#include "TemperatureControl.h"
#include "TemperatureControlPool.h"
#include "libs/Pin.h"
+#include "libs/Median.h"
+#include "modules/robot/Conveyor.h"
-TemperatureControl::TemperatureControl(){}
+#include "MRI_Hooks.h"
-TemperatureControl::TemperatureControl(uint16_t name){
- this->name_checksum = name;
-// this->error_count = 0;
- this->waiting = false;
-}
+TemperatureControl::TemperatureControl(uint16_t name) :
+ name_checksum(name), waiting(false), min_temp_violated(false) {}
void TemperatureControl::on_module_loaded(){
this->acceleration_factor = 10;
- this->kernel->slow_ticker->attach( 20, this, &TemperatureControl::thermistor_read_tick );
-
// 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);
}
-void TemperatureControl::on_main_loop(void* argument){ }
+void TemperatureControl::on_main_loop(void* argument){
+ if (this->min_temp_violated) {
+ kernel->streams->printf("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){
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(5)->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();
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));
- // ADC smoothing
- running_total = 0;
-
// sigma-delta output modulation
o = 0;
// Thermistor pin for ADC readings
- this->thermistor_pin = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_pin();
- this->kernel->adc->enable_pin(this->thermistor_pin);
+ 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 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_pwm()->as_output();
- this->heater_pin->set(0);
+ 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(1000, this->heater_pin, &Pwm::on_tick);
+ this->kernel->slow_ticker->attach(1000, &heater_pin, &Pwm::on_tick);
+
+ // reading tick
+ this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
// PID
this->p_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, p_factor_checksum)->by_default(10 )->as_number();
this->i_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_factor_checksum)->by_default(0.3)->as_number();
this->d_factor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, d_factor_checksum)->by_default(200)->as_number();
- this->i_max = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(50 )->as_number();
+ this->i_max = this->kernel->config->value(temperature_control_checksum, this->name_checksum, i_max_checksum )->by_default(255)->as_number();
this->i = 0.0;
this->last_reading = 0.0;
}
-void TemperatureControl::on_gcode_received(void* argument)
-{
+void TemperatureControl::on_gcode_received(void* argument){
Gcode* gcode = static_cast<Gcode*>(argument);
if (gcode->has_m)
{
}
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'))
}
if (gcode->m == 303)
{
+ gcode->mark_as_taken();
if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
{
double target = 150.0;
this->pool->PIDtuner->begin(this, target, gcode->stream);
}
}
+
+ // Attach gcodes to the last block for on_gcode_execute
+ if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S') ){
+ 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){
- // Set temperature without waiting
- if( gcode->m == this->set_m_code && gcode->has_letter('S') )
- {
- if (gcode->get_value('S') == 0)
- {
- this->target_temperature = UNDEFINED;
- this->heater_pin->set(0);
- }
- else
- {
- this->set_desired_temperature(gcode->get_value('S'));
- }
- }
- // Set temperature and wait
- if( gcode->m == this->set_and_wait_m_code && gcode->has_letter('S') )
+ if (((gcode->m == this->set_m_code) || (gcode->m == this->set_and_wait_m_code))
+ && gcode->has_letter('S'))
{
- if (gcode->get_value('S') == 0)
+ double v = gcode->get_value('S');
+
+ if (v == 0.0)
{
this->target_temperature = UNDEFINED;
- this->heater_pin->set(0);
+ this->heater_pin.set(0);
}
else
{
- this->set_desired_temperature(gcode->get_value('S'));
- // Pause
- this->kernel->pauser->take();
- this->waiting = true;
+ this->set_desired_temperature(v);
+
+ if( gcode->m == this->set_and_wait_m_code)
+ {
+ gcode->mark_as_taken();
+ this->kernel->pauser->take();
+ this->waiting = true;
+ }
}
}
}
}
-void TemperatureControl::set_desired_temperature(double desired_temperature){
+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));
+ heater_pin.set((o = 0));
}
double TemperatureControl::get_temperature(){
{
if ((r <= 1) || (r >= 4094))
{
- kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin->port_number, this->thermistor_pin->pin);
+ this->min_temp_violated = true;
target_temperature = UNDEFINED;
- heater_pin->set(0);
+ heater_pin.set(0);
}
else
{
}
else
{
- heater_pin->set(0);
+ heater_pin.set((o = 0));
}
last_reading = temperature;
return 0;
if (i < -this->i_max)
i = -this->i_max;
- this->o = (p + i + d) * heater_pin->max_pwm() / 256;
+ this->o = (p + i + d) * heater_pin.max_pwm() / 256;
- if (this->o >= heater_pin->max_pwm())
- {
- i -= (this->o - (heater_pin->max_pwm() - 1)) * 256 / heater_pin->max_pwm();
- this->o = heater_pin->max_pwm() - 1;
- }
- if (this->o < 0)
- {
- if (this->o < -(heater_pin->max_pwm()))
- i += (-(heater_pin->max_pwm()) - this->o) * 256 / heater_pin->max_pwm();
+ 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(o);
+ this->heater_pin.pwm(this->o);
}
int TemperatureControl::new_thermistor_reading()
{
- int last_raw = this->kernel->adc->read(this->thermistor_pin);
+ int last_raw = this->kernel->adc->read(&thermistor_pin);
if (queue.size() >= queue.capacity())
{
uint16_t l;
queue.pop_front(l);
- running_total -= l;
d = l;
}
uint16_t r = last_raw;
queue.push_back(r);
- running_total += last_raw;
- return running_total / queue.size();
+ 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);
}
HCoop / clinton / Smoothieware.git / blobdiff