/******************************************************************************
	FILE:       FUZZY.C
	POPURSE:
	WRITER:
	DATE:       2007.03.08
******************************************************************************/
#include "STM32Lib\\stm32f10x.h"
#include "main.h"
#include "fuzzy.h"
//#include <math.h>
//#include "temperature_table.h"
#include "MENU.h"
#include "myprintf.h"

StableTempTab tabTmp;

//#define DOOROPENSPEED  -15L	//开门时的升温速度,如果低于此温度,认为电阻丝的热量完全散发出来或者开门升温
long DOOROPENSPEED = -15L;
#define MAXNEGINTERG   (-200L*KI/Ki)
//extern const u16 k_table[];

#define  Kp		15           		//输出变量u比例因子
#define  Ki		10 				//衰减系数;		    
#define  KI		15

//Kp 变小的时候 ki要变大
extern AI_CONTROL Ai_CTRL;

extern MFL_PARA MFL_PARA_A;

extern u8 FLASH_DATA_TEMP[528];

void TaskFuzzy(void)
{
    char cnt;

    if(Ai_CTRL.cur_Temp > MAX_TEMP)        			 //超温保护
    {
        Ai_CTRL.temp_out = PWM_PITCED;
        Ai_CTRL.PreviewOut = 0;
        return ;
    }
    //求偏差
    for(cnt = ERRORCNT - 1; cnt > 0; cnt--)
    {
        Ai_CTRL.Error[cnt]	= Ai_CTRL.Error[cnt - 1];
    }                    //保存上次偏差值
    Ai_CTRL.Error[0]	= (long)((Ai_CTRL.gDest - Ai_CTRL.cur_Temp));

    for(cnt = DERRORCNT - 1; cnt > 0; cnt--)
    {
        Ai_CTRL.dErr[cnt]	= Ai_CTRL.dErr[cnt - 1];
    }                  	//保存上次偏差率值
    Ai_CTRL.dErr[0] 	= Ai_CTRL.Error[0] - Ai_CTRL.Error[1];														//计算偏差变化率
    Ai_CTRL.ECSUM  		= Ai_CTRL.dErr[0] + Ai_CTRL.dErr[1] + Ai_CTRL.dErr[2] + Ai_CTRL.dErr[3] + Ai_CTRL.dErr[4];	//10s的温升速率	  =iol

    if(Ai_CTRL.Error[0] < Ai_CTRL.CTEMP)
    {
        if(((Ai_CTRL.Error[0]*Ai_CTRL.dErr[0]) > 0) || ((Ai_CTRL.Error[0] == 0) && ( Ai_CTRL.dErr[0] != 0))) //误差变大的情况
        {
            Ai_CTRL.SumErrLimit += Ai_CTRL.Error[0]; 					//误差变大的时候,求积分
            if(Ai_CTRL.SumErrLimit < MAXNEGINTERG)						//限幅,如果超过负的最大值, 保持为负的最大值
                Ai_CTRL.SumErrLimit = MAXNEGINTERG;
            ////////////////////////////////////////////////////////////
            Ai_CTRL.du = Ai_CTRL.Error[0] * Kp + Ai_CTRL.SumErrLimit * Ki / KI * Kp;	  	//增益抑制模式	                         //
        }
        else              								//开环保持模式
        {
            if(((Ai_CTRL.Error[0]*Ai_CTRL.dErr[0]) < 0) || (Ai_CTRL.dErr[0] == 0))				  	//误差变小的情况
            {
                Ai_CTRL.du =  Ai_CTRL.SumErrLimit * Ki / KI * Kp;
            }
            else
            {
                Ai_CTRL.du = Ai_CTRL.PreviewOut;
            }
        }
    }
    else
        Ai_CTRL.du = PWM_PERIOD;    //升温

    if(Ai_CTRL.du < 0) Ai_CTRL.du = 0;
    if(Ai_CTRL.du > PWM_PERIOD) Ai_CTRL.du = PWM_PERIOD;
    Ai_CTRL.PreviewOut = Ai_CTRL.du;

    Ai_CTRL.temp_out = (unsigned int)Ai_CTRL.du;
    
#ifdef _DEBUG   
	printf("%ld,",Ai_CTRL.CTEMP);
	printf("%ld,%ld,",Ai_CTRL.Error[0],Ai_CTRL.dErr[0] );
	printf("%ld,%ld,%d\n",Ai_CTRL.ECSUM,Ai_CTRL.SumErrLimit,(int)Ai_CTRL.du);
#endif
    //积分值在输出稳定的情况下保存
    if((Ai_CTRL.PreviewOut == Ai_CTRL.du) && (Ai_CTRL.du != 0xFF) && ((Ai_CTRL.du != 0)))
    {
        //如果半分钟 输出都很稳定,可以	 认为很稳定了
        //将数据读出比较, 比较稳定次数,如果此次稳定次数	大于上次的稳定次数,给予保存
        //printf("Ai_CTRL.iStableCnt = %d ,Ai_CTRL.iPreStabCnt =%d \n",Ai_CTRL.iStableCnt,Ai_CTRL.iPreStabCnt);
        if((Ai_CTRL.iStableCnt++ > Ai_CTRL.iPreStabCnt) && (Ai_CTRL.iStableCnt < 0x7FF))
        {
            //StableTempTab tabTmp;
            tabTmp.iStableCnt = Ai_CTRL.iStableCnt;
            tabTmp.iDestTemp  = Ai_CTRL.iDestTemp / 100 * 100; //
            tabTmp.integral   = Ai_CTRL.SumErrLimit;
            SaveStable(&tabTmp);
            Ai_CTRL.iPreStabCnt = Ai_CTRL.iStableCnt + 5;
        }
    }
    else
    {
        Ai_CTRL.iStableCnt = 0;
    }

}
//functions prototype
/************************************************************************
仿人智能控制器//Humanoid Intelligent Controller
************************************************************************/

/*******************************************************************
    模糊控制数据变量
********************************************************************/
void InitFuzzy(void)
{
    Ai_CTRL.DoorOpenValue = 0 ;//  重新统计升温速度
    Ai_CTRL.LowSpeedCnt = 0;
    Ai_CTRL.du = 0;
}

/*********************************************************************
    启动高温炉
**********************************************************************/
void CtrlStove(u8 cOpen, long lDefTemp, u8 cRate)
{
    StableTempTab  psTmpTab;
    u8 temp;

    //停止
    InitFuzzy();
    //Ai_CTRL.HFDownTemp=HUIFA_900_QIKONG*10;
    if(cOpen)       //启动
    {
        Ai_CTRL.gDest = lDefTemp * 10;  //将 目标 温度值 转换 为
        Ai_CTRL.lRate = cRate*10;
        LoadStable(lDefTemp, &psTmpTab);   //这里是否需要乘以10 ？
        if((psTmpTab.iDestTemp / 100) == (lDefTemp / 100))  //已经保存过积分表
        {
            Ai_CTRL.SumErrLimit  = psTmpTab.integral;                                    //加载保存的积分数据
            Ai_CTRL.iPreStabCnt     = psTmpTab.iStableCnt;
            Ai_CTRL.iDestTemp     = lDefTemp;
        }
        else                                    //未保存.
        {
            Ai_CTRL.SumErrLimit  = -(1010 - lDefTemp) / 10 * KI * 2;                      //扣掉(1010-lDefTemp)/10的脉宽 ;
            Ai_CTRL.iPreStabCnt     = 10;
            Ai_CTRL.iDestTemp     = lDefTemp;
        }
        //
        Ai_CTRL.iStableCnt = 0;
        Ai_CTRL.CTEMP = (1010 - lDefTemp) ;                                            //XC20121108 调节控温范围
        
        if(Ai_CTRL.CTEMP < INTEGRALSWITCH)
            Ai_CTRL.CTEMP = INTEGRALSWITCH;
        temp = readHFDownTemp();

        if((temp == 0) || (temp == 0xFF))                  //设置初始值
        {
            //Ai_CTRL.HFDownTemp = 1000;
            //Ai_CTRL.HFDownTemp = 600;

            //Ai_CTRL.HFDownTemp=HUIFA_900_QIKONG*10;

            Ai_CTRL.HFDownTemp = 1000;

            saveHFDownTemp (Ai_CTRL.HFDownTemp / 10);
        }
        else
		{
            Ai_CTRL.HFDownTemp = (long)temp * 10;    
		}
	}
    else
    {
        Ai_CTRL.gDest = 0;
        Ai_CTRL.temp_out = 0;
    }
}

void SaveStable(StableTempTab *psTmpTab)
{
    u16 n, temp;
    u8 eeprom_data_temp[32];    //M24C64为32个字节一个page

    temp = psTmpTab->iDestTemp / 100;
    if (temp > 199)
        temp = 199;
    temp += TEMP_TABLE_BASE;
    temp <<= 5;

    n = 0;
    eeprom_data_temp[n++] = psTmpTab->iStableCnt >> 8;
    eeprom_data_temp[n++] = psTmpTab->iStableCnt;

    eeprom_data_temp[n++] = psTmpTab->iDestTemp >> 8;
    eeprom_data_temp[n++] = psTmpTab->iDestTemp;

    eeprom_data_temp[n++] = psTmpTab->integral >> 24;
    eeprom_data_temp[n++] = psTmpTab->integral >> 16;
    eeprom_data_temp[n++] = psTmpTab->integral >> 8;
    eeprom_data_temp[n++] = psTmpTab->integral;

    eeprom_data_temp[31] = DATA_SET_FLAG;

    eeprom_24c64_write (temp, 32, eeprom_data_temp);
}

void LoadStable(u16 iTemp, StableTempTab *psTmpTab)
{
    u16 n, temp;
    u8 eeprom_data_temp[32];    //M24C64为32个字节一个page

    temp = iTemp / 100;
    if (temp > 199)
        temp = 199;
    temp += TEMP_TABLE_BASE;
    temp <<= 5;

    eeprom_24c64_read (temp, 32, eeprom_data_temp);

    n = 0;
    psTmpTab->iStableCnt = eeprom_data_temp[n++];
    psTmpTab->iStableCnt <<= 8;
    psTmpTab->iStableCnt += eeprom_data_temp[n++];

    psTmpTab->iDestTemp = eeprom_data_temp[n++];
    psTmpTab->iDestTemp <<= 8;
    psTmpTab->iDestTemp += eeprom_data_temp[n++];

    psTmpTab->integral = eeprom_data_temp[n++];
    psTmpTab->integral <<= 8;
    psTmpTab->integral += eeprom_data_temp[n++];
    psTmpTab->integral <<= 8;
    psTmpTab->integral += eeprom_data_temp[n++];
    psTmpTab->integral <<= 8;
    psTmpTab->integral += eeprom_data_temp[n++];
}

//
u8 readHFDownTemp (void)
{
    u16 n;
    u8 eeprom_data_temp[32];    //M24C64为32个字节一个page

    //n=HFDownTemp_BASE;
    //n<<=5;

    n = HUIFA_TEMP_DROP_ADD;
    eeprom_24c64_read (n, 2, eeprom_data_temp);

    if (eeprom_data_temp[0] == 0)
        return eeprom_data_temp[1];
    else
        return 100;
}

//
void saveHFDownTemp (u8 temp)
{
    u16 n;
    u8 eeprom_data_temp[32];    //M24C64为32个字节一个page

    /*eeprom_data_temp[0]=temp;
    eeprom_data_temp[31]=DATA_SET_FLAG;
    n=HFDownTemp_BASE;
    n<<=5;
    eeprom_24c64_write (n,32,eeprom_data_temp);*/


    eeprom_data_temp[0] = 0;
    eeprom_data_temp[1] = temp;
    n = HUIFA_TEMP_DROP_ADD;
    n <<= 5;
    eeprom_24c64_write (n, 2, eeprom_data_temp);
}