#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"
-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(){
-
+
// We start not desiring any temp
- this->desired_adc_value = UNDEFINED;
+ this->target_temperature = 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
+ 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();
// 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;
}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();
-
+ 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
- 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; }
+ j = (1.0 / beta);
+ k = (1.0 / (t0 + 273.15));
+
+ // 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_pin()->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, &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(255)->as_number();
+ this->i = 0.0;
+ this->last_reading = 0.0;
}
-//#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("%s:%3.1f /%3.1f @%d ", this->designator.c_str(), this->get_temperature(), ((target_temperature == UNDEFINED)?0.0:target_temperature), this->o);
+ gcode->add_nl = true;
+ }
+ 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');
+ if (gcode->has_letter('I'))
+ this->i_factor = gcode->get_value('I');
+ if (gcode->has_letter('D'))
+ this->d_factor = 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("Target: %5.1f\n", target);
+ }
+ gcode->stream->printf("Start PID tune, command is %s\n", gcode->command.c_str());
+ 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') ){
- //gcode->stream->printf("setting to %f meaning %u \r\n", gcode->get_value('S'), this->temperature_to_adc_value( gcode->get_value('S') ) );
- 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') ){
- this->set_desired_temperature(gcode->get_value('S'));
- // Pause
- this->kernel->pauser->take();
- this->waiting = true;
- }
- // 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) );
+ 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)
+ {
+ gcode->mark_as_taken();
+ this->kernel->pauser->take();
+ this->waiting = true;
+ }
+ }
}
}
}
-//#pragma GCC pop_options
+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;
-void TemperatureControl::set_desired_temperature(double desired_temperature){
- this->desired_adc_value = this->temperature_to_adc_value(desired_temperature);
+ target_temperature = desired_temperature;
+ if (desired_temperature == 0.0)
+ heater_pin.set((o = 0));
}
double TemperatureControl::get_temperature(){
- return this->adc_value_to_temperature( this->new_thermistor_reading() );
+ return last_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
+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){
- if( this->desired_adc_value != UNDEFINED ){
- if( this->new_thermistor_reading() > this->desired_adc_value ){
- this->heater_pin->set(1);
- }else{
- this->heater_pin->set(0);
- if( this->waiting ){
- this->kernel->pauser->release();
- this->waiting = false;
+ 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;
}
-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;
- }
-}
+void TemperatureControl::pid_process(double temperature)
+{
+ double 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;
-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;
-}
+ if (i > this->i_max)
+ i = this->i_max;
+ if (i < -this->i_max)
+ i = -this->i_max;
+ this->o = (p + i + d) * heater_pin.max_pwm() / 256;
+ 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);
+}
+
+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);
+ d = 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);
+}
HCoop / clinton / Smoothieware.git / blobdiff