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/*
* Pid.h
*
* Created on: 21 Jul 2016
* Author: David
*/
#ifndef SRC_LOCALHEATER_H_
#define SRC_LOCALHEATER_H_
/**
* This class implements a PID controller for the heaters
*/
#include "Heater.h"
#include "FOPDT.h"
#include "TemperatureError.h"
#include "Hardware/IoPorts.h"
#include "GCodes/GCodeResult.h"
class HeaterProtection;
class LocalHeater : public Heater
{
static const size_t NumPreviousTemperatures = 4; // How many samples we average the temperature derivative over
public:
LocalHeater(unsigned int heaterNum) noexcept;
~LocalHeater() noexcept;
GCodeResult ConfigurePortAndSensor(const char *portName, PwmFrequency freq, unsigned int sensorNumber, const StringRef& reply) override;
GCodeResult SetPwmFrequency(PwmFrequency freq, const StringRef& reply) noexcept override;
GCodeResult ReportDetails(const StringRef& reply) const noexcept override;
void Spin() noexcept override; // Called in a tight loop to keep things running
void SwitchOff() noexcept override; // Not even standby - all heater power off
GCodeResult ResetFault(const StringRef& reply) noexcept override; // Reset a fault condition - only call this if you know what you are doing
float GetTemperature() const noexcept override; // Get the current temperature
float GetAveragePWM() const noexcept override; // Return the running average PWM to the heater. Answer is a fraction in [0, 1].
float GetAccumulator() const noexcept override; // Return the integral accumulator
void StartAutoTune(float targetTemp, float maxPwm, const StringRef& reply) noexcept override; // Start an auto tune cycle for this PID
void GetAutoTuneStatus(const StringRef& reply) const noexcept override; // Get the auto tune status or last result
void Suspend(bool sus) noexcept override; // Suspend the heater to conserve power or while doing Z probing
#if SUPPORT_CAN_EXPANSION
void UpdateRemoteStatus(CanAddress src, const CanHeaterReport& report) noexcept override { }
#endif
protected:
void ResetHeater() noexcept override;
HeaterMode GetMode() const noexcept override { return mode; }
GCodeResult SwitchOn(const StringRef& reply) noexcept override; // Turn the heater on and set the mode
GCodeResult UpdateModel(const StringRef& reply) noexcept override; // Called when the heater model has been changed
GCodeResult UpdateFaultDetectionParameters(const StringRef& reply) noexcept override { return GCodeResult::ok; }
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
static bool ReadingsStable(size_t numReadings, float maxDiff) noexcept
pre(numReadings >= 2; numReadings <= MaxTuningTempReadings);
static int GetPeakTempIndex() noexcept; // Auto tune helper function
static int IdentifyPeak(size_t numToAverage) noexcept; // Auto tune helper function
void CalculateModel() noexcept; // Calculate G, td and tc from the accumulated readings
void DisplayBuffer(const char *intro) noexcept; // Debug helper
float GetExpectedHeatingRate() const noexcept; // Get the minimum heating rate we expect
PwmPort port; // The port that drives the heater
float temperature; // The current temperature
float previousTemperatures[NumPreviousTemperatures]; // The temperatures of the previous NumDerivativeSamples measurements, used for calculating the derivative
size_t previousTemperatureIndex; // Which slot in previousTemperature we fill in next
float iAccumulator; // The integral LocalHeater component
float lastPwm; // The last PWM value we output, before scaling by kS
float averagePWM; // The running average of the PWM, after scaling.
uint32_t timeSetHeating; // When we turned on the heater
uint32_t lastSampleTime; // Time when the temperature was last sampled by Spin()
uint16_t heatingFaultCount; // Count of questionable heating behaviours
uint8_t previousTemperaturesGood; // Bitmap indicating which previous temperature were good readings
HeaterMode mode; // Current state of the heater
bool tuned; // True if tuning was successful
uint8_t badTemperatureCount; // Count of sequential dud readings
static_assert(sizeof(previousTemperaturesGood) * 8 >= NumPreviousTemperatures, "too few bits in previousTemperaturesGood");
// Variables used during heater tuning
static const size_t MaxTuningTempReadings = 128; // The maximum number of readings we keep. Must be an even number.
static float *tuningTempReadings; // the readings from the heater being tuned
static float tuningStartTemp; // the temperature when we turned on the heater
static float tuningPwm; // the PWM to use, 0..1
static float tuningTargetTemp; // the maximum temperature we are allowed to reach
static uint32_t tuningBeginTime; // when we started the tuning process
static uint32_t tuningPhaseStartTime; // when we started the current tuning phase
static uint32_t tuningReadingInterval; // how often we are sampling, in milliseconds
static size_t tuningReadingsTaken; // how many temperature samples we have taken
static float tuningHeaterOffTemp; // the temperature when we turned the heater off
static float tuningPeakTemperature; // the peak temperature reached, averaged over 3 readings (so slightly less than the true peak)
static uint32_t tuningHeatingTime; // how long we had the heating on for
static uint32_t tuningPeakDelay; // how many milliseconds the temperature continues to rise after turning the heater off
};
#endif /* SRC_LOCALHEATER_H_ */
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