Fixes and improvements to new heater model and tuning3.2beta3.2

Heater model defaults to enabled when set up with default parameters
M303 H parameter is optional (but checked) if T parameter is given

9 files changed, 82 insertions, 61 deletions

diff --git a/src/Heating/FOPDT.cpp b/src/Heating/FOPDT.cpp
index 4c5e81fd..be274f17 100644
--- a/src/Heating/FOPDT.cpp
+++ b/src/Heating/FOPDT.cpp
@@ -60,8 +60,9 @@ FopDt::FopDt() noexcept
 	: heatingRate(DefaultHotEndHeaterHeatingRate),
 	  coolingRateFanOff(DefaultHotEndHeaterCoolingRate), coolingRateChangeFanOn(0.0),
 	  deadTime(DefaultHotEndHeaterDeadTime), maxPwm(1.0), standardVoltage(0.0),
-	  enabled(false), usePid(true), inverted(false), pidParametersOverridden(false)
+	  enabled(true), usePid(true), inverted(false), pidParametersOverridden(false)
 {
+	CalcPidConstants();
 }
 
 // Check the model parameters are sensible, if they are then save them and return true.
diff --git a/src/Heating/Heat.cpp b/src/Heating/Heat.cpp
index 2a3d8e94..ce24563c 100644
--- a/src/Heating/Heat.cpp
+++ b/src/Heating/Heat.cpp
@@ -25,6 +25,7 @@ Licence: GPL
 #include "RepRap.h"
 #include "Sensors/TemperatureSensor.h"
 #include "GCodes/GCodeBuffer/GCodeBuffer.h"
+#include <Tools/Tool.h>
 #include <TaskPriorities.h>
 #include <General/Portability.h>
 
@@ -822,49 +823,81 @@ GCodeResult Heat::ConfigureHeaterMonitoring(size_t heater, GCodeBuffer& gb, cons
 // Process M303
 GCodeResult Heat::TuneHeater(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
 {
-	if (gb.Seen('H'))
+	// To tune a heater, a heater number and/or a tool number musty be given
+	FansBitmap fans;
+	int heaterNumber;
+	const bool seenHeater = gb.Seen('H');
+	if (seenHeater)
 	{
-		const unsigned int heater = gb.GetUIValue();
-		if (heaterBeingTuned != -1)
+		heaterNumber = gb.GetIValue();
+	}
+	const bool seenTool = gb.Seen('T');
+	if (seenTool)
+	{
+		const int toolNumber = gb.GetIValue();
+		const auto tool = reprap.GetTool(toolNumber);
+		if (tool.IsNull())
 		{
-			// Trying to start a new auto tune, but we are already tuning a heater
-			reply.printf("Error: cannot start auto tuning heater %u because heater %d is being tuned", heater, heaterBeingTuned);
+			reply.printf("tool %d not found", toolNumber);
+			return GCodeResult::error;
 		}
-		else
+		if (seenHeater)
 		{
-			const auto h = FindHeater(heater);
-			if (h.IsNotNull())
+			if (!tool->UsesHeater(heaterNumber))
 			{
-				const GCodeResult rslt = h->StartAutoTune(gb, reply);
-				if (rslt <= GCodeResult::warning)
-				{
-					heaterBeingTuned = (int8_t)heater;
-				}
-				return rslt;
-			}
-			else
-			{
-				reply.printf("Heater %u not found", heater);
+				reply.printf("tool %d does not use heater %d", toolNumber, heaterNumber);
+				return GCodeResult::error;
 			}
 		}
-		return GCodeResult::error;
+		else if (tool->HeaterCount() == 0)
+		{
+			reply.printf("tool %d has no heaters", toolNumber);
+			return GCodeResult::error;
+		}
+		else
+		{
+			heaterNumber = tool->Heater(0);
+		}
+		fans = tool->GetFanMapping();
 	}
-	else
+
+	if (seenHeater || seenTool)
 	{
-		// Report the auto tune status
-		const int whichPid = (heaterBeingTuned == -1) ? lastHeaterTuned : heaterBeingTuned;
-		const auto h = FindHeater(whichPid);
+		if (heaterBeingTuned != -1)
+		{
+			// Trying to start a new auto tune, but we are already tuning a heater
+			reply.printf("Error: cannot start a new auto tune because heater %d is being tuned", heaterBeingTuned);
+			return GCodeResult::error;
+		}
 
-		if (h.IsNotNull())
+		const auto h = FindHeater(heaterNumber);
+		if (h.IsNull())
 		{
-			h->GetAutoTuneStatus(reply);
+			reply.printf("Heater %u not found", heaterNumber);
+			return GCodeResult::error;
 		}
-		else
+
+		const GCodeResult rslt = h->StartAutoTune(gb, reply, fans);
+		if (rslt <= GCodeResult::warning)
 		{
-			reply.copy("No heater has been tuned since startup");
+			heaterBeingTuned = (int8_t)heaterNumber;
 		}
-		return GCodeResult::ok;
+		return rslt;
+	}
+
+	// If we get here then neither T nor H was given, so report the auto tune status
+	const int whichPid = (heaterBeingTuned == -1) ? lastHeaterTuned : heaterBeingTuned;
+	const auto h = FindHeater(whichPid);
+
+	if (h.IsNotNull())
+	{
+		h->GetAutoTuneStatus(reply);
 	}
+	else
+	{
+		reply.copy("No heater has been tuned since startup");
+	}
+	return GCodeResult::ok;
 }
 
 // Process M308
diff --git a/src/Heating/Heater.cpp b/src/Heating/Heater.cpp
index 9a862383..8a3b50b0 100644
--- a/src/Heating/Heater.cpp
+++ b/src/Heating/Heater.cpp
@@ -152,27 +152,29 @@ GCodeResult Heater::SetOrReportModel(unsigned int heater, GCodeBuffer& gb, const
 	}
 	else if (!model.IsEnabled())
 	{
-		reply.printf("Heater %u is disabled", heater);
+		reply.printf("Heater %u is disabled due to bad model", heater);
 	}
 	else
 	{
 		const char* const mode = (!model.UsePid()) ? "bang-bang"
 									: (model.ArePidParametersOverridden()) ? "custom PID"
 										: "PID";
-		reply.printf("Heater %u model: heating rate %.3f, cooling time constant %.1f (fan off) %.1f (fan on), dead time %.2f, max PWM %.2f, calibration voltage %.1f, mode %s", heater,
-					 (double)model.GetHeatingRate(), (double)model.GetTimeConstantFanOff(), (double)model.GetTimeConstantFanOn(),
-					 (double)model.GetDeadTime(), (double)model.GetMaxPwm(), (double)model.GetVoltage(), mode);
+		reply.printf("Heater %u model: heating rate %.3f, cooling time constant %.1f", heater, (double)model.GetHeatingRate(), (double)model.GetTimeConstantFanOff());
+		if (model.GetCoolingRateChangeFanOn() > 0.0)
+		{
+			reply.catf("/%.1f", (double)model.GetTimeConstantFanOn());
+		}
+		reply.catf(", dead time %.2f, max PWM %.2f, calibration voltage %.1f, mode %s", (double)model.GetDeadTime(), (double)model.GetMaxPwm(), (double)model.GetVoltage(), mode);
 		if (model.IsInverted())
 		{
-			reply.cat(", inverted temperature control");
+			reply.cat(", inverted control");
 		}
 		if (model.UsePid())
 		{
-			// When reporting the PID parameters, we scale them by 255 for compatibility with older firmware and other firmware
 			M301PidParameters params = model.GetM301PidParameters(false);
-			reply.catf("\nComputed PID parameters for setpoint change: P%.1f, I%.3f, D%.1f", (double)params.kP, (double)params.kI, (double)params.kD);
+			reply.catf("\nComputed PID parameters: setpoint change: P%.1f, I%.3f, D%.1f", (double)params.kP, (double)params.kI, (double)params.kD);
 			params = model.GetM301PidParameters(true);
-			reply.catf("\nComputed PID parameters for load change: P%.1f, I%.3f, D%.1f", (double)params.kP, (double)params.kI, (double)params.kD);
+			reply.catf(", load change: P%.1f, I%.3f, D%.1f", (double)params.kP, (double)params.kI, (double)params.kD);
 		}
 	}
 	return GCodeResult::ok;
diff --git a/src/Heating/Heater.h b/src/Heating/Heater.h
index 8c8231e0..6c34ba9f 100644
--- a/src/Heating/Heater.h
+++ b/src/Heating/Heater.h
@@ -42,7 +42,7 @@ public:
 	virtual GCodeResult ResetFault(const StringRef& reply) noexcept = 0;	// Reset a fault condition - only call this if you know what you are doing
 	virtual void SwitchOff() noexcept = 0;
 	virtual void Spin() noexcept = 0;
-	virtual GCodeResult StartAutoTune(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException) = 0;	// Start an auto tune cycle for this heater
+	virtual GCodeResult StartAutoTune(GCodeBuffer& gb, const StringRef& reply, FansBitmap fans) THROWS(GCodeException) = 0;	// Start an auto tune cycle for this heater
 	virtual void GetAutoTuneStatus(const StringRef& reply) const noexcept = 0;	// Get the auto tune status or last result
 	virtual void Suspend(bool sus) noexcept = 0;						// Suspend the heater to conserve power or while doing Z probing
 	virtual float GetAccumulator() const noexcept = 0;					// Get the inertial term accumulator
diff --git a/src/Heating/LocalHeater.cpp b/src/Heating/LocalHeater.cpp
index 5c2daf76..5cac4954 100644
--- a/src/Heating/LocalHeater.cpp
+++ b/src/Heating/LocalHeater.cpp
@@ -481,7 +481,7 @@ float LocalHeater::GetExpectedHeatingRate() const noexcept
 }
 
 // Auto tune this heater. The caller has already checked that on other heater is being tuned.
-GCodeResult LocalHeater::StartAutoTune(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
+GCodeResult LocalHeater::StartAutoTune(GCodeBuffer& gb, const StringRef& reply, FansBitmap fans) THROWS(GCodeException)
 {
 	// Get the target temperature (required)
 	gb.MustSee('S');
@@ -495,24 +495,6 @@ GCodeResult LocalHeater::StartAutoTune(GCodeBuffer& gb, const StringRef& reply)
 		return GCodeResult::error;
 	}
 
-	// Get the optional tool number
-	int toolNumber = (gb.Seen('T')) ? gb.GetIValue() : -1;
-	if (toolNumber >= 0)
-	{
-		auto tool = reprap.GetTool(toolNumber);
-		if (tool.IsNull())
-		{
-			reply.printf("Tool %d not found", toolNumber);
-			return GCodeResult::error;
-		}
-		tuningFans = tool->GetFanMapping();
-		reprap.GetFansManager().SetFansValue(tuningFans, 0.0);
-	}
-	else
-	{
-		tuningFans.Clear();
-	}
-
 	if (!GetModel().IsEnabled())
 	{
 		reply.printf("heater %u cannot be auto tuned while it is disabled", GetHeaterNumber());
@@ -549,6 +531,9 @@ GCodeResult LocalHeater::StartAutoTune(GCodeBuffer& gb, const StringRef& reply)
 	reply.printf("Auto tuning heater %u using target temperature %.1f" DEGREE_SYMBOL "C and PWM %.2f - do not leave printer unattended",
 					GetHeaterNumber(), (double)targetTemp, (double)maxPwm);
 
+	tuningFans = fans;
+	reprap.GetFansManager().SetFansValue(tuningFans, 0.0);
+
 	tuningPwm = maxPwm;
 	tuningTargetTemp = targetTemp;
 	tuningStartTemp.Clear();
diff --git a/src/Heating/LocalHeater.h b/src/Heating/LocalHeater.h
index b1ccdfcb..e21148c7 100644
--- a/src/Heating/LocalHeater.h
+++ b/src/Heating/LocalHeater.h
@@ -47,7 +47,7 @@ public:
 	float GetTemperature() const noexcept override;			// Get the current temperature
 	float GetAveragePWM() const noexcept override;			// Return the running average PWM to the heater. Answer is a fraction in [0, 1].
 	float GetAccumulator() const noexcept override;			// Return the integral accumulator
-	GCodeResult StartAutoTune(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException) override;	// Start an auto tune cycle for this heater
+	GCodeResult StartAutoTune(GCodeBuffer& gb, const StringRef& reply, FansBitmap fans) THROWS(GCodeException) override;	// Start an auto tune cycle for this heater
 	void GetAutoTuneStatus(const StringRef& reply) const noexcept override;	// Get the auto tune status or last result
 	void Suspend(bool sus) noexcept override;				// Suspend the heater to conserve power or while doing Z probing
 	void PrintCoolingFanPwmChanged(float pwmChange) noexcept override;
diff --git a/src/Heating/RemoteHeater.cpp b/src/Heating/RemoteHeater.cpp
index 94e6f377..8bf9e9a0 100644
--- a/src/Heating/RemoteHeater.cpp
+++ b/src/Heating/RemoteHeater.cpp
@@ -128,7 +128,7 @@ float RemoteHeater::GetAccumulator() const noexcept
 	return 0.0;		// not supported
 }
 
-GCodeResult RemoteHeater::StartAutoTune(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
+GCodeResult RemoteHeater::StartAutoTune(GCodeBuffer& gb, const StringRef& reply, FansBitmap fans) THROWS(GCodeException)
 {
 	reply.copy("remote heater auto tune not implemented");
 	return GCodeResult::error;
diff --git a/src/Heating/RemoteHeater.h b/src/Heating/RemoteHeater.h
index 558b49b4..e82cb695 100644
--- a/src/Heating/RemoteHeater.h
+++ b/src/Heating/RemoteHeater.h
@@ -28,7 +28,7 @@ public:
 	float GetTemperature() const noexcept override;			// Get the current temperature
 	float GetAveragePWM() const noexcept override;			// Return the running average PWM to the heater. Answer is a fraction in [0, 1].
 	float GetAccumulator() const noexcept override;			// Return the integral accumulator
-	GCodeResult StartAutoTune(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException) override;	// Start an auto tune cycle for this heater
+	GCodeResult StartAutoTune(GCodeBuffer& gb, const StringRef& reply, FansBitmap fans) THROWS(GCodeException) override;	// Start an auto tune cycle for this heater
 	void GetAutoTuneStatus(const StringRef& reply) const noexcept override;	// Get the auto tune status or last result
 	void Suspend(bool sus) noexcept override;				// Suspend the heater to conserve power or while doing Z probing
 	void PrintCoolingFanPwmChanged(float pwmChange) noexcept override;
diff --git a/src/Tools/Tool.h b/src/Tools/Tool.h
index b7b7699f..98c87039 100644
--- a/src/Tools/Tool.h
+++ b/src/Tools/Tool.h
@@ -101,6 +101,7 @@ public:
 
 	void IterateExtruders(std::function<void(unsigned int)> f) const noexcept;
 	void IterateHeaters(std::function<void(int)> f) const noexcept;
+	bool UsesHeater(int8_t heater) const noexcept;
 
 	void SetFansPwm(float f) const noexcept;
 
@@ -127,7 +128,6 @@ private:
 	void SetTemperatureFault(int8_t dudHeater) noexcept;
 	void ResetTemperatureFault(int8_t wasDudHeater) noexcept;
 	bool AllHeatersAtHighTemperature(bool forExtrusion) const noexcept;
-	bool UsesHeater(int8_t heater) const noexcept;
 
 	static void ToolUpdated() noexcept { reprap.ToolsUpdated(); }	// call this whenever we change a variable that is reported in the OM as non-live