/* temperature.c - temperature control Part of Marlin Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /* This firmware is a mashup between Sprinter and grbl. (https://github.com/kliment/Sprinter) (https://github.com/simen/grbl/tree) It has preliminary support for Matthew Roberts advance algorithm http://reprap.org/pipermail/reprap-dev/2011-May/003323.html */ #include "Marlin.h" #include "ultralcd.h" #include "temperature.h" #include "watchdog.h" #include "cardreader.h" #include "Sd2PinMap.h" #include //=========================================================================== //=============================public variables============================ //=========================================================================== int target_temperature[EXTRUDERS] = { 0 }; int target_temperature_bed = 0; int current_temperature_raw[EXTRUDERS] = { 0 }; float current_temperature[EXTRUDERS] = { 0.0 }; #ifdef PINDA_THERMISTOR int current_temperature_raw_pinda = 0 ; float current_temperature_pinda = 0.0; #endif //PINDA_THERMISTOR #ifdef AMBIENT_THERMISTOR int current_temperature_raw_ambient = 0 ; float current_temperature_ambient = 0.0; #endif //AMBIENT_THERMISTOR int current_temperature_bed_raw = 0; float current_temperature_bed = 0.0; #ifdef TEMP_SENSOR_1_AS_REDUNDANT int redundant_temperature_raw = 0; float redundant_temperature = 0.0; #endif #ifdef PIDTEMP float _Kp, _Ki, _Kd; int pid_cycle, pid_number_of_cycles; bool pid_tuning_finished = false; 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 #endif //PIDTEMP #ifdef PIDTEMPBED float bedKp=DEFAULT_bedKp; float bedKi=(DEFAULT_bedKi*PID_dT); float bedKd=(DEFAULT_bedKd/PID_dT); #endif //PIDTEMPBED #ifdef FAN_SOFT_PWM unsigned char fanSpeedSoftPwm; #endif #if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1) unsigned char lcdSoftPwm = (LCD_PWM_MAX * 2 + 1); //set default value to maximum unsigned char lcdBlinkDelay = 0; //lcd blinking delay (0 = no blink) #endif unsigned char soft_pwm_bed; #ifdef BABYSTEPPING volatile int babystepsTodo[3]={0,0,0}; #endif #ifdef FILAMENT_SENSOR int current_raw_filwidth = 0; //Holds measured filament diameter - one extruder only #endif //=========================================================================== //=============================private variables============================ //=========================================================================== static volatile bool temp_meas_ready = false; #ifdef PIDTEMP //static cannot be external: static float temp_iState[EXTRUDERS] = { 0 }; static float temp_dState[EXTRUDERS] = { 0 }; static float pTerm[EXTRUDERS]; static float iTerm[EXTRUDERS]; static float dTerm[EXTRUDERS]; //int output; static float pid_error[EXTRUDERS]; static float temp_iState_min[EXTRUDERS]; static float temp_iState_max[EXTRUDERS]; // static float pid_input[EXTRUDERS]; // static float pid_output[EXTRUDERS]; static bool pid_reset[EXTRUDERS]; #endif //PIDTEMP #ifdef PIDTEMPBED //static cannot be external: static float temp_iState_bed = { 0 }; static float temp_dState_bed = { 0 }; static float pTerm_bed; static float iTerm_bed; static float dTerm_bed; //int output; static float pid_error_bed; static float temp_iState_min_bed; static float temp_iState_max_bed; #else //PIDTEMPBED static unsigned long previous_millis_bed_heater; #endif //PIDTEMPBED static unsigned char soft_pwm[EXTRUDERS]; #ifdef FAN_SOFT_PWM static unsigned char soft_pwm_fan; #endif #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) static unsigned long extruder_autofan_last_check; #endif #if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1) static unsigned char soft_pwm_lcd = 0; static unsigned char lcd_blink_delay = 0; static bool lcd_blink_on = false; #endif #if EXTRUDERS > 3 # error Unsupported number of extruders #elif EXTRUDERS > 2 # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 } #elif EXTRUDERS > 1 # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 } #else # define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 } #endif // Init min and max temp with extreme values to prevent false errors during startup static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP ); static int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP ); static int minttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 0, 0, 0 ); static int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS( 16383, 16383, 16383 ); #ifdef BED_MINTEMP static int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP; #endif #ifdef BED_MAXTEMP static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP; #endif #ifdef TEMP_SENSOR_1_AS_REDUNDANT static void *heater_ttbl_map[2] = {(void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE }; static uint8_t heater_ttbllen_map[2] = { HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN }; #else static void *heater_ttbl_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( (void *)HEATER_0_TEMPTABLE, (void *)HEATER_1_TEMPTABLE, (void *)HEATER_2_TEMPTABLE ); static uint8_t heater_ttbllen_map[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN ); #endif static float analog2temp(int raw, uint8_t e); static float analog2tempBed(int raw); static float analog2tempAmbient(int raw); static void updateTemperaturesFromRawValues(); enum TempRunawayStates { TempRunaway_INACTIVE = 0, TempRunaway_PREHEAT = 1, TempRunaway_ACTIVE = 2, }; #ifdef WATCH_TEMP_PERIOD int watch_start_temp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0); unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0); #endif //WATCH_TEMP_PERIOD #ifndef SOFT_PWM_SCALE #define SOFT_PWM_SCALE 0 #endif #ifdef FILAMENT_SENSOR static int meas_shift_index; //used to point to a delayed sample in buffer for filament width sensor #endif //=========================================================================== //============================= functions ============================ //=========================================================================== void PID_autotune(float temp, int extruder, int ncycles) { pid_number_of_cycles = ncycles; pid_tuning_finished = false; float input = 0.0; pid_cycle=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; long bias, d; float Ku, Tu; float max = 0, min = 10000; uint8_t safety_check_cycles = 0; const uint8_t safety_check_cycles_count = (extruder < 0) ? 45 : 10; //10 cycles / 20s delay for extruder and 45 cycles / 90s for heatbed float temp_ambient; #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) unsigned long extruder_autofan_last_check = millis(); #endif if ((extruder >= EXTRUDERS) #if (TEMP_BED_PIN <= -1) ||(extruder < 0) #endif ){ SERIAL_ECHOLN("PID Autotune failed. Bad extruder number."); pid_tuning_finished = true; pid_cycle = 0; 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; } for(;;) { 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); #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) { checkExtruderAutoFans(); extruder_autofan_last_check = millis(); } #endif if(heating == true && input > temp) { if(millis() - 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; } } if(heating == false && input < temp) { if(millis() - t1 > 5000) { heating=true; t2=millis(); t_low=t2 - t1; if(pid_cycle > 0) { 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; 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(pid_cycle > 2) { Ku = (4.0*d)/(3.14159*(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; SERIAL_PROTOCOLLNPGM(" Classic PID "); SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(_Kp); SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(_Ki); SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(_Kd); /* _Kp = 0.33*Ku; _Ki = _Kp/Tu; _Kd = _Kp*Tu/3; SERIAL_PROTOCOLLNPGM(" Some overshoot "); SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(_Kp); SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(_Ki); SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(_Kd); _Kp = 0.2*Ku; _Ki = 2*_Kp/Tu; _Kd = _Kp*Tu/3; SERIAL_PROTOCOLLNPGM(" No overshoot "); SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(_Kp); SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(_Ki); SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(_Kd); */ } } if (extruder<0) soft_pwm_bed = (bias + d) >> 1; else soft_pwm[extruder] = (bias + d) >> 1; pid_cycle++; min=temp; } } } if(input > (temp + 20)) { SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature too high"); pid_tuning_finished = true; pid_cycle = 0; return; } if(millis() - temp_millis > 2000) { int p; if (extruder<0){ p=soft_pwm_bed; SERIAL_PROTOCOLPGM("ok B:"); }else{ p=soft_pwm[extruder]; SERIAL_PROTOCOLPGM("ok T:"); } SERIAL_PROTOCOL(input); SERIAL_PROTOCOLPGM(" @:"); SERIAL_PROTOCOLLN(p); if (safety_check_cycles == 0) { //save ambient temp temp_ambient = input; //SERIAL_ECHOPGM("Ambient T: "); //MYSERIAL.println(temp_ambient); safety_check_cycles++; } else if (safety_check_cycles < safety_check_cycles_count) { //delay safety_check_cycles++; } else if (safety_check_cycles == safety_check_cycles_count){ //check that temperature is rising safety_check_cycles++; //SERIAL_ECHOPGM("Time from beginning: "); //MYSERIAL.print(safety_check_cycles_count * 2); //SERIAL_ECHOPGM("s. Difference between current and ambient T: "); //MYSERIAL.println(input - temp_ambient); if (abs(input - temp_ambient) < 5.0) { temp_runaway_stop(false, (extruder<0)); pid_tuning_finished = true; return; } } temp_millis = millis(); } if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) { SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout"); pid_tuning_finished = true; pid_cycle = 0; return; } if(pid_cycle > ncycles) { SERIAL_PROTOCOLLNPGM("PID Autotune finished! Put the last Kp, Ki and Kd constants from above into Configuration.h"); pid_tuning_finished = true; pid_cycle = 0; return; } lcd_update(); } } void updatePID() { #ifdef PIDTEMP for(int e = 0; e < EXTRUDERS; e++) { temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki; } #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]; } #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 defined(FAN_PIN) && FAN_PIN > -1 #if EXTRUDER_0_AUTO_FAN_PIN == FAN_PIN #error "You cannot set EXTRUDER_0_AUTO_FAN_PIN equal to FAN_PIN" #endif #if EXTRUDER_1_AUTO_FAN_PIN == FAN_PIN #error "You cannot set EXTRUDER_1_AUTO_FAN_PIN equal to FAN_PIN" #endif #if EXTRUDER_2_AUTO_FAN_PIN == FAN_PIN #error "You cannot set EXTRUDER_2_AUTO_FAN_PIN equal to FAN_PIN" #endif #endif void setExtruderAutoFanState(int pin, bool state) { unsigned char newFanSpeed = (state != 0) ? EXTRUDER_AUTO_FAN_SPEED : 0; // this idiom allows both digital and PWM fan outputs (see M42 handling). pinMode(pin, OUTPUT); digitalWrite(pin, newFanSpeed); analogWrite(pin, newFanSpeed); } void countFanSpeed() { //SERIAL_ECHOPGM("edge counter 1:"); MYSERIAL.println(fan_edge_counter[1]); fan_speed[0] = (fan_edge_counter[0] * (float(250) / (millis() - extruder_autofan_last_check))); fan_speed[1] = (fan_edge_counter[1] * (float(250) / (millis() - extruder_autofan_last_check))); /*SERIAL_ECHOPGM("time interval: "); MYSERIAL.println(millis() - extruder_autofan_last_check); SERIAL_ECHOPGM("extruder fan speed:"); MYSERIAL.print(fan_speed[0]); SERIAL_ECHOPGM("; edge counter:"); MYSERIAL.println(fan_edge_counter[0]); SERIAL_ECHOPGM("print fan speed:"); MYSERIAL.print(fan_speed[1]); SERIAL_ECHOPGM("; edge counter:"); MYSERIAL.println(fan_edge_counter[1]); SERIAL_ECHOLNPGM(" ");*/ fan_edge_counter[0] = 0; fan_edge_counter[1] = 0; } void checkFanSpeed() { bool fans_check_enabled = (eeprom_read_byte((uint8_t*)EEPROM_FAN_CHECK_ENABLED) > 0); static unsigned char fan_speed_errors[2] = { 0,0 }; if (fan_speed[0] == 0 && (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE)) fan_speed_errors[0]++; else fan_speed_errors[0] = 0; if ((fan_speed[1] == 0)&& (fanSpeed > MIN_PRINT_FAN_SPEED)) fan_speed_errors[1]++; else fan_speed_errors[1] = 0; if ((fan_speed_errors[0] > 5) && fans_check_enabled) fanSpeedError(0); //extruder fan if ((fan_speed_errors[1] > 15) && fans_check_enabled) fanSpeedError(1); //print fan } extern void stop_and_save_print_to_ram(float z_move, float e_move); extern void restore_print_from_ram_and_continue(float e_move); void fanSpeedError(unsigned char _fan) { if (get_message_level() != 0 && isPrintPaused) return; //to ensure that target temp. is not set to zero in case taht we are resuming print if (card.sdprinting) { if (heating_status != 0) { lcd_print_stop(); } else { isPrintPaused = true; lcd_sdcard_pause(); } } else { setTargetHotend0(0); } SERIAL_ERROR_START; switch (_fan) { case 0: SERIAL_ERRORLNPGM("ERROR: Extruder fan speed is lower then expected"); if (get_message_level() == 0) { WRITE(BEEPER, HIGH); delayMicroseconds(200); WRITE(BEEPER, LOW); delayMicroseconds(100); LCD_ALERTMESSAGEPGM("Err: EXTR. FAN ERROR"); } break; case 1: SERIAL_ERRORLNPGM("ERROR: Print fan speed is lower then expected"); if (get_message_level() == 0) { WRITE(BEEPER, HIGH); delayMicroseconds(200); WRITE(BEEPER, LOW); delayMicroseconds(100); LCD_ALERTMESSAGEPGM("Err: PRINT FAN ERROR"); } break; } } void checkExtruderAutoFans() { uint8_t fanState = 0; // which fan pins need to be turned on? #if defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1 if (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE) fanState |= 1; #endif #if defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1 if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) { if (EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) fanState |= 1; else fanState |= 2; } #endif #if defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1 if (current_temperature[2] > EXTRUDER_AUTO_FAN_TEMPERATURE) { if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) fanState |= 1; else if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN) fanState |= 2; else fanState |= 4; } #endif // update extruder auto fan states #if defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1 setExtruderAutoFanState(EXTRUDER_0_AUTO_FAN_PIN, (fanState & 1) != 0); #endif #if defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1 if (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN) setExtruderAutoFanState(EXTRUDER_1_AUTO_FAN_PIN, (fanState & 2) != 0); #endif #if defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1 if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN && EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN) setExtruderAutoFanState(EXTRUDER_2_AUTO_FAN_PIN, (fanState & 4) != 0); #endif } #endif // any extruder auto fan pins set void manage_heater() { wdt_reset(); float pid_input; float pid_output; if(temp_meas_ready != true) //better readability return; updateTemperaturesFromRawValues(); #ifdef TEMP_RUNAWAY_BED_HYSTERESIS temp_runaway_check(0, target_temperature_bed, current_temperature_bed, (int)soft_pwm_bed, true); #endif for(int e = 0; e < EXTRUDERS; e++) { #ifdef TEMP_RUNAWAY_EXTRUDER_HYSTERESIS temp_runaway_check(e+1, target_temperature[e], current_temperature[e], (int)soft_pwm[e], false); #endif #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) { pid_output = BANG_MAX; pid_reset[e] = true; } else if(pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) { pid_output = 0; pid_reset[e] = true; } else { if(pid_reset[e] == true) { temp_iState[e] = 0.0; pid_reset[e] = false; } pTerm[e] = Kp * pid_error[e]; temp_iState[e] += pid_error[e]; temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]); iTerm[e] = Ki * temp_iState[e]; //K1 defined in Configuration.h in the PID settings #define K2 (1.0-K1) dTerm[e] = (Kd * (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; } } 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 // 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; } #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; } } #endif #ifdef TEMP_SENSOR_1_AS_REDUNDANT if(fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) { disable_heater(); 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"); } #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE Stop(); #endif } #endif } // End extruder for 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 > 1000) // only need to check fan state very infrequently { countFanSpeed(); checkFanSpeed(); checkExtruderAutoFans(); extruder_autofan_last_check = millis(); } #endif #ifndef PIDTEMPBED if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) return; previous_millis_bed_heater = millis(); #endif #if TEMP_SENSOR_BED != 0 #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; //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; } #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; } #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; } } else { soft_pwm_bed = 0; WRITE(HEATER_BED_PIN,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) { soft_pwm_bed = 0; } else if(current_temperature_bed <= target_temperature_bed - BED_HYSTERESIS) { soft_pwm_bed = MAX_BED_POWER>>1; } } else { soft_pwm_bed = 0; WRITE(HEATER_BED_PIN,LOW); } #endif #endif //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 //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 #ifdef HOST_KEEPALIVE_FEATURE host_keepalive(); #endif } #define PGM_RD_W(x) (short)pgm_read_word(&x) // Derived from RepRap FiveD extruder::getTemperature() // For hot end temperature measurement. static float analog2temp(int raw, uint8_t e) { #ifdef TEMP_SENSOR_1_AS_REDUNDANT if(e > EXTRUDERS) #else if(e >= EXTRUDERS) #endif { SERIAL_ERROR_START; SERIAL_ERROR((int)e); SERIAL_ERRORLNPGM(" - Invalid extruder number !"); kill("", 6); return 0.0; } #ifdef 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 raw) { celsius = PGM_RD_W((*tt)[i-1][1]) + (raw - PGM_RD_W((*tt)[i-1][0])) * (float)(PGM_RD_W((*tt)[i][1]) - PGM_RD_W((*tt)[i-1][1])) / (float)(PGM_RD_W((*tt)[i][0]) - PGM_RD_W((*tt)[i-1][0])); break; } } // Overflow: Set to last value in the table if (i == heater_ttbllen_map[e]) celsius = PGM_RD_W((*tt)[i-1][1]); return celsius; } return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET; } // Derived from RepRap FiveD extruder::getTemperature() // For bed temperature measurement. static float analog2tempBed(int raw) { #ifdef BED_USES_THERMISTOR float celsius = 0; byte i; for (i=1; i 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]); // temperature offset adjustment #ifdef BED_OFFSET float _offset = BED_OFFSET; float _offset_center = BED_OFFSET_CENTER; float _offset_start = BED_OFFSET_START; float _first_koef = (_offset / 2) / (_offset_center - _offset_start); float _second_koef = (_offset / 2) / (100 - _offset_center); if (celsius >= _offset_start && celsius <= _offset_center) { celsius = celsius + (_first_koef * (celsius - _offset_start)); } else if (celsius > _offset_center && celsius <= 100) { celsius = celsius + (_first_koef * (_offset_center - _offset_start)) + ( _second_koef * ( celsius - ( 100 - _offset_center ) )) ; } else if (celsius > 100) { celsius = celsius + _offset; } #endif 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 return 0; #endif } static float analog2tempAmbient(int raw) { float celsius = 0; byte i; for (i=1; i raw) { celsius = PGM_RD_W(AMBIENTTEMPTABLE[i-1][1]) + (raw - PGM_RD_W(AMBIENTTEMPTABLE[i-1][0])) * (float)(PGM_RD_W(AMBIENTTEMPTABLE[i][1]) - PGM_RD_W(AMBIENTTEMPTABLE[i-1][1])) / (float)(PGM_RD_W(AMBIENTTEMPTABLE[i][0]) - PGM_RD_W(AMBIENTTEMPTABLE[i-1][0])); break; } } // Overflow: Set to last value in the table if (i == AMBIENTTEMPTABLE_LEN) celsius = PGM_RD_W(AMBIENTTEMPTABLE[i-1][1]); return celsius; } /* Called to get the raw values into the the actual temperatures. The raw values are created in interrupt context, and this function is called from normal context as it is too slow to run in interrupts and will block the stepper routine otherwise */ static void updateTemperaturesFromRawValues() { for(uint8_t e=0;e -1) //check if a sensor is supported filament_width_meas = analog2widthFil(); #endif //Reset the watchdog after we know we have a temperature measurement. watchdog_reset(); CRITICAL_SECTION_START; temp_meas_ready = false; CRITICAL_SECTION_END; } // 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; return(filament_width_nominal/temp*100); } #endif 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) SET_OUTPUT(HEATER_0_PIN); #endif #if defined(HEATER_1_PIN) && (HEATER_1_PIN > -1) SET_OUTPUT(HEATER_1_PIN); #endif #if defined(HEATER_2_PIN) && (HEATER_2_PIN > -1) SET_OUTPUT(HEATER_2_PIN); #endif #if defined(HEATER_BED_PIN) && (HEATER_BED_PIN > -1) SET_OUTPUT(HEATER_BED_PIN); #endif #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 #endif #ifdef FAN_SOFT_PWM soft_pwm_fan = fanSpeedSoftPwm / 2; #endif #if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1) soft_pwm_lcd = lcdSoftPwm / 2; lcd_blink_delay = lcdBlinkDelay; lcd_blink_on = true; #endif #endif #ifdef HEATER_0_USES_MAX6675 #ifndef SDSUPPORT SET_OUTPUT(SCK_PIN); WRITE(SCK_PIN,0); SET_OUTPUT(MOSI_PIN); WRITE(MOSI_PIN,1); SET_INPUT(MISO_PIN); WRITE(MISO_PIN,1); #endif /* Using pinMode and digitalWrite, as that was the only way I could get it to compile */ //Have to toggle SD card CS pin to low first, to enable firmware to talk with SD card pinMode(SS_PIN, OUTPUT); digitalWrite(SS_PIN,0); pinMode(MAX6675_SS, OUTPUT); digitalWrite(MAX6675_SS,1); #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 #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 #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 #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 #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 #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 } #if (defined (TEMP_RUNAWAY_BED_HYSTERESIS) && TEMP_RUNAWAY_BED_TIMEOUT > 0) || (defined (TEMP_RUNAWAY_EXTRUDER_HYSTERESIS) && TEMP_RUNAWAY_EXTRUDER_TIMEOUT > 0) void temp_runaway_check(int _heater_id, float _target_temperature, float _current_temperature, float _output, bool _isbed) { float __hysteresis = 0; int __timeout = 0; bool temp_runaway_check_active = false; static float __preheat_start[2] = { 0,0}; //currently just bed and one extruder static int __preheat_counter[2] = { 0,0}; static int __preheat_errors[2] = { 0,0}; #ifdef TEMP_RUNAWAY_BED_TIMEOUT if (_isbed) { __hysteresis = TEMP_RUNAWAY_BED_HYSTERESIS; __timeout = TEMP_RUNAWAY_BED_TIMEOUT; } #endif #ifdef TEMP_RUNAWAY_EXTRUDER_TIMEOUT if (!_isbed) { __hysteresis = TEMP_RUNAWAY_EXTRUDER_HYSTERESIS; __timeout = TEMP_RUNAWAY_EXTRUDER_TIMEOUT; } #endif if (millis() - temp_runaway_timer[_heater_id] > 2000) { temp_runaway_timer[_heater_id] = millis(); if (_output == 0) { temp_runaway_check_active = false; temp_runaway_error_counter[_heater_id] = 0; } if (temp_runaway_target[_heater_id] != _target_temperature) { if (_target_temperature > 0) { temp_runaway_status[_heater_id] = TempRunaway_PREHEAT; temp_runaway_target[_heater_id] = _target_temperature; __preheat_start[_heater_id] = _current_temperature; __preheat_counter[_heater_id] = 0; } else { temp_runaway_status[_heater_id] = TempRunaway_INACTIVE; temp_runaway_target[_heater_id] = _target_temperature; } } if (temp_runaway_status[_heater_id] == TempRunaway_PREHEAT) { if (_current_temperature < ((_isbed) ? (0.8 * _target_temperature) : 150)) //check only in area where temperature is changing fastly for heater, check to 0.8 x target temperature for bed { __preheat_counter[_heater_id]++; if (__preheat_counter[_heater_id] > ((_isbed) ? 16 : 8)) // periodicaly check if current temperature changes { /*SERIAL_ECHOPGM("Heater:"); MYSERIAL.print(_heater_id); SERIAL_ECHOPGM(" T:"); MYSERIAL.print(_current_temperature); SERIAL_ECHOPGM(" Tstart:"); MYSERIAL.print(__preheat_start[_heater_id]);*/ if (_current_temperature - __preheat_start[_heater_id] < 2) { __preheat_errors[_heater_id]++; /*SERIAL_ECHOPGM(" Preheat errors:"); MYSERIAL.println(__preheat_errors[_heater_id]);*/ } else { //SERIAL_ECHOLNPGM(""); __preheat_errors[_heater_id] = 0; } if (__preheat_errors[_heater_id] > ((_isbed) ? 2 : 5)) { if (farm_mode) { prusa_statistics(0); } temp_runaway_stop(true, _isbed); if (farm_mode) { prusa_statistics(91); } } __preheat_start[_heater_id] = _current_temperature; __preheat_counter[_heater_id] = 0; } } } if (_current_temperature >= _target_temperature && temp_runaway_status[_heater_id] == TempRunaway_PREHEAT) { temp_runaway_status[_heater_id] = TempRunaway_ACTIVE; temp_runaway_check_active = false; } if (!temp_runaway_check_active && _output > 0) { temp_runaway_check_active = true; } if (temp_runaway_check_active) { // we are in range if (_target_temperature - __hysteresis < _current_temperature && _current_temperature < _target_temperature + __hysteresis) { temp_runaway_check_active = false; temp_runaway_error_counter[_heater_id] = 0; } else { if (temp_runaway_status[_heater_id] > TempRunaway_PREHEAT) { temp_runaway_error_counter[_heater_id]++; if (temp_runaway_error_counter[_heater_id] * 2 > __timeout) { if (farm_mode) { prusa_statistics(0); } temp_runaway_stop(false, _isbed); if (farm_mode) { prusa_statistics(90); } } } } } } } void temp_runaway_stop(bool isPreheat, bool isBed) { cancel_heatup = true; quickStop(); if (card.sdprinting) { card.sdprinting = false; card.closefile(); } disable_heater(); disable_x(); disable_y(); disable_e0(); disable_e1(); disable_e2(); manage_heater(); lcd_update(); WRITE(BEEPER, HIGH); delayMicroseconds(500); WRITE(BEEPER, LOW); delayMicroseconds(100); if (isPreheat) { Stop(); isBed ? LCD_ALERTMESSAGEPGM("BED PREHEAT ERROR") : LCD_ALERTMESSAGEPGM("PREHEAT ERROR"); SERIAL_ERROR_START; isBed ? SERIAL_ERRORLNPGM(" THERMAL RUNAWAY ( PREHEAT HEATBED)") : SERIAL_ERRORLNPGM(" THERMAL RUNAWAY ( PREHEAT HOTEND)"); SET_OUTPUT(EXTRUDER_0_AUTO_FAN_PIN); SET_OUTPUT(FAN_PIN); WRITE(EXTRUDER_0_AUTO_FAN_PIN, 1); analogWrite(FAN_PIN, 255); fanSpeed = 255; delayMicroseconds(2000); } else { isBed ? LCD_ALERTMESSAGEPGM("BED THERMAL RUNAWAY") : LCD_ALERTMESSAGEPGM("THERMAL RUNAWAY"); SERIAL_ERROR_START; isBed ? SERIAL_ERRORLNPGM(" HEATBED THERMAL RUNAWAY") : SERIAL_ERRORLNPGM(" HOTEND THERMAL RUNAWAY"); } } #endif 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 #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); #endif #endif } void max_temp_error(uint8_t e) { disable_heater(); if(IsStopped() == false) { SERIAL_ERROR_START; SERIAL_ERRORLN((int)e); SERIAL_ERRORLNPGM(": Extruder switched off. MAXTEMP triggered !"); LCD_ALERTMESSAGEPGM("Err: MAXTEMP"); } #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE Stop(); #endif SET_OUTPUT(EXTRUDER_0_AUTO_FAN_PIN); SET_OUTPUT(FAN_PIN); SET_OUTPUT(BEEPER); WRITE(FAN_PIN, 1); WRITE(EXTRUDER_0_AUTO_FAN_PIN, 1); WRITE(BEEPER, 1); // fanSpeed will consumed by the check_axes_activity() routine. fanSpeed=255; if (farm_mode) { prusa_statistics(93); } } void min_temp_error(uint8_t e) { #ifdef DEBUG_DISABLE_MINTEMP return; #endif if (current_temperature_ambient < MINTEMP_MINAMBIENT) return; disable_heater(); if(IsStopped() == false) { SERIAL_ERROR_START; SERIAL_ERRORLN((int)e); SERIAL_ERRORLNPGM(": Extruder switched off. MINTEMP triggered !"); LCD_ALERTMESSAGEPGM("Err: MINTEMP"); } #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE Stop(); #endif if (farm_mode) { prusa_statistics(92); } } void bed_max_temp_error(void) { #if HEATER_BED_PIN > -1 WRITE(HEATER_BED_PIN, 0); #endif if(IsStopped() == false) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !"); LCD_ALERTMESSAGEPGM("Err: MAXTEMP BED"); } #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE Stop(); #endif } void bed_min_temp_error(void) { #ifdef DEBUG_DISABLE_MINTEMP return; #endif if (current_temperature_ambient < MINTEMP_MINAMBIENT) return; #if HEATER_BED_PIN > -1 WRITE(HEATER_BED_PIN, 0); #endif if(IsStopped() == false) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM("Temperature heated bed switched off. MINTEMP triggered !"); LCD_ALERTMESSAGEPGM("Err: MINTEMP BED"); } #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE Stop(); #endif*/ } #ifdef HEATER_0_USES_MAX6675 #define MAX6675_HEAT_INTERVAL 250 long max6675_previous_millis = MAX6675_HEAT_INTERVAL; int max6675_temp = 2000; int read_max6675() { if (millis() - max6675_previous_millis < MAX6675_HEAT_INTERVAL) return max6675_temp; max6675_previous_millis = millis(); max6675_temp = 0; #ifdef PRR PRR &= ~(1<> 3; } return max6675_temp; } #endif // Timer 0 is shared with millies ISR(TIMER0_COMPB_vect) { // if (UVLO) uvlo(); //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; static unsigned long raw_temp_1_value = 0; static unsigned long raw_temp_2_value = 0; static unsigned long raw_temp_bed_value = 0; static unsigned long raw_temp_pinda_value = 0; static unsigned long raw_temp_ambient_value = 0; static unsigned char temp_state = 14; 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 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); #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 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 defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1) if ((pwm_count & LCD_PWM_MAX) == 0) { if (lcd_blink_delay) { lcd_blink_delay--; if (lcd_blink_delay == 0) { lcd_blink_delay = lcdBlinkDelay; lcd_blink_on = !lcd_blink_on; } } else { lcd_blink_delay = lcdBlinkDelay; lcd_blink_on = true; } soft_pwm_lcd = (lcd_blink_on) ? (lcdSoftPwm / 2) : 0; if (soft_pwm_lcd > 0) WRITE(LCD_PWM_PIN,1); else WRITE(LCD_PWM_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 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 #if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1) if (soft_pwm_lcd < (pwm_count & LCD_PWM_MAX)) WRITE(LCD_PWM_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 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 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 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) raw_temp_0_value += ADC; #endif #ifdef HEATER_0_USES_MAX6675 // TODO remove the blocking raw_temp_0_value = read_max6675(); #endif temp_state = 2; break; case 2: // Prepare TEMP_BED #if defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1) #if TEMP_BED_PIN > 7 ADCSRB = 1< -1) raw_temp_bed_value += ADC; #endif temp_state = 4; break; case 4: // Prepare TEMP_1 #if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1) #if TEMP_1_PIN > 7 ADCSRB = 1< -1) raw_temp_1_value += ADC; #endif temp_state = 6; break; case 6: // Prepare TEMP_2 #if defined(TEMP_2_PIN) && (TEMP_2_PIN > -1) #if TEMP_2_PIN > 7 ADCSRB = 1< -1) raw_temp_2_value += ADC; #endif temp_state = 8;//change so that Filament Width is also measured break; case 8: //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 } #endif temp_state = 10; break; case 10: // Prepare TEMP_AMBIENT #if defined(TEMP_AMBIENT_PIN) && (TEMP_AMBIENT_PIN > -1) #if TEMP_AMBIENT_PIN > 7 ADCSRB = 1< -1) raw_temp_ambient_value += ADC; #endif temp_state = 12; break; case 12: // Prepare TEMP_PINDA #if defined(TEMP_PINDA_PIN) && (TEMP_PINDA_PIN > -1) #if TEMP_PINDA_PIN > 7 ADCSRB = 1< -1) raw_temp_pinda_value += ADC; #endif temp_state = 0; temp_count++; break; case 14: //Startup, delay initial temp reading a tiny bit so the hardware can settle. temp_state = 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. { current_temperature_raw[0] = raw_temp_0_value; #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 #ifdef PINDA_THERMISTOR current_temperature_raw_pinda = raw_temp_pinda_value; #endif //PINDA_THERMISTOR #ifdef AMBIENT_THERMISTOR current_temperature_raw_ambient = raw_temp_ambient_value; #endif //AMBIENT_THERMISTOR 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 temp_meas_ready = true; temp_count = 0; raw_temp_0_value = 0; raw_temp_1_value = 0; raw_temp_2_value = 0; raw_temp_bed_value = 0; raw_temp_pinda_value = 0; raw_temp_ambient_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 max_temp_error(0); } #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 min_temp_error(0); } #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); } #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 /* 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(); } } # if HEATER_BED_RAW_LO_TEMP > HEATER_BED_RAW_HI_TEMP if(current_temperature_bed_raw >= bed_minttemp_raw) { #else if(current_temperature_bed_raw <= bed_minttemp_raw) { #endif bed_min_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 check_fans(); } void check_fans() { if (READ(TACH_0) != fan_state[0]) { fan_edge_counter[0] ++; fan_state[0] = !fan_state[0]; } //if (READ(TACH_1) != fan_state[1]) { // fan_edge_counter[1] ++; // fan_state[1] = !fan_state[1]; //} } #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; } #endif //PIDTEMP