Commit | Line | Data |
---|---|---|
df27a6a3 | 1 | /* |
cd011f58 AW |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
cd011f58 AW |
6 | */ |
7 | ||
7b49793d | 8 | // TODO : THIS FILE IS LAME, MUST BE MADE MUCH BETTER |
cd011f58 | 9 | |
ded56b35 AW |
10 | #include "libs/Module.h" |
11 | #include "libs/Kernel.h" | |
12 | #include <math.h> | |
13 | #include "TemperatureControl.h" | |
3c132bd0 | 14 | #include "libs/Pin.h" |
ded56b35 | 15 | |
3c132bd0 AW |
16 | TemperatureControl::TemperatureControl(){} |
17 | ||
18 | TemperatureControl::TemperatureControl(uint16_t name){ | |
19 | this->name_checksum = name; | |
907d5e8a | 20 | // this->error_count = 0; |
4464301d | 21 | this->waiting = false; |
ded56b35 AW |
22 | } |
23 | ||
24 | void TemperatureControl::on_module_loaded(){ | |
907d5e8a | 25 | |
81b547a1 | 26 | // We start not desiring any temp |
907d5e8a MM |
27 | // this->desired_adc_value = UNDEFINED; |
28 | this->target_temperature = UNDEFINED; | |
ded56b35 AW |
29 | |
30 | // Settings | |
7dd8133c | 31 | this->on_config_reload(this); |
ded56b35 AW |
32 | |
33 | this->acceleration_factor = 10; | |
34 | ||
d9ebc974 | 35 | this->kernel->slow_ticker->attach( 20, this, &TemperatureControl::thermistor_read_tick ); |
ded56b35 AW |
36 | |
37 | // Register for events | |
df27a6a3 | 38 | this->register_for_event(ON_GCODE_EXECUTE); |
b0be67b5 | 39 | this->register_for_event(ON_GCODE_RECEIVED); |
df27a6a3 | 40 | this->register_for_event(ON_MAIN_LOOP); |
ded56b35 AW |
41 | |
42 | } | |
43 | ||
3c132bd0 | 44 | void TemperatureControl::on_main_loop(void* argument){ } |
7dd8133c AW |
45 | |
46 | // Get configuration from the config file | |
47 | void TemperatureControl::on_config_reload(void* argument){ | |
48 | ||
1306ba99 AW |
49 | // General config |
50 | this->set_m_code = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number(); | |
51 | this->set_and_wait_m_code = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_and_wait_m_code_checksum)->by_default(109)->as_number(); | |
52 | this->get_m_code = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number(); | |
8c309ca9 | 53 | this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(5)->as_number(); |
7dd8133c | 54 | |
b0be67b5 MM |
55 | this->designator = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string(); |
56 | ||
7dd8133c | 57 | // Values are here : http://reprap.org/wiki/Thermistor |
423df6df AW |
58 | this->r0 = 100000; |
59 | this->t0 = 25; | |
a98f72da | 60 | this->beta = 4066; |
423df6df AW |
61 | this->r1 = 0; |
62 | this->r2 = 4700; | |
a98f72da | 63 | |
3c132bd0 | 64 | // Preset values for various common types of thermistors |
df27a6a3 | 65 | ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum); |
423df6df AW |
66 | if( thermistor->value.compare("EPCOS100K" ) == 0 ){ // Default |
67 | }else if( thermistor->value.compare("RRRF100K" ) == 0 ){ this->beta = 3960; | |
68 | }else if( thermistor->value.compare("RRRF10K" ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600; | |
69 | }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974; | |
70 | }else if( thermistor->value.compare("Semitec" ) == 0 ){ this->beta = 4267; } | |
a98f72da | 71 | |
3c132bd0 | 72 | // Preset values are overriden by specified values |
907d5e8a MM |
73 | this->r0 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum )->by_default(this->r0 )->as_number(); // Stated resistance eg. 100K |
74 | this->t0 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, t0_checksum )->by_default(this->t0 )->as_number(); // Temperature at stated resistance, eg. 25C | |
75 | this->beta = this->kernel->config->value(temperature_control_checksum, this->name_checksum, beta_checksum)->by_default(this->beta)->as_number(); // Thermistor beta rating. See http://reprap.org/bin/view/Main/MeasuringThermistorBeta | |
76 | this->r1 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum )->by_default(this->r1 )->as_number(); | |
77 | this->r2 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum )->by_default(this->r2 )->as_number(); | |
78 | ||
79 | ||
df27a6a3 | 80 | // Thermistor math |
907d5e8a MM |
81 | j = (1.0 / beta); |
82 | k = (1.0 / (t0 + 273.15)); | |
83 | ||
84 | // ADC smoothing | |
85 | running_total = 0; | |
c4f4cf73 MM |
86 | // sigma-delta output modulation |
87 | o = 0; | |
3c132bd0 AW |
88 | |
89 | // Thermistor pin for ADC readings | |
90 | this->thermistor_pin = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_pin(); | |
91 | this->kernel->adc->enable_pin(this->thermistor_pin); | |
92 | ||
93 | // Heater pin | |
94 | this->heater_pin = this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_pin()->as_output(); | |
95 | this->heater_pin->set(0); | |
7dd8133c | 96 | |
907d5e8a MM |
97 | // activate SD-DAC timer |
98 | this->kernel->slow_ticker->attach(100, this->heater_pin, &Pin::tick); | |
99 | ||
100 | // PID | |
101 | this->p_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number(); | |
102 | this->i_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.1)->as_number(); | |
103 | this->d_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(20 )->as_number(); | |
104 | this->i_max = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(10)->as_number(); | |
105 | this->i_accumulator = 0.0; | |
106 | this->last_reading = 0.0; | |
7dd8133c AW |
107 | } |
108 | ||
b2b0b56d AW |
109 | //#pragma GCC push_options |
110 | //#pragma GCC optimize ("O0") | |
db453125 | 111 | |
b0be67b5 MM |
112 | void TemperatureControl::on_gcode_received(void* argument) |
113 | { | |
114 | Gcode* gcode = static_cast<Gcode*>(argument); | |
115 | if (gcode->has_m) | |
116 | { | |
117 | // Get temperature | |
118 | if( gcode->m == this->get_m_code ){ | |
c4f4cf73 | 119 | gcode->stream->printf("%s:%3.1f /%3.1f @%d ", this->designator.c_str(), this->get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), this->o); |
ac9f9b7a | 120 | gcode->add_nl = true; |
b0be67b5 MM |
121 | } |
122 | } | |
123 | } | |
db453125 | 124 | |
ded56b35 AW |
125 | void TemperatureControl::on_gcode_execute(void* argument){ |
126 | Gcode* gcode = static_cast<Gcode*>(argument); | |
e6b5ae25 AW |
127 | if( gcode->has_m){ |
128 | // Set temperature without waiting | |
907d5e8a MM |
129 | if( gcode->m == this->set_m_code && gcode->has_letter('S') ) |
130 | { | |
e6b5ae25 | 131 | //gcode->stream->printf("setting to %f meaning %u \r\n", gcode->get_value('S'), this->temperature_to_adc_value( gcode->get_value('S') ) ); |
eabf7a9b MM |
132 | if (gcode->get_value('S') == 0) |
133 | { | |
907d5e8a | 134 | this->target_temperature = UNDEFINED; |
eabf7a9b MM |
135 | this->heater_pin->set(0); |
136 | } | |
137 | else | |
138 | { | |
907d5e8a MM |
139 | this->set_desired_temperature(gcode->get_value('S')); |
140 | } | |
eabf7a9b | 141 | } |
e6b5ae25 | 142 | // Set temperature and wait |
907d5e8a MM |
143 | if( gcode->m == this->set_and_wait_m_code && gcode->has_letter('S') ) |
144 | { | |
eabf7a9b MM |
145 | if (gcode->get_value('S') == 0) |
146 | { | |
907d5e8a | 147 | this->target_temperature = UNDEFINED; |
eabf7a9b MM |
148 | this->heater_pin->set(0); |
149 | } | |
150 | else | |
151 | { | |
907d5e8a MM |
152 | this->set_desired_temperature(gcode->get_value('S')); |
153 | // Pause | |
154 | this->kernel->pauser->take(); | |
155 | this->waiting = true; | |
156 | } | |
df27a6a3 | 157 | } |
907d5e8a MM |
158 | if (gcode->m == 301) |
159 | { | |
160 | if (gcode->has_letter('P')) | |
161 | this->p_factor = gcode->get_value('P'); | |
162 | if (gcode->has_letter('I')) | |
163 | this->i_factor = gcode->get_value('I'); | |
164 | if (gcode->has_letter('D')) | |
165 | this->d_factor = gcode->get_value('D'); | |
166 | if (gcode->has_letter('X')) | |
167 | this->i_max = gcode->get_value('X'); | |
168 | gcode->stream->printf("%s: P:%g I:%g D:%g X(I_max):%g I_accum:%g P:%g I:%g D:%g O:%d\n", this->designator.c_str(), this->p_factor, this->i_factor, this->d_factor, this->i_max, this->i_accumulator, this->p, this->i, this->d, o); | |
eabf7a9b | 169 | } |
df27a6a3 | 170 | } |
ded56b35 AW |
171 | } |
172 | ||
b2b0b56d | 173 | //#pragma GCC pop_options |
db453125 AW |
174 | |
175 | ||
ded56b35 | 176 | void TemperatureControl::set_desired_temperature(double desired_temperature){ |
907d5e8a MM |
177 | // this->desired_adc_value = this->temperature_to_adc_value(desired_temperature); |
178 | target_temperature = desired_temperature; | |
ded56b35 AW |
179 | } |
180 | ||
181 | double TemperatureControl::get_temperature(){ | |
907d5e8a | 182 | return last_reading; |
ded56b35 AW |
183 | } |
184 | ||
907d5e8a MM |
185 | double TemperatureControl::adc_value_to_temperature(int adc_value) |
186 | { | |
187 | if ((adc_value == 4095) || (adc_value == 0)) | |
188 | return INFINITY; | |
189 | double r = r2 / ((4095.0 / adc_value) - 1.0); | |
190 | if (r1 > 0) | |
191 | r = (r1 * r) / (r1 - r); | |
192 | return (1.0 / (k + (j * log(r / r0)))) - 273.15; | |
ded56b35 AW |
193 | } |
194 | ||
8b8b3339 | 195 | uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){ |
907d5e8a MM |
196 | int r = new_thermistor_reading(); |
197 | ||
198 | double temperature = adc_value_to_temperature(r); | |
199 | ||
200 | if (target_temperature > 0) | |
201 | { | |
202 | if ((r <= 1) || (r >= 4094)) | |
36a3f3f0 | 203 | { |
907d5e8a MM |
204 | kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin->port_number, this->thermistor_pin->pin); |
205 | target_temperature = UNDEFINED; | |
206 | heater_pin->set(0); | |
36a3f3f0 MM |
207 | } |
208 | else | |
209 | { | |
907d5e8a MM |
210 | pid_process(temperature); |
211 | if ((temperature > target_temperature) && waiting) | |
36a3f3f0 | 212 | { |
907d5e8a MM |
213 | kernel->pauser->release(); |
214 | waiting = false; | |
81b547a1 | 215 | } |
ded56b35 AW |
216 | } |
217 | } | |
907d5e8a | 218 | last_reading = temperature; |
281967e4 | 219 | return 0; |
ded56b35 AW |
220 | } |
221 | ||
907d5e8a MM |
222 | void TemperatureControl::pid_process(double temperature) |
223 | { | |
224 | double error = target_temperature - temperature; | |
ded56b35 | 225 | |
907d5e8a MM |
226 | p = error * p_factor; |
227 | i = this->i_accumulator + (error * this->i_factor); | |
228 | d = (temperature - last_reading) * this->d_factor; | |
ded56b35 | 229 | |
907d5e8a MM |
230 | if (i > this->i_max) |
231 | i = this->i_max; | |
232 | if (i < -this->i_max) | |
233 | i = -this->i_max; | |
ded56b35 | 234 | |
907d5e8a | 235 | this->i_accumulator = i; |
ded56b35 | 236 | |
92b149fd | 237 | this->o = (p + i - d) * 4; |
907d5e8a MM |
238 | if (this->o > 1023) |
239 | this->o = 1023; | |
240 | if (this->o < 0) | |
241 | this->o = 0; | |
242 | ||
243 | this->heater_pin->pwm(o); | |
244 | } | |
ded56b35 | 245 | |
907d5e8a MM |
246 | int TemperatureControl::new_thermistor_reading() |
247 | { | |
c4f4cf73 | 248 | int last_raw = this->kernel->adc->read(this->thermistor_pin); |
907d5e8a MM |
249 | if (queue.size() >= queue.capacity()) |
250 | { | |
251 | uint16_t l; | |
252 | queue.pop_front(l); | |
253 | running_total -= l; | |
254 | } | |
c4f4cf73 MM |
255 | uint16_t r = last_raw; |
256 | queue.push_back(r); | |
257 | running_total += last_raw; | |
907d5e8a MM |
258 | return running_total / queue.size(); |
259 | } |