-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- 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.
- 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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-// TODO : THIS FILE IS LAME, MUST BE MADE MUCH BETTER
-
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-#include <math.h>
-#include "TemperatureControl.h"
-#include "TemperatureControlPool.h"
-#include "libs/Pin.h"
-#include "libs/Median.h"
-#include "modules/robot/Conveyor.h"
-#include "PublicDataRequest.h"
-
-#include "MRI_Hooks.h"
-
-TemperatureControl::TemperatureControl(uint16_t name) :
- name_checksum(name), waiting(false), min_temp_violated(false) {}
-
-void TemperatureControl::on_module_loaded(){
-
- // We start not desiring any temp
- this->target_temperature = UNDEFINED;
-
- // Settings
- this->on_config_reload(this);
-
- this->acceleration_factor = 10;
-
- // Register for events
- register_for_event(ON_CONFIG_RELOAD);
- this->register_for_event(ON_GCODE_EXECUTE);
- this->register_for_event(ON_GCODE_RECEIVED);
- this->register_for_event(ON_MAIN_LOOP);
- this->register_for_event(ON_SECOND_TICK);
- this->register_for_event(ON_GET_PUBLIC_DATA);
- this->register_for_event(ON_SET_PUBLIC_DATA);
-}
-
-void TemperatureControl::on_main_loop(void* argument){
- if (this->min_temp_violated) {
- kernel->streams->printf("Error: MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin.port_number, this->thermistor_pin.pin);
- this->min_temp_violated = false;
- }
-}
-
-// Get configuration from the config file
-void TemperatureControl::on_config_reload(void* argument){
-
- // General config
- this->set_m_code = this->kernel->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
- 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();
- this->get_m_code = this->kernel->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
- this->readings_per_second = this->kernel->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
-
- this->designator = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
-
- // Values are here : http://reprap.org/wiki/Thermistor
- this->r0 = 100000;
- this->t0 = 25;
- this->beta = 4066;
- this->r1 = 0;
- this->r2 = 4700;
-
- // Preset values for various common types of thermistors
- ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum);
- if( thermistor->value.compare("EPCOS100K" ) == 0 ){ // Default
- }else if( thermistor->value.compare("RRRF100K" ) == 0 ){ this->beta = 3960;
- }else if( thermistor->value.compare("RRRF10K" ) == 0 ){ this->beta = 3964; this->r0 = 10000; this->r1 = 680; this->r2 = 1600;
- }else if( thermistor->value.compare("Honeywell100K") == 0 ){ this->beta = 3974;
- }else if( thermistor->value.compare("Semitec" ) == 0 ){ this->beta = 4267;
- }else if( thermistor->value.compare("HT100K" ) == 0 ){ this->beta = 3990; }
-
- // Preset values are overriden by specified values
- this->r0 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum )->by_default(this->r0 )->as_number(); // Stated resistance eg. 100K
- 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
- 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
- this->r1 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum )->by_default(this->r1 )->as_number();
- this->r2 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum )->by_default(this->r2 )->as_number();
-
- this->preset1 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
- this->preset2 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
-
-
- // Thermistor math
- j = (1.0 / beta);
- k = (1.0 / (t0 + 273.15));
-
- // sigma-delta output modulation
- o = 0;
-
- // Thermistor pin for ADC readings
- this->thermistor_pin.from_string(this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string());
- this->kernel->adc->enable_pin(&thermistor_pin);
-
- // Heater pin
- this->heater_pin.from_string( this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
- this->heater_pin.max_pwm( this->kernel->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
- this->heater_pin.set(0);
-
- set_low_on_debug(heater_pin.port_number, heater_pin.pin);
-
- // activate SD-DAC timer
- this->kernel->slow_ticker->attach( this->kernel->config->value(temperature_control_checksum, this->name_checksum, pwm_frequency_checksum)->by_default(2000)->as_number() , &heater_pin, &Pwm::on_tick);
-
- // reading tick
- this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
- this->PIDdt= 1.0 / this->readings_per_second;
-
- // PID
- setPIDp( this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
- setPIDi( this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number() );
- setPIDd( this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );
- // set to the same as max_pwm by default
- this->i_max = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(this->heater_pin.max_pwm())->as_number();
- this->iTerm = 0.0;
- this->lastInput= -1.0;
- this->last_reading = 0.0;
-}
-
-void TemperatureControl::on_gcode_received(void* argument){
- Gcode* gcode = static_cast<Gcode*>(argument);
- if (gcode->has_m) {
- // Get temperature
- if( gcode->m == this->get_m_code ){
- char buf[32]; // should be big enough for any status
- 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);
- gcode->txt_after_ok.append(buf, n);
- gcode->mark_as_taken();
-
- } else if (gcode->m == 301) {
- gcode->mark_as_taken();
- if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
- {
- if (gcode->has_letter('P'))
- setPIDp( gcode->get_value('P') );
- if (gcode->has_letter('I'))
- setPIDi( gcode->get_value('I') );
- if (gcode->has_letter('D'))
- setPIDd( gcode->get_value('D') );
- if (gcode->has_letter('X'))
- this->i_max = gcode->get_value('X');
- }
- //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);
- 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);
-
- } else if (gcode->m == 303) {
- if (gcode->has_letter('E') && (gcode->get_value('E') == this->pool_index)) {
- gcode->mark_as_taken();
- double target = 150.0;
- if (gcode->has_letter('S')) {
- target = gcode->get_value('S');
- gcode->stream->printf("Target: %5.1f\n", target);
- }
- int ncycles= 8;
- if (gcode->has_letter('C')) {
- ncycles= gcode->get_value('C');
- }
- gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
- this->pool->PIDtuner->begin(this, target, gcode->stream, ncycles);
- }
-
- } else if (gcode->m == 500 || gcode->m == 503){// M500 saves some volatile settings to config override file, M503 just prints the settings
- gcode->stream->printf(";PID settings:\nM301 P%1.4f I%1.4f D%1.4f\n", this->p_factor, this->i_factor/this->PIDdt, this->d_factor*this->PIDdt);
- gcode->mark_as_taken();
-
- } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ) {
- gcode->mark_as_taken();
-
- // Attach gcodes to the last block for on_gcode_execute
- if( this->kernel->conveyor->queue.size() == 0 ){
- this->kernel->call_event(ON_GCODE_EXECUTE, gcode );
- }else{
- Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 );
- block->append_gcode(gcode);
- }
- }
- }
-}
-
-void TemperatureControl::on_gcode_execute(void* argument){
- Gcode* gcode = static_cast<Gcode*>(argument);
- if( gcode->has_m){
- if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
- && gcode->has_letter('S'))
- {
- double v = gcode->get_value('S');
-
- if (v == 0.0)
- {
- this->target_temperature = UNDEFINED;
- this->heater_pin.set(0);
- }
- else
- {
- this->set_desired_temperature(v);
-
- if( gcode->m == this->set_and_wait_m_code)
- {
- this->kernel->pauser->take();
- this->waiting = true;
- }
- }
- }
- }
-}
-
-void TemperatureControl::on_get_public_data(void* argument){
- PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
-
- if(!pdr->starts_with(temperature_control_checksum)) return;
-
- if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
-
- // ok this is targeted at us, so send back the requested data
- if(pdr->third_element_is(current_temperature_checksum)) {
- // this must be static as it will be accessed long after we have returned
- static struct pad_temperature temp_return;
- temp_return.current_temperature= this->get_temperature();
- temp_return.target_temperature= (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
- temp_return.pwm= this->o;
-
- pdr->set_data_ptr(&temp_return);
- pdr->set_taken();
- }
-}
-
-void TemperatureControl::on_set_public_data(void* argument){
- PublicDataRequest* pdr = static_cast<PublicDataRequest*>(argument);
-
- if(!pdr->starts_with(temperature_control_checksum)) return;
-
- if(!pdr->second_element_is(this->name_checksum)) return; // will be bed or hotend
-
- // ok this is targeted at us, so set the temp
- double t= *static_cast<double*>(pdr->get_data_ptr());
- this->set_desired_temperature(t);
- pdr->set_taken();
-}
-
-void TemperatureControl::set_desired_temperature(double desired_temperature)
-{
- if (desired_temperature == 1.0)
- desired_temperature = preset1;
- else if (desired_temperature == 2.0)
- desired_temperature = preset2;
-
- target_temperature = desired_temperature;
- if (desired_temperature == 0.0)
- heater_pin.set((o = 0));
-}
-
-double TemperatureControl::get_temperature(){
- return last_reading;
-}
-
-double TemperatureControl::adc_value_to_temperature(int adc_value)
-{
- if ((adc_value == 4095) || (adc_value == 0))
- return INFINITY;
- double r = r2 / ((4095.0 / adc_value) - 1.0);
- if (r1 > 0)
- r = (r1 * r) / (r1 - r);
- return (1.0 / (k + (j * log(r / r0)))) - 273.15;
-}
-
-uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
- int r = new_thermistor_reading();
-
- double temperature = adc_value_to_temperature(r);
-
- if (target_temperature > 0)
- {
- if ((r <= 1) || (r >= 4094))
- {
- this->min_temp_violated = true;
- target_temperature = UNDEFINED;
- heater_pin.set(0);
- }
- else
- {
- pid_process(temperature);
- if ((temperature > target_temperature) && waiting)
- {
- kernel->pauser->release();
- waiting = false;
- }
- }
- }
- else
- {
- heater_pin.set((o = 0));
- }
- last_reading = temperature;
- return 0;
-}
-
-/**
- * Based on https://github.com/br3ttb/Arduino-PID-Library
- */
-void TemperatureControl::pid_process(double temperature)
-{
- double error = target_temperature - temperature;
-
- this->iTerm += (error * this->i_factor);
- if (this->iTerm > this->i_max) this->iTerm = this->i_max;
- else if (this->iTerm < 0.0) this->iTerm = 0.0;
-
- if(this->lastInput < 0.0) this->lastInput= temperature; // set first time
- double d= (temperature - this->lastInput);
-
- // calculate the PID output
- // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
- this->o = (this->p_factor*error) + this->iTerm - (this->d_factor*d);
-
- if (this->o >= heater_pin.max_pwm())
- this->o = heater_pin.max_pwm();
- else if (this->o < 0)
- this->o = 0;
-
- this->heater_pin.pwm(this->o);
- this->lastInput= temperature;
-}
-
-int TemperatureControl::new_thermistor_reading()
-{
- int last_raw = this->kernel->adc->read(&thermistor_pin);
- if (queue.size() >= queue.capacity()) {
- uint16_t l;
- queue.pop_front(l);
- }
- uint16_t r = last_raw;
- queue.push_back(r);
- for (int i=0; i<queue.size(); i++)
- median_buffer[i] = *queue.get_ref(i);
- uint16_t m = median_buffer[quick_median(median_buffer, queue.size())];
- return m;
-}
-
-void TemperatureControl::on_second_tick(void* argument)
-{
- if (waiting)
- kernel->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), o);
-}
-
-void TemperatureControl::setPIDp(double p) {
- this->p_factor= p;
-}
-
-void TemperatureControl::setPIDi(double i) {
- this->i_factor= i*this->PIDdt;
-}
-
-void TemperatureControl::setPIDd(double d) {
- this->d_factor= d/this->PIDdt;
-}
+/*
+ This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+ 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.
+ 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.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+// TODO : THIS FILE IS LAME, MUST BE MADE MUCH BETTER
+
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include <math.h>
+#include "TemperatureControl.h"
+#include "TemperatureControlPool.h"
+#include "libs/Pin.h"
+#include "modules/robot/Conveyor.h"
+#include "PublicDataRequest.h"
+
+#include "PublicData.h"
+#include "ToolManagerPublicAccess.h"
+#include "StreamOutputPool.h"
+#include "Config.h"
+#include "checksumm.h"
+#include "Gcode.h"
+#include "SlowTicker.h"
+#include "Pauser.h"
+#include "ConfigValue.h"
+#include "PID_Autotuner.h"
+
+// Temp sensor implementations:
+#include "Thermistor.h"
+#include "max31855.h"
+
+#include "MRI_Hooks.h"
+
+#define UNDEFINED -1
+
+#define sensor_checksum CHECKSUM("sensor")
+
+#define readings_per_second_checksum CHECKSUM("readings_per_second")
+#define max_pwm_checksum CHECKSUM("max_pwm")
+#define pwm_frequency_checksum CHECKSUM("pwm_frequency")
+#define bang_bang_checksum CHECKSUM("bang_bang")
+#define hysteresis_checksum CHECKSUM("hysteresis")
+#define heater_pin_checksum CHECKSUM("heater_pin")
+
+#define get_m_code_checksum CHECKSUM("get_m_code")
+#define set_m_code_checksum CHECKSUM("set_m_code")
+#define set_and_wait_m_code_checksum CHECKSUM("set_and_wait_m_code")
+
+#define designator_checksum CHECKSUM("designator")
+
+#define p_factor_checksum CHECKSUM("p_factor")
+#define i_factor_checksum CHECKSUM("i_factor")
+#define d_factor_checksum CHECKSUM("d_factor")
+
+#define i_max_checksum CHECKSUM("i_max")
+
+#define preset1_checksum CHECKSUM("preset1")
+#define preset2_checksum CHECKSUM("preset2")
+
+TemperatureControl::TemperatureControl(uint16_t name, int index)
+{
+ name_checksum= name;
+ pool_index= index;
+ waiting= false;
+ min_temp_violated= false;
+ sensor= nullptr;
+ readonly= false;
+}
+
+TemperatureControl::~TemperatureControl()
+{
+ delete sensor;
+}
+
+void TemperatureControl::on_module_loaded()
+{
+
+ // We start not desiring any temp
+ this->target_temperature = UNDEFINED;
+
+ // Settings
+ this->load_config();
+
+ // Register for events
+ this->register_for_event(ON_GCODE_RECEIVED);
+ this->register_for_event(ON_GET_PUBLIC_DATA);
+
+ if(!this->readonly) {
+ this->register_for_event(ON_GCODE_EXECUTE);
+ this->register_for_event(ON_SECOND_TICK);
+ this->register_for_event(ON_MAIN_LOOP);
+ this->register_for_event(ON_SET_PUBLIC_DATA);
+ this->register_for_event(ON_HALT);
+ }
+}
+
+void TemperatureControl::on_halt(void *arg)
+{
+ // turn off heater
+ this->o = 0;
+ this->heater_pin.set(0);
+ this->target_temperature = UNDEFINED;
+}
+
+void TemperatureControl::on_main_loop(void *argument)
+{
+ if (this->min_temp_violated) {
+ THEKERNEL->streams->printf("Error: MINTEMP triggered. Check your temperature sensors!\n");
+ this->min_temp_violated = false;
+ }
+}
+
+// Get configuration from the config file
+void TemperatureControl::load_config()
+{
+
+ // General config
+ this->set_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, set_m_code_checksum)->by_default(104)->as_number();
+ 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();
+ this->get_m_code = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, get_m_code_checksum)->by_default(105)->as_number();
+ this->readings_per_second = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, readings_per_second_checksum)->by_default(20)->as_number();
+
+ this->designator = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
+
+ // Heater pin
+ this->heater_pin.from_string( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->by_default("nc")->as_string());
+ if(this->heater_pin.connected()){
+ this->readonly= false;
+ this->heater_pin.as_output();
+
+ } else {
+ this->readonly= true;
+ }
+
+ // For backward compatibility, default to a thermistor sensor.
+ std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string();
+
+ // Instantiate correct sensor (TBD: TempSensor factory?)
+ delete sensor;
+ sensor = nullptr; // In case we fail to create a new sensor.
+ if(sensor_type.compare("thermistor") == 0) {
+ sensor = new Thermistor();
+ } else if(sensor_type.compare("max31855") == 0) {
+ sensor = new Max31855();
+ } else {
+ sensor = new TempSensor(); // A dummy implementation
+ }
+ sensor->UpdateConfig(temperature_control_checksum, this->name_checksum);
+
+ this->preset1 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset1_checksum)->by_default(0)->as_number();
+ this->preset2 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, preset2_checksum)->by_default(0)->as_number();
+
+
+ // sigma-delta output modulation
+ this->o = 0;
+
+ if(!this->readonly) {
+ // used to enable bang bang control of heater
+ this->use_bangbang = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool();
+ this->hysteresis = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number();
+ this->heater_pin.max_pwm( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_pwm_checksum)->by_default(255)->as_number() );
+ this->heater_pin.set(0);
+ set_low_on_debug(heater_pin.port_number, heater_pin.pin);
+ // activate SD-DAC timer
+ 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);
+ }
+
+
+ // reading tick
+ THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
+ this->PIDdt = 1.0 / this->readings_per_second;
+
+ // PID
+ setPIDp( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number() );
+ setPIDi( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3f)->as_number() );
+ setPIDd( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number() );
+
+ if(!this->readonly) {
+ // set to the same as max_pwm by default
+ this->i_max = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(this->heater_pin.max_pwm())->as_number();
+ }
+
+ this->iTerm = 0.0;
+ this->lastInput = -1.0;
+ this->last_reading = 0.0;
+}
+
+void TemperatureControl::on_gcode_received(void *argument)
+{
+ Gcode *gcode = static_cast<Gcode *>(argument);
+ if (gcode->has_m) {
+
+ if( gcode->m == this->get_m_code ) {
+ char buf[32]; // should be big enough for any status
+ 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);
+ gcode->txt_after_ok.append(buf, n);
+ gcode->mark_as_taken();
+ return;
+ }
+
+ // readonly sensors don't handle the rest
+ if(this->readonly) return;
+
+ if (gcode->m == 301) {
+ gcode->mark_as_taken();
+ if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) {
+ if (gcode->has_letter('P'))
+ setPIDp( gcode->get_value('P') );
+ if (gcode->has_letter('I'))
+ setPIDi( gcode->get_value('I') );
+ if (gcode->has_letter('D'))
+ setPIDd( gcode->get_value('D') );
+ if (gcode->has_letter('X'))
+ this->i_max = gcode->get_value('X');
+ }
+ //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);
+ 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);
+
+ } else if (gcode->m == 500 || gcode->m == 503) { // M500 saves some volatile settings to config override file, M503 just prints the settings
+ 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);
+ gcode->mark_as_taken();
+
+ } else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S')) {
+ // this only gets handled if it is not controlle dby the tool manager or is active in the toolmanager
+ this->active = true;
+
+ // this is safe as old configs as well as single extruder configs the toolmanager will not be running so will return false
+ // this will also ignore anything that the tool manager is not controlling and return false, otherwise it returns the active tool
+ void *returned_data;
+ bool ok = PublicData::get_value( tool_manager_checksum, is_active_tool_checksum, this->name_checksum, &returned_data );
+ if (ok) {
+ uint16_t active_tool_name = *static_cast<uint16_t *>(returned_data);
+ this->active = (active_tool_name == this->name_checksum);
+ }
+
+ if(this->active) {
+ // Attach gcodes to the last block for on_gcode_execute
+ THEKERNEL->conveyor->append_gcode(gcode);
+
+ // 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
+ if (gcode->m == this->set_and_wait_m_code) {
+ // ensure that no subsequent gcodes get executed with our M109 or similar
+ THEKERNEL->conveyor->queue_head_block();
+ }
+ }
+ }
+ }
+}
+
+void TemperatureControl::on_gcode_execute(void *argument)
+{
+ Gcode *gcode = static_cast<Gcode *>(argument);
+ if( gcode->has_m) {
+ if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
+ && gcode->has_letter('S') && this->active) {
+ float v = gcode->get_value('S');
+
+ if (v == 0.0) {
+ this->target_temperature = UNDEFINED;
+ this->heater_pin.set((this->o = 0));
+ } else {
+ this->set_desired_temperature(v);
+
+ if( gcode->m == this->set_and_wait_m_code && !this->waiting) {
+ THEKERNEL->pauser->take();
+ this->waiting = true;
+ }
+ }
+ }
+ }
+}
+
+void TemperatureControl::on_get_public_data(void *argument)
+{
+ PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
+
+ if(!pdr->starts_with(temperature_control_checksum)) return;
+
+ if(pdr->second_element_is(pool_index_checksum)) {
+ // asking for our instance pointer if we have this pool_index
+ if(pdr->third_element_is(this->pool_index)) {
+ static void *return_data;
+ return_data = this;
+ pdr->set_data_ptr(&return_data);
+ pdr->set_taken();
+ }
+ return;
+
+ }else if(!pdr->second_element_is(this->name_checksum)) return;
+
+ // ok this is targeted at us, so send back the requested data
+ if(pdr->third_element_is(current_temperature_checksum)) {
+ this->public_data_return.current_temperature = this->get_temperature();
+ this->public_data_return.target_temperature = (target_temperature == UNDEFINED) ? 0 : this->target_temperature;
+ this->public_data_return.pwm = this->o;
+ this->public_data_return.designator= this->designator;
+ pdr->set_data_ptr(&this->public_data_return);
+ pdr->set_taken();
+ }
+
+}
+
+void TemperatureControl::on_set_public_data(void *argument)
+{
+ PublicDataRequest *pdr = static_cast<PublicDataRequest *>(argument);
+
+ if(!pdr->starts_with(temperature_control_checksum)) return;
+
+ if(!pdr->second_element_is(this->name_checksum)) return;
+
+ // ok this is targeted at us, so set the temp
+ float t = *static_cast<float *>(pdr->get_data_ptr());
+ this->set_desired_temperature(t);
+ pdr->set_taken();
+}
+
+void TemperatureControl::set_desired_temperature(float desired_temperature)
+{
+ if (desired_temperature == 1.0)
+ desired_temperature = preset1;
+ else if (desired_temperature == 2.0)
+ desired_temperature = preset2;
+
+ target_temperature = desired_temperature;
+ if (desired_temperature == 0.0)
+ heater_pin.set((this->o = 0));
+}
+
+float TemperatureControl::get_temperature()
+{
+ return last_reading;
+}
+
+uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy)
+{
+ float temperature = sensor->get_temperature();
+ if(this->readonly) {
+ last_reading = temperature;
+ return 0;
+ }
+
+ if (target_temperature > 0) {
+ if (isinf(temperature)) {
+ this->min_temp_violated = true;
+ target_temperature = UNDEFINED;
+ heater_pin.set((this->o = 0));
+ } else {
+ pid_process(temperature);
+ if ((temperature > target_temperature) && waiting) {
+ THEKERNEL->pauser->release();
+ waiting = false;
+ }
+ }
+ } else {
+ heater_pin.set((this->o = 0));
+ }
+ last_reading = temperature;
+ return 0;
+}
+
+/**
+ * Based on https://github.com/br3ttb/Arduino-PID-Library
+ */
+void TemperatureControl::pid_process(float temperature)
+{
+ if(use_bangbang) {
+ // bang bang is very simple, if temp is < target - hysteresis turn on full else if temp is > target + hysteresis turn heater off
+ // good for relays
+ if(temperature > (target_temperature + hysteresis) && this->o > 0) {
+ heater_pin.set(false);
+ this->o = 0; // for display purposes only
+
+ } else if(temperature < (target_temperature - hysteresis) && this->o <= 0) {
+ if(heater_pin.max_pwm() >= 255) {
+ // turn on full
+ this->heater_pin.set(true);
+ this->o = 255; // for display purposes only
+ } else {
+ // only to whatever max pwm is configured
+ this->heater_pin.pwm(heater_pin.max_pwm());
+ this->o = heater_pin.max_pwm(); // for display purposes only
+ }
+ }
+ return;
+ }
+
+ // regular PID control
+ float error = target_temperature - temperature;
+ this->iTerm += (error * this->i_factor);
+ if (this->iTerm > this->i_max) this->iTerm = this->i_max;
+ else if (this->iTerm < 0.0) this->iTerm = 0.0;
+
+ if(this->lastInput < 0.0) this->lastInput = temperature; // set first time
+ float d = (temperature - this->lastInput);
+
+ // calculate the PID output
+ // TODO does this need to be scaled by max_pwm/256? I think not as p_factor already does that
+ this->o = (this->p_factor * error) + this->iTerm - (this->d_factor * d);
+
+ if (this->o >= heater_pin.max_pwm())
+ this->o = heater_pin.max_pwm();
+ else if (this->o < 0)
+ this->o = 0;
+
+ this->heater_pin.pwm(this->o);
+ this->lastInput = temperature;
+}
+
+void TemperatureControl::on_second_tick(void *argument)
+{
+ if (waiting)
+ THEKERNEL->streams->printf("%s:%3.1f /%3.1f @%d\n", designator.c_str(), get_temperature(), ((target_temperature == UNDEFINED) ? 0.0 : target_temperature), o);
+}
+
+void TemperatureControl::setPIDp(float p)
+{
+ this->p_factor = p;
+}
+
+void TemperatureControl::setPIDi(float i)
+{
+ this->i_factor = i * this->PIDdt;
+}
+
+void TemperatureControl::setPIDd(float d)
+{
+ this->d_factor = d / this->PIDdt;
+}
HCoop / clinton / Smoothieware.git / blobdiff