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/*
* FOPDT.h
*
* Created on: 16 Aug 2016
* Author: David
*
* Class to represent the parameters of a first order process with dead time
*/
#ifndef SRC_HEATING_FOPDT_H_
#define SRC_HEATING_FOPDT_H_
#include "RepRapFirmware.h"
#include "ObjectModel/ObjectModel.h"
// This is how PID parameters are stored internally
struct PidParameters
{
float kP; // controller (not model) gain
float recipTi; // reciprocal of controller integral time
float tD; // controller differential time
};
// This is how PID parameters are given in M301 commands
struct M301PidParameters
{
float kP;
float kI;
float kD;
};
#if HAS_MASS_STORAGE
class FileStore;
#endif
#if SUPPORT_CAN_EXPANSION
struct CanMessageHeaterModelNewNew;
#endif
class FopDt INHERIT_OBJECT_MODEL
{
public:
FopDt() noexcept;
void Reset() noexcept;
bool SetParameters(float phr, float pbcr, float pfcr, float pcrExponent, float pdt, float pMaxPwm, float temperatureLimit, float pVoltage, bool pUsePid, bool pInverted) noexcept;
void SetDefaultToolParameters() noexcept;
void SetDefaultBedOrChamberParameters() noexcept;
#if SUPPORT_REMOTE_COMMANDS
bool SetParameters(const CanMessageHeaterModelNewNew& msg, float temperatureLimit) noexcept;
#endif
// Stored parameters
float GetHeatingRate() const noexcept { return heatingRate; }
float GetBasicCoolingRate() const noexcept { return basicCoolingRate; }
float GetFanCoolingRate() const noexcept { return fanCoolingRate; }
float GetCoolingRateExponent() const noexcept { return coolingRateExponent; }
float GetDeadTime() const noexcept { return deadTime; }
float GetMaxPwm() const noexcept { return maxPwm; }
float GetVoltage() const noexcept { return standardVoltage; }
bool UsePid() const noexcept { return usePid; }
bool IsInverted() const noexcept { return inverted; }
bool IsEnabled() const noexcept { return enabled; }
float EstimateRequiredPwm(float temperatureRise, float fanPwm) const noexcept;
float EstimateMaxTemperatureRise() const noexcept;
float GetNetHeatingRate(float temperatureRise, float fanPwm, float heaterPwm) const noexcept;
float CorrectPwmForVoltage(float requiredPwm, float actualVoltage) const noexcept;
float GetPwmCorrectionForFan(float temperatureRise, float fanPwmChange) const noexcept;
void CalcPidConstants(float targetTemperature) noexcept;
void AppendM307Command(unsigned int heaterNumber, const StringRef& str, bool includeVoltage) const noexcept;
void AppendM301Command(unsigned int heaterNumber, const StringRef& str) const noexcept;
void AppendModelParameters(unsigned int heaterNumber, const StringRef& str, bool includeVoltage) const noexcept;
// Derived parameters
bool ArePidParametersOverridden() const noexcept { return pidParametersOverridden; }
M301PidParameters GetM301PidParameters(bool forLoadChange) const noexcept;
void SetM301PidParameters(const M301PidParameters& params) noexcept;
const PidParameters& GetPidParameters(bool forLoadChange) const noexcept
{
return (forLoadChange) ? loadChangeParams : setpointChangeParams;
}
#if HAS_MASS_STORAGE || HAS_SBC_INTERFACE
// bool WriteParameters(FileStore *f, size_t heater) const noexcept; // write the model parameters to file returning true if no error
#endif
#if SUPPORT_CAN_EXPANSION
void SetupCanMessage(unsigned int heater, CanMessageHeaterModelNewNew& msg) const noexcept;
#endif
protected:
DECLARE_OBJECT_MODEL
private:
float GetCoolingRate(float temperatureRise, float fanPwm) const noexcept;
void SetRawPidParameters(float p_kP, float p_recipTi, float p_tD) noexcept;
static float EstimateMaxTemperatureRise(float hr, float cr, float cre) noexcept;
float heatingRate; // the rate at which the heater heats up at full PWM with no cooling
float basicCoolingRate; // the rate at which the heater cools down when it is 100C above ambient and the fan is off
float fanCoolingRate; // the additional cooling rate at 100C above ambient with the fan on at full PWM
float coolingRateExponent; // how the basic cooling rate varies with temperature difference
float deadTime;
float maxPwm;
float standardVoltage; // power voltage reading at which tuning was done, or 0 if unknown
bool enabled;
bool usePid;
bool inverted;
bool pidParametersOverridden;
PidParameters setpointChangeParams; // parameters for handling changes in the setpoint
PidParameters loadChangeParams; // parameters for handling changes in the load
};
#endif /* SRC_HEATING_FOPDT_H_ */
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