src/modules/tools/temperaturecontrol/TemperatureControl.h

   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 #ifndef temperaturecontrol_h
   9 #define temperaturecontrol_h
  10
  11 #include "libs/Pin.h"
  12 #include "Pwm.h"
  13 #include <math.h>
  14
  15 #include "RingBuffer.h"
  16
  17 #define UNDEFINED -1
  18
  19 #include "TemperatureControlPublicAccess.h"
  20 #define thermistor_checksum                CHECKSUM("thermistor")
  21 #define r0_checksum                        CHECKSUM("r0")
  22 #define readings_per_second_checksum       CHECKSUM("readings_per_second")
  23 #define max_pwm_checksum                   CHECKSUM("max_pwm")
  24 #define pwm_frequency_checksum             CHECKSUM("pwm_frequency")
  25 #define t0_checksum                        CHECKSUM("t0")
  26 #define beta_checksum                      CHECKSUM("beta")
  27 #define vadc_checksum                      CHECKSUM("vadc")
  28 #define vcc_checksum                       CHECKSUM("vcc")
  29 #define r1_checksum                        CHECKSUM("r1")
  30 #define r2_checksum                        CHECKSUM("r2")
  31 #define thermistor_pin_checksum            CHECKSUM("thermistor_pin")
  32 #define heater_pin_checksum                CHECKSUM("heater_pin")
  33
  34 #define get_m_code_checksum                CHECKSUM("get_m_code")
  35 #define set_m_code_checksum                CHECKSUM("set_m_code")
  36 #define set_and_wait_m_code_checksum       CHECKSUM("set_and_wait_m_code")
  37
  38 #define designator_checksum                CHECKSUM("designator")
  39
  40 #define p_factor_checksum                  CHECKSUM("p_factor")
  41 #define i_factor_checksum                  CHECKSUM("i_factor")
  42 #define d_factor_checksum                  CHECKSUM("d_factor")
  43
  44 #define i_max_checksum                     CHECKSUM("i_max")
  45
  46 #define preset1_checksum                   CHECKSUM("preset1")
  47 #define preset2_checksum                   CHECKSUM("preset2")
  48
  49
  50 #define QUEUE_LEN 8
  51
  52 class TemperatureControlPool;
  53
  54 class TemperatureControl : public Module {
  55
  56     public:
  57         TemperatureControl(uint16_t name);
  58
  59         void on_module_loaded();
  60         void on_main_loop(void* argument);
  61         void on_gcode_execute(void* argument);
  62         void on_gcode_received(void* argument);
  63         void on_config_reload(void* argument);
  64         void on_second_tick(void* argument);
  65         void on_get_public_data(void* argument);
  66         void on_set_public_data(void* argument);
  67
  68         void set_desired_temperature(float desired_temperature);
  69         float get_temperature();
  70         float adc_value_to_temperature(int adc_value);
  71         uint32_t thermistor_read_tick(uint32_t dummy);
  72         int new_thermistor_reading();
  73
  74
  75         int pool_index;
  76         TemperatureControlPool *pool;
  77         friend class PID_Autotuner;
  78
  79     private:
  80         void pid_process(float);
  81
  82         float target_temperature;
  83
  84         float preset1;
  85         float preset2;
  86
  87         // Thermistor computation settings
  88         float r0;
  89         float t0;
  90         int r1;
  91         int r2;
  92         float beta;
  93         float j;
  94         float k;
  95
  96
  97         // PID runtime
  98         float i_max;
  99
 100         int o;
 101
 102         float last_reading;
 103
 104         float acceleration_factor;
 105         float readings_per_second;
 106
 107         RingBuffer<uint16_t,QUEUE_LEN> queue;  // Queue of readings
 108         uint16_t median_buffer[QUEUE_LEN];
 109         int running_total;
 110
 111         uint16_t name_checksum;
 112
 113         Pin  thermistor_pin;
 114         Pwm  heater_pin;
 115
 116         bool waiting;
 117         bool min_temp_violated;
 118
 119         uint16_t set_m_code;
 120         uint16_t set_and_wait_m_code;
 121         uint16_t get_m_code;
 122
 123         string designator;
 124
 125
 126         void setPIDp(float p);
 127         void setPIDi(float i);
 128         void setPIDd(float d);
 129
 130         float iTerm;
 131         float lastInput;
 132         // PID settings
 133         float p_factor;
 134         float i_factor;
 135         float d_factor;
 136         float PIDdt;
 137 };
 138
 139 #endif