PIDControl.h

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#ifndef PIDCONTROL_H_
#define PIDCONTROL_H_
 
#include <time.h>
#include <signal.h>
 
#include "libdaq/mcp4725.h"
#include "libdaq/gpio.h"
 
 
#include "Sensors/SensorBoard.h"
 
//#define DEFAULT_P     (0.89f)
//#define DEFAULT_I     (0.005f)
//#define DEFAULT_D     (0.31f)
 
#define DEFAULT_P       (0.78f)
#define DEFAULT_I       (0.025f)
#define DEFAULT_D       (0.0006f)
 
#define MAX_TEC_CURRENT (1500)
 
namespace SocCamera {
class tcPIDControl {
public:
    tcPIDControl(int anBus, int anAddr, SocCamera::tcSensorBoard *apSensorBoard, int cool_heat_gpio, int break_gpio=-1);
    virtual ~tcPIDControl();
 
    bool initialize(int anMaxTECCurrentMA = 1500);
 
    void setPID(float anP = DEFAULT_P, float anI = DEFAULT_I, float anD = DEFAULT_D);
 
    void getPID(float &arP, float &arI, float &arD);
 
    void setEnable(bool abEnable, int anIntervalMilliseconds = 1000);
 
    void setTarget(float anTempC);
 
    float getTarget();
 
    bool getEnabled();
 
    float getDutyCycle();
 
    float getDacVolts();
    void step();
 
private:
    static void timerExpired(union sigval auSig);
 
    void readTECState();
 
    void writeTECState();
 
    enum teHeatCoolMode { eeCooling, eeHeating } ; 
 
    void setHeatCoolMode(teHeatCoolMode aeControlMode);
    // internal constants
    static const int gnTempChangePerMin = 5;  
 
    float mnLastDelta;       
    float mnPrevDelta;       
    float mnP;               
    float mnI;               
    float mnD;               
    float mnSetpoint;        
    int mnMaxTECCurrentMA;   
    bool mbTargetSet;        
    float mnTargetTemp;      
    int mnHeatCheckCount;    
 
    float mnCurrTemp;        
    float mnDuty;            
    float mnUpdateIntervalMilliseconds; 
 
    int mnCnt;               
 
    SocCamera::tcSensorBoard *mpSensorBoard; 
 
    MityDSP::tcMCP4725 mcDac; 
 
    struct sigevent msSigevent;        
    timer_t mhTimerId;                 
    struct itimerspec msTimerInterval; 
 
    bool mbEnabled;          
    int  mnCoolGpio;         
    int  mnBreakGpio;         
    teHeatCoolMode meControlMode; 
    MityDSP::tcGpio* mpHeatCoolGPIO; 
};
} // namespace SocCamera
#endif /* PIDCONTROL_H_ */