/******************************************************************************
    FILE:       FUZZY.C
    POPURSE:     
    WRITER:     xukaiming 
    DATE:       2009.03.08
******************************************************************************/
#include "main.h"
#include "task.h"
#include "fuzzy.h"    
#include "CTRL.H" 
#include "adc.h"
#include  <stdarg.h>

#define    TEMP1000mV  9.587f //1000度时为9.587mV
#define    KC    ((int)(TEMP1000mV/10.0f/(VREF*1000.0f/MAX_STOVE_CNT/GAIN_TEMP/0xFFFL)))                     
#define    MAX_TEMP    (12500L*KC)        
extern unsigned int S_Temp_Tab[];
/*
#define K1   40UL 
#define KI  60UL
#define giKu 40UL
*/
#define K1   2L 	//5度偏差满输出                //255/giKu*K1 =温度范围(单位0.1度)
#define KI  60L		//偏差30次也要满输出
#define giKu 10L

#define MAXSUM  200L
//Kp 变小的时候 ki要变大


//#define RTT_PRINT
#ifdef RTT_PRINT
#include "SEGGER_RTT.h"  
#endif


#ifdef RTT_PRINT
void initPrintf(void)
{
	SEGGER_RTT_ConfigUpBuffer(0, NULL, NULL, 0, SEGGER_RTT_MODE_BLOCK_IF_FIFO_FULL);
}

static char buff[64];  
int  __print(const char* format,...)
{
   int ret =0;
   va_list args; 
   va_start(args, format); 
   ret =  vsnprintf(buff, sizeof(buff)-1,format, args);
   SEGGER_RTT_WriteString(0, buff);  
   va_end(args);
   return ret;
} 
#endif


void TaskFuzzy(void)
{
     AI_CONTROL *Ai_CTRL = &IED.Ai_CTRL;    
     if(IED.AdValue.lTemp>MAX_TEMP)                     //超温保护
    {
        SetPWM(PWM_PITCED);      
        return ;  
    } 
    Ai_CTRL->Error[1]    = Ai_CTRL->Error[0];                       //保存上次偏差值       
    disable();
    Ai_CTRL->Error[0]    = (*Ai_CTRL->gDest-IED.AdValue.lTemp)/KC+5;    
    enable();                      
                                                    //保存上次偏差率值
    Ai_CTRL->dErr     = Ai_CTRL->Error[0]-Ai_CTRL->Error[1];                //计算偏差变化率
	 
    if(Ai_CTRL->Error[0]<Ai_CTRL->CTEMP)       
    { 
        //比例阶段 
        if((Ai_CTRL->Error[0]*Ai_CTRL->dErr>0)    //误差变大的情况
         || ((Ai_CTRL->Error[0]==0) 
             &&( Ai_CTRL->dErr!=0)))
        {
            Ai_CTRL->SumErrLimit+= (Ai_CTRL->Error[0]*giKu );
            
             if(Ai_CTRL->SumErrLimit >MAXSUM*KI*K1)
                 Ai_CTRL->SumErrLimit = MAXSUM* KI*K1;  
			
			Ai_CTRL->du = giKu*Ai_CTRL->Error[0]/K1;
			Ai_CTRL->du+= Ai_CTRL->SumErrLimit /KI/K1;           //积分     
        }
		else
		{
			if(((Ai_CTRL->Error[0]*Ai_CTRL->dErr)<0)||(Ai_CTRL->dErr==0))	        //误差变小的情况
			{		   
			  Ai_CTRL->du =  Ai_CTRL->SumErrLimit/KI/K1;                  
			}
			else
			{
			  Ai_CTRL->du = Ai_CTRL->PreviewOut;	
			}
			
		}  
    } 
    else    
	{
        Ai_CTRL->du=PWM_PERIOD;      //升温    
	}
	if(Ai_CTRL->Error[0]<Ai_CTRL->CTEMP*3)   //离目标3倍启动点内,压制升温速度
	{	
		//压制升温速度
		if(Ai_CTRL->dErr<(*Ai_CTRL->speed)*PWM_SCAN/1000)  ////13.21  
		{    
			Ai_CTRL->du= 0;    
		}  
	}
    //归一化
    if(Ai_CTRL->du<0) Ai_CTRL->du=0; 
    if(Ai_CTRL->du>=PWM_PERIOD) Ai_CTRL->du=PWM_PERIOD-10;  
                                                                     
    #ifdef RTT_PRINT   
    __print("%ld,",Ai_CTRL->CTEMP);
    __print("%ld,%ld,",Ai_CTRL->Error[0],Ai_CTRL->dErr);
    __print("%ld,%ld\n",Ai_CTRL->SumErrLimit,Ai_CTRL->du);
    #endif
 
    SetPWM((unsigned char)Ai_CTRL->du);
    Ai_CTRL->PreviewOut=Ai_CTRL->du;    

}     


/************************************************************************
仿人智能控制器//Humanoid Intelligent Controller
************************************************************************/

/*******************************************************************
    模糊控制数据变量
********************************************************************/
void InitFuzzy(void)
{    
    AI_CONTROL *pAi_CTRL = &IED.Ai_CTRL;    
	
    memset(pAi_CTRL->Error,0,sizeof(pAi_CTRL->Error)); 
    SetPWM(PWM_PITCED);
}

/*********************************************************************
    启动高温炉
**********************************************************************/
void CtrlStove(UCHAR cOpen, long *lDefADValue,short *speed)
{       
    AI_CONTROL *Ai_CTRL = &IED.Ai_CTRL;              
    SuspendTask(TASK_FUZZY);
    InitFuzzy(); 
    Ai_CTRL->WarmFlag = cOpen;
    if(cOpen)       //启动
    {                             
        //Ai_CTRL->gDest          = lDefADValue+(KC<<2);           //将 目标 温度值 转换 为 AD值 
        Ai_CTRL->gDest          = lDefADValue;
        Ai_CTRL->speed          = speed;
       // Ai_CTRL->CTEMP          = 1000;                         //预控温100度
        Ai_CTRL->CTEMP          = 500;                         //预控温50度
        Ai_CTRL->SumErrLimit    = 0;
         //Ai_CTRL->SumErrLimit  = -(1010-lDefTemp)/10*KI*2;         //扣掉(1010-lDefTemp)/10的脉宽 ;
        
        Ai_CTRL->SumErrLimit    = 0;
        ActiveTask(TASK_FUZZY, PWM_SCAN);    
    }                                        
}
/**********************************************************************
    设置PWM，PWM0控制高温炉
    16MHz时，T=2*512/16=64uS,F=42.666KHz，计数周期=256，占空比=0%--99.61%
***********************************************************************/

signed char gcPoutTimer  = -1;     
void StopPOut(void* p)
{                       
    POUT = 1;
    gcPoutTimer = -1;
}    

void SetPWM(UCHAR cPeriod)
{                                                      
    long period;
    if(gcPoutTimer!=-1)              
        StopTimer(&gcPoutTimer);      
    period = PWM_SCAN*cPeriod/255/10;
    if(period>0)
    {                                  
        POUT = 0;
        if(cPeriod!=0xFF)     
            gcPoutTimer = StartTimer(TIMER_MODE_ONCEROUTINE,period,StopPOut,0);       
    }
    else
        POUT = 1;           
}

void SetPWM2(char * cPeriod)
{
    SetPWM(*cPeriod) ;
}