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);
// push an empty block if we have to wait, so the Planner can get things right, and we can prevent subsequent non-move gcodes from executing
if (gcode->m == this->set_and_wait_m_code)
// ensure that no subsequent gcodes get executed with our M109 or similar
THEKERNEL->conveyor->queue_head_block();
}
}
}
void TemperatureControl::on_gcode_received(void *argument)
{
Gcode *gcode = static_cast<Gcode *>(argument);
if (gcode->has_m) {
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 <= 0) ? 0.0 : target_temperature), this->o);
gcode->txt_after_ok.append(buf, n);
return;
}
if (gcode->m == 305) { // set or get sensor settings
if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) {
TempSensor::sensor_options_t args= gcode->get_args();
args.erase('S'); // don't include the S
if(args.size() > 0) {
// set the new options
if(sensor->set_optional(args)) {
this->sensor_settings= true;
}else{
gcode->stream->printf("Unable to properly set sensor settings, make sure you specify all required values\n");
}
}else{
// don't override
this->sensor_settings= false;
}
}else if(!gcode->has_letter('S')) {
gcode->stream->printf("%s(S%d): using %s\n", this->designator.c_str(), this->pool_index, this->readonly?"Readonly" : this->use_bangbang?"Bangbang":"PID");
sensor->get_raw();
TempSensor::sensor_options_t options;
if(sensor->get_optional(options)) {
for(auto &i : options) {
// foreach optional value
gcode->stream->printf("%s(S%d): %c %1.18f\n", this->designator.c_str(), this->pool_index, i.first, i.second);
}
}
}
return;
}
// readonly sensors don't handle the rest
if(this->readonly) return;
if (gcode->m == 143) {
if (gcode->has_letter('S') && (gcode->get_value('S') == this->pool_index)) {
if(gcode->has_letter('P')) {
max_temp= gcode->get_value('P');
} else {
gcode->stream->printf("Nothing set NOTE Usage is M143 S0 P300 where <S> is the hotend index and <P> is the maximum temp to set\n");
}
}else if(gcode->get_num_args() == 0) {
gcode->stream->printf("Maximum temperature for %s(%d) is %f°C\n", this->designator.c_str(), this->pool_index, max_temp);
}
} else if (gcode->m == 301) {
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');
if (gcode->has_letter('Y'))
this->heater_pin.max_pwm(gcode->get_value('Y'));
}else if(!gcode->has_letter('S')) {
gcode->stream->printf("%s(S%d): Pf:%g If:%g Df:%g X(I_max):%g max pwm: %d 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->heater_pin.max_pwm(), o);
}
} 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 X%1.4f Y%d\n", this->pool_index, this->p_factor, this->i_factor / this->PIDdt, this->d_factor * this->PIDdt, this->i_max, this->heater_pin.max_pwm());
gcode->stream->printf(";Max temperature setting:\nM143 S%d P%1.4f\n", this->pool_index, this->max_temp);
if(this->sensor_settings) {
// get or save any sensor specific optional values
TempSensor::sensor_options_t options;
if(sensor->get_optional(options) && !options.empty()) {
gcode->stream->printf(";Optional temp sensor specific settings:\nM305 S%d", this->pool_index);
for(auto &i : options) {
gcode->stream->printf(" %c%1.18f", i.first, i.second);
}
gcode->stream->printf("\n");
}
}
} else if( ( gcode->m == this->set_m_code || gcode->m == this->set_and_wait_m_code ) && gcode->has_letter('S')) {
// this only gets handled if it is not controlled by the tool manager or is active in the toolmanager
this->active = true;
// this is safe as old configs as well as single extruder configs the toolmanager will not be running so will return false
// this will also ignore anything that the tool manager is not controlling and return false, otherwise it returns the active tool
void *returned_data;
bool ok = PublicData::get_value( tool_manager_checksum, is_active_tool_checksum, this->name_checksum, &returned_data );
if (ok) {
uint16_t active_tool_name = *static_cast<uint16_t *>(returned_data);
this->active = (active_tool_name == this->name_checksum);
}
if(this->active) {
// required so temp change happens in order
THEKERNEL->conveyor->wait_for_empty_queue();
float v = gcode->get_value('S');
if (v == 0.0) {
this->target_temperature = UNDEFINED;
this->heater_pin.set((this->o = 0));
} else {
this->set_desired_temperature(v);
// wait for temp to be reached, no more gcodes will be fetched until this is complete
if( gcode->m == this->set_and_wait_m_code) {
if(isinf(get_temperature()) && isinf(sensor->get_temperature())) {
THEKERNEL->streams->printf("Temperature reading is unreliable on %s HALT asserted - reset or M999 required\n", designator.c_str());
THEKERNEL->call_event(ON_HALT, nullptr);
return;
}
this->waiting = true; // on_second_tick will announce temps
while ( get_temperature() < target_temperature ) {
THEKERNEL->call_event(ON_IDLE, this);
// check if ON_HALT was called (usually by kill button)
if(THEKERNEL->is_halted() || this->target_temperature == UNDEFINED) {
THEKERNEL->streams->printf("Wait on temperature aborted by kill\n");
break;
}
}
this->waiting = false;
}
}
}
}
}
}
// Get configuration from the config file
void TemperatureControl::load_config()
{
// 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(160)->as_number();
this->designator = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, designator_checksum)->by_default(string("T"))->as_string();
// Max and min temperatures we are not allowed to get over (Safety)
this->max_temp = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, max_temp_checksum)->by_default(300)->as_number();
this->min_temp = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, min_temp_checksum)->by_default(0)->as_number();
// Heater pin
this->heater_pin.from_string( THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, heater_pin_checksum)->by_default("nc")->as_string());
if(this->heater_pin.connected()){
this->readonly= false;
this->heater_pin.as_output();
} else {
this->readonly= true;
}
// For backward compatibility, default to a thermistor sensor.
std::string sensor_type = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, sensor_checksum)->by_default("thermistor")->as_string();
// Instantiate correct sensor (TBD: TempSensor factory?)
delete sensor;
sensor = nullptr; // In case we fail to create a new sensor.
if(sensor_type.compare("thermistor") == 0) {
sensor = new Thermistor();
} else if(sensor_type.compare("max31855") == 0) {
sensor = new Max31855();
//TOADDBACK } else if(sensor_type.compare("ad8495") == 0) {
//TOADDBACK sensor = new AD8495();
} else {
sensor = new TempSensor(); // A dummy implementation
}
sensor->UpdateConfig(temperature_control_checksum, this->name_checksum);
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();
// sigma-delta output modulation
this->o = 0;
if(!this->readonly) {
// used to enable bang bang control of heater
this->use_bangbang = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, bang_bang_checksum)->by_default(false)->as_bool();
this->hysteresis = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, hysteresis_checksum)->by_default(2)->as_number();
this->windup = THEKERNEL->config->value(temperature_control_checksum, this->name_checksum, windup_checksum)->by_default(false)->as_bool();
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);
// TOADDBACK 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() );
if(!this->readonly) {
// 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;
}