#include "libs/Pin.h"
#include "libs/Median.h"
#include "modules/robot/Conveyor.h"
+#include "PublicDataRequest.h"
#include "MRI_Hooks.h"
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("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin.port_number, this->thermistor_pin.pin);
+ THEKERNEL->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;
}
}
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->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 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
+ this->designator = THEKERNEL->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->r2 = 4700;
// Preset values for various common types of thermistors
- ConfigValue* thermistor = this->kernel->config->value(temperature_control_checksum, this->name_checksum, thermistor_checksum);
+ ConfigValue* thermistor = THEKERNEL->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("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->r0 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r0_checksum )->by_default(this->r0 )->as_number(); // Stated resistance eg. 100K
+ 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
+ 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
+ this->r1 = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, r1_checksum )->by_default(this->r1 )->as_number();
+ this->r2 = THEKERNEL->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();
+ 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();
// Thermistor math
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);
+ this->thermistor_pin.from_string(THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, thermistor_pin_checksum )->required()->as_string());
+ THEKERNEL->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.from_string( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_string())->as_output();
+ 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
- this->kernel->slow_ticker->attach(1000, &heater_pin, &Pwm::on_tick);
+ 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
- this->kernel->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
+ THEKERNEL->slow_ticker->attach( this->readings_per_second, this, &TemperatureControl::thermistor_read_tick );
+ this->PIDdt= 1.0 / this->readings_per_second;
// 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(255)->as_number();
- this->i = 0.0;
+ 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() );
+ // 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->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);
- }
- if (gcode->m == 301)
- {
+ 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'))
- this->p_factor = gcode->get_value('P');
+ setPIDp( gcode->get_value('P') );
if (gcode->has_letter('I'))
- this->i_factor = gcode->get_value('I');
+ setPIDi( gcode->get_value('I') );
if (gcode->has_letter('D'))
- this->d_factor = gcode->get_value('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->d_factor, this->i_max, this->p, this->i, this->d, o);
- }
- if (gcode->m == 303)
- {
- gcode->mark_as_taken();
- if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index))
- {
- double target = 150.0;
- if (gcode->has_letter('P'))
- {
- target = gcode->get_value('P');
+ //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();
+ float 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);
+ this->pool->PIDtuner->begin(this, target, gcode->stream, ncycles);
}
- }
- // 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);
- }
+ } 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') ) {
+ // Attach gcodes to the last block for on_gcode_execute
+ THEKERNEL->conveyor->append_gcode(gcode);
}
}
}
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');
+ float v = gcode->get_value('S');
if (v == 0.0)
{
if( gcode->m == this->set_and_wait_m_code)
{
- gcode->mark_as_taken();
- this->kernel->pauser->take();
+ 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;
-void TemperatureControl::set_desired_temperature(double desired_temperature)
+ 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
+ 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;
heater_pin.set((o = 0));
}
-double TemperatureControl::get_temperature(){
+float TemperatureControl::get_temperature(){
return last_reading;
}
-double TemperatureControl::adc_value_to_temperature(int adc_value)
+float 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);
+ float 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);
+ float temperature = adc_value_to_temperature(r);
if (target_temperature > 0)
{
pid_process(temperature);
if ((temperature > target_temperature) && waiting)
{
- kernel->pauser->release();
+ THEKERNEL->pauser->release();
waiting = false;
}
}
return 0;
}
-void TemperatureControl::pid_process(double temperature)
+/**
+ * Based on https://github.com/br3ttb/Arduino-PID-Library
+ */
+void TemperatureControl::pid_process(float temperature)
{
- double error = target_temperature - temperature;
+ float error = target_temperature - temperature;
- p = error * p_factor;
- i += (error * this->i_factor);
- // d was imbued with oldest_raw earlier in new_thermistor_reading
- d = adc_value_to_temperature(d);
- d = (d - temperature) * this->d_factor;
+ 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 (i > this->i_max)
- i = this->i_max;
- if (i < -this->i_max)
- i = -this->i_max;
+ if(this->lastInput < 0.0) this->lastInput= temperature; // set first time
+ float d= (temperature - this->lastInput);
- this->o = (p + i + d) * heater_pin.max_pwm() / 256;
+ // 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();
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())
- {
+ int last_raw = THEKERNEL->adc->read(&thermistor_pin);
+ if (queue.size() >= queue.capacity()) {
uint16_t l;
queue.pop_front(l);
- d = l;
}
uint16_t r = last_raw;
queue.push_back(r);
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);
+ 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