Curve Fan Control (#193)

* Initial Implementation

* Forgot min and max temp

* me being dumb

* Update curve_control.cfg

* Updated curve definition and docs

* fix tests

README.md

@@ -96,6 +96,8 @@ If I want my printer to light itself on fire, I should be able to make my printe
 
 - [configfile: recursive globs](https://github.com/DangerKlippers/danger-klipper/pull/200) / ([klipper#6375](https://github.com/Klipper3d/klipper/pull/6375))
 
+- [temperature_fan: curve control algorithm](https://github.com/DangerKlippers/danger-klipper/pull/193)
+
 If you're feeling adventurous, take a peek at the extra features in the bleeding-edge branch [feature documentation](docs/Bleeding_Edge.md)
 and [feature configuration reference](docs/Config_Reference_Bleeding_Edge.md):
 

docs/Config_Reference.md

@@ -3337,6 +3337,30 @@ information.
 #   The default is False.
 ```
 
+```
+control: curve
+#points:
+#  50.0, 0.0
+#  55.0, 0.5
+#   A user might defne a list of points which consist of a temperature with
+#   it's associated fan speed (temp, fan_speed).
+#   The target_temp value defines the temperature at which the fan will run
+#   at full speed.
+#   The algorithm will use linear interpolation to get the fan speeds
+#   between two points (if one has defined 0.0 for 50° and 1.0 for 60° the
+#   fan would run with 0.5 at 55°)
+#cooling_hysteresis: 0.0
+#   define the temperature hysteresis for lowering the fan speed
+#   (temperature differences to the last measured value that are lower than
+#   the hysteresis will not cause lowering of the fan speed)
+#heating_hysteresis: 0.0
+#   same as cooling_hysteresis but for increasing the fan speed, it is
+#   recommended to be left at 0 for safety reasons
+#smooth_readings: 10
+#   the amount of readings a median should be taken of to determine the fan
+#   speed at each update interval, the default is 10
+```
+
 ### [fan_generic]
 
 Manually controlled fan (one may define any number of sections with a

klippy/extras/temperature_fan.py

@@ -3,6 +3,8 @@
 # Copyright (C) 2016-2020  Kevin O'Connor <[email protected]>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
+import statistics
+
 from . import fan
 
 KELVIN_TO_CELSIUS = -273.15
@@ -41,7 +43,11 @@ def __init__(self, config):
             maxval=self.max_temp,
         )
         self.target_temp = self.target_temp_conf
-        algos = {"watermark": ControlBangBang, "pid": ControlPID}
+        algos = {
+            "watermark": ControlBangBang,
+            "pid": ControlPID,
+            "curve": ControlCurve,
+        }
         algo = config.getchoice("control", algos)
         self.control = algo(self, config)
         self.next_speed_time = 0.0
@@ -89,6 +95,7 @@ def get_status(self, eventtime):
         status = self.fan.get_status(eventtime)
         status["temperature"] = round(self.last_temp, 2)
         status["target"] = self.target_temp
+        status["control"] = self.control.get_type()
         return status
 
     def is_adc_faulty(self):
@@ -101,8 +108,9 @@ def is_adc_faulty(self):
     )
 
     def cmd_SET_TEMPERATURE_FAN_TARGET(self, gcmd):
-        temp = gcmd.get_float("TARGET", self.target_temp_conf)
-        self.set_temp(temp)
+        temp = gcmd.get_float("TARGET", None)
+        if temp is not None and self.control.get_type() == "curve":
+            raise gcmd.error("Setting Target not supported for control curve")
         min_speed = gcmd.get_float("MIN_SPEED", self.min_speed)
         max_speed = gcmd.get_float("MAX_SPEED", self.max_speed)
         if min_speed > max_speed:
@@ -112,6 +120,7 @@ def cmd_SET_TEMPERATURE_FAN_TARGET(self, gcmd):
             )
         self.set_min_speed(min_speed)
         self.set_max_speed(max_speed)
+        self.set_temp(self.target_temp_conf if temp is None else temp)
 
     def set_temp(self, degrees):
         if degrees and (degrees < self.min_temp or degrees > self.max_temp):
@@ -167,6 +176,9 @@ def temperature_callback(self, read_time, temp):
                 read_time, self.temperature_fan.get_max_speed()
             )
 
+    def get_type(self):
+        return "watermark"
+
 
 ######################################################################
 # Proportional Integral Derivative (PID) control algo
@@ -231,6 +243,120 @@ def temperature_callback(self, read_time, temp):
         if co == bounded_co:
             self.prev_temp_integ = temp_integ
 
+    def get_type(self):
+        return "pid"
+
+
+class ControlCurve:
+    def __init__(self, temperature_fan, config, controlled_fan=None):
+        self.temperature_fan = temperature_fan
+        self.controlled_fan = (
+            temperature_fan if controlled_fan is None else controlled_fan
+        )
+        self.points = []
+        points = config.getlists(
+            "points", seps=(",", "\n"), parser=float, count=2
+        )
+        for temp, pwm in points:
+            current_point = [temp, pwm]
+            if current_point is None:
+                continue
+            if len(current_point) != 2:
+                raise temperature_fan.printer.config_error(
+                    "Point needs to have exactly one temperature and one speed "
+                    "value."
+                )
+            if current_point[0] > temperature_fan.target_temp:
+                raise temperature_fan.printer.config_error(
+                    "Temperature in point can not exceed target temperature."
+                )
+            if current_point[0] < temperature_fan.min_temp:
+                raise temperature_fan.printer.config_error(
+                    "Temperature in point can not fall below min_temp."
+                )
+            if current_point[1] > temperature_fan.get_max_speed():
+                raise temperature_fan.printer.config_error(
+                    "Speed in point can not exceed max_speed."
+                )
+            if current_point[1] < temperature_fan.get_min_speed():
+                raise temperature_fan.printer.config_error(
+                    "Speed in point can not fall below min_speed."
+                )
+            self.points.append(current_point)
+        self.points.append(
+            [temperature_fan.target_temp, temperature_fan.get_max_speed()]
+        )
+        if len(self.points) < 2:
+            raise temperature_fan.printer.config_error(
+                "At least two points need to be defined for curve in "
+                "temperature_fan."
+            )
+        self.points.sort(key=lambda p: p[0])
+        last_point = [temperature_fan.min_temp, temperature_fan.get_min_speed()]
+        for point in self.points:
+            if point[1] < last_point[1]:
+                raise temperature_fan.printer.config_error(
+                    "Points with higher temperatures have to have higher or "
+                    "equal speed than points with lower temperatures."
+                )
+            last_point = point
+        self.cooling_hysteresis = config.getfloat("cooling_hysteresis", 0.0)
+        self.heating_hysteresis = config.getfloat("heating_hysteresis", 0.0)
+        self.smooth_readings = config.getint("smooth_readings", 10, minval=1)
+        self.stored_temps = []
+        for i in range(self.smooth_readings):
+            self.stored_temps.append(0.0)
+        self.last_temp = 0.0
+
+    def temperature_callback(self, read_time, temp):
+        current_temp, target_temp = self.temperature_fan.get_temp(read_time)
+        temp = self.smooth_temps(temp)
+        if temp >= target_temp:
+            self.temperature_fan.set_speed(
+                read_time, self.temperature_fan.get_max_speed()
+            )
+            return
+        below = [
+            self.temperature_fan.min_temp,
+            self.temperature_fan.get_min_speed(),
+        ]
+        above = [
+            self.temperature_fan.max_temp,
+            self.temperature_fan.get_max_speed(),
+        ]
+        for config_temp in self.points:
+            if config_temp[0] < temp:
+                below = config_temp
+            else:
+                above = config_temp
+                break
+        self.controlled_fan.set_speed(
+            read_time, self.interpolate(below, above, temp)
+        )
+
+    def interpolate(self, below, above, temp):
+        return (
+            (below[1] * (above[0] - temp)) + (above[1] * (temp - below[0]))
+        ) / (above[0] - below[0])
+
+    def smooth_temps(self, current_temp):
+        if (
+            self.last_temp - self.cooling_hysteresis
+            <= current_temp
+            <= self.last_temp + self.heating_hysteresis
+        ):
+            temp = self.last_temp
+        else:
+            temp = current_temp
+        self.last_temp = temp
+        for i in range(1, len(self.stored_temps)):
+            self.stored_temps[i] = self.stored_temps[i - 1]
+        self.stored_temps[0] = temp
+        return statistics.median(self.stored_temps)
+
+    def get_type(self):
+        return "curve"
+
 
 def load_config_prefix(config):
     return TemperatureFan(config)

test/klippy/curve_control.cfg

@@ -0,0 +1,78 @@
+# Config for extruder testing
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.500
+filament_diameter: 3.500
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 210
+
+[temperature_fan my_temp_fan]
+pin: PB5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+target_temp: 65.0
+control: curve
+points:
+  50.0, 0.0
+  55.0, 0.5
+  60.0, 1.0
+smooth_readings: 100
+cooling_hysteresis: 5.0
+heating_hysteresis: 0.0
+min_temp: 0
+max_temp: 200
+min_speed: 0.0
+max_speed: 1.0
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

test/klippy/curve_control.test

@@ -0,0 +1,13 @@
+# Pid hot modify tests
+DICTIONARY atmega2560.dict
+CONFIG curve_control.cfg
+
+# Extrude only
+G1 E5
+G1 E-2
+G1 E7
+
+# Home and extrusion moves
+G28
+G1 X20 Y20 Z1
+G1 X25 Y25 E7.5