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 "modules/robot/Conveyor.h"
  17 #include "PublicDataRequest.h"
  18 #include "TemperatureControlPublicAccess.h"
  19 #include "StreamOutputPool.h"
  20 #include "Config.h"
  21 #include "checksumm.h"
  22 #include "Gcode.h"
  23 #include "SlowTicker.h"
  24 #include "Pauser.h"
  25 #include "ConfigValue.h"
  26 #include "TemperatureControl.h"
  27 #include "PID_Autotuner.h"
  28
  29 // Temp sensor implementations:
  30 #include "Thermistor.h"
  31 #include "max31855.h"
  32
  33 #include "MRI_Hooks.h"
  34
  35 #define UNDEFINED -1
  36
  37 #define sensor_checksum                    CHECKSUM("sensor")
  38
  39 #define readings_per_second_checksum       CHECKSUM("readings_per_second")
  40 #define max_pwm_checksum                   CHECKSUM("max_pwm")
  41 #define pwm_frequency_checksum             CHECKSUM("pwm_frequency")
  42 #define bang_bang_checksum                 CHECKSUM("bang_bang")
  43 #define hysteresis_checksum                CHECKSUM("hysteresis")
  44 #define heater_pin_checksum                CHECKSUM("heater_pin")
  45
  46 #define get_m_code_checksum                CHECKSUM("get_m_code")
  47 #define set_m_code_checksum                CHECKSUM("set_m_code")
  48 #define set_and_wait_m_code_checksum       CHECKSUM("set_and_wait_m_code")
  49
  50 #define designator_checksum                CHECKSUM("designator")
  51
  52 #define p_factor_checksum                  CHECKSUM("p_factor")
  53 #define i_factor_checksum                  CHECKSUM("i_factor")
  54 #define d_factor_checksum                  CHECKSUM("d_factor")
  55
  56 #define i_max_checksum                     CHECKSUM("i_max")
  57
  58 #define preset1_checksum                   CHECKSUM("preset1")
  59 #define preset2_checksum                   CHECKSUM("preset2")
  60
  61
  62 TemperatureControl::TemperatureControl(uint16_t name) :
  63   sensor(nullptr), name_checksum(name), waiting(false), min_temp_violated(false)
  64 {
  65 }
  66
  67 TemperatureControl::~TemperatureControl()
  68 {
  69     delete sensor;
  70 }
  71
  72 void TemperatureControl::on_module_loaded(){
  73
  74     // We start not desiring any temp
  75     this->target_temperature = UNDEFINED;
  76
  77     // Settings
  78     this->on_config_reload(this);
  79
  80     // Register for events
  81     register_for_event(ON_CONFIG_RELOAD);
  82     this->register_for_event(ON_GCODE_EXECUTE);
  83     this->register_for_event(ON_GCODE_RECEIVED);
  84     this->register_for_event(ON_MAIN_LOOP);
  85     this->register_for_event(ON_SECOND_TICK);
  86     this->register_for_event(ON_GET_PUBLIC_DATA);
  87     this->register_for_event(ON_SET_PUBLIC_DATA);
  88 }
  89
  90 void TemperatureControl::on_main_loop(void* argument){
  91     if (this->min_temp_violated) {
  92         THEKERNEL->streams->printf("Error: MINTEMP triggered. Check your temperature sensors!\n");
  93         this->min_temp_violated = false;
  94     }
  95 }
  96
  97 // Get configuration from the config file
  98 void TemperatureControl::on_config_reload(void* argument){
  99
 100     // General config
 101     this->set_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
 102     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();
 103     this->get_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
 104     this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
 105
 106     this->designator          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
 107
 108     // For backward compatibility, default to a thermistor sensor.
 109     std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string();
 110
 111     // Instantiate correct sensor (TBD: TempSensor factory?)
 112     delete sensor;
 113     sensor = nullptr; // In case we fail to create a new sensor.
 114     if(sensor_type.compare("thermistor") == 0)
 115     {
 116         sensor = new Thermistor();
 117     }
 118     else if(sensor_type.compare("max31855") == 0)
 119     {
 120         sensor = new Max31855();
 121     }
 122     else
 123     {
 124         sensor = new TempSensor(); // A dummy implementation
 125     }
 126     sensor->UpdateConfig(temperature_control_checksum, this->name_checksum);
 127
 128     this->preset1 =             THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
 129     this->preset2 =             THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
 130
 131
 132     // sigma-delta output modulation
 133     this->o = 0;
 134
 135     // Heater pin
 136     this->heater_pin.from_string(    THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
 137     this->heater_pin.max_pwm(        THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
 138
 139     this->heater_pin.set(0);
 140
 141     // used to enable bang bang control of heater
 142     this->use_bangbang= THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool();
 143     this->hysteresis= THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number();
 144
 145     set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 146
 147     // activate SD-DAC timer
 148     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);
 149
 150     // reading tick
 151     THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 152     this->PIDdt= 1.0 / this->readings_per_second;
 153
 154     // PID
 155     setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
 156     setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() );
 157     setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );
 158     // set to the same as max_pwm by default
 159     this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(this->heater_pin.max_pwm())->as_number();
 160     this->iTerm = 0.0;
 161     this->lastInput= -1.0;
 162     this->last_reading = 0.0;
 163 }
 164
 165 void TemperatureControl::on_gcode_received(void* argument){
 166     Gcode* gcode = static_cast<Gcode*>(argument);
 167     if (gcode->has_m) {
 168         // Get temperature
 169         if( gcode->m == this->get_m_code ){
 170             char buf[32]; // should be big enough for any status
 171             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);
 172             gcode->txt_after_ok.append(buf, n);
 173             gcode->mark_as_taken();
 174
 175         } else if (gcode->m == 301) {
 176             gcode->mark_as_taken();
 177             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 178             {
 179                 if (gcode->has_letter('P'))
 180                     setPIDp( gcode->get_value('P') );
 181                 if (gcode->has_letter('I'))
 182                     setPIDi( gcode->get_value('I') );
 183                 if (gcode->has_letter('D'))
 184                     setPIDd( gcode->get_value('D') );
 185                 if (gcode->has_letter('X'))
 186                     this->i_max    = gcode->get_value('X');
 187             }
 188             //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);
 189             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);
 190
 191         } else if (gcode->m == 303) {
 192             if (gcode->has_letter('E') && (gcode->get_value('E') == this->pool_index)) {
 193                 gcode->mark_as_taken();
 194                 float target = 150.0;
 195                 if (gcode->has_letter('S')) {
 196                     target = gcode->get_value('S');
 197                     gcode->stream->printf("Target: %5.1f\n", target);
 198                 }
 199                 int ncycles= 8;
 200                 if (gcode->has_letter('C')) {
 201                     ncycles= gcode->get_value('C');
 202                 }
 203                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 204                 this->pool->PIDtuner->begin(this, target, gcode->stream, ncycles);
 205             }
 206
 207         } else if (gcode->m == 500 || gcode->m == 503){// M500 saves some volatile settings to config override file, M503 just prints the settings
 208             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);
 209             gcode->mark_as_taken();
 210
 211         } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ) {
 212             // Attach gcodes to the last block for on_gcode_execute
 213             THEKERNEL->conveyor->append_gcode(gcode);
 214
 215             // push an empty block if we have to wait, so the Planner can get things right, and we can prevent subsequent non-move gcodes from executing
 216             if (gcode->m == this->set_and_wait_m_code)
 217                 // ensure that no subsequent gcodes get executed with our M109 or similar
 218                 THEKERNEL->conveyor->queue_head_block();
 219         }
 220     }
 221 }
 222
 223 void TemperatureControl::on_gcode_execute(void* argument){
 224     Gcode* gcode = static_cast<Gcode*>(argument);
 225     if( gcode->has_m){
 226         if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
 227             && gcode->has_letter('S'))
 228         {
 229             float v = gcode->get_value('S');
 230
 231             if (v == 0.0)
 232             {
 233                 this->target_temperature = UNDEFINED;
 234                 this->heater_pin.set((this->o=0));
 235             }
 236             else
 237             {
 238                 this->set_desired_temperature(v);
 239
 240                 if( gcode->m == this->set_and_wait_m_code)
 241                 {
 242                     THEKERNEL->pauser->take();
 243                     this->waiting = true;
 244                 }
 245             }
 246         }
 247     }
 248 }
 249
 250 void TemperatureControl::on_get_public_data(void* argument){
 251     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 252
 253     if(!pdr->starts_with(temperature_control_checksum)) return;
 254
 255     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 256
 257     // ok this is targeted at us, so send back the requested data
 258     if(pdr->third_element_is(current_temperature_checksum)) {
 259         // this must be static as it will be accessed long after we have returned
 260         static struct pad_temperature temp_return;
 261         temp_return.current_temperature= this->get_temperature();
 262         temp_return.target_temperature= (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
 263         temp_return.pwm= this->o;
 264
 265         pdr->set_data_ptr(&temp_return);
 266         pdr->set_taken();
 267     }
 268 }
 269
 270 void TemperatureControl::on_set_public_data(void* argument){
 271     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 272
 273     if(!pdr->starts_with(temperature_control_checksum)) return;
 274
 275     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 276
 277     // ok this is targeted at us, so set the temp
 278     float t= *static_cast<float*>(pdr->get_data_ptr());
 279     this->set_desired_temperature(t);
 280     pdr->set_taken();
 281 }
 282
 283 void TemperatureControl::set_desired_temperature(float desired_temperature)
 284 {
 285     if (desired_temperature == 1.0)
 286         desired_temperature = preset1;
 287     else if (desired_temperature == 2.0)
 288         desired_temperature = preset2;
 289
 290     target_temperature = desired_temperature;
 291     if (desired_temperature == 0.0)
 292         heater_pin.set((this->o = 0));
 293 }
 294
 295 float TemperatureControl::get_temperature(){
 296     return last_reading;
 297 }
 298
 299 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 300     float temperature = sensor->get_temperature();
 301
 302     if (target_temperature > 0)
 303     {
 304         if (isinf(temperature))
 305         {
 306             this->min_temp_violated = true;
 307             target_temperature = UNDEFINED;
 308             heater_pin.set((this->o=0));
 309         }
 310         else
 311         {
 312             pid_process(temperature);
 313             if ((temperature > target_temperature) && waiting)
 314             {
 315                 THEKERNEL->pauser->release();
 316                 waiting = false;
 317             }
 318         }
 319     }
 320     else
 321     {
 322         heater_pin.set((this->o = 0));
 323     }
 324     last_reading = temperature;
 325     return 0;
 326 }
 327
 328 /**
 329  * Based on https://github.com/br3ttb/Arduino-PID-Library
 330  */
 331 void TemperatureControl::pid_process(float temperature)
 332 {
 333     if(use_bangbang) {
 334         // bang bang is very simple, if temp is < target - hysteresis turn on full else if  temp is > target + hysteresis turn heater off
 335         // good for relays
 336         if(temperature > (target_temperature+hysteresis) && this->o > 0) {
 337             heater_pin.set(false);
 338             this->o= 0; // for display purposes only
 339
 340         }else if(temperature < (target_temperature-hysteresis) && this->o <= 0) {
 341             if(heater_pin.max_pwm() >= 255) {
 342                 // turn on full
 343                 this->heater_pin.set(true);
 344                 this->o= 255; // for display purposes only
 345             }else{
 346                 // only to whatever max pwm is configured
 347                 this->heater_pin.pwm(heater_pin.max_pwm());
 348                 this->o= heater_pin.max_pwm(); // for display purposes only
 349             }
 350         }
 351         return;
 352     }
 353
 354     // regular PID control
 355     float error = target_temperature - temperature;
 356     this->iTerm += (error * this->i_factor);
 357     if (this->iTerm > this->i_max) this->iTerm = this->i_max;
 358     else if (this->iTerm < 0.0) this->iTerm = 0.0;
 359
 360     if(this->lastInput < 0.0) this->lastInput= temperature; // set first time
 361     float d= (temperature - this->lastInput);
 362
 363     // calculate the PID output
 364     // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
 365     this->o = (this->p_factor*error) + this->iTerm - (this->d_factor*d);
 366
 367     if (this->o >= heater_pin.max_pwm())
 368         this->o = heater_pin.max_pwm();
 369     else if (this->o < 0)
 370         this->o = 0;
 371
 372     this->heater_pin.pwm(this->o);
 373     this->lastInput= temperature;
 374 }
 375
 376 void TemperatureControl::on_second_tick(void* argument)
 377 {
 378     if (waiting)
 379         THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
 380 }
 381
 382 void TemperatureControl::setPIDp(float p) {
 383     this->p_factor= p;
 384 }
 385
 386 void TemperatureControl::setPIDi(float i) {
 387     this->i_factor= i*this->PIDdt;
 388 }
 389
 390 void TemperatureControl::setPIDd(float d) {
 391     this->d_factor= d/this->PIDdt;
 392 }