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/>.
8 // TODO : THIS FILE IS LAME, MUST BE MADE MUCH BETTER
10 #include "libs/Module.h"
11 #include "libs/Kernel.h"
13 #include "TemperatureControl.h"
14 #include "TemperatureControlPool.h"
16 #include "modules/robot/Conveyor.h"
17 #include "PublicDataRequest.h"
18 #include "TemperatureControlPublicAccess.h"
19 #include "PublicData.h"
20 #include "ToolManagerPublicAccess.h"
21 #include "StreamOutputPool.h"
23 #include "checksumm.h"
25 #include "SlowTicker.h"
27 #include "ConfigValue.h"
28 #include "TemperatureControl.h"
29 #include "PID_Autotuner.h"
31 // Temp sensor implementations:
32 #include "Thermistor.h"
35 #include "MRI_Hooks.h"
39 #define sensor_checksum CHECKSUM("sensor")
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")
44 #define bang_bang_checksum CHECKSUM("bang_bang")
45 #define hysteresis_checksum CHECKSUM("hysteresis")
46 #define heater_pin_checksum CHECKSUM("heater_pin")
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")
52 #define designator_checksum CHECKSUM("designator")
54 #define p_factor_checksum CHECKSUM("p_factor")
55 #define i_factor_checksum CHECKSUM("i_factor")
56 #define d_factor_checksum CHECKSUM("d_factor")
58 #define i_max_checksum CHECKSUM("i_max")
60 #define preset1_checksum CHECKSUM("preset1")
61 #define preset2_checksum CHECKSUM("preset2")
63 #define link_to_tool_checksum CHECKSUM("link_to_tool")
65 TemperatureControl::TemperatureControl(uint16_t name
) :
66 sensor(nullptr), name_checksum(name
), waiting(false), min_temp_violated(false)
70 TemperatureControl::~TemperatureControl()
75 void TemperatureControl::on_module_loaded()
78 // We start not desiring any temp
79 this->target_temperature
= UNDEFINED
;
82 this->on_config_reload(this);
84 // Register for events
85 register_for_event(ON_CONFIG_RELOAD
);
86 this->register_for_event(ON_GCODE_EXECUTE
);
87 this->register_for_event(ON_GCODE_RECEIVED
);
88 this->register_for_event(ON_MAIN_LOOP
);
89 this->register_for_event(ON_SECOND_TICK
);
90 this->register_for_event(ON_GET_PUBLIC_DATA
);
91 this->register_for_event(ON_SET_PUBLIC_DATA
);
94 void TemperatureControl::on_main_loop(void *argument
)
96 if (this->min_temp_violated
) {
97 THEKERNEL
->streams
->printf("Error: MINTEMP triggered. Check your temperature sensors!\n");
98 this->min_temp_violated
= false;
102 // Get configuration from the config file
103 void TemperatureControl::on_config_reload(void *argument
)
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();
112 this->designator
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, designator_checksum
)->by_default(string("T"))->as_string();
114 this->link_to_tool
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, link_to_tool_checksum
)->by_default(false)->as_bool();
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();
119 // Instantiate correct sensor (TBD: TempSensor factory?)
121 sensor
= nullptr; // In case we fail to create a new sensor.
122 if(sensor_type
.compare("thermistor") == 0) {
123 sensor
= new Thermistor();
124 } else if(sensor_type
.compare("max31855") == 0) {
125 sensor
= new Max31855();
127 sensor
= new TempSensor(); // A dummy implementation
129 sensor
->UpdateConfig(temperature_control_checksum
, this->name_checksum
);
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();
135 // sigma-delta output modulation
139 this->heater_pin
.from_string( THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, heater_pin_checksum
)->required()->as_string())->as_output();
140 this->heater_pin
.max_pwm( THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, max_pwm_checksum
)->by_default(255)->as_number() );
142 this->heater_pin
.set(0);
144 // used to enable bang bang control of heater
145 this->use_bangbang
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, bang_bang_checksum
)->by_default(false)->as_bool();
146 this->hysteresis
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, hysteresis_checksum
)->by_default(2)->as_number();
148 set_low_on_debug(heater_pin
.port_number
, heater_pin
.pin
);
150 // activate SD-DAC timer
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
);
154 THEKERNEL
->slow_ticker
->attach( this->readings_per_second
, this, &TemperatureControl::thermistor_read_tick
);
155 this->PIDdt
= 1.0 / this->readings_per_second
;
158 setPIDp( THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, p_factor_checksum
)->by_default(10 )->as_number() );
159 setPIDi( THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, i_factor_checksum
)->by_default(0.3f
)->as_number() );
160 setPIDd( THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, d_factor_checksum
)->by_default(200)->as_number() );
161 // set to the same as max_pwm by default
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();
164 this->lastInput
= -1.0;
165 this->last_reading
= 0.0;
168 void TemperatureControl::on_gcode_received(void *argument
)
170 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
174 if( this->link_to_tool
) {
176 bool ok
= THEKERNEL
->public_data
->get_value( tool_manager_checksum
, &returned_data
);
179 struct pad_toolmanager toolmanager
= *static_cast<struct pad_toolmanager
*>(returned_data
);
180 this->active
= toolmanager
.current_tool_name
== this->name_checksum
;
183 if( gcode
->m
== this->get_m_code
) {
184 char buf
[32]; // should be big enough for any status
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
);
186 gcode
->txt_after_ok
.append(buf
, n
);
187 gcode
->mark_as_taken();
189 } else if (gcode
->m
== 301) {
190 gcode
->mark_as_taken();
191 if (gcode
->has_letter('S') && (gcode
->get_value('S') == this->pool_index
)) {
192 if (gcode
->has_letter('P'))
193 setPIDp( gcode
->get_value('P') );
194 if (gcode
->has_letter('I'))
195 setPIDi( gcode
->get_value('I') );
196 if (gcode
->has_letter('D'))
197 setPIDd( gcode
->get_value('D') );
198 if (gcode
->has_letter('X'))
199 this->i_max
= gcode
->get_value('X');
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);
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
);
204 } else if (gcode
->m
== 303) {
205 if (gcode
->has_letter('E') && (gcode
->get_value('E') == this->pool_index
)) {
206 gcode
->mark_as_taken();
207 float target
= 150.0;
208 if (gcode
->has_letter('S')) {
209 target
= gcode
->get_value('S');
210 gcode
->stream
->printf("Target: %5.1f\n", target
);
213 if (gcode
->has_letter('C')) {
214 ncycles
= gcode
->get_value('C');
216 gcode
->stream
->printf("Start PID tune, command is %s\n", gcode
->command
.c_str());
217 this->pool
->PIDtuner
->begin(this, target
, gcode
->stream
, ncycles
);
220 } else if (gcode
->m
== 500 || gcode
->m
== 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
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
);
222 gcode
->mark_as_taken();
224 } else if( ( gcode
->m
== this->set_m_code
|| gcode
->m
== this->set_and_wait_m_code
) && gcode
->has_letter('S') && this->active
) {
225 // Attach gcodes to the last block for on_gcode_execute
226 THEKERNEL
->conveyor
->append_gcode(gcode
);
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
)
230 // ensure that no subsequent gcodes get executed with our M109 or similar
231 THEKERNEL
->conveyor
->queue_head_block();
236 void TemperatureControl::on_gcode_execute(void *argument
)
238 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
240 if (((gcode
->m
== this->set_m_code
) || (gcode
->m
== this->set_and_wait_m_code
))
241 && gcode
->has_letter('S') && this->active
) {
242 float v
= gcode
->get_value('S');
245 this->target_temperature
= UNDEFINED
;
246 this->heater_pin
.set((this->o
= 0));
248 this->set_desired_temperature(v
);
250 if( gcode
->m
== this->set_and_wait_m_code
) {
251 THEKERNEL
->pauser
->take();
252 this->waiting
= true;
259 void TemperatureControl::on_get_public_data(void *argument
)
261 PublicDataRequest
*pdr
= static_cast<PublicDataRequest
*>(argument
);
263 if(!pdr
->starts_with(temperature_control_checksum
)) return;
265 if(!pdr
->second_element_is(this->name_checksum
)) return; // will be bed or hotend
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
;
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
;
275 pdr
->set_data_ptr(&temp_return
);
280 void TemperatureControl::on_set_public_data(void *argument
)
282 PublicDataRequest
*pdr
= static_cast<PublicDataRequest
*>(argument
);
284 if(!pdr
->starts_with(temperature_control_checksum
)) return;
286 if(!pdr
->second_element_is(this->name_checksum
)) return; // will be bed or hotend
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
);
294 void TemperatureControl::set_desired_temperature(float desired_temperature
)
296 if (desired_temperature
== 1.0)
297 desired_temperature
= preset1
;
298 else if (desired_temperature
== 2.0)
299 desired_temperature
= preset2
;
301 target_temperature
= desired_temperature
;
302 if (desired_temperature
== 0.0)
303 heater_pin
.set((this->o
= 0));
306 float TemperatureControl::get_temperature()
311 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy
)
313 float temperature
= sensor
->get_temperature();
315 if (target_temperature
> 0) {
316 if (isinf(temperature
)) {
317 this->min_temp_violated
= true;
318 target_temperature
= UNDEFINED
;
319 heater_pin
.set((this->o
= 0));
321 pid_process(temperature
);
322 if ((temperature
> target_temperature
) && waiting
) {
323 THEKERNEL
->pauser
->release();
328 heater_pin
.set((this->o
= 0));
330 last_reading
= temperature
;
335 * Based on https://github.com/br3ttb/Arduino-PID-Library
337 void TemperatureControl::pid_process(float temperature
)
340 // bang bang is very simple, if temp is < target - hysteresis turn on full else if temp is > target + hysteresis turn heater off
342 if(temperature
> (target_temperature
+ hysteresis
) && this->o
> 0) {
343 heater_pin
.set(false);
344 this->o
= 0; // for display purposes only
346 } else if(temperature
< (target_temperature
- hysteresis
) && this->o
<= 0) {
347 if(heater_pin
.max_pwm() >= 255) {
349 this->heater_pin
.set(true);
350 this->o
= 255; // for display purposes only
352 // only to whatever max pwm is configured
353 this->heater_pin
.pwm(heater_pin
.max_pwm());
354 this->o
= heater_pin
.max_pwm(); // for display purposes only
360 // regular PID control
361 float error
= target_temperature
- temperature
;
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;
366 if(this->lastInput
< 0.0) this->lastInput
= temperature
; // set first time
367 float d
= (temperature
- this->lastInput
);
369 // calculate the PID output
370 // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
371 this->o
= (this->p_factor
* error
) + this->iTerm
- (this->d_factor
* d
);
373 if (this->o
>= heater_pin
.max_pwm())
374 this->o
= heater_pin
.max_pwm();
375 else if (this->o
< 0)
378 this->heater_pin
.pwm(this->o
);
379 this->lastInput
= temperature
;
382 void TemperatureControl::on_second_tick(void *argument
)
385 THEKERNEL
->streams
->printf("%s:%3.1f /%3.1f @%d\n", designator
.c_str(), get_temperature(), ((target_temperature
== UNDEFINED
) ? 0.0 : target_temperature
), o
);
388 void TemperatureControl::setPIDp(float p
)
393 void TemperatureControl::setPIDi(float i
)
395 this->i_factor
= i
* this->PIDdt
;
398 void TemperatureControl::setPIDd(float d
)
400 this->d_factor
= d
/ this->PIDdt
;