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 "libs/Median.h"
  17 #include "modules/robot/Conveyor.h"
  18 #include "PublicDataRequest.h"
  19
  20 #include "MRI_Hooks.h"
  21
  22 TemperatureControl::TemperatureControl(uint16_t name) :
  23   name_checksum(name), waiting(false), min_temp_violated(false) {}
  24
  25 void TemperatureControl::on_module_loaded(){
  26
  27     // We start not desiring any temp
  28     this->target_temperature = UNDEFINED;
  29
  30     // Settings
  31     this->on_config_reload(this);
  32
  33     this->acceleration_factor = 10;
  34
  35     // Register for events
  36     register_for_event(ON_CONFIG_RELOAD);
  37     this->register_for_event(ON_GCODE_EXECUTE);
  38     this->register_for_event(ON_GCODE_RECEIVED);
  39     this->register_for_event(ON_MAIN_LOOP);
  40     this->register_for_event(ON_SECOND_TICK);
  41     this->register_for_event(ON_GET_PUBLIC_DATA);
  42     this->register_for_event(ON_SET_PUBLIC_DATA);
  43 }
  44
  45 void TemperatureControl::on_main_loop(void* argument){
  46     if (this->min_temp_violated) {
  47         kernel->streams->printf("Error: MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin.port_number, this->thermistor_pin.pin);
  48         this->min_temp_violated = false;
  49     }
  50 }
  51
  52 // Get configuration from the config file
  53 void TemperatureControl::on_config_reload(void* argument){
  54
  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();
  59     this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
  60
  61     this->designator          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
  62
  63     // Values are here : http://reprap.org/wiki/Thermistor
  64     this->r0   = 100000;
  65     this->t0   = 25;
  66     this->beta = 4066;
  67     this->r1   = 0;
  68     this->r2   = 4700;
  69
  70     // Preset values for various common types of thermistors
  71     ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum);
  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;
  76     }else if( thermistor->value.compare("Semitec"      ) == 0 ){ this->beta = 4267;
  77     }else if( thermistor->value.compare("HT100K"       ) == 0 ){ this->beta = 3990; }
  78
  79     // Preset values are overriden by specified values
  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
  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
  89
  90     // Thermistor math
  91     j = (1.0 / beta);
  92     k = (1.0 / (t0 + 273.15));
  93
  94     // sigma-delta output modulation
  95     o = 0;
  96
  97     // Thermistor pin for ADC readings
  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);
 100
 101     // Heater pin
 102     this->heater_pin.from_string(    this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
 103     this->heater_pin.max_pwm(        this->kernel->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
 104     this->heater_pin.set(0);
 105
 106     set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 107
 108     // activate SD-DAC timer
 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);
 110
 111     // reading tick
 112     this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 113     this->PIDdt= 1.0 / this->readings_per_second;
 114
 115     // PID
 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() );
 119     this->i_max    = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(255)->as_number();
 120     this->i = 0.0;
 121     this->last_reading = 0.0;
 122 }
 123
 124 void TemperatureControl::on_gcode_received(void* argument){
 125     Gcode* gcode = static_cast<Gcode*>(argument);
 126     if (gcode->has_m)
 127     {
 128         // Get temperature
 129         if( gcode->m == this->get_m_code ){
 130             char buf[32]; // should be big enough for any status
 131             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);
 132             gcode->txt_after_ok.append(buf, n);
 133             gcode->mark_as_taken();
 134         }
 135         if (gcode->m == 301)
 136         {
 137             gcode->mark_as_taken();
 138             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 139             {
 140                 if (gcode->has_letter('P'))
 141                     setPIDp( gcode->get_value('P') );
 142                 if (gcode->has_letter('I'))
 143                     setPIDi( gcode->get_value('I') );
 144                 if (gcode->has_letter('D'))
 145                     setPIDd( gcode->get_value('D') );
 146                 if (gcode->has_letter('X'))
 147                     this->i_max    = gcode->get_value('X');
 148             }
 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         }
 151         if (gcode->m == 303)
 152         {
 153             gcode->mark_as_taken();
 154             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 155             {
 156                 double target = 150.0;
 157                 if (gcode->has_letter('P'))
 158                 {
 159                     target = gcode->get_value('P');
 160                     gcode->stream->printf("Target: %5.1f\n", target);
 161                 }
 162                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 163                 this->pool->PIDtuner->begin(this, target, gcode->stream);
 164             }
 165         }
 166
 167         // Attach gcodes to the last block for on_gcode_execute
 168         if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ){
 169             if( this->kernel->conveyor->queue.size() == 0 ){
 170                 this->kernel->call_event(ON_GCODE_EXECUTE, gcode );
 171             }else{
 172                 Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 );
 173                 block->append_gcode(gcode);
 174             }
 175
 176         }
 177     }
 178 }
 179
 180 void TemperatureControl::on_gcode_execute(void* argument){
 181     Gcode* gcode = static_cast<Gcode*>(argument);
 182     if( gcode->has_m){
 183         if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
 184             && gcode->has_letter('S'))
 185         {
 186             double v = gcode->get_value('S');
 187
 188             if (v == 0.0)
 189             {
 190                 this->target_temperature = UNDEFINED;
 191                 this->heater_pin.set(0);
 192             }
 193             else
 194             {
 195                 this->set_desired_temperature(v);
 196
 197                 if( gcode->m == this->set_and_wait_m_code)
 198                 {
 199                     gcode->mark_as_taken();
 200                     this->kernel->pauser->take();
 201                     this->waiting = true;
 202                 }
 203             }
 204         }
 205     }
 206 }
 207
 208 void TemperatureControl::on_get_public_data(void* argument){
 209     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 210
 211     if(!pdr->starts_with(temperature_control_checksum)) return;
 212
 213     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 214
 215     // ok this is targeted at us, so send back the requested data
 216     if(pdr->third_element_is(current_temperature_checksum)) {
 217         // this must be static as it will be accessed long after we have returned
 218         static struct pad_temperature temp_return;
 219         temp_return.current_temperature= this->get_temperature();
 220         temp_return.target_temperature= (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
 221         temp_return.pwm= this->o;
 222
 223         pdr->set_data_ptr(&temp_return);
 224         pdr->set_taken();
 225     }
 226 }
 227
 228 void TemperatureControl::on_set_public_data(void* argument){
 229     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 230
 231     if(!pdr->starts_with(temperature_control_checksum)) return;
 232
 233     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 234
 235     // ok this is targeted at us, so set the temp
 236     double t= *static_cast<double*>(pdr->get_data_ptr());
 237     this->set_desired_temperature(t);
 238     pdr->set_taken();
 239 }
 240
 241 void TemperatureControl::set_desired_temperature(double desired_temperature)
 242 {
 243     if (desired_temperature == 1.0)
 244         desired_temperature = preset1;
 245     else if (desired_temperature == 2.0)
 246         desired_temperature = preset2;
 247
 248     target_temperature = desired_temperature;
 249     if (desired_temperature == 0.0)
 250         heater_pin.set((o = 0));
 251 }
 252
 253 double TemperatureControl::get_temperature(){
 254     return last_reading;
 255 }
 256
 257 double TemperatureControl::adc_value_to_temperature(int adc_value)
 258 {
 259     if ((adc_value == 4095) || (adc_value == 0))
 260         return INFINITY;
 261     double r = r2 / ((4095.0 / adc_value) - 1.0);
 262     if (r1 > 0)
 263         r = (r1 * r) / (r1 - r);
 264     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 265 }
 266
 267 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 268     int r = new_thermistor_reading();
 269
 270     double temperature = adc_value_to_temperature(r);
 271
 272     if (target_temperature > 0)
 273     {
 274         if ((r <= 1) || (r >= 4094))
 275         {
 276             this->min_temp_violated = true;
 277             target_temperature = UNDEFINED;
 278             heater_pin.set(0);
 279         }
 280         else
 281         {
 282             pid_process(temperature);
 283             if ((temperature > target_temperature) && waiting)
 284             {
 285                 kernel->pauser->release();
 286                 waiting = false;
 287             }
 288         }
 289     }
 290     else
 291     {
 292         heater_pin.set((o = 0));
 293     }
 294     last_reading = temperature;
 295     return 0;
 296 }
 297
 298 void TemperatureControl::pid_process(double temperature)
 299 {
 300     double error = target_temperature - temperature;
 301
 302     p  = error * p_factor;
 303     i += (error * this->i_factor);
 304     // d was imbued with oldest_raw earlier in new_thermistor_reading
 305     d = adc_value_to_temperature(d);
 306     d = (d - temperature) * this->d_factor;
 307
 308     if (i > this->i_max)
 309         i = this->i_max;
 310     if (i < -this->i_max)
 311         i = -this->i_max;
 312
 313     this->o = (p + i + d) * heater_pin.max_pwm() / 256;
 314
 315     if (this->o >= heater_pin.max_pwm())
 316         this->o = heater_pin.max_pwm();
 317     else if (this->o < 0)
 318         this->o = 0;
 319
 320     this->heater_pin.pwm(this->o);
 321 }
 322
 323 int TemperatureControl::new_thermistor_reading()
 324 {
 325     int last_raw = this->kernel->adc->read(&thermistor_pin);
 326     if (queue.size() >= queue.capacity())
 327     {
 328         uint16_t l;
 329         queue.pop_front(l);
 330         d = l;
 331     }
 332     uint16_t r = last_raw;
 333     queue.push_back(r);
 334     for (int i=0; i<queue.size(); i++)
 335       median_buffer[i] = *queue.get_ref(i);
 336     uint16_t m = median_buffer[quick_median(median_buffer, queue.size())];
 337     return m;
 338 }
 339
 340 void TemperatureControl::on_second_tick(void* argument)
 341 {
 342     if (waiting)
 343         kernel->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
 344 }
 345
 346 void TemperatureControl::setPIDp(double p) {
 347     this->p_factor= p;
 348 }
 349
 350 void TemperatureControl::setPIDi(double i) {
 351     this->i_factor= i*this->PIDdt;
 352 }
 353
 354 void TemperatureControl::setPIDd(double d) {
 355     this->d_factor= d/this->PIDdt;
 356 }