Added tuning with/without fans on

5 files changed, 131 insertions, 56 deletions

diff --git a/src/Fans/FansManager.cpp b/src/Fans/FansManager.cpp
index b752e8ba..1b9f2c5f 100644
--- a/src/Fans/FansManager.cpp
+++ b/src/Fans/FansManager.cpp
@@ -188,6 +188,11 @@ void FansManager::SetFanValue(size_t fanNum, float speed) noexcept
 	(void)SetFanValue(fanNum, speed, dummy.GetRef());
 }
 
+void FansManager::SetFansValue(FansBitmap whichFans, float speed) noexcept
+{
+	whichFans.Iterate([speed, this](unsigned int i, unsigned int) noexcept { SetFanValue(i, speed); });
+}
+
 // Check if the given fan can be controlled manually so that DWC can decide whether or not to show the corresponding fan
 // controls. This is the case if no thermostatic control is enabled and if the fan was configured at least once before.
 bool FansManager::IsFanControllable(size_t fanNum) const noexcept
diff --git a/src/Fans/FansManager.h b/src/Fans/FansManager.h
index 587658ce..85208625 100644
--- a/src/Fans/FansManager.h
+++ b/src/Fans/FansManager.h
@@ -35,6 +35,7 @@ public:
 	float GetFanValue(size_t fanNum) const noexcept;
 	GCodeResult SetFanValue(size_t fanNum, float speed, const StringRef& reply) noexcept;
 	void SetFanValue(size_t fanNum, float speed) noexcept;
+	void SetFansValue(FansBitmap whichFans, float speed) noexcept;
 	bool IsFanControllable(size_t fanNum) const noexcept;
 	const char *GetFanName(size_t fanNum) const noexcept;
 	int32_t GetFanRPM(size_t fanNum) const noexcept;
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 7e35aeff..72168c0e 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -3407,8 +3407,7 @@ void GCodes::SetMappedFanSpeed(float f) noexcept
 	}
 	else
 	{
-		const FansBitmap fanMap = ct->GetFanMapping();
-		fanMap.Iterate([f](unsigned int i, unsigned int) noexcept { reprap.GetFansManager().SetFanValue(i, f); });
+		reprap.GetFansManager().SetFansValue(ct->GetFanMapping(), f);
 	}
 }
 
diff --git a/src/Heating/LocalHeater.cpp b/src/Heating/LocalHeater.cpp
index 189b102d..c515849f 100644
--- a/src/Heating/LocalHeater.cpp
+++ b/src/Heating/LocalHeater.cpp
@@ -12,30 +12,33 @@
 #include "HeaterMonitor.h"
 #include "Platform.h"
 #include "RepRap.h"
+#include <Tools/Tool.h>
 
 // Private constants
 const uint32_t InitialTuningReadingInterval = 250;	// the initial reading interval in milliseconds
 const uint32_t TempSettleTimeout = 20000;			// how long we allow the initial temperature to settle
 
-// Static class variables
-
-DeviationAccumulator LocalHeater::tuningStartTemp;	// the temperature when we turned on the heater
-float LocalHeater::tuningPwm;						// the PWM to use
-float LocalHeater::tuningTargetTemp;				// the maximum temperature we are allowed to reach
-uint32_t LocalHeater::tuningBeginTime;				// when we started the tuning process
-
-DeviationAccumulator LocalHeater::dHigh;
-DeviationAccumulator LocalHeater::dLow;
-DeviationAccumulator LocalHeater::tOn;
-DeviationAccumulator LocalHeater::tOff;
-DeviationAccumulator LocalHeater::coolingTimeConstant;
-uint32_t LocalHeater::lastOffTime;
-uint32_t LocalHeater::lastOnTime;
-float LocalHeater::peakTemp;
-uint32_t LocalHeater::peakTime;
+// Variables used during heater tuning
+static float tuningPwm;									// the PWM to use, 0..1
+static float tuningTargetTemp;							// the target temperature
+static DeviationAccumulator tuningStartTemp;			// the temperature when we turned on the heater
+static uint32_t tuningBeginTime;						// when we started the tuning process
+static DeviationAccumulator dHigh;
+static DeviationAccumulator dLow;
+static DeviationAccumulator tOn;
+static DeviationAccumulator tOff;
+static DeviationAccumulator coolingTimeConstant;
+static uint32_t lastOffTime;
+static uint32_t lastOnTime;
+static float peakTemp;									// max or min temperature
+static uint32_t peakTime;								// the time at which we recorded peakTemp
+static FansBitmap tuningFans;
+static bool fanOn;										// whether we are running with the fan on or off
+
+static LocalHeater::HeaterParameters fanOffParams, fanOnParams;
 
 #if HAS_VOLTAGE_MONITOR
-DeviationAccumulator LocalHeater::tuningVoltage;	// the voltage readings we take during the heating phase
+static DeviationAccumulator tuningVoltage;				// sum of the voltage readings we take during the heating phase
 #endif
 
 // Member functions and constructors
@@ -464,8 +467,11 @@ 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)
 {
+	// Get the target temperature (required)
 	gb.MustSee('S');
 	const float targetTemp = gb.GetFValue();
+
+	// Get the optional PWM
 	const float maxPwm = (gb.Seen('P')) ? gb.GetFValue() : GetModel().GetMaxPwm();
 	if (maxPwm < 0.1 || maxPwm > 1.0)
 	{
@@ -473,6 +479,24 @@ 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());
@@ -486,9 +510,9 @@ GCodeResult LocalHeater::StartAutoTune(GCodeBuffer& gb, const StringRef& reply)
 	}
 
 	const float limit = GetHighestTemperatureLimit();
-	if (targetTemp > limit)
+	if (targetTemp >= limit)
 	{
-		reply.printf("heater %u target temperature must be no higher than the temperature limit for this heater (%.1fC)", GetHeaterNumber(), (double)limit);
+		reply.printf("heater %u target temperature must be below the temperature limit for this heater (%.1fC)", GetHeaterNumber(), (double)limit);
 		return GCodeResult::error;
 	}
 
@@ -499,15 +523,40 @@ GCodeResult LocalHeater::StartAutoTune(GCodeBuffer& gb, const StringRef& reply)
 		return GCodeResult::error;
 	}
 
-	mode = HeaterMode::tuning0;
-	tuned = false;					// assume failure
+	const bool seenA = gb.Seen('A');
+	const float ambientTemp = (seenA) ? gb.GetFValue() : temperature;
+	if (ambientTemp + 20 >= targetTemp)
+	{
+		reply.printf("Target temperature must be at least 20C above ambient temperature");
+	}
+
+	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);
 
 	tuningPwm = maxPwm;
 	tuningTargetTemp = targetTemp;
-	tuningBeginTime = millis();
 	tuningStartTemp.Clear();
-	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);
+	tuningBeginTime = millis();
+	tuned = false;					// assume failure
+	fanOn = false;
+
+	if (seenA)
+	{
+		tuningStartTemp.Add(ambientTemp);
+		dHigh.Clear();
+		dLow.Clear();
+		tOn.Clear();
+		tOff.Clear();
+		coolingTimeConstant.Clear();
+		timeSetHeating = millis();
+		lastPwm = tuningPwm;										// turn on heater at specified power
+		mode = HeaterMode::tuning1;
+	}
+	else
+	{
+		mode = HeaterMode::tuning0;
+	}
+
 	return GCodeResult::ok;
 }
 
@@ -677,8 +726,32 @@ void LocalHeater::DoTuningStep() noexcept
 					   )
 				   )
 				{
-					CalculateModel();
-					break;
+					if (fanOn)
+					{
+						reprap.GetFansManager().SetFansValue(tuningFans, 0.0);
+						CalculateModel(fanOnParams);
+						ReportModel();
+						break;
+					}
+					else
+					{
+						CalculateModel(fanOffParams);
+						if (tuningFans.IsEmpty())
+						{
+							ReportModel();
+							break;
+						}
+						else
+						{
+							reprap.GetFansManager().SetFansValue(tuningFans, 1.0);
+							fanOn = true;
+							dHigh.Clear();
+							dLow.Clear();
+							tOn.Clear();
+							tOff.Clear();
+							coolingTimeConstant.Clear();
+						}
+					}
 				}
 			}
 			lastOnTime = peakTime = now;
@@ -720,7 +793,7 @@ void LocalHeater::DoTuningStep() noexcept
 }
 
 // Calculate the heater model from the accumulated heater parameters
-void LocalHeater::CalculateModel() noexcept
+void LocalHeater::CalculateModel(HeaterParameters& params) noexcept
 {
 	if (reprap.Debug(moduleHeat))
 	{
@@ -737,12 +810,18 @@ void LocalHeater::CalculateModel() noexcept
 	}
 
 	const float cycleTime = tOn.GetMean() + tOff.GetMean();		// in milliseconds
-	const float deadTime = (((dHigh.GetMean() * tOff.GetMean()) + (dLow.GetMean() * tOn.GetMean())) * 0.001)/cycleTime;		// in seconds
+	params.deadTime = (((dHigh.GetMean() * tOff.GetMean()) + (dLow.GetMean() * tOn.GetMean())) * 0.001)/cycleTime;		// in seconds
+	params.coolingTimeConstant = coolingTimeConstant.GetMean() * 0.001;			// in seconds
 	const float gain = ((tuningTargetTemp - tuningStartTemp.GetMean() - TuningHysteresis) * cycleTime) / (tOn.GetMean() * tuningPwm);
-	const float tc = coolingTimeConstant.GetMean() * 0.001;			// in seconds
+	params.heatingRate = gain/params.coolingTimeConstant;
+	reprap.GetPlatform().MessageF(LoggedGenericMessage, "R%.1f A%.1f C%.1f D%.2f\n",
+									(double)params.heatingRate, (double)params.GetGain(), (double)params.coolingTimeConstant, (double)params.deadTime);
+}
 
+void LocalHeater::ReportModel() noexcept
+{
 	String<1> dummy;
-	const GCodeResult rslt = SetModel(gain, tc, deadTime, tuningPwm,
+	const GCodeResult rslt = SetModel(fanOffParams.GetGain(), fanOffParams.coolingTimeConstant, fanOffParams.deadTime, tuningPwm,
 #if HAS_VOLTAGE_MONITOR
 										tuningVoltage.GetMean(),
 #else
@@ -751,6 +830,7 @@ void LocalHeater::CalculateModel() noexcept
 										true, false, dummy.GetRef());
 	if (rslt == GCodeResult::ok || rslt == GCodeResult::warning)
 	{
+		tuned = true;
 		reprap.GetPlatform().MessageF(LoggedGenericMessage,
 										"Auto tuning heater %u completed after %u cycles in %" PRIu32 " seconds. This heater needs the following M307 command:\n"
 										" M307 H%u A%.1f C%.1f D%.2f S%.2f V%.1f\n",
@@ -769,7 +849,7 @@ void LocalHeater::CalculateModel() noexcept
 	else
 	{
 		reprap.GetPlatform().MessageF(WarningMessage, "Auto tune of heater %u failed due to bad curve fit (A=%.1f, C=%.1f, D=%.1f)\n",
-			GetHeaterNumber(), (double)gain, (double)tc, (double)deadTime);
+			GetHeaterNumber(), (double)fanOffParams.GetGain(), (double)fanOffParams.coolingTimeConstant, (double)fanOffParams.deadTime);
 	}
 }
 
diff --git a/src/Heating/LocalHeater.h b/src/Heating/LocalHeater.h
index a34a499d..1bcef486 100644
--- a/src/Heating/LocalHeater.h
+++ b/src/Heating/LocalHeater.h
@@ -23,9 +23,18 @@ class HeaterMonitor;
 
 class LocalHeater : public Heater
 {
-	static const size_t NumPreviousTemperatures = 4; // How many samples we average the temperature derivative over
+	static const size_t NumPreviousTemperatures = 4;		// How many samples we average the temperature derivative over
 
 public:
+	struct HeaterParameters
+	{
+		float heatingRate;
+		float coolingTimeConstant;
+		float deadTime;
+
+		float GetGain() const noexcept { return heatingRate * coolingTimeConstant; }
+	};
+
 	LocalHeater(unsigned int heaterNum) noexcept;
 	~LocalHeater() noexcept;
 
@@ -59,7 +68,8 @@ private:
 	void SetHeater(float power) const noexcept;				// Power is a fraction in [0,1]
 	TemperatureError ReadTemperature() noexcept;			// Read and store the temperature of this heater
 	void DoTuningStep() noexcept;							// Called on each temperature sample when auto tuning
-	void CalculateModel() noexcept;							// Calculate G, td and tc from the accumulated readings
+	void CalculateModel(HeaterParameters& params) noexcept;	// Calculate G, td and tc from the accumulated readings
+	void ReportModel() noexcept;
 	float GetExpectedHeatingRate() const noexcept;			// Get the minimum heating rate we expect
 	void RaiseHeaterFault(const char *format, ...) noexcept;
 
@@ -84,27 +94,7 @@ private:
 
 	static constexpr unsigned int MinTuningHeaterCycles = 5;
 	static constexpr unsigned int MaxTuningHeaterCycles = 20;
-	static constexpr float TuningHysteresis = 2.0;
-
-	// Variables used during heater tuning
-	static float tuningPwm;									// the PWM to use, 0..1
-	static float tuningTargetTemp;							// the target temperature
-
-	static DeviationAccumulator tuningStartTemp;			// the temperature when we turned on the heater
-	static uint32_t tuningBeginTime;						// when we started the tuning process
-	static DeviationAccumulator dHigh;
-	static DeviationAccumulator dLow;
-	static DeviationAccumulator tOn;
-	static DeviationAccumulator tOff;
-	static DeviationAccumulator coolingTimeConstant;
-	static uint32_t lastOffTime;
-	static uint32_t lastOnTime;
-	static float peakTemp;									// max or min temperature
-	static uint32_t peakTime;								// the time at which we recorded peakTemp
-
-#if HAS_VOLTAGE_MONITOR
-	static DeviationAccumulator tuningVoltage;				// sum of the voltage readings we take during the heating phase
-#endif
+	static constexpr float TuningHysteresis = 3.0;
 };
 
 #endif /* SRC_LOCALHEATER_H_ */