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" | |
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" |
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" |
26 | #include "Pauser.h" | |
8d54c34c | 27 | #include "ConfigValue.h" |
66383b80 | 28 | #include "PID_Autotuner.h" |
1f8dab1a JM |
29 | #include "SerialMessage.h" |
30 | #include "utils.h" | |
ded56b35 | 31 | |
9d955060 | 32 | // Temp sensor implementations: |
33 | #include "Thermistor.h" | |
4710532a | 34 | #include "max31855.h" |
9d955060 | 35 | |
8f91e4e6 MM |
36 | #include "MRI_Hooks.h" |
37 | ||
85eabc50 JM |
38 | #define UNDEFINED -1 |
39 | ||
9d955060 | 40 | #define sensor_checksum CHECKSUM("sensor") |
41 | ||
85eabc50 JM |
42 | #define readings_per_second_checksum CHECKSUM("readings_per_second") |
43 | #define max_pwm_checksum CHECKSUM("max_pwm") | |
44 | #define pwm_frequency_checksum CHECKSUM("pwm_frequency") | |
989d0e94 JM |
45 | #define bang_bang_checksum CHECKSUM("bang_bang") |
46 | #define hysteresis_checksum CHECKSUM("hysteresis") | |
85eabc50 | 47 | #define heater_pin_checksum CHECKSUM("heater_pin") |
bb02929e | 48 | #define max_temp_checksum CHECKSUM("max_temp") |
3a014cbb | 49 | #define min_temp_checksum CHECKSUM("min_temp") |
85eabc50 JM |
50 | |
51 | #define get_m_code_checksum CHECKSUM("get_m_code") | |
52 | #define set_m_code_checksum CHECKSUM("set_m_code") | |
53 | #define set_and_wait_m_code_checksum CHECKSUM("set_and_wait_m_code") | |
54 | ||
55 | #define designator_checksum CHECKSUM("designator") | |
56 | ||
57 | #define p_factor_checksum CHECKSUM("p_factor") | |
58 | #define i_factor_checksum CHECKSUM("i_factor") | |
59 | #define d_factor_checksum CHECKSUM("d_factor") | |
60 | ||
61 | #define i_max_checksum CHECKSUM("i_max") | |
08f89868 | 62 | #define windup_checksum CHECKSUM("windup") |
85eabc50 JM |
63 | |
64 | #define preset1_checksum CHECKSUM("preset1") | |
65 | #define preset2_checksum CHECKSUM("preset2") | |
66 | ||
8e8b938e | 67 | TemperatureControl::TemperatureControl(uint16_t name, int index) |
d8baddd9 | 68 | { |
8e8b938e JM |
69 | name_checksum= name; |
70 | pool_index= index; | |
71 | waiting= false; | |
01004e36 | 72 | temp_violated= false; |
8e8b938e | 73 | sensor= nullptr; |
71cc73eb | 74 | readonly= false; |
d8baddd9 | 75 | } |
ded56b35 | 76 | |
d8baddd9 | 77 | TemperatureControl::~TemperatureControl() |
78 | { | |
79 | delete sensor; | |
80 | } | |
4710532a JM |
81 | |
82 | void TemperatureControl::on_module_loaded() | |
83 | { | |
907d5e8a | 84 | |
81b547a1 | 85 | // We start not desiring any temp |
907d5e8a | 86 | this->target_temperature = UNDEFINED; |
f1e38d95 | 87 | this->sensor_settings= false; // set to true if sensor settings have been overriden |
ded56b35 AW |
88 | |
89 | // Settings | |
71cc73eb | 90 | this->load_config(); |
ded56b35 | 91 | |
ded56b35 | 92 | // Register for events |
b0be67b5 | 93 | this->register_for_event(ON_GCODE_RECEIVED); |
8293d443 | 94 | this->register_for_event(ON_GET_PUBLIC_DATA); |
71cc73eb JM |
95 | |
96 | if(!this->readonly) { | |
71cc73eb JM |
97 | this->register_for_event(ON_SECOND_TICK); |
98 | this->register_for_event(ON_MAIN_LOOP); | |
99 | this->register_for_event(ON_SET_PUBLIC_DATA); | |
100 | this->register_for_event(ON_HALT); | |
101 | } | |
3d1a4519 JM |
102 | } |
103 | ||
104 | void TemperatureControl::on_halt(void *arg) | |
105 | { | |
728477c4 JM |
106 | if(arg == nullptr) { |
107 | // turn off heater | |
108 | this->o = 0; | |
109 | this->heater_pin.set(0); | |
110 | this->target_temperature = UNDEFINED; | |
111 | } | |
ded56b35 AW |
112 | } |
113 | ||
4710532a JM |
114 | void TemperatureControl::on_main_loop(void *argument) |
115 | { | |
01004e36 JM |
116 | if (this->temp_violated) { |
117 | this->temp_violated = false; | |
937d1215 | 118 | THEKERNEL->streams->printf("Error: MINTEMP or MAXTEMP triggered. Check your temperature sensors!\n"); |
01004e36 JM |
119 | THEKERNEL->streams->printf("HALT asserted - reset or M999 required\n"); |
120 | THEKERNEL->call_event(ON_HALT, nullptr); | |
a7f12bed | 121 | } |
7e57bc2c | 122 | } |
7dd8133c AW |
123 | |
124 | // Get configuration from the config file | |
71cc73eb | 125 | void TemperatureControl::load_config() |
4710532a | 126 | { |
7dd8133c | 127 | |
1306ba99 | 128 | // General config |
314ab8f7 MM |
129 | this->set_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number(); |
130 | 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(); | |
131 | this->get_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number(); | |
132 | this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number(); | |
7dee00e4 | 133 | |
314ab8f7 | 134 | this->designator = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string(); |
b0be67b5 | 135 | |
3a014cbb | 136 | // Max and min temperatures we are not allowed to get over (Safety) |
01004e36 | 137 | this->max_temp = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_temp_checksum)->by_default(300)->as_number(); |
3a014cbb | 138 | this->min_temp = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, min_temp_checksum)->by_default(0)->as_number(); |
7d4baeee | 139 | |
71cc73eb JM |
140 | // Heater pin |
141 | this->heater_pin.from_string( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->by_default("nc")->as_string()); | |
142 | if(this->heater_pin.connected()){ | |
143 | this->readonly= false; | |
144 | this->heater_pin.as_output(); | |
145 | ||
146 | } else { | |
147 | this->readonly= true; | |
148 | } | |
149 | ||
d8baddd9 | 150 | // For backward compatibility, default to a thermistor sensor. |
151 | std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string(); | |
152 | ||
153 | // Instantiate correct sensor (TBD: TempSensor factory?) | |
154 | delete sensor; | |
155 | sensor = nullptr; // In case we fail to create a new sensor. | |
4710532a | 156 | if(sensor_type.compare("thermistor") == 0) { |
d8baddd9 | 157 | sensor = new Thermistor(); |
4710532a | 158 | } else if(sensor_type.compare("max31855") == 0) { |
d8baddd9 | 159 | sensor = new Max31855(); |
4710532a | 160 | } else { |
d8baddd9 | 161 | sensor = new TempSensor(); // A dummy implementation |
162 | } | |
163 | sensor->UpdateConfig(temperature_control_checksum, this->name_checksum); | |
4710532a | 164 | |
71cc73eb JM |
165 | this->preset1 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number(); |
166 | this->preset2 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number(); | |
f4bd4fc3 | 167 | |
907d5e8a | 168 | |
c4f4cf73 | 169 | // sigma-delta output modulation |
b35ac71e | 170 | this->o = 0; |
3c132bd0 | 171 | |
71cc73eb JM |
172 | if(!this->readonly) { |
173 | // used to enable bang bang control of heater | |
174 | this->use_bangbang = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool(); | |
175 | this->hysteresis = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number(); | |
08f89868 | 176 | this->windup = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, windup_checksum)->by_default(false)->as_bool(); |
71cc73eb JM |
177 | this->heater_pin.max_pwm( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() ); |
178 | this->heater_pin.set(0); | |
179 | set_low_on_debug(heater_pin.port_number, heater_pin.pin); | |
180 | // activate SD-DAC timer | |
181 | 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); | |
182 | } | |
8f91e4e6 | 183 | |
907d5e8a | 184 | |
f39da6fe | 185 | // reading tick |
314ab8f7 | 186 | THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick ); |
4710532a | 187 | this->PIDdt = 1.0 / this->readings_per_second; |
f39da6fe | 188 | |
907d5e8a | 189 | // PID |
314ab8f7 | 190 | setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() ); |
1ad23cd3 | 191 | setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() ); |
314ab8f7 | 192 | setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() ); |
71cc73eb JM |
193 | |
194 | if(!this->readonly) { | |
195 | // set to the same as max_pwm by default | |
196 | this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(this->heater_pin.max_pwm())->as_number(); | |
197 | } | |
198 | ||
10e66797 | 199 | this->iTerm = 0.0; |
4710532a | 200 | this->lastInput = -1.0; |
907d5e8a | 201 | this->last_reading = 0.0; |
7dd8133c AW |
202 | } |
203 | ||
4710532a JM |
204 | void TemperatureControl::on_gcode_received(void *argument) |
205 | { | |
206 | Gcode *gcode = static_cast<Gcode *>(argument); | |
8dfbc976 | 207 | if (gcode->has_m) { |
ee4711d1 | 208 | |
4710532a | 209 | if( gcode->m == this->get_m_code ) { |
93284f6f | 210 | char buf[32]; // should be big enough for any status |
3517edce | 211 | int n = snprintf(buf, sizeof(buf), "%s:%3.1f /%3.1f @%d ", this->designator.c_str(), this->get_temperature(), ((target_temperature <= 0) ? 0.0 : target_temperature), this->o); |
93284f6f | 212 | gcode->txt_after_ok.append(buf, n); |
71cc73eb JM |
213 | return; |
214 | } | |
8dfbc976 | 215 | |
76f53dc6 | 216 | if (gcode->m == 305) { // set or get sensor settings |
76f53dc6 | 217 | if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) { |
1f8dab1a | 218 | TempSensor::sensor_options_t args= gcode->get_args(); |
d22755f7 JM |
219 | args.erase('S'); // don't include the S |
220 | if(args.size() > 0) { | |
76f53dc6 | 221 | // set the new options |
d22755f7 JM |
222 | if(sensor->set_optional(args)) { |
223 | this->sensor_settings= true; | |
224 | }else{ | |
225 | gcode->stream->printf("Unable to properly set sensor settings, make sure you specify all required values\n"); | |
226 | } | |
227 | }else{ | |
228 | // don't override | |
229 | this->sensor_settings= false; | |
76f53dc6 JM |
230 | } |
231 | ||
232 | }else if(!gcode->has_letter('S')) { | |
d22755f7 | 233 | gcode->stream->printf("%s(S%d): using %s\n", this->designator.c_str(), this->pool_index, this->readonly?"Readonly" : this->use_bangbang?"Bangbang":"PID"); |
76f53dc6 JM |
234 | sensor->get_raw(); |
235 | TempSensor::sensor_options_t options; | |
236 | if(sensor->get_optional(options)) { | |
237 | for(auto &i : options) { | |
238 | // foreach optional value | |
a2e5f877 | 239 | gcode->stream->printf("%s(S%d): %c %1.18f\n", this->designator.c_str(), this->pool_index, i.first, i.second); |
76f53dc6 JM |
240 | } |
241 | } | |
242 | } | |
243 | ||
244 | return; | |
245 | } | |
246 | ||
71cc73eb JM |
247 | // readonly sensors don't handle the rest |
248 | if(this->readonly) return; | |
249 | ||
01004e36 JM |
250 | if (gcode->m == 143) { |
251 | if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) { | |
252 | if(gcode->has_letter('P')) { | |
253 | max_temp= gcode->get_value('P'); | |
254 | ||
255 | } else { | |
256 | gcode->stream->printf("Nothing set NOTE Usage is M143 S0 P300 where <S> is the hotend index and <P> is the maximum temp to set\n"); | |
257 | } | |
258 | ||
259 | }else if(gcode->get_num_args() == 0) { | |
260 | gcode->stream->printf("Maximum temperature for %s(%d) is %f°C\n", this->designator.c_str(), this->pool_index, max_temp); | |
261 | } | |
262 | ||
263 | } else if (gcode->m == 301) { | |
4710532a | 264 | if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) { |
827a49ca | 265 | if (gcode->has_letter('P')) |
201e6dcf | 266 | setPIDp( gcode->get_value('P') ); |
827a49ca | 267 | if (gcode->has_letter('I')) |
201e6dcf | 268 | setPIDi( gcode->get_value('I') ); |
827a49ca | 269 | if (gcode->has_letter('D')) |
201e6dcf | 270 | setPIDd( gcode->get_value('D') ); |
827a49ca | 271 | if (gcode->has_letter('X')) |
f1e38d95 JM |
272 | this->i_max = gcode->get_value('X'); |
273 | if (gcode->has_letter('Y')) | |
274 | this->heater_pin.max_pwm(gcode->get_value('Y')); | |
275 | ||
276 | }else if(!gcode->has_letter('S')) { | |
277 | gcode->stream->printf("%s(S%d): Pf:%g If:%g Df:%g X(I_max):%g max pwm: %d 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->heater_pin.max_pwm(), o); | |
278 | } | |
279 | ||
4710532a | 280 | } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings |
f1e38d95 JM |
281 | gcode->stream->printf(";PID settings:\nM301 S%d P%1.4f I%1.4f D%1.4f X%1.4f Y%d\n", this->pool_index, this->p_factor, this->i_factor / this->PIDdt, this->d_factor * this->PIDdt, this->i_max, this->heater_pin.max_pwm()); |
282 | ||
01004e36 JM |
283 | gcode->stream->printf(";Max temperature setting:\nM143 S%d P%1.4f\n", this->pool_index, this->max_temp); |
284 | ||
f1e38d95 JM |
285 | if(this->sensor_settings) { |
286 | // get or save any sensor specific optional values | |
287 | TempSensor::sensor_options_t options; | |
288 | if(sensor->get_optional(options) && !options.empty()) { | |
289 | gcode->stream->printf(";Optional temp sensor specific settings:\nM305 S%d", this->pool_index); | |
290 | for(auto &i : options) { | |
7d678d16 | 291 | gcode->stream->printf(" %c%1.18f", i.first, i.second); |
f1e38d95 JM |
292 | } |
293 | gcode->stream->printf("\n"); | |
294 | } | |
295 | } | |
33e4cc02 | 296 | |
8e8b938e | 297 | } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S')) { |
42cb1b30 | 298 | // this only gets handled if it is not controlled by the tool manager or is active in the toolmanager |
8e8b938e JM |
299 | this->active = true; |
300 | ||
301 | // this is safe as old configs as well as single extruder configs the toolmanager will not be running so will return false | |
302 | // this will also ignore anything that the tool manager is not controlling and return false, otherwise it returns the active tool | |
303 | void *returned_data; | |
75e6428d | 304 | bool ok = PublicData::get_value( tool_manager_checksum, is_active_tool_checksum, this->name_checksum, &returned_data ); |
8e8b938e JM |
305 | if (ok) { |
306 | uint16_t active_tool_name = *static_cast<uint16_t *>(returned_data); | |
307 | this->active = (active_tool_name == this->name_checksum); | |
308 | } | |
309 | ||
310 | if(this->active) { | |
42cb1b30 JM |
311 | // required so temp change happens in order |
312 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
2134bcf2 | 313 | |
42cb1b30 | 314 | float v = gcode->get_value('S'); |
db453125 | 315 | |
42cb1b30 JM |
316 | if (v == 0.0) { |
317 | this->target_temperature = UNDEFINED; | |
318 | this->heater_pin.set((this->o = 0)); | |
319 | } else { | |
320 | this->set_desired_temperature(v); | |
ed52bf31 JM |
321 | // wait for temp to be reached, no more gcodes will be fetched until this is complete |
322 | if( gcode->m == this->set_and_wait_m_code) { | |
487976f7 JM |
323 | if(isinf(get_temperature()) && isinf(sensor->get_temperature())) { |
324 | THEKERNEL->streams->printf("Temperature reading is unreliable HALT asserted - reset or M999 required\n"); | |
325 | THEKERNEL->call_event(ON_HALT, nullptr); | |
326 | return; | |
327 | } | |
328 | ||
ed52bf31 JM |
329 | this->waiting = true; // on_second_tick will announce temps |
330 | while ( get_temperature() < target_temperature ) { | |
331 | THEKERNEL->call_event(ON_IDLE, this); | |
332 | } | |
333 | this->waiting = false; | |
42cb1b30 | 334 | } |
cf1a7632 | 335 | } |
907d5e8a | 336 | } |
df27a6a3 | 337 | } |
df27a6a3 | 338 | } |
ded56b35 AW |
339 | } |
340 | ||
4710532a JM |
341 | void TemperatureControl::on_get_public_data(void *argument) |
342 | { | |
343 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
201e6dcf | 344 | |
b19aa09d JM |
345 | if(!pdr->starts_with(temperature_control_checksum)) return; |
346 | ||
8e8b938e JM |
347 | if(pdr->second_element_is(pool_index_checksum)) { |
348 | // asking for our instance pointer if we have this pool_index | |
349 | if(pdr->third_element_is(this->pool_index)) { | |
350 | static void *return_data; | |
351 | return_data = this; | |
352 | pdr->set_data_ptr(&return_data); | |
353 | pdr->set_taken(); | |
354 | } | |
8e8b938e | 355 | |
56a6c8c1 | 356 | }else if(pdr->second_element_is(poll_controls_checksum)) { |
bab4e1bd | 357 | // polling for all temperature controls |
3bfb2639 JM |
358 | // add our data to the list which is passed in via the data_ptr |
359 | ||
360 | std::vector<struct pad_temperature> *v= static_cast<std::vector<pad_temperature>*>(pdr->get_data_ptr()); | |
bab4e1bd | 361 | |
3bfb2639 | 362 | struct pad_temperature t; |
bab4e1bd | 363 | // setup data |
3bfb2639 JM |
364 | t.current_temperature = this->get_temperature(); |
365 | t.target_temperature = (target_temperature <= 0) ? 0 : this->target_temperature; | |
366 | t.pwm = this->o; | |
367 | t.designator= this->designator; | |
368 | t.id= this->name_checksum; | |
369 | v->push_back(t); | |
370 | pdr->set_taken(); | |
371 | pdr->clear_returned_data(); | |
b19aa09d | 372 | |
56a6c8c1 JM |
373 | }else if(pdr->second_element_is(current_temperature_checksum)) { |
374 | // if targeted at us | |
375 | if(pdr->third_element_is(this->name_checksum)) { | |
376 | // ok this is targeted at us, so send back the requested data | |
377 | struct pad_temperature *t= static_cast<pad_temperature*>(pdr->get_data_ptr()); | |
378 | t->current_temperature = this->get_temperature(); | |
379 | t->target_temperature = (target_temperature <= 0) ? 0 : this->target_temperature; | |
380 | t->pwm = this->o; | |
381 | t->designator= this->designator; | |
382 | t->id= this->name_checksum; | |
383 | pdr->set_taken(); | |
384 | pdr->clear_returned_data(); | |
385 | } | |
b19aa09d | 386 | } |
8e8b938e | 387 | |
8293d443 | 388 | } |
db453125 | 389 | |
4710532a JM |
390 | void TemperatureControl::on_set_public_data(void *argument) |
391 | { | |
392 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
77047e76 | 393 | |
991d98cc | 394 | if(!pdr->starts_with(temperature_control_checksum)) return; |
77047e76 | 395 | |
8e8b938e | 396 | if(!pdr->second_element_is(this->name_checksum)) return; |
77047e76 | 397 | |
991d98cc | 398 | // ok this is targeted at us, so set the temp |
ed52bf31 | 399 | // NOTE unlike the M code this will set the temp now not when the queue is empty |
4710532a | 400 | float t = *static_cast<float *>(pdr->get_data_ptr()); |
991d98cc JM |
401 | this->set_desired_temperature(t); |
402 | pdr->set_taken(); | |
77047e76 JM |
403 | } |
404 | ||
1ad23cd3 | 405 | void TemperatureControl::set_desired_temperature(float desired_temperature) |
cf1a7632 | 406 | { |
7d4baeee AW |
407 | // Never go over the configured max temperature |
408 | if( desired_temperature > this->max_temp ){ | |
409 | desired_temperature = this->max_temp; | |
410 | } | |
411 | ||
08f89868 | 412 | if (desired_temperature == 1.0F) |
cf1a7632 | 413 | desired_temperature = preset1; |
08f89868 | 414 | else if (desired_temperature == 2.0F) |
cf1a7632 MM |
415 | desired_temperature = preset2; |
416 | ||
08f89868 | 417 | float last_target_temperature= target_temperature; |
907d5e8a | 418 | target_temperature = desired_temperature; |
3517edce | 419 | if (desired_temperature <= 0.0F){ |
08f89868 | 420 | // turning it off |
b35ac71e | 421 | heater_pin.set((this->o = 0)); |
08f89868 | 422 | |
3517edce | 423 | }else if(last_target_temperature <= 0.0F) { |
08f89868 JM |
424 | // if it was off and we are now turning it on we need to initialize |
425 | this->lastInput= last_reading; | |
426 | // set to whatever the output currently is See http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-initialization/ | |
427 | this->iTerm= this->o; | |
428 | if (this->iTerm > this->i_max) this->iTerm = this->i_max; | |
429 | else if (this->iTerm < 0.0) this->iTerm = 0.0; | |
430 | } | |
ded56b35 AW |
431 | } |
432 | ||
4710532a JM |
433 | float TemperatureControl::get_temperature() |
434 | { | |
907d5e8a | 435 | return last_reading; |
ded56b35 AW |
436 | } |
437 | ||
4710532a JM |
438 | uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy) |
439 | { | |
9d955060 | 440 | float temperature = sensor->get_temperature(); |
3517edce | 441 | if(!this->readonly && target_temperature > 2) { |
01004e36 JM |
442 | if (isinf(temperature) || temperature < min_temp || temperature > max_temp) { |
443 | this->temp_violated = true; | |
907d5e8a | 444 | target_temperature = UNDEFINED; |
4710532a JM |
445 | heater_pin.set((this->o = 0)); |
446 | } else { | |
907d5e8a | 447 | pid_process(temperature); |
ded56b35 | 448 | } |
959dc7db | 449 | } |
3517edce | 450 | |
907d5e8a | 451 | last_reading = temperature; |
281967e4 | 452 | return 0; |
ded56b35 AW |
453 | } |
454 | ||
10e66797 JM |
455 | /** |
456 | * Based on https://github.com/br3ttb/Arduino-PID-Library | |
457 | */ | |
1ad23cd3 | 458 | void TemperatureControl::pid_process(float temperature) |
907d5e8a | 459 | { |
989d0e94 | 460 | if(use_bangbang) { |
b35ac71e | 461 | // bang bang is very simple, if temp is < target - hysteresis turn on full else if temp is > target + hysteresis turn heater off |
989d0e94 | 462 | // good for relays |
4710532a | 463 | if(temperature > (target_temperature + hysteresis) && this->o > 0) { |
989d0e94 | 464 | heater_pin.set(false); |
4710532a | 465 | this->o = 0; // for display purposes only |
989d0e94 | 466 | |
4710532a | 467 | } else if(temperature < (target_temperature - hysteresis) && this->o <= 0) { |
989d0e94 JM |
468 | if(heater_pin.max_pwm() >= 255) { |
469 | // turn on full | |
470 | this->heater_pin.set(true); | |
4710532a JM |
471 | this->o = 255; // for display purposes only |
472 | } else { | |
989d0e94 JM |
473 | // only to whatever max pwm is configured |
474 | this->heater_pin.pwm(heater_pin.max_pwm()); | |
4710532a | 475 | this->o = heater_pin.max_pwm(); // for display purposes only |
989d0e94 | 476 | } |
989d0e94 JM |
477 | } |
478 | return; | |
479 | } | |
ded56b35 | 480 | |
989d0e94 JM |
481 | // regular PID control |
482 | float error = target_temperature - temperature; | |
08f89868 | 483 | |
0d84905d PA |
484 | float new_I = this->iTerm + (error * this->i_factor); |
485 | if (new_I > this->i_max) new_I = this->i_max; | |
486 | else if (new_I < 0.0) new_I = 0.0; | |
08f89868 | 487 | if(!this->windup) this->iTerm= new_I; |
ded56b35 | 488 | |
4710532a | 489 | float d = (temperature - this->lastInput); |
ded56b35 | 490 | |
10e66797 JM |
491 | // calculate the PID output |
492 | // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that | |
0d84905d | 493 | this->o = (this->p_factor * error) + new_I - (this->d_factor * d); |
8cdae54c | 494 | |
7dee00e4 | 495 | if (this->o >= heater_pin.max_pwm()) |
7dee00e4 | 496 | this->o = heater_pin.max_pwm(); |
27aecda6 | 497 | else if (this->o < 0) |
907d5e8a | 498 | this->o = 0; |
08f89868 | 499 | else if(this->windup) |
0d84905d | 500 | this->iTerm = new_I; // Only update I term when output is not saturated. |
907d5e8a | 501 | |
27aecda6 | 502 | this->heater_pin.pwm(this->o); |
4710532a | 503 | this->lastInput = temperature; |
907d5e8a | 504 | } |
ded56b35 | 505 | |
4710532a | 506 | void TemperatureControl::on_second_tick(void *argument) |
8ccab7cf MM |
507 | { |
508 | if (waiting) | |
3517edce | 509 | THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature <= 0) ? 0.0 : target_temperature), o); |
8ccab7cf | 510 | } |
201e6dcf | 511 | |
4710532a JM |
512 | void TemperatureControl::setPIDp(float p) |
513 | { | |
514 | this->p_factor = p; | |
201e6dcf JM |
515 | } |
516 | ||
4710532a JM |
517 | void TemperatureControl::setPIDi(float i) |
518 | { | |
519 | this->i_factor = i * this->PIDdt; | |
201e6dcf JM |
520 | } |
521 | ||
4710532a JM |
522 | void TemperatureControl::setPIDd(float d) |
523 | { | |
524 | this->d_factor = d / this->PIDdt; | |
201e6dcf | 525 | } |