TemperatureControl PID: prevent integrator from winding up - adjust if output exceeds...

[clinton/Smoothieware.git] / src / modules / tools / temperaturecontrol / TemperatureControl.cpp

/*
      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
      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.
      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.
      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/

// TODO : THIS FILE IS LAME, MUST BE MADE MUCH BETTER

#include "libs/Module.h"
#include "libs/Kernel.h"
#include <math.h>
#include "TemperatureControl.h"
#include "libs/Pin.h"

TemperatureControl::TemperatureControl(){}

TemperatureControl::TemperatureControl(uint16_t name){
    this->name_checksum = name;
//     this->error_count = 0;
    this->waiting = false;
}

void TemperatureControl::on_module_loaded(){

    // We start not desiring any temp
//     this->desired_adc_value = UNDEFINED;
    this->target_temperature = UNDEFINED;

    // Settings
    this->on_config_reload(this);

    this->acceleration_factor = 10;

    this->kernel->slow_ticker->attach( 20, this, &TemperatureControl::thermistor_read_tick );

    // Register for events
    this->register_for_event(ON_GCODE_EXECUTE);
    this->register_for_event(ON_GCODE_RECEIVED);
    this->register_for_event(ON_MAIN_LOOP);

}

void TemperatureControl::on_main_loop(void* argument){ }

// Get configuration from the config file
void TemperatureControl::on_config_reload(void* argument){

    // General config
    this->set_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
    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();
    this->get_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
    this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(5)->as_number();

    this->designator          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();

    // Values are here : http://reprap.org/wiki/Thermistor
    this->r0   = 100000;
    this->t0   = 25;
    this->beta = 4066;
    this->r1   = 0;
    this->r2   = 4700;

    // Preset values for various common types of thermistors
    ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum);
    if(       thermistor->value.compare("EPCOS100K"    ) == 0 ){ // Default
    }else if( thermistor->value.compare("RRRF100K"     ) == 0 ){ this->beta = 3960;
    }else if( thermistor->value.compare("RRRF10K"      ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600;
    }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974;
    }else if( thermistor->value.compare("Semitec"      ) == 0 ){ this->beta = 4267; }

    // Preset values are overriden by specified values
    this->r0 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum  )->by_default(this->r0  )->as_number();               // Stated resistance eg. 100K
    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
    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
    this->r1 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum  )->by_default(this->r1  )->as_number();
    this->r2 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum  )->by_default(this->r2  )->as_number();


    // Thermistor math
    j = (1.0 / beta);
    k = (1.0 / (t0 + 273.15));

    // ADC smoothing
    running_total = 0;
    // sigma-delta output modulation
    o = 0;

    // Thermistor pin for ADC readings
    this->thermistor_pin = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_pin();
    this->kernel->adc->enable_pin(this->thermistor_pin);

    // Heater pin
    this->heater_pin     =  this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_pin()->as_output();
    this->heater_pin->set(0);

    // activate SD-DAC timer
    this->kernel->slow_ticker->attach(1000, this->heater_pin, &Pin::tick);

    // PID
    this->p_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number();
    this->i_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number();
    this->d_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number();
    this->i_max    = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(50 )->as_number();
    this->i = 0.0;
    this->last_reading = 0.0;
}

//#pragma GCC push_options
//#pragma GCC optimize ("O0")

void TemperatureControl::on_gcode_received(void* argument)
{
    Gcode* gcode = static_cast<Gcode*>(argument);
    if (gcode->has_m)
    {
        // Get temperature
        if( gcode->m == this->get_m_code ){
            gcode->stream->printf("%s:%3.1f /%3.1f @%d ", this->designator.c_str(), this->get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), this->o);
            gcode->add_nl = true;
        }
    }
}

void TemperatureControl::on_gcode_execute(void* argument){
    Gcode* gcode = static_cast<Gcode*>(argument);
    if( gcode->has_m){
        // Set temperature without waiting
        if( gcode->m == this->set_m_code && gcode->has_letter('S') )
        {
            //gcode->stream->printf("setting to %f meaning %u  \r\n", gcode->get_value('S'), this->temperature_to_adc_value( gcode->get_value('S') ) );
            if (gcode->get_value('S') == 0)
            {
                this->target_temperature = UNDEFINED;
                this->heater_pin->set(0);
            }
            else
            {
                this->set_desired_temperature(gcode->get_value('S'));
            }
        }
        // Set temperature and wait
        if( gcode->m == this->set_and_wait_m_code && gcode->has_letter('S') )
        {
            if (gcode->get_value('S') == 0)
            {
                this->target_temperature = UNDEFINED;
                this->heater_pin->set(0);
            }
            else
            {
                this->set_desired_temperature(gcode->get_value('S'));
                // Pause
                this->kernel->pauser->take();
                this->waiting = true;
            }
        }
        if (gcode->m == 301)
        {
            if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
            {
                if (gcode->has_letter('P'))
                    this->p_factor = gcode->get_value('P');
                if (gcode->has_letter('I'))
                    this->i_factor = gcode->get_value('I');
                if (gcode->has_letter('D'))
                    this->d_factor = gcode->get_value('D');
                if (gcode->has_letter('X'))
                    this->i_max    = gcode->get_value('X');
            }
            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);
        }
    }
}

//#pragma GCC pop_options


void TemperatureControl::set_desired_temperature(double desired_temperature){
//     this->desired_adc_value = this->temperature_to_adc_value(desired_temperature);
    target_temperature = desired_temperature;
}

double TemperatureControl::get_temperature(){
    return last_reading;
}

double TemperatureControl::adc_value_to_temperature(int adc_value)
{
    if ((adc_value == 4095) || (adc_value == 0))
        return INFINITY;
    double r = r2 / ((4095.0 / adc_value) - 1.0);
    if (r1 > 0)
        r = (r1 * r) / (r1 - r);
    return (1.0 / (k + (j * log(r / r0)))) - 273.15;
}

uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
    int r = new_thermistor_reading();

    double temperature = adc_value_to_temperature(r);

    if (target_temperature > 0)
    {
        if ((r <= 1) || (r >= 4094))
        {
            kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin->port_number, this->thermistor_pin->pin);
            target_temperature = UNDEFINED;
            heater_pin->set(0);
        }
        else
        {
            pid_process(temperature);
            if ((temperature > target_temperature) && waiting)
            {
                kernel->pauser->release();
                waiting = false;
            }
        }
    }
    last_reading = temperature;
    return 0;
}

void TemperatureControl::pid_process(double temperature)
{
    double error = target_temperature - temperature;

    p  = error * p_factor;
    i += (error * this->i_factor);
    d  = (last_reading - temperature) * this->d_factor;

    if (i > this->i_max)
        i = this->i_max;
    if (i < -this->i_max)
        i = -this->i_max;

    this->o = (p + i + d) * PIN_PWM_MAX / 256;

    if (this->o >= PIN_PWM_MAX)
    {
        i -= (this->o - (PIN_PWM_MAX - 1)) * 256 / PIN_PWM_MAX;
        this->o = PIN_PWM_MAX - 1;
    }
    if (this->o < 0)
    {
        if (this->o < -(PIN_PWM_MAX))
            i += (-(PIN_PWM_MAX) - this->o) * 256 / PIN_PWM_MAX;
        this->o = 0;
    }

    this->heater_pin->pwm(o);
}

int TemperatureControl::new_thermistor_reading()
{
    int last_raw = this->kernel->adc->read(this->thermistor_pin);
    if (queue.size() >= queue.capacity())
    {
        uint16_t l;
        queue.pop_front(l);
        running_total -= l;
    }
    uint16_t r = last_raw;
    queue.push_back(r);
    running_total += last_raw;
    return running_total / queue.size();
}