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
  17 TemperatureControl::TemperatureControl(){}
  18
  19 TemperatureControl::TemperatureControl(uint16_t name){
  20     this->name_checksum = name;
  21 //     this->error_count = 0;
  22     this->waiting = false;
  23 }
  24
  25 void TemperatureControl::on_module_loaded(){
  26
  27     // We start not desiring any temp
  28     this->target_temperature = UNDEFINED;
  29
  30     // Settings
  31     this->on_config_reload(this);
  32
  33     this->acceleration_factor = 10;
  34
  35     this->kernel->slow_ticker->attach( 20, this, &TemperatureControl::thermistor_read_tick );
  36
  37     // Register for events
  38     this->register_for_event(ON_GCODE_EXECUTE);
  39     this->register_for_event(ON_GCODE_RECEIVED);
  40     this->register_for_event(ON_MAIN_LOOP);
  41
  42 }
  43
  44 void TemperatureControl::on_main_loop(void* argument){ }
  45
  46 // Get configuration from the config file
  47 void TemperatureControl::on_config_reload(void* argument){
  48
  49     // General config
  50     this->set_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
  51     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();
  52     this->get_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
  53     this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(5)->as_number();
  54
  55     this->designator          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
  56
  57     // Values are here : http://reprap.org/wiki/Thermistor
  58     this->r0   = 100000;
  59     this->t0   = 25;
  60     this->beta = 4066;
  61     this->r1   = 0;
  62     this->r2   = 4700;
  63
  64     // Preset values for various common types of thermistors
  65     ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum);
  66     if(       thermistor->value.compare("EPCOS100K"    ) == 0 ){ // Default
  67     }else if( thermistor->value.compare("RRRF100K"     ) == 0 ){ this->beta = 3960;
  68     }else if( thermistor->value.compare("RRRF10K"      ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600;
  69     }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974;
  70     }else if( thermistor->value.compare("Semitec"      ) == 0 ){ this->beta = 4267; }
  71
  72     // Preset values are overriden by specified values
  73     this->r0 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum  )->by_default(this->r0  )->as_number();               // Stated resistance eg. 100K
  74     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
  75     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
  76     this->r1 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum  )->by_default(this->r1  )->as_number();
  77     this->r2 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum  )->by_default(this->r2  )->as_number();
  78
  79
  80     // Thermistor math
  81     j = (1.0 / beta);
  82     k = (1.0 / (t0 + 273.15));
  83
  84     // ADC smoothing
  85     running_total = 0;
  86
  87     // sigma-delta output modulation
  88     o = 0;
  89
  90     // Thermistor pin for ADC readings
  91     this->thermistor_pin = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_pin();
  92     this->kernel->adc->enable_pin(this->thermistor_pin);
  93
  94     // Heater pin
  95     this->heater_pin     =  this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_pwm()->as_output();
  96     this->heater_pin->set(0);
  97
  98     // activate SD-DAC timer
  99     this->kernel->slow_ticker->attach(1000, this->heater_pin, &Pwm::on_tick);
 100
 101     // PID
 102     this->p_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number();
 103     this->i_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number();
 104     this->d_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number();
 105     this->i_max    = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(50 )->as_number();
 106     this->i = 0.0;
 107     this->last_reading = 0.0;
 108 }
 109
 110 void TemperatureControl::on_gcode_received(void* argument)
 111 {
 112     Gcode* gcode = static_cast<Gcode*>(argument);
 113     if (gcode->has_m)
 114     {
 115         // Get temperature
 116         if( gcode->m == this->get_m_code ){
 117             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);
 118             gcode->add_nl = true;
 119         }
 120         if (gcode->m == 301)
 121         {
 122             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 123             {
 124                 if (gcode->has_letter('P'))
 125                     this->p_factor = gcode->get_value('P');
 126                 if (gcode->has_letter('I'))
 127                     this->i_factor = gcode->get_value('I');
 128                 if (gcode->has_letter('D'))
 129                     this->d_factor = gcode->get_value('D');
 130                 if (gcode->has_letter('X'))
 131                     this->i_max    = gcode->get_value('X');
 132             }
 133             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);
 134         }
 135         if (gcode->m == 303)
 136         {
 137             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 138             {
 139                 double target = 150.0;
 140                 if (gcode->has_letter('P'))
 141                 {
 142                     target = gcode->get_value('P');
 143                     gcode->stream->printf("Target: %5.1f\n", target);
 144                 }
 145                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 146                 this->pool->PIDtuner->begin(this, target, gcode->stream);
 147             }
 148         }
 149     }
 150 }
 151
 152 void TemperatureControl::on_gcode_execute(void* argument){
 153     Gcode* gcode = static_cast<Gcode*>(argument);
 154     if( gcode->has_m){
 155         // Set temperature without waiting
 156         if( gcode->m == this->set_m_code && gcode->has_letter('S') )
 157         {
 158             if (gcode->get_value('S') == 0)
 159             {
 160                 this->target_temperature = UNDEFINED;
 161                 this->heater_pin->set(0);
 162             }
 163             else
 164             {
 165                 this->set_desired_temperature(gcode->get_value('S'));
 166             }
 167         }
 168         // Set temperature and wait
 169         if( gcode->m == this->set_and_wait_m_code && gcode->has_letter('S') )
 170         {
 171             if (gcode->get_value('S') == 0)
 172             {
 173                 this->target_temperature = UNDEFINED;
 174                 this->heater_pin->set(0);
 175             }
 176             else
 177             {
 178                 this->set_desired_temperature(gcode->get_value('S'));
 179                 // Pause
 180                 this->kernel->pauser->take();
 181                 this->waiting = true;
 182             }
 183         }
 184     }
 185 }
 186
 187
 188 void TemperatureControl::set_desired_temperature(double desired_temperature){
 189     target_temperature = desired_temperature;
 190     if (desired_temperature == 0.0)
 191         heater_pin->set((o = 0));
 192 }
 193
 194 double TemperatureControl::get_temperature(){
 195     return last_reading;
 196 }
 197
 198 double TemperatureControl::adc_value_to_temperature(int adc_value)
 199 {
 200     if ((adc_value == 4095) || (adc_value == 0))
 201         return INFINITY;
 202     double r = r2 / ((4095.0 / adc_value) - 1.0);
 203     if (r1 > 0)
 204         r = (r1 * r) / (r1 - r);
 205     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 206 }
 207
 208 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 209     int r = new_thermistor_reading();
 210
 211     double temperature = adc_value_to_temperature(r);
 212
 213     if (target_temperature > 0)
 214     {
 215         if ((r <= 1) || (r >= 4094))
 216         {
 217             kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin->port_number, this->thermistor_pin->pin);
 218             target_temperature = UNDEFINED;
 219             heater_pin->set(0);
 220         }
 221         else
 222         {
 223             pid_process(temperature);
 224             if ((temperature > target_temperature) && waiting)
 225             {
 226                 kernel->pauser->release();
 227                 waiting = false;
 228             }
 229         }
 230     }
 231     else
 232     {
 233         heater_pin->set((o = 0));
 234     }
 235     last_reading = temperature;
 236     return 0;
 237 }
 238
 239 void TemperatureControl::pid_process(double temperature)
 240 {
 241     double error = target_temperature - temperature;
 242
 243     p  = error * p_factor;
 244     i += (error * this->i_factor);
 245     // d was imbued with oldest_raw earlier in new_thermistor_reading
 246     d = adc_value_to_temperature(d);
 247     d = (d - temperature) * this->d_factor;
 248
 249     if (i > this->i_max)
 250         i = this->i_max;
 251     if (i < -this->i_max)
 252         i = -this->i_max;
 253
 254     this->o = (p + i + d) * heater_pin->max_pwm() / 256;
 255
 256     if (this->o >= heater_pin->max_pwm())
 257     {
 258         i -= (this->o - (heater_pin->max_pwm() - 1)) * 256 / heater_pin->max_pwm();
 259         this->o = heater_pin->max_pwm() - 1;
 260     }
 261     if (this->o < 0)
 262     {
 263         if (this->o < -(heater_pin->max_pwm()))
 264             i += (-(heater_pin->max_pwm()) - this->o) * 256 / heater_pin->max_pwm();
 265         this->o = 0;
 266     }
 267
 268     this->heater_pin->pwm(o);
 269 }
 270
 271 int TemperatureControl::new_thermistor_reading()
 272 {
 273     int last_raw = this->kernel->adc->read(this->thermistor_pin);
 274     if (queue.size() >= queue.capacity())
 275     {
 276         uint16_t l;
 277         queue.pop_front(l);
 278         running_total -= l;
 279         d = l;
 280     }
 281     uint16_t r = last_raw;
 282     queue.push_back(r);
 283     running_total += last_raw;
 284     return running_total / queue.size();
 285 }