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
  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     this->preset1 =             this->kernel->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
  86     this->preset2 =             this->kernel->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
  87
  88
  89     // Thermistor math
  90     j = (1.0 / beta);
  91     k = (1.0 / (t0 + 273.15));
  92
  93     // sigma-delta output modulation
  94     o = 0;
  95
  96     // Thermistor pin for ADC readings
  97     this->thermistor_pin.from_string(this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string());
  98     this->kernel->adc->enable_pin(&thermistor_pin);
  99
 100     // Heater pin
 101     this->heater_pin.from_string(    this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
 102     this->heater_pin.max_pwm(        this->kernel->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
 103     this->heater_pin.set(0);
 104
 105     set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 106
 107     // activate SD-DAC timer
 108     this->kernel->slow_ticker->attach(1000, &heater_pin, &Pwm::on_tick);
 109
 110     // reading tick
 111     this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 112
 113     // PID
 114     this->p_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number();
 115     this->i_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number();
 116     this->d_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number();
 117     this->i_max    = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(255)->as_number();
 118     this->i = 0.0;
 119     this->last_reading = 0.0;
 120 }
 121
 122 void TemperatureControl::on_gcode_received(void* argument){
 123     Gcode* gcode = static_cast<Gcode*>(argument);
 124     if (gcode->has_m)
 125     {
 126         // Get temperature
 127         if( gcode->m == this->get_m_code ){
 128             char buf[32]; // should be big enough for any status
 129             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);
 130             gcode->txt_after_ok.append(buf, n);
 131         }
 132         if (gcode->m == 301)
 133         {
 134             gcode->mark_as_taken();
 135             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 136             {
 137                 if (gcode->has_letter('P'))
 138                     this->p_factor = gcode->get_value('P');
 139                 if (gcode->has_letter('I'))
 140                     this->i_factor = gcode->get_value('I');
 141                 if (gcode->has_letter('D'))
 142                     this->d_factor = gcode->get_value('D');
 143                 if (gcode->has_letter('X'))
 144                     this->i_max    = gcode->get_value('X');
 145             }
 146             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);
 147         }
 148         if (gcode->m == 303)
 149         {
 150             gcode->mark_as_taken();
 151             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 152             {
 153                 double target = 150.0;
 154                 if (gcode->has_letter('P'))
 155                 {
 156                     target = gcode->get_value('P');
 157                     gcode->stream->printf("Target: %5.1f\n", target);
 158                 }
 159                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 160                 this->pool->PIDtuner->begin(this, target, gcode->stream);
 161             }
 162         }
 163
 164         // Attach gcodes to the last block for on_gcode_execute
 165         if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ){
 166             if( this->kernel->conveyor->queue.size() == 0 ){
 167                 this->kernel->call_event(ON_GCODE_EXECUTE, gcode );
 168             }else{
 169                 Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 );
 170                 block->append_gcode(gcode);
 171             }
 172
 173         }
 174     }
 175 }
 176
 177 void TemperatureControl::on_gcode_execute(void* argument){
 178     Gcode* gcode = static_cast<Gcode*>(argument);
 179     if( gcode->has_m){
 180         if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
 181             && gcode->has_letter('S'))
 182         {
 183             double v = gcode->get_value('S');
 184
 185             if (v == 0.0)
 186             {
 187                 this->target_temperature = UNDEFINED;
 188                 this->heater_pin.set(0);
 189             }
 190             else
 191             {
 192                 this->set_desired_temperature(v);
 193
 194                 if( gcode->m == this->set_and_wait_m_code)
 195                 {
 196                     gcode->mark_as_taken();
 197                     this->kernel->pauser->take();
 198                     this->waiting = true;
 199                 }
 200             }
 201         }
 202     }
 203 }
 204
 205 void TemperatureControl::on_get_public_data(void* argument){
 206     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 207
 208     if(!pdr->starts_with(temperature_control_checksum)) return;
 209
 210     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 211
 212     // ok this is targeted at us, so send back the requested data
 213     if(pdr->third_element_is(current_temperature_checksum)) {
 214         // this must be static as it will be accessed long after we have returned
 215         static struct pad_temperature temp_return;
 216         temp_return.current_temperature= this->get_temperature();
 217         temp_return.target_temperature= (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
 218         temp_return.pwm= this->o;
 219
 220         pdr->set_data_ptr(&temp_return);
 221         pdr->set_taken();
 222     }
 223 }
 224
 225 void TemperatureControl::on_set_public_data(void* argument){
 226     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 227
 228     if(!pdr->starts_with(temperature_control_checksum)) return;
 229
 230     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 231
 232     // ok this is targeted at us, so set the temp
 233     double t= *static_cast<double*>(pdr->get_data_ptr());
 234     this->set_desired_temperature(t);
 235     pdr->set_taken();
 236 }
 237
 238 void TemperatureControl::set_desired_temperature(double desired_temperature)
 239 {
 240     if (desired_temperature == 1.0)
 241         desired_temperature = preset1;
 242     else if (desired_temperature == 2.0)
 243         desired_temperature = preset2;
 244
 245     target_temperature = desired_temperature;
 246     if (desired_temperature == 0.0)
 247         heater_pin.set((o = 0));
 248 }
 249
 250 double TemperatureControl::get_temperature(){
 251     return last_reading;
 252 }
 253
 254 double TemperatureControl::adc_value_to_temperature(int adc_value)
 255 {
 256     if ((adc_value == 4095) || (adc_value == 0))
 257         return INFINITY;
 258     double r = r2 / ((4095.0 / adc_value) - 1.0);
 259     if (r1 > 0)
 260         r = (r1 * r) / (r1 - r);
 261     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 262 }
 263
 264 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 265     int r = new_thermistor_reading();
 266
 267     double temperature = adc_value_to_temperature(r);
 268
 269     if (target_temperature > 0)
 270     {
 271         if ((r <= 1) || (r >= 4094))
 272         {
 273             this->min_temp_violated = true;
 274             target_temperature = UNDEFINED;
 275             heater_pin.set(0);
 276         }
 277         else
 278         {
 279             pid_process(temperature);
 280             if ((temperature > target_temperature) && waiting)
 281             {
 282                 kernel->pauser->release();
 283                 waiting = false;
 284             }
 285         }
 286     }
 287     else
 288     {
 289         heater_pin.set((o = 0));
 290     }
 291     last_reading = temperature;
 292     return 0;
 293 }
 294
 295 void TemperatureControl::pid_process(double temperature)
 296 {
 297     double error = target_temperature - temperature;
 298
 299     p  = error * p_factor;
 300     i += (error * this->i_factor);
 301     // d was imbued with oldest_raw earlier in new_thermistor_reading
 302     d = adc_value_to_temperature(d);
 303     d = (d - temperature) * this->d_factor;
 304
 305     if (i > this->i_max)
 306         i = this->i_max;
 307     if (i < -this->i_max)
 308         i = -this->i_max;
 309
 310     this->o = (p + i + d) * heater_pin.max_pwm() / 256;
 311
 312     if (this->o >= heater_pin.max_pwm())
 313         this->o = heater_pin.max_pwm();
 314     else if (this->o < 0)
 315         this->o = 0;
 316
 317     this->heater_pin.pwm(this->o);
 318 }
 319
 320 int TemperatureControl::new_thermistor_reading()
 321 {
 322     int last_raw = this->kernel->adc->read(&thermistor_pin);
 323     if (queue.size() >= queue.capacity())
 324     {
 325         uint16_t l;
 326         queue.pop_front(l);
 327         d = l;
 328     }
 329     uint16_t r = last_raw;
 330     queue.push_back(r);
 331     for (int i=0; i<queue.size(); i++)
 332       median_buffer[i] = *queue.get_ref(i);
 333     uint16_t m = median_buffer[quick_median(median_buffer, queue.size())];
 334     return m;
 335 }
 336
 337 void TemperatureControl::on_second_tick(void* argument)
 338 {
 339     if (waiting)
 340         kernel->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
 341 }