) + pid->iState - (pid->dGain * dTerm);
+	pid->InputLast = pid->Input;
 
     } else if (pid->Mode == PID_MODE_BOO) {
 	/*
 	 * Mode Bang On Off
 	 */
-	pid->ErrLast = pid->Err;
+	pid->InputLast = pid->Input;
 
 	if (pid->Type == PID_TYPE_HEAT)
 	    pid->Err = pid->SetP - pid->Input;
@@ -88,7 +86,7 @@
 	 * While in manual mode, stay ready for bumpless switch to
 	 * auto.
 	 */
-	pid->ErrLast = pid->Err = 0.0;
+	pid->InputLast = pid->Input;
 	pid->OutP = pid->iState = 0.0;
     }
 

--- a/thermferm/pid.h	Sat Mar 05 12:50:23 2016 +0100
+++ b/thermferm/pid.h	Fri Mar 11 20:27:02 2016 +0100
@@ -21,7 +21,7 @@
 
 	double		Input;		/* Input value					*/
 	double		Err;		/* Error, diff between input and set point	*/
-	double		ErrLast;	/* Error from last pass				*/
+	double		InputLast;	/* Input from last pass				*/
 	double		iState;		/* Error from next last pass			*/
 	double		SetP;		/* Set point					*/
 	double		OutP;		/* Output of PID algorithm			*/

--- a/thermferm/rdconfig.c	Sat Mar 05 12:50:23 2016 +0100
+++ b/thermferm/rdconfig.c	Fri Mar 11 20:27:02 2016 +0100
@@ -493,15 +493,15 @@
 		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
 		    return 1;
 		}
-		if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDC_IGAIN", "%.2f", tmp3->PID_cool->iGain)) < 0) {
+		if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDC_IGAIN", "%.3f", tmp3->PID_cool->iGain)) < 0) {
 		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
 		    return 1;
 		}
-	        if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDC_PGAIN", "%.2f", tmp3->PID_cool->pGain)) < 0) {
+	        if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDC_PGAIN", "%.3f", tmp3->PID_cool->pGain)) < 0) {
 		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
 		    return 1;
 		}
-	        if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDC_DGAIN", "%.2f", tmp3->PID_cool->dGain)) < 0) {
+	        if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDC_DGAIN", "%.3f", tmp3->PID_cool->dGain)) < 0) {
 		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
 		    return 1;
 		}
@@ -517,10 +517,6 @@
 		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
 		    return 1;
 		}
-		if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDC_ERRLAST", "%.2f", tmp3->PID_cool->ErrLast)) < 0) {
-		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
-		    return 1;
-		}
 		if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDC_ISTATE", "%.2f", tmp3->PID_cool->iState)) < 0) {
 		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
 		    return 1;
@@ -551,15 +547,15 @@
 		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
 		    return 1;
 		}
-		if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDH_IGAIN", "%.2f", tmp3->PID_heat->iGain)) < 0) {
+		if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDH_IGAIN", "%.3f", tmp3->PID_heat->iGain)) < 0) {
 		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
 		    return 1;
 		}
-		if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDH_PGAIN", "%.2f", tmp3->PID_heat->pGain)) < 0) {
+		if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDH_PGAIN", "%.3f", tmp3->PID_heat->pGain)) < 0) {
 		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
 		    return 1;
 		}
-		if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDH_DGAIN", "%.2f", tmp3->PID_heat->dGain)) < 0) {
+		if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDH_DGAIN", "%.3f", tmp3->PID_heat->dGain)) < 0) {
 		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
 		    return 1;
 		}
@@ -571,10 +567,6 @@
 		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
 		    return 1;
 		}
-		if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDH_ERRLAST", "%.2f", tmp3->PID_heat->ErrLast)) < 0) {
-		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
-		    return 1;
-		}
 		if ((rc = xmlTextWriterWriteFormatElement(writer, BAD_CAST "PIDH_ISTATE", "%.2f", tmp3->PID_heat->iState)) < 0) {
 		    syslog(LOG_NOTICE, "wrconfig: error at xmlTextWriterWriteFormatElement");
 		    return 1;
@@ -1250,12 +1242,6 @@
 		unit->PID_cool->Err = val;
 	    xmlFree(key);
 	}
-	if ((!xmlStrcmp(cur->name, (const xmlChar *)"PIDC_ERRLAST"))) {
-	    key = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1);
-	    if (sscanf((const char *)key, "%f", &val) == 1)
-		unit->PID_cool->ErrLast = val;
-	    xmlFree(key);
-	}
 	if ((!xmlStrcmp(cur->name, (const xmlChar *)"PIDC_ISTATE"))) {
 	    key = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1);
 	    if (sscanf((const char *)key, "%f", &val) == 1)
@@ -1326,12 +1312,6 @@
 		unit->PID_heat->Err = val;
 	    xmlFree(key);
 	}
-	if ((!xmlStrcmp(cur->name, (const xmlChar *)"PIDH_ERRLAST"))) {
-	    key = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1);
-	    if (sscanf((const char *)key, "%f", &val) == 1)
-		unit->PID_heat->ErrLast = val;
-	    xmlFree(key);
-	}
 	if ((!xmlStrcmp(cur->name, (const xmlChar *)"PIDH_ISTATE"))) {
 	    key = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1);
 	    if (sscanf((const char *)key, "%f", &val) == 1)

--- a/thermferm/server.c	Sat Mar 05 12:50:23 2016 +0100
+++ b/thermferm/server.c	Fri Mar 11 20:27:02 2016 +0100
@@ -2085,9 +2085,10 @@
 		if (unit->PID_heat) {
 		    srv_send((char *)"PIDH_IMAX,%.1f", unit->PID_heat->iMax);
 		    srv_send((char *)"PIDH_IDLERANGE,%.2f", unit->PID_heat->idleRange);
-		    srv_send((char *)"PIDH_PGAIN,%.2f", unit->PID_heat->pGain);
-		    srv_send((char *)"PIDH_IGAIN,%.2f", unit->PID_heat->iGain);
-		    srv_send((char *)"PIDH_DGAIN,%.2f", unit->PID_heat->dGain);
+		    srv_send((char *)"PIDH_PGAIN,%.3f", unit->PID_heat->pGain);
+		    srv_send((char *)"PIDH_IGAIN,%.3f", unit->PID_heat->iGain);
+		    srv_send((char *)"PIDH_DGAIN,%.3f", unit->PID_heat->dGain);
+		    srv_send((char *)"PIDH_SV,%.2f", unit->PID_heat->SetP);
 		}
 		srv_send((char *)"COOLER_ADDRESS,%s", unit->cooler_address);
 		srv_send((char *)"COOLER_STATE,%d", unit->cooler_state);
@@ -2096,9 +2097,10 @@
 		if (unit->PID_cool) {
 		    srv_send((char *)"PIDC_IMAX,%.1f", unit->PID_cool->iMax);
 		    srv_send((char *)"PIDC_IDLERANGE,%.2f", unit->PID_cool->idleRange);
-		    srv_send((char *)"PIDC_PGAIN,%.2f", unit->PID_cool->pGain);
-		    srv_send((char *)"PIDC_IGAIN,%.2f", unit->PID_cool->iGain);
-		    srv_send((char *)"PIDC_DGAIN,%.2f", unit->PID_cool->dGain);
+		    srv_send((char *)"PIDC_PGAIN,%.3f", unit->PID_cool->pGain);
+		    srv_send((char *)"PIDC_IGAIN,%.3f", unit->PID_cool->iGain);
+		    srv_send((char *)"PIDC_DGAIN,%.3f", unit->PID_cool->dGain);
+		    srv_send((char *)"PIDC_SV,%.2f", unit->PID_cool->SetP);
 		}
 		srv_send((char *)"FAN_ADDRESS,%s", unit->fan_address);
 		srv_send((char *)"FAN_STATE,%d", unit->fan_state);

--- a/thermferm/thermferm.c	Sat Mar 05 12:50:23 2016 +0100
+++ b/thermferm/thermferm.c	Fri Mar 11 20:27:02 2016 +0100
@@ -1516,15 +1516,15 @@
 		     */
 		    unit->PID_cool->Mode = unit->PID_heat->Mode = PID_MODE_NONE;
 		    if (unit->mode == UNITMODE_FRIDGE) {
-			unit->PID_cool->SetP = unit->fridge_set;
-			unit->PID_heat->SetP = unit->fridge_set;
+			unit->PID_cool->SetP = unit->fridge_set + unit->PID_cool->idleRange;
+			unit->PID_heat->SetP = unit->fridge_set - unit->PID_heat->idleRange;
 			unit->PID_cool->Input = unit->PID_heat->Input = unit->air_temperature / 1000.0;
 			unit->PID_cool->Mode = unit->PID_heat->Mode = PID_MODE_BOO;
 		    } else if (unit->mode == UNITMODE_BEER) {
 			unit->PID_cool->SetP = unit->beer_set;
 			unit->PID_heat->SetP = unit->beer_set;
 			unit->PID_cool->Input = unit->PID_heat->Input = unit->beer_temperature / 1000.0;
-			unit->PID_cool->Mode = unit->PID_heat->Mode = PID_MODE_BOO;
+			unit->PID_cool->Mode = unit->PID_heat->Mode = PID_MODE_AUTO;
 		    } else if (unit->mode == UNITMODE_PROFILE) {
 			double  usetemp;
 			unit->PID_cool->SetP = unit->prof_target_hi;
@@ -1538,7 +1538,7 @@
 			    fprintf(stdout, " fridge_mode=%d measured=%.3f %.3f => %.3f\n", unit->prof_fridge_mode,
 					    unit->air_temperature / 1000.0, unit->beer_temperature / 1000.0, usetemp);
 			unit->PID_cool->Input = unit->PID_heat->Input = usetemp;
-			unit->PID_cool->Mode = unit->PID_heat->Mode = PID_MODE_BOO;
+			unit->PID_cool->Mode = unit->PID_heat->Mode = PID_MODE_AUTO;
 		    }
 
 		    /*
@@ -1551,19 +1551,31 @@
 		     * Logging
 		     */
 		    if (unit->heater_address) {
+			/*
+			 * Prevent extreme heating
+			 */
+			if ((unit->mode == UNITMODE_BEER) && ((unit->air_temperature / 1000.0) > (unit->PID_heat->Input + 5.0))) {
+			    unit->PID_heat->OutP = 0.0;
+			}
 			if (debug)
 			    fprintf(stdout, "Heat: sp=%.2f Input=%.2f iState=%.2f Err=%.2f Out=%.2f\n",
 				unit->PID_heat->SetP, unit->PID_heat->Input, unit->PID_heat->iState, unit->PID_heat->Err, unit->PID_heat->OutP);
-			if (/* ((unit->PID_heat->OutP >= 2) && unit->heater_address) || */ (seconds == 60) /* || unit->heater_state */) {
+			if (seconds == 60) {
 			    syslog(LOG_NOTICE, "Heat: sp=%.2f Input=%.2f iState=%.2f Err=%.2f Out=%.2f",
 				unit->PID_heat->SetP, unit->PID_heat->Input, unit->PID_heat->iState, unit->PID_heat->Err, unit->PID_heat->OutP);
 			}
 		    }
 		    if (unit->cooler_address) {
+			/*
+			 * Prevent extreme cooling
+			 */
+			if ((unit->mode == UNITMODE_BEER) && ((unit->air_temperature / 1000.0) < (unit->PID_cool->Input - 5.0))) {
+			    unit->PID_cool->OutP = 0.0;
+			}
 		    	if (debug)
 			    fprintf(stdout, "Cool: sp=%.2f Input=%.2f iState=%.2f Err=%.2f Out=%.2f\n",
 				unit->PID_cool->SetP, unit->PID_cool->Input, unit->PID_cool->iState, unit->PID_cool->Err, unit->PID_cool->OutP);
-		    	if (/* ((unit->PID_cool->OutP >= 2) && unit->cooler_address) || */ (seconds == 60) /* || unit->cooler_state*/ ) {
+		    	if (seconds == 60) {
 			    syslog(LOG_NOTICE, "Cool: sp=%.2f Input=%.2f iState=%.2f Err=%.2f Out=%.2f",
 				unit->PID_cool->SetP, unit->PID_cool->Input, unit->PID_cool->iState, unit->PID_cool->Err, unit->PID_cool->OutP);
 		    	}
@@ -1574,11 +1586,15 @@
 		     */
 		    if (unit->PID_cool->OutP && unit->PID_heat->OutP) {
 			syslog(LOG_NOTICE, "Heat and Cool lockdown");
-			unit->PID_cool->OutP = unit->PID_heat->OutP = 0.0;
+			if (unit->PID_cool->OutP > unit->PID_heat->OutP)
+			    unit->PID_heat->OutP = 0.0;
+			else
+			    unit->PID_cool->OutP = 0.0;
+//			unit->PID_cool->OutP = unit->PID_heat->OutP = 0.0;
 		    }
 
 		    if (unit->heater_address && ! unit->cooler_state) {
-			if (unit->PID_heat->OutP >= 2) {
+			if (unit->PID_heat->OutP >= 50) {
 			    if (unit->heater_wait < unit->heater_delay) {
 				unit->heater_wait++;
 			    } else {
@@ -1605,7 +1621,7 @@
 		    }
 
 		    if (unit->cooler_address && ! unit->heater_state) {
-			if (unit->PID_cool->OutP >= 2) {
+			if (unit->PID_cool->OutP >= 50) {
 			    if (unit->cooler_wait < unit->cooler_delay) {
 				unit->cooler_wait++;
 			    } else {
@@ -1630,6 +1646,9 @@
 			else
 			    device_out(unit->cooler_address, 0);
 		    }
+		    if (debug)
+			fprintf(stdout, "Final: PIDheat=%.2f PWRheat=%d  PIDcool=%.2f PWRcool=%d\n", 
+					unit->PID_heat->OutP, unit->heater_state, unit->PID_cool->OutP, unit->cooler_state);
 
 		    if ((unit->heater_address || unit->cooler_address) && unit->fan_address) {
 			/*