heater: Support max_power setting for heaters
Change the mcu PWM value from an integer (0-255) to a float (0. - 1.). Add support for limiting the maximum power (as measured over a sufficiently long duration) to a particular heater. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
54002c4391
commit
f53897758d
|
|
@ -153,6 +153,13 @@ filament_diameter: 3.500
|
|||
heater_pin: ar4
|
||||
# PWM output pin controlling the heater. This parameter must be
|
||||
# provided.
|
||||
#max_power: 1.0
|
||||
# The maximum power (expressed as a value from 0.0 to 1.0) that the
|
||||
# heater_pin may be set to. The value 1.0 allows the pin to be set
|
||||
# fully enabled for extended periods, while a value of 0.5 would
|
||||
# allow the pin to be enabled for no more than half the time. This
|
||||
# setting may be used to limit the total power output (over extended
|
||||
# periods) to the heater. The default is 1.0.
|
||||
thermistor_pin: analog1
|
||||
# Analog input pin connected to thermistor. This parameter must be
|
||||
# provided.
|
||||
|
|
@ -179,9 +186,9 @@ pid_Kd: 114
|
|||
# A time value (in seconds) over which the derivative in the pid
|
||||
# will be smoothed to reduce the impact of measurement noise. The
|
||||
# default is 2 seconds.
|
||||
#pid_integral_max: 255
|
||||
#pid_integral_max:
|
||||
# The maximum "windup" the integral term may accumulate. The default
|
||||
# is 255.
|
||||
# is to use the same value as max_power.
|
||||
#min_extrude_temp: 170
|
||||
# The minimum temperature (in Celsius) at which extruder move
|
||||
# commands may be issued. The default is 170 Celsius.
|
||||
|
|
|
|||
|
|
@ -11,7 +11,7 @@ class PrinterFan:
|
|||
self.printer = printer
|
||||
self.config = config
|
||||
self.mcu_fan = None
|
||||
self.last_fan_value = 0
|
||||
self.last_fan_value = 0.
|
||||
self.last_fan_time = 0.
|
||||
self.kick_start_time = config.getfloat('kick_start_time', 0.1)
|
||||
def build_config(self):
|
||||
|
|
@ -20,15 +20,15 @@ class PrinterFan:
|
|||
self.mcu_fan = self.printer.mcu.create_pwm(pin, hard_pwm, 0)
|
||||
# External commands
|
||||
def set_speed(self, print_time, value):
|
||||
value = max(0, min(255, int(value*255. + 0.5)))
|
||||
value = max(0., min(1., value))
|
||||
if value == self.last_fan_value:
|
||||
return
|
||||
mcu_time = self.mcu_fan.print_to_mcu_time(print_time)
|
||||
mcu_time = max(self.last_fan_time + FAN_MIN_TIME, mcu_time)
|
||||
if (value and value < 255
|
||||
if (value and value < 1.
|
||||
and not self.last_fan_value and self.kick_start_time):
|
||||
# Run fan at full speed for specified kick_start_time
|
||||
self.mcu_fan.set_pwm(mcu_time, 255)
|
||||
self.mcu_fan.set_pwm(mcu_time, 1.)
|
||||
mcu_time += self.kick_start_time
|
||||
self.mcu_fan.set_pwm(mcu_time, value)
|
||||
self.last_fan_time = mcu_time
|
||||
|
|
|
|||
|
|
@ -19,7 +19,7 @@ REPORT_TIME = 0.300
|
|||
KELVIN_TO_CELCIUS = -273.15
|
||||
MAX_HEAT_TIME = 5.0
|
||||
AMBIENT_TEMP = 25.
|
||||
PWM_MAX = 255
|
||||
PID_PARAM_BASE = 255.
|
||||
|
||||
class error(Exception):
|
||||
pass
|
||||
|
|
@ -35,6 +35,7 @@ class PrinterHeater:
|
|||
self.min_extrude_temp = config.getfloat('min_extrude_temp', 170.)
|
||||
self.min_temp = self.config.getfloat('min_temp')
|
||||
self.max_temp = self.config.getfloat('max_temp')
|
||||
self.max_power = max(0., min(1., self.config.getfloat('max_power', 1.)))
|
||||
self.can_extrude = (self.min_extrude_temp <= 0.)
|
||||
self.lock = threading.Lock()
|
||||
self.last_temp = 0.
|
||||
|
|
@ -49,7 +50,7 @@ class PrinterHeater:
|
|||
algo = self.config.getchoice('control', algos)
|
||||
heater_pin = self.config.get('heater_pin')
|
||||
thermistor_pin = self.config.get('thermistor_pin')
|
||||
if algo is ControlBangBang:
|
||||
if algo is ControlBangBang and self.max_power == 1.:
|
||||
self.mcu_pwm = self.printer.mcu.create_digital_out(
|
||||
heater_pin, MAX_HEAT_TIME)
|
||||
else:
|
||||
|
|
@ -69,7 +70,7 @@ class PrinterHeater:
|
|||
if self.target_temp <= 0.:
|
||||
return
|
||||
if (read_time < self.next_pwm_time
|
||||
and abs(value - self.last_pwm_value) < 15):
|
||||
and abs(value - self.last_pwm_value) < 0.05):
|
||||
return
|
||||
elif not self.last_pwm_value and (
|
||||
self.target_temp <= 0. or read_time < self.next_pwm_time):
|
||||
|
|
@ -77,7 +78,7 @@ class PrinterHeater:
|
|||
pwm_time = read_time + REPORT_TIME + SAMPLE_TIME*SAMPLE_COUNT
|
||||
self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME
|
||||
self.last_pwm_value = value
|
||||
logging.debug("%s: pwm=%d@%.3f (from %.3f@%.3f [%.3f])" % (
|
||||
logging.debug("%s: pwm=%.3f@%.3f (from %.3f@%.3f [%.3f])" % (
|
||||
self.config.section, value, pwm_time,
|
||||
self.last_temp, self.last_temp_time, self.target_temp))
|
||||
self.mcu_pwm.set_pwm(pwm_time, value)
|
||||
|
|
@ -139,9 +140,9 @@ class ControlBangBang:
|
|||
elif not self.heating and temp <= self.heater.target_temp-self.max_delta:
|
||||
self.heating = True
|
||||
if self.heating:
|
||||
self.heater.set_pwm(read_time, PWM_MAX)
|
||||
self.heater.set_pwm(read_time, self.heater.max_power)
|
||||
else:
|
||||
self.heater.set_pwm(read_time, 0)
|
||||
self.heater.set_pwm(read_time, 0.)
|
||||
def check_busy(self, eventtime):
|
||||
return self.heater.last_temp < self.heater.target_temp-self.max_delta
|
||||
|
||||
|
|
@ -153,11 +154,11 @@ class ControlBangBang:
|
|||
class ControlPID:
|
||||
def __init__(self, heater, config):
|
||||
self.heater = heater
|
||||
self.Kp = config.getfloat('pid_Kp')
|
||||
self.Ki = config.getfloat('pid_Ki')
|
||||
self.Kd = config.getfloat('pid_Kd')
|
||||
self.Kp = config.getfloat('pid_Kp') / PID_PARAM_BASE
|
||||
self.Ki = config.getfloat('pid_Ki') / PID_PARAM_BASE
|
||||
self.Kd = config.getfloat('pid_Kd') / PID_PARAM_BASE
|
||||
self.min_deriv_time = config.getfloat('pid_deriv_time', 2.)
|
||||
imax = config.getint('pid_integral_max', PWM_MAX)
|
||||
imax = config.getfloat('pid_integral_max', heater.max_power)
|
||||
self.temp_integ_max = imax / self.Ki
|
||||
self.prev_temp = AMBIENT_TEMP
|
||||
self.prev_temp_time = 0.
|
||||
|
|
@ -177,10 +178,10 @@ class ControlPID:
|
|||
temp_integ = self.prev_temp_integ + temp_err * time_diff
|
||||
temp_integ = max(0., min(self.temp_integ_max, temp_integ))
|
||||
# Calculate output
|
||||
co = int(self.Kp*temp_err + self.Ki*temp_integ - self.Kd*temp_deriv)
|
||||
co = self.Kp*temp_err + self.Ki*temp_integ - self.Kd*temp_deriv
|
||||
#logging.debug("pid: %f@%.3f -> diff=%f deriv=%f err=%f integ=%f co=%d" % (
|
||||
# temp, read_time, temp_diff, temp_deriv, temp_err, temp_integ, co))
|
||||
bounded_co = max(0, min(PWM_MAX, co))
|
||||
bounded_co = max(0., min(self.heater.max_power, co))
|
||||
self.heater.set_pwm(read_time, bounded_co)
|
||||
# Store state for next measurement
|
||||
self.prev_temp = temp
|
||||
|
|
@ -216,12 +217,12 @@ class ControlAutoTune:
|
|||
self.heating = True
|
||||
self.check_peaks()
|
||||
if self.heating:
|
||||
self.heater.set_pwm(read_time, PWM_MAX)
|
||||
self.heater.set_pwm(read_time, self.heater.max_power)
|
||||
if temp < self.peak:
|
||||
self.peak = temp
|
||||
self.peak_time = read_time
|
||||
else:
|
||||
self.heater.set_pwm(read_time, 0)
|
||||
self.heater.set_pwm(read_time, 0.)
|
||||
if temp > self.peak:
|
||||
self.peak = temp
|
||||
self.peak_time = read_time
|
||||
|
|
@ -235,8 +236,8 @@ class ControlAutoTune:
|
|||
return
|
||||
temp_diff = self.peaks[-1][0] - self.peaks[-2][0]
|
||||
time_diff = self.peaks[-1][1] - self.peaks[-3][1]
|
||||
pwm_diff = PWM_MAX - 0
|
||||
Ku = 4. * (2. * pwm_diff) / (abs(temp_diff) * math.pi)
|
||||
max_power = self.heater.max_power
|
||||
Ku = 4. * (2. * max_power) / (abs(temp_diff) * math.pi)
|
||||
Tu = time_diff
|
||||
|
||||
Kp = 0.6 * Ku
|
||||
|
|
@ -244,8 +245,9 @@ class ControlAutoTune:
|
|||
Td = 0.125 * Tu
|
||||
Ki = Kp / Ti
|
||||
Kd = Kp * Td
|
||||
logging.info("Autotune: raw=%f/%d Ku=%f Tu=%f Kp=%f Ki=%f Kd=%f" % (
|
||||
temp_diff, pwm_diff, Ku, Tu, Kp, Ki, Kd))
|
||||
logging.info("Autotune: raw=%f/%f Ku=%f Tu=%f Kp=%f Ki=%f Kd=%f" % (
|
||||
temp_diff, max_power, Ku, Tu,
|
||||
Kp * PID_PARAM_BASE, Ki * PID_PARAM_BASE, Kd * PID_PARAM_BASE))
|
||||
def check_busy(self, eventtime):
|
||||
if self.heating or len(self.peaks) < 12:
|
||||
return True
|
||||
|
|
@ -271,17 +273,17 @@ class ControlBumpTest:
|
|||
def adc_callback(self, read_time, temp):
|
||||
self.temp_samples[read_time] = temp
|
||||
if not self.state:
|
||||
self.set_pwm(read_time, 0)
|
||||
self.set_pwm(read_time, 0.)
|
||||
if len(self.temp_samples) >= 20:
|
||||
self.state += 1
|
||||
elif self.state == 1:
|
||||
if temp < self.target_temp:
|
||||
self.set_pwm(read_time, PWM_MAX)
|
||||
self.set_pwm(read_time, self.heater.max_power)
|
||||
return
|
||||
self.set_pwm(read_time, 0)
|
||||
self.set_pwm(read_time, 0.)
|
||||
self.state += 1
|
||||
elif self.state == 2:
|
||||
self.set_pwm(read_time, 0)
|
||||
self.set_pwm(read_time, 0.)
|
||||
if temp <= (self.target_temp + AMBIENT_TEMP) / 2.:
|
||||
self.dump_stats()
|
||||
self.state += 1
|
||||
|
|
|
|||
|
|
@ -245,11 +245,12 @@ class MCU_digital_out:
|
|||
return self._last_value
|
||||
def set_pwm(self, mcu_time, value):
|
||||
dval = 0
|
||||
if value > 127:
|
||||
if value >= 0.5:
|
||||
dval = 1
|
||||
self.set_digital(mcu_time, dval)
|
||||
|
||||
class MCU_pwm:
|
||||
PWM_MAX = 255.
|
||||
def __init__(self, mcu, pin, cycle_ticks, max_duration, hard_pwm=True):
|
||||
self._mcu = mcu
|
||||
self._oid = mcu.create_oid()
|
||||
|
|
@ -272,6 +273,7 @@ class MCU_pwm:
|
|||
self.print_to_mcu_time = mcu.print_to_mcu_time
|
||||
def set_pwm(self, mcu_time, value):
|
||||
clock = int(mcu_time * self._mcu_freq)
|
||||
value = int(value * self.PWM_MAX + 0.5)
|
||||
msg = self._set_cmd.encode(self._oid, clock, value)
|
||||
self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
|
||||
, cq=self._cmd_queue)
|
||||
|
|
|
|||
Loading…
Reference in New Issue