1817 lines
56 KiB
C++
1817 lines
56 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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Part of Marlin
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Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "Marlin.h"
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#include "ultralcd.h"
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#include "temperature.h"
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#include "language.h"
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#include "Sd2PinMap.h"
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#if ENABLED(USE_WATCHDOG)
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#include "watchdog.h"
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#endif
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//===========================================================================
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//================================== macros =================================
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//===========================================================================
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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(PIDTEMPBED) || ENABLED(PIDTEMP)
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#define PID_dT ((OVERSAMPLENR * 12.0)/(F_CPU / 64.0 / 256.0))
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#endif
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//===========================================================================
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//============================= public variables ============================
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//===========================================================================
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int target_temperature[4] = { 0 };
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int target_temperature_bed = 0;
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int current_temperature_raw[4] = { 0 };
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float current_temperature[4] = { 0.0 };
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int current_temperature_bed_raw = 0;
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float current_temperature_bed = 0.0;
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#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
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int redundant_temperature_raw = 0;
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float redundant_temperature = 0.0;
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#endif
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#if ENABLED(PIDTEMPBED)
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float bedKp = DEFAULT_bedKp;
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float bedKi = (DEFAULT_bedKi* PID_dT);
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float bedKd = (DEFAULT_bedKd / PID_dT);
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#endif //PIDTEMPBED
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#if ENABLED(FAN_SOFT_PWM)
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unsigned char fanSpeedSoftPwm[FAN_COUNT];
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#endif
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unsigned char soft_pwm_bed;
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#if ENABLED(BABYSTEPPING)
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volatile int babystepsTodo[3] = { 0 };
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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int current_raw_filwidth = 0; //Holds measured filament diameter - one extruder only
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#endif
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#if ENABLED(THERMAL_PROTECTION_HOTENDS) || ENABLED(THERMAL_PROTECTION_BED)
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enum TRState { TRReset, TRInactive, TRFirstHeating, TRStable, TRRunaway };
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void thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
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#if ENABLED(THERMAL_PROTECTION_HOTENDS)
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static TRState thermal_runaway_state_machine[4] = { TRReset, TRReset, TRReset, TRReset };
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static millis_t thermal_runaway_timer[4]; // = {0,0,0,0};
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#endif
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#if ENABLED(THERMAL_PROTECTION_BED) && TEMP_SENSOR_BED != 0
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static TRState thermal_runaway_bed_state_machine = TRReset;
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static millis_t thermal_runaway_bed_timer;
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#endif
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#endif
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//===========================================================================
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//============================ private variables ============================
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//===========================================================================
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static volatile bool temp_meas_ready = false;
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#if ENABLED(PIDTEMP)
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//static cannot be external:
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static float temp_iState[EXTRUDERS] = { 0 };
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static float temp_dState[EXTRUDERS] = { 0 };
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static float pTerm[EXTRUDERS];
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static float iTerm[EXTRUDERS];
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static float dTerm[EXTRUDERS];
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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static float cTerm[EXTRUDERS];
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static long last_position[EXTRUDERS];
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static long lpq[LPQ_MAX_LEN];
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static int lpq_ptr = 0;
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#endif
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//int output;
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static float pid_error[EXTRUDERS];
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static float temp_iState_min[EXTRUDERS];
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static float temp_iState_max[EXTRUDERS];
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static bool pid_reset[EXTRUDERS];
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#endif //PIDTEMP
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#if ENABLED(PIDTEMPBED)
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//static cannot be external:
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static float temp_iState_bed = { 0 };
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static float temp_dState_bed = { 0 };
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static float pTerm_bed;
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static float iTerm_bed;
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static float dTerm_bed;
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//int output;
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static float pid_error_bed;
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static float temp_iState_min_bed;
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static float temp_iState_max_bed;
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#else //PIDTEMPBED
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static millis_t next_bed_check_ms;
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#endif //PIDTEMPBED
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static unsigned char soft_pwm[EXTRUDERS];
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#if ENABLED(FAN_SOFT_PWM)
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static unsigned char soft_pwm_fan[FAN_COUNT];
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#endif
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#if HAS_AUTO_FAN
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static millis_t next_auto_fan_check_ms;
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#endif
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#if ENABLED(PIDTEMP)
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#if ENABLED(PID_PARAMS_PER_EXTRUDER)
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float Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_Kp);
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float Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS1((DEFAULT_Ki) * (PID_dT));
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float Kd[EXTRUDERS] = ARRAY_BY_EXTRUDERS1((DEFAULT_Kd) / (PID_dT));
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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float Kc[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_Kc);
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#endif // PID_ADD_EXTRUSION_RATE
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#else //PID_PARAMS_PER_EXTRUDER
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float Kp = DEFAULT_Kp;
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float Ki = (DEFAULT_Ki) * (PID_dT);
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float Kd = (DEFAULT_Kd) / (PID_dT);
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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float Kc = DEFAULT_Kc;
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#endif // PID_ADD_EXTRUSION_RATE
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#endif // PID_PARAMS_PER_EXTRUDER
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#endif //PIDTEMP
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// Init min and max temp with extreme values to prevent false errors during startup
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static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS(HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP);
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static int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS(HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP);
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static int minttemp[EXTRUDERS] = { 0 };
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static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(16383);
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#ifdef BED_MINTEMP
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static int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP;
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#endif
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#ifdef BED_MAXTEMP
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static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
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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[EXTRUDERS] = ARRAY_BY_EXTRUDERS((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[EXTRUDERS] = ARRAY_BY_EXTRUDERS(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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static float analog2temp(int raw, uint8_t e);
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static float analog2tempBed(int raw);
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static void updateTemperaturesFromRawValues();
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#if ENABLED(THERMAL_PROTECTION_HOTENDS)
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int watch_target_temp[EXTRUDERS] = { 0 };
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millis_t watch_heater_next_ms[EXTRUDERS] = { 0 };
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#endif
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#ifndef SOFT_PWM_SCALE
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#define SOFT_PWM_SCALE 0
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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static int meas_shift_index; //used to point to a delayed sample in buffer for filament width sensor
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#endif
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#if ENABLED(HEATER_0_USES_MAX6675)
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static int read_max6675();
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#endif
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//===========================================================================
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//================================ Functions ================================
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//===========================================================================
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#if HAS_PID_HEATING
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void PID_autotune(float temp, int extruder, 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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millis_t next_auto_fan_check_ms = temp_ms + 2500UL;
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#endif
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if (false
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#if ENABLED(PIDTEMP)
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|| extruder >= EXTRUDERS
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#else
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|| extruder >= 0
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#endif
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#if DISABLED(PIDTEMPBED)
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|| extruder < 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 (extruder < 0)
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soft_pwm_bed = bias = d = (MAX_BED_POWER) / 2;
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else
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soft_pwm[extruder] = bias = d = (PID_MAX) / 2;
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#elif ENABLED(PIDTEMP)
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soft_pwm[extruder] = bias = d = (PID_MAX) / 2;
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#else
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soft_pwm_bed = bias = d = (MAX_BED_POWER) / 2;
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#endif
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// PID Tuning loop
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for (;;) {
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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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extruder < 0 ? current_temperature_bed : current_temperature[extruder]
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#elif ENABLED(PIDTEMP)
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current_temperature[extruder]
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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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max = max(max, input);
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min = min(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 (extruder < 0)
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soft_pwm_bed = (bias - d) >> 1;
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else
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soft_pwm[extruder] = (bias - d) >> 1;
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#elif ENABLED(PIDTEMP)
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soft_pwm[extruder] = (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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extruder < 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_PROTOCOLPGM(MSG_BIAS); SERIAL_PROTOCOL(bias);
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SERIAL_PROTOCOLPGM(MSG_D); SERIAL_PROTOCOL(d);
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SERIAL_PROTOCOLPGM(MSG_T_MIN); SERIAL_PROTOCOL(min);
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SERIAL_PROTOCOLPGM(MSG_T_MAX); SERIAL_PROTOCOLLN(max);
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if (cycles > 2) {
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Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
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Tu = ((float)(t_low + t_high) / 1000.0);
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SERIAL_PROTOCOLPGM(MSG_KU); SERIAL_PROTOCOL(Ku);
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SERIAL_PROTOCOLPGM(MSG_TU); SERIAL_PROTOCOLLN(Tu);
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workKp = 0.6 * Ku;
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workKi = 2 * workKp / Tu;
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workKd = workKp * Tu / 8;
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SERIAL_PROTOCOLLNPGM(MSG_CLASSIC_PID);
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SERIAL_PROTOCOLPGM(MSG_KP); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM(MSG_KI); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM(MSG_KD); SERIAL_PROTOCOLLN(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_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(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_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(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 (extruder < 0)
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soft_pwm_bed = (bias + d) >> 1;
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else
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soft_pwm[extruder] = (bias + d) >> 1;
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#elif ENABLED(PIDTEMP)
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soft_pwm[extruder] = (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 = extruder < 0 ? "bed" : "";
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SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kp "); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Ki "); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kd "); SERIAL_PROTOCOLLN(workKd);
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#elif ENABLED(PIDTEMP)
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SERIAL_PROTOCOLPGM("#define DEFAULT_Kp "); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM("#define DEFAULT_Ki "); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM("#define DEFAULT_Kd "); SERIAL_PROTOCOLLN(workKd);
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#else
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SERIAL_PROTOCOLPGM("#define DEFAULT_bedKp "); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM("#define DEFAULT_bedKi "); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM("#define DEFAULT_bedKd "); SERIAL_PROTOCOLLN(workKd);
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#endif
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#define _SET_BED_PID() \
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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()
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#define _SET_EXTRUDER_PID() \
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PID_PARAM(Kp, extruder) = workKp; \
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PID_PARAM(Ki, extruder) = scalePID_i(workKi); \
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PID_PARAM(Kd, extruder) = scalePID_d(workKd); \
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updatePID()
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// Use the result? (As with "M303 U1")
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if (set_result) {
|
|
#if HAS_PID_FOR_BOTH
|
|
if (extruder < 0) {
|
|
_SET_BED_PID();
|
|
}
|
|
else {
|
|
_SET_EXTRUDER_PID();
|
|
}
|
|
#elif ENABLED(PIDTEMP)
|
|
_SET_EXTRUDER_PID();
|
|
#else
|
|
_SET_BED_PID();
|
|
#endif
|
|
}
|
|
return;
|
|
}
|
|
lcd_update();
|
|
}
|
|
}
|
|
|
|
#endif // PIDTEMP
|
|
|
|
void updatePID() {
|
|
#if ENABLED(PIDTEMP)
|
|
for (int e = 0; e < EXTRUDERS; 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 getHeaterPower(int heater) {
|
|
return heater < 0 ? soft_pwm_bed : soft_pwm[heater];
|
|
}
|
|
|
|
#if HAS_AUTO_FAN
|
|
|
|
void setExtruderAutoFanState(int pin, bool state) {
|
|
unsigned char newFanSpeed = (state != 0) ? EXTRUDER_AUTO_FAN_SPEED : 0;
|
|
// this idiom allows both digital and PWM fan outputs (see M42 handling).
|
|
digitalWrite(pin, newFanSpeed);
|
|
analogWrite(pin, newFanSpeed);
|
|
}
|
|
|
|
void checkExtruderAutoFans() {
|
|
uint8_t fanState = 0;
|
|
|
|
// which fan pins need to be turned on?
|
|
#if HAS_AUTO_FAN_0
|
|
if (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE)
|
|
fanState |= 1;
|
|
#endif
|
|
#if HAS_AUTO_FAN_1
|
|
if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
|
|
if (EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
|
|
fanState |= 1;
|
|
else
|
|
fanState |= 2;
|
|
}
|
|
#endif
|
|
#if HAS_AUTO_FAN_2
|
|
if (current_temperature[2] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
|
|
if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
|
|
fanState |= 1;
|
|
else if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN)
|
|
fanState |= 2;
|
|
else
|
|
fanState |= 4;
|
|
}
|
|
#endif
|
|
#if HAS_AUTO_FAN_3
|
|
if (current_temperature[3] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
|
|
if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
|
|
fanState |= 1;
|
|
else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN)
|
|
fanState |= 2;
|
|
else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_2_AUTO_FAN_PIN)
|
|
fanState |= 4;
|
|
else
|
|
fanState |= 8;
|
|
}
|
|
#endif
|
|
|
|
// update extruder auto fan states
|
|
#if HAS_AUTO_FAN_0
|
|
setExtruderAutoFanState(EXTRUDER_0_AUTO_FAN_PIN, (fanState & 1) != 0);
|
|
#endif
|
|
#if HAS_AUTO_FAN_1
|
|
if (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN)
|
|
setExtruderAutoFanState(EXTRUDER_1_AUTO_FAN_PIN, (fanState & 2) != 0);
|
|
#endif
|
|
#if HAS_AUTO_FAN_2
|
|
if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
|
|
&& EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
|
|
setExtruderAutoFanState(EXTRUDER_2_AUTO_FAN_PIN, (fanState & 4) != 0);
|
|
#endif
|
|
#if HAS_AUTO_FAN_3
|
|
if (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
|
|
&& EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN
|
|
&& EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_2_AUTO_FAN_PIN)
|
|
setExtruderAutoFanState(EXTRUDER_3_AUTO_FAN_PIN, (fanState & 8) != 0);
|
|
#endif
|
|
}
|
|
|
|
#endif // HAS_AUTO_FAN
|
|
|
|
//
|
|
// Temperature Error Handlers
|
|
//
|
|
inline void _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 max_temp_error(uint8_t e) {
|
|
_temp_error(e, PSTR(MSG_T_MAXTEMP), PSTR(MSG_ERR_MAXTEMP));
|
|
}
|
|
void min_temp_error(uint8_t e) {
|
|
_temp_error(e, PSTR(MSG_T_MINTEMP), PSTR(MSG_ERR_MINTEMP));
|
|
}
|
|
|
|
float 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(PID_ADD_EXTRUSION_RATE)
|
|
cTerm[e] = 0;
|
|
if (e == active_extruder) {
|
|
long e_position = stepper.position(E_AXIS);
|
|
if (e_position > last_position[e]) {
|
|
lpq[lpq_ptr++] = e_position - last_position[e];
|
|
last_position[e] = e_position;
|
|
}
|
|
else {
|
|
lpq[lpq_ptr++] = 0;
|
|
}
|
|
if (lpq_ptr >= lpq_len) lpq_ptr = 0;
|
|
cTerm[e] = (lpq[lpq_ptr] / planner.axis_steps_per_unit[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 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_ECHO(" PID_BED_DEBUG ");
|
|
SERIAL_ECHO(": Input ");
|
|
SERIAL_ECHO(current_temperature_bed);
|
|
SERIAL_ECHO(" Output ");
|
|
SERIAL_ECHO(pid_output);
|
|
SERIAL_ECHO(" pTerm ");
|
|
SERIAL_ECHO(pTerm_bed);
|
|
SERIAL_ECHO(" iTerm ");
|
|
SERIAL_ECHO(iTerm_bed);
|
|
SERIAL_ECHO(" 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
|
|
* - 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 manage_heater() {
|
|
|
|
if (!temp_meas_ready) return;
|
|
|
|
updateTemperaturesFromRawValues();
|
|
|
|
#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) || DISABLED(PIDTEMPBED) || HAS_AUTO_FAN
|
|
millis_t ms = millis();
|
|
#endif
|
|
|
|
// Loop through all extruders
|
|
for (int e = 0; e < EXTRUDERS; 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)
|
|
|
|
// 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
|
|
|
|
#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
|
|
|
|
} // Extruders 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 ENABLED(THERMAL_PROTECTION_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.
|
|
static float analog2temp(int raw, uint8_t e) {
|
|
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
|
|
if (e > EXTRUDERS)
|
|
#else
|
|
if (e >= EXTRUDERS)
|
|
#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.
|
|
static float 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
|
|
}
|
|
|
|
/* Called to get the raw values into the the actual temperatures. The raw values are created in interrupt context,
|
|
and this function is called from normal context as it is too slow to run in interrupts and will block the stepper routine otherwise */
|
|
static void updateTemperaturesFromRawValues() {
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
current_temperature_raw[0] = read_max6675();
|
|
#endif
|
|
for (uint8_t e = 0; e < EXTRUDERS; e++) {
|
|
current_temperature[e] = analog2temp(current_temperature_raw[e], e);
|
|
}
|
|
current_temperature_bed = analog2tempBed(current_temperature_bed_raw);
|
|
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
|
|
redundant_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 analog2widthFil() {
|
|
return current_raw_filwidth / 16383.0 * 5.0;
|
|
//return current_raw_filwidth;
|
|
}
|
|
|
|
// Convert raw Filament Width to a ratio
|
|
int 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 tp_init() {
|
|
#if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1))
|
|
//disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector
|
|
MCUCR = _BV(JTD);
|
|
MCUCR = _BV(JTD);
|
|
#endif
|
|
|
|
// Finish init of mult extruder arrays
|
|
for (int e = 0; e < EXTRUDERS; 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 EXTRUDERS > 1
|
|
#ifdef HEATER_1_MINTEMP
|
|
TEMP_MIN_ROUTINE(1);
|
|
#endif
|
|
#ifdef HEATER_1_MAXTEMP
|
|
TEMP_MAX_ROUTINE(1);
|
|
#endif
|
|
#if EXTRUDERS > 2
|
|
#ifdef HEATER_2_MINTEMP
|
|
TEMP_MIN_ROUTINE(2);
|
|
#endif
|
|
#ifdef HEATER_2_MAXTEMP
|
|
TEMP_MAX_ROUTINE(2);
|
|
#endif
|
|
#if EXTRUDERS > 3
|
|
#ifdef HEATER_3_MINTEMP
|
|
TEMP_MIN_ROUTINE(3);
|
|
#endif
|
|
#ifdef HEATER_3_MAXTEMP
|
|
TEMP_MAX_ROUTINE(3);
|
|
#endif
|
|
#endif // EXTRUDERS > 3
|
|
#endif // EXTRUDERS > 2
|
|
#endif // EXTRUDERS > 1
|
|
|
|
#ifdef BED_MINTEMP
|
|
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)
|
|
/**
|
|
* 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 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_HOTENDS) || ENABLED(THERMAL_PROTECTION_BED)
|
|
|
|
void thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc) {
|
|
|
|
static float tr_target_temperature[EXTRUDERS + 1] = { 0.0 };
|
|
|
|
/**
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM("Thermal Thermal Runaway Running. Heater ID: ");
|
|
if (heater_id < 0) SERIAL_ECHOPGM("bed"); else SERIAL_ECHOPGM(heater_id);
|
|
SERIAL_ECHOPGM(" ; State:");
|
|
SERIAL_ECHOPGM(*state);
|
|
SERIAL_ECHOPGM(" ; Timer:");
|
|
SERIAL_ECHOPGM(*timer);
|
|
SERIAL_ECHOPGM(" ; Temperature:");
|
|
SERIAL_ECHOPGM(temperature);
|
|
SERIAL_ECHOPGM(" ; Target Temp:");
|
|
SERIAL_ECHOPGM(target_temperature);
|
|
SERIAL_EOL;
|
|
*/
|
|
|
|
int heater_index = heater_id >= 0 ? heater_id : EXTRUDERS;
|
|
|
|
// If the target temperature changes, restart
|
|
if (tr_target_temperature[heater_index] != target_temperature)
|
|
*state = TRReset;
|
|
|
|
switch (*state) {
|
|
case TRReset:
|
|
*timer = 0;
|
|
*state = TRInactive;
|
|
// Inactive state waits for a target temperature to be set
|
|
case TRInactive:
|
|
if (target_temperature > 0) {
|
|
tr_target_temperature[heater_index] = target_temperature;
|
|
*state = TRFirstHeating;
|
|
}
|
|
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]) *state = TRStable;
|
|
break;
|
|
// While the temperature is stable watch for a bad temperature
|
|
case TRStable:
|
|
// If the temperature is over the target (-hysteresis) restart the timer
|
|
if (temperature >= tr_target_temperature[heater_index] - hysteresis_degc)
|
|
*timer = millis();
|
|
// If the timer goes too long without a reset, trigger shutdown
|
|
else if (ELAPSED(millis(), *timer + period_seconds * 1000UL))
|
|
*state = TRRunaway;
|
|
break;
|
|
case TRRunaway:
|
|
_temp_error(heater_id, PSTR(MSG_T_THERMAL_RUNAWAY), PSTR(MSG_THERMAL_RUNAWAY));
|
|
}
|
|
}
|
|
|
|
#endif // THERMAL_PROTECTION_HOTENDS || THERMAL_PROTECTION_BED
|
|
|
|
void disable_all_heaters() {
|
|
for (int i = 0; i < EXTRUDERS; 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(NR, 0); \
|
|
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 EXTRUDERS > 1 && HAS_TEMP_1
|
|
DISABLE_HEATER(1);
|
|
#endif
|
|
|
|
#if EXTRUDERS > 2 && HAS_TEMP_2
|
|
DISABLE_HEATER(2);
|
|
#endif
|
|
|
|
#if EXTRUDERS > 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
|
|
#else
|
|
uint16_t max6675_temp = 2000;
|
|
#define MAX6675_ERROR_MASK 4
|
|
#define MAX6675_DISCARD_BITS 3
|
|
#endif
|
|
|
|
static millis_t next_max6675_ms = 0;
|
|
|
|
static int read_max6675() {
|
|
|
|
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) | _BV(SPR0);
|
|
|
|
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
|
|
};
|
|
|
|
static unsigned long raw_temp_value[4] = { 0 };
|
|
static unsigned long raw_temp_bed_value = 0;
|
|
|
|
static void 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) {
|
|
|
|
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 (EXTRUDERS > 1) || ENABLED(HEATERS_PARALLEL)
|
|
ISR_STATICS(1);
|
|
#if EXTRUDERS > 2
|
|
ISR_STATICS(2);
|
|
#if EXTRUDERS > 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 EXTRUDERS > 1
|
|
soft_pwm_1 = soft_pwm[1];
|
|
WRITE_HEATER_1(soft_pwm_1 > 0 ? 1 : 0);
|
|
#if EXTRUDERS > 2
|
|
soft_pwm_2 = soft_pwm[2];
|
|
WRITE_HEATER_2(soft_pwm_2 > 0 ? 1 : 0);
|
|
#if EXTRUDERS > 3
|
|
soft_pwm_3 = soft_pwm[3];
|
|
WRITE_HEATER_3(soft_pwm_3 > 0 ? 1 : 0);
|
|
#endif
|
|
#endif
|
|
#endif
|
|
|
|
#if 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 EXTRUDERS > 1
|
|
if (soft_pwm_1 < pwm_count) WRITE_HEATER_1(0);
|
|
#if EXTRUDERS > 2
|
|
if (soft_pwm_2 < pwm_count) WRITE_HEATER_2(0);
|
|
#if EXTRUDERS > 3
|
|
if (soft_pwm_3 < pwm_count) WRITE_HEATER_3(0);
|
|
#endif
|
|
#endif
|
|
#endif
|
|
|
|
#if 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 EXTRUDERS > 1
|
|
SLOW_PWM_ROUTINE(1); // EXTRUDER 1
|
|
#if EXTRUDERS > 2
|
|
SLOW_PWM_ROUTINE(2); // EXTRUDER 2
|
|
#if EXTRUDERS > 3
|
|
SLOW_PWM_ROUTINE(3); // EXTRUDER 3
|
|
#endif
|
|
#endif
|
|
#endif
|
|
#if HAS_HEATER_BED
|
|
_SLOW_PWM_ROUTINE(BED, soft_pwm_bed); // BED
|
|
#endif
|
|
|
|
} // slow_pwm_count == 0
|
|
|
|
PWM_OFF_ROUTINE(0); // EXTRUDER 0
|
|
#if EXTRUDERS > 1
|
|
PWM_OFF_ROUTINE(1); // EXTRUDER 1
|
|
#if EXTRUDERS > 2
|
|
PWM_OFF_ROUTINE(2); // EXTRUDER 2
|
|
#if EXTRUDERS > 3
|
|
PWM_OFF_ROUTINE(3); // EXTRUDER 3
|
|
#endif
|
|
#endif
|
|
#endif
|
|
#if 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 EXTRUDERS > 1 // EXTRUDER 1
|
|
if (state_timer_heater_1 > 0) state_timer_heater_1--;
|
|
#if EXTRUDERS > 2 // EXTRUDER 2
|
|
if (state_timer_heater_2 > 0) state_timer_heater_2--;
|
|
#if EXTRUDERS > 3 // EXTRUDER 3
|
|
if (state_timer_heater_3 > 0) state_timer_heater_3--;
|
|
#endif
|
|
#endif
|
|
#endif
|
|
#if 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 && EXTRUDERS > 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 && EXTRUDERS > 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 && EXTRUDERS > 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) {
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babystep(axis,/*fwd*/true);
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babystepsTodo[axis]--; //fewer to do next time
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|
}
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else if (curTodo < 0) {
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|
babystep(axis,/*fwd*/false);
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babystepsTodo[axis]++; //fewer to do next time
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|
}
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|
}
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#endif //BABYSTEPPING
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|
}
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|
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#if ENABLED(PIDTEMP)
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|
// Apply the scale factors to the PID values
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float scalePID_i(float i) { return i * PID_dT; }
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|
float unscalePID_i(float i) { return i / PID_dT; }
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|
float scalePID_d(float d) { return d / PID_dT; }
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|
float unscalePID_d(float d) { return d * PID_dT; }
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#endif //PIDTEMP
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