Removed order dependency of M307, M143, M140, M141 and M563

8 files changed, 111 insertions, 54 deletions

diff --git a/src/Heating/FOPDT.cpp b/src/Heating/FOPDT.cpp
index be274f17..e343f027 100644
--- a/src/Heating/FOPDT.cpp
+++ b/src/Heating/FOPDT.cpp
@@ -54,15 +54,10 @@ DEFINE_GET_OBJECT_MODEL_TABLE(FopDt)
 
 #endif
 
-// Heater 6 on the Duet 0.8.5 is disabled by default at startup so that we can use fan 2.
-// Set up sensible defaults here in case the user enables the heater without specifying values for all the parameters.
+// The heater model is disabled until the user declares the heater to be a bed, chamber or tool heater
 FopDt::FopDt() noexcept
-	: heatingRate(DefaultHotEndHeaterHeatingRate),
-	  coolingRateFanOff(DefaultHotEndHeaterCoolingRate), coolingRateChangeFanOn(0.0),
-	  deadTime(DefaultHotEndHeaterDeadTime), maxPwm(1.0), standardVoltage(0.0),
-	  enabled(true), usePid(true), inverted(false), pidParametersOverridden(false)
 {
-	CalcPidConstants();
+	Clear();
 }
 
 // Check the model parameters are sensible, if they are then save them and return true.
@@ -94,6 +89,42 @@ bool FopDt::SetParameters(float phr, float pcrFanOff, float pcrFanOn, float pdt,
 	return false;
 }
 
+void FopDt::Clear() noexcept
+{
+	SetDefaultToolParameters();						// set some values so that we don't report rubbish in the OM
+	enabled = false;								// heater is disabled until the parameters are set
+}
+
+// Set up default parameters for a tool heater and enable the model
+void FopDt::SetDefaultToolParameters() noexcept
+{
+	heatingRate = DefaultHotEndHeaterHeatingRate;
+	coolingRateFanOff = DefaultHotEndHeaterCoolingRate;
+	deadTime = DefaultHotEndHeaterDeadTime;
+	coolingRateChangeFanOn = 0.0;
+	maxPwm = 1.0;
+	standardVoltage = 0.0;
+	usePid = true;
+	inverted = false;
+	enabled = true;
+	CalcPidConstants();
+}
+
+// Set up default parameters for a bed/chamber heater and enable the model
+void FopDt::SetDefaultBedOrChamberParameters() noexcept
+{
+	heatingRate = DefaultBedHeaterHeatingRate;
+	coolingRateFanOff = DefaultBedHeaterCoolingRate;
+	deadTime = DefaultBedHeaterDeadTime;
+	coolingRateChangeFanOn = 0.0;
+	maxPwm = 1.0;
+	standardVoltage = 0.0;
+	usePid = false;
+	inverted = false;
+	enabled = true;
+	CalcPidConstants();
+}
+
 // Get the PID parameters as reported by M301
 M301PidParameters FopDt::GetM301PidParameters(bool forLoadChange) const noexcept
 {
diff --git a/src/Heating/FOPDT.h b/src/Heating/FOPDT.h
index eab8d1fb..84ac8123 100644
--- a/src/Heating/FOPDT.h
+++ b/src/Heating/FOPDT.h
@@ -42,7 +42,10 @@ class FopDt INHERIT_OBJECT_MODEL
 public:
 	FopDt() noexcept;
 
+	void Clear() noexcept;
 	bool SetParameters(float phr, float pcrFanOff, float pcrFanOn, float pdt, float pMaxPwm, float temperatureLimit, float pVoltage, bool pUsePid, bool pInverted) noexcept;
+	void SetDefaultToolParameters() noexcept;
+	void SetDefaultBedOrChamberParameters() noexcept;
 
 	// Stored parameters
 	float GetHeatingRate() const noexcept { return heatingRate; }
diff --git a/src/Heating/Heat.cpp b/src/Heating/Heat.cpp
index 7815676d..0e8dbc29 100644
--- a/src/Heating/Heat.cpp
+++ b/src/Heating/Heat.cpp
@@ -248,7 +248,7 @@ void Heat::ResetHeaterModels() noexcept
 	{
 		if (h != nullptr && h->IsHeaterEnabled())
 		{
-			h->SetModelDefaults();
+			h->ClearModelAndMonitors();
 		}
 	}
 }
@@ -577,6 +577,7 @@ HeaterStatus Heat::GetStatus(int heater) const noexcept
 
 void Heat::SetBedHeater(size_t index, int heater) noexcept
 {
+	// First, turn off any existing bed heater in this slot
 	{
 		const auto h = FindHeater(bedHeaters[index]);
 		if (h.IsNotNull())
@@ -586,10 +587,10 @@ void Heat::SetBedHeater(size_t index, int heater) noexcept
 	}
 	bedHeaters[index] = heater;
 	{
-		const auto h = FindHeater(bedHeaters[index]);
+		const auto h = FindHeater(heater);
 		if (h.IsNotNull())
 		{
-			h->SetDefaultMonitors();
+			h->SetAsBedOrChamberHeater();
 		}
 	}
 	reprap.HeatUpdated();
@@ -609,6 +610,7 @@ bool Heat::IsBedHeater(int heater) const noexcept
 
 void Heat::SetChamberHeater(size_t index, int heater) noexcept
 {
+	// First, turn off any existing chamber heater in this slot
 	{
 		const auto h = FindHeater(chamberHeaters[index]);
 		if (h.IsNotNull())
@@ -617,10 +619,10 @@ void Heat::SetChamberHeater(size_t index, int heater) noexcept
 		}
 	}
 	chamberHeaters[index] = heater;
-	const auto h = FindHeater(chamberHeaters[index]);
+	const auto h = FindHeater(heater);
 	if (h.IsNotNull())
 	{
-		h->SetDefaultMonitors();
+		h->SetAsBedOrChamberHeater();
 	}
 	reprap.HeatUpdated();
 }
@@ -637,6 +639,18 @@ bool Heat::IsChamberHeater(int heater) const noexcept
 	return false;
 }
 
+// This is called when a tool is created that uses this heater
+void Heat::SetAsToolHeater(int8_t heater) const noexcept
+{
+	const auto h = FindHeater(heater);
+	if (h.IsNotNull())
+	{
+		h->SetAsToolHeater();
+	}
+	reprap.HeatUpdated();
+
+}
+
 void Heat::SetTemperature(int heater, float t, bool activeNotStandby) THROWS(GCodeException)
 {
 	const auto h = FindHeater(heater);
diff --git a/src/Heating/Heat.h b/src/Heating/Heat.h
index 74bccc26..f4c0288d 100644
--- a/src/Heating/Heat.h
+++ b/src/Heating/Heat.h
@@ -70,6 +70,9 @@ public:
 	pre(index < NumChamberHeaters; -1 <= heater; heater < MaxHeaters);
 	bool IsChamberHeater(int heater) const noexcept;					// Check if this heater is a chamber heater
 
+	void SetAsToolHeater(int8_t heater) const noexcept;					// called when a tool is created that uses this heater
+	bool IsBedOrChamberHeater(int heater) const noexcept;				// Queried by the Platform class
+
 	bool AllHeatersAtSetTemperatures(bool includingBed, float tolerance) const noexcept;	// Is everything at temperature within tolerance?
 
 	void SwitchOffAll(bool includingChamberAndBed) noexcept;			// Turn all heaters off
@@ -101,8 +104,6 @@ public:
 	float GetAveragePWM(size_t heater) const noexcept					// Return the running average PWM to the heater as a fraction in [0, 1].
 	pre(heater < MaxHeaters);
 
-	bool IsBedOrChamberHeater(int heater) const noexcept;				// Queried by the Platform class
-
 	float GetHeaterTemperature(size_t heater) const noexcept;			// Result is in degrees Celsius
 
 	const Tool* GetLastStandbyTool(int heater) const noexcept
diff --git a/src/Heating/Heater.cpp b/src/Heating/Heater.cpp
index 8a3b50b0..952f50ce 100644
--- a/src/Heating/Heater.cpp
+++ b/src/Heating/Heater.cpp
@@ -63,7 +63,7 @@ DEFINE_GET_OBJECT_MODEL_TABLE(Heater)
 Heater::Heater(unsigned int num) noexcept
 	: heaterNumber(num), sensorNumber(-1), activeTemperature(0.0), standbyTemperature(0.0),
 	  maxTempExcursion(DefaultMaxTempExcursion), maxHeatingFaultTime(DefaultMaxHeatingFaultTime),
-	  active(false)
+	  active(false), modelSetByUser(false), monitorsSetByUser(false)
 {
 }
 
@@ -80,21 +80,6 @@ void Heater::SetSensorNumber(int sn) noexcept
 	if (sn != sensorNumber)
 	{
 		sensorNumber = sn;
-		SetDefaultMonitors();
-	}
-}
-
-void Heater::SetDefaultMonitors() noexcept
-{
-	for (HeaterMonitor& h : monitors)
-	{
-		h.Disable();
-	}
-
-	if (sensorNumber >= 0 && sensorNumber < (int)MaxSensors)
-	{
-		const float limit = (reprap.GetHeat().IsBedOrChamberHeater(heaterNumber)) ? DefaultBedTemperatureLimit : DefaultHotEndTemperatureLimit;
-		monitors[0].Set(sensorNumber, limit, HeaterMonitorAction::GenerateFault, HeaterMonitorTrigger::TemperatureExceeded);
 	}
 }
 
@@ -143,16 +128,20 @@ GCodeResult Heater::SetOrReportModel(unsigned int heater, GCodeBuffer& gb, const
 
 	if (seen)
 	{
+		// Set the model
 		const bool inverseTemperatureControl = (inversionParameter == 1 || inversionParameter == 3);
 		const GCodeResult rslt = SetModel(heatingRate, coolingRates[0], coolingRates[1], td, maxPwm, voltage, dontUsePid == 0, inverseTemperatureControl, reply);
-		if (rslt != GCodeResult::ok)
+		if (rslt <= GCodeResult::warning)
 		{
-			return rslt;
+			modelSetByUser = true;
 		}
+		return rslt;
 	}
-	else if (!model.IsEnabled())
+
+	// Just report the model
+	if (!model.IsEnabled())
 	{
-		reply.printf("Heater %u is disabled due to bad model", heater);
+		reply.printf("Heater %u is disabled because its model is undefined", heater);
 	}
 	else
 	{
@@ -225,6 +214,7 @@ GCodeResult Heater::SetFaultDetectionParameters(float pMaxTempExcursion, float p
 	return rslt;
 }
 
+// Process M143 for this heater
 GCodeResult Heater::ConfigureMonitor(GCodeBuffer &gb, const StringRef &reply) THROWS(GCodeException)
 {
 	// Get any parameters that have been provided
@@ -256,6 +246,10 @@ GCodeResult Heater::ConfigureMonitor(GCodeBuffer &gb, const StringRef &reply) TH
 	{
 		monitors[index].Set(monitoringSensor, limit, action, trigger);
 		const GCodeResult rslt = UpdateHeaterMonitors(reply);
+		if (rslt <= GCodeResult::warning)
+		{
+			monitorsSetByUser = true;
+		}
 		reprap.HeatUpdated();
 		return rslt;
 	}
@@ -368,20 +362,41 @@ void Heater::SetTemperature(float t, bool activeNotStandby) THROWS(GCodeExceptio
 	}
 }
 
-void Heater::SetModelDefaults() noexcept
+// This is called when config.g is about to be re-run
+void Heater::ClearModelAndMonitors() noexcept
 {
-	if (reprap.GetHeat().IsBedOrChamberHeater(heaterNumber))
+	model.Clear();
+	for (HeaterMonitor& hm : monitors)
 	{
-		model.SetParameters(DefaultBedHeaterGain, DefaultBedHeaterTimeConstant, DefaultBedHeaterTimeConstant, DefaultBedHeaterDeadTime, 1.0, DefaultBedTemperatureLimit, 0.0, false, false);
+		hm.Disable();
 	}
-	else
+	modelSetByUser = monitorsSetByUser = false;
+}
+
+// This is called when this heater is declared to be a bed or chamber heater using M140 or M141
+void Heater::SetAsToolHeater() noexcept
+{
+	if (!modelSetByUser)
+	{
+		model.SetDefaultToolParameters();
+	}
+	if (!monitorsSetByUser && sensorNumber >= 0 && sensorNumber < (int)MaxSensors)
 	{
-		model.SetParameters(DefaultHotEndHeaterHeatingRate, DefaultHotEndHeaterCoolingRate, DefaultHotEndHeaterCoolingRate, DefaultHotEndHeaterDeadTime,
-							1.0, DefaultHotEndTemperatureLimit, 0.0, true, false);
+		monitors[0].Set(sensorNumber, DefaultHotEndTemperatureLimit, HeaterMonitorAction::GenerateFault, HeaterMonitorTrigger::TemperatureExceeded);
 	}
+}
 
-	String<1> dummy;
-	(void)UpdateModel(dummy.GetRef());
+// This is called when a heater is declared to be a tool heater using M563
+void Heater::SetAsBedOrChamberHeater() noexcept
+{
+	if (!modelSetByUser)
+	{
+		model.SetDefaultBedOrChamberParameters();
+	}
+	if (!monitorsSetByUser &&sensorNumber >= 0 && sensorNumber < (int)MaxSensors)
+	{
+		monitors[0].Set(sensorNumber, DefaultBedTemperatureLimit, HeaterMonitorAction::GenerateFault, HeaterMonitorTrigger::TemperatureExceeded);
+	}
 }
 
 // End
diff --git a/src/Heating/Heater.h b/src/Heating/Heater.h
index 6c34ba9f..eaed5621 100644
--- a/src/Heating/Heater.h
+++ b/src/Heating/Heater.h
@@ -72,7 +72,6 @@ public:
 
 	const FopDt& GetModel() const noexcept { return model; }			// Get the process model
 	GCodeResult SetOrReportModel(unsigned int heater, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
-	void SetModelDefaults() noexcept;
 
 	bool IsHeaterEnabled() const noexcept								// Is this heater enabled?
 		{ return model.IsEnabled(); }
@@ -80,7 +79,9 @@ public:
 	void SetM301PidParameters(const M301PidParameters& params) noexcept
 		{ model.SetM301PidParameters(params); }
 
-	void SetDefaultMonitors() noexcept;
+	void ClearModelAndMonitors() noexcept;
+	void SetAsToolHeater() noexcept;
+	void SetAsBedOrChamberHeater() noexcept;
 
 protected:
 	DECLARE_OBJECT_MODEL
@@ -132,6 +133,8 @@ private:
 	float maxHeatingFaultTime;						// How long a heater fault is permitted to persist before a heater fault is raised
 
 	bool active;									// Are we active or standby?
+	bool modelSetByUser;
+	bool monitorsSetByUser;
 };
 
 #endif /* SRC_HEATING_HEATER_H_ */
diff --git a/src/Heating/LocalHeater.cpp b/src/Heating/LocalHeater.cpp
index 11d90b72..5519fb41 100644
--- a/src/Heating/LocalHeater.cpp
+++ b/src/Heating/LocalHeater.cpp
@@ -153,11 +153,6 @@ TemperatureError LocalHeater::ReadTemperature() noexcept
 // This must be called whenever the heater is turned on, and any time the heater is active and the target temperature is changed
 GCodeResult LocalHeater::SwitchOn(const StringRef& reply) noexcept
 {
-	if (!GetModel().IsEnabled())
-	{
-		SetModelDefaults();
-	}
-
 	if (mode == HeaterMode::fault)
 	{
 		reply.printf("Heater %u not switched on due to temperature fault\n", GetHeaterNumber());
diff --git a/src/Heating/RemoteHeater.cpp b/src/Heating/RemoteHeater.cpp
index 8bf9e9a0..317d7b7a 100644
--- a/src/Heating/RemoteHeater.cpp
+++ b/src/Heating/RemoteHeater.cpp
@@ -167,11 +167,6 @@ Heater::HeaterMode RemoteHeater::GetMode() const noexcept
 // This isn't just called to turn the heater on, it is called when the temperature needs to be updated
 GCodeResult RemoteHeater::SwitchOn(const StringRef& reply) noexcept
 {
-	if (!GetModel().IsEnabled())
-	{
-		SetModelDefaults();
-	}
-
 	CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
 	if (buf == nullptr)
 	{