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238 lines
6.1 KiB
238 lines
6.1 KiB
#include "PID.h"
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#include "Relays.h"
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#include "USART.h"
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#include "rs485.h"
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extern u16 tem;
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float cold_tem = 0;
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float red_tem = 0;
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float ti;
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float ki = 0.001;
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float kd = 340;
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extern u8 hot_clod_flag;
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extern u8 gpio_state;
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extern int T;
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unsigned int num = 0;
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PID pid;
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int min_speed_count = 1500;
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int max_speed_count = 6000;
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void PID_Init()
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{
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// pid.set_tem=tem;// user set temperature
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// if flash have not a vaild value, just set a default value
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if (pid.Kp < 1e-7) { pid.Kp = 9.6; }
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if (pid.Ki < 1e-7) { pid.Ki = 0.01; }
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if (pid.Kd < 1e-7) { pid.Kd = 340; }
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if (pid.tem_threshold < 0.0001) { pid.tem_threshold = 0.2; }
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pid.t = 5000; // PID calc period
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// pid.Ti=5000000;// integral time
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// pid.Td=1000;// differential time
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pid.pwmcycle = 200; // pwm cycle 200
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pid.OUT0 = 1;
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pid.C1ms = 0;
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}
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/**
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* set compressor speed count
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* range of speed count: 0-6000, if speed count lower than 1500, the compressor will stop
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*/
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void set_compressor_power(int speed) {
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u8 data[8] = {0x01, 0x06, 0x60, 0x00, 0x00, 0x09, 0xBB, 0xAA}; // speed control for compressor controller
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if (speed > 6000) {
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speed = 6000;
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}
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if (speed < 0) {
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speed = 0;
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}
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data[4] = speed / 256;
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data[5] = speed % 256;
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GetCRC16(data, 6, data + 6, data + 7);
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RS485_3_Init(9600);
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RS485_3_Send_Data(data, 8);
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delay_xms(30);
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RS485_1_Init(9600);
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}
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/**
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* set heater percent
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* range of heater percent: 0-100
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*/
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void set_heater_power(int percent) {
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u8 data[8] = { 0x10, 0x06, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00 };
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if (percent > 100) {
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percent = 100;
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}
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if (percent < 0) {
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percent = 0;
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}
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data[4] = percent / 256;
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data[5] = percent % 256;
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GetCRC16(data, 6, data + 6, data + 7);
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RS485_1_Send_Data(data, 8);
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delay_xms(30);
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}
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/**
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* heater power calc
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*/
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int calc_p(float t_t, float t_c, float error, int p_b, float pid_p, float pid_i) {
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int p = p_b + pid_p * (t_t - t_c) + pid_i * error;
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if (p > 100) {
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return 100;
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}
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if (p < 0) {
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return 0;
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}
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return p;
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// int p_b = 52;
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// if (t_t - t_c > 5) {
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// return 100;
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// }
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// if (t_t - t_c < 5 && t_t > t_c) {
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// return p_b + (t_t - t_c) * (100 - p_b) / 5;
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// }
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// if (t_t <= t_c) {
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// return p_b;
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// }
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// return 0;
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}
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void PID_Calc() // pid calc
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{
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pid.set_tem = 25;
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pid.Kp = 19.2;
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pid.Ki = 0.02;
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int p_base = 52;
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float DelEk; // The difference between the last two deviations
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// float td;
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float out;
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if (pid.C1ms < (pid.t)) // The calculation cycle has not yet arrived
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{
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return;
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}
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// if (pid.set_tem > pid.now_tem)
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// {
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// pid.Ek = pid.set_tem - pid.now_tem;
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// }
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// else
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// {
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// pid.Ek = pid.now_tem - pid.set_tem;
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// }
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// pid.Ek = pid.now_tem - pid.set_tem;
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pid.Ek = pid.set_tem - pid.now_tem;
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pid.Pout = pid.Kp * pid.Ek; // Proportional output
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pid.SEk += pid.Ek; // Total historical deviation
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DelEk = pid.Ek - pid.Ek_1; // The difference between the last two deviations
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// ti=pid.t/pid.Ti;
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// ki=ti*pid.Kp;
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pid.Iout = pid.Ki * pid.SEk; // integral output
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// td=pid.Td/pid.t;
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// kd=pid.Kp*td;
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pid.Dout = pid.Kd * DelEk; // difference output
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if (pid.Dout < 0)
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{
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pid.Dout = 0 - pid.Dout;
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}
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// out= pid.Pout+pid.Iout+ pid.Dout;
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out = pid.Pout;
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if (out > pid.pwmcycle)
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{
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pid.OUT = pid.pwmcycle;
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}
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else if (out <= 0)
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{
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pid.OUT = pid.OUT0;
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}
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else
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{
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pid.OUT = out;
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}
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pid.Ek_1 = pid.Ek; // udpate difference
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pid.C1ms = 0;
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// heater percent
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int heater_percent = calc_p(pid.set_tem, pid.now_tem, pid.SEk, p_base, pid.Kp, pid.Ki);
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// TODO:: temply, set Kd to heater_percent, use for data upload
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pid.Kd = heater_percent;
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// speed count
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// int speed_count = pid.OUT / 200.0 * (max_speed_count - min_speed_count) + min_speed_count;
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// if (speed_count > 6000) {
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// speed_count = 6000;
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// }
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int speed_count = 1500;
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// if (pid.now_tem < pid.set_tem + pid.tem_offset - pid.tem_threshold)
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// {
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// // Obtain the current deviation value
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// // when the target temperature is 1 degree Celsius higher than the actual temperature, heat up
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// // close compressor open heater
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// /*GPIO1->Alarm bell GPIO3->heater GPIO4->Fresh air fan GPIO5->humidifier GPIO6->compressor */
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// // HC595_Send_Byte(gpio_state &= 0xDF);//close compressor &=1101 1111 0xDF
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// HC595_Send_Byte(gpio_state |= 0x04); // open heater |=0000 0100 0x04
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// speed_count = 1500;
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// hot_clod_flag = 2;
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// pid.Iout = 0;
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// } else if (pid.now_tem > pid.set_tem + pid.tem_offset - pid.tem_threshold && pid.now_tem < pid.set_tem + pid.tem_offset + pid.tem_threshold)
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// {
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// HC595_Send_Byte(gpio_state &= 0xFB); // close heater &=1111 1011 0xFB
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// speed_count = 1000; // close compressor
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// hot_clod_flag = 0;
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// // pid.Iout=0;
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// } else if (pid.now_tem > pid.set_tem + pid.tem_offset + pid.tem_threshold)
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// {
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// // Obtain the current deviation value
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// // when the target temperature is lower than the actual temperature, refrigerate
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// // open compressor close heater
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// HC595_Send_Byte(gpio_state &= 0xFB); // close heater &=1111 1011 0xFB
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// // // 0-200 correspond 0-100%, if pid.out=50, percentage means 25% //num=50*400/200=100 100/400=25%
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// // num = (((pid.OUT * 400) / pid.pwmcycle) - 1); // Conversion of pid.OUT and PWM Duty Cycle Values
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// // TIM_SetCompare3(TIM3, num / 4);
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// // printf("%d\r\n",num);
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// // HC595_Send_Byte(gpio_state|=0x20);//open compressor |=0010 0000
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// hot_clod_flag = 1;
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// // pid.Iout=0;
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// }
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set_compressor_power(speed_count);
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set_heater_power(heater_percent);
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// if (hot_clod_flag == 1 && T <= tem - 3) // During the refrigeration process, the actual temperature drops by 0.3 degrees Celsius below the set temperature
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// {
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// HC595_Send_Byte(gpio_state&=0xDB);// close compressor and heater &=1101 1011 0xDB
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// // num = 0;
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// // TIM_SetCompare3(TIM3, 0); // close compressor
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// speed_count = 1000;
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// hot_clod_flag = 0;
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// }
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// if (hot_clod_flag == 2 && T >= tem) // while heat, T above tem
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// {
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// HC595_Send_Byte(gpio_state&=0xDB);//close compressor and heater &=1101 1011 0xDB
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// num = 0;
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// TIM_SetCompare3(TIM3, 0); // close compressor
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// hot_clod_flag = 0;
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// }
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// HC595_Send_Byte(gpio_state&=0xDB);// close compressor and heater &=1101 1011 0xDB
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}
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