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@ -0,0 +1,124 @@
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|||
/*This file has been prepared for Doxygen automatic documentation generation.*/
|
||||
#include "pid.h"
|
||||
#include "stdint.h"
|
||||
|
||||
void pid_Init(int16_t p_factor, int16_t i_factor, int16_t d_factor, struct PID_DATA *pid)
|
||||
// Set up PID controller parameters
|
||||
{
|
||||
// Start values for PID controller
|
||||
pid->sumError = 0;
|
||||
pid->lastProcessValue = 0;
|
||||
// Tuning constants for PID loop
|
||||
pid->P_Factor = p_factor;
|
||||
pid->I_Factor = i_factor;
|
||||
pid->D_Factor = d_factor;
|
||||
// Limits to avoid overflow
|
||||
pid->maxError = MAX_INT / (pid->P_Factor + 1);
|
||||
pid->maxSumError = MAX_I_TERM / (pid->I_Factor + 1);
|
||||
}
|
||||
|
||||
/*
|
||||
int16_t pid_Controller(int16_t setPoint, int16_t processValue, struct PID_DATA *pid_st)
|
||||
{
|
||||
int16_t error, p_term, d_term;
|
||||
int32_t i_term, ret, temp;
|
||||
|
||||
error = setPoint - processValue;
|
||||
|
||||
// Calculate Pterm and limit error overflow
|
||||
if (error > pid_st->maxError){
|
||||
p_term = MAX_INT;
|
||||
}
|
||||
else if (error < -pid_st->maxError){
|
||||
p_term = -MAX_INT;
|
||||
}
|
||||
else{
|
||||
p_term = pid_st->P_Factor * error;
|
||||
}
|
||||
|
||||
// Calculate Iterm and limit integral runaway
|
||||
temp = pid_st->sumError + error;
|
||||
if(temp > pid_st->maxSumError){
|
||||
i_term = MAX_I_TERM;
|
||||
pid_st->sumError = pid_st->maxSumError;
|
||||
}
|
||||
else if(temp < -pid_st->maxSumError){
|
||||
i_term = -MAX_I_TERM;
|
||||
pid_st->sumError = -pid_st->maxSumError;
|
||||
}
|
||||
else{
|
||||
pid_st->sumError = temp;
|
||||
i_term = pid_st->I_Factor * pid_st->sumError;
|
||||
}
|
||||
|
||||
// Calculate Dterm
|
||||
d_term = pid_st->D_Factor * (pid_st->lastProcessValue - processValue);
|
||||
|
||||
pid_st->lastProcessValue = processValue;
|
||||
|
||||
ret = (p_term + i_term + d_term) / SCALING_FACTOR;
|
||||
if(ret > MAX_INT){
|
||||
ret = MAX_INT;
|
||||
}
|
||||
else if(ret < -MAX_INT){
|
||||
ret = -MAX_INT;
|
||||
}
|
||||
|
||||
return((int16_t)ret);
|
||||
} */
|
||||
|
||||
int16_t pid_Controller(int16_t setPoint, int16_t processValue, int16_t errorValue, struct PID_DATA *pid_st)
|
||||
{
|
||||
int16_t error, p_term, d_term;
|
||||
int32_t i_term, ret, temp;
|
||||
|
||||
error = setPoint - processValue;
|
||||
|
||||
// Calculate Pterm and limit error overflow
|
||||
if (error > pid_st->maxError){
|
||||
p_term = MAX_INT;
|
||||
}
|
||||
else if (error < -pid_st->maxError){
|
||||
p_term = -MAX_INT;
|
||||
}
|
||||
else{
|
||||
p_term = pid_st->P_Factor * error;
|
||||
}
|
||||
|
||||
// Calculate Iterm and limit integral runaway
|
||||
temp = pid_st->sumError + error;
|
||||
if(temp > pid_st->maxSumError){
|
||||
i_term = MAX_I_TERM;
|
||||
pid_st->sumError = pid_st->maxSumError;
|
||||
}
|
||||
else if(temp < -pid_st->maxSumError){
|
||||
i_term = -MAX_I_TERM;
|
||||
pid_st->sumError = -pid_st->maxSumError;
|
||||
}
|
||||
else{
|
||||
pid_st->sumError = temp;
|
||||
i_term = pid_st->I_Factor * pid_st->sumError;
|
||||
}
|
||||
|
||||
// Calculate Dterm
|
||||
d_term = pid_st->D_Factor * (pid_st->lastProcessValue - processValue);
|
||||
|
||||
pid_st->lastProcessValue = processValue;
|
||||
|
||||
//ret = (p_term + i_term + d_term + errorValue) / SCALING_FACTOR;
|
||||
ret = (p_term + i_term + d_term + errorValue) / SCALING_FACTOR;
|
||||
if(ret > (int32_t) MAX_INT){
|
||||
ret = MAX_INT;
|
||||
}
|
||||
else if(ret < (int32_t) -MAX_INT){
|
||||
ret = -MAX_INT;
|
||||
}
|
||||
|
||||
return((int16_t)ret);
|
||||
}
|
||||
|
||||
|
||||
void pid_Reset_Integrator(pidData_t *pid_st)
|
||||
{
|
||||
pid_st->sumError = 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,34 @@
|
|||
/*This file has been prepared for Doxygen automatic documentation generation.*/
|
||||
#ifndef PID_H
|
||||
#define PID_H
|
||||
|
||||
#include "stdint.h"
|
||||
|
||||
#define SCALING_FACTOR 1
|
||||
|
||||
typedef struct PID_DATA{
|
||||
int16_t lastProcessValue;
|
||||
int32_t sumError;
|
||||
int16_t P_Factor;
|
||||
int16_t I_Factor;
|
||||
int16_t D_Factor;
|
||||
int16_t maxError;
|
||||
int32_t maxSumError;
|
||||
} pidData_t;
|
||||
|
||||
// Maximum value of variables
|
||||
#define MAX_INT INT16_MAX
|
||||
#define MAX_LONG INT32_MAX
|
||||
#define MAX_I_TERM (MAX_LONG / 2)
|
||||
|
||||
// Boolean values
|
||||
#define FALSE 0
|
||||
#define TRUE 1
|
||||
|
||||
void pid_Init(int16_t p_factor, int16_t i_factor, int16_t d_factor, struct PID_DATA *pid);
|
||||
//int16_t pid_Controller(int16_t setPoint, int16_t processValue, struct PID_DATA *pid_st);
|
||||
int16_t pid_Controller(int16_t setPoint, int16_t processValue, int16_t errorValue, struct PID_DATA *pid_st);
|
||||
void pid_Reset_Integrator(pidData_t *pid_st);
|
||||
|
||||
#endif
|
||||
|
||||
|
|
@ -0,0 +1,311 @@
|
|||
//https://homepages.uni-regensburg.de/~erc24492/PID-Regler/AVR221/IAR/doxygen/main_8c-source.html
|
||||
|
||||
#include <avr/interrupt.h>
|
||||
#include <avr/io.h>
|
||||
#include <stdio.h>
|
||||
#include "pid.h"
|
||||
|
||||
#define F_CPU 8000000UL
|
||||
|
||||
#define BAUD 250000UL
|
||||
|
||||
#define F_TIMER 80L // Timer1 ISR-Frequenz != 1Hz
|
||||
#define T1_PRESCALER 1024 // Hardware-Vorteiler für Timer 1,
|
||||
// muss mit der Konfiguratiom übereinstimmen!
|
||||
#define OCRx_RELOAD ((F_CPU / (T1_PRESCALER * F_TIMER)) -1) // Periodendauer pro Interrupt
|
||||
|
||||
#define UBRR_VAL ((F_CPU+BAUD*8)/(BAUD*16)-1)
|
||||
#define BAUD_REAL (F_CPU/(16*(UBRR_VAL+1)))
|
||||
#define BAUD_ERROR ((BAUD_REAL*1000)/BAUD)
|
||||
|
||||
#if ((BAUD_ERROR<990) || (BAUD_ERROR>1010))
|
||||
#error
|
||||
#endif
|
||||
|
||||
#define HEATER_PIN_OUT DDRB |= (1<<PB4);
|
||||
#define PUMP_PIN_OUT DDRB |= (1<<PB3);
|
||||
|
||||
#define HEATER_ON PORTB |= (1<<PB4);
|
||||
#define HEATER_OFF PORTB &= ~(1<<PB4);
|
||||
#define PUMP_ON PORTB |= (1<<PB3);
|
||||
#define PUMP_OFF PORTB &= ~(1<<PB3);
|
||||
//MISO = PB6 DO
|
||||
//MOSI = PB5 DI
|
||||
//CS = PB1
|
||||
//SCK = PB7
|
||||
#define CS_DIS PORTB |= (1<<PB1);
|
||||
#define CS_EN PORTB &= ~(1<<PB1);
|
||||
|
||||
|
||||
#define DMX_BAUD 250000
|
||||
#define DMX_LOST_TIMEOUT 8000
|
||||
|
||||
volatile unsigned int dmx_lost = DMX_LOST_TIMEOUT;
|
||||
|
||||
volatile unsigned int dmx_adresse = 1;
|
||||
volatile unsigned char dmx_buffer[2];
|
||||
|
||||
//volatile unsigned char led_kanal[3];
|
||||
|
||||
volatile unsigned long temperature;
|
||||
//4500 ca 285°C //OFF
|
||||
//4400 ca 278°C
|
||||
//4300 ca 272°C
|
||||
//4250 ca 270°C
|
||||
//4200 ca 262°C
|
||||
// ca 250°C //ON
|
||||
//3800 ca 238°C
|
||||
//3500 ca 220°C
|
||||
//3200 ca 200°C
|
||||
//2800 ca 175°C
|
||||
//2500 ca 156°C
|
||||
//2200 ca 138°C
|
||||
//1800 ca 115°C
|
||||
//1400 ca 100°C
|
||||
//1200 ca 80°C
|
||||
//570 ca 50°C
|
||||
//340 ca 25°C
|
||||
|
||||
//KR bei 125V = 520 -> 130 bei 230V
|
||||
//P_C ca 90s
|
||||
//PWM bei 3670 (275°C)
|
||||
//heizen 32000 bei DMX-Wert= 32
|
||||
|
||||
|
||||
struct PID_DATA pidData;
|
||||
int16_t p_factor = 85; //85
|
||||
int16_t i_factor = 0; //1
|
||||
int16_t d_factor = 40; //11
|
||||
int16_t processValue = 1024; //Ist-Temp
|
||||
int16_t setPoint = 4220; //Soll-Temp (275°C) 4220
|
||||
int16_t Factor = (32767/80);
|
||||
volatile int16_t PWM = 0; //16Bit PWM
|
||||
volatile uint8_t PUMP = 0; //8Bit PWM
|
||||
|
||||
volatile int8_t T = 0;
|
||||
|
||||
void Fehler() {
|
||||
cli(); //Interrupts aus
|
||||
HEATER_OFF; //Heizung aus
|
||||
PUMP_OFF; //Pumpe aus
|
||||
while (1) {
|
||||
//Hält Maschine bei Fehler an
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
long spi()
|
||||
{
|
||||
//Max31855 einlesen
|
||||
unsigned char y = 0;
|
||||
unsigned char x = 0;
|
||||
long wert;
|
||||
CS_EN; //Enable CS
|
||||
for(unsigned long tmpa = 0;tmpa<5;tmpa++)asm("nop"); //ca 100ns warten
|
||||
|
||||
//Byte 1
|
||||
USIDR = 0x0;
|
||||
USISR = (1<<USIOIF);
|
||||
do {
|
||||
USICR = (1<<USIWM0)|(1<<USICS1)|(1<<USICLK)|(1<<USITC);
|
||||
} while ((USISR & (1<<USIOIF)) == 0);
|
||||
x = (unsigned int)USIDR;
|
||||
// Byte2
|
||||
USIDR = 0x0;
|
||||
USISR = (1<<USIOIF);
|
||||
do {
|
||||
USICR = (1<<USIWM0)|(1<<USICS1)|(1<<USICLK)|(1<<USITC);
|
||||
} while ((USISR & (1<<USIOIF)) == 0);
|
||||
y = (unsigned int)USIDR;
|
||||
|
||||
// Byte 3
|
||||
USIDR = 0x0;
|
||||
USISR = (1<<USIOIF);
|
||||
do {
|
||||
USICR = (1<<USIWM0)|(1<<USICS1)|(1<<USICLK)|(1<<USITC);
|
||||
} while ((USISR & (1<<USIOIF)) == 0);
|
||||
//Byte 4
|
||||
USIDR = 0x0;
|
||||
USISR = (1<<USIOIF);
|
||||
do {
|
||||
USICR = (1<<USIWM0)|(1<<USICS1)|(1<<USICLK)|(1<<USITC);
|
||||
} while ((USISR & (1<<USIOIF)) == 0);
|
||||
|
||||
CS_DIS; //Disable CS
|
||||
|
||||
//Prüfen ob Sensor angeschlossen ist
|
||||
if (y & 0x01) {Fehler();}
|
||||
wert = (unsigned long) (((long)x << 8) | (long)y);
|
||||
return wert;
|
||||
}
|
||||
|
||||
void enable_spi(unsigned char speed)
|
||||
{
|
||||
if (speed) {
|
||||
PORTB |= (1<<PB6)|(1<<PB1); // pull-up i.e. disabled
|
||||
DDRB |= (1<<PB7)|(1<<PB6)|(1<<PB1);
|
||||
USICR = (1<<USIWM0)|(1<<USICS1)|(1<<USICLK);
|
||||
DDRB &= ~(1<<PB5); //Input: PB6=DI (MOSI)
|
||||
PORTB |= (1<<PB5); //interner Pull-up an PA6 aktivieren
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
//DMX Empfangen
|
||||
ISR (USART_RX_vect)
|
||||
{
|
||||
static unsigned int dmx_channel_rx_count = 0;
|
||||
static unsigned char dmx_valid = 0;
|
||||
unsigned char recv = 0;
|
||||
|
||||
recv = UDR;
|
||||
if(UCSRA&(1<<FE))
|
||||
{
|
||||
if(dmx_channel_rx_count > 1)
|
||||
{
|
||||
dmx_lost = 0;
|
||||
}
|
||||
dmx_channel_rx_count = 0;
|
||||
dmx_buffer[0] = recv;
|
||||
if(dmx_buffer[0] == 0)
|
||||
{
|
||||
dmx_valid = 1;
|
||||
dmx_channel_rx_count++;
|
||||
}
|
||||
else
|
||||
{
|
||||
dmx_valid = 0;
|
||||
|
||||
}
|
||||
return;
|
||||
}
|
||||
//Test da DMX einen Fehler geworfen hat
|
||||
dmx_valid = 1;
|
||||
|
||||
if(dmx_valid)
|
||||
{
|
||||
//PUMP_ON;
|
||||
if(dmx_channel_rx_count == dmx_adresse) dmx_buffer[1] = recv;
|
||||
|
||||
if(dmx_channel_rx_count < 514)
|
||||
{
|
||||
dmx_channel_rx_count++;
|
||||
}
|
||||
//PUMP_OFF;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
ISR (TIMER0_COMPA_vect)
|
||||
{
|
||||
static unsigned char pwm_counter = 0;
|
||||
|
||||
pwm_counter++;
|
||||
if(pwm_counter == 255)
|
||||
{
|
||||
pwm_counter = 0;
|
||||
}
|
||||
|
||||
if(dmx_lost<DMX_LOST_TIMEOUT)
|
||||
{
|
||||
dmx_lost++;
|
||||
}
|
||||
}
|
||||
|
||||
ISR (TIMER1_COMPA_vect) {
|
||||
OCR1A = OCRx_RELOAD; //Timer neu laden
|
||||
if (T == 80) {
|
||||
int16_t z;
|
||||
|
||||
//Störgrößenaufschaltung bei niedriger Temperatur
|
||||
if (temperature < 4300) {
|
||||
if (PUMP < 32) {z = PUMP * 1024;} else {z = 32767;}; //Pumpenleistung bestimmen
|
||||
} else {z = 0;}; //Bei kleinerer temperatur wird Störgröße aufgeschaltet //32 entspricht 32000 sollleistung
|
||||
|
||||
PWM = pid_Controller(setPoint, temperature, z, &pidData); //SetPoint = tsoll, processValue = tist errorValue = Pumpenleistung
|
||||
T=0;
|
||||
}
|
||||
T++; //PWM mit 80 schritten
|
||||
//Heizung schalten
|
||||
if (T < (PWM / Factor)) {HEATER_ON;} else {HEATER_OFF;};
|
||||
|
||||
//Pumpe mit PWM einschalten, falls temperatur > 250° und kleiner 300°C
|
||||
if (T < (PUMP / 4) && (temperature > 4000) && (temperature < 4500)) {PUMP_ON;} else {PUMP_OFF;};
|
||||
}
|
||||
|
||||
//Hauptprogramm
|
||||
int main (void)
|
||||
{
|
||||
//Init usart
|
||||
|
||||
UBRRH = UBRR_VAL >> 8;
|
||||
UBRRL = UBRR_VAL & 0xFF;
|
||||
|
||||
UCSRB|=(1 << RXEN | 1<< RXCIE);
|
||||
UCSRC|=(1<<USBS);
|
||||
//Inputs setzen
|
||||
DDRD &= ~(1 << PD6); // switch input pin
|
||||
PORTD |= (1 << PD6); // enable pull-up resistor
|
||||
DDRB &= ~(1 << PB2); // switch input pin
|
||||
PORTB |= (1 << PB2); // enable pull-up resistor
|
||||
DDRD &= ~(1 << PD5); // switch input pin
|
||||
PORTD |= (1 << PD5); // enable pull-up resistor
|
||||
DDRD &= ~(1 << PD4); // switch input pin
|
||||
PORTD |= (1 << PD4); // enable pull-up resistor
|
||||
DDRD &= ~(1 << PD3); // switch input pin
|
||||
PORTD |= (1 << PD3); // enable pull-up resistor
|
||||
DDRD &= ~(1 << PD2); // switch input pin
|
||||
PORTD |= (1 << PD2); // enable pull-up resistor
|
||||
DDRD &= ~(1 << PD1); // switch input pin
|
||||
PORTD |= (1 << PD1); // enable pull-up resistor
|
||||
DDRB &= ~(1 << PB0); // switch input pin
|
||||
PORTB |= (1 << PB0); // enable pull-up resistor
|
||||
|
||||
|
||||
|
||||
//DMX-Adresse einlesen;
|
||||
// dmx_adresse = 0;
|
||||
if (PINB & (1 << PB0)) dmx_adresse =1;
|
||||
if (PIND & (1 << PD6)) dmx_adresse +=128;
|
||||
if (PINB & (1 << PB2)) dmx_adresse +=64;
|
||||
if (PIND & (1 << PD5)) dmx_adresse +=32;
|
||||
if (PIND & (1 << PD4)) dmx_adresse +=16;
|
||||
if (PIND & (1 << PD3)) dmx_adresse +=8;
|
||||
if (PIND & (1 << PD2)) dmx_adresse +=4;
|
||||
if (PIND & (1 << PD1)) dmx_adresse +=2;
|
||||
|
||||
|
||||
|
||||
//PID Konfigurieren:
|
||||
pid_Init(p_factor, i_factor , d_factor , &pidData);
|
||||
|
||||
// Timer 1 freigeben
|
||||
TCCR1B = (1<<WGM12)| (1<<CS12) | (1<<CS10); //Vorteiler 1024
|
||||
OCR1A = OCRx_RELOAD;
|
||||
// OCR1A Interrupt freigeben, wird für Timer CTC mode benutzt
|
||||
TIMSK = 1<<OCIE1A;
|
||||
|
||||
// DDRD |=(1<<PD2);
|
||||
// PORTD &=~(1<<PD2);
|
||||
|
||||
HEATER_PIN_OUT;
|
||||
PUMP_PIN_OUT;
|
||||
|
||||
enable_spi(1);
|
||||
|
||||
sei();
|
||||
|
||||
while(1)
|
||||
{
|
||||
if(dmx_lost==DMX_LOST_TIMEOUT)
|
||||
{
|
||||
dmx_buffer[1] = 0;
|
||||
};
|
||||
PUMP = dmx_buffer[1];
|
||||
temperature = spi();
|
||||
if (temperature > 4600) Fehler();
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
Binary file not shown.
|
|
@ -0,0 +1,42 @@
|
|||
![Nebelmaschine]
|
||||
|
||||
|
||||
# DMX-Nebelmaschine
|
||||
|
||||
|
||||
Für die kleinen Nebelmaschinen zum umbauen.
|
||||
|
||||
|
||||
###Vorteile:
|
||||
- Bessere Temperaturregelung mit PD-Regler
|
||||
- Dauernebeln mit niedriger Stufe möglich (f ca 1Hz)
|
||||
- DMX-Steuerung
|
||||
- Keine langen Pausen mehr zum Nachheitzen
|
||||
|
||||
|
||||
Firmware schreiben mit:
|
||||
avrdude -c jtag3isp -p attiny2313 -U flash:w:test3_tiny2313.hex
|
||||
|
||||
###Achtung:
|
||||
Nebel wird bei zu hohen temperaturen toxisch
|
||||
Elektrischer Schlag möglich bei unsachgemäßer Verwendung
|
||||
Brandgefahr
|
||||
|
||||
-> nur für fortgeschrittene Bastler und erfahrene Profis
|
||||
|
||||
![Bastelplatz]
|
||||
|
||||
|
||||
Thermoelement (Typ-K) mit Schraubanschluss verwenden damit dieser sich nicht löst und den Thermoschalter im Heitzkreis belassen. Dieser Schaltet bei Übertemperatur die Heitzung aus. Am Netzspannungseingang ist eine passende Sicherung zu verwenden.
|
||||
|
||||
##Patches auf der Platine (V1.1):
|
||||
![Top]
|
||||
![Bot]
|
||||
|
||||
|
||||
|
||||
|
||||
[Nebelmaschine]: pic1.jpg "Fertige Nebelmaschine"
|
||||
[Bastelplatz]: Bastelplatz.jpg "Nebelmaschine bei debuggen"
|
||||
[Top]: Ansicht-top.jpg "Platine Top"
|
||||
[Bot]: Ansicht-bot.jpg "Platine Bot"
|
||||
Loading…
Reference in New Issue