Fermenter PID + deploy

lib/patrix/console.cpp

@@ -10,7 +10,7 @@ char consoleBuffer[64] = "";
 
 char *consoleBufferW = consoleBuffer;
 
-const char * getFlashChipMode();
+const char *getFlashChipMode();
 
 void consoleLoop() {
   uint8_t i = 0;
@@ -118,12 +118,12 @@ void consoleHandle(const char *cmd) {
   } else if (strcmp(cmd, "debug") == 0) {
     setDebugEnabled(!isDebugEnabled());
     info("DEBUG: %s", isDebugEnabled() ? "ON" : "OFF");
-  } else {
+  } else if (!patrix_command((char *) cmd)) {
     info("Unknown command: %s", cmd);
   }
 }
 
-const char * getFlashChipMode() {
+const char *getFlashChipMode() {
   switch (ESP.getFlashChipMode()) {
     case FM_QIO:
       return "QIO";

lib/patrix/console.h

@@ -5,4 +5,6 @@ void consoleLoop();
 
 void consoleHandle(const char *cmd);
 
+bool patrix_command(char *cmd);
+
 #endif

lib/patrix/log.cpp

@@ -3,7 +3,7 @@
 #include "mqtt.h"
 #include "wifi.h"
 
-bool debugEnabled = false;
+bool debugEnabled = DEBUG_LOG;
 
 void log(const char *level, const char *format, va_list vl) {
   char datetime[26];

lib/patrix/wifi.cpp

@@ -65,6 +65,7 @@ void wifiConnect() {
 }
 
 void otaSetup() {
+  ArduinoOTA.setPassword(OTA_PASSWORD);
   ArduinoOTA.onStart([] {
     info("OTA start...");
     otaLastLogStep = 0;

platformio.ini

@@ -1,17 +1,47 @@
-[env:Fermenter]
+[COMMON]
 platform = espressif32
 board = esp32dev
 framework = arduino
-;upload_port = /dev/ttyUSB0
+usb_port = /dev/ttyUSB0
-;upload_speed = 921600
+usb_speed = 921600
-upload_protocol = espota
+ota_protocol = espota
-upload_port = 10.42.0.66
-upload_flags = --auth=OtaAuthPatrixFermenter
 monitor_port = /dev/ttyUSB0
 monitor_speed = 115200
 monitor_filters = esp32_exception_decoder
-build_flags = -D HOSTNAME=\"Fermenter\" -D WIFI_SSID=\"HappyNet\" -D WIFI_PKEY=\"1Grausame!Sackratte7\" -D OTA_PASSWORD=\"OtaAuthPatrixFermenter\" -D BOOT_DELAY=false
+WIFI_SSID = HappyNet
+WIFI_PKEY = 1Grausame!Sackratte7
 lib_deps = milesburton/DallasTemperature
            knolleary/PubSubClient
            bblanchon/ArduinoJson
-           paulstoffregen/OneWire
+           paulstoffregen/OneWire
+           https://github.com/phassel/ArduPID/
+
+[env:DEV]
+upload_port = 10.42.0.66
+upload_flags = --auth=OtaAuthPatrixDEV
+upload_protocol = ${COMMON.ota_protocol}
+;upload_port = ${COMMON.usb_port}
+;upload_speed = ${COMMON.usb_speed}
+platform = ${COMMON.platform}
+board = ${COMMON.board}
+framework = ${COMMON.framework}
+monitor_port = ${COMMON.monitor_port}
+monitor_speed = ${COMMON.monitor_speed}
+monitor_filters = ${COMMON.monitor_filters}
+lib_deps = ${COMMON.lib_deps}
+build_flags = -D HOSTNAME=\"DEV\" -D WIFI_SSID=\"${COMMON.WIFI_SSID}\" -D WIFI_PKEY=\"${COMMON.WIFI_PKEY}\" -D OTA_PASSWORD=\"OtaAuthPatrixDEV\" -D BOOT_DELAY=true -D DEBUG_LOG=true
+
+[env:Fermenter]
+upload_port = 10.0.0.138
+upload_flags = --auth=OtaAuthPatrixFermenter
+upload_protocol = ${COMMON.ota_protocol}
+;upload_port = ${COMMON.usb_port}
+;upload_speed = ${COMMON.usb_speed}
+platform = ${COMMON.platform}
+board = ${COMMON.board}
+framework = ${COMMON.framework}
+monitor_port = ${COMMON.monitor_port}
+monitor_speed = ${COMMON.monitor_speed}
+monitor_filters = ${COMMON.monitor_filters}
+lib_deps = ${COMMON.lib_deps}
+build_flags = -D HOSTNAME=\"Fermenter\" -D WIFI_SSID=\"${COMMON.WIFI_SSID}\" -D WIFI_PKEY=\"${COMMON.WIFI_PKEY}\" -D OTA_PASSWORD=\"OtaAuthPatrixFermenter\" -D BOOT_DELAY=true -D DEBUG_LOG=true

src/Fermenter.cpp

@@ -1,16 +1,101 @@
 #include <Patrix.h>
 #include "sensors/Dallas.h"
 #include "sensors/DallasSensor.h"
+#include "ArduPID.h"
+#include <Arduino.h>
+
+#define CONTROL_GPIO          4
+#define CONTROL_PWM_BITS      10
 
 Dallas dallas(2);
 
-DallasSensor temperatur(dallas, 0xAA0121125E4A7528, "temperatur", 0.5, 5, 60); // TODO wrong address
+DallasSensor sensor(dallas, 0xAA0121125E4A7528, "sensor", 0.5, 5, 60); // TODO wrong address
+
+ArduPID pid;
+
+double temperatureTarget = 31;
+
+double temperatureCurrent = NAN;
+
+double temperatureMaxOvershoot = 5;
+
+double heaterPWM = 0;
+
+double proportional = 1;
+
+double integral = 0;
+
+double derivative = 0;
+
+bool setDouble(const char *name, double *destinationPtr, double min, double max);
 
 void patrixSetup() {
+  analogWriteResolution(CONTROL_PWM_BITS);
 
+  pid.begin(&temperatureCurrent, &heaterPWM, &temperatureTarget, proportional, integral, derivative);
+  pid.setOutputLimits(0, pow(10, CONTROL_PWM_BITS) - 1);
+  pid.start();
 }
 
+
 void patrixLoop() {
   dallas.loop();
-  temperatur.loop();
+  sensor.loop();
-}
+
+  temperatureCurrent = sensor.getLastValue();
+  if (!isnan(temperatureCurrent)) {
+    pid.compute();
+  } else {
+    heaterPWM = 0;
+  }
+
+  const bool emergencyCutOff = heaterPWM > 0 && temperatureCurrent > temperatureTarget + temperatureMaxOvershoot;
+  if (emergencyCutOff) {
+    heaterPWM = 0;
+  }
+  analogWrite(CONTROL_GPIO, (int) round(heaterPWM));
+
+  static unsigned long lastDebug = 0;
+  unsigned long now = millis();
+  if (now - lastDebug >= 1000) {
+    lastDebug = now;
+    debug("p: %f | i: %f | d: %f | current: %4.1f | target: %4.1f | pwm: %3d%%", proportional, integral, derivative, temperatureCurrent, temperatureTarget, heaterPWM);
+    if (emergencyCutOff) {
+      error("[EMERGENCY CUTOFF] temperatureCurrent (=%4.1f) > temperatureTarget + %4.1f (=%4.1f) [EMERGENCY CUTOFF]", temperatureCurrent, temperatureMaxOvershoot, temperatureTarget);
+    }
+  }
+}
+
+bool patrix_command(char *cmd) {
+  const char *first = strtok(cmd, " ");
+  if (strcmp(first, "target") == 0) {
+    return setDouble("target", &temperatureTarget, -10, 80);
+  } else if (strcmp(first, "p") == 0) {
+    return setDouble("proportional", &proportional, NAN, NAN);
+  } else if (strcmp(first, "i") == 0) {
+    return setDouble("integral", &integral, NAN, NAN);
+  } else if (strcmp(first, "p") == 0) {
+    return setDouble("derivative", &derivative, NAN, NAN);
+  }
+  return false;
+}
+
+bool setDouble(const char *name, double *destinationPtr, double min, double max) {
+  const char *valueStr = strtok(nullptr, nullptr);
+  if (valueStr == nullptr) {
+    error("Missing value for \"%s\"", name);
+    return false;
+  }
+  double value = strtod(valueStr, nullptr);
+  if (isnan(value)) {
+    error("Failed to parse double for \"%s\": %s", name, valueStr);
+    return false;
+  }
+  if ((!isnan(min) && value < min) || (!isnan(max) && value > max)) {
+    error("Value out of range for \"%s\" [%f..%f]: %f", name, min, max, value);
+    return false;
+  }
+  *destinationPtr = value;
+  info("Value for \"%s\" set to: %f", name, value);
+  return true;
+}