cd5af6c7b1
- Added support for M374 (save height map) and M375 (load height map) - Added M376 (set bed compensation taper height) - Added T parameter to G31 command - M500, M501 and M502 now use config_override.g instead of flash memory. The parameters saved and restored are: -- M307 auto tune results -- PID parameters, if you used M301 to override the auto tune PID settings -- Delta printer M665 and M666 settings -- G31 trigger height, trigger value and X and Y offsets - The M501 auto save option has been removed - Removed S and T parameters from M301 command. Use M307 command instead. - M301 with negative P parameter no longer sets bang-bang mode. Use M307 instead. - Added P parameter to the G31 command to specify Z probe type. This allows you to view the parameters for the Z probe(s) and to set parameters for a particular Z probe type without selecting that type. G31 P or G31 P0 prints the parameters of the currently-selected Z probe. - Z probe offsets are now applied during G30 probing with specified XY coordinates, including during delta auto calibration - Z probe recovery time is now applied from the end of the travel move just before probing - Fixed bad dive height when using G29 with a large trigger height - Fixed bad JSON message during printing when there were no active extruders - Added exception handlers and store a software reset code when an exception occurs - Fixed reset reason text because on the Duet WiFi a watchdog reset can look like an external reset - G30 S-1 how printes the stopped height - Implemented M401 and M402
72 lines
1.8 KiB
C++
72 lines
1.8 KiB
C++
/*
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* FOPDT.h
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*
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* Created on: 16 Aug 2016
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* Author: David
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*
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* Class to represent the parameters of a first order process with dead time
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*/
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#ifndef SRC_HEATING_FOPDT_H_
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#define SRC_HEATING_FOPDT_H_
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#include <cstddef>
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// This is how PID parameters are stored internally
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struct PidParameters
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{
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float kP; // controller (not model) gain
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float recipTi; // reciprocal of controller integral time
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float tD; // controller differential time
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};
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// This is how PID parameters are given in M301 commands
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struct M301PidParameters
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{
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float kP;
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float kI;
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float kD;
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};
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class FileStore;
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class FopDt
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{
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public:
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FopDt();
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bool SetParameters(float pg, float ptc, float pdt, float pMaxPwm, bool pUsePid);
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float GetGain() const { return gain; }
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float GetTimeConstant() const { return timeConstant; }
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float GetDeadTime() const { return deadTime; }
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float GetMaxPwm() const { return maxPwm; }
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bool UsePid() const { return usePid; }
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bool IsEnabled() const { return enabled; }
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bool ArePidParametersOverridden() const { return pidParametersOverridden; }
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M301PidParameters GetM301PidParameters(bool forLoadChange) const;
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void SetM301PidParameters(const M301PidParameters& params);
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const PidParameters& GetPidParameters(bool forLoadChange) const
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{
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return (forLoadChange) ? loadChangeParams : setpointChangeParams;
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}
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bool WriteParameters(FileStore *f, size_t heater) const; // Write the model parameters to file returning true if no error
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private:
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void CalcPidConstants();
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float gain;
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float timeConstant;
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float deadTime;
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float maxPwm;
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bool enabled;
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bool usePid;
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bool pidParametersOverridden;
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PidParameters setpointChangeParams; // parameters for handling changes in the setpoint
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PidParameters loadChangeParams; // parameters for handling changes in the load
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};
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#endif /* SRC_HEATING_FOPDT_H_ */
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