/******************************************************************************
	FILE:       FUZZY.C
	POPURSE:
	WRITER:
	DATE:       段吉飞修改于20250626
******************************************************************************/

/* 20250626修改说明:
	仅修改TaskFuzzy()函数,
	假定TaskFuzzy()每秒被调用一次,
	使用到的数据
		Ai_CTRL.gDest 假定为当前目标温度,单位0.1℃
		Ai_CTRL.cur_Temp 假定为当前温度,单位0.1℃
	输出 Ai_CTRL.du 范围0~100的加热输出功率,对应0%-100%加热功率
		因未知原Ai_CTRL.du与实际输出功率映射关系,因此需做必要的映射输出,TaskFuzzy()末尾处
		建议使用过零型固态继电器,使用周期1s的PWM输出,Ai_CTRL.du就是占空比
		或者输出电压控制调压继电器,但调压器非线性且干扰大,不建议
	但原TaskFuzzy()函数还修改了其他一些变量,比如DOOROPENSPEED Ai_CTRL.CTEMP等
		未知是否有其他作用,因此请谨慎测试
	增加一个结构体变量 DJF_PID djf_pid,用作pid控制
	增加一个常数 POW800, 预估控温800℃时的实际平均功率
*/

#include "STM32Lib\\stm32f10x.h"
#include "main.h"
#include "fuzzy.h"
//#include <math.h>
//#include "temperature_table.h"
#include "MENU.h"
#include "old_fuzzy.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];

//****Add by DuanJiFei *****************************************
typedef struct _DJF_PID
{
    float 	his_tmpr[16]; 	//记录每秒一次的历史温度
    float	target_tmpr;   //目标温度

    float	pid_err_sum;			//pid控温误差积分项
    float	pid_err;			//pid控温本次的误差

    uint32_t		P_duty;			//当前加热功率占空比(%)
    float 	JiangWen_5s; 	//预测5秒降温℃,考虑了降温的加速度
    float 	kw_range;		//pid控温范围
    float   c_term, p_term, i_term, d_term;

} DJF_PID;
DJF_PID djf_pid;
#define POW800 30	//假设控温800时平均功率为30%
//**************************************************************

void TaskFuzzy(void)
{


    //记录历史温度
    int i;
    float p; //DYM
    for ( i = 15; i; i--)
        //for (uint32_t i=15; i; i--)
        djf_pid.his_tmpr[i] = djf_pid.his_tmpr[i - 1];
    djf_pid.his_tmpr[0] = Ai_CTRL.cur_Temp * 0.1; //记录当前温度

    djf_pid.JiangWen_5s = djf_pid.his_tmpr[5] * 3 - djf_pid.his_tmpr[0] * 2 - djf_pid.his_tmpr[10];

    djf_pid.target_tmpr = Ai_CTRL.gDest * 0.1; //目标温度
    djf_pid.pid_err = djf_pid.target_tmpr - djf_pid.his_tmpr[0];

#define RANG_0  120.0f
    djf_pid.kw_range = RANG_0  - djf_pid.target_tmpr * (RANG_0 / 1200.0f); //dym

    if (djf_pid.target_tmpr <= 30) //目标温度不到30则关闭加热
    {
        djf_pid.P_duty = 0;
    }
    else  //在pid控制范围内则采用pid控制
    {
        //计算误差积分
        djf_pid.pid_err_sum *= 0.996f;//积分项衰减
        if (djf_pid.JiangWen_5s > -0.2f) //降温或升温很慢时
        {
            if (djf_pid.pid_err_sum < 0) //
            {
                djf_pid.pid_err_sum *= 0.99f;//积分项衰减
            }
            if (djf_pid.pid_err > 0) //在目标温度下方降温
            {
                if (djf_pid.pid_err > 2) djf_pid.pid_err_sum += 2;
                else djf_pid.pid_err_sum += djf_pid.pid_err * 1; //积分项累加
            }
        }
        if (djf_pid.JiangWen_5s < 0.2f) //升温或降温很慢时
        {
            if (djf_pid.pid_err_sum > 0)
            {
                djf_pid.pid_err_sum *= 0.99f;//积分项衰减
            }
            if (djf_pid.P_duty > 0 && djf_pid.pid_err < 0) //在目标温度上方升温
            {
                if (djf_pid.pid_err < -2.0f) djf_pid.pid_err_sum += -2.0f;
                else djf_pid.pid_err_sum += djf_pid.pid_err * 1.0f; //积分项累加
            }
        }

        djf_pid.c_term = (POW800 / (800.0f - 25.0f)) * (djf_pid.target_tmpr - 25.0f); //计算加热功率常数项，25算是环境温度
        djf_pid.p_term = djf_pid.pid_err * (80.0f / djf_pid.kw_range);				//计算加热功率比例项
        djf_pid.i_term = djf_pid.pid_err_sum * (POW800 * (1.0f / 800.0f));		//计算加热功率积分项
        djf_pid.d_term = djf_pid.JiangWen_5s * 20.0f;							//计算加热功率微分项

        if (djf_pid.i_term > 50.0f) djf_pid.i_term = 50.0f;
        else if (djf_pid.i_term < -50.0f) djf_pid.i_term = -50.0f;

        p = djf_pid.c_term + djf_pid.p_term + djf_pid.i_term + djf_pid.d_term; //DYM

        //根据情况适当调整功率
        //挥发分
        /*if (在做挥发分试验) {
        	...
        }*/

        if (djf_pid.pid_err > 0) p *= 1.1f; //未到恒温点，放大加热功率
        else if (djf_pid.pid_err < -0.1f) //恒温点以上，加热功率减小或关闭
        {
            if (djf_pid.pid_err < -2 || djf_pid.his_tmpr[0] > djf_pid.his_tmpr[2]) p = 0; //高出2度或在还升温
            else p *= 0.7f;
        }

        if (p > 100) p = 100;
        else if (p < 0) p = 0;

        djf_pid.P_duty = p;
    }
    //这里建立djf_pid.P_duty和Ai_CTRL.du的映射关系
    Ai_CTRL.du = djf_pid.P_duty; //根据实际情况修改   **************
}

//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);
}