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Rework of temperature control, PID, and PWM outputs.

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This commit is contained in:
Rob Giseburt
2017-04-21 11:42:58 -05:00
parent 5b1a0f4cb5
commit f0a0385736
2 changed files with 157 additions and 41 deletions
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g2core/temperature.cpp
+154 -41
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@@ -52,19 +52,23 @@
#define HAS_TEMPERATURE_SENSOR_3 false
#endif
#ifndef EXTRUDER_1_OUTPUT_PIN
#warning using default extruder 1 output pin
#define EXTRUDER_1_OUTPUT_PIN kOutput1_PinNumber
#endif
#ifndef EXTRUDER_1_FAN_PIN
#define EXTRUDER_1_FAN_PIN kOutput3_PinNumber
#endif
#ifndef EXTRUDER_2_OUTPUT_PIN
#warning using default extruder 2 output pin
#define EXTRUDER_2_OUTPUT_PIN kOutput2_PinNumber
#endif
#ifndef BED_OUTPUT_PIN
#define BED_OUTPUT_PIN kOutput11_PinNumber
#endif
#ifndef BED_OUTPUT_INIT
#define BED_OUTPUT_INIT
#define BED_OUTPUT_INIT {kNormal, fet_pin3_freq}
// OR
//#define BED_OUTPUT_INIT {kPWMPinInverted, fet_pin3_freq};
#endif
// These could be moved to settings
@@ -206,13 +210,18 @@ struct ValueHistory {
float temp = 0;
float std_dev = get_std_dev();
for (uint16_t i=0; i<sample_count; i++) {
for (uint16_t i=0; i<sampled; i++) {
if (fabs(samples[i].value - rolling_mean) < (variance_max * std_dev)) {
temp += samples[i].value;
++samples_kept;
}
}
// fallback position
if (samples_kept == 0) {
return rolling_mean;
}
return (temp / (float)samples_kept);
};
};
@@ -429,7 +438,7 @@ struct PT100 {
};
// Temperature debug string: {sr:{"he1t":t,"he1st":t,"he1at":t, "he1tr":t, "he1op":t}}
// PID debug string: {sr:{"he1t":t,"he1st":t,"pid1p":t, "pid1i":t, "pid1d":t, "he1op":t, "line":t, "stat":t}}
// PID debug string: {sr:{"he1t":t,"he1st":t,"pid1p":t, "pid1i":t, "pid1d":t, "pid1f":t, "he1op":t, "line":t, "stat":t}}
#if HAS_TEMPERATURE_SENSOR_1
// Extruder 1
@@ -460,28 +469,28 @@ float last_reported_temp3 = 0;
// Output 1 FET info
// DO_1: Extruder1_PWM
const int16_t fet_pin1_freq = 100;
const int32_t fet_pin1_freq = 2000;
#if TEMPERATURE_OUTPUT_ON == 1
PWMOutputPin<EXTRUDER_1_OUTPUT_PIN> fet_pin1;// {kPWMPinInverted};
PWMOutputPin<EXTRUDER_1_OUTPUT_PIN> fet_pin1 {kNormal, fet_pin1_freq};// {kPWMPinInverted, fet_pin1_freq};
#else
PWMOutputPin<-1> fet_pin1;// {kPWMPinInverted};
//PWMOutputPin<-1> fet_pin1;// {kPWMPinInverted};
#endif
// DO_2: Extruder2_PWM
const int16_t fet_pin2_freq = 100;
const int32_t fet_pin2_freq = 2000;
#if TEMPERATURE_OUTPUT_ON == 1
PWMOutputPin<EXTRUDER_2_OUTPUT_PIN> fet_pin2;// {kPWMPinInverted};
PWMOutputPin<EXTRUDER_2_OUTPUT_PIN> fet_pin2 {kNormal, fet_pin2_freq};// {kPWMPinInverted, fet_pin1_freq};
#else
PWMOutputPin<-1> fet_pin2;// {kPWMPinInverted};
//PWMOutputPin<-1> fet_pin2;// {kPWMPinInverted};
#endif
// DO_11: Heated Bed FET
// Warning, HeatBED is likely NOT a PWM pin, so it'll be binary output (duty cucle >= 50%).
const int16_t fet_pin3_freq = 100;
const int32_t fet_pin3_freq = 100;
#if TEMPERATURE_OUTPUT_ON == 1
PWMOutputPin<BED_OUTPUT_PIN> fet_pin3 BED_OUTPUT_INIT;
#else
PWMOutputPin<-1> fet_pin3;// {kPWMPinInverted};
//PWMOutputPin<-1> fet_pin3;// {kPWMPinInverted};
#endif
@@ -527,15 +536,17 @@ SysTickEvent adc_tick_event {[&] {
struct PID {
static constexpr float output_max = 1.0;
static constexpr float derivative_contribution = 0.05;
static constexpr float derivative_contribution = 1.0/10.0;
float _p_factor; // the scale for P values
float _i_factor; // the scale for I values
float _d_factor; // the scale for D values
float _f_factor; // the scale for O values
float _proportional = 0.0; // _proportional storage
float _integral = 0.0; // _integral storage
float _derivative = 0.0; // _derivative storage
float _feed_forward = 0.0; // _feed_forward storage
float _previous_input = 0.0; // _derivative storage
float _set_point;
@@ -547,9 +558,11 @@ struct PID {
float _min_rise_over_time; // the amount of degrees that it must rise in the given time
float _rise_time_checkpoint; // when we start the timer, we set _rise_time_checkpoint to the minimum goal
float _average_output = 0;
bool _enable; // set true to enable this heater
PID(float P, float I, float D, float min_rise_over_time, float startSetPoint = 0.0) : _p_factor{P/100.0f}, _i_factor{I/100.0f}, _d_factor{D/100.0f}, _set_point{startSetPoint}, _at_set_point{false}, _min_rise_over_time(min_rise_over_time) {};
PID(float P, float I, float D, float F, float min_rise_over_time, float startSetPoint = 0.0) : _p_factor{P/100.0f}, _i_factor{I/100.0f}, _d_factor{D/100.0f}, _f_factor{F/100.0f}, _set_point{startSetPoint}, _at_set_point{false}, _min_rise_over_time(min_rise_over_time) {};
float getNewOutput(float input) {
// If the input is < 0, the sensor failed
@@ -598,39 +611,89 @@ struct PID {
}
}
// Now tha we've done all the checks, square the error, maintaining the sign.
// The is because the energy required to heat an object is the number of degrees of change needed squared.
if (e > 0) {
e = e*e;
} else {
e = -(e*e);
}
// P = Proportional
float p = _p_factor * e;
// For output's sake, we'll store this, otherwise we don't need it:
_proportional = p;
// I = Integral
// Now, to restrict windup, prevent the integral from contributing too much, AND to keep it sane:
// 1) Limit the i contribution to the output
// 2) Limit the _integral maximum value
// 3) Reset _integral to e if output has to be clamped (after output is computed)
_integral += e;
if (_integral < 0.0) {
_integral = 0.0;
}
float i = _integral * _i_factor;
if (i > output_max) {
_integral = output_max / _i_factor;
i = output_max;
if (i > 0.75) {
i = 0.75;
_integral = 0.75 / _i_factor;
} else if (i < -0.75) {
i = -0.75;
_integral = -0.75 / _i_factor;
}
// D = derivative
// This needs to be smoothed somewhat, so we use a exponential moving average.
// See https://en.wikipedia.org/wiki/Moving_average#Exponential_moving_average
_derivative = (input - _previous_input)*(derivative_contribution) + (_derivative * (1.0-derivative_contribution));
float d = _derivative * _d_factor;
_feed_forward = (_set_point-21); // 21 is for a roughly ideal room temperature
if (_feed_forward > 0) {
_feed_forward = _feed_forward*_feed_forward;
} else {
_feed_forward = -(_feed_forward*_feed_forward);
}
float f = _f_factor * _feed_forward;
_derivative = (_d_factor * (input - _previous_input))*(derivative_contribution) + (_derivative * (1.0-derivative_contribution));
_previous_input = input;
// Now that we've computed all that, we'll decide when to ignore it
// If the setpoint is "off" or the temperature is higher than MAX, always return OFF
if ((_set_point < TEMP_OFF_BELOW) || (input > TEMP_MAX_SETPOINT)) {
return 0; // "off"
float output = p + i + f - d;
if (output < 0.0f) {
output = 0;
// If we are too far from the set point, turn the heater full on
} else if (e > TEMP_FULL_ON_DIFFERENCE) {
return 1; //"on"
// reset the integral to prevent windup
_integral = e;
} else if (output > output_max) {
output = output_max;
// reset the integral to prevent windup
_integral = e;
}
return std::min(output_max, p + i - _derivative);
// If the setpoint is "off" or the temperature is higher than MAX, always return OFF
if ((_set_point < TEMP_OFF_BELOW) || (input > TEMP_MAX_SETPOINT)) {
output = 0; // "off"
_average_output = 0;
return 0;
// If we are too far from the set point, turn the heater full on
}
// else if (e > TEMP_FULL_ON_DIFFERENCE) {
// output = 1; // "on"
// }
// Keep track of our output with some averaging for output purposes
_average_output = (0.5*output) + (0.5*_average_output);
return _average_output; // return the smoothed value
};
bool atSetPoint() {
@@ -651,9 +714,9 @@ struct PID {
// NOTICE, the JSON alters incoming values for these!
// {he1p:9} == 9.0/100.0 here
PID pid1 { 9.0, 0.11, 400.0, TEMP_MIN_RISE_DEGREES_OVER_TIME }; // default values
PID pid2 { 7.5, 0.12, 400.0, TEMP_MIN_RISE_DEGREES_OVER_TIME }; // default values
PID pid3 { 7.5, 0.12, 400.0, TEMP_MIN_BED_RISE_DEGREES_OVER_TIME }; // default values
PID pid1 { 9.0, 0.11, 400.0, 0, TEMP_MIN_RISE_DEGREES_OVER_TIME }; // default values
PID pid2 { 7.5, 0.12, 400.0, 0, TEMP_MIN_RISE_DEGREES_OVER_TIME }; // default values
PID pid3 { 7.5, 0.12, 400.0, 0, TEMP_MIN_BED_RISE_DEGREES_OVER_TIME }; // default values
Timeout pid_timeout;
@@ -699,9 +762,9 @@ HeaterFan<EXTRUDER_1_FAN_PIN> heater_fan1;
void temperature_init()
{
// setup heater PWM
fet_pin1.setFrequency(fet_pin1_freq);
fet_pin2.setFrequency(fet_pin2_freq);
fet_pin3.setFrequency(fet_pin3_freq);
// fet_pin1.setFrequency(fet_pin1_freq);
// fet_pin2.setFrequency(fet_pin2_freq);
// fet_pin3.setFrequency(fet_pin3_freq);
// fan_pin1 = 0;
// fan_pin1.setFrequency(200000);
@@ -761,7 +824,8 @@ stat_t temperature_callback()
if (pid1._enable) {
temp = temperature_sensor_1.temperature_exact();
fet_pin1 = pid1.getNewOutput(temp);
float out1 = pid1.getNewOutput(temp);
fet_pin1.write(out1);
if (fabs(temp - last_reported_temp1) > kTempDiffSRTrigger) {
last_reported_temp1 = temp;
@@ -772,7 +836,8 @@ stat_t temperature_callback()
if (pid2._enable) {
temp = temperature_sensor_2.temperature_exact();
fet_pin2 = pid2.getNewOutput(temp);
float out2 = pid2.getNewOutput(temp);
fet_pin2.write(out2);
if (fabs(temp - last_reported_temp2) > kTempDiffSRTrigger) {
last_reported_temp2 = temp;
@@ -785,7 +850,8 @@ stat_t temperature_callback()
if (pid3._enable) {
temp = temperature_sensor_3.temperature_exact();
fet_pin3 = pid3.getNewOutput(temp);
float out3 = pid3.getNewOutput(temp);
fet_pin3.write(out3);
if (fabs(temp - last_reported_temp3) > kTempDiffSRTrigger) {
last_reported_temp3 = temp;
@@ -948,6 +1014,35 @@ stat_t cm_set_heater_d(nvObj_t *nv)
return (STAT_OK);
}
/*
* cm_get_heater_f()/cm_set_heater_f() - get/set the F parameter of the PIDF
*/
stat_t cm_get_heater_f(nvObj_t *nv)
{
switch(_get_heater_number(nv)) {
case '1': { nv->value = pid1._f_factor * 100.0; break; }
case '2': { nv->value = pid2._f_factor * 100.0; break; }
case '3': { nv->value = pid3._f_factor * 100.0; break; }
default: { nv->value = 0.0; break; }
}
nv->precision = GET_TABLE_WORD(precision);
nv->valuetype = TYPE_FLOAT;
return (STAT_OK);
}
stat_t cm_set_heater_f(nvObj_t *nv)
{
switch(_get_heater_number(nv)) {
case '1': { pid1._f_factor = nv->value / 100.0; break; }
case '2': { pid2._f_factor = nv->value / 100.0; break; }
case '3': { pid3._f_factor = nv->value / 100.0; break; }
default: { break; }
}
return (STAT_OK);
}
/*
* cm_get_set_temperature()/cm_set_set_temperature() - get/set the set value of the PID
*
@@ -1152,9 +1247,9 @@ stat_t cm_get_at_temperature(nvObj_t *nv)
float cm_get_heater_output(const uint8_t heater)
{
switch(heater) {
case 1: { return (float)fet_pin1; }
case 2: { return (float)fet_pin2; }
case 3: { return (float)fet_pin3; }
case 1: { return pid1._average_output; }
case 2: { return pid2._average_output; }
case 3: { return pid3._average_output; }
default: { break; }
}
@@ -1313,6 +1408,24 @@ stat_t cm_get_pid_d(nvObj_t *nv)
return (STAT_OK);
}
/*
* cm_get_pid_f() - get the active F of the PID (read-only)
*/
stat_t cm_get_pid_f(nvObj_t *nv)
{
switch(_get_pid_number(nv)) {
case '1': { nv->value = pid1._feed_forward; break; }
case '2': { nv->value = pid2._feed_forward; break; }
case '3': { nv->value = pid3._feed_forward; break; }
default: { nv->value = 0.0; break; }
}
nv->precision = GET_TABLE_WORD(precision);
nv->valuetype = TYPE_FLOAT;
return (STAT_OK);
}
/***********************************************************************************
* TEXT MODE SUPPORT
g2core/temperature.h
+3
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@@ -46,9 +46,12 @@ stat_t cm_get_heater_i(nvObj_t* nv);
stat_t cm_set_heater_i(nvObj_t* nv);
stat_t cm_get_heater_d(nvObj_t* nv);
stat_t cm_set_heater_d(nvObj_t* nv);
stat_t cm_get_heater_f(nvObj_t* nv);
stat_t cm_set_heater_f(nvObj_t* nv);
stat_t cm_get_pid_p(nvObj_t* nv);
stat_t cm_get_pid_i(nvObj_t* nv);
stat_t cm_get_pid_d(nvObj_t* nv);
stat_t cm_get_pid_f(nvObj_t* nv);
float cm_get_set_temperature(const uint8_t heater);
stat_t cm_get_set_temperature(nvObj_t* nv);