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121 lines
3.0 KiB
121 lines
3.0 KiB
#include "firehazard.h"
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#include "arduinopid.h"
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#include <stdio.h>
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#include <stdbool.h>
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#include <math.h>
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#include <esp_log.h>
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#include <nvs.h>
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#include "driver/ledc.h"
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#include "esp_err.h"
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static const char *TAG = "fire";
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static struct PID pid = PID_DEFAULT();
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static void pwm_init(void);
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static void pwm_set(float duty);
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void fire_get_tuning(float *kp, float *ki, float *kd) {
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*kp = pid.kp;
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*ki = pid.ki;
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*kd = pid.kd;
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}
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void fire_init() {
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printf("Regulator init");
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PID_Initialize(&pid);
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PID_SetOutputLimits(&pid, 0, 1);
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PID_SetCtlMode(&pid, PID_MANUAL);
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PID_SetTunings(&pid, 0.3, 0.01, 0.1); // TODO load from nvs
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pwm_init();
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fire_setlevel(20);
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// fire_enable(true);
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}
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void fire_set_tuning(float kp, float ki, float kd) {
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ESP_LOGI(TAG, "PID set tuning Kp=%.3f, Ki=%.3f, Kd=%.3f", kp, ki, kd);
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PID_SetTunings(&pid, kp, ki, kd);
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}
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float fire_get_setpoint(bool off_is_zero) {
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if (off_is_zero) {
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return pid.ctlMode == PID_MANUAL ? 0 : pid.Setpoint;
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} else {
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return pid.Setpoint;
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}
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}
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void fire_setlevel(float cels) {
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ESP_LOGI(TAG, "PID set target %.3f°C", cels);
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if (cels < 0) cels = 0;
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if (cels > MAX_SETPOINT) cels = MAX_SETPOINT;
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PID_SetSetpoint(&pid, cels);
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}
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void fire_enable(bool enable) {
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ESP_LOGI(TAG, "Heater %s", enable ? "enable" : "disable");
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PID_SetCtlMode(&pid, enable ? PID_AUTOMATIC : PID_MANUAL);
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}
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bool fire_enabled() {
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return pid.ctlMode == PID_AUTOMATIC;
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}
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void fire_regulate(float cels) {
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PID_Compute(&pid, cels);
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if (cels > MAX_TSENSE || cels < MIN_TSENSE) {
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ESP_LOGE(TAG, "Tsense out of bounds! Stopping.");
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fire_enable(false);
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}
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if (pid.ctlMode == PID_MANUAL) {
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pwm_set(0);
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} else {
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printf("PID in %.2f°C, out %.3f, I %.3f\n", cels, pid.Output, pid.ITerm);
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pwm_set(pid.Output);
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}
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}
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#define PWM_CHANNEL LEDC_CHANNEL_1
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#define PWM_TIMER LEDC_TIMER_1
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#define PWM_BIT_NUM LEDC_TIMER_12_BIT
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#define PWM_PIN GPIO_NUM_14
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static void pwm_init(void)
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{
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ledc_channel_config_t ledc_channel_left = {0};
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ledc_channel_left.gpio_num = PWM_PIN;
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ledc_channel_left.speed_mode = LEDC_HIGH_SPEED_MODE;
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ledc_channel_left.channel = PWM_CHANNEL;
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ledc_channel_left.intr_type = LEDC_INTR_DISABLE;
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ledc_channel_left.timer_sel = PWM_TIMER;
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ledc_channel_left.duty = 0;
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ledc_timer_config_t ledc_timer = {0};
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ledc_timer.speed_mode = LEDC_HIGH_SPEED_MODE;
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ledc_timer.duty_resolution = PWM_BIT_NUM;
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ledc_timer.timer_num = PWM_TIMER;
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ledc_timer.freq_hz = 1; // TODO ??
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ESP_ERROR_CHECK( ledc_channel_config(&ledc_channel_left) );
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ESP_ERROR_CHECK( ledc_timer_config(&ledc_timer) );
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}
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static void pwm_set(float duty)
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{
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uint32_t max_duty = (1 << PWM_BIT_NUM);// - 1
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uint32_t dutycycle = lroundf((duty) * (float)max_duty);
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printf("Dutycycle %d\n", dutycycle);
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ESP_ERROR_CHECK( ledc_set_duty(LEDC_HIGH_SPEED_MODE, PWM_CHANNEL, dutycycle) );
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ESP_ERROR_CHECK( ledc_update_duty(LEDC_HIGH_SPEED_MODE, PWM_CHANNEL) );
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}
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