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 "libs/Pin.h"
  15
  16 TemperatureControl::TemperatureControl(){}
  17
  18 TemperatureControl::TemperatureControl(uint16_t name){
  19     this->name_checksum = name;
  20 //     this->error_count = 0;
  21     this->waiting = false;
  22 }
  23
  24 void TemperatureControl::on_module_loaded(){
  25
  26     // We start not desiring any temp
  27 //     this->desired_adc_value = UNDEFINED;
  28     this->target_temperature = UNDEFINED;
  29
  30     // Settings
  31     this->on_config_reload(this);
  32
  33     this->acceleration_factor = 10;
  34
  35     this->kernel->slow_ticker->attach( 20, this, &TemperatureControl::thermistor_read_tick );
  36
  37     // Register for events
  38     this->register_for_event(ON_GCODE_EXECUTE);
  39     this->register_for_event(ON_GCODE_RECEIVED);
  40     this->register_for_event(ON_MAIN_LOOP);
  41
  42 }
  43
  44 void TemperatureControl::on_main_loop(void* argument){ }
  45
  46 // Get configuration from the config file
  47 void TemperatureControl::on_config_reload(void* argument){
  48
  49     // General config
  50     this->set_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
  51     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();
  52     this->get_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
  53     this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(5)->as_number();
  54
  55     this->designator          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
  56
  57     // Values are here : http://reprap.org/wiki/Thermistor
  58     this->r0   = 100000;
  59     this->t0   = 25;
  60     this->beta = 4066;
  61     this->r1   = 0;
  62     this->r2   = 4700;
  63
  64     // Preset values for various common types of thermistors
  65     ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum);
  66     if(       thermistor->value.compare("EPCOS100K"    ) == 0 ){ // Default
  67     }else if( thermistor->value.compare("RRRF100K"     ) == 0 ){ this->beta = 3960;
  68     }else if( thermistor->value.compare("RRRF10K"      ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600;
  69     }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974;
  70     }else if( thermistor->value.compare("Semitec"      ) == 0 ){ this->beta = 4267; }
  71
  72     // Preset values are overriden by specified values
  73     this->r0 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum  )->by_default(this->r0  )->as_number();               // Stated resistance eg. 100K
  74     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
  75     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
  76     this->r1 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum  )->by_default(this->r1  )->as_number();
  77     this->r2 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum  )->by_default(this->r2  )->as_number();
  78
  79
  80     // Thermistor math
  81     j = (1.0 / beta);
  82     k = (1.0 / (t0 + 273.15));
  83
  84     // ADC smoothing
  85     running_total = 0;
  86     // sigma-delta output modulation
  87     o = 0;
  88
  89     // Thermistor pin for ADC readings
  90     this->thermistor_pin = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_pin();
  91     this->kernel->adc->enable_pin(this->thermistor_pin);
  92
  93     // Heater pin
  94     this->heater_pin     =  this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_pin()->as_output();
  95     this->heater_pin->set(0);
  96
  97     // activate SD-DAC timer
  98     this->kernel->slow_ticker->attach(1000, this->heater_pin, &Pin::tick);
  99
 100     // PID
 101     this->p_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number();
 102     this->i_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number();
 103     this->d_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number();
 104     this->i_max    = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(50 )->as_number();
 105     this->i = 0.0;
 106     this->last_reading = 0.0;
 107 }
 108
 109 //#pragma GCC push_options
 110 //#pragma GCC optimize ("O0")
 111
 112 void TemperatureControl::on_gcode_received(void* argument)
 113 {
 114     Gcode* gcode = static_cast<Gcode*>(argument);
 115     if (gcode->has_m)
 116     {
 117         // Get temperature
 118         if( gcode->m == this->get_m_code ){
 119             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);
 120             gcode->add_nl = true;
 121         }
 122     }
 123 }
 124
 125 void TemperatureControl::on_gcode_execute(void* argument){
 126     Gcode* gcode = static_cast<Gcode*>(argument);
 127     if( gcode->has_m){
 128         // Set temperature without waiting
 129         if( gcode->m == this->set_m_code && gcode->has_letter('S') )
 130         {
 131             //gcode->stream->printf("setting to %f meaning %u  \r\n", gcode->get_value('S'), this->temperature_to_adc_value( gcode->get_value('S') ) );
 132             if (gcode->get_value('S') == 0)
 133             {
 134                 this->target_temperature = UNDEFINED;
 135                 this->heater_pin->set(0);
 136             }
 137             else
 138             {
 139                 this->set_desired_temperature(gcode->get_value('S'));
 140             }
 141         }
 142         // Set temperature and wait
 143         if( gcode->m == this->set_and_wait_m_code && gcode->has_letter('S') )
 144         {
 145             if (gcode->get_value('S') == 0)
 146             {
 147                 this->target_temperature = UNDEFINED;
 148                 this->heater_pin->set(0);
 149             }
 150             else
 151             {
 152                 this->set_desired_temperature(gcode->get_value('S'));
 153                 // Pause
 154                 this->kernel->pauser->take();
 155                 this->waiting = true;
 156             }
 157         }
 158         if (gcode->m == 301)
 159         {
 160             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 161             {
 162                 if (gcode->has_letter('P'))
 163                     this->p_factor = gcode->get_value('P');
 164                 if (gcode->has_letter('I'))
 165                     this->i_factor = gcode->get_value('I');
 166                 if (gcode->has_letter('D'))
 167                     this->d_factor = gcode->get_value('D');
 168                 if (gcode->has_letter('X'))
 169                     this->i_max    = gcode->get_value('X');
 170             }
 171             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);
 172         }
 173     }
 174 }
 175
 176 //#pragma GCC pop_options
 177
 178
 179 void TemperatureControl::set_desired_temperature(double desired_temperature){
 180 //     this->desired_adc_value = this->temperature_to_adc_value(desired_temperature);
 181     target_temperature = desired_temperature;
 182 }
 183
 184 double TemperatureControl::get_temperature(){
 185     return last_reading;
 186 }
 187
 188 double TemperatureControl::adc_value_to_temperature(int adc_value)
 189 {
 190     if ((adc_value == 4095) || (adc_value == 0))
 191         return INFINITY;
 192     double r = r2 / ((4095.0 / adc_value) - 1.0);
 193     if (r1 > 0)
 194         r = (r1 * r) / (r1 - r);
 195     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 196 }
 197
 198 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 199     int r = new_thermistor_reading();
 200
 201     double temperature = adc_value_to_temperature(r);
 202
 203     if (target_temperature > 0)
 204     {
 205         if ((r <= 1) || (r >= 4094))
 206         {
 207             kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin->port_number, this->thermistor_pin->pin);
 208             target_temperature = UNDEFINED;
 209             heater_pin->set(0);
 210         }
 211         else
 212         {
 213             pid_process(temperature);
 214             if ((temperature > target_temperature) && waiting)
 215             {
 216                 kernel->pauser->release();
 217                 waiting = false;
 218             }
 219         }
 220     }
 221     last_reading = temperature;
 222     return 0;
 223 }
 224
 225 void TemperatureControl::pid_process(double temperature)
 226 {
 227     double error = target_temperature - temperature;
 228
 229     p  = error * p_factor;
 230     i += (error * this->i_factor);
 231     d  = (last_reading - temperature) * this->d_factor;
 232
 233     if (i > this->i_max)
 234         i = this->i_max;
 235     if (i < -this->i_max)
 236         i = -this->i_max;
 237
 238     this->o = (p + i + d) * PIN_PWM_MAX / 256;
 239
 240     if (this->o >= PIN_PWM_MAX)
 241     {
 242         i -= (this->o - (PIN_PWM_MAX - 1)) * 256 / PIN_PWM_MAX;
 243         this->o = PIN_PWM_MAX - 1;
 244     }
 245     if (this->o < 0)
 246     {
 247         if (this->o < -(PIN_PWM_MAX))
 248             i += (-(PIN_PWM_MAX) - this->o) * 256 / PIN_PWM_MAX;
 249         this->o = 0;
 250     }
 251
 252     this->heater_pin->pwm(o);
 253 }
 254
 255 int TemperatureControl::new_thermistor_reading()
 256 {
 257     int last_raw = this->kernel->adc->read(this->thermistor_pin);
 258     if (queue.size() >= queue.capacity())
 259     {
 260         uint16_t l;
 261         queue.pop_front(l);
 262         running_total -= l;
 263     }
 264     uint16_t r = last_raw;
 265     queue.push_back(r);
 266     running_total += last_raw;
 267     return running_total / queue.size();
 268 }