Diff: main.cpp

Revision:

0:638eb51d9082

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 04 14:38:12 2020 +0000
@@ -0,0 +1,167 @@
+/*
+ * Date: march 2020.
+ * Decription: Bilo je potrebno napraviti sistem PID regulatora ciji je osnovni
+    zadatak odrzavanja pritiska vrednosti 0 Bara. 
+    Sistem se sastoji iz: 
+        1.Senzora pritiska
+        2.Step motora koji pogoni elektricnu pumpu
+    Izlaz PID regulatira je frekvencija obrtanja step motora koji tera pumpu. 
+    Sto se motor brze okrece to pumpa vise kolicine izvlaci.
+    Na ovaj nacin obezbedjeno je precizno protocno merenje kolicine u ispitivanju
+    injekotra.
+    Sistem tokom celokupnog rada zeli da stabilise pritisak od 0 Bari i time
+    ponisti razliku pritisaka koja se javlja usled odredjene kolicine goriva u 
+    sistemu.
+ 
+    - Dugorocnim testiranjem utvrdjeni su parametri PID kontrolera.
+    - Senzor pritiska se filtira sa MID7 filterom
+    - Izmerena kolicina se filtrira sa MID7 filterom
+    - PID procesuira zahteve svakih 100ms
+*/
+#include "mbed.h"
+#include "AsynchSerial.h"
+#include "PID.h"
+#include "FastPWM.h"
+
+#define RATE 0.1
+#define ZERO 2.33
+AsynchSerial pc(USBTX, USBRX, 115200);
+
+EventQueue queue;
+Ticker tick;
+
+//Kc, Ti, Td, interval
+PID controller(2.5, 1, 0.0, RATE);
+AnalogIn pv(PA_0);
+FastPWM   co(PA_1,2);
+
+//mm u opsegu od 0 do 100
+
+float reff; 
+float value;
+float inValue;
+
+float analogInValues[7];
+float freqValues[7];
+volatile int cntFreq = 0;
+int n = 7;
+int enable = 0;
+int width = 0;
+
+void getData() {
+/*Citanje podatka iz Buffera Serijske komunikacije -uz resnje GRESKE citanja*/
+    
+    unsigned char buffer[20];
+    int16_t len = pc.read(buffer, sizeof(buffer));
+
+    if (len > 0) {
+       
+        int kom = sscanf((const char *)buffer,"%f",&reff);
+       
+        if(kom==1){ 
+            if(reff > 100.0){
+                controller.setSetPoint(0);
+                printf("Greska! Referenca veca od 100 mm");
+            }else 
+                controller.setSetPoint(reff);
+        }
+    }
+}
+
+void rxCb() {
+    
+    queue.call(getData);  // can't read data in callback
+    
+}
+void printuj(void){
+    freqValues[cntFreq++] = value/2.0;
+    if(cntFreq == 7){
+        cntFreq = 0;
+         for (int i = 0; i < n; i++)
+            // Last i elements are already in place
+            for (int j = 0; j < n-i-1; j++)
+                if (freqValues[j] > freqValues[j+1]){
+                    float temp = freqValues[j];
+                    freqValues[j]=freqValues[j+1];
+                    freqValues[j+1]=temp;
+                }
+                
+        printf("Ref: %.1f \n",reff);
+        printf("Input Analog High: %.1f mm \n", inValue);
+        printf("F: %.1f Hz\n",freqValues[4]);
+        printf("Q: %.1f ml\n",freqValues[4]*0.045);
+         
+    } 
+}
+void setData(void){
+    
+    queue.call(printuj);
+    
+}
+ 
+int main(){
+        
+      Thread eventThread;
+      eventThread.start(callback(&queue, &EventQueue::dispatch_forever));
+      pc.attach(callback(rxCb), AsynchSerial::RX); 
+      pc.init(); //Serial buffer interrupt
+      tick.attach(&setData, 0.3);
+        
+      //Set the period to 1ms = 1kHz
+      co.pulsewidth_ms(0);     
+      co.prescaler(2);
+      
+      controller.setInputLimits(-100.0, 100.0);
+      //Pwm output from 0.0 to 1.0
+      controller.setOutputLimits(4, 3200);
+      //If there's a bias.
+      controller.setBias(0);
+      controller.setMode(1); //not null value is AUTO MODE
+      //We want the process variable to be 1.7V
+      controller.setSetPoint(0.0);
+     
+      while(1){
+        
+        for(int i=0;i<n;i++){
+            analogInValues[i] = pv.read();
+            wait_ms(10);
+        }
+        // sort . . .
+        for (int i = 0; i < n; i++)
+            // Last i elements are already in place
+            for (int j = 0; j < n-i-1; j++)
+                if (analogInValues[j] > analogInValues[j+1]){
+                    float temp = analogInValues[j];
+                    analogInValues[j]=analogInValues[j+1];
+                    analogInValues[j+1]=temp;
+                }
+        
+        //Update the process variable.
+        //input u mm
+        inValue = (float)(((ZERO - analogInValues[4] * (float)3.29) * 100.0)/1.59)*(-1.0);
+        //inValue = (float)(((ZERO - pv.read() * (float)3.29) * 100.0)/1.59);
+        controller.setProcessValue(inValue);
+        
+        //Set the new output.
+        value = controller.compute();
+        
+        if(value == 0){
+            enable = 0;
+            printf("Greska! Value = 0");
+        }else{
+            int period = (int)(1.0/value * 1000000);
+            co.period_us(period); 
+            enable = 1;
+        }   
+        if(enable == 1){
+            if(value > 100)
+                co.pulsewidth_us(25);
+            else
+                co.pulsewidth_ms(2);
+        }else{
+            co.pulsewidth_us(0);
+        }         
+        wait_ms(100 - 10*n);
+        
+      }
+}
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