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 #include "StreamOutputPool.h"
  21 #include "Config.h"
  22 #include "checksumm.h"
  23 #include "Gcode.h"
  24 #include "Adc.h"
  25 #include "SlowTicker.h"
  26 #include "Pauser.h"
  27 #include "ConfigValue.h"
  28 #include "TemperatureControl.h"
  29 #include "PID_Autotuner.h"
  30
  31 #include "MRI_Hooks.h"
  32
  33 #define UNDEFINED -1
  34
  35 #define thermistor_checksum                CHECKSUM("thermistor")
  36 #define r0_checksum                        CHECKSUM("r0")
  37 #define readings_per_second_checksum       CHECKSUM("readings_per_second")
  38 #define max_pwm_checksum                   CHECKSUM("max_pwm")
  39 #define pwm_frequency_checksum             CHECKSUM("pwm_frequency")
  40 #define bang_bang_checksum                 CHECKSUM("bang_bang")
  41 #define hysteresis_checksum                CHECKSUM("hysteresis")
  42 #define t0_checksum                        CHECKSUM("t0")
  43 #define beta_checksum                      CHECKSUM("beta")
  44 #define vadc_checksum                      CHECKSUM("vadc")
  45 #define vcc_checksum                       CHECKSUM("vcc")
  46 #define r1_checksum                        CHECKSUM("r1")
  47 #define r2_checksum                        CHECKSUM("r2")
  48 #define thermistor_pin_checksum            CHECKSUM("thermistor_pin")
  49 #define heater_pin_checksum                CHECKSUM("heater_pin")
  50
  51 #define get_m_code_checksum                CHECKSUM("get_m_code")
  52 #define set_m_code_checksum                CHECKSUM("set_m_code")
  53 #define set_and_wait_m_code_checksum       CHECKSUM("set_and_wait_m_code")
  54
  55 #define designator_checksum                CHECKSUM("designator")
  56
  57 #define p_factor_checksum                  CHECKSUM("p_factor")
  58 #define i_factor_checksum                  CHECKSUM("i_factor")
  59 #define d_factor_checksum                  CHECKSUM("d_factor")
  60
  61 #define i_max_checksum                     CHECKSUM("i_max")
  62
  63 #define preset1_checksum                   CHECKSUM("preset1")
  64 #define preset2_checksum                   CHECKSUM("preset2")
  65
  66
  67 TemperatureControl::TemperatureControl(uint16_t name) :
  68   name_checksum(name), waiting(false), min_temp_violated(false) {}
  69
  70 void TemperatureControl::on_module_loaded(){
  71
  72     // We start not desiring any temp
  73     this->target_temperature = UNDEFINED;
  74
  75     // Settings
  76     this->on_config_reload(this);
  77
  78     this->acceleration_factor = 10;
  79
  80     // Register for events
  81     register_for_event(ON_CONFIG_RELOAD);
  82     this->register_for_event(ON_GCODE_EXECUTE);
  83     this->register_for_event(ON_GCODE_RECEIVED);
  84     this->register_for_event(ON_MAIN_LOOP);
  85     this->register_for_event(ON_SECOND_TICK);
  86     this->register_for_event(ON_GET_PUBLIC_DATA);
  87     this->register_for_event(ON_SET_PUBLIC_DATA);
  88 }
  89
  90 void TemperatureControl::on_main_loop(void* argument){
  91     if (this->min_temp_violated) {
  92         THEKERNEL->streams->printf("Error: MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin.port_number, this->thermistor_pin.pin);
  93         this->min_temp_violated = false;
  94     }
  95 }
  96
  97 // Get configuration from the config file
  98 void TemperatureControl::on_config_reload(void* argument){
  99
 100     // General config
 101     this->set_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
 102     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();
 103     this->get_m_code          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
 104     this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
 105
 106     this->designator          = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
 107
 108     // Values are here : http://reprap.org/wiki/Thermistor
 109     this->r0   = 100000;
 110     this->t0   = 25;
 111     this->beta = 4066;
 112     this->r1   = 0;
 113     this->r2   = 4700;
 114
 115     // Preset values for various common types of thermistors
 116     ConfigValue* thermistor = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum);
 117     if(       thermistor->value.compare("EPCOS100K"    ) == 0 ){ // Default
 118     }else if( thermistor->value.compare("RRRF100K"     ) == 0 ){ this->beta = 3960;
 119     }else if( thermistor->value.compare("RRRF10K"      ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600;
 120     }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974;
 121     }else if( thermistor->value.compare("Semitec"      ) == 0 ){ this->beta = 4267;
 122     }else if( thermistor->value.compare("HT100K"       ) == 0 ){ this->beta = 3990; }
 123
 124     // Preset values are overriden by specified values
 125     this->r0 =                  THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r0_checksum  )->by_default(this->r0  )->as_number();               // Stated resistance eg. 100K
 126     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
 127     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
 128     this->r1 =                  THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r1_checksum  )->by_default(this->r1  )->as_number();
 129     this->r2 =                  THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r2_checksum  )->by_default(this->r2  )->as_number();
 130
 131     this->preset1 =             THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
 132     this->preset2 =             THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
 133
 134
 135     // Thermistor math
 136     j = (1.0 / beta);
 137     k = (1.0 / (t0 + 273.15));
 138
 139     // sigma-delta output modulation
 140     o = 0;
 141
 142     // Thermistor pin for ADC readings
 143     this->thermistor_pin.from_string(THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string());
 144     THEKERNEL->adc->enable_pin(&thermistor_pin);
 145
 146     // Heater pin
 147     this->heater_pin.from_string(    THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
 148     this->heater_pin.max_pwm(        THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
 149
 150     this->heater_pin.set(0);
 151     this->heater_on= false;
 152
 153     // used to enable bang bang control of heater
 154     this->use_bangbang= THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool();
 155     this->hysteresis= THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number();
 156
 157     set_low_on_debug(heater_pin.port_number, heater_pin.pin);
 158
 159     // activate SD-DAC timer
 160     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);
 161
 162     // reading tick
 163     THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
 164     this->PIDdt= 1.0 / this->readings_per_second;
 165
 166     // PID
 167     setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
 168     setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() );
 169     setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );
 170     // set to the same as max_pwm by default
 171     this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum   )->by_default(this->heater_pin.max_pwm())->as_number();
 172     this->iTerm = 0.0;
 173     this->lastInput= -1.0;
 174     this->last_reading = 0.0;
 175 }
 176
 177 void TemperatureControl::on_gcode_received(void* argument){
 178     Gcode* gcode = static_cast<Gcode*>(argument);
 179     if (gcode->has_m) {
 180         // Get temperature
 181         if( gcode->m == this->get_m_code ){
 182             char buf[32]; // should be big enough for any status
 183             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);
 184             gcode->txt_after_ok.append(buf, n);
 185             gcode->mark_as_taken();
 186
 187         } else if (gcode->m == 301) {
 188             gcode->mark_as_taken();
 189             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 190             {
 191                 if (gcode->has_letter('P'))
 192                     setPIDp( gcode->get_value('P') );
 193                 if (gcode->has_letter('I'))
 194                     setPIDi( gcode->get_value('I') );
 195                 if (gcode->has_letter('D'))
 196                     setPIDd( gcode->get_value('D') );
 197                 if (gcode->has_letter('X'))
 198                     this->i_max    = gcode->get_value('X');
 199             }
 200             //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);
 201             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);
 202
 203         } else if (gcode->m == 303) {
 204             if (gcode->has_letter('E') && (gcode->get_value('E') == this->pool_index)) {
 205                 gcode->mark_as_taken();
 206                 float target = 150.0;
 207                 if (gcode->has_letter('S')) {
 208                     target = gcode->get_value('S');
 209                     gcode->stream->printf("Target: %5.1f\n", target);
 210                 }
 211                 int ncycles= 8;
 212                 if (gcode->has_letter('C')) {
 213                     ncycles= gcode->get_value('C');
 214                 }
 215                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 216                 this->pool->PIDtuner->begin(this, target, gcode->stream, ncycles);
 217             }
 218
 219         } else if (gcode->m == 500 || gcode->m == 503){// M500 saves some volatile settings to config override file, M503 just prints the settings
 220             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);
 221             gcode->mark_as_taken();
 222
 223         } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ) {
 224             // Attach gcodes to the last block for on_gcode_execute
 225             THEKERNEL->conveyor->append_gcode(gcode);
 226
 227             // 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
 228             if (gcode->m == this->set_and_wait_m_code)
 229                 // ensure that no subsequent gcodes get executed with our M109 or similar
 230                 THEKERNEL->conveyor->queue_head_block();
 231         }
 232     }
 233 }
 234
 235 void TemperatureControl::on_gcode_execute(void* argument){
 236     Gcode* gcode = static_cast<Gcode*>(argument);
 237     if( gcode->has_m){
 238         if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
 239             && gcode->has_letter('S'))
 240         {
 241             float v = gcode->get_value('S');
 242
 243             if (v == 0.0)
 244             {
 245                 this->target_temperature = UNDEFINED;
 246                 this->heater_pin.set(0);
 247             }
 248             else
 249             {
 250                 this->set_desired_temperature(v);
 251
 252                 if( gcode->m == this->set_and_wait_m_code)
 253                 {
 254                     THEKERNEL->pauser->take();
 255                     this->waiting = true;
 256                 }
 257             }
 258         }
 259     }
 260 }
 261
 262 void TemperatureControl::on_get_public_data(void* argument){
 263     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 264
 265     if(!pdr->starts_with(temperature_control_checksum)) return;
 266
 267     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 268
 269     // ok this is targeted at us, so send back the requested data
 270     if(pdr->third_element_is(current_temperature_checksum)) {
 271         // this must be static as it will be accessed long after we have returned
 272         static struct pad_temperature temp_return;
 273         temp_return.current_temperature= this->get_temperature();
 274         temp_return.target_temperature= (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
 275         temp_return.pwm= this->o;
 276
 277         pdr->set_data_ptr(&temp_return);
 278         pdr->set_taken();
 279     }
 280 }
 281
 282 void TemperatureControl::on_set_public_data(void* argument){
 283     PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
 284
 285     if(!pdr->starts_with(temperature_control_checksum)) return;
 286
 287     if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
 288
 289     // ok this is targeted at us, so set the temp
 290     float t= *static_cast<float*>(pdr->get_data_ptr());
 291     this->set_desired_temperature(t);
 292     pdr->set_taken();
 293 }
 294
 295 void TemperatureControl::set_desired_temperature(float desired_temperature)
 296 {
 297     if (desired_temperature == 1.0)
 298         desired_temperature = preset1;
 299     else if (desired_temperature == 2.0)
 300         desired_temperature = preset2;
 301
 302     target_temperature = desired_temperature;
 303     if (desired_temperature == 0.0)
 304         heater_pin.set((o = 0));
 305 }
 306
 307 float TemperatureControl::get_temperature(){
 308     return last_reading;
 309 }
 310
 311 float TemperatureControl::adc_value_to_temperature(int adc_value)
 312 {
 313     if ((adc_value == 4095) || (adc_value == 0))
 314         return INFINITY;
 315     float r = r2 / ((4095.0 / adc_value) - 1.0);
 316     if (r1 > 0)
 317         r = (r1 * r) / (r1 - r);
 318     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 319 }
 320
 321 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 322     int r = new_thermistor_reading();
 323
 324     float temperature = adc_value_to_temperature(r);
 325
 326     if (target_temperature > 0)
 327     {
 328         if ((r <= 1) || (r >= 4094))
 329         {
 330             this->min_temp_violated = true;
 331             target_temperature = UNDEFINED;
 332             heater_pin.set(0);
 333         }
 334         else
 335         {
 336             pid_process(temperature);
 337             if ((temperature > target_temperature) && waiting)
 338             {
 339                 THEKERNEL->pauser->release();
 340                 waiting = false;
 341             }
 342         }
 343     }
 344     else
 345     {
 346         heater_pin.set((o = 0));
 347     }
 348     last_reading = temperature;
 349     return 0;
 350 }
 351
 352 /**
 353  * Based on https://github.com/br3ttb/Arduino-PID-Library
 354  */
 355 void TemperatureControl::pid_process(float temperature)
 356 {
 357     if(use_bangbang) {
 358         // bang bang if very simple, if temp is < target - hysteresis turn on full else if  temp is > target + hysteresis turn heater off
 359         // good for relays
 360         if(temperature > target_temperature+hysteresis && heater_on) {
 361             heater_pin.set(false);
 362             heater_on= false;
 363             this->o= 0; // for display purposes only
 364
 365         }else if(temperature < target_temperature-hysteresis && !heater_on) {
 366             if(heater_pin.max_pwm() >= 255) {
 367                 // turn on full
 368                 this->heater_pin.set(true);
 369                 this->o= 255; // for display purposes only
 370             }else{
 371                 // only to whatever max pwm is configured
 372                 this->heater_pin.pwm(heater_pin.max_pwm());
 373                 this->o= heater_pin.max_pwm(); // for display purposes only
 374             }
 375             heater_on= true;
 376         }
 377         return;
 378     }
 379
 380     // regular PID control
 381     float error = target_temperature - temperature;
 382     this->iTerm += (error * this->i_factor);
 383     if (this->iTerm > this->i_max) this->iTerm = this->i_max;
 384     else if (this->iTerm < 0.0) this->iTerm = 0.0;
 385
 386     if(this->lastInput < 0.0) this->lastInput= temperature; // set first time
 387     float d= (temperature - this->lastInput);
 388
 389     // calculate the PID output
 390     // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
 391     this->o = (this->p_factor*error) + this->iTerm - (this->d_factor*d);
 392
 393     if (this->o >= heater_pin.max_pwm())
 394         this->o = heater_pin.max_pwm();
 395     else if (this->o < 0)
 396         this->o = 0;
 397
 398     this->heater_pin.pwm(this->o);
 399     this->lastInput= temperature;
 400 }
 401
 402 int TemperatureControl::new_thermistor_reading()
 403 {
 404     int last_raw = THEKERNEL->adc->read(&thermistor_pin);
 405     if (queue.size() >= queue.capacity()) {
 406         uint16_t l;
 407         queue.pop_front(l);
 408     }
 409     uint16_t r = last_raw;
 410     queue.push_back(r);
 411     for (int i=0; i<queue.size(); i++)
 412       median_buffer[i] = *queue.get_ref(i);
 413     uint16_t m = median_buffer[quick_median(median_buffer, queue.size())];
 414     return m;
 415 }
 416
 417 void TemperatureControl::on_second_tick(void* argument)
 418 {
 419     if (waiting)
 420         THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
 421 }
 422
 423 void TemperatureControl::setPIDp(float p) {
 424     this->p_factor= p;
 425 }
 426
 427 void TemperatureControl::setPIDi(float i) {
 428     this->i_factor= i*this->PIDdt;
 429 }
 430
 431 void TemperatureControl::setPIDd(float d) {
 432     this->d_factor= d/this->PIDdt;
 433 }