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 "libs/Median.h"
17 #include "modules/robot/Conveyor.h"
18 #include "PublicDataRequest.h"
19 #include "TemperatureControlPublicAccess.h"
20 #include "StreamOutputPool.h"
22 #include "checksumm.h"
25 #include "SlowTicker.h"
28 #include "MRI_Hooks.h"
32 #define thermistor_checksum CHECKSUM("thermistor")
33 #define r0_checksum CHECKSUM("r0")
34 #define readings_per_second_checksum CHECKSUM("readings_per_second")
35 #define max_pwm_checksum CHECKSUM("max_pwm")
36 #define pwm_frequency_checksum CHECKSUM("pwm_frequency")
37 #define bang_bang_checksum CHECKSUM("bang_bang")
38 #define hysteresis_checksum CHECKSUM("hysteresis")
39 #define t0_checksum CHECKSUM("t0")
40 #define beta_checksum CHECKSUM("beta")
41 #define vadc_checksum CHECKSUM("vadc")
42 #define vcc_checksum CHECKSUM("vcc")
43 #define r1_checksum CHECKSUM("r1")
44 #define r2_checksum CHECKSUM("r2")
45 #define thermistor_pin_checksum CHECKSUM("thermistor_pin")
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")
64 TemperatureControl::TemperatureControl(uint16_t name
) :
65 name_checksum(name
), waiting(false), min_temp_violated(false) {}
67 void TemperatureControl::on_module_loaded(){
69 // We start not desiring any temp
70 this->target_temperature
= UNDEFINED
;
73 this->on_config_reload(this);
75 this->acceleration_factor
= 10;
77 // Register for events
78 register_for_event(ON_CONFIG_RELOAD
);
79 this->register_for_event(ON_GCODE_EXECUTE
);
80 this->register_for_event(ON_GCODE_RECEIVED
);
81 this->register_for_event(ON_MAIN_LOOP
);
82 this->register_for_event(ON_SECOND_TICK
);
83 this->register_for_event(ON_GET_PUBLIC_DATA
);
84 this->register_for_event(ON_SET_PUBLIC_DATA
);
87 void TemperatureControl::on_main_loop(void* argument
){
88 if (this->min_temp_violated
) {
89 THEKERNEL
->streams
->printf("Error: MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin
.port_number
, this->thermistor_pin
.pin
);
90 this->min_temp_violated
= false;
94 // Get configuration from the config file
95 void TemperatureControl::on_config_reload(void* argument
){
98 this->set_m_code
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, set_m_code_checksum
)->by_default(104)->as_number();
99 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();
100 this->get_m_code
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, get_m_code_checksum
)->by_default(105)->as_number();
101 this->readings_per_second
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, readings_per_second_checksum
)->by_default(20)->as_number();
103 this->designator
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, designator_checksum
)->by_default(string("T"))->as_string();
105 // Values are here : http://reprap.org/wiki/Thermistor
112 // Preset values for various common types of thermistors
113 ConfigValue
* thermistor
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, thermistor_checksum
);
114 if( thermistor
->value
.compare("EPCOS100K" ) == 0 ){ // Default
115 }else if( thermistor
->value
.compare("RRRF100K" ) == 0 ){ this->beta
= 3960;
116 }else if( thermistor
->value
.compare("RRRF10K" ) == 0 ){ this->beta
= 3964; this->r0
= 10000; this->r1
= 680; this->r2
= 1600;
117 }else if( thermistor
->value
.compare("Honeywell100K") == 0 ){ this->beta
= 3974;
118 }else if( thermistor
->value
.compare("Semitec" ) == 0 ){ this->beta
= 4267;
119 }else if( thermistor
->value
.compare("HT100K" ) == 0 ){ this->beta
= 3990; }
121 // Preset values are overriden by specified values
122 this->r0
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, r0_checksum
)->by_default(this->r0
)->as_number(); // Stated resistance eg. 100K
123 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
124 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
125 this->r1
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, r1_checksum
)->by_default(this->r1
)->as_number();
126 this->r2
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, r2_checksum
)->by_default(this->r2
)->as_number();
128 this->preset1
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, preset1_checksum
)->by_default(0)->as_number();
129 this->preset2
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, preset2_checksum
)->by_default(0)->as_number();
134 k
= (1.0 / (t0
+ 273.15));
136 // sigma-delta output modulation
139 // Thermistor pin for ADC readings
140 this->thermistor_pin
.from_string(THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, thermistor_pin_checksum
)->required()->as_string());
141 THEKERNEL
->adc
->enable_pin(&thermistor_pin
);
144 this->heater_pin
.from_string( THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, heater_pin_checksum
)->required()->as_string())->as_output();
145 this->heater_pin
.max_pwm( THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, max_pwm_checksum
)->by_default(255)->as_number() );
147 this->heater_pin
.set(0);
148 this->heater_on
= false;
150 // used to enable bang bang control of heater
151 this->use_bangbang
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, bang_bang_checksum
)->by_default(false)->as_bool();
152 this->hysteresis
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, hysteresis_checksum
)->by_default(2)->as_number();
154 set_low_on_debug(heater_pin
.port_number
, heater_pin
.pin
);
156 // activate SD-DAC timer
157 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 THEKERNEL
->slow_ticker
->attach( this->readings_per_second
, this, &TemperatureControl::thermistor_read_tick
);
161 this->PIDdt
= 1.0 / this->readings_per_second
;
164 setPIDp( THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, p_factor_checksum
)->by_default(10 )->as_number() );
165 setPIDi( THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, i_factor_checksum
)->by_default(0.3f
)->as_number() );
166 setPIDd( THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, d_factor_checksum
)->by_default(200)->as_number() );
167 // set to the same as max_pwm by default
168 this->i_max
= THEKERNEL
->config
->value(temperature_control_checksum
, this->name_checksum
, i_max_checksum
)->by_default(this->heater_pin
.max_pwm())->as_number();
170 this->lastInput
= -1.0;
171 this->last_reading
= 0.0;
174 void TemperatureControl::on_gcode_received(void* argument
){
175 Gcode
* gcode
= static_cast<Gcode
*>(argument
);
178 if( gcode
->m
== this->get_m_code
){
179 char buf
[32]; // should be big enough for any status
180 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
);
181 gcode
->txt_after_ok
.append(buf
, n
);
182 gcode
->mark_as_taken();
184 } else if (gcode
->m
== 301) {
185 gcode
->mark_as_taken();
186 if (gcode
->has_letter('S') && (gcode
->get_value('S') == this->pool_index
))
188 if (gcode
->has_letter('P'))
189 setPIDp( gcode
->get_value('P') );
190 if (gcode
->has_letter('I'))
191 setPIDi( gcode
->get_value('I') );
192 if (gcode
->has_letter('D'))
193 setPIDd( gcode
->get_value('D') );
194 if (gcode
->has_letter('X'))
195 this->i_max
= gcode
->get_value('X');
197 //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);
198 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
);
200 } else if (gcode
->m
== 303) {
201 if (gcode
->has_letter('E') && (gcode
->get_value('E') == this->pool_index
)) {
202 gcode
->mark_as_taken();
203 float target
= 150.0;
204 if (gcode
->has_letter('S')) {
205 target
= gcode
->get_value('S');
206 gcode
->stream
->printf("Target: %5.1f\n", target
);
209 if (gcode
->has_letter('C')) {
210 ncycles
= gcode
->get_value('C');
212 gcode
->stream
->printf("Start PID tune, command is %s\n", gcode
->command
.c_str());
213 this->pool
->PIDtuner
->begin(this, target
, gcode
->stream
, ncycles
);
216 } else if (gcode
->m
== 500 || gcode
->m
== 503){// M500 saves some volatile settings to config override file, M503 just prints the settings
217 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
);
218 gcode
->mark_as_taken();
220 } else if( ( gcode
->m
== this->set_m_code
|| gcode
->m
== this->set_and_wait_m_code
) && gcode
->has_letter('S') ) {
221 // Attach gcodes to the last block for on_gcode_execute
222 THEKERNEL
->conveyor
->append_gcode(gcode
);
224 // 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
225 if (gcode
->m
== this->set_and_wait_m_code
)
226 // ensure that no subsequent gcodes get executed with our M109 or similar
227 THEKERNEL
->conveyor
->queue_head_block();
232 void TemperatureControl::on_gcode_execute(void* argument
){
233 Gcode
* gcode
= static_cast<Gcode
*>(argument
);
235 if (((gcode
->m
== this->set_m_code
) || (gcode
->m
== this->set_and_wait_m_code
))
236 && gcode
->has_letter('S'))
238 float v
= gcode
->get_value('S');
242 this->target_temperature
= UNDEFINED
;
243 this->heater_pin
.set(0);
247 this->set_desired_temperature(v
);
249 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
){
260 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
262 if(!pdr
->starts_with(temperature_control_checksum
)) return;
264 if(!pdr
->second_element_is(this->name_checksum
)) return; // will be bed or hotend
266 // ok this is targeted at us, so send back the requested data
267 if(pdr
->third_element_is(current_temperature_checksum
)) {
268 // this must be static as it will be accessed long after we have returned
269 static struct pad_temperature temp_return
;
270 temp_return
.current_temperature
= this->get_temperature();
271 temp_return
.target_temperature
= (target_temperature
== UNDEFINED
) ? 0 : this->target_temperature
;
272 temp_return
.pwm
= this->o
;
274 pdr
->set_data_ptr(&temp_return
);
279 void TemperatureControl::on_set_public_data(void* argument
){
280 PublicDataRequest
* pdr
= static_cast<PublicDataRequest
*>(argument
);
282 if(!pdr
->starts_with(temperature_control_checksum
)) return;
284 if(!pdr
->second_element_is(this->name_checksum
)) return; // will be bed or hotend
286 // ok this is targeted at us, so set the temp
287 float t
= *static_cast<float*>(pdr
->get_data_ptr());
288 this->set_desired_temperature(t
);
292 void TemperatureControl::set_desired_temperature(float desired_temperature
)
294 if (desired_temperature
== 1.0)
295 desired_temperature
= preset1
;
296 else if (desired_temperature
== 2.0)
297 desired_temperature
= preset2
;
299 target_temperature
= desired_temperature
;
300 if (desired_temperature
== 0.0)
301 heater_pin
.set((o
= 0));
304 float TemperatureControl::get_temperature(){
308 float TemperatureControl::adc_value_to_temperature(int adc_value
)
310 if ((adc_value
== 4095) || (adc_value
== 0))
312 float r
= r2
/ ((4095.0 / adc_value
) - 1.0);
314 r
= (r1
* r
) / (r1
- r
);
315 return (1.0 / (k
+ (j
* log(r
/ r0
)))) - 273.15;
318 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy
){
319 int r
= new_thermistor_reading();
321 float temperature
= adc_value_to_temperature(r
);
323 if (target_temperature
> 0)
325 if ((r
<= 1) || (r
>= 4094))
327 this->min_temp_violated
= true;
328 target_temperature
= UNDEFINED
;
333 pid_process(temperature
);
334 if ((temperature
> target_temperature
) && waiting
)
336 THEKERNEL
->pauser
->release();
343 heater_pin
.set((o
= 0));
345 last_reading
= temperature
;
350 * Based on https://github.com/br3ttb/Arduino-PID-Library
352 void TemperatureControl::pid_process(float temperature
)
355 // bang bang if very simple, if temp is < target - hysteresis turn on full else if temp is > target + hysteresis turn heater off
357 if(temperature
> target_temperature
+hysteresis
&& heater_on
) {
358 heater_pin
.set(false);
360 this->o
= 0; // for display purposes only
362 }else if(temperature
< target_temperature
-hysteresis
&& !heater_on
) {
363 if(heater_pin
.max_pwm() >= 255) {
365 this->heater_pin
.set(true);
366 this->o
= 255; // for display purposes only
368 // only to whatever max pwm is configured
369 this->heater_pin
.pwm(heater_pin
.max_pwm());
370 this->o
= heater_pin
.max_pwm(); // for display purposes only
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;
383 if(this->lastInput
< 0.0) this->lastInput
= temperature
; // set first time
384 float d
= (temperature
- this->lastInput
);
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
);
390 if (this->o
>= heater_pin
.max_pwm())
391 this->o
= heater_pin
.max_pwm();
392 else if (this->o
< 0)
395 this->heater_pin
.pwm(this->o
);
396 this->lastInput
= temperature
;
399 int TemperatureControl::new_thermistor_reading()
401 int last_raw
= THEKERNEL
->adc
->read(&thermistor_pin
);
402 if (queue
.size() >= queue
.capacity()) {
406 uint16_t r
= last_raw
;
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())];
414 void TemperatureControl::on_second_tick(void* argument
)
417 THEKERNEL
->streams
->printf("%s:%3.1f /%3.1f @%d\n", designator
.c_str(), get_temperature(), ((target_temperature
== UNDEFINED
)?0.0:target_temperature
), o
);
420 void TemperatureControl::setPIDp(float p
) {
424 void TemperatureControl::setPIDi(float i
) {
425 this->i_factor
= i
*this->PIDdt
;
428 void TemperatureControl::setPIDd(float d
) {
429 this->d_factor
= d
/this->PIDdt
;