diff options
Diffstat (limited to 'src/Heating/FOPDT.cpp')
| -rw-r--r-- | src/Heating/FOPDT.cpp | 53 |
1 files changed, 45 insertions, 8 deletions
diff --git a/src/Heating/FOPDT.cpp b/src/Heating/FOPDT.cpp index f68b4639..e3bc22c6 100644 --- a/src/Heating/FOPDT.cpp +++ b/src/Heating/FOPDT.cpp @@ -8,17 +8,17 @@ #include "FOPDT.h" #include "Core.h" #include "Configuration.h" +#include "Storage/FileStore.h" +#include "Libraries/General/StringRef.h" +extern StringRef scratchString; + +// 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. FopDt::FopDt() + : gain(DefaultHotEndHeaterGain), timeConstant(DefaultHotEndHeaterTimeConstant), deadTime(DefaultHotEndHeaterDeadTime), maxPwm(1.0), + enabled(false), usePid(true), pidParametersOverridden(false) { - // 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 in case the user enables the heater without specifying values for all the parameters. - enabled = false; - gain = DefaultHotEndHeaterGain; - timeConstant = DefaultHotEndHeaterTimeConstant; - deadTime = DefaultHotEndHeaterDeadTime; - maxPwm = 1.0; - usePid = true; } // Check the model parameters are sensible, if they are then save them and return true. @@ -45,6 +45,41 @@ bool FopDt::SetParameters(float pg, float ptc, float pdt, float pMaxPwm, bool pU return false; } +// Get the PID parameters as reported by M301 +M301PidParameters FopDt::GetM301PidParameters(bool forLoadChange) const +{ + M301PidParameters rslt; + const PidParameters& pp = GetPidParameters(forLoadChange); + const float reportedKp = pp.kP * 255.0; + rslt.kP = reportedKp; + rslt.kI = pp.recipTi * reportedKp; + rslt.kD = pp.tD * reportedKp; + return rslt; +} + +// Override the PID parameters. We set both sets to the same parameters. +void FopDt::SetM301PidParameters(const M301PidParameters& pp) +{ + loadChangeParams.kP = setpointChangeParams.kP = pp.kP * (1.0/255.0); + loadChangeParams.recipTi = setpointChangeParams.recipTi = pp.kI/pp.kP; + loadChangeParams.tD = setpointChangeParams.tD = pp.kD/pp.kP; + pidParametersOverridden = true; +} + +// Write the model parameters to file returning true if no error +bool FopDt::WriteParameters(FileStore *f, size_t heater) const +{ + scratchString.printf("M307 H%u A%.1f C%.1f D%.1f S%.2f B%d\n", heater, gain, timeConstant, deadTime, maxPwm, (usePid) ? 0 : 1); + bool ok = f->Write(scratchString.Pointer()); + if (ok && pidParametersOverridden) + { + const M301PidParameters pp = GetM301PidParameters(false); + scratchString.printf("M301 H%u P%.1f I%.3f D%.1f\n", heater, pp.kP, pp.kI, pp.kD); + ok = f->Write(scratchString.Pointer()); + } + return ok; +} + /* Re-calculate the PID parameters. * For some possible formulas, see "Comparison of some well-known PID tuning formulas", Computers and Chemical Engineering 30 (2006) 1416–1423, * available at http://www.ece.ualberta.ca/~marquez/journal_publications_files/papers/tan_cce_06.pdf @@ -86,6 +121,8 @@ void FopDt::CalcPidConstants() setpointChangeParams.kP = 0.7/(gain * timeFrac); setpointChangeParams.recipTi = 1.0/timeConstant; // Ti = time constant setpointChangeParams.tD = deadTime * 0.7; + + pidParametersOverridden = false; } // End |