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 #include "modules/robot/Conveyor.h"
  17 #include "PublicDataRequest.h"
  18
  19 #include "PublicData.h"
  20 #include "ToolManagerPublicAccess.h"
  21 #include "StreamOutputPool.h"
  22 #include "Config.h"
  23 #include "checksumm.h"
  24 #include "Gcode.h"
  25 #include "SlowTicker.h"
  26 #include "ConfigValue.h"
  27 #include "PID_Autotuner.h"
  28 #include "SerialMessage.h"
  29 #include "utils.h"
  30
  31 // Temp sensor implementations:
  32 #include "Thermistor.h"
  33 #include "max31855.h"
  34 #include "AD8495.h"
  35
  36 #include "MRI_Hooks.h"
  37
  38 #define UNDEFINED -1
  39
  40 #define sensor_checksum                    CHECKSUM("sensor")
  41
  42 #define readings_per_second_checksum       CHECKSUM("readings_per_second")
  43 #define max_pwm_checksum                   CHECKSUM("max_pwm")
  44 #define pwm_frequency_checksum             CHECKSUM("pwm_frequency")
  45 #define bang_bang_checksum                 CHECKSUM("bang_bang")
  46 #define hysteresis_checksum                CHECKSUM("hysteresis")
  47 #define heater_pin_checksum                CHECKSUM("heater_pin")
  48 #define max_temp_checksum                  CHECKSUM("max_temp")
  49 #define min_temp_checksum                  CHECKSUM("min_temp")
  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 #define windup_checksum                    CHECKSUM("windup")
  63
  64 #define preset1_checksum                   CHECKSUM("preset1")
  65 #define preset2_checksum                   CHECKSUM("preset2")
  66
  67 #define runaway_range_checksum             CHECKSUM("runaway_range")
  68 #define runaway_timeout_checksum           CHECKSUM("runaway_timeout")
  69 #define runaway_heating_timeout_checksum   CHECKSUM("runaway_heating_timeout")
  70
  71 TemperatureControl::TemperatureControl(uint16_t name, int index)
  72 {
  73     name_checksum= name;
  74     pool_index= index;
  75     waiting= false;
  76     temp_violated= false;
  77     sensor= nullptr;
  78     readonly= false;
  79 }
  80
  81 TemperatureControl::~TemperatureControl()
  82 {
  83     delete sensor;
  84 }
  85
  86 void TemperatureControl::on_module_loaded()
  87 {
  88
  89     // We start not desiring any temp
  90     this->target_temperature = UNDEFINED;
  91     this->sensor_settings= false; // set to true if sensor settings have been overriden
  92
  93     // Settings
  94     this->load_config();
  95
  96     // Register for events
  97     this->register_for_event(ON_GCODE_RECEIVED);
  98     this->register_for_event(ON_GET_PUBLIC_DATA);
  99
 100     if(!this->readonly) {
 101         this->register_for_event(ON_SECOND_TICK);
 102         this->register_for_event(ON_MAIN_LOOP);
 103         this->register_for_event(ON_SET_PUBLIC_DATA);
 104         this->register_for_event(ON_HALT);
 105     }
 106 }
 107
 108 void TemperatureControl::on_halt(void *arg)
 109 {
 110     if(arg == nullptr) {
 111         // turn off heater
 112         this->o = 0;
 113         this->heater_pin.set(0);
 114         this->target_temperature = UNDEFINED;
 115     }
 116 }
 117
 118 void TemperatureControl::on_main_loop(void *argument)
 119 {
 120     if (this->temp_violated) {
 121         this->temp_violated = false;
 122         THEKERNEL->streams->printf("Error: MINTEMP or MAXTEMP triggered on %s. Check your temperature sensors!\n", designator.c_str());
 123         THEKERNEL->streams->printf("HALT asserted - reset or M999 required\n");
 124         THEKERNEL->call_event(ON_HALT, nullptr);
 125     }
 126 }
 127
 128 // Get configuration from the config file
 129 void TemperatureControl::load_config()
 130 {
 131
 132     // General config
 133     this->set_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
 134     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();
 135     this->get_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
 136     this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
 137
 138     this->designator          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
 139
 140     // Runaway parameters
 141     this->runaway_range           = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, runaway_range_checksum)->by_default(0)->as_number();
 142     this->runaway_timeout         = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, runaway_timeout_checksum)->by_default(0)->as_number();
 143     this->runaway_heating_timeout = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, runaway_heating_timeout_checksum)->by_default(0)->as_number();
 144
 145     // Max and min temperatures we are not allowed to get over (Safety)
 146     this->max_temp = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_temp_checksum)->by_default(300)->as_number();
 147     this->min_temp = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, min_temp_checksum)->by_default(0)->as_number();
 148
 149     // Heater pin
 150     this->heater_pin.from_string( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->by_default("nc")->as_string());
 151     if(this->heater_pin.connected()){
 152         this->readonly= false;
 153         this->heater_pin.as_output();
 154
 155     } else {
 156         this->readonly= true;
 157     }
 158
 159     // For backward compatibility, default to a thermistor sensor.
 160     std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string();
 161
 162     // Instantiate correct sensor (TBD: TempSensor factory?)
 163     delete sensor;
 164     sensor = nullptr; // In case we fail to create a new sensor.
 165     if(sensor_type.compare("thermistor") == 0) {
 166         sensor = new Thermistor();
 167     } else if(sensor_type.compare("max31855") == 0) {
 168         sensor = new Max31855();
 169     } else if(sensor_type.compare("ad8495") == 0) {
 170         sensor = new AD8495();
 171     } else {
 172         sensor = new TempSensor(); // A dummy implementation
 173     }
 174     sensor->UpdateConfig(temperature_control_checksum, this->name_checksum);
 175
 176     this->preset1 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
 177     this->preset2 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
 178
 179
 180     // sigma-delta output modulation
 181     this->o = 0;
 182
 183     if(!this->readonly) {
 184         // used to enable bang bang control of heater
 185         this->use_bangbang = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool();
 186         this->hysteresis = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number();
 187         this->windup = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, windup_checksum)->by_default(false)->as_bool();
 188         this->heater_pin.max_pwm( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
 189         this->heater_pin.set(0);
 190         set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 191         // activate SD-DAC timer
 192         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);
 193     }
 194
 195
 196     // reading tick
 197     THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 198     this->PIDdt = 1.0 / this->readings_per_second;
 199
 200     // PID
 201     setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
 202     setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() );
 203     setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );
 204
 205     if(!this->readonly) {
 206         // set to the same as max_pwm by default
 207         this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(this->heater_pin.max_pwm())->as_number();
 208     }
 209
 210     this->iTerm = 0.0;
 211     this->lastInput = -1.0;
 212     this->last_reading = 0.0;
 213 }
 214
 215 void TemperatureControl::on_gcode_received(void *argument)
 216 {
 217     Gcode *gcode = static_cast<Gcode *>(argument);
 218     if (gcode->has_m) {
 219
 220         if( gcode->m == this->get_m_code ) {
 221             char buf[32]; // should be big enough for any status
 222             int n = snprintf(buf, sizeof(buf), "%s:%3.1f /%3.1f @%d ", this->designator.c_str(), this->get_temperature(), ((target_temperature <= 0) ? 0.0 : target_temperature), this->o);
 223             gcode->txt_after_ok.append(buf, n);
 224             return;
 225         }
 226
 227         if (gcode->m == 305) { // set or get sensor settings
 228             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) {
 229                 TempSensor::sensor_options_t args= gcode->get_args();
 230                 args.erase('S'); // don't include the S
 231                 if(args.size() > 0) {
 232                     // set the new options
 233                     if(sensor->set_optional(args)) {
 234                         this->sensor_settings= true;
 235                     }else{
 236                         gcode->stream->printf("Unable to properly set sensor settings, make sure you specify all required values\n");
 237                     }
 238                 }else{
 239                     // don't override
 240                     this->sensor_settings= false;
 241                 }
 242
 243             }else if(!gcode->has_letter('S')) {
 244                 gcode->stream->printf("%s(S%d): using %s\n", this->designator.c_str(), this->pool_index, this->readonly?"Readonly" : this->use_bangbang?"Bangbang":"PID");
 245                 sensor->get_raw();
 246                 TempSensor::sensor_options_t options;
 247                 if(sensor->get_optional(options)) {
 248                     for(auto &i : options) {
 249                         // foreach optional value
 250                         gcode->stream->printf("%s(S%d): %c %1.18f\n", this->designator.c_str(), this->pool_index, i.first, i.second);
 251                     }
 252                 }
 253             }
 254
 255             return;
 256         }
 257
 258         // readonly sensors don't handle the rest
 259         if(this->readonly) return;
 260
 261         if (gcode->m == 143) {
 262             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) {
 263                 if(gcode->has_letter('P')) {
 264                     max_temp= gcode->get_value('P');
 265
 266                 } else {
 267                     gcode->stream->printf("Nothing set NOTE Usage is M143 S0 P300 where <S> is the hotend index and <P> is the maximum temp to set\n");
 268                 }
 269
 270             }else if(gcode->get_num_args() == 0) {
 271                 gcode->stream->printf("Maximum temperature for %s(%d) is %f°C\n", this->designator.c_str(), this->pool_index, max_temp);
 272             }
 273
 274         } else if (gcode->m == 301) {
 275             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) {
 276                 if (gcode->has_letter('P'))
 277                     setPIDp( gcode->get_value('P') );
 278                 if (gcode->has_letter('I'))
 279                     setPIDi( gcode->get_value('I') );
 280                 if (gcode->has_letter('D'))
 281                     setPIDd( gcode->get_value('D') );
 282                 if (gcode->has_letter('X'))
 283                     this->i_max = gcode->get_value('X');
 284                 if (gcode->has_letter('Y'))
 285                     this->heater_pin.max_pwm(gcode->get_value('Y'));
 286
 287             }else if(!gcode->has_letter('S')) {
 288                 gcode->stream->printf("%s(S%d): Pf:%g If:%g Df:%g X(I_max):%g max pwm: %d 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->heater_pin.max_pwm(), o);
 289             }
 290
 291         } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
 292             gcode->stream->printf(";PID settings:\nM301 S%d P%1.4f I%1.4f D%1.4f X%1.4f Y%d\n", this->pool_index, this->p_factor, this->i_factor / this->PIDdt, this->d_factor * this->PIDdt, this->i_max, this->heater_pin.max_pwm());
 293
 294             gcode->stream->printf(";Max temperature setting:\nM143 S%d P%1.4f\n", this->pool_index, this->max_temp);
 295
 296             if(this->sensor_settings) {
 297                 // get or save any sensor specific optional values
 298                 TempSensor::sensor_options_t options;
 299                 if(sensor->get_optional(options) && !options.empty()) {
 300                     gcode->stream->printf(";Optional temp sensor specific settings:\nM305 S%d", this->pool_index);
 301                     for(auto &i : options) {
 302                         gcode->stream->printf(" %c%1.18f", i.first, i.second);
 303                     }
 304                     gcode->stream->printf("\n");
 305                 }
 306             }
 307
 308         } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S')) {
 309             // this only gets handled if it is not controlled by the tool manager or is active in the toolmanager
 310             this->active = true;
 311
 312             // this is safe as old configs as well as single extruder configs the toolmanager will not be running so will return false
 313             // this will also ignore anything that the tool manager is not controlling and return false, otherwise it returns the active tool
 314             void *returned_data;
 315             bool ok = PublicData::get_value( tool_manager_checksum, is_active_tool_checksum, this->name_checksum, &returned_data );
 316             if (ok) {
 317                 uint16_t active_tool_name =  *static_cast<uint16_t *>(returned_data);
 318                 this->active = (active_tool_name == this->name_checksum);
 319             }
 320
 321             if(this->active) {
 322                 // required so temp change happens in order
 323                 THEKERNEL->conveyor->wait_for_empty_queue();
 324
 325                 float v = gcode->get_value('S');
 326
 327                 if (v == 0.0) {
 328                     this->target_temperature = UNDEFINED;
 329                     this->heater_pin.set((this->o = 0));
 330                 } else {
 331                     this->set_desired_temperature(v);
 332                     // wait for temp to be reached, no more gcodes will be fetched until this is complete
 333                     if( gcode->m == this->set_and_wait_m_code) {
 334                         if(isinf(get_temperature()) && isinf(sensor->get_temperature())) {
 335                             THEKERNEL->streams->printf("Temperature reading is unreliable on %s HALT asserted - reset or M999 required\n", designator.c_str());
 336                             THEKERNEL->call_event(ON_HALT, nullptr);
 337                             return;
 338                         }
 339
 340                         this->waiting = true; // on_second_tick will announce temps
 341                         while ( get_temperature() < target_temperature ) {
 342                             THEKERNEL->call_event(ON_IDLE, this);
 343                             // check if ON_HALT was called (usually by kill button)
 344                             if(THEKERNEL->is_halted() || this->target_temperature == UNDEFINED) {
 345                                 THEKERNEL->streams->printf("Wait on temperature aborted by kill\n");
 346                                 break;
 347                             }
 348                         }
 349                         this->waiting = false;
 350                     }
 351                 }
 352             }
 353         }
 354     }
 355 }
 356
 357 void TemperatureControl::on_get_public_data(void *argument)
 358 {
 359     PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
 360
 361     if(!pdr->starts_with(temperature_control_checksum)) return;
 362
 363     if(pdr->second_element_is(pool_index_checksum)) {
 364         // asking for our instance pointer if we have this pool_index
 365         if(pdr->third_element_is(this->pool_index)) {
 366             static void *return_data;
 367             return_data = this;
 368             pdr->set_data_ptr(&return_data);
 369             pdr->set_taken();
 370         }
 371
 372     }else if(pdr->second_element_is(poll_controls_checksum)) {
 373         // polling for all temperature controls
 374         // add our data to the list which is passed in via the data_ptr
 375
 376         std::vector<struct pad_temperature> *v= static_cast<std::vector<pad_temperature>*>(pdr->get_data_ptr());
 377
 378         struct pad_temperature t;
 379         // setup data
 380         t.current_temperature = this->get_temperature();
 381         t.target_temperature = (target_temperature <= 0) ? 0 : this->target_temperature;
 382         t.pwm = this->o;
 383         t.designator= this->designator;
 384         t.id= this->name_checksum;
 385         v->push_back(t);
 386         pdr->set_taken();
 387
 388     }else if(pdr->second_element_is(current_temperature_checksum)) {
 389         // if targeted at us
 390         if(pdr->third_element_is(this->name_checksum)) {
 391             // ok this is targeted at us, so set the requ3sted data in the pointer passed into us
 392             struct pad_temperature *t= static_cast<pad_temperature*>(pdr->get_data_ptr());
 393             t->current_temperature = this->get_temperature();
 394             t->target_temperature = (target_temperature <= 0) ? 0 : this->target_temperature;
 395             t->pwm = this->o;
 396             t->designator= this->designator;
 397             t->id= this->name_checksum;
 398             pdr->set_taken();
 399         }
 400     }
 401
 402 }
 403
 404 void TemperatureControl::on_set_public_data(void *argument)
 405 {
 406     PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
 407
 408     if(!pdr->starts_with(temperature_control_checksum)) return;
 409
 410     if(!pdr->second_element_is(this->name_checksum)) return;
 411
 412     // ok this is targeted at us, so set the temp
 413     // NOTE unlike the M code this will set the temp now not when the queue is empty
 414     float t = *static_cast<float *>(pdr->get_data_ptr());
 415     this->set_desired_temperature(t);
 416     pdr->set_taken();
 417 }
 418
 419 void TemperatureControl::set_desired_temperature(float desired_temperature)
 420 {
 421     // Never go over the configured max temperature
 422     if( desired_temperature > this->max_temp ){
 423         desired_temperature = this->max_temp;
 424     }
 425
 426     if (desired_temperature == 1.0F)
 427         desired_temperature = preset1;
 428     else if (desired_temperature == 2.0F)
 429         desired_temperature = preset2;
 430
 431     float last_target_temperature= target_temperature;
 432     target_temperature = desired_temperature;
 433     if (desired_temperature <= 0.0F){
 434         // turning it off
 435         heater_pin.set((this->o = 0));
 436
 437     }else if(last_target_temperature <= 0.0F) {
 438         // if it was off and we are now turning it on we need to initialize
 439         this->lastInput= last_reading;
 440         // set to whatever the output currently is See http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-initialization/
 441         this->iTerm= this->o;
 442         if (this->iTerm > this->i_max) this->iTerm = this->i_max;
 443         else if (this->iTerm < 0.0) this->iTerm = 0.0;
 444     }
 445 }
 446
 447 float TemperatureControl::get_temperature()
 448 {
 449     return last_reading;
 450 }
 451
 452 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy)
 453 {
 454     float temperature = sensor->get_temperature();
 455     if(!this->readonly && target_temperature > 2) {
 456         if (isinf(temperature) || temperature < min_temp || temperature > max_temp) {
 457             this->temp_violated = true;
 458             target_temperature = UNDEFINED;
 459             heater_pin.set((this->o = 0));
 460         } else {
 461             pid_process(temperature);
 462         }
 463     }
 464
 465     last_reading = temperature;
 466     return 0;
 467 }
 468
 469 /**
 470  * Based on https://github.com/br3ttb/Arduino-PID-Library
 471  */
 472 void TemperatureControl::pid_process(float temperature)
 473 {
 474     if(use_bangbang) {
 475         // bang bang is very simple, if temp is < target - hysteresis turn on full else if  temp is > target + hysteresis turn heater off
 476         // good for relays
 477         if(temperature > (target_temperature + hysteresis) && this->o > 0) {
 478             heater_pin.set(false);
 479             this->o = 0; // for display purposes only
 480
 481         } else if(temperature < (target_temperature - hysteresis) && this->o <= 0) {
 482             if(heater_pin.max_pwm() >= 255) {
 483                 // turn on full
 484                 this->heater_pin.set(true);
 485                 this->o = 255; // for display purposes only
 486             } else {
 487                 // only to whatever max pwm is configured
 488                 this->heater_pin.pwm(heater_pin.max_pwm());
 489                 this->o = heater_pin.max_pwm(); // for display purposes only
 490             }
 491         }
 492         return;
 493     }
 494
 495     // regular PID control
 496     float error = target_temperature - temperature;
 497
 498     float new_I = this->iTerm + (error * this->i_factor);
 499     if (new_I > this->i_max) new_I = this->i_max;
 500     else if (new_I < 0.0) new_I = 0.0;
 501     if(!this->windup) this->iTerm= new_I;
 502
 503     float d = (temperature - this->lastInput);
 504
 505     // calculate the PID output
 506     // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
 507     this->o = (this->p_factor * error) + new_I - (this->d_factor * d);
 508
 509     if (this->o >= heater_pin.max_pwm())
 510         this->o = heater_pin.max_pwm();
 511     else if (this->o < 0)
 512         this->o = 0;
 513     else if(this->windup)
 514         this->iTerm = new_I; // Only update I term when output is not saturated.
 515
 516     this->heater_pin.pwm(this->o);
 517     this->lastInput = temperature;
 518 }
 519
 520 void TemperatureControl::on_second_tick(void *argument)
 521 {
 522
 523     // If waiting for a temperature to be reach, display it to keep host programs up to date on the progress
 524     if (waiting)
 525         THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature <= 0) ? 0.0 : target_temperature), o);
 526
 527     // Check whether or not there is a temperature runaway issue, if so stop everything and report it
 528     if(THEKERNEL->is_halted()) return;
 529
 530     if( this->target_temperature <= 0 ){ // If we are not trying to heat, state is NOT_HEATING
 531         this->runaway_state = NOT_HEATING;
 532         this->runaway_timer = 0;
 533     }else{
 534         switch( this->runaway_state ){
 535             case NOT_HEATING: // If we were previously not trying to heat, but we are now, change to state WAITING_FOR_TEMP_TO_BE_REACHED
 536                 if( this->target_temperature > 0 ){
 537                     this->runaway_state = WAITING_FOR_TEMP_TO_BE_REACHED;
 538                     this->runaway_heating_timer = 0;
 539                 }
 540                 break;
 541             case WAITING_FOR_TEMP_TO_BE_REACHED: // In we are in state 1 ( waiting for temperature to be reached ), and the temperature has been reached, change to state TARGET_TEMPERATURE_REACHED
 542                 if( this->get_temperature() >= this->target_temperature ){
 543                     this->runaway_state = TARGET_TEMPERATURE_REACHED;
 544                 }
 545                 this->runaway_heating_timer++;
 546                 if( this->runaway_heating_timer > this->runaway_heating_timeout && this->runaway_heating_timeout != 0 ){
 547                     this->runaway_heating_timer = 0;
 548                     THEKERNEL->streams->printf("Error : Temperature too long to be reached on %s, HALT asserted, TURN POWER OFF IMMEDIATELY - reset or M999 required\n", designator.c_str());
 549                     THEKERNEL->call_event(ON_HALT, nullptr);
 550                 }
 551                 break;
 552             case TARGET_TEMPERATURE_REACHED: // If we are in state TARGET_TEMPERATURE_REACHED, check for thermal runaway
 553                 // If the temperature is outside the acceptable range
 554                 if( fabs( this->get_temperature() - this->target_temperature ) > this->runaway_range && this->runaway_range != 0 ){
 555                     // Increase the timer, aka « One more second with a problem maybe occuring »
 556                     this->runaway_timer++;
 557
 558                     // If the timer has a too large value ( we have been too long outside the desired temperature range )
 559                     if( this->runaway_timer > this->runaway_timeout && this->runaway_timeout != 0 ){
 560                         THEKERNEL->streams->printf("Error : Temperature runaway on %s, HALT asserted, TURN POWER OFF IMMEDIATELY - reset or M999 required\n", designator.c_str());
 561                         THEKERNEL->call_event(ON_HALT, nullptr);
 562                     }
 563                 }else{
 564                     // The temperature was inside the acceptable range, reset the timer
 565                     this->runaway_timer = 0;
 566                 }
 567                 break;
 568         }
 569     }
 570 }
 571
 572 void TemperatureControl::setPIDp(float p)
 573 {
 574     this->p_factor = p;
 575 }
 576
 577 void TemperatureControl::setPIDi(float i)
 578 {
 579     this->i_factor = i * this->PIDdt;
 580 }
 581
 582 void TemperatureControl::setPIDd(float d)
 583 {
 584     this->d_factor = d / this->PIDdt;
 585 }