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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 2016-08-25 11:24:18 -04:00
parent 54002c4391
commit f53897758d
4 changed files with 40 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
config/example.cfg
View File

@ -153,6 +153,13 @@ filament_diameter: 3.500
heater_pin: ar4 heater_pin: ar4
# PWM output pin controlling the heater. This parameter must be # PWM output pin controlling the heater. This parameter must be
# provided. # 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 thermistor_pin: analog1
# Analog input pin connected to thermistor. This parameter must be # Analog input pin connected to thermistor. This parameter must be
# provided. # provided.
@ -179,9 +186,9 @@ pid_Kd: 114
# A time value (in seconds) over which the derivative in the pid # A time value (in seconds) over which the derivative in the pid
# will be smoothed to reduce the impact of measurement noise. The # will be smoothed to reduce the impact of measurement noise. The
# default is 2 seconds. # default is 2 seconds.
#pid_integral_max: 255 #pid_integral_max:
# The maximum "windup" the integral term may accumulate. The default # 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 #min_extrude_temp: 170
# The minimum temperature (in Celsius) at which extruder move # The minimum temperature (in Celsius) at which extruder move
# commands may be issued. The default is 170 Celsius. # commands may be issued. The default is 170 Celsius.

8
klippy/fan.py
View File

@ -11,7 +11,7 @@ class PrinterFan:
self.printer = printer self.printer = printer
self.config = config self.config = config
self.mcu_fan = None self.mcu_fan = None
self.last_fan_value = 0 self.last_fan_value = 0.
self.last_fan_time = 0. self.last_fan_time = 0.
self.kick_start_time = config.getfloat('kick_start_time', 0.1) self.kick_start_time = config.getfloat('kick_start_time', 0.1)
def build_config(self): def build_config(self):
@ -20,15 +20,15 @@ class PrinterFan:
self.mcu_fan = self.printer.mcu.create_pwm(pin, hard_pwm, 0) self.mcu_fan = self.printer.mcu.create_pwm(pin, hard_pwm, 0)
# External commands # External commands
def set_speed(self, print_time, value): 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: if value == self.last_fan_value:
return return
mcu_time = self.mcu_fan.print_to_mcu_time(print_time) mcu_time = self.mcu_fan.print_to_mcu_time(print_time)
mcu_time = max(self.last_fan_time + FAN_MIN_TIME, mcu_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): and not self.last_fan_value and self.kick_start_time):
# Run fan at full speed for specified 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 mcu_time += self.kick_start_time
self.mcu_fan.set_pwm(mcu_time, value) self.mcu_fan.set_pwm(mcu_time, value)
self.last_fan_time = mcu_time self.last_fan_time = mcu_time

46
klippy/heater.py
View File

@ -19,7 +19,7 @@ REPORT_TIME = 0.300
KELVIN_TO_CELCIUS = -273.15 KELVIN_TO_CELCIUS = -273.15
MAX_HEAT_TIME = 5.0 MAX_HEAT_TIME = 5.0
AMBIENT_TEMP = 25. AMBIENT_TEMP = 25.
PWM_MAX = 255 PID_PARAM_BASE = 255.
class error(Exception): class error(Exception):
pass pass
@ -35,6 +35,7 @@ class PrinterHeater:
self.min_extrude_temp = config.getfloat('min_extrude_temp', 170.) self.min_extrude_temp = config.getfloat('min_extrude_temp', 170.)
self.min_temp = self.config.getfloat('min_temp') self.min_temp = self.config.getfloat('min_temp')
self.max_temp = self.config.getfloat('max_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.can_extrude = (self.min_extrude_temp <= 0.)
self.lock = threading.Lock() self.lock = threading.Lock()
self.last_temp = 0. self.last_temp = 0.
@ -49,7 +50,7 @@ class PrinterHeater:
algo = self.config.getchoice('control', algos) algo = self.config.getchoice('control', algos)
heater_pin = self.config.get('heater_pin') heater_pin = self.config.get('heater_pin')
thermistor_pin = self.config.get('thermistor_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( self.mcu_pwm = self.printer.mcu.create_digital_out(
heater_pin, MAX_HEAT_TIME) heater_pin, MAX_HEAT_TIME)
else: else:
@ -69,7 +70,7 @@ class PrinterHeater:
if self.target_temp <= 0.: if self.target_temp <= 0.:
return return
if (read_time < self.next_pwm_time 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 return
elif not self.last_pwm_value and ( elif not self.last_pwm_value and (
self.target_temp <= 0. or read_time < self.next_pwm_time): 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 pwm_time = read_time + REPORT_TIME + SAMPLE_TIME*SAMPLE_COUNT
self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME
self.last_pwm_value = value 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.config.section, value, pwm_time,
self.last_temp, self.last_temp_time, self.target_temp)) self.last_temp, self.last_temp_time, self.target_temp))
self.mcu_pwm.set_pwm(pwm_time, value) 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: elif not self.heating and temp <= self.heater.target_temp-self.max_delta:
self.heating = True self.heating = True
if self.heating: if self.heating:
self.heater.set_pwm(read_time, PWM_MAX) self.heater.set_pwm(read_time, self.heater.max_power)
else: else:
self.heater.set_pwm(read_time, 0) self.heater.set_pwm(read_time, 0.)
def check_busy(self, eventtime): def check_busy(self, eventtime):
return self.heater.last_temp < self.heater.target_temp-self.max_delta return self.heater.last_temp < self.heater.target_temp-self.max_delta
@ -153,11 +154,11 @@ class ControlBangBang:
class ControlPID: class ControlPID:
def __init__(self, heater, config): def __init__(self, heater, config):
self.heater = heater self.heater = heater
self.Kp = config.getfloat('pid_Kp') self.Kp = config.getfloat('pid_Kp') / PID_PARAM_BASE
self.Ki = config.getfloat('pid_Ki') self.Ki = config.getfloat('pid_Ki') / PID_PARAM_BASE
self.Kd = config.getfloat('pid_Kd') self.Kd = config.getfloat('pid_Kd') / PID_PARAM_BASE
self.min_deriv_time = config.getfloat('pid_deriv_time', 2.) 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.temp_integ_max = imax / self.Ki
self.prev_temp = AMBIENT_TEMP self.prev_temp = AMBIENT_TEMP
self.prev_temp_time = 0. self.prev_temp_time = 0.
@ -177,10 +178,10 @@ class ControlPID:
temp_integ = self.prev_temp_integ + temp_err * time_diff temp_integ = self.prev_temp_integ + temp_err * time_diff
temp_integ = max(0., min(self.temp_integ_max, temp_integ)) temp_integ = max(0., min(self.temp_integ_max, temp_integ))
# Calculate output # 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" % ( #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)) # 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) self.heater.set_pwm(read_time, bounded_co)
# Store state for next measurement # Store state for next measurement
self.prev_temp = temp self.prev_temp = temp
@ -216,12 +217,12 @@ class ControlAutoTune:
self.heating = True self.heating = True
self.check_peaks() self.check_peaks()
if self.heating: 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: if temp < self.peak:
self.peak = temp self.peak = temp
self.peak_time = read_time self.peak_time = read_time
else: else:
self.heater.set_pwm(read_time, 0) self.heater.set_pwm(read_time, 0.)
if temp > self.peak: if temp > self.peak:
self.peak = temp self.peak = temp
self.peak_time = read_time self.peak_time = read_time
@ -235,8 +236,8 @@ class ControlAutoTune:
return return
temp_diff = self.peaks[-1][0] - self.peaks[-2][0] temp_diff = self.peaks[-1][0] - self.peaks[-2][0]
time_diff = self.peaks[-1][1] - self.peaks[-3][1] time_diff = self.peaks[-1][1] - self.peaks[-3][1]
pwm_diff = PWM_MAX - 0 max_power = self.heater.max_power
Ku = 4. * (2. * pwm_diff) / (abs(temp_diff) * math.pi) Ku = 4. * (2. * max_power) / (abs(temp_diff) * math.pi)
Tu = time_diff Tu = time_diff
Kp = 0.6 * Ku Kp = 0.6 * Ku
@ -244,8 +245,9 @@ class ControlAutoTune:
Td = 0.125 * Tu Td = 0.125 * Tu
Ki = Kp / Ti Ki = Kp / Ti
Kd = Kp * Td Kd = Kp * Td
logging.info("Autotune: raw=%f/%d Ku=%f Tu=%f Kp=%f Ki=%f Kd=%f" % ( logging.info("Autotune: raw=%f/%f Ku=%f Tu=%f Kp=%f Ki=%f Kd=%f" % (
temp_diff, pwm_diff, Ku, Tu, Kp, Ki, Kd)) temp_diff, max_power, Ku, Tu,
Kp * PID_PARAM_BASE, Ki * PID_PARAM_BASE, Kd * PID_PARAM_BASE))
def check_busy(self, eventtime): def check_busy(self, eventtime):
if self.heating or len(self.peaks) < 12: if self.heating or len(self.peaks) < 12:
return True return True
@ -271,17 +273,17 @@ class ControlBumpTest:
def adc_callback(self, read_time, temp): def adc_callback(self, read_time, temp):
self.temp_samples[read_time] = temp self.temp_samples[read_time] = temp
if not self.state: if not self.state:
self.set_pwm(read_time, 0) self.set_pwm(read_time, 0.)
if len(self.temp_samples) >= 20: if len(self.temp_samples) >= 20:
self.state += 1 self.state += 1
elif self.state == 1: elif self.state == 1:
if temp < self.target_temp: if temp < self.target_temp:
self.set_pwm(read_time, PWM_MAX) self.set_pwm(read_time, self.heater.max_power)
return return
self.set_pwm(read_time, 0) self.set_pwm(read_time, 0.)
self.state += 1 self.state += 1
elif self.state == 2: elif self.state == 2:
self.set_pwm(read_time, 0) self.set_pwm(read_time, 0.)
if temp <= (self.target_temp + AMBIENT_TEMP) / 2.: if temp <= (self.target_temp + AMBIENT_TEMP) / 2.:
self.dump_stats() self.dump_stats()
self.state += 1 self.state += 1

4
klippy/mcu.py
View File

@ -245,11 +245,12 @@ class MCU_digital_out:
return self._last_value return self._last_value
def set_pwm(self, mcu_time, value): def set_pwm(self, mcu_time, value):
dval = 0 dval = 0
if value > 127: if value >= 0.5:
dval = 1 dval = 1
self.set_digital(mcu_time, dval) self.set_digital(mcu_time, dval)
class MCU_pwm: class MCU_pwm:
PWM_MAX = 255.
def __init__(self, mcu, pin, cycle_ticks, max_duration, hard_pwm=True): def __init__(self, mcu, pin, cycle_ticks, max_duration, hard_pwm=True):
self._mcu = mcu self._mcu = mcu
self._oid = mcu.create_oid() self._oid = mcu.create_oid()
@ -272,6 +273,7 @@ class MCU_pwm:
self.print_to_mcu_time = mcu.print_to_mcu_time self.print_to_mcu_time = mcu.print_to_mcu_time
def set_pwm(self, mcu_time, value): def set_pwm(self, mcu_time, value):
clock = int(mcu_time * self._mcu_freq) clock = int(mcu_time * self._mcu_freq)
value = int(value * self.PWM_MAX + 0.5)
msg = self._set_cmd.encode(self._oid, clock, value) msg = self._set_cmd.encode(self._oid, clock, value)
self._mcu.send(msg, minclock=self._last_clock, reqclock=clock self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
, cq=self._cmd_queue) , cq=self._cmd_queue)