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         THEKERNEL->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          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
  57     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();
  58     this->get_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
  59     this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
  60
  61     this->designator          = THEKERNEL->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 = THEKERNEL->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     }else if( thermistor->value.compare("HT100K"       ) == 0 ){ this->beta = 3990; }
  78
  79     // Preset values are overriden by specified values
  80     this->r0 =                  THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r0_checksum  )->by_default(this->r0  )->as_number();               // Stated resistance eg. 100K
  81     this->t0 =                  THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, t0_checksum  )->by_default(this->t0  )->as_number();               // Temperature at stated resistance, eg. 25C
  82     this->beta =                THEKERNEL->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
  83     this->r1 =                  THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r1_checksum  )->by_default(this->r1  )->as_number();
  84     this->r2 =                  THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r2_checksum  )->by_default(this->r2  )->as_number();
  85
  86     this->preset1 =             THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
  87     this->preset2 =             THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
  88
  89
  90     // Thermistor math
  91     j = (1.0 / beta);
  92     k = (1.0 / (t0 + 273.15));
  93
  94     // sigma-delta output modulation
  95     o = 0;
  96
  97     // Thermistor pin for ADC readings
  98     this->thermistor_pin.from_string(THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string());
  99     THEKERNEL->adc->enable_pin(&thermistor_pin);
 100
 101     // Heater pin
 102     this->heater_pin.from_string(    THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
 103     this->heater_pin.max_pwm(        THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
 104     this->heater_pin.set(0);
 105
 106     set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 107
 108     // activate SD-DAC timer
 109     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);
 110
 111     // reading tick
 112     THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 113     this->PIDdt= 1.0 / this->readings_per_second;
 114
 115     // PID
 116     setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
 117     setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() );
 118     setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );
 119     // set to the same as max_pwm by default
 120     this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(this->heater_pin.max_pwm())->as_number();
 121     this->iTerm = 0.0;
 122     this->lastInput= -1.0;
 123     this->last_reading = 0.0;
 124 }
 125
 126 void TemperatureControl::on_gcode_received(void* argument){
 127     Gcode* gcode = static_cast<Gcode*>(argument);
 128     if (gcode->has_m) {
 129         // Get temperature
 130         if( gcode->m == this->get_m_code ){
 131             char buf[32]; // should be big enough for any status
 132             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);
 133             gcode->txt_after_ok.append(buf, n);
 134             gcode->mark_as_taken();
 135
 136         } else if (gcode->m == 301) {
 137             gcode->mark_as_taken();
 138             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 139             {
 140                 if (gcode->has_letter('P'))
 141                     setPIDp( gcode->get_value('P') );
 142                 if (gcode->has_letter('I'))
 143                     setPIDi( gcode->get_value('I') );
 144                 if (gcode->has_letter('D'))
 145                     setPIDd( gcode->get_value('D') );
 146                 if (gcode->has_letter('X'))
 147                     this->i_max    = gcode->get_value('X');
 148             }
 149             //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);
 150             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);
 151
 152         } else if (gcode->m == 303) {
 153             if (gcode->has_letter('E') && (gcode->get_value('E') == this->pool_index)) {
 154                 gcode->mark_as_taken();
 155                 float target = 150.0;
 156                 if (gcode->has_letter('S')) {
 157                     target = gcode->get_value('S');
 158                     gcode->stream->printf("Target: %5.1f\n", target);
 159                 }
 160                 int ncycles= 8;
 161                 if (gcode->has_letter('C')) {
 162                     ncycles= gcode->get_value('C');
 163                 }
 164                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 165                 this->pool->PIDtuner->begin(this, target, gcode->stream, ncycles);
 166             }
 167
 168         } else if (gcode->m == 500 || gcode->m == 503){// M500 saves some volatile settings to config override file, M503 just prints the settings
 169             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);
 170             gcode->mark_as_taken();
 171
 172         } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ) {
 173             // Attach gcodes to the last block for on_gcode_execute
 174             THEKERNEL->conveyor->append_gcode(gcode);
 175         }
 176     }
 177 }
 178
 179 void TemperatureControl::on_gcode_execute(void* argument){
 180     Gcode* gcode = static_cast<Gcode*>(argument);
 181     if( gcode->has_m){
 182         if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
 183             && gcode->has_letter('S'))
 184         {
 185             float v = gcode->get_value('S');
 186
 187             if (v == 0.0)
 188             {
 189                 this->target_temperature = UNDEFINED;
 190                 this->heater_pin.set(0);
 191             }
 192             else
 193             {
 194                 this->set_desired_temperature(v);
 195
 196                 if( gcode->m == this->set_and_wait_m_code)
 197                 {
 198                     THEKERNEL->pauser->take();
 199                     this->waiting = true;
 200                 }
 201             }
 202         }
 203     }
 204 }
 205
 206 void TemperatureControl::on_get_public_data(void* argument){
 207     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 208
 209     if(!pdr->starts_with(temperature_control_checksum)) return;
 210
 211     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 212
 213     // ok this is targeted at us, so send back the requested data
 214     if(pdr->third_element_is(current_temperature_checksum)) {
 215         // this must be static as it will be accessed long after we have returned
 216         static struct pad_temperature temp_return;
 217         temp_return.current_temperature= this->get_temperature();
 218         temp_return.target_temperature= (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
 219         temp_return.pwm= this->o;
 220
 221         pdr->set_data_ptr(&temp_return);
 222         pdr->set_taken();
 223     }
 224 }
 225
 226 void TemperatureControl::on_set_public_data(void* argument){
 227     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 228
 229     if(!pdr->starts_with(temperature_control_checksum)) return;
 230
 231     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 232
 233     // ok this is targeted at us, so set the temp
 234     float t= *static_cast<float*>(pdr->get_data_ptr());
 235     this->set_desired_temperature(t);
 236     pdr->set_taken();
 237 }
 238
 239 void TemperatureControl::set_desired_temperature(float desired_temperature)
 240 {
 241     if (desired_temperature == 1.0)
 242         desired_temperature = preset1;
 243     else if (desired_temperature == 2.0)
 244         desired_temperature = preset2;
 245
 246     target_temperature = desired_temperature;
 247     if (desired_temperature == 0.0)
 248         heater_pin.set((o = 0));
 249 }
 250
 251 float TemperatureControl::get_temperature(){
 252     return last_reading;
 253 }
 254
 255 float TemperatureControl::adc_value_to_temperature(int adc_value)
 256 {
 257     if ((adc_value == 4095) || (adc_value == 0))
 258         return INFINITY;
 259     float r = r2 / ((4095.0 / adc_value) - 1.0);
 260     if (r1 > 0)
 261         r = (r1 * r) / (r1 - r);
 262     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 263 }
 264
 265 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 266     int r = new_thermistor_reading();
 267
 268     float temperature = adc_value_to_temperature(r);
 269
 270     if (target_temperature > 0)
 271     {
 272         if ((r <= 1) || (r >= 4094))
 273         {
 274             this->min_temp_violated = true;
 275             target_temperature = UNDEFINED;
 276             heater_pin.set(0);
 277         }
 278         else
 279         {
 280             pid_process(temperature);
 281             if ((temperature > target_temperature) && waiting)
 282             {
 283                 THEKERNEL->pauser->release();
 284                 waiting = false;
 285             }
 286         }
 287     }
 288     else
 289     {
 290         heater_pin.set((o = 0));
 291     }
 292     last_reading = temperature;
 293     return 0;
 294 }
 295
 296 /**
 297  * Based on https://github.com/br3ttb/Arduino-PID-Library
 298  */
 299 void TemperatureControl::pid_process(float temperature)
 300 {
 301     float error = target_temperature - temperature;
 302
 303     this->iTerm += (error * this->i_factor);
 304     if (this->iTerm > this->i_max) this->iTerm = this->i_max;
 305     else if (this->iTerm < 0.0) this->iTerm = 0.0;
 306
 307     if(this->lastInput < 0.0) this->lastInput= temperature; // set first time
 308     float d= (temperature - this->lastInput);
 309
 310     // calculate the PID output
 311     // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
 312     this->o = (this->p_factor*error) + this->iTerm - (this->d_factor*d);
 313
 314     if (this->o >= heater_pin.max_pwm())
 315         this->o = heater_pin.max_pwm();
 316     else if (this->o < 0)
 317         this->o = 0;
 318
 319     this->heater_pin.pwm(this->o);
 320     this->lastInput= temperature;
 321 }
 322
 323 int TemperatureControl::new_thermistor_reading()
 324 {
 325     int last_raw = THEKERNEL->adc->read(&thermistor_pin);
 326     if (queue.size() >= queue.capacity()) {
 327         uint16_t l;
 328         queue.pop_front(l);
 329     }
 330     uint16_t r = last_raw;
 331     queue.push_back(r);
 332     for (int i=0; i<queue.size(); i++)
 333       median_buffer[i] = *queue.get_ref(i);
 334     uint16_t m = median_buffer[quick_median(median_buffer, queue.size())];
 335     return m;
 336 }
 337
 338 void TemperatureControl::on_second_tick(void* argument)
 339 {
 340     if (waiting)
 341         THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
 342 }
 343
 344 void TemperatureControl::setPIDp(float p) {
 345     this->p_factor= p;
 346 }
 347
 348 void TemperatureControl::setPIDi(float i) {
 349     this->i_factor= i*this->PIDdt;
 350 }
 351
 352 void TemperatureControl::setPIDd(float d) {
 353     this->d_factor= d/this->PIDdt;
 354 }