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
  19 #include "PublicData.h"
  20 #include "ToolManagerPublicAccess.h"
  21 #include "StreamOutputPool.h"
  22 #include "Config.h"
  23 #include "checksumm.h"
  24 #include "Gcode.h"
  25 #include "SlowTicker.h"
  26 #include "Pauser.h"
  27 #include "ConfigValue.h"
  28 #include "TemperatureControl.h"
  29 #include "PID_Autotuner.h"
  30
  31 // Temp sensor implementations:
  32 #include "Thermistor.h"
  33 #include "max31855.h"
  34
  35 #include "MRI_Hooks.h"
  36
  37 #define UNDEFINED -1
  38
  39 #define sensor_checksum                    CHECKSUM("sensor")
  40
  41 #define readings_per_second_checksum       CHECKSUM("readings_per_second")
  42 #define max_pwm_checksum                   CHECKSUM("max_pwm")
  43 #define pwm_frequency_checksum             CHECKSUM("pwm_frequency")
  44 #define bang_bang_checksum                 CHECKSUM("bang_bang")
  45 #define hysteresis_checksum                CHECKSUM("hysteresis")
  46 #define heater_pin_checksum                CHECKSUM("heater_pin")
  47
  48 #define get_m_code_checksum                CHECKSUM("get_m_code")
  49 #define set_m_code_checksum                CHECKSUM("set_m_code")
  50 #define set_and_wait_m_code_checksum       CHECKSUM("set_and_wait_m_code")
  51
  52 #define designator_checksum                CHECKSUM("designator")
  53
  54 #define p_factor_checksum                  CHECKSUM("p_factor")
  55 #define i_factor_checksum                  CHECKSUM("i_factor")
  56 #define d_factor_checksum                  CHECKSUM("d_factor")
  57
  58 #define i_max_checksum                     CHECKSUM("i_max")
  59
  60 #define preset1_checksum                   CHECKSUM("preset1")
  61 #define preset2_checksum                   CHECKSUM("preset2")
  62
  63 TemperatureControl::TemperatureControl(uint16_t name, int index)
  64 {
  65     name_checksum= name;
  66     pool_index= index;
  67     waiting= false;
  68     min_temp_violated= false;
  69     sensor= nullptr;
  70 }
  71
  72 TemperatureControl::~TemperatureControl()
  73 {
  74     delete sensor;
  75 }
  76
  77 void TemperatureControl::on_module_loaded()
  78 {
  79
  80     // We start not desiring any temp
  81     this->target_temperature = UNDEFINED;
  82
  83     // Settings
  84     this->on_config_reload(this);
  85
  86     // Register for events
  87     register_for_event(ON_CONFIG_RELOAD);
  88     this->register_for_event(ON_GCODE_EXECUTE);
  89     this->register_for_event(ON_GCODE_RECEIVED);
  90     this->register_for_event(ON_MAIN_LOOP);
  91     this->register_for_event(ON_SECOND_TICK);
  92     this->register_for_event(ON_GET_PUBLIC_DATA);
  93     this->register_for_event(ON_SET_PUBLIC_DATA);
  94 }
  95
  96 void TemperatureControl::on_main_loop(void *argument)
  97 {
  98     if (this->min_temp_violated) {
  99         THEKERNEL->streams->printf("Error: MINTEMP triggered. Check your temperature sensors!\n");
 100         this->min_temp_violated = false;
 101     }
 102 }
 103
 104 // Get configuration from the config file
 105 void TemperatureControl::on_config_reload(void *argument)
 106 {
 107
 108     // General config
 109     this->set_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
 110     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();
 111     this->get_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
 112     this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
 113
 114     this->designator          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
 115
 116     // For backward compatibility, default to a thermistor sensor.
 117     std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string();
 118
 119     // Instantiate correct sensor (TBD: TempSensor factory?)
 120     delete sensor;
 121     sensor = nullptr; // In case we fail to create a new sensor.
 122     if(sensor_type.compare("thermistor") == 0) {
 123         sensor = new Thermistor();
 124     } else if(sensor_type.compare("max31855") == 0) {
 125         sensor = new Max31855();
 126     } else {
 127         sensor = new TempSensor(); // A dummy implementation
 128     }
 129     sensor->UpdateConfig(temperature_control_checksum, this->name_checksum);
 130
 131     this->preset1 =             THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
 132     this->preset2 =             THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
 133
 134
 135     // sigma-delta output modulation
 136     this->o = 0;
 137
 138     // Heater pin
 139     this->heater_pin.from_string(    THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
 140     this->heater_pin.max_pwm(        THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
 141
 142     this->heater_pin.set(0);
 143
 144     // used to enable bang bang control of heater
 145     this->use_bangbang = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool();
 146     this->hysteresis = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number();
 147
 148     set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 149
 150     // activate SD-DAC timer
 151     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);
 152
 153     // reading tick
 154     THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 155     this->PIDdt = 1.0 / this->readings_per_second;
 156
 157     // PID
 158     setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
 159     setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() );
 160     setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );
 161     // set to the same as max_pwm by default
 162     this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(this->heater_pin.max_pwm())->as_number();
 163     this->iTerm = 0.0;
 164     this->lastInput = -1.0;
 165     this->last_reading = 0.0;
 166 }
 167
 168 void TemperatureControl::on_gcode_received(void *argument)
 169 {
 170     Gcode *gcode = static_cast<Gcode *>(argument);
 171     if (gcode->has_m) {
 172
 173         if( gcode->m == this->get_m_code ) {
 174             char buf[32]; // should be big enough for any status
 175             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);
 176             gcode->txt_after_ok.append(buf, n);
 177             gcode->mark_as_taken();
 178
 179         } else if (gcode->m == 301) {
 180             gcode->mark_as_taken();
 181             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) {
 182                 if (gcode->has_letter('P'))
 183                     setPIDp( gcode->get_value('P') );
 184                 if (gcode->has_letter('I'))
 185                     setPIDi( gcode->get_value('I') );
 186                 if (gcode->has_letter('D'))
 187                     setPIDd( gcode->get_value('D') );
 188                 if (gcode->has_letter('X'))
 189                     this->i_max    = gcode->get_value('X');
 190             }
 191             //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);
 192             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);
 193
 194         } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
 195             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);
 196             gcode->mark_as_taken();
 197
 198         } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S')) {
 199             // this only gets handled if it is not controlle dby the tool manager or is active in the toolmanager
 200             this->active = true;
 201
 202             // this is safe as old configs as well as single extruder configs the toolmanager will not be running so will return false
 203             // this will also ignore anything that the tool manager is not controlling and return false, otherwise it returns the active tool
 204             void *returned_data;
 205             bool ok = PublicData::get_value( tool_manager_checksum, is_active_tool_checksum, this->name_checksum, &returned_data );
 206             if (ok) {
 207                 uint16_t active_tool_name =  *static_cast<uint16_t *>(returned_data);
 208                 this->active = (active_tool_name == this->name_checksum);
 209             }
 210
 211             if(this->active) {
 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 }
 224
 225 void TemperatureControl::on_gcode_execute(void *argument)
 226 {
 227     Gcode *gcode = static_cast<Gcode *>(argument);
 228     if( gcode->has_m) {
 229         if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
 230             && gcode->has_letter('S') && this->active) {
 231             float v = gcode->get_value('S');
 232
 233             if (v == 0.0) {
 234                 this->target_temperature = UNDEFINED;
 235                 this->heater_pin.set((this->o = 0));
 236             } else {
 237                 this->set_desired_temperature(v);
 238
 239                 if( gcode->m == this->set_and_wait_m_code) {
 240                     THEKERNEL->pauser->take();
 241                     this->waiting = true;
 242                 }
 243             }
 244         }
 245     }
 246 }
 247
 248 void TemperatureControl::on_get_public_data(void *argument)
 249 {
 250     PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
 251
 252     if(!pdr->starts_with(temperature_control_checksum)) return;
 253
 254     if(pdr->second_element_is(pool_index_checksum)) {
 255         // asking for our instance pointer if we have this pool_index
 256         if(pdr->third_element_is(this->pool_index)) {
 257             static void *return_data;
 258             return_data = this;
 259             pdr->set_data_ptr(&return_data);
 260             pdr->set_taken();
 261         }
 262         return;
 263
 264     }else if(!pdr->second_element_is(this->name_checksum)) return;
 265
 266     // ok this is targeted at us, so send back the requested data
 267     if(pdr->third_element_is(current_temperature_checksum)) {
 268         this->public_data_return.current_temperature = this->get_temperature();
 269         this->public_data_return.target_temperature = (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
 270         this->public_data_return.pwm = this->o;
 271         this->public_data_return.designator= this->designator;
 272         pdr->set_data_ptr(&this->public_data_return);
 273         pdr->set_taken();
 274     }
 275
 276 }
 277
 278 void TemperatureControl::on_set_public_data(void *argument)
 279 {
 280     PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
 281
 282     if(!pdr->starts_with(temperature_control_checksum)) return;
 283
 284     if(!pdr->second_element_is(this->name_checksum)) return;
 285
 286     // ok this is targeted at us, so set the temp
 287     float t = *static_cast<float *>(pdr->get_data_ptr());
 288     this->set_desired_temperature(t);
 289     pdr->set_taken();
 290 }
 291
 292 void TemperatureControl::set_desired_temperature(float desired_temperature)
 293 {
 294     if (desired_temperature == 1.0)
 295         desired_temperature = preset1;
 296     else if (desired_temperature == 2.0)
 297         desired_temperature = preset2;
 298
 299     target_temperature = desired_temperature;
 300     if (desired_temperature == 0.0)
 301         heater_pin.set((this->o = 0));
 302 }
 303
 304 float TemperatureControl::get_temperature()
 305 {
 306     return last_reading;
 307 }
 308
 309 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy)
 310 {
 311     float temperature = sensor->get_temperature();
 312
 313     if (target_temperature > 0) {
 314         if (isinf(temperature)) {
 315             this->min_temp_violated = true;
 316             target_temperature = UNDEFINED;
 317             heater_pin.set((this->o = 0));
 318         } else {
 319             pid_process(temperature);
 320             if ((temperature > target_temperature) && waiting) {
 321                 THEKERNEL->pauser->release();
 322                 waiting = false;
 323             }
 324         }
 325     } else {
 326         heater_pin.set((this->o = 0));
 327     }
 328     last_reading = temperature;
 329     return 0;
 330 }
 331
 332 /**
 333  * Based on https://github.com/br3ttb/Arduino-PID-Library
 334  */
 335 void TemperatureControl::pid_process(float temperature)
 336 {
 337     if(use_bangbang) {
 338         // bang bang is very simple, if temp is < target - hysteresis turn on full else if  temp is > target + hysteresis turn heater off
 339         // good for relays
 340         if(temperature > (target_temperature + hysteresis) && this->o > 0) {
 341             heater_pin.set(false);
 342             this->o = 0; // for display purposes only
 343
 344         } else if(temperature < (target_temperature - hysteresis) && this->o <= 0) {
 345             if(heater_pin.max_pwm() >= 255) {
 346                 // turn on full
 347                 this->heater_pin.set(true);
 348                 this->o = 255; // for display purposes only
 349             } else {
 350                 // only to whatever max pwm is configured
 351                 this->heater_pin.pwm(heater_pin.max_pwm());
 352                 this->o = heater_pin.max_pwm(); // for display purposes only
 353             }
 354         }
 355         return;
 356     }
 357
 358     // regular PID control
 359     float error = target_temperature - temperature;
 360     this->iTerm += (error * this->i_factor);
 361     if (this->iTerm > this->i_max) this->iTerm = this->i_max;
 362     else if (this->iTerm < 0.0) this->iTerm = 0.0;
 363
 364     if(this->lastInput < 0.0) this->lastInput = temperature; // set first time
 365     float d = (temperature - this->lastInput);
 366
 367     // calculate the PID output
 368     // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
 369     this->o = (this->p_factor * error) + this->iTerm - (this->d_factor * d);
 370
 371     if (this->o >= heater_pin.max_pwm())
 372         this->o = heater_pin.max_pwm();
 373     else if (this->o < 0)
 374         this->o = 0;
 375
 376     this->heater_pin.pwm(this->o);
 377     this->lastInput = temperature;
 378 }
 379
 380 void TemperatureControl::on_second_tick(void *argument)
 381 {
 382     if (waiting)
 383         THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED) ? 0.0 : target_temperature), o);
 384 }
 385
 386 void TemperatureControl::setPIDp(float p)
 387 {
 388     this->p_factor = p;
 389 }
 390
 391 void TemperatureControl::setPIDi(float i)
 392 {
 393     this->i_factor = i * this->PIDdt;
 394 }
 395
 396 void TemperatureControl::setPIDd(float d)
 397 {
 398     this->d_factor = d / this->PIDdt;
 399 }