0369f97ec1
To guarantee that the 5mS pulse from a BLTouch is recognized you need to have the endstops.update() routine run twice in that 5mS period. At 200 steps per mm, my system has problems below a feedrate of 120 mm per minute. Two things were done to guarantee the two updates within 5mS: 1) In interrupt mode, a check was added to the temperature ISR. If the endstop interrupt flag/counter is active then it'll kick off the endstop update routine every 1mS until the flag/counter is zero. This flag/counter is decremented by the temperature ISR AND by the stepper ISR. 2) In poling mode, code was added to the stepper ISR that will make sure the ISR runs about every 1.5mS. The "extra" ISR runs only check the endstops. This was done by grabbing the intended ISR delay and, if it's over 2.0mS, splitting the intended delay into multiple smaller delays. The first delay can be up to 2.0mS, the next ones 1.5mS (as needed) and the last no less than 0.5mS. ========================================= BLTouch error state recovery If BLTouch already active when deploying the probe then try to reset it & clear the probe. If that doesn't fix it then declare an error. Also added BLTouch init routine to startup section
1963 lines
60 KiB
C++
1963 lines
60 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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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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*
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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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*
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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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/**
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* temperature.cpp - temperature control
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*/
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#include "Marlin.h"
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#include "ultralcd.h"
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#include "temperature.h"
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#include "thermistortables.h"
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#include "language.h"
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#if ENABLED(BABYSTEPPING)
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#include "stepper.h"
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#endif
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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#include "endstops.h"
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#endif
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#if ENABLED(USE_WATCHDOG)
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#include "watchdog.h"
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#endif
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#ifdef K1 // Defined in Configuration.h in the PID settings
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#define K2 (1.0-K1)
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#endif
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#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
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static void* heater_ttbl_map[2] = {(void*)HEATER_0_TEMPTABLE, (void*)HEATER_1_TEMPTABLE };
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static uint8_t heater_ttbllen_map[2] = { HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN };
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#else
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static void* heater_ttbl_map[HOTENDS] = ARRAY_BY_HOTENDS((void*)HEATER_0_TEMPTABLE, (void*)HEATER_1_TEMPTABLE, (void*)HEATER_2_TEMPTABLE, (void*)HEATER_3_TEMPTABLE);
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static uint8_t heater_ttbllen_map[HOTENDS] = ARRAY_BY_HOTENDS(HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN, HEATER_3_TEMPTABLE_LEN);
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#endif
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Temperature thermalManager;
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// public:
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float Temperature::current_temperature[HOTENDS] = { 0.0 },
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Temperature::current_temperature_bed = 0.0;
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int Temperature::current_temperature_raw[HOTENDS] = { 0 },
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Temperature::target_temperature[HOTENDS] = { 0 },
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Temperature::current_temperature_bed_raw = 0,
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Temperature::target_temperature_bed = 0;
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#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
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float Temperature::redundant_temperature = 0.0;
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#endif
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uint8_t Temperature::soft_pwm_bed;
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#if ENABLED(FAN_SOFT_PWM)
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uint8_t Temperature::fanSpeedSoftPwm[FAN_COUNT];
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#endif
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#if ENABLED(PIDTEMP)
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#if ENABLED(PID_PARAMS_PER_HOTEND) && HOTENDS > 1
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float Temperature::Kp[HOTENDS] = ARRAY_BY_HOTENDS1(DEFAULT_Kp),
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Temperature::Ki[HOTENDS] = ARRAY_BY_HOTENDS1((DEFAULT_Ki) * (PID_dT)),
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Temperature::Kd[HOTENDS] = ARRAY_BY_HOTENDS1((DEFAULT_Kd) / (PID_dT));
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#if ENABLED(PID_EXTRUSION_SCALING)
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float Temperature::Kc[HOTENDS] = ARRAY_BY_HOTENDS1(DEFAULT_Kc);
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#endif
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#else
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float Temperature::Kp = DEFAULT_Kp,
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Temperature::Ki = (DEFAULT_Ki) * (PID_dT),
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Temperature::Kd = (DEFAULT_Kd) / (PID_dT);
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#if ENABLED(PID_EXTRUSION_SCALING)
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float Temperature::Kc = DEFAULT_Kc;
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#endif
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#endif
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#endif
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#if ENABLED(PIDTEMPBED)
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float Temperature::bedKp = DEFAULT_bedKp,
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Temperature::bedKi = ((DEFAULT_bedKi) * PID_dT),
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Temperature::bedKd = ((DEFAULT_bedKd) / PID_dT);
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#endif
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#if ENABLED(BABYSTEPPING)
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volatile int Temperature::babystepsTodo[XYZ] = { 0 };
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#endif
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#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
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int Temperature::watch_target_temp[HOTENDS] = { 0 };
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millis_t Temperature::watch_heater_next_ms[HOTENDS] = { 0 };
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#endif
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#if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
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int Temperature::watch_target_bed_temp = 0;
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millis_t Temperature::watch_bed_next_ms = 0;
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#endif
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#if ENABLED(PREVENT_COLD_EXTRUSION)
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bool Temperature::allow_cold_extrude = false;
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float Temperature::extrude_min_temp = EXTRUDE_MINTEMP;
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#endif
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// private:
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#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
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int Temperature::redundant_temperature_raw = 0;
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float Temperature::redundant_temperature = 0.0;
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#endif
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volatile bool Temperature::temp_meas_ready = false;
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#if ENABLED(PIDTEMP)
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float Temperature::temp_iState[HOTENDS] = { 0 },
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Temperature::temp_dState[HOTENDS] = { 0 },
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Temperature::pTerm[HOTENDS],
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Temperature::iTerm[HOTENDS],
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Temperature::dTerm[HOTENDS];
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#if ENABLED(PID_EXTRUSION_SCALING)
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float Temperature::cTerm[HOTENDS];
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long Temperature::last_e_position;
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long Temperature::lpq[LPQ_MAX_LEN];
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int Temperature::lpq_ptr = 0;
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#endif
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float Temperature::pid_error[HOTENDS];
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bool Temperature::pid_reset[HOTENDS];
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#endif
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#if ENABLED(PIDTEMPBED)
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float Temperature::temp_iState_bed = { 0 },
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Temperature::temp_dState_bed = { 0 },
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Temperature::pTerm_bed,
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Temperature::iTerm_bed,
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Temperature::dTerm_bed,
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Temperature::pid_error_bed;
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#else
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millis_t Temperature::next_bed_check_ms;
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#endif
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unsigned long Temperature::raw_temp_value[MAX_EXTRUDERS] = { 0 };
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unsigned long Temperature::raw_temp_bed_value = 0;
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// Init min and max temp with extreme values to prevent false errors during startup
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int Temperature::minttemp_raw[HOTENDS] = ARRAY_BY_HOTENDS(HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP),
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Temperature::maxttemp_raw[HOTENDS] = ARRAY_BY_HOTENDS(HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP),
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Temperature::minttemp[HOTENDS] = { 0 },
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Temperature::maxttemp[HOTENDS] = ARRAY_BY_HOTENDS1(16383);
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#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
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int Temperature::consecutive_low_temperature_error[HOTENDS] = { 0 };
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#endif
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#ifdef MILLISECONDS_PREHEAT_TIME
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unsigned long Temperature::preheat_end_time[HOTENDS] = { 0 };
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#endif
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#ifdef BED_MINTEMP
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int Temperature::bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP;
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#endif
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#ifdef BED_MAXTEMP
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int Temperature::bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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int Temperature::meas_shift_index; // Index of a delayed sample in buffer
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#endif
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#if HAS_AUTO_FAN
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millis_t Temperature::next_auto_fan_check_ms = 0;
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#endif
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uint8_t Temperature::soft_pwm[HOTENDS];
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#if ENABLED(FAN_SOFT_PWM)
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uint8_t Temperature::soft_pwm_fan[FAN_COUNT];
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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int Temperature::current_raw_filwidth = 0; //Holds measured filament diameter - one extruder only
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#endif
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#if HAS_PID_HEATING
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void Temperature::PID_autotune(float temp, int hotend, int ncycles, bool set_result/*=false*/) {
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float input = 0.0;
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int cycles = 0;
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bool heating = true;
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millis_t temp_ms = millis(), t1 = temp_ms, t2 = temp_ms;
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long t_high = 0, t_low = 0;
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long bias, d;
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float Ku, Tu;
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float workKp = 0, workKi = 0, workKd = 0;
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float max = 0, min = 10000;
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#if HAS_AUTO_FAN
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next_auto_fan_check_ms = temp_ms + 2500UL;
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#endif
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if (hotend >=
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#if ENABLED(PIDTEMP)
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HOTENDS
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#else
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0
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#endif
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|| hotend <
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#if ENABLED(PIDTEMPBED)
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-1
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#else
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0
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#endif
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) {
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SERIAL_ECHOLN(MSG_PID_BAD_EXTRUDER_NUM);
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return;
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}
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SERIAL_ECHOLN(MSG_PID_AUTOTUNE_START);
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disable_all_heaters(); // switch off all heaters.
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#if HAS_PID_FOR_BOTH
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if (hotend < 0)
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soft_pwm_bed = bias = d = (MAX_BED_POWER) >> 1;
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else
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soft_pwm[hotend] = bias = d = (PID_MAX) >> 1;
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#elif ENABLED(PIDTEMP)
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soft_pwm[hotend] = bias = d = (PID_MAX) >> 1;
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#else
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soft_pwm_bed = bias = d = (MAX_BED_POWER) >> 1;
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#endif
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wait_for_heatup = true;
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// PID Tuning loop
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while (wait_for_heatup) {
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millis_t ms = millis();
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if (temp_meas_ready) { // temp sample ready
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updateTemperaturesFromRawValues();
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input =
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#if HAS_PID_FOR_BOTH
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hotend < 0 ? current_temperature_bed : current_temperature[hotend]
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#elif ENABLED(PIDTEMP)
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current_temperature[hotend]
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#else
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current_temperature_bed
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#endif
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;
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NOLESS(max, input);
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NOMORE(min, input);
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#if HAS_AUTO_FAN
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if (ELAPSED(ms, next_auto_fan_check_ms)) {
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checkExtruderAutoFans();
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next_auto_fan_check_ms = ms + 2500UL;
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}
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#endif
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if (heating && input > temp) {
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if (ELAPSED(ms, t2 + 5000UL)) {
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heating = false;
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#if HAS_PID_FOR_BOTH
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if (hotend < 0)
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soft_pwm_bed = (bias - d) >> 1;
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else
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soft_pwm[hotend] = (bias - d) >> 1;
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#elif ENABLED(PIDTEMP)
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soft_pwm[hotend] = (bias - d) >> 1;
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#elif ENABLED(PIDTEMPBED)
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soft_pwm_bed = (bias - d) >> 1;
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#endif
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t1 = ms;
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t_high = t1 - t2;
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max = temp;
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}
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}
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if (!heating && input < temp) {
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if (ELAPSED(ms, t1 + 5000UL)) {
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heating = true;
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t2 = ms;
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t_low = t2 - t1;
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if (cycles > 0) {
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long max_pow =
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#if HAS_PID_FOR_BOTH
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hotend < 0 ? MAX_BED_POWER : PID_MAX
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#elif ENABLED(PIDTEMP)
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PID_MAX
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#else
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MAX_BED_POWER
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#endif
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;
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bias += (d * (t_high - t_low)) / (t_low + t_high);
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bias = constrain(bias, 20, max_pow - 20);
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d = (bias > max_pow / 2) ? max_pow - 1 - bias : bias;
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SERIAL_PROTOCOLPAIR(MSG_BIAS, bias);
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SERIAL_PROTOCOLPAIR(MSG_D, d);
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SERIAL_PROTOCOLPAIR(MSG_T_MIN, min);
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SERIAL_PROTOCOLPAIR(MSG_T_MAX, max);
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if (cycles > 2) {
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Ku = (4.0 * d) / (M_PI * (max - min) * 0.5);
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Tu = ((float)(t_low + t_high) * 0.001);
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SERIAL_PROTOCOLPAIR(MSG_KU, Ku);
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SERIAL_PROTOCOLPAIR(MSG_TU, Tu);
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workKp = 0.6 * Ku;
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workKi = 2 * workKp / Tu;
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workKd = workKp * Tu * 0.125;
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SERIAL_PROTOCOLLNPGM("\n" MSG_CLASSIC_PID);
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SERIAL_PROTOCOLPAIR(MSG_KP, workKp);
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SERIAL_PROTOCOLPAIR(MSG_KI, workKi);
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SERIAL_PROTOCOLLNPAIR(MSG_KD, workKd);
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/**
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workKp = 0.33*Ku;
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workKi = workKp/Tu;
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workKd = workKp*Tu/3;
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SERIAL_PROTOCOLLNPGM(" Some overshoot");
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SERIAL_PROTOCOLPAIR(" Kp: ", workKp);
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SERIAL_PROTOCOLPAIR(" Ki: ", workKi);
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SERIAL_PROTOCOLPAIR(" Kd: ", workKd);
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workKp = 0.2*Ku;
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workKi = 2*workKp/Tu;
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workKd = workKp*Tu/3;
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SERIAL_PROTOCOLLNPGM(" No overshoot");
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SERIAL_PROTOCOLPAIR(" Kp: ", workKp);
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SERIAL_PROTOCOLPAIR(" Ki: ", workKi);
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SERIAL_PROTOCOLPAIR(" Kd: ", workKd);
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*/
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}
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}
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#if HAS_PID_FOR_BOTH
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if (hotend < 0)
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soft_pwm_bed = (bias + d) >> 1;
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else
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soft_pwm[hotend] = (bias + d) >> 1;
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#elif ENABLED(PIDTEMP)
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soft_pwm[hotend] = (bias + d) >> 1;
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#else
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soft_pwm_bed = (bias + d) >> 1;
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#endif
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cycles++;
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min = temp;
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}
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}
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}
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#define MAX_OVERSHOOT_PID_AUTOTUNE 20
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if (input > temp + MAX_OVERSHOOT_PID_AUTOTUNE) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_TEMP_TOO_HIGH);
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return;
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}
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// Every 2 seconds...
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if (ELAPSED(ms, temp_ms + 2000UL)) {
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#if HAS_TEMP_HOTEND || HAS_TEMP_BED
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print_heaterstates();
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SERIAL_EOL;
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#endif
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temp_ms = ms;
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} // every 2 seconds
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// Over 2 minutes?
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if (((ms - t1) + (ms - t2)) > (10L * 60L * 1000L * 2L)) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_TIMEOUT);
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return;
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}
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if (cycles > ncycles) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED);
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#if HAS_PID_FOR_BOTH
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const char* estring = hotend < 0 ? "bed" : "";
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SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Kp ", workKp); SERIAL_EOL;
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SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Ki ", workKi); SERIAL_EOL;
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SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Kd ", workKd); SERIAL_EOL;
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#elif ENABLED(PIDTEMP)
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SERIAL_PROTOCOLPAIR("#define DEFAULT_Kp ", workKp); SERIAL_EOL;
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SERIAL_PROTOCOLPAIR("#define DEFAULT_Ki ", workKi); SERIAL_EOL;
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SERIAL_PROTOCOLPAIR("#define DEFAULT_Kd ", workKd); SERIAL_EOL;
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#else
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SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKp ", workKp); SERIAL_EOL;
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SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKi ", workKi); SERIAL_EOL;
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SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKd ", workKd); SERIAL_EOL;
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#endif
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#define _SET_BED_PID() do { \
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bedKp = workKp; \
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bedKi = scalePID_i(workKi); \
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bedKd = scalePID_d(workKd); \
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updatePID(); } while(0)
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|
|
#define _SET_EXTRUDER_PID() do { \
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PID_PARAM(Kp, hotend) = workKp; \
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PID_PARAM(Ki, hotend) = scalePID_i(workKi); \
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PID_PARAM(Kd, hotend) = scalePID_d(workKd); \
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updatePID(); } while(0)
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// Use the result? (As with "M303 U1")
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if (set_result) {
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#if HAS_PID_FOR_BOTH
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if (hotend < 0)
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_SET_BED_PID();
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else
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_SET_EXTRUDER_PID();
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#elif ENABLED(PIDTEMP)
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_SET_EXTRUDER_PID();
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#else
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_SET_BED_PID();
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#endif
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}
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return;
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}
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lcd_update();
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}
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if (!wait_for_heatup) disable_all_heaters();
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}
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#endif // HAS_PID_HEATING
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/**
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* Class and Instance Methods
|
|
*/
|
|
|
|
Temperature::Temperature() { }
|
|
|
|
void Temperature::updatePID() {
|
|
#if ENABLED(PIDTEMP)
|
|
#if ENABLED(PID_EXTRUSION_SCALING)
|
|
last_e_position = 0;
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
int Temperature::getHeaterPower(int heater) {
|
|
return heater < 0 ? soft_pwm_bed : soft_pwm[heater];
|
|
}
|
|
|
|
#if HAS_AUTO_FAN
|
|
|
|
void Temperature::checkExtruderAutoFans() {
|
|
const int8_t fanPin[] = { E0_AUTO_FAN_PIN, E1_AUTO_FAN_PIN, E2_AUTO_FAN_PIN, E3_AUTO_FAN_PIN };
|
|
const int fanBit[] = {
|
|
0,
|
|
AUTO_1_IS_0 ? 0 : 1,
|
|
AUTO_2_IS_0 ? 0 : AUTO_2_IS_1 ? 1 : 2,
|
|
AUTO_3_IS_0 ? 0 : AUTO_3_IS_1 ? 1 : AUTO_3_IS_2 ? 2 : 3
|
|
};
|
|
uint8_t fanState = 0;
|
|
|
|
HOTEND_LOOP() {
|
|
if (current_temperature[e] > EXTRUDER_AUTO_FAN_TEMPERATURE)
|
|
SBI(fanState, fanBit[e]);
|
|
}
|
|
|
|
uint8_t fanDone = 0;
|
|
for (uint8_t f = 0; f < COUNT(fanPin); f++) {
|
|
int8_t pin = fanPin[f];
|
|
if (pin >= 0 && !TEST(fanDone, fanBit[f])) {
|
|
uint8_t newFanSpeed = TEST(fanState, fanBit[f]) ? EXTRUDER_AUTO_FAN_SPEED : 0;
|
|
// this idiom allows both digital and PWM fan outputs (see M42 handling).
|
|
digitalWrite(pin, newFanSpeed);
|
|
analogWrite(pin, newFanSpeed);
|
|
SBI(fanDone, fanBit[f]);
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif // HAS_AUTO_FAN
|
|
|
|
//
|
|
// Temperature Error Handlers
|
|
//
|
|
void Temperature::_temp_error(int e, const char* serial_msg, const char* lcd_msg) {
|
|
static bool killed = false;
|
|
if (IsRunning()) {
|
|
SERIAL_ERROR_START;
|
|
serialprintPGM(serial_msg);
|
|
SERIAL_ERRORPGM(MSG_STOPPED_HEATER);
|
|
if (e >= 0) SERIAL_ERRORLN((int)e); else SERIAL_ERRORLNPGM(MSG_HEATER_BED);
|
|
}
|
|
#if DISABLED(BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE)
|
|
if (!killed) {
|
|
Running = false;
|
|
killed = true;
|
|
kill(lcd_msg);
|
|
}
|
|
else
|
|
disable_all_heaters(); // paranoia
|
|
#endif
|
|
}
|
|
|
|
void Temperature::max_temp_error(int8_t e) {
|
|
#if HAS_TEMP_BED
|
|
_temp_error(e, PSTR(MSG_T_MAXTEMP), e >= 0 ? PSTR(MSG_ERR_MAXTEMP) : PSTR(MSG_ERR_MAXTEMP_BED));
|
|
#else
|
|
_temp_error(HOTEND_INDEX, PSTR(MSG_T_MAXTEMP), PSTR(MSG_ERR_MAXTEMP));
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
#endif
|
|
}
|
|
void Temperature::min_temp_error(int8_t e) {
|
|
#if HAS_TEMP_BED
|
|
_temp_error(e, PSTR(MSG_T_MINTEMP), e >= 0 ? PSTR(MSG_ERR_MINTEMP) : PSTR(MSG_ERR_MINTEMP_BED));
|
|
#else
|
|
_temp_error(HOTEND_INDEX, PSTR(MSG_T_MINTEMP), PSTR(MSG_ERR_MINTEMP));
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
float Temperature::get_pid_output(int e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#define _HOTEND_TEST true
|
|
#else
|
|
#define _HOTEND_TEST e == active_extruder
|
|
#endif
|
|
float pid_output;
|
|
#if ENABLED(PIDTEMP)
|
|
#if DISABLED(PID_OPENLOOP)
|
|
pid_error[HOTEND_INDEX] = target_temperature[HOTEND_INDEX] - current_temperature[HOTEND_INDEX];
|
|
dTerm[HOTEND_INDEX] = K2 * PID_PARAM(Kd, HOTEND_INDEX) * (current_temperature[HOTEND_INDEX] - temp_dState[HOTEND_INDEX]) + K1 * dTerm[HOTEND_INDEX];
|
|
temp_dState[HOTEND_INDEX] = current_temperature[HOTEND_INDEX];
|
|
if (pid_error[HOTEND_INDEX] > PID_FUNCTIONAL_RANGE) {
|
|
pid_output = BANG_MAX;
|
|
pid_reset[HOTEND_INDEX] = true;
|
|
}
|
|
else if (pid_error[HOTEND_INDEX] < -(PID_FUNCTIONAL_RANGE) || target_temperature[HOTEND_INDEX] == 0) {
|
|
pid_output = 0;
|
|
pid_reset[HOTEND_INDEX] = true;
|
|
}
|
|
else {
|
|
if (pid_reset[HOTEND_INDEX]) {
|
|
temp_iState[HOTEND_INDEX] = 0.0;
|
|
pid_reset[HOTEND_INDEX] = false;
|
|
}
|
|
pTerm[HOTEND_INDEX] = PID_PARAM(Kp, HOTEND_INDEX) * pid_error[HOTEND_INDEX];
|
|
temp_iState[HOTEND_INDEX] += pid_error[HOTEND_INDEX];
|
|
iTerm[HOTEND_INDEX] = PID_PARAM(Ki, HOTEND_INDEX) * temp_iState[HOTEND_INDEX];
|
|
|
|
pid_output = pTerm[HOTEND_INDEX] + iTerm[HOTEND_INDEX] - dTerm[HOTEND_INDEX];
|
|
|
|
#if ENABLED(PID_EXTRUSION_SCALING)
|
|
cTerm[HOTEND_INDEX] = 0;
|
|
if (_HOTEND_TEST) {
|
|
long e_position = stepper.position(E_AXIS);
|
|
if (e_position > last_e_position) {
|
|
lpq[lpq_ptr] = e_position - last_e_position;
|
|
last_e_position = e_position;
|
|
}
|
|
else {
|
|
lpq[lpq_ptr] = 0;
|
|
}
|
|
if (++lpq_ptr >= lpq_len) lpq_ptr = 0;
|
|
cTerm[HOTEND_INDEX] = (lpq[lpq_ptr] * planner.steps_to_mm[E_AXIS]) * PID_PARAM(Kc, HOTEND_INDEX);
|
|
pid_output += cTerm[HOTEND_INDEX];
|
|
}
|
|
#endif // PID_EXTRUSION_SCALING
|
|
|
|
if (pid_output > PID_MAX) {
|
|
if (pid_error[HOTEND_INDEX] > 0) temp_iState[HOTEND_INDEX] -= pid_error[HOTEND_INDEX]; // conditional un-integration
|
|
pid_output = PID_MAX;
|
|
}
|
|
else if (pid_output < 0) {
|
|
if (pid_error[HOTEND_INDEX] < 0) temp_iState[HOTEND_INDEX] -= pid_error[HOTEND_INDEX]; // conditional un-integration
|
|
pid_output = 0;
|
|
}
|
|
}
|
|
#else
|
|
pid_output = constrain(target_temperature[HOTEND_INDEX], 0, PID_MAX);
|
|
#endif //PID_OPENLOOP
|
|
|
|
#if ENABLED(PID_DEBUG)
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG, HOTEND_INDEX);
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG_INPUT, current_temperature[HOTEND_INDEX]);
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG_OUTPUT, pid_output);
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG_PTERM, pTerm[HOTEND_INDEX]);
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG_ITERM, iTerm[HOTEND_INDEX]);
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG_DTERM, dTerm[HOTEND_INDEX]);
|
|
#if ENABLED(PID_EXTRUSION_SCALING)
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG_CTERM, cTerm[HOTEND_INDEX]);
|
|
#endif
|
|
SERIAL_EOL;
|
|
#endif //PID_DEBUG
|
|
|
|
#else /* PID off */
|
|
pid_output = (current_temperature[HOTEND_INDEX] < target_temperature[HOTEND_INDEX]) ? PID_MAX : 0;
|
|
#endif
|
|
|
|
return pid_output;
|
|
}
|
|
|
|
#if ENABLED(PIDTEMPBED)
|
|
float Temperature::get_pid_output_bed() {
|
|
float pid_output;
|
|
#if DISABLED(PID_OPENLOOP)
|
|
pid_error_bed = target_temperature_bed - current_temperature_bed;
|
|
pTerm_bed = bedKp * pid_error_bed;
|
|
temp_iState_bed += pid_error_bed;
|
|
iTerm_bed = bedKi * temp_iState_bed;
|
|
|
|
dTerm_bed = K2 * bedKd * (current_temperature_bed - temp_dState_bed) + K1 * dTerm_bed;
|
|
temp_dState_bed = current_temperature_bed;
|
|
|
|
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
|
|
|
|
#if ENABLED(PID_BED_DEBUG)
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(" PID_BED_DEBUG ");
|
|
SERIAL_ECHOPGM(": Input ");
|
|
SERIAL_ECHO(current_temperature_bed);
|
|
SERIAL_ECHOPGM(" Output ");
|
|
SERIAL_ECHO(pid_output);
|
|
SERIAL_ECHOPGM(" pTerm ");
|
|
SERIAL_ECHO(pTerm_bed);
|
|
SERIAL_ECHOPGM(" iTerm ");
|
|
SERIAL_ECHO(iTerm_bed);
|
|
SERIAL_ECHOPGM(" dTerm ");
|
|
SERIAL_ECHOLN(dTerm_bed);
|
|
#endif //PID_BED_DEBUG
|
|
|
|
return pid_output;
|
|
}
|
|
#endif //PIDTEMPBED
|
|
|
|
/**
|
|
* Manage heating activities for extruder hot-ends and a heated bed
|
|
* - Acquire updated temperature readings
|
|
* - Also resets the watchdog timer
|
|
* - Invoke thermal runaway protection
|
|
* - Manage extruder auto-fan
|
|
* - Apply filament width to the extrusion rate (may move)
|
|
* - Update the heated bed PID output value
|
|
*/
|
|
void Temperature::manage_heater() {
|
|
|
|
if (!temp_meas_ready) return;
|
|
|
|
updateTemperaturesFromRawValues(); // also resets the watchdog
|
|
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
if (current_temperature[0] > min(HEATER_0_MAXTEMP, MAX6675_TMAX - 1)) max_temp_error(0);
|
|
if (current_temperature[0] < max(HEATER_0_MINTEMP, MAX6675_TMIN + 0.01)) min_temp_error(0);
|
|
#endif
|
|
|
|
#if (ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0) || (ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0) || DISABLED(PIDTEMPBED) || HAS_AUTO_FAN
|
|
millis_t ms = millis();
|
|
#endif
|
|
|
|
// Loop through all hotends
|
|
HOTEND_LOOP() {
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS)
|
|
thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_PROTECTION_PERIOD, THERMAL_PROTECTION_HYSTERESIS);
|
|
#endif
|
|
|
|
float pid_output = get_pid_output(e);
|
|
|
|
// Check if temperature is within the correct range
|
|
soft_pwm[e] = (current_temperature[e] > minttemp[e] || is_preheating(e)) && current_temperature[e] < maxttemp[e] ? (int)pid_output >> 1 : 0;
|
|
|
|
// Check if the temperature is failing to increase
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
|
|
|
|
// Is it time to check this extruder's heater?
|
|
if (watch_heater_next_ms[e] && ELAPSED(ms, watch_heater_next_ms[e])) {
|
|
// Has it failed to increase enough?
|
|
if (degHotend(e) < watch_target_temp[e]) {
|
|
// Stop!
|
|
_temp_error(e, PSTR(MSG_T_HEATING_FAILED), PSTR(MSG_HEATING_FAILED_LCD));
|
|
}
|
|
else {
|
|
// Start again if the target is still far off
|
|
start_watching_heater(e);
|
|
}
|
|
}
|
|
|
|
#endif // THERMAL_PROTECTION_HOTENDS
|
|
|
|
// Check if the temperature is failing to increase
|
|
#if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
|
|
|
|
// Is it time to check the bed?
|
|
if (watch_bed_next_ms && ELAPSED(ms, watch_bed_next_ms)) {
|
|
// Has it failed to increase enough?
|
|
if (degBed() < watch_target_bed_temp) {
|
|
// Stop!
|
|
_temp_error(-1, PSTR(MSG_T_HEATING_FAILED), PSTR(MSG_HEATING_FAILED_LCD));
|
|
}
|
|
else {
|
|
// Start again if the target is still far off
|
|
start_watching_bed();
|
|
}
|
|
}
|
|
|
|
#endif // THERMAL_PROTECTION_HOTENDS
|
|
|
|
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
|
|
if (fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) {
|
|
_temp_error(0, PSTR(MSG_REDUNDANCY), PSTR(MSG_ERR_REDUNDANT_TEMP));
|
|
}
|
|
#endif
|
|
|
|
} // Hotends Loop
|
|
|
|
#if HAS_AUTO_FAN
|
|
if (ELAPSED(ms, next_auto_fan_check_ms)) { // only need to check fan state very infrequently
|
|
checkExtruderAutoFans();
|
|
next_auto_fan_check_ms = ms + 2500UL;
|
|
}
|
|
#endif
|
|
|
|
// Control the extruder rate based on the width sensor
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
if (filament_sensor) {
|
|
meas_shift_index = filwidth_delay_index[0] - 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) * 0.01, 2);
|
|
NOLESS(vm, 0.01);
|
|
volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = vm;
|
|
}
|
|
#endif //FILAMENT_WIDTH_SENSOR
|
|
|
|
#if DISABLED(PIDTEMPBED)
|
|
if (PENDING(ms, next_bed_check_ms)) return;
|
|
next_bed_check_ms = ms + BED_CHECK_INTERVAL;
|
|
#endif
|
|
|
|
#if TEMP_SENSOR_BED != 0
|
|
|
|
#if HAS_THERMALLY_PROTECTED_BED
|
|
thermal_runaway_protection(&thermal_runaway_bed_state_machine, &thermal_runaway_bed_timer, current_temperature_bed, target_temperature_bed, -1, THERMAL_PROTECTION_BED_PERIOD, THERMAL_PROTECTION_BED_HYSTERESIS);
|
|
#endif
|
|
|
|
#if ENABLED(PIDTEMPBED)
|
|
float pid_output = get_pid_output_bed();
|
|
|
|
soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0;
|
|
|
|
#elif ENABLED(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);
|
|
}
|
|
#else // !PIDTEMPBED && !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 ? MAX_BED_POWER >> 1 : 0;
|
|
}
|
|
else {
|
|
soft_pwm_bed = 0;
|
|
WRITE_HEATER_BED(LOW);
|
|
}
|
|
#endif
|
|
#endif //TEMP_SENSOR_BED != 0
|
|
}
|
|
|
|
#define PGM_RD_W(x) (short)pgm_read_word(&x)
|
|
|
|
// Derived from RepRap FiveD extruder::getTemperature()
|
|
// For hot end temperature measurement.
|
|
float Temperature::analog2temp(int raw, uint8_t e) {
|
|
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
|
|
if (e > HOTENDS)
|
|
#else
|
|
if (e >= HOTENDS)
|
|
#endif
|
|
{
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERROR((int)e);
|
|
SERIAL_ERRORLNPGM(MSG_INVALID_EXTRUDER_NUM);
|
|
kill(PSTR(MSG_KILLED));
|
|
return 0.0;
|
|
}
|
|
|
|
#if ENABLED(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.
|
|
float Temperature::analog2tempBed(int raw) {
|
|
#if ENABLED(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
|
|
|
|
UNUSED(raw);
|
|
return 0;
|
|
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Get the raw values into the actual temperatures.
|
|
* The raw values are created in interrupt context,
|
|
* and this function is called from normal context
|
|
* as it would block the stepper routine.
|
|
*/
|
|
void Temperature::updateTemperaturesFromRawValues() {
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
current_temperature_raw[0] = read_max6675();
|
|
#endif
|
|
HOTEND_LOOP() {
|
|
current_temperature[e] = Temperature::analog2temp(current_temperature_raw[e], e);
|
|
}
|
|
current_temperature_bed = Temperature::analog2tempBed(current_temperature_bed_raw);
|
|
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
|
|
redundant_temperature = Temperature::analog2temp(redundant_temperature_raw, 1);
|
|
#endif
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
filament_width_meas = analog2widthFil();
|
|
#endif
|
|
|
|
#if ENABLED(USE_WATCHDOG)
|
|
// Reset the watchdog after we know we have a temperature measurement.
|
|
watchdog_reset();
|
|
#endif
|
|
|
|
CRITICAL_SECTION_START;
|
|
temp_meas_ready = false;
|
|
CRITICAL_SECTION_END;
|
|
}
|
|
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
|
|
// Convert raw Filament Width to millimeters
|
|
float Temperature::analog2widthFil() {
|
|
return current_raw_filwidth / 16383.0 * 5.0;
|
|
//return current_raw_filwidth;
|
|
}
|
|
|
|
// Convert raw Filament Width to a ratio
|
|
int Temperature::widthFil_to_size_ratio() {
|
|
float temp = filament_width_meas;
|
|
if (temp < MEASURED_LOWER_LIMIT) temp = filament_width_nominal; //assume sensor cut out
|
|
else NOMORE(temp, MEASURED_UPPER_LIMIT);
|
|
return filament_width_nominal / temp * 100;
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
/**
|
|
* Initialize the temperature manager
|
|
* The manager is implemented by periodic calls to manage_heater()
|
|
*/
|
|
void Temperature::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 = _BV(JTD);
|
|
MCUCR = _BV(JTD);
|
|
#endif
|
|
|
|
// Finish init of mult hotend arrays
|
|
HOTEND_LOOP() {
|
|
// populate with the first value
|
|
maxttemp[e] = maxttemp[0];
|
|
#if ENABLED(PIDTEMP)
|
|
#if ENABLED(PID_EXTRUSION_SCALING)
|
|
last_e_position = 0;
|
|
#endif
|
|
#endif //PIDTEMP
|
|
}
|
|
|
|
#if ENABLED(PIDTEMP) && ENABLED(PID_EXTRUSION_SCALING)
|
|
last_e_position = 0;
|
|
#endif
|
|
|
|
#if HAS_HEATER_0
|
|
SET_OUTPUT(HEATER_0_PIN);
|
|
#endif
|
|
#if HAS_HEATER_1
|
|
SET_OUTPUT(HEATER_1_PIN);
|
|
#endif
|
|
#if HAS_HEATER_2
|
|
SET_OUTPUT(HEATER_2_PIN);
|
|
#endif
|
|
#if HAS_HEATER_3
|
|
SET_OUTPUT(HEATER_3_PIN);
|
|
#endif
|
|
#if HAS_HEATER_BED
|
|
SET_OUTPUT(HEATER_BED_PIN);
|
|
#endif
|
|
|
|
#if HAS_FAN0
|
|
SET_OUTPUT(FAN_PIN);
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
setPwmFrequency(FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
|
|
#endif
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
soft_pwm_fan[0] = fanSpeedSoftPwm[0] >> 1;
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_FAN1
|
|
SET_OUTPUT(FAN1_PIN);
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
setPwmFrequency(FAN1_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
|
|
#endif
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
soft_pwm_fan[1] = fanSpeedSoftPwm[1] >> 1;
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_FAN2
|
|
SET_OUTPUT(FAN2_PIN);
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
setPwmFrequency(FAN2_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
|
|
#endif
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
soft_pwm_fan[2] = fanSpeedSoftPwm[2] >> 1;
|
|
#endif
|
|
#endif
|
|
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
|
|
OUT_WRITE(SCK_PIN, LOW);
|
|
OUT_WRITE(MOSI_PIN, HIGH);
|
|
SET_INPUT(MISO_PIN);
|
|
WRITE(MISO_PIN, HIGH);
|
|
OUT_WRITE(SS_PIN, HIGH);
|
|
|
|
OUT_WRITE(MAX6675_SS, HIGH);
|
|
|
|
#endif //HEATER_0_USES_MAX6675
|
|
|
|
#ifdef DIDR2
|
|
#define ANALOG_SELECT(pin) do{ if (pin < 8) SBI(DIDR0, pin); else SBI(DIDR2, pin - 8); }while(0)
|
|
#else
|
|
#define ANALOG_SELECT(pin) do{ SBI(DIDR0, pin); }while(0)
|
|
#endif
|
|
|
|
// Set analog inputs
|
|
ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
|
|
DIDR0 = 0;
|
|
#ifdef DIDR2
|
|
DIDR2 = 0;
|
|
#endif
|
|
#if HAS_TEMP_0
|
|
ANALOG_SELECT(TEMP_0_PIN);
|
|
#endif
|
|
#if HAS_TEMP_1
|
|
ANALOG_SELECT(TEMP_1_PIN);
|
|
#endif
|
|
#if HAS_TEMP_2
|
|
ANALOG_SELECT(TEMP_2_PIN);
|
|
#endif
|
|
#if HAS_TEMP_3
|
|
ANALOG_SELECT(TEMP_3_PIN);
|
|
#endif
|
|
#if HAS_TEMP_BED
|
|
ANALOG_SELECT(TEMP_BED_PIN);
|
|
#endif
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
ANALOG_SELECT(FILWIDTH_PIN);
|
|
#endif
|
|
|
|
#if HAS_AUTO_FAN_0
|
|
#if E0_AUTO_FAN_PIN == FAN1_PIN
|
|
SET_OUTPUT(E0_AUTO_FAN_PIN);
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
setPwmFrequency(E0_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
|
|
#endif
|
|
#else
|
|
SET_OUTPUT(E0_AUTO_FAN_PIN);
|
|
#endif
|
|
#endif
|
|
#if HAS_AUTO_FAN_1 && !AUTO_1_IS_0
|
|
#if E1_AUTO_FAN_PIN == FAN1_PIN
|
|
SET_OUTPUT(E1_AUTO_FAN_PIN);
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
setPwmFrequency(E1_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
|
|
#endif
|
|
#else
|
|
SET_OUTPUT(E1_AUTO_FAN_PIN);
|
|
#endif
|
|
#endif
|
|
#if HAS_AUTO_FAN_2 && !AUTO_2_IS_0 && !AUTO_2_IS_1
|
|
#if E2_AUTO_FAN_PIN == FAN1_PIN
|
|
SET_OUTPUT(E2_AUTO_FAN_PIN);
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
setPwmFrequency(E2_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
|
|
#endif
|
|
#else
|
|
SET_OUTPUT(E2_AUTO_FAN_PIN);
|
|
#endif
|
|
#endif
|
|
#if HAS_AUTO_FAN_3 && !AUTO_3_IS_0 && !AUTO_3_IS_1 && !AUTO_3_IS_2
|
|
#if E3_AUTO_FAN_PIN == FAN1_PIN
|
|
SET_OUTPUT(E3_AUTO_FAN_PIN);
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
setPwmFrequency(E3_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
|
|
#endif
|
|
#else
|
|
SET_OUTPUT(E3_AUTO_FAN_PIN);
|
|
#endif
|
|
#endif
|
|
|
|
// Use timer0 for temperature measurement
|
|
// Interleave temperature interrupt with millies interrupt
|
|
OCR0B = 128;
|
|
SBI(TIMSK0, OCIE0B);
|
|
|
|
// Wait for temperature measurement to settle
|
|
delay(250);
|
|
|
|
#define TEMP_MIN_ROUTINE(NR) \
|
|
minttemp[NR] = HEATER_ ## NR ## _MINTEMP; \
|
|
while(analog2temp(minttemp_raw[NR], NR) < HEATER_ ## NR ## _MINTEMP) { \
|
|
if (HEATER_ ## NR ## _RAW_LO_TEMP < HEATER_ ## NR ## _RAW_HI_TEMP) \
|
|
minttemp_raw[NR] += OVERSAMPLENR; \
|
|
else \
|
|
minttemp_raw[NR] -= OVERSAMPLENR; \
|
|
}
|
|
#define TEMP_MAX_ROUTINE(NR) \
|
|
maxttemp[NR] = HEATER_ ## NR ## _MAXTEMP; \
|
|
while(analog2temp(maxttemp_raw[NR], NR) > 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 HOTENDS > 1
|
|
#ifdef HEATER_1_MINTEMP
|
|
TEMP_MIN_ROUTINE(1);
|
|
#endif
|
|
#ifdef HEATER_1_MAXTEMP
|
|
TEMP_MAX_ROUTINE(1);
|
|
#endif
|
|
#if HOTENDS > 2
|
|
#ifdef HEATER_2_MINTEMP
|
|
TEMP_MIN_ROUTINE(2);
|
|
#endif
|
|
#ifdef HEATER_2_MAXTEMP
|
|
TEMP_MAX_ROUTINE(2);
|
|
#endif
|
|
#if HOTENDS > 3
|
|
#ifdef HEATER_3_MINTEMP
|
|
TEMP_MIN_ROUTINE(3);
|
|
#endif
|
|
#ifdef HEATER_3_MAXTEMP
|
|
TEMP_MAX_ROUTINE(3);
|
|
#endif
|
|
#endif // HOTENDS > 3
|
|
#endif // HOTENDS > 2
|
|
#endif // HOTENDS > 1
|
|
|
|
#ifdef BED_MINTEMP
|
|
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
|
|
}
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
|
|
/**
|
|
* Start Heating Sanity Check for hotends that are below
|
|
* their target temperature by a configurable margin.
|
|
* This is called when the temperature is set. (M104, M109)
|
|
*/
|
|
void Temperature::start_watching_heater(uint8_t e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
if (degHotend(HOTEND_INDEX) < degTargetHotend(HOTEND_INDEX) - (WATCH_TEMP_INCREASE + TEMP_HYSTERESIS + 1)) {
|
|
watch_target_temp[HOTEND_INDEX] = degHotend(HOTEND_INDEX) + WATCH_TEMP_INCREASE;
|
|
watch_heater_next_ms[HOTEND_INDEX] = millis() + (WATCH_TEMP_PERIOD) * 1000UL;
|
|
}
|
|
else
|
|
watch_heater_next_ms[HOTEND_INDEX] = 0;
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
|
|
/**
|
|
* Start Heating Sanity Check for hotends that are below
|
|
* their target temperature by a configurable margin.
|
|
* This is called when the temperature is set. (M140, M190)
|
|
*/
|
|
void Temperature::start_watching_bed() {
|
|
if (degBed() < degTargetBed() - (WATCH_BED_TEMP_INCREASE + TEMP_BED_HYSTERESIS + 1)) {
|
|
watch_target_bed_temp = degBed() + WATCH_BED_TEMP_INCREASE;
|
|
watch_bed_next_ms = millis() + (WATCH_BED_TEMP_PERIOD) * 1000UL;
|
|
}
|
|
else
|
|
watch_bed_next_ms = 0;
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS)
|
|
Temperature::TRState Temperature::thermal_runaway_state_machine[HOTENDS] = { TRInactive };
|
|
millis_t Temperature::thermal_runaway_timer[HOTENDS] = { 0 };
|
|
#endif
|
|
|
|
#if HAS_THERMALLY_PROTECTED_BED
|
|
Temperature::TRState Temperature::thermal_runaway_bed_state_machine = TRInactive;
|
|
millis_t Temperature::thermal_runaway_bed_timer;
|
|
#endif
|
|
|
|
void Temperature::thermal_runaway_protection(Temperature::TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc) {
|
|
|
|
static float tr_target_temperature[HOTENDS + 1] = { 0.0 };
|
|
|
|
/**
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM("Thermal Thermal Runaway Running. Heater ID: ");
|
|
if (heater_id < 0) SERIAL_ECHOPGM("bed"); else SERIAL_ECHO(heater_id);
|
|
SERIAL_ECHOPAIR(" ; State:", *state);
|
|
SERIAL_ECHOPAIR(" ; Timer:", *timer);
|
|
SERIAL_ECHOPAIR(" ; Temperature:", temperature);
|
|
SERIAL_ECHOPAIR(" ; Target Temp:", target_temperature);
|
|
SERIAL_EOL;
|
|
*/
|
|
|
|
int heater_index = heater_id >= 0 ? heater_id : HOTENDS;
|
|
|
|
// If the target temperature changes, restart
|
|
if (tr_target_temperature[heater_index] != target_temperature) {
|
|
tr_target_temperature[heater_index] = target_temperature;
|
|
*state = target_temperature > 0 ? TRFirstHeating : TRInactive;
|
|
}
|
|
|
|
switch (*state) {
|
|
// Inactive state waits for a target temperature to be set
|
|
case TRInactive: break;
|
|
// When first heating, wait for the temperature to be reached then go to Stable state
|
|
case TRFirstHeating:
|
|
if (temperature < tr_target_temperature[heater_index]) break;
|
|
*state = TRStable;
|
|
// While the temperature is stable watch for a bad temperature
|
|
case TRStable:
|
|
if (temperature >= tr_target_temperature[heater_index] - hysteresis_degc) {
|
|
*timer = millis() + period_seconds * 1000UL;
|
|
break;
|
|
}
|
|
else if (PENDING(millis(), *timer)) break;
|
|
*state = TRRunaway;
|
|
case TRRunaway:
|
|
_temp_error(heater_id, PSTR(MSG_T_THERMAL_RUNAWAY), PSTR(MSG_THERMAL_RUNAWAY));
|
|
}
|
|
}
|
|
|
|
#endif // THERMAL_PROTECTION_HOTENDS || THERMAL_PROTECTION_BED
|
|
|
|
void Temperature::disable_all_heaters() {
|
|
HOTEND_LOOP() setTargetHotend(0, e);
|
|
setTargetBed(0);
|
|
|
|
// If all heaters go down then for sure our print job has stopped
|
|
print_job_timer.stop();
|
|
|
|
#define DISABLE_HEATER(NR) { \
|
|
setTargetHotend(0, NR); \
|
|
soft_pwm[NR] = 0; \
|
|
WRITE_HEATER_ ## NR (LOW); \
|
|
}
|
|
|
|
#if HAS_TEMP_HOTEND
|
|
DISABLE_HEATER(0);
|
|
#endif
|
|
|
|
#if HOTENDS > 1 && HAS_TEMP_1
|
|
DISABLE_HEATER(1);
|
|
#endif
|
|
|
|
#if HOTENDS > 2 && HAS_TEMP_2
|
|
DISABLE_HEATER(2);
|
|
#endif
|
|
|
|
#if HOTENDS > 3 && HAS_TEMP_3
|
|
DISABLE_HEATER(3);
|
|
#endif
|
|
|
|
#if HAS_TEMP_BED
|
|
target_temperature_bed = 0;
|
|
soft_pwm_bed = 0;
|
|
#if HAS_HEATER_BED
|
|
WRITE_HEATER_BED(LOW);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
|
|
#define MAX6675_HEAT_INTERVAL 250u
|
|
|
|
#if ENABLED(MAX6675_IS_MAX31855)
|
|
uint32_t max6675_temp = 2000;
|
|
#define MAX6675_ERROR_MASK 7
|
|
#define MAX6675_DISCARD_BITS 18
|
|
#define MAX6675_SPEED_BITS (_BV(SPR1)) // clock ÷ 64
|
|
#else
|
|
uint16_t max6675_temp = 2000;
|
|
#define MAX6675_ERROR_MASK 4
|
|
#define MAX6675_DISCARD_BITS 3
|
|
#define MAX6675_SPEED_BITS (_BV(SPR0)) // clock ÷ 16
|
|
#endif
|
|
|
|
int Temperature::read_max6675() {
|
|
|
|
static millis_t next_max6675_ms = 0;
|
|
|
|
millis_t ms = millis();
|
|
|
|
if (PENDING(ms, next_max6675_ms)) return (int)max6675_temp;
|
|
|
|
next_max6675_ms = ms + MAX6675_HEAT_INTERVAL;
|
|
|
|
CBI(
|
|
#ifdef PRR
|
|
PRR
|
|
#elif defined(PRR0)
|
|
PRR0
|
|
#endif
|
|
, PRSPI);
|
|
SPCR = _BV(MSTR) | _BV(SPE) | MAX6675_SPEED_BITS;
|
|
|
|
WRITE(MAX6675_SS, 0); // enable TT_MAX6675
|
|
|
|
// 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 a big-endian temperature value
|
|
max6675_temp = 0;
|
|
for (uint8_t i = sizeof(max6675_temp); i--;) {
|
|
SPDR = 0;
|
|
for (;!TEST(SPSR, SPIF););
|
|
max6675_temp |= SPDR;
|
|
if (i > 0) max6675_temp <<= 8; // shift left if not the last byte
|
|
}
|
|
|
|
WRITE(MAX6675_SS, 1); // disable TT_MAX6675
|
|
|
|
if (max6675_temp & MAX6675_ERROR_MASK) {
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORPGM("Temp measurement error! ");
|
|
#if MAX6675_ERROR_MASK == 7
|
|
SERIAL_ERRORPGM("MAX31855 ");
|
|
if (max6675_temp & 1)
|
|
SERIAL_ERRORLNPGM("Open Circuit");
|
|
else if (max6675_temp & 2)
|
|
SERIAL_ERRORLNPGM("Short to GND");
|
|
else if (max6675_temp & 4)
|
|
SERIAL_ERRORLNPGM("Short to VCC");
|
|
#else
|
|
SERIAL_ERRORLNPGM("MAX6675");
|
|
#endif
|
|
max6675_temp = MAX6675_TMAX * 4; // thermocouple open
|
|
}
|
|
else
|
|
max6675_temp >>= MAX6675_DISCARD_BITS;
|
|
#if ENABLED(MAX6675_IS_MAX31855)
|
|
// Support negative temperature
|
|
if (max6675_temp & 0x00002000) max6675_temp |= 0xffffc000;
|
|
#endif
|
|
|
|
return (int)max6675_temp;
|
|
}
|
|
|
|
#endif //HEATER_0_USES_MAX6675
|
|
|
|
/**
|
|
* Get raw temperatures
|
|
*/
|
|
void Temperature::set_current_temp_raw() {
|
|
#if HAS_TEMP_0 && DISABLED(HEATER_0_USES_MAX6675)
|
|
current_temperature_raw[0] = raw_temp_value[0];
|
|
#endif
|
|
#if HAS_TEMP_1
|
|
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
|
|
redundant_temperature_raw = raw_temp_value[1];
|
|
#else
|
|
current_temperature_raw[1] = raw_temp_value[1];
|
|
#endif
|
|
#if HAS_TEMP_2
|
|
current_temperature_raw[2] = raw_temp_value[2];
|
|
#if HAS_TEMP_3
|
|
current_temperature_raw[3] = raw_temp_value[3];
|
|
#endif
|
|
#endif
|
|
#endif
|
|
current_temperature_bed_raw = raw_temp_bed_value;
|
|
temp_meas_ready = true;
|
|
}
|
|
|
|
#if ENABLED(PINS_DEBUGGING)
|
|
/**
|
|
* monitors endstops & Z probe for changes
|
|
*
|
|
* If a change is detected then the LED is toggled and
|
|
* a message is sent out the serial port
|
|
*
|
|
* Yes, we could miss a rapid back & forth change but
|
|
* that won't matter because this is all manual.
|
|
*
|
|
*/
|
|
void endstop_monitor() {
|
|
static uint16_t old_endstop_bits_local = 0;
|
|
static uint8_t local_LED_status = 0;
|
|
uint16_t current_endstop_bits_local = 0;
|
|
#if HAS_X_MIN
|
|
if (READ(X_MIN_PIN)) SBI(current_endstop_bits_local, X_MIN);
|
|
#endif
|
|
#if HAS_X_MAX
|
|
if (READ(X_MAX_PIN)) SBI(current_endstop_bits_local, X_MAX);
|
|
#endif
|
|
#if HAS_Y_MIN
|
|
if (READ(Y_MIN_PIN)) SBI(current_endstop_bits_local, Y_MIN);
|
|
#endif
|
|
#if HAS_Y_MAX
|
|
if (READ(Y_MAX_PIN)) SBI(current_endstop_bits_local, Y_MAX);
|
|
#endif
|
|
#if HAS_Z_MIN
|
|
if (READ(Z_MIN_PIN)) SBI(current_endstop_bits_local, Z_MIN);
|
|
#endif
|
|
#if HAS_Z_MAX
|
|
if (READ(Z_MAX_PIN)) SBI(current_endstop_bits_local, Z_MAX);
|
|
#endif
|
|
#if HAS_Z_MIN_PROBE_PIN
|
|
if (READ(Z_MIN_PROBE_PIN)) SBI(current_endstop_bits_local, Z_MIN_PROBE);
|
|
#endif
|
|
#if HAS_Z2_MIN
|
|
if (READ(Z2_MIN_PIN)) SBI(current_endstop_bits_local, Z2_MIN);
|
|
#endif
|
|
#if HAS_Z2_MAX
|
|
if (READ(Z2_MAX_PIN)) SBI(current_endstop_bits_local, Z2_MAX);
|
|
#endif
|
|
|
|
uint16_t endstop_change = current_endstop_bits_local ^ old_endstop_bits_local;
|
|
|
|
if (endstop_change) {
|
|
#if HAS_X_MIN
|
|
if (TEST(endstop_change, X_MIN)) SERIAL_PROTOCOLPAIR("X_MIN:", !!TEST(current_endstop_bits_local, X_MIN));
|
|
#endif
|
|
#if HAS_X_MAX
|
|
if (TEST(endstop_change, X_MAX)) SERIAL_PROTOCOLPAIR(" X_MAX:", !!TEST(current_endstop_bits_local, X_MAX));
|
|
#endif
|
|
#if HAS_Y_MIN
|
|
if (TEST(endstop_change, Y_MIN)) SERIAL_PROTOCOLPAIR(" Y_MIN:", !!TEST(current_endstop_bits_local, Y_MIN));
|
|
#endif
|
|
#if HAS_Y_MAX
|
|
if (TEST(endstop_change, Y_MAX)) SERIAL_PROTOCOLPAIR(" Y_MAX:", !!TEST(current_endstop_bits_local, Y_MAX));
|
|
#endif
|
|
#if HAS_Z_MIN
|
|
if (TEST(endstop_change, Z_MIN)) SERIAL_PROTOCOLPAIR(" Z_MIN:", !!TEST(current_endstop_bits_local, Z_MIN));
|
|
#endif
|
|
#if HAS_Z_MAX
|
|
if (TEST(endstop_change, Z_MAX)) SERIAL_PROTOCOLPAIR(" Z_MAX:", !!TEST(current_endstop_bits_local, Z_MAX));
|
|
#endif
|
|
#if HAS_Z_MIN_PROBE_PIN
|
|
if (TEST(endstop_change, Z_MIN_PROBE)) SERIAL_PROTOCOLPAIR(" PROBE:", !!TEST(current_endstop_bits_local, Z_MIN_PROBE));
|
|
#endif
|
|
#if HAS_Z2_MIN
|
|
if (TEST(endstop_change, Z2_MIN)) SERIAL_PROTOCOLPAIR(" Z2_MIN:", !!TEST(current_endstop_bits_local, Z2_MIN));
|
|
#endif
|
|
#if HAS_Z2_MAX
|
|
if (TEST(endstop_change, Z2_MAX)) SERIAL_PROTOCOLPAIR(" Z2_MAX:", !!TEST(current_endstop_bits_local, Z2_MAX));
|
|
#endif
|
|
SERIAL_PROTOCOLPGM("\n\n");
|
|
analogWrite(LED_PIN, local_LED_status);
|
|
local_LED_status ^= 255;
|
|
old_endstop_bits_local = current_endstop_bits_local;
|
|
}
|
|
}
|
|
#endif // PINS_DEBUGGING
|
|
|
|
/**
|
|
* Timer 0 is shared with millies so don't change the prescaler.
|
|
*
|
|
* This ISR uses the compare method so it runs at the base
|
|
* frequency (16 MHz / 64 / 256 = 976.5625 Hz), but at the TCNT0 set
|
|
* in OCR0B above (128 or halfway between OVFs).
|
|
*
|
|
* - Manage PWM to all the heaters and fan
|
|
* - Update the raw temperature values
|
|
* - Check new temperature values for MIN/MAX errors
|
|
* - Step the babysteps value for each axis towards 0
|
|
*/
|
|
ISR(TIMER0_COMPB_vect) { Temperature::isr(); }
|
|
|
|
void Temperature::isr() {
|
|
//Allow UART and stepper ISRs
|
|
CBI(TIMSK0, OCIE0B); //Disable Temperature ISR
|
|
sei();
|
|
|
|
static uint8_t temp_count = 0;
|
|
static TempState temp_state = StartupDelay;
|
|
static uint8_t pwm_count = _BV(SOFT_PWM_SCALE);
|
|
|
|
// Static members for each heater
|
|
#if ENABLED(SLOW_PWM_HEATERS)
|
|
static uint8_t slow_pwm_count = 0;
|
|
#define ISR_STATICS(n) \
|
|
static uint8_t soft_pwm_ ## n; \
|
|
static uint8_t state_heater_ ## n = 0; \
|
|
static uint8_t state_timer_heater_ ## n = 0
|
|
#else
|
|
#define ISR_STATICS(n) static uint8_t soft_pwm_ ## n
|
|
#endif
|
|
|
|
// Statics per heater
|
|
ISR_STATICS(0);
|
|
#if HOTENDS > 1
|
|
ISR_STATICS(1);
|
|
#if HOTENDS > 2
|
|
ISR_STATICS(2);
|
|
#if HOTENDS > 3
|
|
ISR_STATICS(3);
|
|
#endif
|
|
#endif
|
|
#endif
|
|
#if HAS_HEATER_BED
|
|
ISR_STATICS(BED);
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
static unsigned long raw_filwidth_value = 0;
|
|
#endif
|
|
|
|
#if DISABLED(SLOW_PWM_HEATERS)
|
|
/**
|
|
* Standard PWM modulation
|
|
*/
|
|
if (pwm_count == 0) {
|
|
soft_pwm_0 = soft_pwm[0];
|
|
WRITE_HEATER_0(soft_pwm_0 > 0 ? 1 : 0);
|
|
#if HOTENDS > 1
|
|
soft_pwm_1 = soft_pwm[1];
|
|
WRITE_HEATER_1(soft_pwm_1 > 0 ? 1 : 0);
|
|
#if HOTENDS > 2
|
|
soft_pwm_2 = soft_pwm[2];
|
|
WRITE_HEATER_2(soft_pwm_2 > 0 ? 1 : 0);
|
|
#if HOTENDS > 3
|
|
soft_pwm_3 = soft_pwm[3];
|
|
WRITE_HEATER_3(soft_pwm_3 > 0 ? 1 : 0);
|
|
#endif
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_HEATER_BED
|
|
soft_pwm_BED = soft_pwm_bed;
|
|
WRITE_HEATER_BED(soft_pwm_BED > 0 ? 1 : 0);
|
|
#endif
|
|
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
#if HAS_FAN0
|
|
soft_pwm_fan[0] = fanSpeedSoftPwm[0] >> 1;
|
|
WRITE_FAN(soft_pwm_fan[0] > 0 ? 1 : 0);
|
|
#endif
|
|
#if HAS_FAN1
|
|
soft_pwm_fan[1] = fanSpeedSoftPwm[1] >> 1;
|
|
WRITE_FAN1(soft_pwm_fan[1] > 0 ? 1 : 0);
|
|
#endif
|
|
#if HAS_FAN2
|
|
soft_pwm_fan[2] = fanSpeedSoftPwm[2] >> 1;
|
|
WRITE_FAN2(soft_pwm_fan[2] > 0 ? 1 : 0);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
if (soft_pwm_0 < pwm_count) WRITE_HEATER_0(0);
|
|
#if HOTENDS > 1
|
|
if (soft_pwm_1 < pwm_count) WRITE_HEATER_1(0);
|
|
#if HOTENDS > 2
|
|
if (soft_pwm_2 < pwm_count) WRITE_HEATER_2(0);
|
|
#if HOTENDS > 3
|
|
if (soft_pwm_3 < pwm_count) WRITE_HEATER_3(0);
|
|
#endif
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_HEATER_BED
|
|
if (soft_pwm_BED < pwm_count) WRITE_HEATER_BED(0);
|
|
#endif
|
|
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
#if HAS_FAN0
|
|
if (soft_pwm_fan[0] < pwm_count) WRITE_FAN(0);
|
|
#endif
|
|
#if HAS_FAN1
|
|
if (soft_pwm_fan[1] < pwm_count) WRITE_FAN1(0);
|
|
#endif
|
|
#if HAS_FAN2
|
|
if (soft_pwm_fan[2] < pwm_count) WRITE_FAN2(0);
|
|
#endif
|
|
#endif
|
|
|
|
// SOFT_PWM_SCALE to frequency:
|
|
//
|
|
// 0: 16000000/64/256/128 = 7.6294 Hz
|
|
// 1: / 64 = 15.2588 Hz
|
|
// 2: / 32 = 30.5176 Hz
|
|
// 3: / 16 = 61.0352 Hz
|
|
// 4: / 8 = 122.0703 Hz
|
|
// 5: / 4 = 244.1406 Hz
|
|
pwm_count += _BV(SOFT_PWM_SCALE);
|
|
pwm_count &= 0x7F;
|
|
|
|
#else // SLOW_PWM_HEATERS
|
|
|
|
/**
|
|
* SLOW PWM HEATERS
|
|
*
|
|
* For relay-driven heaters
|
|
*/
|
|
#ifndef MIN_STATE_TIME
|
|
#define MIN_STATE_TIME 16 // MIN_STATE_TIME * 65.5 = time in milliseconds
|
|
#endif
|
|
|
|
// Macros for Slow PWM timer logic
|
|
#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 HOTENDS > 1
|
|
SLOW_PWM_ROUTINE(1); // EXTRUDER 1
|
|
#if HOTENDS > 2
|
|
SLOW_PWM_ROUTINE(2); // EXTRUDER 2
|
|
#if HOTENDS > 3
|
|
SLOW_PWM_ROUTINE(3); // EXTRUDER 3
|
|
#endif
|
|
#endif
|
|
#endif
|
|
#if HAS_HEATER_BED
|
|
_SLOW_PWM_ROUTINE(BED, soft_pwm_bed); // BED
|
|
#endif
|
|
|
|
} // slow_pwm_count == 0
|
|
|
|
PWM_OFF_ROUTINE(0); // EXTRUDER 0
|
|
#if HOTENDS > 1
|
|
PWM_OFF_ROUTINE(1); // EXTRUDER 1
|
|
#if HOTENDS > 2
|
|
PWM_OFF_ROUTINE(2); // EXTRUDER 2
|
|
#if HOTENDS > 3
|
|
PWM_OFF_ROUTINE(3); // EXTRUDER 3
|
|
#endif
|
|
#endif
|
|
#endif
|
|
#if HAS_HEATER_BED
|
|
PWM_OFF_ROUTINE(BED); // BED
|
|
#endif
|
|
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
if (pwm_count == 0) {
|
|
#if HAS_FAN0
|
|
soft_pwm_fan[0] = fanSpeedSoftPwm[0] >> 1;
|
|
WRITE_FAN(soft_pwm_fan[0] > 0 ? 1 : 0);
|
|
#endif
|
|
#if HAS_FAN1
|
|
soft_pwm_fan[1] = fanSpeedSoftPwm[1] >> 1;
|
|
WRITE_FAN1(soft_pwm_fan[1] > 0 ? 1 : 0);
|
|
#endif
|
|
#if HAS_FAN2
|
|
soft_pwm_fan[2] = fanSpeedSoftPwm[2] >> 1;
|
|
WRITE_FAN2(soft_pwm_fan[2] > 0 ? 1 : 0);
|
|
#endif
|
|
}
|
|
#if HAS_FAN0
|
|
if (soft_pwm_fan[0] < pwm_count) WRITE_FAN(0);
|
|
#endif
|
|
#if HAS_FAN1
|
|
if (soft_pwm_fan[1] < pwm_count) WRITE_FAN1(0);
|
|
#endif
|
|
#if HAS_FAN2
|
|
if (soft_pwm_fan[2] < pwm_count) WRITE_FAN2(0);
|
|
#endif
|
|
#endif //FAN_SOFT_PWM
|
|
|
|
// SOFT_PWM_SCALE to frequency:
|
|
//
|
|
// 0: 16000000/64/256/128 = 7.6294 Hz
|
|
// 1: / 64 = 15.2588 Hz
|
|
// 2: / 32 = 30.5176 Hz
|
|
// 3: / 16 = 61.0352 Hz
|
|
// 4: / 8 = 122.0703 Hz
|
|
// 5: / 4 = 244.1406 Hz
|
|
pwm_count += _BV(SOFT_PWM_SCALE);
|
|
pwm_count &= 0x7F;
|
|
|
|
// increment slow_pwm_count only every 64 pwm_count (e.g., every 8s)
|
|
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 HOTENDS > 1 // EXTRUDER 1
|
|
if (state_timer_heater_1 > 0) state_timer_heater_1--;
|
|
#if HOTENDS > 2 // EXTRUDER 2
|
|
if (state_timer_heater_2 > 0) state_timer_heater_2--;
|
|
#if HOTENDS > 3 // EXTRUDER 3
|
|
if (state_timer_heater_3 > 0) state_timer_heater_3--;
|
|
#endif
|
|
#endif
|
|
#endif
|
|
#if HAS_HEATER_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 = _BV(REFS0) | (pin & 0x07); SBI(ADCSRA, ADSC)
|
|
#ifdef MUX5
|
|
#define START_ADC(pin) if (pin > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
|
|
#else
|
|
#define START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
|
|
#endif
|
|
|
|
// Prepare or measure a sensor, each one every 12th frame
|
|
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_value[0] += 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_value[1] += 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_value[2] += 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_value[3] += ADC;
|
|
#endif
|
|
temp_state = Prepare_FILWIDTH;
|
|
break;
|
|
|
|
case Prepare_FILWIDTH:
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
START_ADC(FILWIDTH_PIN);
|
|
#endif
|
|
lcd_buttons_update();
|
|
temp_state = Measure_FILWIDTH;
|
|
break;
|
|
case Measure_FILWIDTH:
|
|
#if ENABLED(FILAMENT_WIDTH_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.
|
|
|
|
temp_count = 0;
|
|
|
|
// Update the raw values if they've been read. Else we could be updating them during reading.
|
|
if (!temp_meas_ready) set_current_temp_raw();
|
|
|
|
// Filament Sensor - can be read any time since IIR filtering is used
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
current_raw_filwidth = raw_filwidth_value >> 10; // Divide to get to 0-16384 range since we used 1/128 IIR filter approach
|
|
#endif
|
|
|
|
ZERO(raw_temp_value);
|
|
raw_temp_bed_value = 0;
|
|
|
|
int constexpr temp_dir[] = {
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
0
|
|
#elif HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP
|
|
-1
|
|
#else
|
|
1
|
|
#endif
|
|
#if HAS_TEMP_1 && HOTENDS > 1
|
|
#if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP
|
|
, -1
|
|
#else
|
|
, 1
|
|
#endif
|
|
#endif
|
|
#if HAS_TEMP_2 && HOTENDS > 2
|
|
#if HEATER_2_RAW_LO_TEMP > HEATER_2_RAW_HI_TEMP
|
|
, -1
|
|
#else
|
|
, 1
|
|
#endif
|
|
#endif
|
|
#if HAS_TEMP_3 && HOTENDS > 3
|
|
#if HEATER_3_RAW_LO_TEMP > HEATER_3_RAW_HI_TEMP
|
|
, -1
|
|
#else
|
|
, 1
|
|
#endif
|
|
#endif
|
|
};
|
|
|
|
for (uint8_t e = 0; e < COUNT(temp_dir); e++) {
|
|
const int tdir = temp_dir[e], rawtemp = current_temperature_raw[e] * tdir;
|
|
if (rawtemp > maxttemp_raw[e] * tdir && target_temperature[e] > 0.0f) max_temp_error(e);
|
|
if (rawtemp < minttemp_raw[e] * tdir && !is_preheating(e) && target_temperature[e] > 0.0f) {
|
|
#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
|
|
if (++consecutive_low_temperature_error[e] >= MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED)
|
|
#endif
|
|
min_temp_error(e);
|
|
}
|
|
#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
|
|
else
|
|
consecutive_low_temperature_error[e] = 0;
|
|
#endif
|
|
}
|
|
|
|
#if HAS_TEMP_BED
|
|
#if HEATER_BED_RAW_LO_TEMP > HEATER_BED_RAW_HI_TEMP
|
|
#define GEBED <=
|
|
#else
|
|
#define GEBED >=
|
|
#endif
|
|
if (current_temperature_bed_raw GEBED bed_maxttemp_raw && target_temperature_bed > 0.0f) max_temp_error(-1);
|
|
if (bed_minttemp_raw GEBED current_temperature_bed_raw && target_temperature_bed > 0.0f) min_temp_error(-1);
|
|
#endif
|
|
|
|
} // temp_count >= OVERSAMPLENR
|
|
|
|
#if ENABLED(BABYSTEPPING)
|
|
LOOP_XYZ(axis) {
|
|
int curTodo = babystepsTodo[axis]; //get rid of volatile for performance
|
|
|
|
if (curTodo > 0) {
|
|
stepper.babystep((AxisEnum)axis,/*fwd*/true);
|
|
babystepsTodo[axis]--; //fewer to do next time
|
|
}
|
|
else if (curTodo < 0) {
|
|
stepper.babystep((AxisEnum)axis,/*fwd*/false);
|
|
babystepsTodo[axis]++; //fewer to do next time
|
|
}
|
|
}
|
|
#endif //BABYSTEPPING
|
|
|
|
#if ENABLED(PINS_DEBUGGING)
|
|
extern bool endstop_monitor_flag;
|
|
// run the endstop monitor at 15Hz
|
|
static uint8_t endstop_monitor_count = 16; // offset this check from the others
|
|
if (endstop_monitor_flag) {
|
|
endstop_monitor_count += _BV(1); // 15 Hz
|
|
endstop_monitor_count &= 0x7F;
|
|
if (!endstop_monitor_count) endstop_monitor(); // report changes in endstop status
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
|
|
|
|
extern volatile uint8_t e_hit;
|
|
|
|
if (e_hit && ENDSTOPS_ENABLED) {
|
|
endstops.update(); // call endstop update routine
|
|
e_hit--;
|
|
}
|
|
#endif
|
|
|
|
SBI(TIMSK0, OCIE0B); //re-enable Temperature ISR
|
|
}
|