-/*
- 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 "libs/Pin.h"
-
-TemperatureControl::TemperatureControl(){}
-
-TemperatureControl::TemperatureControl(uint16_t name){
- this->name_checksum = name;
- this->error_count = 0;
- this->waiting = false;
-}
-
-void TemperatureControl::on_module_loaded(){
-
- // We start not desiring any temp
- this->desired_adc_value = UNDEFINED;
-
- // Settings
- this->on_config_reload(this);
-
- this->acceleration_factor = 10;
-
- this->kernel->slow_ticker->attach( 20, this, &TemperatureControl::thermistor_read_tick );
-
- // Register for events
- this->register_for_event(ON_GCODE_EXECUTE);
- this->register_for_event(ON_GCODE_RECEIVED);
- this->register_for_event(ON_MAIN_LOOP);
-
-}
-
-void TemperatureControl::on_main_loop(void* argument){ }
-
-// 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(5)->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->vadc = 3.3;
- this->vcc = 3.3;
- 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; }
-
- // Preset values are overriden by specified values
- this->r0 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r0_checksum )->by_default(100000)->as_number(); // Stated resistance eg. 100K
- this->t0 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, t0_checksum )->by_default(25 )->as_number() + 273.15; // Temperature at stated resistance, eg. 25C
- this->beta = this->kernel->config->value(temperature_control_checksum, this->name_checksum, beta_checksum)->by_default(4066 )->as_number(); // Thermistor beta rating. See http://reprap.org/bin/view/Main/MeasuringThermistorBeta
- this->vadc = this->kernel->config->value(temperature_control_checksum, this->name_checksum, vadc_checksum)->by_default(3.3 )->as_number(); // ADC Reference
- this->vcc = this->kernel->config->value(temperature_control_checksum, this->name_checksum, vcc_checksum )->by_default(3.3 )->as_number(); // Supply voltage to potential divider
- this->r1 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r1_checksum )->by_default(0 )->as_number();
- this->r2 = this->kernel->config->value(temperature_control_checksum, this->name_checksum, r2_checksum )->by_default(4700 )->as_number();
-
- // Thermistor math
- this->k = this->r0 * exp( -this->beta / this->t0 );
- if( r1 > 0 ){ this->vs = r1 * this->vcc / ( r1 + r2 ); this->rs = r1 * r2 / ( r1 + r2 ); }else{ this->vs = this->vcc; this->rs = r2; }
-
- // 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);
-
- // Heater pin
- this->heater_pin = this->kernel->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->required()->as_pin()->as_output();
- this->heater_pin->set(0);
-
-}
-
-//#pragma GCC push_options
-//#pragma GCC optimize ("O0")
-
-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 ){
-// gcode->stream->printf("get temperature: %f current:%f target:%f bare_value:%u \r\n", this->get_temperature(), this->new_thermistor_reading(), this->desired_adc_value, this->kernel->adc->read(this->thermistor_pin) );
- gcode->stream->printf("%s:%3.1f /%3.1f ", this->designator.c_str(), this->get_temperature(), ((this->desired_adc_value == UNDEFINED)?0.0:this->adc_value_to_temperature(this->desired_adc_value)));
- gcode->add_nl = true;
- }
- }
-}
-
-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') ){
- //gcode->stream->printf("setting to %f meaning %u \r\n", gcode->get_value('S'), this->temperature_to_adc_value( gcode->get_value('S') ) );
- if (gcode->get_value('S') == 0)
- {
- this->desired_adc_value = 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->get_value('S') == 0)
- {
- this->desired_adc_value = UNDEFINED;
- this->heater_pin->set(0);
- }
- else
- {
- this->set_desired_temperature(gcode->get_value('S'));
- // Pause
- this->kernel->pauser->take();
- this->waiting = true;
- }
- }
- }
-}
-
-//#pragma GCC pop_options
-
-
-void TemperatureControl::set_desired_temperature(double desired_temperature){
- this->desired_adc_value = this->temperature_to_adc_value(desired_temperature);
-}
-
-double TemperatureControl::get_temperature(){
- return this->adc_value_to_temperature( this->new_thermistor_reading() );
-}
-
-double TemperatureControl::adc_value_to_temperature(double adc_value){
- double v = adc_value * this->vadc; // Convert from 0-1 adc value to voltage
- double r = this->rs * v / ( this->vs - v ); // Resistance of thermistor
- return ( this->beta / log( r / this->k )) - 273.15;
-}
-
-double TemperatureControl::temperature_to_adc_value(double temperature){
- double r = this->r0 * exp( this->beta * ( 1 / (temperature + 273.15) -1 / this->t0 ) ); // Resistance of the thermistor
- double v = this->vs * r / ( this->rs + r ); // Voltage at the potential divider
- return v / this->vadc * 1.00000; // The ADC reading
-}
-
-uint32_t TemperatureControl::thermistor_read_tick(uint32_t dummy){
- if( this->desired_adc_value != UNDEFINED ){
- double r = this->new_thermistor_reading();
- if ((r > 0.01) &&
- (r < 0.99) &&
- (r > this->desired_adc_value))
- {
- this->heater_pin->set(1);
- }
- else
- {
- if (((r <= 0.01) || (r >= 0.99)) && (this->desired_adc_value != UNDEFINED))
- {
- this->kernel->streams->printf("MINTEMP triggered on P%d.%d! check your thermistors!\n", this->thermistor_pin->port_number, this->thermistor_pin->pin);
- this->desired_adc_value = UNDEFINED;
- }
- this->heater_pin->set(0);
- if (this->waiting)
- {
- this->kernel->pauser->release();
- this->waiting = false;
- }
- }
- }
- return 0;
-}
-
-double TemperatureControl::new_thermistor_reading(){
-
- double new_reading = double( double(this->kernel->adc->read(this->thermistor_pin) / double(1<<12) ) );
-
- if( this->queue.size() < 15 ){
- this->queue.push_back( new_reading );
- return new_reading;
- }else{
- double current_temp = this->average_adc_reading();
- double error = fabs(new_reading - current_temp);
- if( error < 0.1 ){
- this->error_count = 0;
- double test;
- this->queue.pop_front(test);
- this->queue.push_back( new_reading );
- }else{
- this->error_count++;
- if( this->error_count > 4 ){
- double test;
- this->queue.pop_front(test);
- }
- }
- return current_temp;
- }
-}
-
-
-double TemperatureControl::average_adc_reading(){
- double total = 0;
- int j = 0;
- int reading_index = this->queue.head;
- while( reading_index != this->queue.tail ){
- j++;
- total += this->queue.buffer[reading_index];
- reading_index = this->queue.next_block_index( reading_index );
- }
- return total / j;
-}
-
-
-
+/*
+ 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) {
+ 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;
+ }
+}
+
+// Get configuration from the config file
+void TemperatureControl::on_config_reload(void* argument){
+
+ // 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();
+
+ // 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 = 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("HT100K" ) == 0 ){ this->beta = 3990; }
+
+ // Preset values are overriden by specified values
+ 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 = 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
+ 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(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( 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
+ 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() );
+ // 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) {
+ // 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();
+ 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, 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 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);
+ }
+ }
+}
+
+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'))
+ {
+ float 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)
+ {
+ 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(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;
+ else if (desired_temperature == 2.0)
+ desired_temperature = preset2;
+
+ target_temperature = desired_temperature;
+ if (desired_temperature == 0.0)
+ heater_pin.set((o = 0));
+}
+
+float TemperatureControl::get_temperature(){
+ return last_reading;
+}
+
+float TemperatureControl::adc_value_to_temperature(int adc_value)
+{
+ if ((adc_value == 4095) || (adc_value == 0))
+ return INFINITY;
+ 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();
+
+ float 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)
+ {
+ THEKERNEL->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(float temperature)
+{
+ 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;
+}
+
+int TemperatureControl::new_thermistor_reading()
+{
+ int last_raw = THEKERNEL->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)
+ 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