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minor heater changes
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@s-t-a-n
s-t-a-n committed Sep 3, 2024
1 parent 3832a59 commit 44dd26a
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Showing 2 changed files with 39 additions and 37 deletions.
73 changes: 37 additions & 36 deletions src/kaskas/io/controllers/heater.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@ class Heater {

using Value = double;

// todo: move this into a generic Spine class that monitors using an expected envelope
class ThermalRunAway {
public:
// todo: make an autotuner to find limits of normal usage experimentally
Expand All @@ -73,8 +74,7 @@ class Heater {
_heating_time_window(_cfg.heating_timewindow) {}

void update(State state, double temperature) {
if (state != _current_state) {
// heater changed states
if (state != _current_state) { // heater changed states
_last_state = _current_state;
_current_state = state;
reset_timers();
Expand All @@ -83,38 +83,39 @@ class Heater {
}

if (_current_state == State::HEATING) {
if (_cfg.guard_stable_state and _last_state == State::STEADY_STATE) {
// heater came out of steady state
if (time_s(_current_state_duration.timeSinceLast(false)) > _cfg.stable_timewindow) {
// heater went outside of steady state for too long
DBG("expired: %is, timewindow: %i",
time_s(_current_state_duration.timeSinceLast(false)).printable(),
time_s(_cfg.stable_timewindow).printable())
DBG("Heater went outside of steady state for too long!");
if (_cfg.guard_stable_state and _last_state == State::STEADY_STATE) { // heater came out of steady state
if (time_s(_current_state_duration.timeSinceLast(false))
> _cfg.stable_timewindow) { // heater went outside of steady state for too long
LOG("Heater went outside of steady state for too long, triggering run away! (time expired: "
"%is, timewindow: %is, current temperature %.2fC)",
time_s(_current_state_duration.timeSinceLast(false)).printable(),
time_s(_cfg.stable_timewindow).printable(),
temperature)
_is_runaway = true;
}
return;
}

if (_cfg.guard_changing_state and _heating_time_window.expired()) {
if (temperature < _setpoint) {
// heater is trying to rise temperature
if (temperature < _setpoint) { // heater is trying to rise temperature
const auto error = temperature - _temperature_time_window;
if (error < _cfg.heating_minimal_rising_c) {
// temperature didnt rise fast enough
DBG("Temperature didnt rise fast enough: delta:%.2fC", error);
if (error < _cfg.heating_minimal_rising_c) { // temperature didnt rise fast enough
LOG("Temperature didnt rise fast enough, triggering run away! (delta:%.2fC, temperature: "
"%.2fC)",
error,
temperature);
_is_runaway = true;
}

_temperature_time_window = temperature;
}

if (temperature > _setpoint) {
// heater should be dropping temperature
if (temperature > _setpoint) { // heater should be dropping temperature
const auto error = _temperature_time_window - temperature;
if (error < _cfg.heating_minimal_dropping_c) {
// temperature didnt drop fast enough
DBG("temperature didnt drop fast enough, delta:%.2fC", error);
if (error < _cfg.heating_minimal_dropping_c) { // temperature didn't drop fast enough
LOG("Temperature didnt drop fast enough, triggering run away! (delta:%.2fC, temperature: "
"%.2fC)",
error,
temperature);
_is_runaway = true;
}
_temperature_time_window = temperature;
Expand Down Expand Up @@ -185,8 +186,8 @@ class Heater {
_pid.new_reading(current_temp);

DBG("Heater initialized: Current surface temperature: %.2f C, initial response : %f",
current_temp,
_pid.response());
current_temp,
_pid.response());
}

void update() {
Expand Down Expand Up @@ -227,9 +228,9 @@ class Heater {
while (temperature() < setpoint && (!timer.expired() || timeout == time_ms(0))) {
_heating_element.fade_to(guarded_setpoint(LogicalState::ON));
DBG("Waiting until temperature of %.2fC reaches %.2fC, saturating thermal capacitance (surfaceT %.2f)",
temperature(),
setpoint,
_surface_temperature.value());
temperature(),
setpoint,
_surface_temperature.value());
_hws.update_all(); // make sure to update sensors
HAL::delay(time_ms(1000));
}
Expand All @@ -238,9 +239,9 @@ class Heater {
return;
while (temperature() > setpoint && (!timer.expired() || timeout == time_ms(0))) {
DBG("Waiting until temperature of %f C reaches %f C, unloading thermal capacitance (surfaceT %.2f)",
temperature(),
setpoint,
_surface_temperature.value());
temperature(),
setpoint,
_surface_temperature.value());
_hws.update_all(); // make sure to update sensors
HAL::delay(time_ms(1000));
}
Expand All @@ -254,9 +255,9 @@ class Heater {
/ (_cfg.pid_cfg.output_upper_limit - _cfg.pid_cfg.output_lower_limit);
const auto guarded_normalized_response = guarded_setpoint(normalized_response);
DBG("Autotune: Setting heating element to output: %.3f (surface: %.3fC, climate %.3fC)",
guarded_normalized_response,
_surface_temperature.value(),
_climate_temperature.value());
guarded_normalized_response,
_surface_temperature.value(),
_climate_temperature.value());
_heating_element.fade_to(guarded_normalized_response);
};
const auto process_getter = [&]() {
Expand Down Expand Up @@ -294,10 +295,10 @@ class Heater {

if (adjusted_setpoint != setpoint) {
DBG("Heater: T %.2f C is above limit of T %.2f C, clamping response from %.2f to %.2f",
surface_temperature,
_cfg.max_heater_setpoint,
setpoint,
adjusted_setpoint);
surface_temperature,
_cfg.max_heater_setpoint,
setpoint,
adjusted_setpoint);
}
return adjusted_setpoint;
}
Expand Down
3 changes: 2 additions & 1 deletion src/main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -543,7 +543,8 @@ void setup() {
.minimal_duty_cycle = 0.21,
.schedule_cfg =
Schedule::Config{
.blocks = {Schedule::Block{.start = time_h(0), .duration = time_h(24), .value = 70.0}}},
.blocks = {Schedule::Block{.start = time_h(22), .duration = time_h(10), .value = 75.0},
Schedule::Block{.start = time_h(8), .duration = time_h(14), .value = 65.0}}},
.check_interval = ventilation_sample_interval},

.heating =
Expand Down

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