Confronta il testo

Trova la differenza tra due file di testo

Real-time diff

Unified diff

Collapse lines

Highlight change

Syntax highlighting

Strumenti

Diffchecker Desktop The most secure way to run Diffchecker. Get the Diffchecker Desktop app: your diffs never leave your computer!Get Desktop

Untitled diff

Created 10 years agoDiff never expires

Lines
Total
Removed

Words
Total
Removed

To continue using this feature, upgrade to Diffchecker Pro View Pricing

718 lines

Lines
Total
Added

Words
Total
Added

To continue using this feature, upgrade to Diffchecker Pro View Pricing

716 lines

// aArtisanQ_PID.ino

// ------------

// prh version

// Written to support the Artisan roasting scope //http://code.google.com/p/artisan/

// Heater is controlled from OT1 using a zero cross SSR (integral pulse control)

// AC fan is controlled from OT2 using a random fire SSR (phase angle control)

// zero cross detector (true on logic low) is connected to I/O3

// *** BSD License ***

// ------------------------------------------------------------------------------------------

// Contributor: Jim Gallt

// Redistribution and use in source and binary forms, with or without modification, are

// permitted provided that the following conditions are met:

// Redistributions of source code must retain the above copyright notice, this list of

// conditions and the following disclaimer.

// Redistributions in binary form must reproduce the above copyright notice, this list

// of conditions and the following disclaimer in the documentation and/or other materials

// provided with the distribution.

// Neither the name of the copyright holder(s) nor the names of its contributors may be

// used to endorse or promote products derived from this software without specific prior

// written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS

// OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF

// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL

// THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,

// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)

// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,

// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

// ------------------------------------------------------------------------------------------

#define BANNER_ARTISAN "aArtisanQ_PID 5_3"

// Revision history:

// 20110408 Created.

// 20110409 Reversed the BT and ET values in the output stream.

// Shortened the banner display time to avoid timing issues with Artisan

// Echo all commands to the LCD

// 20110413 Added support for Artisan 0.4.1

// 20110414 Reduced filtering levels on BT, ET

// Improved robustness of checkSerial() for stops/starts by Artisan

// Revised command format to include newline character for Artisan 0.4.x

// 20110528 New command language added (major revision)

// Use READ command to poll the device for up to 4 temperature channels

// Change temperature scale using UNITS command

// Map physical channels on ADC to logical channels using the CHAN command

// Select SSR output duty cycle with OT1 and OT2 commands

// Select PWM logic level output on I/O3 using IO3 command

// Directly control digital pins using DPIN command (WARNING -- this might not be smart)

// Directly control analog pins using APIN command (WARNING -- this might not be smart)

// 20110601 Major rewrite to use cmndproc.h library

// RF2000 and RC2000 set channel mapping to 1200

// 20110602 Added ACKS_ON to control verbose output

// ----------- Version 1.10

// 20111011 Added support for type J and type T thermocouples

// Better error checking on EEPROM reads

// ----------- aArtsianQ version 0.xx

// 20111031 Created.

// ----------- aArtisanQ beta1

// 20111101 Beta 1 release

// ----------- aArtisanQ_PID (Brad Collins)

// 20120915 Created.

// Added PID Library

// Added code for analogue inputs

// 20120916 Added PID command allowing PID control to be activated and deactivated from Artisan

// Added roast clock. Can be reset with PID;TIME command

// Removed LCD ambient temp display and added roast clock display

// 20120918 Added code to read profile from EEPROM and interpolate to calculate setpoint. Time/Temp profiles

// Added code to end PID control when end of profile is reached

// Added additional PID command allowing roast profile to be selected

// Added additional PID command allowing PID tunings to be adjusted on the fly (required MAX_TOKENS 5 in cmndproc.h library)

// 20120920 Added RoR calcs

// 20120921 Updated RoR calcs to better handle first loop issue (RoR not calculated in first loop)

// Stopped ANLG1 being read during PID control

// Added code to convert PID Setpoint temps to correct units. Added temperature units data to profile format

// Serial command echo to LCD now optional

// 20120922 Added support for LCDapter buttons and LEDs (button 1 currently activates or deactivates PID control if enabled)

// Added code to allow power to OT1 to be cut if OT2 is below OT1_CUTOFF percentage as defined in user.h. For heater protection if required. Required modification to phase_ctrl.cpp

// Added code to allow OT2 to range between custom min and max percentages (defined in user.h)

// 20121007 Fixed PID tuning command so it handles doubles

// Added inital PID tuning parameters in user.h

// 20121013 Added code to allow Artisan plotting of levelOT1 and levelOT2 if PLOT_POWER is defined in user.h

// Swapped location of T1 and T2 on LCD display and renamed to ET and BT

// 20121014 Enhanced LCD display code and added support for 4x20 LCDs. Define LCD_4x20 in user.h

// 20121021 Added optional limits for Analogue1

// 20121120 Added support for pBourbon logging

// 20121213 Added UP and DOWN parameters for OT1 and OT2 commands. Increments or decrements power levels by 5%

// 20130116 Added user adjustable analogue input rounding (ANALOGUE_STEP) in user.h

// 20130119 aArtisanQ_PID release 3_5

// Added code to allow for additional LCD display modes

// 20130120 Added ability to change roast profile using LCD and buttons

// 20130121 Tidied up button press code

// 20130203 Permits use of different TC types on individual channels as in aArtisan 2.10

// Updated temperature sample filtering to match aArtisan 2.10

// 20130406 Added GO and STOP commands to use with Artisan 'Charge' and 'End' buttons

// 20140127 aArtisanQ_PID release 4_0 created

// Added support for Roastlogger roasting software (responds to LOAD, POWER and FAN commands. Sends rorT1=, T1=, rorT2=, T2= and power levels to roastlogger)

// 20140128 Improved handling of heater and fan power limits

// 20140213 aArtisanQ_PID release 4_2

// 20140214 Added option in user.h to define software mode (Artisan, Roastlogger or pBourbon)

// Fixed? bug causing crashes when receiving READ commands

// 20140214 aArtisanQ_PID release 4_3

// 20150328 Replaced pBourbon option with Android option

// Bug fix in LCD menu code. Menu code disabled when not roasting stand alone

// Changed default PID channel to 0

// Added SV to values sent to Android app

// 20150328 aArtisanQ_PID release 5_0

// 20150403 Added PID;SV command from aArtisan

// Changed default PID roast profile to 0 when using logging software

// Reduced SRAM usage

// 20150404 Added PID;CHAN PID;CT and FILT commands

// Added Heater, Fan and SV values to Artisan Logger if PID active

// Removed PLOT_POWER option. Send power levels and SV if PID is active for Artisan. Send all by default for Android

// 20150409 Made loop time variable. Default = 1000ms (1s) but changes to 2000ms (2s) if needed for reading 4 temperature channels

// Adjusted Read command to match aArtisan. Runs logger() from command to provide immediate response to Artisan

// 20150426 Removed io3, rf2000 and rc2000 commands to save memory

// Other small compile changes to save memory

// Compile directive change to ensure output levels are displayed when analogue pots are not active

// ----------- aArtisanQ_PID (prh mods/hacks to achieve PWM PID output)

// 20151201

// this library included with the arduino distribution

#include <Wire.h>

// The user.h file contains user-definable and some other global compiler options

// It must be located in the same folder as aArtisan.pde

#include "user.h"

// command processor declarations -- must be in same folder as aArtisan

#include "cmndreader.h"

#ifdef MEMORY_CHK

// debugging memory problems

#include "MemoryFree.h"

#endif

// code for integral cycle control and phase angle control

#include "phase_ctrl.h"

//#include "phase_ctrl.h"

// these "contributed" libraries must be installed in your sketchbook's arduino/libraries folder

#include <cmndproc.h> // for command interpreter

#include <thermocouple.h> // type K, type J, and type T thermocouple support

#include <cADC.h> // MCP3424

//#include <PWM16.h> // for SSR output

#include <PWM16.h> // for PWM output

#ifdef LCD

#include <cLCD.h> // required only if LCD is used

#endif

// ------------------------ other compile directives

#define MIN_DELAY 300 // ms between ADC samples (tested OK at 270)

#define DP 1 // decimal places for output on serial port

#define D_MULT 0.001 // multiplier to convert temperatures from int to float

#define DELIM "; ,=" // command line parameter delimiters

#include <mcEEPROM.h>

mcEEPROM eeprom;

calBlock caldata;

float AT; // ambient temp

float T[NC]; // final output values referenced to physical channels 0-3

int32_t ftemps[NC]; // heavily filtered temps

int32_t ftimes[NC]; // filtered sample timestamps

int32_t ftemps_old[NC]; // for calculating derivative

int32_t ftimes_old[NC]; // for calculating derivative

float RoR[NC]; // final RoR values

uint8_t actv[NC]; // identifies channel status, 0 = inactive, n = physical channel + 1

#ifdef CELSIUS // only affects startup conditions

boolean Cscale = true;

#else

boolean Cscale = false;

#endif

int levelOT1, levelOT2; // parameters to control output levels

int levelIO3, levelOT1, levelOT2; // parameters to control output levels prh added levelIO3

#ifdef MEMORY_CHK

uint32_t checktime;

#endif

#ifdef ANALOGUE1

uint8_t anlg1 = 0; // analog input pins

int32_t old_reading_anlg1; // previous analogue reading

boolean analogue1_changed;

#endif

#ifdef ANALOGUE2

uint8_t anlg2 = 1; // analog input pins

int32_t old_reading_anlg2; // previous analogue reading

boolean analogue2_changed;

#endif

#ifdef PID_CONTROL

#include <PID_v1.h>

//Define PID Variables we'll be connecting to

double Setpoint, Input, Output, SV; // SV is for roasting software override of Setpoint

//Specify the links and initial tuning parameters

PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);

uint8_t pid_chan = PID_CHAN; // identify PV and set default value from user.h

int profile_number; // number of the profile for PID control

int profile_ptr; // EEPROM pointer for profile data

char profile_name[40];

char profile_description[80];

int profile_number_new; // used when switching between profiles

int times[2], temps[2]; // time and temp values read from EEPROM for setpoint calculation

char profile_CorF; // profile temps stored as Centigrade or Fahrenheit

#endif

//boolean artisan_logger = false;

//boolean ANDROID = false; // set initial state for ANDROID flag

//boolean roastlogger = false; // set initial state for roastlogger flag

uint32_t counter; // second counter

uint32_t next_loop_time; //

boolean first;

uint16_t looptime = 1000;

// class objects

cADC adc( A_ADC ); // MCP3424

ambSensor amb( A_AMB ); // MCP9800

filterRC fT[NC]; // filter for logged ET, BT

filterRC fRise[NC]; // heavily filtered for calculating RoR

filterRC fRoR[NC]; // post-filtering on RoR values

//PWM16 ssr; // object for SSR output on OT1, OT2

PWM16 ssr; // object for SSR output on OT1, OT2 - prh reinstated this line

CmndInterp ci( DELIM ); // command interpreter object

// array of thermocouple types

tcBase * tcp[4];

TC_TYPE1 tc1;

TC_TYPE2 tc2;

TC_TYPE3 tc3;

TC_TYPE4 tc4;

// ---------------------------------- LCD interface definition

#ifdef LCD

// LCD output strings

char st1[6],st2[6];

int LCD_mode = 0;

#ifdef LCDAPTER

#include <cButton.h>

cButtonPE16 buttons; // class object to manage button presses

#define BACKLIGHT lcd.backlight();

cLCD lcd; // I2C LCD interface

#else // parallel interface, standard LiquidCrystal

#define BACKLIGHT ;

#define RS 2

#define ENABLE 4

#define D4 7

#define D5 8

#define D6 12

#define D7 13

LiquidCrystal lcd( RS, ENABLE, D4, D5, D6, D7 ); // standard 4-bit parallel interface

#endif

// --------------------------------------------- end LCD interface

// T1, T2 = temperatures x 1000

// t1, t2 = time marks, milliseconds

// ---------------------------------------------------

float calcRise( int32_t T1, int32_t T2, int32_t t1, int32_t t2 ) {

int32_t dt = t2 - t1;

if( dt == 0 ) return 0.0; // fixme -- throw an exception here?

float dT = ( convertUnits( T2 ) - convertUnits( T1 ) ) * D_MULT;

float dS = dt * 0.001; // convert from milli-seconds to seconds

return ( dT / dS ) * 60.0; // rise per minute

}

// ------------- wrapper for the command interpreter's serial line reader

void checkSerial() {

const char* result = ci.checkSerial();

if( result != NULL ) { // some things we might want to do after a command is executed

#if defined LCD && defined COMMAND_ECHO

lcd.setCursor( 0, 0 ); // echo all commands to the LCD

lcd.print( result );

#endif

#ifdef MEMORY_CHK

Serial.print(F("# freeMemory()="));

Serial.print(freeMemory());

Serial.print(F(" , "));

Serial.println( result );

#endif

}

// ----------------------------------

void checkStatus( uint32_t ms ) { // this is an active delay loop

uint32_t tod = millis();

while( millis() < tod + ms ) {

checkSerial();

#ifdef LCDAPTER

#if not ( defined ROASTLOGGER || defined ARTISAN || defined ANDROID )

checkButtons();

#endif

}

// ----------------------------------------------------

float convertUnits ( float t ) {

if( Cscale ) return F_TO_C( t );

else return t;

}

// ------------------------------------------------------------------

void logger() {

#ifdef ARTISAN

// print ambient

Serial.print( convertUnits( AT ), DP );

// print active channels

for( uint8_t jj = 0; jj < NC; ++jj ) {

uint8_t k = actv[jj];

if( k > 0 ) {

--k;

Serial.print(F(","));

Serial.print( convertUnits( T[k] ),DP );

}

// check to see if PID is running, and output additional values if true

if( myPID.GetMode() != MANUAL ) { // If PID in AUTOMATIC mode

Serial.print(F(","));

if( levelOT2 < OT1_CUTOFF ) { // send 0 if OT1 has been cut off

Serial.print( 0 );

}

else {

Serial.print( levelOT1 );

Serial.print( levelIO3 );

}

Serial.print(F(","));

Serial.print( levelOT2 );

Serial.print(F(","));

Serial.print( Setpoint );

}

Serial.println();

#ifdef PLOT_POWER

Serial.print(F(","));

if( levelOT2 < OT1_CUTOFF ) { // send 0 if OT1 has been cut off

Serial.print( 0 );

}

else {

Serial.print( levelOT1 );

Serial.print( levelIO3 );

}

Serial.print(F(","));

Serial.print( levelOT2 );

#endif

Serial.println();

#endif

#ifdef ROASTLOGGER

for( uint8_t jj = 0; jj < NC; ++jj ) {

uint8_t k = actv[jj];

if( k > 0 ) {

--k;

Serial.print(F("rorT"));

Serial.print(k+1);

Serial.print(F("="));

Serial.println( RoR[k], DP );

Serial.print(F("T"));

Serial.print(k+1);

Serial.print(F("="));

Serial.println( convertUnits( T[k] ) );

}

Serial.print(F("Power%="));

if( levelOT2 < OT1_CUTOFF ) { // send 0 if OT1 has been cut off

Serial.println( 0 );

}

else {

Serial.println( levelOT1 );

Serial.println( levelIO3 );

}

Serial.print(F("Fan="));

Serial.println( levelOT2 );

#endif

#ifdef ANDROID

// print counter

Serial.print( counter );

Serial.print( F(",") );

// print ambient

Serial.print( convertUnits( AT ), DP );

// print active channels

for( uint8_t jj = 0; jj < NC; ++jj ) {

uint8_t k = actv[jj];

if( k > 0 ) {

--k;

Serial.print(F(","));

Serial.print( convertUnits( T[k] ) );

Serial.print(F(","));

Serial.print( RoR[k], DP );

}

//#ifdef PLOT_POWER

Serial.print(F(","));

if( levelOT2 < OT1_CUTOFF ) { // send 0 if OT1 has been cut off

Serial.print( 0 );

}

else {

Serial.print( levelOT1 );

Serial.print( levelIO3 );

}

Serial.print(F(","));

Serial.print( levelOT2 );

//#endif

#ifdef PID_CONTROL

Serial.print(F(","));

Serial.print( Setpoint );

#endif

Serial.println();

#endif

}

// --------------------------------------------------------------------------

void get_samples() // this function talks to the amb sensor and ADC via I2C

{

int32_t v;

tcBase * tc;

float tempF;

int32_t itemp;

float rx;

uint16_t dly = amb.getConvTime(); // use delay based on slowest conversion

uint16_t dADC = adc.getConvTime();

dly = dly > dADC ? dly : dADC;

for( uint8_t jj = 0; jj < NC; jj++ ) { // one-shot conversions on both chips

uint8_t k = actv[jj]; // map logical channels to physical ADC channels

if( k > 0 ) {

--k;

tc = tcp[k]; // each channel may have its own TC type

adc.nextConversion( k ); // start ADC conversion on physical channel k

amb.nextConversion(); // start ambient sensor conversion

checkStatus( dly ); // give the chips time to perform the conversions

if( !first ) { // on first loop dont save zero values

ftemps_old[k] = ftemps[k]; // save old filtered temps for RoR calcs

ftimes_old[k] = ftimes[k]; // save old timestamps for filtered temps for RoR calcs

}

ftimes[k] = millis(); // record timestamp for RoR calculations

amb.readSensor(); // retrieve value from ambient temp register

v = adc.readuV(); // retrieve microvolt sample from MCP3424

tempF = tc->Temp_F( 0.001 * v, amb.getAmbF() ); // convert uV to Celsius

// filter on direct ADC readings, not computed temperatures

v = fT[k].doFilter( v << 10 ); // multiply by 1024 to create some resolution for filter

v >>= 10;

AT = amb.getAmbF();

T[k] = tc->Temp_F( 0.001 * v, AT ); // convert uV to Fahrenheit;

ftemps[k] =fRise[k].doFilter( tempF * 1000 ); // heavier filtering for RoR

if ( !first ) { // on first loop dont calc RoR

rx = calcRise( ftemps_old[k], ftemps[k], ftimes_old[k], ftimes[k] );

RoR[k] = fRoR[k].doFilter( rx / D_MULT ) * D_MULT; // perform post-filtering on RoR values

}

first = false;

};

#ifdef LCD

// --------------------------------------------

void updateLCD() {

if( LCD_mode == 0 ) { // Display normal LCD screen

lcd.setCursor(0,0);

if(counter/60 < 10) lcd.print(F("0")); lcd.print(counter/60); // Prob can do this better. Check aBourbon.

lcd.print(F(":")); // make this blink?? :)

if(counter - (counter/60)*60 < 10) lcd.print(F("0")); lcd.print(counter - (counter/60)*60);

#ifdef LCD_4x20

#ifdef COMMAND_ECHO

lcd.print(F(" ")); // overwrite artisan commands

#endif

// display the first 2 active channels encountered, normally BT and ET

int it01;

uint8_t jj,j;

uint8_t k;

for( jj = 0, j = 0; jj < NC && j < 2; ++jj ) {

k = actv[jj];

if( k != 0 ) {

++j;

it01 = round( convertUnits( T[k-1] ) );

if( it01 > 999 )

it01 = 999;

else

if( it01 < -999 ) it01 = -999;

sprintf( st1, "%4d", it01 );

if( j == 1 ) {

lcd.setCursor( 13, 0 );

lcd.print(F("ET:"));

}

else {

lcd.setCursor( 13, 1 );

lcd.print( F("BT:") );

}

lcd.print(st1);

}

// AT

it01 = round( convertUnits( AT ) );

if( it01 > 999 )

it01 = 999;

else

if( it01 < -999 ) it01 = -999;

sprintf( st1, "%3d", it01 );

lcd.setCursor( 6, 0 );

lcd.print(F("AT:"));

lcd.print(st1);

#ifdef PID_CONTROL

if( myPID.GetMode() != MANUAL ) { // if PID is on then display PID: nnn% instead of OT1:

lcd.setCursor( 0, 2 );

lcd.print( F("PID:") );

if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off

sprintf( st1, "%4d", (int)0 );

}

else {

sprintf( st1, "%4d", (int)levelOT1 );

sprintf( st1, "%4d", (int)levelIO3 );

}

lcd.print( st1 ); lcd.print(F("%"));

lcd.setCursor( 13, 2 ); // display setpoint if PID is on

lcd.print( F("SP:") );

sprintf( st1, "%4d", (int)Setpoint );

lcd.print( st1 );

}

else {

//#ifdef ANALOGUE1

#ifdef ANALOGUE1

lcd.setCursor( 13, 2 );

lcd.print(F(" ")); // blank out SP: nnn if PID is off

lcd.print(F("MANUAL ")); // blank out SP: nnn if PID is off

//#else

#else

// lcd.setCursor( 0, 2 );

lcd.setCursor( 0, 2 );

// lcd.print(F(" ")); // blank out PID: nnn% and SP: nnn if PID is off and ANALOGUE1 isn't defined

//#endif // end ifdef ANALOGUE1

#endif // end ifdef ANALOGUE1

}

#endif // end ifdef PID_CONTROL

// RoR

lcd.setCursor( 0, 1 );

lcd.print( F("RoR:"));

sprintf( st1, "%4d", (int)RoR[ROR_CHAN] );

lcd.print( st1 );

//#ifdef ANALOGUE1

#ifdef ANALOGUE1

#ifdef PID_CONTROL

if( myPID.GetMode() == MANUAL ) { // only display OT2: nnn% if PID is off so PID display isn't overwriten

lcd.setCursor( 0, 2 );

lcd.print(F("OT1:"));

lcd.print(F("OUT:")); // prh changed "OT1" to "OUT"

if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off

sprintf( st1, "%4d", (int)0 );

}

else {

sprintf( st1, "%4d", (int)levelOT1 );

sprintf( st1, "%4d", (int)levelIO3 );

}

lcd.print( st1 ); lcd.print(F("%"));

}

#else // if PID_CONTROL isn't defined then always display OT1: nnn%

lcd.setCursor( 0, 2 );

lcd.print(F("OT1:"));

lcd.print(F("OUT:")); // prh changed "OT1" to "OUT"

if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off

sprintf( st1, "%4d", (int)0 );

}

else {

sprintf( st1, "%4d", (int)levelOT1 );

sprintf( st1, "%4d", (int)levelIO3 );

}

lcd.print( st1 ); lcd.print(F("%"));

#endif // end ifdef PID_CONTROL

//#endif // end ifdef ANALOGUE1

#endif // end ifdef ANALOGUE1

//#ifdef ANALOGUE2

lcd.setCursor( 0, 3 );

lcd.print(F("OT2:"));

lcd.print(F("Profile:")); // prh changed from "OT2:" to "Profile

sprintf( st1, "%4d", (int)levelOT2 );

lcd.setCursor( 10, 3 ); // prh added this line

lcd.print( st1 ); lcd.print(F("%"));

lcd.print(profile_number); // prh added this line

//lcd.print( st1 ); lcd.print(F("%"));

//#endif

#else // if not def LCD_4x20 ie if using a standard 2x16 LCD

#ifdef COMMAND_ECHO

lcd.print(F(" ")); // overwrite artisan commands

#endif

// display the first 2 active channels encountered, normally BT and ET

int it01;

uint8_t jj,j;

uint8_t k;

for( jj = 0, j = 0; jj < NC && j < 2; ++jj ) {

k = actv[jj];

if( k != 0 ) {

++j;

it01 = round( convertUnits( T[k-1] ) );

if( it01 > 999 )

it01 = 999;

else

if( it01 < -999 ) it01 = -999;

sprintf( st1, "%4d", it01 );

if( j == 1 ) {

lcd.setCursor( 9, 0 );

lcd.print(F("ET:"));

}

else {

lcd.setCursor( 9, 1 );

lcd.print( F("BT:") );

}

lcd.print(st1);

}

#ifdef PID_CONTROL

if( myPID.GetMode() != MANUAL ) {

lcd.setCursor( 0, 1 );

if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off

lcd.print( F(" 0") );

}

else {

sprintf( st1, "%3d", (int)levelOT1 );

sprintf( st1, "%3d", (int)levelIO3 );

lcd.print( st1 );

}

lcd.print(F("%"));

sprintf( st1, "%4d", (int)Setpoint );

lcd.print(st1);

}

else {

lcd.setCursor( 0, 1 );

lcd.print( F("RoR:"));

sprintf( st1, "%4d", (int)RoR[ROR_CHAN] );

lcd.print( st1 );

}

#else

lcd.setCursor( 0, 1 );

lcd.print( F("RoR:"));

sprintf( st1, "%4d", (int)RoR[ROR_CHAN] );

lcd.print( st1 );

#endif // end ifdef PID_CONTROL

#ifdef ANALOGUE1

if( analogue1_changed == true ) { // overwrite RoR or PID values

lcd.setCursor( 0, 1 );

lcd.print(F("OT1: "));

lcd.print(F("OUT: ")); // prh changed "OT1" to "OUT"

lcd.setCursor( 4, 1 );

if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off

sprintf( st1, "%3d", (int)0 );

}

else {

sprintf( st1, "%3d", (int)levelOT1 );

sprintf( st1, "%3d", (int)levelIO3 );

}

lcd.print( st1 ); lcd.print(F("%"));

}

#endif //ifdef ANALOGUE1

#ifdef ANALOGUE2

if( analogue2_changed == true ) { // overwrite RoR or PID values

lcd.setCursor( 0, 1 );

lcd.print(F("OT2: "));

lcd.setCursor( 4, 1 );

sprintf( st1, "%3d", (int)levelOT2 );

lcd.print( st1 ); lcd.print(F("%"));

}

#endif // end ifdef ANALOGUE2

#endif // end of ifdef LCD_4x20

}

else if( LCD_mode == 1 ) { // Display alternative 1 LCD display

#ifdef PID_CONTROL

#ifdef LCD_4x20

lcd.setCursor( 0, 0 );

for( int i = 0; i < 20; i++ ) {

if( profile_name[i] != 0 ) lcd.print( profile_name[i] );

}

lcd.setCursor( 0, 1 );

for( int i = 0; i < 20; i++ ) {

for( int i = 0; i < 20; i++ )

if( profile_description[i] != 0 ) lcd.print( profile_description[i] );

}

lcd.setCursor( 0, 2 );

for( int i = 20; i < 40; i++ ) {

if( profile_description[i] != 0 ) lcd.print( profile_description[i] );

}

lcd.setCursor( 0, 3 );

lcd.print(F("PID: ")); lcd.print( myPID.GetKp() ); lcd.print(F(",")); lcd.print( myPID.GetKi() );

Diff salvati

Testo originale

Apri file

// aArtisanQ_PID.ino
// ------------

// Written to support the Artisan roasting scope //http://code.google.com/p/artisan/

//   Heater is controlled from OT1 using a zero cross SSR (integral pulse control)
//   AC fan is controlled from OT2 using a random fire SSR (phase angle control)
//   zero cross detector (true on logic low) is connected to I/O3

// *** BSD License ***
// ------------------------------------------------------------------------------------------
// Copyright (c) 2011, MLG Properties, LLC
// All rights reserved.
//
// Contributor:  Jim Gallt
//
// Redistribution and use in source and binary forms, with or without modification, are 
// permitted provided that the following conditions are met:
//
//   Redistributions of source code must retain the above copyright notice, this list of 
//   conditions and the following disclaimer.
//
//   Redistributions in binary form must reproduce the above copyright notice, this list 
//   of conditions and the following disclaimer in the documentation and/or other materials 
//   provided with the distribution.
//
//   Neither the name of the copyright holder(s) nor the names of its contributors may be 
//   used to endorse or promote products derived from this software without specific prior 
//   written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS 
// OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 
// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL 
// THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 
// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 
// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// ------------------------------------------------------------------------------------------

#define BANNER_ARTISAN "aArtisanQ_PID 5_3"

// Revision history:
// 20110408 Created.
// 20110409 Reversed the BT and ET values in the output stream.
//          Shortened the banner display time to avoid timing issues with Artisan
//          Echo all commands to the LCD
// 20110413 Added support for Artisan 0.4.1
// 20110414 Reduced filtering levels on BT, ET
//          Improved robustness of checkSerial() for stops/starts by Artisan
//          Revised command format to include newline character for Artisan 0.4.x
// 20110528 New command language added (major revision)
//          Use READ command to poll the device for up to 4 temperature channels
//          Change temperature scale using UNITS command
//          Map physical channels on ADC to logical channels using the CHAN command
//          Select SSR output duty cycle with OT1 and OT2 commands
//          Select PWM logic level output on I/O3 using IO3 command
//          Directly control digital pins using DPIN command (WARNING -- this might not be smart)
//          Directly control analog pins using APIN command (WARNING -- this might not be smart)
// 20110601 Major rewrite to use cmndproc.h library
//          RF2000 and RC2000 set channel mapping to 1200
// 20110602 Added ACKS_ON to control verbose output
// ----------- Version 1.10
// 20111011 Added support for type J and type T thermocouples
//          Better error checking on EEPROM reads
// ----------- aArtsianQ version 0.xx
// 20111031 Created.
// ----------- aArtisanQ beta1
// 20111101 Beta 1 release

// ----------- aArtisanQ_PID (Brad Collins)
// 20120915 Created.
//          Added PID Library
//          Added code for analogue inputs
// 20120916 Added PID command allowing PID control to be activated and deactivated from Artisan
//          Added roast clock. Can be reset with PID;TIME command
//          Removed LCD ambient temp display and added roast clock display
// 20120918 Added code to read profile from EEPROM and interpolate to calculate setpoint. Time/Temp profiles
//          Added code to end PID control when end of profile is reached
//          Added additional PID command allowing roast profile to be selected
//          Added additional PID command allowing PID tunings to be adjusted on the fly (required MAX_TOKENS 5 in cmndproc.h library)
// 20120920 Added RoR calcs
// 20120921 Updated RoR calcs to better handle first loop issue (RoR not calculated in first loop)
//          Stopped ANLG1 being read during PID control
//          Added code to convert PID Setpoint temps to correct units.  Added temperature units data to profile format
//          Serial command echo to LCD now optional
// 20120922 Added support for LCDapter buttons and LEDs (button 1 currently activates or deactivates PID control if enabled)
//          Added code to allow power to OT1 to be cut if OT2 is below OT1_CUTOFF percentage as defined in user.h.  For heater protection if required. Required modification to phase_ctrl.cpp
//          Added code to allow OT2 to range between custom min and max percentages (defined in user.h)
// 20121007 Fixed PID tuning command so it handles doubles
//          Added inital PID tuning parameters in user.h
// 20121013 Added code to allow Artisan plotting of levelOT1 and levelOT2 if PLOT_POWER is defined in user.h
//          Swapped location of T1 and T2 on LCD display and renamed to ET and BT
// 20121014 Enhanced LCD display code and added support for 4x20 LCDs. Define LCD_4x20 in user.h
// 20121021 Added optional limits for Analogue1
// 20121120 Added support for pBourbon logging
// 20121213 Added UP and DOWN parameters for OT1 and OT2 commands.  Increments or decrements power levels by 5%
// 20130116 Added user adjustable analogue input rounding (ANALOGUE_STEP) in user.h
// 20130119 aArtisanQ_PID release 3_5
//          Added code to allow for additional LCD display modes
// 20130120 Added ability to change roast profile using LCD and buttons
// 20130121 Tidied up button press code
// 20130203 Permits use of different TC types on individual channels as in aArtisan 2.10
//          Updated temperature sample filtering to match aArtisan 2.10
// 20130406 Added GO and STOP commands to use with Artisan 'Charge' and 'End' buttons
// 20140127 aArtisanQ_PID release 4_0 created
//          Added support for Roastlogger roasting software (responds to LOAD, POWER and FAN commands. Sends rorT1=, T1=, rorT2=, T2= and power levels to roastlogger)
// 20140128 Improved handling of heater and fan power limits
// 20140213 aArtisanQ_PID release 4_2
// 20140214 Added option in user.h to define software mode (Artisan, Roastlogger or pBourbon)
//          Fixed? bug causing crashes when receiving READ commands
// 20140214 aArtisanQ_PID release 4_3
// 20150328 Replaced pBourbon option with Android option
//          Bug fix in LCD menu code.  Menu code disabled when not roasting stand alone
//          Changed default PID channel to 0
//          Added SV to values sent to Android app
// 20150328 aArtisanQ_PID release 5_0
// 20150403 Added PID;SV command from aArtisan
//          Changed default PID roast profile to 0 when using logging software
//          Reduced SRAM usage
// 20150404 Added PID;CHAN PID;CT and FILT commands
//          Added Heater, Fan and SV values to Artisan Logger if PID active
//          Removed PLOT_POWER option. Send power levels and SV if PID is active for Artisan. Send all by default for Android
// 20150409 Made loop time variable. Default = 1000ms (1s) but changes to 2000ms (2s) if needed for reading 4 temperature channels
//          Adjusted Read command to match aArtisan. Runs logger() from command to provide immediate response to Artisan
// 20150426 Removed io3, rf2000 and rc2000 commands to save memory
//          Other small compile changes to save memory
//          Compile directive change to ensure output levels are displayed when analogue pots are not active

// this library included with the arduino distribution
#include <Wire.h>

// The user.h file contains user-definable and some other global compiler options
// It must be located in the same folder as aArtisan.pde
#include "user.h"

// command processor declarations -- must be in same folder as aArtisan
#include "cmndreader.h"

#ifdef MEMORY_CHK
// debugging memory problems
#include "MemoryFree.h"
#endif

// code for integral cycle control and phase angle control
#include "phase_ctrl.h"

// these "contributed" libraries must be installed in your sketchbook's arduino/libraries folder
#include <cmndproc.h> // for command interpreter
#include <thermocouple.h> // type K, type J, and type T thermocouple support
#include <cADC.h> // MCP3424
//#include <PWM16.h> // for SSR output
#ifdef LCD
#include <cLCD.h> // required only if LCD is used
#endif

// ------------------------ other compile directives
#define MIN_DELAY 300   // ms between ADC samples (tested OK at 270)
#define DP 1  // decimal places for output on serial port
#define D_MULT 0.001 // multiplier to convert temperatures from int to float
#define DELIM "; ,=" // command line parameter delimiters

#include <mcEEPROM.h>
mcEEPROM eeprom;
calBlock caldata;

float AT; // ambient temp
float T[NC];  // final output values referenced to physical channels 0-3
int32_t ftemps[NC]; // heavily filtered temps
int32_t ftimes[NC]; // filtered sample timestamps
int32_t ftemps_old[NC]; // for calculating derivative
int32_t ftimes_old[NC]; // for calculating derivative
float RoR[NC]; // final RoR values
uint8_t actv[NC];  // identifies channel status, 0 = inactive, n = physical channel + 1

#ifdef CELSIUS // only affects startup conditions
boolean Cscale = true;
#else
boolean Cscale = false;
#endif

int levelOT1, levelOT2;  // parameters to control output levels
#ifdef MEMORY_CHK
uint32_t checktime;
#endif

#ifdef ANALOGUE1
  uint8_t anlg1 = 0; // analog input pins
  int32_t old_reading_anlg1; // previous analogue reading
  boolean analogue1_changed;
#endif

#ifdef ANALOGUE2
  uint8_t anlg2 = 1; // analog input pins
  int32_t old_reading_anlg2; // previous analogue reading
  boolean analogue2_changed;
#endif

#ifdef PID_CONTROL
  #include <PID_v1.h>

//Define PID Variables we'll be connecting to
  double Setpoint, Input, Output, SV; // SV is for roasting software override of Setpoint

//Specify the links and initial tuning parameters
  PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);
  uint8_t pid_chan = PID_CHAN; // identify PV and set default value from user.h

int profile_number; // number of the profile for PID control
  int profile_ptr; // EEPROM pointer for profile data
  char profile_name[40];
  char profile_description[80];
  int profile_number_new; // used when switching between profiles
  
  int times[2], temps[2]; // time and temp values read from EEPROM for setpoint calculation
  
  char profile_CorF; // profile temps stored as Centigrade or Fahrenheit

#endif

//boolean artisan_logger = false;
//boolean ANDROID = false; // set initial state for ANDROID flag
//boolean roastlogger = false; // set initial state for roastlogger flag
uint32_t counter; // second counter
uint32_t next_loop_time; // 
boolean first;
uint16_t looptime = 1000;

// class objects
cADC adc( A_ADC ); // MCP3424
ambSensor amb( A_AMB ); // MCP9800
filterRC fT[NC]; // filter for logged ET, BT
filterRC fRise[NC]; // heavily filtered for calculating RoR
filterRC fRoR[NC]; // post-filtering on RoR values
//PWM16 ssr;  // object for SSR output on OT1, OT2
CmndInterp ci( DELIM ); // command interpreter object

// array of thermocouple types
tcBase * tcp[4];
TC_TYPE1 tc1;
TC_TYPE2 tc2;
TC_TYPE3 tc3;
TC_TYPE4 tc4;

// ---------------------------------- LCD interface definition
#ifdef LCD
// LCD output strings
char st1[6],st2[6];
int LCD_mode = 0;
#ifdef LCDAPTER
  #include <cButton.h>
  cButtonPE16 buttons; // class object to manage button presses
  #define BACKLIGHT lcd.backlight();
  cLCD lcd; // I2C LCD interface
#else // parallel interface, standard LiquidCrystal
  #define BACKLIGHT ;
  #define RS 2
  #define ENABLE 4
  #define D4 7
  #define D5 8
  #define D6 12
  #define D7 13
  LiquidCrystal lcd( RS, ENABLE, D4, D5, D6, D7 ); // standard 4-bit parallel interface
#endif
#endif
// --------------------------------------------- end LCD interface

// T1, T2 = temperatures x 1000
// t1, t2 = time marks, milliseconds
// ---------------------------------------------------
float calcRise( int32_t T1, int32_t T2, int32_t t1, int32_t t2 ) {
  int32_t dt = t2 - t1;
  if( dt == 0 ) return 0.0;  // fixme -- throw an exception here?
  float dT = ( convertUnits( T2 ) - convertUnits( T1 ) ) * D_MULT;
  float dS = dt * 0.001; // convert from milli-seconds to seconds
  return ( dT / dS ) * 60.0; // rise per minute
}

// ------------- wrapper for the command interpreter's serial line reader
void checkSerial() {
  const char* result = ci.checkSerial();
  if( result != NULL ) { // some things we might want to do after a command is executed
    #if defined LCD && defined COMMAND_ECHO
    lcd.setCursor( 0, 0 ); // echo all commands to the LCD
    lcd.print( result );
    #endif
    #ifdef MEMORY_CHK
    Serial.print(F("# freeMemory()="));
    Serial.print(freeMemory());
    Serial.print(F("  ,  "));
    Serial.println( result );
    #endif
  }
}

// ----------------------------------
void checkStatus( uint32_t ms ) { // this is an active delay loop
  uint32_t tod = millis();
  while( millis() < tod + ms ) {
    checkSerial();
    #ifdef LCDAPTER
      #if not ( defined ROASTLOGGER || defined ARTISAN || defined ANDROID )
        checkButtons();
      #endif
    #endif
  }
}

// ----------------------------------------------------
float convertUnits ( float t ) {
  if( Cscale ) return F_TO_C( t );
  else return t;
}

// ------------------------------------------------------------------
void logger() {

#ifdef ARTISAN
  // print ambient
  Serial.print( convertUnits( AT ), DP );
  // print active channels
  for( uint8_t jj = 0; jj < NC; ++jj ) {
    uint8_t k = actv[jj];
    if( k > 0 ) {
      --k;
      Serial.print(F(","));
      Serial.print( convertUnits( T[k] ),DP );

}
  }

// check to see if PID is running, and output additional values if true
  if( myPID.GetMode() != MANUAL ) { // If PID in AUTOMATIC mode
  Serial.print(F(","));
  if( levelOT2 < OT1_CUTOFF ) { // send 0 if OT1 has been cut off
      Serial.print( 0 );
    }
    else {  
      Serial.print( levelOT1 );
    }
    Serial.print(F(","));
    Serial.print( levelOT2 );
    Serial.print(F(","));
    Serial.print( Setpoint );
  }  
  Serial.println();

/*    
  #ifdef PLOT_POWER
  Serial.print(F(","));
  if( levelOT2 < OT1_CUTOFF ) { // send 0 if OT1 has been cut off
    Serial.print( 0 );
  }
  else {  
    Serial.print( levelOT1 );
  }
  Serial.print(F(","));
  Serial.print( levelOT2 );
  #endif  
    
  Serial.println();
*/

#endif

#ifdef ROASTLOGGER
  for( uint8_t jj = 0; jj < NC; ++jj ) {
    uint8_t k = actv[jj];
    if( k > 0 ) {
      --k;
      Serial.print(F("rorT"));
      Serial.print(k+1);
      Serial.print(F("="));
      Serial.println( RoR[k], DP );
      Serial.print(F("T"));
      Serial.print(k+1);
      Serial.print(F("="));
      Serial.println( convertUnits( T[k] ) );
    }
  }
  Serial.print(F("Power%="));
  if( levelOT2 < OT1_CUTOFF ) { // send 0 if OT1 has been cut off
    Serial.println( 0 );
  }
  else {  
    Serial.println( levelOT1 );
  }
  Serial.print(F("Fan="));
  Serial.println( levelOT2 );
#endif

#ifdef ANDROID

// print counter
  Serial.print( counter );
  Serial.print( F(",") );

// print ambient
  Serial.print( convertUnits( AT ), DP );
  // print active channels
  for( uint8_t jj = 0; jj < NC; ++jj ) {
    uint8_t k = actv[jj];
    if( k > 0 ) {
      --k;
      Serial.print(F(","));
      Serial.print( convertUnits( T[k] ) );
      Serial.print(F(","));
      Serial.print( RoR[k], DP );
    }
  }
    
  //#ifdef PLOT_POWER
  Serial.print(F(","));
  if( levelOT2 < OT1_CUTOFF ) { // send 0 if OT1 has been cut off
    Serial.print( 0 );
  }
  else {  
    Serial.print( levelOT1 );
  }
  Serial.print(F(","));
  Serial.print( levelOT2 );
  //#endif  
  
  #ifdef PID_CONTROL
  Serial.print(F(","));
  Serial.print( Setpoint );

#endif
  
  Serial.println();

#endif

}

// --------------------------------------------------------------------------
void get_samples() // this function talks to the amb sensor and ADC via I2C
{
  int32_t v;
  tcBase * tc;
  float tempF;
  int32_t itemp;
  float rx;

uint16_t dly = amb.getConvTime(); // use delay based on slowest conversion
  uint16_t dADC = adc.getConvTime();
  dly = dly > dADC ? dly : dADC;
  
  for( uint8_t jj = 0; jj < NC; jj++ ) { // one-shot conversions on both chips
    uint8_t k = actv[jj]; // map logical channels to physical ADC channels
    if( k > 0 ) {
      --k;
      tc = tcp[k]; // each channel may have its own TC type
      adc.nextConversion( k ); // start ADC conversion on physical channel k
      amb.nextConversion(); // start ambient sensor conversion
      checkStatus( dly ); // give the chips time to perform the conversions

if( !first ) { // on first loop dont save zero values
        ftemps_old[k] = ftemps[k]; // save old filtered temps for RoR calcs
        ftimes_old[k] = ftimes[k]; // save old timestamps for filtered temps for RoR calcs
      }
      
      ftimes[k] = millis(); // record timestamp for RoR calculations
      
      amb.readSensor(); // retrieve value from ambient temp register
      v = adc.readuV(); // retrieve microvolt sample from MCP3424
      tempF = tc->Temp_F( 0.001 * v, amb.getAmbF() ); // convert uV to Celsius

// filter on direct ADC readings, not computed temperatures
      v = fT[k].doFilter( v << 10 );  // multiply by 1024 to create some resolution for filter
      v >>= 10; 
      AT = amb.getAmbF();
      T[k] = tc->Temp_F( 0.001 * v, AT ); // convert uV to Fahrenheit;

ftemps[k] =fRise[k].doFilter( tempF * 1000 ); // heavier filtering for RoR

if ( !first ) { // on first loop dont calc RoR
        rx = calcRise( ftemps_old[k], ftemps[k], ftimes_old[k], ftimes[k] );
        RoR[k] = fRoR[k].doFilter( rx / D_MULT ) * D_MULT; // perform post-filtering on RoR values
      }
    }
  }
  first = false;
};

#ifdef LCD
// --------------------------------------------
void updateLCD() {
  
  if( LCD_mode == 0 ) { // Display normal LCD screen
  
    lcd.setCursor(0,0);  
    if(counter/60 < 10) lcd.print(F("0")); lcd.print(counter/60); // Prob can do this better. Check aBourbon.
    lcd.print(F(":")); // make this blink?? :)
    if(counter - (counter/60)*60 < 10) lcd.print(F("0")); lcd.print(counter - (counter/60)*60);
    
  #ifdef LCD_4x20
  
  #ifdef COMMAND_ECHO
    lcd.print(F(" ")); // overwrite artisan commands
  #endif
  
    // display the first 2 active channels encountered, normally BT and ET
    int it01;
    uint8_t jj,j;
    uint8_t k;
    for( jj = 0, j = 0; jj < NC && j < 2; ++jj ) {
      k = actv[jj];
      if( k != 0 ) {
        ++j;
        it01 = round( convertUnits( T[k-1] ) );
        if( it01 > 999 ) 
          it01 = 999;
        else
          if( it01 < -999 ) it01 = -999;
        sprintf( st1, "%4d", it01 );
        if( j == 1 ) {
          lcd.setCursor( 13, 0 );
          lcd.print(F("ET:"));
        }
        else {
          lcd.setCursor( 13, 1 );
          lcd.print( F("BT:") );
        }
        lcd.print(st1);  
      }
    }
    
  // AT
    it01 = round( convertUnits( AT ) );
    if( it01 > 999 ) 
      it01 = 999;
    else
      if( it01 < -999 ) it01 = -999;
    sprintf( st1, "%3d", it01 );
    lcd.setCursor( 6, 0 );
    lcd.print(F("AT:"));
    lcd.print(st1);
    
  #ifdef PID_CONTROL
    if( myPID.GetMode() != MANUAL ) { // if PID is on then display PID: nnn% instead of OT1:
      lcd.setCursor( 0, 2 );
      lcd.print( F("PID:") );
      if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off
      sprintf( st1, "%4d", (int)0 );     
      }
      else {
        sprintf( st1, "%4d", (int)levelOT1 );
      }
      lcd.print( st1 ); lcd.print(F("%"));
      
      lcd.setCursor( 13, 2 ); // display setpoint if PID is on
      lcd.print( F("SP:") );
      sprintf( st1, "%4d", (int)Setpoint );
      lcd.print( st1 );
    }
    else {
  //#ifdef ANALOGUE1
      lcd.setCursor( 13, 2 );
      lcd.print(F("       ")); // blank out SP: nnn if PID is off
  //#else
  //    lcd.setCursor( 0, 2 );
  //    lcd.print(F("                    ")); // blank out PID: nnn% and SP: nnn if PID is off and ANALOGUE1 isn't defined
  //#endif // end ifdef ANALOGUE1
    }
  #endif // end ifdef PID_CONTROL
  
    // RoR
    lcd.setCursor( 0, 1 );
    lcd.print( F("RoR:"));
    sprintf( st1, "%4d", (int)RoR[ROR_CHAN] );
    lcd.print( st1 );
  
  
  //#ifdef ANALOGUE1
  #ifdef PID_CONTROL
    if( myPID.GetMode() == MANUAL ) { // only display OT2: nnn% if PID is off so PID display isn't overwriten
      lcd.setCursor( 0, 2 );
      lcd.print(F("OT1:"));
      if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off
      sprintf( st1, "%4d", (int)0 );     
      }
      else {
        sprintf( st1, "%4d", (int)levelOT1 );
      }
      lcd.print( st1 ); lcd.print(F("%"));
    }
      
  #else // if PID_CONTROL isn't defined then always display OT1: nnn%
      lcd.setCursor( 0, 2 );
      lcd.print(F("OT1:"));
      if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off
      sprintf( st1, "%4d", (int)0 );     
      }
      else {
        sprintf( st1, "%4d", (int)levelOT1 );
      }
      lcd.print( st1 ); lcd.print(F("%"));
  #endif // end ifdef PID_CONTROL
  //#endif // end ifdef ANALOGUE1
  
  //#ifdef ANALOGUE2
    lcd.setCursor( 0, 3 );
    lcd.print(F("OT2:"));
    sprintf( st1, "%4d", (int)levelOT2 );
    lcd.print( st1 ); lcd.print(F("%"));
  //#endif
  
  #else // if not def LCD_4x20 ie if using a standard 2x16 LCD
  
  #ifdef COMMAND_ECHO
    lcd.print(F("    ")); // overwrite artisan commands
  #endif
  
    // display the first 2 active channels encountered, normally BT and ET
    int it01;
    uint8_t jj,j;
    uint8_t k;
    for( jj = 0, j = 0; jj < NC && j < 2; ++jj ) {
      k = actv[jj];
      if( k != 0 ) {
        ++j;
        it01 = round( convertUnits( T[k-1] ) );
        if( it01 > 999 ) 
          it01 = 999;
        else
          if( it01 < -999 ) it01 = -999;
        sprintf( st1, "%4d", it01 );
        if( j == 1 ) {
          lcd.setCursor( 9, 0 );
          lcd.print(F("ET:"));
        }
        else {
          lcd.setCursor( 9, 1 );
          lcd.print( F("BT:") );
        }
        lcd.print(st1);  
      }
    }
  
  #ifdef PID_CONTROL
    if( myPID.GetMode() != MANUAL ) {
      lcd.setCursor( 0, 1 );
      if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off
        lcd.print( F("  0") );
      }
      else {
        sprintf( st1, "%3d", (int)levelOT1 );
        lcd.print( st1 );
      }
      lcd.print(F("%"));
      sprintf( st1, "%4d", (int)Setpoint );
      lcd.print(st1);  
    }
    else {
      lcd.setCursor( 0, 1 );
      lcd.print( F("RoR:"));
      sprintf( st1, "%4d", (int)RoR[ROR_CHAN] );
      lcd.print( st1 );
    }
  #else
      lcd.setCursor( 0, 1 );
      lcd.print( F("RoR:"));
      sprintf( st1, "%4d", (int)RoR[ROR_CHAN] );
      lcd.print( st1 );
  #endif // end ifdef PID_CONTROL
  
  #ifdef ANALOGUE1
    if( analogue1_changed == true ) { // overwrite RoR or PID values
      lcd.setCursor( 0, 1 );
      lcd.print(F("OT1:     "));
      lcd.setCursor( 4, 1 );
      if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off
        sprintf( st1, "%3d", (int)0 );     
      }
      else {
        sprintf( st1, "%3d", (int)levelOT1 );
      }
      lcd.print( st1 ); lcd.print(F("%"));
    }
  #endif //ifdef ANALOGUE1
  #ifdef ANALOGUE2
    if( analogue2_changed == true ) { // overwrite RoR or PID values
      lcd.setCursor( 0, 1 );
      lcd.print(F("OT2:     "));
      lcd.setCursor( 4, 1 );
      sprintf( st1, "%3d", (int)levelOT2 );
      lcd.print( st1 ); lcd.print(F("%"));
    }
  #endif // end ifdef ANALOGUE2
  
  #endif // end of ifdef LCD_4x20

}

else if( LCD_mode == 1 ) { // Display alternative 1 LCD display

#ifdef PID_CONTROL
  #ifdef LCD_4x20
    lcd.setCursor( 0, 0 );
    for( int i = 0; i < 20; i++ ) {
      if( profile_name[i] != 0 ) lcd.print( profile_name[i] );
    }
    lcd.setCursor( 0, 1 );
    for( int i = 0; i < 20; i++ ) {
      if( profile_description[i] != 0 ) lcd.print( profile_description[i] );
    }
    lcd.setCursor( 0, 2 );
    for( int i = 20; i < 40; i++ ) {
      if( profile_description[i] != 0 ) lcd.print( profile_description[i] );
    }
    lcd.setCursor( 0, 3 );
    lcd.print(F("PID: ")); lcd.print( myPID.GetKp() ); lcd.print(F(",")); lcd.print( myPID.GetKi() ); lcd.print(F(",")); lcd.print( myPID.GetKd() );

#else // if not def LCD_4x20 ie if using a standard 2x16 LCD
    lcd.setCursor( 0, 0 );
    for( int i = 0; i < 20; i++ ) {
      if( profile_name[i] != 0 ) lcd.print( profile_name[i] );
    }
    lcd.setCursor( 0, 1 );
    lcd.print(F("P:")); lcd.print( myPID.GetKp() ); lcd.print(F(",")); lcd.print( myPID.GetKi() ); lcd.print(F(",")); lcd.print( myPID.GetKd() ); 
  #endif // end ifdef LCD_4x20
  #endif // end ifdef PID_CONTROL
  }

} // end of updateLCD()
#endif // end ifdef LCD

#if defined ANALOGUE1 || defined ANALOGUE2
// -------------------------------- reads analog value and maps it to 0 to 100
// -------------------------------- rounded to the nearest 5
int32_t getAnalogValue( uint8_t port ) {
  int32_t mod, trial;
  float aval;
  aval = analogRead( port );
  #ifdef ANALOGUE1
    if( port == anlg1 ) {
      aval = MIN_OT1 * 10.24 + ( aval / 1024 ) * 10.24 * ( MAX_OT1 - MIN_OT1 ) ; // scale analogue value to new range
      if ( aval == ( MIN_OT1 * 10.24 ) ) aval = 0; // still allow OT1 to be switched off at minimum value. NOT SURE IF THIS FEATURE IS GOOD???????
      mod = MIN_OT1;
    }
  #endif
  #ifdef ANALOGUE2
    if( port == anlg2 ) {
      aval = MIN_OT2 * 10.24 + ( aval / 1024 ) * 10.24 * ( MAX_OT2 - MIN_OT2 ) ; // scale analogue value to new range
      if ( aval == ( MIN_OT2 * 10.24 ) ) aval = 0; // still allow OT2 to be switched off at minimum value. NOT SURE IF THIS FEATURE IS GOOD???????
      mod = MIN_OT2;
    }
  #endif
  trial = ( aval + 0.001 ) * 100; // to fix weird rounding error from previous calcs?????
  trial /= 1023;
  trial = ( trial / ANALOGUE_STEP ) * ANALOGUE_STEP; // truncate to multiple of ANALOGUE_STEP
  if( trial < mod ) trial = 0;
//  mod = trial % ANALOGUE_STEP;
//  trial = ( trial / ANALOGUE_STEP ) * ANALOGUE_STEP; // truncate to multiple of ANALOGUE_STEP
//  if( mod >= ANALOGUE_STEP / 2 )
//    trial += ANALOGUE_STEP;
  return trial;
}
#endif // end if defined ANALOGUE1 || defined ANALOGUE2

#ifdef ANALOGUE1
// ---------------------------------
void readAnlg1() { // read analog port 1 and adjust OT1 output
  char pstr[5];
  int32_t reading;
  reading = getAnalogValue( anlg1 );
  if( reading <= 100 && reading != old_reading_anlg1 ) { // did it change?
    analogue1_changed = true;
    levelOT1 = reading;
    old_reading_anlg1 = reading; // save reading for next time
    output_level_icc( levelOT1 );  // integral cycle control and zero cross SSR on OT1
  }
  else {
    analogue1_changed = false;
  }
}
#endif // end ifdef ANALOGUE1

#ifdef ANALOGUE2
// ---------------------------------
void readAnlg2() { // read analog port 2 and adjust OT2 output
  char pstr[5];
  int32_t reading;
  reading = getAnalogValue( anlg2 );
  if( reading <= 100 && reading != old_reading_anlg2 ) { // did it change?
    analogue2_changed = true;
    levelOT2 = reading;
    old_reading_anlg2 = reading; // save reading for next time
    output_level_pac( levelOT2 );
  }
  else {
    analogue2_changed = false;
  }
}
#endif // end ifdef ANALOGUE2

#ifdef PID_CONTROL
// ---------------------------------
void updateSetpoint() { //read profile data from EEPROM and calculate new setpoint
  
  if(profile_number > 0 ){
    while( counter < times[0] || counter >= times[1] ) { // if current time outside currently loaded interval then adjust profile pointer before reading new interval data from EEPROM
      if( counter < times[0] ) {
        profile_ptr = profile_ptr - 2; // two bytes per int
      }
      else {
        profile_ptr = profile_ptr + 2; // two bytes per int
      }
  
      eeprom.read( profile_ptr, (uint8_t*)&times, sizeof(times) ); // read two profile times
      eeprom.read( profile_ptr + 100, (uint8_t*)&temps, sizeof(temps) ); // read two profile temps.  100 = size of time data
      
      if( times[1] == 0 ) {
        Setpoint = 0;
        myPID.SetMode(MANUAL); // deactivate PID control
        Output = 0; // set PID output to 0
        break;
      }
    }
    
    float x = (float)( counter - times[0] ) / (float)( times[1] - times[0] ); // can probably be tidied up?? Calcs proportion of time through current profile interval
    Setpoint = temps[0] + x * ( temps[1] - temps[0] );  // then applies the proportion to the temps
    if( profile_CorF == 'F' && Cscale ) { // make setpoint units match current units
      Setpoint = convertUnits( Setpoint ); // convert F to C
    }
    else if( profile_CorF == 'C' & !Cscale) { // make setpoint units match current units
      Setpoint = Setpoint * 9 / 5 + 32; // convert C to F
    }
  }
  else {
    Setpoint = SV;
  }
}

void setProfile() { // set profile pointer and read initial profile data

if( profile_number > 0 ) {
    profile_ptr = 1024 + ( 400 * ( profile_number - 1 ) ) + 4; // 1024 = start of profile storage in EEPROM. 400 = size of each profile. 4 = location of profile C or F data
    eeprom.read( profile_ptr, (uint8_t*)&profile_CorF, sizeof(profile_CorF) ); // read profile temp type
    
    getProfileDescription(profile_number); // read profile name and description data from eeprom for active profile number
    
    profile_ptr = 1024 + ( 400 * ( profile_number - 1 ) ) + 125; // 1024 = start of profile storage in EEPROM. 400 = size of each profile. 125 = size of profile header data
    eeprom.read( profile_ptr, (uint8_t*)&times, sizeof(times) ); // read 1st two profile times
    eeprom.read( profile_ptr + 100, (uint8_t*)&temps, sizeof(temps) ); // read 1st two profile temps.  100 = size of time data
    
    // profile_ptr is left set for profile temp/time reads
  }
  //else //do something?
}

void getProfileDescription(int pn) { // read profile name and description data from eeprom

if( profile_number > 0 ) {
    int pp = 1024 + ( 400 * ( pn - 1 ) ) + 5; // 1024 = start of profile storage in EEPROM. 400 = size of each profile. 5 = location of profile name
    eeprom.read( pp, (uint8_t*)&profile_name, sizeof(profile_name) ); // read profile name  
  
    pp = 1024 + ( 400 * ( pn - 1 ) ) + 45; // 1024 = start of profile storage in EEPROM. 400 = size of each profile. 45 = location of profile description
    eeprom.read( pp, (uint8_t*)&profile_description, sizeof(profile_description) ); // read profile name  
  }
   //else //do something? 
}
#endif // end ifdef PID_CONTROL

#ifdef LCDAPTER
// ----------------------------------
void checkButtons() { // take action if a button is pressed
  if( buttons.readButtons() ) {
    
    switch (LCD_mode) {
    
      case 0: // Main LCD display
      
        if( buttons.keyPressed( 0 ) && buttons.keyChanged( 0 ) ) { // button 1 - PID on/off - PREVIOUS PROFILE
          #ifdef PID_CONTROL
          if( myPID.GetMode() == MANUAL ) {
            myPID.SetMode( AUTOMATIC );
          }
          else {
            myPID.SetMode( MANUAL );
          }
          #endif
        }
        else if( buttons.keyPressed( 1 ) && buttons.keyChanged( 1 ) ) { // button 2 - RESET TIMER - NEXT PROFILE
          counter = 0;
        }   
        else if( buttons.keyPressed( 2 ) && buttons.keyChanged( 2 ) ) { // button 3 - ENTER BUTTON
          // do something
        }
        else if( buttons.keyPressed( 3 ) && buttons.keyChanged( 3 ) ) { // button 4 - CHANGE LCD MODE
          lcd.clear();
          LCD_mode++; // change mode
          #ifndef PID_CONTROL
          if( LCD_mode == 1 ) LCD_mode++; // deactivate LCD mode 1 if PID control is disabled
          #endif
          if( LCD_mode > 1 ) LCD_mode = 0; // loop at limit of modes
          delay(5);
        }
        break;
        
      case 1: // Profile Selection and PID parameter LCD display
           
        if( buttons.keyPressed( 0 ) && buttons.keyChanged( 0 ) ) { // button 1 - PID on/off - PREVIOUS PROFILE
          #ifdef PID_CONTROL
          profile_number_new--;
          if( profile_number_new == 0 ) profile_number_new = NUM_PROFILES; // loop profile_number to end
          getProfileDescription(profile_number_new);
          #endif
        }
        else if( buttons.keyPressed( 1 ) && buttons.keyChanged( 1 ) ) { // button 2 - RESET TIMER - NEXT PROFILE
          #ifdef PID_CONTROL
          profile_number_new++;
          if( profile_number_new > NUM_PROFILES ) profile_number_new = 1; // loop profile_number to start
          getProfileDescription(profile_number_new);
          #endif
        }   
        else if( buttons.keyPressed( 2 ) && buttons.keyChanged( 2 ) ) { // button 3 - ENTER BUTTON
          #ifdef PID_CONTROL
          profile_number = profile_number_new; // change profile_number to new selection
          setProfile(); // call setProfile to load the profile selected
          lcd.clear();
          LCD_mode = 0; // jump back to main LCD display mode
          #endif
        }
        else if( buttons.keyPressed( 3 ) && buttons.keyChanged( 3 ) ) { // button 4 - CHANGE LCD MODE
          lcd.clear();
          #ifdef PID_CONTROL
          profile_number_new = profile_number; // reset profile_number_new if profile wasn't changed
          setProfile(); // or getProfileDescription()?????????
          #endif
          LCD_mode++; // change mode
          if( LCD_mode > 1 ) LCD_mode = 0; // loop at limit of modes
          delay(5);
        }
        break;
    } //end of switch
  } // end of if( buttons.readButtons() )
} // end of void checkButtons()
#endif // end ifdef LCDAPTER

// ------------------------------------------------------------------------
// MAIN
//
void setup()
{
  delay(100);
  Wire.begin(); 
  Serial.begin(BAUD);
  amb.init( AMB_FILTER );  // initialize ambient temp filtering

#ifdef LCD
#ifdef LCD_4x20
  lcd.begin(20, 4);
#else
  lcd.begin(16, 2);
#endif // LCD_4x20
  BACKLIGHT;
  lcd.setCursor( 0, 0 );
  lcd.print( BANNER_ARTISAN ); // display version banner
  lcd.setCursor( 0, 1 );
#ifdef ANDROID
  lcd.print( F("ANDROID") ); // display version banner
#endif // ANDROID
#ifdef ARTISAN
  lcd.print( F("ARTISAN") ); // display version banner
#endif // ANDROID
#ifdef ROASTLOGGER
  lcd.print( F("ROASTLOGGER") ); // display version banner
#endif // ANDROID
  
#endif // LCD

#ifdef LCDAPTER
  buttons.begin( 4 );
  buttons.readButtons();
  buttons.ledAllOff();
#endif

#ifdef MEMORY_CHK
  Serial.print(F("# freeMemory()="));
  Serial.println(freeMemory());
#endif

adc.setCal( CAL_GAIN, UV_OFFSET );
  amb.setOffset( AMB_OFFSET );

// read calibration and identification data from eeprom
  if( readCalBlock( eeprom, caldata ) ) {
    adc.setCal( caldata.cal_gain, caldata.cal_offset );
    amb.setOffset( caldata.K_offset );
  }
  else { // if there was a problem with EEPROM read, then use default values
    adc.setCal( CAL_GAIN, UV_OFFSET );
    amb.setOffset( AMB_OFFSET );
  }

// initialize filters on all channels
  fT[0].init( ET_FILTER ); // digital filtering on ET
  fT[1].init( BT_FILTER ); // digital filtering on BT
  fT[2].init( ET_FILTER);
  fT[3].init( ET_FILTER);
  fRise[0].init( RISE_FILTER ); // digital filtering for RoR calculation
  fRise[1].init( RISE_FILTER ); // digital filtering for RoR calculation
  fRoR[0].init( ROR_FILTER ); // post-filtering on RoR values
  fRoR[1].init( ROR_FILTER ); // post-filtering on RoR values
  
  // set up output on OT1 and OT2
//  ssr.Setup( TIME_BASE );
  levelOT1 = levelOT2 = 0;
  init_control();

#ifdef ANALOGUE1
  old_reading_anlg1 = getAnalogValue( anlg1 ); // initialize old_reading with initial analogue value
  #endif
  #ifdef ANALOGUE2
  old_reading_anlg2 = getAnalogValue( anlg2 ); // initialize old_reading with initial analogue value
  #endif  
  
  // initialize the active channels to default values
  actv[0] = 2; // ET on TC1
  actv[1] = 1; // BT on TC2
  actv[2] = 0; // default inactive
  actv[3] = 0; // default inactive
  
  // assign thermocouple types
  tcp[0] = &tc1;
  tcp[1] = &tc2;
  tcp[2] = &tc3;
  tcp[3] = &tc4;

// add active commands to the linked list in the command interpreter object
  ci.addCommand( &dwriter );
  ci.addCommand( &awriter );
  ci.addCommand( &units );
  ci.addCommand( &chan );
  //ci.addCommand( &io3 );
  ci.addCommand( &ot2 );
  ci.addCommand( &ot1 );
  //ci.addCommand( &rf2000 );
  //ci.addCommand( &rc2000 );
  ci.addCommand( &reader );
  ci.addCommand( &pid );
  ci.addCommand( &reset );
  ci.addCommand( &load );
  ci.addCommand( &power );
  ci.addCommand( &fan );
  ci.addCommand( &filt );
  
  pinMode( LED_PIN, OUTPUT );

#ifdef LCD
  delay( 500 );
  lcd.clear();
#endif
#ifdef MEMORY_CHK
  checktime = millis();
#endif

#ifdef PID_CONTROL
  myPID.SetSampleTime(CT); // set sample time to 1 second
  myPID.SetOutputLimits(MIN_OT1, MAX_OT1); // set output limits to user defined limits
  myPID.SetControllerDirection(DIRECT); // set PID to be direct acting mode. Increase in output leads to increase in input
  myPID.SetTunings(PRO, INT, DER); // set initial PID tuning values
  myPID.SetMode(MANUAL); // start with PID control off
#if not ( defined ROASTLOGGER || defined ARTISAN || defined ANDROID )
  profile_number = 1; // set default profile, 0 is for override by roasting software
#else
  profile_number = 0; // set default profile, 0 is for override by roasting software
#endif
  profile_number_new = profile_number; 
  setProfile(); // read profile description initial time/temp data from eeprom and set profile_pointer
#endif

first = true;
counter = 3; // start counter at 3 to match with Artisan. Probably a better way to sync with Artisan???
next_loop_time = millis() + looptime; // needed??

}

// -----------------------------------------------------------------
void loop()
{
  if( ACdetect() ) {
    digitalWrite( LED_PIN, HIGH );
  }  
  else {
    digitalWrite( LED_PIN, LOW );
  }
  #ifdef MEMORY_CHK  
    uint32_t now = millis();
    if( now - checktime > 1000 ) {
      Serial.print(F("# freeMemory()="));
      Serial.println(freeMemory());
      checktime = now;
    }
  #endif
  
  // Has a command been received?
  checkSerial();
  
  // Read temperatures
  get_samples();

// Read analogue POT values if defined
  #ifdef ANALOGUE1
    #ifdef PID_CONTROL
      if( myPID.GetMode() == MANUAL ) readAnlg1(); // if PID is off allow ANLG1 read
    #else
      readAnlg1(); // if PID_CONTROL is defined always allow ANLG1 read
    #endif // PID_CONTROL
  #endif // ANALOGUE1
  #ifdef ANALOGUE2
    readAnlg2();
  #endif
  
  // Run PID if defined and active
  #ifdef PID_CONTROL
    if( myPID.GetMode() != MANUAL ) { // If PID in AUTOMATIC mode calc new output and assign to OT1
      //Input = convertUnits( T[PID_CHAN] ); // using temp from this TC4 channel as PID input. use actv[?] instead of 0??
      updateSetpoint(); // read profile data from EEPROM and calculate new setpoint
      uint8_t k = actv[pid_chan - 1];  // k = physical channel corresponding with logical channel
      if( k != 0 ) --k; // adjust for 0-based array index
      // Input is the SV for the PID algorithm
      Input = convertUnits( T[k] );
      myPID.Compute();  // do PID calcs
      levelOT1 = Output; // update OT1 based on PID optput
      #ifdef ACKS_ON
      Serial.print(F("# PID input = " )); Serial.print( Input ); Serial.print(F("  "));
      Serial.print(F("# PID output = " )); Serial.println( levelOT1 );
      #endif
      output_level_icc( levelOT1 );  // integral cycle control and zero cross SSR on OT1
    }
  #endif

// Update LCD if defined
  #ifdef LCD
    updateLCD();
  #endif
  
  // Send data to Roastlogger if defined
  #if defined ROASTLOGGER
    logger(); // send data every second to Roastlogger every loop (looptime)
  #endif

//  #if defined ARTISAN || defined ANDROID
//    if( artisan_logger == true ) {
//      artisan_logger = false;
//      logger();
//    }
//  #endif
//  Serial.println( next_loop_time - millis() ); // how much time spare in loop. approx 350ms
  
  // check if temp reads has taken longer than looptime. If so add 1 to counter + increase next looptime
  // Serial.println( next_loop_time - millis() ); // how much time spare in loop. approx 350ms
  if ( millis() > next_loop_time ) {
    counter = counter + ( looptime / 1000 ); if( counter > 3599 ) counter = 3599;
    next_loop_time = next_loop_time + looptime; // add time until next loop
  }
  
  // wait until looptiom is expired. Check serial and buttons while waiting
  while( millis() < next_loop_time ) {
    checkSerial();  // Has a command been received?
  #ifdef LCDAPTER
    #if not ( defined ROASTLOGGER || defined ARTISAN || defined ANDROID )
      checkButtons();
    #endif
  #endif
  }
  
  // Set next loop time and increment counter
  next_loop_time = next_loop_time + looptime; // add time until next loop
  counter = counter + ( looptime / 1000 ); if( counter > 3599 ) counter = 3599;
}

Testo modificato

Apri file

// aArtisanQ_PID.ino
// ------------

// prh version
// Written to support the Artisan roasting scope //http://code.google.com/p/artisan/

#define BANNER_ARTISAN "aArtisanQ_PID 5_3"

// ----------- aArtisanQ_PID (prh mods/hacks to achieve PWM PID output)
// 20151201

// this library included with the arduino distribution
#include <Wire.h>

// The user.h file contains user-definable and some other global compiler options
// It must be located in the same folder as aArtisan.pde
#include "user.h"

// command processor declarations -- must be in same folder as aArtisan
#include "cmndreader.h"

#ifdef MEMORY_CHK
// debugging memory problems
#include "MemoryFree.h"
#endif

// code for integral cycle control and phase angle control
//#include "phase_ctrl.h"

// these "contributed" libraries must be installed in your sketchbook's arduino/libraries folder
#include <cmndproc.h> // for command interpreter
#include <thermocouple.h> // type K, type J, and type T thermocouple support
#include <cADC.h> // MCP3424
#include <PWM16.h> // for PWM output
#ifdef LCD
#include <cLCD.h> // required only if LCD is used
#endif

#include <mcEEPROM.h>
mcEEPROM eeprom;
calBlock caldata;

#ifdef CELSIUS // only affects startup conditions
boolean Cscale = true;
#else
boolean Cscale = false;
#endif

int levelIO3, levelOT1, levelOT2;  // parameters to control output levels prh added levelIO3
#ifdef MEMORY_CHK
uint32_t checktime;
#endif

#ifdef ANALOGUE1
  uint8_t anlg1 = 0; // analog input pins
  int32_t old_reading_anlg1; // previous analogue reading
  boolean analogue1_changed;
#endif

#ifdef ANALOGUE2
  uint8_t anlg2 = 1; // analog input pins
  int32_t old_reading_anlg2; // previous analogue reading
  boolean analogue2_changed;
#endif

#ifdef PID_CONTROL
  #include <PID_v1.h>

//Define PID Variables we'll be connecting to
  double Setpoint, Input, Output, SV; // SV is for roasting software override of Setpoint

//Specify the links and initial tuning parameters
  PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);
  uint8_t pid_chan = PID_CHAN; // identify PV and set default value from user.h

#endif

// class objects
cADC adc( A_ADC ); // MCP3424
ambSensor amb( A_AMB ); // MCP9800
filterRC fT[NC]; // filter for logged ET, BT
filterRC fRise[NC]; // heavily filtered for calculating RoR
filterRC fRoR[NC]; // post-filtering on RoR values
PWM16 ssr;  // object for SSR output on OT1, OT2 - prh reinstated this line 
CmndInterp ci( DELIM ); // command interpreter object

// array of thermocouple types
tcBase * tcp[4];
TC_TYPE1 tc1;
TC_TYPE2 tc2;
TC_TYPE3 tc3;
TC_TYPE4 tc4;

// ----------------------------------------------------
float convertUnits ( float t ) {
  if( Cscale ) return F_TO_C( t );
  else return t;
}

// ------------------------------------------------------------------
void logger() {

}
  }

// check to see if PID is running, and output additional values if true
  if( myPID.GetMode() != MANUAL ) { // If PID in AUTOMATIC mode
  Serial.print(F(","));
  if( levelOT2 < OT1_CUTOFF ) { // send 0 if OT1 has been cut off
      Serial.print( 0 );
    }
    else {  
      Serial.print( levelIO3 );
    }
    Serial.print(F(","));
    Serial.print( levelOT2 );
    Serial.print(F(","));
    Serial.print( Setpoint );
  }  
  Serial.println();

/*    
  #ifdef PLOT_POWER
  Serial.print(F(","));
  if( levelOT2 < OT1_CUTOFF ) { // send 0 if OT1 has been cut off
    Serial.print( 0 );
  }
  else {  
    Serial.print( levelIO3 );
  }
  Serial.print(F(","));
  Serial.print( levelOT2 );
  #endif  
    
  Serial.println();
*/

#endif

#ifdef ROASTLOGGER
  for( uint8_t jj = 0; jj < NC; ++jj ) {
    uint8_t k = actv[jj];
    if( k > 0 ) {
      --k;
      Serial.print(F("rorT"));
      Serial.print(k+1);
      Serial.print(F("="));
      Serial.println( RoR[k], DP );
      Serial.print(F("T"));
      Serial.print(k+1);
      Serial.print(F("="));
      Serial.println( convertUnits( T[k] ) );
    }
  }
  Serial.print(F("Power%="));
  if( levelOT2 < OT1_CUTOFF ) { // send 0 if OT1 has been cut off
    Serial.println( 0 );
  }
  else {  
    Serial.println( levelIO3 );
  }
  Serial.print(F("Fan="));
  Serial.println( levelOT2 );
#endif

#ifdef ANDROID

// print counter
  Serial.print( counter );
  Serial.print( F(",") );

// print ambient
  Serial.print( convertUnits( AT ), DP );
  // print active channels
  for( uint8_t jj = 0; jj < NC; ++jj ) {
    uint8_t k = actv[jj];
    if( k > 0 ) {
      --k;
      Serial.print(F(","));
      Serial.print( convertUnits( T[k] ) );
      Serial.print(F(","));
      Serial.print( RoR[k], DP );
    }
  }
    
  //#ifdef PLOT_POWER
  Serial.print(F(","));
  if( levelOT2 < OT1_CUTOFF ) { // send 0 if OT1 has been cut off
    Serial.print( 0 );
  }
  else {  
    Serial.print( levelIO3 );
  }
  Serial.print(F(","));
  Serial.print( levelOT2 );
  //#endif  
  
  #ifdef PID_CONTROL
  Serial.print(F(","));
  Serial.print( Setpoint );

#endif
  
  Serial.println();

#endif

}

ftemps[k] =fRise[k].doFilter( tempF * 1000 ); // heavier filtering for RoR

#ifdef LCD
// --------------------------------------------
void updateLCD() {
  
  if( LCD_mode == 0 ) { // Display normal LCD screen
  
    lcd.setCursor(0,0);  
    if(counter/60 < 10) lcd.print(F("0")); lcd.print(counter/60); // Prob can do this better. Check aBourbon.
    lcd.print(F(":")); // make this blink?? :)
    if(counter - (counter/60)*60 < 10) lcd.print(F("0")); lcd.print(counter - (counter/60)*60);
    
  #ifdef LCD_4x20
  
  #ifdef COMMAND_ECHO
    lcd.print(F(" ")); // overwrite artisan commands
  #endif
  
    // display the first 2 active channels encountered, normally BT and ET
    int it01;
    uint8_t jj,j;
    uint8_t k;
    for( jj = 0, j = 0; jj < NC && j < 2; ++jj ) {
      k = actv[jj];
      if( k != 0 ) {
        ++j;
        it01 = round( convertUnits( T[k-1] ) );
        if( it01 > 999 ) 
          it01 = 999;
        else
          if( it01 < -999 ) it01 = -999;
        sprintf( st1, "%4d", it01 );
        if( j == 1 ) {
          lcd.setCursor( 13, 0 );
          lcd.print(F("ET:"));
        }
        else {
          lcd.setCursor( 13, 1 );
          lcd.print( F("BT:") );
        }
        lcd.print(st1);  
      }
    }
    
  // AT
    it01 = round( convertUnits( AT ) );
    if( it01 > 999 ) 
      it01 = 999;
    else
      if( it01 < -999 ) it01 = -999;
    sprintf( st1, "%3d", it01 );
    lcd.setCursor( 6, 0 );
    lcd.print(F("AT:"));
    lcd.print(st1);
    
  #ifdef PID_CONTROL
    if( myPID.GetMode() != MANUAL ) { // if PID is on then display PID: nnn% instead of OT1:
      lcd.setCursor( 0, 2 );
      lcd.print( F("PID:") );
      if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off
      sprintf( st1, "%4d", (int)0 );     
      }
      else {
        sprintf( st1, "%4d", (int)levelIO3 );
      }
      lcd.print( st1 ); lcd.print(F("%"));
      
      lcd.setCursor( 13, 2 ); // display setpoint if PID is on
      lcd.print( F("SP:") );
      sprintf( st1, "%4d", (int)Setpoint );
      lcd.print( st1 );
    }
    else {
  #ifdef ANALOGUE1
      lcd.setCursor( 13, 2 );
      lcd.print(F("MANUAL ")); // blank out SP: nnn if PID is off
  #else
      lcd.setCursor( 0, 2 );
  //    lcd.print(F("                    ")); // blank out PID: nnn% and SP: nnn if PID is off and ANALOGUE1 isn't defined
  #endif // end ifdef ANALOGUE1
    }
  #endif // end ifdef PID_CONTROL
  
    // RoR
    lcd.setCursor( 0, 1 );
    lcd.print( F("RoR:"));
    sprintf( st1, "%4d", (int)RoR[ROR_CHAN] );
    lcd.print( st1 );
  
  
  #ifdef ANALOGUE1
  #ifdef PID_CONTROL
    if( myPID.GetMode() == MANUAL ) { // only display OT2: nnn% if PID is off so PID display isn't overwriten
      lcd.setCursor( 0, 2 );
      lcd.print(F("OUT:"));           // prh changed "OT1" to "OUT"
      if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off
      sprintf( st1, "%4d", (int)0 );     
      }
      else {
        sprintf( st1, "%4d", (int)levelIO3 );
      }
      lcd.print( st1 ); lcd.print(F("%"));
    }
      
  #else // if PID_CONTROL isn't defined then always display OT1: nnn%
      lcd.setCursor( 0, 2 );
      lcd.print(F("OUT:"));    // prh changed "OT1" to "OUT"
      if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off
      sprintf( st1, "%4d", (int)0 );     
      }
      else {
        sprintf( st1, "%4d", (int)levelIO3 );
      }
      lcd.print( st1 ); lcd.print(F("%"));
  #endif // end ifdef PID_CONTROL
  #endif // end ifdef ANALOGUE1
  
  //#ifdef ANALOGUE2
    lcd.setCursor( 0, 3 );
    lcd.print(F("Profile:")); // prh changed from "OT2:" to "Profile 
    lcd.setCursor( 10, 3 );  // prh added this line 
    lcd.print(profile_number); // prh added this line 
  //lcd.print( st1 ); lcd.print(F("%"));
  //#endif
  
  #else // if not def LCD_4x20 ie if using a standard 2x16 LCD
  
  #ifdef COMMAND_ECHO
    lcd.print(F("    ")); // overwrite artisan commands
  #endif
  
    // display the first 2 active channels encountered, normally BT and ET
    int it01;
    uint8_t jj,j;
    uint8_t k;
    for( jj = 0, j = 0; jj < NC && j < 2; ++jj ) {
      k = actv[jj];
      if( k != 0 ) {
        ++j;
        it01 = round( convertUnits( T[k-1] ) );
        if( it01 > 999 ) 
          it01 = 999;
        else
          if( it01 < -999 ) it01 = -999;
        sprintf( st1, "%4d", it01 );
        if( j == 1 ) {
          lcd.setCursor( 9, 0 );
          lcd.print(F("ET:"));
        }
        else {
          lcd.setCursor( 9, 1 );
          lcd.print( F("BT:") );
        }
        lcd.print(st1);  
      }
    }
  
  #ifdef PID_CONTROL
    if( myPID.GetMode() != MANUAL ) {
      lcd.setCursor( 0, 1 );
      if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off
        lcd.print( F("  0") );
      }
      else {
        sprintf( st1, "%3d", (int)levelIO3 );
        lcd.print( st1 );
      }
      lcd.print(F("%"));
      sprintf( st1, "%4d", (int)Setpoint );
      lcd.print(st1);  
    }
    else {
      lcd.setCursor( 0, 1 );
      lcd.print( F("RoR:"));
      sprintf( st1, "%4d", (int)RoR[ROR_CHAN] );
      lcd.print( st1 );
    }
  #else
      lcd.setCursor( 0, 1 );
      lcd.print( F("RoR:"));
      sprintf( st1, "%4d", (int)RoR[ROR_CHAN] );
      lcd.print( st1 );
  #endif // end ifdef PID_CONTROL
  
  #ifdef ANALOGUE1
    if( analogue1_changed == true ) { // overwrite RoR or PID values
      lcd.setCursor( 0, 1 );
      lcd.print(F("OUT:     "));     // prh changed "OT1" to "OUT"
      lcd.setCursor( 4, 1 );
      if( levelOT2 < OT1_CUTOFF ) { // display 0% if OT1 has been cut off
        sprintf( st1, "%3d", (int)0 );     
      }
      else {
        sprintf( st1, "%3d", (int)levelIO3 );
      }
      lcd.print( st1 ); lcd.print(F("%"));
    }
  #endif //ifdef ANALOGUE1
  #ifdef ANALOGUE2
    if( analogue2_changed == true ) { // overwrite RoR or PID values
      lcd.setCursor( 0, 1 );
      lcd.print(F("OT2:     "));
      lcd.setCursor( 4, 1 );
      sprintf( st1, "%3d", (int)levelOT2 );
      lcd.print( st1 ); lcd.print(F("%"));
    }
  #endif // end ifdef ANALOGUE2
  
  #endif // end of ifdef LCD_4x20

}

else if( LCD_mode == 1 ) { // Display alternative 1 LCD display

} // end of updateLCD()
#endif // end ifdef LCD

#if defined ANALOGUE1 || defined ANALOGUE2
// -------------------------------- reads analog value and maps it to 0 to 100
// -------------------------------- rounded to the nearest 5
int32_t getAnalogValue( uint8_t port ) {
  int32_t mod, trial;
  float aval;
  aval = analogRead( port );
  #ifdef ANALOGUE1
    if( port == anlg1 ) {
      aval = MIN_OT1 * 10.24 + ( aval / 1024 ) * 10.24 * ( MAX_OT1 - MIN_OT1 ) ; // scale analogue value to new range
      // if ( aval == ( MIN_OT1 * 10.24 ) ) aval = 0; // still allow OT1 to be switched off at minimum value. NOT SURE IF THIS FEATURE IS GOOD???????
      mod = MIN_OT1;
    }
  #endif
  #ifdef ANALOGUE2
    if( port == anlg2 ) {
      aval = MIN_OT2 * 10.24 + ( aval / 1024 ) * 10.24 * ( MAX_OT2 - MIN_OT2 ) ; // scale analogue value to new range
      if ( aval == ( MIN_OT2 * 10.24 ) ) aval = 0; // still allow OT2 to be switched off at minimum value. NOT SURE IF THIS FEATURE IS GOOD???????
      mod = MIN_OT2;
    }
  #endif
  trial = ( aval + 0.001 ) * 100; // to fix weird rounding error from previous calcs?????
  trial /= 1023;
  trial = ( trial / ANALOGUE_STEP ) * ANALOGUE_STEP; // truncate to multiple of ANALOGUE_STEP
  if( trial < mod ) trial = 0;
//  mod = trial % ANALOGUE_STEP;
//  trial = ( trial / ANALOGUE_STEP ) * ANALOGUE_STEP; // truncate to multiple of ANALOGUE_STEP
//  if( mod >= ANALOGUE_STEP / 2 )
//    trial += ANALOGUE_STEP;
  return trial;
}
#endif // end if defined ANALOGUE1 || defined ANALOGUE2

#ifdef ANALOGUE1
// ---------------------------------
void readAnlg1() { // read analog port 1 and adjust IO3 output
  char pstr[5];
  int32_t reading;
  reading = getAnalogValue( anlg1 );
  if( reading <= 100 && reading != old_reading_anlg1 ) { // did it change?
    analogue1_changed = true;
    #ifdef PID_CONTROL
          if( myPID.GetMode() == MANUAL ) {
            levelIO3 = reading;
            float pow = 2.55 * levelIO3;
            analogWrite( IO3, round( pow ) );  
            }
    #endif
    old_reading_anlg1 = reading; // save reading for next time
    //output_level_icc( levelIO3 );  // integral cycle control and zero cross SSR on OT1
  }
  else {
    analogue1_changed = false;
  }
}
#endif // end ifdef ANALOGUE1

void setProfile() { // set profile pointer and read initial profile data

void getProfileDescription(int pn) { // read profile name and description data from eeprom

#ifdef LCDAPTER
  buttons.begin( 4 );
  buttons.readButtons();
  buttons.ledAllOff();
#endif

#ifdef MEMORY_CHK
  Serial.print(F("# freeMemory()="));
  Serial.println(freeMemory());
#endif

adc.setCal( CAL_GAIN, UV_OFFSET );
  amb.setOffset( AMB_OFFSET );

// initialize filters on all channels
  fT[0].init( ET_FILTER ); // digital filtering on ET
  fT[1].init( BT_FILTER ); // digital filtering on BT
  fT[2].init( ET_FILTER);
  fT[3].init( ET_FILTER);
  fRise[0].init( RISE_FILTER ); // digital filtering for RoR calculation
  fRise[1].init( RISE_FILTER ); // digital filtering for RoR calculation
  fRoR[0].init( ROR_FILTER ); // post-filtering on RoR values
  fRoR[1].init( ROR_FILTER ); // post-filtering on RoR values
  
  // set up output on OT1 and OT2
  ssr.Setup( TIME_BASE );
  levelIO3 = levelOT2 = 0;
  init_control();

// add active commands to the linked list in the command interpreter object
  ci.addCommand( &dwriter );
  ci.addCommand( &awriter );
  ci.addCommand( &units );
  ci.addCommand( &chan );
  ci.addCommand( &io3 );
  //ci.addCommand( &ot2 );
  //ci.addCommand( &ot1 );
  //ci.addCommand( &rf2000 );
  //ci.addCommand( &rc2000 );
  ci.addCommand( &reader );
  ci.addCommand( &pid );
  ci.addCommand( &reset );
  ci.addCommand( &load );
  ci.addCommand( &power );
  ci.addCommand( &fan );
  ci.addCommand( &filt );
  
  pinMode( LED_PIN, OUTPUT );

#ifdef LCD
  delay( 500 );
  lcd.clear();
#endif
#ifdef MEMORY_CHK
  checktime = millis();
#endif

first = true;
counter = 3; // start counter at 3 to match with Artisan. Probably a better way to sync with Artisan???
next_loop_time = millis() + looptime; // needed??

}

// Read analogue POT values if defined
  #ifdef ANALOGUE1
    #ifdef PID_CONTROL
      if( myPID.GetMode() == MANUAL ) readAnlg1(); // if PID is off allow ANLG1 read
    #else
      readAnlg1(); // if PID_CONTROL is defined always allow ANLG1 read
    #endif // PID_CONTROL
  #endif // ANALOGUE1
  #ifdef ANALOGUE2
    readAnlg2();
  #endif
  
  // Run PID if defined and active
  #ifdef PID_CONTROL
    if( myPID.GetMode() != MANUAL ) { // If PID in AUTOMATIC mode calc new output and assign to OT1
      //Input = convertUnits( T[PID_CHAN] ); // using temp from this TC4 channel as PID input. use actv[?] instead of 0??
      updateSetpoint(); // read profile data from EEPROM and calculate new setpoint
      uint8_t k = actv[pid_chan - 1];  // k = physical channel corresponding with logical channel
      if( k != 0 ) --k; // adjust for 0-based array index
      // Input is the SV for the PID algorithm
      Input = convertUnits( T[k] );
      myPID.Compute();  // do PID calcs
      levelIO3 = Output; // update IO3 based on PID optput prh edit
      float pow = 2.55 * levelIO3;         //prh added line
      analogWrite( IO3, round( pow ) );     //prh added line
      #ifdef ACKS_ON
      Serial.print(F("# PID input = " )); Serial.print( Input ); Serial.print(F("  "));
      Serial.print(F("# PID output = " )); Serial.println( levelIO3 );
      #endif
      //  output_level_icc( levelIO3 );  // integral cycle control and zero cross SSR on OT1
    }
  #endif