#include "PID.h"
#include "Relays.h"
#include "USART.h"
extern u16 tem;
float cold_tem=0;
float red_tem=0;
float ti;
float ki=0.001;
float kd=340;
extern u8 hot_clod_flag;
extern u8 gpio_state;
extern int T;
unsigned int num=0;
PID pid;

void PID_Init()
{
  //pid.set_tem=tem;//用户设定温度
	pid.Kp=110;
	pid.t=500;//PID计算周期
  //pid.Ti=5000000;//积分时间
	//pid.Td=1000;//微分时间
	pid.pwmcycle=200;//pwm周期200
	pid.OUT0=1;
	pid.C1ms=0;
}

void PID_Calc()  //pid计算
{
 	float DelEk;//最近两次偏差之差
	//float td;
	float out;
 	if(pid.C1ms<(pid.t))  //计算周期未到
		{
				return ;
		}

	if(pid.set_tem>pid.now_tem)
	{
		pid.Ek=pid.set_tem-pid.now_tem;	
	}
	else
	{
		pid.Ek=pid.now_tem-pid.set_tem;	
	}
 	pid.Pout=pid.Kp*pid.Ek;      //比例输出
 
 	pid.SEk+=pid.Ek;        //历史偏差总和
 
 	DelEk=pid.Ek-pid.Ek_1;  //最近两次偏差之差
 
 	//ti=pid.t/pid.Ti;
 	//ki=ti*pid.Kp;
	
   pid.Iout=ki*pid.SEk;  //积分输出

// 	td=pid.Td/pid.t;
// 	kd=pid.Kp*td;
	
   pid.Dout=kd*DelEk;    //微分输出
	if(pid.Dout<0)
	{
		pid.Dout=0-pid.Dout;
	}
	
	//out= pid.Pout+pid.Iout+ pid.Dout;
	out= pid.Pout;
 	if(out>pid.pwmcycle)
 	{
  		pid.OUT=pid.pwmcycle;
 	}
 	else if(out<=0)
 	{
		pid.OUT=pid.OUT0; 
 	}
 	else 
 	{
  	pid.OUT=out;
 	}
 	pid.Ek_1=pid.Ek;  //更新偏差
 	pid.C1ms=0;
	
	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
		TIM_SetCompare3(TIM3,0);
		HC595_Send_Byte(gpio_state|=0x04);//打开加热棒    |=0000 0100  0x04
		hot_clod_flag=2;	
		pid.Iout=0;
	}	
	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);
		//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
		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
		hot_clod_flag=0;
 	 }

	if(hot_clod_flag==2 && T>=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
		hot_clod_flag=0;
	}
}