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Firmware/Marlin/temperature.cpp
AnHardt a129078927 Add an emergency-command parser to MarlinSerial (supporting M108) 
Add an emergency-command parser to MarlinSerial's RX interrupt.

The parser tries to find and execute M108,M112,M410 before the commands disappear in the RX-buffer.

To avoid false positives for M117, comments and commands followed by filenames (M23, M28, M30, M32, M33) are filtered.

This enables Marlin to receive and react on the Emergency command at all times - regardless of whether the buffers are full or not. It remains to convince hosts to send the commands. To inform the hosts about the new feature a new entry in the M115-report was made. "`EMERGENCY_CODES:M112,M108,M410;`".

The parser is fast. It only ever needs two switch decisions and one assignment of the new state for every character.

One problem remains. If the host has sent an incomplete line before sending an emergency command the emergency command could be omitted when the parser is in `state_IGNORE`.
In that case the host should send "\ncommand\n"

Also introduces M108 to break the waiting for the heaters in M109, M190 and M303.

Rename `cancel_heatup` to `wait_for_heatup` to better see the purpose.
2016-07-07 16:37:22 -07:00

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* temperature.cpp - temperature control
*/
#include "Marlin.h"
#include "ultralcd.h"
#include "temperature.h"
#include "language.h"
#include "Sd2PinMap.h"
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#endif
#ifdef K1 // Defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
#endif
#if ENABLED(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[HOTENDS] = ARRAY_BY_HOTENDS((void*)HEATER_0_TEMPTABLE, (void*)HEATER_1_TEMPTABLE, (void*)HEATER_2_TEMPTABLE, (void*)HEATER_3_TEMPTABLE);
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);
#endif
Temperature thermalManager;
// public:
int Temperature::current_temperature_raw[HOTENDS] = { 0 };
float Temperature::current_temperature[HOTENDS] = { 0.0 };
int Temperature::target_temperature[HOTENDS] = { 0 };
int Temperature::current_temperature_bed_raw = 0;
float Temperature::current_temperature_bed = 0.0;
int Temperature::target_temperature_bed = 0;
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
float Temperature::redundant_temperature = 0.0;
#endif
unsigned char Temperature::soft_pwm_bed;
#if ENABLED(FAN_SOFT_PWM)
unsigned char Temperature::fanSpeedSoftPwm[FAN_COUNT];
#endif
#if ENABLED(PIDTEMP)
#if ENABLED(PID_PARAMS_PER_HOTEND)
float Temperature::Kp[HOTENDS] = ARRAY_BY_HOTENDS1(DEFAULT_Kp),
Temperature::Ki[HOTENDS] = ARRAY_BY_HOTENDS1((DEFAULT_Ki) * (PID_dT)),
Temperature::Kd[HOTENDS] = ARRAY_BY_HOTENDS1((DEFAULT_Kd) / (PID_dT));
#if ENABLED(PID_ADD_EXTRUSION_RATE)
float Temperature::Kc[HOTENDS] = ARRAY_BY_HOTENDS1(DEFAULT_Kc);
#endif
#else
float Temperature::Kp = DEFAULT_Kp,
Temperature::Ki = (DEFAULT_Ki) * (PID_dT),
Temperature::Kd = (DEFAULT_Kd) / (PID_dT);
#if ENABLED(PID_ADD_EXTRUSION_RATE)
float Temperature::Kc = DEFAULT_Kc;
#endif
#endif
#endif
#if ENABLED(PIDTEMPBED)
float Temperature::bedKp = DEFAULT_bedKp,
Temperature::bedKi = ((DEFAULT_bedKi) * PID_dT),
Temperature::bedKd = ((DEFAULT_bedKd) / PID_dT);
#endif
#if ENABLED(BABYSTEPPING)
volatile int Temperature::babystepsTodo[3] = { 0 };
#endif
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
int Temperature::watch_target_temp[HOTENDS] = { 0 };
millis_t Temperature::watch_heater_next_ms[HOTENDS] = { 0 };
#endif
#if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
int Temperature::watch_target_bed_temp = 0;
millis_t Temperature::watch_bed_next_ms = 0;
#endif
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
float Temperature::extrude_min_temp = EXTRUDE_MINTEMP;
#endif
// private:
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
int Temperature::redundant_temperature_raw = 0;
float Temperature::redundant_temperature = 0.0;
#endif
volatile bool Temperature::temp_meas_ready = false;
#if ENABLED(PIDTEMP)
float Temperature::temp_iState[HOTENDS] = { 0 };
float Temperature::temp_dState[HOTENDS] = { 0 };
float Temperature::pTerm[HOTENDS];
float Temperature::iTerm[HOTENDS];
float Temperature::dTerm[HOTENDS];
#if ENABLED(PID_ADD_EXTRUSION_RATE)
float Temperature::cTerm[HOTENDS];
long Temperature::last_position[HOTENDS];
long Temperature::lpq[LPQ_MAX_LEN];
int Temperature::lpq_ptr = 0;
#endif
float Temperature::pid_error[HOTENDS];
float Temperature::temp_iState_min[HOTENDS];
float Temperature::temp_iState_max[HOTENDS];
bool Temperature::pid_reset[HOTENDS];
#endif
#if ENABLED(PIDTEMPBED)
float Temperature::temp_iState_bed = { 0 };
float Temperature::temp_dState_bed = { 0 };
float Temperature::pTerm_bed;
float Temperature::iTerm_bed;
float Temperature::dTerm_bed;
float Temperature::pid_error_bed;
float Temperature::temp_iState_min_bed;
float Temperature::temp_iState_max_bed;
#else
millis_t Temperature::next_bed_check_ms;
#endif
unsigned long Temperature::raw_temp_value[4] = { 0 };
unsigned long Temperature::raw_temp_bed_value = 0;
// Init min and max temp with extreme values to prevent false errors during startup
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);
int 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);
int Temperature::minttemp[HOTENDS] = { 0 };
int Temperature::maxttemp[HOTENDS] = ARRAY_BY_HOTENDS1(16383);
#ifdef BED_MINTEMP
int Temperature::bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP;
#endif
#ifdef BED_MAXTEMP
int Temperature::bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
int Temperature::meas_shift_index; // Index of a delayed sample in buffer
#endif
#if HAS_AUTO_FAN
millis_t Temperature::next_auto_fan_check_ms;
#endif
unsigned char Temperature::soft_pwm[HOTENDS];
#if ENABLED(FAN_SOFT_PWM)
unsigned char Temperature::soft_pwm_fan[FAN_COUNT];
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
int Temperature::current_raw_filwidth = 0; //Holds measured filament diameter - one extruder only
#endif
#if HAS_PID_HEATING
void Temperature::PID_autotune(float temp, int hotend, int ncycles, bool set_result/*=false*/) {
float input = 0.0;
int cycles = 0;
bool heating = true;
millis_t temp_ms = millis(), t1 = temp_ms, t2 = temp_ms;
long t_high = 0, t_low = 0;
long bias, d;
float Ku, Tu;
float workKp = 0, workKi = 0, workKd = 0;
float max = 0, min = 10000;
#if HAS_AUTO_FAN
next_auto_fan_check_ms = temp_ms + 2500UL;
#endif
if (hotend >=
#if ENABLED(PIDTEMP)
HOTENDS
#else
0
#endif
|| hotend <
#if ENABLED(PIDTEMPBED)
-1
#else
0
#endif
) {
SERIAL_ECHOLN(MSG_PID_BAD_EXTRUDER_NUM);
return;
}
SERIAL_ECHOLN(MSG_PID_AUTOTUNE_START);
disable_all_heaters(); // switch off all heaters.
#if HAS_PID_FOR_BOTH
if (hotend < 0)
soft_pwm_bed = bias = d = (MAX_BED_POWER) / 2;
else
soft_pwm[hotend] = bias = d = (PID_MAX) / 2;
#elif ENABLED(PIDTEMP)
soft_pwm[hotend] = bias = d = (PID_MAX) / 2;
#else
soft_pwm_bed = bias = d = (MAX_BED_POWER) / 2;
#endif
wait_for_heatup = true;
// PID Tuning loop
while (wait_for_heatup) {
millis_t ms = millis();
if (temp_meas_ready) { // temp sample ready
updateTemperaturesFromRawValues();
input =
#if HAS_PID_FOR_BOTH
hotend < 0 ? current_temperature_bed : current_temperature[hotend]
#elif ENABLED(PIDTEMP)
current_temperature[hotend]
#else
current_temperature_bed
#endif
;
max = max(max, input);
min = min(min, input);
#if HAS_AUTO_FAN
if (ELAPSED(ms, next_auto_fan_check_ms)) {
checkExtruderAutoFans();
next_auto_fan_check_ms = ms + 2500UL;
}
#endif
if (heating && input > temp) {
if (ELAPSED(ms, t2 + 5000UL)) {
heating = false;
#if HAS_PID_FOR_BOTH
if (hotend < 0)
soft_pwm_bed = (bias - d) >> 1;
else
soft_pwm[hotend] = (bias - d) >> 1;
#elif ENABLED(PIDTEMP)
soft_pwm[hotend] = (bias - d) >> 1;
#elif ENABLED(PIDTEMPBED)
soft_pwm_bed = (bias - d) >> 1;
#endif
t1 = ms;
t_high = t1 - t2;
max = temp;
}
}
if (!heating && input < temp) {
if (ELAPSED(ms, t1 + 5000UL)) {
heating = true;
t2 = ms;
t_low = t2 - t1;
if (cycles > 0) {
long max_pow =
#if HAS_PID_FOR_BOTH
hotend < 0 ? MAX_BED_POWER : PID_MAX
#elif ENABLED(PIDTEMP)
PID_MAX
#else
MAX_BED_POWER
#endif
;
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_PROTOCOLPAIR(MSG_BIAS, bias);
SERIAL_PROTOCOLPAIR(MSG_D, d);
SERIAL_PROTOCOLPAIR(MSG_T_MIN, min);
SERIAL_PROTOCOLPAIR(MSG_T_MAX, max);
if (cycles > 2) {
Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
Tu = ((float)(t_low + t_high) / 1000.0);
SERIAL_PROTOCOLPAIR(MSG_KU, Ku);
SERIAL_PROTOCOLPAIR(MSG_TU, Tu);
workKp = 0.6 * Ku;
workKi = 2 * workKp / Tu;
workKd = workKp * Tu / 8;
SERIAL_PROTOCOLLNPGM(MSG_CLASSIC_PID);
SERIAL_PROTOCOLPAIR(MSG_KP, workKp);
SERIAL_PROTOCOLPAIR(MSG_KI, workKi);
SERIAL_PROTOCOLPAIR(MSG_KD, workKd);
/**
workKp = 0.33*Ku;
workKi = workKp/Tu;
workKd = workKp*Tu/3;
SERIAL_PROTOCOLLNPGM(" Some overshoot");
SERIAL_PROTOCOLPAIR(" Kp: ", workKp);
SERIAL_PROTOCOLPAIR(" Ki: ", workKi);
SERIAL_PROTOCOLPAIR(" Kd: ", workKd);
workKp = 0.2*Ku;
workKi = 2*workKp/Tu;
workKd = workKp*Tu/3;
SERIAL_PROTOCOLLNPGM(" No overshoot");
SERIAL_PROTOCOLPAIR(" Kp: ", workKp);
SERIAL_PROTOCOLPAIR(" Ki: ", workKi);
SERIAL_PROTOCOLPAIR(" Kd: ", workKd);
*/
}
}
#if HAS_PID_FOR_BOTH
if (hotend < 0)
soft_pwm_bed = (bias + d) >> 1;
else
soft_pwm[hotend] = (bias + d) >> 1;
#elif ENABLED(PIDTEMP)
soft_pwm[hotend] = (bias + d) >> 1;
#else
soft_pwm_bed = (bias + d) >> 1;
#endif
cycles++;
min = temp;
}
}
}
#define MAX_OVERSHOOT_PID_AUTOTUNE 20
if (input > temp + MAX_OVERSHOOT_PID_AUTOTUNE) {
SERIAL_PROTOCOLLNPGM(MSG_PID_TEMP_TOO_HIGH);
return;
}
// Every 2 seconds...
if (ELAPSED(ms, temp_ms + 2000UL)) {
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
print_heaterstates();
SERIAL_EOL;
#endif
temp_ms = ms;
} // every 2 seconds
// Over 2 minutes?
if (((ms - t1) + (ms - t2)) > (10L * 60L * 1000L * 2L)) {
SERIAL_PROTOCOLLNPGM(MSG_PID_TIMEOUT);
return;
}
if (cycles > ncycles) {
SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED);
#if HAS_PID_FOR_BOTH
const char* estring = hotend < 0 ? "bed" : "";
SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Kp ", workKp);
SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Ki ", workKi);
SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Kd ", workKd);
#elif ENABLED(PIDTEMP)
SERIAL_PROTOCOLPAIR("#define DEFAULT_Kp ", workKp);
SERIAL_PROTOCOLPAIR("#define DEFAULT_Ki ", workKi);
SERIAL_PROTOCOLPAIR("#define DEFAULT_Kd ", workKd);
#else
SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKp ", workKp);
SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKi ", workKi);
SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKd ", workKd);
#endif
#define _SET_BED_PID() \
bedKp = workKp; \
bedKi = scalePID_i(workKi); \
bedKd = scalePID_d(workKd); \
updatePID()
#define _SET_EXTRUDER_PID() \
PID_PARAM(Kp, hotend) = workKp; \
PID_PARAM(Ki, hotend) = scalePID_i(workKi); \
PID_PARAM(Kd, hotend) = scalePID_d(workKd); \
updatePID()
// Use the result? (As with "M303 U1")
if (set_result) {
#if HAS_PID_FOR_BOTH
if (hotend < 0) {
_SET_BED_PID();
}
else {
_SET_EXTRUDER_PID();
}
#elif ENABLED(PIDTEMP)
_SET_EXTRUDER_PID();
#else
_SET_BED_PID();
#endif
}
return;
}
lcd_update();
}
if (!wait_for_heatup) disable_all_heaters();
}
#endif // HAS_PID_HEATING
/**
* Class and Instance Methods
*/
Temperature::Temperature() { }
void Temperature::updatePID() {
#if ENABLED(PIDTEMP)
for (int e = 0; e < HOTENDS; e++) {
temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki, e);
#if ENABLED(PID_ADD_EXTRUSION_RATE)
last_position[e] = 0;
#endif
}
#endif
#if ENABLED(PIDTEMPBED)
temp_iState_max_bed = (PID_BED_INTEGRAL_DRIVE_MAX) / bedKi;
#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[] = { EXTRUDER_0_AUTO_FAN_PIN, EXTRUDER_1_AUTO_FAN_PIN, EXTRUDER_2_AUTO_FAN_PIN, EXTRUDER_3_AUTO_FAN_PIN };
const int fanBit[] = { 0,
EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN ? 0 : 1,
EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN ? 0 :
EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN ? 1 : 2,
EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN ? 0 :
EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN ? 1 :
EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_2_AUTO_FAN_PIN ? 2 : 3
};
uint8_t fanState = 0;
for (int f = 0; f < HOTENDS; f++) {
if (current_temperature[f] > EXTRUDER_AUTO_FAN_TEMPERATURE)
SBI(fanState, fanBit[f]);
}
uint8_t fanDone = 0;
for (int f = 0; f <= 3; f++) {
int8_t pin = fanPin[f];
if (pin >= 0 && !TEST(fanDone, fanBit[f])) {
unsigned char 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(uint8_t e) {
_temp_error(e, PSTR(MSG_T_MAXTEMP), PSTR(MSG_ERR_MAXTEMP));
}
void Temperature::min_temp_error(uint8_t e) {
_temp_error(e, PSTR(MSG_T_MINTEMP), PSTR(MSG_ERR_MINTEMP));
}
float Temperature::get_pid_output(int e) {
float pid_output;
#if ENABLED(PIDTEMP)
#if DISABLED(PID_OPENLOOP)
pid_error[e] = target_temperature[e] - current_temperature[e];
dTerm[e] = K2 * PID_PARAM(Kd, e) * (current_temperature[e] - temp_dState[e]) + K1 * dTerm[e];
temp_dState[e] = current_temperature[e];
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]) {
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];
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
#if ENABLED(SINGLENOZZLE)
#define _NOZZLE_TEST true
#define _NOZZLE_EXTRUDER active_extruder
#define _CTERM_INDEX 0
#else
#define _NOZZLE_TEST e == active_extruder
#define _NOZZLE_EXTRUDER e
#define _CTERM_INDEX e
#endif
#if ENABLED(PID_ADD_EXTRUSION_RATE)
cTerm[_CTERM_INDEX] = 0;
if (_NOZZLE_TEST) {
long e_position = stepper.position(E_AXIS);
if (e_position > last_position[_NOZZLE_EXTRUDER]) {
lpq[lpq_ptr++] = e_position - last_position[_NOZZLE_EXTRUDER];
last_position[_NOZZLE_EXTRUDER] = e_position;
}
else {
lpq[lpq_ptr++] = 0;
}
if (lpq_ptr >= lpq_len) lpq_ptr = 0;
cTerm[_CTERM_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_mm[E_AXIS]) * PID_PARAM(Kc, e);
pid_output += cTerm[e];
}
#endif //PID_ADD_EXTRUSION_RATE
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;
}
}
#else
pid_output = constrain(target_temperature[e], 0, PID_MAX);
#endif //PID_OPENLOOP
#if ENABLED(PID_DEBUG)
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(MSG_PID_DEBUG, e);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_INPUT, current_temperature[e]);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_OUTPUT, pid_output);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_PTERM, pTerm[e]);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_ITERM, iTerm[e]);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_DTERM, dTerm[e]);
#if ENABLED(PID_ADD_EXTRUSION_RATE)
SERIAL_ECHOPAIR(MSG_PID_DEBUG_CTERM, cTerm[e]);
#endif
SERIAL_EOL;
#endif //PID_DEBUG
#else /* PID off */
pid_output = (current_temperature[e] < target_temperature[e]) ? 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;
temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_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)
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
#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
for (int e = 0; e < HOTENDS; e++) {
#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] && 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_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);
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
for (uint8_t e = 0; e < HOTENDS; e++) {
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
for (int e = 0; e < HOTENDS; e++) {
// populate with the first value
maxttemp[e] = maxttemp[0];
#if ENABLED(PIDTEMP)
temp_iState_min[e] = 0.0;
temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki, e);
#if ENABLED(PID_ADD_EXTRUSION_RATE)
last_position[e] = 0;
#endif
#endif //PIDTEMP
#if ENABLED(PIDTEMPBED)
temp_iState_min_bed = 0.0;
temp_iState_max_bed = (PID_BED_INTEGRAL_DRIVE_MAX) / bedKi;
#endif //PIDTEMPBED
}
#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 ENABLED(FAST_PWM_FAN) || ENABLED(FAN_SOFT_PWM)
#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] / 2;
#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] / 2;
#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] / 2;
#endif
#endif
#endif // FAST_PWM_FAN || FAN_SOFT_PWM
#if ENABLED(HEATER_0_USES_MAX6675)
#if DISABLED(SDSUPPORT)
OUT_WRITE(SCK_PIN, LOW);
OUT_WRITE(MOSI_PIN, HIGH);
OUT_WRITE(MISO_PIN, HIGH);
#else
pinMode(SS_PIN, OUTPUT);
digitalWrite(SS_PIN, HIGH);
#endif
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
pinMode(EXTRUDER_0_AUTO_FAN_PIN, OUTPUT);
#endif
#if HAS_AUTO_FAN_1 && (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN)
pinMode(EXTRUDER_1_AUTO_FAN_PIN, OUTPUT);
#endif
#if HAS_AUTO_FAN_2 && (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN) && (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
pinMode(EXTRUDER_2_AUTO_FAN_PIN, OUTPUT);
#endif
#if HAS_AUTO_FAN_3 && (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)
pinMode(EXTRUDER_3_AUTO_FAN_PIN, OUTPUT);
#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(int e) {
if (degHotend(e) < degTargetHotend(e) - (WATCH_TEMP_INCREASE + TEMP_HYSTERESIS + 1)) {
watch_target_temp[e] = degHotend(e) + WATCH_TEMP_INCREASE;
watch_heater_next_ms[e] = millis() + (WATCH_TEMP_PERIOD) * 1000UL;
}
else
watch_heater_next_ms[e] = 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 && ELAPSED(millis(), *timer))
*state = TRRunaway;
else {
*timer = millis() + period_seconds * 1000UL;
break;
}
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() {
for (int i = 0; i < HOTENDS; i++) setTargetHotend(0, i);
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
setTargetHotend(0, 0);
soft_pwm[0] = 0;
WRITE_HEATER_0P(LOW); // Should HEATERS_PARALLEL apply here? Then change to 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)
max6675_temp = 4000; // thermocouple open
else
max6675_temp >>= MAX6675_DISCARD_BITS;
return (int)max6675_temp;
}
#endif //HEATER_0_USES_MAX6675
/**
* Stages in the ISR loop
*/
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
};
/**
* 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;
}
/**
* Timer 0 is shared with millies
* - 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() {
static unsigned char temp_count = 0;
static TempState temp_state = StartupDelay;
static unsigned char pwm_count = _BV(SOFT_PWM_SCALE);
// Static members for each heater
#if ENABLED(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 (HOTENDS > 1) || ENABLED(HEATERS_PARALLEL)
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];
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 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] / 2;
WRITE_FAN(soft_pwm_fan[0] > 0 ? 1 : 0);
#endif
#if HAS_FAN1
soft_pwm_fan[1] = fanSpeedSoftPwm[1] / 2;
WRITE_FAN1(soft_pwm_fan[1] > 0 ? 1 : 0);
#endif
#if HAS_FAN2
soft_pwm_fan[2] = fanSpeedSoftPwm[2] / 2;
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
pwm_count += _BV(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 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] / 2;
WRITE_FAN(soft_pwm_fan[0] > 0 ? 1 : 0);
#endif
#if HAS_FAN1
soft_pwm_fan[1] = fanSpeedSoftPwm[1] / 2;
WRITE_FAN1(soft_pwm_fan[1] > 0 ? 1 : 0);
#endif
#if HAS_FAN2
soft_pwm_fan[2] = fanSpeedSoftPwm[2] / 2;
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
pwm_count += _BV(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 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.
// 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
temp_count = 0;
for (int i = 0; i < 4; i++) raw_temp_value[i] = 0;
raw_temp_bed_value = 0;
#if HAS_TEMP_0 && DISABLED(HEATER_0_USES_MAX6675)
#if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP
#define GE0 <=
#else
#define GE0 >=
#endif
if (current_temperature_raw[0] GE0 maxttemp_raw[0]) max_temp_error(0);
if (minttemp_raw[0] GE0 current_temperature_raw[0]) min_temp_error(0);
#endif
#if HAS_TEMP_1 && HOTENDS > 1
#if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP
#define GE1 <=
#else
#define GE1 >=
#endif
if (current_temperature_raw[1] GE1 maxttemp_raw[1]) max_temp_error(1);
if (minttemp_raw[1] GE1 current_temperature_raw[1]) min_temp_error(1);
#endif // TEMP_SENSOR_1
#if HAS_TEMP_2 && HOTENDS > 2
#if HEATER_2_RAW_LO_TEMP > HEATER_2_RAW_HI_TEMP
#define GE2 <=
#else
#define GE2 >=
#endif
if (current_temperature_raw[2] GE2 maxttemp_raw[2]) max_temp_error(2);
if (minttemp_raw[2] GE2 current_temperature_raw[2]) min_temp_error(2);
#endif // TEMP_SENSOR_2
#if HAS_TEMP_3 && HOTENDS > 3
#if HEATER_3_RAW_LO_TEMP > HEATER_3_RAW_HI_TEMP
#define GE3 <=
#else
#define GE3 >=
#endif
if (current_temperature_raw[3] GE3 maxttemp_raw[3]) max_temp_error(3);
if (minttemp_raw[3] GE3 current_temperature_raw[3]) min_temp_error(3);
#endif // TEMP_SENSOR_3
#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) _temp_error(-1, PSTR(MSG_T_MAXTEMP), PSTR(MSG_ERR_MAXTEMP_BED));
if (bed_minttemp_raw GEBED current_temperature_bed_raw) _temp_error(-1, PSTR(MSG_T_MINTEMP), PSTR(MSG_ERR_MINTEMP_BED));
#endif
} // temp_count >= OVERSAMPLENR
#if ENABLED(BABYSTEPPING)
for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) {
int curTodo = babystepsTodo[axis]; //get rid of volatile for performance
if (curTodo > 0) {
stepper.babystep(axis,/*fwd*/true);
babystepsTodo[axis]--; //fewer to do next time
}
else if (curTodo < 0) {
stepper.babystep(axis,/*fwd*/false);
babystepsTodo[axis]++; //fewer to do next time
}
}
#endif //BABYSTEPPING
}
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