Temperature code now working. PID may need a little tweaking.
This commit is contained in:
Adrian Bowyer
parent
ce7522f682
commit
b94bff107c
7 changed files with 242 additions and 62 deletions
9
GCodes.h
9
GCodes.h
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@ -76,6 +76,7 @@ class GCodes
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boolean NoHome();
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boolean Push();
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boolean Pop();
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int8_t Heater(int8_t head);
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Platform* platform;
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boolean active;
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Webserver* webserver;
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@ -133,4 +134,12 @@ inline boolean GCodes::NoHome()
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return !(homeX || homeY || homeZ);
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}
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// This function takes care of the fact that the heater and head indices
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// don't match because the bed is heater 0.
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inline int8_t GCodes::Heater(int8_t head)
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{
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return head+1;
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}
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#endif
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25
GCodes.ino
25
GCodes.ino
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@ -381,11 +381,13 @@ boolean GCodes::SetOffsets(GCodeBuffer *gb)
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int8_t head;
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if(gb->Seen('P'))
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{
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head = gb->GetIValue();
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head = gb->GetIValue() + 1; // 0 is the Bed
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if(gb->Seen('R'))
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platform->SetStandbyTemperature(head+1, gb->GetFValue());
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reprap.GetHeat()->SetStandbyTemperature(head, gb->GetFValue());
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if(gb->Seen('S'))
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platform->SetActiveTemperature(head+1, gb->GetFValue());
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reprap.GetHeat()->SetActiveTemperature(head, gb->GetFValue());
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// FIXME - do X, Y and Z
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}
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return true;
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}
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@ -535,7 +537,10 @@ boolean GCodes::ActOnGcode(GCodeBuffer *gb)
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case 140: // Set bed temperature
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if(gb->Seen('S'))
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reprap.GetHeat()->SetTemperature(0, gb->GetFValue());
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{
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reprap.GetHeat()->SetActiveTemperature(0, gb->GetFValue());
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reprap.GetHeat()->Activate(0);
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}
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break;
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case 141: // Chamber temperature
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@ -553,17 +558,21 @@ boolean GCodes::ActOnGcode(GCodeBuffer *gb)
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if(gb->Seen('T'))
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{
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code = gb->GetIValue();
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if(code == selectedHead)
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return result;
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boolean ok = false;
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for(int8_t i = AXES; i < DRIVES; i++)
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{
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if(selectedHead == i - AXES)
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{
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reprap.GetHeat()->SetTemperature(selectedHead+1, platform->StandbyTemperature(selectedHead+1));
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}
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reprap.GetHeat()->Standby(selectedHead + 1); // 0 is the Bed
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}
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for(int8_t i = AXES; i < DRIVES; i++)
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{
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if(code == i - AXES)
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{
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reprap.GetHeat()->SetTemperature(code+1, platform->ActiveTemperature(code+1));
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selectedHead = code;
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reprap.GetHeat()->Activate(selectedHead + 1); // 0 is the Bed
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ok = true;
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}
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}
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55
Heat.h
55
Heat.h
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@ -28,14 +28,22 @@ class PID
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PID(Platform* p, int8_t h);
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void Init();
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void Spin();
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void SetTemperature(const float& t);
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void SetActiveTemperature(const float& t);
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void SetStandbyTemperature(const float& t);
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void Activate();
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void Standby();
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float GetTemperature();
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private:
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Platform* platform;
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float setTemperature;
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float activeTemperature;
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float standbyTemperature;
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float temperature;
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float lastTemperature;
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float temp_iState;
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float temp_dState;
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boolean active;
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int8_t heater;
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};
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@ -48,7 +56,10 @@ class Heat
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void Spin();
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void Init();
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void Exit();
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void SetTemperature(int8_t heater, const float& t);
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void SetActiveTemperature(int8_t heater, const float& t);
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void SetStandbyTemperature(int8_t heater, const float& t);
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void Activate(int8_t heater);
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void Standby(int8_t heater);
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float GetTemperature(int8_t heater);
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private:
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@ -63,9 +74,14 @@ class Heat
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//***********************************************************************************************************
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inline void PID::SetTemperature(const float& t)
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inline void PID::SetActiveTemperature(const float& t)
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{
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setTemperature = t;
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activeTemperature = t;
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}
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inline void PID::SetStandbyTemperature(const float& t)
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{
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standbyTemperature = t;
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}
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inline float PID::GetTemperature()
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@ -73,9 +89,24 @@ inline float PID::GetTemperature()
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return temperature;
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}
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inline void Heat::SetTemperature(int8_t heater, const float& t)
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inline void PID::Activate()
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{
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pids[heater]->SetTemperature(t);
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active = true;
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}
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inline void PID::Standby()
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{
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active = false;
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}
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inline void Heat::SetActiveTemperature(int8_t heater, const float& t)
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{
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pids[heater]->SetActiveTemperature(t);
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}
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inline void Heat::SetStandbyTemperature(int8_t heater, const float& t)
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{
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pids[heater]->SetStandbyTemperature(t);
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}
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inline float Heat::GetTemperature(int8_t heater)
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@ -83,4 +114,14 @@ inline float Heat::GetTemperature(int8_t heater)
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return pids[heater]->GetTemperature();
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}
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inline void Heat::Activate(int8_t heater)
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{
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pids[heater]->Activate();
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}
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inline void Heat::Standby(int8_t heater)
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{
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pids[heater]->Standby();
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}
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#endif
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63
Heat.ino
63
Heat.ino
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@ -32,10 +32,7 @@ Heat::Heat(Platform* p, GCodes* g)
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void Heat::Init()
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{
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for(int8_t heater=0; heater < HEATERS; heater++)
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{
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platform->SetHeater(heater, -1);
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pids[heater]->Init();
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}
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lastTime = platform->Time();
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active = true;
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}
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@ -50,12 +47,12 @@ void Heat::Spin()
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if(!active)
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return;
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unsigned long t = platform->Time();
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if(t - lastTime < platform->HeatSampleTime())
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return;
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lastTime = t;
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for(int8_t heater=0; heater < HEATERS; heater++)
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pids[heater]->Spin();
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unsigned long t = platform->Time();
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if(t - lastTime < platform->HeatSampleTime())
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return;
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lastTime = t;
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for(int8_t heater=0; heater < HEATERS; heater++)
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pids[heater]->Spin();
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}
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//******************************************************************************************************
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@ -68,20 +65,62 @@ PID::PID(Platform* p, int8_t h)
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void PID::Init()
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{
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platform->SetHeater(heater, 0.0);
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temperature = platform->GetTemperature(heater);
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setTemperature = 0.0;
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platform->SetHeater(heater, -1.0);
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activeTemperature = ABS_ZERO;
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standbyTemperature = ABS_ZERO;
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lastTemperature = temperature;
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temp_iState = 0.0;
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temp_dState = 0.0;
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active = false;
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}
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void PID::Spin()
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{
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temperature = platform->GetTemperature(heater);
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float error;
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if(active)
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error = activeTemperature - temperature;
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else
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error = standbyTemperature - temperature;
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if(!platform->UsePID(heater))
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{
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if(temperature < setTemperature)
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if(error > 0.0)
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platform->SetHeater(heater, 1.0);
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else
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platform->SetHeater(heater, 0.0);
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return;
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}
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if(error < -platform->FullPidBand(heater))
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{
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temp_iState = 0.0;
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platform->SetHeater(heater, 0.0);
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return;
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}
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if(error > platform->FullPidBand(heater))
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{
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temp_iState = 0.0;
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platform->SetHeater(heater, 1.0);
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return;
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}
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temp_iState += error;
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if (temp_iState < platform->PidMin(heater)) temp_iState = platform->PidMin(heater);
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if (temp_iState > platform->PidMax(heater)) temp_iState = platform->PidMax(heater);
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temp_dState = platform->PidKd(heater)*(temperature - lastTemperature)*(1.0 - platform->DMix(heater)) + platform->DMix(heater)*temp_dState;
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float result = platform->PidKp(heater)*error + platform->PidKi(heater)*temp_iState - temp_dState;
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lastTemperature = temperature;
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if (result < 0.0) result = 0.0;
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if (result > 255.0) result = 255.0;
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result = result/255.0;
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platform->SetHeater(heater, result);
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}
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41
Move.ino
41
Move.ino
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@ -151,7 +151,12 @@ void Move::Spin()
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if(!active)
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return;
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// Do some look-ahead work, if there's any to do
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DoLookAhead();
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// If there's space in the DDA ring, and there are completed
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// moves in the look-ahead ring, transfer them.
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if(!DDARingFull())
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{
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@ -163,10 +168,15 @@ void Move::Spin()
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}
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}
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// If we either don't want to, or can't, add to the look-ahead ring, go home.
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if(addNoMoreMoves || LookAheadRingFull())
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return;
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boolean waitForThisToFinish;
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// boolean waitForThisToFinish;
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// If there's a G Code move available, add it to the look-ahead
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// ring for proicessing.
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if(gCodes->ReadMove(nextMove, checkEndStopsOnNextMove))
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{
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@ -204,6 +214,12 @@ boolean Move::GetCurrentState(float m[])
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return true;
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}
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// Classify a move between to points.
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// Is it (a combination of):
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// A Z movement?
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// An XY movement?
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// Extruder movements?
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int8_t Move::GetMovementType(float p0[], float p1[])
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{
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int8_t result = noMove;
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@ -227,6 +243,8 @@ int8_t Move::GetMovementType(float p0[], float p1[])
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return result;
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}
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// Take an item from the look-ahead ring and add it to the DDA ring, if
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// possible.
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boolean Move::DDARingAdd(LookAhead* lookAhead)
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{
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@ -256,6 +274,7 @@ boolean Move::DDARingAdd(LookAhead* lookAhead)
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return false;
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}
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// Get a movement from the DDA ring, if we can.
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DDA* Move::DDARingGet()
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{
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@ -275,6 +294,7 @@ DDA* Move::DDARingGet()
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return NULL;
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}
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// Do the look-ahead calculations
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void Move::DoLookAhead()
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{
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@ -286,9 +306,18 @@ void Move::DoLookAhead()
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LookAhead* n2;
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float u, v;
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// If there are a reasonable number of moves in there (LOOK_AHEAD), or if we are
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// doing single moves with no other move immediately following on, run up and down
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// the moves using the DDA Init() function to reduce the start or the end speed
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// or both to the maximum that can be achieved because of the requirements of
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// the adjacent moves.
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if(addNoMoreMoves || !gCodes->PrintingAFile() || lookAheadRingCount > LOOK_AHEAD)
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{
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{
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// Run up the moves
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n1 = lookAheadRingGetPointer;
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n0 = n1->Previous();
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n2 = n1->Next();
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@ -312,6 +341,8 @@ void Move::DoLookAhead()
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n2 = n2->Next();
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}
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// Now run down
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do
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{
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if(!(n1->Processed() & complete))
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@ -335,6 +366,9 @@ void Move::DoLookAhead()
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n0->SetProcessed(complete);
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}
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// If there are any new unprocessed moves in there, set their end speeds
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// according to the cosine of the angle between them.
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if(addNoMoreMoves || !gCodes->PrintingAFile() || lookAheadRingCount > 1)
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{
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n1 = lookAheadRingGetPointer;
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@ -365,6 +399,8 @@ void Move::DoLookAhead()
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n2 = n2->Next();
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}
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// If we are just doing one isolated move, set its end velocity to 0.
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if(addNoMoreMoves || !gCodes->PrintingAFile())
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{
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n1->SetV(0);
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@ -373,6 +409,7 @@ void Move::DoLookAhead()
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}
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}
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// This is the function that's called by the timer interrupt to step the motors.
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void Move::Interrupt()
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{
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78
Platform.h
78
Platform.h
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@ -79,7 +79,7 @@ Licence: GPL
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#define MAX_FEEDRATES {300.0, 300.0, 3.0, 45.0} // mm/sec
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#define ACCELERATIONS {800.0, 800.0, 30.0, 250.0} // mm/sec^2??
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//#define ACCELERATIONS {80, 80, 3, 25}
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#define DRIVE_STEPS_PER_UNIT {91.4286, 91.4286, 4000.0, 929.0}
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#define DRIVE_STEPS_PER_UNIT {91.4286, 91.4286, 4000.0, 948.0}
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#define INSTANT_DVS {15.0, 15.0, 0.4, 15.0} // (mm/sec)
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#define GCODE_LETTERS { 'X', 'Y', 'Z', 'E', 'F' } // The drives and feedrate in a GCode
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@ -103,14 +103,17 @@ Licence: GPL
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#define THERMISTOR_BETAS {3480.0, 3960.0} // Bed thermistor: RS 484-0149; EPCOS B57550G103J; Extruder thermistor: RS 198-961
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#define THERMISTOR_SERIES_RS {4700, 4700} // Ohms in series with the thermistors
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#define THERMISTOR_25_RS {10000.0, 100000.0} // Thermistor ohms at 25 C = 298.15 K
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#define USE_PID {false, false} // PID or bang-bang for this heater?
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#define PID_KIS {-1, 100} // PID constants...
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#define PID_KDS {-1, 100}
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#define PID_KPS {-1, 100}
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#define PID_I_LIMITS {-1, 100} // ... to here
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#define TEMP_INTERVAL 0.5 // secs - check and control temperatures this often
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#define STANDBY_TEMPERATURES {0.0, 0.0} // We specify one for the bed, though it's not needed
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#define ACTIVE_TEMPERATURES {0.0, 0.0}
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#define USE_PID {false, true} // PID or bang-bang for this heater?
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#define PID_KIS {-1, 2.2} // PID constants...
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#define PID_KDS {-1, 80}
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#define PID_KPS {-1, 12}
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#define FULL_PID_BAND {-1, 150.0}
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#define PID_MIN {-1, 0.0}
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#define PID_MAX {-1, 125.0}
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#define D_MIX {-1, 0.95}
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#define TEMP_INTERVAL 0.122 // secs - check and control temperatures this often
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#define STANDBY_TEMPERATURES {ABS_ZERO, ABS_ZERO} // We specify one for the bed, though it's not needed
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#define ACTIVE_TEMPERATURES {ABS_ZERO, ABS_ZERO}
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#define AD_RANGE 1023.0//16383 // The A->D converter that measures temperatures gives an int this big as its max value
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@ -256,14 +259,17 @@ class Platform
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float GetTemperature(int8_t heater); // Result is in degrees celsius
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void SetHeater(int8_t heater, const float& power); // power is a fraction in [0,1]
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void SetStandbyTemperature(int8_t heater, const float& t);
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void SetActiveTemperature(int8_t heater, const float& t);
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float StandbyTemperature(int8_t heater);
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float ActiveTemperature(int8_t heater);
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float pidKp(int8_t heater);
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float pidKi(int8_t heater);
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float pidKd(int8_t heater);
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float pidKw(int8_t heater);
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//void SetStandbyTemperature(int8_t heater, const float& t);
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//void SetActiveTemperature(int8_t heater, const float& t);
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//float StandbyTemperature(int8_t heater);
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//float ActiveTemperature(int8_t heater);
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float PidKp(int8_t heater);
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float PidKi(int8_t heater);
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float PidKd(int8_t heater);
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float FullPidBand(int8_t heater);
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float PidMin(int8_t heater);
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float PidMax(int8_t heater);
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float DMix(int8_t heater);
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boolean UsePID(int8_t heater);
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float HeatSampleTime();
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@ -317,7 +323,10 @@ class Platform
|
|||
float pidKis[HEATERS];
|
||||
float pidKds[HEATERS];
|
||||
float pidKps[HEATERS];
|
||||
float pidILimits[HEATERS];
|
||||
float fullPidBand[HEATERS];
|
||||
float pidMin[HEATERS];
|
||||
float pidMax[HEATERS];
|
||||
float dMix[HEATERS];
|
||||
float heatSampleTime;
|
||||
float standbyTemperatures[HEATERS];
|
||||
float activeTemperatures[HEATERS];
|
||||
|
|
@ -459,26 +468,43 @@ inline boolean Platform::UsePID(int8_t heater)
|
|||
return usePID[heater];
|
||||
}
|
||||
|
||||
inline void Platform::SetStandbyTemperature(int8_t heater, const float& t)
|
||||
|
||||
inline float Platform::PidKi(int8_t heater)
|
||||
{
|
||||
standbyTemperatures[heater] = t;
|
||||
return pidKis[heater]*heatSampleTime;
|
||||
}
|
||||
|
||||
inline void Platform::SetActiveTemperature(int8_t heater, const float& t)
|
||||
inline float Platform::PidKd(int8_t heater)
|
||||
{
|
||||
activeTemperatures[heater] = t;
|
||||
return pidKds[heater]/heatSampleTime;
|
||||
}
|
||||
|
||||
inline float Platform::StandbyTemperature(int8_t heater)
|
||||
inline float Platform::PidKp(int8_t heater)
|
||||
{
|
||||
return standbyTemperatures[heater];
|
||||
return pidKps[heater];
|
||||
}
|
||||
|
||||
inline float Platform::ActiveTemperature(int8_t heater)
|
||||
inline float Platform::FullPidBand(int8_t heater)
|
||||
{
|
||||
return activeTemperatures[heater];
|
||||
return fullPidBand[heater];
|
||||
}
|
||||
|
||||
inline float Platform::PidMin(int8_t heater)
|
||||
{
|
||||
return pidMin[heater];
|
||||
}
|
||||
|
||||
inline float Platform::PidMax(int8_t heater)
|
||||
{
|
||||
return pidMax[heater]/PidKi(heater);
|
||||
}
|
||||
|
||||
inline float Platform::DMix(int8_t heater)
|
||||
{
|
||||
return dMix[heater];
|
||||
}
|
||||
|
||||
|
||||
//*********************************************************************************************************
|
||||
|
||||
// Interrupts
|
||||
|
|
|
|||
33
Platform.ino
33
Platform.ino
|
|
@ -103,14 +103,18 @@ void Platform::Init()
|
|||
pidKis = PID_KIS;
|
||||
pidKds = PID_KDS;
|
||||
pidKps = PID_KPS;
|
||||
pidILimits = PID_I_LIMITS;
|
||||
fullPidBand = FULL_PID_BAND;
|
||||
pidMin = PID_MIN;
|
||||
pidMax = PID_MAX;
|
||||
dMix = D_MIX;
|
||||
heatSampleTime = HEAT_SAMPLE_TIME;
|
||||
standbyTemperatures = STANDBY_TEMPERATURES;
|
||||
activeTemperatures = ACTIVE_TEMPERATURES;
|
||||
|
||||
webDir = WEB_DIR;
|
||||
gcodeDir = GCODE_DIR;
|
||||
sysDir = SYS_DIR;
|
||||
tempDir = TEMP_DIR;
|
||||
heatSampleTime = HEAT_SAMPLE_TIME;
|
||||
standbyTemperatures = STANDBY_TEMPERATURES;
|
||||
activeTemperatures = ACTIVE_TEMPERATURES;
|
||||
}
|
||||
|
||||
for(i = 0; i < DRIVES; i++)
|
||||
|
|
@ -229,11 +233,26 @@ bool Platform::LoadFromStore()
|
|||
|
||||
// Result is in degrees celsius
|
||||
|
||||
/*
|
||||
#define A 100000.0
|
||||
#define B 150000.0
|
||||
#define RS 4700
|
||||
#define VLOW 3.362
|
||||
#define VT 4.65
|
||||
*/
|
||||
|
||||
float Platform::GetTemperature(int8_t heater)
|
||||
{
|
||||
float r = (float)GetRawTemperature(heater);
|
||||
//Serial.println(r);
|
||||
return ABS_ZERO + thermistorBetas[heater]/log( (r*thermistorSeriesRs[heater]/(AD_RANGE - r))/thermistorInfRs[heater] );
|
||||
/* float v = VLOW*(float)GetRawTemperature(heater)/AD_RANGE;
|
||||
Serial.print(v); Serial.print(' ');
|
||||
float k = (A + B)*v/(B*VT);
|
||||
float rp = RS*k/(1 - k);
|
||||
float r = rp*(A+B)/(A + B - rp);
|
||||
Serial.println(r);
|
||||
return ABS_ZERO + thermistorBetas[heater]/log( r/thermistorInfRs[heater] );*/
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -241,15 +260,15 @@ float Platform::GetTemperature(int8_t heater)
|
|||
|
||||
void Platform::SetHeater(int8_t heater, const float& power)
|
||||
{
|
||||
if(power <= 0.0)
|
||||
if(power <= 0.00)
|
||||
{
|
||||
digitalWrite(heatOnPins[heater], 0);
|
||||
analogWrite(heatOnPins[heater], 0);
|
||||
return;
|
||||
}
|
||||
|
||||
if(power >= 1.0)
|
||||
{
|
||||
digitalWrite(heatOnPins[heater], 1);
|
||||
analogWrite(heatOnPins[heater], 255);
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
|
|||
Reference in a new issue