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/>.
8 // TODO : THIS FILE IS LAME, MUST BE MADE MUCH BETTER
10 #include "libs/Module.h"
11 #include "libs/Kernel.h"
13 #include "TemperatureControl.h"
14 #include "TemperatureControlPool.h"
16 #include "libs/Median.h"
17 #include "modules/robot/Conveyor.h"
19 #include "MRI_Hooks.h"
21 TemperatureControl::TemperatureControl(uint16_t name
) :
22 name_checksum(name
), waiting(false), min_temp_violated(false) {}
24 void TemperatureControl::on_module_loaded(){
26 // We start not desiring any temp
27 this->target_temperature
= UNDEFINED
;
30 this->on_config_reload(this);
32 this->acceleration_factor
= 10;
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
);
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;
50 // Get configuration from the config file
51 void TemperatureControl::on_config_reload(void* argument
){
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();
59 this->designator
= this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, designator_checksum
)->by_default(string("T"))->as_string();
61 // Values are here : http://reprap.org/wiki/Thermistor
68 // Preset values for various common types of thermistors
69 ConfigValue
* thermistor
= this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, thermistor_checksum
);
70 if( thermistor
->value
.compare("EPCOS100K" ) == 0 ){ // Default
71 }else if( thermistor
->value
.compare("RRRF100K" ) == 0 ){ this->beta
= 3960;
72 }else if( thermistor
->value
.compare("RRRF10K" ) == 0 ){ this->beta
= 3964; this->r0
= 10000; this->r1
= 680; this->r2
= 1600;
73 }else if( thermistor
->value
.compare("Honeywell100K") == 0 ){ this->beta
= 3974;
74 }else if( thermistor
->value
.compare("Semitec" ) == 0 ){ this->beta
= 4267; }
76 // Preset values are overriden by specified values
77 this->r0
= this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, r0_checksum
)->by_default(this->r0
)->as_number(); // Stated resistance eg. 100K
78 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
79 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
80 this->r1
= this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, r1_checksum
)->by_default(this->r1
)->as_number();
81 this->r2
= this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, r2_checksum
)->by_default(this->r2
)->as_number();
83 this->preset1
= this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, preset1_checksum
)->by_default(0)->as_number();
84 this->preset2
= this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, preset2_checksum
)->by_default(0)->as_number();
89 k
= (1.0 / (t0
+ 273.15));
91 // sigma-delta output modulation
94 // Thermistor pin for ADC readings
95 this->thermistor_pin
.from_string(this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, thermistor_pin_checksum
)->required()->as_string());
96 this->kernel
->adc
->enable_pin(&thermistor_pin
);
99 this->heater_pin
.from_string( this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, heater_pin_checksum
)->required()->as_string())->as_output();
100 this->heater_pin
.max_pwm( this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, max_pwm_checksum
)->by_default(255)->as_number() );
101 this->heater_pin
.set(0);
103 set_low_on_debug(heater_pin
.port_number
, heater_pin
.pin
);
105 // activate SD-DAC timer
106 this->kernel
->slow_ticker
->attach(1000, &heater_pin
, &Pwm::on_tick
);
109 this->kernel
->slow_ticker
->attach( this->readings_per_second
, this, &TemperatureControl::thermistor_read_tick
);
112 this->p_factor
= this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, p_factor_checksum
)->by_default(10 )->as_number();
113 this->i_factor
= this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, i_factor_checksum
)->by_default(0.3)->as_number();
114 this->d_factor
= this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, d_factor_checksum
)->by_default(200)->as_number();
115 this->i_max
= this->kernel
->config
->value(temperature_control_checksum
, this->name_checksum
, i_max_checksum
)->by_default(255)->as_number();
117 this->last_reading
= 0.0;
120 void TemperatureControl::on_gcode_received(void* argument
){
121 Gcode
* gcode
= static_cast<Gcode
*>(argument
);
125 if( gcode
->m
== this->get_m_code
){
126 char buf
[32]; // should be big enough for any status
127 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
);
128 gcode
->txt_after_ok
.append(buf
, n
);
132 gcode
->mark_as_taken();
133 if (gcode
->has_letter('S') && (gcode
->get_value('S') == this->pool_index
))
135 if (gcode
->has_letter('P'))
136 this->p_factor
= gcode
->get_value('P');
137 if (gcode
->has_letter('I'))
138 this->i_factor
= gcode
->get_value('I');
139 if (gcode
->has_letter('D'))
140 this->d_factor
= gcode
->get_value('D');
141 if (gcode
->has_letter('X'))
142 this->i_max
= gcode
->get_value('X');
144 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
);
148 gcode
->mark_as_taken();
149 if (gcode
->has_letter('S') && (gcode
->get_value('S') == this->pool_index
))
151 double target
= 150.0;
152 if (gcode
->has_letter('P'))
154 target
= gcode
->get_value('P');
155 gcode
->stream
->printf("Target: %5.1f\n", target
);
157 gcode
->stream
->printf("Start PID tune, command is %s\n", gcode
->command
.c_str());
158 this->pool
->PIDtuner
->begin(this, target
, gcode
->stream
);
162 // Attach gcodes to the last block for on_gcode_execute
163 if( ( gcode
->m
== this->set_m_code
|| gcode
->m
== this->set_and_wait_m_code
) && gcode
->has_letter('S') ){
164 if( this->kernel
->conveyor
->queue
.size() == 0 ){
165 this->kernel
->call_event(ON_GCODE_EXECUTE
, gcode
);
167 Block
* block
= this->kernel
->conveyor
->queue
.get_ref( this->kernel
->conveyor
->queue
.size() - 1 );
168 block
->append_gcode(gcode
);
175 void TemperatureControl::on_gcode_execute(void* argument
){
176 Gcode
* gcode
= static_cast<Gcode
*>(argument
);
178 if (((gcode
->m
== this->set_m_code
) || (gcode
->m
== this->set_and_wait_m_code
))
179 && gcode
->has_letter('S'))
181 double v
= gcode
->get_value('S');
185 this->target_temperature
= UNDEFINED
;
186 this->heater_pin
.set(0);
190 this->set_desired_temperature(v
);
192 if( gcode
->m
== this->set_and_wait_m_code
)
194 gcode
->mark_as_taken();
195 this->kernel
->pauser
->take();
196 this->waiting
= true;
204 void TemperatureControl::set_desired_temperature(double desired_temperature
)
206 if (desired_temperature
== 1.0)
207 desired_temperature
= preset1
;
208 else if (desired_temperature
== 2.0)
209 desired_temperature
= preset2
;
211 target_temperature
= desired_temperature
;
212 if (desired_temperature
== 0.0)
213 heater_pin
.set((o
= 0));
216 double TemperatureControl::get_temperature(){
220 double TemperatureControl::adc_value_to_temperature(int adc_value
)
222 if ((adc_value
== 4095) || (adc_value
== 0))
224 double r
= r2
/ ((4095.0 / adc_value
) - 1.0);
226 r
= (r1
* r
) / (r1
- r
);
227 return (1.0 / (k
+ (j
* log(r
/ r0
)))) - 273.15;
230 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy
){
231 int r
= new_thermistor_reading();
233 double temperature
= adc_value_to_temperature(r
);
235 if (target_temperature
> 0)
237 if ((r
<= 1) || (r
>= 4094))
239 this->min_temp_violated
= true;
240 target_temperature
= UNDEFINED
;
245 pid_process(temperature
);
246 if ((temperature
> target_temperature
) && waiting
)
248 kernel
->pauser
->release();
255 heater_pin
.set((o
= 0));
257 last_reading
= temperature
;
261 void TemperatureControl::pid_process(double temperature
)
263 double error
= target_temperature
- temperature
;
265 p
= error
* p_factor
;
266 i
+= (error
* this->i_factor
);
267 // d was imbued with oldest_raw earlier in new_thermistor_reading
268 d
= adc_value_to_temperature(d
);
269 d
= (d
- temperature
) * this->d_factor
;
273 if (i
< -this->i_max
)
276 this->o
= (p
+ i
+ d
) * heater_pin
.max_pwm() / 256;
278 if (this->o
>= heater_pin
.max_pwm())
279 this->o
= heater_pin
.max_pwm();
280 else if (this->o
< 0)
283 this->heater_pin
.pwm(this->o
);
286 int TemperatureControl::new_thermistor_reading()
288 int last_raw
= this->kernel
->adc
->read(&thermistor_pin
);
289 if (queue
.size() >= queue
.capacity())
295 uint16_t r
= last_raw
;
297 for (int i
=0; i
<queue
.size(); i
++)
298 median_buffer
[i
] = *queue
.get_ref(i
);
299 uint16_t m
= median_buffer
[quick_median(median_buffer
, queue
.size())];
303 void TemperatureControl::on_second_tick(void* argument
)
306 kernel
->streams
->printf("%s:%3.1f /%3.1f @%d\n", designator
.c_str(), get_temperature(), ((target_temperature
== UNDEFINED
)?0.0:target_temperature
), o
);