-/*\r
- temperature.c - temperature control\r
- Part of Marlin\r
- \r
- Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm\r
- \r
- This program is free software: you can redistribute it and/or modify\r
- it under the terms of the GNU General Public License as published by\r
- the Free Software Foundation, either version 3 of the License, or\r
- (at your option) any later version.\r
- \r
- This program is distributed in the hope that it will be useful,\r
- but WITHOUT ANY WARRANTY; without even the implied warranty of\r
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
- GNU General Public License for more details.\r
- \r
- You should have received a copy of the GNU General Public License\r
- along with this program. If not, see <http://www.gnu.org/licenses/>.\r
- */\r
-\r
-/*\r
- This firmware is a mashup between Sprinter and grbl.\r
- (https://github.com/kliment/Sprinter)\r
- (https://github.com/simen/grbl/tree)\r
- \r
- It has preliminary support for Matthew Roberts advance algorithm \r
- http://reprap.org/pipermail/reprap-dev/2011-May/003323.html\r
-\r
- This firmware is optimized for gen6 electronics.\r
- */\r
-\r
-#include "fastio.h"\r
-#include "Configuration.h"\r
-#include "pins.h"\r
-#include "Marlin.h"\r
-#include "ultralcd.h"\r
-#include "temperature.h"\r
-#include "watchdog.h"\r
-\r
-//===========================================================================\r
-//=============================public variables============================\r
-//===========================================================================\r
-int target_raw[3] = {0, 0, 0};\r
-int current_raw[3] = {0, 0, 0};\r
-\r
-#ifdef PIDTEMP\r
- \r
- // probably used external\r
- float HeaterPower;\r
- float pid_setpoint = 0.0;\r
-\r
- \r
- float Kp=DEFAULT_Kp;\r
- float Ki=DEFAULT_Ki;\r
- float Kd=DEFAULT_Kd;\r
- float Kc=DEFAULT_Kc;\r
-#endif //PIDTEMP\r
- \r
- \r
-//===========================================================================\r
-//=============================private variables============================\r
-//===========================================================================\r
-static bool temp_meas_ready = false;\r
-\r
-static unsigned long previous_millis_heater, previous_millis_bed_heater;\r
-\r
-#ifdef PIDTEMP\r
- //static cannot be external:\r
- static float temp_iState = 0;\r
- static float temp_dState = 0;\r
- static float pTerm;\r
- static float iTerm;\r
- static float dTerm;\r
- //int output;\r
- static float pid_error;\r
- static float temp_iState_min;\r
- static float temp_iState_max;\r
- static float pid_input;\r
- static float pid_output;\r
- static bool pid_reset;\r
- \r
-#endif //PIDTEMP\r
- \r
-#ifdef WATCHPERIOD\r
- static int watch_raw[3] = {-1000,-1000,-1000};\r
- static unsigned long watchmillis = 0;\r
-#endif //WATCHPERIOD\r
-\r
-#ifdef HEATER_0_MINTEMP\r
- static int minttemp_0 = temp2analog(HEATER_0_MINTEMP);\r
-#endif //MINTEMP\r
-#ifdef HEATER_0_MAXTEMP\r
- static int maxttemp_0 = temp2analog(HEATER_0_MAXTEMP);\r
-#endif //MAXTEMP\r
-\r
-#ifdef HEATER_1_MINTEMP\r
- static int minttemp_1 = temp2analog(HEATER_1_MINTEMP);\r
-#endif //MINTEMP\r
-#ifdef HEATER_1_MAXTEMP\r
- static int maxttemp_1 = temp2analog(HEATER_1_MAXTEMP);\r
-#endif //MAXTEMP\r
-\r
-#ifdef BED_MINTEMP\r
- static int bed_minttemp = temp2analog(BED_MINTEMP);\r
-#endif //BED_MINTEMP\r
-#ifdef BED_MAXTEMP\r
- static int bed_maxttemp = temp2analog(BED_MAXTEMP);\r
-#endif //BED_MAXTEMP\r
-\r
-//===========================================================================\r
-//=============================functions ============================\r
-//===========================================================================\r
- \r
-void updatePID()\r
-{\r
-#ifdef PIDTEMP\r
- temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;\r
-#endif\r
-}\r
- \r
-void manage_heater()\r
-{\r
- #ifdef USE_WATCHDOG\r
- wd_reset();\r
- #endif\r
- \r
- float pid_input;\r
- float pid_output;\r
- if(temp_meas_ready != true) //better readability\r
- return; \r
-\r
- CRITICAL_SECTION_START;\r
- temp_meas_ready = false;\r
- CRITICAL_SECTION_END;\r
-\r
- #ifdef PIDTEMP\r
- pid_input = analog2temp(current_raw[TEMPSENSOR_HOTEND_0]);\r
-\r
- #ifndef PID_OPENLOOP\r
- pid_error = pid_setpoint - pid_input;\r
- if(pid_error > 10){\r
- pid_output = PID_MAX;\r
- pid_reset = true;\r
- }\r
- else if(pid_error < -10) {\r
- pid_output = 0;\r
- pid_reset = true;\r
- }\r
- else {\r
- if(pid_reset == true) {\r
- temp_iState = 0.0;\r
- pid_reset = false;\r
- }\r
- pTerm = Kp * pid_error;\r
- temp_iState += pid_error;\r
- temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);\r
- iTerm = Ki * temp_iState;\r
- //K1 defined in Configuration.h in the PID settings\r
- #define K2 (1.0-K1)\r
- dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm);\r
- temp_dState = pid_input;\r
- #ifdef PID_ADD_EXTRUSION_RATE\r
- pTerm+=Kc*current_block->speed_e; //additional heating if extrusion speed is high\r
- #endif\r
- pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX);\r
- \r
- }\r
- #endif //PID_OPENLOOP\r
- #ifdef PID_DEBUG\r
- //SERIAL_ECHOLN(" PIDDEBUG Input "<<pid_input<<" Output "<<pid_output" pTerm "<<pTerm<<" iTerm "<<iTerm<<" dTerm "<<dTerm); \r
- #endif //PID_DEBUG\r
- HeaterPower=pid_output;\r
- analogWrite(HEATER_0_PIN, pid_output);\r
- #endif //PIDTEMP\r
-\r
- #ifndef PIDTEMP\r
- if(current_raw[0] >= target_raw[0])\r
- {\r
- WRITE(HEATER_0_PIN,LOW);\r
- }\r
- else \r
- {\r
- WRITE(HEATER_0_PIN,HIGH);\r
- }\r
- #endif\r
- \r
- if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)\r
- return;\r
- previous_millis_bed_heater = millis();\r
- \r
- #if TEMP_1_PIN > -1\r
- if(current_raw[TEMPSENSOR_BED] >= target_raw[TEMPSENSOR_BED])\r
- {\r
- WRITE(HEATER_1_PIN,LOW);\r
- }\r
- else \r
- {\r
- WRITE(HEATER_1_PIN,HIGH);\r
- }\r
- #endif\r
-}\r
-\r
-// Takes hot end temperature value as input and returns corresponding raw value. \r
-// For a thermistor, it uses the RepRap thermistor temp table.\r
-// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.\r
-// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.\r
-int temp2analog(int celsius) {\r
- #ifdef HEATER_0_USES_THERMISTOR\r
- int raw = 0;\r
- byte i;\r
- \r
- for (i=1; i<NUMTEMPS_HEATER_0; i++)\r
- {\r
- if (heater_0_temptable[i][1] < celsius)\r
- {\r
- raw = heater_0_temptable[i-1][0] + \r
- (celsius - heater_0_temptable[i-1][1]) * \r
- (heater_0_temptable[i][0] - heater_0_temptable[i-1][0]) /\r
- (heater_0_temptable[i][1] - heater_0_temptable[i-1][1]); \r
- break;\r
- }\r
- }\r
-\r
- // Overflow: Set to last value in the table\r
- if (i == NUMTEMPS_HEATER_0) raw = heater_0_temptable[i-1][0];\r
-\r
- return (1023 * OVERSAMPLENR) - raw;\r
- #elif defined HEATER_0_USES_AD595\r
- return celsius * (1024.0 / (5.0 * 100.0) ) * OVERSAMPLENR;\r
- #endif\r
-}\r
-\r
-// Takes bed temperature value as input and returns corresponding raw value. \r
-// For a thermistor, it uses the RepRap thermistor temp table.\r
-// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.\r
-// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.\r
-int temp2analogBed(int celsius) {\r
- #ifdef BED_USES_THERMISTOR\r
-\r
- int raw = 0;\r
- byte i;\r
- \r
- for (i=1; i<BNUMTEMPS; i++)\r
- {\r
- if (bedtemptable[i][1] < celsius)\r
- {\r
- raw = bedtemptable[i-1][0] + \r
- (celsius - bedtemptable[i-1][1]) * \r
- (bedtemptable[i][0] - bedtemptable[i-1][0]) /\r
- (bedtemptable[i][1] - bedtemptable[i-1][1]);\r
- \r
- break;\r
- }\r
- }\r
-\r
- // Overflow: Set to last value in the table\r
- if (i == BNUMTEMPS) raw = bedtemptable[i-1][0];\r
-\r
- return (1023 * OVERSAMPLENR) - raw;\r
- #elif defined BED_USES_AD595\r
- return lround(celsius * (1024.0 * OVERSAMPLENR/ (5.0 * 100.0) ) );\r
- #endif\r
-}\r
-\r
-// Derived from RepRap FiveD extruder::getTemperature()\r
-// For hot end temperature measurement.\r
-float analog2temp(int raw) {\r
- #ifdef HEATER_0_USES_THERMISTOR\r
- float celsius = 0;\r
- byte i; \r
- raw = (1023 * OVERSAMPLENR) - raw;\r
- for (i=1; i<NUMTEMPS_HEATER_0; i++)\r
- {\r
- if (heater_0_temptable[i][0] > raw)\r
- {\r
- celsius = heater_0_temptable[i-1][1] + \r
- (raw - heater_0_temptable[i-1][0]) * \r
- (float)(heater_0_temptable[i][1] - heater_0_temptable[i-1][1]) /\r
- (float)(heater_0_temptable[i][0] - heater_0_temptable[i-1][0]);\r
-\r
- break;\r
- }\r
- }\r
-\r
- // Overflow: Set to last value in the table\r
- if (i == NUMTEMPS_HEATER_0) celsius = heater_0_temptable[i-1][1];\r
-\r
- return celsius;\r
- #elif defined HEATER_0_USES_AD595\r
- return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;\r
- #endif\r
-}\r
-\r
-// Derived from RepRap FiveD extruder::getTemperature()\r
-// For bed temperature measurement.\r
-float analog2tempBed(int raw) {\r
- #ifdef BED_USES_THERMISTOR\r
- int celsius = 0;\r
- byte i;\r
-\r
- raw = (1023 * OVERSAMPLENR) - raw;\r
-\r
- for (i=1; i<BNUMTEMPS; i++)\r
- {\r
- if (bedtemptable[i][0] > raw)\r
- {\r
- celsius = bedtemptable[i-1][1] + \r
- (raw - bedtemptable[i-1][0]) * \r
- (bedtemptable[i][1] - bedtemptable[i-1][1]) /\r
- (bedtemptable[i][0] - bedtemptable[i-1][0]);\r
-\r
- break;\r
- }\r
- }\r
-\r
- // Overflow: Set to last value in the table\r
- if (i == BNUMTEMPS) celsius = bedtemptable[i-1][1];\r
-\r
- return celsius;\r
- \r
- #elif defined BED_USES_AD595\r
- return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;\r
- #endif\r
-}\r
-\r
-void tp_init()\r
-{\r
- #if (HEATER_0_PIN > -1) \r
- SET_OUTPUT(HEATER_0_PIN);\r
- #endif \r
- #if (HEATER_1_PIN > -1) \r
- SET_OUTPUT(HEATER_1_PIN);\r
- #endif \r
- #if (HEATER_2_PIN > -1) \r
- SET_OUTPUT(HEATER_2_PIN);\r
- #endif \r
-\r
- #ifdef PIDTEMP\r
- temp_iState_min = 0.0;\r
- temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;\r
- #endif //PIDTEMP\r
-\r
- // Set analog inputs\r
- ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07;\r
- \r
- // Use timer0 for temperature measurement\r
- // Interleave temperature interrupt with millies interrupt\r
- OCR0B = 128;\r
- TIMSK0 |= (1<<OCIE0B); \r
-}\r
-\r
-\r
-\r
-void setWatch() \r
-{ \r
-#ifdef WATCHPERIOD\r
- if(isHeatingHotend0())\r
- {\r
- watchmillis = max(1,millis());\r
- watch_raw[TEMPSENSOR_HOTEND_0] = current_raw[TEMPSENSOR_HOTEND_0];\r
- }\r
- else\r
- {\r
- watchmillis = 0;\r
- } \r
-#endif \r
-}\r
-\r
-\r
-void disable_heater()\r
-{\r
- #if TEMP_0_PIN > -1\r
- target_raw[0]=0;\r
- #if HEATER_0_PIN > -1 \r
- WRITE(HEATER_0_PIN,LOW);\r
- #endif\r
- #endif\r
- \r
- #if TEMP_1_PIN > -1\r
- target_raw[1]=0;\r
- #if HEATER_1_PIN > -1 \r
- WRITE(HEATER_1_PIN,LOW);\r
- #endif\r
- #endif\r
- \r
- #if TEMP_2_PIN > -1\r
- target_raw[2]=0;\r
- #if HEATER_2_PIN > -1 \r
- WRITE(HEATER_2_PIN,LOW);\r
- #endif\r
- #endif \r
-}\r
-\r
-// Timer 0 is shared with millies\r
-ISR(TIMER0_COMPB_vect)\r
-{\r
- //these variables are only accesible from the ISR, but static, so they don't loose their value\r
- static unsigned char temp_count = 0;\r
- static unsigned long raw_temp_0_value = 0;\r
- static unsigned long raw_temp_1_value = 0;\r
- static unsigned long raw_temp_2_value = 0;\r
- static unsigned char temp_state = 0;\r
- \r
- switch(temp_state) {\r
- case 0: // Prepare TEMP_0\r
- #if (TEMP_0_PIN > -1)\r
- #if TEMP_0_PIN < 8\r
- DIDR0 = 1 << TEMP_0_PIN; \r
- #else\r
- DIDR2 = 1<<(TEMP_0_PIN - 8); \r
- ADCSRB = 1<<MUX5;\r
- #endif\r
- ADMUX = ((1 << REFS0) | (TEMP_0_PIN & 0x07));\r
- ADCSRA |= 1<<ADSC; // Start conversion\r
- #endif\r
- #ifdef ULTIPANEL\r
- buttons_check();\r
- #endif\r
- temp_state = 1;\r
- break;\r
- case 1: // Measure TEMP_0\r
- #if (TEMP_0_PIN > -1)\r
- raw_temp_0_value += ADC;\r
- #endif\r
- temp_state = 2;\r
- break;\r
- case 2: // Prepare TEMP_1\r
- #if (TEMP_1_PIN > -1)\r
- #if TEMP_1_PIN < 7\r
- DIDR0 = 1<<TEMP_1_PIN; \r
- #else\r
- DIDR2 = 1<<(TEMP_1_PIN - 8); \r
- ADCSRB = 1<<MUX5;\r
- #endif\r
- ADMUX = ((1 << REFS0) | (TEMP_1_PIN & 0x07));\r
- ADCSRA |= 1<<ADSC; // Start conversion\r
- #endif\r
- #ifdef ULTIPANEL\r
- buttons_check();\r
- #endif\r
- temp_state = 3;\r
- break;\r
- case 3: // Measure TEMP_1\r
- #if (TEMP_1_PIN > -1)\r
- raw_temp_1_value += ADC;\r
- #endif\r
- temp_state = 4;\r
- break;\r
- case 4: // Prepare TEMP_2\r
- #if (TEMP_2_PIN > -1)\r
- #if TEMP_2_PIN < 7\r
- DIDR0 = 1 << TEMP_2_PIN; \r
- #else\r
- DIDR2 = 1<<(TEMP_2_PIN - 8); \r
- ADCSRB = 1<<MUX5;\r
- #endif\r
- ADMUX = ((1 << REFS0) | (TEMP_2_PIN & 0x07));\r
- ADCSRA |= 1<<ADSC; // Start conversion\r
- #endif\r
- #ifdef ULTIPANEL\r
- buttons_check();\r
- #endif\r
- temp_state = 5;\r
- break;\r
- case 5: // Measure TEMP_2\r
- #if (TEMP_2_PIN > -1)\r
- raw_temp_2_value += ADC;\r
- #endif\r
- temp_state = 0;\r
- temp_count++;\r
- break;\r
- default:\r
- SERIAL_ERROR_START;\r
- SERIAL_ERRORLNPGM("Temp measurement error!");\r
- break;\r
- }\r
- \r
- if(temp_count >= 16) // 6 ms * 16 = 96ms.\r
- {\r
- #ifdef HEATER_0_USES_AD595\r
- current_raw[0] = raw_temp_0_value;\r
- #else\r
- current_raw[0] = 16383 - raw_temp_0_value;\r
- #endif\r
- \r
- #ifdef HEATER_1_USES_AD595\r
- current_raw[2] = raw_temp_2_value;\r
- #else\r
- current_raw[2] = 16383 - raw_temp_2_value;\r
- #endif\r
- \r
- #ifdef BED_USES_AD595\r
- current_raw[1] = raw_temp_1_value;\r
- #else\r
- current_raw[1] = 16383 - raw_temp_1_value;\r
- #endif\r
- \r
- temp_meas_ready = true;\r
- temp_count = 0;\r
- raw_temp_0_value = 0;\r
- raw_temp_1_value = 0;\r
- raw_temp_2_value = 0;\r
- #ifdef HEATER_0_MAXTEMP\r
- #if (HEATER_0_PIN > -1)\r
- if(current_raw[TEMPSENSOR_HOTEND_0] >= maxttemp_0) {\r
- target_raw[TEMPSENSOR_HOTEND_0] = 0;\r
- analogWrite(HEATER_0_PIN, 0);\r
- SERIAL_ERROR_START;\r
- SERIAL_ERRORLNPGM("Temperature extruder 0 switched off. MAXTEMP triggered !!");\r
- kill();\r
- }\r
- #endif\r
- #endif\r
- #ifdef HEATER_1_MAXTEMP\r
- #if (HEATER_1_PIN > -1)\r
- if(current_raw[TEMPSENSOR_HOTEND_1] >= maxttemp_1) {\r
- target_raw[TEMPSENSOR_HOTEND_1] = 0;\r
- if(current_raw[2] >= maxttemp_1) {\r
- analogWrite(HEATER_2_PIN, 0);\r
- SERIAL_ERROR_START;\r
- SERIAL_ERRORLNPGM("Temperature extruder 1 switched off. MAXTEMP triggered !!");\r
- kill()\r
- }\r
- #endif\r
- #endif //MAXTEMP\r
- \r
- #ifdef HEATER_0_MINTEMP\r
- #if (HEATER_0_PIN > -1)\r
- if(current_raw[TEMPSENSOR_HOTEND_0] <= minttemp_0) {\r
- target_raw[TEMPSENSOR_HOTEND_0] = 0;\r
- analogWrite(HEATER_0_PIN, 0);\r
- SERIAL_ERROR_START;\r
- SERIAL_ERRORLNPGM("Temperature extruder 0 switched off. MINTEMP triggered !!");\r
- kill();\r
- }\r
- #endif\r
- #endif\r
- \r
- #ifdef HEATER_1_MINTEMP\r
- #if (HEATER_2_PIN > -1)\r
- if(current_raw[TEMPSENSOR_HOTEND_1] <= minttemp_1) {\r
- target_raw[TEMPSENSOR_HOTEND_1] = 0;\r
- analogWrite(HEATER_2_PIN, 0);\r
- SERIAL_ERROR_START;\r
- SERIAL_ERRORLNPGM("Temperature extruder 1 switched off. MINTEMP triggered !!");\r
- kill();\r
- }\r
- #endif\r
- #endif //MAXTEMP\r
- \r
- #ifdef BED_MINTEMP\r
- #if (HEATER_1_PIN > -1)\r
- if(current_raw[1] <= bed_minttemp) {\r
- target_raw[1] = 0;\r
- WRITE(HEATER_1_PIN, 0);\r
- SERIAL_ERROR_START;\r
- SERIAL_ERRORLNPGM("Temperatur heated bed switched off. MINTEMP triggered !!");\r
- kill();\r
- }\r
- #endif\r
- #endif\r
- \r
- #ifdef BED_MAXTEMP\r
- #if (HEATER_1_PIN > -1)\r
- if(current_raw[1] >= bed_maxttemp) {\r
- target_raw[1] = 0;\r
- WRITE(HEATER_1_PIN, 0);\r
- SERIAL_ERROR_START;\r
- SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!");\r
- kill();\r
- }\r
- #endif\r
- #endif\r
- }\r
-}\r
-\r
-\r
+/*
+ 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
+
+ This firmware is optimized for gen6 electronics.
+ */
+#include <avr/pgmspace.h>
+
+#include "fastio.h"
+#include "Configuration.h"
+#include "pins.h"
+#include "Marlin.h"
+#include "ultralcd.h"
+#include "temperature.h"
+#include "watchdog.h"
+
+//===========================================================================
+//=============================public variables============================
+//===========================================================================
+int target_raw[3] = {0, 0, 0};
+int current_raw[3] = {0, 0, 0};
+
+#ifdef PIDTEMP
+
+ // probably used external
+ float HeaterPower;
+ float pid_setpoint = 0.0;
+
+
+ float Kp=DEFAULT_Kp;
+ float Ki=DEFAULT_Ki;
+ float Kd=DEFAULT_Kd;
+ #ifdef PID_ADD_EXTRUSION_RATE
+ float Kc=DEFAULT_Kc;
+ #endif
+#endif //PIDTEMP
+
+
+//===========================================================================
+//=============================private variables============================
+//===========================================================================
+static bool temp_meas_ready = false;
+
+static unsigned long previous_millis_heater, previous_millis_bed_heater;
+
+#ifdef PIDTEMP
+ //static cannot be external:
+ static float temp_iState = 0;
+ static float temp_dState = 0;
+ static float pTerm;
+ static float iTerm;
+ static float dTerm;
+ //int output;
+ static float pid_error;
+ static float temp_iState_min;
+ static float temp_iState_max;
+ static float pid_input;
+ static float pid_output;
+ static bool pid_reset;
+
+#endif //PIDTEMP
+
+#ifdef WATCHPERIOD
+ static int watch_raw[3] = {-1000,-1000,-1000};
+ static unsigned long watchmillis = 0;
+#endif //WATCHPERIOD
+
+#ifdef HEATER_0_MINTEMP
+ static int minttemp_0 = temp2analog(HEATER_0_MINTEMP);
+#endif //MINTEMP
+#ifdef HEATER_0_MAXTEMP
+ static int maxttemp_0 = temp2analog(HEATER_0_MAXTEMP);
+#endif //MAXTEMP
+
+#ifdef HEATER_1_MINTEMP
+ static int minttemp_1 = temp2analog(HEATER_1_MINTEMP);
+#endif //MINTEMP
+#ifdef HEATER_1_MAXTEMP
+ static int maxttemp_1 = temp2analog(HEATER_1_MAXTEMP);
+#endif //MAXTEMP
+
+#ifdef BED_MINTEMP
+ static int bed_minttemp = temp2analog(BED_MINTEMP);
+#endif //BED_MINTEMP
+#ifdef BED_MAXTEMP
+ static int bed_maxttemp = temp2analog(BED_MAXTEMP);
+#endif //BED_MAXTEMP
+
+//===========================================================================
+//=============================functions ============================
+//===========================================================================
+
++void updatePID()
++{
++#ifdef PIDTEMP
++ temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
++#endif
++}
++
+void manage_heater()
+{
+ #ifdef USE_WATCHDOG
+ wd_reset();
+ #endif
+
+ float pid_input;
+ float pid_output;
+ if(temp_meas_ready != true) //better readability
+ return;
+
+ CRITICAL_SECTION_START;
+ temp_meas_ready = false;
+ CRITICAL_SECTION_END;
+
+ #ifdef PIDTEMP
+ pid_input = analog2temp(current_raw[TEMPSENSOR_HOTEND_0]);
+
+ #ifndef PID_OPENLOOP
+ pid_error = pid_setpoint - pid_input;
+ if(pid_error > 10){
+ pid_output = PID_MAX;
+ pid_reset = true;
+ }
+ else if(pid_error < -10) {
+ pid_output = 0;
+ pid_reset = true;
+ }
+ else {
+ if(pid_reset == true) {
+ temp_iState = 0.0;
+ pid_reset = false;
+ }
+ pTerm = Kp * pid_error;
+ temp_iState += pid_error;
+ temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
+ iTerm = Ki * temp_iState;
+ //K1 defined in Configuration.h in the PID settings
+ #define K2 (1.0-K1)
+ dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm);
+ temp_dState = pid_input;
+// #ifdef PID_ADD_EXTRUSION_RATE
+// pTerm+=Kc*current_block->speed_e; //additional heating if extrusion speed is high
+// #endif
+ pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX);
+
+ }
+ #endif //PID_OPENLOOP
+ #ifdef PID_DEBUG
+ //SERIAL_ECHOLN(" PIDDEBUG Input "<<pid_input<<" Output "<<pid_output" pTerm "<<pTerm<<" iTerm "<<iTerm<<" dTerm "<<dTerm);
+ #endif //PID_DEBUG
+ HeaterPower=pid_output;
+ analogWrite(HEATER_0_PIN, pid_output);
+ #endif //PIDTEMP
+
+ #ifndef PIDTEMP
+ if(current_raw[0] >= target_raw[0])
+ {
+ WRITE(HEATER_0_PIN,LOW);
+ }
+ else
+ {
+ WRITE(HEATER_0_PIN,HIGH);
+ }
+ #endif
+
+ if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
+ return;
+ previous_millis_bed_heater = millis();
+
+ #if TEMP_1_PIN > -1
+ if(current_raw[TEMPSENSOR_BED] >= target_raw[TEMPSENSOR_BED])
+ {
+ WRITE(HEATER_1_PIN,LOW);
+ }
+ else
+ {
+ WRITE(HEATER_1_PIN,HIGH);
+ }
+ #endif
+}
+
+// Takes hot end temperature value as input and returns corresponding raw value.
+// For a thermistor, it uses the RepRap thermistor temp table.
+// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
+// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
+int temp2analog(int celsius) {
+ #ifdef HEATER_0_USES_THERMISTOR
+ int raw = 0;
+ byte i;
+
+ for (i=1; i<NUMTEMPS_HEATER_0; i++)
+ {
+ if (pgm_read_word(&(heater_0_temptable[i][1])) < celsius)
+ {
+ raw = pgm_read_word(&(heater_0_temptable[i-1][0])) +
+ (celsius - pgm_read_word(&(heater_0_temptable[i-1][1]))) *
+ (pgm_read_word(&(heater_0_temptable[i][0])) - pgm_read_word(&(heater_0_temptable[i-1][0]))) /
+ (pgm_read_word(&(heater_0_temptable[i][1])) - pgm_read_word(&(heater_0_temptable[i-1][1])));
+ break;
+ }
+ }
+
+ // Overflow: Set to last value in the table
+ if (i == NUMTEMPS_HEATER_0) raw = pgm_read_word(&(heater_0_temptable[i-1][0]));
+
+ return (1023 * OVERSAMPLENR) - raw;
+ #elif defined HEATER_0_USES_AD595
+ return celsius * (1024.0 / (5.0 * 100.0) ) * OVERSAMPLENR;
+ #endif
+}
+
+// Takes bed temperature value as input and returns corresponding raw value.
+// For a thermistor, it uses the RepRap thermistor temp table.
+// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
+// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
+int temp2analogBed(int celsius) {
+ #ifdef BED_USES_THERMISTOR
+
+ int raw = 0;
+ byte i;
+
+ for (i=1; i<BNUMTEMPS; i++)
+ {
+ if (pgm_read_word(&)bedtemptable[i][1])) < celsius)
+ {
+ raw = pgm_read_word(&(bedtemptable[i-1][0])) +
+ (celsius - pgm_read_word(&(bedtemptable[i-1][1]))) *
+ (pgm_read_word(&(bedtemptable[i][0])) - pgm_read_word(&(bedtemptable[i-1][0]))) /
+ (pgm_read_word(&(bedtemptable[i][1])) - pgm_read_word(&(bedtemptable[i-1][1])));
+
+ break;
+ }
+ }
+
+ // Overflow: Set to last value in the table
+ if (i == BNUMTEMPS) raw = pgm_read_word(&(bedtemptable[i-1][0]));
+
+ return (1023 * OVERSAMPLENR) - raw;
+ #elif defined BED_USES_AD595
+ return lround(celsius * (1024.0 * OVERSAMPLENR/ (5.0 * 100.0) ) );
+ #endif
+}
+
+// Derived from RepRap FiveD extruder::getTemperature()
+// For hot end temperature measurement.
+float analog2temp(int raw) {
+ #ifdef HEATER_0_USES_THERMISTOR
+ float celsius = 0;
+ byte i;
+ raw = (1023 * OVERSAMPLENR) - raw;
+ for (i=1; i<NUMTEMPS_HEATER_0; i++)
+ {
+ if ((short)pgm_read_word(&heater_0_temptable[i][0]) > raw)
+ {
+ celsius = (short)pgm_read_word(&heater_0_temptable[i-1][1]) +
+ (raw - (short)pgm_read_word(&heater_0_temptable[i-1][0])) *
+ (float)((short)pgm_read_word(&heater_0_temptable[i][1]) - (short)pgm_read_word(&heater_0_temptable[i-1][1])) /
+ (float)((short)pgm_read_word(&heater_0_temptable[i][0]) - (short)pgm_read_word(&heater_0_temptable[i-1][0]));
+ break;
+ }
+ }
+
+ // Overflow: Set to last value in the table
+ if (i == NUMTEMPS_HEATER_0) celsius = (short)pgm_read_word(&(heater_0_temptable[i-1][1]));
+
+ return celsius;
+ #elif defined HEATER_0_USES_AD595
+ return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;
+ #endif
+}
+
+// Derived from RepRap FiveD extruder::getTemperature()
+// For bed temperature measurement.
+float analog2tempBed(int raw) {
+ #ifdef BED_USES_THERMISTOR
+ int celsius = 0;
+ byte i;
+
+ raw = (1023 * OVERSAMPLENR) - raw;
+
+ for (i=1; i<BNUMTEMPS; i++)
+ {
+ if (pgm_read_word(&(bedtemptable[i][0])) > raw)
+ {
+ celsius = pgm_read_word(&(bedtemptable[i-1][1])) +
+ (raw - pgm_read_word(&(bedtemptable[i-1][0]))) *
+ (pgm_read_word(&(bedtemptable[i][1])) - pgm_read_word(&(bedtemptable[i-1][1]))) /
+ (pgm_read_word(&(bedtemptable[i][0])) - pgm_read_word(&(bedtemptable[i-1][0])));
+
+ break;
+ }
+ }
+
+ // Overflow: Set to last value in the table
+ if (i == BNUMTEMPS) celsius = pgm_read_word(&(bedtemptable[i-1][1]));
+
+ return celsius;
+
+ #elif defined BED_USES_AD595
+ return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR;
+ #endif
+}
+
+void tp_init()
+{
+ #if (HEATER_0_PIN > -1)
+ SET_OUTPUT(HEATER_0_PIN);
+ #endif
+ #if (HEATER_1_PIN > -1)
+ SET_OUTPUT(HEATER_1_PIN);
+ #endif
+ #if (HEATER_2_PIN > -1)
+ SET_OUTPUT(HEATER_2_PIN);
+ #endif
+
+ #ifdef PIDTEMP
+ temp_iState_min = 0.0;
+ temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
+ #endif //PIDTEMP
+
+ // Set analog inputs
+ ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07;
+
+ // Use timer0 for temperature measurement
+ // Interleave temperature interrupt with millies interrupt
+ OCR0B = 128;
+ TIMSK0 |= (1<<OCIE0B);
+}
+
+
+
+void setWatch()
+{
+#ifdef WATCHPERIOD
+ if(isHeatingHotend0())
+ {
+ watchmillis = max(1,millis());
+ watch_raw[TEMPSENSOR_HOTEND_0] = current_raw[TEMPSENSOR_HOTEND_0];
+ }
+ else
+ {
+ watchmillis = 0;
+ }
+#endif
+}
+
+
+void disable_heater()
+{
+ #if TEMP_0_PIN > -1
+ target_raw[0]=0;
+ #if HEATER_0_PIN > -1
+ WRITE(HEATER_0_PIN,LOW);
+ #endif
+ #endif
+
+ #if TEMP_1_PIN > -1
+ target_raw[1]=0;
+ #if HEATER_1_PIN > -1
+ WRITE(HEATER_1_PIN,LOW);
+ #endif
+ #endif
+
+ #if TEMP_2_PIN > -1
+ target_raw[2]=0;
+ #if HEATER_2_PIN > -1
+ WRITE(HEATER_2_PIN,LOW);
+ #endif
+ #endif
+}
+
+// Timer 0 is shared with millies
+ISR(TIMER0_COMPB_vect)
+{
+ //these variables are only accesible from the ISR, but static, so they don't loose their value
+ static unsigned char temp_count = 0;
+ static unsigned long raw_temp_0_value = 0;
+ static unsigned long raw_temp_1_value = 0;
+ static unsigned long raw_temp_2_value = 0;
+ static unsigned char temp_state = 0;
+
+ switch(temp_state) {
+ case 0: // Prepare TEMP_0
+ #if (TEMP_0_PIN > -1)
+ #if TEMP_0_PIN < 8
+ DIDR0 = 1 << TEMP_0_PIN;
+ #else
+ DIDR2 = 1<<(TEMP_0_PIN - 8);
+ ADCSRB = 1<<MUX5;
+ #endif
+ ADMUX = ((1 << REFS0) | (TEMP_0_PIN & 0x07));
+ ADCSRA |= 1<<ADSC; // Start conversion
+ #endif
+ #ifdef ULTIPANEL
+ buttons_check();
+ #endif
+ temp_state = 1;
+ break;
+ case 1: // Measure TEMP_0
+ #if (TEMP_0_PIN > -1)
+ raw_temp_0_value += ADC;
+ #endif
+ temp_state = 2;
+ break;
+ case 2: // Prepare TEMP_1
+ #if (TEMP_1_PIN > -1)
+ #if TEMP_1_PIN < 7
+ DIDR0 = 1<<TEMP_1_PIN;
+ #else
+ DIDR2 = 1<<(TEMP_1_PIN - 8);
+ ADCSRB = 1<<MUX5;
+ #endif
+ ADMUX = ((1 << REFS0) | (TEMP_1_PIN & 0x07));
+ ADCSRA |= 1<<ADSC; // Start conversion
+ #endif
+ #ifdef ULTIPANEL
+ buttons_check();
+ #endif
+ temp_state = 3;
+ break;
+ case 3: // Measure TEMP_1
+ #if (TEMP_1_PIN > -1)
+ raw_temp_1_value += ADC;
+ #endif
+ temp_state = 4;
+ break;
+ case 4: // Prepare TEMP_2
+ #if (TEMP_2_PIN > -1)
+ #if TEMP_2_PIN < 7
+ DIDR0 = 1 << TEMP_2_PIN;
+ #else
+ DIDR2 = 1<<(TEMP_2_PIN - 8);
+ ADCSRB = 1<<MUX5;
+ #endif
+ ADMUX = ((1 << REFS0) | (TEMP_2_PIN & 0x07));
+ ADCSRA |= 1<<ADSC; // Start conversion
+ #endif
+ #ifdef ULTIPANEL
+ buttons_check();
+ #endif
+ temp_state = 5;
+ break;
+ case 5: // Measure TEMP_2
+ #if (TEMP_2_PIN > -1)
+ raw_temp_2_value += ADC;
+ #endif
+ temp_state = 0;
+ temp_count++;
+ break;
+ default:
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM("Temp measurement error!");
+ break;
+ }
+
+ if(temp_count >= 16) // 6 ms * 16 = 96ms.
+ {
+ #ifdef HEATER_0_USES_AD595
+ current_raw[0] = raw_temp_0_value;
+ #else
+ current_raw[0] = 16383 - raw_temp_0_value;
+ #endif
+
+ #ifdef HEATER_1_USES_AD595
+ current_raw[2] = raw_temp_2_value;
+ #else
+ current_raw[2] = 16383 - raw_temp_2_value;
+ #endif
+
+ #ifdef BED_USES_AD595
+ current_raw[1] = raw_temp_1_value;
+ #else
+ current_raw[1] = 16383 - raw_temp_1_value;
+ #endif
+
+ temp_meas_ready = true;
+ temp_count = 0;
+ raw_temp_0_value = 0;
+ raw_temp_1_value = 0;
+ raw_temp_2_value = 0;
+ #ifdef HEATER_0_MAXTEMP
+ #if (HEATER_0_PIN > -1)
+ if(current_raw[TEMPSENSOR_HOTEND_0] >= maxttemp_0) {
+ target_raw[TEMPSENSOR_HOTEND_0] = 0;
+ analogWrite(HEATER_0_PIN, 0);
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM("Temperature extruder 0 switched off. MAXTEMP triggered !!");
+ kill();
+ }
+ #endif
+ #endif
+ #ifdef HEATER_1_MAXTEMP
+ #if (HEATER_1_PIN > -1)
+ if(current_raw[TEMPSENSOR_HOTEND_1] >= maxttemp_1) {
+ target_raw[TEMPSENSOR_HOTEND_1] = 0;
+ if(current_raw[2] >= maxttemp_1) {
+ analogWrite(HEATER_2_PIN, 0);
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM("Temperature extruder 1 switched off. MAXTEMP triggered !!");
+ kill()
+ }
+ #endif
+ #endif //MAXTEMP
+
+ #ifdef HEATER_0_MINTEMP
+ #if (HEATER_0_PIN > -1)
+ if(current_raw[TEMPSENSOR_HOTEND_0] <= minttemp_0) {
+ target_raw[TEMPSENSOR_HOTEND_0] = 0;
+ analogWrite(HEATER_0_PIN, 0);
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM("Temperature extruder 0 switched off. MINTEMP triggered !!");
+ kill();
+ }
+ #endif
+ #endif
+
+ #ifdef HEATER_1_MINTEMP
+ #if (HEATER_2_PIN > -1)
+ if(current_raw[TEMPSENSOR_HOTEND_1] <= minttemp_1) {
+ target_raw[TEMPSENSOR_HOTEND_1] = 0;
+ analogWrite(HEATER_2_PIN, 0);
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM("Temperature extruder 1 switched off. MINTEMP triggered !!");
+ kill();
+ }
+ #endif
+ #endif //MAXTEMP
+
+ #ifdef BED_MINTEMP
+ #if (HEATER_1_PIN > -1)
+ if(current_raw[1] <= bed_minttemp) {
+ target_raw[1] = 0;
+ WRITE(HEATER_1_PIN, 0);
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM("Temperatur heated bed switched off. MINTEMP triggered !!");
+ kill();
+ }
+ #endif
+ #endif
+
+ #ifdef BED_MAXTEMP
+ #if (HEATER_1_PIN > -1)
+ if(current_raw[1] >= bed_maxttemp) {
+ target_raw[1] = 0;
+ WRITE(HEATER_1_PIN, 0);
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!");
+ kill();
+ }
+ #endif
+ #endif
+ }
+}
+
+
~ianmdlvl / marlin.git / commitdiff