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
  18 #include "MRI_Hooks.h"
  19
  20 TemperatureControl::TemperatureControl(uint16_t name) :
  21   name_checksum(name), waiting(false), min_temp_violated(false) {}
  22
  23 void TemperatureControl::on_module_loaded(){
  24
  25     // We start not desiring any temp
  26     this->target_temperature = UNDEFINED;
  27
  28     // Settings
  29     this->on_config_reload(this);
  30
  31     this->acceleration_factor = 10;
  32
  33     // Register for events
  34     register_for_event(ON_CONFIG_RELOAD);
  35     this->register_for_event(ON_GCODE_EXECUTE);
  36     this->register_for_event(ON_GCODE_RECEIVED);
  37     this->register_for_event(ON_MAIN_LOOP);
  38     this->register_for_event(ON_SECOND_TICK);
  39
  40 }
  41
  42 void TemperatureControl::on_main_loop(void* argument){
  43     if (this->min_temp_violated) {
  44         kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin.port_number, this->thermistor_pin.pin);
  45         this->min_temp_violated = false;
  46     }
  47 }
  48
  49 // Get configuration from the config file
  50 void TemperatureControl::on_config_reload(void* argument){
  51
  52     // General config
  53     this->set_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
  54     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();
  55     this->get_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
  56     this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
  57
  58     this->designator          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
  59
  60     // Values are here : http://reprap.org/wiki/Thermistor
  61     this->r0   = 100000;
  62     this->t0   = 25;
  63     this->beta = 4066;
  64     this->r1   = 0;
  65     this->r2   = 4700;
  66
  67     // Preset values for various common types of thermistors
  68     ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum);
  69     if(       thermistor->value.compare("EPCOS100K"    ) == 0 ){ // Default
  70     }else if( thermistor->value.compare("RRRF100K"     ) == 0 ){ this->beta = 3960;
  71     }else if( thermistor->value.compare("RRRF10K"      ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600;
  72     }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974;
  73     }else if( thermistor->value.compare("Semitec"      ) == 0 ){ this->beta = 4267; }
  74
  75     // Preset values are overriden by specified values
  76     this->r0 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum  )->by_default(this->r0  )->as_number();               // Stated resistance eg. 100K
  77     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
  78     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
  79     this->r1 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum  )->by_default(this->r1  )->as_number();
  80     this->r2 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum  )->by_default(this->r2  )->as_number();
  81
  82
  83     // Thermistor math
  84     j = (1.0 / beta);
  85     k = (1.0 / (t0 + 273.15));
  86
  87     // sigma-delta output modulation
  88     o = 0;
  89
  90     // Thermistor pin for ADC readings
  91     this->thermistor_pin.from_string(this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string());
  92     this->kernel->adc->enable_pin(&thermistor_pin);
  93
  94     // Heater pin
  95     this->heater_pin.from_string(    this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
  96     this->heater_pin.max_pwm(        this->kernel->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
  97     this->heater_pin.set(0);
  98
  99     set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 100
 101     // activate SD-DAC timer
 102     this->kernel->slow_ticker->attach(1000, &heater_pin, &Pwm::on_tick);
 103
 104     // reading tick
 105     this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 106
 107     // PID
 108     this->p_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number();
 109     this->i_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number();
 110     this->d_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number();
 111     this->i_max    = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(255)->as_number();
 112     this->i = 0.0;
 113     this->last_reading = 0.0;
 114 }
 115
 116 void TemperatureControl::on_gcode_received(void* argument)
 117 {
 118     Gcode* gcode = static_cast<Gcode*>(argument);
 119     if (gcode->has_m)
 120     {
 121         // Get temperature
 122         if( gcode->m == this->get_m_code ){
 123             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);
 124             gcode->add_nl = true;
 125         }
 126         if (gcode->m == 301)
 127         {
 128             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 129             {
 130                 if (gcode->has_letter('P'))
 131                     this->p_factor = gcode->get_value('P');
 132                 if (gcode->has_letter('I'))
 133                     this->i_factor = gcode->get_value('I');
 134                 if (gcode->has_letter('D'))
 135                     this->d_factor = gcode->get_value('D');
 136                 if (gcode->has_letter('X'))
 137                     this->i_max    = gcode->get_value('X');
 138             }
 139             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);
 140         }
 141         if (gcode->m == 303)
 142         {
 143             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 144             {
 145                 double target = 150.0;
 146                 if (gcode->has_letter('P'))
 147                 {
 148                     target = gcode->get_value('P');
 149                     gcode->stream->printf("Target: %5.1f\n", target);
 150                 }
 151                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 152                 this->pool->PIDtuner->begin(this, target, gcode->stream);
 153             }
 154         }
 155     }
 156 }
 157
 158 void TemperatureControl::on_gcode_execute(void* argument){
 159     Gcode* gcode = static_cast<Gcode*>(argument);
 160     if( gcode->has_m){
 161         // Set temperature without waiting
 162         if( gcode->m == this->set_m_code && gcode->has_letter('S') )
 163         {
 164             if (gcode->get_value('S') == 0)
 165             {
 166                 this->target_temperature = UNDEFINED;
 167                 this->heater_pin.set(0);
 168             }
 169             else
 170             {
 171                 this->set_desired_temperature(gcode->get_value('S'));
 172             }
 173         }
 174         // Set temperature and wait
 175         if( gcode->m == this->set_and_wait_m_code && gcode->has_letter('S') )
 176         {
 177             if (gcode->get_value('S') == 0)
 178             {
 179                 this->target_temperature = UNDEFINED;
 180                 this->heater_pin.set(0);
 181             }
 182             else
 183             {
 184                 this->set_desired_temperature(gcode->get_value('S'));
 185                 // Pause
 186                 this->kernel->pauser->take();
 187                 this->waiting = true;
 188             }
 189         }
 190     }
 191 }
 192
 193
 194 void TemperatureControl::set_desired_temperature(double desired_temperature){
 195     target_temperature = desired_temperature;
 196     if (desired_temperature == 0.0)
 197         heater_pin.set((o = 0));
 198 }
 199
 200 double TemperatureControl::get_temperature(){
 201     return last_reading;
 202 }
 203
 204 double TemperatureControl::adc_value_to_temperature(int adc_value)
 205 {
 206     if ((adc_value == 4095) || (adc_value == 0))
 207         return INFINITY;
 208     double r = r2 / ((4095.0 / adc_value) - 1.0);
 209     if (r1 > 0)
 210         r = (r1 * r) / (r1 - r);
 211     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 212 }
 213
 214 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 215     int r = new_thermistor_reading();
 216
 217     double temperature = adc_value_to_temperature(r);
 218
 219     if (target_temperature > 0)
 220     {
 221         if ((r <= 1) || (r >= 4094))
 222         {
 223             this->min_temp_violated = true;
 224             target_temperature = UNDEFINED;
 225             heater_pin.set(0);
 226         }
 227         else
 228         {
 229             pid_process(temperature);
 230             if ((temperature > target_temperature) && waiting)
 231             {
 232                 kernel->pauser->release();
 233                 waiting = false;
 234             }
 235         }
 236     }
 237     else
 238     {
 239         heater_pin.set((o = 0));
 240     }
 241     last_reading = temperature;
 242     return 0;
 243 }
 244
 245 void TemperatureControl::pid_process(double temperature)
 246 {
 247     double error = target_temperature - temperature;
 248
 249     p  = error * p_factor;
 250     i += (error * this->i_factor);
 251     // d was imbued with oldest_raw earlier in new_thermistor_reading
 252     d = adc_value_to_temperature(d);
 253     d = (d - temperature) * this->d_factor;
 254
 255     if (i > this->i_max)
 256         i = this->i_max;
 257     if (i < -this->i_max)
 258         i = -this->i_max;
 259
 260     this->o = (p + i + d) * heater_pin.max_pwm() / 256;
 261
 262     if (this->o >= heater_pin.max_pwm())
 263     {
 264         i = 0;
 265         this->o = heater_pin.max_pwm();
 266     }
 267     if (this->o < 0)
 268     {
 269         if (this->o < -(heater_pin.max_pwm()))
 270             i = 0;
 271         this->o = 0;
 272     }
 273
 274     this->heater_pin.pwm(o);
 275 }
 276
 277 int TemperatureControl::new_thermistor_reading()
 278 {
 279     int last_raw = this->kernel->adc->read(&thermistor_pin);
 280     if (queue.size() >= queue.capacity())
 281     {
 282         uint16_t l;
 283         queue.pop_front(l);
 284         d = l;
 285     }
 286     uint16_t r = last_raw;
 287     queue.push_back(r);
 288     for (int i=0; i<queue.size(); i++)
 289       median_buffer[i] = *queue.get_ref(i);
 290     uint16_t m = median_buffer[quick_median(median_buffer, queue.size())];
 291     return m;
 292 }
 293
 294 void TemperatureControl::on_second_tick(void* argument)
 295 {
 296     if (waiting)
 297         kernel->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
 298 }