src/modules/tools/temperaturecontrol/TemperatureControl.cpp

   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
  17 TemperatureControl::TemperatureControl(){}
  18
  19 TemperatureControl::TemperatureControl(uint16_t name){
  20     this->name_checksum = name;
  21 //     this->error_count = 0;
  22     this->waiting = false;
  23 }
  24
  25 void TemperatureControl::on_module_loaded(){
  26
  27     // We start not desiring any temp
  28     this->target_temperature = UNDEFINED;
  29
  30     // Settings
  31     this->on_config_reload(this);
  32
  33     this->acceleration_factor = 10;
  34
  35     // Register for events
  36     this->register_for_event(ON_GCODE_EXECUTE);
  37     this->register_for_event(ON_GCODE_RECEIVED);
  38     this->register_for_event(ON_MAIN_LOOP);
  39     this->register_for_event(ON_SECOND_TICK);
  40
  41 }
  42
  43 void TemperatureControl::on_main_loop(void* argument){ }
  44
  45 // Get configuration from the config file
  46 void TemperatureControl::on_config_reload(void* argument){
  47
  48     // General config
  49     this->set_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
  50     this->set_and_wait_m_code = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_and_wait_m_code_checksum)->by_default(109)->as_number();
  51     this->get_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
  52     this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
  53
  54     this->designator          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
  55
  56     // Values are here : http://reprap.org/wiki/Thermistor
  57     this->r0   = 100000;
  58     this->t0   = 25;
  59     this->beta = 4066;
  60     this->r1   = 0;
  61     this->r2   = 4700;
  62
  63     // Preset values for various common types of thermistors
  64     ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum);
  65     if(       thermistor->value.compare("EPCOS100K"    ) == 0 ){ // Default
  66     }else if( thermistor->value.compare("RRRF100K"     ) == 0 ){ this->beta = 3960;
  67     }else if( thermistor->value.compare("RRRF10K"      ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600;
  68     }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974;
  69     }else if( thermistor->value.compare("Semitec"      ) == 0 ){ this->beta = 4267; }
  70
  71     // Preset values are overriden by specified values
  72     this->r0 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum  )->by_default(this->r0  )->as_number();               // Stated resistance eg. 100K
  73     this->t0 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, t0_checksum  )->by_default(this->t0  )->as_number();               // Temperature at stated resistance, eg. 25C
  74     this->beta =                this->kernel->config->value(temperature_control_checksum, this->name_checksum, beta_checksum)->by_default(this->beta)->as_number();               // Thermistor beta rating. See http://reprap.org/bin/view/Main/MeasuringThermistorBeta
  75     this->r1 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum  )->by_default(this->r1  )->as_number();
  76     this->r2 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum  )->by_default(this->r2  )->as_number();
  77
  78
  79     // Thermistor math
  80     j = (1.0 / beta);
  81     k = (1.0 / (t0 + 273.15));
  82
  83     // ADC smoothing
  84     running_total = 0;
  85
  86     // sigma-delta output modulation
  87     o = 0;
  88
  89     // Thermistor pin for ADC readings
  90     this->thermistor_pin = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_pin();
  91     this->kernel->adc->enable_pin(this->thermistor_pin);
  92
  93     // Heater pin
  94     this->heater_pin     =  this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_pwm()->as_output();
  95     this->heater_pin->set(0);
  96
  97     // activate SD-DAC timer
  98     this->kernel->slow_ticker->attach(1000, this->heater_pin, &Pwm::on_tick);
  99
 100     // reading tick
 101     this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 102
 103     // PID
 104     this->p_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number();
 105     this->i_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number();
 106     this->d_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number();
 107     this->i_max    = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(255)->as_number();
 108     this->i = 0.0;
 109     this->last_reading = 0.0;
 110 }
 111
 112 void TemperatureControl::on_gcode_received(void* argument)
 113 {
 114     Gcode* gcode = static_cast<Gcode*>(argument);
 115     if (gcode->has_m)
 116     {
 117         // Get temperature
 118         if( gcode->m == this->get_m_code ){
 119             gcode->stream->printf("%s:%3.1f /%3.1f @%d ", this->designator.c_str(), this->get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), this->o);
 120             gcode->add_nl = true;
 121         }
 122         if (gcode->m == 301)
 123         {
 124             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 125             {
 126                 if (gcode->has_letter('P'))
 127                     this->p_factor = gcode->get_value('P');
 128                 if (gcode->has_letter('I'))
 129                     this->i_factor = gcode->get_value('I');
 130                 if (gcode->has_letter('D'))
 131                     this->d_factor = gcode->get_value('D');
 132                 if (gcode->has_letter('X'))
 133                     this->i_max    = gcode->get_value('X');
 134             }
 135             gcode->stream->printf("%s(S%d): Pf:%g If:%g Df:%g X(I_max):%g Pv:%g Iv:%g Dv:%g O:%d\n", this->designator.c_str(), this->pool_index, this->p_factor, this->i_factor, this->d_factor, this->i_max, this->p, this->i, this->d, o);
 136         }
 137         if (gcode->m == 303)
 138         {
 139             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 140             {
 141                 double target = 150.0;
 142                 if (gcode->has_letter('P'))
 143                 {
 144                     target = gcode->get_value('P');
 145                     gcode->stream->printf("Target: %5.1f\n", target);
 146                 }
 147                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 148                 this->pool->PIDtuner->begin(this, target, gcode->stream);
 149             }
 150         }
 151     }
 152 }
 153
 154 void TemperatureControl::on_gcode_execute(void* argument){
 155     Gcode* gcode = static_cast<Gcode*>(argument);
 156     if( gcode->has_m){
 157         // Set temperature without waiting
 158         if( gcode->m == this->set_m_code && gcode->has_letter('S') )
 159         {
 160             if (gcode->get_value('S') == 0)
 161             {
 162                 this->target_temperature = UNDEFINED;
 163                 this->heater_pin->set(0);
 164             }
 165             else
 166             {
 167                 this->set_desired_temperature(gcode->get_value('S'));
 168             }
 169         }
 170         // Set temperature and wait
 171         if( gcode->m == this->set_and_wait_m_code && gcode->has_letter('S') )
 172         {
 173             if (gcode->get_value('S') == 0)
 174             {
 175                 this->target_temperature = UNDEFINED;
 176                 this->heater_pin->set(0);
 177             }
 178             else
 179             {
 180                 this->set_desired_temperature(gcode->get_value('S'));
 181                 // Pause
 182                 this->kernel->pauser->take();
 183                 this->waiting = true;
 184             }
 185         }
 186     }
 187 }
 188
 189
 190 void TemperatureControl::set_desired_temperature(double desired_temperature){
 191     target_temperature = desired_temperature;
 192     if (desired_temperature == 0.0)
 193         heater_pin->set((o = 0));
 194 }
 195
 196 double TemperatureControl::get_temperature(){
 197     return last_reading;
 198 }
 199
 200 double TemperatureControl::adc_value_to_temperature(int adc_value)
 201 {
 202     if ((adc_value == 4095) || (adc_value == 0))
 203         return INFINITY;
 204     double r = r2 / ((4095.0 / adc_value) - 1.0);
 205     if (r1 > 0)
 206         r = (r1 * r) / (r1 - r);
 207     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 208 }
 209
 210 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 211     int r = new_thermistor_reading();
 212
 213     double temperature = adc_value_to_temperature(r);
 214
 215     if (target_temperature > 0)
 216     {
 217         if ((r <= 1) || (r >= 4094))
 218         {
 219             kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin->port_number, this->thermistor_pin->pin);
 220             target_temperature = UNDEFINED;
 221             heater_pin->set(0);
 222         }
 223         else
 224         {
 225             pid_process(temperature);
 226             if ((temperature > target_temperature) && waiting)
 227             {
 228                 kernel->pauser->release();
 229                 waiting = false;
 230             }
 231         }
 232     }
 233     else
 234     {
 235         heater_pin->set((o = 0));
 236     }
 237     last_reading = temperature;
 238     return 0;
 239 }
 240
 241 void TemperatureControl::pid_process(double temperature)
 242 {
 243     double error = target_temperature - temperature;
 244
 245     p  = error * p_factor;
 246     i += (error * this->i_factor);
 247     // d was imbued with oldest_raw earlier in new_thermistor_reading
 248     d = adc_value_to_temperature(d);
 249     d = (d - temperature) * this->d_factor;
 250
 251     if (i > this->i_max)
 252         i = this->i_max;
 253     if (i < -this->i_max)
 254         i = -this->i_max;
 255
 256     this->o = (p + i + d) * heater_pin->max_pwm() / 256;
 257
 258     if (this->o >= heater_pin->max_pwm())
 259     {
 260         i -= (this->o - (heater_pin->max_pwm())) * 256 / heater_pin->max_pwm();
 261         this->o = heater_pin->max_pwm();
 262     }
 263     if (this->o < 0)
 264     {
 265         if (this->o < -(heater_pin->max_pwm()))
 266             i += (-(heater_pin->max_pwm()) - this->o) * 256 / heater_pin->max_pwm();
 267         this->o = 0;
 268     }
 269
 270     this->heater_pin->pwm(o);
 271 }
 272
 273 int TemperatureControl::new_thermistor_reading()
 274 {
 275     int last_raw = this->kernel->adc->read(this->thermistor_pin);
 276     if (queue.size() >= queue.capacity())
 277     {
 278         uint16_t l;
 279         queue.pop_front(l);
 280         running_total -= l;
 281         d = l;
 282     }
 283     uint16_t r = last_raw;
 284     queue.push_back(r);
 285     running_total += last_raw;
 286     return running_total / queue.size();
 287 }
 288
 289 void TemperatureControl::on_second_tick(void* argument)
 290 {
 291     if (waiting)
 292         kernel->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o, waiting);
 293 }