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 #include "TemperatureControlPublicAccess.h"
  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 "TemperatureControl.h"
  29 #include "PID_Autotuner.h"
  30
  31 // Temp sensor implementations:
  32 #include "Thermistor.h"
  33 #include "max31855.h"
  34
  35 #include "MRI_Hooks.h"
  36
  37 #define UNDEFINED -1
  38
  39 #define sensor_checksum                    CHECKSUM("sensor")
  40
  41 #define readings_per_second_checksum       CHECKSUM("readings_per_second")
  42 #define max_pwm_checksum                   CHECKSUM("max_pwm")
  43 #define pwm_frequency_checksum             CHECKSUM("pwm_frequency")
  44 #define bang_bang_checksum                 CHECKSUM("bang_bang")
  45 #define hysteresis_checksum                CHECKSUM("hysteresis")
  46 #define heater_pin_checksum                CHECKSUM("heater_pin")
  47
  48 #define get_m_code_checksum                CHECKSUM("get_m_code")
  49 #define set_m_code_checksum                CHECKSUM("set_m_code")
  50 #define set_and_wait_m_code_checksum       CHECKSUM("set_and_wait_m_code")
  51
  52 #define designator_checksum                CHECKSUM("designator")
  53
  54 #define p_factor_checksum                  CHECKSUM("p_factor")
  55 #define i_factor_checksum                  CHECKSUM("i_factor")
  56 #define d_factor_checksum                  CHECKSUM("d_factor")
  57
  58 #define i_max_checksum                     CHECKSUM("i_max")
  59
  60 #define preset1_checksum                   CHECKSUM("preset1")
  61 #define preset2_checksum                   CHECKSUM("preset2")
  62
  63 #define link_to_tool_checksum              CHECKSUM("link_to_tool")
  64
  65 TemperatureControl::TemperatureControl(uint16_t name) :
  66   sensor(nullptr), name_checksum(name), waiting(false), min_temp_violated(false)
  67 {
  68 }
  69
  70 TemperatureControl::~TemperatureControl()
  71 {
  72     delete sensor;
  73 }
  74
  75 void TemperatureControl::on_module_loaded(){
  76
  77     // We start not desiring any temp
  78     this->target_temperature = UNDEFINED;
  79
  80     // Settings
  81     this->on_config_reload(this);
  82
  83     // Register for events
  84     register_for_event(ON_CONFIG_RELOAD);
  85     this->register_for_event(ON_GCODE_EXECUTE);
  86     this->register_for_event(ON_GCODE_RECEIVED);
  87     this->register_for_event(ON_MAIN_LOOP);
  88     this->register_for_event(ON_SECOND_TICK);
  89     this->register_for_event(ON_GET_PUBLIC_DATA);
  90     this->register_for_event(ON_SET_PUBLIC_DATA);
  91 }
  92
  93 void TemperatureControl::on_main_loop(void* argument){
  94     if (this->min_temp_violated) {
  95         THEKERNEL->streams->printf("Error: MINTEMP triggered. Check your temperature sensors!\n");
  96         this->min_temp_violated = false;
  97     }
  98 }
  99
 100 // Get configuration from the config file
 101 void TemperatureControl::on_config_reload(void* argument){
 102
 103     // General config
 104     this->set_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
 105     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();
 106     this->get_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
 107     this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
 108
 109     this->designator          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
 110
 111     this->link_to_tool        = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, link_to_tool_checksum)->by_default(false)->as_bool();
 112
 113     // For backward compatibility, default to a thermistor sensor.
 114     std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string();
 115
 116     // Instantiate correct sensor (TBD: TempSensor factory?)
 117     delete sensor;
 118     sensor = nullptr; // In case we fail to create a new sensor.
 119     if(sensor_type.compare("thermistor") == 0)
 120     {
 121         sensor = new Thermistor();
 122     }
 123     else if(sensor_type.compare("max31855") == 0)
 124     {
 125         sensor = new Max31855();
 126     }
 127     else
 128     {
 129         sensor = new TempSensor(); // A dummy implementation
 130     }
 131     sensor->UpdateConfig(temperature_control_checksum, this->name_checksum);
 132
 133     this->preset1 =             THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
 134     this->preset2 =             THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
 135
 136
 137     // sigma-delta output modulation
 138     this->o = 0;
 139
 140     // Heater pin
 141     this->heater_pin.from_string(    THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
 142     this->heater_pin.max_pwm(        THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
 143
 144     this->heater_pin.set(0);
 145
 146     // used to enable bang bang control of heater
 147     this->use_bangbang= THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool();
 148     this->hysteresis= THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number();
 149
 150     set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 151
 152     // activate SD-DAC timer
 153     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);
 154
 155     // reading tick
 156     THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 157     this->PIDdt= 1.0 / this->readings_per_second;
 158
 159     // PID
 160     setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
 161     setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() );
 162     setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );
 163     // set to the same as max_pwm by default
 164     this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(this->heater_pin.max_pwm())->as_number();
 165     this->iTerm = 0.0;
 166     this->lastInput= -1.0;
 167     this->last_reading = 0.0;
 168 }
 169
 170 void TemperatureControl::on_gcode_received(void* argument){
 171     Gcode* gcode = static_cast<Gcode*>(argument);
 172     if (gcode->has_m) {
 173         // Get temperature
 174         bool active = true;
 175         if( this->link_to_tool ) {
 176             void* returned_data;
 177             bool ok = THEKERNEL->public_data->get_value( tool_manager_checksum, &returned_data );
 178
 179             if (ok) {
 180                 struct pad_toolmanager toolmanager =  *static_cast<struct pad_toolmanager *>(returned_data);
 181                 active = toolmanager.current_tool_name == this->name_checksum;
 182             } else {
 183 //                stream->printf("TemperatureControl %s has link_to_tool set to true and the ToolManager module was not found\r\n", type.c_str());
 184             }
 185         }
 186         if( (gcode->m == this->get_m_code) && active ){
 187             char buf[32]; // should be big enough for any status
 188             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);
 189             gcode->txt_after_ok.append(buf, n);
 190             gcode->mark_as_taken();
 191
 192         } else if (gcode->m == 301) {
 193             gcode->mark_as_taken();
 194             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 195             {
 196                 if (gcode->has_letter('P'))
 197                     setPIDp( gcode->get_value('P') );
 198                 if (gcode->has_letter('I'))
 199                     setPIDi( gcode->get_value('I') );
 200                 if (gcode->has_letter('D'))
 201                     setPIDd( gcode->get_value('D') );
 202                 if (gcode->has_letter('X'))
 203                     this->i_max    = gcode->get_value('X');
 204             }
 205             //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);
 206             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);
 207
 208         } else if (gcode->m == 303) {
 209             if (gcode->has_letter('E') && (gcode->get_value('E') == this->pool_index)) {
 210                 gcode->mark_as_taken();
 211                 float target = 150.0;
 212                 if (gcode->has_letter('S')) {
 213                     target = gcode->get_value('S');
 214                     gcode->stream->printf("Target: %5.1f\n", target);
 215                 }
 216                 int ncycles= 8;
 217                 if (gcode->has_letter('C')) {
 218                     ncycles= gcode->get_value('C');
 219                 }
 220                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 221                 this->pool->PIDtuner->begin(this, target, gcode->stream, ncycles);
 222             }
 223
 224         } else if (gcode->m == 500 || gcode->m == 503){// M500 saves some volatile settings to config override file, M503 just prints the settings
 225             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);
 226             gcode->mark_as_taken();
 227
 228         } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ) {
 229             // Attach gcodes to the last block for on_gcode_execute
 230             THEKERNEL->conveyor->append_gcode(gcode);
 231
 232             // 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
 233             if (gcode->m == this->set_and_wait_m_code)
 234                 // ensure that no subsequent gcodes get executed with our M109 or similar
 235                 THEKERNEL->conveyor->queue_head_block();
 236         }
 237     }
 238 }
 239
 240 void TemperatureControl::on_gcode_execute(void* argument){
 241     Gcode* gcode = static_cast<Gcode*>(argument);
 242     if( gcode->has_m){
 243         if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
 244             && gcode->has_letter('S'))
 245         {
 246             float v = gcode->get_value('S');
 247
 248             if (v == 0.0)
 249             {
 250                 this->target_temperature = UNDEFINED;
 251                 this->heater_pin.set((this->o=0));
 252             }
 253             else
 254             {
 255                 this->set_desired_temperature(v);
 256
 257                 if( gcode->m == this->set_and_wait_m_code)
 258                 {
 259                     THEKERNEL->pauser->take();
 260                     this->waiting = true;
 261                 }
 262             }
 263         }
 264     }
 265 }
 266
 267 void TemperatureControl::on_get_public_data(void* argument){
 268     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 269
 270     if(!pdr->starts_with(temperature_control_checksum)) return;
 271
 272     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 273
 274     // ok this is targeted at us, so send back the requested data
 275     if(pdr->third_element_is(current_temperature_checksum)) {
 276         // this must be static as it will be accessed long after we have returned
 277         static struct pad_temperature temp_return;
 278         temp_return.current_temperature= this->get_temperature();
 279         temp_return.target_temperature= (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
 280         temp_return.pwm= this->o;
 281
 282         pdr->set_data_ptr(&temp_return);
 283         pdr->set_taken();
 284     }
 285 }
 286
 287 void TemperatureControl::on_set_public_data(void* argument){
 288     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 289
 290     if(!pdr->starts_with(temperature_control_checksum)) return;
 291
 292     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 293
 294     // ok this is targeted at us, so set the temp
 295     float t= *static_cast<float*>(pdr->get_data_ptr());
 296     this->set_desired_temperature(t);
 297     pdr->set_taken();
 298 }
 299
 300 void TemperatureControl::set_desired_temperature(float desired_temperature)
 301 {
 302     if (desired_temperature == 1.0)
 303         desired_temperature = preset1;
 304     else if (desired_temperature == 2.0)
 305         desired_temperature = preset2;
 306
 307     target_temperature = desired_temperature;
 308     if (desired_temperature == 0.0)
 309         heater_pin.set((this->o = 0));
 310 }
 311
 312 float TemperatureControl::get_temperature(){
 313     return last_reading;
 314 }
 315
 316 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 317     float temperature = sensor->get_temperature();
 318
 319     if (target_temperature > 0)
 320     {
 321         if (isinf(temperature))
 322         {
 323             this->min_temp_violated = true;
 324             target_temperature = UNDEFINED;
 325             heater_pin.set((this->o=0));
 326         }
 327         else
 328         {
 329             pid_process(temperature);
 330             if ((temperature > target_temperature) && waiting)
 331             {
 332                 THEKERNEL->pauser->release();
 333                 waiting = false;
 334             }
 335         }
 336     }
 337     else
 338     {
 339         heater_pin.set((this->o = 0));
 340     }
 341     last_reading = temperature;
 342     return 0;
 343 }
 344
 345 /**
 346  * Based on https://github.com/br3ttb/Arduino-PID-Library
 347  */
 348 void TemperatureControl::pid_process(float temperature)
 349 {
 350     if(use_bangbang) {
 351         // bang bang is very simple, if temp is < target - hysteresis turn on full else if  temp is > target + hysteresis turn heater off
 352         // good for relays
 353         if(temperature > (target_temperature+hysteresis) && this->o > 0) {
 354             heater_pin.set(false);
 355             this->o= 0; // for display purposes only
 356
 357         }else if(temperature < (target_temperature-hysteresis) && this->o <= 0) {
 358             if(heater_pin.max_pwm() >= 255) {
 359                 // turn on full
 360                 this->heater_pin.set(true);
 361                 this->o= 255; // for display purposes only
 362             }else{
 363                 // only to whatever max pwm is configured
 364                 this->heater_pin.pwm(heater_pin.max_pwm());
 365                 this->o= heater_pin.max_pwm(); // for display purposes only
 366             }
 367         }
 368         return;
 369     }
 370
 371     // regular PID control
 372     float error = target_temperature - temperature;
 373     this->iTerm += (error * this->i_factor);
 374     if (this->iTerm > this->i_max) this->iTerm = this->i_max;
 375     else if (this->iTerm < 0.0) this->iTerm = 0.0;
 376
 377     if(this->lastInput < 0.0) this->lastInput= temperature; // set first time
 378     float d= (temperature - this->lastInput);
 379
 380     // calculate the PID output
 381     // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
 382     this->o = (this->p_factor*error) + this->iTerm - (this->d_factor*d);
 383
 384     if (this->o >= heater_pin.max_pwm())
 385         this->o = heater_pin.max_pwm();
 386     else if (this->o < 0)
 387         this->o = 0;
 388
 389     this->heater_pin.pwm(this->o);
 390     this->lastInput= temperature;
 391 }
 392
 393 void TemperatureControl::on_second_tick(void* argument)
 394 {
 395     if (waiting)
 396         THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
 397 }
 398
 399 void TemperatureControl::setPIDp(float p) {
 400     this->p_factor= p;
 401 }
 402
 403 void TemperatureControl::setPIDi(float i) {
 404     this->i_factor= i*this->PIDdt;
 405 }
 406
 407 void TemperatureControl::setPIDd(float d) {
 408     this->d_factor= d/this->PIDdt;
 409 }