1. Version

TimerInterruptV1.ino

@@ -0,0 +1,201 @@
+//#include <Arduino.h>
+#include <math.h>
+#include <U8g2lib.h>
+
+U8G2_SH1106_128X64_NONAME_F_HW_I2C u8g2(U8G2_R0, /* reset=*/ U8X8_PIN_NONE);  //Andreas
+U8G2_SH1106_128X64_NONAME_F_HW_I2C u8g2(U8G2_R0, /* reset=*/ U8X8_PIN_NONE);  //Leonhard
+
+void TIM1_init();
+void TIM2_init();
+void LCD_printData();
+double get_tempValue(int SensorValue);
+void LCD_printGrid();
+
+int Temperatur;
+int TempSensor = 0;
+float Voltage;
+int Ausgangssignal = 0;
+int status = 0;
+int Stellsignal = 0;
+int counterx=0;
+int i=2;
+
+
+//Variablen Regelung
+
+//Eingangssignal
+double Sollwert=70;
+//Abtastzeit
+double Ta=1;
+//PIDT-Regler Zeitkonstanten (multiplikative Form)
+double VR=2;   
+double TN=80;  
+double TV=1;    
+double TR=TV/10.0; 
+//PIDT-Regler Zeitkonstanten (additive Form)
+double VR_Stern=VR*(1.0+(TV/TN));
+double TN_Stern=TN*(1.0+(TV/TN));
+double TV_Stern=TV/(1.0+(TV/TN));
+double TI=TN_Stern/VR_Stern;
+double TD=TV_Stern*VR_Stern;
+//Eingangssignal Regler ek
+double ek=0;
+//Globale Variable für Zeitdiskrete Regelung
+double yk1=0;
+double yk1vorher=0;
+double yk2=0;
+double yk2vorher=0;
+double yk3=0;
+double yk3vorher=0;
+double yk4=0;
+double yk4vorher=0;
+//Ausgangssignal Regler yk
+double yk=0;
+
+void setup() 
+{
+  pinMode(13, OUTPUT);
+  pinMode(3, OUTPUT);
+  digitalWrite(3, LOW);
+  u8g2.begin(); 
+  u8g2.clearBuffer();
+  LCD_printGrid();
+  cli();        //disable global interrupts
+  TIM1_init();  //Timer 1 für Ta=100ms
+  TIM2_init();  //Timer 2 für PWM
+  sei();        //enable global interrupts
+}
+
+void loop() 
+{
+  LCD_printData();
+}
+
+ISR(TIMER1_COMPA_vect) 
+{
+  status=1;
+  digitalWrite(13, !digitalRead(13));  // toggle LED with T=TA
+  TempSensor=analogRead(A0);
+    if(595<=TempSensor)
+    {
+      Temperatur=get_tempValue(TempSensor);
+    }
+  ek=Sollwert-Temperatur;              //Eingangssignal
+  //PT1-Anteil:
+  yk1vorher=yk1vorher*(TR/(Ta+TR));
+  yk1=ek*(Ta/(Ta+TR))+yk1vorher;
+  yk1vorher=yk1;
+  //P-Anteil:
+  yk2=yk1*VR_Stern;
+  //I-Anteil:
+  yk3=yk1*(Ta/TI)+yk3vorher;
+  yk3vorher=yk3;
+  //D-Anteil:
+  yk4=yk1*(TD/Ta)-yk4vorher;
+  yk4vorher=(TD/Ta)*yk1;
+  //Addition P-, I-, und D-Anteil
+  yk=yk2+yk3+yk4;
+  //Begrenzung Ausgangssignal auf 100
+  if(yk>=100)
+  {
+    yk=100;
+  }
+
+  //PWM Ausgangssignal
+  Stellsignal=255*(yk/100);
+  if(yk>=100)
+  {
+    Stellsignal=255;
+  }
+  if(yk<=0)
+  {
+    Stellsignal=0;
+  }
+  OCR2B = Stellsignal;          //PWM Duty Cycle  
+  counterx++;
+}
+
+void TIM1_init() 
+{
+  TCNT1 = 0;   //Timer Counter 1
+  TCCR1A = 0;  //Timer Counter Controll Register A
+  TCCR1B = 0;  //Timer Counter Controll Register B
+  OCR1A = 15625;  //Output Compare Register A -> Interrupt each second (1/16*10^6)*1024*15625 = 1s
+  TCCR1B |= 0x5;  //Prescaler = 1024
+  TCCR1B |= 0x8;  //CTC Bit -> TOP of Counter = OCR1A
+  TIMSK1 |= 0x2;  //Tim1 Interrupt @ Output Compare Match A
+}
+
+
+void TIM2_init() 
+{
+  TCNT2 = 0;           //Timer Counter 2
+  TCCR2A = 0;          //Timer Counter Controll Register A
+  TCCR2B = 0;          //Timer Counter Controll Register B
+  TCCR2A |= 0x23;      //Non Inverting Mode
+  TCCR2B |= 0x7;       //Prescaler = 1024
+  OCR2B = 0;           //PWM Duty Cycle
+  DDRD |= (1 << PD3);  //Port Output
+}
+
+double get_tempValue(int SensorValue)
+{
+  double a=0.0231;
+  double b=0.26;
+  double c=5.22;
+  double calculatedVoltage=5.0*(SensorValue/1023.0);
+  return log((c-calculatedVoltage)/b)*(1/a);
+}
+
+void LCD_printData()
+{
+  if(status==1)
+  { 
+    if(i>123)
+    {
+      LCD_printGrid();
+      i=2;
+    }
+    u8g2.setFontMode(1);
+    u8g2.setFont(u8g2_font_6x10_tf);
+    u8g2.setDrawColor(1);
+    u8g2.drawBox(0, 0, 127, 9);
+    u8g2.setDrawColor(2);
+    u8g2.drawBox(0, 0, 127, 9);
+    u8g2.setCursor(2,8);
+    u8g2.print(F("Ti:"));
+    u8g2.print(get_tempValue(TempSensor),0);    
+    if(counterx%5==0)    //each 5seconds new TempPlot
+    {
+      if(get_tempValue(TempSensor)>-5&&get_tempValue(TempSensor)<100)
+      {
+        u8g2.drawPixel(i++, 63-((get_tempValue(TempSensor)/100.0))*55);
+      }
+    }
+    u8g2.setCursor(42,8);
+    u8g2.print(F("Ts:"));
+    u8g2.print(Sollwert,0);    
+    u8g2.setCursor(84,8);
+    u8g2.print(F("St:"));
+    u8g2.print(yk,0); 
+    u8g2.sendBuffer();
+    status=0;
+  }
+}
+
+void LCD_printGrid()
+{
+  u8g2.clearBuffer();
+  u8g2.setFontMode(1);
+  u8g2.drawLine(1, 63, 127, 63);
+  u8g2.drawLine(0, 10, 0, 63);
+  for(int a=10; a<=100; a=a+10)
+  {
+    u8g2.drawLine(0, (63-(a/100.0)*55), 2, (63-(a/100.0)*55));
+  }   
+  for(int a=10; a<127; a=a+10)
+  {
+    u8g2.drawLine(a, 61, a, 63);
+  }    
+  u8g2.sendBuffer();
+}