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PID item and float-point fixes

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This commit is contained in:
Andrey Klimov
2021-03-09 05:28:13 +03:00
parent e7f606d16c
commit 058cde331d
11 changed files with 171 additions and 110 deletions
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150
lighthub/modules/out_pid.cpp
View File

@@ -16,7 +16,7 @@ bool out_pid::getConfig()
int direction = DIRECT;
// Retrieve and store
if (!store || !item || !item->itemArg || (item->itemArg->type != aJson_Array) || aJson.getArraySize(item->itemArg)<2)
if (!store || !item || !item->itemArg || (item->itemArg->type != aJson_Array) || aJson.getArraySize(item->itemArg)<1)
{
errorSerial<<F("PID: config failed:")<<(bool)store<<F(",")<<(bool)item<<F(",")<<(bool)item->itemArg<<F(",")<<(item->itemArg->type != aJson_Array)<<F(",")<< (aJson.getArraySize(item->itemArg)<2)<<endl;
return false;
@@ -28,19 +28,30 @@ bool out_pid::getConfig()
errorSerial<<F("Invalid PID param array.")<<endl;
return false;
}
double outMin=0.;
double outMax=100.;
aJsonObject * param;
switch (aJson.getArraySize(kPIDObj))
{
{ case 5:
param = aJson.getArrayItem(kPIDObj, 4);
if (param->type == aJson_Float) outMax=param->valuefloat;
else if (param->type == aJson_Int) outMax=param->valueint;
case 4:
param = aJson.getArrayItem(kPIDObj, 3);
if (param->type == aJson_Float) outMin=param->valuefloat;
else if (param->type == aJson_Int) outMin=param->valueint;
case 3:
param = aJson.getArrayItem(kPIDObj, 2);
if (param->type == aJson_Float) kD=param->valuefloat;
else if (param->type == aJson_Int) kD=param->valueint;
case 2:
param = aJson.getArrayItem(kPIDObj, 1);
if (param->type == aJson_Float) kI=param->valuefloat;
else if (param->type == aJson_Int) kI=param->valueint;
case 1:
param = aJson.getArrayItem(kPIDObj, 0);
if (param->type == aJson_Float) kP=param->valuefloat;
else if (param->type == aJson_Int) kP=param->valueint;
if (kP<0)
{
kP=-kP;
@@ -50,20 +61,28 @@ bool out_pid::getConfig()
switch (item->itemVal->type)
{
case aJson_Int: item->itemVal->valuefloat = item->itemVal->valueint;
case aJson_Int:
store->setpoint = item->itemVal->valueint;
break;
case aJson_Float:
store->setpoint = item->itemVal->valuefloat;
break;
default:
store->setpoint = 20.;
}
item->itemVal->type = aJson_Float;
if (!store->pid) store->pid= new PID (&store->input, &store->output, &item->itemVal->valuefloat, kP, kI, kD, direction);
if (!store->pid)
{store->pid= new PID (&store->input, &store->output, &store->setpoint, kP, kI, kD, direction);
if (!store->pid) return false;
store->pid->SetMode(AUTOMATIC);
store->pid->SetOutputLimits(outMin,outMax);
return true;}
else errorSerial<<F("PID already initialized")<<endl;
return true;
//store->addr=item->getArg(0);
return false;
}
@@ -73,12 +92,10 @@ if (!store) store= (pidPersistent *)item->setPersistent(new pidPersistent);
if (!store)
{ errorSerial<<F("PID: Out of memory")<<endl;
return 0;}
store->pid=NULL;
//store->timestamp=millis();
if (getConfig())
{
//item->clearFlag(ACTION_NEEDED);
//item->clearFlag(ACTION_IN_PROCESS);
infoSerial<<F("PID config loaded ")<< item->itemArr->name<<endl;
store->driverStatus = CST_INITIALIZED;
return 1;
@@ -93,8 +110,8 @@ else
int out_pid::Stop()
{
Serial.println("Modbus De-Init");
if (store) delete (store->pid());
Serial.println("PID De-Init");
if (store) delete (store->pid);
delete store;
item->setPersistent(NULL);
store = NULL;
@@ -110,99 +127,78 @@ return CST_UNKNOWN;
int out_pid::isActive()
{
return item->getVal();
return (item->getCmd()!=CMD_OFF);
}
int out_pid::Poll(short cause)
{
if ((Status() == CST_INITIALIZED) && isTimeOver(store->timestamp,millis(),store->pollingInterval))
{
store->timestamp=millisNZ();
debugSerial<<F("endPoll ")<< item->itemArr->name << endl;
if (store && store->pid && (Status() == CST_INITIALIZED) && item && (item->getCmd()!=CMD_OFF))
{
double prevOut=store->output;
store->pid->Compute();
if (abs(store->output-prevOut)>OUTPUT_TRESHOLD)
{
aJsonObject * oCmd = aJson.getArrayItem(item->itemArg, 1);
itemCmd value((float) store->output);
executeCommand(oCmd,-1,value);
}
}
}
return store->pollingInterval;
return 1;//store->pollingInterval;
};
int out_pid::getChanType()
{
return CH_MODBUS;
return CH_THERMO;
}
//!Control unified Modbus item
// Priority of selection sub-items control to:
// 1. if defined standard suffix Code inside cmd
// 2. custom textual subItem
// 3. non-standard numeric suffix Code equal param id
//!Control unified PID controller item
// /set suffix - to setup setpoint
// /val suffix - to put value into controller
// accept ON and OFF commands
int out_pid::Ctrl(itemCmd cmd, char* subItem, bool toExecute)
{
//int chActive = item->isActive();
//bool toExecute = (chActive>0);
//itemCmd st(ST_UINT32,CMD_VOID);
if (!store || !store->pid || (Status() != CST_INITIALIZED)) return 0;
int suffixCode = cmd.getSuffix();
aJsonObject *templateParamObj = NULL;
short mappedCmdVal = 0;
// trying to find parameter in template with name == subItem (NB!! standard suffixes dint working here)
if (subItem && strlen (subItem)) templateParamObj = aJson.getObjectItem(store->parameters, subItem);
if (!templateParamObj)
{
// Trying to find template parameter where id == suffixCode
templateParamObj = store->parameters->child;
while (templateParamObj)
{
//aJsonObject *regObj = aJson.getObjectItem(paramObj, "reg");
aJsonObject *idObj = aJson.getObjectItem(templateParamObj, "id");
if (idObj->type==aJson_Int && idObj->valueint == suffixCode) break;
aJsonObject *mapObj = aJson.getObjectItem(templateParamObj, "mapcmd");
if (mapObj && (mappedCmdVal = cmd.doReverseMappingCmd(mapObj))) break;
templateParamObj=templateParamObj->next;
}
}
// aJsonObject *typeObj = aJson.getObjectItem(paramObj, "type");
// aJsonObject *mapObj = aJson.getObjectItem(paramObj, "map");
// aJsonObject * itemParametersObj = aJson.getArrayItem(item->itemArg, 2);
// uint16_t data = node.getResponseBuffer(posInBuffer);
if (cmd.isCommand() && !suffixCode) suffixCode=S_CMD; //if some known command find, but w/o correct suffix - got it
switch(suffixCode)
{
case S_NOTFOUND:
// turn on and set
toExecute = true;
debugSerial<<F("Forced execution");
case S_SET:
if (!cmd.isValue()) return 0;
case S_VAL:
// Input value for PID
if (!cmd.isValue()) return 0;
store->input=cmd.getFloat();
debugSerial<<F("Input value:")<<store->input<<endl;
return 1;
//break;
//TODO
return 1;
//break;
case S_NOTFOUND:
case S_SET:
// Setpoint for PID
if (!cmd.isValue()) return 0;
store->setpoint=cmd.getFloat();
debugSerial<<F("Setpoint:")<<store->setpoint<<endl;
//cmd.saveItem(item);
//item->SendStatus(SEND_PARAMETERS);
return 1;
//break;
case S_CMD:
switch (cmd.getCmd())
{
case CMD_ON:
case CMD_OFF:
item->setCmd(cmd.getCmd());
item->SendStatus(SEND_COMMAND);
return 1;
case CMD_OFF:
return 1;
default:
debugSerial<<F("Unknown cmd ")<<cmd.getCmd()<<endl;
} //switch cmd

4
lighthub/modules/out_pid.h
View File

@@ -5,12 +5,14 @@
#include <item.h>
#include <PID_v1.h>
#define OUTPUT_TRESHOLD 1
class pidPersistent : public chPersistent {
public:
PID pid;
PID * pid;
double output;
double input;
double setpoint;
int driverStatus;
};