From 9c9726d4697debc4324bbce41560d94553a3d2b0 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 24 Feb 2015 04:46:11 -0800 Subject: [PATCH] Cleanup of temperature code - Reduce calls to millis() - General cleanup of manage_heaters - General cleanup of pid autotune - Formatting here & there - Macros to clean up and shrink ISR code (reduced by ~364 lines) --- Marlin/pins_RUMBA.h | 4 + Marlin/temperature.cpp | 2028 +++++++++++++++++----------------------- Marlin/temperature.h | 111 +-- 3 files changed, 875 insertions(+), 1268 deletions(-) diff --git a/Marlin/pins_RUMBA.h b/Marlin/pins_RUMBA.h index 8828ef32dc..ce96d750d3 100644 --- a/Marlin/pins_RUMBA.h +++ b/Marlin/pins_RUMBA.h @@ -6,6 +6,10 @@ #error Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu. #endif +#if EXTRUDERS > 3 + #error RUMBA supports up to 3 extruders. Comment this line to keep going. +#endif + #define X_STEP_PIN 17 #define X_DIR_PIN 16 #define X_ENABLE_PIN 48 diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index d50c4265b0..5afc7fc471 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -71,7 +71,7 @@ float current_temperature_bed = 0.0; unsigned char soft_pwm_bed; #ifdef BABYSTEPPING - volatile int babystepsTodo[3]={0,0,0}; + volatile int babystepsTodo[3] = { 0 }; #endif #ifdef FILAMENT_SENSOR @@ -123,33 +123,33 @@ static volatile bool temp_meas_ready = false; #endif #if EXTRUDERS > 4 - # error Unsupported number of extruders + #error Unsupported number of extruders #elif EXTRUDERS > 3 - # define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3, v4 } + #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3, v4 } #elif EXTRUDERS > 2 - # define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3 } + #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2, v3 } #elif EXTRUDERS > 1 - # define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2 } + #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1, v2 } #else - # define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1 } + #define ARRAY_BY_EXTRUDERS(v1, v2, v3, v4) { v1 } #endif #ifdef PIDTEMP -#ifdef PID_PARAMS_PER_EXTRUDER - float Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kp, DEFAULT_Kp, DEFAULT_Kp, DEFAULT_Kp); - float Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT); - float Kd[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT); - #ifdef PID_ADD_EXTRUSION_RATE - float Kc[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kc, DEFAULT_Kc, DEFAULT_Kc, DEFAULT_Kc); - #endif // PID_ADD_EXTRUSION_RATE -#else //PID_PARAMS_PER_EXTRUDER - float Kp = DEFAULT_Kp; - float Ki = DEFAULT_Ki * PID_dT; - float Kd = DEFAULT_Kd / PID_dT; - #ifdef PID_ADD_EXTRUSION_RATE - float Kc = DEFAULT_Kc; - #endif // PID_ADD_EXTRUSION_RATE -#endif // PID_PARAMS_PER_EXTRUDER + #ifdef PID_PARAMS_PER_EXTRUDER + float Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kp, DEFAULT_Kp, DEFAULT_Kp, DEFAULT_Kp); + float Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT); + float Kd[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT); + #ifdef PID_ADD_EXTRUSION_RATE + float Kc[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kc, DEFAULT_Kc, DEFAULT_Kc, DEFAULT_Kc); + #endif // PID_ADD_EXTRUSION_RATE + #else //PID_PARAMS_PER_EXTRUDER + float Kp = DEFAULT_Kp; + float Ki = DEFAULT_Ki * PID_dT; + float Kd = DEFAULT_Kd / PID_dT; + #ifdef PID_ADD_EXTRUSION_RATE + float Kc = DEFAULT_Kc; + #endif // PID_ADD_EXTRUSION_RATE + #endif // PID_PARAMS_PER_EXTRUDER #endif //PIDTEMP // Init min and max temp with extreme values to prevent false errors during startup @@ -159,7 +159,7 @@ static int minttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 0, 0, 0, 0 ); static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 16383, 16383, 16383, 16383 ); //static int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP; /* No bed mintemp error implemented?!? */ #ifdef BED_MAXTEMP -static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP; + static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP; #endif #ifdef TEMP_SENSOR_1_AS_REDUNDANT @@ -175,12 +175,12 @@ static float analog2tempBed(int raw); static void updateTemperaturesFromRawValues(); #ifdef WATCH_TEMP_PERIOD -int watch_start_temp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0); -unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0); + int watch_start_temp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0); + unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0); #endif //WATCH_TEMP_PERIOD #ifndef SOFT_PWM_SCALE -#define SOFT_PWM_SCALE 0 + #define SOFT_PWM_SCALE 0 #endif #ifdef FILAMENT_SENSOR @@ -191,6 +191,13 @@ unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0); static int read_max6675(); #endif +#define HAS_TEMP_0 (defined(TEMP_0_PIN) && TEMP_0_PIN > -1) +#define HAS_TEMP_1 (defined(TEMP_1_PIN) && TEMP_1_PIN > -1) +#define HAS_TEMP_2 (defined(TEMP_2_PIN) && TEMP_2_PIN > -1) +#define HAS_TEMP_3 (defined(TEMP_3_PIN) && TEMP_3_PIN > -1) +#define HAS_TEMP_BED (defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1) +#define HAS_FILAMENT_SENSOR (defined(FILAMENT_SENSOR) && defined(FILWIDTH_PIN) && FILWIDTH_PIN > -1) + //=========================================================================== //============================= functions ============================ //=========================================================================== @@ -198,109 +205,100 @@ unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0,0); void PID_autotune(float temp, int extruder, int ncycles) { float input = 0.0; - int cycles=0; + int cycles = 0; bool heating = true; - unsigned long temp_millis = millis(); - unsigned long t1=temp_millis; - unsigned long t2=temp_millis; - long t_high = 0; - long t_low = 0; + unsigned long temp_millis = millis(), t1 = temp_millis, t2 = temp_millis; + long t_high = 0, t_low = 0; long bias, d; float Ku, Tu; float Kp, Ki, Kd; float max = 0, min = 10000; -#if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \ - (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \ - (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1) || \ - (defined(EXTRUDER_3_AUTO_FAN_PIN) && EXTRUDER_3_AUTO_FAN_PIN > -1) - unsigned long extruder_autofan_last_check = millis(); -#endif - - if ((extruder >= EXTRUDERS) - #if (TEMP_BED_PIN <= -1) - ||(extruder < 0) + #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \ + (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \ + (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1) || \ + (defined(EXTRUDER_3_AUTO_FAN_PIN) && EXTRUDER_3_AUTO_FAN_PIN > -1) + unsigned long extruder_autofan_last_check = temp_millis; #endif - ){ - SERIAL_ECHOLN("PID Autotune failed. Bad extruder number."); - return; - } + + if (extruder >= EXTRUDERS + #if !HAS_TEMP_BED + || extruder < 0 + #endif + ) { + SERIAL_ECHOLN("PID Autotune failed. Bad extruder number."); + return; + } SERIAL_ECHOLN("PID Autotune start"); - + disable_heater(); // switch off all heaters. - if (extruder<0) - { - soft_pwm_bed = (MAX_BED_POWER)/2; - bias = d = (MAX_BED_POWER)/2; - } - else - { - soft_pwm[extruder] = (PID_MAX)/2; - bias = d = (PID_MAX)/2; - } + if (extruder < 0) + soft_pwm_bed = bias = d = MAX_BED_POWER / 2; + else + soft_pwm[extruder] = bias = d = PID_MAX / 2; + // PID Tuning loop + for(;;) { + unsigned long ms = millis(); - - for(;;) { - - if(temp_meas_ready == true) { // temp sample ready + if (temp_meas_ready == true) { // temp sample ready updateTemperaturesFromRawValues(); input = (extruder<0)?current_temperature_bed:current_temperature[extruder]; - max=max(max,input); - min=min(min,input); + max = max(max, input); + min = min(min, input); #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \ (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \ (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1) || \ (defined(EXTRUDER_3_AUTO_FAN_PIN) && EXTRUDER_3_AUTO_FAN_PIN > -1) - if(millis() - extruder_autofan_last_check > 2500) { - checkExtruderAutoFans(); - extruder_autofan_last_check = millis(); - } + if (ms > extruder_autofan_last_check + 2500) { + checkExtruderAutoFans(); + extruder_autofan_last_check = ms; + } #endif - if(heating == true && input > temp) { - if(millis() - t2 > 5000) { - heating=false; - if (extruder<0) + if (heating == true && input > temp) { + if (ms - t2 > 5000) { + heating = false; + if (extruder < 0) soft_pwm_bed = (bias - d) >> 1; else soft_pwm[extruder] = (bias - d) >> 1; - t1=millis(); - t_high=t1 - t2; - max=temp; + t1 = ms; + t_high = t1 - t2; + max = temp; } } - if(heating == false && input < temp) { - if(millis() - t1 > 5000) { - heating=true; - t2=millis(); - t_low=t2 - t1; - if(cycles > 0) { + if (heating == false && input < temp) { + if (ms - t1 > 5000) { + heating = true; + t2 = ms; + t_low = t2 - t1; + if (cycles > 0) { + long max_pow = extruder < 0 ? MAX_BED_POWER : PID_MAX; bias += (d*(t_high - t_low))/(t_low + t_high); - bias = constrain(bias, 20 ,(extruder<0?(MAX_BED_POWER):(PID_MAX))-20); - if(bias > (extruder<0?(MAX_BED_POWER):(PID_MAX))/2) d = (extruder<0?(MAX_BED_POWER):(PID_MAX)) - 1 - bias; - else d = bias; + bias = constrain(bias, 20, max_pow - 20); + d = (bias > max_pow / 2) ? max_pow - 1 - bias : bias; SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias); - SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d); - SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min); - SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max); - if(cycles > 2) { - Ku = (4.0*d)/(3.14159*(max-min)/2.0); - Tu = ((float)(t_low + t_high)/1000.0); + SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d); + SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min); + SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max); + if (cycles > 2) { + Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0); + Tu = ((float)(t_low + t_high) / 1000.0); SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku); SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu); - Kp = 0.6*Ku; - Ki = 2*Kp/Tu; - Kd = Kp*Tu/8; + Kp = 0.6 * Ku; + Ki = 2 * Kp / Tu; + Kd = Kp * Tu / 8; SERIAL_PROTOCOLLNPGM(" Classic PID "); SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); @@ -323,40 +321,43 @@ void PID_autotune(float temp, int extruder, int ncycles) */ } } - if (extruder<0) + if (extruder < 0) soft_pwm_bed = (bias + d) >> 1; else soft_pwm[extruder] = (bias + d) >> 1; cycles++; - min=temp; + min = temp; } } } - if(input > (temp + 20)) { + if (input > temp + 20) { SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature too high"); return; } - if(millis() - temp_millis > 2000) { + // Every 2 seconds... + if (ms - temp_millis > 2000) { int p; - if (extruder<0){ - p=soft_pwm_bed; + if (extruder < 0) { + p = soft_pwm_bed; SERIAL_PROTOCOLPGM("ok B:"); - }else{ - p=soft_pwm[extruder]; + } + else { + p = soft_pwm[extruder]; SERIAL_PROTOCOLPGM("ok T:"); } - - SERIAL_PROTOCOL(input); - SERIAL_PROTOCOLPGM(" @:"); - SERIAL_PROTOCOLLN(p); - temp_millis = millis(); - } - if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) { + SERIAL_PROTOCOL(input); + SERIAL_PROTOCOLPGM(" @:"); + SERIAL_PROTOCOLLN(p); + + temp_millis = ms; + } // every 2 seconds + // Over 2 minutes? + if (((ms - t1) + (ms - t2)) > (10L*60L*1000L*2L)) { SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout"); return; } - if(cycles > ncycles) { + if (cycles > ncycles) { SERIAL_PROTOCOLLNPGM("PID Autotune finished! Put the last Kp, Ki and Kd constants from above into Configuration.h"); return; } @@ -364,22 +365,19 @@ void PID_autotune(float temp, int extruder, int ncycles) } } -void updatePID() -{ -#ifdef PIDTEMP - for(int e = 0; e < EXTRUDERS; e++) { - temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki,e); - } -#endif -#ifdef PIDTEMPBED - temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi; -#endif +void updatePID() { + #ifdef PIDTEMP + for (int e = 0; e < EXTRUDERS; e++) { + temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki,e); + } + #endif + #ifdef PIDTEMPBED + temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi; + #endif } - + int getHeaterPower(int heater) { - if (heater<0) - return soft_pwm_bed; - return soft_pwm[heater]; + return heater < 0 ? soft_pwm_bed : soft_pwm[heater]; } #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \ @@ -473,47 +471,78 @@ void checkExtruderAutoFans() #endif // any extruder auto fan pins set -void manage_heater() -{ - float pid_input; - float pid_output; +// +// Error checking and Write Routines +// +#if !defined(HEATER_0_PIN) || HEATER_0_PIN < 0 + #error HEATER_0_PIN not defined for this board +#endif +#define WRITE_HEATER_0P(v) WRITE(HEATER_0_PIN, v) +#if EXTRUDERS > 1 || defined(HEATERS_PARALLEL) + #if !defined(HEATER_1_PIN) || HEATER_1_PIN < 0 + #error HEATER_1_PIN not defined for this board + #endif + #define WRITE_HEATER_1(v) WRITE(HEATER_1_PIN, v) + #if EXTRUDERS > 2 + #if !defined(HEATER_2_PIN) || HEATER_2_PIN < 0 + #error HEATER_2_PIN not defined for this board + #endif + #define WRITE_HEATER_2(v) WRITE(HEATER_2_PIN, v) + #if EXTRUDERS > 3 + #if !defined(HEATER_3_PIN) || HEATER_3_PIN < 0 + #error HEATER_3_PIN not defined for this board + #endif + #define WRITE_HEATER_3(v) WRITE(HEATER_3_PIN, v) + #endif + #endif +#endif +#ifdef HEATERS_PARALLEL + #define WRITE_HEATER_0(v) { WRITE_HEATER_0P(v); WRITE_HEATER_1(v); } +#else + #define WRITE_HEATER_0(v) WRITE_HEATER_0P(v) +#endif +#if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 + #define WRITE_HEATER_BED(v) WRITE(HEATER_BED_PIN, v) +#endif - if(temp_meas_ready != true) //better readability - return; +void manage_heater() { + + if (!temp_meas_ready) return; + + float pid_input, pid_output; updateTemperaturesFromRawValues(); #ifdef HEATER_0_USES_MAX6675 - if (current_temperature[0] > 1023 || current_temperature[0] > HEATER_0_MAXTEMP) { - max_temp_error(0); - } - if (current_temperature[0] == 0 || current_temperature[0] < HEATER_0_MINTEMP) { - min_temp_error(0); - } + float ct = current_temperature[0]; + if (ct > min(HEATER_0_MAXTEMP, 1023)) max_temp_error(0); + if (ct < max(HEATER_0_MINTEMP, 0.01)) min_temp_error(0); #endif //HEATER_0_USES_MAX6675 - for(int e = 0; e < EXTRUDERS; e++) - { + unsigned long ms = millis(); -#if defined (THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0 - thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS); - #endif + // Loop through all extruders + for (int e = 0; e < EXTRUDERS; e++) { - #ifdef PIDTEMP - pid_input = current_temperature[e]; + #if defined (THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0 + thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS); + #endif - #ifndef PID_OPENLOOP + #ifdef PIDTEMP + pid_input = current_temperature[e]; + + #ifndef PID_OPENLOOP pid_error[e] = target_temperature[e] - pid_input; - if(pid_error[e] > PID_FUNCTIONAL_RANGE) { + 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) { + else if (pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) { pid_output = 0; pid_reset[e] = true; } else { - if(pid_reset[e] == true) { + if (pid_reset[e] == true) { temp_iState[e] = 0.0; pid_reset[e] = false; } @@ -524,69 +553,66 @@ void manage_heater() //K1 defined in Configuration.h in the PID settings #define K2 (1.0-K1) - dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]); + dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e])) * K2 + (K1 * dTerm[e]); pid_output = pTerm[e] + iTerm[e] - dTerm[e]; if (pid_output > PID_MAX) { - if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration - pid_output=PID_MAX; - } else if (pid_output < 0){ - if (pid_error[e] < 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration - pid_output=0; + if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration + pid_output = PID_MAX; + } + else if (pid_output < 0) { + if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration + pid_output = 0; } } temp_dState[e] = pid_input; - #else - pid_output = constrain(target_temperature[e], 0, PID_MAX); - #endif //PID_OPENLOOP - #ifdef PID_DEBUG - SERIAL_ECHO_START; - SERIAL_ECHO(" PID_DEBUG "); - SERIAL_ECHO(e); - SERIAL_ECHO(": Input "); - SERIAL_ECHO(pid_input); - SERIAL_ECHO(" Output "); - SERIAL_ECHO(pid_output); - SERIAL_ECHO(" pTerm "); - SERIAL_ECHO(pTerm[e]); - SERIAL_ECHO(" iTerm "); - SERIAL_ECHO(iTerm[e]); - SERIAL_ECHO(" dTerm "); - SERIAL_ECHOLN(dTerm[e]); - #endif //PID_DEBUG - #else /* PID off */ - pid_output = 0; - if(current_temperature[e] < target_temperature[e]) { - pid_output = PID_MAX; - } - #endif + #else + pid_output = constrain(target_temperature[e], 0, PID_MAX); + #endif //PID_OPENLOOP + + #ifdef PID_DEBUG + SERIAL_ECHO_START; + SERIAL_ECHO(" PID_DEBUG "); + SERIAL_ECHO(e); + SERIAL_ECHO(": Input "); + SERIAL_ECHO(pid_input); + SERIAL_ECHO(" Output "); + SERIAL_ECHO(pid_output); + SERIAL_ECHO(" pTerm "); + SERIAL_ECHO(pTerm[e]); + SERIAL_ECHO(" iTerm "); + SERIAL_ECHO(iTerm[e]); + SERIAL_ECHO(" dTerm "); + SERIAL_ECHOLN(dTerm[e]); + #endif //PID_DEBUG + + #else /* PID off */ + + pid_output = 0; + if (current_temperature[e] < target_temperature[e]) pid_output = PID_MAX; + + #endif // Check if temperature is within the correct range - if((current_temperature[e] > minttemp[e]) && (current_temperature[e] < maxttemp[e])) - { - soft_pwm[e] = (int)pid_output >> 1; - } - else { - soft_pwm[e] = 0; - } + soft_pwm[e] = current_temperature[e] > minttemp[e] && current_temperature[e] < maxttemp[e] ? (int)pid_output >> 1 : 0; #ifdef WATCH_TEMP_PERIOD - if(watchmillis[e] && millis() - watchmillis[e] > WATCH_TEMP_PERIOD) - { - if(degHotend(e) < watch_start_temp[e] + WATCH_TEMP_INCREASE) - { - setTargetHotend(0, e); - LCD_MESSAGEPGM("Heating failed"); - SERIAL_ECHO_START; - SERIAL_ECHOLN("Heating failed"); - }else{ - watchmillis[e] = 0; + if (watchmillis[e] && ms > watchmillis[e] + WATCH_TEMP_PERIOD) { + if (degHotend(e) < watch_start_temp[e] + WATCH_TEMP_INCREASE) { + setTargetHotend(0, e); + LCD_MESSAGEPGM("Heating failed"); + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM("Heating failed"); } - } - #endif + else { + watchmillis[e] = 0; + } + } + #endif //WATCH_TEMP_PERIOD + #ifdef TEMP_SENSOR_1_AS_REDUNDANT - if(fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) { + if (fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) { disable_heater(); - if(IsStopped() == false) { + if (IsStopped() == false) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM("Extruder switched off. Temperature difference between temp sensors is too high !"); LCD_ALERTMESSAGEPGM("Err: REDUNDANT TEMP ERROR"); @@ -595,24 +621,23 @@ void manage_heater() Stop(); #endif } - #endif - } // End extruder for loop + #endif //TEMP_SENSOR_1_AS_REDUNDANT + + } // Extruders Loop #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \ (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \ (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1) - if(millis() - extruder_autofan_last_check > 2500) // only need to check fan state very infrequently - { - checkExtruderAutoFans(); - extruder_autofan_last_check = millis(); - } + if (ms > extruder_autofan_last_check + 2500) { // only need to check fan state very infrequently + checkExtruderAutoFans(); + extruder_autofan_last_check = ms; + } #endif #ifndef PIDTEMPBED - if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) - return; - previous_millis_bed_heater = millis(); - #endif + if (ms < previous_millis_bed_heater + BED_CHECK_INTERVAL) return; + previous_millis_bed_heater = ms; + #endif //PIDTEMPBED #if TEMP_SENSOR_BED != 0 @@ -620,102 +645,75 @@ void manage_heater() thermal_runaway_protection(&thermal_runaway_bed_state_machine, &thermal_runaway_bed_timer, current_temperature_bed, target_temperature_bed, 9, THERMAL_RUNAWAY_PROTECTION_BED_PERIOD, THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS); #endif - #ifdef PIDTEMPBED - pid_input = current_temperature_bed; + #ifdef PIDTEMPBED + pid_input = current_temperature_bed; - #ifndef PID_OPENLOOP - pid_error_bed = target_temperature_bed - pid_input; - pTerm_bed = bedKp * pid_error_bed; - temp_iState_bed += pid_error_bed; - temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed); - iTerm_bed = bedKi * temp_iState_bed; + #ifndef PID_OPENLOOP + pid_error_bed = target_temperature_bed - pid_input; + pTerm_bed = bedKp * pid_error_bed; + temp_iState_bed += pid_error_bed; + temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed); + iTerm_bed = bedKi * temp_iState_bed; - //K1 defined in Configuration.h in the PID settings - #define K2 (1.0-K1) - dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed); - temp_dState_bed = pid_input; + //K1 defined in Configuration.h in the PID settings + #define K2 (1.0-K1) + dTerm_bed = (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed); + temp_dState_bed = pid_input; - pid_output = pTerm_bed + iTerm_bed - dTerm_bed; - if (pid_output > MAX_BED_POWER) { - if (pid_error_bed > 0 ) temp_iState_bed -= pid_error_bed; // conditional un-integration - pid_output=MAX_BED_POWER; - } else if (pid_output < 0){ - if (pid_error_bed < 0 ) temp_iState_bed -= pid_error_bed; // conditional un-integration - pid_output=0; - } + 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 + #else + pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER); + #endif //PID_OPENLOOP - if((current_temperature_bed > BED_MINTEMP) && (current_temperature_bed < BED_MAXTEMP)) - { - soft_pwm_bed = (int)pid_output >> 1; - } - else { - soft_pwm_bed = 0; - } + soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0; #elif !defined(BED_LIMIT_SWITCHING) // Check if temperature is within the correct range - if((current_temperature_bed > BED_MINTEMP) && (current_temperature_bed < BED_MAXTEMP)) - { - if(current_temperature_bed >= target_temperature_bed) - { - soft_pwm_bed = 0; - } - else - { - soft_pwm_bed = MAX_BED_POWER>>1; - } + if (current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP) { + soft_pwm_bed = current_temperature_bed >= target_temperature_bed ? 0 : MAX_BED_POWER >> 1; } - else - { + else { soft_pwm_bed = 0; - WRITE(HEATER_BED_PIN,LOW); + WRITE_HEATER_BED(LOW); } #else //#ifdef BED_LIMIT_SWITCHING // Check if temperature is within the correct band - if((current_temperature_bed > BED_MINTEMP) && (current_temperature_bed < BED_MAXTEMP)) - { - if(current_temperature_bed > target_temperature_bed + BED_HYSTERESIS) - { + 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 if (current_temperature_bed <= target_temperature_bed - BED_HYSTERESIS) + soft_pwm_bed = MAX_BED_POWER >> 1; } - else - { + else { soft_pwm_bed = 0; - WRITE(HEATER_BED_PIN,LOW); + WRITE_HEATER_BED(LOW); } #endif - #endif + #endif //TEMP_SENSOR_BED != 0 -//code for controlling the extruder rate based on the width sensor -#ifdef FILAMENT_SENSOR - if(filament_sensor) - { - meas_shift_index=delay_index1-meas_delay_cm; - if(meas_shift_index<0) - meas_shift_index = meas_shift_index + (MAX_MEASUREMENT_DELAY+1); //loop around buffer if needed + // Control the extruder rate based on the width sensor + #ifdef FILAMENT_SENSOR + if (filament_sensor) { + meas_shift_index = delay_index1 - meas_delay_cm; + if (meas_shift_index < 0) meas_shift_index += MAX_MEASUREMENT_DELAY + 1; //loop around buffer if needed - //get the delayed info and add 100 to reconstitute to a percent of the nominal filament diameter - //then square it to get an area - - if(meas_shift_index<0) - meas_shift_index=0; - else if (meas_shift_index>MAX_MEASUREMENT_DELAY) - meas_shift_index=MAX_MEASUREMENT_DELAY; - - volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = pow((float)(100+measurement_delay[meas_shift_index])/100.0,2); - if (volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] <0.01) - volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]=0.01; - } -#endif + // Get the delayed info and add 100 to reconstitute to a percent of + // the nominal filament diameter then square it to get an area + meas_shift_index = constrain(meas_shift_index, 0, MAX_MEASUREMENT_DELAY); + float vm = pow((measurement_delay[meas_shift_index] + 100.0) / 100.0, 2); + if (vm < 0.01) vm = 0.01; + volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = vm; + } + #endif //FILAMENT_SENSOR } #define PGM_RD_W(x) (short)pgm_read_word(&x) @@ -812,7 +810,7 @@ static void updateTemperaturesFromRawValues() #ifdef TEMP_SENSOR_1_AS_REDUNDANT redundant_temperature = analog2temp(redundant_temperature_raw, 1); #endif - #if defined (FILAMENT_SENSOR) && (FILWIDTH_PIN > -1) //check if a sensor is supported + #if HAS_FILAMENT_SENSOR filament_width_meas = analog2widthFil(); #endif //Reset the watchdog after we know we have a temperature measurement. @@ -824,29 +822,22 @@ static void updateTemperaturesFromRawValues() } -// For converting raw Filament Width to milimeters #ifdef FILAMENT_SENSOR -float analog2widthFil() { -return current_raw_filwidth/16383.0*5.0; -//return current_raw_filwidth; -} - -// For converting raw Filament Width to a ratio -int widthFil_to_size_ratio() { - -float temp; - -temp=filament_width_meas; -if(filament_width_measMEASURED_UPPER_LIMIT) - temp= MEASURED_UPPER_LIMIT; + // Convert raw Filament Width to millimeters + float analog2widthFil() { + return current_raw_filwidth / 16383.0 * 5.0; + //return current_raw_filwidth; + } -return(filament_width_nominal/temp*100); + // 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 if (temp > MEASURED_UPPER_LIMIT) temp = MEASURED_UPPER_LIMIT; + return filament_width_nominal / temp * 100; + } - -} #endif @@ -855,50 +846,50 @@ return(filament_width_nominal/temp*100); void tp_init() { -#if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1)) - //disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector - MCUCR=(1< -1) + #if defined(HEATER_0_PIN) && (HEATER_0_PIN > -1) SET_OUTPUT(HEATER_0_PIN); #endif - #if defined(HEATER_1_PIN) && (HEATER_1_PIN > -1) + #if defined(HEATER_1_PIN) && (HEATER_1_PIN > -1) SET_OUTPUT(HEATER_1_PIN); #endif - #if defined(HEATER_2_PIN) && (HEATER_2_PIN > -1) + #if defined(HEATER_2_PIN) && (HEATER_2_PIN > -1) SET_OUTPUT(HEATER_2_PIN); #endif - #if defined(HEATER_3_PIN) && (HEATER_3_PIN > -1) + #if defined(HEATER_3_PIN) && (HEATER_3_PIN > -1) SET_OUTPUT(HEATER_3_PIN); #endif - #if defined(HEATER_BED_PIN) && (HEATER_BED_PIN > -1) + #if defined(HEATER_BED_PIN) && (HEATER_BED_PIN > -1) SET_OUTPUT(HEATER_BED_PIN); #endif - #if defined(FAN_PIN) && (FAN_PIN > -1) + #if defined(FAN_PIN) && (FAN_PIN > -1) SET_OUTPUT(FAN_PIN); #ifdef FAST_PWM_FAN - setPwmFrequency(FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8 + setPwmFrequency(FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8 #endif #ifdef FAN_SOFT_PWM - soft_pwm_fan = fanSpeedSoftPwm / 2; + soft_pwm_fan = fanSpeedSoftPwm / 2; #endif - #endif + #endif #ifdef HEATER_0_USES_MAX6675 @@ -921,57 +912,35 @@ void tp_init() #endif //HEATER_0_USES_MAX6675 + #ifdef DIDR2 + #define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= 1 << pin; else DIDR2 |= 1 << (pin - 8); }while(0) + #else + #define ANALOG_SELECT(pin) do{ DIDR0 |= 1 << pin; }while(0) + #endif + // Set analog inputs ADCSRA = 1< -1) - #if TEMP_0_PIN < 8 - DIDR0 |= 1 << TEMP_0_PIN; - #else - DIDR2 |= 1<<(TEMP_0_PIN - 8); - #endif + #if HAS_TEMP_0 + ANALOG_SELECT(TEMP_0_PIN); #endif - #if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1) - #if TEMP_1_PIN < 8 - DIDR0 |= 1< -1) - #if TEMP_2_PIN < 8 - DIDR0 |= 1 << TEMP_2_PIN; - #else - DIDR2 |= 1<<(TEMP_2_PIN - 8); - #endif + #if HAS_TEMP_2 + ANALOG_SELECT(TEMP_2_PIN); #endif - #if defined(TEMP_3_PIN) && (TEMP_3_PIN > -1) - #if TEMP_3_PIN < 8 - DIDR0 |= 1 << TEMP_3_PIN; - #else - DIDR2 |= 1<<(TEMP_3_PIN - 8); - #endif + #if HAS_TEMP_3 + ANALOG_SELECT(TEMP_3_PIN); #endif - #if defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1) - #if TEMP_BED_PIN < 8 - DIDR0 |= 1< -1) - #if FILWIDTH_PIN < 8 - DIDR0 |= 1< HEATER_0_MAXTEMP) { -#if HEATER_0_RAW_LO_TEMP < HEATER_0_RAW_HI_TEMP - maxttemp_raw[0] -= OVERSAMPLENR; -#else - maxttemp_raw[0] += OVERSAMPLENR; -#endif - } -#endif //MAXTEMP + #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; \ + } -#if (EXTRUDERS > 1) && defined(HEATER_1_MINTEMP) - minttemp[1] = HEATER_1_MINTEMP; - while(analog2temp(minttemp_raw[1], 1) < HEATER_1_MINTEMP) { -#if HEATER_1_RAW_LO_TEMP < HEATER_1_RAW_HI_TEMP - minttemp_raw[1] += OVERSAMPLENR; -#else - minttemp_raw[1] -= OVERSAMPLENR; -#endif - } -#endif // MINTEMP 1 -#if (EXTRUDERS > 1) && defined(HEATER_1_MAXTEMP) - maxttemp[1] = HEATER_1_MAXTEMP; - while(analog2temp(maxttemp_raw[1], 1) > HEATER_1_MAXTEMP) { -#if HEATER_1_RAW_LO_TEMP < HEATER_1_RAW_HI_TEMP - maxttemp_raw[1] -= OVERSAMPLENR; -#else - maxttemp_raw[1] += OVERSAMPLENR; -#endif - } -#endif //MAXTEMP 1 + #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 -#if (EXTRUDERS > 2) && defined(HEATER_2_MINTEMP) - minttemp[2] = HEATER_2_MINTEMP; - while(analog2temp(minttemp_raw[2], 2) < HEATER_2_MINTEMP) { -#if HEATER_2_RAW_LO_TEMP < HEATER_2_RAW_HI_TEMP - minttemp_raw[2] += OVERSAMPLENR; -#else - minttemp_raw[2] -= OVERSAMPLENR; -#endif - } -#endif //MINTEMP 2 -#if (EXTRUDERS > 2) && defined(HEATER_2_MAXTEMP) - maxttemp[2] = HEATER_2_MAXTEMP; - while(analog2temp(maxttemp_raw[2], 2) > HEATER_2_MAXTEMP) { -#if HEATER_2_RAW_LO_TEMP < HEATER_2_RAW_HI_TEMP - maxttemp_raw[2] -= OVERSAMPLENR; -#else - maxttemp_raw[2] += OVERSAMPLENR; -#endif - } -#endif //MAXTEMP 2 - -#if (EXTRUDERS > 3) && defined(HEATER_3_MINTEMP) - minttemp[3] = HEATER_3_MINTEMP; - while(analog2temp(minttemp_raw[3], 3) < HEATER_3_MINTEMP) { -#if HEATER_3_RAW_LO_TEMP < HEATER_3_RAW_HI_TEMP - minttemp_raw[3] += OVERSAMPLENR; -#else - minttemp_raw[3] -= OVERSAMPLENR; -#endif - } -#endif //MINTEMP 3 -#if (EXTRUDERS > 3) && defined(HEATER_3_MAXTEMP) - maxttemp[3] = HEATER_3_MAXTEMP; - while(analog2temp(maxttemp_raw[3], 3) > HEATER_3_MAXTEMP) { -#if HEATER_3_RAW_LO_TEMP < HEATER_3_RAW_HI_TEMP - maxttemp_raw[3] -= OVERSAMPLENR; -#else - maxttemp_raw[3] += OVERSAMPLENR; -#endif - } -#endif // MAXTEMP 3 - - -#ifdef BED_MINTEMP - /* No bed MINTEMP error implemented?!? */ /* - while(analog2tempBed(bed_minttemp_raw) < BED_MINTEMP) { -#if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP - bed_minttemp_raw += OVERSAMPLENR; -#else - bed_minttemp_raw -= OVERSAMPLENR; -#endif - } - */ -#endif //BED_MINTEMP -#ifdef BED_MAXTEMP - while(analog2tempBed(bed_maxttemp_raw) > BED_MAXTEMP) { -#if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP - bed_maxttemp_raw -= OVERSAMPLENR; -#else - bed_maxttemp_raw += OVERSAMPLENR; -#endif - } -#endif //BED_MAXTEMP + #ifdef BED_MINTEMP + /* No bed MINTEMP error implemented?!? */ /* + while(analog2tempBed(bed_minttemp_raw) < BED_MINTEMP) { + #if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP + bed_minttemp_raw += OVERSAMPLENR; + #else + bed_minttemp_raw -= OVERSAMPLENR; + #endif + } + */ + #endif //BED_MINTEMP + #ifdef BED_MAXTEMP + while(analog2tempBed(bed_maxttemp_raw) > BED_MAXTEMP) { + #if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP + bed_maxttemp_raw -= OVERSAMPLENR; + #else + bed_maxttemp_raw += OVERSAMPLENR; + #endif + } + #endif //BED_MAXTEMP } -void setWatch() -{ -#ifdef WATCH_TEMP_PERIOD - for (int e = 0; e < EXTRUDERS; e++) - { - if(degHotend(e) < degTargetHotend(e) - (WATCH_TEMP_INCREASE * 2)) - { - watch_start_temp[e] = degHotend(e); - watchmillis[e] = millis(); - } - } -#endif +void setWatch() { + #ifdef WATCH_TEMP_PERIOD + unsigned long ms = millis(); + for (int e = 0; e < EXTRUDERS; e++) { + if (degHotend(e) < degTargetHotend(e) - (WATCH_TEMP_INCREASE * 2)) { + watch_start_temp[e] = degHotend(e); + watchmillis[e] = ms; + } + } + #endif } -#if defined (THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0 +#if defined(THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0 void thermal_runaway_protection(int *state, unsigned long *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc) { /* @@ -1135,11 +1065,13 @@ void thermal_runaway_protection(int *state, unsigned long *timer, float temperat if (temperature >= target_temperature) *state = 2; break; case 2: // "Temperature Stable" state + { + unsigned long ms = millis(); if (temperature >= (target_temperature - hysteresis_degc)) { - *timer = millis(); + *timer = ms; } - else if ( (millis() - *timer) > ((unsigned long) period_seconds) * 1000) + else if ( (ms - *timer) > ((unsigned long) period_seconds) * 1000) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM("Thermal Runaway, system stopped! Heater_ID: "); @@ -1160,56 +1092,47 @@ void thermal_runaway_protection(int *state, unsigned long *timer, float temperat lcd_update(); } } - break; + } break; } } -#endif +#endif //THERMAL_RUNAWAY_PROTECTION_PERIOD -void disable_heater() -{ - for(int i=0;i -1 - target_temperature[0]=0; - soft_pwm[0]=0; - #if defined(HEATER_0_PIN) && HEATER_0_PIN > -1 - WRITE(HEATER_0_PIN,LOW); - #endif - #endif - - #if defined(TEMP_1_PIN) && TEMP_1_PIN > -1 && EXTRUDERS > 1 - target_temperature[1]=0; - soft_pwm[1]=0; - #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 - WRITE(HEATER_1_PIN,LOW); - #endif - #endif - - #if defined(TEMP_2_PIN) && TEMP_2_PIN > -1 && EXTRUDERS > 2 - target_temperature[2]=0; - soft_pwm[2]=0; - #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1 - WRITE(HEATER_2_PIN,LOW); - #endif + + #if HAS_TEMP_0 + target_temperature[0] = 0; + soft_pwm[0] = 0; + WRITE_HEATER_0P(LOW); // If HEATERS_PARALLEL should apply, change to WRITE_HEATER_0 #endif - #if defined(TEMP_3_PIN) && TEMP_3_PIN > -1 && EXTRUDERS > 3 - target_temperature[3]=0; - soft_pwm[3]=0; - #if defined(HEATER_3_PIN) && HEATER_3_PIN > -1 - WRITE(HEATER_3_PIN,LOW); - #endif - #endif + #if EXTRUDERS > 1 && HAS_TEMP_1 + target_temperature[1] = 0; + soft_pwm[1] = 0; + WRITE_HEATER_1(LOW); + #endif + #if EXTRUDERS > 2 && HAS_TEMP_2 + target_temperature[2] = 0; + soft_pwm[2] = 0; + WRITE_HEATER_2(LOW); + #endif - #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1 - target_temperature_bed=0; - soft_pwm_bed=0; - #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 - WRITE(HEATER_BED_PIN,LOW); + #if EXTRUDERS > 3 && HAS_TEMP_3 + target_temperature[3] = 0; + soft_pwm[3] = 0; + WRITE_HEATER_3(LOW); + #endif + + #if HAS_TEMP_BED + target_temperature_bed = 0; + soft_pwm_bed = 0; + #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 + WRITE_HEATER_BED(LOW); #endif - #endif + #endif } void max_temp_error(uint8_t e) { @@ -1239,10 +1162,10 @@ void min_temp_error(uint8_t e) { } void bed_max_temp_error(void) { -#if HEATER_BED_PIN > -1 - WRITE(HEATER_BED_PIN, 0); -#endif - if(IsStopped() == false) { + #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 + WRITE_HEATER_BED(0); + #endif + if (IsStopped() == false) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!"); LCD_ALERTMESSAGEPGM("Err: MAXTEMP BED"); @@ -1253,66 +1176,81 @@ void bed_max_temp_error(void) { } #ifdef HEATER_0_USES_MAX6675 -#define MAX6675_HEAT_INTERVAL 250 -long max6675_previous_millis = MAX6675_HEAT_INTERVAL; -int max6675_temp = 2000; + #define MAX6675_HEAT_INTERVAL 250 + long max6675_previous_millis = MAX6675_HEAT_INTERVAL; + int max6675_temp = 2000; -static int read_max6675() -{ - if (millis() - max6675_previous_millis < MAX6675_HEAT_INTERVAL) - return max6675_temp; - - max6675_previous_millis = millis(); - max6675_temp = 0; + static int read_max6675() { + + unsigned long ms = millis(); + if (ms < max6675_previous_millis + MAX6675_HEAT_INTERVAL) + return max6675_temp; - #ifdef PRR - PRR &= ~(1<> 3; - } + #ifdef PRR + PRR &= ~(1<> 3; + } + + return max6675_temp; + } #endif //HEATER_0_USES_MAX6675 +enum TempState { + PrepareTemp_0, + MeasureTemp_0, + PrepareTemp_BED, + MeasureTemp_BED, + PrepareTemp_1, + MeasureTemp_1, + PrepareTemp_2, + MeasureTemp_2, + PrepareTemp_3, + MeasureTemp_3, + Prepare_FILWIDTH, + Measure_FILWIDTH, + StartupDelay // Startup, delay initial temp reading a tiny bit so the hardware can settle +}; +// // Timer 0 is shared with millies -ISR(TIMER0_COMPB_vect) -{ +// +ISR(TIMER0_COMPB_vect) { //these variables are only accesible from the ISR, but static, so they don't lose their value static unsigned char temp_count = 0; static unsigned long raw_temp_0_value = 0; @@ -1320,542 +1258,324 @@ ISR(TIMER0_COMPB_vect) static unsigned long raw_temp_2_value = 0; static unsigned long raw_temp_3_value = 0; static unsigned long raw_temp_bed_value = 0; - static unsigned char temp_state = 12; + static TempState temp_state = StartupDelay; static unsigned char pwm_count = (1 << SOFT_PWM_SCALE); - static unsigned char soft_pwm_0; -#ifdef SLOW_PWM_HEATERS - static unsigned char slow_pwm_count = 0; - static unsigned char state_heater_0 = 0; - static unsigned char state_timer_heater_0 = 0; -#endif -#if (EXTRUDERS > 1) || defined(HEATERS_PARALLEL) - static unsigned char soft_pwm_1; -#ifdef SLOW_PWM_HEATERS - static unsigned char state_heater_1 = 0; - static unsigned char state_timer_heater_1 = 0; -#endif -#endif -#if EXTRUDERS > 2 - static unsigned char soft_pwm_2; -#ifdef SLOW_PWM_HEATERS - static unsigned char state_heater_2 = 0; - static unsigned char state_timer_heater_2 = 0; -#endif -#endif -#if EXTRUDERS > 3 - static unsigned char soft_pwm_3; -#ifdef SLOW_PWM_HEATERS - static unsigned char state_heater_3 = 0; - static unsigned char state_timer_heater_3 = 0; -#endif -#endif + // Static members for each heater + #ifdef SLOW_PWM_HEATERS + static unsigned char slow_pwm_count = 0; + #define ISR_STATICS(n) \ + static unsigned char soft_pwm_ ## n; \ + static unsigned char state_heater_ ## n = 0; \ + static unsigned char state_timer_heater_ ## n = 0 + #else + #define ISR_STATICS(n) static unsigned char soft_pwm_ ## n + #endif -#if HEATER_BED_PIN > -1 - static unsigned char soft_pwm_b; -#ifdef SLOW_PWM_HEATERS - static unsigned char state_heater_b = 0; - static unsigned char state_timer_heater_b = 0; -#endif -#endif - -#if defined(FILWIDTH_PIN) &&(FILWIDTH_PIN > -1) - static unsigned long raw_filwidth_value = 0; //added for filament width sensor -#endif - -#ifndef SLOW_PWM_HEATERS - /* - * standard PWM modulation - */ - if(pwm_count == 0){ - soft_pwm_0 = soft_pwm[0]; - if(soft_pwm_0 > 0) { - WRITE(HEATER_0_PIN,1); -#ifdef HEATERS_PARALLEL - WRITE(HEATER_1_PIN,1); -#endif - } else WRITE(HEATER_0_PIN,0); + // Statics per heater + ISR_STATICS(0); + #if (EXTRUDERS > 1) || defined(HEATERS_PARALLEL) + ISR_STATICS(1); + #if EXTRUDERS > 2 + ISR_STATICS(2); + #if EXTRUDERS > 3 + ISR_STATICS(3); + #endif + #endif + #endif + #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 + ISR_STATICS(BED); + #endif -#if EXTRUDERS > 1 - soft_pwm_1 = soft_pwm[1]; - if(soft_pwm_1 > 0) WRITE(HEATER_1_PIN,1); else WRITE(HEATER_1_PIN,0); -#endif -#if EXTRUDERS > 2 - soft_pwm_2 = soft_pwm[2]; - if(soft_pwm_2 > 0) WRITE(HEATER_2_PIN,1); else WRITE(HEATER_2_PIN,0); -#endif -#if EXTRUDERS > 3 - soft_pwm_3 = soft_pwm[3]; - if(soft_pwm_3 > 0) WRITE(HEATER_3_PIN,1); else WRITE(HEATER_3_PIN,0); -#endif + #if HAS_FILAMENT_SENSOR + static unsigned long raw_filwidth_value = 0; + #endif + + #ifndef SLOW_PWM_HEATERS + /** + * standard PWM modulation + */ + if (pwm_count == 0) { + soft_pwm_0 = soft_pwm[0]; + if (soft_pwm_0 > 0) { + WRITE_HEATER_0(1); + } + else WRITE_HEATER_0P(0); // If HEATERS_PARALLEL should apply, change to WRITE_HEATER_0 - -#if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 - soft_pwm_b = soft_pwm_bed; - if(soft_pwm_b > 0) WRITE(HEATER_BED_PIN,1); else WRITE(HEATER_BED_PIN,0); -#endif -#ifdef FAN_SOFT_PWM - soft_pwm_fan = fanSpeedSoftPwm / 2; - if(soft_pwm_fan > 0) WRITE(FAN_PIN,1); else WRITE(FAN_PIN,0); -#endif - } - if(soft_pwm_0 < pwm_count) { - WRITE(HEATER_0_PIN,0); -#ifdef HEATERS_PARALLEL - WRITE(HEATER_1_PIN,0); -#endif - } - -#if EXTRUDERS > 1 - if(soft_pwm_1 < pwm_count) WRITE(HEATER_1_PIN,0); -#endif -#if EXTRUDERS > 2 - if(soft_pwm_2 < pwm_count) WRITE(HEATER_2_PIN,0); -#endif -#if EXTRUDERS > 3 - if(soft_pwm_3 < pwm_count) WRITE(HEATER_3_PIN,0); -#endif - -#if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 - if(soft_pwm_b < pwm_count) WRITE(HEATER_BED_PIN,0); -#endif -#ifdef FAN_SOFT_PWM - if(soft_pwm_fan < pwm_count) WRITE(FAN_PIN,0); -#endif - - pwm_count += (1 << SOFT_PWM_SCALE); - pwm_count &= 0x7f; - -#else //ifndef 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 - if (slow_pwm_count == 0) { - // EXTRUDER 0 - soft_pwm_0 = soft_pwm[0]; - if (soft_pwm_0 > 0) { - // turn ON heather only if the minimum time is up - if (state_timer_heater_0 == 0) { - // if change state set timer - if (state_heater_0 == 0) { - state_timer_heater_0 = MIN_STATE_TIME; - } - state_heater_0 = 1; - WRITE(HEATER_0_PIN, 1); -#ifdef HEATERS_PARALLEL - WRITE(HEATER_1_PIN, 1); -#endif - } - } else { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_0 == 0) { - // if change state set timer - if (state_heater_0 == 1) { - state_timer_heater_0 = MIN_STATE_TIME; - } - state_heater_0 = 0; - WRITE(HEATER_0_PIN, 0); -#ifdef HEATERS_PARALLEL - WRITE(HEATER_1_PIN, 0); -#endif - } - } - -#if EXTRUDERS > 1 - // EXTRUDER 1 - soft_pwm_1 = soft_pwm[1]; - if (soft_pwm_1 > 0) { - // turn ON heather only if the minimum time is up - if (state_timer_heater_1 == 0) { - // if change state set timer - if (state_heater_1 == 0) { - state_timer_heater_1 = MIN_STATE_TIME; - } - state_heater_1 = 1; - WRITE(HEATER_1_PIN, 1); - } - } else { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_1 == 0) { - // if change state set timer - if (state_heater_1 == 1) { - state_timer_heater_1 = MIN_STATE_TIME; - } - state_heater_1 = 0; - WRITE(HEATER_1_PIN, 0); - } - } -#endif - -#if EXTRUDERS > 2 - // EXTRUDER 2 - soft_pwm_2 = soft_pwm[2]; - if (soft_pwm_2 > 0) { - // turn ON heather only if the minimum time is up - if (state_timer_heater_2 == 0) { - // if change state set timer - if (state_heater_2 == 0) { - state_timer_heater_2 = MIN_STATE_TIME; - } - state_heater_2 = 1; - WRITE(HEATER_2_PIN, 1); - } - } else { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_2 == 0) { - // if change state set timer - if (state_heater_2 == 1) { - state_timer_heater_2 = MIN_STATE_TIME; - } - state_heater_2 = 0; - WRITE(HEATER_2_PIN, 0); - } - } -#endif - -#if EXTRUDERS > 3 - // EXTRUDER 3 - soft_pwm_3 = soft_pwm[3]; - if (soft_pwm_3 > 0) { - // turn ON heather only if the minimum time is up - if (state_timer_heater_3 == 0) { - // if change state set timer - if (state_heater_3 == 0) { - state_timer_heater_3 = MIN_STATE_TIME; - } - state_heater_3 = 1; - WRITE(HEATER_3_PIN, 1); - } - } else { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_3 == 0) { - // if change state set timer - if (state_heater_3 == 1) { - state_timer_heater_3 = MIN_STATE_TIME; - } - state_heater_3 = 0; - WRITE(HEATER_3_PIN, 0); - } - } -#endif - -#if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 - // BED - soft_pwm_b = soft_pwm_bed; - if (soft_pwm_b > 0) { - // turn ON heather only if the minimum time is up - if (state_timer_heater_b == 0) { - // if change state set timer - if (state_heater_b == 0) { - state_timer_heater_b = MIN_STATE_TIME; - } - state_heater_b = 1; - WRITE(HEATER_BED_PIN, 1); - } - } else { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_b == 0) { - // if change state set timer - if (state_heater_b == 1) { - state_timer_heater_b = MIN_STATE_TIME; - } - state_heater_b = 0; - WRITE(HEATER_BED_PIN, 0); - } - } -#endif - } // if (slow_pwm_count == 0) - - // EXTRUDER 0 - if (soft_pwm_0 < slow_pwm_count) { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_0 == 0) { - // if change state set timer - if (state_heater_0 == 1) { - state_timer_heater_0 = MIN_STATE_TIME; - } - state_heater_0 = 0; - WRITE(HEATER_0_PIN, 0); -#ifdef HEATERS_PARALLEL - WRITE(HEATER_1_PIN, 0); -#endif - } - } - -#if EXTRUDERS > 1 - // EXTRUDER 1 - if (soft_pwm_1 < slow_pwm_count) { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_1 == 0) { - // if change state set timer - if (state_heater_1 == 1) { - state_timer_heater_1 = MIN_STATE_TIME; - } - state_heater_1 = 0; - WRITE(HEATER_1_PIN, 0); - } - } -#endif - -#if EXTRUDERS > 2 - // EXTRUDER 2 - if (soft_pwm_2 < slow_pwm_count) { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_2 == 0) { - // if change state set timer - if (state_heater_2 == 1) { - state_timer_heater_2 = MIN_STATE_TIME; - } - state_heater_2 = 0; - WRITE(HEATER_2_PIN, 0); - } - } -#endif - -#if EXTRUDERS > 3 - // EXTRUDER 3 - if (soft_pwm_3 < slow_pwm_count) { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_3 == 0) { - // if change state set timer - if (state_heater_3 == 1) { - state_timer_heater_3 = MIN_STATE_TIME; - } - state_heater_3 = 0; - WRITE(HEATER_3_PIN, 0); - } - } -#endif - -#if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 - // BED - if (soft_pwm_b < slow_pwm_count) { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_b == 0) { - // if change state set timer - if (state_heater_b == 1) { - state_timer_heater_b = MIN_STATE_TIME; - } - state_heater_b = 0; - WRITE(HEATER_BED_PIN, 0); - } - } -#endif - -#ifdef FAN_SOFT_PWM - if (pwm_count == 0){ - soft_pwm_fan = fanSpeedSoftPwm / 2; - if (soft_pwm_fan > 0) WRITE(FAN_PIN,1); else WRITE(FAN_PIN,0); - } - if (soft_pwm_fan < pwm_count) WRITE(FAN_PIN,0); -#endif - - pwm_count += (1 << SOFT_PWM_SCALE); - pwm_count &= 0x7f; - - // increment slow_pwm_count only every 64 pwm_count circa 65.5ms - if ((pwm_count % 64) == 0) { - slow_pwm_count++; - slow_pwm_count &= 0x7f; - - // Extruder 0 - if (state_timer_heater_0 > 0) { - state_timer_heater_0--; - } - -#if EXTRUDERS > 1 - // Extruder 1 - if (state_timer_heater_1 > 0) - state_timer_heater_1--; -#endif - -#if EXTRUDERS > 2 - // Extruder 2 - if (state_timer_heater_2 > 0) - state_timer_heater_2--; -#endif - -#if EXTRUDERS > 3 - // Extruder 3 - if (state_timer_heater_3 > 0) - state_timer_heater_3--; -#endif - -#if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 - // Bed - if (state_timer_heater_b > 0) - state_timer_heater_b--; -#endif - } //if ((pwm_count % 64) == 0) { - -#endif //ifndef SLOW_PWM_HEATERS - - switch(temp_state) { - case 0: // Prepare TEMP_0 - #if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1) - #if TEMP_0_PIN > 7 - ADCSRB = 1< 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 - ADMUX = ((1 << REFS0) | (TEMP_0_PIN & 0x07)); - ADCSRA |= 1< -1 + soft_pwm_BED = soft_pwm_bed; + WRITE_HEATER_BED(soft_pwm_BED > 0 ? 1 : 0); + #endif + #ifdef FAN_SOFT_PWM + soft_pwm_fan = fanSpeedSoftPwm / 2; + WRITE(FAN_PIN, soft_pwm_fan > 0 ? 1 : 0); + #endif + } + + if (soft_pwm_0 < pwm_count) { WRITE_HEATER_0(0); } + #if EXTRUDERS > 1 + if (soft_pwm_1 < pwm_count) WRITE_HEATER_1(0); + #if EXTRUDERS > 2 + if (soft_pwm_2 < pwm_count) WRITE_HEATER_2(0); + #if EXTRUDERS > 3 + if (soft_pwm_3 < pwm_count) WRITE_HEATER_3(0); + #endif + #endif + #endif + + #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 + if (soft_pwm_BED < pwm_count) WRITE_HEATER_BED(0); + #endif + + #ifdef FAN_SOFT_PWM + if (soft_pwm_fan < pwm_count) WRITE(FAN_PIN, 0); + #endif + + pwm_count += (1 << SOFT_PWM_SCALE); + pwm_count &= 0x7f; + + #else // SLOW_PWM_HEATERS + /* + * SLOW PWM HEATERS + * + * for heaters drived by relay + */ + #ifndef MIN_STATE_TIME + #define MIN_STATE_TIME 16 // MIN_STATE_TIME * 65.5 = time in milliseconds + #endif + + // Macros for Slow PWM timer logic - HEATERS_PARALLEL applies + #define _SLOW_PWM_ROUTINE(NR, src) \ + soft_pwm_ ## NR = src; \ + if (soft_pwm_ ## NR > 0) { \ + if (state_timer_heater_ ## NR == 0) { \ + if (state_heater_ ## NR == 0) state_timer_heater_ ## NR = MIN_STATE_TIME; \ + state_heater_ ## NR = 1; \ + WRITE_HEATER_ ## NR(1); \ + } \ + } \ + else { \ + if (state_timer_heater_ ## NR == 0) { \ + if (state_heater_ ## NR == 1) state_timer_heater_ ## NR = MIN_STATE_TIME; \ + state_heater_ ## NR = 0; \ + WRITE_HEATER_ ## NR(0); \ + } \ + } + #define SLOW_PWM_ROUTINE(n) _SLOW_PWM_ROUTINE(n, soft_pwm[n]) + + #define PWM_OFF_ROUTINE(NR) \ + if (soft_pwm_ ## NR < slow_pwm_count) { \ + if (state_timer_heater_ ## NR == 0) { \ + if (state_heater_ ## NR == 1) state_timer_heater_ ## NR = MIN_STATE_TIME; \ + state_heater_ ## NR = 0; \ + WRITE_HEATER_ ## NR (0); \ + } \ + } + + if (slow_pwm_count == 0) { + + SLOW_PWM_ROUTINE(0); // EXTRUDER 0 + #if EXTRUDERS > 1 + SLOW_PWM_ROUTINE(1); // EXTRUDER 1 + #if EXTRUDERS > 2 + SLOW_PWM_ROUTINE(2); // EXTRUDER 2 + #if EXTRUDERS > 3 + SLOW_PWM_ROUTINE(3); // EXTRUDER 3 + #endif + #endif + #endif + #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 + _SLOW_PWM_ROUTINE(BED, soft_pwm_bed); // BED + #endif + + } // slow_pwm_count == 0 + + PWM_OFF_ROUTINE(0); // EXTRUDER 0 + #if EXTRUDERS > 1 + PWM_OFF_ROUTINE(1); // EXTRUDER 1 + #if EXTRUDERS > 2 + PWM_OFF_ROUTINE(2); // EXTRUDER 2 + #if EXTRUDERS > 3 + PWM_OFF_ROUTINE(3); // EXTRUDER 3 + #endif + #endif + #endif + #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 + PWM_OFF_ROUTINE(BED); // BED + #endif + + #ifdef FAN_SOFT_PWM + if (pwm_count == 0) { + soft_pwm_fan = fanSpeedSoftPwm / 2; + WRITE(FAN_PIN, soft_pwm_fan > 0 ? 1 : 0); + } + if (soft_pwm_fan < pwm_count) WRITE(FAN_PIN, 0); + #endif //FAN_SOFT_PWM + + pwm_count += (1 << SOFT_PWM_SCALE); + pwm_count &= 0x7f; + + // increment slow_pwm_count only every 64 pwm_count circa 65.5ms + if ((pwm_count % 64) == 0) { + slow_pwm_count++; + slow_pwm_count &= 0x7f; + + // EXTRUDER 0 + if (state_timer_heater_0 > 0) state_timer_heater_0--; + #if EXTRUDERS > 1 // EXTRUDER 1 + if (state_timer_heater_1 > 0) state_timer_heater_1--; + #if EXTRUDERS > 2 // EXTRUDER 2 + if (state_timer_heater_2 > 0) state_timer_heater_2--; + #if EXTRUDERS > 3 // EXTRUDER 3 + if (state_timer_heater_3 > 0) state_timer_heater_3--; + #endif + #endif + #endif + #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 // BED + if (state_timer_heater_BED > 0) state_timer_heater_BED--; + #endif + } // (pwm_count % 64) == 0 + + #endif // SLOW_PWM_HEATERS + + #define SET_ADMUX_ADCSRA(pin) ADMUX = (1 << REFS0) | (pin & 0x07); ADCSRA |= 1< 7) ADCSRB = 1 << MUX5; else ADCSRB = 0; SET_ADMUX_ADCSRA(pin) + #else + #define SET_ADCSRB(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin) + #endif + + switch(temp_state) { + case PrepareTemp_0: + #if HAS_TEMP_0 + SET_ADCSRB(TEMP_0_PIN); #endif lcd_buttons_update(); - temp_state = 1; + temp_state = MeasureTemp_0; break; - case 1: // Measure TEMP_0 - #if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1) + case MeasureTemp_0: + #if HAS_TEMP_0 raw_temp_0_value += ADC; #endif - temp_state = 2; + temp_state = PrepareTemp_BED; break; - case 2: // Prepare TEMP_BED - #if defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1) - #if TEMP_BED_PIN > 7 - ADCSRB = 1< -1) + case MeasureTemp_BED: + #if HAS_TEMP_BED raw_temp_bed_value += ADC; #endif - temp_state = 4; + temp_state = PrepareTemp_1; break; - case 4: // Prepare TEMP_1 - #if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1) - #if TEMP_1_PIN > 7 - ADCSRB = 1< -1) + case MeasureTemp_1: + #if HAS_TEMP_1 raw_temp_1_value += ADC; #endif - temp_state = 6; + temp_state = PrepareTemp_2; break; - case 6: // Prepare TEMP_2 - #if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1) - #if TEMP_2_PIN > 7 - ADCSRB = 1< -1) + case MeasureTemp_2: + #if HAS_TEMP_2 raw_temp_2_value += ADC; #endif - temp_state = 8; + temp_state = PrepareTemp_3; break; - case 8: // Prepare TEMP_3 - #if defined(TEMP_3_PIN) && (TEMP_3_PIN > -1) - #if TEMP_3_PIN > 7 - ADCSRB = 1< -1) + case MeasureTemp_3: + #if HAS_TEMP_3 raw_temp_3_value += ADC; #endif - temp_state = 10; //change so that Filament Width is also measured + temp_state = Prepare_FILWIDTH; break; - case 10: //Prepare FILWIDTH - #if defined(FILWIDTH_PIN) && (FILWIDTH_PIN> -1) - #if FILWIDTH_PIN>7 - ADCSRB = 1< -1) - //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-(raw_filwidth_value>>7); //multipliy raw_filwidth_value by 127/128 - - raw_filwidth_value= raw_filwidth_value + ((unsigned long)ADC<<7); //add new ADC reading + case Prepare_FILWIDTH: + #if HAS_FILAMENT_SENSOR + SET_ADCSRB(FILWIDTH_PIN); + #endif + lcd_buttons_update(); + temp_state = Measure_FILWIDTH; + break; + case Measure_FILWIDTH: + #if HAS_FILAMENT_SENSOR + // raw_filwidth_value += ADC; //remove to use an IIR filter approach + if (ADC > 102) { //check that ADC is reading a voltage > 0.5 volts, otherwise don't take in the data. + raw_filwidth_value -= (raw_filwidth_value>>7); //multiply raw_filwidth_value by 127/128 + raw_filwidth_value += ((unsigned long)ADC<<7); //add new ADC reading } - #endif - temp_state = 0; - - temp_count++; - break; - - - case 12: //Startup, delay initial temp reading a tiny bit so the hardware can settle. - temp_state = 0; + #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; - } - - if(temp_count >= OVERSAMPLENR) // 10 * 16 * 1/(16000000/64/256) = 164ms. - { - if (!temp_meas_ready) //Only update the raw values if they have been read. Else we could be updating them during reading. - { -#ifndef HEATER_0_USES_MAX6675 - current_temperature_raw[0] = raw_temp_0_value; -#endif -#if EXTRUDERS > 1 - current_temperature_raw[1] = raw_temp_1_value; -#endif -#ifdef TEMP_SENSOR_1_AS_REDUNDANT - redundant_temperature_raw = raw_temp_1_value; -#endif -#if EXTRUDERS > 2 - current_temperature_raw[2] = raw_temp_2_value; -#endif -#if EXTRUDERS > 3 - current_temperature_raw[3] = raw_temp_3_value; -#endif - current_temperature_bed_raw = raw_temp_bed_value; - } -//Add similar code for Filament Sensor - can be read any time since IIR filtering is used -#if defined(FILWIDTH_PIN) &&(FILWIDTH_PIN > -1) - current_raw_filwidth = raw_filwidth_value>>10; //need to divide to get to 0-16384 range since we used 1/128 IIR filter approach -#endif + // default: + // SERIAL_ERROR_START; + // SERIAL_ERRORLNPGM("Temp measurement error!"); + // break; + } // switch(temp_state) + if (temp_count >= OVERSAMPLENR) { // 10 * 16 * 1/(16000000/64/256) = 164ms. + if (!temp_meas_ready) { //Only update the raw values if they have been read. Else we could be updating them during reading. + #ifndef HEATER_0_USES_MAX6675 + current_temperature_raw[0] = raw_temp_0_value; + #endif + #if EXTRUDERS > 1 + current_temperature_raw[1] = raw_temp_1_value; + #if EXTRUDERS > 2 + current_temperature_raw[2] = raw_temp_2_value; + #if EXTRUDERS > 3 + current_temperature_raw[3] = raw_temp_3_value; + #endif + #endif + #endif + #ifdef TEMP_SENSOR_1_AS_REDUNDANT + redundant_temperature_raw = raw_temp_1_value; + #endif + current_temperature_bed_raw = raw_temp_bed_value; + } //!temp_meas_ready + + // Filament Sensor - can be read any time since IIR filtering is used + #if HAS_FILAMENT_SENSOR + current_raw_filwidth = raw_filwidth_value >> 10; // Divide to get to 0-16384 range since we used 1/128 IIR filter approach + #endif temp_meas_ready = true; temp_count = 0; @@ -1865,131 +1585,47 @@ ISR(TIMER0_COMPB_vect) raw_temp_3_value = 0; raw_temp_bed_value = 0; -#if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP - if(current_temperature_raw[0] <= maxttemp_raw[0]) { -#else - if(current_temperature_raw[0] >= maxttemp_raw[0]) { -#endif -#ifndef HEATER_0_USES_MAX6675 - max_temp_error(0); -#endif - } -#if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP - if(current_temperature_raw[0] >= minttemp_raw[0]) { -#else - if(current_temperature_raw[0] <= minttemp_raw[0]) { -#endif -#ifndef HEATER_0_USES_MAX6675 - min_temp_error(0); -#endif - } + #if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP + #define MAXTEST <= + #define MINTEST >= + #else + #define MAXTEST >= + #define MINTEST <= + #endif + for (int i=0; i= OVERSAMPLENR -#if EXTRUDERS > 1 -#if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP - if(current_temperature_raw[1] <= maxttemp_raw[1]) { -#else - if(current_temperature_raw[1] >= maxttemp_raw[1]) { -#endif - max_temp_error(1); + #ifdef BABYSTEPPING + for (uint8_t axis=X_AXIS; axis<=Z_AXIS; axis++) { + int curTodo=babystepsTodo[axis]; //get rid of volatile for performance + + if (curTodo > 0) { + babystep(axis,/*fwd*/true); + babystepsTodo[axis]--; //less to do next time + } + else if(curTodo < 0) { + babystep(axis,/*fwd*/false); + babystepsTodo[axis]++; //less to do next time + } } -#if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP - if(current_temperature_raw[1] >= minttemp_raw[1]) { -#else - if(current_temperature_raw[1] <= minttemp_raw[1]) { -#endif - min_temp_error(1); - } -#endif -#if EXTRUDERS > 2 -#if HEATER_2_RAW_LO_TEMP > HEATER_2_RAW_HI_TEMP - if(current_temperature_raw[2] <= maxttemp_raw[2]) { -#else - if(current_temperature_raw[2] >= maxttemp_raw[2]) { -#endif - max_temp_error(2); - } -#if HEATER_2_RAW_LO_TEMP > HEATER_2_RAW_HI_TEMP - if(current_temperature_raw[2] >= minttemp_raw[2]) { -#else - if(current_temperature_raw[2] <= minttemp_raw[2]) { -#endif - min_temp_error(2); - } -#endif -#if EXTRUDERS > 3 -#if HEATER_3_RAW_LO_TEMP > HEATER_3_RAW_HI_TEMP - if(current_temperature_raw[3] <= maxttemp_raw[3]) { -#else - if(current_temperature_raw[3] >= maxttemp_raw[3]) { -#endif - max_temp_error(3); - } -#if HEATER_3_RAW_LO_TEMP > HEATER_3_RAW_HI_TEMP - if(current_temperature_raw[3] >= minttemp_raw[3]) { -#else - if(current_temperature_raw[3] <= minttemp_raw[3]) { -#endif - min_temp_error(3); - } -#endif - - - /* No bed MINTEMP error? */ -#if defined(BED_MAXTEMP) && (TEMP_SENSOR_BED != 0) -# if HEATER_BED_RAW_LO_TEMP > HEATER_BED_RAW_HI_TEMP - if(current_temperature_bed_raw <= bed_maxttemp_raw) { -#else - if(current_temperature_bed_raw >= bed_maxttemp_raw) { -#endif - target_temperature_bed = 0; - bed_max_temp_error(); - } -#endif - } - -#ifdef BABYSTEPPING - for(uint8_t axis=0;axis<3;axis++) - { - int curTodo=babystepsTodo[axis]; //get rid of volatile for performance - - if(curTodo>0) - { - babystep(axis,/*fwd*/true); - babystepsTodo[axis]--; //less to do next time - } - else - if(curTodo<0) - { - babystep(axis,/*fwd*/false); - babystepsTodo[axis]++; //less to do next time - } - } -#endif //BABYSTEPPING + #endif //BABYSTEPPING } #ifdef PIDTEMP -// Apply the scale factors to the PID values - - -float scalePID_i(float i) -{ - return i*PID_dT; -} - -float unscalePID_i(float i) -{ - return i/PID_dT; -} - -float scalePID_d(float d) -{ - return d/PID_dT; -} - -float unscalePID_d(float d) -{ - return d*PID_dT; -} - + // Apply the scale factors to the PID values + float scalePID_i(float i) { return i * PID_dT; } + float unscalePID_i(float i) { return i / PID_dT; } + float scalePID_d(float d) { return d / PID_dT; } + float unscalePID_d(float d) { return d * PID_dT; } #endif //PIDTEMP diff --git a/Marlin/temperature.h b/Marlin/temperature.h index b05cb2ef49..b29fc2b572 100644 --- a/Marlin/temperature.h +++ b/Marlin/temperature.h @@ -85,55 +85,25 @@ extern float current_temperature_bed; //inline so that there is no performance decrease. //deg=degreeCelsius -FORCE_INLINE float degHotend(uint8_t extruder) { - return current_temperature[extruder]; -}; +FORCE_INLINE float degHotend(uint8_t extruder) { return current_temperature[extruder]; } +FORCE_INLINE float degBed() { return current_temperature_bed; } #ifdef SHOW_TEMP_ADC_VALUES - FORCE_INLINE float rawHotendTemp(uint8_t extruder) { - return current_temperature_raw[extruder]; - }; - - FORCE_INLINE float rawBedTemp() { - return current_temperature_bed_raw; - }; + FORCE_INLINE float rawHotendTemp(uint8_t extruder) { return current_temperature_raw[extruder]; } + FORCE_INLINE float rawBedTemp() { return current_temperature_bed_raw; } #endif -FORCE_INLINE float degBed() { - return current_temperature_bed; -}; +FORCE_INLINE float degTargetHotend(uint8_t extruder) { return target_temperature[extruder]; } +FORCE_INLINE float degTargetBed() { return target_temperature_bed; } -FORCE_INLINE float degTargetHotend(uint8_t extruder) { - return target_temperature[extruder]; -}; +FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) { target_temperature[extruder] = celsius; } +FORCE_INLINE void setTargetBed(const float &celsius) { target_temperature_bed = celsius; } -FORCE_INLINE float degTargetBed() { - return target_temperature_bed; -}; +FORCE_INLINE bool isHeatingHotend(uint8_t extruder) { return target_temperature[extruder] > current_temperature[extruder]; } +FORCE_INLINE bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; } -FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) { - target_temperature[extruder] = celsius; -}; - -FORCE_INLINE void setTargetBed(const float &celsius) { - target_temperature_bed = celsius; -}; - -FORCE_INLINE bool isHeatingHotend(uint8_t extruder){ - return target_temperature[extruder] > current_temperature[extruder]; -}; - -FORCE_INLINE bool isHeatingBed() { - return target_temperature_bed > current_temperature_bed; -}; - -FORCE_INLINE bool isCoolingHotend(uint8_t extruder) { - return target_temperature[extruder] < current_temperature[extruder]; -}; - -FORCE_INLINE bool isCoolingBed() { - return target_temperature_bed < current_temperature_bed; -}; +FORCE_INLINE bool isCoolingHotend(uint8_t extruder) { return target_temperature[extruder] < current_temperature[extruder]; } +FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; } #define degHotend0() degHotend(0) #define degTargetHotend0() degTargetHotend(0) @@ -141,38 +111,36 @@ FORCE_INLINE bool isCoolingBed() { #define isHeatingHotend0() isHeatingHotend(0) #define isCoolingHotend0() isCoolingHotend(0) #if EXTRUDERS > 1 -#define degHotend1() degHotend(1) -#define degTargetHotend1() degTargetHotend(1) -#define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1) -#define isHeatingHotend1() isHeatingHotend(1) -#define isCoolingHotend1() isCoolingHotend(1) + #define degHotend1() degHotend(1) + #define degTargetHotend1() degTargetHotend(1) + #define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1) + #define isHeatingHotend1() isHeatingHotend(1) + #define isCoolingHotend1() isCoolingHotend(1) #else -#define setTargetHotend1(_celsius) do{}while(0) + #define setTargetHotend1(_celsius) do{}while(0) #endif #if EXTRUDERS > 2 -#define degHotend2() degHotend(2) -#define degTargetHotend2() degTargetHotend(2) -#define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2) -#define isHeatingHotend2() isHeatingHotend(2) -#define isCoolingHotend2() isCoolingHotend(2) + #define degHotend2() degHotend(2) + #define degTargetHotend2() degTargetHotend(2) + #define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2) + #define isHeatingHotend2() isHeatingHotend(2) + #define isCoolingHotend2() isCoolingHotend(2) #else -#define setTargetHotend2(_celsius) do{}while(0) + #define setTargetHotend2(_celsius) do{}while(0) #endif #if EXTRUDERS > 3 -#define degHotend3() degHotend(3) -#define degTargetHotend3() degTargetHotend(3) -#define setTargetHotend3(_celsius) setTargetHotend((_celsius), 3) -#define isHeatingHotend3() isHeatingHotend(3) -#define isCoolingHotend3() isCoolingHotend(3) + #define degHotend3() degHotend(3) + #define degTargetHotend3() degTargetHotend(3) + #define setTargetHotend3(_celsius) setTargetHotend((_celsius), 3) + #define isHeatingHotend3() isHeatingHotend(3) + #define isCoolingHotend3() isCoolingHotend(3) #else -#define setTargetHotend3(_celsius) do{}while(0) + #define setTargetHotend3(_celsius) do{}while(0) #endif #if EXTRUDERS > 4 -#error Invalid number of extruders + #error Invalid number of extruders #endif - - int getHeaterPower(int heater); void disable_heater(); void setWatch(); @@ -189,15 +157,14 @@ static bool thermal_runaway = false; #endif #endif -FORCE_INLINE void autotempShutdown(){ -#ifdef AUTOTEMP - if(autotemp_enabled) - { - autotemp_enabled=false; - if(degTargetHotend(active_extruder)>autotemp_min) - setTargetHotend(0,active_extruder); - } -#endif +FORCE_INLINE void autotempShutdown() { + #ifdef AUTOTEMP + if (autotemp_enabled) { + autotemp_enabled = false; + if (degTargetHotend(active_extruder) > autotemp_min) + setTargetHotend(0, active_extruder); + } + #endif } void PID_autotune(float temp, int extruder, int ncycles);