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mcu: Convert PWM and ADC objects to take mcu_time instead of clock 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-08-24 15:16:02 -04:00
parent 5a24ab06d8
commit 11ecac626d
3 changed files with 85 additions and 96 deletions
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24
klippy/fan.py
View File

@ -11,29 +11,25 @@ class PrinterFan:
self.printer = printer
self.config = config
self.mcu_fan = None
self.last_fan_clock = self.last_fan_value = 0
self.min_fan_clock = 0
self.kick_start_clock = 0
self.last_fan_value = 0
self.last_fan_time = 0.
self.kick_start_time = config.getfloat('kick_start_time', 0.1)
def build_config(self):
pin = self.config.get('pin')
hard_pwm = self.config.getint('hard_pwm', 128)
mcu_freq = self.printer.mcu.get_mcu_freq()
self.min_fan_clock = int(FAN_MIN_TIME * mcu_freq)
kst = self.config.getfloat('kick_start_time', 0.1)
self.kick_start_clock = int(kst * mcu_freq)
self.mcu_fan = self.printer.mcu.create_pwm(pin, hard_pwm, 0)
# External commands
def set_speed(self, print_time, value):
value = max(0, min(255, int(value*255. + 0.5)))
if value == self.last_fan_value:
return
pc = int(self.mcu_fan.get_print_clock(print_time))
pc = max(self.last_fan_clock + self.min_fan_clock, pc)
mcu_time = self.mcu_fan.print_to_mcu_time(print_time)
mcu_time = max(self.last_fan_time + FAN_MIN_TIME, mcu_time)
if (value and value < 255
and not self.last_fan_value and self.kick_start_clock):
and not self.last_fan_value and self.kick_start_time):
# Run fan at full speed for specified kick_start_time
self.mcu_fan.set_pwm(pc, 255)
pc += self.kick_start_clock
self.mcu_fan.set_pwm(pc, value)
self.last_fan_clock = pc
self.mcu_fan.set_pwm(mcu_time, 255)
mcu_time += self.kick_start_time
self.mcu_fan.set_pwm(mcu_time, value)
self.last_fan_time = mcu_time
self.last_fan_value = value

104
klippy/heater.py
View File

@ -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()

53
klippy/mcu.py
View File

@ -134,6 +134,7 @@ class MCU_digital_out:
pin, pullup, self._invert = parse_pin_extras(pin)
self._last_clock = 0
self._last_value = None
self._mcu_freq = mcu.get_mcu_freq()
self._cmd_queue = mcu.alloc_command_queue()
mcu.add_config_cmd(
"config_digital_out oid=%d pin=%s default_value=%d"
@ -148,7 +149,8 @@ class MCU_digital_out:
self._last_value = value
def get_last_setting(self):
return self._last_value
def set_pwm(self, clock, value):
def set_pwm(self, mcu_time, value):
clock = int(mcu_time * self._mcu_freq)
dval = 0
if value > 127:
dval = 1
@ -161,6 +163,7 @@ class MCU_pwm:
self._mcu = mcu
self._oid = mcu.create_oid()
self._last_clock = 0
self._mcu_freq = mcu.get_mcu_freq()
self._cmd_queue = mcu.alloc_command_queue()
if hard_pwm:
mcu.add_config_cmd(
@ -175,13 +178,13 @@ class MCU_pwm:
self._oid, pin, cycle_ticks, max_duration))
self._set_cmd = mcu.lookup_command(
"schedule_soft_pwm_out oid=%c clock=%u value=%c")
def set_pwm(self, clock, value):
self.print_to_mcu_time = mcu.print_to_mcu_time
def set_pwm(self, mcu_time, value):
clock = int(mcu_time * self._mcu_freq)
msg = self._set_cmd.encode(self._oid, clock, value)
self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
, cq=self._cmd_queue)
self._last_clock = clock
def get_print_clock(self, print_time):
return self._mcu.get_print_clock(print_time)
class MCU_adc:
ADC_MAX = 1024 # 10bit adc
@ -193,10 +196,9 @@ class MCU_adc:
self._sample_ticks = 0
self._sample_count = 1
self._report_clock = 0
self._last_value = 0
self._last_read_clock = 0
self._callback = None
self._max_adc_inv = 0.
self._inv_max_adc = 0.
self._mcu_freq = mcu.get_mcu_freq()
self._cmd_queue = mcu.alloc_command_queue()
mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (self._oid, pin))
mcu.register_msg(self._handle_analog_in_state, "analog_in_state"
@ -204,36 +206,33 @@ class MCU_adc:
self._query_cmd = mcu.lookup_command(
"query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c"
" rest_ticks=%u min_value=%hu max_value=%hu")
def set_minmax(self, sample_ticks, sample_count, minval=None, maxval=None):
def set_minmax(self, sample_time, sample_count, minval=None, maxval=None):
self._sample_ticks = int(sample_time * self._mcu_freq)
self._sample_count = sample_count
if minval is None:
minval = 0
if maxval is None:
maxval = 0xffff
self._sample_ticks = sample_ticks
self._sample_count = sample_count
max_adc = sample_count * self.ADC_MAX
self._min_sample = int(minval * max_adc)
self._max_sample = min(0xffff, int(math.ceil(maxval * max_adc)))
self._max_adc_inv = 1.0 / max_adc
def query_analog_in(self, report_clock):
self._report_clock = report_clock
mcu_freq = self._mcu.get_mcu_freq()
self._inv_max_adc = 1.0 / max_adc
def query_analog_in(self, report_time):
self._report_clock = int(report_time * self._mcu_freq)
cur_clock = self._mcu.get_last_clock()
clock = cur_clock + int(mcu_freq * (1.0 + self._oid * 0.01)) # XXX
clock = cur_clock + int(self._mcu_freq * (1.0 + self._oid * 0.01)) # XXX
msg = self._query_cmd.encode(
self._oid, clock, self._sample_ticks, self._sample_count
, report_clock, self._min_sample, self._max_sample)
, self._report_clock, self._min_sample, self._max_sample)
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
def _handle_analog_in_state(self, params):
self._last_value = params['value'] * self._max_adc_inv
last_value = params['value'] * self._inv_max_adc
next_clock = self._mcu.serial.translate_clock(params['next_clock'])
self._last_read_clock = next_clock - self._report_clock
last_read_time = (next_clock - self._report_clock) / self._mcu_freq
if self._callback is not None:
self._callback(self._last_read_clock, self._last_value)
self._callback(last_read_time, last_value)
def set_adc_callback(self, cb):
self._callback = cb
def get_print_clock(self, print_time):
return self._mcu.get_print_clock(print_time)
class MCU:
def __init__(self, printer, config):
@ -419,6 +418,8 @@ class MCU:
def get_print_buffer_time(self, eventtime, last_move_end):
clock_diff = self.serial.get_clock(eventtime) - self._print_start_clock
return last_move_end - (float(clock_diff) / self._clock_freq)
def print_to_mcu_time(self, print_time):
return print_time + self._print_start_clock / self._clock_freq
def get_print_clock(self, print_time):
return print_time * self._clock_freq + self._print_start_clock
def get_mcu_freq(self):
@ -469,14 +470,16 @@ class Dummy_MCU_obj:
return False
def home_finalize(self):
pass
def set_pwm(self, print_time, value):
def set_pwm(self, mcu_time, value):
pass
def set_minmax(self, sample_ticks, sample_count, minval=None, maxval=None):
def set_minmax(self, sample_time, sample_count, minval=None, maxval=None):
pass
def query_analog_in(self, report_clock):
def query_analog_in(self, report_time):
pass
def set_adc_callback(self, cb):
pass
def print_to_mcu_time(self, print_time):
return self._mcu.print_to_mcu_time(print_time)
def get_print_clock(self, print_time):
return self._mcu.get_print_clock(print_time)
@ -510,6 +513,8 @@ class DummyMCU:
pass
def get_print_buffer_time(self, eventtime, last_move_end):
return 0.250
def print_to_mcu_time(self, print_time):
return print_time + self._print_start_clock / self._clock_freq
def get_print_clock(self, print_time):
return print_time * self._clock_freq + self._print_start_clock
def get_mcu_freq(self):