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
  19 #include "MRI_Hooks.h"
  20
  21 TemperatureControl::TemperatureControl(uint16_t name) :
  22   name_checksum(name), waiting(false), min_temp_violated(false) {}
  23
  24 void TemperatureControl::on_module_loaded(){
  25
  26     // We start not desiring any temp
  27     this->target_temperature = UNDEFINED;
  28
  29     // Settings
  30     this->on_config_reload(this);
  31
  32     this->acceleration_factor = 10;
  33
  34     // Register for events
  35     register_for_event(ON_CONFIG_RELOAD);
  36     this->register_for_event(ON_GCODE_EXECUTE);
  37     this->register_for_event(ON_GCODE_RECEIVED);
  38     this->register_for_event(ON_MAIN_LOOP);
  39     this->register_for_event(ON_SECOND_TICK);
  40
  41 }
  42
  43 void TemperatureControl::on_main_loop(void* argument){
  44     if (this->min_temp_violated) {
  45         kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin.port_number, this->thermistor_pin.pin);
  46         this->min_temp_violated = false;
  47     }
  48 }
  49
  50 // Get configuration from the config file
  51 void TemperatureControl::on_config_reload(void* argument){
  52
  53     // General config
  54     this->set_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
  55     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();
  56     this->get_m_code          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
  57     this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
  58
  59     this->designator          = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
  60
  61     // Values are here : http://reprap.org/wiki/Thermistor
  62     this->r0   = 100000;
  63     this->t0   = 25;
  64     this->beta = 4066;
  65     this->r1   = 0;
  66     this->r2   = 4700;
  67
  68     // Preset values for various common types of thermistors
  69     ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum);
  70     if(       thermistor->value.compare("EPCOS100K"    ) == 0 ){ // Default
  71     }else if( thermistor->value.compare("RRRF100K"     ) == 0 ){ this->beta = 3960;
  72     }else if( thermistor->value.compare("RRRF10K"      ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600;
  73     }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974;
  74     }else if( thermistor->value.compare("Semitec"      ) == 0 ){ this->beta = 4267; }
  75
  76     // Preset values are overriden by specified values
  77     this->r0 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum  )->by_default(this->r0  )->as_number();               // Stated resistance eg. 100K
  78     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
  79     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
  80     this->r1 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum  )->by_default(this->r1  )->as_number();
  81     this->r2 =                  this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum  )->by_default(this->r2  )->as_number();
  82
  83
  84     // Thermistor math
  85     j = (1.0 / beta);
  86     k = (1.0 / (t0 + 273.15));
  87
  88     // sigma-delta output modulation
  89     o = 0;
  90
  91     // Thermistor pin for ADC readings
  92     this->thermistor_pin.from_string(this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string());
  93     this->kernel->adc->enable_pin(&thermistor_pin);
  94
  95     // Heater pin
  96     this->heater_pin.from_string(    this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
  97     this->heater_pin.max_pwm(        this->kernel->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
  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     Gcode* gcode = static_cast<Gcode*>(argument);
 119     if (gcode->has_m)
 120     {
 121         // Get temperature
 122         if( gcode->m == this->get_m_code ){
 123             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);
 124             gcode->add_nl = true;
 125         }
 126         if (gcode->m == 301)
 127         {
 128             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 129             {
 130                 if (gcode->has_letter('P'))
 131                     this->p_factor = gcode->get_value('P');
 132                 if (gcode->has_letter('I'))
 133                     this->i_factor = gcode->get_value('I');
 134                 if (gcode->has_letter('D'))
 135                     this->d_factor = gcode->get_value('D');
 136                 if (gcode->has_letter('X'))
 137                     this->i_max    = gcode->get_value('X');
 138             }
 139             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);
 140         }
 141         if (gcode->m == 303)
 142         {
 143             if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
 144             {
 145                 double target = 150.0;
 146                 if (gcode->has_letter('P'))
 147                 {
 148                     target = gcode->get_value('P');
 149                     gcode->stream->printf("Target: %5.1f\n", target);
 150                 }
 151                 gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
 152                 this->pool->PIDtuner->begin(this, target, gcode->stream);
 153             }
 154         }
 155
 156         // Attach gcodes to the last block for on_gcode_execute
 157         if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ){
 158             if( this->kernel->conveyor->queue.size() == 0 ){
 159                 this->kernel->call_event(ON_GCODE_EXECUTE, gcode );
 160             }else{
 161                 Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 );
 162                 block->append_gcode(gcode);
 163             }
 164
 165         }
 166     }
 167 }
 168
 169 void TemperatureControl::on_gcode_execute(void* argument){
 170     Gcode* gcode = static_cast<Gcode*>(argument);
 171     if( gcode->has_m){
 172         // Set temperature without waiting
 173         if( gcode->m == this->set_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             }
 184         }
 185         // Set temperature and wait
 186         if( gcode->m == this->set_and_wait_m_code && gcode->has_letter('S') )
 187         {
 188             if (gcode->get_value('S') == 0)
 189             {
 190                 this->target_temperature = UNDEFINED;
 191                 this->heater_pin.set(0);
 192             }
 193             else
 194             {
 195                 this->set_desired_temperature(gcode->get_value('S'));
 196                 // Pause
 197                 this->kernel->pauser->take();
 198                 this->waiting = true;
 199             }
 200         }
 201     }
 202 }
 203
 204
 205 void TemperatureControl::set_desired_temperature(double desired_temperature){
 206     target_temperature = desired_temperature;
 207     if (desired_temperature == 0.0)
 208         heater_pin.set((o = 0));
 209 }
 210
 211 double TemperatureControl::get_temperature(){
 212     return last_reading;
 213 }
 214
 215 double TemperatureControl::adc_value_to_temperature(int adc_value)
 216 {
 217     if ((adc_value == 4095) || (adc_value == 0))
 218         return INFINITY;
 219     double r = r2 / ((4095.0 / adc_value) - 1.0);
 220     if (r1 > 0)
 221         r = (r1 * r) / (r1 - r);
 222     return (1.0 / (k + (j * log(r / r0)))) - 273.15;
 223 }
 224
 225 uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
 226     int r = new_thermistor_reading();
 227
 228     double temperature = adc_value_to_temperature(r);
 229
 230     if (target_temperature > 0)
 231     {
 232         if ((r <= 1) || (r >= 4094))
 233         {
 234             this->min_temp_violated = true;
 235             target_temperature = UNDEFINED;
 236             heater_pin.set(0);
 237         }
 238         else
 239         {
 240             pid_process(temperature);
 241             if ((temperature > target_temperature) && waiting)
 242             {
 243                 kernel->pauser->release();
 244                 waiting = false;
 245             }
 246         }
 247     }
 248     else
 249     {
 250         heater_pin.set((o = 0));
 251     }
 252     last_reading = temperature;
 253     return 0;
 254 }
 255
 256 void TemperatureControl::pid_process(double temperature)
 257 {
 258     double error = target_temperature - temperature;
 259
 260     p  = error * p_factor;
 261     i += (error * this->i_factor);
 262     // d was imbued with oldest_raw earlier in new_thermistor_reading
 263     d = adc_value_to_temperature(d);
 264     d = (d - temperature) * this->d_factor;
 265
 266     if (i > this->i_max)
 267         i = this->i_max;
 268     if (i < -this->i_max)
 269         i = -this->i_max;
 270
 271     this->o = (p + i + d) * heater_pin.max_pwm() / 256;
 272
 273     if (this->o >= heater_pin.max_pwm())
 274     {
 275         i = 0;
 276         this->o = heater_pin.max_pwm();
 277     }
 278     if (this->o < 0)
 279     {
 280         if (this->o < -(heater_pin.max_pwm()))
 281             i = 0;
 282         this->o = 0;
 283     }
 284
 285     this->heater_pin.pwm(o);
 286 }
 287
 288 int TemperatureControl::new_thermistor_reading()
 289 {
 290     int last_raw = this->kernel->adc->read(&thermistor_pin);
 291     if (queue.size() >= queue.capacity())
 292     {
 293         uint16_t l;
 294         queue.pop_front(l);
 295         d = l;
 296     }
 297     uint16_t r = last_raw;
 298     queue.push_back(r);
 299     for (int i=0; i<queue.size(); i++)
 300       median_buffer[i] = *queue.get_ref(i);
 301     uint16_t m = median_buffer[quick_median(median_buffer, queue.size())];
 302     return m;
 303 }
 304
 305 void TemperatureControl::on_second_tick(void* argument)
 306 {
 307     if (waiting)
 308         kernel->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
 309 }