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
  18 #include "MRI_Hooks.h"
  19
  20 TemperatureControl::TemperatureControl(){}
  21
  22 TemperatureControl::TemperatureControl(uint16_t name){
  23     this->name_checksum = name;
  24 //     this->error_count = 0;
  25     this->waiting = false;
  26 }
  27
  28 void TemperatureControl::on_module_loaded(){
  29
  30     // We start not desiring any temp
  31     this->target_temperature = UNDEFINED;
  32
  33     // Settings
  34     this->on_config_reload(this);
  35
  36     this->acceleration_factor = 10;
  37
  38     // Register for events
  39     register_for_event(ON_CONFIG_RELOAD);
  40     this->register_for_event(ON_GCODE_EXECUTE);
  41     this->register_for_event(ON_GCODE_RECEIVED);
  42     this->register_for_event(ON_MAIN_LOOP);
  43     this->register_for_event(ON_SECOND_TICK);
  44
  45 }
  46
  47 void TemperatureControl::on_main_loop(void* argument){ }
  48
  49 // Get configuration from the config file
  50 void TemperatureControl::on_config_reload(void* argument){
  51
  52     // General config
  53     this->set_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
  54     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();
  55     this->get_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
  56     this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
  57
  58     this->max_pwm             = this->kernel->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number();
  59
  60     this->designator          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
  61
  62     // Values are here : http://reprap.org/wiki/Thermistor
  63     this->r0   = 100000;
  64     this->t0   = 25;
  65     this->beta = 4066;
  66     this->r1   = 0;
  67     this->r2   = 4700;
  68
  69     // Preset values for various common types of thermistors
  70     ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum);
  71     if(       thermistor->value.compare("EPCOS100K"    ) == 0 ){ // Default
  72     }else if( thermistor->value.compare("RRRF100K"     ) == 0 ){ this->beta = 3960;
  73     }else if( thermistor->value.compare("RRRF10K"      ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600;
  74     }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974;
  75     }else if( thermistor->value.compare("Semitec"      ) == 0 ){ this->beta = 4267; }
  76
  77     // Preset values are overriden by specified values
  78     this->r0 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum  )->by_default(this->r0  )->as_number();               // Stated resistance eg. 100K
  79     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
  80     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
  81     this->r1 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum  )->by_default(this->r1  )->as_number();
  82     this->r2 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum  )->by_default(this->r2  )->as_number();
  83
  84
  85     // Thermistor math
  86     j = (1.0 / beta);
  87     k = (1.0 / (t0 + 273.15));
  88
  89     // sigma-delta output modulation
  90     o = 0;
  91
  92     // Thermistor pin for ADC readings
  93     this->thermistor_pin.from_string(this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string());
  94     this->kernel->adc->enable_pin(&thermistor_pin);
  95
  96     // Heater pin
  97     this->heater_pin.from_string(    this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
  98     this->heater_pin.set(0);
  99
 100     set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 101
 102     // activate SD-DAC timer
 103     this->kernel->slow_ticker->attach(1000, &heater_pin, &Pwm::on_tick);
 104
 105     // reading tick
 106     this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 107
 108     // PID
 109     this->p_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number();
 110     this->i_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number();
 111     this->d_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number();
 112     this->i_max    = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(255)->as_number();
 113     this->i = 0.0;
 114     this->last_reading = 0.0;
 115 }
 116
 117 void TemperatureControl::on_gcode_received(void* argument)
 118 {
 119     Gcode* gcode = static_cast<Gcode*>(argument);
 120     if (gcode->has_m)
 121     {
 122         // Get temperature
 123         if( gcode->m == this->get_m_code ){
 124             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);
 125             gcode->add_nl = true;
 126         }
 127         if (gcode->m == 301)
 128         {
 129             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 130             {
 131                 if (gcode->has_letter('P'))
 132                     this->p_factor = gcode->get_value('P');
 133                 if (gcode->has_letter('I'))
 134                     this->i_factor = gcode->get_value('I');
 135                 if (gcode->has_letter('D'))
 136                     this->d_factor = gcode->get_value('D');
 137                 if (gcode->has_letter('X'))
 138                     this->i_max    = gcode->get_value('X');
 139             }
 140             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);
 141         }
 142         if (gcode->m == 303)
 143         {
 144             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 145             {
 146                 double target = 150.0;
 147                 if (gcode->has_letter('P'))
 148                 {
 149                     target = gcode->get_value('P');
 150                     gcode->stream->printf("Target: %5.1f\n", target);
 151                 }
 152                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 153                 this->pool->PIDtuner->begin(this, target, gcode->stream);
 154             }
 155         }
 156     }
 157 }
 158
 159 void TemperatureControl::on_gcode_execute(void* argument){
 160     Gcode* gcode = static_cast<Gcode*>(argument);
 161     if( gcode->has_m){
 162         // Set temperature without waiting
 163         if( gcode->m == this->set_m_code && gcode->has_letter('S') )
 164         {
 165             if (gcode->get_value('S') == 0)
 166             {
 167                 this->target_temperature = UNDEFINED;
 168                 this->heater_pin.set(0);
 169             }
 170             else
 171             {
 172                 this->set_desired_temperature(gcode->get_value('S'));
 173             }
 174         }
 175         // Set temperature and wait
 176         if( gcode->m == this->set_and_wait_m_code && gcode->has_letter('S') )
 177         {
 178             if (gcode->get_value('S') == 0)
 179             {
 180                 this->target_temperature = UNDEFINED;
 181                 this->heater_pin.set(0);
 182             }
 183             else
 184             {
 185                 this->set_desired_temperature(gcode->get_value('S'));
 186                 // Pause
 187                 this->kernel->pauser->take();
 188                 this->waiting = true;
 189             }
 190         }
 191     }
 192 }
 193
 194
 195 void TemperatureControl::set_desired_temperature(double desired_temperature){
 196     target_temperature = desired_temperature;
 197     if (desired_temperature == 0.0)
 198         heater_pin.set((o = 0));
 199 }
 200
 201 double TemperatureControl::get_temperature(){
 202     return last_reading;
 203 }
 204
 205 double TemperatureControl::adc_value_to_temperature(int adc_value)
 206 {
 207     if ((adc_value == 4095) || (adc_value == 0))
 208         return INFINITY;
 209     double r = r2 / ((4095.0 / adc_value) - 1.0);
 210     if (r1 > 0)
 211         r = (r1 * r) / (r1 - r);
 212     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 213 }
 214
 215 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 216     int r = new_thermistor_reading();
 217
 218     double temperature = adc_value_to_temperature(r);
 219
 220     if (target_temperature > 0)
 221     {
 222         if ((r <= 1) || (r >= 4094))
 223         {
 224             kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin.port_number, this->thermistor_pin.pin);
 225             target_temperature = UNDEFINED;
 226             heater_pin.set(0);
 227         }
 228         else
 229         {
 230             pid_process(temperature);
 231             if ((temperature > target_temperature) && waiting)
 232             {
 233                 kernel->pauser->release();
 234                 waiting = false;
 235             }
 236         }
 237     }
 238     else
 239     {
 240         heater_pin.set((o = 0));
 241     }
 242     last_reading = temperature;
 243     return 0;
 244 }
 245
 246 void TemperatureControl::pid_process(double temperature)
 247 {
 248     double error = target_temperature - temperature;
 249
 250     p  = error * p_factor;
 251     i += (error * this->i_factor);
 252     // d was imbued with oldest_raw earlier in new_thermistor_reading
 253     d = adc_value_to_temperature(d);
 254     d = (d - temperature) * this->d_factor;
 255
 256     if (i > this->i_max)
 257         i = this->i_max;
 258     if (i < -this->i_max)
 259         i = -this->i_max;
 260
 261     this->o = (p + i + d) * heater_pin.max_pwm() / 256;
 262
 263     if (this->o >= heater_pin.max_pwm())
 264     {
 265         i = 0;
 266         this->o = heater_pin.max_pwm();
 267     }
 268     if (this->o < 0)
 269     {
 270         if (this->o < -(heater_pin.max_pwm()))
 271             i = 0;
 272         this->o = 0;
 273     }
 274
 275     if( this->o > this->max_pwm ){ this->o = max_pwm; }
 276
 277     this->heater_pin.pwm(o);
 278 }
 279
 280 int TemperatureControl::new_thermistor_reading()
 281 {
 282     int last_raw = this->kernel->adc->read(&thermistor_pin);
 283     if (queue.size() >= queue.capacity())
 284     {
 285         uint16_t l;
 286         queue.pop_front(l);
 287         d = l;
 288     }
 289     uint16_t r = last_raw;
 290     queue.push_back(r);
 291     for (int i=0; i<queue.size(); i++)
 292       median_buffer[i] = *queue.get_ref(i);
 293     uint16_t m = median_buffer[quick_median(median_buffer, queue.size())];
 294     return m;
 295 }
 296
 297 void TemperatureControl::on_second_tick(void* argument)
 298 {
 299     if (waiting)
 300         kernel->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
 301 }