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" |
ded56b35 | 29 | |
9d955060 | 30 | // Temp sensor implementations: |
31 | #include "Thermistor.h" | |
4710532a | 32 | #include "max31855.h" |
9d955060 | 33 | |
8f91e4e6 MM |
34 | #include "MRI_Hooks.h" |
35 | ||
85eabc50 JM |
36 | #define UNDEFINED -1 |
37 | ||
9d955060 | 38 | #define sensor_checksum CHECKSUM("sensor") |
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") |
44 | #define hysteresis_checksum CHECKSUM("hysteresis") | |
85eabc50 | 45 | #define heater_pin_checksum CHECKSUM("heater_pin") |
bb02929e | 46 | #define max_temp_checksum CHECKSUM("max_temp") |
85eabc50 JM |
47 | |
48 | #define get_m_code_checksum CHECKSUM("get_m_code") | |
49 | #define set_m_code_checksum CHECKSUM("set_m_code") | |
50 | #define set_and_wait_m_code_checksum CHECKSUM("set_and_wait_m_code") | |
51 | ||
52 | #define designator_checksum CHECKSUM("designator") | |
53 | ||
54 | #define p_factor_checksum CHECKSUM("p_factor") | |
55 | #define i_factor_checksum CHECKSUM("i_factor") | |
56 | #define d_factor_checksum CHECKSUM("d_factor") | |
57 | ||
58 | #define i_max_checksum CHECKSUM("i_max") | |
08f89868 | 59 | #define windup_checksum CHECKSUM("windup") |
85eabc50 JM |
60 | |
61 | #define preset1_checksum CHECKSUM("preset1") | |
62 | #define preset2_checksum CHECKSUM("preset2") | |
63 | ||
8e8b938e | 64 | TemperatureControl::TemperatureControl(uint16_t name, int index) |
d8baddd9 | 65 | { |
8e8b938e JM |
66 | name_checksum= name; |
67 | pool_index= index; | |
68 | waiting= false; | |
69 | min_temp_violated= false; | |
70 | sensor= nullptr; | |
71cc73eb | 71 | readonly= false; |
d8baddd9 | 72 | } |
ded56b35 | 73 | |
d8baddd9 | 74 | TemperatureControl::~TemperatureControl() |
75 | { | |
76 | delete sensor; | |
77 | } | |
4710532a JM |
78 | |
79 | void TemperatureControl::on_module_loaded() | |
80 | { | |
907d5e8a | 81 | |
81b547a1 | 82 | // We start not desiring any temp |
907d5e8a | 83 | this->target_temperature = UNDEFINED; |
ded56b35 AW |
84 | |
85 | // Settings | |
71cc73eb | 86 | this->load_config(); |
ded56b35 | 87 | |
ded56b35 | 88 | // Register for events |
b0be67b5 | 89 | this->register_for_event(ON_GCODE_RECEIVED); |
8293d443 | 90 | this->register_for_event(ON_GET_PUBLIC_DATA); |
71cc73eb JM |
91 | |
92 | if(!this->readonly) { | |
93 | this->register_for_event(ON_GCODE_EXECUTE); | |
94 | this->register_for_event(ON_SECOND_TICK); | |
95 | this->register_for_event(ON_MAIN_LOOP); | |
96 | this->register_for_event(ON_SET_PUBLIC_DATA); | |
97 | this->register_for_event(ON_HALT); | |
98 | } | |
3d1a4519 JM |
99 | } |
100 | ||
101 | void TemperatureControl::on_halt(void *arg) | |
102 | { | |
728477c4 JM |
103 | if(arg == nullptr) { |
104 | // turn off heater | |
105 | this->o = 0; | |
106 | this->heater_pin.set(0); | |
107 | this->target_temperature = UNDEFINED; | |
108 | } | |
ded56b35 AW |
109 | } |
110 | ||
4710532a JM |
111 | void TemperatureControl::on_main_loop(void *argument) |
112 | { | |
7e57bc2c | 113 | if (this->min_temp_violated) { |
9d955060 | 114 | THEKERNEL->streams->printf("Error: MINTEMP triggered. Check your temperature sensors!\n"); |
7e57bc2c | 115 | this->min_temp_violated = false; |
a7f12bed | 116 | } |
7e57bc2c | 117 | } |
7dd8133c AW |
118 | |
119 | // Get configuration from the config file | |
71cc73eb | 120 | void TemperatureControl::load_config() |
4710532a | 121 | { |
7dd8133c | 122 | |
1306ba99 | 123 | // General config |
314ab8f7 MM |
124 | this->set_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number(); |
125 | 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(); | |
126 | this->get_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number(); | |
127 | this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number(); | |
7dee00e4 | 128 | |
314ab8f7 | 129 | this->designator = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string(); |
b0be67b5 | 130 | |
7d4baeee AW |
131 | // Max temperature we are not allowed to get over |
132 | this->max_temp = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_temp_checksum)->by_default(1000)->as_number(); | |
133 | ||
71cc73eb JM |
134 | // Heater pin |
135 | this->heater_pin.from_string( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->by_default("nc")->as_string()); | |
136 | if(this->heater_pin.connected()){ | |
137 | this->readonly= false; | |
138 | this->heater_pin.as_output(); | |
139 | ||
140 | } else { | |
141 | this->readonly= true; | |
142 | } | |
143 | ||
d8baddd9 | 144 | // For backward compatibility, default to a thermistor sensor. |
145 | std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string(); | |
146 | ||
147 | // Instantiate correct sensor (TBD: TempSensor factory?) | |
148 | delete sensor; | |
149 | sensor = nullptr; // In case we fail to create a new sensor. | |
4710532a | 150 | if(sensor_type.compare("thermistor") == 0) { |
d8baddd9 | 151 | sensor = new Thermistor(); |
4710532a | 152 | } else if(sensor_type.compare("max31855") == 0) { |
d8baddd9 | 153 | sensor = new Max31855(); |
4710532a | 154 | } else { |
d8baddd9 | 155 | sensor = new TempSensor(); // A dummy implementation |
156 | } | |
157 | sensor->UpdateConfig(temperature_control_checksum, this->name_checksum); | |
4710532a | 158 | |
71cc73eb JM |
159 | this->preset1 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number(); |
160 | this->preset2 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number(); | |
f4bd4fc3 | 161 | |
907d5e8a | 162 | |
c4f4cf73 | 163 | // sigma-delta output modulation |
b35ac71e | 164 | this->o = 0; |
3c132bd0 | 165 | |
71cc73eb JM |
166 | if(!this->readonly) { |
167 | // used to enable bang bang control of heater | |
168 | this->use_bangbang = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool(); | |
169 | this->hysteresis = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number(); | |
08f89868 | 170 | this->windup = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, windup_checksum)->by_default(false)->as_bool(); |
71cc73eb JM |
171 | this->heater_pin.max_pwm( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() ); |
172 | this->heater_pin.set(0); | |
173 | set_low_on_debug(heater_pin.port_number, heater_pin.pin); | |
174 | // activate SD-DAC timer | |
175 | 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); | |
176 | } | |
8f91e4e6 | 177 | |
907d5e8a | 178 | |
f39da6fe | 179 | // reading tick |
314ab8f7 | 180 | THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick ); |
4710532a | 181 | this->PIDdt = 1.0 / this->readings_per_second; |
f39da6fe | 182 | |
907d5e8a | 183 | // PID |
314ab8f7 | 184 | setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() ); |
1ad23cd3 | 185 | setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() ); |
314ab8f7 | 186 | setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() ); |
71cc73eb JM |
187 | |
188 | if(!this->readonly) { | |
189 | // set to the same as max_pwm by default | |
190 | this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(this->heater_pin.max_pwm())->as_number(); | |
191 | } | |
192 | ||
10e66797 | 193 | this->iTerm = 0.0; |
4710532a | 194 | this->lastInput = -1.0; |
907d5e8a | 195 | this->last_reading = 0.0; |
7dd8133c AW |
196 | } |
197 | ||
4710532a JM |
198 | void TemperatureControl::on_gcode_received(void *argument) |
199 | { | |
200 | Gcode *gcode = static_cast<Gcode *>(argument); | |
8dfbc976 | 201 | if (gcode->has_m) { |
ee4711d1 | 202 | |
4710532a | 203 | if( gcode->m == this->get_m_code ) { |
93284f6f | 204 | char buf[32]; // should be big enough for any status |
4710532a | 205 | 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 | 206 | gcode->txt_after_ok.append(buf, n); |
a24ab0ac | 207 | gcode->mark_as_taken(); |
71cc73eb JM |
208 | return; |
209 | } | |
8dfbc976 | 210 | |
71cc73eb JM |
211 | // readonly sensors don't handle the rest |
212 | if(this->readonly) return; | |
213 | ||
214 | if (gcode->m == 301) { | |
74b6303c | 215 | gcode->mark_as_taken(); |
4710532a | 216 | if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) { |
827a49ca | 217 | if (gcode->has_letter('P')) |
201e6dcf | 218 | setPIDp( gcode->get_value('P') ); |
827a49ca | 219 | if (gcode->has_letter('I')) |
201e6dcf | 220 | setPIDi( gcode->get_value('I') ); |
827a49ca | 221 | if (gcode->has_letter('D')) |
201e6dcf | 222 | setPIDd( gcode->get_value('D') ); |
827a49ca MM |
223 | if (gcode->has_letter('X')) |
224 | this->i_max = gcode->get_value('X'); | |
225 | } | |
10e66797 | 226 | //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 | 227 | 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 | 228 | |
4710532a JM |
229 | } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings |
230 | 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 |
231 | gcode->mark_as_taken(); |
232 | ||
8e8b938e JM |
233 | } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S')) { |
234 | // this only gets handled if it is not controlle dby the tool manager or is active in the toolmanager | |
235 | this->active = true; | |
236 | ||
237 | // this is safe as old configs as well as single extruder configs the toolmanager will not be running so will return false | |
238 | // this will also ignore anything that the tool manager is not controlling and return false, otherwise it returns the active tool | |
239 | void *returned_data; | |
75e6428d | 240 | bool ok = PublicData::get_value( tool_manager_checksum, is_active_tool_checksum, this->name_checksum, &returned_data ); |
8e8b938e JM |
241 | if (ok) { |
242 | uint16_t active_tool_name = *static_cast<uint16_t *>(returned_data); | |
243 | this->active = (active_tool_name == this->name_checksum); | |
244 | } | |
245 | ||
246 | if(this->active) { | |
247 | // Attach gcodes to the last block for on_gcode_execute | |
248 | THEKERNEL->conveyor->append_gcode(gcode); | |
2134bcf2 | 249 | |
8e8b938e JM |
250 | // 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 |
251 | if (gcode->m == this->set_and_wait_m_code) { | |
252 | // ensure that no subsequent gcodes get executed with our M109 or similar | |
253 | THEKERNEL->conveyor->queue_head_block(); | |
254 | } | |
255 | } | |
3c4f2dd8 | 256 | } |
b0be67b5 MM |
257 | } |
258 | } | |
db453125 | 259 | |
4710532a JM |
260 | void TemperatureControl::on_gcode_execute(void *argument) |
261 | { | |
262 | Gcode *gcode = static_cast<Gcode *>(argument); | |
263 | if( gcode->has_m) { | |
cf1a7632 | 264 | if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code)) |
4710532a | 265 | && gcode->has_letter('S') && this->active) { |
1ad23cd3 | 266 | float v = gcode->get_value('S'); |
f4bd4fc3 | 267 | |
4710532a | 268 | if (v == 0.0) { |
907d5e8a | 269 | this->target_temperature = UNDEFINED; |
4710532a JM |
270 | this->heater_pin.set((this->o = 0)); |
271 | } else { | |
f4bd4fc3 | 272 | this->set_desired_temperature(v); |
cf1a7632 | 273 | |
7dc903db | 274 | if( gcode->m == this->set_and_wait_m_code && !this->waiting) { |
314ab8f7 | 275 | THEKERNEL->pauser->take(); |
cf1a7632 MM |
276 | this->waiting = true; |
277 | } | |
907d5e8a | 278 | } |
df27a6a3 | 279 | } |
df27a6a3 | 280 | } |
ded56b35 AW |
281 | } |
282 | ||
4710532a JM |
283 | void TemperatureControl::on_get_public_data(void *argument) |
284 | { | |
285 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
201e6dcf | 286 | |
b19aa09d JM |
287 | if(!pdr->starts_with(temperature_control_checksum)) return; |
288 | ||
8e8b938e JM |
289 | if(pdr->second_element_is(pool_index_checksum)) { |
290 | // asking for our instance pointer if we have this pool_index | |
291 | if(pdr->third_element_is(this->pool_index)) { | |
292 | static void *return_data; | |
293 | return_data = this; | |
294 | pdr->set_data_ptr(&return_data); | |
295 | pdr->set_taken(); | |
296 | } | |
297 | return; | |
298 | ||
299 | }else if(!pdr->second_element_is(this->name_checksum)) return; | |
b19aa09d JM |
300 | |
301 | // ok this is targeted at us, so send back the requested data | |
302 | if(pdr->third_element_is(current_temperature_checksum)) { | |
2fa50ca0 JM |
303 | this->public_data_return.current_temperature = this->get_temperature(); |
304 | this->public_data_return.target_temperature = (target_temperature == UNDEFINED) ? 0 : this->target_temperature; | |
305 | this->public_data_return.pwm = this->o; | |
306 | this->public_data_return.designator= this->designator; | |
307 | pdr->set_data_ptr(&this->public_data_return); | |
b19aa09d JM |
308 | pdr->set_taken(); |
309 | } | |
8e8b938e | 310 | |
8293d443 | 311 | } |
db453125 | 312 | |
4710532a JM |
313 | void TemperatureControl::on_set_public_data(void *argument) |
314 | { | |
315 | PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument); | |
77047e76 | 316 | |
991d98cc | 317 | if(!pdr->starts_with(temperature_control_checksum)) return; |
77047e76 | 318 | |
8e8b938e | 319 | if(!pdr->second_element_is(this->name_checksum)) return; |
77047e76 | 320 | |
991d98cc | 321 | // ok this is targeted at us, so set the temp |
4710532a | 322 | float t = *static_cast<float *>(pdr->get_data_ptr()); |
991d98cc JM |
323 | this->set_desired_temperature(t); |
324 | pdr->set_taken(); | |
77047e76 JM |
325 | } |
326 | ||
1ad23cd3 | 327 | void TemperatureControl::set_desired_temperature(float desired_temperature) |
cf1a7632 | 328 | { |
7d4baeee AW |
329 | // Never go over the configured max temperature |
330 | if( desired_temperature > this->max_temp ){ | |
331 | desired_temperature = this->max_temp; | |
332 | } | |
333 | ||
08f89868 | 334 | if (desired_temperature == 1.0F) |
cf1a7632 | 335 | desired_temperature = preset1; |
08f89868 | 336 | else if (desired_temperature == 2.0F) |
cf1a7632 MM |
337 | desired_temperature = preset2; |
338 | ||
08f89868 | 339 | float last_target_temperature= target_temperature; |
907d5e8a | 340 | target_temperature = desired_temperature; |
08f89868 JM |
341 | if (desired_temperature == 0.0F){ |
342 | // turning it off | |
b35ac71e | 343 | heater_pin.set((this->o = 0)); |
08f89868 JM |
344 | |
345 | }else if(last_target_temperature == 0.0F) { | |
346 | // if it was off and we are now turning it on we need to initialize | |
347 | this->lastInput= last_reading; | |
348 | // set to whatever the output currently is See http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-initialization/ | |
349 | this->iTerm= this->o; | |
350 | if (this->iTerm > this->i_max) this->iTerm = this->i_max; | |
351 | else if (this->iTerm < 0.0) this->iTerm = 0.0; | |
352 | } | |
ded56b35 AW |
353 | } |
354 | ||
4710532a JM |
355 | float TemperatureControl::get_temperature() |
356 | { | |
907d5e8a | 357 | return last_reading; |
ded56b35 AW |
358 | } |
359 | ||
4710532a JM |
360 | uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy) |
361 | { | |
9d955060 | 362 | float temperature = sensor->get_temperature(); |
71cc73eb JM |
363 | if(this->readonly) { |
364 | last_reading = temperature; | |
365 | return 0; | |
366 | } | |
907d5e8a | 367 | |
4710532a JM |
368 | if (target_temperature > 0) { |
369 | if (isinf(temperature)) { | |
7e57bc2c | 370 | this->min_temp_violated = true; |
907d5e8a | 371 | target_temperature = UNDEFINED; |
4710532a JM |
372 | heater_pin.set((this->o = 0)); |
373 | } else { | |
907d5e8a | 374 | pid_process(temperature); |
02e4b295 | 375 | if ( waiting && (temperature >= target_temperature) ) { |
347854ff | 376 | THEKERNEL->pauser->release(); |
907d5e8a | 377 | waiting = false; |
81b547a1 | 378 | } |
ded56b35 | 379 | } |
4710532a | 380 | } else { |
b35ac71e | 381 | heater_pin.set((this->o = 0)); |
959dc7db | 382 | } |
907d5e8a | 383 | last_reading = temperature; |
281967e4 | 384 | return 0; |
ded56b35 AW |
385 | } |
386 | ||
10e66797 JM |
387 | /** |
388 | * Based on https://github.com/br3ttb/Arduino-PID-Library | |
389 | */ | |
1ad23cd3 | 390 | void TemperatureControl::pid_process(float temperature) |
907d5e8a | 391 | { |
989d0e94 | 392 | if(use_bangbang) { |
b35ac71e | 393 | // bang bang is very simple, if temp is < target - hysteresis turn on full else if temp is > target + hysteresis turn heater off |
989d0e94 | 394 | // good for relays |
4710532a | 395 | if(temperature > (target_temperature + hysteresis) && this->o > 0) { |
989d0e94 | 396 | heater_pin.set(false); |
4710532a | 397 | this->o = 0; // for display purposes only |
989d0e94 | 398 | |
4710532a | 399 | } else if(temperature < (target_temperature - hysteresis) && this->o <= 0) { |
989d0e94 JM |
400 | if(heater_pin.max_pwm() >= 255) { |
401 | // turn on full | |
402 | this->heater_pin.set(true); | |
4710532a JM |
403 | this->o = 255; // for display purposes only |
404 | } else { | |
989d0e94 JM |
405 | // only to whatever max pwm is configured |
406 | this->heater_pin.pwm(heater_pin.max_pwm()); | |
4710532a | 407 | this->o = heater_pin.max_pwm(); // for display purposes only |
989d0e94 | 408 | } |
989d0e94 JM |
409 | } |
410 | return; | |
411 | } | |
ded56b35 | 412 | |
989d0e94 JM |
413 | // regular PID control |
414 | float error = target_temperature - temperature; | |
08f89868 | 415 | |
0d84905d PA |
416 | float new_I = this->iTerm + (error * this->i_factor); |
417 | if (new_I > this->i_max) new_I = this->i_max; | |
418 | else if (new_I < 0.0) new_I = 0.0; | |
08f89868 | 419 | if(!this->windup) this->iTerm= new_I; |
ded56b35 | 420 | |
4710532a | 421 | float d = (temperature - this->lastInput); |
ded56b35 | 422 | |
10e66797 JM |
423 | // calculate the PID output |
424 | // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that | |
0d84905d | 425 | this->o = (this->p_factor * error) + new_I - (this->d_factor * d); |
8cdae54c | 426 | |
7dee00e4 | 427 | if (this->o >= heater_pin.max_pwm()) |
7dee00e4 | 428 | this->o = heater_pin.max_pwm(); |
27aecda6 | 429 | else if (this->o < 0) |
907d5e8a | 430 | this->o = 0; |
08f89868 | 431 | else if(this->windup) |
0d84905d | 432 | this->iTerm = new_I; // Only update I term when output is not saturated. |
907d5e8a | 433 | |
27aecda6 | 434 | this->heater_pin.pwm(this->o); |
4710532a | 435 | this->lastInput = temperature; |
907d5e8a | 436 | } |
ded56b35 | 437 | |
4710532a | 438 | void TemperatureControl::on_second_tick(void *argument) |
8ccab7cf MM |
439 | { |
440 | if (waiting) | |
4710532a | 441 | THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED) ? 0.0 : target_temperature), o); |
8ccab7cf | 442 | } |
201e6dcf | 443 | |
4710532a JM |
444 | void TemperatureControl::setPIDp(float p) |
445 | { | |
446 | this->p_factor = p; | |
201e6dcf JM |
447 | } |
448 | ||
4710532a JM |
449 | void TemperatureControl::setPIDi(float i) |
450 | { | |
451 | this->i_factor = i * this->PIDdt; | |
201e6dcf JM |
452 | } |
453 | ||
4710532a JM |
454 | void TemperatureControl::setPIDd(float d) |
455 | { | |
456 | this->d_factor = d / this->PIDdt; | |
201e6dcf | 457 | } |