def create_temperature_control(name,
section,
thread,
hardwareOkSignal=None,
coolingFan=None,
hotendFan=None):
tempSet = hal.newsig('%s-temp-set' % name, hal.HAL_FLOAT)
tempMeas = hal.newsig('%s-temp-meas' % name, hal.HAL_FLOAT)
tempInRange = hal.newsig('%s-temp-in-range' % name, hal.HAL_BIT)
tempPwm = hal.newsig('%s-temp-pwm' % name, hal.HAL_FLOAT)
tempPwmMax = hal.newsig('%s-temp-pwm-max' % name, hal.HAL_FLOAT)
tempLimitMin = hal.newsig('%s-temp-limit-min' % name, hal.HAL_FLOAT)
tempLimitMax = hal.newsig('%s-temp-limit-max' % name, hal.HAL_FLOAT)
tempStandby = hal.newsig('%s-temp-standby' % name, hal.HAL_FLOAT)
tempInLimit = hal.newsig('%s-temp-in-limit' % name, hal.HAL_BIT)
tempThermOk = hal.newsig('%s-temp-therm-ok' % name, hal.HAL_BIT)
error = hal.newsig('%s-error' % name, hal.HAL_BIT)
active = hal.newsig('%s-active' % name, hal.HAL_BIT)
tempPidPgain = hal.newsig('%s-temp-pid-Pgain' % name, hal.HAL_FLOAT)
tempPidIgain = hal.newsig('%s-temp-pid-Igain' % name, hal.HAL_FLOAT)
tempPidDgain = hal.newsig('%s-temp-pid-Dgain' % name, hal.HAL_FLOAT)
tempPidMaxerrorI = hal.newsig('%s-temp-pid-maxerrorI' % name,
hal.HAL_FLOAT)
tempPidOut = hal.newsig('%s-temp-pid-out' % name, hal.HAL_FLOAT)
tempPidBias = hal.newsig('%s-temp-pid-bias' % name, hal.HAL_FLOAT)
tempRangeMin = hal.newsig('%s-temp-range-min' % name, hal.HAL_FLOAT)
tempRangeMax = hal.newsig('%s-temp-range-max' % name, hal.HAL_FLOAT)
noErrorIn = hal.newsig('%s-no-error-in' % name, hal.HAL_BIT)
errorIn = hal.newsig('%s-error-in' % name, hal.HAL_BIT)
tempPidBiasOut = tempPidBias
# coolingFan compensation
if coolingFan:
tempPidFanBias = hal.newsig('%s-temp-pid-fan-bias' % name,
hal.HAL_FLOAT)
tempPidBiasOut = hal.newsig('%s-temp-pid-bias-out' % name,
hal.HAL_FLOAT)
scale = rt.newinst('scale', 'scale.%s-temp-pid-fan-bias' % name)
hal.addf(scale.name, thread)
scale.pin('in').link('%s.pwm' % coolingFan)
scale.pin('out').link(tempPidFanBias)
scale.pin('gain').set(c.find(section, 'FAN_BIAS'))
sum2 = rt.newinst('sum2', 'sum2.%s-temp-pid-bias' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempPidBias)
sum2.pin('in1').link(tempPidFanBias)
sum2.pin('out').link(tempPidBiasOut)
# PID
pid = rt.newinst('pid', 'pid.%s' % name)
hal.addf('%s.do-pid-calcs' % pid.name, thread)
pid.pin('enable').link('emcmot-0-enable') # motor enable
pid.pin('feedback').link(tempMeas)
pid.pin('command').link(tempSet)
pid.pin('output').link(tempPidOut)
pid.pin('maxoutput').link(tempPwmMax)
pid.pin('bias').link(tempPidBias)
pid.pin('Pgain').link(tempPidPgain)
pid.pin('Igain').link(tempPidIgain)
pid.pin('Dgain').link(tempPidDgain)
pid.pin('maxerrorI').link(tempPidMaxerrorI)
# Limit heater PWM to positive values
# PWM mimics hm2 implementation, which generates output for negative values
limit1 = rt.newinst('limit1', 'limit.%s-temp-heaterl' % name)
hal.addf(limit1.name, thread)
limit1.pin('in').link(tempPidOut)
limit1.pin('out').link(tempPwm)
limit1.pin('min').set(0.0)
limit1.pin('max').link(tempPwmMax)
# Temperature checking
sum2 = rt.newinst('sum2', 'sum2.%s-temp-range-pos' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempSet)
sum2.pin('in1').set(c.find(section, 'TEMP_RANGE_POS_ERROR'))
sum2.pin('out').link(tempRangeMax)
sum2 = rt.newinst('sum2', 'sum2.%s-temp-range-neg' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempSet)
sum2.pin('in1').set(c.find(section, 'TEMP_RANGE_NEG_ERROR'))
sum2.pin('out').link(tempRangeMin)
#the output of this component will say if measured temperature is in range of set value
wcomp = rt.newinst('wcomp', 'wcomp.%s-temp-in-range' % name)
hal.addf(wcomp.name, thread)
wcomp.pin('min').link(tempRangeMin)
wcomp.pin('max').link(tempRangeMax)
wcomp.pin('in').link(tempMeas)
wcomp.pin('out').link(tempInRange)
# limit the output temperature to prevent damage when thermistor is broken/removed
wcomp = rt.newinst('wcomp', 'wcomp.%s-temp-in-limit' % name)
hal.addf(wcomp.name, thread)
wcomp.pin('min').link(tempLimitMin)
wcomp.pin('max').link(tempLimitMax)
wcomp.pin('in').link(tempMeas)
wcomp.pin('out').link(tempInLimit)
# check the thermistor
# net e0.temp.meas => thermistor-check.e0.temp
# net e0.temp.in-range => not.e0-temp-range.in
# net e0.temp.in-range_n <= not.e0-temp-range.out
# net e0.temp.in-range_n => thermistor-check.e0.enable
# net e0.heaterl => thermistor-check.e0.pid
# net e0.therm-ok <= thermistor-check.e0.no-error
# no error chain
and3 = rt.newinst('andn', 'and3.%s-no-error-in' % name, pincount=3)
hal.addf(and3.name, thread)
and3.pin('in0').link(tempThermOk)
and3.pin('in1').link(tempInLimit)
if hardwareOkSignal:
and3.pin('in2').link(hardwareOkSignal)
else:
and3.pin('in2').set(True)
and3.pin('out').link(noErrorIn)
tempThermOk.set(True) # thermistor checking for now disabled
notComp = rt.newinst('not', 'not.%s-error-in' % name)
hal.addf(notComp.name, thread)
notComp.pin('in').link(noErrorIn)
notComp.pin('out').link(errorIn)
safetyLatch = rt.newinst('safety_latch', 'safety-latch.%s-error' % name)
hal.addf(safetyLatch.name, thread)
safetyLatch.pin('error-in').link(errorIn)
safetyLatch.pin('error-out').link(error)
safetyLatch.pin('reset').link('estop-reset')
safetyLatch.pin('threshold').set(500) # 500ms error
safetyLatch.pin('latching').set(True)
# active chain
comp = rt.newinst('comp', 'comp.%s-active' % name)
hal.addf(comp.name, thread)
comp.pin('in0').set(0.0001)
comp.pin('hyst').set(0.0)
comp.pin('in1').link(tempPwm)
comp.pin('out').link(active)
# Thermistor checking
# setp thermistor-check.e0.wait 9.0
# setp thermistor-check.e0.min-pid 1.5 # disable0.25
# setp thermistor-check.e0.min-temp 1.5
# net e0.pid.bias => thermistor-check.e0.bias
# Hotend fan
if hotendFan:
comp = rt.newinst('comp', 'comp.%s-pwm-enable' % hotendFan)
hal.addf(comp.name, thread)
comp.pin('in0').set(c.find(section, 'HOTEND_FAN_THRESHOLD', 50.0))
comp.pin('in1').link(tempMeas)
comp.pin('hyst').set(c.find(section, 'HOTEND_FAN_HYST', 2.0))
comp.pin('out').link('%s-pwm-enable' % hotendFan)
hal.Signal('%s-pwm' % hotendFan).set(1.0)
rcomps.create_temperature_rcomp(name)
motion.setup_temperature_io(name)
# init parameter signals
tempLimitMin.set(c.find(section, 'TEMP_LIMIT_MIN'))
tempLimitMax.set(c.find(section, 'TEMP_LIMIT_MAX'))
tempStandby.set(c.find(section, 'TEMP_STANDBY'))
tempPwmMax.set(c.find(section, 'PWM_MAX'))
tempPidPgain.set(c.find(section, 'PID_PGAIN'))
tempPidIgain.set(c.find(section, 'PID_IGAIN'))
tempPidDgain.set(c.find(section, 'PID_DGAIN'))
tempPidMaxerrorI.set(c.find(section, 'PID_MAXERRORI'))
tempPidBias.set(c.find(section, 'PID_BIAS'))
def create_temperature_control(name, section, thread, hardwareOkSignal=None,
coolingFan=None, hotendFan=None):
tempSet = hal.newsig('%s-temp-set' % name, hal.HAL_FLOAT)
tempMeas = hal.newsig('%s-temp-meas' % name, hal.HAL_FLOAT)
tempInRange = hal.newsig('%s-temp-in-range' % name, hal.HAL_BIT)
tempPwm = hal.newsig('%s-temp-pwm' % name, hal.HAL_FLOAT)
tempPwmMax = hal.newsig('%s-temp-pwm-max' % name, hal.HAL_FLOAT)
tempLimitMin = hal.newsig('%s-temp-limit-min' % name, hal.HAL_FLOAT)
tempLimitMax = hal.newsig('%s-temp-limit-max' % name, hal.HAL_FLOAT)
tempStandby = hal.newsig('%s-temp-standby' % name, hal.HAL_FLOAT)
tempInLimit = hal.newsig('%s-temp-in-limit' % name, hal.HAL_BIT)
tempThermOk = hal.newsig('%s-temp-therm-ok' % name, hal.HAL_BIT)
error = hal.newsig('%s-error' % name, hal.HAL_BIT)
active = hal.newsig('%s-active' % name, hal.HAL_BIT)
tempPidPgain = hal.newsig('%s-temp-pid-Pgain' % name, hal.HAL_FLOAT)
tempPidIgain = hal.newsig('%s-temp-pid-Igain' % name, hal.HAL_FLOAT)
tempPidDgain = hal.newsig('%s-temp-pid-Dgain' % name, hal.HAL_FLOAT)
tempPidMaxerrorI = hal.newsig('%s-temp-pid-maxerrorI' % name, hal.HAL_FLOAT)
tempPidOut = hal.newsig('%s-temp-pid-out' % name, hal.HAL_FLOAT)
tempPidBias = hal.newsig('%s-temp-pid-bias' % name, hal.HAL_FLOAT)
tempRangeMin = hal.newsig('%s-temp-range-min' % name, hal.HAL_FLOAT)
tempRangeMax = hal.newsig('%s-temp-range-max' % name, hal.HAL_FLOAT)
noErrorIn = hal.newsig('%s-no-error-in' % name, hal.HAL_BIT)
errorIn = hal.newsig('%s-error-in' % name, hal.HAL_BIT)
# reset set temperature when estop is cleared
reset = rt.newinst('reset', 'reset.%s-temp-set' % name)
hal.addf(reset.name, thread)
reset.pin('reset-float').set(0.0)
reset.pin('out-float').link(tempSet)
reset.pin('rising').set(True)
reset.pin('falling').set(False)
reset.pin('trigger').link('estop-reset')
tempPidBiasOut = tempPidBias
# coolingFan compensation
if coolingFan:
tempPidFanBias = hal.newsig('%s-temp-pid-fan-bias' % name, hal.HAL_FLOAT)
tempPidBiasOut = hal.newsig('%s-temp-pid-bias-out' % name, hal.HAL_FLOAT)
scale = rt.newinst('scale', 'scale.%s-temp-pid-fan-bias' % name)
hal.addf(scale.name, thread)
scale.pin('in').link('%s.pwm' % coolingFan)
scale.pin('out').link(tempPidFanBias)
scale.pin('gain').set(c.find(section, 'FAN_BIAS'))
sum2 = rt.newinst('sum2', 'sum2.%s-temp-pid-bias' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempPidBias)
sum2.pin('in1').link(tempPidFanBias)
sum2.pin('out').link(tempPidBiasOut)
# PID
pid = rt.newinst('pid', 'pid.%s' % name)
hal.addf('%s.do-pid-calcs' % pid.name, thread)
pid.pin('enable').link('emcmot-0-enable') # motor enable
pid.pin('feedback').link(tempMeas)
pid.pin('command').link(tempSet)
pid.pin('output').link(tempPidOut)
pid.pin('maxoutput').link(tempPwmMax)
pid.pin('bias').link(tempPidBias)
pid.pin('Pgain').link(tempPidPgain)
pid.pin('Igain').link(tempPidIgain)
pid.pin('Dgain').link(tempPidDgain)
pid.pin('maxerrorI').link(tempPidMaxerrorI)
# Limit heater PWM to positive values
# PWM mimics hm2 implementation, which generates output for negative values
limit1 = rt.newinst('limit1', 'limit.%s-temp-heaterl' % name)
hal.addf(limit1.name, thread)
limit1.pin('in').link(tempPidOut)
limit1.pin('out').link(tempPwm)
limit1.pin('min').set(0.0)
limit1.pin('max').link(tempPwmMax)
# Temperature checking
sum2 = rt.newinst('sum2', 'sum2.%s-temp-range-pos' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempSet)
sum2.pin('in1').set(c.find(section, 'TEMP_RANGE_POS_ERROR'))
sum2.pin('out').link(tempRangeMax)
sum2 = rt.newinst('sum2', 'sum2.%s-temp-range-neg' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempSet)
sum2.pin('in1').set(c.find(section, 'TEMP_RANGE_NEG_ERROR'))
sum2.pin('out').link(tempRangeMin)
#the output of this component will say if measured temperature is in range of set value
wcomp = rt.newinst('wcomp', 'wcomp.%s-temp-in-range' % name)
hal.addf(wcomp.name, thread)
wcomp.pin('min').link(tempRangeMin)
wcomp.pin('max').link(tempRangeMax)
wcomp.pin('in').link(tempMeas)
wcomp.pin('out').link(tempInRange)
# limit the output temperature to prevent damage when thermistor is broken/removed
wcomp = rt.newinst('wcomp', 'wcomp.%s-temp-in-limit' % name)
hal.addf(wcomp.name, thread)
wcomp.pin('min').link(tempLimitMin)
wcomp.pin('max').link(tempLimitMax)
wcomp.pin('in').link(tempMeas)
wcomp.pin('out').link(tempInLimit)
# check the thermistor
# net e0.temp.meas => thermistor-check.e0.temp
# net e0.temp.in-range => not.e0-temp-range.in
# net e0.temp.in-range_n <= not.e0-temp-range.out
# net e0.temp.in-range_n => thermistor-check.e0.enable
# net e0.heaterl => thermistor-check.e0.pid
# net e0.therm-ok <= thermistor-check.e0.no-error
# no error chain
and3 = rt.newinst('andn', 'and3.%s-no-error-in' % name, pincount=3)
hal.addf(and3.name, thread)
and3.pin('in0').link(tempThermOk)
and3.pin('in1').link(tempInLimit)
if hardwareOkSignal:
and3.pin('in2').link(hardwareOkSignal)
else:
and3.pin('in2').set(True)
and3.pin('out').link(noErrorIn)
tempThermOk.set(True) # thermistor checking for now disabled
notComp = rt.newinst('not', 'not.%s-error-in' % name)
hal.addf(notComp.name, thread)
notComp.pin('in').link(noErrorIn)
notComp.pin('out').link(errorIn)
safetyLatch = rt.newinst('safety_latch', 'safety-latch.%s-error' % name)
hal.addf(safetyLatch.name, thread)
safetyLatch.pin('error-in').link(errorIn)
safetyLatch.pin('error-out').link(error)
safetyLatch.pin('reset').link('estop-reset')
safetyLatch.pin('threshold').set(500) # 500ms error
safetyLatch.pin('latching').set(True)
# active chain
comp = rt.newinst('comp', 'comp.%s-active' % name)
hal.addf(comp.name, thread)
comp.pin('in0').set(0.0001)
comp.pin('hyst').set(0.0)
comp.pin('in1').link(tempPwm)
comp.pin('out').link(active)
# Thermistor checking
# setp thermistor-check.e0.wait 9.0
# setp thermistor-check.e0.min-pid 1.5 # disable0.25
# setp thermistor-check.e0.min-temp 1.5
# net e0.pid.bias => thermistor-check.e0.bias
# Hotend fan
if hotendFan:
comp = rt.newinst('comp', 'comp.%s-pwm-enable' % hotendFan)
hal.addf(comp.name, thread)
comp.pin('in0').set(c.find(section, 'HOTEND_FAN_THRESHOLD', 50.0))
comp.pin('in1').link(tempMeas)
comp.pin('hyst').set(c.find(section, 'HOTEND_FAN_HYST', 2.0))
comp.pin('out').link('%s-pwm-enable' % hotendFan)
hal.Signal('%s-pwm' % hotendFan).set(1.0)
rcomps.create_temperature_rcomp(name)
motion.setup_temperature_io(name)
# init parameter signals
tempLimitMin.set(c.find(section, 'TEMP_LIMIT_MIN'))
tempLimitMax.set(c.find(section, 'TEMP_LIMIT_MAX'))
tempStandby.set(c.find(section, 'TEMP_STANDBY'))
tempPwmMax.set(c.find(section, 'PWM_MAX'))
tempPidPgain.set(c.find(section, 'PID_PGAIN'))
tempPidIgain.set(c.find(section, 'PID_IGAIN'))
tempPidDgain.set(c.find(section, 'PID_DGAIN'))
tempPidMaxerrorI.set(c.find(section, 'PID_MAXERRORI'))
tempPidBias.set(c.find(section, 'PID_BIAS'))
def create_temperature_control(name,
section,
thread,
hardwareOkSignal=None,
coolingFan=None,
hotendFan=None,
tclab_index=0):
tempSet = hal.newsig('%s-temp-set' % name, hal.HAL_FLOAT)
tempMeas = hal.newsig('%s-temp-meas' % name, hal.HAL_FLOAT)
tempInRange = hal.newsig('%s-temp-in-range' % name, hal.HAL_BIT)
tempInRangePre = hal.newsig('%s-temp-in-range-pre-check' % name,
hal.HAL_BIT)
active = hal.newsig('%s-active' % name, hal.HAL_BIT)
tempLimitMin = hal.newsig('%s-temp-limit-min' % name, hal.HAL_FLOAT)
tempLimitMax = hal.newsig('%s-temp-limit-max' % name, hal.HAL_FLOAT)
hal.Pin("hal_tclab.temperature-%s" % str(tclab_index)).link(tempMeas)
hal.Pin("hal_tclab.setpoint-%s" % str(tclab_index)).link(tempSet)
hal.Pin("hal_tclab.enable-%s" % str(tclab_index)).link(active)
active.set(1)
tempInLimit = hal.newsig('%s-temp-in-limit' % name, hal.HAL_BIT)
tempThermOk = hal.newsig('%s-temp-therm-ok' % name, hal.HAL_BIT)
error = hal.newsig('%s-error' % name, hal.HAL_BIT)
tempPidPgain = hal.newsig('%s-temp-pid-Pgain' % name, hal.HAL_FLOAT)
tempPidIgain = hal.newsig('%s-temp-pid-Igain' % name, hal.HAL_FLOAT)
tempPidDgain = hal.newsig('%s-temp-pid-Dgain' % name, hal.HAL_FLOAT)
tempPidMaxerrorI = hal.newsig('%s-temp-pid-maxerrorI' % name,
hal.HAL_FLOAT)
tempPidOut = hal.newsig('%s-temp-pid-out' % name, hal.HAL_FLOAT)
tempPidBias = hal.newsig('%s-temp-pid-bias' % name, hal.HAL_FLOAT)
tempRangeMin = hal.newsig('%s-temp-range-min' % name, hal.HAL_FLOAT)
tempRangeMax = hal.newsig('%s-temp-range-max' % name, hal.HAL_FLOAT)
noErrorIn = hal.newsig('%s-no-error-in' % name, hal.HAL_BIT)
errorIn = hal.newsig('%s-error-in' % name, hal.HAL_BIT)
sum2 = rt.newinst('sum2', 'sum2.%s-temp-range-pos' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempSet)
sum2.pin('in1').set(c.find(section, 'TEMP_RANGE_POS_ERROR'))
sum2.pin('out').link(tempRangeMax)
sum2 = rt.newinst('sum2', 'sum2.%s-temp-range-neg' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempSet)
sum2.pin('in1').set(c.find(section, 'TEMP_RANGE_NEG_ERROR'))
sum2.pin('out').link(tempRangeMin)
#the output of this component will say if measured temperature is in range of set value
wcomp = rt.newinst('wcomp', 'wcomp.%s-temp-in-range' % name)
hal.addf(wcomp.name, thread)
wcomp.pin('min').link(tempRangeMin)
wcomp.pin('max').link(tempRangeMax)
wcomp.pin('in').link(tempMeas)
wcomp.pin('out').link(tempInRangePre)
notActive = hal.newsig('%s-not-active' % name, hal.HAL_BIT)
activeNot = rt.newinst('not', 'not.%s.active-not' % name)
hal.addf(activeNot.name, thread)
activeNot.pin('in').link(active)
activeNot.pin('out').link(notActive)
or2 = rt.newinst('orn', 'or2.%s-check-temp-in-range' % name, pincount='2')
hal.addf(or2.name, thread)
or2.pin('in1').link(tempInRangePre)
or2.pin('in0').link(notActive)
or2.pin('out').link(tempInRange)
# limit the output temperature to prevent damage when thermistor is broken/removed
wcomp = rt.newinst('wcomp', 'wcomp.%s-temp-in-limit' % name)
hal.addf(wcomp.name, thread)
wcomp.pin('min').link(tempLimitMin)
wcomp.pin('max').link(tempLimitMax)
wcomp.pin('in').link(tempMeas)
wcomp.pin('out').link(tempInLimit)
rcomps.create_temperature_rcomp(name)
motion.setup_temperature_io(name)
tempLimitMax.set(c.find(section, "TEMP_LIMIT_MAX"))
print("max set to", c.find(section, "TEMP_LIMIT_MAX"))
tempLimitMin.set(c.find(section, "TEMP_LIMIT_MIN"))