diff --git a/HARDWARE/PID.c b/HARDWARE/PID.c index 23e1246..aaa82cb 100644 --- a/HARDWARE/PID.c +++ b/HARDWARE/PID.c @@ -17,6 +17,8 @@ void PID_Init() { // pid.set_tem=tem;//用户设定温度 pid.Kp = 110; + pid.Ki = 0.001; + pid.Kd = 340; pid.t = 500; // PID计算周期 // pid.Ti=5000000;//积分时间 // pid.Td=1000;//微分时间 @@ -52,12 +54,12 @@ void PID_Calc() // pid // ti=pid.t/pid.Ti; // ki=ti*pid.Kp; - pid.Iout = ki * pid.SEk; // 积分输出 + pid.Iout = pid.Ki * pid.SEk; // 积分输出 // td=pid.Td/pid.t; // kd=pid.Kp*td; - pid.Dout = kd * DelEk; // 微分输出 + pid.Dout = pid.Kd * DelEk; // 微分输出 if (pid.Dout < 0) { pid.Dout = 0 - pid.Dout; @@ -82,39 +84,38 @@ void PID_Calc() // pid if (pid.set_tem > pid.now_tem + 1) { - // 得到当前的偏差值，设置温度大于实际温度1℃，加热，关闭压缩机，打开加热棒 - /*GPIO1->报警铃 GPIO6->压缩机 GPIO3->加热棒 GPIO4—>新风风扇 GPIO5->加湿器 */ - // HC595_Send_Byte(gpio_state&=0xDF);//关闭压缩机 &=1101 1111 0xDF + // 得到当前的偏差值，设置温度大于实际温度1℃，加热，close compressor，open heater + /*GPIO1->报警铃 GPIO3->heater GPIO4—>新风风扇 GPIO5->加湿器 GPIO6->compressor */ + HC595_Send_Byte(gpio_state &= 0xDF);//close compressor &=1101 1111 0xDF TIM_SetCompare3(TIM3, 0); - HC595_Send_Byte(gpio_state |= 0x04); // 打开加热棒 |=0000 0100 0x04 + HC595_Send_Byte(gpio_state |= 0x04); // open heater |=0000 0100 0x04 hot_clod_flag = 2; pid.Iout = 0; - } - if (pid.now_tem > pid.set_tem) + } else if (pid.now_tem > pid.set_tem) { - // 得到当前的偏差值，设置温度小于实际温度，制冷，打开压缩机，关闭加热棒 - HC595_Send_Byte(gpio_state &= 0xFB); // 关闭加热棒 &=1111 1011 0xFB - num = (((pid.OUT * 400) / pid.pwmcycle) - 1); // 请问这个pid.OUT与pwm占空比的值是如何换算过来的 - TIM_SetCompare3(TIM3, num); - // printf("%d\r\n",num); + // 得到当前的偏差值，设置温度小于实际温度，制冷，open compressor，close heater + HC595_Send_Byte(gpio_state &= 0xFB); // close heater &=1111 1011 0xFB // 0-200对应0-100%，如果pid.out=50,占空比就是25%，//num=50*400/200=100，100/400=25% - // HC595_Send_Byte(gpio_state|=0x20);//打开压缩机 |=0010 0000 + // TODO:: change maxinum from 400 to 300 + num = (((pid.OUT * 400) / pid.pwmcycle) - 1); // pid.OUT与pwm占空比的值换算 + TIM_SetCompare3(TIM3, num / 4); + // printf("%d\r\n",num); + HC595_Send_Byte(gpio_state|=0x20);//open compressor |=0010 0000 hot_clod_flag = 1; // pid.Iout=0; } if (hot_clod_flag == 1 && T <= tem - 3) // 制冷过程中温度下降低于设定温度0.3℃ { - // HC595_Send_Byte(gpio_state&=0xDB);//关闭压缩机 关闭加热棒 &=1101 1101 0xDB - TIM_SetCompare3(TIM3, 0); // 关闭压缩机 - HC595_Send_Byte(gpio_state &= 0xFB); // 关闭加热棒 + HC595_Send_Byte(gpio_state&=0xDB);// close compressor and heater &=1101 1011 0xDB + TIM_SetCompare3(TIM3, 0); // close compressor hot_clod_flag = 0; } - if (hot_clod_flag == 2 && T >= tem) + if (hot_clod_flag == 2 && T >= tem) // while heat, T above tem { - // HC595_Send_Byte(gpio_state&=0xDB);//关闭压缩机 关闭四通阀 &=1101 1101 0xDB - TIM_SetCompare3(TIM3, 0); // 关闭压缩机 - HC595_Send_Byte(gpio_state &= 0xFB); // 关闭加热棒 + HC595_Send_Byte(gpio_state&=0xDB);//close compressor and heater &=1101 1011 0xDB + TIM_SetCompare3(TIM3, 0); // close compressor hot_clod_flag = 0; } + // HC595_Send_Byte(gpio_state&=0xDB);// close compressor and heater &=1101 1011 0xDB } diff --git a/HARDWARE/PID.h b/HARDWARE/PID.h index e40e542..558c111 100644 --- a/HARDWARE/PID.h +++ b/HARDWARE/PID.h @@ -9,10 +9,12 @@ typedef struct Pid float set_tem;//用户设定值 float now_tem;//当前温度 - float Kp; + float Kp; // 110 int t; //PID计算周期--采样周期 float Ti; - float Td; + float Td; + float Ki; // 0.001 + float Kd; // 340 float Ek; //本次偏差 float Ek_1;//上次偏差 diff --git a/HARDWARE/rs485.c b/HARDWARE/rs485.c index 2b7a496..bf0fb83 100644 --- a/HARDWARE/rs485.c +++ b/HARDWARE/rs485.c @@ -4,8 +4,8 @@ #include "Relays.h" #include "myfreertos.h" -u8 sendbuf[29] = {0xEE, 0xB5, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFC, 0xFF, 0xFF}; // 发送给串口屏的实时数据 +u8 sendbuf[37] = {0xEE, 0xB5, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFC, 0xFF, 0xFF}; // 发送给串口屏的实时数据 u8 sendbuf_crc[20] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; extern u8 global_buffer[64]; @@ -45,6 +45,7 @@ u8 crc_num2 = 0xFF; extern int T; extern int H; extern int C; +extern PID pid; // extern u16 RED_LIGHT; // extern u16 WHITE_LIGHT; // extern u16 BLUE_LIGHT; @@ -366,10 +367,10 @@ void RS485_1_Send_Data_2(void) // sendbuf[0] = 0xEE; sendbuf[1] = 0xB5; sendbuf[2] = 0x05; - sendbuf[25] = 0xFF; - sendbuf[26] = 0xFC; - sendbuf[27] = 0xFF; - sendbuf[28] = 0xFF; + sendbuf[33] = 0xFF; + sendbuf[34] = 0xFC; + sendbuf[35] = 0xFF; + sendbuf[36] = 0xFF; u8 a; RS485_1_TX_EN = 1; // 设置为发送模式 if (T <= 500000) @@ -419,20 +420,30 @@ void RS485_1_Send_Data_2(void) // sendbuf[14] = CO2_2; if (now_stage < 7 && total[3 + 18 * (now_stage - 1)] < 24 && total[4 + 18 * (now_stage - 1)] < 60 && chour < 24 && cminute < 60) { - sendbuf[15] = now_stage; // 当前阶段 - sendbuf[16] = total[3 + 18 * (now_stage - 1)]; // 阶段小时 - sendbuf[17] = total[4 + 18 * (now_stage - 1)]; // 阶段分钟 - sendbuf[18] = chour; // 已运行小时数 - sendbuf[19] = cminute; // 已运行分钟数 + sendbuf[15] = now_stage; // current state + sendbuf[16] = total[3 + 18 * (now_stage - 1)]; // stage hour + sendbuf[17] = total[4 + 18 * (now_stage - 1)]; // stage minute + sendbuf[18] = chour; // run hour + sendbuf[19] = cminute; // run minute } - sendbuf[20] = hot_clod_flag; // 加热制冷状态 - sendbuf[21] = humidity_flag; // 加湿干燥状态 - sendbuf[22] = ALARM; // 报警状态状态 - - bufcut_Init(sendbuf_crc, sendbuf, 3, 23); - GetCRC16(sendbuf_crc, 20, &crc_num1, &crc_num2); - sendbuf[23] = crc_num1; - sendbuf[24] = crc_num2; + sendbuf[20] = hot_clod_flag; // hot clod state + sendbuf[21] = humidity_flag; // humidity state + sendbuf[22] = ALARM; // ALARM state + + sendbuf[23] = (int)pid.Kp / 256; // Kp 110 + sendbuf[24] = (int)pid.Kp % 256; // Kp 110 + sendbuf[25] = ((int)(pid.Ki * 100000)) / 256; // Ti 0.001 + sendbuf[26] = ((int)(pid.Ki * 100000)) % 256; // Ti 0.001 + sendbuf[27] = (int)pid.Kd / 256; // Td 340 + sendbuf[28] = (int)pid.Kd % 256; // Td 340 + // num = (((pid.OUT * 350) / pid.pwmcycle) - 1); + sendbuf[29] = ((int)(pid.OUT * 1000)) / 256; + sendbuf[30] = ((int)(pid.OUT * 1000)) % 256; + + bufcut_Init(sendbuf_crc, sendbuf, 3, 31); + GetCRC16(sendbuf_crc, 28, &crc_num1, &crc_num2); + sendbuf[31] = crc_num1; + sendbuf[32] = crc_num2; // for(int i=0;i<20;i++) // { // printf("%x ",sendbuf_crc[i]); @@ -446,7 +457,7 @@ void RS485_1_Send_Data_2(void) // // } // printf("%x\r\n",sendbuf[0]); - for (a = 0; a < 29; a++) // 循环发送数据 + for (a = 0; a < 37; a++) // 循环发送数据 { while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET) ; diff --git a/OBJ/LED.axf b/OBJ/LED.axf index 345a2c8..1627dee 100644 Binary files a/OBJ/LED.axf and b/OBJ/LED.axf differ diff --git a/OBJ/LED.build_log.htm b/OBJ/LED.build_log.htm index 781ddc8..e3a6e13 100644 --- a/OBJ/LED.build_log.htm +++ b/OBJ/LED.build_log.htm @@ -26,12 +26,101 @@ Project File Date: 01/08/2024

Output:

*** Using Compiler 'V5.06 update 4 (build 422)', folder: 'D:\Keil_v5\ARM\ARMCC\Bin' -Build target 'LED' +Rebuild target 'LED' +compiling PID.c... +compiling MYSPI.c... +compiling iwdg.c... +compiling system_stm32f10x.c... +compiling USART.c... +assembling startup_stm32f10x_md.s... +compiling core_cm3.c... +compiling Relays.c... +compiling write.c... +compiling main.c... +compiling stm32f10x_gpio.c... +compiling SysTick.c... +compiling PWMOUT.c... +compiling W25Q128.c... +compiling misc.c... +compiling stm32f10x_cec.c... +compiling bufcut.c... +compiling stm32f10x_bkp.c... +compiling OSC.c... +compiling stm32f10x_it.c... +compiling stm32f10x_dbgmcu.c... +compiling stm32f10x_rcc.c... +compiling stm32f10x_adc.c... +compiling system.c... +compiling stm32f10x_crc.c... +compiling stm32f10x_dac.c... +compiling rtc.c... +compiling stm32f10x_usart.c... +compiling stm32f10x_dma.c... +compiling PWM.c... +compiling stm32f10x_can.c... +compiling rs485.c... +compiling stm32f10x_exti.c... +compiling stm32f10x_flash.c... +compiling stm32f10x_pwr.c... +compiling stm32f10x_iwdg.c... +compiling stm32f10x_rtc.c... +compiling stm32f10x_i2c.c... +compiling stm32f10x_fsmc.c... +compiling stm32f10x_sdio.c... +compiling utility.c... +compiling stm32f10x_spi.c... +compiling stm32f10x_wwdg.c... +compiling spi.c... +compiling socket.c... +compiling stm32f10x_tim.c... +compiling w5500api.c... +compiling cJSON.c... +..\MQTT\lib\cJSON.c(30): warning: #1293-D: assignment in condition + if (!(copy = (char*)cJSON_malloc(len))) +..\MQTT\lib\cJSON.c(254): warning: #1293-D: assignment in condition + ptr=str;while ((token=*ptr) && ++len) {if (strchr("\"\\\b\f\n\r\t",token)) len++; else if (token<32) len+=5;ptr++;} +..\MQTT\lib\cJSON.c(328): warning: #111-D: statement is unreachable + return p.buffer; +..\MQTT\lib\cJSON.c(399): warning: #1293-D: assignment in condition + if (!(new_item=cJSON_New_Item())) return 0; /* memory fail */ +..\MQTT\lib\cJSON.c(511): warning: #1293-D: assignment in condition + if (!(new_item=cJSON_New_Item())) return 0; /* memory fail */ +..\MQTT\lib\cJSON.c: 5 warnings, 0 errors +compiling w5500.c... +compiling dns.c... +compiling dhcp.c... +compiling MQTTConnectClient.c... +compiling MQTTConnectServer.c... +compiling MQTTDeserializePublish.c... +compiling MQTTFormat.c... +..\MQTT\lib\MQTTFormat.c(122): warning: #550-D: variable "strindex" was set but never used + int strindex = 0; +..\MQTT\lib\MQTTFormat.c(200): warning: #550-D: variable "rc" was set but never used + int rc; +..\MQTT\lib\MQTTFormat.c(190): warning: #550-D: variable "strindex" was set but never used + int strindex = 0; +..\MQTT\lib\MQTTFormat.c: 3 warnings, 0 errors +compiling MQTTPacket.c... +compiling MQTTSerializePublish.c... +compiling MQTTSubscribeClient.c... +compiling MQTTUnsubscribeClient.c... +compiling MQTTSubscribeServer.c... +compiling MQTTUnsubscribeServer.c... +compiling mqtt_api.c... +compiling md5.c... +compiling croutine.c... +compiling event_groups.c... +compiling list.c... +compiling tasks.c... +compiling timers.c... +compiling heap_4.c... +compiling queue.c... +compiling port.c... compiling myfreertos.c... linking... -Program Size: Code=25408 RO-data=804 RW-data=1524 ZI-data=13220 +Program Size: Code=25748 RO-data=804 RW-data=1532 ZI-data=13228 FromELF: creating hex file... -"..\OBJ\LED.axf" - 0 Error(s), 0 Warning(s). +"..\OBJ\LED.axf" - 0 Error(s), 8 Warning(s).

Collection of Component include folders:

.\RTE\_LED diff --git a/OBJ/LED.hex b/OBJ/LED.hex index 3042da8..3c56762 100644 --- a/OBJ/LED.hex +++ b/OBJ/LED.hex @@ -1,32 +1,32 @@ :020000040800F2 -:100000009839002099010008B70F0008290F00084F -:10001000B30F0008E90C00087F330008000000005F +:10000000A839002099010008EB0F00085D0F0008D7 +:10001000E70F00081D0D0008D334000800000000A1 :1000200000000000000000000000000001010008C6 -:10003000ED0C00080000000045010008E12900085F -:10004000B3010008B3010008B3010008B91D00089E +:10003000210D00080000000045010008352B0008D4 +:10004000B3010008B3010008B3010008111F000844 :10005000B3010008B3010008B3010008B3010008B0 :10006000B3010008B3010008B3010008B3010008A0 :10007000B3010008B3010008B3010008B301000890 :10008000B3010008B3010008B3010008B301000880 :10009000B3010008B3010008B3010008B301000870 :1000A000B3010008B3010008B3010008B301000860 -:1000B000AD2A0008B30100082D2B0008B301000889 +:1000B000012C0008B3010008812C0008B3010008DE :1000C000B3010008B3010008B3010008B301000840 -:1000D000B30100083530000875300008B30100088E +:1000D000B301000889310008C9310008B3010008E4 :1000E000B3010008B3010008B3010008DFF80CD029 -:1000F00000F086FC004800470F40000898390020B7 +:1000F00000F0A0FC0048004763410008A839002038 :10010000224B19680868B0E8F00F80F30988BFF344 :100110006F8F4FF0000080F311884EF00D0E704786 :100120000000000006480068006880F3088862B696 :1001300061B6BFF34F8FBFF36F8F00DF00BF00BF0B :1001400008ED00E0EFF30980BFF36F8F0F4B1A68E3 :1001500020E9F00F106008B54FF0500080F31188CF -:10016000BFF34F8FBFF36F8F05F038FA4FF00000E9 +:10016000BFF34F8FBFF36F8F05F0E2FA4FF000003F :1001700080F31188BDE8084019680868B0E8F00FFE -:1001800080F30988BFF36F8F704700BFF400002031 +:1001800080F30988BFF36F8F704700BFFC00002029 :10019000EFF3058070470000064880470648004797 :1001A000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE727 -:1001B000FEE7FEE74D2A0008ED00000840EA0103D3 +:1001B000FEE7FEE7A12B0008ED00000840EA01037E :1001C0009B0703D009E008C9121F08C0042AFAD20D :1001D00003E011F8013B00F8013B521EF9D27047D1 :1001E000F0B480EA0102D40F4200B2EB410F02D218 @@ -35,10 +35,10 @@ :1002100004B15242C5F1200602FA06F12A41104407 :10022000B3EBD05F23D0C4B1012DA0EBC35009DCE8 :10023000F0BC4FF0004202EAC352DBB200F500000E -:1002400000F03BBB400000F1807000EBC350A0F118 +:1002400000F055BB400000F1807000EBC350A0F1FE :10025000807040EAD170490009E0490841EAC07164 :10026000A0EBC35000F50000400800EBC350F0BC09 -:1002700000F01ABB6142012202EB4101001BF6E7CC +:1002700000F034BB6142012202EB4101001BF6E7B2 :10028000F0BC704781F00041AAE780F00040A7E78A :1002900080EA010210B502F00043400022D04A007B :1002A0001FD0010E01EB1261C0F35600C2F35602DB @@ -53,25 +53,25 @@ :1003300030BC002070474FF400000023914201D3ED :10034000891A034340084FEA4101F7D151B1914264 :1003500002D14FF0004105E002D24FF0010101E06F -:100360006FF0010103EBC450284430BC00F09CBA8C +:100360006FF0010103EBC450284430BC00F0B6BA72 :100370002DE9FE4F804681EA0300C00F0C46009035 :1003800021F0004123F00045B8EB0200A94105D25D :100390004046214690461C460B46024623F000404C :1003A000104347D0270DC7F30A00C3F30A51029048 :1003B000401A019040286BDAC3F3130040F4801B0D :1003C0000098924620B10023D2EB030A63EB0B0B9B -:1003D00001985946C0F14002504600F034FA0646F2 -:1003E0000D4650465946019A00F04CFA10EB0800B1 +:1003D00001985946C0F14002504600F04EFA0646D8 +:1003E0000D4650465946019A00F066FA10EB080097 :1003F0006141002487EA115284EAE7731A4340D02E :10040000009A62B3019A012A4FEA075215DC001BD9 :1004100061EB02014FF0004202EA0752CDE90042CF -:10042000001C41F5801132462B4600F083FA03B0E0 +:10042000001C41F5801132462B4600F09DFA03B0C6 :10043000BDE8F08F40462146F9E7001B61EB020161 :10044000001C41F5801300185B412018A2F500172D :1004500047EB030140EAD570B6196D4111E06D0814 :100460004FEA360645EAC0754FEA0752001B61EBBA :100470000201001C41F5801149084FEA30000019C3 -:10048000514132462B4603B0BDE8F04F00F043BA6D +:10048000514132462B4603B0BDE8F04F00F05DBA53 :100490000098012240000023D0EB020263EBE073DE :1004A000009821464FEAE074B8EB000061EB0401CC :1004B000E9E783F000435BE781F0004158E72DE96D @@ -88,7 +88,7 @@ :100560000C335E1844EB1C50DA465146E7FB02019F :10057000C5F313044FEA0B3343EA14534FEA043232 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+:0C6880001589101A0313045109D40C00F0 :04000005080000ED02 :00000001FF diff --git a/OBJ/LED.htm b/OBJ/LED.htm index 3b9d966..0cf630c 100644 --- a/OBJ/LED.htm +++ b/OBJ/LED.htm @@ -3,7 +3,7 @@ Static Call Graph - [..\OBJ\LED.axf]

Static Call Graph for image ..\OBJ\LED.axf

-

#<CALLGRAPH># ARM Linker, 5060422: Last Updated: Tue Jan 09 09:32:57 2024 +

#<CALLGRAPH># ARM Linker, 5060422: Last Updated: Tue Jan 23 16:16:49 2024

Maximum Stack Usage = 304 bytes + Unknown(Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -87,7 +87,7 @@ Global Symbols

__main (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
[Address Reference Count : 1]

-

_main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001)) +

_main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))

_main_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))

[Calls]