X-Git-Url: https://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/e8bcfe5cdb7ad2297035c689ad4afa5fa08250d0..e0ee24edfbdd8066681f98f78098384bd062fca6:/src/modules/tools/temperaturecontrol/TemperatureControl.cpp

diff --git a/src/modules/tools/temperaturecontrol/TemperatureControl.cpp b/src/modules/tools/temperaturecontrol/TemperatureControl.cpp
index 109a39f0..f11ec6cf 100644
--- a/src/modules/tools/temperaturecontrol/TemperatureControl.cpp
+++ b/src/modules/tools/temperaturecontrol/TemperatureControl.cpp
@@ -14,16 +14,13 @@
 #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(){}
-
-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(){
 
@@ -36,25 +33,32 @@ void TemperatureControl::on_module_loaded(){
     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){ }
+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          = 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;
@@ -64,19 +68,23 @@ void TemperatureControl::on_config_reload(void* argument){
     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 =             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
@@ -87,68 +95,83 @@ void TemperatureControl::on_config_reload(void* argument){
     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(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     =  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(    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->pin->port_number, heater_pin->pin->pin);
+    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);
+    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)
-{
+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 ){
-            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)
-        {
+            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'))
-                    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)
-        {
-            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);
             }
+
+        } 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);
         }
     }
 }
@@ -156,54 +179,84 @@ void TemperatureControl::on_gcode_received(void* argument)
 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)
+            float 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)
+                {
+                    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;
 
-void TemperatureControl::set_desired_temperature(double desired_temperature){
     target_temperature = desired_temperature;
     if (desired_temperature == 0.0)
-        heater_pin->set((o = 0));
+        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;
@@ -212,74 +265,67 @@ double TemperatureControl::adc_value_to_temperature(int adc_value)
 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)
     {
         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
         {
             pid_process(temperature);
             if ((temperature > target_temperature) && waiting)
             {
-                kernel->pauser->release();
+                THEKERNEL->pauser->release();
                 waiting = false;
             }
         }
     }
     else
     {
-        heater_pin->set((o = 0));
+        heater_pin.set((o = 0));
     }
     last_reading = temperature;
     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())
-    {
-        i = 0;
-        this->o = heater_pin->max_pwm();
-    }
-    if (this->o < 0)
-    {
-        if (this->o < -(heater_pin->max_pwm()))
-            i = 0;
+    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);
+    this->lastInput= temperature;
 }
 
 int TemperatureControl::new_thermistor_reading()
 {
-    int last_raw = this->kernel->adc->read(this->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);
@@ -292,5 +338,17 @@ int TemperatureControl::new_thermistor_reading()
 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;
 }