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 "libs/Median.h"
  17 #include "modules/robot/Conveyor.h"
  18 #include "PublicDataRequest.h"
  19
  20 #include "MRI_Hooks.h"
  21
  22 TemperatureControl::TemperatureControl(uint16_t name) :
  23   name_checksum(name), waiting(false), min_temp_violated(false) {}
  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     register_for_event(ON_CONFIG_RELOAD);
  37     this->register_for_event(ON_GCODE_EXECUTE);
  38     this->register_for_event(ON_GCODE_RECEIVED);
  39     this->register_for_event(ON_MAIN_LOOP);
  40     this->register_for_event(ON_SECOND_TICK);
  41     this->register_for_event(ON_GET_PUBLIC_DATA);
  42 }
  43
  44 void TemperatureControl::on_main_loop(void* argument){
  45     if (this->min_temp_violated) {
  46         kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin.port_number, this->thermistor_pin.pin);
  47         this->min_temp_violated = false;
  48     }
  49 }
  50
  51 // Get configuration from the config file
  52 void TemperatureControl::on_config_reload(void* argument){
  53
  54     // General config
  55     this->set_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
  56     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();
  57     this->get_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
  58     this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
  59
  60     this->designator          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
  61
  62     // Values are here : http://reprap.org/wiki/Thermistor
  63     this->r0   = 100000;
  64     this->t0   = 25;
  65     this->beta = 4066;
  66     this->r1   = 0;
  67     this->r2   = 4700;
  68
  69     // Preset values for various common types of thermistors
  70     ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum);
  71     if(       thermistor->value.compare("EPCOS100K"    ) == 0 ){ // Default
  72     }else if( thermistor->value.compare("RRRF100K"     ) == 0 ){ this->beta = 3960;
  73     }else if( thermistor->value.compare("RRRF10K"      ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600;
  74     }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974;
  75     }else if( thermistor->value.compare("Semitec"      ) == 0 ){ this->beta = 4267; }
  76
  77     // Preset values are overriden by specified values
  78     this->r0 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum  )->by_default(this->r0  )->as_number();               // Stated resistance eg. 100K
  79     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
  80     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
  81     this->r1 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum  )->by_default(this->r1  )->as_number();
  82     this->r2 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum  )->by_default(this->r2  )->as_number();
  83
  84     this->preset1 =             this->kernel->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
  85     this->preset2 =             this->kernel->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
  86
  87
  88     // Thermistor math
  89     j = (1.0 / beta);
  90     k = (1.0 / (t0 + 273.15));
  91
  92     // sigma-delta output modulation
  93     o = 0;
  94
  95     // Thermistor pin for ADC readings
  96     this->thermistor_pin.from_string(this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string());
  97     this->kernel->adc->enable_pin(&thermistor_pin);
  98
  99     // Heater pin
 100     this->heater_pin.from_string(    this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
 101     this->heater_pin.max_pwm(        this->kernel->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
 102     this->heater_pin.set(0);
 103
 104     set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 105
 106     // activate SD-DAC timer
 107     this->kernel->slow_ticker->attach(1000, &heater_pin, &Pwm::on_tick);
 108
 109     // reading tick
 110     this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 111
 112     // PID
 113     this->p_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number();
 114     this->i_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number();
 115     this->d_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number();
 116     this->i_max    = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(255)->as_number();
 117     this->i = 0.0;
 118     this->last_reading = 0.0;
 119 }
 120
 121 void TemperatureControl::on_gcode_received(void* argument){
 122     Gcode* gcode = static_cast<Gcode*>(argument);
 123     if (gcode->has_m)
 124     {
 125         // Get temperature
 126         if( gcode->m == this->get_m_code ){
 127             char buf[32]; // should be big enough for any status
 128             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);
 129             gcode->txt_after_ok.append(buf, n);
 130         }
 131         if (gcode->m == 301)
 132         {
 133             gcode->mark_as_taken();
 134             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 135             {
 136                 if (gcode->has_letter('P'))
 137                     this->p_factor = gcode->get_value('P');
 138                 if (gcode->has_letter('I'))
 139                     this->i_factor = gcode->get_value('I');
 140                 if (gcode->has_letter('D'))
 141                     this->d_factor = gcode->get_value('D');
 142                 if (gcode->has_letter('X'))
 143                     this->i_max    = gcode->get_value('X');
 144             }
 145             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);
 146         }
 147         if (gcode->m == 303)
 148         {
 149             gcode->mark_as_taken();
 150             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 151             {
 152                 double target = 150.0;
 153                 if (gcode->has_letter('P'))
 154                 {
 155                     target = gcode->get_value('P');
 156                     gcode->stream->printf("Target: %5.1f\n", target);
 157                 }
 158                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 159                 this->pool->PIDtuner->begin(this, target, gcode->stream);
 160             }
 161         }
 162
 163         // Attach gcodes to the last block for on_gcode_execute
 164         if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ){
 165             if( this->kernel->conveyor->queue.size() == 0 ){
 166                 this->kernel->call_event(ON_GCODE_EXECUTE, gcode );
 167             }else{
 168                 Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 );
 169                 block->append_gcode(gcode);
 170             }
 171
 172         }
 173     }
 174 }
 175
 176 void TemperatureControl::on_gcode_execute(void* argument){
 177     Gcode* gcode = static_cast<Gcode*>(argument);
 178     if( gcode->has_m){
 179         if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
 180             && gcode->has_letter('S'))
 181         {
 182             double v = gcode->get_value('S');
 183
 184             if (v == 0.0)
 185             {
 186                 this->target_temperature = UNDEFINED;
 187                 this->heater_pin.set(0);
 188             }
 189             else
 190             {
 191                 this->set_desired_temperature(v);
 192
 193                 if( gcode->m == this->set_and_wait_m_code)
 194                 {
 195                     gcode->mark_as_taken();
 196                     this->kernel->pauser->take();
 197                     this->waiting = true;
 198                 }
 199             }
 200         }
 201     }
 202 }
 203
 204 void TemperatureControl::on_get_public_data(void* argument){
 205     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 206
 207     if(!pdr->starts_with(temperature_control_checksum)) return;
 208
 209     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 210
 211     // ok this is targeted at us, so send back the requested data
 212     if(pdr->third_element_is(current_temperature_checksum)) {
 213         // this must be static as it will be accessed long after we have returned
 214         static struct pad_temperature temp_return;
 215         temp_return.current_temperature= this->get_temperature();
 216         temp_return.target_temperature= (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
 217         temp_return.pwm= this->o;
 218
 219         pdr->set_data_ptr(&temp_return);
 220         pdr->set_taken();
 221     }
 222 }
 223
 224 void TemperatureControl::set_desired_temperature(double desired_temperature)
 225 {
 226     if (desired_temperature == 1.0)
 227         desired_temperature = preset1;
 228     else if (desired_temperature == 2.0)
 229         desired_temperature = preset2;
 230
 231     target_temperature = desired_temperature;
 232     if (desired_temperature == 0.0)
 233         heater_pin.set((o = 0));
 234 }
 235
 236 double TemperatureControl::get_temperature(){
 237     return last_reading;
 238 }
 239
 240 double TemperatureControl::adc_value_to_temperature(int adc_value)
 241 {
 242     if ((adc_value == 4095) || (adc_value == 0))
 243         return INFINITY;
 244     double r = r2 / ((4095.0 / adc_value) - 1.0);
 245     if (r1 > 0)
 246         r = (r1 * r) / (r1 - r);
 247     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 248 }
 249
 250 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 251     int r = new_thermistor_reading();
 252
 253     double temperature = adc_value_to_temperature(r);
 254
 255     if (target_temperature > 0)
 256     {
 257         if ((r <= 1) || (r >= 4094))
 258         {
 259             this->min_temp_violated = true;
 260             target_temperature = UNDEFINED;
 261             heater_pin.set(0);
 262         }
 263         else
 264         {
 265             pid_process(temperature);
 266             if ((temperature > target_temperature) && waiting)
 267             {
 268                 kernel->pauser->release();
 269                 waiting = false;
 270             }
 271         }
 272     }
 273     else
 274     {
 275         heater_pin.set((o = 0));
 276     }
 277     last_reading = temperature;
 278     return 0;
 279 }
 280
 281 void TemperatureControl::pid_process(double temperature)
 282 {
 283     double error = target_temperature - temperature;
 284
 285     p  = error * p_factor;
 286     i += (error * this->i_factor);
 287     // d was imbued with oldest_raw earlier in new_thermistor_reading
 288     d = adc_value_to_temperature(d);
 289     d = (d - temperature) * this->d_factor;
 290
 291     if (i > this->i_max)
 292         i = this->i_max;
 293     if (i < -this->i_max)
 294         i = -this->i_max;
 295
 296     this->o = (p + i + d) * heater_pin.max_pwm() / 256;
 297
 298     if (this->o >= heater_pin.max_pwm())
 299         this->o = heater_pin.max_pwm();
 300     else if (this->o < 0)
 301         this->o = 0;
 302
 303     this->heater_pin.pwm(this->o);
 304 }
 305
 306 int TemperatureControl::new_thermistor_reading()
 307 {
 308     int last_raw = this->kernel->adc->read(&thermistor_pin);
 309     if (queue.size() >= queue.capacity())
 310     {
 311         uint16_t l;
 312         queue.pop_front(l);
 313         d = l;
 314     }
 315     uint16_t r = last_raw;
 316     queue.push_back(r);
 317     for (int i=0; i<queue.size(); i++)
 318       median_buffer[i] = *queue.get_ref(i);
 319     uint16_t m = median_buffer[quick_median(median_buffer, queue.size())];
 320     return m;
 321 }
 322
 323 void TemperatureControl::on_second_tick(void* argument)
 324 {
 325     if (waiting)
 326         kernel->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
 327 }