TipControl.cpp

#include "OpenT12.h"

//[既然有了nmos 为啥还要pmos]科普:https://www.bilibili.com/video/BV1Mb4y1k7fd?from=search&seid=15411923932488650975

enum MOS_Type{
    PMOS=0,
    NMOS
};
//PWM
uint8_t PWM_Freq = 2000;    // 频率
uint8_t PWM1_Channel = 0;    // 通道
// uint8_t PWM2_Channel = 0;    // 通道
uint8_t PWM_Resolution = 8;   // 分辨率
//基础温控
uint8_t MyMOS = NMOS;
uint8_t POWER = 0;
uint8_t PWM = 0;
uint8_t LastPWM = 0;
uint16_t LastADC = 0;
double TipTemperature = 0;
double PID_Output = 0;
double PID_Setpoint = 0;
double TempGap = 0;
uint32_t ADCSamplingInterval = 0; //ADC采样间隔(ms)
//PID
float aggKp = 30.0, aggKi = 0, aggKd = 0.5;
float consKp = 20.0, consKi = 1, consKd = 0.5;

//初始化烙铁头温控系统
void TipControlInit(void) {
    //初始化ADC输入GPIO
    pinMode(TIP_ADC_PIN, INPUT_PULLUP); //ADC

    ledcAttachPin(PWM1_PIN, PWM1_Channel);  // 绑定PWM1通道
    // ledcAttachPin(PWM2_PIN, PWM2_Channel);  // 绑定PWM2通道
    ledcSetup(PWM1_Channel, PWM_Freq, PWM_Resolution); // 设置PWM1通道
    // ledcSetup(PWM2_Channel, PWM_Freq, PWM_Resolution); // 设置PWM2通道
    SetPOWER(0); //关闭功率管输出

    //初始化SW-PIN休眠检测引脚
    pinMode(SW_PIN, INPUT_PULLUP);
    //初始化SW-PIN休眠检测引脚中断 (尽可能减少中断的使用)
    //attachInterrupt(SW_PIN, SW_IRQHandler, CHANGE);
    
    //初始化烙铁头PID
    MyPID.SetOutputLimits(0, 255); //PID输出限幅
    MyPID.SetMode(AUTOMATIC); //PID控制模式
    MyPID.SetSampleTime(10); //PID采样时间
}

/**
 * @description: 计算主电源电压
 * @param {*}
 * @return 主电源电压估计值
 */
double Get_MainPowerVoltage(void) {
    static uint32_t CoolTimer = 0;
    if (millis() - CoolTimer > 1000) {
        //uint16_t POWER_ADC = analogRead(POWER_ADC_PIN);
        double TipADC_V_R2 = analogReadMilliVolts(POWER_ADC_PIN) / 1000.0;
        //double   TipADC_V_R2 = ESP32_ADC2Vol(POWER_ADC);
        double   TipADC_V_R1 = (TipADC_V_R2 * POWER_ADC_VCC_R1) / POWER_ADC_R2_GND;
        SYS_Voltage = TipADC_V_R1 + TipADC_V_R2;
        //重置冷却计时器
        CoolTimer = millis();
    }
    // printf("电压:%lf V\n", SYS_Voltage);
    return SYS_Voltage;
}

double GetNTCTemp(void) {
    static uint32_t CoolTimer = 0;
    if (millis() - CoolTimer > 1000){
        double Ert = analogReadMilliVolts(NTC_ADC_PIN) / 1000.0;
        double Rt = (Ert * NTC_Rs) / (SYS_Voltage - Ert);
        NTC_Temp = 1 / ((log(Rt / NTC_Rs)) / (NTC_B)+1 / (NTC_Tc + K2C)) - K2C;
        //重置冷却计时器
        CoolTimer = millis();
    }
    return NTC_Temp;
}

//计算实际温度
double CalculateTemp(double ADC,double P[]) {
    TipTemperature = P[0] + ADC * P[1] + ADC * ADC * P[2] + ADC * ADC * ADC * P[3];
    return TipTemperature;
}

//PWM输出模块
uint8_t PWMOutput_Lock = true;
void PWMOutput(uint8_t pwm) {
    printf("1 PWMOutput设置输出功率 %d\n", pwm);
    PWM_WORKY = true;
    //PWM锁
    if (PWMOutput_Lock || ShutdownEvent || Menu_System_State || ERROREvent) {
        PWM_WORKY = false;
        Log(LOG_INFO,"输出被限制");
        printf("输出被限制 PWMOutput_Lock=%d ShutdownEvent=%d Menu_System_State=%d ERROREvent=%d\n", PWMOutput_Lock, ShutdownEvent, Menu_System_State, ERROREvent);
        if (MyMOS == PMOS) pwm = 255;
        else pwm = 0;

        // //软件指示灯
        // digitalWrite(LED_Pin ,LOW);
    }
    printf("2 PWMOutput设置输出功率 %d\n", pwm);
    if (LastPWM != pwm) {
        printf("PWM:%d\n",pwm);
        if (pwm == 255) ledcWrite(PWM1_Channel, 256);
        else ledcWrite(PWM1_Channel, pwm);

        LastPWM = pwm;
    }else printf("PWM:%d LastPWM:%d\n",pwm,LastPWM);
    
}

/**
 *调用卡尔曼滤波器 实践
 */
KFP KFP_Temp = { 0.02,0,0,0,0.01,4.5};
float SamplingRatioWork = 10;           //采样/加热 比率
//获取ADC读数
int GetADC0(void) {
    static uint32_t ADCSamplingTime = 0; //上次采样时间
    static uint32_t ADCReadCoolTimer = 0;

    if (SYS_Ready) {
    
        ADCSamplingInterval = millis() - ADCSamplingTime;
        if (ADCSamplingInterval < ADC_PID_Cycle * (9/10.0)) return LastADC; //9/10周期ADC不应该工作，应该把时间留给加热

        //若原输出非关闭，则在关闭输出后等待一段时间，因为电热偶和加热丝是串在一起的，只有不加热的时候才能安全访问热偶温度
        if (PWMOutput_Lock == false) {
            ADCReadCoolTimer = millis();
            //锁定功率管输出：必须要关闭MOS管才能成功读取电热偶
            PWMOutput_Lock = true;
        }

        if (millis() - ADCReadCoolTimer <= ADC_PID_Cycle / 10) {
            return -1; //数据未准备好
        }

    }

    //读取并平滑滤波经过运算放大器放大后的热偶ADC数据
    uint16_t ADC_RAW = analogRead(TIP_ADC_PIN);
    uint16_t ADC;
    
    //卡尔曼滤波器
    if (Use_KFP) ADC = kalmanFilter(&KFP_Temp, (float)ADC_RAW);
    else ADC = ADC_RAW;
    //printf("%d,%d\r\n", ADC_RAW,ADC);

    //解锁功率管输出：前提是没有打开菜单
    if (!Menu_System_State) {
        // Log(LOG_INFO, "非菜单模式 解除输出上锁");
        PWMOutput_Lock = false;
    }

    //记录采样间隔时间
    ADCSamplingTime = millis();

    LastADC = ADC;
    return LastADC;
}

//设置输出功率
void SetPOWER(uint8_t power) {
    // Log(LOG_INFO, "尝试设置输出功率");
    printf("尝试设置输出功率 %d\n",power);
    POWER = power;
    //MOS管分类处理
    if (MyMOS==PMOS) {
        //PMOS 低电平触发
        PWM = 255 - power;
        Log(LOG_INFO, "PMOS输出转换");
    }else PWM = power;
    // printf("PWM:%d\n",PWM);
    PWMOutput(PWM);
}

float ADC_PID_Cycle_List[3] = {200,100,50};
//温度控制循环
void TemperatureControlLoop(void) {
    Clear();
    char buffer[50];
    int ADC;

    PID_Setpoint = sys_Counter_Get();
    if (BoostEvent) {
        //短时功率加成
        PID_Setpoint += BoostTemp;
    }else if (SleepEvent) {
        PID_Setpoint = SleepTemp;
    }

    PID_Setpoint = constrain(PID_Setpoint, TipMinTemp, TipMaxTemp);
    //尝试访问ADC
    ADC = GetADC0();
    if (ADC != -1) {
        
        TipTemperature = CalculateTemp((double)LastADC, PTemp);
        TempGap = abs(PID_Setpoint - TipTemperature);

        //根据温差选择合适的ADC-PID采样周期
        if (TempGap > 150) ADC_PID_Cycle = ADC_PID_Cycle_List[0];
        else if (TempGap > 50) ADC_PID_Cycle = ADC_PID_Cycle_List[1];
        else ADC_PID_Cycle = ADC_PID_Cycle_List[2];

        /////////////////////////////////////////////////////////////////////////////////////////////
        //控温模式
        if (PIDMode) {
            //PID模式

            //根据温度差选择最优的PID配置，PID参数可被Shell实时更改
            if (TempGap < 30) MyPID.SetTunings(consKp, consKi, consKd);
            else MyPID.SetTunings(aggKp, aggKi, aggKd);
            //更新PID采样时间：采样时间可被Shell实时更改
            //MyPID.SetSampleTime(PIDSampleTime);
            MyPID.SetSampleTime(ADC_PID_Cycle);

            //尝试计算PID
            //printf("计算PID：%d\n PID输出:%lf", MyPID.Compute(), PID_Output);
            MyPID.Compute();
            
        }else{
            //模糊模式
            if(TipTemperature < PID_Setpoint) PID_Output = 255;
            else PID_Output = 0;
        }

        
        //串口打印温度
        //printf("Temp:%lf,%lf,%d\r\n", TipTemperature, PID_Setpoint, ADC);

        /////////////////////////////////////////////////////////////////////////////////////////////
    }
}