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machines/components/pid-controller/reference-impl/osPID-Firmware/osPID_Firmware.ino
lovebird 8f2516faff Revert "latest :)" 
This reverts commit 288a1ccd09.
2024-01-20 15:04:46 +01:00

1328 lines
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//#define USE_SIMULATION
#include <LiquidCrystal.h>
#include <EEPROM.h>
#include "AnalogButton_local.h"
#include "PID_v1_local.h"
#include "EEPROMAnything.h"
#include "PID_AutoTune_v0_local.h"
#include "io.h"
// ***** PIN ASSIGNMENTS *****
const byte buzzerPin = 3;
const byte systemLEDPin = A2;
const byte EEPROM_ID = 2; //used to automatically trigger and eeprom reset after firmware update (if necessary)
const byte TYPE_NAV=0;
const byte TYPE_VAL=1;
const byte TYPE_OPT=2;
byte mMain[] = {
0,1,2,3};
byte mDash[] = {
4,5,6,7};
byte mConfig[] = {
8,9,10,11};
byte *mMenu[] = {
mMain, mDash, mConfig};
byte curMenu=0, mIndex=0, mDrawIndex=0;
LiquidCrystal lcd(A1, A0, 4, 7, 8, 9);
AnalogButton button(A3, 0, 253, 454, 657);
unsigned long now, lcdTime, buttonTime,ioTime, serialTime;
boolean sendInfo=true, sendDash=true, sendTune=true, sendInputConfig=true, sendOutputConfig=true;
bool editing=false;
bool inputOk = true;
bool tuning = false;
double setpoint=250,input=250,output=50, pidInput=250;
double kp = 2, ki = 0.5, kd = 2;
byte ctrlDirection = 0;
byte modeIndex = 0;
byte highlightedIndex=0;
PID myPID(&pidInput, &output, &setpoint,kp,ki,kd, DIRECT);
double aTuneStep = 20, aTuneNoise = 1;
unsigned int aTuneLookBack = 10;
byte ATuneModeRemember = 0;
PID_ATune aTune(&pidInput, &output);
byte curProfStep=0;
byte curType=0;
float curVal=0;
float helperVal=0;
unsigned long helperTime=0;
boolean helperflag=false;
unsigned long curTime=0;
/*Profile declarations*/
const unsigned long profReceiveTimeout = 10000;
unsigned long profReceiveStart=0;
boolean receivingProfile=false;
const int nProfSteps = 15;
char profname[] = {
'N','o',' ','P','r','o','f'};
byte proftypes[nProfSteps];
unsigned long proftimes[nProfSteps];
float profvals[nProfSteps];
boolean runningProfile = false;
//for devlopment and demo purposes, it's useful to have a
//simulation that can run on the osPID. the problem is
//that is uses memory. rather than have it hogging resources
//when not in use, it's activated using a compile flag.
// this way, it doesn't get compiled during normal circumstances
#ifdef USE_SIMULATION
double kpmodel = 5, taup = 50, theta[30];
const double outputStart = 50;
const double inputStart=250;
void DoModel()
{
// Cycle the dead time
for(byte i=0;i<30;i++)
{
theta[i] = theta[i+1];
}
// Compute the input
input = (kpmodel / taup) *(theta[0]-outputStart) + (input-inputStart)*(1-1/taup)+inputStart + ((float)random(-10,10))/100;
}
#else
#endif /*USE_SIMULATION*/
void setup()
{
Serial.begin(9600);
lcdTime=10;
buttonTime=1;
ioTime=5;
serialTime=6;
//windowStartTime=2;
lcd.begin(8, 2);
lcd.setCursor(0,0);
lcd.print(F(" osPID "));
lcd.setCursor(0,1);
lcd.print(F(" v1.70 "));
delay(1000);
initializeEEPROM();
#ifdef USE_SIMULATION
input = inputStart;
for(int i=0;i<30;i++)theta[i] = outputStart;
#else
InitializeInputCard();
InitializeOutputCard();
#endif
myPID.SetSampleTime(1000);
myPID.SetOutputLimits(0, 100);
myPID.SetTunings(kp, ki, kd);
myPID.SetControllerDirection(ctrlDirection);
myPID.SetMode(modeIndex);
}
byte editDepth=0;
void loop()
{
now = millis();
if(now >= buttonTime)
{
switch(button.get())
{
case BUTTON_NONE:
break;
case BUTTON_RETURN:
back();
break;
case BUTTON_UP:
updown(true);
break;
case BUTTON_DOWN:
updown(false);
break;
case BUTTON_OK:
ok();
break;
}
buttonTime += 50;
}
bool doIO = now >= ioTime;
//read in the input
if(doIO)
{
ioTime+=250;
#ifdef USE_SIMULATION
DoModel();
pidInput = input;
#else
input = ReadInputFromCard();
inputOk = !isnan(input);
if(inputOk)pidInput = input;
#endif /*USE_SIMULATION*/
}
if(tuning)
{
byte val = (aTune.Runtime());
if(val != 0)
{
tuning = false;
}
if(!tuning)
{
// We're done, set the tuning parameters
kp = aTune.GetKp();
ki = aTune.GetKi();
kd = aTune.GetKd();
myPID.SetTunings(kp, ki, kd);
AutoTuneHelper(false);
EEPROMBackupTunings();
}
}
else
{
if(runningProfile) ProfileRunTime();
//allow the pid to compute if necessary
if(inputOk) myPID.Compute();
}
if(doIO)
{
//send the output
#ifdef USE_SIMULATION
theta[29] = output;
#else
if(!inputOk) output = 0; // Ensure output is zero when input is invalid
// Send to output card
WriteToOutputCard(output);
#endif /*USE_SIMULATION*/
}
if(now>lcdTime)
{
drawLCD();
lcdTime+=250;
}
if(millis() > serialTime)
{
//if(receivingProfile && (now-profReceiveStart)>profReceiveTimeout) receivingProfile = false;
SerialReceive();
SerialSend();
serialTime += 500;
}
}
void drawLCD()
{
boolean highlightFirst= (mDrawIndex==mIndex);
drawItem(0,highlightFirst, mMenu[curMenu][mDrawIndex]);
drawItem(1,!highlightFirst, mMenu[curMenu][mDrawIndex+1]);
if(editing) lcd.setCursor(editDepth, highlightFirst?0:1);
}
void drawItem(byte row, boolean highlight, byte index)
{
char buffer[7];
lcd.setCursor(0,row);
double val=0;
int dec=0;
int num=0;
char icon=' ';
boolean isNeg = false;
boolean didneg = false;
byte decSpot = 0;
boolean edit = editing && highlightedIndex==index;
boolean canEdit=!tuning;
switch(getMenuType(index))
{
case TYPE_NAV:
lcd.print(highlight? '>':' ');
switch(index)
{
case 0:
lcd.print(F("DashBrd"));
break;
case 1:
lcd.print(F("Config "));
break;
case 2:
lcd.print(tuning ? F("Cancel ") : F("ATune "));
break;
case 3:
if(runningProfile)lcd.print(F("Cancel "));
else lcd.print(profname);
break;
default:
return;
}
break;
case TYPE_VAL:
switch(index)
{
case 4:
val = setpoint;
dec=1;
icon='S';
break;
case 5:
val = input;
dec=1;
icon='I';
canEdit=false;
break;
case 6:
val = output;
dec=1;
icon='O';
canEdit = (modeIndex==0);
break;
case 8:
val = kp;
dec=2;
icon='P';
break;
case 9:
val = ki;
dec=2;
icon='I';
break ;
case 10:
val = kd;
dec=2;
icon='D';
break ;
default:
return;
}
lcd.print(edit? '[' : (highlight ? (canEdit ? '>':'|') :
' '));
if(isnan(val))
{ //display an error
lcd.print(icon);
lcd.print( now % 2000<1000 ? F(" Error"):F(" "));
return;
}
for(int i=0;i<dec;i++) val*=10;
num = (int)round(val);
buffer[0] = icon;
isNeg = num<0;
if(isNeg) num = 0 - num;
didneg = false;
decSpot = 6-dec;
if(decSpot==6)decSpot=7;
for(byte i=6; i>=1;i--)
{
if(i==decSpot)buffer[i] = '.';
else {
if(num==0)
{
if(i>=decSpot-1) buffer[i]='0';
else if (isNeg && !didneg)
{
buffer[i]='-';
didneg=true;
}
else buffer[i]=' ';
}
else {
buffer[i] = num%10+48;
num/=10;
}
}
}
lcd.print(buffer);
break;
case TYPE_OPT:
lcd.print(edit ? '[': (highlight? '>':' '));
switch(index)
{
case 7:
lcd.print(modeIndex==0 ? F("M Man "):F("M Auto "));
break;
case 11://12:
lcd.print(ctrlDirection==0 ? F("A Direc"):F("A Rever"));
break;
}
break;
default:
return;
}
//indication of altered state
if(highlight && (tuning || runningProfile))
{
//should we blip?
if(tuning)
{
if(now % 1500 <500)
{
lcd.setCursor(0,row);
lcd.print('T');
}
}
else //running profile
{
if(now % 2000 < 500)
{
lcd.setCursor(0,row);
lcd.print('P');
}
else if(now%2000 < 1000)
{
lcd.setCursor(0,row);
char c;
if(curProfStep<10) c = curProfStep + 48; //0-9
else c = curProfStep + 65; //A,B...
lcd.print(c);
}
}
}
}
byte getValDec(byte index)
{
switch(index)
{
case 4:
case 5:
case 6:
//case 11:
return 1;
case 8:
case 9:
case 10:
default:
return 2;
}
}
byte getMenuType(byte index)
{
switch(index)
{
case 0:
case 1:
case 2:
case 3:
return TYPE_NAV;
case 4:
case 5:
case 6:
case 8:
case 9:
case 10:
//case 11:
return TYPE_VAL;
case 7:
case 11: //12:
return TYPE_OPT;
default:
return 255;
}
}
boolean changeflag=false;
void back()
{
if(editing)
{ //decrease the depth and stop editing if required
editDepth--;
if(getMenuType(highlightedIndex)==TYPE_VAL)
{
if(editDepth==7-getValDec(highlightedIndex))editDepth--; //skip the decimal
}
if(editDepth<3)
{
editDepth=0;
editing= false;
lcd.noCursor();
}
}
else
{ //if not editing return to previous menu. currently this is always main
//depending on which menu we're coming back from, we may need to write to the eeprom
if(changeflag)
{
if(curMenu==1)
{
EEPROMBackupDash();
}
else if(curMenu==2) //tunings may have changed
{
EEPROMBackupTunings();
myPID.SetTunings(kp,ki,kd);
myPID.SetControllerDirection(ctrlDirection);
}
changeflag=false;
}
if(curMenu!=0)
{
highlightedIndex = curMenu-1; //make sure the arrow is on the menu they were in
mIndex=curMenu-1;
curMenu=0;
mDrawIndex=0;
}
}
}
double getValMin(byte index)
{
switch(index)
{
case 4:
case 5:
case 6:
// case 11:
return -999.9;
case 8:
case 9:
case 10:
default:
return 0;
}
}
double getValMax(byte index)
{
switch(index)
{
case 4:
case 5:
case 6:
//case 11:
return 999.9;
case 8:
case 9:
case 10:
default:
return 99.99;
}
}
void updown(bool up)
{
if(editing)
{
changeflag = true;
byte decdepth;
double adder;
switch(getMenuType(highlightedIndex))
{
case TYPE_VAL:
decdepth = 7 - getValDec(highlightedIndex);
adder=1;
if(editDepth<decdepth-1)for(int i=editDepth;i<decdepth-1;i++)adder*=10;
else if(editDepth>decdepth)for(int i=decdepth;i<editDepth;i++)adder/=10;
if(!up)adder = 0-adder;
double *val, minimum, maximum;
switch(highlightedIndex)
{
case 4:
val=&setpoint;
break;
case 6:
val=&output;
break;
case 8:
val=&kp;
break;
case 9:
val=&ki;
break;
case 10:
val=&kd;
break;
}
minimum = getValMin(highlightedIndex);
maximum = getValMax(highlightedIndex);
(*val)+=adder;
if((*val)>maximum)(*val)=maximum;
else if((*val)<minimum)(*val)=minimum;
break;
case TYPE_OPT:
switch(highlightedIndex)
{
case 7:
modeIndex= (modeIndex==0?1:0);
/*mode change code*/
myPID.SetMode(modeIndex);
break;
case 11://12:
ctrlDirection = (ctrlDirection==0?1:0);
Serial.println(ctrlDirection);
break;
}
break;
}
}
else
{
if(up)
{
if(mIndex>0)
{
mIndex--;
mDrawIndex=mIndex;
}
}
else
{
byte limit = 3;// (curMenu==2 ? 4 : 3);
if(mIndex<limit)
{
mDrawIndex =mIndex;
mIndex++;
}
}
highlightedIndex = mMenu[curMenu][mIndex];
}
}
void ok()
{
if(editing)
{
byte dec = getValDec(highlightedIndex);
if(getMenuType(highlightedIndex) == TYPE_VAL &&(editDepth<6 || (editDepth==6 && dec!=1)))
{
editDepth++;
if(editDepth==7-dec)editDepth++; //skip the decimal
}
}
else
{
switch(highlightedIndex)
{
case 0:
curMenu=1;
mDrawIndex=0;
mIndex=0;
highlightedIndex = 4; //setpoint
changeflag = false;
break;
case 1:
curMenu=2;
mDrawIndex=0;
mIndex=0;
highlightedIndex = 8; //kp
changeflag = false;
break;
case 2:
changeAutoTune();/*autotune code*/
break;
case 3:
if(runningProfile)StopProfile();
else StartProfile();
break;
case 5: /*nothing for input*/
break;
case 6:
if(modeIndex==0 && !tuning) editing=true;
break; //output
case 4: //setpoint
case 8: //kp
case 9: //ki
case 10: //kd
// case 11: //windowsize
case 11: //12: //direction
editing=true;
break; //verify this is correct
case 7:
if(!tuning) editing=true;
break; //mode
}
if(editing)
{
editDepth=3;
lcd.cursor();
}
}
}
void changeAutoTune()
{
if(!tuning)
{
//initiate autotune
AutoTuneHelper(true);
aTune.SetNoiseBand(aTuneNoise);
aTune.SetOutputStep(aTuneStep);
aTune.SetLookbackSec((int)aTuneLookBack);
tuning = true;
}
else
{ //cancel autotune
aTune.Cancel();
tuning = false;
AutoTuneHelper(false);
}
}
void AutoTuneHelper(boolean start)
{
if(start)
{
ATuneModeRemember = myPID.GetMode();
myPID.SetMode(MANUAL);
}
else
{
modeIndex = ATuneModeRemember;
myPID.SetMode(modeIndex);
}
}
void StartProfile()
{
if(!runningProfile)
{
//initialize profle
curProfStep=0;
runningProfile = true;
calcNextProf();
}
}
void StopProfile()
{
if(runningProfile)
{
curProfStep=nProfSteps;
calcNextProf(); //runningProfile will be set to false in here
}
}
void ProfileRunTime()
{
if(tuning || !runningProfile) return;
boolean gotonext = false;
//what are we doing?
if(curType==1) //ramp
{
//determine the value of the setpoint
if(now>helperTime)
{
setpoint = curVal;
gotonext=true;
}
else
{
setpoint = (curVal-helperVal)*(1-(float)(helperTime-now)/(float)(curTime))+helperVal;
}
}
else if (curType==2) //wait
{
float err = input-setpoint;
if(helperflag) //we're just looking for a cross
{
if(err==0 || (err>0 && helperVal<0) || (err<0 && helperVal>0)) gotonext=true;
else helperVal = err;
}
else //value needs to be within the band for the perscribed time
{
if (abs(err)>curVal) helperTime=now; //reset the clock
else if( (now-helperTime)>=curTime) gotonext=true; //we held for long enough
}
}
else if(curType==3) //step
{
if((now-helperTime)>curTime)gotonext=true;
}
else if(curType==127) //buzz
{
if(now<helperTime)digitalWrite(buzzerPin,HIGH);
else
{
digitalWrite(buzzerPin,LOW);
gotonext=true;
}
}
else
{ //unrecognized type, kill the profile
curProfStep=nProfSteps;
gotonext=true;
}
if(gotonext)
{
curProfStep++;
calcNextProf();
}
}
void calcNextProf()
{
if(curProfStep>=nProfSteps)
{
curType=0;
helperTime =0;
}
else
{
curType = proftypes[curProfStep];
curVal = profvals[curProfStep];
curTime = proftimes[curProfStep];
}
if(curType==1) //ramp
{
helperTime = curTime + now; //at what time the ramp will end
helperVal = setpoint;
}
else if(curType==2) //wait
{
helperflag = (curVal==0);
if(helperflag) helperVal= input-setpoint;
else helperTime=now;
}
else if(curType==3) //step
{
setpoint = curVal;
helperTime = now;
}
else if(curType==127) //buzzer
{
helperTime = now + curTime;
}
else
{
curType=0;
}
if(curType==0) //end
{ //we're done
runningProfile=false;
curProfStep=0;
Serial.println("P_DN");
digitalWrite(buzzerPin,LOW);
}
else
{
Serial.print("P_STP ");
Serial.print(int(curProfStep));
Serial.print(" ");
Serial.print(int(curType));
Serial.print(" ");
Serial.print((curVal));
Serial.print(" ");
Serial.println((curTime));
}
}
const int eepromTuningOffset = 1; //13 bytes
const int eepromDashOffset = 14; //9 bytes
const int eepromATuneOffset = 23; //12 bytes
const int eepromProfileOffset = 35; //136 bytes
const int eepromInputOffset = 172; //? bytes (depends on the card)
const int eepromOutputOffset = 300; //? bytes (depends on the card)
void initializeEEPROM()
{
//read in eeprom values
byte firstTime = EEPROM.read(0);
if(firstTime!=EEPROM_ID)
{//the only time this won't be 1 is the first time the program is run after a reset or firmware update
//clear the EEPROM and initialize with default values
for(int i=1;i<1024;i++) EEPROM.write(i,0);
EEPROMBackupTunings();
EEPROMBackupDash();
EEPROMBackupATune();
EEPROMBackupInputParams(eepromInputOffset);
EEPROMBackupOutputParams(eepromOutputOffset);
EEPROMBackupProfile();
EEPROM.write(0,EEPROM_ID); //so that first time will never be true again (future firmware updates notwithstanding)
}
else
{
EEPROMRestoreTunings();
EEPROMRestoreDash();
EEPROMRestoreATune();
EEPROMRestoreInputParams(eepromInputOffset);
EEPROMRestoreOutputParams(eepromOutputOffset);
EEPROMRestoreProfile();
}
}
void EEPROMreset()
{
EEPROM.write(0,0);
}
void EEPROMBackupTunings()
{
EEPROM.write(eepromTuningOffset,ctrlDirection);
EEPROM_writeAnything(eepromTuningOffset+1,kp);
EEPROM_writeAnything(eepromTuningOffset+5,ki);
EEPROM_writeAnything(eepromTuningOffset+9,kd);
}
void EEPROMRestoreTunings()
{
ctrlDirection = EEPROM.read(eepromTuningOffset);
EEPROM_readAnything(eepromTuningOffset+1,kp);
EEPROM_readAnything(eepromTuningOffset+5,ki);
EEPROM_readAnything(eepromTuningOffset+9,kd);
}
void EEPROMBackupDash()
{
EEPROM.write(eepromDashOffset, (byte)myPID.GetMode());
EEPROM_writeAnything(eepromDashOffset+1,setpoint);
EEPROM_writeAnything(eepromDashOffset+5,output);
}
void EEPROMRestoreDash()
{
modeIndex = EEPROM.read(eepromDashOffset);
EEPROM_readAnything(eepromDashOffset+1,setpoint);
EEPROM_readAnything(eepromDashOffset+5,output);
}
void EEPROMBackupATune()
{
EEPROM_writeAnything(eepromATuneOffset,aTuneStep);
EEPROM_writeAnything(eepromATuneOffset+4,aTuneNoise);
EEPROM_writeAnything(eepromATuneOffset+8,aTuneLookBack);
}
void EEPROMRestoreATune()
{
EEPROM_readAnything(eepromATuneOffset,aTuneStep);
EEPROM_readAnything(eepromATuneOffset+4,aTuneNoise);
EEPROM_readAnything(eepromATuneOffset+8,aTuneLookBack);
}
void EEPROMBackupProfile()
{
EEPROM_writeAnything(eepromProfileOffset, profname);
EEPROM_writeAnything(eepromProfileOffset + 8, proftypes);
EEPROM_writeAnything(eepromProfileOffset + 24, profvals);
EEPROM_writeAnything(eepromProfileOffset + 85, proftimes); //there might be a slight issue here (/1000?)
}
void EEPROMRestoreProfile()
{
EEPROM_readAnything(eepromProfileOffset, profname);
EEPROM_readAnything(eepromProfileOffset + 8, proftypes);
EEPROM_readAnything(eepromProfileOffset + 24, profvals);
EEPROM_readAnything(eepromProfileOffset + 85, proftimes); //there might be a slight issue here (/1000?)
}
/********************************************
* Serial Communication functions / helpers
********************************************/
boolean ackDash = false, ackTune = false;
union { // This Data structure lets
byte asBytes[32]; // us take the byte array
float asFloat[8]; // sent from processing and
} // easily convert it to a
foo; // float array
// getting float values from processing into the arduino
// was no small task. the way this program does it is
// as follows:
// * a float takes up 4 bytes. in processing, convert
// the array of floats we want to send, into an array
// of bytes.
// * send the bytes to the arduino
// * use a data structure known as a union to convert
// the array of bytes back into an array of floats
void SerialReceive()
{
// read the bytes sent from Processing
byte index=0;
byte identifier=0;
byte b1=255,b2=255;
boolean boolhelp=false;
while(Serial.available())
{
byte val = Serial.read();
if(index==0){
identifier = val;
Serial.println(int(val));
}
else
{
switch(identifier)
{
case 0: //information request
if(index==1) b1=val; //which info type
else if(index==2)boolhelp = (val==1); //on or off
break;
case 1: //dasboard
case 2: //tunings
case 3: //autotune
if(index==1) b1 = val;
else if(index<14)foo.asBytes[index-2] = val;
break;
case 4: //EEPROM reset
if(index==1) b1 = val;
break;
case 5: //input configuration
if (index==1)InputSerialReceiveStart();
InputSerialReceiveDuring(val, index);
break;
case 6: //output configuration
if (index==1)OutputSerialReceiveStart();
OutputSerialReceiveDuring(val, index);
break;
case 7: //receiving profile
if(index==1) b1=val;
else if(b1>=nProfSteps) profname[index-2] = char(val);
else if(index==2) proftypes[b1] = val;
else foo.asBytes[index-3] = val;
break;
case 8: //profile command
if(index==1) b2=val;
break;
default:
break;
}
}
index++;
}
//we've received the information, time to act
switch(identifier)
{
case 0: //information request
switch(b1)
{
case 0:
sendInfo = true;
sendInputConfig=true;
sendOutputConfig=true;
break;
case 1:
sendDash = boolhelp;
break;
case 2:
sendTune = boolhelp;
break;
case 3:
sendInputConfig = boolhelp;
break;
case 4:
sendOutputConfig = boolhelp;
break;
default:
break;
}
break;
case 1: //dashboard
if(index==14 && b1<2)
{
setpoint=double(foo.asFloat[0]);
//Input=double(foo.asFloat[1]); // * the user has the ability to send the
// value of "Input" in most cases (as
// in this one) this is not needed.
if(b1==0) // * only change the output if we are in
{ // manual mode. otherwise we'll get an
output=double(foo.asFloat[2]); // output blip, then the controller will
} // overwrite.
if(b1==0) myPID.SetMode(MANUAL);// * set the controller mode
else myPID.SetMode(AUTOMATIC); //
EEPROMBackupDash();
ackDash=true;
}
break;
case 2: //Tune
if(index==14 && (b1<=1))
{
// * read in and set the controller tunings
kp = double(foo.asFloat[0]); //
ki = double(foo.asFloat[1]); //
kd = double(foo.asFloat[2]); //
ctrlDirection = b1;
myPID.SetTunings(kp, ki, kd); //
if(b1==0) myPID.SetControllerDirection(DIRECT);// * set the controller Direction
else myPID.SetControllerDirection(REVERSE); //
EEPROMBackupTunings();
ackTune = true;
}
break;
case 3: //ATune
if(index==14 && (b1<=1))
{
aTuneStep = foo.asFloat[0];
aTuneNoise = foo.asFloat[1];
aTuneLookBack = (unsigned int)foo.asFloat[2];
if((!tuning && b1==1)||(tuning && b1==0))
{ //toggle autotune state
changeAutoTune();
}
EEPROMBackupATune();
ackTune = true;
}
break;
case 4: //EEPROM reset
if(index==2 && b1<2) EEPROM.write(0,0); //eeprom will re-write on next restart
break;
case 5: //input configuration
InputSerialReceiveAfter(eepromInputOffset);
sendInputConfig=true;
break;
case 6: //ouput configuration
OutputSerialReceiveAfter(eepromOutputOffset);
sendOutputConfig=true;
break;
case 7: //receiving profile
if((index==11 || (b1>=nProfSteps && index==9) ))
{
if(!receivingProfile && b1!=0)
{ //there was a timeout issue. reset this transfer
receivingProfile=false;
Serial.println("ProfError");
EEPROMRestoreProfile();
}
else if(receivingProfile || b1==0)
{
if(runningProfile)
{ //stop the current profile execution
StopProfile();
}
if(b1==0)
{
receivingProfile = true;
profReceiveStart = millis();
}
if(b1>=nProfSteps)
{ //getting the name is the last step
receivingProfile=false; //last profile step
Serial.print("ProfDone ");
Serial.println(profname);
EEPROMBackupProfile();
Serial.println("Archived");
}
else
{
profvals[b1] = foo.asFloat[0];
proftimes[b1] = (unsigned long)(foo.asFloat[1] * 1000);
Serial.print("ProfAck ");
Serial.print(b1);
Serial.print(" ");
Serial.print(proftypes[b1]);
Serial.print(" ");
Serial.print(profvals[b1]);
Serial.print(" ");
Serial.println(proftimes[b1]);
}
}
}
break;
case 8:
if(index==2 && b2<2)
{
if(b2==1) StartProfile();
else StopProfile();
}
break;
default:
break;
}
}
// unlike our tiny microprocessor, the processing ap
// has no problem converting strings into floats, so
// we can just send strings. much easier than getting
// floats from processing to here no?
void SerialSend()
{
if(sendInfo)
{//just send out the stock identifier
Serial.print("\nosPID v1.70");
InputSerialID();
OutputSerialID();
Serial.println("");
sendInfo = false; //only need to send this info once per request
}
if(sendDash)
{
Serial.print("DASH ");
Serial.print(setpoint);
Serial.print(" ");
if(isnan(input)) Serial.print("Error");
else Serial.print(input);
Serial.print(" ");
Serial.print(output);
Serial.print(" ");
Serial.print(myPID.GetMode());
Serial.print(" ");
Serial.println(ackDash?1:0);
if(ackDash)ackDash=false;
}
if(sendTune)
{
Serial.print("TUNE ");
Serial.print(myPID.GetKp());
Serial.print(" ");
Serial.print(myPID.GetKi());
Serial.print(" ");
Serial.print(myPID.GetKd());
Serial.print(" ");
Serial.print(myPID.GetDirection());
Serial.print(" ");
Serial.print(tuning?1:0);
Serial.print(" ");
Serial.print(aTuneStep);
Serial.print(" ");
Serial.print(aTuneNoise);
Serial.print(" ");
Serial.print(aTuneLookBack);
Serial.print(" ");
Serial.println(ackTune?1:0);
if(ackTune)ackTune=false;
}
if(sendInputConfig)
{
Serial.print("IPT ");
InputSerialSend();
sendInputConfig=false;
}
if(sendOutputConfig)
{
Serial.print("OPT ");
OutputSerialSend();
sendOutputConfig=false;
}
if(runningProfile)
{
Serial.print("PROF ");
Serial.print(int(curProfStep));
Serial.print(" ");
Serial.print(int(curType));
Serial.print(" ");
switch(curType)
{
case 1: //ramp
Serial.println((helperTime-now)); //time remaining
break;
case 2: //wait
Serial.print(abs(input-setpoint));
Serial.print(" ");
Serial.println(curVal==0? -1 : float(now-helperTime));
break;
case 3: //step
Serial.println(curTime-(now-helperTime));
break;
default:
break;
}
}
}
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