在目标温度切换超过3度时，重新进行pid初始化。并且重新设置合理的压缩机速度范围

.vscode/settings.json

@@ -1,6 +1,7 @@
 {
     "files.associations": {
         "w25q128_ins.h": "c",
-        "usart.h": "c"
+        "usart.h": "c",
+        "myfreertos.h": "c"
     }
 }

HARDWARE/PID.c

@@ -12,16 +12,31 @@ extern u8 gpio_state;
 extern int T;
 unsigned int num = 0;
 PID pid;
-int min_speed_count = 1500;
+int min_speed_count = 2000;
-int max_speed_count = 6000;
+int max_speed_count = 4800;
 
+/**
+ * PID init
+*/
 void PID_Init()
 {
-	// if flash have not a vaild value, just set a default value
+	// // if flash have not a vaild value, just set a default value
-	if (pid.Kp < 1e-7) { pid.Kp = 9.6; }
+	// if (pid.Kp < 1e-7) { pid.Kp = 9.6; }
-	if (pid.Ki < 1e-7) { pid.Ki = 0.01; }
+	// if (pid.Ki < 1e-7) { pid.Ki = 0.01; }
-	if (pid.Kd < 1e-7) { pid.Kd = 340; }
+	// if (pid.Kd < 1e-7) { pid.Kd = 340; }
-	if (pid.tem_threshold < 0.0001) { pid.tem_threshold = 0.2; }
+	// if (pid.tem_threshold < 0.0001) { pid.tem_threshold = 0.2; }
+
+	pid.Ek = 0;
+	pid.Ek_prev = 0;
+	pid.SEk = 0;
+	pid.Pout = 0;
+	pid.Iout = 0;
+	pid.Dout = 0;
+	pid.OUT = 0;
+	pid.OUT0 = 0;
+	
+	pid.h_percent = 0;
+	pid.c_speed = 0;
 
 	pid.t = 1000; // PID calc period
 	// pid.Ti=5000000;// integral time
@@ -42,13 +57,11 @@ void PID_Init()
 	pid.hd_l = 0;
 	pid.h_base_l = 53;
 
-	pid.cp = 3.6;
+	pid.cp = 9.6;
 	pid.ci = 0;
 	pid.cd = 0;
 	pid.c_base = 37;
 
-	pid.h_percent = 0;
-	pid.c_speed = 0;
 }
 
 /**
@@ -57,8 +70,8 @@ void PID_Init()
 */
 void set_compressor_power(int speed) {
 	u8 data[8] = {0x01, 0x06, 0x60, 0x00, 0x00, 0x09, 0xBB, 0xAA}; // speed control for compressor controller
-	if (speed > 6000) {
+	if (speed > max_speed_count) {
-		speed = 6000;
+		speed = max_speed_count;
 	}
 	if (speed < 0) {
 		speed = 0;
@@ -141,8 +154,8 @@ int calc_compressor_speed(int percent, int v_min, int v_max) {
 
 void PID_Calc() // pid calc
 {
-	int min_speed_count = 1800;
+	// int min_speed_count = 1800;
-	int max_speed_count = 4800;
+	// int max_speed_count = 4800;
 	float DelEk; // The difference between the last two deviations
 	// float td;
 	float out;
@@ -191,9 +204,9 @@ void PID_Calc() // pid calc
 		pid.SEk = 0;
 	}
 
-	// SEk limit, updated func
+	// SEk limit, updated func, remain a little heater power when the compressor is running in full state
-	if (pid.SEk < - h_base / hi) {
+	if (pid.SEk < - (h_base - 10) / hi) {
-		pid.SEk = - h_base / hi;
+		pid.SEk = - (h_base - 10) / hi;
 	}
 	if (pid.c_speed == max_speed_count) {
 		pid.SEk = 0;

USER/control.uvoptx

@@ -10,9 +10,9 @@
     <aExt>*.s*; *.src; *.a*</aExt>
     <oExt>*.obj; *.o</oExt>
     <lExt>*.lib</lExt>
-    <tExt>*.txt; *.h; *.inc; *.md</tExt>
+    <tExt>*.txt; *.h; *.inc</tExt>
     <pExt>*.plm</pExt>
-    <CppX>*.cpp; *.cc; *.cxx</CppX>
+    <CppX>*.cpp</CppX>
     <nMigrate>0</nMigrate>
   </Extensions>
 
@@ -115,11 +115,6 @@
         <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U16004A002933353739303541 -O239 -S0 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO19 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
-        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>UL2CM3</Key>
@@ -1464,7 +1459,7 @@
 
   <Group>
     <GroupName>HARDWARE</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

myfreertos/myfreertos.c

@@ -276,7 +276,7 @@ void Sensor_Communication_task(void *pvParameters)
 		u8 c = 0;
 		RS485_RX_CNT = 0;
 		while (isAllZeros(RS485_RX_BUF_COPY, 128) == 0)
-		{	
+		{
 			if (RS485_RX_BUF_COPY[0] == INNER_SENSOR_ADDRESS && RS485_RX_BUF_COPY[1] == 0x03 && CRC16_check(RS485_RX_BUF_COPY, 21) == 1)
 			{
 				c++;
@@ -468,7 +468,10 @@ void process_inner_sensor_data(u8 *data) {
 		gpio_state &= 0xFE;
 		ALARM = 0;
 	}
-
+	// check current set temp and perv set temp, if diff is greater then 3degree, then reInit pid
+	if (abs(pid.set_tem - tem / 10.0) > 3) {
+		PID_Init();
+	}
 	pid.set_tem = tem / 10.0;
 	pid.now_tem = T / 10.0;
 	// PID_Calc();

myfreertos/myfreertos.h

@@ -1,6 +1,8 @@
 #ifndef _MYFREERTOS_H
 #define _MYFREERTOS_H
 
+#include <math.h>
+#include <stdlib.h>
 #include "FreeRTOS.h"
 #include "task.h"
 #include "SysTick.h"