183 lines
4.2 KiB
C++
183 lines
4.2 KiB
C++
/****************************************************************************************************
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RepRapFirmware - Heat
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This is all the code to deal with heat and temperature.
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-----------------------------------------------------------------------------------------------------
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Version 0.1
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18 November 2012
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Adrian Bowyer
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RepRap Professional Ltd
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http://reprappro.com
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Licence: GPL
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****************************************************************************************************/
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#include "RepRapFirmware.h"
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Heat::Heat(Platform* p, GCodes* g)
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{
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platform = p;
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gCodes = g;
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for(int8_t heater=0; heater < HEATERS; heater++)
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pids[heater] = new PID(platform, heater);
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active = false;
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}
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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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pids[heater]->Init();
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lastTime = platform->Time();
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longWait = lastTime;
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active = true;
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}
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void Heat::Exit()
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{
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platform->Message(HOST_MESSAGE, "Heat class exited.\n");
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active = false;
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}
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void Heat::Spin()
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{
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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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platform->ClassReport("Heat", longWait);
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}
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void Heat::Diagnostics()
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{
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platform->Message(HOST_MESSAGE, "Heat Diagnostics:\n");
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}
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bool Heat::AllHeatersAtSetTemperatures()
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{
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float dt;
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for(int8_t heater = 0; heater < HEATERS; heater++)
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{
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dt = GetTemperature(heater);
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if(pids[heater]->Active())
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{
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if(GetActiveTemperature(heater) < TEMPERATURE_LOW_SO_DONT_CARE)
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dt = 0.0;
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else
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dt = fabs(dt - GetActiveTemperature(heater));
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} else
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{
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if(GetStandbyTemperature(heater) < TEMPERATURE_LOW_SO_DONT_CARE)
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dt = 0.0;
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else
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dt = fabs(dt - GetStandbyTemperature(heater));
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}
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if(dt > TEMPERATURE_CLOSE_ENOUGH)
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return false;
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}
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return true;
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}
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//******************************************************************************************************
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PID::PID(Platform* p, int8_t h)
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{
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platform = p;
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heater = h;
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}
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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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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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badTemperatureCount = 0;
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temperatureFault = false;
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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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if(temperatureFault)
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return;
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temperature = platform->GetTemperature(heater);
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if(temperature < BAD_LOW_TEMPERATURE || temperature > BAD_HIGH_TEMPERATURE)
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{
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badTemperatureCount++;
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if(badTemperatureCount > MAX_BAD_TEMPERATURE_COUNT)
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{
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platform->SetHeater(heater, 0.0);
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temperatureFault = true;
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platform->Message(HOST_MESSAGE, "Temperature measurement fault on heater ");
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snprintf(scratchString, STRING_LENGTH, "%d", heater);
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platform->Message(HOST_MESSAGE, scratchString);
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platform->Message(HOST_MESSAGE, ", T = ");
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platform->Message(HOST_MESSAGE, ftoa(scratchString, temperature, 1));
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platform->Message(HOST_MESSAGE, "\n");
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}
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} else
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badTemperatureCount = 0;
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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(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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if(!temperatureFault)
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platform->SetHeater(heater, result);
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}
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