/* 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 "temperature.h" #include "stepper.h" #include "ultralcd.h" #include "menu.h" #include "sound.h" #include "fancheck.h" #include "messages.h" #include "language.h" #include "SdFatUtil.h" #include #include #include "adc.h" #include "ConfigurationStore.h" #include "Timer.h" #include "Configuration_var.h" #include "Prusa_farm.h" #if (ADC_OVRSAMPL != OVERSAMPLENR) #error "ADC_OVRSAMPL oversampling must match OVERSAMPLENR" #endif #ifdef SYSTEM_TIMER_2 #define ENABLE_SOFT_PWM_INTERRUPT() TIMSK2 |= (1< 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 AMBIENT_MINTEMP static int ambient_minttemp_raw = AMBIENT_RAW_LO_TEMP; #endif #ifdef AMBIENT_MAXTEMP static int ambient_maxttemp_raw = AMBIENT_RAW_HI_TEMP; #endif 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 ); static float analog2temp(int raw, uint8_t e); static float analog2tempBed(int raw); #ifdef AMBIENT_MAXTEMP static float analog2tempAmbient(int raw); #endif static void updateTemperatures(); enum TempRunawayStates : uint8_t { TempRunaway_INACTIVE = 0, TempRunaway_PREHEAT = 1, TempRunaway_ACTIVE = 2, }; #ifndef SOFT_PWM_SCALE #define SOFT_PWM_SCALE 0 #endif //=========================================================================== //============================= functions ============================ //=========================================================================== #if (defined (TEMP_RUNAWAY_BED_HYSTERESIS) && TEMP_RUNAWAY_BED_TIMEOUT > 0) || (defined (TEMP_RUNAWAY_EXTRUDER_HYSTERESIS) && TEMP_RUNAWAY_EXTRUDER_TIMEOUT > 0) static uint8_t temp_runaway_status[1 + EXTRUDERS]; static float temp_runaway_target[1 + EXTRUDERS]; static uint32_t temp_runaway_timer[1 + EXTRUDERS]; static uint16_t temp_runaway_error_counter[1 + EXTRUDERS]; static void temp_runaway_check(uint8_t _heater_id, float _target_temperature, float _current_temperature, float _output, bool _isbed); static void temp_runaway_stop(bool isPreheat, bool isBed); #endif // return "false", if all extruder-heaters are 'off' (ie. "true", if any heater is 'on') bool checkAllHotends(void) { bool result=false; for(int i=0;i -1) unsigned long extruder_autofan_last_check = _millis(); #endif if ((extruder >= EXTRUDERS) #if (TEMP_BED_PIN <= -1) ||(extruder < 0) #endif ){ SERIAL_ECHOLNPGM("PID Autotune failed. Bad extruder number."); pid_tuning_finished = true; pid_cycle = 0; return; } SERIAL_ECHOLNPGM("PID Autotune start"); if (extruder<0) { soft_pwm_bed = (MAX_BED_POWER)/2; timer02_set_pwm0(soft_pwm_bed << 1); bias = d = (MAX_BED_POWER)/2; target_temperature_bed = (int)temp; // to display the requested target bed temperature properly on the main screen } else { soft_pwm[extruder] = (PID_MAX)/2; bias = d = (PID_MAX)/2; target_temperature[extruder] = (int)temp; // to display the requested target extruder temperature properly on the main screen } for(;;) { #ifdef WATCHDOG wdt_reset(); #endif //WATCHDOG if(temp_meas_ready == true) { // temp sample ready updateTemperatures(); 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) 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; timer02_set_pwm0(soft_pwm_bed << 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; timer02_set_pwm0(soft_pwm_bed << 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("B:"); }else{ p=soft_pwm[extruder]; SERIAL_PROTOCOLPGM("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 (fabs(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(0); } } void updatePID() { // TODO: iState_sum_max and PID values should be synchronized for temp_mgr_isr #ifdef PIDTEMP for(uint_least8_t e = 0; e < EXTRUDERS; e++) { iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki; } #endif #ifdef PIDTEMPBED temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / cs.bedKi; #endif } int getHeaterPower(int heater) { if (heater<0) return soft_pwm_bed; return soft_pwm[heater]; } // reset PID state after changing target_temperature void resetPID(uint8_t extruder _UNUSED) {} enum class TempErrorSource : uint8_t { hotend, bed, #ifdef AMBIENT_THERMISTOR ambient, #endif }; // thermal error type (in order of decreasing priority!) enum class TempErrorType : uint8_t { max, min, preheat, runaway, #ifdef TEMP_MODEL model, #endif }; // error state (updated via set_temp_error from isr context) volatile static union { uint8_t v; struct { uint8_t error: 1; // error condition uint8_t assert: 1; // error is still asserted uint8_t source: 2; // source uint8_t index: 1; // source index uint8_t type: 3; // error type }; } temp_error_state; // set the error type from within the temp_mgr isr to be handled in manager_heater // - immediately disable all heaters and turn on all fans at full speed // - prevent the user to set temperatures until all errors are cleared void set_temp_error(TempErrorSource source, uint8_t index, TempErrorType type) { // save the original target temperatures for recovery before disabling heaters if(!temp_error_state.error && !saved_printing) { saved_bed_temperature = target_temperature_bed; saved_extruder_temperature = target_temperature[index]; saved_fan_speed = fanSpeed; } // keep disabling heaters and keep fans on as long as the condition is asserted disable_heater(); hotendFanSetFullSpeed(); // set the initial error source to the highest priority error if(!temp_error_state.error || (uint8_t)type < temp_error_state.type) { temp_error_state.source = (uint8_t)source; temp_error_state.index = index; temp_error_state.type = (uint8_t)type; } // always set the error state temp_error_state.error = true; temp_error_state.assert = true; } bool get_temp_error() { return temp_error_state.v; } void handle_temp_error(); void manage_heater() { #ifdef WATCHDOG wdt_reset(); #endif //WATCHDOG // limit execution to the same rate as temp_mgr (low-level fault handling is already handled - // any remaining error handling is just user-facing and can wait one extra cycle) if(!temp_meas_ready) return; // syncronize temperatures with isr updateTemperatures(); #ifdef TEMP_MODEL // handle model warnings first, so not to override the error handler if(temp_model::warning_state.warning) temp_model::handle_warning(); #endif // handle temperature errors if(temp_error_state.v) handle_temp_error(); // periodically check fans checkFans(); #ifdef TEMP_MODEL_DEBUG temp_model::log_usr(); #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) { if(e >= EXTRUDERS) { SERIAL_ERROR_START; SERIAL_ERROR((int)e); SERIAL_ERRORLNPGM(" - Invalid extruder number !"); kill(NULL, 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 } #ifdef AMBIENT_THERMISTOR 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; } #endif //AMBIENT_THERMISTOR void soft_pwm_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 / (1 << (8 - FAN_SOFT_PWM_BITS)); #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 #ifdef HEATER_0_MINTEMP minttemp[0] = HEATER_0_MINTEMP; while(analog2temp(minttemp_raw[0], 0) < HEATER_0_MINTEMP) { #if HEATER_0_RAW_LO_TEMP < HEATER_0_RAW_HI_TEMP minttemp_raw[0] += OVERSAMPLENR; #else minttemp_raw[0] -= OVERSAMPLENR; #endif } #endif //MINTEMP #ifdef HEATER_0_MAXTEMP maxttemp[0] = HEATER_0_MAXTEMP; while(analog2temp(maxttemp_raw[0], 0) > 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 while(analog2tempBed(bed_minttemp_raw) < BED_MINTEMP) { #if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP bed_minttemp_raw += OVERSAMPLENR; #else bed_minttemp_raw -= OVERSAMPLENR; #endif } #endif //BED_MINTEMP #ifdef BED_MAXTEMP while(analog2tempBed(bed_maxttemp_raw) > BED_MAXTEMP) { #if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP bed_maxttemp_raw -= OVERSAMPLENR; #else bed_maxttemp_raw += OVERSAMPLENR; #endif } #endif //BED_MAXTEMP #ifdef AMBIENT_MINTEMP while(analog2tempAmbient(ambient_minttemp_raw) < AMBIENT_MINTEMP) { #if AMBIENT_RAW_LO_TEMP < AMBIENT_RAW_HI_TEMP ambient_minttemp_raw += OVERSAMPLENR; #else ambient_minttemp_raw -= OVERSAMPLENR; #endif } #endif //AMBIENT_MINTEMP #ifdef AMBIENT_MAXTEMP while(analog2tempAmbient(ambient_maxttemp_raw) > AMBIENT_MAXTEMP) { #if AMBIENT_RAW_LO_TEMP < AMBIENT_RAW_HI_TEMP ambient_maxttemp_raw -= OVERSAMPLENR; #else ambient_maxttemp_raw += OVERSAMPLENR; #endif } #endif //AMBIENT_MAXTEMP timer0_init(); //enables the heatbed timer. // timer2 already enabled earlier in the code // now enable the COMPB temperature interrupt OCR2B = 128; ENABLE_SOFT_PWM_INTERRUPT(); timer4_init(); //for tone and Hotend fan PWM } #if (defined (TEMP_RUNAWAY_BED_HYSTERESIS) && TEMP_RUNAWAY_BED_TIMEOUT > 0) || (defined (TEMP_RUNAWAY_EXTRUDER_HYSTERESIS) && TEMP_RUNAWAY_EXTRUDER_TIMEOUT > 0) static void temp_runaway_check(uint8_t _heater_id, float _target_temperature, float _current_temperature, float _output, bool _isbed) { float __delta; float __hysteresis = 0; uint16_t __timeout = 0; bool temp_runaway_check_active = false; static float __preheat_start[2] = { 0,0}; //currently just bed and one extruder static uint8_t __preheat_counter[2] = { 0,0}; static uint8_t __preheat_errors[2] = { 0,0}; if (_millis() - temp_runaway_timer[_heater_id] > 2000) { #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 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 ((_current_temperature < _target_temperature) && (temp_runaway_status[_heater_id] == TempRunaway_PREHEAT)) { __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]); SERIAL_ECHOPGM(" delta:"); MYSERIAL.print(_current_temperature-__preheat_start[_heater_id]);*/ //-// if (_current_temperature - __preheat_start[_heater_id] < 2) { //-// if (_current_temperature - __preheat_start[_heater_id] < ((_isbed && (_current_temperature>105.0))?0.6:2.0)) { __delta=2.0; if(_isbed) { __delta=3.0; if(_current_temperature>90.0) __delta=2.0; if(_current_temperature>105.0) __delta=0.6; } if (_current_temperature - __preheat_start[_heater_id] < __delta) { __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) ? 3 : 5)) set_temp_error((_isbed?TempErrorSource::bed:TempErrorSource::hotend), _heater_id, TempErrorType::preheat); __preheat_start[_heater_id] = _current_temperature; __preheat_counter[_heater_id] = 0; } } //-// if (_current_temperature >= _target_temperature && temp_runaway_status[_heater_id] == TempRunaway_PREHEAT) if ((_current_temperature > (_target_temperature - __hysteresis)) && temp_runaway_status[_heater_id] == TempRunaway_PREHEAT) { /*SERIAL_ECHOPGM("Heater:"); MYSERIAL.print(_heater_id); MYSERIAL.println(" ->tempRunaway");*/ temp_runaway_status[_heater_id] = TempRunaway_ACTIVE; temp_runaway_check_active = false; temp_runaway_error_counter[_heater_id] = 0; } if (_output > 0) { temp_runaway_check_active = true; } if (temp_runaway_check_active) { // we are in range if ((_current_temperature > (_target_temperature - __hysteresis)) && (_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) set_temp_error((_isbed?TempErrorSource::bed:TempErrorSource::hotend), _heater_id, TempErrorType::runaway); } } } } } static void temp_runaway_stop(bool isPreheat, bool isBed) { if(IsStopped() == false) { if (isPreheat) { lcd_setalertstatuspgm(isBed? PSTR("BED PREHEAT ERROR") : PSTR("PREHEAT ERROR"), LCD_STATUS_CRITICAL); SERIAL_ERROR_START; if (isBed) { SERIAL_ERRORLNPGM(" THERMAL RUNAWAY (PREHEAT HEATBED)"); } else { SERIAL_ERRORLNPGM(" THERMAL RUNAWAY (PREHEAT HOTEND)"); } } else { lcd_setalertstatuspgm(isBed? PSTR("BED THERMAL RUNAWAY") : PSTR("THERMAL RUNAWAY"), LCD_STATUS_CRITICAL); SERIAL_ERROR_START; if (isBed) { SERIAL_ERRORLNPGM(" HEATBED THERMAL RUNAWAY"); } else { SERIAL_ERRORLNPGM(" HOTEND THERMAL RUNAWAY"); } } prusa_statistics(0); prusa_statistics(isPreheat? 91 : 90); } ThermalStop(); } #endif //! signal a temperature error on both the lcd and serial //! @param type short error abbreviation (PROGMEM) //! @param e optional extruder index for hotend errors static void temp_error_messagepgm(const char* PROGMEM type, uint8_t e = EXTRUDERS) { char msg[LCD_WIDTH]; strcpy_P(msg, PSTR("Err: ")); strcat_P(msg, type); lcd_setalertstatus(msg, LCD_STATUS_CRITICAL); SERIAL_ERROR_START; if(e != EXTRUDERS) { SERIAL_ERROR((int)e); SERIAL_ERRORPGM(": "); } SERIAL_ERRORPGM("Heaters switched off. "); SERIAL_ERRORRPGM(type); SERIAL_ERRORLNPGM(" triggered!"); } static void max_temp_error(uint8_t e) { if(IsStopped() == false) { temp_error_messagepgm(PSTR("MAXTEMP"), e); prusa_statistics(93); } #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE ThermalStop(); #endif } static void min_temp_error(uint8_t e) { static const char err[] PROGMEM = "MINTEMP"; if(IsStopped() == false) { temp_error_messagepgm(err, e); prusa_statistics(92); } ThermalStop(); } static void bed_max_temp_error(void) { if(IsStopped() == false) { temp_error_messagepgm(PSTR("MAXTEMP BED")); } ThermalStop(); } static void bed_min_temp_error(void) { static const char err[] PROGMEM = "MINTEMP BED"; if(IsStopped() == false) { temp_error_messagepgm(err); } ThermalStop(); } #ifdef AMBIENT_THERMISTOR static void ambient_max_temp_error(void) { if(IsStopped() == false) { temp_error_messagepgm(PSTR("MAXTEMP AMB")); } ThermalStop(); } static void ambient_min_temp_error(void) { if(IsStopped() == false) { temp_error_messagepgm(PSTR("MINTEMP AMB")); } ThermalStop(); } #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 #ifdef BABYSTEPPING FORCE_INLINE static void applyBabysteps() { for(uint8_t axis=0;axis<3;axis++) { int curTodo=babystepsTodo[axis]; //get rid of volatile for performance if(curTodo>0) { ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { babystep(axis,/*fwd*/true); babystepsTodo[axis]--; //less to do next time } } else if(curTodo<0) { ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { babystep(axis,/*fwd*/false); babystepsTodo[axis]++; //less to do next time } } } } #endif //BABYSTEPPING FORCE_INLINE static void soft_pwm_core() { static uint8_t pwm_count = (1 << SOFT_PWM_SCALE); static uint8_t 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 // @@DR 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 #if 0 // @@DR vypnuto pro hw pwm bedu // tuhle prasarnu bude potreba poustet ve stanovenych intervalech, jinak nemam moc sanci zareagovat // teoreticky by se tato cast uz vubec nemusela poustet if ((pwm_count & ((1 << HEATER_BED_SOFT_PWM_BITS) - 1)) == 0) { soft_pwm_b = soft_pwm_bed >> (7 - HEATER_BED_SOFT_PWM_BITS); # ifndef SYSTEM_TIMER_2 // tady budu krokovat pomalou frekvenci na automatu - tohle je rizeni spinani a rozepinani // jako ridici frekvenci mam 2khz, jako vystupni frekvenci mam 30hz // 2kHz jsou ovsem ve slysitelnem pasmu, mozna bude potreba jit s frekvenci nahoru (a tomu taky prizpusobit ostatni veci) // Teoreticky bych mohl stahnout OCR0B citac na 6, cimz bych se dostal nekam ke 40khz a tady potom honit PWM rychleji nebo i pomaleji // to nicemu nevadi. Soft PWM scale by se 20x zvetsilo (no dobre, 16x), cimz by se to posunulo k puvodnimu 30Hz PWM //if(soft_pwm_b > 0) WRITE(HEATER_BED_PIN,1); else WRITE(HEATER_BED_PIN,0); # endif //SYSTEM_TIMER_2 } #endif #endif #ifdef FAN_SOFT_PWM if ((pwm_count & ((1 << FAN_SOFT_PWM_BITS) - 1)) == 0) { soft_pwm_fan = fanSpeedSoftPwm / (1 << (8 - FAN_SOFT_PWM_BITS)); if(soft_pwm_fan > 0) WRITE(FAN_PIN,1); else WRITE(FAN_PIN,0); } #endif if(soft_pwm_0 < pwm_count) { WRITE(HEATER_0_PIN,0); #ifdef HEATERS_PARALLEL WRITE(HEATER_1_PIN,0); #endif } #if EXTRUDERS > 1 if(soft_pwm_1 < pwm_count) WRITE(HEATER_1_PIN,0); #endif #if EXTRUDERS > 2 if(soft_pwm_2 < pwm_count) WRITE(HEATER_2_PIN,0); #endif #if 0 // @@DR #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 if (soft_pwm_b < (pwm_count & ((1 << HEATER_BED_SOFT_PWM_BITS) - 1))){ //WRITE(HEATER_BED_PIN,0); } //WRITE(HEATER_BED_PIN, pwm_count & 1 ); #endif #endif #ifdef FAN_SOFT_PWM if (soft_pwm_fan < (pwm_count & ((1 << FAN_SOFT_PWM_BITS) - 1))) WRITE(FAN_PIN,0); #endif pwm_count += (1 << SOFT_PWM_SCALE); pwm_count &= 0x7f; #else //ifndef SLOW_PWM_HEATERS /* * SLOW PWM HEATERS * * for heaters drived by relay */ #ifndef MIN_STATE_TIME #define MIN_STATE_TIME 16 // MIN_STATE_TIME * 65.5 = time in milliseconds #endif if (slow_pwm_count == 0) { // EXTRUDER 0 soft_pwm_0 = soft_pwm[0]; if (soft_pwm_0 > 0) { // turn ON heather only if the minimum time is up if (state_timer_heater_0 == 0) { // if change state set timer if (state_heater_0 == 0) { state_timer_heater_0 = MIN_STATE_TIME; } state_heater_0 = 1; WRITE(HEATER_0_PIN, 1); #ifdef HEATERS_PARALLEL WRITE(HEATER_1_PIN, 1); #endif } } else { // turn OFF heather only if the minimum time is up if (state_timer_heater_0 == 0) { // if change state set timer if (state_heater_0 == 1) { state_timer_heater_0 = MIN_STATE_TIME; } state_heater_0 = 0; WRITE(HEATER_0_PIN, 0); #ifdef HEATERS_PARALLEL WRITE(HEATER_1_PIN, 0); #endif } } #if EXTRUDERS > 1 // EXTRUDER 1 soft_pwm_1 = soft_pwm[1]; if (soft_pwm_1 > 0) { // turn ON heather only if the minimum time is up if (state_timer_heater_1 == 0) { // if change state set timer if (state_heater_1 == 0) { state_timer_heater_1 = MIN_STATE_TIME; } state_heater_1 = 1; WRITE(HEATER_1_PIN, 1); } } else { // turn OFF heather only if the minimum time is up if (state_timer_heater_1 == 0) { // if change state set timer if (state_heater_1 == 1) { state_timer_heater_1 = MIN_STATE_TIME; } state_heater_1 = 0; WRITE(HEATER_1_PIN, 0); } } #endif #if EXTRUDERS > 2 // EXTRUDER 2 soft_pwm_2 = soft_pwm[2]; if (soft_pwm_2 > 0) { // turn ON heather only if the minimum time is up if (state_timer_heater_2 == 0) { // if change state set timer if (state_heater_2 == 0) { state_timer_heater_2 = MIN_STATE_TIME; } state_heater_2 = 1; WRITE(HEATER_2_PIN, 1); } } else { // turn OFF heather only if the minimum time is up if (state_timer_heater_2 == 0) { // if change state set timer if (state_heater_2 == 1) { state_timer_heater_2 = MIN_STATE_TIME; } state_heater_2 = 0; WRITE(HEATER_2_PIN, 0); } } #endif #if 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 & ((1 << FAN_SOFT_PWM_BITS) - 1)) == 0) soft_pwm_fan = fanSpeedSoftPwm / (1 << (8 - FAN_SOFT_PWM_BITS)); 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 } FORCE_INLINE static void soft_pwm_isr() { lcd_buttons_update(); soft_pwm_core(); #ifdef BABYSTEPPING applyBabysteps(); #endif //BABYSTEPPING // Check if a stack overflow happened if (!SdFatUtil::test_stack_integrity()) stack_error(); #if (defined(FANCHECK) && defined(TACH_0) && (TACH_0 > -1)) readFanTach(); #endif //(defined(TACH_0)) } // Timer2 (originaly timer0) is shared with millies #ifdef SYSTEM_TIMER_2 ISR(TIMER2_COMPB_vect) #else //SYSTEM_TIMER_2 ISR(TIMER0_COMPB_vect) #endif //SYSTEM_TIMER_2 { DISABLE_SOFT_PWM_INTERRUPT(); NONATOMIC_BLOCK(NONATOMIC_FORCEOFF) { soft_pwm_isr(); } ENABLE_SOFT_PWM_INTERRUPT(); } void check_max_temp_raw() { //heater #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 set_temp_error(TempErrorSource::hotend, 0, TempErrorType::max); } //bed #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 set_temp_error(TempErrorSource::bed, 0, TempErrorType::max); } #endif //ambient #if defined(AMBIENT_MAXTEMP) && (TEMP_SENSOR_AMBIENT != 0) #if AMBIENT_RAW_LO_TEMP > AMBIENT_RAW_HI_TEMP if (current_temperature_raw_ambient <= ambient_maxttemp_raw) { #else if (current_temperature_raw_ambient >= ambient_maxttemp_raw) { #endif set_temp_error(TempErrorSource::ambient, 0, TempErrorType::max); } #endif } //! number of repeating the same state with consecutive step() calls //! used to slow down text switching struct alert_automaton_mintemp { const char *m2; alert_automaton_mintemp(const char *m2):m2(m2){} private: enum { ALERT_AUTOMATON_SPEED_DIV = 5 }; enum class States : uint8_t { Init = 0, TempAboveMintemp, ShowPleaseRestart, ShowMintemp }; States state = States::Init; uint8_t repeat = ALERT_AUTOMATON_SPEED_DIV; void substep(const char* next_msg, States next_state){ if( repeat == 0 ){ state = next_state; // advance to the next state lcd_setalertstatuspgm(next_msg, LCD_STATUS_CRITICAL); repeat = ALERT_AUTOMATON_SPEED_DIV; // and prepare repeating for it too } else { --repeat; } } public: //! brief state automaton step routine //! @param current_temp current hotend/bed temperature (for computing simple hysteresis) //! @param mintemp minimal temperature including hysteresis to check current_temp against void step(float current_temp, float mintemp){ static const char m1[] PROGMEM = "Please restart"; switch(state){ case States::Init: // initial state - check hysteresis if( current_temp > mintemp ){ lcd_setalertstatuspgm(m2, LCD_STATUS_CRITICAL); state = States::TempAboveMintemp; } // otherwise keep the Err MINTEMP alert message on the display, // i.e. do not transfer to state 1 break; case States::TempAboveMintemp: // the temperature has risen above the hysteresis check case States::ShowMintemp: // displaying "MINTEMP fixed" substep(m1, States::ShowPleaseRestart); break; case States::ShowPleaseRestart: // displaying "Please restart" substep(m2, States::ShowMintemp); break; } } }; static const char m2hotend[] PROGMEM = "MINTEMP HOTEND fixed"; static const char m2bed[] PROGMEM = "MINTEMP BED fixed"; static alert_automaton_mintemp alert_automaton_hotend(m2hotend), alert_automaton_bed(m2bed); void check_min_temp_heater0() { #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 set_temp_error(TempErrorSource::hotend, 0, TempErrorType::min); } } void check_min_temp_bed() { #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 set_temp_error(TempErrorSource::bed, 0, TempErrorType::min); } } #ifdef AMBIENT_MINTEMP void check_min_temp_ambient() { #if AMBIENT_RAW_LO_TEMP > AMBIENT_RAW_HI_TEMP if (current_temperature_raw_ambient >= ambient_minttemp_raw) { #else if (current_temperature_raw_ambient <= ambient_minttemp_raw) { #endif set_temp_error(TempErrorSource::ambient, 0, TempErrorType::min); } } #endif void handle_temp_error() { // relay to the original handler switch((TempErrorType)temp_error_state.type) { case TempErrorType::min: switch((TempErrorSource)temp_error_state.source) { case TempErrorSource::hotend: if(temp_error_state.assert) { min_temp_error(temp_error_state.index); } else { // no recovery, just force the user to restart the printer // which is a safer variant than just continuing printing // The automaton also checks for hysteresis - the temperature must have reached a few degrees above the MINTEMP, before // we shall signalize, that MINTEMP has been fixed // Code notice: normally the alert_automaton instance would have been placed here // as static alert_automaton_mintemp alert_automaton_hotend, but alert_automaton_hotend.step(current_temperature[0], minttemp[0] + TEMP_HYSTERESIS); } break; case TempErrorSource::bed: if(temp_error_state.assert) { bed_min_temp_error(); } else { // no recovery, just force the user to restart the printer // which is a safer variant than just continuing printing alert_automaton_bed.step(current_temperature_bed, BED_MINTEMP + TEMP_HYSTERESIS); } break; #ifdef AMBIENT_THERMISTOR case TempErrorSource::ambient: ambient_min_temp_error(); break; #endif } break; case TempErrorType::max: switch((TempErrorSource)temp_error_state.source) { case TempErrorSource::hotend: max_temp_error(temp_error_state.index); break; case TempErrorSource::bed: bed_max_temp_error(); break; #ifdef AMBIENT_THERMISTOR case TempErrorSource::ambient: ambient_max_temp_error(); break; #endif } break; case TempErrorType::preheat: case TempErrorType::runaway: switch((TempErrorSource)temp_error_state.source) { case TempErrorSource::hotend: case TempErrorSource::bed: temp_runaway_stop( ((TempErrorType)temp_error_state.type == TempErrorType::preheat), ((TempErrorSource)temp_error_state.source == TempErrorSource::bed)); break; #ifdef AMBIENT_THERMISTOR case TempErrorSource::ambient: // not needed break; #endif } break; #ifdef TEMP_MODEL case TempErrorType::model: if(temp_error_state.assert) { if(IsStopped() == false) { SERIAL_ECHOLNPGM("TM: error triggered!"); } ThermalStop(true); WRITE(BEEPER, HIGH); } else { temp_error_state.v = 0; WRITE(BEEPER, LOW); menu_unset_block(MENU_BLOCK_THERMAL_ERROR); // hotend error was transitory and disappeared, re-enable bed if (!target_temperature_bed) target_temperature_bed = saved_bed_temperature; SERIAL_ECHOLNPGM("TM: error cleared"); } break; #endif } } #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 #ifdef PINDA_THERMISTOR //! @brief PINDA thermistor detected //! //! @retval true firmware should do temperature compensation and allow calibration //! @retval false PINDA thermistor is not detected, disable temperature compensation and calibration //! @retval true/false when forced via LCD menu Settings->HW Setup->SuperPINDA //! bool has_temperature_compensation() { #ifdef SUPERPINDA_SUPPORT #ifdef PINDA_TEMP_COMP uint8_t pinda_temp_compensation = eeprom_read_byte((uint8_t*)EEPROM_PINDA_TEMP_COMPENSATION); if (pinda_temp_compensation == EEPROM_EMPTY_VALUE) //Unkown PINDA temp compenstation, so check it. { #endif //PINDA_TEMP_COMP return (current_temperature_pinda >= PINDA_MINTEMP) ? true : false; #ifdef PINDA_TEMP_COMP } else if (pinda_temp_compensation == 0) return true; //Overwritten via LCD menu SuperPINDA [No] else return false; //Overwritten via LCD menu SuperPINDA [YES] #endif //PINDA_TEMP_COMP #else return true; #endif } #endif //PINDA_THERMISTOR // RAII helper class to run a code block with temp_mgr_isr disabled class TempMgrGuard { bool temp_mgr_state; public: TempMgrGuard() { ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { temp_mgr_state = TEMP_MGR_INTERRUPT_STATE(); DISABLE_TEMP_MGR_INTERRUPT(); } } ~TempMgrGuard() throw() { ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { if(temp_mgr_state) ENABLE_TEMP_MGR_INTERRUPT(); } } }; void temp_mgr_init() { // initialize the ADC and start a conversion adc_init(); adc_start_cycle(); // initialize temperature timer ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { // CTC TCCRxB &= ~(1< PID_MAX) { if (pid_error[e] > 0 ) iState_sum[e] -= pid_error[e]; // conditional un-integration pid_output=PID_MAX; } else if (pid_output < 0) { if (pid_error[e] < 0 ) iState_sum[e] -= pid_error[e]; // conditional un-integration pid_output=0; } #else // PonM ("Proportional on Measurement" method) iState_sum[e] += cs.Ki * pid_error[e]; iState_sum[e] -= cs.Kp * (pid_input - dState_last[e]); iState_sum[e] = constrain(iState_sum[e], 0, PID_INTEGRAL_DRIVE_MAX); dTerm[e] = cs.Kd * (pid_input - dState_last[e]); pid_output = iState_sum[e] - dTerm[e]; // subtraction due to "Derivative on Measurement" method (i.e. derivative of input instead derivative of error is used) pid_output = constrain(pid_output, 0, PID_MAX); #endif // PonM } dState_last[e] = pid_input; #else //PID_OPENLOOP pid_output = constrain(target[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[e] < target[e]) { pid_output = PID_MAX; } #endif // Check if temperature is within the correct range if((current < maxttemp[e]) && (target != 0)) soft_pwm[e] = (int)pid_output >> 1; else soft_pwm[e] = 0; } static void pid_bed(const float current, const int target) { float pid_input; float pid_output; #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; #ifndef PID_OPENLOOP pid_error_bed = target - pid_input; pTerm_bed = cs.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 = cs.bedKi * temp_iState_bed; //PID_K1 defined in Configuration.h in the PID settings #define K2 (1.0-PID_K1) dTerm_bed= (cs.bedKd * (pid_input - temp_dState_bed))*K2 + (PID_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, 0, MAX_BED_POWER); #endif //PID_OPENLOOP if(current < BED_MAXTEMP) { soft_pwm_bed = (int)pid_output >> 1; timer02_set_pwm0(soft_pwm_bed << 1); } else { soft_pwm_bed = 0; timer02_set_pwm0(soft_pwm_bed << 1); } #elif !defined(BED_LIMIT_SWITCHING) // Check if temperature is within the correct range if(current < BED_MAXTEMP) { if(current >= target) { soft_pwm_bed = 0; timer02_set_pwm0(soft_pwm_bed << 1); } else { soft_pwm_bed = MAX_BED_POWER>>1; timer02_set_pwm0(soft_pwm_bed << 1); } } else { soft_pwm_bed = 0; timer02_set_pwm0(soft_pwm_bed << 1); WRITE(HEATER_BED_PIN,LOW); } #else //#ifdef BED_LIMIT_SWITCHING // Check if temperature is within the correct band if(current < BED_MAXTEMP) { if(current > target + BED_HYSTERESIS) { soft_pwm_bed = 0; timer02_set_pwm0(soft_pwm_bed << 1); } else if(current <= target - BED_HYSTERESIS) { soft_pwm_bed = MAX_BED_POWER>>1; timer02_set_pwm0(soft_pwm_bed << 1); } } else { soft_pwm_bed = 0; timer02_set_pwm0(soft_pwm_bed << 1); WRITE(HEATER_BED_PIN,LOW); } #endif //BED_LIMIT_SWITCHING if(target==0) { soft_pwm_bed = 0; timer02_set_pwm0(soft_pwm_bed << 1); } #endif //TEMP_SENSOR_BED } // ISR-safe temperatures static volatile bool adc_values_ready = false; float current_temperature_isr[EXTRUDERS]; int target_temperature_isr[EXTRUDERS]; float current_temperature_bed_isr; int target_temperature_bed_isr; #ifdef PINDA_THERMISTOR float current_temperature_pinda_isr; #endif #ifdef AMBIENT_THERMISTOR float current_temperature_ambient_isr; #endif // ISR callback from adc when sampling finished void adc_callback() { current_temperature_raw[0] = adc_values[ADC_PIN_IDX(TEMP_0_PIN)]; //heater current_temperature_bed_raw = adc_values[ADC_PIN_IDX(TEMP_BED_PIN)]; #ifdef PINDA_THERMISTOR current_temperature_raw_pinda = adc_values[ADC_PIN_IDX(TEMP_PINDA_PIN)]; #endif //PINDA_THERMISTOR #ifdef AMBIENT_THERMISTOR current_temperature_raw_ambient = adc_values[ADC_PIN_IDX(TEMP_AMBIENT_PIN)]; // 5->6 #endif //AMBIENT_THERMISTOR #ifdef VOLT_PWR_PIN current_voltage_raw_pwr = adc_values[ADC_PIN_IDX(VOLT_PWR_PIN)]; #endif #ifdef VOLT_BED_PIN current_voltage_raw_bed = adc_values[ADC_PIN_IDX(VOLT_BED_PIN)]; // 6->9 #endif #ifdef IR_SENSOR_ANALOG current_voltage_raw_IR = adc_values[ADC_PIN_IDX(VOLT_IR_PIN)]; #endif //IR_SENSOR_ANALOG adc_values_ready = true; } static void setCurrentTemperaturesFromIsr() { for(uint8_t e=0;e -1 && EXTRUDERS > 0 WRITE(HEATER_0_PIN,LOW); #endif #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 && EXTRUDERS > 1 WRITE(HEATER_1_PIN,LOW); #endif #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1 && EXTRUDERS > 2 WRITE(HEATER_2_PIN,LOW); #endif #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 // TODO: this doesn't take immediate effect! timer02_set_pwm0(0); bedPWMDisabled = 0; #endif } } static void check_min_temp_raw() { static bool bCheckingOnHeater = false; // state variable, which allows to short no-checking delay (is set, when temperature is (first time) over heaterMintemp) static bool bCheckingOnBed = false; // state variable, which allows to short no-checking delay (is set, when temperature is (first time) over bedMintemp) static ShortTimer oTimer4minTempHeater; static ShortTimer oTimer4minTempBed; #ifdef AMBIENT_THERMISTOR #ifdef AMBIENT_MINTEMP // we need to check ambient temperature check_min_temp_ambient(); #endif #if AMBIENT_RAW_LO_TEMP > AMBIENT_RAW_HI_TEMP if(current_temperature_raw_ambient>(OVERSAMPLENR*MINTEMP_MINAMBIENT_RAW)) // thermistor is NTC type #else if(current_temperature_raw_ambient=<(OVERSAMPLENR*MINTEMP_MINAMBIENT_RAW)) #endif { // ambient temperature is low #endif //AMBIENT_THERMISTOR // *** 'common' part of code for MK2.5 & MK3 // * nozzle checking if(target_temperature_isr[active_extruder]>minttemp[active_extruder]) { // ~ nozzle heating is on bCheckingOnHeater=bCheckingOnHeater||(current_temperature_isr[active_extruder]>(minttemp[active_extruder]+TEMP_HYSTERESIS)); // for eventually delay cutting if(oTimer4minTempHeater.expired(HEATER_MINTEMP_DELAY)||(!oTimer4minTempHeater.running())||bCheckingOnHeater) { bCheckingOnHeater=true; // not necessary check_min_temp_heater0(); // delay is elapsed or temperature is/was over minTemp => periodical checking is active } } else { // ~ nozzle heating is off oTimer4minTempHeater.start(); bCheckingOnHeater=false; } // * bed checking if(target_temperature_bed_isr>BED_MINTEMP) { // ~ bed heating is on bCheckingOnBed=bCheckingOnBed||(current_temperature_bed_isr>(BED_MINTEMP+TEMP_HYSTERESIS)); // for eventually delay cutting if(oTimer4minTempBed.expired(BED_MINTEMP_DELAY)||(!oTimer4minTempBed.running())||bCheckingOnBed) { bCheckingOnBed=true; // not necessary check_min_temp_bed(); // delay is elapsed or temperature is/was over minTemp => periodical checking is active } } else { // ~ bed heating is off oTimer4minTempBed.start(); bCheckingOnBed=false; } // *** end of 'common' part #ifdef AMBIENT_THERMISTOR } else { // ambient temperature is standard check_min_temp_heater0(); check_min_temp_bed(); } #endif //AMBIENT_THERMISTOR } static void check_temp_raw() { // order is relevant: check_min_temp_raw requires max to be reliable due to // ambient temperature being used for low handling temperatures check_max_temp_raw(); check_min_temp_raw(); } #ifdef TEMP_MODEL namespace temp_model { void model_data::reset(uint8_t heater_pwm _UNUSED, uint8_t fan_pwm _UNUSED, float heater_temp _UNUSED, float ambient_temp _UNUSED) { // pre-compute invariant values C_i = (TEMP_MGR_INTV / C); warn_s = warn * TEMP_MGR_INTV; err_s = err * TEMP_MGR_INTV; // initial values for(uint8_t i = 0; i != TEMP_MODEL_LAG_SIZE; ++i) dT_lag_buf[i] = NAN; dT_lag_idx = 0; dT_err_prev = 0; T_prev = NAN; // clear the initialization flag flag_bits.uninitialized = false; } static constexpr float iir_mul(const float a, const float b, const float f, const float nanv) { const float a_ = !isnan(a) ? a : nanv; return (a_ * (1.f - f)) + (b * f); } void model_data::step(uint8_t heater_pwm, uint8_t fan_pwm, float heater_temp, float ambient_temp) { constexpr float soft_pwm_inv = 1. / ((1 << 7) - 1); // input values const float heater_scale = soft_pwm_inv * heater_pwm; const float cur_heater_temp = heater_temp; const float cur_ambient_temp = ambient_temp + Ta_corr; const float cur_R = R[fan_pwm]; // resistance at current fan power (K/W) float dP = P * heater_scale; // current power [W] float dPl = (cur_heater_temp - cur_ambient_temp) / cur_R; // [W] leakage power float dT = (dP - dPl) * C_i; // expected temperature difference (K) // filter and lag dT uint8_t dT_next_idx = (dT_lag_idx == (TEMP_MODEL_LAG_SIZE - 1) ? 0: dT_lag_idx + 1); float dT_lag = dT_lag_buf[dT_next_idx]; float dT_lag_prev = dT_lag_buf[dT_lag_idx]; float dT_f = iir_mul(dT_lag_prev, dT, TEMP_MODEL_fS, dT); dT_lag_buf[dT_next_idx] = dT_f; dT_lag_idx = dT_next_idx; // calculate and filter dT_err float dT_err = (cur_heater_temp - T_prev) - dT_lag; float dT_err_f = iir_mul(dT_err_prev, dT_err, TEMP_MODEL_fE, 0.); T_prev = cur_heater_temp; dT_err_prev = dT_err_f; // check and trigger errors flag_bits.error = (fabsf(dT_err_f) > err_s); flag_bits.warning = (fabsf(dT_err_f) > warn_s); } // verify calibration status and trigger a model reset if valid void setup() { if(!calibrated()) enabled = false; data.flag_bits.uninitialized = true; } bool calibrated() { if(!(data.P >= 0)) return false; if(!(data.C >= 0)) return false; if(!(data.Ta_corr != NAN)) return false; for(uint8_t i = 0; i != TEMP_MODEL_R_SIZE; ++i) { if(!(temp_model::data.R[i] >= 0)) return false; } if(!(data.warn != NAN)) return false; if(!(data.err != NAN)) return false; return true; } void check() { if(!enabled) return; uint8_t heater_pwm = soft_pwm[0]; uint8_t fan_pwm = soft_pwm_fan; float heater_temp = current_temperature_isr[0]; float ambient_temp = current_temperature_ambient_isr; // check if a reset is required to seed the model: this needs to be done with valid // ADC values, so we can't do that directly in init() if(data.flag_bits.uninitialized) data.reset(heater_pwm, fan_pwm, heater_temp, ambient_temp); // step the model data.step(heater_pwm, fan_pwm, heater_temp, ambient_temp); // handle errors if(data.flag_bits.error) set_temp_error(TempErrorSource::hotend, 0, TempErrorType::model); // handle warning conditions as lower-priority but with greater feedback warning_state.assert = data.flag_bits.warning; if(warning_state.assert) { warning_state.warning = true; warning_state.dT_err = temp_model::data.dT_err_prev; } } void handle_warning() { // update values float warn = data.warn; float dT_err; { TempMgrGuard temp_mgr_guard; dT_err = warning_state.dT_err; } dT_err /= TEMP_MGR_INTV; // per-sample => K/s printf_P(PSTR("TM: error |%f|>%f\n"), (double)dT_err, (double)warn); static bool first = true; if(warning_state.assert) { if (first) { if(warn_beep) { lcd_setalertstatuspgm(_T(MSG_THERMAL_ANOMALY), LCD_STATUS_INFO); WRITE(BEEPER, HIGH); } } else { if(warn_beep) TOGGLE(BEEPER); } } else { // warning cleared, reset state warning_state.warning = false; if(warn_beep) WRITE(BEEPER, LOW); first = true; } } #ifdef TEMP_MODEL_DEBUG void log_usr() { if(!log_buf.enabled) return; uint8_t counter = log_buf.entry.counter; if (counter == log_buf.serial) return; int8_t delta_ms; uint8_t cur_pwm; // avoid strict-aliasing warnings union { float cur_temp; uint32_t cur_temp_b; }; union { float cur_amb; uint32_t cur_amb_b; }; { TempMgrGuard temp_mgr_guard; delta_ms = log_buf.entry.delta_ms; counter = log_buf.entry.counter; cur_pwm = log_buf.entry.cur_pwm; cur_temp = log_buf.entry.cur_temp; cur_amb = log_buf.entry.cur_amb; } uint8_t d = counter - log_buf.serial; log_buf.serial = counter; printf_P(PSTR("TML %d %d %x %lx %lx\n"), (unsigned)d - 1, (int)delta_ms + 1, (int)cur_pwm, (unsigned long)cur_temp_b, (unsigned long)cur_amb_b); } void log_isr() { if(!log_buf.enabled) return; uint32_t stamp = _millis(); uint8_t delta_ms = stamp - log_buf.entry.stamp - (uint32_t)(TEMP_MGR_INTV * 1000); log_buf.entry.stamp = stamp; ++log_buf.entry.counter; log_buf.entry.delta_ms = delta_ms; log_buf.entry.cur_pwm = soft_pwm[0]; log_buf.entry.cur_temp = current_temperature_isr[0]; log_buf.entry.cur_amb = current_temperature_ambient_isr; } #endif } // namespace temp_model static void temp_model_reset_enabled(bool enabled) { TempMgrGuard temp_mgr_guard; temp_model::enabled = enabled; temp_model::data.flag_bits.uninitialized = true; } void temp_model_set_enabled(bool enabled) { // set the enabled flag { TempMgrGuard temp_mgr_guard; temp_model::enabled = enabled; temp_model::setup(); } // verify that the model has been enabled if(enabled && !temp_model::enabled) SERIAL_ECHOLNPGM("TM: invalid parameters, cannot enable"); } void temp_model_set_warn_beep(bool enabled) { temp_model::warn_beep = enabled; } void temp_model_set_params(float C, float P, float Ta_corr, float warn, float err) { TempMgrGuard temp_mgr_guard; if(!isnan(C) && C > 0) temp_model::data.C = C; if(!isnan(P) && P > 0) temp_model::data.P = P; if(!isnan(Ta_corr)) temp_model::data.Ta_corr = Ta_corr; if(!isnan(err) && err > 0) temp_model::data.err = err; if(!isnan(warn) && warn > 0) temp_model::data.warn = warn; // ensure warn <= err if (temp_model::data.warn > temp_model::data.err) temp_model::data.warn = temp_model::data.err; temp_model::setup(); } void temp_model_set_resistance(uint8_t index, float R) { if(index >= TEMP_MODEL_R_SIZE || R <= 0) return; TempMgrGuard temp_mgr_guard; temp_model::data.R[index] = R; temp_model::setup(); } void temp_model_report_settings() { SERIAL_ECHO_START; SERIAL_ECHOLNPGM("Temperature Model settings:"); for(uint8_t i = 0; i != TEMP_MODEL_R_SIZE; ++i) printf_P(PSTR("%S M310 I%u R%.2f\n"), echomagic, (unsigned)i, (double)temp_model::data.R[i]); printf_P(PSTR("%S M310 P%.2f C%.2f S%u B%u E%.2f W%.2f T%.2f\n"), echomagic, (double)temp_model::data.P, (double)temp_model::data.C, (unsigned)temp_model::enabled, (unsigned)temp_model::warn_beep, (double)temp_model::data.err, (double)temp_model::data.warn, (double)temp_model::data.Ta_corr); } void temp_model_reset_settings() { TempMgrGuard temp_mgr_guard; temp_model::data.P = TEMP_MODEL_P; temp_model::data.C = TEMP_MODEL_C; temp_model::data.R[0] = TEMP_MODEL_R; for(uint8_t i = 1; i != TEMP_MODEL_R_SIZE; ++i) temp_model::data.R[i] = NAN; temp_model::data.Ta_corr = TEMP_MODEL_Ta_corr; temp_model::data.warn = TEMP_MODEL_W; temp_model::data.err = TEMP_MODEL_E; temp_model::warn_beep = true; temp_model::enabled = false; } void temp_model_load_settings() { static_assert(TEMP_MODEL_R_SIZE == 16); // ensure we don't desync with the eeprom table TempMgrGuard temp_mgr_guard; temp_model::enabled = eeprom_read_byte((uint8_t*)EEPROM_TEMP_MODEL_ENABLE); temp_model::data.P = eeprom_read_float((float*)EEPROM_TEMP_MODEL_P); temp_model::data.C = eeprom_read_float((float*)EEPROM_TEMP_MODEL_C); for(uint8_t i = 0; i != TEMP_MODEL_R_SIZE; ++i) temp_model::data.R[i] = eeprom_read_float((float*)EEPROM_TEMP_MODEL_R + i); temp_model::data.Ta_corr = eeprom_read_float((float*)EEPROM_TEMP_MODEL_Ta_corr); temp_model::data.warn = eeprom_read_float((float*)EEPROM_TEMP_MODEL_W); temp_model::data.err = eeprom_read_float((float*)EEPROM_TEMP_MODEL_E); if(!temp_model::calibrated()) { SERIAL_ECHOLNPGM("TM: stored calibration invalid, resetting"); temp_model_reset_settings(); } temp_model::setup(); } void temp_model_save_settings() { eeprom_update_byte((uint8_t*)EEPROM_TEMP_MODEL_ENABLE, temp_model::enabled); eeprom_update_float((float*)EEPROM_TEMP_MODEL_P, temp_model::data.P); eeprom_update_float((float*)EEPROM_TEMP_MODEL_C, temp_model::data.C); for(uint8_t i = 0; i != TEMP_MODEL_R_SIZE; ++i) eeprom_update_float((float*)EEPROM_TEMP_MODEL_R + i, temp_model::data.R[i]); eeprom_update_float((float*)EEPROM_TEMP_MODEL_Ta_corr, temp_model::data.Ta_corr); eeprom_update_float((float*)EEPROM_TEMP_MODEL_W, temp_model::data.warn); eeprom_update_float((float*)EEPROM_TEMP_MODEL_E, temp_model::data.err); } namespace temp_model_cal { // set current fan speed for both front/backend static __attribute__((noinline)) void set_fan_speed(uint8_t fan_speed) { fanSpeed = fan_speed; #ifdef FAN_SOFT_PWM fanSpeedSoftPwm = fan_speed; #endif } static void waiting_handler() { manage_heater(); host_keepalive(); host_autoreport(); checkFans(); lcd_update(0); } static void wait(unsigned ms) { unsigned long mark = _millis() + ms; while(_millis() < mark) { if(temp_error_state.v) break; waiting_handler(); } } static void __attribute__((noinline)) wait_temp() { while(current_temperature[0] < (target_temperature[0] - TEMP_HYSTERESIS)) { if(temp_error_state.v) break; waiting_handler(); } } static void cooldown(float temp) { uint8_t old_speed = fanSpeed; set_fan_speed(255); while(current_temperature[0] >= temp) { if(temp_error_state.v) break; float ambient = current_temperature_ambient + temp_model::data.Ta_corr; if(current_temperature[0] < (ambient + TEMP_HYSTERESIS)) { // do not get stuck waiting very close to ambient temperature break; } waiting_handler(); } set_fan_speed(old_speed); } static uint16_t record(uint16_t samples = REC_BUFFER_SIZE) { TempMgrGuard temp_mgr_guard; uint16_t pos = 0; while(pos < samples) { if(!TEMP_MGR_INT_FLAG_STATE()) { // temperatures not ready yet, just manage heaters while waiting to reduce jitter manage_heater(); continue; } TEMP_MGR_INT_FLAG_CLEAR(); // manually repeat what the regular isr would do if(adc_values_ready != true) continue; adc_values_ready = false; adc_start_cycle(); temp_mgr_isr(); // stop recording for an hard error condition if(temp_error_state.v) return 0; // record a new entry rec_entry& entry = rec_buffer[pos]; entry.temp = current_temperature_isr[0]; entry.pwm = soft_pwm[0]; ++pos; // it's now safer to give regular serial/lcd updates a shot waiting_handler(); } return pos; } static float cost_fn(uint16_t samples, float* const var, float v, uint8_t fan_pwm, float ambient) { *var = v; temp_model::data.reset(rec_buffer[0].pwm, fan_pwm, rec_buffer[0].temp, ambient); float err = 0; uint16_t cnt = 0; for(uint16_t i = 1; i < samples; ++i) { temp_model::data.step(rec_buffer[i].pwm, fan_pwm, rec_buffer[i].temp, ambient); float err_v = temp_model::data.dT_err_prev; if(!isnan(err_v)) { err += err_v * err_v; ++cnt; } } return cnt ? (err / cnt) : NAN; } constexpr float GOLDEN_RATIO = 0.6180339887498949; static void update_section(float points[2], const float bounds[2]) { float d = GOLDEN_RATIO * (bounds[1] - bounds[0]); points[0] = bounds[0] + d; points[1] = bounds[1] - d; } static float estimate(uint16_t samples, float* const var, float min, float max, float thr, uint16_t max_itr, uint8_t fan_pwm, float ambient) { // during estimation we alter the model values without an extra copy to conserve memory // so we cannot keep the main checker active until a value has been found bool was_enabled = temp_model::enabled; temp_model_reset_enabled(false); float orig = *var; float e = NAN; float points[2]; float bounds[2] = {min, max}; update_section(points, bounds); for(uint8_t it = 0; it != max_itr; ++it) { float c1 = cost_fn(samples, var, points[0], fan_pwm, ambient); float c2 = cost_fn(samples, var, points[1], fan_pwm, ambient); bool dir = (c2 < c1); bounds[dir] = points[!dir]; update_section(points, bounds); float x = points[!dir]; e = (1-GOLDEN_RATIO) * fabsf((bounds[0]-bounds[1]) / x); printf_P(PSTR("TM iter:%u v:%.2f e:%.3f\n"), it, x, e); if(e < thr) { if(x == min || x == max) { // real value likely outside of the search boundaries break; } *var = x; temp_model_reset_enabled(was_enabled); return e; } } SERIAL_ECHOLNPGM("TM estimation did not converge"); *var = orig; temp_model_reset_enabled(was_enabled); return NAN; } static bool autotune(int16_t cal_temp) { uint16_t samples; float e; // bootstrap C/R values without fan set_fan_speed(0); for(uint8_t i = 0; i != 2; ++i) { const char* PROGMEM verb = (i == 0? PSTR("initial"): PSTR("refining")); target_temperature[0] = 0; if(current_temperature[0] >= TEMP_MODEL_CAL_Tl) { printf_P(PSTR("TM: cooling down to %dC\n"), TEMP_MODEL_CAL_Tl); cooldown(TEMP_MODEL_CAL_Tl); wait(10000); } printf_P(PSTR("TM: %S C estimation\n"), verb); target_temperature[0] = cal_temp; samples = record(); if(temp_error_state.v || !samples) return true; // we need a high R value for the initial C guess if(isnan(temp_model::data.R[0])) temp_model::data.R[0] = TEMP_MODEL_Rh; e = estimate(samples, &temp_model::data.C, TEMP_MODEL_Cl, TEMP_MODEL_Ch, TEMP_MODEL_C_thr, TEMP_MODEL_C_itr, 0, current_temperature_ambient); if(isnan(e)) return true; wait_temp(); if(i) break; // we don't need to refine R wait(30000); // settle PID regulation printf_P(PSTR("TM: %S R estimation @ %dC\n"), verb, cal_temp); samples = record(); if(temp_error_state.v || !samples) return true; e = estimate(samples, &temp_model::data.R[0], TEMP_MODEL_Rl, TEMP_MODEL_Rh, TEMP_MODEL_R_thr, TEMP_MODEL_R_itr, 0, current_temperature_ambient); if(isnan(e)) return true; } // Estimate fan losses at regular intervals, starting from full speed to avoid low-speed // kickstart issues, although this requires us to wait more for the PID stabilization. // Normally exhibits logarithmic behavior with the stock fan+shroud, so the shorter interval // at lower speeds is helpful to increase the resolution of the interpolation. set_fan_speed(255); wait(30000); for(int8_t i = TEMP_MODEL_R_SIZE - 1; i > 0; i -= TEMP_MODEL_CAL_R_STEP) { uint8_t speed = 256 / TEMP_MODEL_R_SIZE * (i + 1) - 1; set_fan_speed(speed); wait(10000); printf_P(PSTR("TM: R[%u] estimation\n"), (unsigned)i); samples = record(); if(temp_error_state.v || !samples) return true; // a fixed fan pwm (the norminal value) is used here, as soft_pwm_fan will be modified // during fan measurements and we'd like to include that skew during normal operation. e = estimate(samples, &temp_model::data.R[i], TEMP_MODEL_Rl, temp_model::data.R[0], TEMP_MODEL_R_thr, TEMP_MODEL_R_itr, i, current_temperature_ambient); if(isnan(e)) return true; } // interpolate remaining steps to speed-up calibration // TODO: verify that the sampled values are monotically increasing? int8_t next = TEMP_MODEL_R_SIZE - 1; for(uint8_t i = TEMP_MODEL_R_SIZE - 2; i != 0; --i) { if(!((TEMP_MODEL_R_SIZE - i - 1) % TEMP_MODEL_CAL_R_STEP)) { next = i; continue; } int8_t prev = next - TEMP_MODEL_CAL_R_STEP; if(prev < 0) prev = 0; float f = (float)(i - prev) / TEMP_MODEL_CAL_R_STEP; float d = (temp_model::data.R[next] - temp_model::data.R[prev]); temp_model::data.R[i] = temp_model::data.R[prev] + d * f; } return false; } } // namespace temp_model_cal void temp_model_autotune(int16_t temp, bool selftest) { if(moves_planned() || printer_active()) { SERIAL_ECHOLNPGM("TM: printer needs to be idle for calibration"); return; } // lockout the printer during calibration KEEPALIVE_STATE(IN_PROCESS); menu_set_block(MENU_BLOCK_TEMP_MODEL_AUTOTUNE); lcd_setstatuspgm(_i("Temp. model autotune")); ////MSG_TEMP_MODEL_AUTOTUNE c=20 lcd_return_to_status(); // set the model checking state during self-calibration bool was_enabled = temp_model::enabled; temp_model_reset_enabled(selftest); SERIAL_ECHOLNPGM("TM: autotune start"); bool err = temp_model_cal::autotune(temp > 0 ? temp : TEMP_MODEL_CAL_Th); // always reset temperature disable_heater(); if(err) { SERIAL_ECHOLNPGM("TM: autotune failed"); lcd_setstatuspgm(_i("TM autotune failed")); ////MSG_TM_AUTOTUNE_FAILED c=20 if(temp_error_state.v) temp_model_cal::set_fan_speed(255); } else { lcd_setstatuspgm(MSG_WELCOME); temp_model_cal::set_fan_speed(0); temp_model_set_enabled(was_enabled); temp_model_report_settings(); } lcd_consume_click(); menu_unset_block(MENU_BLOCK_TEMP_MODEL_AUTOTUNE); } #ifdef TEMP_MODEL_DEBUG void temp_model_log_enable(bool enable) { if(enable) { TempMgrGuard temp_mgr_guard; temp_model::log_buf.entry.stamp = _millis(); } temp_model::log_buf.enabled = enable; } #endif #endif