From 11ecac626d754d83c03be6ca15225008ad0e504c Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Wed, 24 Aug 2016 15:16:02 -0400 Subject: mcu: Convert PWM and ADC objects to take mcu_time instead of clock Signed-off-by: Kevin O'Connor --- klippy/heater.py | 104 ++++++++++++++++++++++++------------------------------- 1 file changed, 46 insertions(+), 58 deletions(-) (limited to 'klippy/heater.py') diff --git a/klippy/heater.py b/klippy/heater.py index d05035a0..29f29232 100644 --- a/klippy/heater.py +++ b/klippy/heater.py @@ -28,15 +28,12 @@ class PrinterHeater: self.pullup_r = config.getfloat('pullup_resistor', 4700.) self.lock = threading.Lock() self.last_temp = 0. - self.last_temp_clock = 0 + self.last_temp_time = 0. self.target_temp = 0. - self.report_clock = 0 self.control = None # pwm caching - self.next_pwm_clock = 0 + self.next_pwm_time = 0. self.last_pwm_value = 0 - self.resend_clock = 0 - self.pwm_offset_clock = 0 def build_config(self): heater_pin = self.config.get('heater_pin') thermistor_pin = self.config.get('thermistor_pin') @@ -44,35 +41,28 @@ class PrinterHeater: self.mcu_adc = self.printer.mcu.create_adc(thermistor_pin) min_adc = self.calc_adc(self.config.getfloat('max_temp')) max_adc = self.calc_adc(self.config.getfloat('min_temp')) - freq = self.printer.mcu.get_mcu_freq() - sample_clock = int(SAMPLE_TIME*freq) self.mcu_adc.set_minmax( - sample_clock, SAMPLE_COUNT, minval=min_adc, maxval=max_adc) + SAMPLE_TIME, SAMPLE_COUNT, minval=min_adc, maxval=max_adc) self.mcu_adc.set_adc_callback(self.adc_callback) - self.report_clock = int(REPORT_TIME*freq) control_algo = self.config.get('control', 'watermark') algos = {'watermark': ControlBangBang, 'pid': ControlPID} self.control = algos[control_algo](self, self.config) - self.next_pwm_clock = 0 - self.last_pwm_value = 0 - self.resend_clock = int(MAX_HEAT_TIME * freq * 3. / 4.) - self.pwm_offset_clock = sample_clock*SAMPLE_COUNT + self.report_clock def run(self): - self.mcu_adc.query_analog_in(self.report_clock) - def set_pwm(self, read_clock, value): + self.mcu_adc.query_analog_in(REPORT_TIME) + def set_pwm(self, read_time, value): if value: if self.target_temp <= 0.: return - if (read_clock < self.next_pwm_clock + if (read_time < self.next_pwm_time and abs(value - self.last_pwm_value) < 15): return elif not self.last_pwm_value: return - pwm_clock = read_clock + self.pwm_offset_clock - self.next_pwm_clock = pwm_clock + self.resend_clock + pwm_time = read_time + REPORT_TIME + SAMPLE_TIME*SAMPLE_COUNT + self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME self.last_pwm_value = value - logging.debug("pwm=%d@%d (%d)" % (value, read_clock, pwm_clock)) - self.mcu_pwm.set_pwm(pwm_clock, value) + logging.debug("pwm=%d@%.3f (%.3f)" % (value, read_time, pwm_time)) + self.mcu_pwm.set_pwm(pwm_time, value) # Temperature calculation def calc_temp(self, adc): r = self.pullup_r * adc / (1.0 - adc) @@ -90,14 +80,13 @@ class PrinterHeater: x = math.sqrt(math.pow(c2 / (3.*c3), 3.) + math.pow(y, 2.)) r = math.exp(math.pow(x-y, 1./3.) - math.pow(x+y, 1./3.)) return r / (self.pullup_r + r) - def adc_callback(self, read_clock, read_value): + def adc_callback(self, read_time, read_value): temp = self.calc_temp(float(read_value)) with self.lock: self.last_temp = temp - self.last_temp_clock = read_clock - self.control.adc_callback(read_clock, temp) - #logging.debug("temp: %d(%d) %f = %f" % ( - # read_clock, read_clock & 0xffffffff, read_value, temp)) + self.last_temp_time = read_time + self.control.adc_callback(read_time, temp) + #logging.debug("temp: %.3f %f = %f" % (read_time, read_value, temp)) # External commands def set_temp(self, print_time, degrees): with self.lock: @@ -122,15 +111,15 @@ class ControlBangBang: self.heater = heater self.max_delta = config.getfloat('max_delta', 2.0) self.heating = False - def adc_callback(self, read_clock, temp): + def adc_callback(self, read_time, temp): if self.heating and temp >= self.heater.target_temp+self.max_delta: self.heating = False elif not self.heating and temp <= self.heater.target_temp-self.max_delta: self.heating = True if self.heating: - self.heater.set_pwm(read_clock, PWM_MAX) + self.heater.set_pwm(read_time, PWM_MAX) else: - self.heater.set_pwm(read_clock, 0) + self.heater.set_pwm(read_time, 0) def check_busy(self, eventtime): return self.heater.last_temp < self.heater.target_temp-self.max_delta @@ -149,12 +138,11 @@ class ControlPID: imax = config.getint('pid_integral_max', PWM_MAX) self.temp_integ_max = imax / self.Ki self.prev_temp = AMBIENT_TEMP - self.prev_temp_clock = 0 + self.prev_temp_time = 0. self.prev_temp_deriv = 0. self.prev_temp_integ = 0. - self.inv_mcu_freq = 1. / self.heater.printer.mcu.get_mcu_freq() - def adc_callback(self, read_clock, temp): - time_diff = (read_clock - self.prev_temp_clock) * self.inv_mcu_freq + def adc_callback(self, read_time, temp): + time_diff = read_time - self.prev_temp_time # Calculate change of temperature temp_diff = temp - self.prev_temp if time_diff >= self.min_deriv_time: @@ -168,13 +156,13 @@ class ControlPID: temp_integ = max(0., min(self.temp_integ_max, temp_integ)) # Calculate output co = int(self.Kp*temp_err + self.Ki*temp_integ - self.Kd*temp_deriv) - #logging.debug("pid: %f@%d -> diff=%f deriv=%f err=%f integ=%f co=%d" % ( - # temp, read_clock, temp_diff, temp_deriv, temp_err, temp_integ, co)) + #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)) bounded_co = max(0, min(PWM_MAX, co)) - self.heater.set_pwm(read_clock, bounded_co) + self.heater.set_pwm(read_time, bounded_co) # Store state for next measurement self.prev_temp = temp - self.prev_temp_clock = read_clock + self.prev_temp_time = read_time self.prev_temp_deriv = temp_deriv if co == bounded_co: self.prev_temp_integ = temp_integ @@ -197,8 +185,8 @@ class ControlAutoTune: self.heating = False self.peaks = [] self.peak = 0. - self.peak_clock = 0 - def adc_callback(self, read_clock, temp): + self.peak_time = 0. + def adc_callback(self, read_time, temp): if self.heating and temp >= self.target_temp: self.heating = False self.check_peaks() @@ -206,17 +194,17 @@ class ControlAutoTune: self.heating = True self.check_peaks() if self.heating: - self.heater.set_pwm(read_clock, PWM_MAX) + self.heater.set_pwm(read_time, PWM_MAX) if temp < self.peak: self.peak = temp - self.peak_clock = read_clock + self.peak_time = read_time else: - self.heater.set_pwm(read_clock, 0) + self.heater.set_pwm(read_time, 0) if temp > self.peak: self.peak = temp - self.peak_clock = read_clock + self.peak_time = read_time def check_peaks(self): - self.peaks.append((self.peak, self.peak_clock)) + self.peaks.append((self.peak, self.peak_time)) if self.heating: self.peak = 9999999. else: @@ -224,18 +212,18 @@ class ControlAutoTune: if len(self.peaks) < 4: return temp_diff = self.peaks[-1][0] - self.peaks[-2][0] - clock_diff = self.peaks[-1][1] - self.peaks[-3][1] + time_diff = self.peaks[-1][1] - self.peaks[-3][1] pwm_diff = PWM_MAX - 0 Ku = 4. * (2. * pwm_diff) / (abs(temp_diff) * math.pi) - Tu = clock_diff / self.heater.printer.mcu.get_mcu_freq() + Tu = time_diff Kp = 0.6 * Ku Ti = 0.5 * Tu Td = 0.125 * Tu Ki = Kp / Ti Kd = Kp * Td - logging.info("Autotune: raw=%f/%d/%d Ku=%f Tu=%f Kp=%f Ki=%f Kd=%f" % ( - temp_diff, clock_diff, pwm_diff, Ku, Tu, Kp, Ki, Kd)) + logging.info("Autotune: raw=%f/%d Ku=%f Tu=%f Kp=%f Ki=%f Kd=%f" % ( + temp_diff, pwm_diff, Ku, Tu, Kp, Ki, Kd)) def check_busy(self, eventtime): if self.heating or len(self.peaks) < 12: return True @@ -255,29 +243,29 @@ class ControlBumpTest: self.temp_samples = {} self.pwm_samples = {} self.state = 0 - def set_pwm(self, read_clock, value): - self.pwm_samples[read_clock + 2*self.heater.report_clock] = value - self.heater.set_pwm(read_clock, value) - def adc_callback(self, read_clock, temp): - self.temp_samples[read_clock] = temp + def set_pwm(self, read_time, value): + self.pwm_samples[read_time + 2*REPORT_TIME] = value + self.heater.set_pwm(read_time, value) + def adc_callback(self, read_time, temp): + self.temp_samples[read_time] = temp if not self.state: - self.set_pwm(read_clock, 0) + self.set_pwm(read_time, 0) if len(self.temp_samples) >= 20: self.state += 1 elif self.state == 1: if temp < self.target_temp: - self.set_pwm(read_clock, PWM_MAX) + self.set_pwm(read_time, PWM_MAX) return - self.set_pwm(read_clock, 0) + self.set_pwm(read_time, 0) self.state += 1 elif self.state == 2: - self.set_pwm(read_clock, 0) + self.set_pwm(read_time, 0) if temp <= (self.target_temp + AMBIENT_TEMP) / 2.: self.dump_stats() self.state += 1 def dump_stats(self): - out = ["%d %.1f %d" % (clock, temp, self.pwm_samples.get(clock, -1)) - for clock, temp in sorted(self.temp_samples.items())] + out = ["%.3f %.1f %d" % (time, temp, self.pwm_samples.get(time, -1.)) + for time, temp in sorted(self.temp_samples.items())] f = open("/tmp/heattest.txt", "wb") f.write('\n'.join(out)) f.close() -- cgit v1.2.3-70-g09d2