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Firmware2/Marlin/temperature.cpp
Bernhard 59205ac5fc preliminiary implementation for the early heating finish. 
Might be replaced by something more clever, e.g. by erik, and does not yet support the second extruder or the bed.
its kind of not so cool, because you need 6 more ints.
Maybe isheating() should use the degrees directly, as it is not used in time-critical anyways.
Then it would be much easier. to have the offsets without additional variables.
2011-11-30 08:51:46 +01:00

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/*
temperature.c - temperature control
Part of Marlin
Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
This firmware is a mashup between Sprinter and grbl.
(https://github.com/kliment/Sprinter)
(https://github.com/simen/grbl/tree)
It has preliminary support for Matthew Roberts advance algorithm
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
This firmware is optimized for gen6 electronics.
*/
#include <avr/pgmspace.h>
#include "fastio.h"
#include "Configuration.h"
#include "pins.h"
#include "Marlin.h"
#include "ultralcd.h"
#include "temperature.h"
#include "watchdog.h"
//===========================================================================
//=============================public variables============================
//===========================================================================
int target_raw[3] = {0, 0, 0};
int current_raw[3] = {0, 0, 0};
int heatingtarget_raw[3]= {0, 0, 0};
#ifdef PIDTEMP
// probably used external
float HeaterPower;
float pid_setpoint = 0.0;
float Kp=DEFAULT_Kp;
float Ki=DEFAULT_Ki;
float Kd=DEFAULT_Kd;
#ifdef PID_ADD_EXTRUSION_RATE
float Kc=DEFAULT_Kc;
#endif
#endif //PIDTEMP
//===========================================================================
//=============================private variables============================
//===========================================================================
static bool temp_meas_ready = false;
static unsigned long previous_millis_heater, previous_millis_bed_heater;
#ifdef PIDTEMP
//static cannot be external:
static float temp_iState = 0;
static float temp_dState = 0;
static float pTerm;
static float iTerm;
static float dTerm;
//int output;
static float pid_error;
static float temp_iState_min;
static float temp_iState_max;
static float pid_input;
static float pid_output;
static bool pid_reset;
#endif //PIDTEMP
#ifdef WATCHPERIOD
static int watch_raw[3] = {-1000,-1000,-1000};
static unsigned long watchmillis = 0;
#endif //WATCHPERIOD
// Init min and max temp with extreme values to prevent false errors during startup
static int minttemp_0 = 0;
static int maxttemp_0 = 16383;
static int minttemp_1 = 0;
static int maxttemp_1 = 16383;
static int bed_minttemp = 0;
static int bed_maxttemp = 16383;
//===========================================================================
//=============================functions ============================
//===========================================================================
void updatePID()
{
#ifdef PIDTEMP
temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
#endif
}
void manage_heater()
{
#ifdef USE_WATCHDOG
wd_reset();
#endif
float pid_input;
float pid_output;
if(temp_meas_ready != true) //better readability
return;
CRITICAL_SECTION_START;
temp_meas_ready = false;
CRITICAL_SECTION_END;
#ifdef PIDTEMP
pid_input = analog2temp(current_raw[TEMPSENSOR_HOTEND_0]);
#ifndef PID_OPENLOOP
pid_error = pid_setpoint - pid_input;
if(pid_error > 10){
pid_output = PID_MAX;
pid_reset = true;
}
else if(pid_error < -10) {
pid_output = 0;
pid_reset = true;
}
else {
if(pid_reset == true) {
temp_iState = 0.0;
pid_reset = false;
}
pTerm = Kp * pid_error;
temp_iState += pid_error;
temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
iTerm = Ki * temp_iState;
//K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm);
temp_dState = pid_input;
// #ifdef PID_ADD_EXTRUSION_RATE
// pTerm+=Kc*current_block->speed_e; //additional heating if extrusion speed is high
// #endif
pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX);
}
#endif //PID_OPENLOOP
#ifdef PID_DEBUG
//SERIAL_ECHOLN(" PIDDEBUG Input "<<pid_input<<" Output "<<pid_output" pTerm "<<pTerm<<" iTerm "<<iTerm<<" dTerm "<<dTerm);
#endif //PID_DEBUG
HeaterPower=pid_output;
// Check if temperature is within the correct range
if((current_raw[TEMPSENSOR_HOTEND_0] > minttemp_0) && (current_raw[TEMPSENSOR_HOTEND_0] < maxttemp_0)) {
analogWrite(HEATER_0_PIN, pid_output);
}
else {
analogWrite(HEATER_0_PIN, 0);
}
#endif //PIDTEMP
#ifndef PIDTEMP
// Check if temperature is within the correct range
if((current_raw[TEMPSENSOR_HOTEND_0] > minttemp_0) && (current_raw[TEMPSENSOR_HOTEND_0] < maxttemp_0)) {
if(current_raw[TEMPSENSOR_HOTEND_0] >= target_raw[TEMPSENSOR_HOTEND_0]) {
WRITE(HEATER_0_PIN,LOW);
}
else {
WRITE(HEATER_0_PIN,HIGH);
}
}
else {
WRITE(HEATER_0_PIN,LOW);
}
#endif
if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
return;
previous_millis_bed_heater = millis();
#if TEMP_1_PIN > -1
// Check if temperature is within the correct range
if((current_raw[TEMPSENSOR_BED] > bed_minttemp) && (current_raw[TEMPSENSOR_BED] < bed_maxttemp)) {
if(current_raw[TEMPSENSOR_BED] >= target_raw[TEMPSENSOR_BED])
{
WRITE(HEATER_1_PIN,LOW);
}
else
{
WRITE(HEATER_1_PIN,HIGH);
}
}
else {
WRITE(HEATER_1_PIN,LOW);
}
#endif
}
#define PGM_RD_W(x) (short)pgm_read_word(&x)
// Takes hot end temperature value as input and returns corresponding raw value.
// For a thermistor, it uses the RepRap thermistor temp table.
// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
int temp2analog(int celsius) {
#ifdef HEATER_0_USES_THERMISTOR
int raw = 0;
byte i;
for (i=1; i<NUMTEMPS_HEATER_0; i++)
{
if (PGM_RD_W(heater_0_temptable[i][1]) < celsius)
{
raw = PGM_RD_W(heater_0_temptable[i-1][0]) +
(celsius - PGM_RD_W(heater_0_temptable[i-1][1])) *
(PGM_RD_W(heater_0_temptable[i][0]) - PGM_RD_W(heater_0_temptable[i-1][0])) /
(PGM_RD_W(heater_0_temptable[i][1]) - PGM_RD_W(heater_0_temptable[i-1][1]));
break;
}
}
// Overflow: Set to last value in the table
if (i == NUMTEMPS_HEATER_0) raw = PGM_RD_W(heater_0_temptable[i-1][0]);
return (1023 * OVERSAMPLENR) - raw;
#elif defined HEATER_0_USES_AD595
return celsius * (1024.0 / (5.0 * 100.0) ) * OVERSAMPLENR;
#endif
}
// Takes bed temperature value as input and returns corresponding raw value.
// For a thermistor, it uses the RepRap thermistor temp table.
// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
int temp2analogBed(int celsius) {
#ifdef BED_USES_THERMISTOR
int raw = 0;
byte i;
for (i=1; i<BNUMTEMPS; i++)
{
if (PGM_RD_W(bedtemptable[i][1]) < celsius)
{
raw = PGM_RD_W(bedtemptable[i-1][0]) +
(celsius - PGM_RD_W(bedtemptable[i-1][1])) *
(PGM_RD_W(bedtemptable[i][0]) - PGM_RD_W(bedtemptable[i-1][0])) /
(PGM_RD_W(bedtemptable[i][1]) - PGM_RD_W(bedtemptable[i-1][1]));
break;
}
}
// Overflow: Set to last value in the table
if (i == BNUMTEMPS) raw = PGM_RD_W(bedtemptable[i-1][0]);
return (1023 * OVERSAMPLENR) - raw;
#elif defined BED_USES_AD595
return lround(celsius * (1024.0 * OVERSAMPLENR/ (5.0 * 100.0) ) );
#endif
}
// Derived from RepRap FiveD extruder::getTemperature()
// For hot end temperature measurement.
float analog2temp(int raw) {
#ifdef HEATER_0_USES_THERMISTOR
float celsius = 0;
byte i;
raw = (1023 * OVERSAMPLENR) - raw;
for (i=1; i<NUMTEMPS_HEATER_0; i++)
{
if (PGM_RD_W(heater_0_temptable[i][0]) > raw)
{
celsius = PGM_RD_W(heater_0_temptable[i-1][1]) +
(raw - PGM_RD_W(heater_0_temptable[i-1][0])) *
(float)(PGM_RD_W(heater_0_temptable[i][1]) - PGM_RD_W(heater_0_temptable[i-1][1])) /
(float)(PGM_RD_W(heater_0_temptable[i][0]) - PGM_RD_W(heater_0_temptable[i-1][0]));
break;
}
}
// Overflow: Set to last value in the table
if (i == NUMTEMPS_HEATER_0) celsius = PGM_RD_W(heater_0_temptable[i-1][1]);
return celsius;
#elif defined HEATER_0_USES_AD595
return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;
#endif
}
// Derived from RepRap FiveD extruder::getTemperature()
// For bed temperature measurement.
float analog2tempBed(int raw) {
#ifdef BED_USES_THERMISTOR
int celsius = 0;
byte i;
raw = (1023 * OVERSAMPLENR) - raw;
for (i=1; i<BNUMTEMPS; 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])) *
(PGM_RD_W(bedtemptable[i][1]) - PGM_RD_W(bedtemptable[i-1][1])) /
(PGM_RD_W(bedtemptable[i][0]) - PGM_RD_W(bedtemptable[i-1][0]));
break;
}
}
// Overflow: Set to last value in the table
if (i == BNUMTEMPS) celsius = PGM_RD_W(bedtemptable[i-1][1]);
return celsius;
#elif defined BED_USES_AD595
return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;
#endif
}
void tp_init()
{
#if (HEATER_0_PIN > -1)
SET_OUTPUT(HEATER_0_PIN);
#endif
#if (HEATER_1_PIN > -1)
SET_OUTPUT(HEATER_1_PIN);
#endif
#if (HEATER_2_PIN > -1)
SET_OUTPUT(HEATER_2_PIN);
#endif
#ifdef PIDTEMP
temp_iState_min = 0.0;
temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
#endif //PIDTEMP
// Set analog inputs
ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07;
DIDR0 = 0;
#ifdef DIDR2
DIDR2 = 0;
#endif
#if (TEMP_0_PIN > -1)
#if TEMP_0_PIN < 8
DIDR0 |= 1 << TEMP_0_PIN;
#else
DIDR2 |= 1<<(TEMP_0_PIN - 8);
ADCSRB = 1<<MUX5;
#endif
#endif
#if (TEMP_1_PIN > -1)
#if TEMP_1_PIN < 8
DIDR0 |= 1<<TEMP_1_PIN;
#else
DIDR2 |= 1<<(TEMP_1_PIN - 8);
ADCSRB = 1<<MUX5;
#endif
#endif
#if (TEMP_2_PIN > -1)
#if TEMP_2_PIN < 8
DIDR0 |= 1 << TEMP_2_PIN;
#else
DIDR2 = 1<<(TEMP_2_PIN - 8);
ADCSRB = 1<<MUX5;
#endif
#endif
// Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt
OCR0B = 128;
TIMSK0 |= (1<<OCIE0B);
// Wait for temperature measurement to settle
delay(200);
#ifdef HEATER_0_MINTEMP
minttemp_0 = temp2analog(HEATER_0_MINTEMP);
#endif //MINTEMP
#ifdef HEATER_0_MAXTEMP
maxttemp_0 = temp2analog(HEATER_0_MAXTEMP);
#endif //MAXTEMP
#ifdef HEATER_1_MINTEMP
minttemp_1 = temp2analog(HEATER_1_MINTEMP);
#endif //MINTEMP
#ifdef HEATER_1_MAXTEMP
maxttemp_1 = temp2analog(HEATER_1_MAXTEMP);
#endif //MAXTEMP
#ifdef BED_MINTEMP
bed_minttemp = temp2analog(BED_MINTEMP);
#endif //BED_MINTEMP
#ifdef BED_MAXTEMP
bed_maxttemp = temp2analog(BED_MAXTEMP);
#endif //BED_MAXTEMP
}
void setWatch()
{
#ifdef WATCHPERIOD
if(isHeatingHotend0())
{
watchmillis = max(1,millis());
watch_raw[TEMPSENSOR_HOTEND_0] = current_raw[TEMPSENSOR_HOTEND_0];
}
else
{
watchmillis = 0;
}
#endif
}
void disable_heater()
{
#if TEMP_0_PIN > -1
target_raw[0]=0;
#if HEATER_0_PIN > -1
digitalWrite(HEATER_0_PIN,LOW);
#endif
#endif
#if TEMP_1_PIN > -1
target_raw[1]=0;
#if HEATER_1_PIN > -1
digitalWrite(HEATER_1_PIN,LOW);
#endif
#endif
#if TEMP_2_PIN > -1
target_raw[2]=0;
#if HEATER_2_PIN > -1
digitalWrite(HEATER_2_PIN,LOW);
#endif
#endif
}
// Timer 0 is shared with millies
ISR(TIMER0_COMPB_vect)
{
//these variables are only accesible from the ISR, but static, so they don't loose their value
static unsigned char temp_count = 0;
static unsigned long raw_temp_0_value = 0;
static unsigned long raw_temp_1_value = 0;
static unsigned long raw_temp_2_value = 0;
static unsigned char temp_state = 0;
switch(temp_state) {
case 0: // Prepare TEMP_0
#if (TEMP_0_PIN > -1)
#if TEMP_0_PIN > 7
ADCSRB = 1<<MUX5;
#else
ADCSRB = 0;
#endif
ADMUX = ((1 << REFS0) | (TEMP_0_PIN & 0x07));
ADCSRA |= 1<<ADSC; // Start conversion
#endif
#ifdef ULTIPANEL
buttons_check();
#endif
temp_state = 1;
break;
case 1: // Measure TEMP_0
#if (TEMP_0_PIN > -1)
raw_temp_0_value += ADC;
#endif
temp_state = 2;
break;
case 2: // Prepare TEMP_1
#if (TEMP_1_PIN > -1)
#if TEMP_1_PIN > 7
ADCSRB = 1<<MUX5;
#else
ADCSRB = 0;
#endif
ADMUX = ((1 << REFS0) | (TEMP_1_PIN & 0x07));
ADCSRA |= 1<<ADSC; // Start conversion
#endif
#ifdef ULTIPANEL
buttons_check();
#endif
temp_state = 3;
break;
case 3: // Measure TEMP_1
#if (TEMP_1_PIN > -1)
raw_temp_1_value += ADC;
#endif
temp_state = 4;
break;
case 4: // Prepare TEMP_2
#if (TEMP_2_PIN > -1)
#if TEMP_2_PIN > 7
ADCSRB = 1<<MUX5;
#else
ADCSRB = 0;
#endif
ADMUX = ((1 << REFS0) | (TEMP_2_PIN & 0x07));
ADCSRA |= 1<<ADSC; // Start conversion
#endif
#ifdef ULTIPANEL
buttons_check();
#endif
temp_state = 5;
break;
case 5: // Measure TEMP_2
#if (TEMP_2_PIN > -1)
raw_temp_2_value += ADC;
#endif
temp_state = 0;
temp_count++;
break;
default:
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Temp measurement error!");
break;
}
if(temp_count >= 16) // 6 ms * 16 = 96ms.
{
#ifdef HEATER_0_USES_AD595
current_raw[0] = raw_temp_0_value;
#else
current_raw[0] = 16383 - raw_temp_0_value;
#endif
#ifdef HEATER_1_USES_AD595
current_raw[2] = raw_temp_2_value;
#else
current_raw[2] = 16383 - raw_temp_2_value;
#endif
#ifdef BED_USES_AD595
current_raw[1] = raw_temp_1_value;
#else
current_raw[1] = 16383 - raw_temp_1_value;
#endif
temp_meas_ready = true;
temp_count = 0;
raw_temp_0_value = 0;
raw_temp_1_value = 0;
raw_temp_2_value = 0;
#ifdef HEATER_0_MAXTEMP
#if (HEATER_0_PIN > -1)
if(current_raw[TEMPSENSOR_HOTEND_0] >= maxttemp_0) {
target_raw[TEMPSENSOR_HOTEND_0] = 0;
digitalWrite(HEATER_0_PIN, 0);
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Temperature extruder 0 switched off. MAXTEMP triggered !!");
kill();
}
#endif
#endif
#ifdef HEATER_1_MAXTEMP
#if (HEATER_1_PIN > -1)
if(current_raw[TEMPSENSOR_HOTEND_1] >= maxttemp_1) {
target_raw[TEMPSENSOR_HOTEND_1] = 0;
digitalWrite(HEATER_2_PIN, 0);
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Temperature extruder 1 switched off. MAXTEMP triggered !!");
kill();
}
#endif
#endif //MAXTEMP
#ifdef HEATER_0_MINTEMP
#if (HEATER_0_PIN > -1)
if(current_raw[TEMPSENSOR_HOTEND_0] <= minttemp_0) {
target_raw[TEMPSENSOR_HOTEND_0] = 0;
digitalWrite(HEATER_0_PIN, 0);
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Temperature extruder 0 switched off. MINTEMP triggered !!");
kill();
}
#endif
#endif
#ifdef HEATER_1_MINTEMP
#if (HEATER_2_PIN > -1)
if(current_raw[TEMPSENSOR_HOTEND_1] <= minttemp_1) {
target_raw[TEMPSENSOR_HOTEND_1] = 0;
digitalWrite(HEATER_2_PIN, 0);
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Temperature extruder 1 switched off. MINTEMP triggered !!");
kill();
}
#endif
#endif //MAXTEMP
#ifdef BED_MINTEMP
#if (HEATER_1_PIN > -1)
if(current_raw[1] <= bed_minttemp) {
target_raw[1] = 0;
digitalWrite(HEATER_1_PIN, 0);
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Temperatur heated bed switched off. MINTEMP triggered !!");
kill();
}
#endif
#endif
#ifdef BED_MAXTEMP
#if (HEATER_1_PIN > -1)
if(current_raw[1] >= bed_maxttemp) {
target_raw[1] = 0;
digitalWrite(HEATER_1_PIN, 0);
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!");
kill();
}
#endif
#endif
}
}
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