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 #include "PublicDataRequest.h"
  19 #include "TemperatureControlPublicAccess.h"
  20
  21 #include "MRI_Hooks.h"
  22
  23 #define UNDEFINED -1
  24
  25 #define thermistor_checksum                CHECKSUM("thermistor")
  26 #define r0_checksum                        CHECKSUM("r0")
  27 #define readings_per_second_checksum       CHECKSUM("readings_per_second")
  28 #define max_pwm_checksum                   CHECKSUM("max_pwm")
  29 #define pwm_frequency_checksum             CHECKSUM("pwm_frequency")
  30 #define bang_bang_checksum                 CHECKSUM("bang_bang")
  31 #define hysteresis_checksum                CHECKSUM("hysteresis")
  32 #define t0_checksum                        CHECKSUM("t0")
  33 #define beta_checksum                      CHECKSUM("beta")
  34 #define vadc_checksum                      CHECKSUM("vadc")
  35 #define vcc_checksum                       CHECKSUM("vcc")
  36 #define r1_checksum                        CHECKSUM("r1")
  37 #define r2_checksum                        CHECKSUM("r2")
  38 #define thermistor_pin_checksum            CHECKSUM("thermistor_pin")
  39 #define heater_pin_checksum                CHECKSUM("heater_pin")
  40
  41 #define get_m_code_checksum                CHECKSUM("get_m_code")
  42 #define set_m_code_checksum                CHECKSUM("set_m_code")
  43 #define set_and_wait_m_code_checksum       CHECKSUM("set_and_wait_m_code")
  44
  45 #define designator_checksum                CHECKSUM("designator")
  46
  47 #define p_factor_checksum                  CHECKSUM("p_factor")
  48 #define i_factor_checksum                  CHECKSUM("i_factor")
  49 #define d_factor_checksum                  CHECKSUM("d_factor")
  50
  51 #define i_max_checksum                     CHECKSUM("i_max")
  52
  53 #define preset1_checksum                   CHECKSUM("preset1")
  54 #define preset2_checksum                   CHECKSUM("preset2")
  55
  56
  57 TemperatureControl::TemperatureControl(uint16_t name) :
  58   name_checksum(name), waiting(false), min_temp_violated(false) {}
  59
  60 void TemperatureControl::on_module_loaded(){
  61
  62     // We start not desiring any temp
  63     this->target_temperature = UNDEFINED;
  64
  65     // Settings
  66     this->on_config_reload(this);
  67
  68     this->acceleration_factor = 10;
  69
  70     // Register for events
  71     register_for_event(ON_CONFIG_RELOAD);
  72     this->register_for_event(ON_GCODE_EXECUTE);
  73     this->register_for_event(ON_GCODE_RECEIVED);
  74     this->register_for_event(ON_MAIN_LOOP);
  75     this->register_for_event(ON_SECOND_TICK);
  76     this->register_for_event(ON_GET_PUBLIC_DATA);
  77     this->register_for_event(ON_SET_PUBLIC_DATA);
  78 }
  79
  80 void TemperatureControl::on_main_loop(void* argument){
  81     if (this->min_temp_violated) {
  82         THEKERNEL->streams->printf("Error: MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin.port_number, this->thermistor_pin.pin);
  83         this->min_temp_violated = false;
  84     }
  85 }
  86
  87 // Get configuration from the config file
  88 void TemperatureControl::on_config_reload(void* argument){
  89
  90     // General config
  91     this->set_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
  92     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();
  93     this->get_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
  94     this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
  95
  96     this->designator          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
  97
  98     // Values are here : http://reprap.org/wiki/Thermistor
  99     this->r0   = 100000;
 100     this->t0   = 25;
 101     this->beta = 4066;
 102     this->r1   = 0;
 103     this->r2   = 4700;
 104
 105     // Preset values for various common types of thermistors
 106     ConfigValue* thermistor = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum);
 107     if(       thermistor->value.compare("EPCOS100K"    ) == 0 ){ // Default
 108     }else if( thermistor->value.compare("RRRF100K"     ) == 0 ){ this->beta = 3960;
 109     }else if( thermistor->value.compare("RRRF10K"      ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600;
 110     }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974;
 111     }else if( thermistor->value.compare("Semitec"      ) == 0 ){ this->beta = 4267;
 112     }else if( thermistor->value.compare("HT100K"       ) == 0 ){ this->beta = 3990; }
 113
 114     // Preset values are overriden by specified values
 115     this->r0 =                  THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r0_checksum  )->by_default(this->r0  )->as_number();               // Stated resistance eg. 100K
 116     this->t0 =                  THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, t0_checksum  )->by_default(this->t0  )->as_number();               // Temperature at stated resistance, eg. 25C
 117     this->beta =                THEKERNEL->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
 118     this->r1 =                  THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r1_checksum  )->by_default(this->r1  )->as_number();
 119     this->r2 =                  THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r2_checksum  )->by_default(this->r2  )->as_number();
 120
 121     this->preset1 =             THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
 122     this->preset2 =             THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
 123
 124
 125     // Thermistor math
 126     j = (1.0 / beta);
 127     k = (1.0 / (t0 + 273.15));
 128
 129     // sigma-delta output modulation
 130     o = 0;
 131
 132     // Thermistor pin for ADC readings
 133     this->thermistor_pin.from_string(THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string());
 134     THEKERNEL->adc->enable_pin(&thermistor_pin);
 135
 136     // Heater pin
 137     this->heater_pin.from_string(    THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
 138     this->heater_pin.max_pwm(        THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
 139
 140     this->heater_pin.set(0);
 141     this->heater_on= false;
 142
 143     // used to enable bang bang control of heater
 144     this->use_bangbang= THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool();
 145     this->hysteresis= THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number();
 146
 147     set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 148
 149     // activate SD-DAC timer
 150     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);
 151
 152     // reading tick
 153     THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 154     this->PIDdt= 1.0 / this->readings_per_second;
 155
 156     // PID
 157     setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
 158     setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() );
 159     setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );
 160     // set to the same as max_pwm by default
 161     this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(this->heater_pin.max_pwm())->as_number();
 162     this->iTerm = 0.0;
 163     this->lastInput= -1.0;
 164     this->last_reading = 0.0;
 165 }
 166
 167 void TemperatureControl::on_gcode_received(void* argument){
 168     Gcode* gcode = static_cast<Gcode*>(argument);
 169     if (gcode->has_m) {
 170         // Get temperature
 171         if( gcode->m == this->get_m_code ){
 172             char buf[32]; // should be big enough for any status
 173             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);
 174             gcode->txt_after_ok.append(buf, n);
 175             gcode->mark_as_taken();
 176
 177         } else if (gcode->m == 301) {
 178             gcode->mark_as_taken();
 179             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 180             {
 181                 if (gcode->has_letter('P'))
 182                     setPIDp( gcode->get_value('P') );
 183                 if (gcode->has_letter('I'))
 184                     setPIDi( gcode->get_value('I') );
 185                 if (gcode->has_letter('D'))
 186                     setPIDd( gcode->get_value('D') );
 187                 if (gcode->has_letter('X'))
 188                     this->i_max    = gcode->get_value('X');
 189             }
 190             //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);
 191             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);
 192
 193         } else if (gcode->m == 303) {
 194             if (gcode->has_letter('E') && (gcode->get_value('E') == this->pool_index)) {
 195                 gcode->mark_as_taken();
 196                 float target = 150.0;
 197                 if (gcode->has_letter('S')) {
 198                     target = gcode->get_value('S');
 199                     gcode->stream->printf("Target: %5.1f\n", target);
 200                 }
 201                 int ncycles= 8;
 202                 if (gcode->has_letter('C')) {
 203                     ncycles= gcode->get_value('C');
 204                 }
 205                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 206                 this->pool->PIDtuner->begin(this, target, gcode->stream, ncycles);
 207             }
 208
 209         } else if (gcode->m == 500 || gcode->m == 503){// M500 saves some volatile settings to config override file, M503 just prints the settings
 210             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);
 211             gcode->mark_as_taken();
 212
 213         } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ) {
 214             // Attach gcodes to the last block for on_gcode_execute
 215             THEKERNEL->conveyor->append_gcode(gcode);
 216
 217             // 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
 218             if (gcode->m == this->set_and_wait_m_code)
 219                 // ensure that no subsequent gcodes get executed with our M109 or similar
 220                 THEKERNEL->conveyor->queue_head_block();
 221         }
 222     }
 223 }
 224
 225 void TemperatureControl::on_gcode_execute(void* argument){
 226     Gcode* gcode = static_cast<Gcode*>(argument);
 227     if( gcode->has_m){
 228         if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
 229             && gcode->has_letter('S'))
 230         {
 231             float v = gcode->get_value('S');
 232
 233             if (v == 0.0)
 234             {
 235                 this->target_temperature = UNDEFINED;
 236                 this->heater_pin.set(0);
 237             }
 238             else
 239             {
 240                 this->set_desired_temperature(v);
 241
 242                 if( gcode->m == this->set_and_wait_m_code)
 243                 {
 244                     THEKERNEL->pauser->take();
 245                     this->waiting = true;
 246                 }
 247             }
 248         }
 249     }
 250 }
 251
 252 void TemperatureControl::on_get_public_data(void* argument){
 253     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 254
 255     if(!pdr->starts_with(temperature_control_checksum)) return;
 256
 257     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 258
 259     // ok this is targeted at us, so send back the requested data
 260     if(pdr->third_element_is(current_temperature_checksum)) {
 261         // this must be static as it will be accessed long after we have returned
 262         static struct pad_temperature temp_return;
 263         temp_return.current_temperature= this->get_temperature();
 264         temp_return.target_temperature= (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
 265         temp_return.pwm= this->o;
 266
 267         pdr->set_data_ptr(&temp_return);
 268         pdr->set_taken();
 269     }
 270 }
 271
 272 void TemperatureControl::on_set_public_data(void* argument){
 273     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 274
 275     if(!pdr->starts_with(temperature_control_checksum)) return;
 276
 277     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 278
 279     // ok this is targeted at us, so set the temp
 280     float t= *static_cast<float*>(pdr->get_data_ptr());
 281     this->set_desired_temperature(t);
 282     pdr->set_taken();
 283 }
 284
 285 void TemperatureControl::set_desired_temperature(float desired_temperature)
 286 {
 287     if (desired_temperature == 1.0)
 288         desired_temperature = preset1;
 289     else if (desired_temperature == 2.0)
 290         desired_temperature = preset2;
 291
 292     target_temperature = desired_temperature;
 293     if (desired_temperature == 0.0)
 294         heater_pin.set((o = 0));
 295 }
 296
 297 float TemperatureControl::get_temperature(){
 298     return last_reading;
 299 }
 300
 301 float TemperatureControl::adc_value_to_temperature(int adc_value)
 302 {
 303     if ((adc_value == 4095) || (adc_value == 0))
 304         return INFINITY;
 305     float r = r2 / ((4095.0 / adc_value) - 1.0);
 306     if (r1 > 0)
 307         r = (r1 * r) / (r1 - r);
 308     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 309 }
 310
 311 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 312     int r = new_thermistor_reading();
 313
 314     float temperature = adc_value_to_temperature(r);
 315
 316     if (target_temperature > 0)
 317     {
 318         if ((r <= 1) || (r >= 4094))
 319         {
 320             this->min_temp_violated = true;
 321             target_temperature = UNDEFINED;
 322             heater_pin.set(0);
 323         }
 324         else
 325         {
 326             pid_process(temperature);
 327             if ((temperature > target_temperature) && waiting)
 328             {
 329                 THEKERNEL->pauser->release();
 330                 waiting = false;
 331             }
 332         }
 333     }
 334     else
 335     {
 336         heater_pin.set((o = 0));
 337     }
 338     last_reading = temperature;
 339     return 0;
 340 }
 341
 342 /**
 343  * Based on https://github.com/br3ttb/Arduino-PID-Library
 344  */
 345 void TemperatureControl::pid_process(float temperature)
 346 {
 347     if(use_bangbang) {
 348         // bang bang if very simple, if temp is < target - hysteresis turn on full else if  temp is > target + hysteresis turn heater off
 349         // good for relays
 350         if(temperature > target_temperature+hysteresis && heater_on) {
 351             heater_pin.set(false);
 352             heater_on= false;
 353             this->o= 0; // for display purposes only
 354
 355         }else if(temperature < target_temperature-hysteresis && !heater_on) {
 356             if(heater_pin.max_pwm() >= 255) {
 357                 // turn on full
 358                 this->heater_pin.set(true);
 359                 this->o= 255; // for display purposes only
 360             }else{
 361                 // only to whatever max pwm is configured
 362                 this->heater_pin.pwm(heater_pin.max_pwm());
 363                 this->o= heater_pin.max_pwm(); // for display purposes only
 364             }
 365             heater_on= true;
 366         }
 367         return;
 368     }
 369
 370     // regular PID control
 371     float error = target_temperature - temperature;
 372     this->iTerm += (error * this->i_factor);
 373     if (this->iTerm > this->i_max) this->iTerm = this->i_max;
 374     else if (this->iTerm < 0.0) this->iTerm = 0.0;
 375
 376     if(this->lastInput < 0.0) this->lastInput= temperature; // set first time
 377     float d= (temperature - this->lastInput);
 378
 379     // calculate the PID output
 380     // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
 381     this->o = (this->p_factor*error) + this->iTerm - (this->d_factor*d);
 382
 383     if (this->o >= heater_pin.max_pwm())
 384         this->o = heater_pin.max_pwm();
 385     else if (this->o < 0)
 386         this->o = 0;
 387
 388     this->heater_pin.pwm(this->o);
 389     this->lastInput= temperature;
 390 }
 391
 392 int TemperatureControl::new_thermistor_reading()
 393 {
 394     int last_raw = THEKERNEL->adc->read(&thermistor_pin);
 395     if (queue.size() >= queue.capacity()) {
 396         uint16_t l;
 397         queue.pop_front(l);
 398     }
 399     uint16_t r = last_raw;
 400     queue.push_back(r);
 401     for (int i=0; i<queue.size(); i++)
 402       median_buffer[i] = *queue.get_ref(i);
 403     uint16_t m = median_buffer[quick_median(median_buffer, queue.size())];
 404     return m;
 405 }
 406
 407 void TemperatureControl::on_second_tick(void* argument)
 408 {
 409     if (waiting)
 410         THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
 411 }
 412
 413 void TemperatureControl::setPIDp(float p) {
 414     this->p_factor= p;
 415 }
 416
 417 void TemperatureControl::setPIDi(float i) {
 418     this->i_factor= i*this->PIDdt;
 419 }
 420
 421 void TemperatureControl::setPIDd(float d) {
 422     this->d_factor= d/this->PIDdt;
 423 }