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- /*
- 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 <http://www.gnu.org/licenses/>.
- */
- /*
- 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 "sound.h"
- #include "temperature.h"
- #include "cardreader.h"
- #include "Sd2PinMap.h"
- #include <avr/wdt.h>
- #include "adc.h"
- #include "ConfigurationStore.h"
- #include "messages.h"
- #include "Timer.h"
- #include "Configuration_prusa.h"
- #include "config.h"
- //===========================================================================
- //=============================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
- uint16_t current_temperature_raw_pinda = 0 ; //value with more averaging applied
- uint16_t current_temperature_raw_pinda_fast = 0; //value read from adc
- 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
- #ifdef VOLT_PWR_PIN
- int current_voltage_raw_pwr = 0;
- #endif
- #ifdef VOLT_BED_PIN
- int current_voltage_raw_bed = 0;
- #endif
- #ifdef IR_SENSOR_ANALOG
- uint16_t current_voltage_raw_IR = 0;
- #endif //IR_SENSOR_ANALOG
- int current_temperature_bed_raw = 0;
- float current_temperature_bed = 0.0;
-
- #ifdef PIDTEMP
- float _Kp, _Ki, _Kd;
- int pid_cycle, pid_number_of_cycles;
- bool pid_tuning_finished = false;
- #ifdef PID_ADD_EXTRUSION_RATE
- float Kc=DEFAULT_Kc;
- #endif
- #endif //PIDTEMP
-
- #ifdef FAN_SOFT_PWM
- unsigned char fanSpeedSoftPwm;
- #endif
- #ifdef FANCHECK
- volatile uint8_t fan_check_error = EFCE_OK;
- #endif
- unsigned char soft_pwm_bed;
- #ifdef BABYSTEPPING
- volatile int babystepsTodo[3]={0,0,0};
- #endif
- //===========================================================================
- //=============================private variables============================
- //===========================================================================
- static volatile bool temp_meas_ready = false;
- #ifdef PIDTEMP
- //static cannot be external:
- static float iState_sum[EXTRUDERS] = { 0 };
- static float dState_last[EXTRUDERS] = { 0 };
- static float pTerm[EXTRUDERS];
- static float iTerm[EXTRUDERS];
- static float dTerm[EXTRUDERS];
- //int output;
- static float pid_error[EXTRUDERS];
- static float iState_sum_min[EXTRUDERS];
- static float iState_sum_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
- uint8_t fanSpeedBckp = 255;
- #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1)
- unsigned long extruder_autofan_last_check = _millis();
-
- bool fan_measuring = false;
- uint8_t fanState = 0;
- #ifdef EXTRUDER_ALTFAN_DETECT
- struct
- {
- uint8_t isAltfan : 1;
- uint8_t altfanOverride : 1;
- } altfanStatus;
- #endif //EXTRUDER_ALTFAN_DETECT
- #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
- static ShortTimer oTimer4minTempHeater,oTimer4minTempBed;
- // 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);
- static float analog2tempAmbient(int raw);
- static void updateTemperaturesFromRawValues();
- enum TempRunawayStates
- {
- 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 float temp_runaway_status[4];
- static float temp_runaway_target[4];
- static float temp_runaway_timer[4];
- static int temp_runaway_error_counter[4];
- static void temp_runaway_check(int _heater_id, float _target_temperature, float _current_temperature, float _output, bool _isbed);
- static void temp_runaway_stop(bool isPreheat, bool isBed);
- #endif
- #ifdef EXTRUDER_ALTFAN_DETECT
- ISR(INT6_vect) {
- fan_edge_counter[0]++;
- }
- bool extruder_altfan_detect()
- {
- setExtruderAutoFanState(3);
- SET_INPUT(TACH_0);
- uint8_t overrideVal = eeprom_read_byte((uint8_t *)EEPROM_ALTFAN_OVERRIDE);
- if (overrideVal == EEPROM_EMPTY_VALUE)
- {
- overrideVal = (calibration_status() == CALIBRATION_STATUS_CALIBRATED) ? 1 : 0;
- eeprom_update_byte((uint8_t *)EEPROM_ALTFAN_OVERRIDE, overrideVal);
- }
- altfanStatus.altfanOverride = overrideVal;
- CRITICAL_SECTION_START;
- EICRB &= ~(1 << ISC61);
- EICRB |= (1 << ISC60);
- EIMSK |= (1 << INT6);
- fan_edge_counter[0] = 0;
- CRITICAL_SECTION_END;
- extruder_autofan_last_check = _millis();
- _delay(1000);
- EIMSK &= ~(1 << INT6);
- countFanSpeed();
- altfanStatus.isAltfan = fan_speed[0] > 100;
- setExtruderAutoFanState(1);
- return altfanStatus.isAltfan;
- }
- void altfanOverride_toggle()
- {
- altfanStatus.altfanOverride = !altfanStatus.altfanOverride;
- eeprom_update_byte((uint8_t *)EEPROM_ALTFAN_OVERRIDE, altfanStatus.altfanOverride);
- }
- bool altfanOverride_get()
- {
- return altfanStatus.altfanOverride;
- }
- #endif //EXTRUDER_ALTFAN_DETECT
- // 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<EXTRUDERS;i++) result=(result||(target_temperature[i]!=0));
- return(result);
- }
- 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)
- 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;
- 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
- 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)
- 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 (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(0);
- }
- }
- void updatePID()
- {
- #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];
- }
- #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_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
- #endif
- void setExtruderAutoFanState(uint8_t state)
- {
- //If bit 1 is set (0x02), then the extruder fan speed won't be adjusted according to temperature. Useful for forcing
- //the fan to either On or Off during certain tests/errors.
- fanState = state;
- uint8_t newFanSpeed = 0;
- if (fanState & 0x01)
- {
- #ifdef EXTRUDER_ALTFAN_DETECT
- if (altfanStatus.isAltfan && !altfanStatus.altfanOverride) newFanSpeed = EXTRUDER_ALTFAN_SPEED_SILENT;
- else newFanSpeed = EXTRUDER_AUTO_FAN_SPEED;
- #else //EXTRUDER_ALTFAN_DETECT
- newFanSpeed = EXTRUDER_AUTO_FAN_SPEED;
- #endif //EXTRUDER_ALTFAN_DETECT
- }
- timer4_set_fan0(newFanSpeed);
- }
- #if (defined(FANCHECK) && (((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1)))))
- 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()
- {
- uint8_t max_print_fan_errors = 0;
- uint8_t max_extruder_fan_errors = 0;
- #ifdef FAN_SOFT_PWM
- max_print_fan_errors = 3; //15 seconds
- max_extruder_fan_errors = 2; //10seconds
- #else //FAN_SOFT_PWM
- max_print_fan_errors = 15; //15 seconds
- max_extruder_fan_errors = 5; //5 seconds
- #endif //FAN_SOFT_PWM
-
- if(fans_check_enabled != false)
- fans_check_enabled = (eeprom_read_byte((uint8_t*)EEPROM_FAN_CHECK_ENABLED) > 0);
- static unsigned char fan_speed_errors[2] = { 0,0 };
- #if (defined(FANCHECK) && defined(TACH_0) && (TACH_0 >-1))
- if ((fan_speed[0] < 20) && (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE)){ fan_speed_errors[0]++;}
- else{
- fan_speed_errors[0] = 0;
- host_keepalive();
- }
- #endif
- #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
- if ((fan_speed[1] < 5) && ((blocks_queued() ? block_buffer[block_buffer_tail].fan_speed : fanSpeed) > MIN_PRINT_FAN_SPEED)) fan_speed_errors[1]++;
- else fan_speed_errors[1] = 0;
- #endif
- // drop the fan_check_error flag when both fans are ok
- if( fan_speed_errors[0] == 0 && fan_speed_errors[1] == 0 && fan_check_error == EFCE_REPORTED){
- // we may even send some info to the LCD from here
- fan_check_error = EFCE_FIXED;
- }
- if ((fan_check_error == EFCE_FIXED) && !PRINTER_ACTIVE){
- fan_check_error = EFCE_OK; //if the issue is fixed while the printer is doing nothing, reenable processing immediately.
- lcd_reset_alert_level(); //for another fan speed error
- }
- if ((fan_speed_errors[0] > max_extruder_fan_errors) && fans_check_enabled && (fan_check_error == EFCE_OK)) {
- fan_speed_errors[0] = 0;
- fanSpeedError(0); //extruder fan
- }
- if ((fan_speed_errors[1] > max_print_fan_errors) && fans_check_enabled && (fan_check_error == EFCE_OK)) {
- fan_speed_errors[1] = 0;
- fanSpeedError(1); //print fan
- }
- }
- //! Prints serialMsg to serial port, displays lcdMsg onto the LCD and beeps.
- //! Extracted from fanSpeedError to save some space.
- //! @param serialMsg pointer into PROGMEM, this text will be printed to the serial port
- //! @param lcdMsg pointer into PROGMEM, this text will be printed onto the LCD
- static void fanSpeedErrorBeep(const char *serialMsg, const char *lcdMsg){
- SERIAL_ECHOLNRPGM(serialMsg);
- if (get_message_level() == 0) {
- Sound_MakeCustom(200,0,true);
- LCD_ALERTMESSAGERPGM(lcdMsg);
- }
- }
- void fanSpeedError(unsigned char _fan) {
- if (get_message_level() != 0 && isPrintPaused) return;
- //to ensure that target temp. is not set to zero in case that we are resuming print
- if (card.sdprinting || is_usb_printing) {
- if (heating_status != 0) {
- lcd_print_stop();
- }
- else {
- fan_check_error = EFCE_DETECTED; //plans error for next processed command
- }
- }
- else {
- // SERIAL_PROTOCOLLNRPGM(MSG_OCTOPRINT_PAUSED); //Why pause octoprint? is_usb_printing would be true in that case, so there is no need for this.
- setTargetHotend0(0);
- heating_status = 0;
- fan_check_error = EFCE_REPORTED;
- }
- switch (_fan) {
- case 0: // extracting the same code from case 0 and case 1 into a function saves 72B
- fanSpeedErrorBeep(PSTR("Extruder fan speed is lower than expected"), MSG_FANCHECK_EXTRUDER);
- break;
- case 1:
- fanSpeedErrorBeep(PSTR("Print fan speed is lower than expected"), MSG_FANCHECK_PRINT);
- break;
- }
- // SERIAL_PROTOCOLLNRPGM(MSG_OK); //This ok messes things up with octoprint.
- }
- #endif //(defined(TACH_0) && TACH_0 >-1) || (defined(TACH_1) && TACH_1 > -1)
- void checkExtruderAutoFans()
- {
- #if defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1
- if (!(fanState & 0x02))
- {
- fanState &= ~1;
- fanState |= current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE;
- }
- setExtruderAutoFanState(fanState);
- #endif
- }
- #endif // any extruder auto fan pins set
- // ready for eventually parameters adjusting
- void resetPID(uint8_t) // only for compiler-warning elimination (if function do nothing)
- //void resetPID(uint8_t extruder)
- {
- }
- void manage_heater()
- {
- #ifdef WATCHDOG
- wdt_reset();
- #endif //WATCHDOG
- float pid_input;
- float pid_output;
- if(temp_meas_ready != true) //better readability
- return;
- // more precisely - this condition partially stabilizes time interval for regulation values evaluation (@ ~ 230ms)
- // ADC values need to be converted before checking: converted values are later used in MINTEMP
- updateTemperaturesFromRawValues();
- check_max_temp();
- check_min_temp();
- #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
- if(target_temperature[e] == 0) {
- pid_output = 0;
- pid_reset[e] = true;
- } else {
- pid_error[e] = target_temperature[e] - pid_input;
- if(pid_reset[e]) {
- iState_sum[e] = 0.0;
- dTerm[e] = 0.0; // 'dState_last[e]' initial setting is not necessary (see end of if-statement)
- pid_reset[e] = false;
- }
- #ifndef PonM
- pTerm[e] = cs.Kp * pid_error[e];
- iState_sum[e] += pid_error[e];
- iState_sum[e] = constrain(iState_sum[e], iState_sum_min[e], iState_sum_max[e]);
- iTerm[e] = cs.Ki * iState_sum[e];
- // PID_K1 defined in Configuration.h in the PID settings
- #define K2 (1.0-PID_K1)
- dTerm[e] = (cs.Kd * (pid_input - dState_last[e]))*K2 + (PID_K1 * dTerm[e]); // e.g. digital filtration of derivative term changes
- pid_output = pTerm[e] + iTerm[e] - dTerm[e]; // subtraction due to "Derivative on Measurement" method (i.e. derivative of input instead derivative of error is used)
- if (pid_output > 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_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] < maxttemp[e]) && (target_temperature[e] != 0))
- {
- soft_pwm[e] = (int)pid_output >> 1;
- }
- else
- {
- soft_pwm[e] = 0;
- }
- } // End extruder for loop
- #define FAN_CHECK_PERIOD 5000 //5s
- #define FAN_CHECK_DURATION 100 //100ms
- #ifndef DEBUG_DISABLE_FANCHECK
- #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1)
- #ifdef FAN_SOFT_PWM
- #ifdef FANCHECK
- if ((_millis() - extruder_autofan_last_check > FAN_CHECK_PERIOD) && (!fan_measuring)) {
- extruder_autofan_last_check = _millis();
- fanSpeedBckp = fanSpeedSoftPwm;
-
- if (fanSpeedSoftPwm >= MIN_PRINT_FAN_SPEED) { //if we are in rage where we are doing fan check, set full PWM range for a short time to measure fan RPM by reading tacho signal without modulation by PWM signal
- // printf_P(PSTR("fanSpeedSoftPwm 1: %d\n"), fanSpeedSoftPwm);
- fanSpeedSoftPwm = 255;
- }
- fan_measuring = true;
- }
- if ((_millis() - extruder_autofan_last_check > FAN_CHECK_DURATION) && (fan_measuring)) {
- countFanSpeed();
- checkFanSpeed();
- //printf_P(PSTR("fanSpeedSoftPwm 1: %d\n"), fanSpeedSoftPwm);
- fanSpeedSoftPwm = fanSpeedBckp;
- //printf_P(PSTR("fan PWM: %d; extr fanSpeed measured: %d; print fan speed measured: %d \n"), fanSpeedBckp, fan_speed[0], fan_speed[1]);
- extruder_autofan_last_check = _millis();
- fan_measuring = false;
- }
- #endif //FANCHECK
- checkExtruderAutoFans();
- #else //FAN_SOFT_PWM
- if(_millis() - extruder_autofan_last_check > 1000) // only need to check fan state very infrequently
- {
- #if (defined(FANCHECK) && ((defined(TACH_0) && (TACH_0 >-1)) || (defined(TACH_1) && (TACH_1 > -1))))
- countFanSpeed();
- checkFanSpeed();
- #endif //(defined(TACH_0) && TACH_0 >-1) || (defined(TACH_1) && TACH_1 > -1)
- checkExtruderAutoFans();
- extruder_autofan_last_check = _millis();
- }
- #endif //FAN_SOFT_PWM
- #endif
- #endif //DEBUG_DISABLE_FANCHECK
-
- #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 = 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_temperature_bed, 0, MAX_BED_POWER);
- #endif //PID_OPENLOOP
- if(current_temperature_bed < 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_temperature_bed < BED_MAXTEMP)
- {
- if(current_temperature_bed >= target_temperature_bed)
- {
- 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_temperature_bed < BED_MAXTEMP)
- {
- if(current_temperature_bed > target_temperature_bed + BED_HYSTERESIS)
- {
- soft_pwm_bed = 0;
- timer02_set_pwm0(soft_pwm_bed << 1);
- }
- else if(current_temperature_bed <= target_temperature_bed - 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
- if(target_temperature_bed==0)
- {
- soft_pwm_bed = 0;
- timer02_set_pwm0(soft_pwm_bed << 1);
- }
- #endif
-
- host_keepalive();
- }
- #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<heater_ttbllen_map[e]; i++)
- {
- if (PGM_RD_W((*tt)[i][0]) > raw)
- {
- celsius = PGM_RD_W((*tt)[i-1][1]) +
- (raw - PGM_RD_W((*tt)[i-1][0])) *
- (float)(PGM_RD_W((*tt)[i][1]) - PGM_RD_W((*tt)[i-1][1])) /
- (float)(PGM_RD_W((*tt)[i][0]) - PGM_RD_W((*tt)[i-1][0]));
- break;
- }
- }
- // Overflow: Set to last value in the table
- if (i == heater_ttbllen_map[e]) celsius = PGM_RD_W((*tt)[i-1][1]);
- return celsius;
- }
- return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;
- }
- // Derived from RepRap FiveD extruder::getTemperature()
- // For bed temperature measurement.
- static float analog2tempBed(int raw) {
- #ifdef BED_USES_THERMISTOR
- float celsius = 0;
- byte i;
- for (i=1; i<BEDTEMPTABLE_LEN; i++)
- {
- if (PGM_RD_W(BEDTEMPTABLE[i][0]) > raw)
- {
- celsius = PGM_RD_W(BEDTEMPTABLE[i-1][1]) +
- (raw - PGM_RD_W(BEDTEMPTABLE[i-1][0])) *
- (float)(PGM_RD_W(BEDTEMPTABLE[i][1]) - PGM_RD_W(BEDTEMPTABLE[i-1][1])) /
- (float)(PGM_RD_W(BEDTEMPTABLE[i][0]) - PGM_RD_W(BEDTEMPTABLE[i-1][0]));
- break;
- }
- }
- // Overflow: Set to last value in the table
- if (i == BEDTEMPTABLE_LEN) celsius = PGM_RD_W(BEDTEMPTABLE[i-1][1]);
- // 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<AMBIENTTEMPTABLE_LEN; i++)
- {
- if (PGM_RD_W(AMBIENTTEMPTABLE[i][0]) > 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
- /* 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<EXTRUDERS;e++)
- {
- current_temperature[e] = analog2temp(current_temperature_raw[e], e);
- }
- #ifdef PINDA_THERMISTOR
- current_temperature_raw_pinda = (uint16_t)((uint32_t)current_temperature_raw_pinda * 3 + current_temperature_raw_pinda_fast) >> 2;
- current_temperature_pinda = analog2tempBed(current_temperature_raw_pinda);
- #endif
- #ifdef AMBIENT_THERMISTOR
- current_temperature_ambient = analog2tempAmbient(current_temperature_raw_ambient); //thermistor for ambient is NTCG104LH104JT1 (2000)
- #endif
-
- #ifdef DEBUG_HEATER_BED_SIM
- current_temperature_bed = target_temperature_bed;
- #else //DEBUG_HEATER_BED_SIM
- current_temperature_bed = analog2tempBed(current_temperature_bed_raw);
- #endif //DEBUG_HEATER_BED_SIM
- CRITICAL_SECTION_START;
- temp_meas_ready = false;
- CRITICAL_SECTION_END;
- }
- 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<<JTD);
- MCUCR=(1<<JTD);
- #endif
-
- // Finish init of mult extruder arrays
- for(int e = 0; e < EXTRUDERS; e++) {
- // populate with the first value
- maxttemp[e] = maxttemp[0];
- #ifdef PIDTEMP
- iState_sum_min[e] = 0.0;
- iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
- #endif //PIDTEMP
- #ifdef PIDTEMPBED
- temp_iState_min_bed = 0.0;
- temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / cs.bedKi;
- #endif //PIDTEMPBED
- }
- #if defined(HEATER_0_PIN) && (HEATER_0_PIN > -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
- adc_init();
- timer0_init();
- OCR2B = 128;
- TIMSK2 |= (1<<OCIE2B);
-
- timer4_init(); //for tone and Extruder fan PWM
-
- // Wait for temperature measurement to settle
- _delay(250);
- #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 HEATER_AMBIENT_RAW_LO_TEMP < HEATER_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 HEATER_AMBIENT_RAW_LO_TEMP < HEATER_AMBIENT_RAW_HI_TEMP
- ambient_maxttemp_raw -= OVERSAMPLENR;
- #else
- ambient_maxttemp_raw += OVERSAMPLENR;
- #endif
- }
- #endif //AMBIENT_MAXTEMP
- }
- #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 __delta;
- 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};
-
- 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))
- {
- 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)
- 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)
- {
- 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();
- }
- // Clean the input command queue
- // This is necessary, because in command queue there can be commands which would later set heater or bed temperature.
- cmdqueue_reset();
-
- disable_heater();
- disable_x();
- disable_y();
- disable_e0();
- disable_e1();
- disable_e2();
- manage_heater();
- lcd_update(0);
- Sound_MakeCustom(200,0,true);
-
- 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)");
- #ifdef EXTRUDER_ALTFAN_DETECT
- altfanStatus.altfanOverride = 1; //full speed
- #endif //EXTRUDER_ALTFAN_DETECT
- setExtruderAutoFanState(3);
- SET_OUTPUT(FAN_PIN);
- #ifdef FAN_SOFT_PWM
- fanSpeedSoftPwm = 255;
- #else //FAN_SOFT_PWM
- analogWrite(FAN_PIN, 255);
- #endif //FAN_SOFT_PWM
- 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()
- {
- setAllTargetHotends(0);
- setTargetBed(0);
- #if defined(TEMP_0_PIN) && TEMP_0_PIN > -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;
- timer02_set_pwm0(soft_pwm_bed << 1);
- bedPWMDisabled = 0;
- #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1
- //WRITE(HEATER_BED_PIN,LOW);
- #endif
- #endif
- }
- //! codes of alert messages for the LCD - it is shorter to compare an uin8_t
- //! than raw const char * of the messages themselves.
- //! Could be used for MAXTEMP situations too - after reaching MAXTEMP and turning off the heater automagically
- //! the heater/bed may cool down and a similar alert message like "MAXTERM fixed..." may be displayed.
- enum { LCDALERT_NONE = 0, LCDALERT_HEATERMINTEMP, LCDALERT_BEDMINTEMP, LCDALERT_MINTEMPFIXED, LCDALERT_PLEASERESTART };
- //! remember the last alert message sent to the LCD
- //! to prevent flicker and improve speed
- uint8_t last_alert_sent_to_lcd = LCDALERT_NONE;
- //! update the current temperature error message
- //! @param type short error abbreviation (PROGMEM)
- //! @param func optional lcd update function (lcd_setalertstatus when first setting the error)
- void temp_update_messagepgm(const char* PROGMEM type, void (*func)(const char*) = lcd_updatestatus)
- {
- char msg[LCD_WIDTH];
- strcpy_P(msg, PSTR("Err: "));
- strcat_P(msg, type);
- (*func)(msg);
- }
- //! signal a temperature error on both the lcd and serial
- //! @param type short error abbreviation (PROGMEM)
- //! @param e optional extruder index for hotend errors
- void temp_error_messagepgm(const char* PROGMEM type, uint8_t e = EXTRUDERS)
- {
- temp_update_messagepgm(type, lcd_setalertstatus);
- SERIAL_ERROR_START;
- if(e != EXTRUDERS) {
- SERIAL_ERROR((int)e);
- SERIAL_ERRORPGM(": ");
- }
- SERIAL_ERRORPGM("Heaters switched off. ");
- SERIAL_ERRORRPGM(type);
- SERIAL_ERRORLNPGM(" triggered!");
- }
- void max_temp_error(uint8_t e) {
- disable_heater();
- if(IsStopped() == false) {
- temp_error_messagepgm(PSTR("MAXTEMP"), e);
- }
- #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
- Stop();
- #endif
- SET_OUTPUT(FAN_PIN);
- SET_OUTPUT(BEEPER);
- WRITE(FAN_PIN, 1);
- WRITE(BEEPER, 1);
- #ifdef EXTRUDER_ALTFAN_DETECT
- altfanStatus.altfanOverride = 1; //full speed
- #endif //EXTRUDER_ALTFAN_DETECT
- setExtruderAutoFanState(3);
- // 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
- disable_heater();
- //if (current_temperature_ambient < MINTEMP_MINAMBIENT) return;
- static const char err[] PROGMEM = "MINTEMP";
- if(IsStopped() == false) {
- temp_error_messagepgm(err, e);
- last_alert_sent_to_lcd = LCDALERT_HEATERMINTEMP;
- } else if( last_alert_sent_to_lcd != LCDALERT_HEATERMINTEMP ){ // only update, if the lcd message is to be changed (i.e. not the same as last time)
- // we are already stopped due to some error, only update the status message without flickering
- temp_update_messagepgm(err);
- last_alert_sent_to_lcd = LCDALERT_HEATERMINTEMP;
- }
- #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
- // if( last_alert_sent_to_lcd != LCDALERT_HEATERMINTEMP ){
- // last_alert_sent_to_lcd = LCDALERT_HEATERMINTEMP;
- // lcd_print_stop();
- // }
- Stop();
- #endif
- if (farm_mode) { prusa_statistics(92); }
- }
- void bed_max_temp_error(void) {
- disable_heater();
- if(IsStopped() == false) {
- temp_error_messagepgm(PSTR("MAXTEMP BED"));
- }
- #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
- Stop();
- #endif
- }
- void bed_min_temp_error(void) {
- #ifdef DEBUG_DISABLE_MINTEMP
- return;
- #endif
- disable_heater();
- static const char err[] PROGMEM = "MINTEMP BED";
- if(IsStopped() == false) {
- temp_error_messagepgm(err);
- last_alert_sent_to_lcd = LCDALERT_BEDMINTEMP;
- } else if( last_alert_sent_to_lcd != LCDALERT_BEDMINTEMP ){ // only update, if the lcd message is to be changed (i.e. not the same as last time)
- // we are already stopped due to some error, only update the status message without flickering
- temp_update_messagepgm(err);
- last_alert_sent_to_lcd = LCDALERT_BEDMINTEMP;
- }
- #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
- Stop();
- #endif
- }
- #ifdef AMBIENT_THERMISTOR
- void ambient_max_temp_error(void) {
- disable_heater();
- if(IsStopped() == false) {
- temp_error_messagepgm(PSTR("MAXTEMP AMB"));
- }
- #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
- Stop();
- #endif
- }
- void ambient_min_temp_error(void) {
- #ifdef DEBUG_DISABLE_MINTEMP
- return;
- #endif
- disable_heater();
- if(IsStopped() == false) {
- temp_error_messagepgm(PSTR("MINTEMP AMB"));
- }
- #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
- Stop();
- #endif
- }
- #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<<PRSPI);
- #elif defined PRR0
- PRR0 &= ~(1<<PRSPI);
- #endif
-
- SPCR = (1<<MSTR) | (1<<SPE) | (1<<SPR0);
-
- // enable TT_MAX6675
- WRITE(MAX6675_SS, 0);
-
- // ensure 100ns delay - a bit extra is fine
- asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
- asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
-
- // read MSB
- SPDR = 0;
- for (;(SPSR & (1<<SPIF)) == 0;);
- max6675_temp = SPDR;
- max6675_temp <<= 8;
-
- // read LSB
- SPDR = 0;
- for (;(SPSR & (1<<SPIF)) == 0;);
- max6675_temp |= SPDR;
-
- // disable TT_MAX6675
- WRITE(MAX6675_SS, 1);
- if (max6675_temp & 4)
- {
- // thermocouple open
- max6675_temp = 2000;
- }
- else
- {
- max6675_temp = max6675_temp >> 3;
- }
- return max6675_temp;
- }
- #endif
- extern "C" {
- void adc_ready(void) //callback from adc when sampling finished
- {
- current_temperature_raw[0] = adc_values[ADC_PIN_IDX(TEMP_0_PIN)]; //heater
- #ifdef PINDA_THERMISTOR
- current_temperature_raw_pinda_fast = adc_values[ADC_PIN_IDX(TEMP_PINDA_PIN)];
- #endif //PINDA_THERMISTOR
- current_temperature_bed_raw = adc_values[ADC_PIN_IDX(TEMP_BED_PIN)];
- #ifdef VOLT_PWR_PIN
- current_voltage_raw_pwr = adc_values[ADC_PIN_IDX(VOLT_PWR_PIN)];
- #endif
- #ifdef AMBIENT_THERMISTOR
- current_temperature_raw_ambient = adc_values[ADC_PIN_IDX(TEMP_AMBIENT_PIN)]; // 5->6
- #endif //AMBIENT_THERMISTOR
- #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
- temp_meas_ready = true;
- }
- } // extern "C"
- FORCE_INLINE static void temperature_isr()
- {
- if (!temp_meas_ready) adc_cycle();
- lcd_buttons_update();
- 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
-
- #ifdef BABYSTEPPING
- for(uint8_t axis=0;axis<3;axis++)
- {
- int curTodo=babystepsTodo[axis]; //get rid of volatile for performance
-
- if(curTodo>0)
- {
- asm("cli");
- babystep(axis,/*fwd*/true);
- babystepsTodo[axis]--; //less to do next time
- asm("sei");
- }
- else
- if(curTodo<0)
- {
- asm("cli");
- babystep(axis,/*fwd*/false);
- babystepsTodo[axis]++; //less to do next time
- asm("sei");
- }
- }
- #endif //BABYSTEPPING
- #if (defined(FANCHECK) && defined(TACH_0) && (TACH_0 > -1))
- check_fans();
- #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
- {
- static bool _lock = false;
- if (!_lock)
- {
- _lock = true;
- sei();
- temperature_isr();
- cli();
- _lock = false;
- }
- }
- void check_max_temp()
- {
- //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
- max_temp_error(0);
- }
- //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
- bed_max_temp_error();
- }
- #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
- ambient_max_temp_error();
- }
- #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(States next_state){
- if( repeat == 0 ){
- state = next_state; // advance to the next state
- 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 ){
- 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
- lcd_setalertstatuspgm(m2);
- substep(States::ShowMintemp);
- last_alert_sent_to_lcd = LCDALERT_MINTEMPFIXED;
- break;
- case States::ShowPleaseRestart: // displaying "Please restart"
- lcd_updatestatuspgm(m1);
- substep(States::ShowMintemp);
- last_alert_sent_to_lcd = LCDALERT_PLEASERESTART;
- break;
- case States::ShowMintemp: // displaying "MINTEMP fixed"
- lcd_updatestatuspgm(m2);
- substep(States::ShowPleaseRestart);
- last_alert_sent_to_lcd = LCDALERT_MINTEMPFIXED;
- 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()
- {
- //heater
- #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
- menu_set_serious_error(SERIOUS_ERR_MINTEMP_HEATER);
- min_temp_error(0);
- } else if( menu_is_serious_error(SERIOUS_ERR_MINTEMP_HEATER) ) {
- // 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
- // due to stupid compiler that takes 16 more bytes.
- alert_automaton_hotend.step(current_temperature[0], minttemp[0] + TEMP_HYSTERESIS);
- }
- }
- 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
- menu_set_serious_error(SERIOUS_ERR_MINTEMP_BED);
- bed_min_temp_error();
- } else if( menu_is_serious_error(SERIOUS_ERR_MINTEMP_BED) ){
- // 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);
- }
- }
- #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
- ambient_min_temp_error();
- }
- }
- #endif
- void check_min_temp()
- {
- 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)
- #ifdef AMBIENT_THERMISTOR
- #ifdef AMBIENT_MINTEMP
- 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[active_extruder]>minttemp[active_extruder])
- { // ~ nozzle heating is on
- bCheckingOnHeater=bCheckingOnHeater||(current_temperature[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>BED_MINTEMP)
- { // ~ bed heating is on
- bCheckingOnBed=bCheckingOnBed||(current_temperature_bed>(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
- }
-
- #if (defined(FANCHECK) && defined(TACH_0) && (TACH_0 > -1))
- void check_fans() {
- #ifdef FAN_SOFT_PWM
- if (READ(TACH_0) != fan_state[0]) {
- if(fan_measuring) fan_edge_counter[0] ++;
- fan_state[0] = !fan_state[0];
- }
- #else //FAN_SOFT_PWM
- if (READ(TACH_0) != fan_state[0]) {
- fan_edge_counter[0] ++;
- fan_state[0] = !fan_state[0];
- }
- #endif
- //if (READ(TACH_1) != fan_state[1]) {
- // fan_edge_counter[1] ++;
- // fan_state[1] = !fan_state[1];
- //}
- }
- #endif //TACH_0
- #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 overwritten in LCD menu Settings->HW Setup->SuperPINDA
- //!
- bool has_temperature_compensation()
- {
- #ifdef SUPERPINDA_SUPPORT
- 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.
- {
- //SERIAL_ECHOLNPGM("Current PINDATEMP:");
- //SERIAL_ECHO(current_temperature_pinda);
- //SERIAL_ECHOLN(PINDA_MINTEMP);
- return (current_temperature_pinda >= PINDA_MINTEMP) ? true : false;
- }
- else if (pinda_temp_compensation == 0) return true; //Overwritten via LCD menu SuperPINDA [No]
- else return false; //Overwritten via LCD menu SuperPINDA [YES]
- #else
- return true;
- #endif
- }
- #endif //PINDA_THERMISTOR
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