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
  47 #define get_m_code_checksum                CHECKSUM("get_m_code")
  48 #define set_m_code_checksum                CHECKSUM("set_m_code")
  49 #define set_and_wait_m_code_checksum       CHECKSUM("set_and_wait_m_code")
  50
  51 #define designator_checksum                CHECKSUM("designator")
  52
  53 #define p_factor_checksum                  CHECKSUM("p_factor")
  54 #define i_factor_checksum                  CHECKSUM("i_factor")
  55 #define d_factor_checksum                  CHECKSUM("d_factor")
  56
  57 #define i_max_checksum                     CHECKSUM("i_max")
  58
  59 #define preset1_checksum                   CHECKSUM("preset1")
  60 #define preset2_checksum                   CHECKSUM("preset2")
  61
  62 TemperatureControl::TemperatureControl(uint16_t name, int index)
  63 {
  64     name_checksum= name;
  65     pool_index= index;
  66     waiting= false;
  67     min_temp_violated= false;
  68     sensor= nullptr;
  69     readonly= false;
  70 }
  71
  72 TemperatureControl::~TemperatureControl()
  73 {
  74     delete sensor;
  75 }
  76
  77 void TemperatureControl::on_module_loaded()
  78 {
  79
  80     // We start not desiring any temp
  81     this->target_temperature = UNDEFINED;
  82
  83     // Settings
  84     this->load_config();
  85
  86     // Register for events
  87     this->register_for_event(ON_GCODE_RECEIVED);
  88     this->register_for_event(ON_GET_PUBLIC_DATA);
  89
  90     if(!this->readonly) {
  91         this->register_for_event(ON_GCODE_EXECUTE);
  92         this->register_for_event(ON_SECOND_TICK);
  93         this->register_for_event(ON_MAIN_LOOP);
  94         this->register_for_event(ON_SET_PUBLIC_DATA);
  95         this->register_for_event(ON_HALT);
  96     }
  97 }
  98
  99 void TemperatureControl::on_halt(void *arg)
 100 {
 101     // turn off heater
 102     this->o = 0;
 103     this->heater_pin.set(0);
 104     this->target_temperature = UNDEFINED;
 105 }
 106
 107 void TemperatureControl::on_main_loop(void *argument)
 108 {
 109     if (this->min_temp_violated) {
 110         THEKERNEL->streams->printf("Error: MINTEMP triggered. Check your temperature sensors!\n");
 111         this->min_temp_violated = false;
 112     }
 113 }
 114
 115 // Get configuration from the config file
 116 void TemperatureControl::load_config()
 117 {
 118
 119     // General config
 120     this->set_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
 121     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();
 122     this->get_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
 123     this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
 124
 125     this->designator          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
 126
 127     // Heater pin
 128     this->heater_pin.from_string( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->by_default("nc")->as_string());
 129     if(this->heater_pin.connected()){
 130         this->readonly= false;
 131         this->heater_pin.as_output();
 132
 133     } else {
 134         this->readonly= true;
 135     }
 136
 137     // For backward compatibility, default to a thermistor sensor.
 138     std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string();
 139
 140     // Instantiate correct sensor (TBD: TempSensor factory?)
 141     delete sensor;
 142     sensor = nullptr; // In case we fail to create a new sensor.
 143     if(sensor_type.compare("thermistor") == 0) {
 144         sensor = new Thermistor();
 145     } else if(sensor_type.compare("max31855") == 0) {
 146         sensor = new Max31855();
 147     } else {
 148         sensor = new TempSensor(); // A dummy implementation
 149     }
 150     sensor->UpdateConfig(temperature_control_checksum, this->name_checksum);
 151
 152     this->preset1 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
 153     this->preset2 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
 154
 155
 156     // sigma-delta output modulation
 157     this->o = 0;
 158
 159     if(!this->readonly) {
 160         // used to enable bang bang control of heater
 161         this->use_bangbang = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool();
 162         this->hysteresis = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number();
 163         this->heater_pin.max_pwm( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
 164         this->heater_pin.set(0);
 165         set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 166         // activate SD-DAC timer
 167         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);
 168     }
 169
 170
 171     // reading tick
 172     THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 173     this->PIDdt = 1.0 / this->readings_per_second;
 174
 175     // PID
 176     setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
 177     setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() );
 178     setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );
 179
 180     if(!this->readonly) {
 181         // set to the same as max_pwm by default
 182         this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(this->heater_pin.max_pwm())->as_number();
 183     }
 184
 185     this->iTerm = 0.0;
 186     this->lastInput = -1.0;
 187     this->last_reading = 0.0;
 188 }
 189
 190 void TemperatureControl::on_gcode_received(void *argument)
 191 {
 192     Gcode *gcode = static_cast<Gcode *>(argument);
 193     if (gcode->has_m) {
 194
 195         if( gcode->m == this->get_m_code ) {
 196             char buf[32]; // should be big enough for any status
 197             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);
 198             gcode->txt_after_ok.append(buf, n);
 199             gcode->mark_as_taken();
 200             return;
 201         }
 202
 203         // readonly sensors don't handle the rest
 204         if(this->readonly) return;
 205
 206         if (gcode->m == 301) {
 207             gcode->mark_as_taken();
 208             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) {
 209                 if (gcode->has_letter('P'))
 210                     setPIDp( gcode->get_value('P') );
 211                 if (gcode->has_letter('I'))
 212                     setPIDi( gcode->get_value('I') );
 213                 if (gcode->has_letter('D'))
 214                     setPIDd( gcode->get_value('D') );
 215                 if (gcode->has_letter('X'))
 216                     this->i_max    = gcode->get_value('X');
 217             }
 218             //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);
 219             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);
 220
 221         } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
 222             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);
 223             gcode->mark_as_taken();
 224
 225         } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S')) {
 226             // this only gets handled if it is not controlle dby the tool manager or is active in the toolmanager
 227             this->active = true;
 228
 229             // this is safe as old configs as well as single extruder configs the toolmanager will not be running so will return false
 230             // this will also ignore anything that the tool manager is not controlling and return false, otherwise it returns the active tool
 231             void *returned_data;
 232             bool ok = PublicData::get_value( tool_manager_checksum, is_active_tool_checksum, this->name_checksum, &returned_data );
 233             if (ok) {
 234                 uint16_t active_tool_name =  *static_cast<uint16_t *>(returned_data);
 235                 this->active = (active_tool_name == this->name_checksum);
 236             }
 237
 238             if(this->active) {
 239                 // Attach gcodes to the last block for on_gcode_execute
 240                 THEKERNEL->conveyor->append_gcode(gcode);
 241
 242                 // 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
 243                 if (gcode->m == this->set_and_wait_m_code) {
 244                     // ensure that no subsequent gcodes get executed with our M109 or similar
 245                     THEKERNEL->conveyor->queue_head_block();
 246                 }
 247             }
 248         }
 249     }
 250 }
 251
 252 void TemperatureControl::on_gcode_execute(void *argument)
 253 {
 254     Gcode *gcode = static_cast<Gcode *>(argument);
 255     if( gcode->has_m) {
 256         if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
 257             && gcode->has_letter('S') && this->active) {
 258             float v = gcode->get_value('S');
 259
 260             if (v == 0.0) {
 261                 this->target_temperature = UNDEFINED;
 262                 this->heater_pin.set((this->o = 0));
 263             } else {
 264                 this->set_desired_temperature(v);
 265
 266                 if( gcode->m == this->set_and_wait_m_code && !this->waiting) {
 267                     THEKERNEL->pauser->take();
 268                     this->waiting = true;
 269                 }
 270             }
 271         }
 272     }
 273 }
 274
 275 void TemperatureControl::on_get_public_data(void *argument)
 276 {
 277     PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
 278
 279     if(!pdr->starts_with(temperature_control_checksum)) return;
 280
 281     if(pdr->second_element_is(pool_index_checksum)) {
 282         // asking for our instance pointer if we have this pool_index
 283         if(pdr->third_element_is(this->pool_index)) {
 284             static void *return_data;
 285             return_data = this;
 286             pdr->set_data_ptr(&return_data);
 287             pdr->set_taken();
 288         }
 289         return;
 290
 291     }else if(!pdr->second_element_is(this->name_checksum)) return;
 292
 293     // ok this is targeted at us, so send back the requested data
 294     if(pdr->third_element_is(current_temperature_checksum)) {
 295         this->public_data_return.current_temperature = this->get_temperature();
 296         this->public_data_return.target_temperature = (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
 297         this->public_data_return.pwm = this->o;
 298         this->public_data_return.designator= this->designator;
 299         pdr->set_data_ptr(&this->public_data_return);
 300         pdr->set_taken();
 301     }
 302
 303 }
 304
 305 void TemperatureControl::on_set_public_data(void *argument)
 306 {
 307     PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
 308
 309     if(!pdr->starts_with(temperature_control_checksum)) return;
 310
 311     if(!pdr->second_element_is(this->name_checksum)) return;
 312
 313     // ok this is targeted at us, so set the temp
 314     float t = *static_cast<float *>(pdr->get_data_ptr());
 315     this->set_desired_temperature(t);
 316     pdr->set_taken();
 317 }
 318
 319 void TemperatureControl::set_desired_temperature(float desired_temperature)
 320 {
 321     if (desired_temperature == 1.0)
 322         desired_temperature = preset1;
 323     else if (desired_temperature == 2.0)
 324         desired_temperature = preset2;
 325
 326     target_temperature = desired_temperature;
 327     if (desired_temperature == 0.0)
 328         heater_pin.set((this->o = 0));
 329 }
 330
 331 float TemperatureControl::get_temperature()
 332 {
 333     return last_reading;
 334 }
 335
 336 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy)
 337 {
 338     float temperature = sensor->get_temperature();
 339     if(this->readonly) {
 340         last_reading = temperature;
 341         return 0;
 342     }
 343
 344     if (target_temperature > 0) {
 345         if (isinf(temperature)) {
 346             this->min_temp_violated = true;
 347             target_temperature = UNDEFINED;
 348             heater_pin.set((this->o = 0));
 349         } else {
 350             pid_process(temperature);
 351             if ((temperature > target_temperature) && waiting) {
 352                 THEKERNEL->pauser->release();
 353                 waiting = false;
 354             }
 355         }
 356     } else {
 357         heater_pin.set((this->o = 0));
 358     }
 359     last_reading = temperature;
 360     return 0;
 361 }
 362
 363 /**
 364  * Based on https://github.com/br3ttb/Arduino-PID-Library
 365  */
 366 void TemperatureControl::pid_process(float temperature)
 367 {
 368     if(use_bangbang) {
 369         // bang bang is very simple, if temp is < target - hysteresis turn on full else if  temp is > target + hysteresis turn heater off
 370         // good for relays
 371         if(temperature > (target_temperature + hysteresis) && this->o > 0) {
 372             heater_pin.set(false);
 373             this->o = 0; // for display purposes only
 374
 375         } else if(temperature < (target_temperature - hysteresis) && this->o <= 0) {
 376             if(heater_pin.max_pwm() >= 255) {
 377                 // turn on full
 378                 this->heater_pin.set(true);
 379                 this->o = 255; // for display purposes only
 380             } else {
 381                 // only to whatever max pwm is configured
 382                 this->heater_pin.pwm(heater_pin.max_pwm());
 383                 this->o = heater_pin.max_pwm(); // for display purposes only
 384             }
 385         }
 386         return;
 387     }
 388
 389     // regular PID control
 390     float error = target_temperature - temperature;
 391     this->iTerm += (error * this->i_factor);
 392     if (this->iTerm > this->i_max) this->iTerm = this->i_max;
 393     else if (this->iTerm < 0.0) this->iTerm = 0.0;
 394
 395     if(this->lastInput < 0.0) this->lastInput = temperature; // set first time
 396     float d = (temperature - this->lastInput);
 397
 398     // calculate the PID output
 399     // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
 400     this->o = (this->p_factor * error) + this->iTerm - (this->d_factor * d);
 401
 402     if (this->o >= heater_pin.max_pwm())
 403         this->o = heater_pin.max_pwm();
 404     else if (this->o < 0)
 405         this->o = 0;
 406
 407     this->heater_pin.pwm(this->o);
 408     this->lastInput = temperature;
 409 }
 410
 411 void TemperatureControl::on_second_tick(void *argument)
 412 {
 413     if (waiting)
 414         THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED) ? 0.0 : target_temperature), o);
 415 }
 416
 417 void TemperatureControl::setPIDp(float p)
 418 {
 419     this->p_factor = p;
 420 }
 421
 422 void TemperatureControl::setPIDi(float i)
 423 {
 424     this->i_factor = i * this->PIDdt;
 425 }
 426
 427 void TemperatureControl::setPIDd(float d)
 428 {
 429     this->d_factor = d / this->PIDdt;
 430 }