3DPrinting/Prusa-Firmware
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TM: Handle L/TEMP_MODEL_LAG

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This commit is contained in:
Yuri D'Elia 2023-01-26 23:12:06 +01:00
parent e147fc2cb0
commit b7961ae0e9
2 changed files with 13 additions and 2 deletions
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1
Firmware/temp_model.h
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@ -22,6 +22,7 @@ struct model_data
{ {
// temporary buffers // temporary buffers
float dT_lag_buf[TEMP_MODEL_MAX_LAG_SIZE]; // transport delay buffer float dT_lag_buf[TEMP_MODEL_MAX_LAG_SIZE]; // transport delay buffer
uint8_t dT_lag_size = 0; // transport delay buffer size
uint8_t dT_lag_idx = 0; // transport delay buffer index uint8_t dT_lag_idx = 0; // transport delay buffer index
float dT_err_prev = 0; // previous temperature delta error float dT_err_prev = 0; // previous temperature delta error
float T_prev = 0; // last temperature extruder float T_prev = 0; // last temperature extruder

14
Firmware/temperature.cpp
View File

@ -2320,9 +2320,10 @@ void model_data::reset(uint8_t heater_pwm _UNUSED, uint8_t fan_pwm _UNUSED,
C_i = (TEMP_MGR_INTV / C); C_i = (TEMP_MGR_INTV / C);
warn_s = warn * TEMP_MGR_INTV; warn_s = warn * TEMP_MGR_INTV;
err_s = err * TEMP_MGR_INTV; err_s = err * TEMP_MGR_INTV;
dT_lag_size = L / (uint16_t)(TEMP_MGR_INTV * 1000);
// initial values // initial values
for(uint8_t i = 0; i != TEMP_MODEL_LAG_SIZE; ++i) for(uint8_t i = 0; i != TEMP_MODEL_MAX_LAG_SIZE; ++i)
dT_lag_buf[i] = NAN; dT_lag_buf[i] = NAN;
dT_lag_idx = 0; dT_lag_idx = 0;
dT_err_prev = 0; dT_err_prev = 0;
@ -2354,7 +2355,7 @@ void model_data::step(uint8_t heater_pwm, uint8_t fan_pwm, float heater_temp, fl
float dT = (dP - dPl) * C_i; // expected temperature difference (K) float dT = (dP - dPl) * C_i; // expected temperature difference (K)
// filter and lag dT // filter and lag dT
uint8_t dT_next_idx = (dT_lag_idx == (TEMP_MODEL_LAG_SIZE - 1) ? 0: dT_lag_idx + 1); uint8_t dT_next_idx = (dT_lag_idx == (dT_lag_size - 1) ? 0: dT_lag_idx + 1);
float dT_lag = dT_lag_buf[dT_next_idx]; float dT_lag = dT_lag_buf[dT_next_idx];
float dT_lag_prev = dT_lag_buf[dT_lag_idx]; float dT_lag_prev = dT_lag_buf[dT_lag_idx];
float dT_f = iir_mul(dT_lag_prev, dT, fS, dT); float dT_f = iir_mul(dT_lag_prev, dT, fS, dT);
@ -2393,6 +2394,7 @@ static bool calibrated()
if(isnan(data.V)) return false; if(isnan(data.V)) return false;
if(!(data.C > 0)) return false; if(!(data.C > 0)) return false;
if(isnan(data.fS)) return false; if(isnan(data.fS)) return false;
if(!(data.L > 0)) return false;
if(!(data.Ta_corr != NAN)) return false; if(!(data.Ta_corr != NAN)) return false;
for(uint8_t i = 0; i != TEMP_MODEL_R_SIZE; ++i) { for(uint8_t i = 0; i != TEMP_MODEL_R_SIZE; ++i) {
if(!(temp_model::data.R[i] >= 0)) if(!(temp_model::data.R[i] >= 0))
@ -2550,6 +2552,14 @@ static void temp_model_set_lag(uint16_t ms)
{ {
static const uint16_t intv_ms = (uint16_t)(TEMP_MGR_INTV * 1000); static const uint16_t intv_ms = (uint16_t)(TEMP_MGR_INTV * 1000);
temp_model::data.L = ((ms + intv_ms/2) / intv_ms) * intv_ms; temp_model::data.L = ((ms + intv_ms/2) / intv_ms) * intv_ms;
// ensure there is at least one lag sample for filtering
if(temp_model::data.L < intv_ms)
temp_model::data.L = intv_ms;
// do not exceed the maximum lag buffer
if(temp_model::data.L > (intv_ms * TEMP_MODEL_MAX_LAG_SIZE))
temp_model::data.L = intv_ms * TEMP_MODEL_MAX_LAG_SIZE;
} }
void temp_model_set_params(float P, float U, float V, float C, float D, int16_t L, float Ta_corr, float warn, float err) void temp_model_set_params(float P, float U, float V, float C, float D, int16_t L, float Ta_corr, float warn, float err)