2064 lines
64 KiB
C++
2064 lines
64 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* temperature.cpp - temperature control
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*/
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#include "Marlin.h"
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#include "temperature.h"
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#include "thermistortables.h"
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#include "ultralcd.h"
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#include "planner.h"
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#include "language.h"
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#if ENABLED(HEATER_0_USES_MAX6675)
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#include "spi.h"
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#endif
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#if ENABLED(BABYSTEPPING)
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#include "stepper.h"
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#endif
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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#include "endstops.h"
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#endif
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#if ENABLED(USE_WATCHDOG)
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#include "watchdog.h"
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#endif
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#ifdef K1 // Defined in Configuration.h in the PID settings
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#define K2 (1.0-K1)
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#endif
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#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
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static void* heater_ttbl_map[2] = {(void*)HEATER_0_TEMPTABLE, (void*)HEATER_1_TEMPTABLE };
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static uint8_t heater_ttbllen_map[2] = { HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN };
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#else
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static void* heater_ttbl_map[HOTENDS] = ARRAY_BY_HOTENDS((void*)HEATER_0_TEMPTABLE, (void*)HEATER_1_TEMPTABLE, (void*)HEATER_2_TEMPTABLE, (void*)HEATER_3_TEMPTABLE, (void*)HEATER_4_TEMPTABLE);
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static uint8_t heater_ttbllen_map[HOTENDS] = ARRAY_BY_HOTENDS(HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN, HEATER_3_TEMPTABLE_LEN, HEATER_4_TEMPTABLE_LEN);
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#endif
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Temperature thermalManager;
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// public:
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float Temperature::current_temperature[HOTENDS] = { 0.0 },
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Temperature::current_temperature_bed = 0.0;
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int16_t Temperature::current_temperature_raw[HOTENDS] = { 0 },
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Temperature::target_temperature[HOTENDS] = { 0 },
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Temperature::current_temperature_bed_raw = 0,
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Temperature::target_temperature_bed = 0;
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#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
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float Temperature::redundant_temperature = 0.0;
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#endif
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#if ENABLED(PIDTEMP)
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#if ENABLED(PID_PARAMS_PER_HOTEND) && HOTENDS > 1
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float Temperature::Kp[HOTENDS] = ARRAY_BY_HOTENDS1(DEFAULT_Kp),
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Temperature::Ki[HOTENDS] = ARRAY_BY_HOTENDS1((DEFAULT_Ki) * (PID_dT)),
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Temperature::Kd[HOTENDS] = ARRAY_BY_HOTENDS1((DEFAULT_Kd) / (PID_dT));
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#if ENABLED(PID_EXTRUSION_SCALING)
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float Temperature::Kc[HOTENDS] = ARRAY_BY_HOTENDS1(DEFAULT_Kc);
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#endif
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#else
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float Temperature::Kp = DEFAULT_Kp,
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Temperature::Ki = (DEFAULT_Ki) * (PID_dT),
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Temperature::Kd = (DEFAULT_Kd) / (PID_dT);
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#if ENABLED(PID_EXTRUSION_SCALING)
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float Temperature::Kc = DEFAULT_Kc;
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#endif
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#endif
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#endif
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#if ENABLED(PIDTEMPBED)
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float Temperature::bedKp = DEFAULT_bedKp,
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Temperature::bedKi = ((DEFAULT_bedKi) * PID_dT),
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Temperature::bedKd = ((DEFAULT_bedKd) / PID_dT);
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#endif
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#if ENABLED(BABYSTEPPING)
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volatile int Temperature::babystepsTodo[XYZ] = { 0 };
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#endif
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#if WATCH_HOTENDS
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uint16_t Temperature::watch_target_temp[HOTENDS] = { 0 };
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millis_t Temperature::watch_heater_next_ms[HOTENDS] = { 0 };
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#endif
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#if WATCH_THE_BED
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uint16_t Temperature::watch_target_bed_temp = 0;
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millis_t Temperature::watch_bed_next_ms = 0;
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#endif
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#if ENABLED(PREVENT_COLD_EXTRUSION)
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bool Temperature::allow_cold_extrude = false;
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uint16_t Temperature::extrude_min_temp = EXTRUDE_MINTEMP;
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#endif
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// private:
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#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
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uint16_t Temperature::redundant_temperature_raw = 0;
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float Temperature::redundant_temperature = 0.0;
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#endif
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volatile bool Temperature::temp_meas_ready = false;
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#if ENABLED(PIDTEMP)
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float Temperature::temp_iState[HOTENDS] = { 0 },
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Temperature::temp_dState[HOTENDS] = { 0 },
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Temperature::pTerm[HOTENDS],
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Temperature::iTerm[HOTENDS],
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Temperature::dTerm[HOTENDS];
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#if ENABLED(PID_EXTRUSION_SCALING)
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float Temperature::cTerm[HOTENDS];
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long Temperature::last_e_position;
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long Temperature::lpq[LPQ_MAX_LEN];
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int Temperature::lpq_ptr = 0;
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#endif
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float Temperature::pid_error[HOTENDS];
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bool Temperature::pid_reset[HOTENDS];
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#endif
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#if ENABLED(PIDTEMPBED)
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float Temperature::temp_iState_bed = { 0 },
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Temperature::temp_dState_bed = { 0 },
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Temperature::pTerm_bed,
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Temperature::iTerm_bed,
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Temperature::dTerm_bed,
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Temperature::pid_error_bed;
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#else
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millis_t Temperature::next_bed_check_ms;
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#endif
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uint16_t Temperature::raw_temp_value[MAX_EXTRUDERS] = { 0 },
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Temperature::raw_temp_bed_value = 0;
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// Init min and max temp with extreme values to prevent false errors during startup
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int16_t Temperature::minttemp_raw[HOTENDS] = ARRAY_BY_HOTENDS(HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP, HEATER_4_RAW_LO_TEMP),
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Temperature::maxttemp_raw[HOTENDS] = ARRAY_BY_HOTENDS(HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP, HEATER_4_RAW_HI_TEMP),
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Temperature::minttemp[HOTENDS] = { 0 },
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Temperature::maxttemp[HOTENDS] = ARRAY_BY_HOTENDS1(16383);
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#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
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uint8_t Temperature::consecutive_low_temperature_error[HOTENDS] = { 0 };
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#endif
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#ifdef MILLISECONDS_PREHEAT_TIME
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millis_t Temperature::preheat_end_time[HOTENDS] = { 0 };
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#endif
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#ifdef BED_MINTEMP
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int16_t Temperature::bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP;
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#endif
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#ifdef BED_MAXTEMP
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int16_t Temperature::bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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int16_t Temperature::meas_shift_index; // Index of a delayed sample in buffer
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#endif
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#if HAS_AUTO_FAN
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millis_t Temperature::next_auto_fan_check_ms = 0;
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#endif
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uint8_t Temperature::soft_pwm_amount[HOTENDS],
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Temperature::soft_pwm_amount_bed;
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#if ENABLED(FAN_SOFT_PWM)
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uint8_t Temperature::soft_pwm_amount_fan[FAN_COUNT],
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Temperature::soft_pwm_count_fan[FAN_COUNT];
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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int Temperature::current_raw_filwidth = 0; //Holds measured filament diameter - one extruder only
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#endif
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#if ENABLED(PROBING_HEATERS_OFF)
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bool Temperature::paused;
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int16_t Temperature::paused_hotend_temp[HOTENDS];
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#if HAS_TEMP_BED
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int16_t Temperature::paused_bed_temp;
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#endif
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#endif
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#if HAS_PID_HEATING
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void Temperature::PID_autotune(float temp, int hotend, int ncycles, bool set_result/*=false*/) {
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float input = 0.0;
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int cycles = 0;
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bool heating = true;
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millis_t temp_ms = millis(), t1 = temp_ms, t2 = temp_ms;
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long t_high = 0, t_low = 0;
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long bias, d;
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float Ku, Tu;
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float workKp = 0, workKi = 0, workKd = 0;
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float max = 0, min = 10000;
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#if HAS_AUTO_FAN
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next_auto_fan_check_ms = temp_ms + 2500UL;
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#endif
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if (hotend >=
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#if ENABLED(PIDTEMP)
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HOTENDS
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#else
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0
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#endif
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|| hotend <
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#if ENABLED(PIDTEMPBED)
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-1
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#else
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0
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#endif
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) {
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SERIAL_ECHOLN(MSG_PID_BAD_EXTRUDER_NUM);
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return;
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}
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SERIAL_ECHOLN(MSG_PID_AUTOTUNE_START);
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disable_all_heaters(); // switch off all heaters.
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#if HAS_PID_FOR_BOTH
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if (hotend < 0)
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soft_pwm_amount_bed = bias = d = (MAX_BED_POWER) >> 1;
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else
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soft_pwm_amount[hotend] = bias = d = (PID_MAX) >> 1;
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#elif ENABLED(PIDTEMP)
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soft_pwm_amount[hotend] = bias = d = (PID_MAX) >> 1;
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#else
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soft_pwm_amount_bed = bias = d = (MAX_BED_POWER) >> 1;
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#endif
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wait_for_heatup = true;
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// PID Tuning loop
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while (wait_for_heatup) {
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millis_t ms = millis();
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if (temp_meas_ready) { // temp sample ready
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updateTemperaturesFromRawValues();
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input =
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#if HAS_PID_FOR_BOTH
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hotend < 0 ? current_temperature_bed : current_temperature[hotend]
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#elif ENABLED(PIDTEMP)
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current_temperature[hotend]
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#else
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current_temperature_bed
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#endif
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;
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NOLESS(max, input);
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NOMORE(min, input);
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#if HAS_AUTO_FAN
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if (ELAPSED(ms, next_auto_fan_check_ms)) {
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checkExtruderAutoFans();
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next_auto_fan_check_ms = ms + 2500UL;
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}
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#endif
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if (heating && input > temp) {
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if (ELAPSED(ms, t2 + 5000UL)) {
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heating = false;
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#if HAS_PID_FOR_BOTH
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if (hotend < 0)
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soft_pwm_amount_bed = (bias - d) >> 1;
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else
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soft_pwm_amount[hotend] = (bias - d) >> 1;
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#elif ENABLED(PIDTEMP)
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soft_pwm_amount[hotend] = (bias - d) >> 1;
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#elif ENABLED(PIDTEMPBED)
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soft_pwm_amount_bed = (bias - d) >> 1;
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#endif
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t1 = ms;
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t_high = t1 - t2;
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max = temp;
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}
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}
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if (!heating && input < temp) {
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if (ELAPSED(ms, t1 + 5000UL)) {
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heating = true;
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t2 = ms;
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t_low = t2 - t1;
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if (cycles > 0) {
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long max_pow =
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#if HAS_PID_FOR_BOTH
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hotend < 0 ? MAX_BED_POWER : PID_MAX
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#elif ENABLED(PIDTEMP)
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PID_MAX
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#else
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MAX_BED_POWER
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#endif
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;
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bias += (d * (t_high - t_low)) / (t_low + t_high);
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bias = constrain(bias, 20, max_pow - 20);
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d = (bias > max_pow / 2) ? max_pow - 1 - bias : bias;
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SERIAL_PROTOCOLPAIR(MSG_BIAS, bias);
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SERIAL_PROTOCOLPAIR(MSG_D, d);
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SERIAL_PROTOCOLPAIR(MSG_T_MIN, min);
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SERIAL_PROTOCOLPAIR(MSG_T_MAX, max);
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if (cycles > 2) {
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Ku = (4.0 * d) / (M_PI * (max - min) * 0.5);
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Tu = ((float)(t_low + t_high) * 0.001);
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SERIAL_PROTOCOLPAIR(MSG_KU, Ku);
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SERIAL_PROTOCOLPAIR(MSG_TU, Tu);
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workKp = 0.6 * Ku;
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workKi = 2 * workKp / Tu;
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workKd = workKp * Tu * 0.125;
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SERIAL_PROTOCOLLNPGM("\n" MSG_CLASSIC_PID);
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SERIAL_PROTOCOLPAIR(MSG_KP, workKp);
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SERIAL_PROTOCOLPAIR(MSG_KI, workKi);
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SERIAL_PROTOCOLLNPAIR(MSG_KD, workKd);
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/**
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workKp = 0.33*Ku;
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workKi = workKp/Tu;
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workKd = workKp*Tu/3;
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SERIAL_PROTOCOLLNPGM(" Some overshoot");
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SERIAL_PROTOCOLPAIR(" Kp: ", workKp);
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SERIAL_PROTOCOLPAIR(" Ki: ", workKi);
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SERIAL_PROTOCOLPAIR(" Kd: ", workKd);
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workKp = 0.2*Ku;
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workKi = 2*workKp/Tu;
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workKd = workKp*Tu/3;
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SERIAL_PROTOCOLLNPGM(" No overshoot");
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SERIAL_PROTOCOLPAIR(" Kp: ", workKp);
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SERIAL_PROTOCOLPAIR(" Ki: ", workKi);
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SERIAL_PROTOCOLPAIR(" Kd: ", workKd);
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*/
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}
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}
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#if HAS_PID_FOR_BOTH
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if (hotend < 0)
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soft_pwm_amount_bed = (bias + d) >> 1;
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else
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soft_pwm_amount[hotend] = (bias + d) >> 1;
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#elif ENABLED(PIDTEMP)
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soft_pwm_amount[hotend] = (bias + d) >> 1;
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#else
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soft_pwm_amount_bed = (bias + d) >> 1;
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#endif
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cycles++;
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min = temp;
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}
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}
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}
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#define MAX_OVERSHOOT_PID_AUTOTUNE 20
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if (input > temp + MAX_OVERSHOOT_PID_AUTOTUNE) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_TEMP_TOO_HIGH);
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return;
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}
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// Every 2 seconds...
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if (ELAPSED(ms, temp_ms + 2000UL)) {
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#if HAS_TEMP_HOTEND || HAS_TEMP_BED
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print_heaterstates();
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SERIAL_EOL;
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#endif
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temp_ms = ms;
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} // every 2 seconds
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// Over 2 minutes?
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if (((ms - t1) + (ms - t2)) > (10L * 60L * 1000L * 2L)) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_TIMEOUT);
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return;
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}
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if (cycles > ncycles) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED);
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#if HAS_PID_FOR_BOTH
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const char* estring = hotend < 0 ? "bed" : "";
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SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Kp ", workKp); SERIAL_EOL;
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SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Ki ", workKi); SERIAL_EOL;
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SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Kd ", workKd); SERIAL_EOL;
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#elif ENABLED(PIDTEMP)
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SERIAL_PROTOCOLPAIR("#define DEFAULT_Kp ", workKp); SERIAL_EOL;
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SERIAL_PROTOCOLPAIR("#define DEFAULT_Ki ", workKi); SERIAL_EOL;
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SERIAL_PROTOCOLPAIR("#define DEFAULT_Kd ", workKd); SERIAL_EOL;
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#else
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SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKp ", workKp); SERIAL_EOL;
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SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKi ", workKi); SERIAL_EOL;
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SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKd ", workKd); SERIAL_EOL;
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#endif
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#define _SET_BED_PID() do { \
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bedKp = workKp; \
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bedKi = scalePID_i(workKi); \
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bedKd = scalePID_d(workKd); \
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updatePID(); } while(0)
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#define _SET_EXTRUDER_PID() do { \
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PID_PARAM(Kp, hotend) = workKp; \
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PID_PARAM(Ki, hotend) = scalePID_i(workKi); \
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PID_PARAM(Kd, hotend) = scalePID_d(workKd); \
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updatePID(); } while(0)
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// Use the result? (As with "M303 U1")
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if (set_result) {
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#if HAS_PID_FOR_BOTH
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if (hotend < 0)
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_SET_BED_PID();
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else
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_SET_EXTRUDER_PID();
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#elif ENABLED(PIDTEMP)
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_SET_EXTRUDER_PID();
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#else
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_SET_BED_PID();
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#endif
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}
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return;
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}
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lcd_update();
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}
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if (!wait_for_heatup) disable_all_heaters();
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}
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#endif // HAS_PID_HEATING
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/**
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* Class and Instance Methods
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*/
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Temperature::Temperature() { }
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void Temperature::updatePID() {
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#if ENABLED(PIDTEMP)
|
|
#if ENABLED(PID_EXTRUSION_SCALING)
|
|
last_e_position = 0;
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
int Temperature::getHeaterPower(int heater) {
|
|
return heater < 0 ? soft_pwm_amount_bed : soft_pwm_amount[heater];
|
|
}
|
|
|
|
#if HAS_AUTO_FAN
|
|
|
|
void Temperature::checkExtruderAutoFans() {
|
|
constexpr int8_t fanPin[] = { E0_AUTO_FAN_PIN, E1_AUTO_FAN_PIN, E2_AUTO_FAN_PIN, E3_AUTO_FAN_PIN, E4_AUTO_FAN_PIN };
|
|
constexpr int fanBit[] = {
|
|
0,
|
|
AUTO_1_IS_0 ? 0 : 1,
|
|
AUTO_2_IS_0 ? 0 : AUTO_2_IS_1 ? 1 : 2,
|
|
AUTO_3_IS_0 ? 0 : AUTO_3_IS_1 ? 1 : AUTO_3_IS_2 ? 2 : 3,
|
|
AUTO_4_IS_0 ? 0 : AUTO_4_IS_1 ? 1 : AUTO_4_IS_2 ? 2 : AUTO_4_IS_3 ? 3 : 4
|
|
};
|
|
uint8_t fanState = 0;
|
|
|
|
HOTEND_LOOP() {
|
|
if (current_temperature[e] > EXTRUDER_AUTO_FAN_TEMPERATURE)
|
|
SBI(fanState, fanBit[e]);
|
|
}
|
|
|
|
uint8_t fanDone = 0;
|
|
for (uint8_t f = 0; f < COUNT(fanPin); f++) {
|
|
int8_t pin = fanPin[f];
|
|
if (pin >= 0 && !TEST(fanDone, fanBit[f])) {
|
|
uint8_t newFanSpeed = TEST(fanState, fanBit[f]) ? EXTRUDER_AUTO_FAN_SPEED : 0;
|
|
// this idiom allows both digital and PWM fan outputs (see M42 handling).
|
|
digitalWrite(pin, newFanSpeed);
|
|
analogWrite(pin, newFanSpeed);
|
|
SBI(fanDone, fanBit[f]);
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif // HAS_AUTO_FAN
|
|
|
|
//
|
|
// Temperature Error Handlers
|
|
//
|
|
void Temperature::_temp_error(int e, const char* serial_msg, const char* lcd_msg) {
|
|
static bool killed = false;
|
|
if (IsRunning()) {
|
|
SERIAL_ERROR_START;
|
|
serialprintPGM(serial_msg);
|
|
SERIAL_ERRORPGM(MSG_STOPPED_HEATER);
|
|
if (e >= 0) SERIAL_ERRORLN((int)e); else SERIAL_ERRORLNPGM(MSG_HEATER_BED);
|
|
}
|
|
#if DISABLED(BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE)
|
|
if (!killed) {
|
|
Running = false;
|
|
killed = true;
|
|
kill(lcd_msg);
|
|
}
|
|
else
|
|
disable_all_heaters(); // paranoia
|
|
#endif
|
|
}
|
|
|
|
void Temperature::max_temp_error(int8_t e) {
|
|
#if HAS_TEMP_BED
|
|
_temp_error(e, PSTR(MSG_T_MAXTEMP), e >= 0 ? PSTR(MSG_ERR_MAXTEMP) : PSTR(MSG_ERR_MAXTEMP_BED));
|
|
#else
|
|
_temp_error(HOTEND_INDEX, PSTR(MSG_T_MAXTEMP), PSTR(MSG_ERR_MAXTEMP));
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
#endif
|
|
}
|
|
void Temperature::min_temp_error(int8_t e) {
|
|
#if HAS_TEMP_BED
|
|
_temp_error(e, PSTR(MSG_T_MINTEMP), e >= 0 ? PSTR(MSG_ERR_MINTEMP) : PSTR(MSG_ERR_MINTEMP_BED));
|
|
#else
|
|
_temp_error(HOTEND_INDEX, PSTR(MSG_T_MINTEMP), PSTR(MSG_ERR_MINTEMP));
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
float Temperature::get_pid_output(int e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#define _HOTEND_TEST true
|
|
#else
|
|
#define _HOTEND_TEST e == active_extruder
|
|
#endif
|
|
float pid_output;
|
|
#if ENABLED(PIDTEMP)
|
|
#if DISABLED(PID_OPENLOOP)
|
|
pid_error[HOTEND_INDEX] = target_temperature[HOTEND_INDEX] - current_temperature[HOTEND_INDEX];
|
|
dTerm[HOTEND_INDEX] = K2 * PID_PARAM(Kd, HOTEND_INDEX) * (current_temperature[HOTEND_INDEX] - temp_dState[HOTEND_INDEX]) + K1 * dTerm[HOTEND_INDEX];
|
|
temp_dState[HOTEND_INDEX] = current_temperature[HOTEND_INDEX];
|
|
if (pid_error[HOTEND_INDEX] > PID_FUNCTIONAL_RANGE) {
|
|
pid_output = BANG_MAX;
|
|
pid_reset[HOTEND_INDEX] = true;
|
|
}
|
|
else if (pid_error[HOTEND_INDEX] < -(PID_FUNCTIONAL_RANGE) || target_temperature[HOTEND_INDEX] == 0) {
|
|
pid_output = 0;
|
|
pid_reset[HOTEND_INDEX] = true;
|
|
}
|
|
else {
|
|
if (pid_reset[HOTEND_INDEX]) {
|
|
temp_iState[HOTEND_INDEX] = 0.0;
|
|
pid_reset[HOTEND_INDEX] = false;
|
|
}
|
|
pTerm[HOTEND_INDEX] = PID_PARAM(Kp, HOTEND_INDEX) * pid_error[HOTEND_INDEX];
|
|
temp_iState[HOTEND_INDEX] += pid_error[HOTEND_INDEX];
|
|
iTerm[HOTEND_INDEX] = PID_PARAM(Ki, HOTEND_INDEX) * temp_iState[HOTEND_INDEX];
|
|
|
|
pid_output = pTerm[HOTEND_INDEX] + iTerm[HOTEND_INDEX] - dTerm[HOTEND_INDEX];
|
|
|
|
#if ENABLED(PID_EXTRUSION_SCALING)
|
|
cTerm[HOTEND_INDEX] = 0;
|
|
if (_HOTEND_TEST) {
|
|
long e_position = stepper.position(E_AXIS);
|
|
if (e_position > last_e_position) {
|
|
lpq[lpq_ptr] = e_position - last_e_position;
|
|
last_e_position = e_position;
|
|
}
|
|
else {
|
|
lpq[lpq_ptr] = 0;
|
|
}
|
|
if (++lpq_ptr >= lpq_len) lpq_ptr = 0;
|
|
cTerm[HOTEND_INDEX] = (lpq[lpq_ptr] * planner.steps_to_mm[E_AXIS]) * PID_PARAM(Kc, HOTEND_INDEX);
|
|
pid_output += cTerm[HOTEND_INDEX];
|
|
}
|
|
#endif // PID_EXTRUSION_SCALING
|
|
|
|
if (pid_output > PID_MAX) {
|
|
if (pid_error[HOTEND_INDEX] > 0) temp_iState[HOTEND_INDEX] -= pid_error[HOTEND_INDEX]; // conditional un-integration
|
|
pid_output = PID_MAX;
|
|
}
|
|
else if (pid_output < 0) {
|
|
if (pid_error[HOTEND_INDEX] < 0) temp_iState[HOTEND_INDEX] -= pid_error[HOTEND_INDEX]; // conditional un-integration
|
|
pid_output = 0;
|
|
}
|
|
}
|
|
#else
|
|
pid_output = constrain(target_temperature[HOTEND_INDEX], 0, PID_MAX);
|
|
#endif // PID_OPENLOOP
|
|
|
|
#if ENABLED(PID_DEBUG)
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG, HOTEND_INDEX);
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG_INPUT, current_temperature[HOTEND_INDEX]);
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG_OUTPUT, pid_output);
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG_PTERM, pTerm[HOTEND_INDEX]);
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG_ITERM, iTerm[HOTEND_INDEX]);
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG_DTERM, dTerm[HOTEND_INDEX]);
|
|
#if ENABLED(PID_EXTRUSION_SCALING)
|
|
SERIAL_ECHOPAIR(MSG_PID_DEBUG_CTERM, cTerm[HOTEND_INDEX]);
|
|
#endif
|
|
SERIAL_EOL;
|
|
#endif // PID_DEBUG
|
|
|
|
#else /* PID off */
|
|
pid_output = (current_temperature[HOTEND_INDEX] < target_temperature[HOTEND_INDEX]) ? PID_MAX : 0;
|
|
#endif
|
|
|
|
return pid_output;
|
|
}
|
|
|
|
#if ENABLED(PIDTEMPBED)
|
|
float Temperature::get_pid_output_bed() {
|
|
float pid_output;
|
|
#if DISABLED(PID_OPENLOOP)
|
|
pid_error_bed = target_temperature_bed - current_temperature_bed;
|
|
pTerm_bed = bedKp * pid_error_bed;
|
|
temp_iState_bed += pid_error_bed;
|
|
iTerm_bed = bedKi * temp_iState_bed;
|
|
|
|
dTerm_bed = K2 * bedKd * (current_temperature_bed - temp_dState_bed) + K1 * dTerm_bed;
|
|
temp_dState_bed = current_temperature_bed;
|
|
|
|
pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
|
|
if (pid_output > MAX_BED_POWER) {
|
|
if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
|
|
pid_output = MAX_BED_POWER;
|
|
}
|
|
else if (pid_output < 0) {
|
|
if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
|
|
pid_output = 0;
|
|
}
|
|
#else
|
|
pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
|
|
#endif // PID_OPENLOOP
|
|
|
|
#if ENABLED(PID_BED_DEBUG)
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(" PID_BED_DEBUG ");
|
|
SERIAL_ECHOPGM(": Input ");
|
|
SERIAL_ECHO(current_temperature_bed);
|
|
SERIAL_ECHOPGM(" Output ");
|
|
SERIAL_ECHO(pid_output);
|
|
SERIAL_ECHOPGM(" pTerm ");
|
|
SERIAL_ECHO(pTerm_bed);
|
|
SERIAL_ECHOPGM(" iTerm ");
|
|
SERIAL_ECHO(iTerm_bed);
|
|
SERIAL_ECHOPGM(" dTerm ");
|
|
SERIAL_ECHOLN(dTerm_bed);
|
|
#endif // PID_BED_DEBUG
|
|
|
|
return pid_output;
|
|
}
|
|
#endif // PIDTEMPBED
|
|
|
|
/**
|
|
* Manage heating activities for extruder hot-ends and a heated bed
|
|
* - Acquire updated temperature readings
|
|
* - Also resets the watchdog timer
|
|
* - Invoke thermal runaway protection
|
|
* - Manage extruder auto-fan
|
|
* - Apply filament width to the extrusion rate (may move)
|
|
* - Update the heated bed PID output value
|
|
*/
|
|
|
|
/**
|
|
* The following line SOMETIMES results in the dreaded "unable to find a register to spill in class 'POINTER_REGS'"
|
|
* compile error.
|
|
* 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);
|
|
*
|
|
* This is due to a bug in the C++ compiler used by the Arduino IDE from 1.6.10 to at least 1.8.1.
|
|
*
|
|
* The work around is to add the compiler flag "__attribute__((__optimize__("O2")))" to the declaration for manage_heater()
|
|
*/
|
|
//void Temperature::manage_heater() __attribute__((__optimize__("O2")));
|
|
void Temperature::manage_heater() {
|
|
|
|
if (!temp_meas_ready) return;
|
|
|
|
updateTemperaturesFromRawValues(); // also resets the watchdog
|
|
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
if (current_temperature[0] > min(HEATER_0_MAXTEMP, MAX6675_TMAX - 1.0)) max_temp_error(0);
|
|
if (current_temperature[0] < max(HEATER_0_MINTEMP, MAX6675_TMIN + .01)) min_temp_error(0);
|
|
#endif
|
|
|
|
#if WATCH_HOTENDS || WATCH_THE_BED || DISABLED(PIDTEMPBED) || HAS_AUTO_FAN
|
|
millis_t ms = millis();
|
|
#endif
|
|
|
|
HOTEND_LOOP() {
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS)
|
|
// Check for thermal runaway
|
|
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
|
|
|
|
soft_pwm_amount[e] = (current_temperature[e] > minttemp[e] || is_preheating(e)) && current_temperature[e] < maxttemp[e] ? (int)get_pid_output(e) >> 1 : 0;
|
|
|
|
#if WATCH_HOTENDS
|
|
// Make sure temperature is increasing
|
|
if (watch_heater_next_ms[e] && ELAPSED(ms, watch_heater_next_ms[e])) { // Time to check this extruder?
|
|
if (degHotend(e) < watch_target_temp[e]) // Failed to increase enough?
|
|
_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
|
|
|
|
#if WATCH_THE_BED
|
|
// Make sure temperature is increasing
|
|
if (watch_bed_next_ms && ELAPSED(ms, watch_bed_next_ms)) { // Time to check the bed?
|
|
if (degBed() < watch_target_bed_temp) // Failed to increase enough?
|
|
_temp_error(-1, PSTR(MSG_T_HEATING_FAILED), PSTR(MSG_HEATING_FAILED_LCD));
|
|
else // Start again if the target is still far off
|
|
start_watching_bed();
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
|
|
// Make sure measured temperatures are close together
|
|
if (fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF)
|
|
_temp_error(0, PSTR(MSG_REDUNDANCY), PSTR(MSG_ERR_REDUNDANT_TEMP));
|
|
#endif
|
|
|
|
} // HOTEND_LOOP
|
|
|
|
#if HAS_AUTO_FAN
|
|
if (ELAPSED(ms, next_auto_fan_check_ms)) { // only need to check fan state very infrequently
|
|
checkExtruderAutoFans();
|
|
next_auto_fan_check_ms = ms + 2500UL;
|
|
}
|
|
#endif
|
|
|
|
// Control the extruder rate based on the width sensor
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
if (filament_sensor) {
|
|
meas_shift_index = filwidth_delay_index[0] - meas_delay_cm;
|
|
if (meas_shift_index < 0) meas_shift_index += MAX_MEASUREMENT_DELAY + 1; //loop around buffer if needed
|
|
meas_shift_index = constrain(meas_shift_index, 0, MAX_MEASUREMENT_DELAY);
|
|
|
|
// Get the delayed info and add 100 to reconstitute to a percent of
|
|
// the nominal filament diameter then square it to get an area
|
|
const float vmroot = measurement_delay[meas_shift_index] * 0.01 + 1.0;
|
|
volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = vmroot <= 0.1 ? 0.01 : sq(vmroot);
|
|
}
|
|
#endif // FILAMENT_WIDTH_SENSOR
|
|
|
|
#if DISABLED(PIDTEMPBED)
|
|
if (PENDING(ms, next_bed_check_ms)) return;
|
|
next_bed_check_ms = ms + BED_CHECK_INTERVAL;
|
|
#endif
|
|
|
|
#if TEMP_SENSOR_BED != 0
|
|
|
|
#if HAS_THERMALLY_PROTECTED_BED
|
|
thermal_runaway_protection(&thermal_runaway_bed_state_machine, &thermal_runaway_bed_timer, current_temperature_bed, target_temperature_bed, -1, THERMAL_PROTECTION_BED_PERIOD, THERMAL_PROTECTION_BED_HYSTERESIS);
|
|
#endif
|
|
|
|
#if ENABLED(PIDTEMPBED)
|
|
soft_pwm_amount_bed = WITHIN(current_temperature_bed, BED_MINTEMP, BED_MAXTEMP) ? (int)get_pid_output_bed() >> 1 : 0;
|
|
|
|
#elif ENABLED(BED_LIMIT_SWITCHING)
|
|
// Check if temperature is within the correct band
|
|
if (WITHIN(current_temperature_bed, BED_MINTEMP, BED_MAXTEMP)) {
|
|
if (current_temperature_bed >= target_temperature_bed + BED_HYSTERESIS)
|
|
soft_pwm_amount_bed = 0;
|
|
else if (current_temperature_bed <= target_temperature_bed - (BED_HYSTERESIS))
|
|
soft_pwm_amount_bed = MAX_BED_POWER >> 1;
|
|
}
|
|
else {
|
|
soft_pwm_amount_bed = 0;
|
|
WRITE_HEATER_BED(LOW);
|
|
}
|
|
#else // !PIDTEMPBED && !BED_LIMIT_SWITCHING
|
|
// Check if temperature is within the correct range
|
|
if (WITHIN(current_temperature_bed, BED_MINTEMP, BED_MAXTEMP)) {
|
|
soft_pwm_amount_bed = current_temperature_bed < target_temperature_bed ? MAX_BED_POWER >> 1 : 0;
|
|
}
|
|
else {
|
|
soft_pwm_amount_bed = 0;
|
|
WRITE_HEATER_BED(LOW);
|
|
}
|
|
#endif
|
|
#endif // TEMP_SENSOR_BED != 0
|
|
}
|
|
|
|
#define PGM_RD_W(x) (short)pgm_read_word(&x)
|
|
|
|
// Derived from RepRap FiveD extruder::getTemperature()
|
|
// For hot end temperature measurement.
|
|
float Temperature::analog2temp(int raw, uint8_t e) {
|
|
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
|
|
if (e > HOTENDS)
|
|
#else
|
|
if (e >= HOTENDS)
|
|
#endif
|
|
{
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERROR((int)e);
|
|
SERIAL_ERRORLNPGM(MSG_INVALID_EXTRUDER_NUM);
|
|
kill(PSTR(MSG_KILLED));
|
|
return 0.0;
|
|
}
|
|
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
if (e == 0) return 0.25 * raw;
|
|
#endif
|
|
|
|
if (heater_ttbl_map[e] != NULL) {
|
|
float celsius = 0;
|
|
uint8_t i;
|
|
short(*tt)[][2] = (short(*)[][2])(heater_ttbl_map[e]);
|
|
|
|
for (i = 1; i < heater_ttbllen_map[e]; i++) {
|
|
if (PGM_RD_W((*tt)[i][0]) > raw) {
|
|
celsius = PGM_RD_W((*tt)[i - 1][1]) +
|
|
(raw - PGM_RD_W((*tt)[i - 1][0])) *
|
|
(float)(PGM_RD_W((*tt)[i][1]) - PGM_RD_W((*tt)[i - 1][1])) /
|
|
(float)(PGM_RD_W((*tt)[i][0]) - PGM_RD_W((*tt)[i - 1][0]));
|
|
break;
|
|
}
|
|
}
|
|
|
|
// Overflow: Set to last value in the table
|
|
if (i == heater_ttbllen_map[e]) celsius = PGM_RD_W((*tt)[i - 1][1]);
|
|
|
|
return celsius;
|
|
}
|
|
return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * (TEMP_SENSOR_AD595_GAIN)) + TEMP_SENSOR_AD595_OFFSET;
|
|
}
|
|
|
|
// Derived from RepRap FiveD extruder::getTemperature()
|
|
// For bed temperature measurement.
|
|
float Temperature::analog2tempBed(int raw) {
|
|
#if ENABLED(BED_USES_THERMISTOR)
|
|
float celsius = 0;
|
|
byte i;
|
|
|
|
for (i = 1; i < BEDTEMPTABLE_LEN; i++) {
|
|
if (PGM_RD_W(BEDTEMPTABLE[i][0]) > raw) {
|
|
celsius = PGM_RD_W(BEDTEMPTABLE[i - 1][1]) +
|
|
(raw - PGM_RD_W(BEDTEMPTABLE[i - 1][0])) *
|
|
(float)(PGM_RD_W(BEDTEMPTABLE[i][1]) - PGM_RD_W(BEDTEMPTABLE[i - 1][1])) /
|
|
(float)(PGM_RD_W(BEDTEMPTABLE[i][0]) - PGM_RD_W(BEDTEMPTABLE[i - 1][0]));
|
|
break;
|
|
}
|
|
}
|
|
|
|
// Overflow: Set to last value in the table
|
|
if (i == BEDTEMPTABLE_LEN) celsius = PGM_RD_W(BEDTEMPTABLE[i - 1][1]);
|
|
|
|
return celsius;
|
|
|
|
#elif defined(BED_USES_AD595)
|
|
|
|
return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * (TEMP_SENSOR_AD595_GAIN)) + TEMP_SENSOR_AD595_OFFSET;
|
|
|
|
#else
|
|
|
|
UNUSED(raw);
|
|
return 0;
|
|
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Get the raw values into the actual temperatures.
|
|
* The raw values are created in interrupt context,
|
|
* and this function is called from normal context
|
|
* as it would block the stepper routine.
|
|
*/
|
|
void Temperature::updateTemperaturesFromRawValues() {
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
current_temperature_raw[0] = read_max6675();
|
|
#endif
|
|
HOTEND_LOOP()
|
|
current_temperature[e] = Temperature::analog2temp(current_temperature_raw[e], e);
|
|
current_temperature_bed = Temperature::analog2tempBed(current_temperature_bed_raw);
|
|
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
|
|
redundant_temperature = Temperature::analog2temp(redundant_temperature_raw, 1);
|
|
#endif
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
filament_width_meas = analog2widthFil();
|
|
#endif
|
|
|
|
#if ENABLED(USE_WATCHDOG)
|
|
// Reset the watchdog after we know we have a temperature measurement.
|
|
watchdog_reset();
|
|
#endif
|
|
|
|
CRITICAL_SECTION_START;
|
|
temp_meas_ready = false;
|
|
CRITICAL_SECTION_END;
|
|
}
|
|
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
|
|
// Convert raw Filament Width to millimeters
|
|
float Temperature::analog2widthFil() {
|
|
return current_raw_filwidth / 16383.0 * 5.0;
|
|
//return current_raw_filwidth;
|
|
}
|
|
|
|
// Convert raw Filament Width to a ratio
|
|
int Temperature::widthFil_to_size_ratio() {
|
|
float temp = filament_width_meas;
|
|
if (temp < MEASURED_LOWER_LIMIT) temp = filament_width_nominal; //assume sensor cut out
|
|
else NOMORE(temp, MEASURED_UPPER_LIMIT);
|
|
return filament_width_nominal / temp * 100;
|
|
}
|
|
|
|
#endif
|
|
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
#ifndef MAX6675_SCK_PIN
|
|
#define MAX6675_SCK_PIN SCK_PIN
|
|
#endif
|
|
#ifndef MAX6675_DO_PIN
|
|
#define MAX6675_DO_PIN MISO_PIN
|
|
#endif
|
|
SPI<MAX6675_DO_PIN, MOSI_PIN, MAX6675_SCK_PIN> max6675_spi;
|
|
#endif
|
|
|
|
/**
|
|
* Initialize the temperature manager
|
|
* The manager is implemented by periodic calls to manage_heater()
|
|
*/
|
|
void Temperature::init() {
|
|
|
|
#if MB(RUMBA) && (TEMP_SENSOR_0 == -1 || TEMP_SENSOR_1 == -1 || TEMP_SENSOR_2 == -1 || TEMP_SENSOR_BED == -1)
|
|
// Disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector
|
|
MCUCR = _BV(JTD);
|
|
MCUCR = _BV(JTD);
|
|
#endif
|
|
|
|
// Finish init of mult hotend arrays
|
|
HOTEND_LOOP() maxttemp[e] = maxttemp[0];
|
|
|
|
#if ENABLED(PIDTEMP) && ENABLED(PID_EXTRUSION_SCALING)
|
|
last_e_position = 0;
|
|
#endif
|
|
|
|
#if HAS_HEATER_0
|
|
SET_OUTPUT(HEATER_0_PIN);
|
|
#endif
|
|
#if HAS_HEATER_1
|
|
SET_OUTPUT(HEATER_1_PIN);
|
|
#endif
|
|
#if HAS_HEATER_2
|
|
SET_OUTPUT(HEATER_2_PIN);
|
|
#endif
|
|
#if HAS_HEATER_3
|
|
SET_OUTPUT(HEATER_3_PIN);
|
|
#endif
|
|
#if HAS_HEATER_4
|
|
SET_OUTPUT(HEATER_3_PIN);
|
|
#endif
|
|
#if HAS_HEATER_BED
|
|
SET_OUTPUT(HEATER_BED_PIN);
|
|
#endif
|
|
|
|
#if HAS_FAN0
|
|
SET_OUTPUT(FAN_PIN);
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
setPwmFrequency(FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
|
|
#endif
|
|
#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
|
|
#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
|
|
#endif
|
|
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
|
|
OUT_WRITE(SCK_PIN, LOW);
|
|
OUT_WRITE(MOSI_PIN, HIGH);
|
|
SET_INPUT_PULLUP(MISO_PIN);
|
|
|
|
max6675_spi.init();
|
|
|
|
OUT_WRITE(SS_PIN, HIGH);
|
|
OUT_WRITE(MAX6675_SS, HIGH);
|
|
|
|
#endif // HEATER_0_USES_MAX6675
|
|
|
|
#ifdef DIDR2
|
|
#define ANALOG_SELECT(pin) do{ if (pin < 8) SBI(DIDR0, pin); else SBI(DIDR2, pin - 8); }while(0)
|
|
#else
|
|
#define ANALOG_SELECT(pin) do{ SBI(DIDR0, pin); }while(0)
|
|
#endif
|
|
|
|
// Set analog inputs
|
|
ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
|
|
DIDR0 = 0;
|
|
#ifdef DIDR2
|
|
DIDR2 = 0;
|
|
#endif
|
|
#if HAS_TEMP_0
|
|
ANALOG_SELECT(TEMP_0_PIN);
|
|
#endif
|
|
#if HAS_TEMP_1
|
|
ANALOG_SELECT(TEMP_1_PIN);
|
|
#endif
|
|
#if HAS_TEMP_2
|
|
ANALOG_SELECT(TEMP_2_PIN);
|
|
#endif
|
|
#if HAS_TEMP_3
|
|
ANALOG_SELECT(TEMP_3_PIN);
|
|
#endif
|
|
#if HAS_TEMP_4
|
|
ANALOG_SELECT(TEMP_4_PIN);
|
|
#endif
|
|
#if HAS_TEMP_BED
|
|
ANALOG_SELECT(TEMP_BED_PIN);
|
|
#endif
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
ANALOG_SELECT(FILWIDTH_PIN);
|
|
#endif
|
|
|
|
#if HAS_AUTO_FAN_0
|
|
#if E0_AUTO_FAN_PIN == FAN1_PIN
|
|
SET_OUTPUT(E0_AUTO_FAN_PIN);
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
setPwmFrequency(E0_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
|
|
#endif
|
|
#else
|
|
SET_OUTPUT(E0_AUTO_FAN_PIN);
|
|
#endif
|
|
#endif
|
|
#if HAS_AUTO_FAN_1 && !AUTO_1_IS_0
|
|
#if E1_AUTO_FAN_PIN == FAN1_PIN
|
|
SET_OUTPUT(E1_AUTO_FAN_PIN);
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
setPwmFrequency(E1_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
|
|
#endif
|
|
#else
|
|
SET_OUTPUT(E1_AUTO_FAN_PIN);
|
|
#endif
|
|
#endif
|
|
#if HAS_AUTO_FAN_2 && !AUTO_2_IS_0 && !AUTO_2_IS_1
|
|
#if E2_AUTO_FAN_PIN == FAN1_PIN
|
|
SET_OUTPUT(E2_AUTO_FAN_PIN);
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
setPwmFrequency(E2_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
|
|
#endif
|
|
#else
|
|
SET_OUTPUT(E2_AUTO_FAN_PIN);
|
|
#endif
|
|
#endif
|
|
#if HAS_AUTO_FAN_3 && !AUTO_3_IS_0 && !AUTO_3_IS_1 && !AUTO_3_IS_2
|
|
#if E3_AUTO_FAN_PIN == FAN1_PIN
|
|
SET_OUTPUT(E3_AUTO_FAN_PIN);
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
setPwmFrequency(E3_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
|
|
#endif
|
|
#else
|
|
SET_OUTPUT(E3_AUTO_FAN_PIN);
|
|
#endif
|
|
#endif
|
|
#if HAS_AUTO_FAN_4 && !AUTO_4_IS_0 && !AUTO_4_IS_1 && !AUTO_4_IS_2 && !AUTO_4_IS_3
|
|
#if E4_AUTO_FAN_PIN == FAN1_PIN
|
|
SET_OUTPUT(E4_AUTO_FAN_PIN);
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
setPwmFrequency(E4_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
|
|
#endif
|
|
#else
|
|
SET_OUTPUT(E4_AUTO_FAN_PIN);
|
|
#endif
|
|
#endif
|
|
|
|
// Use timer0 for temperature measurement
|
|
// Interleave temperature interrupt with millies interrupt
|
|
OCR0B = 128;
|
|
SBI(TIMSK0, OCIE0B);
|
|
|
|
// Wait for temperature measurement to settle
|
|
delay(250);
|
|
|
|
#define TEMP_MIN_ROUTINE(NR) \
|
|
minttemp[NR] = HEATER_ ##NR## _MINTEMP; \
|
|
while(analog2temp(minttemp_raw[NR], NR) < HEATER_ ##NR## _MINTEMP) { \
|
|
if (HEATER_ ##NR## _RAW_LO_TEMP < HEATER_ ##NR## _RAW_HI_TEMP) \
|
|
minttemp_raw[NR] += OVERSAMPLENR; \
|
|
else \
|
|
minttemp_raw[NR] -= OVERSAMPLENR; \
|
|
}
|
|
#define TEMP_MAX_ROUTINE(NR) \
|
|
maxttemp[NR] = HEATER_ ##NR## _MAXTEMP; \
|
|
while(analog2temp(maxttemp_raw[NR], NR) > HEATER_ ##NR## _MAXTEMP) { \
|
|
if (HEATER_ ##NR## _RAW_LO_TEMP < HEATER_ ##NR## _RAW_HI_TEMP) \
|
|
maxttemp_raw[NR] -= OVERSAMPLENR; \
|
|
else \
|
|
maxttemp_raw[NR] += OVERSAMPLENR; \
|
|
}
|
|
|
|
#ifdef HEATER_0_MINTEMP
|
|
TEMP_MIN_ROUTINE(0);
|
|
#endif
|
|
#ifdef HEATER_0_MAXTEMP
|
|
TEMP_MAX_ROUTINE(0);
|
|
#endif
|
|
#if HOTENDS > 1
|
|
#ifdef HEATER_1_MINTEMP
|
|
TEMP_MIN_ROUTINE(1);
|
|
#endif
|
|
#ifdef HEATER_1_MAXTEMP
|
|
TEMP_MAX_ROUTINE(1);
|
|
#endif
|
|
#if HOTENDS > 2
|
|
#ifdef HEATER_2_MINTEMP
|
|
TEMP_MIN_ROUTINE(2);
|
|
#endif
|
|
#ifdef HEATER_2_MAXTEMP
|
|
TEMP_MAX_ROUTINE(2);
|
|
#endif
|
|
#if HOTENDS > 3
|
|
#ifdef HEATER_3_MINTEMP
|
|
TEMP_MIN_ROUTINE(3);
|
|
#endif
|
|
#ifdef HEATER_3_MAXTEMP
|
|
TEMP_MAX_ROUTINE(3);
|
|
#endif
|
|
#if HOTENDS > 4
|
|
#ifdef HEATER_4_MINTEMP
|
|
TEMP_MIN_ROUTINE(4);
|
|
#endif
|
|
#ifdef HEATER_4_MAXTEMP
|
|
TEMP_MAX_ROUTINE(4);
|
|
#endif
|
|
#endif // HOTENDS > 4
|
|
#endif // HOTENDS > 3
|
|
#endif // HOTENDS > 2
|
|
#endif // HOTENDS > 1
|
|
|
|
#ifdef BED_MINTEMP
|
|
while(analog2tempBed(bed_minttemp_raw) < BED_MINTEMP) {
|
|
#if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP
|
|
bed_minttemp_raw += OVERSAMPLENR;
|
|
#else
|
|
bed_minttemp_raw -= OVERSAMPLENR;
|
|
#endif
|
|
}
|
|
#endif // BED_MINTEMP
|
|
#ifdef BED_MAXTEMP
|
|
while (analog2tempBed(bed_maxttemp_raw) > BED_MAXTEMP) {
|
|
#if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP
|
|
bed_maxttemp_raw -= OVERSAMPLENR;
|
|
#else
|
|
bed_maxttemp_raw += OVERSAMPLENR;
|
|
#endif
|
|
}
|
|
#endif // BED_MAXTEMP
|
|
|
|
#if ENABLED(PROBING_HEATERS_OFF)
|
|
paused = false;
|
|
ZERO(paused_hotend_temp);
|
|
#if HAS_TEMP_BED
|
|
paused_bed_temp = 0;
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
#if WATCH_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 Temperature::start_watching_heater(uint8_t e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
if (degHotend(HOTEND_INDEX) < degTargetHotend(HOTEND_INDEX) - (WATCH_TEMP_INCREASE + TEMP_HYSTERESIS + 1)) {
|
|
watch_target_temp[HOTEND_INDEX] = degHotend(HOTEND_INDEX) + WATCH_TEMP_INCREASE;
|
|
watch_heater_next_ms[HOTEND_INDEX] = millis() + (WATCH_TEMP_PERIOD) * 1000UL;
|
|
}
|
|
else
|
|
watch_heater_next_ms[HOTEND_INDEX] = 0;
|
|
}
|
|
#endif
|
|
|
|
#if WATCH_THE_BED
|
|
/**
|
|
* Start Heating Sanity Check for hotends that are below
|
|
* their target temperature by a configurable margin.
|
|
* This is called when the temperature is set. (M140, M190)
|
|
*/
|
|
void Temperature::start_watching_bed() {
|
|
if (degBed() < degTargetBed() - (WATCH_BED_TEMP_INCREASE + TEMP_BED_HYSTERESIS + 1)) {
|
|
watch_target_bed_temp = degBed() + WATCH_BED_TEMP_INCREASE;
|
|
watch_bed_next_ms = millis() + (WATCH_BED_TEMP_PERIOD) * 1000UL;
|
|
}
|
|
else
|
|
watch_bed_next_ms = 0;
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS)
|
|
Temperature::TRState Temperature::thermal_runaway_state_machine[HOTENDS] = { TRInactive };
|
|
millis_t Temperature::thermal_runaway_timer[HOTENDS] = { 0 };
|
|
#endif
|
|
|
|
#if HAS_THERMALLY_PROTECTED_BED
|
|
Temperature::TRState Temperature::thermal_runaway_bed_state_machine = TRInactive;
|
|
millis_t Temperature::thermal_runaway_bed_timer;
|
|
#endif
|
|
|
|
void Temperature::thermal_runaway_protection(Temperature::TRState* state, millis_t* timer, float current, float target, int heater_id, int period_seconds, int hysteresis_degc) {
|
|
|
|
static float tr_target_temperature[HOTENDS + 1] = { 0.0 };
|
|
|
|
/**
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM("Thermal Thermal Runaway Running. Heater ID: ");
|
|
if (heater_id < 0) SERIAL_ECHOPGM("bed"); else SERIAL_ECHO(heater_id);
|
|
SERIAL_ECHOPAIR(" ; State:", *state);
|
|
SERIAL_ECHOPAIR(" ; Timer:", *timer);
|
|
SERIAL_ECHOPAIR(" ; Temperature:", current);
|
|
SERIAL_ECHOPAIR(" ; Target Temp:", target);
|
|
SERIAL_EOL;
|
|
*/
|
|
|
|
int heater_index = heater_id >= 0 ? heater_id : HOTENDS;
|
|
|
|
// If the target temperature changes, restart
|
|
if (tr_target_temperature[heater_index] != target) {
|
|
tr_target_temperature[heater_index] = target;
|
|
*state = target > 0 ? TRFirstHeating : TRInactive;
|
|
}
|
|
|
|
switch (*state) {
|
|
// Inactive state waits for a target temperature to be set
|
|
case TRInactive: break;
|
|
// When first heating, wait for the temperature to be reached then go to Stable state
|
|
case TRFirstHeating:
|
|
if (current < tr_target_temperature[heater_index]) break;
|
|
*state = TRStable;
|
|
// While the temperature is stable watch for a bad temperature
|
|
case TRStable:
|
|
if (current >= tr_target_temperature[heater_index] - hysteresis_degc) {
|
|
*timer = millis() + period_seconds * 1000UL;
|
|
break;
|
|
}
|
|
else if (PENDING(millis(), *timer)) break;
|
|
*state = TRRunaway;
|
|
case TRRunaway:
|
|
_temp_error(heater_id, PSTR(MSG_T_THERMAL_RUNAWAY), PSTR(MSG_THERMAL_RUNAWAY));
|
|
}
|
|
}
|
|
|
|
#endif // THERMAL_PROTECTION_HOTENDS || THERMAL_PROTECTION_BED
|
|
|
|
void Temperature::disable_all_heaters() {
|
|
|
|
#if ENABLED(AUTOTEMP)
|
|
planner.autotemp_enabled = false;
|
|
#endif
|
|
|
|
HOTEND_LOOP() setTargetHotend(0, e);
|
|
setTargetBed(0);
|
|
|
|
// Unpause and reset everything
|
|
#if ENABLED(PROBING_HEATERS_OFF)
|
|
paused = false;
|
|
ZERO(paused_hotend_temp);
|
|
#if HAS_TEMP_BED
|
|
paused_bed_temp = 0;
|
|
#endif
|
|
#endif
|
|
|
|
// If all heaters go down then for sure our print job has stopped
|
|
print_job_timer.stop();
|
|
|
|
#define DISABLE_HEATER(NR) { \
|
|
setTargetHotend(0, NR); \
|
|
soft_pwm_amount[NR] = 0; \
|
|
WRITE_HEATER_ ##NR (LOW); \
|
|
}
|
|
|
|
#if HAS_TEMP_HOTEND
|
|
DISABLE_HEATER(0);
|
|
#if HOTENDS > 1
|
|
DISABLE_HEATER(1);
|
|
#if HOTENDS > 2
|
|
DISABLE_HEATER(2);
|
|
#if HOTENDS > 3
|
|
DISABLE_HEATER(3);
|
|
#if HOTENDS > 4
|
|
DISABLE_HEATER(4);
|
|
#endif // HOTENDS > 4
|
|
#endif // HOTENDS > 3
|
|
#endif // HOTENDS > 2
|
|
#endif // HOTENDS > 1
|
|
#endif
|
|
|
|
#if HAS_TEMP_BED
|
|
target_temperature_bed = 0;
|
|
soft_pwm_amount_bed = 0;
|
|
#if HAS_HEATER_BED
|
|
WRITE_HEATER_BED(LOW);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
#if ENABLED(PROBING_HEATERS_OFF)
|
|
|
|
void Temperature::pause(const bool p) {
|
|
if (p != paused) {
|
|
paused = p;
|
|
if (p) {
|
|
HOTEND_LOOP() {
|
|
paused_hotend_temp[e] = degTargetHotend(e);
|
|
setTargetHotend(0, e);
|
|
}
|
|
#if HAS_TEMP_BED
|
|
paused_bed_temp = degTargetBed();
|
|
setTargetBed(0);
|
|
#endif
|
|
}
|
|
else {
|
|
HOTEND_LOOP() setTargetHotend(paused_hotend_temp[e], e);
|
|
#if HAS_TEMP_BED
|
|
setTargetBed(paused_bed_temp);
|
|
#endif
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif // PROBING_HEATERS_OFF
|
|
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
|
|
#define MAX6675_HEAT_INTERVAL 250u
|
|
|
|
#if ENABLED(MAX6675_IS_MAX31855)
|
|
uint32_t max6675_temp = 2000;
|
|
#define MAX6675_ERROR_MASK 7
|
|
#define MAX6675_DISCARD_BITS 18
|
|
#define MAX6675_SPEED_BITS (_BV(SPR1)) // clock ÷ 64
|
|
#else
|
|
uint16_t max6675_temp = 2000;
|
|
#define MAX6675_ERROR_MASK 4
|
|
#define MAX6675_DISCARD_BITS 3
|
|
#define MAX6675_SPEED_BITS (_BV(SPR0)) // clock ÷ 16
|
|
#endif
|
|
|
|
int Temperature::read_max6675() {
|
|
|
|
static millis_t next_max6675_ms = 0;
|
|
|
|
millis_t ms = millis();
|
|
|
|
if (PENDING(ms, next_max6675_ms)) return (int)max6675_temp;
|
|
|
|
next_max6675_ms = ms + MAX6675_HEAT_INTERVAL;
|
|
|
|
CBI(
|
|
#ifdef PRR
|
|
PRR
|
|
#elif defined(PRR0)
|
|
PRR0
|
|
#endif
|
|
, PRSPI);
|
|
SPCR = _BV(MSTR) | _BV(SPE) | MAX6675_SPEED_BITS;
|
|
|
|
WRITE(MAX6675_SS, 0); // enable TT_MAX6675
|
|
|
|
// ensure 100ns delay - a bit extra is fine
|
|
asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
|
|
asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
|
|
|
|
// Read a big-endian temperature value
|
|
max6675_temp = 0;
|
|
for (uint8_t i = sizeof(max6675_temp); i--;) {
|
|
max6675_temp |= max6675_spi.receive();
|
|
if (i > 0) max6675_temp <<= 8; // shift left if not the last byte
|
|
}
|
|
|
|
WRITE(MAX6675_SS, 1); // disable TT_MAX6675
|
|
|
|
if (max6675_temp & MAX6675_ERROR_MASK) {
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORPGM("Temp measurement error! ");
|
|
#if MAX6675_ERROR_MASK == 7
|
|
SERIAL_ERRORPGM("MAX31855 ");
|
|
if (max6675_temp & 1)
|
|
SERIAL_ERRORLNPGM("Open Circuit");
|
|
else if (max6675_temp & 2)
|
|
SERIAL_ERRORLNPGM("Short to GND");
|
|
else if (max6675_temp & 4)
|
|
SERIAL_ERRORLNPGM("Short to VCC");
|
|
#else
|
|
SERIAL_ERRORLNPGM("MAX6675");
|
|
#endif
|
|
max6675_temp = MAX6675_TMAX * 4; // thermocouple open
|
|
}
|
|
else
|
|
max6675_temp >>= MAX6675_DISCARD_BITS;
|
|
#if ENABLED(MAX6675_IS_MAX31855)
|
|
// Support negative temperature
|
|
if (max6675_temp & 0x00002000) max6675_temp |= 0xFFFFC000;
|
|
#endif
|
|
|
|
return (int)max6675_temp;
|
|
}
|
|
|
|
#endif // HEATER_0_USES_MAX6675
|
|
|
|
/**
|
|
* Get raw temperatures
|
|
*/
|
|
void Temperature::set_current_temp_raw() {
|
|
#if HAS_TEMP_0 && DISABLED(HEATER_0_USES_MAX6675)
|
|
current_temperature_raw[0] = raw_temp_value[0];
|
|
#endif
|
|
#if HAS_TEMP_1
|
|
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
|
|
redundant_temperature_raw = raw_temp_value[1];
|
|
#else
|
|
current_temperature_raw[1] = raw_temp_value[1];
|
|
#endif
|
|
#if HAS_TEMP_2
|
|
current_temperature_raw[2] = raw_temp_value[2];
|
|
#if HAS_TEMP_3
|
|
current_temperature_raw[3] = raw_temp_value[3];
|
|
#if HAS_TEMP_4
|
|
current_temperature_raw[4] = raw_temp_value[4];
|
|
#endif
|
|
#endif
|
|
#endif
|
|
#endif
|
|
current_temperature_bed_raw = raw_temp_bed_value;
|
|
temp_meas_ready = true;
|
|
}
|
|
|
|
#if ENABLED(PINS_DEBUGGING)
|
|
/**
|
|
* monitors endstops & Z probe for changes
|
|
*
|
|
* If a change is detected then the LED is toggled and
|
|
* a message is sent out the serial port
|
|
*
|
|
* Yes, we could miss a rapid back & forth change but
|
|
* that won't matter because this is all manual.
|
|
*
|
|
*/
|
|
void endstop_monitor() {
|
|
static uint16_t old_endstop_bits_local = 0;
|
|
static uint8_t local_LED_status = 0;
|
|
uint16_t current_endstop_bits_local = 0;
|
|
#if HAS_X_MIN
|
|
if (READ(X_MIN_PIN)) SBI(current_endstop_bits_local, X_MIN);
|
|
#endif
|
|
#if HAS_X_MAX
|
|
if (READ(X_MAX_PIN)) SBI(current_endstop_bits_local, X_MAX);
|
|
#endif
|
|
#if HAS_Y_MIN
|
|
if (READ(Y_MIN_PIN)) SBI(current_endstop_bits_local, Y_MIN);
|
|
#endif
|
|
#if HAS_Y_MAX
|
|
if (READ(Y_MAX_PIN)) SBI(current_endstop_bits_local, Y_MAX);
|
|
#endif
|
|
#if HAS_Z_MIN
|
|
if (READ(Z_MIN_PIN)) SBI(current_endstop_bits_local, Z_MIN);
|
|
#endif
|
|
#if HAS_Z_MAX
|
|
if (READ(Z_MAX_PIN)) SBI(current_endstop_bits_local, Z_MAX);
|
|
#endif
|
|
#if HAS_Z_MIN_PROBE_PIN
|
|
if (READ(Z_MIN_PROBE_PIN)) SBI(current_endstop_bits_local, Z_MIN_PROBE);
|
|
#endif
|
|
#if HAS_Z2_MIN
|
|
if (READ(Z2_MIN_PIN)) SBI(current_endstop_bits_local, Z2_MIN);
|
|
#endif
|
|
#if HAS_Z2_MAX
|
|
if (READ(Z2_MAX_PIN)) SBI(current_endstop_bits_local, Z2_MAX);
|
|
#endif
|
|
|
|
uint16_t endstop_change = current_endstop_bits_local ^ old_endstop_bits_local;
|
|
|
|
if (endstop_change) {
|
|
#if HAS_X_MIN
|
|
if (TEST(endstop_change, X_MIN)) SERIAL_PROTOCOLPAIR("X_MIN:", !!TEST(current_endstop_bits_local, X_MIN));
|
|
#endif
|
|
#if HAS_X_MAX
|
|
if (TEST(endstop_change, X_MAX)) SERIAL_PROTOCOLPAIR(" X_MAX:", !!TEST(current_endstop_bits_local, X_MAX));
|
|
#endif
|
|
#if HAS_Y_MIN
|
|
if (TEST(endstop_change, Y_MIN)) SERIAL_PROTOCOLPAIR(" Y_MIN:", !!TEST(current_endstop_bits_local, Y_MIN));
|
|
#endif
|
|
#if HAS_Y_MAX
|
|
if (TEST(endstop_change, Y_MAX)) SERIAL_PROTOCOLPAIR(" Y_MAX:", !!TEST(current_endstop_bits_local, Y_MAX));
|
|
#endif
|
|
#if HAS_Z_MIN
|
|
if (TEST(endstop_change, Z_MIN)) SERIAL_PROTOCOLPAIR(" Z_MIN:", !!TEST(current_endstop_bits_local, Z_MIN));
|
|
#endif
|
|
#if HAS_Z_MAX
|
|
if (TEST(endstop_change, Z_MAX)) SERIAL_PROTOCOLPAIR(" Z_MAX:", !!TEST(current_endstop_bits_local, Z_MAX));
|
|
#endif
|
|
#if HAS_Z_MIN_PROBE_PIN
|
|
if (TEST(endstop_change, Z_MIN_PROBE)) SERIAL_PROTOCOLPAIR(" PROBE:", !!TEST(current_endstop_bits_local, Z_MIN_PROBE));
|
|
#endif
|
|
#if HAS_Z2_MIN
|
|
if (TEST(endstop_change, Z2_MIN)) SERIAL_PROTOCOLPAIR(" Z2_MIN:", !!TEST(current_endstop_bits_local, Z2_MIN));
|
|
#endif
|
|
#if HAS_Z2_MAX
|
|
if (TEST(endstop_change, Z2_MAX)) SERIAL_PROTOCOLPAIR(" Z2_MAX:", !!TEST(current_endstop_bits_local, Z2_MAX));
|
|
#endif
|
|
SERIAL_PROTOCOLPGM("\n\n");
|
|
analogWrite(LED_PIN, local_LED_status);
|
|
local_LED_status ^= 255;
|
|
old_endstop_bits_local = current_endstop_bits_local;
|
|
}
|
|
}
|
|
#endif // PINS_DEBUGGING
|
|
|
|
/**
|
|
* Timer 0 is shared with millies so don't change the prescaler.
|
|
*
|
|
* This ISR uses the compare method so it runs at the base
|
|
* frequency (16 MHz / 64 / 256 = 976.5625 Hz), but at the TCNT0 set
|
|
* in OCR0B above (128 or halfway between OVFs).
|
|
*
|
|
* - Manage PWM to all the heaters and fan
|
|
* - Prepare or Measure one of the raw ADC sensor values
|
|
* - Check new temperature values for MIN/MAX errors (kill on error)
|
|
* - Step the babysteps value for each axis towards 0
|
|
* - For PINS_DEBUGGING, monitor and report endstop pins
|
|
* - For ENDSTOP_INTERRUPTS_FEATURE check endstops if flagged
|
|
*/
|
|
ISR(TIMER0_COMPB_vect) { Temperature::isr(); }
|
|
|
|
volatile bool Temperature::in_temp_isr = false;
|
|
|
|
void Temperature::isr() {
|
|
// The stepper ISR can interrupt this ISR. When it does it re-enables this ISR
|
|
// at the end of its run, potentially causing re-entry. This flag prevents it.
|
|
if (in_temp_isr) return;
|
|
in_temp_isr = true;
|
|
|
|
// Allow UART and stepper ISRs
|
|
CBI(TIMSK0, OCIE0B); //Disable Temperature ISR
|
|
sei();
|
|
|
|
static int8_t temp_count = -1;
|
|
static ADCSensorState adc_sensor_state = StartupDelay;
|
|
static uint8_t pwm_count = _BV(SOFT_PWM_SCALE);
|
|
// avoid multiple loads of pwm_count
|
|
uint8_t pwm_count_tmp = pwm_count;
|
|
|
|
// Static members for each heater
|
|
#if ENABLED(SLOW_PWM_HEATERS)
|
|
static uint8_t slow_pwm_count = 0;
|
|
#define ISR_STATICS(n) \
|
|
static uint8_t soft_pwm_count_ ## n, \
|
|
state_heater_ ## n = 0, \
|
|
state_timer_heater_ ## n = 0
|
|
#else
|
|
#define ISR_STATICS(n) static uint8_t soft_pwm_count_ ## n = 0
|
|
#endif
|
|
|
|
// Statics per heater
|
|
ISR_STATICS(0);
|
|
#if HOTENDS > 1
|
|
ISR_STATICS(1);
|
|
#if HOTENDS > 2
|
|
ISR_STATICS(2);
|
|
#if HOTENDS > 3
|
|
ISR_STATICS(3);
|
|
#if HOTENDS > 4
|
|
ISR_STATICS(4);
|
|
#endif // HOTENDS > 4
|
|
#endif // HOTENDS > 3
|
|
#endif // HOTENDS > 2
|
|
#endif // HOTENDS > 1
|
|
#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)
|
|
constexpr uint8_t pwm_mask =
|
|
#if ENABLED(SOFT_PWM_DITHER)
|
|
_BV(SOFT_PWM_SCALE) - 1
|
|
#else
|
|
0
|
|
#endif
|
|
;
|
|
|
|
/**
|
|
* Standard PWM modulation
|
|
*/
|
|
if (pwm_count_tmp >= 127) {
|
|
pwm_count_tmp -= 127;
|
|
soft_pwm_count_0 = (soft_pwm_count_0 & pwm_mask) + soft_pwm_amount[0];
|
|
WRITE_HEATER_0(soft_pwm_count_0 > pwm_mask ? HIGH : LOW);
|
|
#if HOTENDS > 1
|
|
soft_pwm_count_1 = (soft_pwm_count_1 & pwm_mask) + soft_pwm_amount[1];
|
|
WRITE_HEATER_1(soft_pwm_count_1 > pwm_mask ? HIGH : LOW);
|
|
#if HOTENDS > 2
|
|
soft_pwm_count_2 = (soft_pwm_count_2 & pwm_mask) + soft_pwm_amount[2];
|
|
WRITE_HEATER_2(soft_pwm_count_2 > pwm_mask ? HIGH : LOW);
|
|
#if HOTENDS > 3
|
|
soft_pwm_count_3 = (soft_pwm_count_3 & pwm_mask) + soft_pwm_amount[3];
|
|
WRITE_HEATER_3(soft_pwm_count_3 > pwm_mask ? HIGH : LOW);
|
|
#if HOTENDS > 4
|
|
soft_pwm_count_4 = (soft_pwm_count_4 & pwm_mask) + soft_pwm_amount[4];
|
|
WRITE_HEATER_4(soft_pwm_count_4 > pwm_mask ? HIGH : LOW);
|
|
#endif // HOTENDS > 4
|
|
#endif // HOTENDS > 3
|
|
#endif // HOTENDS > 2
|
|
#endif // HOTENDS > 1
|
|
|
|
#if HAS_HEATER_BED
|
|
soft_pwm_count_BED = (soft_pwm_count_BED & pwm_mask) + soft_pwm_amount_bed;
|
|
WRITE_HEATER_BED(soft_pwm_count_BED > pwm_mask ? HIGH : LOW);
|
|
#endif
|
|
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
#if HAS_FAN0
|
|
soft_pwm_count_fan[0] = (soft_pwm_count_fan[0] & pwm_mask) + soft_pwm_amount_fan[0] >> 1;
|
|
WRITE_FAN(soft_pwm_count_fan[0] > pwm_mask ? HIGH : LOW);
|
|
#endif
|
|
#if HAS_FAN1
|
|
soft_pwm_count_fan[1] = (soft_pwm_count_fan[1] & pwm_mask) + soft_pwm_amount_fan[1] >> 1;
|
|
WRITE_FAN1(soft_pwm_count_fan[1] > pwm_mask ? HIGH : LOW);
|
|
#endif
|
|
#if HAS_FAN2
|
|
soft_pwm_count_fan[2] = (soft_pwm_count_fan[2] & pwm_mask) + soft_pwm_amount_fan[2] >> 1;
|
|
WRITE_FAN2(soft_pwm_count_fan[2] > pwm_mask ? HIGH : LOW);
|
|
#endif
|
|
#endif
|
|
}
|
|
else {
|
|
if (soft_pwm_count_0 <= pwm_count_tmp) WRITE_HEATER_0(0);
|
|
#if HOTENDS > 1
|
|
if (soft_pwm_count_1 <= pwm_count_tmp) WRITE_HEATER_1(0);
|
|
#if HOTENDS > 2
|
|
if (soft_pwm_count_2 <= pwm_count_tmp) WRITE_HEATER_2(0);
|
|
#if HOTENDS > 3
|
|
if (soft_pwm_count_3 <= pwm_count_tmp) WRITE_HEATER_3(0);
|
|
#if HOTENDS > 4
|
|
if (soft_pwm_count_4 <= pwm_count_tmp) WRITE_HEATER_4(0);
|
|
#endif // HOTENDS > 4
|
|
#endif // HOTENDS > 3
|
|
#endif // HOTENDS > 2
|
|
#endif // HOTENDS > 1
|
|
|
|
#if HAS_HEATER_BED
|
|
if (soft_pwm_count_BED <= pwm_count_tmp) WRITE_HEATER_BED(0);
|
|
#endif
|
|
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
#if HAS_FAN0
|
|
if (soft_pwm_count_fan[0] <= pwm_count_tmp) WRITE_FAN(0);
|
|
#endif
|
|
#if HAS_FAN1
|
|
if (soft_pwm_count_fan[1] <= pwm_count_tmp) WRITE_FAN1(0);
|
|
#endif
|
|
#if HAS_FAN2
|
|
if (soft_pwm_count_fan[2] <= pwm_count_tmp) WRITE_FAN2(0);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
// SOFT_PWM_SCALE to frequency:
|
|
//
|
|
// 0: 16000000/64/256/128 = 7.6294 Hz
|
|
// 1: / 64 = 15.2588 Hz
|
|
// 2: / 32 = 30.5176 Hz
|
|
// 3: / 16 = 61.0352 Hz
|
|
// 4: / 8 = 122.0703 Hz
|
|
// 5: / 4 = 244.1406 Hz
|
|
pwm_count = pwm_count_tmp + _BV(SOFT_PWM_SCALE);
|
|
|
|
#else // SLOW_PWM_HEATERS
|
|
|
|
/**
|
|
* SLOW PWM HEATERS
|
|
*
|
|
* For relay-driven heaters
|
|
*/
|
|
#ifndef MIN_STATE_TIME
|
|
#define MIN_STATE_TIME 16 // MIN_STATE_TIME * 65.5 = time in milliseconds
|
|
#endif
|
|
|
|
// Macros for Slow PWM timer logic
|
|
#define _SLOW_PWM_ROUTINE(NR, src) \
|
|
soft_pwm_ ##NR = src; \
|
|
if (soft_pwm_ ##NR > 0) { \
|
|
if (state_timer_heater_ ##NR == 0) { \
|
|
if (state_heater_ ##NR == 0) state_timer_heater_ ##NR = MIN_STATE_TIME; \
|
|
state_heater_ ##NR = 1; \
|
|
WRITE_HEATER_ ##NR(1); \
|
|
} \
|
|
} \
|
|
else { \
|
|
if (state_timer_heater_ ##NR == 0) { \
|
|
if (state_heater_ ##NR == 1) state_timer_heater_ ##NR = MIN_STATE_TIME; \
|
|
state_heater_ ##NR = 0; \
|
|
WRITE_HEATER_ ##NR(0); \
|
|
} \
|
|
}
|
|
#define SLOW_PWM_ROUTINE(n) _SLOW_PWM_ROUTINE(n, soft_pwm_amount[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);
|
|
#if HOTENDS > 1
|
|
SLOW_PWM_ROUTINE(1);
|
|
#if HOTENDS > 2
|
|
SLOW_PWM_ROUTINE(2);
|
|
#if HOTENDS > 3
|
|
SLOW_PWM_ROUTINE(3);
|
|
#if HOTENDS > 4
|
|
SLOW_PWM_ROUTINE(4);
|
|
#endif // HOTENDS > 4
|
|
#endif // HOTENDS > 3
|
|
#endif // HOTENDS > 2
|
|
#endif // HOTENDS > 1
|
|
#if HAS_HEATER_BED
|
|
_SLOW_PWM_ROUTINE(BED, soft_pwm_amount_bed); // BED
|
|
#endif
|
|
|
|
} // slow_pwm_count == 0
|
|
|
|
PWM_OFF_ROUTINE(0);
|
|
#if HOTENDS > 1
|
|
PWM_OFF_ROUTINE(1);
|
|
#if HOTENDS > 2
|
|
PWM_OFF_ROUTINE(2);
|
|
#if HOTENDS > 3
|
|
PWM_OFF_ROUTINE(3);
|
|
#if HOTENDS > 4
|
|
PWM_OFF_ROUTINE(4);
|
|
#endif // HOTENDS > 4
|
|
#endif // HOTENDS > 3
|
|
#endif // HOTENDS > 2
|
|
#endif // HOTENDS > 1
|
|
#if HAS_HEATER_BED
|
|
PWM_OFF_ROUTINE(BED); // BED
|
|
#endif
|
|
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
if (pwm_count_tmp >= 127) {
|
|
pwm_count_tmp = 0;
|
|
#if HAS_FAN0
|
|
soft_pwm_count_fan[0] = soft_pwm_amount_fan[0] >> 1;
|
|
WRITE_FAN(soft_pwm_count_fan[0] > 0 ? HIGH : LOW);
|
|
#endif
|
|
#if HAS_FAN1
|
|
soft_pwm_count_fan[1] = soft_pwm_amount_fan[1] >> 1;
|
|
WRITE_FAN1(soft_pwm_count_fan[1] > 0 ? HIGH : LOW);
|
|
#endif
|
|
#if HAS_FAN2
|
|
soft_pwm_count_fan[2] = soft_pwm_amount_fan[2] >> 1;
|
|
WRITE_FAN2(soft_pwm_count_fan[2] > 0 ? HIGH : LOW);
|
|
#endif
|
|
}
|
|
#if HAS_FAN0
|
|
if (soft_pwm_count_fan[0] <= pwm_count_tmp) WRITE_FAN(0);
|
|
#endif
|
|
#if HAS_FAN1
|
|
if (soft_pwm_count_fan[1] <= pwm_count_tmp) WRITE_FAN1(0);
|
|
#endif
|
|
#if HAS_FAN2
|
|
if (soft_pwm_count_fan[2] <= pwm_count_tmp) WRITE_FAN2(0);
|
|
#endif
|
|
#endif // FAN_SOFT_PWM
|
|
|
|
// SOFT_PWM_SCALE to frequency:
|
|
//
|
|
// 0: 16000000/64/256/128 = 7.6294 Hz
|
|
// 1: / 64 = 15.2588 Hz
|
|
// 2: / 32 = 30.5176 Hz
|
|
// 3: / 16 = 61.0352 Hz
|
|
// 4: / 8 = 122.0703 Hz
|
|
// 5: / 4 = 244.1406 Hz
|
|
pwm_count = pwm_count_tmp + _BV(SOFT_PWM_SCALE);
|
|
|
|
// increment slow_pwm_count only every 64th pwm_count,
|
|
// i.e. yielding a PWM frequency of 16/128 Hz (8s).
|
|
if (((pwm_count >> SOFT_PWM_SCALE) & 0x3F) == 0) {
|
|
slow_pwm_count++;
|
|
slow_pwm_count &= 0x7F;
|
|
|
|
if (state_timer_heater_0 > 0) state_timer_heater_0--;
|
|
#if HOTENDS > 1
|
|
if (state_timer_heater_1 > 0) state_timer_heater_1--;
|
|
#if HOTENDS > 2
|
|
if (state_timer_heater_2 > 0) state_timer_heater_2--;
|
|
#if HOTENDS > 3
|
|
if (state_timer_heater_3 > 0) state_timer_heater_3--;
|
|
#if HOTENDS > 4
|
|
if (state_timer_heater_4 > 0) state_timer_heater_4--;
|
|
#endif // HOTENDS > 4
|
|
#endif // HOTENDS > 3
|
|
#endif // HOTENDS > 2
|
|
#endif // HOTENDS > 1
|
|
#if HAS_HEATER_BED
|
|
if (state_timer_heater_BED > 0) state_timer_heater_BED--;
|
|
#endif
|
|
} // ((pwm_count >> SOFT_PWM_SCALE) & 0x3F) == 0
|
|
|
|
#endif // SLOW_PWM_HEATERS
|
|
|
|
//
|
|
// Update lcd buttons 488 times per second
|
|
//
|
|
static bool do_buttons;
|
|
if ((do_buttons ^= true)) lcd_buttons_update();
|
|
|
|
/**
|
|
* One sensor is sampled on every other call of the ISR.
|
|
* Each sensor is read 16 (OVERSAMPLENR) times, taking the average.
|
|
*
|
|
* On each Prepare pass, ADC is started for a sensor pin.
|
|
* On the next pass, the ADC value is read and accumulated.
|
|
*
|
|
* This gives each ADC 0.9765ms to charge up.
|
|
*/
|
|
|
|
#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
|
|
|
|
switch (adc_sensor_state) {
|
|
|
|
case SensorsReady: {
|
|
// All sensors have been read. Stay in this state for a few
|
|
// ISRs to save on calls to temp update/checking code below.
|
|
constexpr int extra_loops = MIN_ADC_ISR_LOOPS - (int)SensorsReady;
|
|
static uint8_t delay_count = 0;
|
|
if (extra_loops > 0) {
|
|
if (delay_count == 0) delay_count = extra_loops; // Init this delay
|
|
if (--delay_count) // While delaying...
|
|
adc_sensor_state = (ADCSensorState)(int(SensorsReady) - 1); // retain this state (else, next state will be 0)
|
|
break;
|
|
}
|
|
else
|
|
adc_sensor_state = (ADCSensorState)0; // Fall-through to start first sensor now
|
|
}
|
|
|
|
#if HAS_TEMP_0
|
|
case PrepareTemp_0:
|
|
START_ADC(TEMP_0_PIN);
|
|
break;
|
|
case MeasureTemp_0:
|
|
raw_temp_value[0] += ADC;
|
|
break;
|
|
#endif
|
|
|
|
#if HAS_TEMP_BED
|
|
case PrepareTemp_BED:
|
|
START_ADC(TEMP_BED_PIN);
|
|
break;
|
|
case MeasureTemp_BED:
|
|
raw_temp_bed_value += ADC;
|
|
break;
|
|
#endif
|
|
|
|
#if HAS_TEMP_1
|
|
case PrepareTemp_1:
|
|
START_ADC(TEMP_1_PIN);
|
|
break;
|
|
case MeasureTemp_1:
|
|
raw_temp_value[1] += ADC;
|
|
break;
|
|
#endif
|
|
|
|
#if HAS_TEMP_2
|
|
case PrepareTemp_2:
|
|
START_ADC(TEMP_2_PIN);
|
|
break;
|
|
case MeasureTemp_2:
|
|
raw_temp_value[2] += ADC;
|
|
break;
|
|
#endif
|
|
|
|
#if HAS_TEMP_3
|
|
case PrepareTemp_3:
|
|
START_ADC(TEMP_3_PIN);
|
|
break;
|
|
case MeasureTemp_3:
|
|
raw_temp_value[3] += ADC;
|
|
break;
|
|
#endif
|
|
|
|
#if HAS_TEMP_4
|
|
case PrepareTemp_4:
|
|
START_ADC(TEMP_4_PIN);
|
|
break;
|
|
case MeasureTemp_4:
|
|
raw_temp_value[4] += ADC;
|
|
break;
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
case Prepare_FILWIDTH:
|
|
START_ADC(FILWIDTH_PIN);
|
|
break;
|
|
case Measure_FILWIDTH:
|
|
if (ADC > 102) { // Make sure ADC is reading > 0.5 volts, otherwise don't read.
|
|
raw_filwidth_value -= (raw_filwidth_value >> 7); // Subtract 1/128th of the raw_filwidth_value
|
|
raw_filwidth_value += ((unsigned long)ADC << 7); // Add new ADC reading, scaled by 128
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
case StartupDelay: break;
|
|
|
|
} // switch(adc_sensor_state)
|
|
|
|
if (!adc_sensor_state && ++temp_count >= OVERSAMPLENR) { // 10 * 16 * 1/(16000000/64/256) = 164ms.
|
|
|
|
temp_count = 0;
|
|
|
|
// Update the raw values if they've been read. Else we could be updating them during reading.
|
|
if (!temp_meas_ready) set_current_temp_raw();
|
|
|
|
// Filament Sensor - can be read any time since IIR filtering is used
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
current_raw_filwidth = raw_filwidth_value >> 10; // Divide to get to 0-16384 range since we used 1/128 IIR filter approach
|
|
#endif
|
|
|
|
ZERO(raw_temp_value);
|
|
raw_temp_bed_value = 0;
|
|
|
|
#define TEMPDIR(N) ((HEATER_##N##_RAW_LO_TEMP) > (HEATER_##N##_RAW_HI_TEMP) ? -1 : 1)
|
|
|
|
int constexpr temp_dir[] = {
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
0
|
|
#else
|
|
TEMPDIR(0)
|
|
#endif
|
|
#if HOTENDS > 1
|
|
, TEMPDIR(1)
|
|
#if HOTENDS > 2
|
|
, TEMPDIR(2)
|
|
#if HOTENDS > 3
|
|
, TEMPDIR(3)
|
|
#if HOTENDS > 4
|
|
, TEMPDIR(4)
|
|
#endif // HOTENDS > 4
|
|
#endif // HOTENDS > 3
|
|
#endif // HOTENDS > 2
|
|
#endif // HOTENDS > 1
|
|
};
|
|
|
|
for (uint8_t e = 0; e < COUNT(temp_dir); e++) {
|
|
const int16_t tdir = temp_dir[e], rawtemp = current_temperature_raw[e] * tdir;
|
|
if (rawtemp > maxttemp_raw[e] * tdir && target_temperature[e] > 0) max_temp_error(e);
|
|
if (rawtemp < minttemp_raw[e] * tdir && !is_preheating(e) && target_temperature[e] > 0) {
|
|
#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
|
|
if (++consecutive_low_temperature_error[e] >= MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED)
|
|
#endif
|
|
min_temp_error(e);
|
|
}
|
|
#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
|
|
else
|
|
consecutive_low_temperature_error[e] = 0;
|
|
#endif
|
|
}
|
|
|
|
#if HAS_TEMP_BED
|
|
#if HEATER_BED_RAW_LO_TEMP > HEATER_BED_RAW_HI_TEMP
|
|
#define GEBED <=
|
|
#else
|
|
#define GEBED >=
|
|
#endif
|
|
if (current_temperature_bed_raw GEBED bed_maxttemp_raw && target_temperature_bed > 0) max_temp_error(-1);
|
|
if (bed_minttemp_raw GEBED current_temperature_bed_raw && target_temperature_bed > 0) min_temp_error(-1);
|
|
#endif
|
|
|
|
} // temp_count >= OVERSAMPLENR
|
|
|
|
// Go to the next state, up to SensorsReady
|
|
adc_sensor_state = (ADCSensorState)((int(adc_sensor_state) + 1) % int(StartupDelay));
|
|
|
|
#if ENABLED(BABYSTEPPING)
|
|
LOOP_XYZ(axis) {
|
|
const int curTodo = babystepsTodo[axis]; // get rid of volatile for performance
|
|
if (curTodo > 0) {
|
|
stepper.babystep((AxisEnum)axis, /*fwd*/true);
|
|
babystepsTodo[axis]--;
|
|
}
|
|
else if (curTodo < 0) {
|
|
stepper.babystep((AxisEnum)axis, /*fwd*/false);
|
|
babystepsTodo[axis]++;
|
|
}
|
|
}
|
|
#endif // BABYSTEPPING
|
|
|
|
#if ENABLED(PINS_DEBUGGING)
|
|
extern bool endstop_monitor_flag;
|
|
// run the endstop monitor at 15Hz
|
|
static uint8_t endstop_monitor_count = 16; // offset this check from the others
|
|
if (endstop_monitor_flag) {
|
|
endstop_monitor_count += _BV(1); // 15 Hz
|
|
endstop_monitor_count &= 0x7F;
|
|
if (!endstop_monitor_count) endstop_monitor(); // report changes in endstop status
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
|
|
|
|
extern volatile uint8_t e_hit;
|
|
|
|
if (e_hit && ENDSTOPS_ENABLED) {
|
|
endstops.update(); // call endstop update routine
|
|
e_hit--;
|
|
}
|
|
#endif
|
|
|
|
cli();
|
|
in_temp_isr = false;
|
|
SBI(TIMSK0, OCIE0B); //re-enable Temperature ISR
|
|
}
|