FORCE Merge pull request #34 from vas-dav/sensors

Sensors

SDP600Sensor/src/PressureWrapper.cpp

@@ -39,7 +39,7 @@ int PressureWrapper::getPressure() {
 	int16_t pressure = 0;
 	if(!getRawPressure ()) {
 		unsigned int i = 0;
-		while(i<7200000) i++;
+		while(i<7200) i++;
 		getRawPressure ();
 		i = 0;
 	}

StateHandler/inc/StateHandler.h

@@ -19,6 +19,11 @@
 #include "DigitalIoPin.h"
 #include "Event.h"
 #include "LiquidCrystal.h"
+#include "ModbusMaster.h"
+#include "ModbusRegister.h"
+#include "GMP252.h"
+#include "HMP60.h"
+#include "PressureWrapper.h"
 
 /** Buttons enumeration
  *
@@ -57,13 +62,21 @@ enum _mode
   AUTO
 };
 
+enum _sensors
+{
+  PRESSUREDAT,
+  TEMPERATURE,
+  HUMIDITY,
+  CO2
+};
+
 class StateHandler;
 typedef void (StateHandler::*state_pointer) (const Event &);
 
 class StateHandler
 {
 public:
-  StateHandler (LiquidCrystal *lcd);
+  StateHandler (LiquidCrystal *lcd, ModbusRegister *A01, PressureWrapper *pressure);
   virtual ~StateHandler ();
 
   /** Get currently set pressure
@@ -103,9 +116,25 @@ private:
   void SetState (state_pointer newstate);
   bool current_mode;
   Counter value[2] = { { 0, 100 }, { 0, 120 } };
+  /* motor of fan starts at value 90. probably because of some
+   * weigh of fan, so voltage within range of 0-89 is not
+   * sufficient to start motor.
+   * TODO: Value 89 should be scaled to 0 at some point */
+  Counter fan_speed = {20, 1000};
+  /*integral controller for PID. should be global, since it
+   * accumulates error signals encountered since startup*/
+  int integral = 0;
   int saved_set_value[2] = { 0, 0 };
   int saved_curr_value[2] = { 0, 0 };
+  int sensors_data[4] = {0};
   LiquidCrystal *_lcd;
+  ModbusRegister *A01;
+  PressureWrapper * pressure;
+  /* CO2 sensor object */
+  GMP252 co2;
+
+  /* Humidity and temperature sensor object */
+  HMP60 humidity;
 
   /** Initialization state
    *
@@ -132,7 +161,15 @@ private:
    */
   void stateAuto (const Event &event);
 
-  /** Hnadle button presses
+  /** Sensors state
+   *
+   * - print current sensrs readings
+   *
+   * @param event
+   */
+  void stateSensors (const Event &event);
+
+  /** Handle button presses
    *
    * @param button current button
    */
@@ -144,7 +181,12 @@ private:
    * @param counterValue value of the inner Counter
    * @param mode current mode
    */
-  void save (int eventValue, int counterValue, size_t mode);
+  void save (int eventValue, size_t mode);
+
+  /** Calculates pid for fan control value
+   *
+   */
+  void pid ();
 };
 
 #endif /* STATE_HANDLER_H_ */

StateHandler/src/Counter.cpp

@@ -50,7 +50,15 @@ Counter::Counter (unsigned int down, unsigned int up)
 }
 
 void
-Counter::setInit (unsigned int i)
+Counter::setInit (unsigned int newInit)
 {
-  init = i;
+  if(newInit > up_lim){
+	  init = up_lim;
+  }
+  else if(newInit < down_lim){
+	  init = down_lim;
+  }
+  else{
+	  init = newInit;
+  }
 }

StateHandler/src/StateHandler.cpp

@@ -6,10 +6,13 @@
  */
 
 #include <StateHandler.h>
+#define PID 0
 
-StateHandler::StateHandler (LiquidCrystal *lcd)
+StateHandler::StateHandler (LiquidCrystal *lcd, ModbusRegister *A01, PressureWrapper *pressure)
 {
   this->_lcd = lcd;
+  this->A01 = A01;
+  this->pressure = pressure;
   current = &StateHandler::stateInit;
   (this->*current) (Event (Event::eEnter));
   current_mode = MANUAL;
@@ -76,6 +79,7 @@ StateHandler::stateInit (const Event &event)
   switch (event.type)
     {
     case Event::eEnter:
+    	SetState(&StateHandler::stateSensors);
       break;
     case Event::eExit:
       _lcd->clear ();
@@ -103,15 +107,17 @@ StateHandler::stateManual (const Event &event)
     {
     case Event::eEnter:
       displaySet (saved_set_value[MANUAL], saved_curr_value[MANUAL]);
+      this->A01->write(this->value[FAN_SPEED].getCurrent ());
       break;
     case Event::eExit:
       _lcd->clear ();
       break;
     case Event::eKey:
       handleControlButtons (event.value);
+      this->A01->write(value[MANUAL].getCurrent() * 10);
       break;
     case Event::eTick:
-      save (event.value, value[MANUAL].getCurrent (), MANUAL);
+      save (event.value, MANUAL);
       break;
     }
 }
@@ -131,7 +137,53 @@ StateHandler::stateAuto (const Event &event)
       handleControlButtons (event.value);
       break;
     case Event::eTick:
-      save (event.value, value[AUTO].getCurrent (), AUTO);
+      save (event.value, AUTO);
+#if PID
+      pid();
+      this->A01->write(fan_speed.getCurrent());
+#endif
+#if !PID
+      if(saved_curr_value[AUTO] < saved_set_value[AUTO]) {
+		  fan_speed.inc();
+		  this->A01->write(fan_speed.getCurrent());
+	  } else if(saved_curr_value[AUTO] > saved_set_value[AUTO]){
+		  fan_speed.dec();
+		  this->A01->write(fan_speed.getCurrent());
+	  	 }
+#endif
+      break;
+    }
+}
+
+void
+StateHandler::stateSensors (const Event &event)
+{
+  switch (event.type)
+	{
+	case Event::eEnter:
+	  break;
+	case Event::eExit:
+	  break;
+	case Event::eKey:
+	  break;
+	case Event::eTick:
+	  sensors_data[PRESSUREDAT] = pressure->getPressure();
+	  sensors_data[TEMPERATURE] = humidity.readT();
+	  sensors_data[HUMIDITY] = humidity.readRH();
+	  sensors_data[CO2] = co2.read();
+#if 1
+	  char line_up[16] = { 0 };
+	  char line_down[16] = { 0 };
+	  snprintf (line_up, 16, "PRE:%02d  TEM:%02d", sensors_data[PRESSUREDAT],sensors_data[TEMPERATURE]);
+	  snprintf (line_down, 16, "HUM:%02d  CO2:%02d", sensors_data[HUMIDITY], sensors_data[CO2]);
+
+	  _lcd->clear ();
+	  _lcd->setCursor (0, 0);
+	  _lcd->print (line_up);
+	  _lcd->setCursor (0, 1);
+	  _lcd->print (line_down);
+#endif
+	  SetState (current_mode? &StateHandler::stateAuto : &StateHandler::stateManual);
 	  break;
 	}
 }
@@ -157,8 +209,17 @@ StateHandler::handleControlButtons (uint8_t button)
 }
 
 void
-StateHandler::save (int eventValue, int counterValue, size_t mode)
+StateHandler::save (int eventValue, size_t mode)
 {
+  /* if pressure is not provided from main it checks it in following if{}*/
+  if(!eventValue) {
+   	  /* Small delay for modbus communications with pressure sensor */
+	  int i = 0;
+	  while(i<720) i++;
+	  i = 0;
+	  eventValue = pressure->getPressure();
+  }
+  int counterValue = value[mode].getCurrent ();
   if (saved_curr_value[mode] != eventValue
       || saved_set_value[mode] != counterValue)
     {
@@ -167,3 +228,14 @@ StateHandler::save (int eventValue, int counterValue, size_t mode)
       displaySet (saved_set_value[mode], saved_curr_value[mode]);
     }
 }
+
+void StateHandler::pid () {
+	float kP = 0.1, kI = 0.01, kD = 0.01;
+	int error = 0, last_error = 0, derivative = 0;
+	error = saved_set_value[AUTO] - saved_curr_value[AUTO];
+	last_error = error;
+	integral += error;
+	derivative = error - last_error;
+	fan_speed.setInit((kP*error) + (kI*integral) + (kD * derivative));
+}
+

esp-vent-main/src/esp-vent-main.cpp

@@ -55,11 +55,20 @@ main (void)
   DigitalIoPin d6 (1, 3, false, true, false);
   DigitalIoPin d7 (0, 0, false, true, false);
   LiquidCrystal lcd (&rs, &en, &d4, &d5, &d6, &d7);
-  StateHandler ventMachine (&lcd);
   //
   lcd.setCursor (0, 0);
   lcd.print ("Test");
 
+  /* FAN object */
+  ModbusMaster fan(1);
+  fan.begin(9600);
+  ModbusRegister A01(&fan, 0);
+//  ModbusRegister DI1(&fan, 4, false);
+
+  PressureWrapper sens;
+
+
+  StateHandler ventMachine (&lcd, &A01, &sens);
   /** Common pins */
   DigitalIoPin b_up (0, 7, true, true, true); // A5
   SwitchController sw_up (&b_up, &glob_time, &ventMachine, BUTTON_CONTROL_UP);
@@ -73,10 +82,7 @@ main (void)
                               BUTTON_CONTROL_TOG_MODE);
 
 
-  PressureWrapper sens();
-
-
-
+  int pressure = 0, pressure_time = 0;
   while (1)
     {
 
@@ -87,7 +93,14 @@ main (void)
        * TODO:
        * - Update current pressure to eTick
        */
-      ventMachine.HandleState (Event (Event::eTick));
+#if 0
+      if(pressure_time == 5) {
+		  pressure = sens.getPressure();
+		  pressure_time = 0;
+      }
+      ++pressure_time;
+#endif
+	  ventMachine.HandleState (Event (Event::eTick, pressure));
       glob_time.tickCounter (1);
     }