[clinton/Smoothieware.git] / src / modules / tools / temperaturecontrol / TemperatureControl.cpp

/*
      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
      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.
      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.
      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/

// TODO : THIS FILE IS LAME, MUST BE MADE MUCH BETTER

#include "libs/Module.h"
#include "libs/Kernel.h"
#include <math.h>
#include "TemperatureControl.h"
#include "TemperatureControlPool.h"
#include "libs/Pin.h"
#include "modules/robot/Conveyor.h"
#include "PublicDataRequest.h"

#include "PublicData.h"
#include "ToolManagerPublicAccess.h"
#include "StreamOutputPool.h"
#include "Config.h"
#include "checksumm.h"
#include "Gcode.h"
#include "SlowTicker.h"
#include "Pauser.h"
#include "ConfigValue.h"
#include "PID_Autotuner.h"

// Temp sensor implementations:
#include "Thermistor.h"
#include "max31855.h"

#include "MRI_Hooks.h"

#define UNDEFINED -1

#define sensor_checksum                    CHECKSUM("sensor")

#define readings_per_second_checksum       CHECKSUM("readings_per_second")
#define max_pwm_checksum                   CHECKSUM("max_pwm")
#define pwm_frequency_checksum             CHECKSUM("pwm_frequency")
#define bang_bang_checksum                 CHECKSUM("bang_bang")
#define hysteresis_checksum                CHECKSUM("hysteresis")
#define heater_pin_checksum                CHECKSUM("heater_pin")

#define get_m_code_checksum                CHECKSUM("get_m_code")
#define set_m_code_checksum                CHECKSUM("set_m_code")
#define set_and_wait_m_code_checksum       CHECKSUM("set_and_wait_m_code")

#define designator_checksum                CHECKSUM("designator")

#define p_factor_checksum                  CHECKSUM("p_factor")
#define i_factor_checksum                  CHECKSUM("i_factor")
#define d_factor_checksum                  CHECKSUM("d_factor")

#define i_max_checksum                     CHECKSUM("i_max")

#define preset1_checksum                   CHECKSUM("preset1")
#define preset2_checksum                   CHECKSUM("preset2")

TemperatureControl::TemperatureControl(uint16_t name, int index)
{
    name_checksum= name;
    pool_index= index;
    waiting= false;
    min_temp_violated= false;
    sensor= nullptr;
    readonly= false;
}

TemperatureControl::~TemperatureControl()
{
    delete sensor;
}

void TemperatureControl::on_module_loaded()
{

    // We start not desiring any temp
    this->target_temperature = UNDEFINED;

    // Settings
    this->load_config();

    // Register for events
    this->register_for_event(ON_GCODE_RECEIVED);
    this->register_for_event(ON_GET_PUBLIC_DATA);

    if(!this->readonly) {
        this->register_for_event(ON_GCODE_EXECUTE);
        this->register_for_event(ON_SECOND_TICK);
        this->register_for_event(ON_MAIN_LOOP);
        this->register_for_event(ON_SET_PUBLIC_DATA);
        this->register_for_event(ON_HALT);
    }
}

void TemperatureControl::on_halt(void *arg)
{
    // turn off heater
    this->o = 0;
    this->heater_pin.set(0);
    this->target_temperature = UNDEFINED;
}

void TemperatureControl::on_main_loop(void *argument)
{
    if (this->min_temp_violated) {
        THEKERNEL->streams->printf("Error: MINTEMP triggered. Check your temperature sensors!\n");
        this->min_temp_violated = false;
    }
}

// Get configuration from the config file
void TemperatureControl::load_config()
{

    // General config
    this->set_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
    this->set_and_wait_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_and_wait_m_code_checksum)->by_default(109)->as_number();
    this->get_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
    this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();

    this->designator          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();

    // Heater pin
    this->heater_pin.from_string( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->by_default("nc")->as_string());
    if(this->heater_pin.connected()){
        this->readonly= false;
        this->heater_pin.as_output();

    } else {
        this->readonly= true;
    }

    // For backward compatibility, default to a thermistor sensor.
    std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string();

    // Instantiate correct sensor (TBD: TempSensor factory?)
    delete sensor;
    sensor = nullptr; // In case we fail to create a new sensor.
    if(sensor_type.compare("thermistor") == 0) {
        sensor = new Thermistor();
    } else if(sensor_type.compare("max31855") == 0) {
        sensor = new Max31855();
    } else {
        sensor = new TempSensor(); // A dummy implementation
    }
    sensor->UpdateConfig(temperature_control_checksum, this->name_checksum);

    this->preset1 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
    this->preset2 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();


    // sigma-delta output modulation
    this->o = 0;

    if(!this->readonly) {
        // used to enable bang bang control of heater
        this->use_bangbang = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool();
        this->hysteresis = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number();
        this->heater_pin.max_pwm( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
        this->heater_pin.set(0);
        set_low_on_debug(heater_pin.port_number, heater_pin.pin);
        // activate SD-DAC timer
        THEKERNEL->slow_ticker->attach( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, pwm_frequency_checksum)->by_default(2000)->as_number(), &heater_pin, &Pwm::on_tick);
    }


    // reading tick
    THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
    this->PIDdt = 1.0 / this->readings_per_second;

    // PID
    setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
    setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() );
    setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );

    if(!this->readonly) {
        // set to the same as max_pwm by default
        this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(this->heater_pin.max_pwm())->as_number();
    }

    this->iTerm = 0.0;
    this->lastInput = -1.0;
    this->last_reading = 0.0;
}

void TemperatureControl::on_gcode_received(void *argument)
{
    Gcode *gcode = static_cast<Gcode *>(argument);
    if (gcode->has_m) {

        if( gcode->m == this->get_m_code ) {
            char buf[32]; // should be big enough for any status
            int n = snprintf(buf, sizeof(buf), "%s:%3.1f /%3.1f @%d ", this->designator.c_str(), this->get_temperature(), ((target_temperature == UNDEFINED) ? 0.0 : target_temperature), this->o);
            gcode->txt_after_ok.append(buf, n);
            gcode->mark_as_taken();
            return;
        }

        // readonly sensors don't handle the rest
        if(this->readonly) return;

        if (gcode->m == 301) {
            gcode->mark_as_taken();
            if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) {
                if (gcode->has_letter('P'))
                    setPIDp( gcode->get_value('P') );
                if (gcode->has_letter('I'))
                    setPIDi( gcode->get_value('I') );
                if (gcode->has_letter('D'))
                    setPIDd( gcode->get_value('D') );
                if (gcode->has_letter('X'))
                    this->i_max    = gcode->get_value('X');
            }
            //gcode->stream->printf("%s(S%d): Pf:%g If:%g Df:%g X(I_max):%g Pv:%g Iv:%g Dv:%g O:%d\n", this->designator.c_str(), this->pool_index, this->p_factor, this->i_factor/this->PIDdt, this->d_factor*this->PIDdt, this->i_max, this->p, this->i, this->d, o);
            gcode->stream->printf("%s(S%d): Pf:%g If:%g Df:%g X(I_max):%g O:%d\n", this->designator.c_str(), this->pool_index, this->p_factor, this->i_factor / this->PIDdt, this->d_factor * this->PIDdt, this->i_max, o);

        } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
            gcode->stream->printf(";PID settings:\nM301 S%d P%1.4f I%1.4f D%1.4f\n", this->pool_index, this->p_factor, this->i_factor / this->PIDdt, this->d_factor * this->PIDdt);
            gcode->mark_as_taken();

        } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S')) {
            // this only gets handled if it is not controlle dby the tool manager or is active in the toolmanager
            this->active = true;

            // this is safe as old configs as well as single extruder configs the toolmanager will not be running so will return false
            // this will also ignore anything that the tool manager is not controlling and return false, otherwise it returns the active tool
            void *returned_data;
            bool ok = PublicData::get_value( tool_manager_checksum, is_active_tool_checksum, this->name_checksum, &returned_data );
            if (ok) {
                uint16_t active_tool_name =  *static_cast<uint16_t *>(returned_data);
                this->active = (active_tool_name == this->name_checksum);
            }

            if(this->active) {
                // Attach gcodes to the last block for on_gcode_execute
                THEKERNEL->conveyor->append_gcode(gcode);

                // push an empty block if we have to wait, so the Planner can get things right, and we can prevent subsequent non-move gcodes from executing
                if (gcode->m == this->set_and_wait_m_code) {
                    // ensure that no subsequent gcodes get executed with our M109 or similar
                    THEKERNEL->conveyor->queue_head_block();
                }
            }
        }
    }
}

void TemperatureControl::on_gcode_execute(void *argument)
{
    Gcode *gcode = static_cast<Gcode *>(argument);
    if( gcode->has_m) {
        if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
            && gcode->has_letter('S') && this->active) {
            float v = gcode->get_value('S');

            if (v == 0.0) {
                this->target_temperature = UNDEFINED;
                this->heater_pin.set((this->o = 0));
            } else {
                this->set_desired_temperature(v);

                if( gcode->m == this->set_and_wait_m_code && !this->waiting) {
                    THEKERNEL->pauser->take();
                    this->waiting = true;
                }
            }
        }
    }
}

void TemperatureControl::on_get_public_data(void *argument)
{
    PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);

    if(!pdr->starts_with(temperature_control_checksum)) return;

    if(pdr->second_element_is(pool_index_checksum)) {
        // asking for our instance pointer if we have this pool_index
        if(pdr->third_element_is(this->pool_index)) {
            static void *return_data;
            return_data = this;
            pdr->set_data_ptr(&return_data);
            pdr->set_taken();
        }
        return;

    }else if(!pdr->second_element_is(this->name_checksum)) return;

    // ok this is targeted at us, so send back the requested data
    if(pdr->third_element_is(current_temperature_checksum)) {
        this->public_data_return.current_temperature = this->get_temperature();
        this->public_data_return.target_temperature = (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
        this->public_data_return.pwm = this->o;
        this->public_data_return.designator= this->designator;
        pdr->set_data_ptr(&this->public_data_return);
        pdr->set_taken();
    }

}

void TemperatureControl::on_set_public_data(void *argument)
{
    PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);

    if(!pdr->starts_with(temperature_control_checksum)) return;

    if(!pdr->second_element_is(this->name_checksum)) return;

    // ok this is targeted at us, so set the temp
    float t = *static_cast<float *>(pdr->get_data_ptr());
    this->set_desired_temperature(t);
    pdr->set_taken();
}

void TemperatureControl::set_desired_temperature(float desired_temperature)
{
    if (desired_temperature == 1.0)
        desired_temperature = preset1;
    else if (desired_temperature == 2.0)
        desired_temperature = preset2;

    target_temperature = desired_temperature;
    if (desired_temperature == 0.0)
        heater_pin.set((this->o = 0));
}

float TemperatureControl::get_temperature()
{
    return last_reading;
}

uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy)
{
    float temperature = sensor->get_temperature();
    if(this->readonly) {
        last_reading = temperature;
        return 0;
    }

    if (target_temperature > 0) {
        if (isinf(temperature)) {
            this->min_temp_violated = true;
            target_temperature = UNDEFINED;
            heater_pin.set((this->o = 0));
        } else {
            pid_process(temperature);
            if ((temperature > target_temperature) && waiting) {
                THEKERNEL->pauser->release();
                waiting = false;
            }
        }
    } else {
        heater_pin.set((this->o = 0));
    }
    last_reading = temperature;
    return 0;
}

/**
 * Based on https://github.com/br3ttb/Arduino-PID-Library
 */
void TemperatureControl::pid_process(float temperature)
{
    if(use_bangbang) {
        // bang bang is very simple, if temp is < target - hysteresis turn on full else if  temp is > target + hysteresis turn heater off
        // good for relays
        if(temperature > (target_temperature + hysteresis) && this->o > 0) {
            heater_pin.set(false);
            this->o = 0; // for display purposes only

        } else if(temperature < (target_temperature - hysteresis) && this->o <= 0) {
            if(heater_pin.max_pwm() >= 255) {
                // turn on full
                this->heater_pin.set(true);
                this->o = 255; // for display purposes only
            } else {
                // only to whatever max pwm is configured
                this->heater_pin.pwm(heater_pin.max_pwm());
                this->o = heater_pin.max_pwm(); // for display purposes only
            }
        }
        return;
    }

    // regular PID control
    float error = target_temperature - temperature;
    this->iTerm += (error * this->i_factor);
    if (this->iTerm > this->i_max) this->iTerm = this->i_max;
    else if (this->iTerm < 0.0) this->iTerm = 0.0;

    if(this->lastInput < 0.0) this->lastInput = temperature; // set first time
    float d = (temperature - this->lastInput);

    // calculate the PID output
    // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
    this->o = (this->p_factor * error) + this->iTerm - (this->d_factor * d);

    if (this->o >= heater_pin.max_pwm())
        this->o = heater_pin.max_pwm();
    else if (this->o < 0)
        this->o = 0;

    this->heater_pin.pwm(this->o);
    this->lastInput = temperature;
}

void TemperatureControl::on_second_tick(void *argument)
{
    if (waiting)
        THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED) ? 0.0 : target_temperature), o);
}

void TemperatureControl::setPIDp(float p)
{
    this->p_factor = p;
}

void TemperatureControl::setPIDi(float i)
{
    this->i_factor = i * this->PIDdt;
}

void TemperatureControl::setPIDd(float d)
{
    this->d_factor = d / this->PIDdt;
}
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	*/
cd011f58 AW	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"
3c308aeb	14	#include "TemperatureControlPool.h"
3c132bd0	15	#include "libs/Pin.h"
3c4f2dd8	16	#include "modules/robot/Conveyor.h"
8293d443	17	#include "PublicDataRequest.h"
2fa50ca0	18
38b9f24a L	19	#include "PublicData.h"
38b9f24a L	20	#include "ToolManagerPublicAccess.h"
61134a65 JM	21	#include "StreamOutputPool.h"
	22	#include "Config.h"
	23	#include "checksumm.h"
	24	#include "Gcode.h"
61134a65 JM	25	#include "SlowTicker.h"
61134a65 JM	26	#include "Pauser.h"
8d54c34c	27	#include "ConfigValue.h"
66383b80	28	#include "PID_Autotuner.h"
ded56b35	29
9d955060	30	// Temp sensor implementations:
9d955060	31	#include "Thermistor.h"
4710532a	32	#include "max31855.h"
9d955060	33
8f91e4e6 MM	34	#include "MRI_Hooks.h"
8f91e4e6 MM	35
85eabc50 JM	36	#define UNDEFINED -1
85eabc50 JM	37
9d955060	38	#define sensor_checksum CHECKSUM("sensor")
9d955060	39
85eabc50 JM	40	#define readings_per_second_checksum CHECKSUM("readings_per_second")
	41	#define max_pwm_checksum CHECKSUM("max_pwm")
	42	#define pwm_frequency_checksum CHECKSUM("pwm_frequency")
989d0e94 JM	43	#define bang_bang_checksum CHECKSUM("bang_bang")
989d0e94 JM	44	#define hysteresis_checksum CHECKSUM("hysteresis")
85eabc50 JM	45	#define heater_pin_checksum CHECKSUM("heater_pin")
	46
	47	#define get_m_code_checksum CHECKSUM("get_m_code")
	48	#define set_m_code_checksum CHECKSUM("set_m_code")
	49	#define set_and_wait_m_code_checksum CHECKSUM("set_and_wait_m_code")
	50
	51	#define designator_checksum CHECKSUM("designator")
	52
	53	#define p_factor_checksum CHECKSUM("p_factor")
	54	#define i_factor_checksum CHECKSUM("i_factor")
	55	#define d_factor_checksum CHECKSUM("d_factor")
	56
	57	#define i_max_checksum CHECKSUM("i_max")
	58
	59	#define preset1_checksum CHECKSUM("preset1")
	60	#define preset2_checksum CHECKSUM("preset2")
	61
8e8b938e	62	TemperatureControl::TemperatureControl(uint16_t name, int index)
d8baddd9	63	{
8e8b938e JM	64	name_checksum= name;
	65	pool_index= index;
	66	waiting= false;
	67	min_temp_violated= false;
	68	sensor= nullptr;
71cc73eb	69	readonly= false;
d8baddd9	70	}
ded56b35	71
d8baddd9	72	TemperatureControl::~TemperatureControl()
	73	{
	74	delete sensor;
	75	}
4710532a JM	76
	77	void TemperatureControl::on_module_loaded()
	78	{
907d5e8a	79
81b547a1	80	// We start not desiring any temp
907d5e8a	81	this->target_temperature = UNDEFINED;
ded56b35 AW	82
ded56b35 AW	83	// Settings
71cc73eb	84	this->load_config();
ded56b35	85
ded56b35	86	// Register for events
b0be67b5	87	this->register_for_event(ON_GCODE_RECEIVED);
8293d443	88	this->register_for_event(ON_GET_PUBLIC_DATA);
71cc73eb JM	89
	90	if(!this->readonly) {
	91	this->register_for_event(ON_GCODE_EXECUTE);
	92	this->register_for_event(ON_SECOND_TICK);
	93	this->register_for_event(ON_MAIN_LOOP);
	94	this->register_for_event(ON_SET_PUBLIC_DATA);
	95	this->register_for_event(ON_HALT);
	96	}
3d1a4519 JM	97	}
	98
	99	void TemperatureControl::on_halt(void *arg)
	100	{
	101	// turn off heater
	102	this->o = 0;
	103	this->heater_pin.set(0);
	104	this->target_temperature = UNDEFINED;
ded56b35 AW	105	}
ded56b35 AW	106
4710532a JM	107	void TemperatureControl::on_main_loop(void *argument)
4710532a JM	108	{
7e57bc2c	109	if (this->min_temp_violated) {
9d955060	110	THEKERNEL->streams->printf("Error: MINTEMP triggered. Check your temperature sensors!\n");
7e57bc2c	111	this->min_temp_violated = false;
a7f12bed	112	}
7e57bc2c	113	}
7dd8133c AW	114
7dd8133c AW	115	// Get configuration from the config file
71cc73eb	116	void TemperatureControl::load_config()
4710532a	117	{
7dd8133c	118
1306ba99	119	// General config
314ab8f7 MM	120	this->set_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
	121	this->set_and_wait_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_and_wait_m_code_checksum)->by_default(109)->as_number();
	122	this->get_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
	123	this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
7dee00e4	124
314ab8f7	125	this->designator = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
b0be67b5	126
71cc73eb JM	127	// Heater pin
	128	this->heater_pin.from_string( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->by_default("nc")->as_string());
	129	if(this->heater_pin.connected()){
	130	this->readonly= false;
	131	this->heater_pin.as_output();
	132
	133	} else {
	134	this->readonly= true;
	135	}
	136
d8baddd9	137	// For backward compatibility, default to a thermistor sensor.
	138	std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string();
	139
	140	// Instantiate correct sensor (TBD: TempSensor factory?)
	141	delete sensor;
	142	sensor = nullptr; // In case we fail to create a new sensor.
4710532a	143	if(sensor_type.compare("thermistor") == 0) {
d8baddd9	144	sensor = new Thermistor();
4710532a	145	} else if(sensor_type.compare("max31855") == 0) {
d8baddd9	146	sensor = new Max31855();
4710532a	147	} else {
d8baddd9	148	sensor = new TempSensor(); // A dummy implementation
	149	}
	150	sensor->UpdateConfig(temperature_control_checksum, this->name_checksum);
4710532a	151
71cc73eb JM	152	this->preset1 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
71cc73eb JM	153	this->preset2 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
f4bd4fc3	154
907d5e8a	155
c4f4cf73	156	// sigma-delta output modulation
b35ac71e	157	this->o = 0;
3c132bd0	158
71cc73eb JM	159	if(!this->readonly) {
	160	// used to enable bang bang control of heater
	161	this->use_bangbang = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool();
	162	this->hysteresis = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number();
	163	this->heater_pin.max_pwm( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
	164	this->heater_pin.set(0);
	165	set_low_on_debug(heater_pin.port_number, heater_pin.pin);
	166	// activate SD-DAC timer
	167	THEKERNEL->slow_ticker->attach( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, pwm_frequency_checksum)->by_default(2000)->as_number(), &heater_pin, &Pwm::on_tick);
	168	}
8f91e4e6	169
907d5e8a	170
f39da6fe	171	// reading tick
314ab8f7	172	THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
4710532a	173	this->PIDdt = 1.0 / this->readings_per_second;
f39da6fe	174
907d5e8a	175	// PID
314ab8f7	176	setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
1ad23cd3	177	setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() );
314ab8f7	178	setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );
71cc73eb JM	179
	180	if(!this->readonly) {
	181	// set to the same as max_pwm by default
	182	this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(this->heater_pin.max_pwm())->as_number();
	183	}
	184
10e66797	185	this->iTerm = 0.0;
4710532a	186	this->lastInput = -1.0;
907d5e8a	187	this->last_reading = 0.0;
7dd8133c AW	188	}
7dd8133c AW	189
4710532a JM	190	void TemperatureControl::on_gcode_received(void *argument)
	191	{
	192	Gcode gcode = static_cast<Gcode >(argument);
8dfbc976	193	if (gcode->has_m) {
ee4711d1	194
4710532a	195	if( gcode->m == this->get_m_code ) {
93284f6f	196	char buf[32]; // should be big enough for any status
4710532a	197	int n = snprintf(buf, sizeof(buf), "%s:%3.1f /%3.1f @%d ", this->designator.c_str(), this->get_temperature(), ((target_temperature == UNDEFINED) ? 0.0 : target_temperature), this->o);
93284f6f	198	gcode->txt_after_ok.append(buf, n);
a24ab0ac	199	gcode->mark_as_taken();
71cc73eb JM	200	return;
71cc73eb JM	201	}
8dfbc976	202
71cc73eb JM	203	// readonly sensors don't handle the rest
	204	if(this->readonly) return;
	205
	206	if (gcode->m == 301) {
74b6303c	207	gcode->mark_as_taken();
4710532a	208	if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) {
827a49ca	209	if (gcode->has_letter('P'))
201e6dcf	210	setPIDp( gcode->get_value('P') );
827a49ca	211	if (gcode->has_letter('I'))
201e6dcf	212	setPIDi( gcode->get_value('I') );
827a49ca	213	if (gcode->has_letter('D'))
201e6dcf	214	setPIDd( gcode->get_value('D') );
827a49ca MM	215	if (gcode->has_letter('X'))
	216	this->i_max = gcode->get_value('X');
	217	}
10e66797	218	//gcode->stream->printf("%s(S%d): Pf:%g If:%g Df:%g X(I_max):%g Pv:%g Iv:%g Dv:%g O:%d\n", this->designator.c_str(), this->pool_index, this->p_factor, this->i_factor/this->PIDdt, this->d_factor*this->PIDdt, this->i_max, this->p, this->i, this->d, o);
4710532a	219	gcode->stream->printf("%s(S%d): Pf:%g If:%g Df:%g X(I_max):%g O:%d\n", this->designator.c_str(), this->pool_index, this->p_factor, this->i_factor / this->PIDdt, this->d_factor * this->PIDdt, this->i_max, o);
8dfbc976	220
4710532a JM	221	} else if (gcode->m == 500 \|\| gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
4710532a JM	222	gcode->stream->printf(";PID settings:\nM301 S%d P%1.4f I%1.4f D%1.4f\n", this->pool_index, this->p_factor, this->i_factor / this->PIDdt, this->d_factor * this->PIDdt);
33e4cc02 JM	223	gcode->mark_as_taken();
33e4cc02 JM	224
8e8b938e JM	225	} else if( ( gcode->m == this->set_m_code \|\| gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S')) {
	226	// this only gets handled if it is not controlle dby the tool manager or is active in the toolmanager
	227	this->active = true;
	228
	229	// this is safe as old configs as well as single extruder configs the toolmanager will not be running so will return false
	230	// this will also ignore anything that the tool manager is not controlling and return false, otherwise it returns the active tool
	231	void *returned_data;
75e6428d	232	bool ok = PublicData::get_value( tool_manager_checksum, is_active_tool_checksum, this->name_checksum, &returned_data );
8e8b938e JM	233	if (ok) {
	234	uint16_t active_tool_name = static_cast<uint16_t >(returned_data);
	235	this->active = (active_tool_name == this->name_checksum);
	236	}
	237
	238	if(this->active) {
	239	// Attach gcodes to the last block for on_gcode_execute
	240	THEKERNEL->conveyor->append_gcode(gcode);
2134bcf2	241
8e8b938e JM	242	// push an empty block if we have to wait, so the Planner can get things right, and we can prevent subsequent non-move gcodes from executing
	243	if (gcode->m == this->set_and_wait_m_code) {
	244	// ensure that no subsequent gcodes get executed with our M109 or similar
	245	THEKERNEL->conveyor->queue_head_block();
	246	}
	247	}
3c4f2dd8	248	}
b0be67b5 MM	249	}
b0be67b5 MM	250	}
db453125	251
4710532a JM	252	void TemperatureControl::on_gcode_execute(void *argument)
	253	{
	254	Gcode gcode = static_cast<Gcode >(argument);
	255	if( gcode->has_m) {
cf1a7632	256	if (((gcode->m == this->set_m_code) \|\| (gcode->m == this->set_and_wait_m_code))
4710532a	257	&& gcode->has_letter('S') && this->active) {
1ad23cd3	258	float v = gcode->get_value('S');
f4bd4fc3	259
4710532a	260	if (v == 0.0) {
907d5e8a	261	this->target_temperature = UNDEFINED;
4710532a JM	262	this->heater_pin.set((this->o = 0));
4710532a JM	263	} else {
f4bd4fc3	264	this->set_desired_temperature(v);
cf1a7632	265
7dc903db	266	if( gcode->m == this->set_and_wait_m_code && !this->waiting) {
314ab8f7	267	THEKERNEL->pauser->take();
cf1a7632 MM	268	this->waiting = true;
cf1a7632 MM	269	}
907d5e8a	270	}
df27a6a3	271	}
df27a6a3	272	}
ded56b35 AW	273	}
ded56b35 AW	274
4710532a JM	275	void TemperatureControl::on_get_public_data(void *argument)
	276	{
	277	PublicDataRequest pdr = static_cast<PublicDataRequest >(argument);
201e6dcf	278
b19aa09d JM	279	if(!pdr->starts_with(temperature_control_checksum)) return;
b19aa09d JM	280
8e8b938e JM	281	if(pdr->second_element_is(pool_index_checksum)) {
	282	// asking for our instance pointer if we have this pool_index
	283	if(pdr->third_element_is(this->pool_index)) {
	284	static void *return_data;
	285	return_data = this;
	286	pdr->set_data_ptr(&return_data);
	287	pdr->set_taken();
	288	}
	289	return;
	290
	291	}else if(!pdr->second_element_is(this->name_checksum)) return;
b19aa09d JM	292
	293	// ok this is targeted at us, so send back the requested data
	294	if(pdr->third_element_is(current_temperature_checksum)) {
2fa50ca0 JM	295	this->public_data_return.current_temperature = this->get_temperature();
	296	this->public_data_return.target_temperature = (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
	297	this->public_data_return.pwm = this->o;
	298	this->public_data_return.designator= this->designator;
	299	pdr->set_data_ptr(&this->public_data_return);
b19aa09d JM	300	pdr->set_taken();
b19aa09d JM	301	}
8e8b938e	302
8293d443	303	}
db453125	304
4710532a JM	305	void TemperatureControl::on_set_public_data(void *argument)
	306	{
	307	PublicDataRequest pdr = static_cast<PublicDataRequest >(argument);
77047e76	308
991d98cc	309	if(!pdr->starts_with(temperature_control_checksum)) return;
77047e76	310
8e8b938e	311	if(!pdr->second_element_is(this->name_checksum)) return;
77047e76	312
991d98cc	313	// ok this is targeted at us, so set the temp
4710532a	314	float t = static_cast<float >(pdr->get_data_ptr());
991d98cc JM	315	this->set_desired_temperature(t);
991d98cc JM	316	pdr->set_taken();
77047e76 JM	317	}
77047e76 JM	318
1ad23cd3	319	void TemperatureControl::set_desired_temperature(float desired_temperature)
cf1a7632 MM	320	{
	321	if (desired_temperature == 1.0)
	322	desired_temperature = preset1;
	323	else if (desired_temperature == 2.0)
	324	desired_temperature = preset2;
	325
907d5e8a	326	target_temperature = desired_temperature;
959dc7db	327	if (desired_temperature == 0.0)
b35ac71e	328	heater_pin.set((this->o = 0));
ded56b35 AW	329	}
ded56b35 AW	330
4710532a JM	331	float TemperatureControl::get_temperature()
4710532a JM	332	{
907d5e8a	333	return last_reading;
ded56b35 AW	334	}
ded56b35 AW	335
4710532a JM	336	uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy)
4710532a JM	337	{
9d955060	338	float temperature = sensor->get_temperature();
71cc73eb JM	339	if(this->readonly) {
	340	last_reading = temperature;
	341	return 0;
	342	}
907d5e8a	343
4710532a JM	344	if (target_temperature > 0) {
4710532a JM	345	if (isinf(temperature)) {
7e57bc2c	346	this->min_temp_violated = true;
907d5e8a	347	target_temperature = UNDEFINED;
4710532a JM	348	heater_pin.set((this->o = 0));
4710532a JM	349	} else {
907d5e8a	350	pid_process(temperature);
4710532a	351	if ((temperature > target_temperature) && waiting) {
347854ff	352	THEKERNEL->pauser->release();
907d5e8a	353	waiting = false;
81b547a1	354	}
ded56b35	355	}
4710532a	356	} else {
b35ac71e	357	heater_pin.set((this->o = 0));
959dc7db	358	}
907d5e8a	359	last_reading = temperature;
281967e4	360	return 0;
ded56b35 AW	361	}
ded56b35 AW	362
10e66797 JM	363	/**
	364	* Based on https://github.com/br3ttb/Arduino-PID-Library
	365	*/
1ad23cd3	366	void TemperatureControl::pid_process(float temperature)
907d5e8a	367	{
989d0e94	368	if(use_bangbang) {
b35ac71e	369	// bang bang is very simple, if temp is < target - hysteresis turn on full else if temp is > target + hysteresis turn heater off
989d0e94	370	// good for relays
4710532a	371	if(temperature > (target_temperature + hysteresis) && this->o > 0) {
989d0e94	372	heater_pin.set(false);
4710532a	373	this->o = 0; // for display purposes only
989d0e94	374
4710532a	375	} else if(temperature < (target_temperature - hysteresis) && this->o <= 0) {
989d0e94 JM	376	if(heater_pin.max_pwm() >= 255) {
	377	// turn on full
	378	this->heater_pin.set(true);
4710532a JM	379	this->o = 255; // for display purposes only
4710532a JM	380	} else {
989d0e94 JM	381	// only to whatever max pwm is configured
989d0e94 JM	382	this->heater_pin.pwm(heater_pin.max_pwm());
4710532a	383	this->o = heater_pin.max_pwm(); // for display purposes only
989d0e94	384	}
989d0e94 JM	385	}
	386	return;
	387	}
ded56b35	388
989d0e94 JM	389	// regular PID control
989d0e94 JM	390	float error = target_temperature - temperature;
10e66797 JM	391	this->iTerm += (error * this->i_factor);
	392	if (this->iTerm > this->i_max) this->iTerm = this->i_max;
	393	else if (this->iTerm < 0.0) this->iTerm = 0.0;
ded56b35	394
4710532a JM	395	if(this->lastInput < 0.0) this->lastInput = temperature; // set first time
4710532a JM	396	float d = (temperature - this->lastInput);
ded56b35	397
10e66797 JM	398	// calculate the PID output
10e66797 JM	399	// TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
4710532a	400	this->o = (this->p_factor * error) + this->iTerm - (this->d_factor * d);
8cdae54c	401
7dee00e4	402	if (this->o >= heater_pin.max_pwm())
7dee00e4	403	this->o = heater_pin.max_pwm();
27aecda6	404	else if (this->o < 0)
907d5e8a MM	405	this->o = 0;
907d5e8a MM	406
27aecda6	407	this->heater_pin.pwm(this->o);
4710532a	408	this->lastInput = temperature;
907d5e8a	409	}
ded56b35	410
4710532a	411	void TemperatureControl::on_second_tick(void *argument)
8ccab7cf MM	412	{
8ccab7cf MM	413	if (waiting)
4710532a	414	THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED) ? 0.0 : target_temperature), o);
8ccab7cf	415	}
201e6dcf	416
4710532a JM	417	void TemperatureControl::setPIDp(float p)
	418	{
	419	this->p_factor = p;
201e6dcf JM	420	}
201e6dcf JM	421
4710532a JM	422	void TemperatureControl::setPIDi(float i)
	423	{
	424	this->i_factor = i * this->PIDdt;
201e6dcf JM	425	}
201e6dcf JM	426
4710532a JM	427	void TemperatureControl::setPIDd(float d)
	428	{
	429	this->d_factor = d / this->PIDdt;
201e6dcf	430	}