Major refactoring of heater management and driver IDs

Renamed class PID to LocalHeater and moved some functions to new base class Heater
Added class RemoteHeater
Heaters are no longer created by default
Replaced driver numbers by class DriverId with both board# and local driver# on Duet 3
Refectored stepper driver management to handle DriverId

1 files changed, 96 insertions, 0 deletions

diff --git a/src/Heating/LocalHeater.h b/src/Heating/LocalHeater.h
new file mode 100644
index 00000000..6e291473
--- /dev/null
+++ b/src/Heating/LocalHeater.h
@@ -0,0 +1,96 @@
+/*
+ * Pid.h
+ *
+ *  Created on: 21 Jul 2016
+ *      Author: David
+ */
+
+#ifndef SRC_LOCALHEATER_H_
+#define SRC_LOCALHEATER_H_
+
+/**
+ * This class implements a PID controller for the heaters
+ */
+
+#include "Heater.h"
+#include "FOPDT.h"
+#include "TemperatureError.h"
+#include "Hardware/IoPorts.h"
+#include "GCodes/GCodeResult.h"
+
+class HeaterProtection;
+
+class LocalHeater : public Heater
+{
+	static const size_t NumPreviousTemperatures = 4; // How many samples we average the temperature derivative over
+
+public:
+	LocalHeater(unsigned int heaterNum);
+	LocalHeater(const Heater& h);
+
+	void Spin() override;									// Called in a tight loop to keep things running
+	GCodeResult ConfigurePortAndSensor(GCodeBuffer& gb, const StringRef& reply) override;
+	void SwitchOff() override;						// Not even standby - all heater power off
+	void ResetFault() override;						// Reset a fault condition - only call this if you know what you are doing
+	float GetTemperature() const override;			// Get the current temperature
+	float GetAveragePWM() const override;			// Return the running average PWM to the heater. Answer is a fraction in [0, 1].
+	float GetAccumulator() const override;			// Return the integral accumulator
+	void StartAutoTune(float targetTemp, float maxPwm, const StringRef& reply) override;	// Start an auto tune cycle for this PID
+	void GetAutoTuneStatus(const StringRef& reply) const override;	// Get the auto tune status or last result
+	void Suspend(bool sus) override;				// Suspend the heater to conserve power or while doing Z probing
+
+protected:
+	HeaterMode GetMode() const override { return mode; }
+	void SwitchOn() override;						// Turn the heater on and set the mode
+	GCodeResult UpdateModel(const StringRef& reply) override;	// Called when the heater model has been changed
+
+private:
+	void Reset();
+	void SetHeater(float power) const;				// Power is a fraction in [0,1]
+	TemperatureError ReadTemperature();				// Read and store the temperature of this heater
+	void DoTuningStep();							// Called on each temperature sample when auto tuning
+	static bool ReadingsStable(size_t numReadings, float maxDiff)
+		pre(numReadings >= 2; numReadings <= MaxTuningTempReadings);
+	static int GetPeakTempIndex();					// Auto tune helper function
+	static int IdentifyPeak(size_t numToAverage);	// Auto tune helper function
+	void CalculateModel();							// Calculate G, td and tc from the accumulated readings
+	void DisplayBuffer(const char *intro);			// Debug helper
+	float GetExpectedHeatingRate() const;			// Get the minimum heating rate we expect
+
+	PwmPort port;									// The port that drives the heater
+	float temperature;								// The current temperature
+	float previousTemperatures[NumPreviousTemperatures]; // The temperatures of the previous NumDerivativeSamples measurements, used for calculating the derivative
+	size_t previousTemperatureIndex;				// Which slot in previousTemperature we fill in next
+	float iAccumulator;								// The integral LocalHeater component
+	float lastPwm;									// The last PWM value we output, before scaling by kS
+	float averagePWM;								// The running average of the PWM, after scaling.
+	uint32_t timeSetHeating;						// When we turned on the heater
+	uint32_t lastSampleTime;						// Time when the temperature was last sampled by Spin()
+
+	uint16_t heatingFaultCount;						// Count of questionable heating behaviours
+
+	uint8_t previousTemperaturesGood;				// Bitmap indicating which previous temperature were good readings
+	HeaterMode mode;								// Current state of the heater
+	bool tuned;										// True if tuning was successful
+	uint8_t badTemperatureCount;					// Count of sequential dud readings
+
+	static_assert(sizeof(previousTemperaturesGood) * 8 >= NumPreviousTemperatures, "too few bits in previousTemperaturesGood");
+
+	// Variables used during heater tuning
+	static const size_t MaxTuningTempReadings = 128; // The maximum number of readings we keep. Must be an even number.
+
+	static float *tuningTempReadings;				// the readings from the heater being tuned
+	static float tuningStartTemp;					// the temperature when we turned on the heater
+	static float tuningPwm;							// the PWM to use, 0..1
+	static float tuningTargetTemp;						// the maximum temperature we are allowed to reach
+	static uint32_t tuningBeginTime;				// when we started the tuning process
+	static uint32_t tuningPhaseStartTime;			// when we started the current tuning phase
+	static uint32_t tuningReadingInterval;			// how often we are sampling, in milliseconds
+	static size_t tuningReadingsTaken;				// how many temperature samples we have taken
+	static float tuningHeaterOffTemp;				// the temperature when we turned the heater off
+	static float tuningPeakTemperature;				// the peak temperature reached, averaged over 3 readings (so slightly less than the true peak)
+	static uint32_t tuningHeatingTime;				// how long we had the heating on for
+	static uint32_t tuningPeakDelay;				// how many milliseconds the temperature continues to rise after turning the heater off
+};
+
+#endif /* SRC_LOCALHEATER_H_ */