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
  19 #include "MRI_Hooks.h"
  20
  21 TemperatureControl::TemperatureControl(uint16_t name) :
  22   name_checksum(name), waiting(false), min_temp_violated(false) {}
  23
  24 void TemperatureControl::on_module_loaded(){
  25
  26     // We start not desiring any temp
  27     this->target_temperature = UNDEFINED;
  28
  29     // Settings
  30     this->on_config_reload(this);
  31
  32     this->acceleration_factor = 10;
  33
  34     // Register for events
  35     register_for_event(ON_CONFIG_RELOAD);
  36     this->register_for_event(ON_GCODE_EXECUTE);
  37     this->register_for_event(ON_GCODE_RECEIVED);
  38     this->register_for_event(ON_MAIN_LOOP);
  39     this->register_for_event(ON_SECOND_TICK);
  40
  41 }
  42
  43 void TemperatureControl::on_main_loop(void* argument){
  44     if (this->min_temp_violated) {
  45         kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin.port_number, this->thermistor_pin.pin);
  46         this->min_temp_violated = false;
  47     }
  48 }
  49
  50 // Get configuration from the config file
  51 void TemperatureControl::on_config_reload(void* argument){
  52
  53     // General config
  54     this->set_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
  55     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();
  56     this->get_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
  57     this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
  58
  59     this->max_pwm             = this->kernel->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->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
  78     // Preset values are overriden by specified values
  79     this->r0 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum  )->by_default(this->r0  )->as_number();               // Stated resistance eg. 100K
  80     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
  81     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
  82     this->r1 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum  )->by_default(this->r1  )->as_number();
  83     this->r2 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum  )->by_default(this->r2  )->as_number();
  84
  85
  86     // Thermistor math
  87     j = (1.0 / beta);
  88     k = (1.0 / (t0 + 273.15));
  89
  90     // sigma-delta output modulation
  91     o = 0;
  92
  93     // Thermistor pin for ADC readings
  94     this->thermistor_pin.from_string(this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string());
  95     this->kernel->adc->enable_pin(&thermistor_pin);
  96
  97     // Heater pin
  98     this->heater_pin.from_string(    this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
  99     this->heater_pin.set(0);
 100
 101     set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 102
 103     // activate SD-DAC timer
 104     this->kernel->slow_ticker->attach(1000, &heater_pin, &Pwm::on_tick);
 105
 106     // reading tick
 107     this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 108
 109     // PID
 110     this->p_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number();
 111     this->i_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number();
 112     this->d_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number();
 113     this->i_max    = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(255)->as_number();
 114     this->i = 0.0;
 115     this->last_reading = 0.0;
 116 }
 117
 118 void TemperatureControl::on_gcode_received(void* argument){
 119     Gcode* gcode = static_cast<Gcode*>(argument);
 120     if (gcode->has_m)
 121     {
 122         // Get temperature
 123         if( gcode->m == this->get_m_code ){
 124             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);
 125             gcode->add_nl = true;
 126         }
 127         if (gcode->m == 301)
 128         {
 129             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 130             {
 131                 if (gcode->has_letter('P'))
 132                     this->p_factor = gcode->get_value('P');
 133                 if (gcode->has_letter('I'))
 134                     this->i_factor = gcode->get_value('I');
 135                 if (gcode->has_letter('D'))
 136                     this->d_factor = gcode->get_value('D');
 137                 if (gcode->has_letter('X'))
 138                     this->i_max    = gcode->get_value('X');
 139             }
 140             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);
 141         }
 142         if (gcode->m == 303)
 143         {
 144             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 145             {
 146                 double target = 150.0;
 147                 if (gcode->has_letter('P'))
 148                 {
 149                     target = gcode->get_value('P');
 150                     gcode->stream->printf("Target: %5.1f\n", target);
 151                 }
 152                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 153                 this->pool->PIDtuner->begin(this, target, gcode->stream);
 154             }
 155         }
 156
 157         // Attach gcodes to the last block for on_gcode_execute
 158         if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ){
 159             if( this->kernel->conveyor->queue.size() == 0 ){
 160                 this->kernel->call_event(ON_GCODE_EXECUTE, gcode );
 161             }else{
 162                 Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 );
 163                 block->append_gcode(gcode);
 164                 gcode->queued++;
 165             }
 166         }
 167     }
 168 }
 169
 170 void TemperatureControl::on_gcode_execute(void* argument){
 171     Gcode* gcode = static_cast<Gcode*>(argument);
 172     if( gcode->has_m){
 173         // Set temperature without waiting
 174         if( gcode->m == this->set_m_code && gcode->has_letter('S') )
 175         {
 176             if (gcode->get_value('S') == 0)
 177             {
 178                 this->target_temperature = UNDEFINED;
 179                 this->heater_pin.set(0);
 180             }
 181             else
 182             {
 183                 this->set_desired_temperature(gcode->get_value('S'));
 184             }
 185         }
 186         // Set temperature and wait
 187         if( gcode->m == this->set_and_wait_m_code && gcode->has_letter('S') )
 188         {
 189             if (gcode->get_value('S') == 0)
 190             {
 191                 this->target_temperature = UNDEFINED;
 192                 this->heater_pin.set(0);
 193             }
 194             else
 195             {
 196                 this->set_desired_temperature(gcode->get_value('S'));
 197                 // Pause
 198                 this->kernel->pauser->take();
 199                 this->waiting = true;
 200             }
 201         }
 202     }
 203 }
 204
 205
 206 void TemperatureControl::set_desired_temperature(double desired_temperature){
 207     target_temperature = desired_temperature;
 208     if (desired_temperature == 0.0)
 209         heater_pin.set((o = 0));
 210 }
 211
 212 double TemperatureControl::get_temperature(){
 213     return last_reading;
 214 }
 215
 216 double TemperatureControl::adc_value_to_temperature(int adc_value)
 217 {
 218     if ((adc_value == 4095) || (adc_value == 0))
 219         return INFINITY;
 220     double r = r2 / ((4095.0 / adc_value) - 1.0);
 221     if (r1 > 0)
 222         r = (r1 * r) / (r1 - r);
 223     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 224 }
 225
 226 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 227     int r = new_thermistor_reading();
 228
 229     double temperature = adc_value_to_temperature(r);
 230
 231     if (target_temperature > 0)
 232     {
 233         if ((r <= 1) || (r >= 4094))
 234         {
 235             this->min_temp_violated = true;
 236             target_temperature = UNDEFINED;
 237             heater_pin.set(0);
 238         }
 239         else
 240         {
 241             pid_process(temperature);
 242             if ((temperature > target_temperature) && waiting)
 243             {
 244                 kernel->pauser->release();
 245                 waiting = false;
 246             }
 247         }
 248     }
 249     else
 250     {
 251         heater_pin.set((o = 0));
 252     }
 253     last_reading = temperature;
 254     return 0;
 255 }
 256
 257 void TemperatureControl::pid_process(double temperature)
 258 {
 259     double error = target_temperature - temperature;
 260
 261     p  = error * p_factor;
 262     i += (error * this->i_factor);
 263     // d was imbued with oldest_raw earlier in new_thermistor_reading
 264     d = adc_value_to_temperature(d);
 265     d = (d - temperature) * this->d_factor;
 266
 267     if (i > this->i_max)
 268         i = this->i_max;
 269     if (i < -this->i_max)
 270         i = -this->i_max;
 271
 272     this->o = (p + i + d) * heater_pin.max_pwm() / 256;
 273
 274     if (this->o >= heater_pin.max_pwm())
 275     {
 276         i = 0;
 277         this->o = heater_pin.max_pwm();
 278     }
 279     if (this->o < 0)
 280     {
 281         if (this->o < -(heater_pin.max_pwm()))
 282             i = 0;
 283         this->o = 0;
 284     }
 285
 286     if( this->o > this->max_pwm ){ this->o = max_pwm; }
 287
 288     this->heater_pin.pwm(o);
 289 }
 290
 291 int TemperatureControl::new_thermistor_reading()
 292 {
 293     int last_raw = this->kernel->adc->read(&thermistor_pin);
 294     if (queue.size() >= queue.capacity())
 295     {
 296         uint16_t l;
 297         queue.pop_front(l);
 298         d = l;
 299     }
 300     uint16_t r = last_raw;
 301     queue.push_back(r);
 302     for (int i=0; i<queue.size(); i++)
 303       median_buffer[i] = *queue.get_ref(i);
 304     uint16_t m = median_buffer[quick_median(median_buffer, queue.size())];
 305     return m;
 306 }
 307
 308 void TemperatureControl::on_second_tick(void* argument)
 309 {
 310     if (waiting)
 311         kernel->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
 312 }