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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"
// 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 CanMessageUpdateHeaterModel;
#endif
class FopDt
{
public:
FopDt();
bool SetParameters(float pg, float ptc, float pdt, float pMaxPwm, float temperatureLimit, float pVoltage, bool pUsePid, bool pInverted);
float GetGain() const { return gain; }
float GetTimeConstant() const { return timeConstant; }
float GetDeadTime() const { return deadTime; }
float GetMaxPwm() const { return maxPwm; }
float GetVoltage() const { return standardVoltage; }
bool UsePid() const { return usePid; }
bool IsInverted() const { return inverted; }
bool IsEnabled() const { return enabled; }
bool ArePidParametersOverridden() const { return pidParametersOverridden; }
M301PidParameters GetM301PidParameters(bool forLoadChange) const;
void SetM301PidParameters(const M301PidParameters& params);
const PidParameters& GetPidParameters(bool forLoadChange) const
{
return (forLoadChange) ? loadChangeParams : setpointChangeParams;
}
#if HAS_MASS_STORAGE
bool WriteParameters(FileStore *f, size_t heater) const; // erite the model parameters to file returning true if no error
#endif
#if SUPPORT_CAN_EXPANSION
void SetupCanMessage(unsigned int heater, CanMessageUpdateHeaterModel& msg);
#endif
private:
void CalcPidConstants();
float gain;
float timeConstant;
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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