diff --git a/HARDWARE/PID.c b/HARDWARE/PID.c index 8d80cc4..517f340 100644 --- a/HARDWARE/PID.c +++ b/HARDWARE/PID.c @@ -2,7 +2,6 @@ #include "Relays.h" #include "USART.h" #include "rs485.h" -extern u16 tem; float cold_tem = 0; float red_tem = 0; float ti; @@ -18,7 +17,6 @@ int max_speed_count = 6000; void PID_Init() { - // pid.set_tem=tem;// user set temperature // if flash have not a vaild value, just set a default value if (pid.Kp < 1e-7) { pid.Kp = 9.6; } if (pid.Ki < 1e-7) { pid.Ki = 0.01; } @@ -32,13 +30,22 @@ void PID_Init() pid.OUT0 = 1; pid.C1ms = 0; - pid.hp = 2.4; - pid.hi = 0.02; - pid.hd = 0; + pid.max_compressor_tem = 30; - pid.cp = 9.6; + pid.hp_h = 5; + pid.hi_h = 0.02; + pid.hd_h = 0.5; + pid.h_base_h = 0; + + pid.hp_l = 19.2; + pid.hi_l = 0.08; + pid.hd_l = 0; + pid.h_base_l = 30; + + pid.cp = 4.8; pid.ci = 0; pid.cd = 0; + pid.c_base = 37; pid.h_percent = 0; pid.c_speed = 0; @@ -93,8 +100,8 @@ void set_heater_power(int percent) { /** * heater power calc */ -int calc_hp(float delta_t, float Error_calc, int p_hb, float pid_hp, float pid_hi) { - int p_h = p_hb + pid_hp * delta_t + pid_hi * Error_calc; +int calc_hp(float delta_t, float Error_calc, float DelEk, int p_hb, float pid_hp, float pid_hi, float pid_hd) { + int p_h = p_hb + pid_hp * delta_t + pid_hi * Error_calc + pid_hd * DelEk; if (p_h > 100) { return 100; } @@ -136,8 +143,6 @@ void PID_Calc() // pid calc { int min_speed_count = 1800; int max_speed_count = 4800; - int p_hb = 52; - int p_cb = 33; float DelEk; // The difference between the last two deviations // float td; float out; @@ -148,32 +153,55 @@ void PID_Calc() // pid calc // } float delta_t = pid.set_tem - pid.now_tem; - - int p_c = calc_cp(delta_t, p_cb, pid.cp); - pid.c_speed = calc_compressor_speed(p_c, min_speed_count, max_speed_count); - + // When the target tem is greater then max compressor tem, the compressor will stop + if (pid.set_tem > pid.max_compressor_tem) { + pid.c_speed = 0; + } else { + int p_c = calc_cp(delta_t, pid.c_base, pid.cp); + pid.c_speed = calc_compressor_speed(p_c, min_speed_count, max_speed_count); + } + + float hp = pid.hp_h; + float hi = pid.hi_h; + float hd = pid.hd_h; + int h_base = pid.h_base_h; + + // l mode + if (pid.set_tem <= pid.max_compressor_tem) { + hp = pid.hp_l; + hi = pid.hi_l; + hd = pid.hd_l; + h_base = pid.h_base_l; + } + pid.Ek = pid.set_tem - pid.now_tem; pid.Pout = pid.Kp * pid.Ek; // Proportional output pid.SEk += pid.Ek; // Total historical deviation + DelEk = pid.Ek - pid.Ek_prev; // The difference between the last two deviations + + // no integral when the deviation is too large + if (pid.now_tem < pid.set_tem - 3) { + pid.SEk = 0; + } + // SEk limit, updated func - if (pid.SEk < - p_hb / pid.hi) { - pid.SEk = - p_hb / pid.hi; + if (pid.SEk < - h_base / hi) { + pid.SEk = - h_base / hi; } if (pid.c_speed == max_speed_count) { pid.SEk = 0; } float Error_calc = pid.SEk; - if (Error_calc < - (p_hb + pid.hp * delta_t) / pid.hi) { - Error_calc = - (p_hb + pid.hp * delta_t) / pid.hi; + if (Error_calc < - (h_base + hp * delta_t) / hi) { + Error_calc = - (h_base + hp * delta_t) / hi; } if (pid.c_speed == max_speed_count) { Error_calc = 0; } - DelEk = pid.Ek - pid.Ek_1; // The difference between the last two deviations // ti=pid.t/pid.Ti; // ki=ti*pid.Kp; @@ -203,11 +231,9 @@ void PID_Calc() // pid calc { pid.OUT = out; } - pid.Ek_1 = pid.Ek; // udpate difference - pid.C1ms = 0; // heater percent - pid.h_percent = calc_hp(delta_t, Error_calc, p_hb, pid.hp, pid.hi); + pid.h_percent = calc_hp(delta_t, Error_calc, DelEk, h_base, hp, hi, hd); // close heater when compressor is running in full state if (pid.c_speed == max_speed_count) { pid.h_percent = 0; @@ -216,4 +242,8 @@ void PID_Calc() // pid calc set_compressor_power(pid.c_speed); set_heater_power(pid.h_percent); + + pid.Ek_prev = pid.Ek; // udpate difference + pid.C1ms = 0; + } diff --git a/HARDWARE/PID.h b/HARDWARE/PID.h index 169d7a2..a3900d9 100644 --- a/HARDWARE/PID.h +++ b/HARDWARE/PID.h @@ -10,14 +10,30 @@ typedef struct Pid { float set_tem;// User settings float now_tem;// current temperature + + float max_compressor_tem; // maximum temperature of the compressor. When the target tem is greater than this value, the compressor is turned off. + + float out_tem; // outer temperature + float out_humidity; // outer humidity - float hp; - float hi; - float hd; + // in h mode + float hp_h; + float hi_h; + float hd_h; + int h_base_h; // base power percent in h mode + + // in l mode + float hp_l; + float hi_l; + float hd_l; + int h_base_l; // base power percent in l mode int h_percent; + + float cp; float ci; float cd; + float c_base; int c_speed; float Kp; // 110 @@ -28,7 +44,7 @@ typedef struct Pid float Td; float Ek; // This deviation - float Ek_1;// Last deviation + float Ek_prev;// Last deviation float SEk; // The sum of historical deviations float Iout; diff --git a/HARDWARE/rs485.c b/HARDWARE/rs485.c index 3a4b3e4..d3eeb89 100644 --- a/HARDWARE/rs485.c +++ b/HARDWARE/rs485.c @@ -380,6 +380,10 @@ void RS485_1_Send_Data_1(u8 *buf, u8 len) void RS485_1_Send_Data_2(void) { + // when H eq 0, don't send + // if (H == 0) { + // return; + // } sendbuf[0] = 0xEE; sendbuf[1] = 0xB5; sendbuf[2] = 0x05; @@ -450,21 +454,35 @@ void RS485_1_Send_Data_2(void) sendbuf[25] = 0; // ALARM state sendbuf[26] = ALARM; // ALARM state - sendbuf[27] = (int)pid.hp / 256; // Kp 110 - sendbuf[28] = (int)pid.hp % 256; // Kp 110 - sendbuf[29] = ((int)(pid.hi * 100000)) / 256; // Ti 0.001 - sendbuf[30] = ((int)(pid.hi * 100000)) % 256; // Ti 0.001 - sendbuf[31] = (int)pid.hd / 256; // Td 340 - sendbuf[32] = (int)pid.hd % 256; // Td 340 + if (pid.set_tem > pid.max_compressor_tem) { + // h mode + sendbuf[27] = (int)(pid.hp_h * 1000) / 256; // Kp 110 + sendbuf[28] = (int)(pid.hp_h * 1000) % 256; // Kp 110 + sendbuf[29] = ((int)(pid.hi_h * 100000)) / 256; // Ti 0.001 + sendbuf[30] = ((int)(pid.hi_h * 100000)) % 256; // Ti 0.001 + sendbuf[31] = (int)pid.hd_h / 256; // Td 340 + sendbuf[32] = (int)pid.hd_h % 256; // Td 340 + } else { + // l mode + sendbuf[27] = (int)(pid.hp_l * 1000) / 256; // Kp 110 + sendbuf[28] = (int)(pid.hp_l * 1000) % 256; // Kp 110 + sendbuf[29] = ((int)(pid.hi_l * 100000)) / 256; // Ti 0.001 + sendbuf[30] = ((int)(pid.hi_l * 100000)) % 256; // Ti 0.001 + sendbuf[31] = (int)pid.hd_l / 256; // Td 340 + sendbuf[32] = (int)pid.hd_l % 256; // Td 340 + } sendbuf[33] = pid.h_percent / 256; // h_percent sendbuf[34] = pid.h_percent % 256; // h_percent - sendbuf[35] = (int)pid.cp / 256; // Kp 110 - sendbuf[36] = (int)pid.cp % 256; // Kp 110 + sendbuf[35] = (int)(pid.cp * 1000) / 256; // Kp 110 + sendbuf[36] = (int)(pid.cp * 1000) % 256; // Kp 110 sendbuf[37] = ((int)(pid.ci * 100000)) / 256; // Ti 0.001 sendbuf[38] = ((int)(pid.ci * 100000)) % 256; // Ti 0.001 - sendbuf[39] = (int)pid.cd / 256; // Td 340 - sendbuf[40] = (int)pid.cd % 256; // Td 340 + // sendbuf[39] = (int)pid.cd / 256; // Td 340 + // sendbuf[40] = (int)pid.cd % 256; // Td 340 + // TODO::temply print out_tem + sendbuf[39] = (int)(pid.out_tem * 10) / 256; // Td 340 + sendbuf[40] = (int)(pid.out_tem * 10) % 256; // Td 340 sendbuf[41] = pid.c_speed / 256; // h_percent sendbuf[42] = pid.c_speed % 256; // h_percent diff --git a/USER/control.uvguix.Administrator b/USER/control.uvguix.Administrator index 5e11bd1..89917fb 100644 --- a/USER/control.uvguix.Administrator +++ b/USER/control.uvguix.Administrator @@ -95,7 +95,7 @@ 0 1454 - 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898 @@ -1749,16 +1749,16 @@ 2 ../myfreertos/myfreertos.c - 0 - 198 - 221 + 10 + 396 + 422 1 0 main.c - 13 + 15 1 15 1 @@ -1767,16 +1767,16 @@ ../HARDWARE/PID.c - 17 - 115 - 130 + 3 + 66 + 77 1 0 ../HARDWARE/PID.h - 8 + 14 5 17 1 @@ -1803,9 +1803,9 @@ ../HARDWARE/rs485.c - 20 - 381 - 405 + 40 + 252 + 258 1 0 diff --git a/USER/main.c b/USER/main.c index afedd62..7a38249 100644 --- a/USER/main.c +++ b/USER/main.c @@ -1,9 +1,5 @@ #include "myfreertos.h" -extern u16 tem, hum, red, blue, white; -extern u8 now_stage; -extern u8 hour, min; -extern u8 gpio_state; // int a_value=20; // int b_value=20; // int c_value=20; @@ -22,7 +18,6 @@ int main(void) RTC_Init(); // 需要放在HC595_Pin_Init()后面 TIM2_Init(); Read_Init(); // 读flash的值赋值给total数组以及阶段 - // Array(&now_stage,&hour,&min,&tem,&hum,&red,&blue,&white); PWM1_Init(500 - 1, 720 - 1); PWM2_Init(500 - 1, 720 - 1); PWM3_Init(500 - 1, 720 - 1); diff --git a/myfreertos/myfreertos.c b/myfreertos/myfreertos.c index 23ebafd..4207299 100644 --- a/myfreertos/myfreertos.c +++ b/myfreertos/myfreertos.c @@ -1,6 +1,7 @@ #include "myfreertos.h" -#define SENSOR_ADDRESS 0x02 +#define INNER_SENSOR_ADDRESS 0x02 +#define OUTER_SENSOR_ADDRESS 0x04 char pubTopic[512] = "/sys/hp8oQhMZJ67/Device1/thing/event/property/post"; // Publish topic char subTopic[512] = "/sys/hp8oQhMZJ67/Device1/thing/service/property/set"; // Subscribe topic @@ -36,23 +37,20 @@ void Host_Computer_Communication(void); // 1seconds delay #define MAIN_TASK_PERIOD pdMS_TO_TICKS(1000) - /** - * sensor data request: 02 03 -*/ + * sensor data request: 02 03 + */ void SensorDataRequestTask(void *pvParameters); /** * sync environment data: EE B5 01 -*/ + */ void SyncEnvironmentDataRequestTask(void *pvParameters); /** * 定时制热test -*/ + */ void HotTestRequestTask(void *pvParameters); - - int isZeros(u8 arr[]); u8 RS485_RX_BUF_COPY[128] = {0}; u8 RS485_DATA_TMP[128] = {0}; @@ -81,14 +79,14 @@ u8 Feed_Dog_Count = 0; // Feeding dog timing u8 now_stage = 1; // Current operational phase u16 tem, hum, red, blue, white; u8 hour, min; -u8 rs485buf[8] = {SENSOR_ADDRESS, 0x03, 0x00, 0x01, 0x00, 0x09, 0xD4, 0x3F}; // Sensor exchange data -u16 sync_cnt = 0; // 同步环境控制参数的计数器，到0同步 +u8 INNER_SENSOR_485_REQUEST_COMMAND[8] = {INNER_SENSOR_ADDRESS, 0x03, 0x00, 0x01, 0x00, 0x09, 0xD4, 0x3F}; // Inner sensor exchange data +u8 OUTER_SENSOR_485_REQUEST_COMMAND[8] = {OUTER_SENSOR_ADDRESS, 0x03, 0x00, 0x00, 0x00, 0x02, 0xC4, 0x5E}; // Outer sensor exchange data +u16 sync_cnt = 0; // 同步环境控制参数的计数器，到0同步 int T = 0, H = 0, C = 0, G = 0, current_T = 0; extern u8 total[]; float Humidity = 0; float temperature = 0; - // pages in hmi #define page_index 43 #define page_curve 45 @@ -101,6 +99,24 @@ float temperature = 0; // u8 RS485_RX_BUF[64]; +/********************* +********************** +Create handles for tasks, queues, signal sets, etc., which can also be tested using +********************** +*********************/ +BaseType_t handler = 0; +BaseType_t handler1 = 0; +BaseType_t handler2 = 0; +BaseType_t handler3 = 0; +BaseType_t handler4 = 0; +BaseType_t handler5 = 0; +BaseType_t handler6 = 0; +BaseType_t handler7 = 0; +BaseType_t handler8 = 0; +BaseType_t handler9 = 0; +BaseType_t handler10 = 0; +BaseType_t handler11 = 0; + /********************* ********************** entry function @@ -116,34 +132,14 @@ void os_init(void) (UBaseType_t)START_TASK_PRIO, (TaskHandle_t *)&StartTask_Handler); - // 创建传感器数据请求任务 - xTaskCreate(SensorDataRequestTask, "SensorDataRequestTask", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL); - - xTaskCreate(SyncEnvironmentDataRequestTask, "SyncEnvironmentDataRequestTask", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, NULL); - xTaskCreate(HotTestRequestTask, "HotTestRequestTask", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 3, NULL); - + // 创建传感器数据请求任务 + xTaskCreate(SensorDataRequestTask, "SensorDataRequestTask", configMINIMAL_STACK_SIZE * 8, NULL, tskIDLE_PRIORITY + 6, NULL); + xTaskCreate(SyncEnvironmentDataRequestTask, "SyncEnvironmentDataRequestTask", configMINIMAL_STACK_SIZE * 8, NULL, tskIDLE_PRIORITY + 7, NULL); + xTaskCreate(HotTestRequestTask, "HotTestRequestTask", configMINIMAL_STACK_SIZE * 8, NULL, tskIDLE_PRIORITY + 8, NULL); vTaskStartScheduler(); } -/********************* -********************** -Create handles for tasks, queues, signal sets, etc., which can also be tested using -********************** -*********************/ -BaseType_t handler = 0; -BaseType_t handler1 = 0; -BaseType_t handler2 = 0; -BaseType_t handler3 = 0; -BaseType_t handler4 = 0; -BaseType_t handler5 = 0; -BaseType_t handler6 = 0; -BaseType_t handler7 = 0; -BaseType_t handler8 = 0; -BaseType_t handler9 = 0; -BaseType_t handler10 = 0; -BaseType_t handler11 = 0; - /* Start function: Create other functions and timers @@ -160,7 +156,8 @@ void start_task(void *pvParameters) (const char *)"Sensor_Communication_task", (uint16_t)Sensor_Communication_STK_SIZE, (void *)NULL, - (UBaseType_t)Sensor_Communication_TASK_PRIO, + // (UBaseType_t)Sensor_Communication_TASK_PRIO, + tskIDLE_PRIORITY + 4, (TaskHandle_t *)&Sensor_CommunicationTask_Handler); // if(handler==pdPASS){printf("与传感器通信任务创建成功\r\n");} // else{printf("与传感器通信任务创建失败\r\n");} @@ -175,161 +172,106 @@ void start_task(void *pvParameters) // if(handler4==pdPASS){printf("控灯任务创建成功\r\n");} // else{printf("控灯任务创建失败\r\n");} - vTaskDelete(StartTask_Handler); // 删除开始任务 taskEXIT_CRITICAL(); // 退出临界区 } +void SensorDataRequestTask(void *pvParameters) +{ + while (1) + { + // 发送传感器数据请求的操作 + RS485_1_Send_Data_1(INNER_SENSOR_485_REQUEST_COMMAND, 8); + vTaskDelay(100); + RS485_1_Send_Data_1(OUTER_SENSOR_485_REQUEST_COMMAND, 8); + vTaskDelay(100); + process_485_task(); -void SensorDataRequestTask(void *pvParameters) { - while (1) { - // 发送传感器数据请求的操作 - RS485_1_Send_Data_1(rs485buf, 8); - // delay_xms(100); - // RS485_1_Send_Data_1(RS485_RX_BUF, 48); + PID_Calc(); + // RS485_1_Send_Data_1(RS485_RX_BUF, 48); - vTaskDelay(SENSOR_DATA_REQUEST_PERIOD); - } + vTaskDelay(4800); + // vTaskDelay(SENSOR_DATA_REQUEST_PERIOD); + } } -void SyncEnvironmentDataRequestTask(void *pvParameters) { - while (1) { +void SyncEnvironmentDataRequestTask(void *pvParameters) +{ + while (1) + { RS485_1_Send_Data_3(); - vTaskDelay(SYNC_ENVIRONMENT_DATA_REQUEST_PERIOD); - } + vTaskDelay(SYNC_ENVIRONMENT_DATA_REQUEST_PERIOD); + } } int hot = 0; /** * pid计算，每5秒一次 -*/ -void HotTestRequestTask(void *pvParameters) { - while (1) { - - PID_Calc(); - // if (T >= 350) { - // hot = 0; - // hot_clod_flag = 0; - // } else { - // hot = 52; - - // hot_clod_flag = 2; - // // hot += 10; - // // if (hot > 100) { - // // hot = 10; - // // } - // } - // u8 temp_data[8] = { 0x10, 0x06, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00 }; - - // temp_data[4] = hot / 256; - // temp_data[5] = hot % 256; - - // GetCRC16(temp_data, 6, temp_data + 6, temp_data + 7); - - // RS485_3_Init(9600); - // RS485_3_Send_Data(temp_data, 8); - // // RS485_1_Send_Data(temp_data, 8); - // delay_xms(30); - // RS485_1_Init(9600); - - - // HC595_Send_Byte(gpio_state |= 0x04); // open heater |=0000 0100 0x04 - - // vTaskDelay(60000); - - - - // temp_data[4] = 0; - // temp_data[5] = 0; - - // GetCRC16(temp_data, 6, temp_data + 6, temp_data + 7); - - // // RS485_3_Init(9600); - // RS485_1_Send_Data(temp_data, 8); - // // RS485_3_Send_Data(temp_data, 8); - // // delay_xms(30); - // // RS485_1_Init(9600); + */ +void HotTestRequestTask(void *pvParameters) +{ + while (1) + { - // // HC595_Send_Byte(gpio_state &= 0xFB); // close heater &=1111 1011 0xFB - // hot_clod_flag = 0; + // PID_Calc(); + RS485_1_Send_Data_2(); // 上传参数 - vTaskDelay(5000); - } + vTaskDelay(5000); + } } - -u8 temp[4] = {0xaa,0xbb,0xcc,0xdd}; +u8 temp[4] = {0xaa, 0xbb, 0xcc, 0xdd}; u8 times = 0; -void Sensor_Communication_task(void *pvParameters) -{ - - while (1) - { - // RS485_3_Init(9600); - // // temp[2] = (int)pid.Ki / 256; - // // temp[3] = (int)pid.Ki % 256; - // temp[2] = 4800 / 256; - // temp[3] = 4800 % 256; - // RS485_3_Send_Data(temp, 4); - // // RS485_1_Send_Data(temp_data, 8); - // delay_xms(30); - // RS485_1_Init(9600); - // RS485_1_Send_Data(temp, 4); - // HC595_Send_Byte(0x00); - // cnt_flag=do_mqtt(MQTT_SOCK,NET_CONFIG.rip,1883,5500); - // Humidity=H*0.1; - // temperature=T*0.1; - // delay_ms(50); - // sprintf(wet_temp,"{\"method\":\"thing.event.property.post\",\"params\":{\"Humidity\":%.2f,\"temperature\":%.2f,\"CO2\":%d,\"red_light\":%d,\"white_light\":%d,\"blue_light\":%d},\"version\":\"1.0.0\"}",Humidity,temperature,C,red/10,white/10,blue/10); //构建数据 - // //sprintf(wet_temp,"{\"method\":\"thing.event.property.post\",\"params\":{\"Humidity\":%.2f,\"temperature\":%.2f,\"CO2\":%d},\"version\":\"1.0.0\"}",Humidity,temperature,C); //构建数据 - // if(cnt_flag==0){sub_flag=0;pub_flag=0;time=0;} - // if(cnt_flag&&sub_flag==0)sub_flag=!subscribMqtt(MQTT_SOCK,subTopic); - // if(cnt_flag&&sub_flag&&pub_flag==0)pub_flag=!publishMqtt(MQTT_SOCK,pubTopic,wet_temp); - // if(cnt_flag)time++; - // if(time==50){ - // time=0; - // pingMqtt(MQTT_SOCK); - // } +void process_485_task(void) { + now_stage = timelong_Compare(); Array(&now_stage, &hour, &min, &tem, &hum, &red, &blue, &white); // 更新对应阶段号的参数 delay_xms(50); bufcut_Init(RS485_RX_BUF_COPY, RS485_RX_BUF, 0, 128); - u8 c = 0; RS485_RX_CNT = 0; while (isAllZeros(RS485_RX_BUF_COPY, 128) == 0) // while (RS485_RX_CNT > 0) - { - if (RS485_RX_BUF_COPY[0] == 0x02 && RS485_RX_BUF_COPY[1] == 0x03 && CRC16_check(RS485_RX_BUF_COPY, 21) == 1) + { + if (RS485_RX_BUF_COPY[0] == INNER_SENSOR_ADDRESS && RS485_RX_BUF_COPY[1] == 0x03 && CRC16_check(RS485_RX_BUF_COPY, 21) == 1) { - c++; // receive message from sensor u8 temp_data[23] = {0}; - for (int i=0;i<23;i++) { + for (int i = 0; i < 23; i++) + { temp_data[i] = RS485_RX_BUF_COPY[i]; } - process_sensor_data(temp_data); + process_inner_sensor_data(temp_data); RX_BUF_Transfer(0, 23); - // u8 tmpaaa[] = {c}; - // RS485_1_Send_Data_1(tmpaaa, 1); + } + else if (RS485_RX_BUF_COPY[0] == OUTER_SENSOR_ADDRESS && RS485_RX_BUF_COPY[1] == 0x03 && CRC16_check(RS485_RX_BUF_COPY, 7) == 1) + { + // receive message from sensor + u8 temp_data[9] = {0}; + for (int i = 0; i < 9; i++) + { + temp_data[i] = RS485_RX_BUF_COPY[i]; + } + process_outer_sensor_data(temp_data); + RX_BUF_Transfer(0, 9); } else if (RS485_RX_BUF_COPY[0] == 0xEE && RS485_RX_BUF_COPY[1] == 0xB6 && RS485_RX_BUF_COPY[2] == 0x01 && CRC16_check(RS485_RX_BUF_COPY, 16) == 1) { // batch update params in a stage // total length: 18 // if (CRC16_check(RS485_RX_BUF_COPY, 16) == 1) { - Batch_synchronization(&n, RS485_RX_BUF_COPY); - Array(&now_stage, &hour, &min, &tem, &hum, &red, &blue, &white); // update param correspond to current stage - bufcut_Init(RS485_DATA_TMP, RS485_RX_BUF_COPY, 0, 18); - RS485_DATA_TMP[18] = 0xFF; - RS485_DATA_TMP[19] = 0xFC; - RS485_DATA_TMP[20] = 0xFF; - RS485_DATA_TMP[21] = 0xFF; - // bufcut_Init(RS485_DATA_TMP + 8, RS485_SUFFIX, 18, 22); - RS485_1_Send_Data_1(RS485_DATA_TMP, 22); + Batch_synchronization(&n, RS485_RX_BUF_COPY); + Array(&now_stage, &hour, &min, &tem, &hum, &red, &blue, &white); // update param correspond to current stage + bufcut_Init(RS485_DATA_TMP, RS485_RX_BUF_COPY, 0, 18); + RS485_DATA_TMP[18] = 0xFF; + RS485_DATA_TMP[19] = 0xFC; + RS485_DATA_TMP[20] = 0xFF; + RS485_DATA_TMP[21] = 0xFF; + // bufcut_Init(RS485_DATA_TMP + 8, RS485_SUFFIX, 18, 22); + RS485_1_Send_Data_1(RS485_DATA_TMP, 22); // } RX_BUF_Transfer(0, 18); } @@ -338,12 +280,12 @@ void Sensor_Communication_task(void *pvParameters) // update single environment param // total length: 9 // if (CRC16_check(RS485_RX_BUF_COPY, 7) == 1) { - Analysis(&n, &i, RS485_RX_BUF_COPY); - Array(&now_stage, &hour, &min, &tem, &hum, &red, &blue, &white); // update param correspond to current stage - Write_Init(); - bufcut_Init(RS485_DATA_TMP, RS485_RX_BUF_COPY, 0, 9); - bufcut_Init(RS485_DATA_TMP + 8, RS485_SUFFIX, 9, 13); - RS485_1_Send_Data_1(RS485_DATA_TMP, 13); + Analysis(&n, &i, RS485_RX_BUF_COPY); + Array(&now_stage, &hour, &min, &tem, &hum, &red, &blue, &white); // update param correspond to current stage + Write_Init(); + bufcut_Init(RS485_DATA_TMP, RS485_RX_BUF_COPY, 0, 9); + bufcut_Init(RS485_DATA_TMP + 8, RS485_SUFFIX, 9, 13); + RS485_1_Send_Data_1(RS485_DATA_TMP, 13); // } RX_BUF_Transfer(0, 9); } @@ -352,16 +294,16 @@ void Sensor_Communication_task(void *pvParameters) // change running stage // total length: 6 // if (CRC16_check(RS485_RX_BUF_COPY, 4) == 1) { - int target_stage = RS485_RX_BUF_COPY[3]; - RTC_synchronization_ins(2023, 9, 1, 0, 00, 00); - now_stage = target_stage; - store_stage = target_stage; - Write_Init(); - bufcut_Init(RS485_DATA_TMP, RS485_RX_BUF_COPY, 0, 6); - bufcut_Init(RS485_DATA_TMP + 8, RS485_SUFFIX, 6, 10); - RS485_1_Send_Data_1(RS485_DATA_TMP, 10); - // delay_ms(10); - RS485_1_Send_Data_2(); // 上传参数 + int target_stage = RS485_RX_BUF_COPY[3]; + RTC_synchronization_ins(2023, 9, 1, 0, 00, 00); + now_stage = target_stage; + store_stage = target_stage; + Write_Init(); + bufcut_Init(RS485_DATA_TMP, RS485_RX_BUF_COPY, 0, 6); + bufcut_Init(RS485_DATA_TMP + 8, RS485_SUFFIX, 6, 10); + RS485_1_Send_Data_1(RS485_DATA_TMP, 10); + // delay_ms(10); + RS485_1_Send_Data_2(); // 上传参数 // } RX_BUF_Transfer(0, 6); } @@ -370,38 +312,39 @@ void Sensor_Communication_task(void *pvParameters) // change pid params // total length: 8 int param_index = RS485_RX_BUF_COPY[3]; - switch(param_index) { - case 0x01: - { - pid.Kp = RS485_RX_BUF_COPY[4] * 256.0 + RS485_RX_BUF_COPY[5]; - break; - } - case 0x02: - { - pid.Ki = (RS485_RX_BUF_COPY[4] * 256.0 + RS485_RX_BUF_COPY[5]) / 100000.0; - break; - } - case 0x03: - { - pid.Kd = RS485_RX_BUF_COPY[4] * 256.0 + RS485_RX_BUF_COPY[5]; - break; - } - case 0x04: - { - int tem_offset_10times = RS485_RX_BUF_COPY[4] * 256.0 + RS485_RX_BUF_COPY[5]; - // Negative tem offset treatment - if (tem_offset_10times & 0x8000) - { - tem_offset_10times = ((~tem_offset_10times + 1) & 0xFFFF); - } - pid.tem_offset = tem_offset_10times / 10.0; - break; - } - case 0x05: + switch (param_index) + { + case 0x01: + { + pid.Kp = RS485_RX_BUF_COPY[4] * 256.0 + RS485_RX_BUF_COPY[5]; + break; + } + case 0x02: + { + pid.Ki = (RS485_RX_BUF_COPY[4] * 256.0 + RS485_RX_BUF_COPY[5]) / 100000.0; + break; + } + case 0x03: + { + pid.Kd = RS485_RX_BUF_COPY[4] * 256.0 + RS485_RX_BUF_COPY[5]; + break; + } + case 0x04: + { + int tem_offset_10times = RS485_RX_BUF_COPY[4] * 256.0 + RS485_RX_BUF_COPY[5]; + // Negative temperature offset treatment + if (tem_offset_10times & 0x8000) { - pid.tem_threshold = (RS485_RX_BUF_COPY[4] * 256.0 + RS485_RX_BUF_COPY[5]) / 10.0; - break; + tem_offset_10times = ((~tem_offset_10times + 1) & 0xFFFF); } + pid.tem_offset = tem_offset_10times / 10.0; + break; + } + case 0x05: + { + pid.tem_threshold = (RS485_RX_BUF_COPY[4] * 256.0 + RS485_RX_BUF_COPY[5]) / 10.0; + break; + } } Write_Init(); bufcut_Init(RS485_DATA_TMP, RS485_RX_BUF_COPY, 0, 8); @@ -454,16 +397,49 @@ void Sensor_Communication_task(void *pvParameters) // PWM_SetCompare4((white / 100.0 * 3.5 + 28)); // J10 // } RS485_RX_CNT = 0; +} + +void Sensor_Communication_task(void *pvParameters) +{ - - vTaskDelay(MAIN_TASK_PERIOD); + while (1) + { + // RS485_3_Init(9600); + // // temp[2] = (int)pid.Ki / 256; + // // temp[3] = (int)pid.Ki % 256; + // temp[2] = 4800 / 256; + // temp[3] = 4800 % 256; + // RS485_3_Send_Data(temp, 4); + // // RS485_1_Send_Data(temp_data, 8); + // delay_xms(30); + // RS485_1_Init(9600); + // RS485_1_Send_Data(temp, 4); + + // HC595_Send_Byte(0x00); + // cnt_flag=do_mqtt(MQTT_SOCK,NET_CONFIG.rip,1883,5500); + // Humidity=H*0.1; + // temperature=T*0.1; + // delay_ms(50); + // sprintf(wet_temp,"{\"method\":\"thing.event.property.post\",\"params\":{\"Humidity\":%.2f,\"temperature\":%.2f,\"CO2\":%d,\"red_light\":%d,\"white_light\":%d,\"blue_light\":%d},\"version\":\"1.0.0\"}",Humidity,temperature,C,red/10,white/10,blue/10); //构建数据 + // //sprintf(wet_temp,"{\"method\":\"thing.event.property.post\",\"params\":{\"Humidity\":%.2f,\"temperature\":%.2f,\"CO2\":%d},\"version\":\"1.0.0\"}",Humidity,temperature,C); //构建数据 + // if(cnt_flag==0){sub_flag=0;pub_flag=0;time=0;} + // if(cnt_flag&&sub_flag==0)sub_flag=!subscribMqtt(MQTT_SOCK,subTopic); + // if(cnt_flag&&sub_flag&&pub_flag==0)pub_flag=!publishMqtt(MQTT_SOCK,pubTopic,wet_temp); + // if(cnt_flag)time++; + // if(time==50){ + // time=0; + // pingMqtt(MQTT_SOCK); + // } + process_485_task(); + vTaskDelay(MAIN_TASK_PERIOD); } } /** - * process sensor data -*/ -void process_sensor_data(u8 *data) { + * process inner sensor data + */ +void process_inner_sensor_data(u8 *data) +{ T = data[3]; T = T << 8 | data[4]; // Negative temperature treatment @@ -508,6 +484,10 @@ void process_sensor_data(u8 *data) { // // } // } + // 如果目标温度变化（新的目标温度和现在的目标温度相差大于等于0.1度），则清除误差累计 + if (pid.set_tem - tem / 10.0 >= 0.1 || pid.set_tem - tem / 10.0 <= -0.1) { + pid.SEk = 0; + } pid.set_tem = tem / 10.0; pid.now_tem = T / 10.0; // PID_Calc(); @@ -521,7 +501,7 @@ void process_sensor_data(u8 *data) { gpio_state |= 0x08; // HC595_Send_Byte(gpio_state &= 0xEF); // 关闭加湿器 &=1110 1111 0xEF gpio_state &= 0xEF; - humidity_flag = 1; // 除湿 + humidity_flag = 1; // 除湿 } if (H < (hum - 50)) // 湿度低于设定值5，打开加湿器 GPIO5->PD0 { @@ -546,21 +526,48 @@ void process_sensor_data(u8 *data) { humidity_flag = 0; } - // HC595_Send_Byte(gpio_state); - + // HC595_Send_Byte(gpio_state); + RS485_1_Send_Data_2(); // 上传参数 - // delay_xms(200); + // delay_xms(200); +} + +/** + * process inner sensor data + */ +void process_outer_sensor_data(u8 *data) +{ + int out_tem = data[3]; + out_tem = out_tem << 8 | data[4]; + // Negative temperature treatment + if (out_tem & 0x8000) + { + out_tem = ((~out_tem + 1) & 0xFFFF); + } + pid.out_tem = (float)out_tem / 10; + + int out_humidity = data[5]; + out_humidity = out_humidity << 8 | data[6]; + // Negative temperature treatment + if (out_humidity & 0x8000) + { + out_humidity = ((~out_humidity + 1) & 0xFFFF); + } + pid.out_humidity = out_humidity; } /** * hmi event process -*/ -void process_hmi_btn_event(u8 page, u8 btn_index, u8 value) { - switch(page) { + */ +void process_hmi_btn_event(u8 page, u8 btn_index, u8 value) +{ + switch (page) + { case page_param_adjust: { // change current stage - if (btn_index >= 45 && btn_index <= 50 && value == 0x01) { + if (btn_index >= 45 && btn_index <= 50 && value == 0x01) + { int target_stage = btn_index - 44; RTC_synchronization_ins(2023, 9, 1, 0, 00, 00); now_stage = target_stage; @@ -573,86 +580,3 @@ void process_hmi_btn_event(u8 page, u8 btn_index, u8 value) { } } } - -// void Host_Computer_Communication(void) -//{ -// if(RS485_RX_BUF_COPY[0]==0xEE&&RS485_RX_BUF_COPY[1]==0xB6) -// { -// if(RS485_RX_BUF_COPY[2]==0x03)//单个同步 -// { -// Analysis(&n,&i,RS485_RX_BUF_COPY); -// //printf("B6 03 cmd: batch sync\r\n"); -// Array(&now_stage,&hour,&min,&tem,&hum,&red,&blue,&white);//更新对应阶段号的参数 -// Write_Init(); -// RX_BUF_Transfer(0,11); -// -// } -// if(RS485_RX_BUF_COPY[2]==0x04)//阶段切换 -// { -// change_stage_rev1=RS485_RX_BUF_COPY[3]; -// //printf("B6 04 cmd: change stage\r\n"); -// RTC_synchronization_ins(2023,9,1,0,00,00); -// now_stage=change_stage_rev1; -// store_stage=change_stage_rev1; -// Write_Init(); -// RX_BUF_Transfer(0,8); -// } -// if(RS485_RX_BUF_COPY[2]==0x01)//批量同步 -// { -// Batch_synchronization(&n,RS485_RX_BUF_COPY); -// //printf("B6 01 cmd: get one %d\r\n", n); -// Array(&now_stage,&hour,&min,&tem,&hum,&red,&blue,&white);//更新对应阶段号的参数 -// //Write_Init();减少擦写的次数 -// RX_BUF_Transfer(0,20); -// } -// } -// else if(RS485_RX_BUF_COPY[0]==0xEE&&RS485_RX_BUF_COPY[1]==0xB1) -// { -// if(RS485_RX_BUF_COPY[2]==0x11&&RS485_RX_BUF_COPY[15]==0xFF&&RS485_RX_BUF[16]==0xFF)//单个同步默认带的数据 -// { -// //printf("cut overdata of B6 03 \r\n"); -// RX_BUF_Transfer(0,17); -// } -// if(RS485_RX_BUF_COPY[2]==0x11&&RS485_RX_BUF_COPY[14]==0xFF&&RS485_RX_BUF[15]==0xFF)//单个同步默认带的数据 -// { -// //printf("cut overdata of B6 03 \r\n"); -// //RX_BUF_Printf(128); -// RX_BUF_Transfer(0,16); -// //RX_BUF_Printf(128); -// } -// if(RS485_RX_BUF_COPY[2]==0x11&&RS485_RX_BUF_COPY[12]==0xFF&&RS485_RX_BUF_COPY[13]==0xFF)//阶段切换默认带的数据 -// { -// //printf("cut overdata of B6 04 \r\n"); -// //RX_BUF_Printf(128); -// RX_BUF_Transfer(0,14); -// } -// if(RS485_RX_BUF_COPY[2]==0x01&&RS485_RX_BUF_COPY[7]==0xFF&&RS485_RX_BUF_COPY[8]==0xFF)//上位机默认带的数据 -// { -// //printf("cut overdata of Upper computer \r\n"); -// //RX_BUF_Printf(128); -// RX_BUF_Transfer(0,9); -// //RX_BUF_Printf(128); -// -// } -// } -// else -// { -// //int ZERO_Count=0; -// //if()与while()的顺序不能变 -//// if((RS485_RX_BUF_COPY[0]!=0x00))//不为0，处理掉 -//// { -//// RX_BUF_Transfer(0,1); -//// //printf("the number is no zero\r\n"); -//// } -//// -//// while(RS485_RX_BUF_COPY[ZERO_Count]==0x00) -//// { -//// ZERO_Count++; -//// } -//// RX_BUF_Transfer(0,ZERO_Count); -// -// RX_BUF_Transfer(0,1); -// //printf("previous array cut\r\n"); - -// } -//} diff --git a/myfreertos/myfreertos.h b/myfreertos/myfreertos.h index 017ce04..a6d0cc9 100644 --- a/myfreertos/myfreertos.h +++ b/myfreertos/myfreertos.h @@ -24,7 +24,9 @@ #include "mqtt_api.h" void os_init(void); -void process_sensor_data(u8 *data); +void process_inner_sensor_data(u8 *data); +void process_outer_sensor_data(u8 *data); +void process_485_task(void); void process_hmi_btn_event(u8 page_index, u8 btn_index, u8 value); #endif