Files

temperature.cpp
/* temperature.c - temperature control Part of Marlin Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm This program 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. This program 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 this program. If not, see <http://www.gnu.org/licenses/>. */ /* This firmware is a mashup between Sprinter and grbl. (https://github.com/kliment/Sprinter) (https://github.com/simen/grbl/tree) It has preliminary support for Matthew Roberts advance algorithm http://reprap.org/pipermail/reprap-dev/2011-May/003323.html */ #include "Marlin.h" #include "ultralcd.h" #include "temperature.h" #include "watchdog.h" //=========================================================================== //=============================public variables============================ //=========================================================================== int target_temperature[EXTRUDERS] = { 0 }; int target_temperature_bed = 0; int current_temperature_raw[EXTRUDERS] = { 0 }; float current_temperature[EXTRUDERS] = { 0.0 }; int current_temperature_bed_raw = 0; float current_temperature_bed = 0.0; #ifdef TEMP_SENSOR_1_AS_REDUNDANT int redundant_temperature_raw = 0; float redundant_temperature = 0.0; #endif #ifdef PIDTEMP float Kp=DEFAULT_Kp; float Ki=(DEFAULT_Ki*PID_dT); float Kd=(DEFAULT_Kd/PID_dT); #ifdef PID_ADD_EXTRUSION_RATE float Kc=DEFAULT_Kc; #endif #endif //PIDTEMP #ifdef PIDTEMPBED float bedKp=DEFAULT_bedKp; float bedKi=(DEFAULT_bedKi*PID_dT); float bedKd=(DEFAULT_bedKd/PID_dT); #endif //PIDTEMPBED #ifdef FAN_SOFT_PWM unsigned char fanSpeedSoftPwm; #endif //=========================================================================== //=============================private variables============================ //=========================================================================== static volatile bool temp_meas_ready = false; #ifdef PIDTEMP //static cannot be external: static float temp_iState[EXTRUDERS] = { 0 }; static float temp_dState[EXTRUDERS] = { 0 }; static float pTerm[EXTRUDERS]; static float iTerm[EXTRUDERS]; static float dTerm[EXTRUDERS]; //int output; static float pid_error[EXTRUDERS]; static float temp_iState_min[EXTRUDERS]; static float temp_iState_max[EXTRUDERS]; // static float pid_input[EXTRUDERS]; // static float pid_output[EXTRUDERS]; static bool pid_reset[EXTRUDERS]; #endif //PIDTEMP #ifdef PIDTEMPBED //static cannot be external: static float temp_iState_bed = { 0 }; static float temp_dState_bed = { 0 }; static float pTerm_bed; static float iTerm_bed; static float dTerm_bed; //int output; static float pid_error_bed; static float temp_iState_min_bed; static float temp_iState_max_bed; #else //PIDTEMPBED static unsigned long previous_millis_bed_heater; #endif //PIDTEMPBED static unsigned char soft_pwm[EXTRUDERS]; static unsigned char soft_pwm_bed; #ifdef FAN_SOFT_PWM static unsigned char soft_pwm_fan; #endif #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \ (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \ (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1) static unsigned long extruder_autofan_last_check; #endif #if EXTRUDERS > 3 # error Unsupported number of extruders #elif EXTRUDERS > 2 # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 } #elif EXTRUDERS > 1 # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 } #else # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 } #endif // Init min and max temp with extreme values to prevent false errors during startup static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP ); static int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP ); static int minttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 0, 0, 0 ); static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 16383, 16383, 16383 ); //static int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP; /* No bed mintemp error implemented?!? */ #ifdef BED_MAXTEMP static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP; #endif #ifdef TEMP_SENSOR_1_AS_REDUNDANT static void *heater_ttbl_map[2] = {(void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE }; static uint8_t heater_ttbllen_map[2] = { HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN }; #else static void *heater_ttbl_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE ); static uint8_t heater_ttbllen_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN ); #endif static float analog2temp(int raw, uint8_t e); static float analog2tempBed(int raw); static void updateTemperaturesFromRawValues(); #ifdef WATCH_TEMP_PERIOD int watch_start_temp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0); unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0); #endif //WATCH_TEMP_PERIOD #ifndef SOFT_PWM_SCALE #define SOFT_PWM_SCALE 0 #endif //=========================================================================== //============================= functions ============================ //=========================================================================== void PID_autotune(float temp, int extruder, int ncycles) { float input = 0.0; int cycles=0; bool heating = true; unsigned long temp_millis = millis(); unsigned long t1=temp_millis; unsigned long t2=temp_millis; long t_high = 0; long t_low = 0; long bias, d; float Ku, Tu; float Kp, Ki, Kd; float max = 0, min = 10000; if ((extruder > EXTRUDERS) #if (TEMP_BED_PIN <= -1) ||(extruder < 0) #endif ){ SERIAL_ECHOLN("PID Autotune failed. Bad extruder number."); return; } SERIAL_ECHOLN("PID Autotune start"); disable_heater(); // switch off all heaters. if (extruder<0) { soft_pwm_bed = (MAX_BED_POWER)/2; bias = d = (MAX_BED_POWER)/2; } else { soft_pwm[extruder] = (PID_MAX)/2; bias = d = (PID_MAX)/2; } for(;;) { if(temp_meas_ready == true) { // temp sample ready updateTemperaturesFromRawValues(); input = (extruder<0)?current_temperature_bed:current_temperature[extruder]; max=max(max,input); min=min(min,input); if(heating == true && input > temp) { if(millis() - t2 > 5000) { heating=false; if (extruder<0) soft_pwm_bed = (bias - d) >> 1; else soft_pwm[extruder] = (bias - d) >> 1; t1=millis(); t_high=t1 - t2; max=temp; } } if(heating == false && input < temp) { if(millis() - t1 > 5000) { heating=true; t2=millis(); t_low=t2 - t1; if(cycles > 0) { bias += (d*(t_high - t_low))/(t_low + t_high); bias = constrain(bias, 20 ,(extruder<0?(MAX_BED_POWER):(PID_MAX))-20); if(bias > (extruder<0?(MAX_BED_POWER):(PID_MAX))/2) d = (extruder<0?(MAX_BED_POWER):(PID_MAX)) - 1 - bias; else d = bias; SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias); SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d); SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min); SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max); if(cycles > 2) { Ku = (4.0*d)/(3.14159*(max-min)/2.0); Tu = ((float)(t_low + t_high)/1000.0); SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku); SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu); Kp = 0.6*Ku; Ki = 2*Kp/Tu; Kd = Kp*Tu/8; SERIAL_PROTOCOLLNPGM(" Clasic PID "); SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); /* Kp = 0.33*Ku; Ki = Kp/Tu; Kd = Kp*Tu/3; SERIAL_PROTOCOLLNPGM(" Some overshoot ") SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); Kp = 0.2*Ku; Ki = 2*Kp/Tu; Kd = Kp*Tu/3; SERIAL_PROTOCOLLNPGM(" No overshoot ") SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); */ } } if (extruder<0) soft_pwm_bed = (bias + d) >> 1; else soft_pwm[extruder] = (bias + d) >> 1; cycles++; min=temp; } } } if(input > (temp + 20)) { SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature too high"); return; } if(millis() - temp_millis > 2000) { int p; if (extruder<0){ p=soft_pwm_bed; SERIAL_PROTOCOLPGM("ok B:"); }else{ p=soft_pwm[extruder]; SERIAL_PROTOCOLPGM("ok T:"); } SERIAL_PROTOCOL(input); SERIAL_PROTOCOLPGM(" @:"); SERIAL_PROTOCOLLN(p); temp_millis = millis(); } if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) { SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout"); return; } if(cycles > ncycles) { SERIAL_PROTOCOLLNPGM("PID Autotune finished! Put the Kp, Ki and Kd constants into Configuration.h"); return; } lcd_update(); } } void updatePID() { #ifdef PIDTEMP for(int e = 0; e < EXTRUDERS; e++) { temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki; } #endif #ifdef PIDTEMPBED temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi; #endif } int getHeaterPower(int heater) { if (heater<0) return soft_pwm_bed; return soft_pwm[heater]; } #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \ (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \ (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1) #if defined(FAN_PIN) && FAN_PIN > -1 #if EXTRUDER_0_AUTO_FAN_PIN == FAN_PIN #error "You cannot set EXTRUDER_0_AUTO_FAN_PIN equal to FAN_PIN" #endif #if EXTRUDER_1_AUTO_FAN_PIN == FAN_PIN #error "You cannot set EXTRUDER_1_AUTO_FAN_PIN equal to FAN_PIN" #endif #if EXTRUDER_2_AUTO_FAN_PIN == FAN_PIN #error "You cannot set EXTRUDER_2_AUTO_FAN_PIN equal to FAN_PIN" #endif #endif void setExtruderAutoFanState(int pin, bool state) { unsigned char newFanSpeed = (state != 0) ? EXTRUDER_AUTO_FAN_SPEED : 0; // this idiom allows both digital and PWM fan outputs (see M42 handling). pinMode(pin, OUTPUT); digitalWrite(pin, newFanSpeed); analogWrite(pin, newFanSpeed); } void checkExtruderAutoFans() { uint8_t fanState = 0; // which fan pins need to be turned on? #if defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1 if (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE) fanState |= 1; #endif #if defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1 if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) { if (EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) fanState |= 1; else fanState |= 2; } #endif #if defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1 if (current_temperature[2] > EXTRUDER_AUTO_FAN_TEMPERATURE) { if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) fanState |= 1; else if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN) fanState |= 2; else fanState |= 4; } #endif // update extruder auto fan states #if defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1 setExtruderAutoFanState(EXTRUDER_0_AUTO_FAN_PIN, (fanState & 1) != 0); #endif #if defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1 if (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN) setExtruderAutoFanState(EXTRUDER_1_AUTO_FAN_PIN, (fanState & 2) != 0); #endif #if defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1 if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN && EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN) setExtruderAutoFanState(EXTRUDER_2_AUTO_FAN_PIN, (fanState & 4) != 0); #endif } #endif // any extruder auto fan pins set void manage_heater() { float pid_input; float pid_output; if(temp_meas_ready != true) //better readability return; updateTemperaturesFromRawValues(); for(int e = 0; e < EXTRUDERS; e++) { #ifdef PIDTEMP pid_input = current_temperature[e]; #ifndef PID_OPENLOOP pid_error[e] = target_temperature[e] - pid_input; if(pid_error[e] > PID_FUNCTIONAL_RANGE) { pid_output = BANG_MAX; pid_reset[e] = true; } else if(pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) { pid_output = 0; pid_reset[e] = true; } else { if(pid_reset[e] == true) { temp_iState[e] = 0.0; pid_reset[e] = false; } pTerm[e] = Kp * pid_error[e]; temp_iState[e] += pid_error[e]; temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]); iTerm[e] = Ki * temp_iState[e]; //K1 defined in Configuration.h in the PID settings #define K2 (1.0-K1) dTerm[e] = (Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]); pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX); } temp_dState[e] = pid_input; #else pid_output = constrain(target_temperature[e], 0, PID_MAX); #endif //PID_OPENLOOP #ifdef PID_DEBUG SERIAL_ECHO_START(" PIDDEBUG "); SERIAL_ECHO(e); SERIAL_ECHO(": Input "); SERIAL_ECHO(pid_input); SERIAL_ECHO(" Output "); SERIAL_ECHO(pid_output); SERIAL_ECHO(" pTerm "); SERIAL_ECHO(pTerm[e]); SERIAL_ECHO(" iTerm "); SERIAL_ECHO(iTerm[e]); SERIAL_ECHO(" dTerm "); SERIAL_ECHOLN(dTerm[e]); #endif //PID_DEBUG #else /* PID off */ pid_output = 0; if(current_temperature[e] < target_temperature[e]) { pid_output = PID_MAX; } #endif // Check if temperature is within the correct range if((current_temperature[e] > minttemp[e]) && (current_temperature[e] < maxttemp[e])) { soft_pwm[e] = (int)pid_output >> 1; } else { soft_pwm[e] = 0; } #ifdef WATCH_TEMP_PERIOD if(watchmillis[e] && millis() - watchmillis[e] > WATCH_TEMP_PERIOD) { if(degHotend(e) < watch_start_temp[e] + WATCH_TEMP_INCREASE) { setTargetHotend(0, e); LCD_MESSAGEPGM("Heating failed"); SERIAL_ECHO_START; SERIAL_ECHOLN("Heating failed"); }else{ watchmillis[e] = 0; } } #endif #ifdef TEMP_SENSOR_1_AS_REDUNDANT if(fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) { disable_heater(); if(IsStopped() == false) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM("Extruder switched off. Temperature difference between temp sensors is too high !"); LCD_ALERTMESSAGEPGM("Err: REDUNDANT TEMP ERROR"); } #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE Stop(); #endif } #endif } // End extruder for loop #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \ (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \ (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1) if(millis() - extruder_autofan_last_check > 2500) // only need to check fan state very infrequently { checkExtruderAutoFans(); extruder_autofan_last_check = millis(); } #endif #ifndef PIDTEMPBED if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) return; previous_millis_bed_heater = millis(); #endif #if TEMP_SENSOR_BED != 0 #ifdef PIDTEMPBED pid_input = current_temperature_bed; #ifndef PID_OPENLOOP pid_error_bed = target_temperature_bed - pid_input; pTerm_bed = bedKp * pid_error_bed; temp_iState_bed += pid_error_bed; temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed); iTerm_bed = bedKi * temp_iState_bed; //K1 defined in Configuration.h in the PID settings #define K2 (1.0-K1) dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed); temp_dState_bed = pid_input; pid_output = constrain(pTerm_bed + iTerm_bed - dTerm_bed, 0, MAX_BED_POWER); #else pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER); #endif //PID_OPENLOOP if((current_temperature_bed > BED_MINTEMP) && (current_temperature_bed < BED_MAXTEMP)) { soft_pwm_bed = (int)pid_output >> 1; } else { soft_pwm_bed = 0; } #elif !defined(BED_LIMIT_SWITCHING) // Check if temperature is within the correct range if((current_temperature_bed > BED_MINTEMP) && (current_temperature_bed < BED_MAXTEMP)) { if(current_temperature_bed >= target_temperature_bed) { soft_pwm_bed = 0; } else { soft_pwm_bed = MAX_BED_POWER>>1; } } else { soft_pwm_bed = 0; WRITE(HEATER_BED_PIN,LOW); } #else //#ifdef BED_LIMIT_SWITCHING // Check if temperature is within the correct band if((current_temperature_bed > BED_MINTEMP) && (current_temperature_bed < BED_MAXTEMP)) { if(current_temperature_bed > target_temperature_bed + BED_HYSTERESIS) { soft_pwm_bed = 0; } else if(current_temperature_bed <= target_temperature_bed - BED_HYSTERESIS) { soft_pwm_bed = MAX_BED_POWER>>1; } } else { soft_pwm_bed = 0; WRITE(HEATER_BED_PIN,LOW); } #endif #endif } #define PGM_RD_W(x) (short)pgm_read_word(&x) // Derived from RepRap FiveD extruder::getTemperature() // For hot end temperature measurement. static float analog2temp(int raw, uint8_t e) { #ifdef TEMP_SENSOR_1_AS_REDUNDANT if(e > EXTRUDERS) #else if(e >= EXTRUDERS) #endif { SERIAL_ERROR_START; SERIAL_ERROR((int)e); SERIAL_ERRORLNPGM(" - Invalid extruder number !"); kill(); } #ifdef HEATER_0_USES_MAX6675 if (e == 0) { return 0.25 * raw; } #endif if(heater_ttbl_map[e] != NULL) { float celsius = 0; uint8_t i; short (*tt)[][2] = (short (*)[][2])(heater_ttbl_map[e]); for (i=1; i<heater_ttbllen_map[e]; i++) { if (PGM_RD_W((*tt)[i][0]) > raw) { celsius = PGM_RD_W((*tt)[i-1][1]) + (raw - PGM_RD_W((*tt)[i-1][0])) * (float)(PGM_RD_W((*tt)[i][1]) - PGM_RD_W((*tt)[i-1][1])) / (float)(PGM_RD_W((*tt)[i][0]) - PGM_RD_W((*tt)[i-1][0])); break; } } // Overflow: Set to last value in the table if (i == heater_ttbllen_map[e]) celsius = PGM_RD_W((*tt)[i-1][1]); return celsius; } return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET; } // Derived from RepRap FiveD extruder::getTemperature() // For bed temperature measurement. static float analog2tempBed(int raw) { #ifdef BED_USES_THERMISTOR float celsius = 0; byte i; for (i=1; i<BEDTEMPTABLE_LEN; i++) { if (PGM_RD_W(BEDTEMPTABLE[i][0]) > raw) { celsius = PGM_RD_W(BEDTEMPTABLE[i-1][1]) + (raw - PGM_RD_W(BEDTEMPTABLE[i-1][0])) * (float)(PGM_RD_W(BEDTEMPTABLE[i][1]) - PGM_RD_W(BEDTEMPTABLE[i-1][1])) / (float)(PGM_RD_W(BEDTEMPTABLE[i][0]) - PGM_RD_W(BEDTEMPTABLE[i-1][0])); break; } } // Overflow: Set to last value in the table if (i == BEDTEMPTABLE_LEN) celsius = PGM_RD_W(BEDTEMPTABLE[i-1][1]); return celsius; #elif defined BED_USES_AD595 return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET; #else return 0; #endif } /* Called to get the raw values into the the actual temperatures. The raw values are created in interrupt context, and this function is called from normal context as it is too slow to run in interrupts and will block the stepper routine otherwise */ static void updateTemperaturesFromRawValues() { for(uint8_t e=0;e<EXTRUDERS;e++) { current_temperature[e] = analog2temp(current_temperature_raw[e], e); } current_temperature_bed = analog2tempBed(current_temperature_bed_raw); #ifdef TEMP_SENSOR_1_AS_REDUNDANT redundant_temperature = analog2temp(redundant_temperature_raw, 1); #endif //Reset the watchdog after we know we have a temperature measurement. watchdog_reset(); CRITICAL_SECTION_START; temp_meas_ready = false; CRITICAL_SECTION_END; } void tp_init() { #if (MOTHERBOARD == 80) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1)) //disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector MCUCR=(1<<JTD); MCUCR=(1<<JTD); #endif // Finish init of mult extruder arrays for(int e = 0; e < EXTRUDERS; e++) { // populate with the first value maxttemp[e] = maxttemp[0]; #ifdef PIDTEMP temp_iState_min[e] = 0.0; temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki; #endif //PIDTEMP #ifdef PIDTEMPBED temp_iState_min_bed = 0.0; temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi; #endif //PIDTEMPBED } #if defined(HEATER_0_PIN) && (HEATER_0_PIN > -1) SET_OUTPUT(HEATER_0_PIN); #endif #if defined(HEATER_1_PIN) && (HEATER_1_PIN > -1) SET_OUTPUT(HEATER_1_PIN); #endif #if defined(HEATER_2_PIN) && (HEATER_2_PIN > -1) SET_OUTPUT(HEATER_2_PIN); #endif #if defined(HEATER_BED_PIN) && (HEATER_BED_PIN > -1) SET_OUTPUT(HEATER_BED_PIN); #endif #if defined(FAN_PIN) && (FAN_PIN > -1) SET_OUTPUT(FAN_PIN); #ifdef FAST_PWM_FAN setPwmFrequency(FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8 #endif #ifdef FAN_SOFT_PWM soft_pwm_fan = fanSpeedSoftPwm / 2; #endif #endif #ifdef HEATER_0_USES_MAX6675 #ifndef SDSUPPORT SET_OUTPUT(MAX_SCK_PIN); WRITE(MAX_SCK_PIN,0); SET_OUTPUT(MAX_MOSI_PIN); WRITE(MAX_MOSI_PIN,1); SET_INPUT(MAX_MISO_PIN); WRITE(MAX_MISO_PIN,1); #endif SET_OUTPUT(MAX6675_SS); WRITE(MAX6675_SS,1); #endif // Set analog inputs ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07; DIDR0 = 0; #ifdef DIDR2 DIDR2 = 0; #endif #if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1) #if TEMP_0_PIN < 8 DIDR0 |= 1 << TEMP_0_PIN; #else DIDR2 |= 1<<(TEMP_0_PIN - 8); #endif #endif #if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1) #if TEMP_1_PIN < 8 DIDR0 |= 1<<TEMP_1_PIN; #else DIDR2 |= 1<<(TEMP_1_PIN - 8); #endif #endif #if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1) #if TEMP_2_PIN < 8 DIDR0 |= 1 << TEMP_2_PIN; #else DIDR2 |= 1<<(TEMP_2_PIN - 8); #endif #endif #if defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1) #if TEMP_BED_PIN < 8 DIDR0 |= 1<<TEMP_BED_PIN; #else DIDR2 |= 1<<(TEMP_BED_PIN - 8); #endif #endif // Use timer0 for temperature measurement // Interleave temperature interrupt with millies interrupt OCR0B = 128; TIMSK0 |= (1<<OCIE0B); // Wait for temperature measurement to settle delay(250); #ifdef HEATER_0_MINTEMP minttemp[0] = HEATER_0_MINTEMP; while(analog2temp(minttemp_raw[0], 0) < HEATER_0_MINTEMP) { #if HEATER_0_RAW_LO_TEMP < HEATER_0_RAW_HI_TEMP minttemp_raw[0] += OVERSAMPLENR; #else minttemp_raw[0] -= OVERSAMPLENR; #endif } #endif //MINTEMP #ifdef HEATER_0_MAXTEMP maxttemp[0] = HEATER_0_MAXTEMP; while(analog2temp(maxttemp_raw[0], 0) > HEATER_0_MAXTEMP) { #if HEATER_0_RAW_LO_TEMP < HEATER_0_RAW_HI_TEMP maxttemp_raw[0] -= OVERSAMPLENR; #else maxttemp_raw[0] += OVERSAMPLENR; #endif } #endif //MAXTEMP #if (EXTRUDERS > 1) && defined(HEATER_1_MINTEMP) minttemp[1] = HEATER_1_MINTEMP; while(analog2temp(minttemp_raw[1], 1) < HEATER_1_MINTEMP) { #if HEATER_1_RAW_LO_TEMP < HEATER_1_RAW_HI_TEMP minttemp_raw[1] += OVERSAMPLENR; #else minttemp_raw[1] -= OVERSAMPLENR; #endif } #endif // MINTEMP 1 #if (EXTRUDERS > 1) && defined(HEATER_1_MAXTEMP) maxttemp[1] = HEATER_1_MAXTEMP; while(analog2temp(maxttemp_raw[1], 1) > HEATER_1_MAXTEMP) { #if HEATER_1_RAW_LO_TEMP < HEATER_1_RAW_HI_TEMP maxttemp_raw[1] -= OVERSAMPLENR; #else maxttemp_raw[1] += OVERSAMPLENR; #endif } #endif //MAXTEMP 1 #if (EXTRUDERS > 2) && defined(HEATER_2_MINTEMP) minttemp[2] = HEATER_2_MINTEMP; while(analog2temp(minttemp_raw[2], 2) < HEATER_2_MINTEMP) { #if HEATER_2_RAW_LO_TEMP < HEATER_2_RAW_HI_TEMP minttemp_raw[2] += OVERSAMPLENR; #else minttemp_raw[2] -= OVERSAMPLENR; #endif } #endif //MINTEMP 2 #if (EXTRUDERS > 2) && defined(HEATER_2_MAXTEMP) maxttemp[2] = HEATER_2_MAXTEMP; while(analog2temp(maxttemp_raw[2], 2) > HEATER_2_MAXTEMP) { #if HEATER_2_RAW_LO_TEMP < HEATER_2_RAW_HI_TEMP maxttemp_raw[2] -= OVERSAMPLENR; #else maxttemp_raw[2] += OVERSAMPLENR; #endif } #endif //MAXTEMP 2 #ifdef BED_MINTEMP /* No bed MINTEMP error implemented?!? */ /* while(analog2tempBed(bed_minttemp_raw) < BED_MINTEMP) { #if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP bed_minttemp_raw += OVERSAMPLENR; #else bed_minttemp_raw -= OVERSAMPLENR; #endif } */ #endif //BED_MINTEMP #ifdef BED_MAXTEMP while(analog2tempBed(bed_maxttemp_raw) > BED_MAXTEMP) { #if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP bed_maxttemp_raw -= OVERSAMPLENR; #else bed_maxttemp_raw += OVERSAMPLENR; #endif } #endif //BED_MAXTEMP } void setWatch() { #ifdef WATCH_TEMP_PERIOD for (int e = 0; e < EXTRUDERS; e++) { if(degHotend(e) < degTargetHotend(e) - (WATCH_TEMP_INCREASE * 2)) { watch_start_temp[e] = degHotend(e); watchmillis[e] = millis(); } } #endif } void disable_heater() { for(int i=0;i<EXTRUDERS;i++) setTargetHotend(0,i); setTargetBed(0); #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1 target_temperature[0]=0; soft_pwm[0]=0; #if defined(HEATER_0_PIN) && HEATER_0_PIN > -1 WRITE(HEATER_0_PIN,LOW); #endif #endif #if defined(TEMP_1_PIN) && TEMP_1_PIN > -1 target_temperature[1]=0; soft_pwm[1]=0; #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 WRITE(HEATER_1_PIN,LOW); #endif #endif #if defined(TEMP_2_PIN) && TEMP_2_PIN > -1 target_temperature[2]=0; soft_pwm[2]=0; #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1 WRITE(HEATER_2_PIN,LOW); #endif #endif #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1 target_temperature_bed=0; soft_pwm_bed=0; #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 WRITE(HEATER_BED_PIN,LOW); #endif #endif } void max_temp_error(uint8_t e) { disable_heater(); if(IsStopped() == false) { SERIAL_ERROR_START; SERIAL_ERRORLN((int)e); SERIAL_ERRORLNPGM(": Extruder switched off. MAXTEMP triggered !"); LCD_ALERTMESSAGEPGM("Err: MAXTEMP"); } #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE Stop(); #endif } void min_temp_error(uint8_t e) { disable_heater(); if(IsStopped() == false) { SERIAL_ERROR_START; SERIAL_ERRORLN((int)e); SERIAL_ERRORLNPGM(": Extruder switched off. MINTEMP triggered !"); LCD_ALERTMESSAGEPGM("Err: MINTEMP"); } #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE Stop(); #endif } void bed_max_temp_error(void) { #if HEATER_BED_PIN > -1 WRITE(HEATER_BED_PIN, 0); #endif if(IsStopped() == false) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!"); LCD_ALERTMESSAGEPGM("Err: MAXTEMP BED"); } #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE Stop(); #endif } #ifdef HEATER_0_USES_MAX6675 #define MAX6675_HEAT_INTERVAL 250 long max6675_previous_millis = -HEAT_INTERVAL; int max6675_temp = 2000; int read_max6675() { if (millis() - max6675_previous_millis < MAX6675_HEAT_INTERVAL) return max6675_temp; max6675_previous_millis = millis(); max6675_temp = 0; #ifdef PRR PRR &= ~(1<<PRSPI); #elif defined PRR0 PRR0 &= ~(1<<PRSPI); #endif SPCR = (1<<MSTR) | (1<<SPE) | (1<<SPR0); // enable TT_MAX6675 WRITE(MAX6675_SS, 0); // ensure 100ns delay - a bit extra is fine asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz // read MSB SPDR = 0; for (;(SPSR & (1<<SPIF)) == 0;); max6675_temp = SPDR; max6675_temp <<= 8; // read LSB SPDR = 0; for (;(SPSR & (1<<SPIF)) == 0;); max6675_temp |= SPDR; // disable TT_MAX6675 WRITE(MAX6675_SS, 1); if (max6675_temp & 4) { // thermocouple open max6675_temp = 2000; } else { max6675_temp = max6675_temp >> 3; } return max6675_temp; } #endif // Timer 0 is shared with millies ISR(TIMER0_COMPB_vect) { //these variables are only accesible from the ISR, but static, so they don't lose their value static unsigned char temp_count = 0; static unsigned long raw_temp_0_value = 0; static unsigned long raw_temp_1_value = 0; static unsigned long raw_temp_2_value = 0; static unsigned long raw_temp_bed_value = 0; static unsigned char temp_state = 0; static unsigned char pwm_count = (1 << SOFT_PWM_SCALE); static unsigned char soft_pwm_0; #if EXTRUDERS > 1 static unsigned char soft_pwm_1; #endif #if EXTRUDERS > 2 static unsigned char soft_pwm_2; #endif #if HEATER_BED_PIN > -1 static unsigned char soft_pwm_b; #endif if(pwm_count == 0){ soft_pwm_0 = soft_pwm[0]; if(soft_pwm_0 > 0) WRITE(HEATER_0_PIN,1); #if EXTRUDERS > 1 soft_pwm_1 = soft_pwm[1]; if(soft_pwm_1 > 0) WRITE(HEATER_1_PIN,1); #endif #if EXTRUDERS > 2 soft_pwm_2 = soft_pwm[2]; if(soft_pwm_2 > 0) WRITE(HEATER_2_PIN,1); #endif #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 soft_pwm_b = soft_pwm_bed; if(soft_pwm_b > 0) WRITE(HEATER_BED_PIN,1); #endif #ifdef FAN_SOFT_PWM soft_pwm_fan = fanSpeedSoftPwm / 2; if(soft_pwm_fan > 0) WRITE(FAN_PIN,1); #endif } if(soft_pwm_0 <= pwm_count) WRITE(HEATER_0_PIN,0); #if EXTRUDERS > 1 if(soft_pwm_1 <= pwm_count) WRITE(HEATER_1_PIN,0); #endif #if EXTRUDERS > 2 if(soft_pwm_2 <= pwm_count) WRITE(HEATER_2_PIN,0); #endif #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 if(soft_pwm_b <= pwm_count) WRITE(HEATER_BED_PIN,0); #endif #ifdef FAN_SOFT_PWM if(soft_pwm_fan <= pwm_count) WRITE(FAN_PIN,0); #endif pwm_count += (1 << SOFT_PWM_SCALE); pwm_count &= 0x7f; switch(temp_state) { case 0: // Prepare TEMP_0 #if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1) #if TEMP_0_PIN > 7 ADCSRB = 1<<MUX5; #else ADCSRB = 0; #endif ADMUX = ((1 << REFS0) | (TEMP_0_PIN & 0x07)); ADCSRA |= 1<<ADSC; // Start conversion #endif lcd_buttons_update(); temp_state = 1; break; case 1: // Measure TEMP_0 #if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1) raw_temp_0_value += ADC; #endif #ifdef HEATER_0_USES_MAX6675 // TODO remove the blocking raw_temp_0_value = read_max6675(); #endif temp_state = 2; break; case 2: // Prepare TEMP_BED #if defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1) #if TEMP_BED_PIN > 7 ADCSRB = 1<<MUX5; #else ADCSRB = 0; #endif ADMUX = ((1 << REFS0) | (TEMP_BED_PIN & 0x07)); ADCSRA |= 1<<ADSC; // Start conversion #endif lcd_buttons_update(); temp_state = 3; break; case 3: // Measure TEMP_BED #if defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1) raw_temp_bed_value += ADC; #endif temp_state = 4; break; case 4: // Prepare TEMP_1 #if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1) #if TEMP_1_PIN > 7 ADCSRB = 1<<MUX5; #else ADCSRB = 0; #endif ADMUX = ((1 << REFS0) | (TEMP_1_PIN & 0x07)); ADCSRA |= 1<<ADSC; // Start conversion #endif lcd_buttons_update(); temp_state = 5; break; case 5: // Measure TEMP_1 #if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1) raw_temp_1_value += ADC; #endif temp_state = 6; break; case 6: // Prepare TEMP_2 #if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1) #if TEMP_2_PIN > 7 ADCSRB = 1<<MUX5; #else ADCSRB = 0; #endif ADMUX = ((1 << REFS0) | (TEMP_2_PIN & 0x07)); ADCSRA |= 1<<ADSC; // Start conversion #endif lcd_buttons_update(); temp_state = 7; break; case 7: // Measure TEMP_2 #if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1) raw_temp_2_value += ADC; #endif temp_state = 0; temp_count++; break; // default: // SERIAL_ERROR_START; // SERIAL_ERRORLNPGM("Temp measurement error!"); // break; } if(temp_count >= 16) // 8 ms * 16 = 128ms. { if (!temp_meas_ready) //Only update the raw values if they have been read. Else we could be updating them during reading. { current_temperature_raw[0] = raw_temp_0_value; #if EXTRUDERS > 1 current_temperature_raw[1] = raw_temp_1_value; #endif #ifdef TEMP_SENSOR_1_AS_REDUNDANT redundant_temperature_raw = raw_temp_1_value; #endif #if EXTRUDERS > 2 current_temperature_raw[2] = raw_temp_2_value; #endif current_temperature_bed_raw = raw_temp_bed_value; } temp_meas_ready = true; temp_count = 0; raw_temp_0_value = 0; raw_temp_1_value = 0; raw_temp_2_value = 0; raw_temp_bed_value = 0; #if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP if(current_temperature_raw[0] <= maxttemp_raw[0]) { #else if(current_temperature_raw[0] >= maxttemp_raw[0]) { #endif max_temp_error(0); } #if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP if(current_temperature_raw[0] >= minttemp_raw[0]) { #else if(current_temperature_raw[0] <= minttemp_raw[0]) { #endif min_temp_error(0); } #if EXTRUDERS > 1 #if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP if(current_temperature_raw[1] <= maxttemp_raw[1]) { #else if(current_temperature_raw[1] >= maxttemp_raw[1]) { #endif max_temp_error(1); } #if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP if(current_temperature_raw[1] >= minttemp_raw[1]) { #else if(current_temperature_raw[1] <= minttemp_raw[1]) { #endif min_temp_error(1); } #endif #if EXTRUDERS > 2 #if HEATER_2_RAW_LO_TEMP > HEATER_2_RAW_HI_TEMP if(current_temperature_raw[2] <= maxttemp_raw[2]) { #else if(current_temperature_raw[2] >= maxttemp_raw[2]) { #endif max_temp_error(2); } #if HEATER_2_RAW_LO_TEMP > HEATER_2_RAW_HI_TEMP if(current_temperature_raw[2] >= minttemp_raw[2]) { #else if(current_temperature_raw[2] <= minttemp_raw[2]) { #endif min_temp_error(2); } #endif /* No bed MINTEMP error? */ #if defined(BED_MAXTEMP) && (TEMP_SENSOR_BED != 0) # if HEATER_BED_RAW_LO_TEMP > HEATER_BED_RAW_HI_TEMP if(current_temperature_bed_raw <= bed_maxttemp_raw) { #else if(current_temperature_bed_raw >= bed_maxttemp_raw) { #endif target_temperature_bed = 0; bed_max_temp_error(); } #endif } } #ifdef PIDTEMP // Apply the scale factors to the PID values float scalePID_i(float i) { return i*PID_dT; } float unscalePID_i(float i) { return i/PID_dT; } float scalePID_d(float d) { return d/PID_dT; } float unscalePID_d(float d) { return d*PID_dT; } #endif //PIDTEMP
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