| 1 | /* |
| 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. |
| 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
| 6 | */ |
| 7 | |
| 8 | // TODO : THIS FILE IS LAME, MUST BE MADE MUCH BETTER |
| 9 | |
| 10 | #include "libs/Module.h" |
| 11 | #include "libs/Kernel.h" |
| 12 | #include <math.h> |
| 13 | #include "TemperatureControl.h" |
| 14 | #include "TemperatureControlPool.h" |
| 15 | #include "libs/Pin.h" |
| 16 | #include "libs/Median.h" |
| 17 | #include "modules/robot/Conveyor.h" |
| 18 | #include "PublicDataRequest.h" |
| 19 | #include "TemperatureControlPublicAccess.h" |
| 20 | #include "StreamOutputPool.h" |
| 21 | #include "Config.h" |
| 22 | #include "checksumm.h" |
| 23 | #include "Gcode.h" |
| 24 | #include "Adc.h" |
| 25 | #include "SlowTicker.h" |
| 26 | #include "Pauser.h" |
| 27 | #include "ConfigValue.h" |
| 28 | #include "TemperatureControl.h" |
| 29 | #include "PID_Autotuner.h" |
| 30 | |
| 31 | #include "MRI_Hooks.h" |
| 32 | |
| 33 | #define UNDEFINED -1 |
| 34 | |
| 35 | #define thermistor_checksum CHECKSUM("thermistor") |
| 36 | #define r0_checksum CHECKSUM("r0") |
| 37 | #define readings_per_second_checksum CHECKSUM("readings_per_second") |
| 38 | #define max_pwm_checksum CHECKSUM("max_pwm") |
| 39 | #define pwm_frequency_checksum CHECKSUM("pwm_frequency") |
| 40 | #define bang_bang_checksum CHECKSUM("bang_bang") |
| 41 | #define hysteresis_checksum CHECKSUM("hysteresis") |
| 42 | #define t0_checksum CHECKSUM("t0") |
| 43 | #define beta_checksum CHECKSUM("beta") |
| 44 | #define vadc_checksum CHECKSUM("vadc") |
| 45 | #define vcc_checksum CHECKSUM("vcc") |
| 46 | #define r1_checksum CHECKSUM("r1") |
| 47 | #define r2_checksum CHECKSUM("r2") |
| 48 | #define thermistor_pin_checksum CHECKSUM("thermistor_pin") |
| 49 | #define heater_pin_checksum CHECKSUM("heater_pin") |
| 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") |
| 62 | |
| 63 | #define preset1_checksum CHECKSUM("preset1") |
| 64 | #define preset2_checksum CHECKSUM("preset2") |
| 65 | |
| 66 | |
| 67 | TemperatureControl::TemperatureControl(uint16_t name) : |
| 68 | name_checksum(name), waiting(false), min_temp_violated(false) {} |
| 69 | |
| 70 | void TemperatureControl::on_module_loaded(){ |
| 71 | |
| 72 | // We start not desiring any temp |
| 73 | this->target_temperature = UNDEFINED; |
| 74 | |
| 75 | // Settings |
| 76 | this->on_config_reload(this); |
| 77 | |
| 78 | this->acceleration_factor = 10; |
| 79 | |
| 80 | // Register for events |
| 81 | register_for_event(ON_CONFIG_RELOAD); |
| 82 | this->register_for_event(ON_GCODE_EXECUTE); |
| 83 | this->register_for_event(ON_GCODE_RECEIVED); |
| 84 | this->register_for_event(ON_MAIN_LOOP); |
| 85 | this->register_for_event(ON_SECOND_TICK); |
| 86 | this->register_for_event(ON_GET_PUBLIC_DATA); |
| 87 | this->register_for_event(ON_SET_PUBLIC_DATA); |
| 88 | } |
| 89 | |
| 90 | void TemperatureControl::on_main_loop(void* argument){ |
| 91 | if (this->min_temp_violated) { |
| 92 | THEKERNEL->streams->printf("Error: MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin.port_number, this->thermistor_pin.pin); |
| 93 | this->min_temp_violated = false; |
| 94 | } |
| 95 | } |
| 96 | |
| 97 | // Get configuration from the config file |
| 98 | void TemperatureControl::on_config_reload(void* argument){ |
| 99 | |
| 100 | // General config |
| 101 | this->set_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number(); |
| 102 | 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(); |
| 103 | this->get_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number(); |
| 104 | this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number(); |
| 105 | |
| 106 | this->designator = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string(); |
| 107 | |
| 108 | // Values are here : http://reprap.org/wiki/Thermistor |
| 109 | this->r0 = 100000; |
| 110 | this->t0 = 25; |
| 111 | this->beta = 4066; |
| 112 | this->r1 = 0; |
| 113 | this->r2 = 4700; |
| 114 | |
| 115 | // Preset values for various common types of thermistors |
| 116 | ConfigValue* thermistor = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum); |
| 117 | if( thermistor->as_string().compare("EPCOS100K" ) == 0 ){ // Default |
| 118 | }else if( thermistor->as_string().compare("RRRF100K" ) == 0 ){ this->beta = 3960; |
| 119 | }else if( thermistor->as_string().compare("RRRF10K" ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600; |
| 120 | }else if( thermistor->as_string().compare("Honeywell100K") == 0 ){ this->beta = 3974; |
| 121 | }else if( thermistor->as_string().compare("Semitec" ) == 0 ){ this->beta = 4267; |
| 122 | }else if( thermistor->as_string().compare("HT100K" ) == 0 ){ this->beta = 3990; } |
| 123 | |
| 124 | // Preset values are overriden by specified values |
| 125 | this->r0 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r0_checksum )->by_default(this->r0 )->as_number(); // Stated resistance eg. 100K |
| 126 | this->t0 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, t0_checksum )->by_default(this->t0 )->as_number(); // Temperature at stated resistance, eg. 25C |
| 127 | this->beta = THEKERNEL->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 |
| 128 | this->r1 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r1_checksum )->by_default(this->r1 )->as_number(); |
| 129 | this->r2 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r2_checksum )->by_default(this->r2 )->as_number(); |
| 130 | |
| 131 | this->preset1 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number(); |
| 132 | this->preset2 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number(); |
| 133 | |
| 134 | |
| 135 | // Thermistor math |
| 136 | j = (1.0 / beta); |
| 137 | k = (1.0 / (t0 + 273.15)); |
| 138 | |
| 139 | // sigma-delta output modulation |
| 140 | this->o = 0; |
| 141 | |
| 142 | // Thermistor pin for ADC readings |
| 143 | this->thermistor_pin.from_string(THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string()); |
| 144 | THEKERNEL->adc->enable_pin(&thermistor_pin); |
| 145 | |
| 146 | // Heater pin |
| 147 | this->heater_pin.from_string( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output(); |
| 148 | this->heater_pin.max_pwm( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() ); |
| 149 | |
| 150 | this->heater_pin.set(0); |
| 151 | |
| 152 | // used to enable bang bang control of heater |
| 153 | this->use_bangbang= THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool(); |
| 154 | this->hysteresis= THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number(); |
| 155 | |
| 156 | set_low_on_debug(heater_pin.port_number, heater_pin.pin); |
| 157 | |
| 158 | // activate SD-DAC timer |
| 159 | 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); |
| 160 | |
| 161 | // reading tick |
| 162 | THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick ); |
| 163 | this->PIDdt= 1.0 / this->readings_per_second; |
| 164 | |
| 165 | // PID |
| 166 | setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() ); |
| 167 | setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() ); |
| 168 | setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() ); |
| 169 | // set to the same as max_pwm by default |
| 170 | this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(this->heater_pin.max_pwm())->as_number(); |
| 171 | this->iTerm = 0.0; |
| 172 | this->lastInput= -1.0; |
| 173 | this->last_reading = 0.0; |
| 174 | } |
| 175 | |
| 176 | void TemperatureControl::on_gcode_received(void* argument){ |
| 177 | Gcode* gcode = static_cast<Gcode*>(argument); |
| 178 | if (gcode->has_m) { |
| 179 | // Get temperature |
| 180 | if( gcode->m == this->get_m_code ){ |
| 181 | char buf[32]; // should be big enough for any status |
| 182 | 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); |
| 183 | gcode->txt_after_ok.append(buf, n); |
| 184 | gcode->mark_as_taken(); |
| 185 | |
| 186 | } else if (gcode->m == 301) { |
| 187 | gcode->mark_as_taken(); |
| 188 | if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) |
| 189 | { |
| 190 | if (gcode->has_letter('P')) |
| 191 | setPIDp( gcode->get_value('P') ); |
| 192 | if (gcode->has_letter('I')) |
| 193 | setPIDi( gcode->get_value('I') ); |
| 194 | if (gcode->has_letter('D')) |
| 195 | setPIDd( gcode->get_value('D') ); |
| 196 | if (gcode->has_letter('X')) |
| 197 | this->i_max = gcode->get_value('X'); |
| 198 | } |
| 199 | //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); |
| 200 | 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); |
| 201 | |
| 202 | } else if (gcode->m == 303) { |
| 203 | if (gcode->has_letter('E') && (gcode->get_value('E') == this->pool_index)) { |
| 204 | gcode->mark_as_taken(); |
| 205 | float target = 150.0; |
| 206 | if (gcode->has_letter('S')) { |
| 207 | target = gcode->get_value('S'); |
| 208 | gcode->stream->printf("Target: %5.1f\n", target); |
| 209 | } |
| 210 | int ncycles= 8; |
| 211 | if (gcode->has_letter('C')) { |
| 212 | ncycles= gcode->get_value('C'); |
| 213 | } |
| 214 | gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str()); |
| 215 | this->pool->PIDtuner->begin(this, target, gcode->stream, ncycles); |
| 216 | } |
| 217 | |
| 218 | } else if (gcode->m == 500 || gcode->m == 503){// M500 saves some volatile settings to config override file, M503 just prints the settings |
| 219 | 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); |
| 220 | gcode->mark_as_taken(); |
| 221 | |
| 222 | } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ) { |
| 223 | // Attach gcodes to the last block for on_gcode_execute |
| 224 | THEKERNEL->conveyor->append_gcode(gcode); |
| 225 | |
| 226 | // 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 |
| 227 | if (gcode->m == this->set_and_wait_m_code) |
| 228 | // ensure that no subsequent gcodes get executed with our M109 or similar |
| 229 | THEKERNEL->conveyor->queue_head_block(); |
| 230 | } |
| 231 | } |
| 232 | } |
| 233 | |
| 234 | void TemperatureControl::on_gcode_execute(void* argument){ |
| 235 | Gcode* gcode = static_cast<Gcode*>(argument); |
| 236 | if( gcode->has_m){ |
| 237 | if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code)) |
| 238 | && gcode->has_letter('S')) |
| 239 | { |
| 240 | float v = gcode->get_value('S'); |
| 241 | |
| 242 | if (v == 0.0) |
| 243 | { |
| 244 | this->target_temperature = UNDEFINED; |
| 245 | this->heater_pin.set((this->o=0)); |
| 246 | } |
| 247 | else |
| 248 | { |
| 249 | this->set_desired_temperature(v); |
| 250 | |
| 251 | if( gcode->m == this->set_and_wait_m_code) |
| 252 | { |
| 253 | THEKERNEL->pauser->take(); |
| 254 | this->waiting = true; |
| 255 | } |
| 256 | } |
| 257 | } |
| 258 | } |
| 259 | } |
| 260 | |
| 261 | void TemperatureControl::on_get_public_data(void* argument){ |
| 262 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
| 263 | |
| 264 | if(!pdr->starts_with(temperature_control_checksum)) return; |
| 265 | |
| 266 | if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend |
| 267 | |
| 268 | // ok this is targeted at us, so send back the requested data |
| 269 | if(pdr->third_element_is(current_temperature_checksum)) { |
| 270 | // this must be static as it will be accessed long after we have returned |
| 271 | static struct pad_temperature temp_return; |
| 272 | temp_return.current_temperature= this->get_temperature(); |
| 273 | temp_return.target_temperature= (target_temperature == UNDEFINED) ? 0 : this->target_temperature; |
| 274 | temp_return.pwm= this->o; |
| 275 | |
| 276 | pdr->set_data_ptr(&temp_return); |
| 277 | pdr->set_taken(); |
| 278 | } |
| 279 | } |
| 280 | |
| 281 | void TemperatureControl::on_set_public_data(void* argument){ |
| 282 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
| 283 | |
| 284 | if(!pdr->starts_with(temperature_control_checksum)) return; |
| 285 | |
| 286 | if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend |
| 287 | |
| 288 | // ok this is targeted at us, so set the temp |
| 289 | float t= *static_cast<float*>(pdr->get_data_ptr()); |
| 290 | this->set_desired_temperature(t); |
| 291 | pdr->set_taken(); |
| 292 | } |
| 293 | |
| 294 | void TemperatureControl::set_desired_temperature(float desired_temperature) |
| 295 | { |
| 296 | if (desired_temperature == 1.0) |
| 297 | desired_temperature = preset1; |
| 298 | else if (desired_temperature == 2.0) |
| 299 | desired_temperature = preset2; |
| 300 | |
| 301 | target_temperature = desired_temperature; |
| 302 | if (desired_temperature == 0.0) |
| 303 | heater_pin.set((this->o = 0)); |
| 304 | } |
| 305 | |
| 306 | float TemperatureControl::get_temperature(){ |
| 307 | return last_reading; |
| 308 | } |
| 309 | |
| 310 | float TemperatureControl::adc_value_to_temperature(int adc_value) |
| 311 | { |
| 312 | if ((adc_value == 4095) || (adc_value == 0)) |
| 313 | return INFINITY; |
| 314 | float r = r2 / ((4095.0 / adc_value) - 1.0); |
| 315 | if (r1 > 0) |
| 316 | r = (r1 * r) / (r1 - r); |
| 317 | return (1.0 / (k + (j * log(r / r0)))) - 273.15; |
| 318 | } |
| 319 | |
| 320 | uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){ |
| 321 | int r = new_thermistor_reading(); |
| 322 | |
| 323 | float temperature = adc_value_to_temperature(r); |
| 324 | |
| 325 | if (target_temperature > 0) |
| 326 | { |
| 327 | if ((r <= 1) || (r >= 4094)) |
| 328 | { |
| 329 | this->min_temp_violated = true; |
| 330 | target_temperature = UNDEFINED; |
| 331 | heater_pin.set((this->o=0)); |
| 332 | } |
| 333 | else |
| 334 | { |
| 335 | pid_process(temperature); |
| 336 | if ((temperature > target_temperature) && waiting) |
| 337 | { |
| 338 | THEKERNEL->pauser->release(); |
| 339 | waiting = false; |
| 340 | } |
| 341 | } |
| 342 | } |
| 343 | else |
| 344 | { |
| 345 | heater_pin.set((this->o = 0)); |
| 346 | } |
| 347 | last_reading = temperature; |
| 348 | return 0; |
| 349 | } |
| 350 | |
| 351 | /** |
| 352 | * Based on https://github.com/br3ttb/Arduino-PID-Library |
| 353 | */ |
| 354 | void TemperatureControl::pid_process(float temperature) |
| 355 | { |
| 356 | if(use_bangbang) { |
| 357 | // bang bang is very simple, if temp is < target - hysteresis turn on full else if temp is > target + hysteresis turn heater off |
| 358 | // good for relays |
| 359 | if(temperature > (target_temperature+hysteresis) && this->o > 0) { |
| 360 | heater_pin.set(false); |
| 361 | this->o= 0; // for display purposes only |
| 362 | |
| 363 | }else if(temperature < (target_temperature-hysteresis) && this->o <= 0) { |
| 364 | if(heater_pin.max_pwm() >= 255) { |
| 365 | // turn on full |
| 366 | this->heater_pin.set(true); |
| 367 | this->o= 255; // for display purposes only |
| 368 | }else{ |
| 369 | // only to whatever max pwm is configured |
| 370 | this->heater_pin.pwm(heater_pin.max_pwm()); |
| 371 | this->o= heater_pin.max_pwm(); // for display purposes only |
| 372 | } |
| 373 | } |
| 374 | return; |
| 375 | } |
| 376 | |
| 377 | // regular PID control |
| 378 | float error = target_temperature - temperature; |
| 379 | this->iTerm += (error * this->i_factor); |
| 380 | if (this->iTerm > this->i_max) this->iTerm = this->i_max; |
| 381 | else if (this->iTerm < 0.0) this->iTerm = 0.0; |
| 382 | |
| 383 | if(this->lastInput < 0.0) this->lastInput= temperature; // set first time |
| 384 | float d= (temperature - this->lastInput); |
| 385 | |
| 386 | // calculate the PID output |
| 387 | // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that |
| 388 | this->o = (this->p_factor*error) + this->iTerm - (this->d_factor*d); |
| 389 | |
| 390 | if (this->o >= heater_pin.max_pwm()) |
| 391 | this->o = heater_pin.max_pwm(); |
| 392 | else if (this->o < 0) |
| 393 | this->o = 0; |
| 394 | |
| 395 | this->heater_pin.pwm(this->o); |
| 396 | this->lastInput= temperature; |
| 397 | } |
| 398 | |
| 399 | int TemperatureControl::new_thermistor_reading() |
| 400 | { |
| 401 | int last_raw = THEKERNEL->adc->read(&thermistor_pin); |
| 402 | if (queue.size() >= queue.capacity()) { |
| 403 | uint16_t l; |
| 404 | queue.pop_front(l); |
| 405 | } |
| 406 | uint16_t r = last_raw; |
| 407 | queue.push_back(r); |
| 408 | for (int i=0; i<queue.size(); i++) |
| 409 | median_buffer[i] = *queue.get_ref(i); |
| 410 | uint16_t m = median_buffer[quick_median(median_buffer, queue.size())]; |
| 411 | return m; |
| 412 | } |
| 413 | |
| 414 | void TemperatureControl::on_second_tick(void* argument) |
| 415 | { |
| 416 | if (waiting) |
| 417 | THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o); |
| 418 | } |
| 419 | |
| 420 | void TemperatureControl::setPIDp(float p) { |
| 421 | this->p_factor= p; |
| 422 | } |
| 423 | |
| 424 | void TemperatureControl::setPIDi(float i) { |
| 425 | this->i_factor= i*this->PIDdt; |
| 426 | } |
| 427 | |
| 428 | void TemperatureControl::setPIDd(float d) { |
| 429 | this->d_factor= d/this->PIDdt; |
| 430 | } |