/******************************************************************************
	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"

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		1/10 				//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.ECSUM>DOOROPENSPEED)&&(Ai_CTRL.CTEMP>INTEGRALSWITCH)&&(Ai_CTRL.ECSUM<0)&&(Ai_CTRL.LowSpeedCnt++>2))			 //连续运行60S温升速度慢,误差大,减少控制范围
		{	
			//升温速度	很慢	低于 1.6/10s
			//升温速度慢超过2s*60次
			//温度误差大于最后一次的起控范围
			//不是敞开炉门														 							//ECSUM >0开门 	
			if(Ai_CTRL.gDest>2500)			//250度
			{
				Ai_CTRL.CTEMP/=2;
				DOOROPENSPEED = -10L;
			}
			else																//目标温度过低,过快改变起控点容易超调
			{
				Ai_CTRL.CTEMP-=20;												//起控点减少2度
				DOOROPENSPEED = -5L;
			}
			
			Ai_CTRL.LowSpeedCnt = 0;

			if(Ai_CTRL.CTEMP<INTEGRALSWITCH)
				Ai_CTRL.CTEMP=INTEGRALSWITCH;
		}

		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.dErr[0]>20)&&(Ai_CTRL.Error[0]<Ai_CTRL.HFDownTemp))		//降温速度很快,肯定是开炉门,如果此时升温,这时需要全速输出，防止降低
		Ai_CTRL.du = 0;		 											//不低于HFDownTemp/10度绝对不升温																		/*-----降温太快,应该升温-------*/
 
	if((Ai_CTRL.Error[0]<Ai_CTRL.HFDownTemp/2)&&(Ai_CTRL.ECSUM<(-20+Ai_CTRL.gDest/10/100))||(Ai_CTRL.Error[0]<-15))									//超过1.5关闭            //关闭过快升温	
	{                                                                                           	   
		Ai_CTRL.du = 0;
	} 
	if(Ai_CTRL.du<0) Ai_CTRL.du=0; 
	if(Ai_CTRL.du>PWM_PERIOD) Ai_CTRL.du=PWM_PERIOD;  
	 Ai_CTRL.temp_out=(unsigned int)Ai_CTRL.du;																    
	//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;
	}
	Ai_CTRL.PreviewOut=Ai_CTRL.du;  

}	                   
//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 					
					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
					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;	 
					//Ai_CTRL.HFDownTemp = ByteRead(EEOROM_HFTEMP_ADDR)*10;
     /*FlashPageRead (HFDownTemp_BASE,FLASH_DATA_TEMP);			//读取Ai_CTRL.HFDownTemp，原始函数都是字节！！！
					Ai_CTRL.HFDownTemp=FLASH_DATA_TEMP[0];

					if((Ai_CTRL.HFDownTemp==0)||(Ai_CTRL.HFDownTemp==0xFF))						//设置初始值
					{
						Ai_CTRL.HFDownTemp = 1000;
					
						//ByteWrite(EEOROM_HFTEMP_ADDR,Ai_CTRL.HFDownTemp/10);
						FLASH_DATA_TEMP[0]=Ai_CTRL.HFDownTemp;
						FlashPageWrite (HFDownTemp_BASE,FLASH_DATA_TEMP);
					}*/					 							//控温范围
				}
			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);
	}