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" |
e84c3be3 | 16 | #include "libs/Median.h" |
ded56b35 | 17 | |
8f91e4e6 MM |
18 | #include "MRI_Hooks.h" |
19 | ||
3c132bd0 AW |
20 | TemperatureControl::TemperatureControl(){} |
21 | ||
22 | TemperatureControl::TemperatureControl(uint16_t name){ | |
23 | this->name_checksum = name; | |
907d5e8a | 24 | // this->error_count = 0; |
4464301d | 25 | this->waiting = false; |
ded56b35 AW |
26 | } |
27 | ||
28 | void TemperatureControl::on_module_loaded(){ | |
907d5e8a | 29 | |
81b547a1 | 30 | // We start not desiring any temp |
907d5e8a | 31 | this->target_temperature = UNDEFINED; |
ded56b35 AW |
32 | |
33 | // Settings | |
7dd8133c | 34 | this->on_config_reload(this); |
ded56b35 AW |
35 | |
36 | this->acceleration_factor = 10; | |
37 | ||
ded56b35 | 38 | // Register for events |
df27a6a3 | 39 | this->register_for_event(ON_GCODE_EXECUTE); |
b0be67b5 | 40 | this->register_for_event(ON_GCODE_RECEIVED); |
df27a6a3 | 41 | this->register_for_event(ON_MAIN_LOOP); |
8ccab7cf | 42 | this->register_for_event(ON_SECOND_TICK); |
ded56b35 AW |
43 | |
44 | } | |
45 | ||
3c132bd0 | 46 | void TemperatureControl::on_main_loop(void* argument){ } |
7dd8133c AW |
47 | |
48 | // Get configuration from the config file | |
49 | void TemperatureControl::on_config_reload(void* argument){ | |
50 | ||
1306ba99 AW |
51 | // General config |
52 | this->set_m_code = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number(); | |
53 | 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(); | |
54 | this->get_m_code = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number(); | |
f39da6fe | 55 | this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number(); |
a6a2911f AW |
56 | |
57 | this->max_pwm = this->kernel->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number(); | |
7dd8133c | 58 | |
b0be67b5 MM |
59 | this->designator = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string(); |
60 | ||
7dd8133c | 61 | // Values are here : http://reprap.org/wiki/Thermistor |
423df6df AW |
62 | this->r0 = 100000; |
63 | this->t0 = 25; | |
a98f72da | 64 | this->beta = 4066; |
423df6df AW |
65 | this->r1 = 0; |
66 | this->r2 = 4700; | |
a98f72da | 67 | |
3c132bd0 | 68 | // Preset values for various common types of thermistors |
df27a6a3 | 69 | ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum); |
423df6df AW |
70 | if( thermistor->value.compare("EPCOS100K" ) == 0 ){ // Default |
71 | }else if( thermistor->value.compare("RRRF100K" ) == 0 ){ this->beta = 3960; | |
72 | }else if( thermistor->value.compare("RRRF10K" ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600; | |
73 | }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974; | |
74 | }else if( thermistor->value.compare("Semitec" ) == 0 ){ this->beta = 4267; } | |
a98f72da | 75 | |
3c132bd0 | 76 | // Preset values are overriden by specified values |
907d5e8a MM |
77 | this->r0 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum )->by_default(this->r0 )->as_number(); // Stated resistance eg. 100K |
78 | 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 | |
79 | 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 | |
80 | this->r1 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum )->by_default(this->r1 )->as_number(); | |
81 | this->r2 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum )->by_default(this->r2 )->as_number(); | |
82 | ||
83 | ||
df27a6a3 | 84 | // Thermistor math |
907d5e8a MM |
85 | j = (1.0 / beta); |
86 | k = (1.0 / (t0 + 273.15)); | |
87 | ||
c4f4cf73 MM |
88 | // sigma-delta output modulation |
89 | o = 0; | |
3c132bd0 AW |
90 | |
91 | // Thermistor pin for ADC readings | |
92 | this->thermistor_pin = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_pin(); | |
93 | this->kernel->adc->enable_pin(this->thermistor_pin); | |
94 | ||
95 | // Heater pin | |
827a49ca | 96 | this->heater_pin = this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_pwm()->as_output(); |
3c132bd0 | 97 | this->heater_pin->set(0); |
7dd8133c | 98 | |
8f91e4e6 MM |
99 | set_low_on_debug(heater_pin->pin->port_number, heater_pin->pin->pin); |
100 | ||
907d5e8a | 101 | // activate SD-DAC timer |
827a49ca | 102 | this->kernel->slow_ticker->attach(1000, this->heater_pin, &Pwm::on_tick); |
907d5e8a | 103 | |
f39da6fe MM |
104 | // reading tick |
105 | this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick ); | |
106 | ||
907d5e8a MM |
107 | // PID |
108 | this->p_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number(); | |
b6a72b99 MM |
109 | this->i_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number(); |
110 | this->d_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number(); | |
4b9388c2 | 111 | this->i_max = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(255)->as_number(); |
b6a72b99 | 112 | this->i = 0.0; |
907d5e8a | 113 | this->last_reading = 0.0; |
7dd8133c AW |
114 | } |
115 | ||
b0be67b5 MM |
116 | void TemperatureControl::on_gcode_received(void* argument) |
117 | { | |
118 | Gcode* gcode = static_cast<Gcode*>(argument); | |
119 | if (gcode->has_m) | |
120 | { | |
121 | // Get temperature | |
122 | if( gcode->m == this->get_m_code ){ | |
c4f4cf73 | 123 | 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 | 124 | gcode->add_nl = true; |
b0be67b5 | 125 | } |
827a49ca MM |
126 | if (gcode->m == 301) |
127 | { | |
128 | if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) | |
129 | { | |
130 | if (gcode->has_letter('P')) | |
131 | this->p_factor = gcode->get_value('P'); | |
132 | if (gcode->has_letter('I')) | |
133 | this->i_factor = gcode->get_value('I'); | |
134 | if (gcode->has_letter('D')) | |
135 | this->d_factor = gcode->get_value('D'); | |
136 | if (gcode->has_letter('X')) | |
137 | this->i_max = gcode->get_value('X'); | |
138 | } | |
139 | 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->d_factor, this->i_max, this->p, this->i, this->d, o); | |
140 | } | |
141 | if (gcode->m == 303) | |
142 | { | |
143 | if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) | |
144 | { | |
145 | double target = 150.0; | |
146 | if (gcode->has_letter('P')) | |
147 | { | |
148 | target = gcode->get_value('P'); | |
149 | gcode->stream->printf("Target: %5.1f\n", target); | |
150 | } | |
151 | gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str()); | |
152 | this->pool->PIDtuner->begin(this, target, gcode->stream); | |
153 | } | |
154 | } | |
b0be67b5 MM |
155 | } |
156 | } | |
db453125 | 157 | |
ded56b35 AW |
158 | void TemperatureControl::on_gcode_execute(void* argument){ |
159 | Gcode* gcode = static_cast<Gcode*>(argument); | |
e6b5ae25 AW |
160 | if( gcode->has_m){ |
161 | // Set temperature without waiting | |
907d5e8a MM |
162 | if( gcode->m == this->set_m_code && gcode->has_letter('S') ) |
163 | { | |
eabf7a9b MM |
164 | if (gcode->get_value('S') == 0) |
165 | { | |
907d5e8a | 166 | this->target_temperature = UNDEFINED; |
eabf7a9b MM |
167 | this->heater_pin->set(0); |
168 | } | |
169 | else | |
170 | { | |
907d5e8a MM |
171 | this->set_desired_temperature(gcode->get_value('S')); |
172 | } | |
eabf7a9b | 173 | } |
e6b5ae25 | 174 | // Set temperature and wait |
907d5e8a MM |
175 | if( gcode->m == this->set_and_wait_m_code && gcode->has_letter('S') ) |
176 | { | |
eabf7a9b MM |
177 | if (gcode->get_value('S') == 0) |
178 | { | |
907d5e8a | 179 | this->target_temperature = UNDEFINED; |
eabf7a9b MM |
180 | this->heater_pin->set(0); |
181 | } | |
182 | else | |
183 | { | |
907d5e8a MM |
184 | this->set_desired_temperature(gcode->get_value('S')); |
185 | // Pause | |
186 | this->kernel->pauser->take(); | |
187 | this->waiting = true; | |
188 | } | |
df27a6a3 | 189 | } |
df27a6a3 | 190 | } |
ded56b35 AW |
191 | } |
192 | ||
db453125 | 193 | |
ded56b35 | 194 | void TemperatureControl::set_desired_temperature(double desired_temperature){ |
907d5e8a | 195 | target_temperature = desired_temperature; |
959dc7db | 196 | if (desired_temperature == 0.0) |
827a49ca | 197 | heater_pin->set((o = 0)); |
ded56b35 AW |
198 | } |
199 | ||
200 | double TemperatureControl::get_temperature(){ | |
907d5e8a | 201 | return last_reading; |
ded56b35 AW |
202 | } |
203 | ||
907d5e8a MM |
204 | double TemperatureControl::adc_value_to_temperature(int adc_value) |
205 | { | |
206 | if ((adc_value == 4095) || (adc_value == 0)) | |
207 | return INFINITY; | |
208 | double r = r2 / ((4095.0 / adc_value) - 1.0); | |
209 | if (r1 > 0) | |
210 | r = (r1 * r) / (r1 - r); | |
211 | return (1.0 / (k + (j * log(r / r0)))) - 273.15; | |
ded56b35 AW |
212 | } |
213 | ||
8b8b3339 | 214 | uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){ |
907d5e8a MM |
215 | int r = new_thermistor_reading(); |
216 | ||
217 | double temperature = adc_value_to_temperature(r); | |
218 | ||
219 | if (target_temperature > 0) | |
220 | { | |
221 | if ((r <= 1) || (r >= 4094)) | |
36a3f3f0 | 222 | { |
907d5e8a MM |
223 | kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin->port_number, this->thermistor_pin->pin); |
224 | target_temperature = UNDEFINED; | |
225 | heater_pin->set(0); | |
36a3f3f0 MM |
226 | } |
227 | else | |
228 | { | |
907d5e8a MM |
229 | pid_process(temperature); |
230 | if ((temperature > target_temperature) && waiting) | |
36a3f3f0 | 231 | { |
907d5e8a MM |
232 | kernel->pauser->release(); |
233 | waiting = false; | |
81b547a1 | 234 | } |
ded56b35 AW |
235 | } |
236 | } | |
959dc7db MM |
237 | else |
238 | { | |
dd84d5a4 | 239 | heater_pin->set((o = 0)); |
959dc7db | 240 | } |
907d5e8a | 241 | last_reading = temperature; |
281967e4 | 242 | return 0; |
ded56b35 AW |
243 | } |
244 | ||
907d5e8a MM |
245 | void TemperatureControl::pid_process(double temperature) |
246 | { | |
247 | double error = target_temperature - temperature; | |
ded56b35 | 248 | |
8cdae54c | 249 | p = error * p_factor; |
b6a72b99 | 250 | i += (error * this->i_factor); |
827a49ca MM |
251 | // d was imbued with oldest_raw earlier in new_thermistor_reading |
252 | d = adc_value_to_temperature(d); | |
253 | d = (d - temperature) * this->d_factor; | |
ded56b35 | 254 | |
907d5e8a MM |
255 | if (i > this->i_max) |
256 | i = this->i_max; | |
257 | if (i < -this->i_max) | |
258 | i = -this->i_max; | |
ded56b35 | 259 | |
827a49ca | 260 | this->o = (p + i + d) * heater_pin->max_pwm() / 256; |
8cdae54c | 261 | |
827a49ca | 262 | if (this->o >= heater_pin->max_pwm()) |
8cdae54c | 263 | { |
95b3d2ba | 264 | i = 0; |
b3d84f09 | 265 | this->o = heater_pin->max_pwm(); |
8cdae54c | 266 | } |
907d5e8a | 267 | if (this->o < 0) |
8cdae54c | 268 | { |
827a49ca | 269 | if (this->o < -(heater_pin->max_pwm())) |
95b3d2ba | 270 | i = 0; |
907d5e8a | 271 | this->o = 0; |
8cdae54c | 272 | } |
907d5e8a | 273 | |
a6a2911f AW |
274 | if( this->o > this->max_pwm ){ this->o = max_pwm; } |
275 | ||
907d5e8a MM |
276 | this->heater_pin->pwm(o); |
277 | } | |
ded56b35 | 278 | |
907d5e8a MM |
279 | int TemperatureControl::new_thermistor_reading() |
280 | { | |
c4f4cf73 | 281 | int last_raw = this->kernel->adc->read(this->thermistor_pin); |
907d5e8a MM |
282 | if (queue.size() >= queue.capacity()) |
283 | { | |
284 | uint16_t l; | |
285 | queue.pop_front(l); | |
827a49ca | 286 | d = l; |
907d5e8a | 287 | } |
c4f4cf73 MM |
288 | uint16_t r = last_raw; |
289 | queue.push_back(r); | |
e84c3be3 BG |
290 | for (int i=0; i<queue.size(); i++) |
291 | median_buffer[i] = *queue.get_ref(i); | |
292 | uint16_t m = median_buffer[quick_median(median_buffer, queue.size())]; | |
293 | return m; | |
907d5e8a | 294 | } |
8ccab7cf MM |
295 | |
296 | void TemperatureControl::on_second_tick(void* argument) | |
297 | { | |
298 | if (waiting) | |
8f91e4e6 | 299 | kernel->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o); |
8ccab7cf | 300 | } |