[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 "TemperatureControlPublicAccess.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 "TemperatureControl.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")

#define link_to_tool_checksum              CHECKSUM("link_to_tool")

TemperatureControl::TemperatureControl(uint16_t name) :
    sensor(nullptr), name_checksum(name), waiting(false), min_temp_violated(false)
{
}

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

void TemperatureControl::on_module_loaded()
{

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

    // Settings
    this->on_config_reload(this);

    // Register for events
    register_for_event(ON_CONFIG_RELOAD);
    this->register_for_event(ON_GCODE_EXECUTE);
    this->register_for_event(ON_GCODE_RECEIVED);
    this->register_for_event(ON_MAIN_LOOP);
    this->register_for_event(ON_SECOND_TICK);
    this->register_for_event(ON_GET_PUBLIC_DATA);
    this->register_for_event(ON_SET_PUBLIC_DATA);
}

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::on_config_reload(void *argument)
{

    // 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();

    this->link_to_tool        = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, link_to_tool_checksum)->by_default(false)->as_bool();

    // 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;

    // Heater pin
    this->heater_pin.from_string(    THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
    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);

    // 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();

    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() );
    // 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) {
        // Get temperature
        this->active = true;
        if( this->link_to_tool ) {
            void *returned_data;
            bool ok = THEKERNEL->public_data->get_value( tool_manager_checksum, &returned_data );

            if (ok) {
                struct pad_toolmanager toolmanager =  *static_cast<struct pad_toolmanager *>(returned_data);
                this->active = toolmanager.current_tool_name == this->name_checksum;
            }
        }
        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();

        } else 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 == 303) {
            if (gcode->has_letter('E') && (gcode->get_value('E') == this->pool_index)) {
                gcode->mark_as_taken();
                float target = 150.0;
                if (gcode->has_letter('S')) {
                    target = gcode->get_value('S');
                    gcode->stream->printf("Target: %5.1f\n", target);
                }
                int ncycles = 8;
                if (gcode->has_letter('C')) {
                    ncycles = gcode->get_value('C');
                }
                gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
                this->pool->PIDtuner->begin(this, target, gcode->stream, ncycles);
            }

        } 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->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) {
                    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(this->name_checksum)) return; // will be bed or hotend

    // ok this is targeted at us, so send back the requested data
    if(pdr->third_element_is(current_temperature_checksum)) {
        // this must be static as it will be accessed long after we have returned
        static struct pad_temperature temp_return;
        temp_return.current_temperature = this->get_temperature();
        temp_return.target_temperature = (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
        temp_return.pwm = this->o;

        pdr->set_data_ptr(&temp_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; // will be bed or hotend

    // 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 (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"
85eabc50	18	#include "TemperatureControlPublicAccess.h"
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 JM	28	#include "TemperatureControl.h"
66383b80 JM	29	#include "PID_Autotuner.h"
ded56b35	30
9d955060	31	// Temp sensor implementations:
9d955060	32	#include "Thermistor.h"
4710532a	33	#include "max31855.h"
9d955060	34
8f91e4e6 MM	35	#include "MRI_Hooks.h"
8f91e4e6 MM	36
85eabc50 JM	37	#define UNDEFINED -1
85eabc50 JM	38
9d955060	39	#define sensor_checksum CHECKSUM("sensor")
9d955060	40
85eabc50 JM	41	#define readings_per_second_checksum CHECKSUM("readings_per_second")
	42	#define max_pwm_checksum CHECKSUM("max_pwm")
	43	#define pwm_frequency_checksum CHECKSUM("pwm_frequency")
989d0e94 JM	44	#define bang_bang_checksum CHECKSUM("bang_bang")
989d0e94 JM	45	#define hysteresis_checksum CHECKSUM("hysteresis")
85eabc50 JM	46	#define heater_pin_checksum CHECKSUM("heater_pin")
	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")
	59
	60	#define preset1_checksum CHECKSUM("preset1")
	61	#define preset2_checksum CHECKSUM("preset2")
	62
38b9f24a	63	#define link_to_tool_checksum CHECKSUM("link_to_tool")
85eabc50	64
7e57bc2c	65	TemperatureControl::TemperatureControl(uint16_t name) :
4710532a	66	sensor(nullptr), name_checksum(name), waiting(false), min_temp_violated(false)
d8baddd9	67	{
d8baddd9	68	}
ded56b35	69
d8baddd9	70	TemperatureControl::~TemperatureControl()
	71	{
	72	delete sensor;
	73	}
4710532a JM	74
	75	void TemperatureControl::on_module_loaded()
	76	{
907d5e8a	77
81b547a1	78	// We start not desiring any temp
907d5e8a	79	this->target_temperature = UNDEFINED;
ded56b35 AW	80
ded56b35 AW	81	// Settings
7dd8133c	82	this->on_config_reload(this);
ded56b35	83
ded56b35	84	// Register for events
476dcb96	85	register_for_event(ON_CONFIG_RELOAD);
df27a6a3	86	this->register_for_event(ON_GCODE_EXECUTE);
b0be67b5	87	this->register_for_event(ON_GCODE_RECEIVED);
df27a6a3	88	this->register_for_event(ON_MAIN_LOOP);
8ccab7cf	89	this->register_for_event(ON_SECOND_TICK);
8293d443	90	this->register_for_event(ON_GET_PUBLIC_DATA);
991d98cc	91	this->register_for_event(ON_SET_PUBLIC_DATA);
ded56b35 AW	92	}
ded56b35 AW	93
4710532a JM	94	void TemperatureControl::on_main_loop(void *argument)
4710532a JM	95	{
7e57bc2c	96	if (this->min_temp_violated) {
9d955060	97	THEKERNEL->streams->printf("Error: MINTEMP triggered. Check your temperature sensors!\n");
7e57bc2c	98	this->min_temp_violated = false;
a7f12bed	99	}
7e57bc2c	100	}
7dd8133c AW	101
7dd8133c AW	102	// Get configuration from the config file
4710532a JM	103	void TemperatureControl::on_config_reload(void *argument)
4710532a JM	104	{
7dd8133c	105
1306ba99	106	// General config
314ab8f7 MM	107	this->set_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
	108	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();
	109	this->get_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
	110	this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
7dee00e4	111
314ab8f7	112	this->designator = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
b0be67b5	113
38b9f24a L	114	this->link_to_tool = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, link_to_tool_checksum)->by_default(false)->as_bool();
38b9f24a L	115
d8baddd9	116	// For backward compatibility, default to a thermistor sensor.
	117	std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string();
	118
	119	// Instantiate correct sensor (TBD: TempSensor factory?)
	120	delete sensor;
	121	sensor = nullptr; // In case we fail to create a new sensor.
4710532a	122	if(sensor_type.compare("thermistor") == 0) {
d8baddd9	123	sensor = new Thermistor();
4710532a	124	} else if(sensor_type.compare("max31855") == 0) {
d8baddd9	125	sensor = new Max31855();
4710532a	126	} else {
d8baddd9	127	sensor = new TempSensor(); // A dummy implementation
	128	}
	129	sensor->UpdateConfig(temperature_control_checksum, this->name_checksum);
4710532a	130
314ab8f7 MM	131	this->preset1 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
314ab8f7 MM	132	this->preset2 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
f4bd4fc3	133
907d5e8a	134
c4f4cf73	135	// sigma-delta output modulation
b35ac71e	136	this->o = 0;
3c132bd0	137
3c132bd0	138	// Heater pin
314ab8f7 MM	139	this->heater_pin.from_string( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
314ab8f7 MM	140	this->heater_pin.max_pwm( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
989d0e94	141
7dee00e4	142	this->heater_pin.set(0);
989d0e94 JM	143
989d0e94 JM	144	// used to enable bang bang control of heater
4710532a JM	145	this->use_bangbang = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool();
4710532a JM	146	this->hysteresis = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number();
7dd8133c	147
cb3460e9	148	set_low_on_debug(heater_pin.port_number, heater_pin.pin);
8f91e4e6	149
907d5e8a	150	// activate SD-DAC timer
314ab8f7	151	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);
907d5e8a	152
f39da6fe	153	// reading tick
314ab8f7	154	THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
4710532a	155	this->PIDdt = 1.0 / this->readings_per_second;
f39da6fe	156
907d5e8a	157	// PID
314ab8f7	158	setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
1ad23cd3	159	setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() );
314ab8f7	160	setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );
10e66797	161	// set to the same as max_pwm by default
314ab8f7	162	this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(this->heater_pin.max_pwm())->as_number();
10e66797	163	this->iTerm = 0.0;
4710532a	164	this->lastInput = -1.0;
907d5e8a	165	this->last_reading = 0.0;
7dd8133c AW	166	}
7dd8133c AW	167
4710532a JM	168	void TemperatureControl::on_gcode_received(void *argument)
	169	{
	170	Gcode gcode = static_cast<Gcode >(argument);
8dfbc976	171	if (gcode->has_m) {
b0be67b5	172	// Get temperature
18551e1f	173	this->active = true;
38b9f24a	174	if( this->link_to_tool ) {
4710532a	175	void *returned_data;
38b9f24a L	176	bool ok = THEKERNEL->public_data->get_value( tool_manager_checksum, &returned_data );
	177
	178	if (ok) {
	179	struct pad_toolmanager toolmanager = static_cast<struct pad_toolmanager >(returned_data);
18551e1f	180	this->active = toolmanager.current_tool_name == this->name_checksum;
38b9f24a L	181	}
38b9f24a L	182	}
4710532a	183	if( gcode->m == this->get_m_code ) {
93284f6f	184	char buf[32]; // should be big enough for any status
4710532a	185	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	186	gcode->txt_after_ok.append(buf, n);
a24ab0ac	187	gcode->mark_as_taken();
8dfbc976 JM	188
8dfbc976 JM	189	} else if (gcode->m == 301) {
74b6303c	190	gcode->mark_as_taken();
4710532a	191	if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) {
827a49ca	192	if (gcode->has_letter('P'))
201e6dcf	193	setPIDp( gcode->get_value('P') );
827a49ca	194	if (gcode->has_letter('I'))
201e6dcf	195	setPIDi( gcode->get_value('I') );
827a49ca	196	if (gcode->has_letter('D'))
201e6dcf	197	setPIDd( gcode->get_value('D') );
827a49ca MM	198	if (gcode->has_letter('X'))
	199	this->i_max = gcode->get_value('X');
	200	}
10e66797	201	//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	202	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 JM	203
	204	} else if (gcode->m == 303) {
	205	if (gcode->has_letter('E') && (gcode->get_value('E') == this->pool_index)) {
	206	gcode->mark_as_taken();
1ad23cd3	207	float target = 150.0;
8dfbc976 JM	208	if (gcode->has_letter('S')) {
8dfbc976 JM	209	target = gcode->get_value('S');
827a49ca MM	210	gcode->stream->printf("Target: %5.1f\n", target);
827a49ca MM	211	}
4710532a	212	int ncycles = 8;
8dfbc976	213	if (gcode->has_letter('C')) {
4710532a	214	ncycles = gcode->get_value('C');
8dfbc976	215	}
827a49ca	216	gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
8dfbc976	217	this->pool->PIDtuner->begin(this, target, gcode->stream, ncycles);
827a49ca	218	}
cf1a7632	219
4710532a JM	220	} else if (gcode->m == 500 \|\| gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
4710532a JM	221	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	222	gcode->mark_as_taken();
33e4cc02 JM	223
18551e1f	224	} else if( ( gcode->m == this->set_m_code \|\| gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') && this->active ) {
8dfbc976	225	// Attach gcodes to the last block for on_gcode_execute
e0ee24ed	226	THEKERNEL->conveyor->append_gcode(gcode);
2134bcf2 MM	227
	228	// 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
	229	if (gcode->m == this->set_and_wait_m_code)
518e225f	230	// ensure that no subsequent gcodes get executed with our M109 or similar
2134bcf2	231	THEKERNEL->conveyor->queue_head_block();
3c4f2dd8	232	}
b0be67b5 MM	233	}
b0be67b5 MM	234	}
db453125	235
4710532a JM	236	void TemperatureControl::on_gcode_execute(void *argument)
	237	{
	238	Gcode gcode = static_cast<Gcode >(argument);
	239	if( gcode->has_m) {
cf1a7632	240	if (((gcode->m == this->set_m_code) \|\| (gcode->m == this->set_and_wait_m_code))
4710532a	241	&& gcode->has_letter('S') && this->active) {
1ad23cd3	242	float v = gcode->get_value('S');
f4bd4fc3	243
4710532a	244	if (v == 0.0) {
907d5e8a	245	this->target_temperature = UNDEFINED;
4710532a JM	246	this->heater_pin.set((this->o = 0));
4710532a JM	247	} else {
f4bd4fc3	248	this->set_desired_temperature(v);
cf1a7632	249
4710532a	250	if( gcode->m == this->set_and_wait_m_code) {
314ab8f7	251	THEKERNEL->pauser->take();
cf1a7632 MM	252	this->waiting = true;
cf1a7632 MM	253	}
907d5e8a	254	}
df27a6a3	255	}
df27a6a3	256	}
ded56b35 AW	257	}
ded56b35 AW	258
4710532a JM	259	void TemperatureControl::on_get_public_data(void *argument)
	260	{
	261	PublicDataRequest pdr = static_cast<PublicDataRequest >(argument);
201e6dcf	262
b19aa09d JM	263	if(!pdr->starts_with(temperature_control_checksum)) return;
	264
	265	if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
	266
	267	// ok this is targeted at us, so send back the requested data
	268	if(pdr->third_element_is(current_temperature_checksum)) {
	269	// this must be static as it will be accessed long after we have returned
	270	static struct pad_temperature temp_return;
4710532a JM	271	temp_return.current_temperature = this->get_temperature();
	272	temp_return.target_temperature = (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
	273	temp_return.pwm = this->o;
201e6dcf	274
b19aa09d JM	275	pdr->set_data_ptr(&temp_return);
	276	pdr->set_taken();
	277	}
8293d443	278	}
db453125	279
4710532a JM	280	void TemperatureControl::on_set_public_data(void *argument)
	281	{
	282	PublicDataRequest pdr = static_cast<PublicDataRequest >(argument);
77047e76	283
991d98cc	284	if(!pdr->starts_with(temperature_control_checksum)) return;
77047e76	285
991d98cc	286	if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
77047e76	287
991d98cc	288	// ok this is targeted at us, so set the temp
4710532a	289	float t = static_cast<float >(pdr->get_data_ptr());
991d98cc JM	290	this->set_desired_temperature(t);
991d98cc JM	291	pdr->set_taken();
77047e76 JM	292	}
77047e76 JM	293
1ad23cd3	294	void TemperatureControl::set_desired_temperature(float desired_temperature)
cf1a7632 MM	295	{
	296	if (desired_temperature == 1.0)
	297	desired_temperature = preset1;
	298	else if (desired_temperature == 2.0)
	299	desired_temperature = preset2;
	300
907d5e8a	301	target_temperature = desired_temperature;
959dc7db	302	if (desired_temperature == 0.0)
b35ac71e	303	heater_pin.set((this->o = 0));
ded56b35 AW	304	}
ded56b35 AW	305
4710532a JM	306	float TemperatureControl::get_temperature()
4710532a JM	307	{
907d5e8a	308	return last_reading;
ded56b35 AW	309	}
ded56b35 AW	310
4710532a JM	311	uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy)
4710532a JM	312	{
9d955060	313	float temperature = sensor->get_temperature();
907d5e8a	314
4710532a JM	315	if (target_temperature > 0) {
4710532a JM	316	if (isinf(temperature)) {
7e57bc2c	317	this->min_temp_violated = true;
907d5e8a	318	target_temperature = UNDEFINED;
4710532a JM	319	heater_pin.set((this->o = 0));
4710532a JM	320	} else {
907d5e8a	321	pid_process(temperature);
4710532a	322	if ((temperature > target_temperature) && waiting) {
347854ff	323	THEKERNEL->pauser->release();
907d5e8a	324	waiting = false;
81b547a1	325	}
ded56b35	326	}
4710532a	327	} else {
b35ac71e	328	heater_pin.set((this->o = 0));
959dc7db	329	}
907d5e8a	330	last_reading = temperature;
281967e4	331	return 0;
ded56b35 AW	332	}
ded56b35 AW	333
10e66797 JM	334	/**
	335	* Based on https://github.com/br3ttb/Arduino-PID-Library
	336	*/
1ad23cd3	337	void TemperatureControl::pid_process(float temperature)
907d5e8a	338	{
989d0e94	339	if(use_bangbang) {
b35ac71e	340	// bang bang is very simple, if temp is < target - hysteresis turn on full else if temp is > target + hysteresis turn heater off
989d0e94	341	// good for relays
4710532a	342	if(temperature > (target_temperature + hysteresis) && this->o > 0) {
989d0e94	343	heater_pin.set(false);
4710532a	344	this->o = 0; // for display purposes only
989d0e94	345
4710532a	346	} else if(temperature < (target_temperature - hysteresis) && this->o <= 0) {
989d0e94 JM	347	if(heater_pin.max_pwm() >= 255) {
	348	// turn on full
	349	this->heater_pin.set(true);
4710532a JM	350	this->o = 255; // for display purposes only
4710532a JM	351	} else {
989d0e94 JM	352	// only to whatever max pwm is configured
989d0e94 JM	353	this->heater_pin.pwm(heater_pin.max_pwm());
4710532a	354	this->o = heater_pin.max_pwm(); // for display purposes only
989d0e94	355	}
989d0e94 JM	356	}
	357	return;
	358	}
ded56b35	359
989d0e94 JM	360	// regular PID control
989d0e94 JM	361	float error = target_temperature - temperature;
10e66797 JM	362	this->iTerm += (error * this->i_factor);
	363	if (this->iTerm > this->i_max) this->iTerm = this->i_max;
	364	else if (this->iTerm < 0.0) this->iTerm = 0.0;
ded56b35	365
4710532a JM	366	if(this->lastInput < 0.0) this->lastInput = temperature; // set first time
4710532a JM	367	float d = (temperature - this->lastInput);
ded56b35	368
10e66797 JM	369	// calculate the PID output
10e66797 JM	370	// TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
4710532a	371	this->o = (this->p_factor * error) + this->iTerm - (this->d_factor * d);
8cdae54c	372
7dee00e4	373	if (this->o >= heater_pin.max_pwm())
7dee00e4	374	this->o = heater_pin.max_pwm();
27aecda6	375	else if (this->o < 0)
907d5e8a MM	376	this->o = 0;
907d5e8a MM	377
27aecda6	378	this->heater_pin.pwm(this->o);
4710532a	379	this->lastInput = temperature;
907d5e8a	380	}
ded56b35	381
4710532a	382	void TemperatureControl::on_second_tick(void *argument)
8ccab7cf MM	383	{
8ccab7cf MM	384	if (waiting)
4710532a	385	THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED) ? 0.0 : target_temperature), o);
8ccab7cf	386	}
201e6dcf	387
4710532a JM	388	void TemperatureControl::setPIDp(float p)
	389	{
	390	this->p_factor = p;
201e6dcf JM	391	}
201e6dcf JM	392
4710532a JM	393	void TemperatureControl::setPIDi(float i)
	394	{
	395	this->i_factor = i * this->PIDdt;
201e6dcf JM	396	}
201e6dcf JM	397
4710532a JM	398	void TemperatureControl::setPIDd(float d)
	399	{
	400	this->d_factor = d / this->PIDdt;
201e6dcf	401	}