Добавлена поддержка EEPROM для сохранения PID-параметров и пример

Author: rembov

DallasTemperature.cpp

@@ -806,4 +806,26 @@ int16_t DallasTemperature::getUserDataByIndex(uint8_t deviceIndex) {
     DeviceAddress deviceAddress;
     getAddress(deviceAddress, deviceIndex);
     return getUserData((uint8_t*)deviceAddress);
-}
+}
+struct PIDParams { float Kp; float Ki; float Kd; uint16_t checksum; };
+static uint16_t calcChecksum(const PIDParams &p) {
+    uint32_t sum = 0;
+    sum += *((uint32_t*)&p.Kp);
+    sum += *((uint32_t*)&p.Ki);
+    sum += *((uint32_t*)&p.Kd);
+    return (uint16_t)(sum & 0xFFFF);
+}
+bool PID::saveParameters(int addr) {
+    PIDParams p{dispKp, dispKi, dispKd, 0};
+    p.checksum = calcChecksum(p);
+    for (size_t i = 0; i < sizeof(p); ++i) EEPROM.write(addr + i, *((uint8_t*)&p + i));
+    EEPROM.commit();
+    return true;
+}
+bool PID::loadParameters(int addr) {
+    PIDParams p;
+    for (size_t i = 0; i < sizeof(p); ++i) *((uint8_t*)&p + i) = EEPROM.read(addr + i);
+    if (p.checksum != calcChecksum(p)) return false;
+    dispKp = p.Kp; dispKi = p.Ki; dispKd = p.Kd;
+    return true;
+}

DallasTemperature.h

@@ -121,6 +121,9 @@ class DallasTemperature {
     bool recallScratchPad(const uint8_t* = nullptr);
     void setAutoSaveScratchPad(bool);
     bool getAutoSaveScratchPad(void);
+    bool saveParameters(int addr = 0);
+    bool loadParameters(int addr = 0);
+
 
 #if REQUIRESALARMS
     typedef void AlarmHandler(const uint8_t*);

examples/EEPROM_PID/EEPROM_PID.ino

@@ -0,0 +1,37 @@
+#include <EEPROM.h>
+#include <PID_v1.h>
+
+#define EEPROM_SIZE 64
+
+double Setpoint, Input, Output;
+PID myPID(&Input, &Output, &Setpoint, 2.0, 5.0, 1.0, DIRECT);
+
+void setup() {
+    Serial.begin(115200);
+    EEPROM.begin(EEPROM_SIZE);
+    if (myPID.loadParameters(0)) {
+        Serial.println("PID params loaded from EEPROM:");
+    } else {
+        Serial.println("No valid params in EEPROM, using defaults.");
+    }
+    Serial.print("Kp="); Serial.println(myPID.GetKp());
+    Serial.print("Ki="); Serial.println(myPID.GetKi());
+    Serial.print("Kd="); Serial.println(myPID.GetKd());
+    myPID.SetMode(AUTOMATIC);
+}
+
+void loop() {
+    Input = analogRead(A0) * (5.0 / 1023.0);
+    myPID.Compute();
+    analogWrite(5, Output);
+    if (Serial.available()) {
+        char cmd = Serial.read();
+        if (cmd == 's') {
+            double newKp = myPID.GetKp() + 0.5;
+            myPID.SetTunings(newKp, myPID.GetKi(), myPID.GetKd());
+            myPID.saveParameters(0);
+            Serial.print("Saved new Kp="); Serial.println(newKp);
+        }
+    }
+    delay(1000);
+}