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" |
3c4f2dd8 | 17 | #include "modules/robot/Conveyor.h" |
ded56b35 | 18 | |
8f91e4e6 MM |
19 | #include "MRI_Hooks.h" |
20 | ||
7e57bc2c BG |
21 | TemperatureControl::TemperatureControl(uint16_t name) : |
22 | name_checksum(name), waiting(false), min_temp_violated(false) {} | |
ded56b35 AW |
23 | |
24 | void TemperatureControl::on_module_loaded(){ | |
907d5e8a | 25 | |
81b547a1 | 26 | // We start not desiring any temp |
907d5e8a | 27 | this->target_temperature = UNDEFINED; |
ded56b35 AW |
28 | |
29 | // Settings | |
7dd8133c | 30 | this->on_config_reload(this); |
ded56b35 AW |
31 | |
32 | this->acceleration_factor = 10; | |
33 | ||
ded56b35 | 34 | // Register for events |
476dcb96 | 35 | register_for_event(ON_CONFIG_RELOAD); |
df27a6a3 | 36 | this->register_for_event(ON_GCODE_EXECUTE); |
b0be67b5 | 37 | this->register_for_event(ON_GCODE_RECEIVED); |
df27a6a3 | 38 | this->register_for_event(ON_MAIN_LOOP); |
8ccab7cf | 39 | this->register_for_event(ON_SECOND_TICK); |
ded56b35 AW |
40 | |
41 | } | |
42 | ||
7e57bc2c BG |
43 | void TemperatureControl::on_main_loop(void* argument){ |
44 | if (this->min_temp_violated) { | |
45 | kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin.port_number, this->thermistor_pin.pin); | |
46 | this->min_temp_violated = false; | |
a7f12bed | 47 | } |
7e57bc2c | 48 | } |
7dd8133c AW |
49 | |
50 | // Get configuration from the config file | |
51 | void TemperatureControl::on_config_reload(void* argument){ | |
52 | ||
1306ba99 AW |
53 | // General config |
54 | this->set_m_code = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number(); | |
55 | 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(); | |
56 | this->get_m_code = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number(); | |
f39da6fe | 57 | this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number(); |
7dee00e4 | 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 | ||
f4bd4fc3 MM |
83 | this->preset1 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number(); |
84 | this->preset2 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number(); | |
85 | ||
907d5e8a | 86 | |
df27a6a3 | 87 | // Thermistor math |
907d5e8a MM |
88 | j = (1.0 / beta); |
89 | k = (1.0 / (t0 + 273.15)); | |
90 | ||
c4f4cf73 MM |
91 | // sigma-delta output modulation |
92 | o = 0; | |
3c132bd0 AW |
93 | |
94 | // Thermistor pin for ADC readings | |
7dee00e4 MM |
95 | this->thermistor_pin.from_string(this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string()); |
96 | this->kernel->adc->enable_pin(&thermistor_pin); | |
3c132bd0 AW |
97 | |
98 | // Heater pin | |
7dee00e4 | 99 | this->heater_pin.from_string( this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output(); |
a7f12bed | 100 | this->heater_pin.max_pwm( this->kernel->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() ); |
7dee00e4 | 101 | this->heater_pin.set(0); |
7dd8133c | 102 | |
cb3460e9 | 103 | set_low_on_debug(heater_pin.port_number, heater_pin.pin); |
8f91e4e6 | 104 | |
907d5e8a | 105 | // activate SD-DAC timer |
7dee00e4 | 106 | this->kernel->slow_ticker->attach(1000, &heater_pin, &Pwm::on_tick); |
907d5e8a | 107 | |
f39da6fe MM |
108 | // reading tick |
109 | this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick ); | |
110 | ||
907d5e8a MM |
111 | // PID |
112 | this->p_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number(); | |
b6a72b99 MM |
113 | this->i_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number(); |
114 | this->d_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number(); | |
4b9388c2 | 115 | this->i_max = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(255)->as_number(); |
b6a72b99 | 116 | this->i = 0.0; |
907d5e8a | 117 | this->last_reading = 0.0; |
7dd8133c AW |
118 | } |
119 | ||
3c4f2dd8 | 120 | void TemperatureControl::on_gcode_received(void* argument){ |
b0be67b5 MM |
121 | Gcode* gcode = static_cast<Gcode*>(argument); |
122 | if (gcode->has_m) | |
123 | { | |
124 | // Get temperature | |
125 | if( gcode->m == this->get_m_code ){ | |
c4f4cf73 | 126 | 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 | 127 | gcode->add_nl = true; |
b0be67b5 | 128 | } |
827a49ca MM |
129 | if (gcode->m == 301) |
130 | { | |
131 | if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) | |
132 | { | |
133 | if (gcode->has_letter('P')) | |
134 | this->p_factor = gcode->get_value('P'); | |
135 | if (gcode->has_letter('I')) | |
136 | this->i_factor = gcode->get_value('I'); | |
137 | if (gcode->has_letter('D')) | |
138 | this->d_factor = gcode->get_value('D'); | |
139 | if (gcode->has_letter('X')) | |
140 | this->i_max = gcode->get_value('X'); | |
141 | } | |
142 | 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); | |
143 | } | |
144 | if (gcode->m == 303) | |
145 | { | |
146 | if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) | |
147 | { | |
148 | double target = 150.0; | |
149 | if (gcode->has_letter('P')) | |
150 | { | |
151 | target = gcode->get_value('P'); | |
152 | gcode->stream->printf("Target: %5.1f\n", target); | |
153 | } | |
154 | gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str()); | |
155 | this->pool->PIDtuner->begin(this, target, gcode->stream); | |
156 | } | |
157 | } | |
3c4f2dd8 AW |
158 | |
159 | // Attach gcodes to the last block for on_gcode_execute | |
160 | if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ){ | |
161 | if( this->kernel->conveyor->queue.size() == 0 ){ | |
162 | this->kernel->call_event(ON_GCODE_EXECUTE, gcode ); | |
163 | }else{ | |
164 | Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 ); | |
165 | block->append_gcode(gcode); | |
3c4f2dd8 | 166 | } |
d149c730 | 167 | |
3c4f2dd8 | 168 | } |
b0be67b5 MM |
169 | } |
170 | } | |
db453125 | 171 | |
ded56b35 AW |
172 | void TemperatureControl::on_gcode_execute(void* argument){ |
173 | Gcode* gcode = static_cast<Gcode*>(argument); | |
e6b5ae25 AW |
174 | if( gcode->has_m){ |
175 | // Set temperature without waiting | |
907d5e8a MM |
176 | if( gcode->m == this->set_m_code && gcode->has_letter('S') ) |
177 | { | |
f4bd4fc3 MM |
178 | double v = gcode->get_value('S'); |
179 | ||
180 | if (v == 1.0) | |
181 | v = preset1; | |
182 | else if (v == 2.0) | |
183 | v = preset2; | |
184 | ||
185 | if (v == 0) | |
eabf7a9b | 186 | { |
907d5e8a | 187 | this->target_temperature = UNDEFINED; |
7dee00e4 | 188 | this->heater_pin.set(0); |
eabf7a9b MM |
189 | } |
190 | else | |
191 | { | |
f4bd4fc3 | 192 | this->set_desired_temperature(v); |
907d5e8a | 193 | } |
eabf7a9b | 194 | } |
e6b5ae25 | 195 | // Set temperature and wait |
907d5e8a MM |
196 | if( gcode->m == this->set_and_wait_m_code && gcode->has_letter('S') ) |
197 | { | |
eabf7a9b MM |
198 | if (gcode->get_value('S') == 0) |
199 | { | |
907d5e8a | 200 | this->target_temperature = UNDEFINED; |
7dee00e4 | 201 | this->heater_pin.set(0); |
eabf7a9b MM |
202 | } |
203 | else | |
204 | { | |
907d5e8a MM |
205 | this->set_desired_temperature(gcode->get_value('S')); |
206 | // Pause | |
207 | this->kernel->pauser->take(); | |
208 | this->waiting = true; | |
209 | } | |
df27a6a3 | 210 | } |
df27a6a3 | 211 | } |
ded56b35 AW |
212 | } |
213 | ||
db453125 | 214 | |
ded56b35 | 215 | void TemperatureControl::set_desired_temperature(double desired_temperature){ |
907d5e8a | 216 | target_temperature = desired_temperature; |
959dc7db | 217 | if (desired_temperature == 0.0) |
7dee00e4 | 218 | heater_pin.set((o = 0)); |
ded56b35 AW |
219 | } |
220 | ||
221 | double TemperatureControl::get_temperature(){ | |
907d5e8a | 222 | return last_reading; |
ded56b35 AW |
223 | } |
224 | ||
907d5e8a MM |
225 | double TemperatureControl::adc_value_to_temperature(int adc_value) |
226 | { | |
227 | if ((adc_value == 4095) || (adc_value == 0)) | |
228 | return INFINITY; | |
229 | double r = r2 / ((4095.0 / adc_value) - 1.0); | |
230 | if (r1 > 0) | |
231 | r = (r1 * r) / (r1 - r); | |
232 | return (1.0 / (k + (j * log(r / r0)))) - 273.15; | |
ded56b35 AW |
233 | } |
234 | ||
8b8b3339 | 235 | uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){ |
907d5e8a MM |
236 | int r = new_thermistor_reading(); |
237 | ||
238 | double temperature = adc_value_to_temperature(r); | |
239 | ||
240 | if (target_temperature > 0) | |
241 | { | |
242 | if ((r <= 1) || (r >= 4094)) | |
36a3f3f0 | 243 | { |
7e57bc2c | 244 | this->min_temp_violated = true; |
907d5e8a | 245 | target_temperature = UNDEFINED; |
7dee00e4 | 246 | heater_pin.set(0); |
36a3f3f0 MM |
247 | } |
248 | else | |
249 | { | |
907d5e8a MM |
250 | pid_process(temperature); |
251 | if ((temperature > target_temperature) && waiting) | |
36a3f3f0 | 252 | { |
907d5e8a MM |
253 | kernel->pauser->release(); |
254 | waiting = false; | |
81b547a1 | 255 | } |
ded56b35 AW |
256 | } |
257 | } | |
959dc7db MM |
258 | else |
259 | { | |
7dee00e4 | 260 | heater_pin.set((o = 0)); |
959dc7db | 261 | } |
907d5e8a | 262 | last_reading = temperature; |
281967e4 | 263 | return 0; |
ded56b35 AW |
264 | } |
265 | ||
907d5e8a MM |
266 | void TemperatureControl::pid_process(double temperature) |
267 | { | |
268 | double error = target_temperature - temperature; | |
ded56b35 | 269 | |
8cdae54c | 270 | p = error * p_factor; |
b6a72b99 | 271 | i += (error * this->i_factor); |
827a49ca MM |
272 | // d was imbued with oldest_raw earlier in new_thermistor_reading |
273 | d = adc_value_to_temperature(d); | |
274 | d = (d - temperature) * this->d_factor; | |
ded56b35 | 275 | |
907d5e8a MM |
276 | if (i > this->i_max) |
277 | i = this->i_max; | |
278 | if (i < -this->i_max) | |
279 | i = -this->i_max; | |
ded56b35 | 280 | |
7dee00e4 | 281 | this->o = (p + i + d) * heater_pin.max_pwm() / 256; |
8cdae54c | 282 | |
7dee00e4 | 283 | if (this->o >= heater_pin.max_pwm()) |
8cdae54c | 284 | { |
95b3d2ba | 285 | i = 0; |
7dee00e4 | 286 | this->o = heater_pin.max_pwm(); |
8cdae54c | 287 | } |
907d5e8a | 288 | if (this->o < 0) |
8cdae54c | 289 | { |
7dee00e4 | 290 | if (this->o < -(heater_pin.max_pwm())) |
95b3d2ba | 291 | i = 0; |
907d5e8a | 292 | this->o = 0; |
8cdae54c | 293 | } |
907d5e8a | 294 | |
7dee00e4 | 295 | this->heater_pin.pwm(o); |
907d5e8a | 296 | } |
ded56b35 | 297 | |
907d5e8a MM |
298 | int TemperatureControl::new_thermistor_reading() |
299 | { | |
7dee00e4 | 300 | int last_raw = this->kernel->adc->read(&thermistor_pin); |
907d5e8a MM |
301 | if (queue.size() >= queue.capacity()) |
302 | { | |
303 | uint16_t l; | |
304 | queue.pop_front(l); | |
827a49ca | 305 | d = l; |
907d5e8a | 306 | } |
c4f4cf73 MM |
307 | uint16_t r = last_raw; |
308 | queue.push_back(r); | |
e84c3be3 BG |
309 | for (int i=0; i<queue.size(); i++) |
310 | median_buffer[i] = *queue.get_ref(i); | |
311 | uint16_t m = median_buffer[quick_median(median_buffer, queue.size())]; | |
312 | return m; | |
907d5e8a | 313 | } |
8ccab7cf MM |
314 | |
315 | void TemperatureControl::on_second_tick(void* argument) | |
316 | { | |
317 | if (waiting) | |
8f91e4e6 | 318 | kernel->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o); |
8ccab7cf | 319 | } |