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