477 lines
12 KiB
C++
477 lines
12 KiB
C++
![]() |
/*
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temperature.c - temperature control
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Part of Marlin
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Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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This firmware is a mashup between Sprinter and grbl.
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(https://github.com/kliment/Sprinter)
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(https://github.com/simen/grbl/tree)
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It has preliminary support for Matthew Roberts advance algorithm
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http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
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This firmware is optimized for gen6 electronics.
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*/
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#include "fastio.h"
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#include "Configuration.h"
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#include "pins.h"
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#include "Marlin.h"
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#include "ultralcd.h"
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#include "streaming.h"
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#include "temperature.h"
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int target_bed_raw = 0;
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int current_bed_raw = 0;
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int target_raw[3] = {0, 0, 0};
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int current_raw[3] = {0, 0, 0};
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unsigned char temp_meas_ready = false;
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unsigned long previous_millis_heater, previous_millis_bed_heater;
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#ifdef PIDTEMP
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double temp_iState = 0;
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double temp_dState = 0;
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double pTerm;
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double iTerm;
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double dTerm;
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//int output;
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double pid_error;
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double temp_iState_min;
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double temp_iState_max;
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double pid_setpoint = 0.0;
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double pid_input;
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double pid_output;
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bool pid_reset;
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float HeaterPower;
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float Kp=DEFAULT_Kp;
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float Ki=DEFAULT_Ki;
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float Kd=DEFAULT_Kd;
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float Kc=DEFAULT_Kc;
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#endif //PIDTEMP
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#ifdef MINTEMP
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int minttemp = temp2analog(MINTEMP);
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#endif //MINTEMP
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#ifdef MAXTEMP
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int maxttemp = temp2analog(MAXTEMP);
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#endif //MAXTEMP
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#ifdef BED_MINTEMP
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int bed_minttemp = temp2analog(BED_MINTEMP);
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#endif //BED_MINTEMP
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#ifdef BED_MAXTEMP
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int bed_maxttemp = temp2analog(BED_MAXTEMP);
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#endif //BED_MAXTEMP
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void manage_heater()
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{
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#ifdef USE_WATCHDOG
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wd_reset();
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#endif
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float pid_input;
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float pid_output;
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if(temp_meas_ready == true) {
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CRITICAL_SECTION_START;
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temp_meas_ready = false;
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CRITICAL_SECTION_END;
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#ifdef PIDTEMP
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pid_input = analog2temp(current_raw[0]);
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#ifndef PID_OPENLOOP
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pid_error = pid_setpoint - pid_input;
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if(pid_error > 10){
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pid_output = PID_MAX;
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pid_reset = true;
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}
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else if(pid_error < -10) {
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pid_output = 0;
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pid_reset = true;
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}
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else {
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if(pid_reset == true) {
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temp_iState = 0.0;
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pid_reset = false;
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}
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pTerm = Kp * pid_error;
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temp_iState += pid_error;
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temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
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iTerm = Ki * temp_iState;
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#define K1 0.95
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#define K2 (1.0-K1)
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dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm);
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temp_dState = pid_input;
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pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX);
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}
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#endif //PID_OPENLOOP
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#ifdef PID_DEBUG
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Serial.print(" Input ");
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Serial.print(pid_input);
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Serial.print(" Output ");
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Serial.print(pid_output);
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Serial.print(" pTerm ");
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Serial.print(pTerm);
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Serial.print(" iTerm ");
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Serial.print(iTerm);
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Serial.print(" dTerm ");
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Serial.print(dTerm);
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Serial.println();
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#endif //PID_DEBUG
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analogWrite(HEATER_0_PIN, pid_output);
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#endif //PIDTEMP
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#ifndef PIDTEMP
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if(current_raw[0] >= target_raw[0])
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{
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WRITE(HEATER_0_PIN,LOW);
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}
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else
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{
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WRITE(HEATER_0_PIN,HIGH);
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}
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#endif
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if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
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return;
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previous_millis_bed_heater = millis();
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#if TEMP_1_PIN > -1
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if(current_raw[1] >= target_raw[1])
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{
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WRITE(HEATER_1_PIN,LOW);
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}
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else
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{
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WRITE(HEATER_1_PIN,HIGH);
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}
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#endif
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}
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}
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// Takes hot end temperature value as input and returns corresponding raw value.
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// For a thermistor, it uses the RepRap thermistor temp table.
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// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
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// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
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float temp2analog(int celsius) {
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#ifdef HEATER_USES_THERMISTOR
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int raw = 0;
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byte i;
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for (i=1; i<NUMTEMPS; i++)
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{
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if (temptable[i][1] < celsius)
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{
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raw = temptable[i-1][0] +
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(celsius - temptable[i-1][1]) *
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(temptable[i][0] - temptable[i-1][0]) /
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(temptable[i][1] - temptable[i-1][1]);
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break;
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}
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}
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// Overflow: Set to last value in the table
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if (i == NUMTEMPS) raw = temptable[i-1][0];
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return (1023 * OVERSAMPLENR) - raw;
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#elif defined HEATER_USES_AD595
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return celsius * (1024.0 / (5.0 * 100.0) ) * OVERSAMPLENR;
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#endif
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}
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// Takes bed temperature value as input and returns corresponding raw value.
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// For a thermistor, it uses the RepRap thermistor temp table.
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// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
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// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
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float temp2analogBed(int celsius) {
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#ifdef BED_USES_THERMISTOR
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int raw = 0;
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byte i;
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for (i=1; i<BNUMTEMPS; i++)
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{
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if (bedtemptable[i][1] < celsius)
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{
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raw = bedtemptable[i-1][0] +
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(celsius - bedtemptable[i-1][1]) *
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(bedtemptable[i][0] - bedtemptable[i-1][0]) /
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(bedtemptable[i][1] - bedtemptable[i-1][1]);
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break;
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}
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}
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// Overflow: Set to last value in the table
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if (i == BNUMTEMPS) raw = bedtemptable[i-1][0];
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return (1023 * OVERSAMPLENR) - raw;
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#elif defined BED_USES_AD595
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return celsius * (1024.0 / (5.0 * 100.0) ) * OVERSAMPLENR;
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#endif
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}
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// Derived from RepRap FiveD extruder::getTemperature()
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// For hot end temperature measurement.
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float analog2temp(int raw) {
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#ifdef HEATER_USES_THERMISTOR
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int celsius = 0;
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byte i;
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raw = (1023 * OVERSAMPLENR) - raw;
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for (i=1; i<NUMTEMPS; i++)
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{
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if (temptable[i][0] > raw)
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{
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celsius = temptable[i-1][1] +
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(raw - temptable[i-1][0]) *
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(temptable[i][1] - temptable[i-1][1]) /
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(temptable[i][0] - temptable[i-1][0]);
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break;
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}
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}
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// Overflow: Set to last value in the table
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if (i == NUMTEMPS) celsius = temptable[i-1][1];
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return celsius;
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#elif defined HEATER_USES_AD595
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return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;
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#endif
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}
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// Derived from RepRap FiveD extruder::getTemperature()
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// For bed temperature measurement.
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float analog2tempBed(int raw) {
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#ifdef BED_USES_THERMISTOR
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int celsius = 0;
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byte i;
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raw = (1023 * OVERSAMPLENR) - raw;
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for (i=1; i<NUMTEMPS; i++)
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{
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if (bedtemptable[i][0] > raw)
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{
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celsius = bedtemptable[i-1][1] +
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(raw - bedtemptable[i-1][0]) *
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(bedtemptable[i][1] - bedtemptable[i-1][1]) /
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(bedtemptable[i][0] - bedtemptable[i-1][0]);
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break;
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}
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}
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// Overflow: Set to last value in the table
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if (i == NUMTEMPS) celsius = bedtemptable[i-1][1];
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return celsius;
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#elif defined BED_USES_AD595
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return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;
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#endif
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}
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void tp_init()
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{
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#if (HEATER_0_PIN > -1)
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SET_OUTPUT(HEATER_0_PIN);
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#endif
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#if (HEATER_1_PIN > -1)
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SET_OUTPUT(HEATER_1_PIN);
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#endif
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#if (HEATER_2_PIN > -1)
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SET_OUTPUT(HEATER_2_PIN);
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#endif
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#ifdef PIDTEMP
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temp_iState_min = 0.0;
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temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
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#endif //PIDTEMP
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// Set analog inputs
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ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07;
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// Use timer0 for temperature measurement
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// Interleave temperature interrupt with millies interrupt
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OCR0B = 128;
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TIMSK0 |= (1<<OCIE0B);
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}
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static unsigned char temp_count = 0;
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static unsigned long raw_temp_0_value = 0;
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static unsigned long raw_temp_1_value = 0;
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static unsigned long raw_temp_2_value = 0;
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static unsigned char temp_state = 0;
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// Timer 0 is shared with millies
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ISR(TIMER0_COMPB_vect)
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{
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switch(temp_state) {
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case 0: // Prepare TEMP_0
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#if (TEMP_0_PIN > -1)
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#if TEMP_0_PIN < 8
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DIDR0 = 1 << TEMP_0_PIN;
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#else
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DIDR2 = 1<<(TEMP_0_PIN - 8);
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ADCSRB = 1<<MUX5;
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#endif
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ADMUX = ((1 << REFS0) | (TEMP_0_PIN & 0x07));
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ADCSRA |= 1<<ADSC; // Start conversion
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#endif
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#ifdef ULTIPANEL
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buttons_check();
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#endif
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temp_state = 1;
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break;
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case 1: // Measure TEMP_0
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#if (TEMP_0_PIN > -1)
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raw_temp_0_value += ADC;
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#endif
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temp_state = 2;
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break;
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case 2: // Prepare TEMP_1
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#if (TEMP_1_PIN > -1)
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#if TEMP_1_PIN < 7
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DIDR0 = 1<<TEMP_1_PIN;
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#else
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DIDR2 = 1<<(TEMP_1_PIN - 8);
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ADCSRB = 1<<MUX5;
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#endif
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ADMUX = ((1 << REFS0) | (TEMP_1_PIN & 0x07));
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ADCSRA |= 1<<ADSC; // Start conversion
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#endif
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#ifdef ULTIPANEL
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buttons_check();
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#endif
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temp_state = 3;
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break;
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case 3: // Measure TEMP_1
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#if (TEMP_1_PIN > -1)
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raw_temp_1_value += ADC;
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#endif
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temp_state = 4;
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break;
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case 4: // Prepare TEMP_2
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#if (TEMP_2_PIN > -1)
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#if TEMP_2_PIN < 7
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DIDR0 = 1 << TEMP_2_PIN;
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#else
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DIDR2 = 1<<(TEMP_2_PIN - 8);
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ADCSRB = 1<<MUX5;
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#endif
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ADMUX = ((1 << REFS0) | (TEMP_2_PIN & 0x07));
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ADCSRA |= 1<<ADSC; // Start conversion
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#endif
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#ifdef ULTIPANEL
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buttons_check();
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#endif
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temp_state = 5;
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break;
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case 5: // Measure TEMP_2
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#if (TEMP_2_PIN > -1)
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raw_temp_2_value += ADC;
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#endif
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temp_state = 0;
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temp_count++;
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break;
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default:
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Serial.println("!! Temp measurement error !!");
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break;
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}
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if(temp_count >= 16) // 6 ms * 16 = 96ms.
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{
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#ifdef HEATER_USES_AD595
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current_raw[0] = raw_temp_0_value;
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current_raw[2] = raw_temp_2_value;
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#else
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current_raw[0] = 16383 - raw_temp_0_value;
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current_raw[2] = 16383 - raw_temp_2_value;
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#endif
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#ifdef BED_USES_AD595
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current_raw[1] = raw_temp_1_value;
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#else
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current_raw[1] = 16383 - raw_temp_1_value;
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#endif
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temp_meas_ready = true;
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temp_count = 0;
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raw_temp_0_value = 0;
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raw_temp_1_value = 0;
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raw_temp_2_value = 0;
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#ifdef MAXTEMP
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#if (HEATER_0_PIN > -1)
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if(current_raw[0] >= maxttemp) {
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target_raw[0] = 0;
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analogWrite(HEATER_0_PIN, 0);
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Serial.println("!! Temperature extruder 0 switched off. MAXTEMP triggered !!");
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}
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#endif
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#if (HEATER_2_PIN > -1)
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if(current_raw[2] >= maxttemp) {
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target_raw[2] = 0;
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analogWrite(HEATER_2_PIN, 0);
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Serial.println("!! Temperature extruder 1 switched off. MAXTEMP triggered !!");
|
||
|
}
|
||
|
#endif
|
||
|
#endif //MAXTEMP
|
||
|
#ifdef MINTEMP
|
||
|
#if (HEATER_0_PIN > -1)
|
||
|
if(current_raw[0] <= minttemp) {
|
||
|
target_raw[0] = 0;
|
||
|
analogWrite(HEATER_0_PIN, 0);
|
||
|
Serial.println("!! Temperature extruder 0 switched off. MINTEMP triggered !!");
|
||
|
}
|
||
|
#endif
|
||
|
#if (HEATER_2_PIN > -1)
|
||
|
if(current_raw[2] <= minttemp) {
|
||
|
target_raw[2] = 0;
|
||
|
analogWrite(HEATER_2_PIN, 0);
|
||
|
Serial.println("!! Temperature extruder 1 switched off. MINTEMP triggered !!");
|
||
|
}
|
||
|
#endif
|
||
|
#endif //MAXTEMP
|
||
|
#ifdef BED_MINTEMP
|
||
|
#if (HEATER_1_PIN > -1)
|
||
|
if(current_raw[1] <= bed_minttemp) {
|
||
|
target_raw[1] = 0;
|
||
|
WRITE(HEATER_1_PIN, 0);
|
||
|
Serial.println("!! Temperatur heated bed switched off. MINTEMP triggered !!");
|
||
|
}
|
||
|
#endif
|
||
|
#endif
|
||
|
#ifdef BED_MAXTEMP
|
||
|
#if (HEATER_1_PIN > -1)
|
||
|
if(current_raw[1] >= bed_maxttemp) {
|
||
|
target_raw[1] = 0;
|
||
|
WRITE(HEATER_1_PIN, 0);
|
||
|
Serial.println("!! Temperature heated bed switched off. MAXTEMP triggered !!");
|
||
|
}
|
||
|
#endif
|
||
|
#endif
|
||
|
}
|
||
|
}
|