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