diff options
Diffstat (limited to 'src/Platform.h')
| -rw-r--r-- | src/Platform.h | 63 |
1 files changed, 14 insertions, 49 deletions
diff --git a/src/Platform.h b/src/Platform.h index 94ea54bc..7d20dc00 100644 --- a/src/Platform.h +++ b/src/Platform.h @@ -47,6 +47,7 @@ Licence: GPL #include "Core.h" #include "Heating/TemperatureSensor.h" +#include "Heating/Thermistor.h" #include "Heating/TemperatureError.h" #include "OutputMemory.h" #include "Libraries/Fatfs/ff.h" @@ -124,32 +125,10 @@ const uint32_t Z_PROBE_AXES = (1 << X_AXIS) | (1 << Z_AXIS); // Axes for which t // HEATERS - The bed is assumed to be the at index 0 +// The thermistors used in the R3epRapPro Ormerod are: // Bed thermistor: http://uk.farnell.com/epcos/b57863s103f040/sensor-miniature-ntc-10k/dp/1299930?Ntt=129-9930 // Hot end thermistor: http://www.digikey.co.uk/product-search/en?x=20&y=11&KeyWords=480-3137-ND -const float defaultThermistorBetas[HEATERS] = HEATERS_(BED_BETA, EXT_BETA, EXT_BETA, EXT_BETA, EXT_BETA, EXT_BETA, EXT_BETA, EXT_BETA); // Bed thermistor: B57861S104F40; Extruder thermistor: RS 198-961 -const float defaultThermistorSeriesRs[HEATERS] = HEATERS_(THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS, - THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS); -const float defaultThermistor25RS[HEATERS] = HEATERS_(BED_R25, EXT_R25, EXT_R25, EXT_R25, EXT_R25, EXT_R25, EXT_R25, EXT_R25); // Thermistor ohms at 25 C = 298.15 K - -// Note on hot end PID parameters: -// The system is highly nonlinear because the heater power is limited to a maximum value and cannot go negative. -// If we try to run a traditional PID when there are large temperature errors, this causes the I-accumulator to go out of control, -// which causes a large amount of overshoot at lower temperatures. There are at least two ways of avoiding this: -// -// 1. Allow the PID to operate even with very large errors, but choose a very small I-term, just the right amount so that when heating up -// from cold, the I-accumulator is approximately the value needed to maintain the correct power when the target temperature is reached. -// This works well most of the time. However if the Duet board is reset when the extruder is hot and is then -// commanded to heat up again before the extruder has cooled, the I-accumulator doesn't grow large enough, so the -// temperature undershoots. The small value of the I-term then causes it to take a long time to reach the correct temperature. -// -// 2. Only allow the PID to operate when the temperature error is small enough for the PID to operate in the linear region. -// So we set FULL_PID_BAND to a small value. It needs to be at least 15C because that is how much the temperature overshoots by -// on an Ormerod when we turn the heater off from full power at about 180C. When we transition to PID, we set the I-term to the -// value we expect to be needed to maintain the target temperature. We use an additional T parameter to allow this value to be -// estimated. -// -// The default values use method (2). -// + // Note: a negative P, I or D value means do not use PID for this heater, use bang-bang control instead. // This allows us to switch between PID and bang-bang using the M301 and M304 commands. @@ -160,28 +139,20 @@ const float defaultPidKps[HEATERS] = HEATERS_(-1.0, 10.0, 10.0, 10.0, 10.0, 10.0 const float defaultPidKts[HEATERS] = HEATERS_(2.7, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4); // approximate PWM value needed to maintain temperature, per degC above room temperature const float defaultPidKss[HEATERS] = HEATERS_(1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0); // PWM scaling factor, to allow for variation in heater power and supply voltage -// For the theory behind ADC oversampling, see http://www.atmel.com/Images/doc8003.pdf -const unsigned int AD_OVERSAMPLE_BITS = 1; // Number of bits we oversample when reading temperatures - // Define the number of temperature readings we average for each thermistor. This should be a power of 2 and at least 4 ** AD_OVERSAMPLE_BITS. // Keep THERMISTOR_AVERAGE_READINGS * NUM_HEATERS * 2ms no greater than HEAT_SAMPLE_TIME or the PIDs won't work well. -const unsigned int THERMISTOR_AVERAGE_READINGS = 32; -const unsigned int AD_RANGE_REAL = 4095; // The ADC that measures temperatures gives an int this big as its max value -const unsigned int AD_RANGE_VIRTUAL = ((AD_RANGE_REAL + 1) << AD_OVERSAMPLE_BITS) - 1; // The max value we can get using oversampling -const unsigned int AD_DISCONNECTED_REAL = AD_RANGE_REAL - 3; // We consider an ADC reading at/above this value to indicate that the thermistor is disconnected -const unsigned int AD_DISCONNECTED_VIRTUAL = AD_DISCONNECTED_REAL << AD_OVERSAMPLE_BITS; +const unsigned int ThermistorAverageReadings = 32; const uint32_t maxPidSpinDelay = 5000; // Maximum elapsed time in milliseconds between successive temp samples by Pid::Spin() permitted for a temp sensor -const size_t BED_HEATER = 0; // Index of the heated bed -const size_t E0_HEATER = 1; // Index of the first extruder heater +const size_t DefaultBedHeater = 0; // Index of the default bed heater +const size_t DefaultE0Heater = 1; // Index of the default first extruder heater /****************************************************************************************************/ // File handling const size_t MAX_FILES = 10; // Must be large enough to handle the max number of simultaneous web requests + files being printed - const size_t FILE_BUFFER_SIZE = 256; /****************************************************************************************************/ @@ -312,21 +283,10 @@ struct ZProbeParameters class PidParameters { // If you add any more variables to this class, don't forget to change the definition of operator== in Platform.cpp! -private: - float thermistorBeta, thermistorInfR; // private because these must be changed together - public: float kI, kD, kP, kT, kS; - float thermistorSeriesR; - float adcLowOffset, adcHighOffset; - - float GetBeta() const { return thermistorBeta; } - float GetRInf() const { return thermistorInfR; } bool UsePID() const; - float GetThermistorR25() const; - void SetThermistorR25AndBeta(float r25, float beta); - bool operator==(const PidParameters& other) const; bool operator!=(const PidParameters& other) const { @@ -393,7 +353,7 @@ private: //invariant(index < numAveraged) }; -typedef AveragingFilter<THERMISTOR_AVERAGE_READINGS> ThermistorAveragingFilter; +typedef AveragingFilter<ThermistorAverageReadings> ThermistorAveragingFilter; typedef AveragingFilter<Z_PROBE_AVERAGE_READINGS> ZProbeAveragingFilter; // Enumeration of error condition bits @@ -613,6 +573,11 @@ public: float GetHeatSampleTime() const; void SetPidParameters(size_t heater, const PidParameters& params); const PidParameters& GetPidParameters(size_t heater) const; + Thermistor& GetThermistor(size_t heater) + pre (heater < HEATERS) + { + return thermistors[heater]; + } void SetThermistorNumber(size_t heater, size_t thermistor); int GetThermistorNumber(size_t heater) const; bool IsThermistorChannel(uint8_t heater) const; @@ -713,7 +678,7 @@ private: struct FlashData { static const uint16_t magicValue = 0xE6C4; // value we use to recognise that the flash data has been written - static const uint16_t versionValue = 4; // increment this whenever this struct changes + static const uint16_t versionValue = 5; // increment this whenever this struct changes static const uint32_t nvAddress = (SoftwareResetData::nvAddress + sizeof(SoftwareResetData) + 3) & (~3); uint16_t magic; @@ -816,6 +781,7 @@ private: Pin tempSensePins[HEATERS]; Pin heatOnPins[HEATERS]; + Thermistor thermistors[HEATERS]; TemperatureSensor SpiTempSensors[MaxSpiTempSensors]; Pin spiTempSenseCsPins[MaxSpiTempSensors]; uint32_t configuredHeaters; // bitmask of all heaters in use @@ -889,7 +855,6 @@ private: unsigned int heaterTempChannels[HEATERS]; AnalogChannelNumber thermistorAdcChannels[HEATERS]; AnalogChannelNumber zProbeAdcChannel; - uint32_t thermistorOverheatSums[HEATERS]; uint8_t tickState; size_t currentHeater; int debugCode; |