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
  19 #include "MRI_Hooks.h"
  20
  21 TemperatureControl::TemperatureControl(uint16_t name) :
  22   name_checksum(name), waiting(false), min_temp_violated(false) {}
  23
  24 void TemperatureControl::on_module_loaded(){
  25
  26     // We start not desiring any temp
  27     this->target_temperature = UNDEFINED;
  28
  29     // Settings
  30     this->on_config_reload(this);
  31
  32     this->acceleration_factor = 10;
  33
  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);
  40
  41 }
  42
  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;
  47     }
  48 }
  49
  50 // Get configuration from the config file
  51 void TemperatureControl::on_config_reload(void* argument){
  52
  53     // General config
  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();
  58
  59     this->designator          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
  60
  61     // Values are here : http://reprap.org/wiki/Thermistor
  62     this->r0   = 100000;
  63     this->t0   = 25;
  64     this->beta = 4066;
  65     this->r1   = 0;
  66     this->r2   = 4700;
  67
  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; }
  75
  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();
  82
  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();
  85
  86
  87     // Thermistor math
  88     j = (1.0 / beta);
  89     k = (1.0 / (t0 + 273.15));
  90
  91     // sigma-delta output modulation
  92     o = 0;
  93
  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);
  97
  98     // Heater 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);
 102
 103     set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 104
 105     // activate SD-DAC timer
 106     this->kernel->slow_ticker->attach(1000, &heater_pin, &Pwm::on_tick);
 107
 108     // reading tick
 109     this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 110
 111     // PID
 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();
 116     this->i = 0.0;
 117     this->last_reading = 0.0;
 118 }
 119
 120 void TemperatureControl::on_gcode_received(void* argument){
 121     Gcode* gcode = static_cast<Gcode*>(argument);
 122     if (gcode->has_m)
 123     {
 124         // Get temperature
 125         if( gcode->m == this->get_m_code ){
 126             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);
 127             gcode->add_nl = true;
 128         }
 129         if (gcode->m == 301)
 130         {
 131             gcode->mark_as_taken();
 132             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 133             {
 134                 if (gcode->has_letter('P'))
 135                     this->p_factor = gcode->get_value('P');
 136                 if (gcode->has_letter('I'))
 137                     this->i_factor = gcode->get_value('I');
 138                 if (gcode->has_letter('D'))
 139                     this->d_factor = gcode->get_value('D');
 140                 if (gcode->has_letter('X'))
 141                     this->i_max    = gcode->get_value('X');
 142             }
 143             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);
 144         }
 145         if (gcode->m == 303)
 146         {
 147             gcode->mark_as_taken();
 148             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 149             {
 150                 double target = 150.0;
 151                 if (gcode->has_letter('P'))
 152                 {
 153                     target = gcode->get_value('P');
 154                     gcode->stream->printf("Target: %5.1f\n", target);
 155                 }
 156                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 157                 this->pool->PIDtuner->begin(this, target, gcode->stream);
 158             }
 159         }
 160
 161         // Attach gcodes to the last block for on_gcode_execute
 162         if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ){
 163             if( this->kernel->conveyor->queue.size() == 0 ){
 164                 this->kernel->call_event(ON_GCODE_EXECUTE, gcode );
 165             }else{
 166                 Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 );
 167                 block->append_gcode(gcode);
 168             }
 169
 170         }
 171     }
 172 }
 173
 174 void TemperatureControl::on_gcode_execute(void* argument){
 175     Gcode* gcode = static_cast<Gcode*>(argument);
 176     if( gcode->has_m){
 177         if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
 178             && gcode->has_letter('S'))
 179         {
 180             double v = gcode->get_value('S');
 181
 182             if (v == 0.0)
 183             {
 184                 this->target_temperature = UNDEFINED;
 185                 this->heater_pin.set(0);
 186             }
 187             else
 188             {
 189                 this->set_desired_temperature(v);
 190
 191                 if( gcode->m == this->set_and_wait_m_code)
 192                 {
 193                     gcode->mark_as_taken();
 194                     this->kernel->pauser->take();
 195                     this->waiting = true;
 196                 }
 197             }
 198         }
 199     }
 200 }
 201
 202
 203 void TemperatureControl::set_desired_temperature(double desired_temperature)
 204 {
 205     if (desired_temperature == 1.0)
 206         desired_temperature = preset1;
 207     else if (desired_temperature == 2.0)
 208         desired_temperature = preset2;
 209
 210     target_temperature = desired_temperature;
 211     if (desired_temperature == 0.0)
 212         heater_pin.set((o = 0));
 213 }
 214
 215 double TemperatureControl::get_temperature(){
 216     return last_reading;
 217 }
 218
 219 double TemperatureControl::adc_value_to_temperature(int adc_value)
 220 {
 221     if ((adc_value == 4095) || (adc_value == 0))
 222         return INFINITY;
 223     double r = r2 / ((4095.0 / adc_value) - 1.0);
 224     if (r1 > 0)
 225         r = (r1 * r) / (r1 - r);
 226     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 227 }
 228
 229 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 230     int r = new_thermistor_reading();
 231
 232     double temperature = adc_value_to_temperature(r);
 233
 234     if (target_temperature > 0)
 235     {
 236         if ((r <= 1) || (r >= 4094))
 237         {
 238             this->min_temp_violated = true;
 239             target_temperature = UNDEFINED;
 240             heater_pin.set(0);
 241         }
 242         else
 243         {
 244             pid_process(temperature);
 245             if ((temperature > target_temperature) && waiting)
 246             {
 247                 kernel->pauser->release();
 248                 waiting = false;
 249             }
 250         }
 251     }
 252     else
 253     {
 254         heater_pin.set((o = 0));
 255     }
 256     last_reading = temperature;
 257     return 0;
 258 }
 259
 260 void TemperatureControl::pid_process(double temperature)
 261 {
 262     double error = target_temperature - temperature;
 263
 264     p  = error * p_factor;
 265     i += (error * this->i_factor);
 266     // d was imbued with oldest_raw earlier in new_thermistor_reading
 267     d = adc_value_to_temperature(d);
 268     d = (d - temperature) * this->d_factor;
 269
 270     if (i > this->i_max)
 271         i = this->i_max;
 272     if (i < -this->i_max)
 273         i = -this->i_max;
 274
 275     this->o = (p + i + d) * heater_pin.max_pwm() / 256;
 276
 277     if (this->o >= heater_pin.max_pwm())
 278         this->o = heater_pin.max_pwm();
 279     else if (this->o < 0)
 280         this->o = 0;
 281
 282     this->heater_pin.pwm(this->o);
 283 }
 284
 285 int TemperatureControl::new_thermistor_reading()
 286 {
 287     int last_raw = this->kernel->adc->read(&thermistor_pin);
 288     if (queue.size() >= queue.capacity())
 289     {
 290         uint16_t l;
 291         queue.pop_front(l);
 292         d = l;
 293     }
 294     uint16_t r = last_raw;
 295     queue.push_back(r);
 296     for (int i=0; i<queue.size(); i++)
 297       median_buffer[i] = *queue.get_ref(i);
 298     uint16_t m = median_buffer[quick_median(median_buffer, queue.size())];
 299     return m;
 300 }
 301
 302 void TemperatureControl::on_second_tick(void* argument)
 303 {
 304     if (waiting)
 305         kernel->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
 306 }