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 "Pauser.h"
  27 #include "ConfigValue.h"
  28 #include "PID_Autotuner.h"
  29
  30 // Temp sensor implementations:
  31 #include "Thermistor.h"
  32 #include "max31855.h"
  33
  34 #include "MRI_Hooks.h"
  35
  36 #define UNDEFINED -1
  37
  38 #define sensor_checksum                    CHECKSUM("sensor")
  39
  40 #define readings_per_second_checksum       CHECKSUM("readings_per_second")
  41 #define max_pwm_checksum                   CHECKSUM("max_pwm")
  42 #define pwm_frequency_checksum             CHECKSUM("pwm_frequency")
  43 #define bang_bang_checksum                 CHECKSUM("bang_bang")
  44 #define hysteresis_checksum                CHECKSUM("hysteresis")
  45 #define heater_pin_checksum                CHECKSUM("heater_pin")
  46 #define max_temp_checksum                  CHECKSUM("max_temp")
  47
  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")
  51
  52 #define designator_checksum                CHECKSUM("designator")
  53
  54 #define p_factor_checksum                  CHECKSUM("p_factor")
  55 #define i_factor_checksum                  CHECKSUM("i_factor")
  56 #define d_factor_checksum                  CHECKSUM("d_factor")
  57
  58 #define i_max_checksum                     CHECKSUM("i_max")
  59
  60 #define preset1_checksum                   CHECKSUM("preset1")
  61 #define preset2_checksum                   CHECKSUM("preset2")
  62
  63 TemperatureControl::TemperatureControl(uint16_t name, int index)
  64 {
  65     name_checksum= name;
  66     pool_index= index;
  67     waiting= false;
  68     min_temp_violated= false;
  69     sensor= nullptr;
  70     readonly= false;
  71 }
  72
  73 TemperatureControl::~TemperatureControl()
  74 {
  75     delete sensor;
  76 }
  77
  78 void TemperatureControl::on_module_loaded()
  79 {
  80
  81     // We start not desiring any temp
  82     this->target_temperature = UNDEFINED;
  83
  84     // Settings
  85     this->load_config();
  86
  87     // Register for events
  88     this->register_for_event(ON_GCODE_RECEIVED);
  89     this->register_for_event(ON_GET_PUBLIC_DATA);
  90
  91     if(!this->readonly) {
  92         this->register_for_event(ON_GCODE_EXECUTE);
  93         this->register_for_event(ON_SECOND_TICK);
  94         this->register_for_event(ON_MAIN_LOOP);
  95         this->register_for_event(ON_SET_PUBLIC_DATA);
  96         this->register_for_event(ON_HALT);
  97     }
  98 }
  99
 100 void TemperatureControl::on_halt(void *arg)
 101 {
 102     // turn off heater
 103     this->o = 0;
 104     this->heater_pin.set(0);
 105     this->target_temperature = UNDEFINED;
 106 }
 107
 108 void TemperatureControl::on_main_loop(void *argument)
 109 {
 110     if (this->min_temp_violated) {
 111         THEKERNEL->streams->printf("Error: MINTEMP triggered. Check your temperature sensors!\n");
 112         this->min_temp_violated = false;
 113     }
 114 }
 115
 116 // Get configuration from the config file
 117 void TemperatureControl::load_config()
 118 {
 119
 120     // General config
 121     this->set_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
 122     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();
 123     this->get_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
 124     this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
 125
 126     this->designator          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
 127
 128     // Max temperature we are not allowed to get over
 129     this->max_temp = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_temp_checksum)->by_default(1000)->as_number();
 130
 131     // Heater pin
 132     this->heater_pin.from_string( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->by_default("nc")->as_string());
 133     if(this->heater_pin.connected()){
 134         this->readonly= false;
 135         this->heater_pin.as_output();
 136
 137     } else {
 138         this->readonly= true;
 139     }
 140
 141     // For backward compatibility, default to a thermistor sensor.
 142     std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string();
 143
 144     // Instantiate correct sensor (TBD: TempSensor factory?)
 145     delete sensor;
 146     sensor = nullptr; // In case we fail to create a new sensor.
 147     if(sensor_type.compare("thermistor") == 0) {
 148         sensor = new Thermistor();
 149     } else if(sensor_type.compare("max31855") == 0) {
 150         sensor = new Max31855();
 151     } else {
 152         sensor = new TempSensor(); // A dummy implementation
 153     }
 154     sensor->UpdateConfig(temperature_control_checksum, this->name_checksum);
 155
 156     this->preset1 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
 157     this->preset2 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
 158
 159
 160     // sigma-delta output modulation
 161     this->o = 0;
 162
 163     if(!this->readonly) {
 164         // used to enable bang bang control of heater
 165         this->use_bangbang = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool();
 166         this->hysteresis = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number();
 167         this->heater_pin.max_pwm( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
 168         this->heater_pin.set(0);
 169         set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 170         // activate SD-DAC timer
 171         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);
 172     }
 173
 174
 175     // reading tick
 176     THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 177     this->PIDdt = 1.0 / this->readings_per_second;
 178
 179     // PID
 180     setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
 181     setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() );
 182     setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );
 183
 184     if(!this->readonly) {
 185         // set to the same as max_pwm by default
 186         this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(this->heater_pin.max_pwm())->as_number();
 187     }
 188
 189     this->iTerm = 0.0;
 190     this->lastInput = -1.0;
 191     this->last_reading = 0.0;
 192 }
 193
 194 void TemperatureControl::on_gcode_received(void *argument)
 195 {
 196     Gcode *gcode = static_cast<Gcode *>(argument);
 197     if (gcode->has_m) {
 198
 199         if( gcode->m == this->get_m_code ) {
 200             char buf[32]; // should be big enough for any status
 201             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);
 202             gcode->txt_after_ok.append(buf, n);
 203             gcode->mark_as_taken();
 204             return;
 205         }
 206
 207         // readonly sensors don't handle the rest
 208         if(this->readonly) return;
 209
 210         if (gcode->m == 301) {
 211             gcode->mark_as_taken();
 212             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) {
 213                 if (gcode->has_letter('P'))
 214                     setPIDp( gcode->get_value('P') );
 215                 if (gcode->has_letter('I'))
 216                     setPIDi( gcode->get_value('I') );
 217                 if (gcode->has_letter('D'))
 218                     setPIDd( gcode->get_value('D') );
 219                 if (gcode->has_letter('X'))
 220                     this->i_max    = gcode->get_value('X');
 221             }
 222             //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);
 223             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);
 224
 225         } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
 226             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);
 227             gcode->mark_as_taken();
 228
 229         } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S')) {
 230             // this only gets handled if it is not controlle dby the tool manager or is active in the toolmanager
 231             this->active = true;
 232
 233             // this is safe as old configs as well as single extruder configs the toolmanager will not be running so will return false
 234             // this will also ignore anything that the tool manager is not controlling and return false, otherwise it returns the active tool
 235             void *returned_data;
 236             bool ok = PublicData::get_value( tool_manager_checksum, is_active_tool_checksum, this->name_checksum, &returned_data );
 237             if (ok) {
 238                 uint16_t active_tool_name =  *static_cast<uint16_t *>(returned_data);
 239                 this->active = (active_tool_name == this->name_checksum);
 240             }
 241
 242             if(this->active) {
 243                 // Attach gcodes to the last block for on_gcode_execute
 244                 THEKERNEL->conveyor->append_gcode(gcode);
 245
 246                 // 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
 247                 if (gcode->m == this->set_and_wait_m_code) {
 248                     // ensure that no subsequent gcodes get executed with our M109 or similar
 249                     THEKERNEL->conveyor->queue_head_block();
 250                 }
 251             }
 252         }
 253     }
 254 }
 255
 256 void TemperatureControl::on_gcode_execute(void *argument)
 257 {
 258     Gcode *gcode = static_cast<Gcode *>(argument);
 259     if( gcode->has_m) {
 260         if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
 261             && gcode->has_letter('S') && this->active) {
 262             float v = gcode->get_value('S');
 263
 264             if (v == 0.0) {
 265                 this->target_temperature = UNDEFINED;
 266                 this->heater_pin.set((this->o = 0));
 267             } else {
 268                 this->set_desired_temperature(v);
 269
 270                 if( gcode->m == this->set_and_wait_m_code && !this->waiting) {
 271                     THEKERNEL->pauser->take();
 272                     this->waiting = true;
 273                 }
 274             }
 275         }
 276     }
 277 }
 278
 279 void TemperatureControl::on_get_public_data(void *argument)
 280 {
 281     PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
 282
 283     if(!pdr->starts_with(temperature_control_checksum)) return;
 284
 285     if(pdr->second_element_is(pool_index_checksum)) {
 286         // asking for our instance pointer if we have this pool_index
 287         if(pdr->third_element_is(this->pool_index)) {
 288             static void *return_data;
 289             return_data = this;
 290             pdr->set_data_ptr(&return_data);
 291             pdr->set_taken();
 292         }
 293         return;
 294
 295     }else if(!pdr->second_element_is(this->name_checksum)) return;
 296
 297     // ok this is targeted at us, so send back the requested data
 298     if(pdr->third_element_is(current_temperature_checksum)) {
 299         this->public_data_return.current_temperature = this->get_temperature();
 300         this->public_data_return.target_temperature = (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
 301         this->public_data_return.pwm = this->o;
 302         this->public_data_return.designator= this->designator;
 303         pdr->set_data_ptr(&this->public_data_return);
 304         pdr->set_taken();
 305     }
 306
 307 }
 308
 309 void TemperatureControl::on_set_public_data(void *argument)
 310 {
 311     PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
 312
 313     if(!pdr->starts_with(temperature_control_checksum)) return;
 314
 315     if(!pdr->second_element_is(this->name_checksum)) return;
 316
 317     // ok this is targeted at us, so set the temp
 318     float t = *static_cast<float *>(pdr->get_data_ptr());
 319     this->set_desired_temperature(t);
 320     pdr->set_taken();
 321 }
 322
 323 void TemperatureControl::set_desired_temperature(float desired_temperature)
 324 {
 325     // Never go over the configured max temperature
 326     if( desired_temperature > this->max_temp ){
 327         desired_temperature = this->max_temp;
 328     }
 329
 330     if (desired_temperature == 1.0)
 331         desired_temperature = preset1;
 332     else if (desired_temperature == 2.0)
 333         desired_temperature = preset2;
 334
 335     target_temperature = desired_temperature;
 336     if (desired_temperature == 0.0)
 337         heater_pin.set((this->o = 0));
 338 }
 339
 340 float TemperatureControl::get_temperature()
 341 {
 342     return last_reading;
 343 }
 344
 345 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy)
 346 {
 347     float temperature = sensor->get_temperature();
 348     if(this->readonly) {
 349         last_reading = temperature;
 350         return 0;
 351     }
 352
 353     if (target_temperature > 0) {
 354         if (isinf(temperature)) {
 355             this->min_temp_violated = true;
 356             target_temperature = UNDEFINED;
 357             heater_pin.set((this->o = 0));
 358         } else {
 359             pid_process(temperature);
 360             if ((temperature > target_temperature) && waiting) {
 361                 THEKERNEL->pauser->release();
 362                 waiting = false;
 363             }
 364         }
 365     } else {
 366         heater_pin.set((this->o = 0));
 367     }
 368     last_reading = temperature;
 369     return 0;
 370 }
 371
 372 /**
 373  * Based on https://github.com/br3ttb/Arduino-PID-Library
 374  */
 375 void TemperatureControl::pid_process(float temperature)
 376 {
 377     if(use_bangbang) {
 378         // bang bang is very simple, if temp is < target - hysteresis turn on full else if  temp is > target + hysteresis turn heater off
 379         // good for relays
 380         if(temperature > (target_temperature + hysteresis) && this->o > 0) {
 381             heater_pin.set(false);
 382             this->o = 0; // for display purposes only
 383
 384         } else if(temperature < (target_temperature - hysteresis) && this->o <= 0) {
 385             if(heater_pin.max_pwm() >= 255) {
 386                 // turn on full
 387                 this->heater_pin.set(true);
 388                 this->o = 255; // for display purposes only
 389             } else {
 390                 // only to whatever max pwm is configured
 391                 this->heater_pin.pwm(heater_pin.max_pwm());
 392                 this->o = heater_pin.max_pwm(); // for display purposes only
 393             }
 394         }
 395         return;
 396     }
 397
 398     // regular PID control
 399     float error = target_temperature - temperature;
 400     this->iTerm += (error * this->i_factor);
 401     if (this->iTerm > this->i_max) this->iTerm = this->i_max;
 402     else if (this->iTerm < 0.0) this->iTerm = 0.0;
 403
 404     if(this->lastInput < 0.0) this->lastInput = temperature; // set first time
 405     float d = (temperature - this->lastInput);
 406
 407     // calculate the PID output
 408     // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
 409     this->o = (this->p_factor * error) + this->iTerm - (this->d_factor * d);
 410
 411     if (this->o >= heater_pin.max_pwm())
 412         this->o = heater_pin.max_pwm();
 413     else if (this->o < 0)
 414         this->o = 0;
 415
 416     this->heater_pin.pwm(this->o);
 417     this->lastInput = temperature;
 418 }
 419
 420 void TemperatureControl::on_second_tick(void *argument)
 421 {
 422     if (waiting)
 423         THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED) ? 0.0 : target_temperature), o);
 424 }
 425
 426 void TemperatureControl::setPIDp(float p)
 427 {
 428     this->p_factor = p;
 429 }
 430
 431 void TemperatureControl::setPIDi(float i)
 432 {
 433     this->i_factor = i * this->PIDdt;
 434 }
 435
 436 void TemperatureControl::setPIDd(float d)
 437 {
 438     this->d_factor = d / this->PIDdt;
 439 }