Commit | Line | Data |
---|---|---|
df27a6a3 | 1 | /* |
cd011f58 AW |
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. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
cd011f58 AW |
6 | */ |
7 | ||
7b49793d | 8 | // TODO : THIS FILE IS LAME, MUST BE MADE MUCH BETTER |
cd011f58 | 9 | |
ded56b35 AW |
10 | #include "libs/Module.h" |
11 | #include "libs/Kernel.h" | |
12 | #include <math.h> | |
13 | #include "TemperatureControl.h" | |
3c308aeb | 14 | #include "TemperatureControlPool.h" |
3c132bd0 | 15 | #include "libs/Pin.h" |
e84c3be3 | 16 | #include "libs/Median.h" |
3c4f2dd8 | 17 | #include "modules/robot/Conveyor.h" |
8293d443 | 18 | #include "PublicDataRequest.h" |
ded56b35 | 19 | |
8f91e4e6 MM |
20 | #include "MRI_Hooks.h" |
21 | ||
7e57bc2c BG |
22 | TemperatureControl::TemperatureControl(uint16_t name) : |
23 | name_checksum(name), waiting(false), min_temp_violated(false) {} | |
ded56b35 AW |
24 | |
25 | void TemperatureControl::on_module_loaded(){ | |
907d5e8a | 26 | |
81b547a1 | 27 | // We start not desiring any temp |
907d5e8a | 28 | this->target_temperature = UNDEFINED; |
ded56b35 AW |
29 | |
30 | // Settings | |
7dd8133c | 31 | this->on_config_reload(this); |
ded56b35 AW |
32 | |
33 | this->acceleration_factor = 10; | |
34 | ||
ded56b35 | 35 | // Register for events |
476dcb96 | 36 | register_for_event(ON_CONFIG_RELOAD); |
df27a6a3 | 37 | this->register_for_event(ON_GCODE_EXECUTE); |
b0be67b5 | 38 | this->register_for_event(ON_GCODE_RECEIVED); |
df27a6a3 | 39 | this->register_for_event(ON_MAIN_LOOP); |
8ccab7cf | 40 | this->register_for_event(ON_SECOND_TICK); |
8293d443 | 41 | this->register_for_event(ON_GET_PUBLIC_DATA); |
991d98cc | 42 | this->register_for_event(ON_SET_PUBLIC_DATA); |
ded56b35 AW |
43 | } |
44 | ||
7e57bc2c BG |
45 | void TemperatureControl::on_main_loop(void* argument){ |
46 | if (this->min_temp_violated) { | |
482d02f0 | 47 | kernel->streams->printf("Error: MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin.port_number, this->thermistor_pin.pin); |
7e57bc2c | 48 | this->min_temp_violated = false; |
a7f12bed | 49 | } |
7e57bc2c | 50 | } |
7dd8133c AW |
51 | |
52 | // Get configuration from the config file | |
53 | void TemperatureControl::on_config_reload(void* argument){ | |
54 | ||
1306ba99 AW |
55 | // General config |
56 | this->set_m_code = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number(); | |
57 | 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(); | |
58 | this->get_m_code = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number(); | |
f39da6fe | 59 | this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number(); |
7dee00e4 | 60 | |
b0be67b5 MM |
61 | this->designator = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string(); |
62 | ||
7dd8133c | 63 | // Values are here : http://reprap.org/wiki/Thermistor |
423df6df AW |
64 | this->r0 = 100000; |
65 | this->t0 = 25; | |
a98f72da | 66 | this->beta = 4066; |
423df6df AW |
67 | this->r1 = 0; |
68 | this->r2 = 4700; | |
a98f72da | 69 | |
3c132bd0 | 70 | // Preset values for various common types of thermistors |
df27a6a3 | 71 | ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum); |
423df6df AW |
72 | if( thermistor->value.compare("EPCOS100K" ) == 0 ){ // Default |
73 | }else if( thermistor->value.compare("RRRF100K" ) == 0 ){ this->beta = 3960; | |
74 | }else if( thermistor->value.compare("RRRF10K" ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600; | |
75 | }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974; | |
201e6dcf | 76 | }else if( thermistor->value.compare("Semitec" ) == 0 ){ this->beta = 4267; |
93356612 | 77 | }else if( thermistor->value.compare("HT100K" ) == 0 ){ this->beta = 3990; } |
a98f72da | 78 | |
3c132bd0 | 79 | // Preset values are overriden by specified values |
907d5e8a MM |
80 | this->r0 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum )->by_default(this->r0 )->as_number(); // Stated resistance eg. 100K |
81 | 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 | |
82 | 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 | |
83 | this->r1 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum )->by_default(this->r1 )->as_number(); | |
84 | this->r2 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum )->by_default(this->r2 )->as_number(); | |
85 | ||
f4bd4fc3 MM |
86 | this->preset1 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number(); |
87 | this->preset2 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number(); | |
88 | ||
907d5e8a | 89 | |
df27a6a3 | 90 | // Thermistor math |
907d5e8a MM |
91 | j = (1.0 / beta); |
92 | k = (1.0 / (t0 + 273.15)); | |
93 | ||
c4f4cf73 MM |
94 | // sigma-delta output modulation |
95 | o = 0; | |
3c132bd0 AW |
96 | |
97 | // Thermistor pin for ADC readings | |
7dee00e4 MM |
98 | this->thermistor_pin.from_string(this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string()); |
99 | this->kernel->adc->enable_pin(&thermistor_pin); | |
3c132bd0 AW |
100 | |
101 | // Heater pin | |
7dee00e4 | 102 | this->heater_pin.from_string( this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output(); |
a7f12bed | 103 | this->heater_pin.max_pwm( this->kernel->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() ); |
7dee00e4 | 104 | this->heater_pin.set(0); |
7dd8133c | 105 | |
cb3460e9 | 106 | set_low_on_debug(heater_pin.port_number, heater_pin.pin); |
8f91e4e6 | 107 | |
907d5e8a | 108 | // activate SD-DAC timer |
965ec1a4 | 109 | this->kernel->slow_ticker->attach( this->kernel->config->value(temperature_control_checksum, this->name_checksum, pwm_frequency_checksum)->by_default(2000)->as_number() , &heater_pin, &Pwm::on_tick); |
907d5e8a | 110 | |
f39da6fe MM |
111 | // reading tick |
112 | this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick ); | |
201e6dcf | 113 | this->PIDdt= 1.0 / this->readings_per_second; |
f39da6fe | 114 | |
907d5e8a | 115 | // PID |
201e6dcf JM |
116 | setPIDp( this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() ); |
117 | setPIDi( this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number() ); | |
118 | setPIDd( this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() ); | |
10e66797 JM |
119 | // set to the same as max_pwm by default |
120 | this->i_max = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(this->heater_pin.max_pwm())->as_number(); | |
121 | this->iTerm = 0.0; | |
122 | this->lastInput= -1.0; | |
907d5e8a | 123 | this->last_reading = 0.0; |
7dd8133c AW |
124 | } |
125 | ||
3c4f2dd8 | 126 | void TemperatureControl::on_gcode_received(void* argument){ |
b0be67b5 | 127 | Gcode* gcode = static_cast<Gcode*>(argument); |
8dfbc976 | 128 | if (gcode->has_m) { |
b0be67b5 MM |
129 | // Get temperature |
130 | if( gcode->m == this->get_m_code ){ | |
93284f6f JM |
131 | char buf[32]; // should be big enough for any status |
132 | 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); | |
133 | gcode->txt_after_ok.append(buf, n); | |
a24ab0ac | 134 | gcode->mark_as_taken(); |
8dfbc976 JM |
135 | |
136 | } else if (gcode->m == 301) { | |
74b6303c | 137 | gcode->mark_as_taken(); |
827a49ca MM |
138 | if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) |
139 | { | |
140 | if (gcode->has_letter('P')) | |
201e6dcf | 141 | setPIDp( gcode->get_value('P') ); |
827a49ca | 142 | if (gcode->has_letter('I')) |
201e6dcf | 143 | setPIDi( gcode->get_value('I') ); |
827a49ca | 144 | if (gcode->has_letter('D')) |
201e6dcf | 145 | setPIDd( gcode->get_value('D') ); |
827a49ca MM |
146 | if (gcode->has_letter('X')) |
147 | this->i_max = gcode->get_value('X'); | |
148 | } | |
10e66797 JM |
149 | //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); |
150 | 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); | |
8dfbc976 JM |
151 | |
152 | } else if (gcode->m == 303) { | |
153 | if (gcode->has_letter('E') && (gcode->get_value('E') == this->pool_index)) { | |
154 | gcode->mark_as_taken(); | |
827a49ca | 155 | double target = 150.0; |
8dfbc976 JM |
156 | if (gcode->has_letter('S')) { |
157 | target = gcode->get_value('S'); | |
827a49ca MM |
158 | gcode->stream->printf("Target: %5.1f\n", target); |
159 | } | |
8dfbc976 JM |
160 | int ncycles= 8; |
161 | if (gcode->has_letter('C')) { | |
162 | ncycles= gcode->get_value('C'); | |
163 | } | |
827a49ca | 164 | gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str()); |
8dfbc976 | 165 | this->pool->PIDtuner->begin(this, target, gcode->stream, ncycles); |
827a49ca | 166 | } |
cf1a7632 | 167 | |
8dfbc976 JM |
168 | } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ) { |
169 | gcode->mark_as_taken(); | |
170 | ||
171 | // Attach gcodes to the last block for on_gcode_execute | |
3c4f2dd8 AW |
172 | if( this->kernel->conveyor->queue.size() == 0 ){ |
173 | this->kernel->call_event(ON_GCODE_EXECUTE, gcode ); | |
174 | }else{ | |
175 | Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 ); | |
176 | block->append_gcode(gcode); | |
3c4f2dd8 AW |
177 | } |
178 | } | |
b0be67b5 MM |
179 | } |
180 | } | |
db453125 | 181 | |
ded56b35 AW |
182 | void TemperatureControl::on_gcode_execute(void* argument){ |
183 | Gcode* gcode = static_cast<Gcode*>(argument); | |
e6b5ae25 | 184 | if( gcode->has_m){ |
cf1a7632 MM |
185 | if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code)) |
186 | && gcode->has_letter('S')) | |
907d5e8a | 187 | { |
f4bd4fc3 MM |
188 | double v = gcode->get_value('S'); |
189 | ||
cf1a7632 | 190 | if (v == 0.0) |
eabf7a9b | 191 | { |
907d5e8a | 192 | this->target_temperature = UNDEFINED; |
7dee00e4 | 193 | this->heater_pin.set(0); |
eabf7a9b MM |
194 | } |
195 | else | |
196 | { | |
f4bd4fc3 | 197 | this->set_desired_temperature(v); |
cf1a7632 MM |
198 | |
199 | if( gcode->m == this->set_and_wait_m_code) | |
200 | { | |
201 | this->kernel->pauser->take(); | |
202 | this->waiting = true; | |
203 | } | |
907d5e8a | 204 | } |
df27a6a3 | 205 | } |
df27a6a3 | 206 | } |
ded56b35 AW |
207 | } |
208 | ||
8293d443 | 209 | void TemperatureControl::on_get_public_data(void* argument){ |
b19aa09d | 210 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
201e6dcf | 211 | |
b19aa09d JM |
212 | if(!pdr->starts_with(temperature_control_checksum)) return; |
213 | ||
214 | if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend | |
215 | ||
216 | // ok this is targeted at us, so send back the requested data | |
217 | if(pdr->third_element_is(current_temperature_checksum)) { | |
218 | // this must be static as it will be accessed long after we have returned | |
219 | static struct pad_temperature temp_return; | |
220 | temp_return.current_temperature= this->get_temperature(); | |
221 | temp_return.target_temperature= (target_temperature == UNDEFINED) ? 0 : this->target_temperature; | |
222 | temp_return.pwm= this->o; | |
201e6dcf | 223 | |
b19aa09d JM |
224 | pdr->set_data_ptr(&temp_return); |
225 | pdr->set_taken(); | |
226 | } | |
8293d443 | 227 | } |
db453125 | 228 | |
77047e76 | 229 | void TemperatureControl::on_set_public_data(void* argument){ |
991d98cc | 230 | PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument); |
77047e76 | 231 | |
991d98cc | 232 | if(!pdr->starts_with(temperature_control_checksum)) return; |
77047e76 | 233 | |
991d98cc | 234 | if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend |
77047e76 | 235 | |
991d98cc JM |
236 | // ok this is targeted at us, so set the temp |
237 | double t= *static_cast<double*>(pdr->get_data_ptr()); | |
238 | this->set_desired_temperature(t); | |
239 | pdr->set_taken(); | |
77047e76 JM |
240 | } |
241 | ||
cf1a7632 MM |
242 | void TemperatureControl::set_desired_temperature(double desired_temperature) |
243 | { | |
244 | if (desired_temperature == 1.0) | |
245 | desired_temperature = preset1; | |
246 | else if (desired_temperature == 2.0) | |
247 | desired_temperature = preset2; | |
248 | ||
907d5e8a | 249 | target_temperature = desired_temperature; |
959dc7db | 250 | if (desired_temperature == 0.0) |
7dee00e4 | 251 | heater_pin.set((o = 0)); |
ded56b35 AW |
252 | } |
253 | ||
254 | double TemperatureControl::get_temperature(){ | |
907d5e8a | 255 | return last_reading; |
ded56b35 AW |
256 | } |
257 | ||
907d5e8a MM |
258 | double TemperatureControl::adc_value_to_temperature(int adc_value) |
259 | { | |
260 | if ((adc_value == 4095) || (adc_value == 0)) | |
261 | return INFINITY; | |
262 | double r = r2 / ((4095.0 / adc_value) - 1.0); | |
263 | if (r1 > 0) | |
264 | r = (r1 * r) / (r1 - r); | |
265 | return (1.0 / (k + (j * log(r / r0)))) - 273.15; | |
ded56b35 AW |
266 | } |
267 | ||
8b8b3339 | 268 | uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){ |
907d5e8a MM |
269 | int r = new_thermistor_reading(); |
270 | ||
271 | double temperature = adc_value_to_temperature(r); | |
272 | ||
273 | if (target_temperature > 0) | |
274 | { | |
275 | if ((r <= 1) || (r >= 4094)) | |
36a3f3f0 | 276 | { |
7e57bc2c | 277 | this->min_temp_violated = true; |
907d5e8a | 278 | target_temperature = UNDEFINED; |
7dee00e4 | 279 | heater_pin.set(0); |
36a3f3f0 MM |
280 | } |
281 | else | |
282 | { | |
907d5e8a MM |
283 | pid_process(temperature); |
284 | if ((temperature > target_temperature) && waiting) | |
36a3f3f0 | 285 | { |
907d5e8a MM |
286 | kernel->pauser->release(); |
287 | waiting = false; | |
81b547a1 | 288 | } |
ded56b35 AW |
289 | } |
290 | } | |
959dc7db MM |
291 | else |
292 | { | |
7dee00e4 | 293 | heater_pin.set((o = 0)); |
959dc7db | 294 | } |
907d5e8a | 295 | last_reading = temperature; |
281967e4 | 296 | return 0; |
ded56b35 AW |
297 | } |
298 | ||
10e66797 JM |
299 | /** |
300 | * Based on https://github.com/br3ttb/Arduino-PID-Library | |
301 | */ | |
907d5e8a MM |
302 | void TemperatureControl::pid_process(double temperature) |
303 | { | |
304 | double error = target_temperature - temperature; | |
ded56b35 | 305 | |
10e66797 JM |
306 | this->iTerm += (error * this->i_factor); |
307 | if (this->iTerm > this->i_max) this->iTerm = this->i_max; | |
308 | else if (this->iTerm < 0.0) this->iTerm = 0.0; | |
ded56b35 | 309 | |
10e66797 JM |
310 | if(this->lastInput < 0.0) this->lastInput= temperature; // set first time |
311 | double d= (temperature - this->lastInput); | |
ded56b35 | 312 | |
10e66797 JM |
313 | // calculate the PID output |
314 | // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that | |
315 | this->o = (this->p_factor*error) + this->iTerm - (this->d_factor*d); | |
8cdae54c | 316 | |
7dee00e4 | 317 | if (this->o >= heater_pin.max_pwm()) |
7dee00e4 | 318 | this->o = heater_pin.max_pwm(); |
27aecda6 | 319 | else if (this->o < 0) |
907d5e8a MM |
320 | this->o = 0; |
321 | ||
27aecda6 | 322 | this->heater_pin.pwm(this->o); |
10e66797 | 323 | this->lastInput= temperature; |
907d5e8a | 324 | } |
ded56b35 | 325 | |
907d5e8a MM |
326 | int TemperatureControl::new_thermistor_reading() |
327 | { | |
7dee00e4 | 328 | int last_raw = this->kernel->adc->read(&thermistor_pin); |
10e66797 | 329 | if (queue.size() >= queue.capacity()) { |
907d5e8a MM |
330 | uint16_t l; |
331 | queue.pop_front(l); | |
907d5e8a | 332 | } |
c4f4cf73 MM |
333 | uint16_t r = last_raw; |
334 | queue.push_back(r); | |
e84c3be3 BG |
335 | for (int i=0; i<queue.size(); i++) |
336 | median_buffer[i] = *queue.get_ref(i); | |
337 | uint16_t m = median_buffer[quick_median(median_buffer, queue.size())]; | |
338 | return m; | |
907d5e8a | 339 | } |
8ccab7cf MM |
340 | |
341 | void TemperatureControl::on_second_tick(void* argument) | |
342 | { | |
343 | if (waiting) | |
8f91e4e6 | 344 | kernel->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o); |
8ccab7cf | 345 | } |
201e6dcf JM |
346 | |
347 | void TemperatureControl::setPIDp(double p) { | |
348 | this->p_factor= p; | |
349 | } | |
350 | ||
351 | void TemperatureControl::setPIDi(double i) { | |
352 | this->i_factor= i*this->PIDdt; | |
353 | } | |
354 | ||
355 | void TemperatureControl::setPIDd(double d) { | |
356 | this->d_factor= d/this->PIDdt; | |
357 | } |