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* Socket refactor and SSL * esp-idf temp * Fixes * Echo component and noise * Add noise API transport support * Updates * ESP-IDF * Complete * Fixes * Fixes * Versions update * New i2c APIs * Complete i2c refactor * SPI migration * Revert ESP Preferences migration, too complex for now * OTA support * Remove echo again * Remove ssl again * GPIOFlags updates * Rename esphal and ICACHE_RAM_ATTR * Make ESP32 arduino compilable again * Fix GPIO flags * Complete pin registry refactor and fixes * Fixes to make test1 compile * Remove sdkconfig file * Ignore sdkconfig file * Fixes in reviewing * Make test2 compile * Make test4 compile * Make test5 compile * Run clang-format * Fix lint errors * Use esp-idf APIs instead of btStart * Another round of fixes * Start implementing ESP8266 * Make test3 compile * Guard esp8266 code * Lint * Reformat * Fixes * Fixes v2 * more fixes * ESP-IDF tidy target * Convert ARDUINO_ARCH_ESPxx * Update WiFiSignalSensor * Update time ifdefs * OTA needs millis from hal * RestartSwitch needs delay from hal * ESP-IDF Uart * Fix OTA blank password * Allow setting sdkconfig * Fix idf partitions and allow setting sdkconfig from yaml * Re-add read/write compat APIs and fix esp8266 uart * Fix esp8266 store log strings in flash * Fix ESP32 arduino preferences not initialized * Update ifdefs * Change how sdkconfig change is detected * Add checks to ci-custom and fix them * Run clang-format * Add esp-idf clang-tidy target and fix errors * Fixes from clang-tidy idf round 2 * Fixes from compiling tests with esp-idf * Run clang-format * Switch test5.yaml to esp-idf * Implement ESP8266 Preferences * Lint * Re-do PIO package version selection a bit * Fix arduinoespressif32 package version * Fix unit tests * Lint * Lint fixes * Fix readv/writev not defined * Fix graphing component * Re-add all old options from core/config.py Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com>
152 lines
5.4 KiB
C++
152 lines
5.4 KiB
C++
#include "pid_climate.h"
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#include "esphome/core/log.h"
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namespace esphome {
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namespace pid {
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static const char *const TAG = "pid.climate";
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void PIDClimate::setup() {
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this->sensor_->add_on_state_callback([this](float state) {
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// only publish if state/current temperature has changed in two digits of precision
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this->do_publish_ = roundf(state * 100) != roundf(this->current_temperature * 100);
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this->current_temperature = state;
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this->update_pid_();
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});
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this->current_temperature = this->sensor_->state;
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// restore set points
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auto restore = this->restore_state_();
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if (restore.has_value()) {
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restore->to_call(this).perform();
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} else {
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// restore from defaults, change_away handles those for us
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if (supports_heat_() && supports_cool_())
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this->mode = climate::CLIMATE_MODE_HEAT_COOL;
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else if (supports_cool_())
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this->mode = climate::CLIMATE_MODE_COOL;
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else if (supports_heat_())
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this->mode = climate::CLIMATE_MODE_HEAT;
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this->target_temperature = this->default_target_temperature_;
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}
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}
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void PIDClimate::control(const climate::ClimateCall &call) {
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if (call.get_mode().has_value())
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this->mode = *call.get_mode();
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if (call.get_target_temperature().has_value())
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this->target_temperature = *call.get_target_temperature();
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// If switching to off mode, set output immediately
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if (this->mode == climate::CLIMATE_MODE_OFF)
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this->write_output_(0.0f);
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this->publish_state();
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}
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climate::ClimateTraits PIDClimate::traits() {
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auto traits = climate::ClimateTraits();
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traits.set_supports_current_temperature(true);
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traits.set_supports_two_point_target_temperature(false);
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traits.set_supported_modes({climate::CLIMATE_MODE_OFF});
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if (supports_cool_())
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traits.add_supported_mode(climate::CLIMATE_MODE_COOL);
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if (supports_heat_())
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traits.add_supported_mode(climate::CLIMATE_MODE_HEAT);
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if (supports_heat_() && supports_cool_())
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traits.add_supported_mode(climate::CLIMATE_MODE_HEAT_COOL);
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traits.set_supports_action(true);
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return traits;
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}
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void PIDClimate::dump_config() {
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LOG_CLIMATE("", "PID Climate", this);
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ESP_LOGCONFIG(TAG, " Control Parameters:");
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ESP_LOGCONFIG(TAG, " kp: %.5f, ki: %.5f, kd: %.5f", controller_.kp, controller_.ki, controller_.kd);
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if (this->autotuner_ != nullptr) {
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this->autotuner_->dump_config();
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}
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}
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void PIDClimate::write_output_(float value) {
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this->output_value_ = value;
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// first ensure outputs are off (both outputs not active at the same time)
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if (this->supports_cool_() && value >= 0)
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this->cool_output_->set_level(0.0f);
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if (this->supports_heat_() && value <= 0)
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this->heat_output_->set_level(0.0f);
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// value < 0 means cool, > 0 means heat
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if (this->supports_cool_() && value < 0)
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this->cool_output_->set_level(std::min(1.0f, -value));
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if (this->supports_heat_() && value > 0)
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this->heat_output_->set_level(std::min(1.0f, value));
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// Update action variable for user feedback what's happening
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climate::ClimateAction new_action;
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if (this->supports_cool_() && value < 0)
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new_action = climate::CLIMATE_ACTION_COOLING;
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else if (this->supports_heat_() && value > 0)
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new_action = climate::CLIMATE_ACTION_HEATING;
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else if (this->mode == climate::CLIMATE_MODE_OFF)
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new_action = climate::CLIMATE_ACTION_OFF;
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else
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new_action = climate::CLIMATE_ACTION_IDLE;
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if (new_action != this->action) {
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this->action = new_action;
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this->do_publish_ = true;
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}
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this->pid_computed_callback_.call();
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}
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void PIDClimate::update_pid_() {
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float value;
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if (std::isnan(this->current_temperature) || std::isnan(this->target_temperature)) {
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// if any control parameters are nan, turn off all outputs
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value = 0.0;
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} else {
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// Update PID controller irrespective of current mode, to not mess up D/I terms
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// In non-auto mode, we just discard the output value
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value = this->controller_.update(this->target_temperature, this->current_temperature);
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// Check autotuner
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if (this->autotuner_ != nullptr && !this->autotuner_->is_finished()) {
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auto res = this->autotuner_->update(this->target_temperature, this->current_temperature);
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if (res.result_params.has_value()) {
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this->controller_.kp = res.result_params->kp;
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this->controller_.ki = res.result_params->ki;
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this->controller_.kd = res.result_params->kd;
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// keep autotuner instance so that subsequent dump_configs will print the long result message.
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} else {
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value = res.output;
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if (mode != climate::CLIMATE_MODE_HEAT_COOL) {
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ESP_LOGW(TAG, "For PID autotuner you need to set AUTO (also called heat/cool) mode!");
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}
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}
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}
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}
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if (this->mode == climate::CLIMATE_MODE_OFF) {
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this->write_output_(0.0);
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} else {
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this->write_output_(value);
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}
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if (this->do_publish_)
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this->publish_state();
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}
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void PIDClimate::start_autotune(std::unique_ptr<PIDAutotuner> &&autotune) {
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this->autotuner_ = std::move(autotune);
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float min_value = this->supports_cool_() ? -1.0f : 0.0f;
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float max_value = this->supports_heat_() ? 1.0f : 0.0f;
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this->autotuner_->config(min_value, max_value);
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this->set_interval("autotune-progress", 10000, [this]() {
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if (this->autotuner_ != nullptr && !this->autotuner_->is_finished())
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this->autotuner_->dump_config();
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});
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}
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void PIDClimate::reset_integral_term() { this->controller_.reset_accumulated_integral(); }
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} // namespace pid
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} // namespace esphome
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