/* 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 . */ /* 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" #include "Sd2PinMap.h" //=========================================================================== //============================= public variables ============================ //=========================================================================== // Sampling period of the temperature routine #ifdef PID_dT #undef PID_dT #endif #define PID_dT ((OVERSAMPLENR * 12.0)/(F_CPU / 64.0 / 256.0)) 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 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 unsigned char soft_pwm_bed; #ifdef BABYSTEPPING volatile int babystepsTodo[3] = { 0 }; #endif #ifdef FILAMENT_SENSOR int current_raw_filwidth = 0; //Holds measured filament diameter - one extruder only #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]; #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 > 4 #error Unsupported number of extruders #elif EXTRUDERS > 3 #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3, v4 } #elif EXTRUDERS > 2 #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3 } #elif EXTRUDERS > 1 #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2 } #else #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1 } #endif #ifdef PIDTEMP #ifdef PID_PARAMS_PER_EXTRUDER float Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kp, DEFAULT_Kp, DEFAULT_Kp, DEFAULT_Kp); float Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT); float Kd[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT); #ifdef PID_ADD_EXTRUSION_RATE float Kc[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kc, DEFAULT_Kc, DEFAULT_Kc, DEFAULT_Kc); #endif // PID_ADD_EXTRUSION_RATE #else //PID_PARAMS_PER_EXTRUDER 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 // PID_ADD_EXTRUSION_RATE #endif // PID_PARAMS_PER_EXTRUDER #endif //PIDTEMP // 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, HEATER_3_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, HEATER_3_RAW_HI_TEMP); static int minttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 0, 0, 0, 0 ); static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 16383, 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, (void *)HEATER_3_TEMPTABLE ); static uint8_t heater_ttbllen_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN, HEATER_3_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(0,0,0,0); unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0); #endif //WATCH_TEMP_PERIOD #ifndef SOFT_PWM_SCALE #define SOFT_PWM_SCALE 0 #endif #ifdef FILAMENT_SENSOR static int meas_shift_index; //used to point to a delayed sample in buffer for filament width sensor #endif #ifdef HEATER_0_USES_MAX6675 static int read_max6675(); #endif #define HAS_TEMP_0 (defined(TEMP_0_PIN) && TEMP_0_PIN > -1) #define HAS_TEMP_1 (defined(TEMP_1_PIN) && TEMP_1_PIN > -1) #define HAS_TEMP_2 (defined(TEMP_2_PIN) && TEMP_2_PIN > -1) #define HAS_TEMP_3 (defined(TEMP_3_PIN) && TEMP_3_PIN > -1) #define HAS_TEMP_BED (defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1) #define HAS_FILAMENT_SENSOR (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN > -1) //=========================================================================== //============================= 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(), t1 = temp_millis, t2 = temp_millis; long t_high = 0, t_low = 0; long bias, d; float Ku, Tu; float Kp, Ki, Kd; float max = 0, min = 10000; #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) || \ (defined(EXTRUDER_3_AUTO_FAN_PIN) && EXTRUDER_3_AUTO_FAN_PIN > -1) unsigned long extruder_autofan_last_check = temp_millis; #endif if (extruder >= EXTRUDERS #if !HAS_TEMP_BED || 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 = bias = d = MAX_BED_POWER / 2; else soft_pwm[extruder] = bias = d = PID_MAX / 2; // PID Tuning loop for(;;) { unsigned long ms = millis(); 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 (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) || \ (defined(EXTRUDER_3_AUTO_FAN_PIN) && EXTRUDER_3_AUTO_FAN_PIN > -1) if (ms > extruder_autofan_last_check + 2500) { checkExtruderAutoFans(); extruder_autofan_last_check = ms; } #endif if (heating == true && input > temp) { if (ms - t2 > 5000) { heating = false; if (extruder < 0) soft_pwm_bed = (bias - d) >> 1; else soft_pwm[extruder] = (bias - d) >> 1; t1 = ms; t_high = t1 - t2; max = temp; } } if (heating == false && input < temp) { if (ms - t1 > 5000) { heating = true; t2 = ms; t_low = t2 - t1; if (cycles > 0) { long max_pow = extruder < 0 ? MAX_BED_POWER : PID_MAX; bias += (d*(t_high - t_low))/(t_low + t_high); bias = constrain(bias, 20, max_pow - 20); d = (bias > max_pow / 2) ? max_pow - 1 - bias : 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) / (3.14159265 * (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(" Classic 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; } // Every 2 seconds... if (ms - 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 = ms; } // every 2 seconds // Over 2 minutes? if (((ms - t1) + (ms - t2)) > (10L*60L*1000L*2L)) { SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout"); return; } if (cycles > ncycles) { SERIAL_PROTOCOLLNPGM("PID Autotune finished! Put the last Kp, Ki and Kd constants from above 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 / PID_PARAM(Ki,e); } #endif #ifdef PIDTEMPBED temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi; #endif } int getHeaterPower(int heater) { return heater < 0 ? soft_pwm_bed : 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 #if defined(EXTRUDER_3_AUTO_FAN_PIN) && EXTRUDER_3_AUTO_FAN_PIN > -1 if (current_temperature[3] > EXTRUDER_AUTO_FAN_TEMPERATURE) { if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) fanState |= 1; else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN) fanState |= 2; else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_2_AUTO_FAN_PIN) fanState |= 4; else fanState |= 8; } #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 #if defined(EXTRUDER_3_AUTO_FAN_PIN) && EXTRUDER_3_AUTO_FAN_PIN > -1 if (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_2_AUTO_FAN_PIN) setExtruderAutoFanState(EXTRUDER_3_AUTO_FAN_PIN, (fanState & 8) != 0); #endif } #endif // any extruder auto fan pins set // // Error checking and Write Routines // #if !defined(HEATER_0_PIN) || HEATER_0_PIN < 0 #error HEATER_0_PIN not defined for this board #endif #define WRITE_HEATER_0P(v) WRITE(HEATER_0_PIN, v) #if EXTRUDERS > 1 || defined(HEATERS_PARALLEL) #if !defined(HEATER_1_PIN) || HEATER_1_PIN < 0 #error HEATER_1_PIN not defined for this board #endif #define WRITE_HEATER_1(v) WRITE(HEATER_1_PIN, v) #if EXTRUDERS > 2 #if !defined(HEATER_2_PIN) || HEATER_2_PIN < 0 #error HEATER_2_PIN not defined for this board #endif #define WRITE_HEATER_2(v) WRITE(HEATER_2_PIN, v) #if EXTRUDERS > 3 #if !defined(HEATER_3_PIN) || HEATER_3_PIN < 0 #error HEATER_3_PIN not defined for this board #endif #define WRITE_HEATER_3(v) WRITE(HEATER_3_PIN, v) #endif #endif #endif #ifdef HEATERS_PARALLEL #define WRITE_HEATER_0(v) { WRITE_HEATER_0P(v); WRITE_HEATER_1(v); } #else #define WRITE_HEATER_0(v) WRITE_HEATER_0P(v) #endif #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 #define WRITE_HEATER_BED(v) WRITE(HEATER_BED_PIN, v) #endif void manage_heater() { if (!temp_meas_ready) return; float pid_input, pid_output; updateTemperaturesFromRawValues(); #ifdef HEATER_0_USES_MAX6675 float ct = current_temperature[0]; if (ct > min(HEATER_0_MAXTEMP, 1023)) max_temp_error(0); if (ct < max(HEATER_0_MINTEMP, 0.01)) min_temp_error(0); #endif //HEATER_0_USES_MAX6675 unsigned long ms = millis(); // Loop through all extruders for (int e = 0; e < EXTRUDERS; e++) { #if defined (THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0 thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS); #endif #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] = PID_PARAM(Kp,e) * 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] = PID_PARAM(Ki,e) * temp_iState[e]; //K1 defined in Configuration.h in the PID settings #define K2 (1.0-K1) dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e])) * K2 + (K1 * dTerm[e]); pid_output = pTerm[e] + iTerm[e] - dTerm[e]; if (pid_output > PID_MAX) { if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration pid_output = PID_MAX; } else if (pid_output < 0) { if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration pid_output = 0; } } temp_dState[e] = pid_input; #else pid_output = constrain(target_temperature[e], 0, PID_MAX); #endif //PID_OPENLOOP #ifdef PID_DEBUG SERIAL_ECHO_START; SERIAL_ECHO(" PID_DEBUG "); 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 soft_pwm[e] = current_temperature[e] > minttemp[e] && current_temperature[e] < maxttemp[e] ? (int)pid_output >> 1 : 0; #ifdef WATCH_TEMP_PERIOD if (watchmillis[e] && ms > 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_ECHOLNPGM("Heating failed"); } else { watchmillis[e] = 0; } } #endif //WATCH_TEMP_PERIOD #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 //TEMP_SENSOR_1_AS_REDUNDANT } // Extruders 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 (ms > extruder_autofan_last_check + 2500) { // only need to check fan state very infrequently checkExtruderAutoFans(); extruder_autofan_last_check = ms; } #endif #ifndef PIDTEMPBED if (ms < previous_millis_bed_heater + BED_CHECK_INTERVAL) return; previous_millis_bed_heater = ms; #endif //PIDTEMPBED #if TEMP_SENSOR_BED != 0 #if defined(THERMAL_RUNAWAY_PROTECTION_BED_PERIOD) && THERMAL_RUNAWAY_PROTECTION_BED_PERIOD > 0 thermal_runaway_protection(&thermal_runaway_bed_state_machine, &thermal_runaway_bed_timer, current_temperature_bed, target_temperature_bed, 9, THERMAL_RUNAWAY_PROTECTION_BED_PERIOD, THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS); #endif #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 = pTerm_bed + iTerm_bed - dTerm_bed; if (pid_output > MAX_BED_POWER) { if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration pid_output = MAX_BED_POWER; } else if (pid_output < 0) { if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration pid_output = 0; } #else pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER); #endif //PID_OPENLOOP soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 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) { soft_pwm_bed = current_temperature_bed >= target_temperature_bed ? 0 : MAX_BED_POWER >> 1; } else { soft_pwm_bed = 0; WRITE_HEATER_BED(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(LOW); } #endif #endif //TEMP_SENSOR_BED != 0 // Control the extruder rate based on the width sensor #ifdef FILAMENT_SENSOR if (filament_sensor) { meas_shift_index = delay_index1 - meas_delay_cm; if (meas_shift_index < 0) meas_shift_index += MAX_MEASUREMENT_DELAY + 1; //loop around buffer if needed // Get the delayed info and add 100 to reconstitute to a percent of // the nominal filament diameter then square it to get an area meas_shift_index = constrain(meas_shift_index, 0, MAX_MEASUREMENT_DELAY); float vm = pow((measurement_delay[meas_shift_index] + 100.0) / 100.0, 2); if (vm < 0.01) vm = 0.01; volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = vm; } #endif //FILAMENT_SENSOR } #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(); return 0.0; } #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 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 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() { #ifdef HEATER_0_USES_MAX6675 current_temperature_raw[0] = read_max6675(); #endif for(uint8_t e=0;e MEASURED_UPPER_LIMIT) temp = MEASURED_UPPER_LIMIT; return filament_width_nominal / temp * 100; } #endif void tp_init() { #if MB(RUMBA) && ((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< -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_3_PIN) && (HEATER_3_PIN > -1) SET_OUTPUT(HEATER_3_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(SCK_PIN); WRITE(SCK_PIN,0); SET_OUTPUT(MOSI_PIN); WRITE(MOSI_PIN,1); SET_INPUT(MISO_PIN); WRITE(MISO_PIN,1); #else pinMode(SS_PIN, OUTPUT); digitalWrite(SS_PIN, HIGH); #endif SET_OUTPUT(MAX6675_SS); WRITE(MAX6675_SS,1); #endif //HEATER_0_USES_MAX6675 #ifdef DIDR2 #define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= 1 << pin; else DIDR2 |= 1 << (pin - 8); }while(0) #else #define ANALOG_SELECT(pin) do{ DIDR0 |= 1 << pin; }while(0) #endif // Set analog inputs ADCSRA = 1< HEATER_ ## NR ## _MAXTEMP) { \ if (HEATER_ ## NR ## _RAW_LO_TEMP < HEATER_ ## NR ## _RAW_HI_TEMP) \ maxttemp_raw[NR] -= OVERSAMPLENR; \ else \ maxttemp_raw[NR] += OVERSAMPLENR; \ } #ifdef HEATER_0_MINTEMP TEMP_MIN_ROUTINE(0); #endif #ifdef HEATER_0_MAXTEMP TEMP_MAX_ROUTINE(0); #endif #if EXTRUDERS > 1 #ifdef HEATER_1_MINTEMP TEMP_MIN_ROUTINE(1); #endif #ifdef HEATER_1_MAXTEMP TEMP_MAX_ROUTINE(1); #endif #if EXTRUDERS > 2 #ifdef HEATER_2_MINTEMP TEMP_MIN_ROUTINE(2); #endif #ifdef HEATER_2_MAXTEMP TEMP_MAX_ROUTINE(2); #endif #if EXTRUDERS > 3 #ifdef HEATER_3_MINTEMP TEMP_MIN_ROUTINE(3); #endif #ifdef HEATER_3_MAXTEMP TEMP_MAX_ROUTINE(3); #endif #endif // EXTRUDERS > 3 #endif // EXTRUDERS > 2 #endif // EXTRUDERS > 1 #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 unsigned long ms = millis(); for (int e = 0; e < EXTRUDERS; e++) { if (degHotend(e) < degTargetHotend(e) - (WATCH_TEMP_INCREASE * 2)) { watch_start_temp[e] = degHotend(e); watchmillis[e] = ms; } } #endif } #if defined(THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0 void thermal_runaway_protection(int *state, unsigned long *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc) { /* SERIAL_ECHO_START; SERIAL_ECHO("Thermal Thermal Runaway Running. Heater ID:"); SERIAL_ECHO(heater_id); SERIAL_ECHO(" ; State:"); SERIAL_ECHO(*state); SERIAL_ECHO(" ; Timer:"); SERIAL_ECHO(*timer); SERIAL_ECHO(" ; Temperature:"); SERIAL_ECHO(temperature); SERIAL_ECHO(" ; Target Temp:"); SERIAL_ECHO(target_temperature); SERIAL_ECHOLN(""); */ if ((target_temperature == 0) || thermal_runaway) { *state = 0; *timer = 0; return; } switch (*state) { case 0: // "Heater Inactive" state if (target_temperature > 0) *state = 1; break; case 1: // "First Heating" state if (temperature >= target_temperature) *state = 2; break; case 2: // "Temperature Stable" state { unsigned long ms = millis(); if (temperature >= (target_temperature - hysteresis_degc)) { *timer = ms; } else if ( (ms - *timer) > ((unsigned long) period_seconds) * 1000) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM("Thermal Runaway, system stopped! Heater_ID: "); SERIAL_ERRORLN((int)heater_id); LCD_ALERTMESSAGEPGM("THERMAL RUNAWAY"); thermal_runaway = true; while(1) { disable_heater(); disable_x(); disable_y(); disable_z(); disable_e0(); disable_e1(); disable_e2(); disable_e3(); manage_heater(); lcd_update(); } } } break; } } #endif //THERMAL_RUNAWAY_PROTECTION_PERIOD void disable_heater() { for (int i=0; i 1 && HAS_TEMP_1 target_temperature[1] = 0; soft_pwm[1] = 0; WRITE_HEATER_1(LOW); #endif #if EXTRUDERS > 2 && HAS_TEMP_2 target_temperature[2] = 0; soft_pwm[2] = 0; WRITE_HEATER_2(LOW); #endif #if EXTRUDERS > 3 && HAS_TEMP_3 target_temperature[3] = 0; soft_pwm[3] = 0; WRITE_HEATER_3(LOW); #endif #if HAS_TEMP_BED target_temperature_bed = 0; soft_pwm_bed = 0; #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 WRITE_HEATER_BED(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 defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 WRITE_HEATER_BED(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 = MAX6675_HEAT_INTERVAL; int max6675_temp = 2000; static int read_max6675() { unsigned long ms = millis(); if (ms < max6675_previous_millis + MAX6675_HEAT_INTERVAL) return max6675_temp; max6675_previous_millis = ms; max6675_temp = 0; #ifdef PRR PRR &= ~(1<> 3; } return max6675_temp; } #endif //HEATER_0_USES_MAX6675 enum TempState { PrepareTemp_0, MeasureTemp_0, PrepareTemp_BED, MeasureTemp_BED, PrepareTemp_1, MeasureTemp_1, PrepareTemp_2, MeasureTemp_2, PrepareTemp_3, MeasureTemp_3, Prepare_FILWIDTH, Measure_FILWIDTH, StartupDelay // Startup, delay initial temp reading a tiny bit so the hardware can settle }; // // 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_3_value = 0; static unsigned long raw_temp_bed_value = 0; static TempState temp_state = StartupDelay; static unsigned char pwm_count = (1 << SOFT_PWM_SCALE); // Static members for each heater #ifdef SLOW_PWM_HEATERS static unsigned char slow_pwm_count = 0; #define ISR_STATICS(n) \ static unsigned char soft_pwm_ ## n; \ static unsigned char state_heater_ ## n = 0; \ static unsigned char state_timer_heater_ ## n = 0 #else #define ISR_STATICS(n) static unsigned char soft_pwm_ ## n #endif // Statics per heater ISR_STATICS(0); #if (EXTRUDERS > 1) || defined(HEATERS_PARALLEL) ISR_STATICS(1); #if EXTRUDERS > 2 ISR_STATICS(2); #if EXTRUDERS > 3 ISR_STATICS(3); #endif #endif #endif #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 ISR_STATICS(BED); #endif #if HAS_FILAMENT_SENSOR static unsigned long raw_filwidth_value = 0; #endif #ifndef SLOW_PWM_HEATERS /** * standard PWM modulation */ if (pwm_count == 0) { soft_pwm_0 = soft_pwm[0]; if (soft_pwm_0 > 0) { WRITE_HEATER_0(1); } else WRITE_HEATER_0P(0); // If HEATERS_PARALLEL should apply, change to WRITE_HEATER_0 #if EXTRUDERS > 1 soft_pwm_1 = soft_pwm[1]; WRITE_HEATER_1(soft_pwm_1 > 0 ? 1 : 0); #if EXTRUDERS > 2 soft_pwm_2 = soft_pwm[2]; WRITE_HEATER_2(soft_pwm_2 > 0 ? 1 : 0); #if EXTRUDERS > 3 soft_pwm_3 = soft_pwm[3]; WRITE_HEATER_3(soft_pwm_3 > 0 ? 1 : 0); #endif #endif #endif #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 soft_pwm_BED = soft_pwm_bed; WRITE_HEATER_BED(soft_pwm_BED > 0 ? 1 : 0); #endif #ifdef FAN_SOFT_PWM soft_pwm_fan = fanSpeedSoftPwm / 2; WRITE(FAN_PIN, soft_pwm_fan > 0 ? 1 : 0); #endif } if (soft_pwm_0 < pwm_count) { WRITE_HEATER_0(0); } #if EXTRUDERS > 1 if (soft_pwm_1 < pwm_count) WRITE_HEATER_1(0); #if EXTRUDERS > 2 if (soft_pwm_2 < pwm_count) WRITE_HEATER_2(0); #if EXTRUDERS > 3 if (soft_pwm_3 < pwm_count) WRITE_HEATER_3(0); #endif #endif #endif #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 if (soft_pwm_BED < pwm_count) WRITE_HEATER_BED(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; #else // SLOW_PWM_HEATERS /* * SLOW PWM HEATERS * * for heaters drived by relay */ #ifndef MIN_STATE_TIME #define MIN_STATE_TIME 16 // MIN_STATE_TIME * 65.5 = time in milliseconds #endif // Macros for Slow PWM timer logic - HEATERS_PARALLEL applies #define _SLOW_PWM_ROUTINE(NR, src) \ soft_pwm_ ## NR = src; \ if (soft_pwm_ ## NR > 0) { \ if (state_timer_heater_ ## NR == 0) { \ if (state_heater_ ## NR == 0) state_timer_heater_ ## NR = MIN_STATE_TIME; \ state_heater_ ## NR = 1; \ WRITE_HEATER_ ## NR(1); \ } \ } \ else { \ if (state_timer_heater_ ## NR == 0) { \ if (state_heater_ ## NR == 1) state_timer_heater_ ## NR = MIN_STATE_TIME; \ state_heater_ ## NR = 0; \ WRITE_HEATER_ ## NR(0); \ } \ } #define SLOW_PWM_ROUTINE(n) _SLOW_PWM_ROUTINE(n, soft_pwm[n]) #define PWM_OFF_ROUTINE(NR) \ if (soft_pwm_ ## NR < slow_pwm_count) { \ if (state_timer_heater_ ## NR == 0) { \ if (state_heater_ ## NR == 1) state_timer_heater_ ## NR = MIN_STATE_TIME; \ state_heater_ ## NR = 0; \ WRITE_HEATER_ ## NR (0); \ } \ } if (slow_pwm_count == 0) { SLOW_PWM_ROUTINE(0); // EXTRUDER 0 #if EXTRUDERS > 1 SLOW_PWM_ROUTINE(1); // EXTRUDER 1 #if EXTRUDERS > 2 SLOW_PWM_ROUTINE(2); // EXTRUDER 2 #if EXTRUDERS > 3 SLOW_PWM_ROUTINE(3); // EXTRUDER 3 #endif #endif #endif #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 _SLOW_PWM_ROUTINE(BED, soft_pwm_bed); // BED #endif } // slow_pwm_count == 0 PWM_OFF_ROUTINE(0); // EXTRUDER 0 #if EXTRUDERS > 1 PWM_OFF_ROUTINE(1); // EXTRUDER 1 #if EXTRUDERS > 2 PWM_OFF_ROUTINE(2); // EXTRUDER 2 #if EXTRUDERS > 3 PWM_OFF_ROUTINE(3); // EXTRUDER 3 #endif #endif #endif #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 PWM_OFF_ROUTINE(BED); // BED #endif #ifdef FAN_SOFT_PWM if (pwm_count == 0) { soft_pwm_fan = fanSpeedSoftPwm / 2; WRITE(FAN_PIN, soft_pwm_fan > 0 ? 1 : 0); } if (soft_pwm_fan < pwm_count) WRITE(FAN_PIN, 0); #endif //FAN_SOFT_PWM pwm_count += (1 << SOFT_PWM_SCALE); pwm_count &= 0x7f; // increment slow_pwm_count only every 64 pwm_count circa 65.5ms if ((pwm_count % 64) == 0) { slow_pwm_count++; slow_pwm_count &= 0x7f; // EXTRUDER 0 if (state_timer_heater_0 > 0) state_timer_heater_0--; #if EXTRUDERS > 1 // EXTRUDER 1 if (state_timer_heater_1 > 0) state_timer_heater_1--; #if EXTRUDERS > 2 // EXTRUDER 2 if (state_timer_heater_2 > 0) state_timer_heater_2--; #if EXTRUDERS > 3 // EXTRUDER 3 if (state_timer_heater_3 > 0) state_timer_heater_3--; #endif #endif #endif #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 // BED if (state_timer_heater_BED > 0) state_timer_heater_BED--; #endif } // (pwm_count % 64) == 0 #endif // SLOW_PWM_HEATERS #define SET_ADMUX_ADCSRA(pin) ADMUX = (1 << REFS0) | (pin & 0x07); ADCSRA |= 1< 7) ADCSRB = 1 << MUX5; else ADCSRB = 0; SET_ADMUX_ADCSRA(pin) #else #define START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin) #endif switch(temp_state) { case PrepareTemp_0: #if HAS_TEMP_0 START_ADC(TEMP_0_PIN); #endif lcd_buttons_update(); temp_state = MeasureTemp_0; break; case MeasureTemp_0: #if HAS_TEMP_0 raw_temp_0_value += ADC; #endif temp_state = PrepareTemp_BED; break; case PrepareTemp_BED: #if HAS_TEMP_BED START_ADC(TEMP_BED_PIN); #endif lcd_buttons_update(); temp_state = MeasureTemp_BED; break; case MeasureTemp_BED: #if HAS_TEMP_BED raw_temp_bed_value += ADC; #endif temp_state = PrepareTemp_1; break; case PrepareTemp_1: #if HAS_TEMP_1 START_ADC(TEMP_1_PIN); #endif lcd_buttons_update(); temp_state = MeasureTemp_1; break; case MeasureTemp_1: #if HAS_TEMP_1 raw_temp_1_value += ADC; #endif temp_state = PrepareTemp_2; break; case PrepareTemp_2: #if HAS_TEMP_2 START_ADC(TEMP_2_PIN); #endif lcd_buttons_update(); temp_state = MeasureTemp_2; break; case MeasureTemp_2: #if HAS_TEMP_2 raw_temp_2_value += ADC; #endif temp_state = PrepareTemp_3; break; case PrepareTemp_3: #if HAS_TEMP_3 START_ADC(TEMP_3_PIN); #endif lcd_buttons_update(); temp_state = MeasureTemp_3; break; case MeasureTemp_3: #if HAS_TEMP_3 raw_temp_3_value += ADC; #endif temp_state = Prepare_FILWIDTH; break; case Prepare_FILWIDTH: #if HAS_FILAMENT_SENSOR START_ADC(FILWIDTH_PIN); #endif lcd_buttons_update(); temp_state = Measure_FILWIDTH; break; case Measure_FILWIDTH: #if HAS_FILAMENT_SENSOR // raw_filwidth_value += ADC; //remove to use an IIR filter approach if (ADC > 102) { //check that ADC is reading a voltage > 0.5 volts, otherwise don't take in the data. raw_filwidth_value -= (raw_filwidth_value>>7); //multiply raw_filwidth_value by 127/128 raw_filwidth_value += ((unsigned long)ADC<<7); //add new ADC reading } #endif temp_state = PrepareTemp_0; temp_count++; break; case StartupDelay: temp_state = PrepareTemp_0; break; // default: // SERIAL_ERROR_START; // SERIAL_ERRORLNPGM("Temp measurement error!"); // break; } // switch(temp_state) if (temp_count >= OVERSAMPLENR) { // 10 * 16 * 1/(16000000/64/256) = 164ms. if (!temp_meas_ready) { //Only update the raw values if they have been read. Else we could be updating them during reading. #ifndef HEATER_0_USES_MAX6675 current_temperature_raw[0] = raw_temp_0_value; #endif #if EXTRUDERS > 1 current_temperature_raw[1] = raw_temp_1_value; #if EXTRUDERS > 2 current_temperature_raw[2] = raw_temp_2_value; #if EXTRUDERS > 3 current_temperature_raw[3] = raw_temp_3_value; #endif #endif #endif #ifdef TEMP_SENSOR_1_AS_REDUNDANT redundant_temperature_raw = raw_temp_1_value; #endif current_temperature_bed_raw = raw_temp_bed_value; } //!temp_meas_ready // Filament Sensor - can be read any time since IIR filtering is used #if HAS_FILAMENT_SENSOR current_raw_filwidth = raw_filwidth_value >> 10; // Divide to get to 0-16384 range since we used 1/128 IIR filter approach #endif temp_meas_ready = true; temp_count = 0; raw_temp_0_value = 0; raw_temp_1_value = 0; raw_temp_2_value = 0; raw_temp_3_value = 0; raw_temp_bed_value = 0; #if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP #define MAXTEST <= #define MINTEST >= #else #define MAXTEST >= #define MINTEST <= #endif for (int i=0; i= OVERSAMPLENR #ifdef BABYSTEPPING for (uint8_t axis=X_AXIS; axis<=Z_AXIS; axis++) { int curTodo=babystepsTodo[axis]; //get rid of volatile for performance if (curTodo > 0) { babystep(axis,/*fwd*/true); babystepsTodo[axis]--; //less to do next time } else if(curTodo < 0) { babystep(axis,/*fwd*/false); babystepsTodo[axis]++; //less to do next time } } #endif //BABYSTEPPING } #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