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MarlinFirmware/Marlin/temperature.cpp
Lenbok 0aa833fe6c Chamber temperature monitoring and auto fan control. 
This is an initial cut for feedback.

Chamber temperature is currently reported along with hot end and bed
temperatures to serial. The format is just like that used for hot end
and bed temperatures, but using 'C' prefix. As there is no heater,
target is always 0. Is this appropriate, is there a better way to report
chamber temperatures?

Chamber temperatures are not reported on the LCD in any way.

When auto chamber fan is enabled, it currently just uses the same
temperature threshold as the other auto controlled fans.

As the chamber temperature is not connected to any heater, it doesn't
undergo mintemp/maxtemp monitoring. This would need to change in the
future if chamber heating became a feature.
2018-04-06 23:09:44 -05:00

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* 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/>.
*
*/
/**
* temperature.cpp - temperature control
*/
#include "Marlin.h"
#include "temperature.h"
#include "thermistortables.h"
#include "ultralcd.h"
#include "planner.h"
#include "language.h"
#include "printcounter.h"
#if ENABLED(HEATER_0_USES_MAX6675)
#include "MarlinSPI.h"
#endif
#if ENABLED(BABYSTEPPING)
#include "stepper.h"
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
#include "endstops.h"
#endif
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#endif
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
static void* heater_ttbl_map[2] = { (void*)HEATER_0_TEMPTABLE, (void*)HEATER_1_TEMPTABLE };
static uint8_t heater_ttbllen_map[2] = { HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN };
#else
static void* heater_ttbl_map[HOTENDS] = ARRAY_BY_HOTENDS((void*)HEATER_0_TEMPTABLE, (void*)HEATER_1_TEMPTABLE, (void*)HEATER_2_TEMPTABLE, (void*)HEATER_3_TEMPTABLE, (void*)HEATER_4_TEMPTABLE);
static uint8_t heater_ttbllen_map[HOTENDS] = ARRAY_BY_HOTENDS(HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN, HEATER_3_TEMPTABLE_LEN, HEATER_4_TEMPTABLE_LEN);
#endif
Temperature thermalManager;
/**
* Macros to include the heater id in temp errors. The compiler's dead-code
* elimination should (hopefully) optimize out the unused strings.
*/
#if HAS_TEMP_BED
#define TEMP_ERR_PSTR(MSG, E) \
(E) == -1 ? PSTR(MSG ## _BED) : \
(HOTENDS > 1 && (E) == 1) ? PSTR(MSG_E2 " " MSG) : \
(HOTENDS > 2 && (E) == 2) ? PSTR(MSG_E3 " " MSG) : \
(HOTENDS > 3 && (E) == 3) ? PSTR(MSG_E4 " " MSG) : \
(HOTENDS > 4 && (E) == 4) ? PSTR(MSG_E5 " " MSG) : \
PSTR(MSG_E1 " " MSG)
#else
#define TEMP_ERR_PSTR(MSG, E) \
(HOTENDS > 1 && (E) == 1) ? PSTR(MSG_E2 " " MSG) : \
(HOTENDS > 2 && (E) == 2) ? PSTR(MSG_E3 " " MSG) : \
(HOTENDS > 3 && (E) == 3) ? PSTR(MSG_E4 " " MSG) : \
(HOTENDS > 4 && (E) == 4) ? PSTR(MSG_E5 " " MSG) : \
PSTR(MSG_E1 " " MSG)
#endif
// public:
float Temperature::current_temperature[HOTENDS] = { 0.0 },
Temperature::current_temperature_chamber = 0.0,
Temperature::current_temperature_bed = 0.0;
int16_t Temperature::current_temperature_raw[HOTENDS] = { 0 },
Temperature::target_temperature[HOTENDS] = { 0 },
Temperature::current_temperature_chamber_raw = 0,
Temperature::current_temperature_bed_raw = 0;
#if ENABLED(AUTO_POWER_E_FANS)
int16_t Temperature::autofan_speed[HOTENDS] = { 0 };
#endif
#if HAS_HEATER_BED
int16_t Temperature::target_temperature_bed = 0;
#endif
// Initialized by settings.load()
#if ENABLED(PIDTEMP)
#if ENABLED(PID_PARAMS_PER_HOTEND) && HOTENDS > 1
float Temperature::Kp[HOTENDS], Temperature::Ki[HOTENDS], Temperature::Kd[HOTENDS];
#if ENABLED(PID_EXTRUSION_SCALING)
float Temperature::Kc[HOTENDS];
#endif
#else
float Temperature::Kp, Temperature::Ki, Temperature::Kd;
#if ENABLED(PID_EXTRUSION_SCALING)
float Temperature::Kc;
#endif
#endif
#endif
// Initialized by settings.load()
#if ENABLED(PIDTEMPBED)
float Temperature::bedKp, Temperature::bedKi, Temperature::bedKd;
#endif
#if ENABLED(BABYSTEPPING)
volatile int Temperature::babystepsTodo[XYZ] = { 0 };
#endif
#if WATCH_HOTENDS
uint16_t Temperature::watch_target_temp[HOTENDS] = { 0 };
millis_t Temperature::watch_heater_next_ms[HOTENDS] = { 0 };
#endif
#if WATCH_THE_BED
uint16_t Temperature::watch_target_bed_temp = 0;
millis_t Temperature::watch_bed_next_ms = 0;
#endif
#if ENABLED(PREVENT_COLD_EXTRUSION)
bool Temperature::allow_cold_extrude = false;
int16_t Temperature::extrude_min_temp = EXTRUDE_MINTEMP;
#endif
// private:
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
uint16_t Temperature::redundant_temperature_raw = 0;
float Temperature::redundant_temperature = 0.0;
#endif
volatile bool Temperature::temp_meas_ready = false;
#if ENABLED(PIDTEMP)
float Temperature::temp_iState[HOTENDS] = { 0 },
Temperature::temp_dState[HOTENDS] = { 0 },
Temperature::pTerm[HOTENDS],
Temperature::iTerm[HOTENDS],
Temperature::dTerm[HOTENDS];
#if ENABLED(PID_EXTRUSION_SCALING)
float Temperature::cTerm[HOTENDS];
long Temperature::last_e_position;
long Temperature::lpq[LPQ_MAX_LEN];
int Temperature::lpq_ptr = 0;
#endif
float Temperature::pid_error[HOTENDS];
bool Temperature::pid_reset[HOTENDS];
#endif
#if ENABLED(PIDTEMPBED)
float Temperature::temp_iState_bed = { 0 },
Temperature::temp_dState_bed = { 0 },
Temperature::pTerm_bed,
Temperature::iTerm_bed,
Temperature::dTerm_bed,
Temperature::pid_error_bed;
#else
millis_t Temperature::next_bed_check_ms;
#endif
uint16_t Temperature::raw_temp_value[MAX_EXTRUDERS] = { 0 },
Temperature::raw_temp_chamber_value = 0,
Temperature::raw_temp_bed_value = 0;
// Init min and max temp with extreme values to prevent false errors during startup
int16_t Temperature::minttemp_raw[HOTENDS] = ARRAY_BY_HOTENDS(HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP, HEATER_4_RAW_LO_TEMP),
Temperature::maxttemp_raw[HOTENDS] = ARRAY_BY_HOTENDS(HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP, HEATER_4_RAW_HI_TEMP),
Temperature::minttemp[HOTENDS] = { 0 },
Temperature::maxttemp[HOTENDS] = ARRAY_BY_HOTENDS1(16383);
#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
uint8_t Temperature::consecutive_low_temperature_error[HOTENDS] = { 0 };
#endif
#ifdef MILLISECONDS_PREHEAT_TIME
millis_t Temperature::preheat_end_time[HOTENDS] = { 0 };
#endif
#ifdef BED_MINTEMP
int16_t Temperature::bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP;
#endif
#ifdef BED_MAXTEMP
int16_t Temperature::bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
int8_t Temperature::meas_shift_index; // Index of a delayed sample in buffer
#endif
#if HAS_AUTO_FAN
millis_t Temperature::next_auto_fan_check_ms = 0;
#endif
uint8_t Temperature::soft_pwm_amount[HOTENDS],
Temperature::soft_pwm_amount_bed;
#if ENABLED(FAN_SOFT_PWM)
uint8_t Temperature::soft_pwm_amount_fan[FAN_COUNT],
Temperature::soft_pwm_count_fan[FAN_COUNT];
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
uint16_t Temperature::current_raw_filwidth = 0; // Measured filament diameter - one extruder only
#endif
#if ENABLED(PROBING_HEATERS_OFF)
bool Temperature::paused;
#endif
#if HEATER_IDLE_HANDLER
millis_t Temperature::heater_idle_timeout_ms[HOTENDS] = { 0 };
bool Temperature::heater_idle_timeout_exceeded[HOTENDS] = { false };
#if HAS_TEMP_BED
millis_t Temperature::bed_idle_timeout_ms = 0;
bool Temperature::bed_idle_timeout_exceeded = false;
#endif
#endif
#if ENABLED(ADC_KEYPAD)
uint32_t Temperature::current_ADCKey_raw = 0;
uint8_t Temperature::ADCKey_count = 0;
#endif
#if HAS_PID_HEATING
/**
* PID Autotuning (M303)
*
* Alternately heat and cool the nozzle, observing its behavior to
* determine the best PID values to achieve a stable temperature.
*/
void Temperature::PID_autotune(const float &target, const int8_t hotend, const int8_t ncycles, const bool set_result/*=false*/) {
float current = 0.0;
int cycles = 0;
bool heating = true;
millis_t next_temp_ms = millis(), t1 = next_temp_ms, t2 = next_temp_ms;
long t_high = 0, t_low = 0;
long bias, d;
float Ku, Tu,
workKp = 0, workKi = 0, workKd = 0,
max = 0, min = 10000;
#define HAS_TP_BED (ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED))
#if HAS_TP_BED && ENABLED(THERMAL_PROTECTION_HOTENDS) && ENABLED(PIDTEMP)
#define TV(B,H) (hotend < 0 ? (B) : (H))
#elif HAS_TP_BED
#define TV(B,H) (B)
#else
#define TV(B,H) (H)
#endif
#if WATCH_THE_BED || WATCH_HOTENDS
const uint16_t watch_temp_period = TV(WATCH_BED_TEMP_PERIOD, WATCH_TEMP_PERIOD);
const uint8_t watch_temp_increase = TV(WATCH_BED_TEMP_INCREASE, WATCH_TEMP_INCREASE);
const float watch_temp_target = target - float(watch_temp_increase + TV(TEMP_BED_HYSTERESIS, TEMP_HYSTERESIS) + 1);
millis_t temp_change_ms = next_temp_ms + watch_temp_period * 1000UL;
float next_watch_temp = 0.0;
bool heated = false;
#endif
#if HAS_AUTO_FAN
next_auto_fan_check_ms = next_temp_ms + 2500UL;
#endif
#if ENABLED(PIDTEMP)
#define _TOP_HOTEND HOTENDS - 1
#else
#define _TOP_HOTEND -1
#endif
#if ENABLED(PIDTEMPBED)
#define _BOT_HOTEND -1
#else
#define _BOT_HOTEND 0
#endif
if (!WITHIN(hotend, _BOT_HOTEND, _TOP_HOTEND)) {
SERIAL_ECHOLNPGM(MSG_PID_BAD_EXTRUDER_NUM);
return;
}
SERIAL_ECHOLNPGM(MSG_PID_AUTOTUNE_START);
disable_all_heaters(); // switch off all heaters.
#if HAS_PID_FOR_BOTH
if (hotend < 0)
soft_pwm_amount_bed = bias = d = (MAX_BED_POWER) >> 1;
else
soft_pwm_amount[hotend] = bias = d = (PID_MAX) >> 1;
#elif ENABLED(PIDTEMP)
soft_pwm_amount[hotend] = bias = d = (PID_MAX) >> 1;
#else
soft_pwm_amount_bed = bias = d = (MAX_BED_POWER) >> 1;
#endif
wait_for_heatup = true; // Can be interrupted with M108
// PID Tuning loop
while (wait_for_heatup) {
const millis_t ms = millis();
if (temp_meas_ready) { // temp sample ready
updateTemperaturesFromRawValues();
// Get the current temperature and constrain it
current =
#if HAS_PID_FOR_BOTH
hotend < 0 ? current_temperature_bed : current_temperature[hotend]
#elif ENABLED(PIDTEMP)
current_temperature[hotend]
#else
current_temperature_bed
#endif
;
NOLESS(max, current);
NOMORE(min, current);
#if HAS_AUTO_FAN
if (ELAPSED(ms, next_auto_fan_check_ms)) {
checkExtruderAutoFans();
next_auto_fan_check_ms = ms + 2500UL;
}
#endif
if (heating && current > target) {
if (ELAPSED(ms, t2 + 5000UL)) {
heating = false;
#if HAS_PID_FOR_BOTH
if (hotend < 0)
soft_pwm_amount_bed = (bias - d) >> 1;
else
soft_pwm_amount[hotend] = (bias - d) >> 1;
#elif ENABLED(PIDTEMP)
soft_pwm_amount[hotend] = (bias - d) >> 1;
#elif ENABLED(PIDTEMPBED)
soft_pwm_amount_bed = (bias - d) >> 1;
#endif
t1 = ms;
t_high = t1 - t2;
max = target;
}
}
if (!heating && current < target) {
if (ELAPSED(ms, t1 + 5000UL)) {
heating = true;
t2 = ms;
t_low = t2 - t1;
if (cycles > 0) {
long max_pow =
#if HAS_PID_FOR_BOTH
hotend < 0 ? MAX_BED_POWER : PID_MAX
#elif ENABLED(PIDTEMP)
PID_MAX
#else
MAX_BED_POWER
#endif
;
bias += (d * (t_high - t_low)) / (t_low + t_high);
bias = constrain(bias, 20, max_pow - 20);
d = (bias > max_pow >> 1) ? max_pow - 1 - bias : bias;
SERIAL_PROTOCOLPAIR(MSG_BIAS, bias);
SERIAL_PROTOCOLPAIR(MSG_D, d);
SERIAL_PROTOCOLPAIR(MSG_T_MIN, min);
SERIAL_PROTOCOLPAIR(MSG_T_MAX, max);
if (cycles > 2) {
Ku = (4.0 * d) / (M_PI * (max - min) * 0.5);
Tu = ((float)(t_low + t_high) * 0.001);
SERIAL_PROTOCOLPAIR(MSG_KU, Ku);
SERIAL_PROTOCOLPAIR(MSG_TU, Tu);
workKp = 0.6 * Ku;
workKi = 2 * workKp / Tu;
workKd = workKp * Tu * 0.125;
SERIAL_PROTOCOLLNPGM("\n" MSG_CLASSIC_PID);
SERIAL_PROTOCOLPAIR(MSG_KP, workKp);
SERIAL_PROTOCOLPAIR(MSG_KI, workKi);
SERIAL_PROTOCOLLNPAIR(MSG_KD, workKd);
/**
workKp = 0.33*Ku;
workKi = workKp/Tu;
workKd = workKp*Tu/3;
SERIAL_PROTOCOLLNPGM(" Some overshoot");
SERIAL_PROTOCOLPAIR(" Kp: ", workKp);
SERIAL_PROTOCOLPAIR(" Ki: ", workKi);
SERIAL_PROTOCOLPAIR(" Kd: ", workKd);
workKp = 0.2*Ku;
workKi = 2*workKp/Tu;
workKd = workKp*Tu/3;
SERIAL_PROTOCOLLNPGM(" No overshoot");
SERIAL_PROTOCOLPAIR(" Kp: ", workKp);
SERIAL_PROTOCOLPAIR(" Ki: ", workKi);
SERIAL_PROTOCOLPAIR(" Kd: ", workKd);
*/
}
}
#if HAS_PID_FOR_BOTH
if (hotend < 0)
soft_pwm_amount_bed = (bias + d) >> 1;
else
soft_pwm_amount[hotend] = (bias + d) >> 1;
#elif ENABLED(PIDTEMP)
soft_pwm_amount[hotend] = (bias + d) >> 1;
#else
soft_pwm_amount_bed = (bias + d) >> 1;
#endif
cycles++;
min = target;
}
}
}
// Did the temperature overshoot very far?
#ifndef MAX_OVERSHOOT_PID_AUTOTUNE
#define MAX_OVERSHOOT_PID_AUTOTUNE 20
#endif
if (current > target + MAX_OVERSHOOT_PID_AUTOTUNE) {
SERIAL_PROTOCOLLNPGM(MSG_PID_TEMP_TOO_HIGH);
break;
}
// Report heater states every 2 seconds
if (ELAPSED(ms, next_temp_ms)) {
#if HAS_TEMP_SENSOR
print_heaterstates();
SERIAL_EOL();
#endif
next_temp_ms = ms + 2000UL;
// Make sure heating is actually working
#if WATCH_THE_BED || WATCH_HOTENDS
if (
#if WATCH_THE_BED && WATCH_HOTENDS
true
#elif WATCH_THE_BED
hotend < 0
#else
hotend >= 0
#endif
) {
if (!heated) { // If not yet reached target...
if (current > next_watch_temp) { // Over the watch temp?
next_watch_temp = current + watch_temp_increase; // - set the next temp to watch for
temp_change_ms = ms + watch_temp_period * 1000UL; // - move the expiration timer up
if (current > watch_temp_target) heated = true; // - Flag if target temperature reached
}
else if (ELAPSED(ms, temp_change_ms)) // Watch timer expired
_temp_error(hotend, PSTR(MSG_T_HEATING_FAILED), TEMP_ERR_PSTR(MSG_HEATING_FAILED_LCD, hotend));
}
else if (current < target - (MAX_OVERSHOOT_PID_AUTOTUNE)) // Heated, then temperature fell too far?
_temp_error(hotend, PSTR(MSG_T_THERMAL_RUNAWAY), TEMP_ERR_PSTR(MSG_THERMAL_RUNAWAY, hotend));
}
#endif
} // every 2 seconds
// Timeout after MAX_CYCLE_TIME_PID_AUTOTUNE minutes since the last undershoot/overshoot cycle
#ifndef MAX_CYCLE_TIME_PID_AUTOTUNE
#define MAX_CYCLE_TIME_PID_AUTOTUNE 20L
#endif
if (((ms - t1) + (ms - t2)) > (MAX_CYCLE_TIME_PID_AUTOTUNE * 60L * 1000L)) {
SERIAL_PROTOCOLLNPGM(MSG_PID_TIMEOUT);
break;
}
if (cycles > ncycles) {
SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED);
#if HAS_PID_FOR_BOTH
const char* estring = hotend < 0 ? "bed" : "";
SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Kp ", workKp); SERIAL_EOL();
SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Ki ", workKi); SERIAL_EOL();
SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Kd ", workKd); SERIAL_EOL();
#elif ENABLED(PIDTEMP)
SERIAL_PROTOCOLPAIR("#define DEFAULT_Kp ", workKp); SERIAL_EOL();
SERIAL_PROTOCOLPAIR("#define DEFAULT_Ki ", workKi); SERIAL_EOL();
SERIAL_PROTOCOLPAIR("#define DEFAULT_Kd ", workKd); SERIAL_EOL();
#else
SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKp ", workKp); SERIAL_EOL();
SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKi ", workKi); SERIAL_EOL();
SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKd ", workKd); SERIAL_EOL();
#endif
#define _SET_BED_PID() do { \
bedKp = workKp; \
bedKi = scalePID_i(workKi); \
bedKd = scalePID_d(workKd); \
}while(0)
#define _SET_EXTRUDER_PID() do { \
PID_PARAM(Kp, hotend) = workKp; \
PID_PARAM(Ki, hotend) = scalePID_i(workKi); \
PID_PARAM(Kd, hotend) = scalePID_d(workKd); \
updatePID(); }while(0)
// Use the result? (As with "M303 U1")
if (set_result) {
#if HAS_PID_FOR_BOTH
if (hotend < 0)
_SET_BED_PID();
else
_SET_EXTRUDER_PID();
#elif ENABLED(PIDTEMP)
_SET_EXTRUDER_PID();
#else
_SET_BED_PID();
#endif
}
return;
}
lcd_update();
}
disable_all_heaters();
}
#endif // HAS_PID_HEATING
/**
* Class and Instance Methods
*/
Temperature::Temperature() { }
int Temperature::getHeaterPower(int heater) {
return heater < 0 ? soft_pwm_amount_bed : soft_pwm_amount[heater];
}
#if HAS_AUTO_FAN
void Temperature::checkExtruderAutoFans() {
static const pin_t fanPin[] PROGMEM = { E0_AUTO_FAN_PIN, E1_AUTO_FAN_PIN, E2_AUTO_FAN_PIN, E3_AUTO_FAN_PIN, E4_AUTO_FAN_PIN, CHAMBER_AUTO_FAN_PIN };
static const uint8_t fanBit[] PROGMEM = {
0,
AUTO_1_IS_0 ? 0 : 1,
AUTO_2_IS_0 ? 0 : AUTO_2_IS_1 ? 1 : 2,
AUTO_3_IS_0 ? 0 : AUTO_3_IS_1 ? 1 : AUTO_3_IS_2 ? 2 : 3,
AUTO_4_IS_0 ? 0 : AUTO_4_IS_1 ? 1 : AUTO_4_IS_2 ? 2 : AUTO_4_IS_3 ? 3 : 4,
AUTO_CHAMBER_IS_0 ? 0 : AUTO_CHAMBER_IS_1 ? 1 : AUTO_CHAMBER_IS_2 ? 2 : AUTO_CHAMBER_IS_3 ? 3 : AUTO_CHAMBER_IS_4 ? 4 : 5
};
uint8_t fanState = 0;
HOTEND_LOOP()
if (current_temperature[e] > EXTRUDER_AUTO_FAN_TEMPERATURE)
SBI(fanState, pgm_read_byte(&fanBit[e]));
if (current_temperature_chamber > EXTRUDER_AUTO_FAN_TEMPERATURE)
SBI(fanState, pgm_read_byte(&fanBit[5]));
uint8_t fanDone = 0;
for (uint8_t f = 0; f < COUNT(fanPin); f++) {
pin_t pin = pgm_read_byte(&fanPin[f]);
const uint8_t bit = pgm_read_byte(&fanBit[f]);
if (pin >= 0 && !TEST(fanDone, bit)) {
uint8_t newFanSpeed = TEST(fanState, bit) ? EXTRUDER_AUTO_FAN_SPEED : 0;
#if ENABLED(AUTO_POWER_E_FANS)
autofan_speed[f] = newFanSpeed;
#endif
// this idiom allows both digital and PWM fan outputs (see M42 handling).
digitalWrite(pin, newFanSpeed);
analogWrite(pin, newFanSpeed);
SBI(fanDone, bit);
}
}
}
#endif // HAS_AUTO_FAN
//
// Temperature Error Handlers
//
void Temperature::_temp_error(const int8_t e, const char * const serial_msg, const char * const lcd_msg) {
static bool killed = false;
if (IsRunning()) {
SERIAL_ERROR_START();
serialprintPGM(serial_msg);
SERIAL_ERRORPGM(MSG_STOPPED_HEATER);
if (e >= 0) SERIAL_ERRORLN((int)e); else SERIAL_ERRORLNPGM(MSG_HEATER_BED);
}
#if DISABLED(BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE)
if (!killed) {
Running = false;
killed = true;
kill(lcd_msg);
}
else
disable_all_heaters(); // paranoia
#endif
}
void Temperature::max_temp_error(const int8_t e) {
_temp_error(e, PSTR(MSG_T_MAXTEMP), TEMP_ERR_PSTR(MSG_ERR_MAXTEMP, e));
}
void Temperature::min_temp_error(const int8_t e) {
_temp_error(e, PSTR(MSG_T_MINTEMP), TEMP_ERR_PSTR(MSG_ERR_MINTEMP, e));
}
float Temperature::get_pid_output(const int8_t e) {
#if HOTENDS == 1
UNUSED(e);
#define _HOTEND_TEST true
#else
#define _HOTEND_TEST e == active_extruder
#endif
float pid_output;
#if ENABLED(PIDTEMP)
#if DISABLED(PID_OPENLOOP)
pid_error[HOTEND_INDEX] = target_temperature[HOTEND_INDEX] - current_temperature[HOTEND_INDEX];
dTerm[HOTEND_INDEX] = PID_K2 * PID_PARAM(Kd, HOTEND_INDEX) * (current_temperature[HOTEND_INDEX] - temp_dState[HOTEND_INDEX]) + PID_K1 * dTerm[HOTEND_INDEX];
temp_dState[HOTEND_INDEX] = current_temperature[HOTEND_INDEX];
#if HEATER_IDLE_HANDLER
if (heater_idle_timeout_exceeded[HOTEND_INDEX]) {
pid_output = 0;
pid_reset[HOTEND_INDEX] = true;
}
else
#endif
if (pid_error[HOTEND_INDEX] > PID_FUNCTIONAL_RANGE) {
pid_output = BANG_MAX;
pid_reset[HOTEND_INDEX] = true;
}
else if (pid_error[HOTEND_INDEX] < -(PID_FUNCTIONAL_RANGE) || target_temperature[HOTEND_INDEX] == 0
#if HEATER_IDLE_HANDLER
|| heater_idle_timeout_exceeded[HOTEND_INDEX]
#endif
) {
pid_output = 0;
pid_reset[HOTEND_INDEX] = true;
}
else {
if (pid_reset[HOTEND_INDEX]) {
temp_iState[HOTEND_INDEX] = 0.0;
pid_reset[HOTEND_INDEX] = false;
}
pTerm[HOTEND_INDEX] = PID_PARAM(Kp, HOTEND_INDEX) * pid_error[HOTEND_INDEX];
temp_iState[HOTEND_INDEX] += pid_error[HOTEND_INDEX];
iTerm[HOTEND_INDEX] = PID_PARAM(Ki, HOTEND_INDEX) * temp_iState[HOTEND_INDEX];
pid_output = pTerm[HOTEND_INDEX] + iTerm[HOTEND_INDEX] - dTerm[HOTEND_INDEX];
#if ENABLED(PID_EXTRUSION_SCALING)
cTerm[HOTEND_INDEX] = 0;
if (_HOTEND_TEST) {
long e_position = stepper.position(E_AXIS);
if (e_position > last_e_position) {
lpq[lpq_ptr] = e_position - last_e_position;
last_e_position = e_position;
}
else {
lpq[lpq_ptr] = 0;
}
if (++lpq_ptr >= lpq_len) lpq_ptr = 0;
cTerm[HOTEND_INDEX] = (lpq[lpq_ptr] * planner.steps_to_mm[E_AXIS]) * PID_PARAM(Kc, HOTEND_INDEX);
pid_output += cTerm[HOTEND_INDEX];
}
#endif // PID_EXTRUSION_SCALING
if (pid_output > PID_MAX) {
if (pid_error[HOTEND_INDEX] > 0) temp_iState[HOTEND_INDEX] -= pid_error[HOTEND_INDEX]; // conditional un-integration
pid_output = PID_MAX;
}
else if (pid_output < 0) {
if (pid_error[HOTEND_INDEX] < 0) temp_iState[HOTEND_INDEX] -= pid_error[HOTEND_INDEX]; // conditional un-integration
pid_output = 0;
}
}
#else
pid_output = constrain(target_temperature[HOTEND_INDEX], 0, PID_MAX);
#endif // PID_OPENLOOP
#if ENABLED(PID_DEBUG)
SERIAL_ECHO_START();
SERIAL_ECHOPAIR(MSG_PID_DEBUG, HOTEND_INDEX);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_INPUT, current_temperature[HOTEND_INDEX]);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_OUTPUT, pid_output);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_PTERM, pTerm[HOTEND_INDEX]);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_ITERM, iTerm[HOTEND_INDEX]);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_DTERM, dTerm[HOTEND_INDEX]);
#if ENABLED(PID_EXTRUSION_SCALING)
SERIAL_ECHOPAIR(MSG_PID_DEBUG_CTERM, cTerm[HOTEND_INDEX]);
#endif
SERIAL_EOL();
#endif // PID_DEBUG
#else /* PID off */
#if HEATER_IDLE_HANDLER
if (heater_idle_timeout_exceeded[HOTEND_INDEX])
pid_output = 0;
else
#endif
pid_output = (current_temperature[HOTEND_INDEX] < target_temperature[HOTEND_INDEX]) ? PID_MAX : 0;
#endif
return pid_output;
}
#if ENABLED(PIDTEMPBED)
float Temperature::get_pid_output_bed() {
float pid_output;
#if DISABLED(PID_OPENLOOP)
pid_error_bed = target_temperature_bed - current_temperature_bed;
pTerm_bed = bedKp * pid_error_bed;
temp_iState_bed += pid_error_bed;
iTerm_bed = bedKi * temp_iState_bed;
dTerm_bed = PID_K2 * bedKd * (current_temperature_bed - temp_dState_bed) + PID_K1 * dTerm_bed;
temp_dState_bed = current_temperature_bed;
pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
if (pid_output > MAX_BED_POWER) {
if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = MAX_BED_POWER;
}
else if (pid_output < 0) {
if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = 0;
}
#else
pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
#endif // PID_OPENLOOP
#if ENABLED(PID_BED_DEBUG)
SERIAL_ECHO_START();
SERIAL_ECHOPGM(" PID_BED_DEBUG ");
SERIAL_ECHOPGM(": Input ");
SERIAL_ECHO(current_temperature_bed);
SERIAL_ECHOPGM(" Output ");
SERIAL_ECHO(pid_output);
SERIAL_ECHOPGM(" pTerm ");
SERIAL_ECHO(pTerm_bed);
SERIAL_ECHOPGM(" iTerm ");
SERIAL_ECHO(iTerm_bed);
SERIAL_ECHOPGM(" dTerm ");
SERIAL_ECHOLN(dTerm_bed);
#endif // PID_BED_DEBUG
return pid_output;
}
#endif // PIDTEMPBED
/**
* Manage heating activities for extruder hot-ends and a heated bed
* - Acquire updated temperature readings
* - Also resets the watchdog timer
* - Invoke thermal runaway protection
* - Manage extruder auto-fan
* - Apply filament width to the extrusion rate (may move)
* - Update the heated bed PID output value
*/
void Temperature::manage_heater() {
#if ENABLED(PROBING_HEATERS_OFF) && ENABLED(BED_LIMIT_SWITCHING)
static bool last_pause_state;
#endif
#if ENABLED(EMERGENCY_PARSER)
if (killed_by_M112) kill(PSTR(MSG_KILLED));
#endif
if (!temp_meas_ready) return;
updateTemperaturesFromRawValues(); // also resets the watchdog
#if ENABLED(HEATER_0_USES_MAX6675)
if (current_temperature[0] > min(HEATER_0_MAXTEMP, MAX6675_TMAX - 1.0)) max_temp_error(0);
if (current_temperature[0] < max(HEATER_0_MINTEMP, MAX6675_TMIN + .01)) min_temp_error(0);
#endif
#if WATCH_HOTENDS || WATCH_THE_BED || DISABLED(PIDTEMPBED) || HAS_AUTO_FAN || HEATER_IDLE_HANDLER
millis_t ms = millis();
#endif
HOTEND_LOOP() {
#if HEATER_IDLE_HANDLER
if (!heater_idle_timeout_exceeded[e] && heater_idle_timeout_ms[e] && ELAPSED(ms, heater_idle_timeout_ms[e]))
heater_idle_timeout_exceeded[e] = true;
#endif
#if ENABLED(THERMAL_PROTECTION_HOTENDS)
// Check for thermal runaway
thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_PROTECTION_PERIOD, THERMAL_PROTECTION_HYSTERESIS);
#endif
soft_pwm_amount[e] = (current_temperature[e] > minttemp[e] || is_preheating(e)) && current_temperature[e] < maxttemp[e] ? (int)get_pid_output(e) >> 1 : 0;
#if WATCH_HOTENDS
// Make sure temperature is increasing
if (watch_heater_next_ms[e] && ELAPSED(ms, watch_heater_next_ms[e])) { // Time to check this extruder?
if (degHotend(e) < watch_target_temp[e]) // Failed to increase enough?
_temp_error(e, PSTR(MSG_T_HEATING_FAILED), TEMP_ERR_PSTR(MSG_HEATING_FAILED_LCD, e));
else // Start again if the target is still far off
start_watching_heater(e);
}
#endif
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
// Make sure measured temperatures are close together
if (FABS(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF)
_temp_error(0, PSTR(MSG_REDUNDANCY), PSTR(MSG_ERR_REDUNDANT_TEMP));
#endif
} // HOTEND_LOOP
#if HAS_AUTO_FAN
if (ELAPSED(ms, next_auto_fan_check_ms)) { // only need to check fan state very infrequently
checkExtruderAutoFans();
next_auto_fan_check_ms = ms + 2500UL;
}
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
/**
* Filament Width Sensor dynamically sets the volumetric multiplier
* based on a delayed measurement of the filament diameter.
*/
if (filament_sensor) {
meas_shift_index = filwidth_delay_index[0] - meas_delay_cm;
if (meas_shift_index < 0) meas_shift_index += MAX_MEASUREMENT_DELAY + 1; //loop around buffer if needed
meas_shift_index = constrain(meas_shift_index, 0, MAX_MEASUREMENT_DELAY);
planner.calculate_volumetric_for_width_sensor(measurement_delay[meas_shift_index]);
}
#endif // FILAMENT_WIDTH_SENSOR
#if WATCH_THE_BED
// Make sure temperature is increasing
if (watch_bed_next_ms && ELAPSED(ms, watch_bed_next_ms)) { // Time to check the bed?
if (degBed() < watch_target_bed_temp) // Failed to increase enough?
_temp_error(-1, PSTR(MSG_T_HEATING_FAILED), TEMP_ERR_PSTR(MSG_HEATING_FAILED_LCD, -1));
else // Start again if the target is still far off
start_watching_bed();
}
#endif // WATCH_THE_BED
#if DISABLED(PIDTEMPBED)
if (PENDING(ms, next_bed_check_ms)
#if ENABLED(PROBING_HEATERS_OFF) && ENABLED(BED_LIMIT_SWITCHING)
&& paused == last_pause_state
#endif
) return;
next_bed_check_ms = ms + BED_CHECK_INTERVAL;
#if ENABLED(PROBING_HEATERS_OFF) && ENABLED(BED_LIMIT_SWITCHING)
last_pause_state = paused;
#endif
#endif
#if HAS_TEMP_BED
#if HEATER_IDLE_HANDLER
if (!bed_idle_timeout_exceeded && bed_idle_timeout_ms && ELAPSED(ms, bed_idle_timeout_ms))
bed_idle_timeout_exceeded = true;
#endif
#if HAS_THERMALLY_PROTECTED_BED
thermal_runaway_protection(&thermal_runaway_bed_state_machine, &thermal_runaway_bed_timer, current_temperature_bed, target_temperature_bed, -1, THERMAL_PROTECTION_BED_PERIOD, THERMAL_PROTECTION_BED_HYSTERESIS);
#endif
#if HEATER_IDLE_HANDLER
if (bed_idle_timeout_exceeded) {
soft_pwm_amount_bed = 0;
#if DISABLED(PIDTEMPBED)
WRITE_HEATER_BED(LOW);
#endif
}
else
#endif
{
#if ENABLED(PIDTEMPBED)
soft_pwm_amount_bed = WITHIN(current_temperature_bed, BED_MINTEMP, BED_MAXTEMP) ? (int)get_pid_output_bed() >> 1 : 0;
#else
// Check if temperature is within the correct band
if (WITHIN(current_temperature_bed, BED_MINTEMP, BED_MAXTEMP)) {
#if ENABLED(BED_LIMIT_SWITCHING)
if (current_temperature_bed >= target_temperature_bed + BED_HYSTERESIS)
soft_pwm_amount_bed = 0;
else if (current_temperature_bed <= target_temperature_bed - (BED_HYSTERESIS))
soft_pwm_amount_bed = MAX_BED_POWER >> 1;
#else // !PIDTEMPBED && !BED_LIMIT_SWITCHING
soft_pwm_amount_bed = current_temperature_bed < target_temperature_bed ? MAX_BED_POWER >> 1 : 0;
#endif
}
else {
soft_pwm_amount_bed = 0;
WRITE_HEATER_BED(LOW);
}
#endif
}
#endif // HAS_TEMP_BED
}
#define PGM_RD_W(x) (short)pgm_read_word(&x)
// Derived from RepRap FiveD extruder::getTemperature()
// For hot end temperature measurement.
float Temperature::analog2temp(const int raw, const uint8_t e) {
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
if (e > HOTENDS)
#else
if (e >= HOTENDS)
#endif
{
SERIAL_ERROR_START();
SERIAL_ERROR((int)e);
SERIAL_ERRORLNPGM(MSG_INVALID_EXTRUDER_NUM);
kill(PSTR(MSG_KILLED));
return 0.0;
}
#if ENABLED(HEATER_0_USES_MAX6675)
if (e == 0) return 0.25 * raw;
#endif
if (heater_ttbl_map[e] != NULL) {
float celsius = 0;
uint8_t i;
short(*tt)[][2] = (short(*)[][2])(heater_ttbl_map[e]);
for (i = 1; i < heater_ttbllen_map[e]; i++) {
if (PGM_RD_W((*tt)[i][0]) > raw) {
celsius = PGM_RD_W((*tt)[i - 1][1]) +
(raw - PGM_RD_W((*tt)[i - 1][0])) *
(float)(PGM_RD_W((*tt)[i][1]) - PGM_RD_W((*tt)[i - 1][1])) /
(float)(PGM_RD_W((*tt)[i][0]) - PGM_RD_W((*tt)[i - 1][0]));
break;
}
}
// Overflow: Set to last value in the table
if (i == heater_ttbllen_map[e]) celsius = PGM_RD_W((*tt)[i - 1][1]);
return celsius;
}
return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * (TEMP_SENSOR_AD595_GAIN)) + TEMP_SENSOR_AD595_OFFSET;
}
#if HAS_TEMP_BED
// Derived from RepRap FiveD extruder::getTemperature()
// For bed temperature measurement.
float Temperature::analog2tempBed(const int raw) {
#if ENABLED(BED_USES_THERMISTOR)
float celsius = 0;
byte i;
for (i = 1; i < BEDTEMPTABLE_LEN; i++) {
if (PGM_RD_W(BEDTEMPTABLE[i][0]) > raw) {
celsius = PGM_RD_W(BEDTEMPTABLE[i - 1][1]) +
(raw - PGM_RD_W(BEDTEMPTABLE[i - 1][0])) *
(float)(PGM_RD_W(BEDTEMPTABLE[i][1]) - PGM_RD_W(BEDTEMPTABLE[i - 1][1])) /
(float)(PGM_RD_W(BEDTEMPTABLE[i][0]) - PGM_RD_W(BEDTEMPTABLE[i - 1][0]));
break;
}
}
// Overflow: Set to last value in the table
if (i == BEDTEMPTABLE_LEN) celsius = PGM_RD_W(BEDTEMPTABLE[i - 1][1]);
return celsius;
#elif defined(BED_USES_AD595)
return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * (TEMP_SENSOR_AD595_GAIN)) + TEMP_SENSOR_AD595_OFFSET;
#else
UNUSED(raw);
return 0;
#endif
}
#endif // HAS_TEMP_BED
#if HAS_TEMP_CHAMBER
// Derived from RepRap FiveD extruder::getTemperature()
// For chamber temperature measurement.
float Temperature::analog2tempChamber(const int raw) {
#if ENABLED(CHAMBER_USES_THERMISTOR)
float celsius = 0;
byte i;
for (i = 1; i < CHAMBERTEMPTABLE_LEN; i++) {
if (PGM_RD_W(CHAMBERTEMPTABLE[i][0]) > raw) {
celsius = PGM_RD_W(CHAMBERTEMPTABLE[i - 1][1]) +
(raw - PGM_RD_W(CHAMBERTEMPTABLE[i - 1][0])) *
(float)(PGM_RD_W(CHAMBERTEMPTABLE[i][1]) - PGM_RD_W(CHAMBERTEMPTABLE[i - 1][1])) /
(float)(PGM_RD_W(CHAMBERTEMPTABLE[i][0]) - PGM_RD_W(CHAMBERTEMPTABLE[i - 1][0]));
break;
}
}
// Overflow: Set to last value in the table
if (i == CHAMBERTEMPTABLE_LEN) celsius = PGM_RD_W(CHAMBERTEMPTABLE[i - 1][1]);
return celsius;
#elif defined(CHAMBER_USES_AD595)
return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * (TEMP_SENSOR_AD595_GAIN)) + TEMP_SENSOR_AD595_OFFSET;
#else
UNUSED(raw);
return 0;
#endif
}
#endif // HAS_TEMP_CHAMBER
/**
* Get the raw values into the actual temperatures.
* The raw values are created in interrupt context,
* and this function is called from normal context
* as it would block the stepper routine.
*/
void Temperature::updateTemperaturesFromRawValues() {
#if ENABLED(HEATER_0_USES_MAX6675)
current_temperature_raw[0] = read_max6675();
#endif
HOTEND_LOOP()
current_temperature[e] = Temperature::analog2temp(current_temperature_raw[e], e);
#if HAS_TEMP_BED
current_temperature_bed = Temperature::analog2tempBed(current_temperature_bed_raw);
#endif
#if HAS_TEMP_CHAMBER
current_temperature_chamber = Temperature::analog2tempChamber(current_temperature_chamber_raw);
#endif
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
redundant_temperature = Temperature::analog2temp(redundant_temperature_raw, 1);
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
filament_width_meas = analog2widthFil();
#endif
#if ENABLED(USE_WATCHDOG)
// Reset the watchdog after we know we have a temperature measurement.
watchdog_reset();
#endif
CRITICAL_SECTION_START;
temp_meas_ready = false;
CRITICAL_SECTION_END;
}
#if ENABLED(FILAMENT_WIDTH_SENSOR)
// Convert raw Filament Width to millimeters
float Temperature::analog2widthFil() {
return current_raw_filwidth * 5.0 * (1.0 / 16383.0);
}
/**
* Convert Filament Width (mm) to a simple ratio
* and reduce to an 8 bit value.
*
* A nominal width of 1.75 and measured width of 1.73
* gives (100 * 1.75 / 1.73) for a ratio of 101 and
* a return value of 1.
*/
int8_t Temperature::widthFil_to_size_ratio() {
if (FABS(filament_width_nominal - filament_width_meas) <= FILWIDTH_ERROR_MARGIN)
return int(100.0 * filament_width_nominal / filament_width_meas) - 100;
return 0;
}
#endif
#if ENABLED(HEATER_0_USES_MAX6675)
#ifndef MAX6675_SCK_PIN
#define MAX6675_SCK_PIN SCK_PIN
#endif
#ifndef MAX6675_DO_PIN
#define MAX6675_DO_PIN MISO_PIN
#endif
SPI<MAX6675_DO_PIN, MOSI_PIN, MAX6675_SCK_PIN> max6675_spi;
#endif
/**
* Initialize the temperature manager
* The manager is implemented by periodic calls to manage_heater()
*/
void Temperature::init() {
#if MB(RUMBA) && (TEMP_SENSOR_0 == -1 || TEMP_SENSOR_1 == -1 || TEMP_SENSOR_2 == -1 || TEMP_SENSOR_BED == -1 || TEMP_SENSOR_CHAMBER == -1)
// Disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector
MCUCR = _BV(JTD);
MCUCR = _BV(JTD);
#endif
// Finish init of mult hotend arrays
HOTEND_LOOP() maxttemp[e] = maxttemp[0];
#if ENABLED(PIDTEMP) && ENABLED(PID_EXTRUSION_SCALING)
last_e_position = 0;
#endif
#if HAS_HEATER_0
SET_OUTPUT(HEATER_0_PIN);
#endif
#if HAS_HEATER_1
SET_OUTPUT(HEATER_1_PIN);
#endif
#if HAS_HEATER_2
SET_OUTPUT(HEATER_2_PIN);
#endif
#if HAS_HEATER_3
SET_OUTPUT(HEATER_3_PIN);
#endif
#if HAS_HEATER_4
SET_OUTPUT(HEATER_3_PIN);
#endif
#if HAS_HEATER_BED
SET_OUTPUT(HEATER_BED_PIN);
#endif
#if HAS_FAN0
SET_OUTPUT(FAN_PIN);
#if ENABLED(FAST_PWM_FAN)
setPwmFrequency(FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
#endif
#endif
#if HAS_FAN1
SET_OUTPUT(FAN1_PIN);
#if ENABLED(FAST_PWM_FAN)
setPwmFrequency(FAN1_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
#endif
#endif
#if HAS_FAN2
SET_OUTPUT(FAN2_PIN);
#if ENABLED(FAST_PWM_FAN)
setPwmFrequency(FAN2_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
#endif
#endif
#if ENABLED(HEATER_0_USES_MAX6675)
OUT_WRITE(SCK_PIN, LOW);
OUT_WRITE(MOSI_PIN, HIGH);
SET_INPUT_PULLUP(MISO_PIN);
max6675_spi.init();
OUT_WRITE(SS_PIN, HIGH);
OUT_WRITE(MAX6675_SS, HIGH);
#endif // HEATER_0_USES_MAX6675
#ifdef DIDR2
#define ANALOG_SELECT(pin) do{ if (pin < 8) SBI(DIDR0, pin); else SBI(DIDR2, pin & 0x07); }while(0)
#else
#define ANALOG_SELECT(pin) do{ SBI(DIDR0, pin); }while(0)
#endif
// Set analog inputs
ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
DIDR0 = 0;
#ifdef DIDR2
DIDR2 = 0;
#endif
#if HAS_TEMP_0
ANALOG_SELECT(TEMP_0_PIN);
#endif
#if HAS_TEMP_1
ANALOG_SELECT(TEMP_1_PIN);
#endif
#if HAS_TEMP_2
ANALOG_SELECT(TEMP_2_PIN);
#endif
#if HAS_TEMP_3
ANALOG_SELECT(TEMP_3_PIN);
#endif
#if HAS_TEMP_4
ANALOG_SELECT(TEMP_4_PIN);
#endif
#if HAS_TEMP_BED
ANALOG_SELECT(TEMP_BED_PIN);
#endif
#if HAS_TEMP_CHAMBER
ANALOG_SELECT(TEMP_CHAMBER_PIN);
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
ANALOG_SELECT(FILWIDTH_PIN);
#endif
#if HAS_AUTO_FAN_0
#if E0_AUTO_FAN_PIN == FAN1_PIN
SET_OUTPUT(E0_AUTO_FAN_PIN);
#if ENABLED(FAST_PWM_FAN)
setPwmFrequency(E0_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
#endif
#else
SET_OUTPUT(E0_AUTO_FAN_PIN);
#endif
#endif
#if HAS_AUTO_FAN_1 && !AUTO_1_IS_0
#if E1_AUTO_FAN_PIN == FAN1_PIN
SET_OUTPUT(E1_AUTO_FAN_PIN);
#if ENABLED(FAST_PWM_FAN)
setPwmFrequency(E1_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
#endif
#else
SET_OUTPUT(E1_AUTO_FAN_PIN);
#endif
#endif
#if HAS_AUTO_FAN_2 && !AUTO_2_IS_0 && !AUTO_2_IS_1
#if E2_AUTO_FAN_PIN == FAN1_PIN
SET_OUTPUT(E2_AUTO_FAN_PIN);
#if ENABLED(FAST_PWM_FAN)
setPwmFrequency(E2_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
#endif
#else
SET_OUTPUT(E2_AUTO_FAN_PIN);
#endif
#endif
#if HAS_AUTO_FAN_3 && !AUTO_3_IS_0 && !AUTO_3_IS_1 && !AUTO_3_IS_2
#if E3_AUTO_FAN_PIN == FAN1_PIN
SET_OUTPUT(E3_AUTO_FAN_PIN);
#if ENABLED(FAST_PWM_FAN)
setPwmFrequency(E3_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
#endif
#else
SET_OUTPUT(E3_AUTO_FAN_PIN);
#endif
#endif
#if HAS_AUTO_FAN_4 && !AUTO_4_IS_0 && !AUTO_4_IS_1 && !AUTO_4_IS_2 && !AUTO_4_IS_3
#if E4_AUTO_FAN_PIN == FAN1_PIN
SET_OUTPUT(E4_AUTO_FAN_PIN);
#if ENABLED(FAST_PWM_FAN)
setPwmFrequency(E4_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
#endif
#else
SET_OUTPUT(E4_AUTO_FAN_PIN);
#endif
#endif
#if HAS_AUTO_CHAMBER_FAN && !AUTO_CHAMBER_IS_0 && !AUTO_CHAMBER_IS_1 && !AUTO_CHAMBER_IS_2 && !AUTO_CHAMBER_IS_3 && ! AUTO_CHAMBER_IS_4
#if CHAMBER_AUTO_FAN_PIN == FAN1_PIN
SET_OUTPUT(CHAMBER_AUTO_FAN_PIN);
#if ENABLED(FAST_PWM_FAN)
setPwmFrequency(CHAMBER_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
#endif
#else
SET_OUTPUT(CHAMBER_AUTO_FAN_PIN);
#endif
#endif
// Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt
OCR0B = 128;
SBI(TIMSK0, OCIE0B);
// Wait for temperature measurement to settle
delay(250);
#define TEMP_MIN_ROUTINE(NR) \
minttemp[NR] = HEATER_ ##NR## _MINTEMP; \
while (analog2temp(minttemp_raw[NR], NR) < HEATER_ ##NR## _MINTEMP) { \
if (HEATER_ ##NR## _RAW_LO_TEMP < HEATER_ ##NR## _RAW_HI_TEMP) \
minttemp_raw[NR] += OVERSAMPLENR; \
else \
minttemp_raw[NR] -= OVERSAMPLENR; \
}
#define TEMP_MAX_ROUTINE(NR) \
maxttemp[NR] = HEATER_ ##NR## _MAXTEMP; \
while (analog2temp(maxttemp_raw[NR], NR) > HEATER_ ##NR## _MAXTEMP) { \
if (HEATER_ ##NR## _RAW_LO_TEMP < HEATER_ ##NR## _RAW_HI_TEMP) \
maxttemp_raw[NR] -= OVERSAMPLENR; \
else \
maxttemp_raw[NR] += OVERSAMPLENR; \
}
#ifdef HEATER_0_MINTEMP
TEMP_MIN_ROUTINE(0);
#endif
#ifdef HEATER_0_MAXTEMP
TEMP_MAX_ROUTINE(0);
#endif
#if HOTENDS > 1
#ifdef HEATER_1_MINTEMP
TEMP_MIN_ROUTINE(1);
#endif
#ifdef HEATER_1_MAXTEMP
TEMP_MAX_ROUTINE(1);
#endif
#if HOTENDS > 2
#ifdef HEATER_2_MINTEMP
TEMP_MIN_ROUTINE(2);
#endif
#ifdef HEATER_2_MAXTEMP
TEMP_MAX_ROUTINE(2);
#endif
#if HOTENDS > 3
#ifdef HEATER_3_MINTEMP
TEMP_MIN_ROUTINE(3);
#endif
#ifdef HEATER_3_MAXTEMP
TEMP_MAX_ROUTINE(3);
#endif
#if HOTENDS > 4
#ifdef HEATER_4_MINTEMP
TEMP_MIN_ROUTINE(4);
#endif
#ifdef HEATER_4_MAXTEMP
TEMP_MAX_ROUTINE(4);
#endif
#endif // HOTENDS > 4
#endif // HOTENDS > 3
#endif // HOTENDS > 2
#endif // HOTENDS > 1
#if HAS_TEMP_BED
#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
#endif // HAS_TEMP_BED
#if ENABLED(PROBING_HEATERS_OFF)
paused = false;
#endif
}
#if ENABLED(FAST_PWM_FAN)
void Temperature::setPwmFrequency(const pin_t pin, int val) {
val &= 0x07;
switch (digitalPinToTimer(pin)) {
#ifdef TCCR0A
#if !AVR_AT90USB1286_FAMILY
case TIMER0A:
#endif
case TIMER0B: //_SET_CS(0, val);
break;
#endif
#ifdef TCCR1A
case TIMER1A: case TIMER1B: //_SET_CS(1, val);
break;
#endif
#if defined(TCCR2) || defined(TCCR2A)
#ifdef TCCR2
case TIMER2:
#endif
#ifdef TCCR2A
case TIMER2A: case TIMER2B:
#endif
_SET_CS(2, val); break;
#endif
#ifdef TCCR3A
case TIMER3A: case TIMER3B: case TIMER3C: _SET_CS(3, val); break;
#endif
#ifdef TCCR4A
case TIMER4A: case TIMER4B: case TIMER4C: _SET_CS(4, val); break;
#endif
#ifdef TCCR5A
case TIMER5A: case TIMER5B: case TIMER5C: _SET_CS(5, val); break;
#endif
}
}
#endif // FAST_PWM_FAN
#if WATCH_HOTENDS
/**
* Start Heating Sanity Check for hotends that are below
* their target temperature by a configurable margin.
* This is called when the temperature is set. (M104, M109)
*/
void Temperature::start_watching_heater(const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
if (degHotend(HOTEND_INDEX) < degTargetHotend(HOTEND_INDEX) - (WATCH_TEMP_INCREASE + TEMP_HYSTERESIS + 1)) {
watch_target_temp[HOTEND_INDEX] = degHotend(HOTEND_INDEX) + WATCH_TEMP_INCREASE;
watch_heater_next_ms[HOTEND_INDEX] = millis() + (WATCH_TEMP_PERIOD) * 1000UL;
}
else
watch_heater_next_ms[HOTEND_INDEX] = 0;
}
#endif
#if WATCH_THE_BED
/**
* Start Heating Sanity Check for hotends that are below
* their target temperature by a configurable margin.
* This is called when the temperature is set. (M140, M190)
*/
void Temperature::start_watching_bed() {
if (degBed() < degTargetBed() - (WATCH_BED_TEMP_INCREASE + TEMP_BED_HYSTERESIS + 1)) {
watch_target_bed_temp = degBed() + WATCH_BED_TEMP_INCREASE;
watch_bed_next_ms = millis() + (WATCH_BED_TEMP_PERIOD) * 1000UL;
}
else
watch_bed_next_ms = 0;
}
#endif
#if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
#if ENABLED(THERMAL_PROTECTION_HOTENDS)
Temperature::TRState Temperature::thermal_runaway_state_machine[HOTENDS] = { TRInactive };
millis_t Temperature::thermal_runaway_timer[HOTENDS] = { 0 };
#endif
#if HAS_THERMALLY_PROTECTED_BED
Temperature::TRState Temperature::thermal_runaway_bed_state_machine = TRInactive;
millis_t Temperature::thermal_runaway_bed_timer;
#endif
void Temperature::thermal_runaway_protection(Temperature::TRState * const state, millis_t * const timer, const float &current, const float &target, const int8_t heater_id, const uint16_t period_seconds, const uint16_t hysteresis_degc) {
static float tr_target_temperature[HOTENDS + 1] = { 0.0 };
/**
SERIAL_ECHO_START();
SERIAL_ECHOPGM("Thermal Thermal Runaway Running. Heater ID: ");
if (heater_id < 0) SERIAL_ECHOPGM("bed"); else SERIAL_ECHO(heater_id);
SERIAL_ECHOPAIR(" ; State:", *state);
SERIAL_ECHOPAIR(" ; Timer:", *timer);
SERIAL_ECHOPAIR(" ; Temperature:", current);
SERIAL_ECHOPAIR(" ; Target Temp:", target);
if (heater_id >= 0)
SERIAL_ECHOPAIR(" ; Idle Timeout:", heater_idle_timeout_exceeded[heater_id]);
else
SERIAL_ECHOPAIR(" ; Idle Timeout:", bed_idle_timeout_exceeded);
SERIAL_EOL();
*/
const int heater_index = heater_id >= 0 ? heater_id : HOTENDS;
#if HEATER_IDLE_HANDLER
// If the heater idle timeout expires, restart
if ((heater_id >= 0 && heater_idle_timeout_exceeded[heater_id])
#if HAS_TEMP_BED
|| (heater_id < 0 && bed_idle_timeout_exceeded)
#endif
) {
*state = TRInactive;
tr_target_temperature[heater_index] = 0;
}
else
#endif
{
// If the target temperature changes, restart
if (tr_target_temperature[heater_index] != target) {
tr_target_temperature[heater_index] = target;
*state = target > 0 ? TRFirstHeating : TRInactive;
}
}
switch (*state) {
// Inactive state waits for a target temperature to be set
case TRInactive: break;
// When first heating, wait for the temperature to be reached then go to Stable state
case TRFirstHeating:
if (current < tr_target_temperature[heater_index]) break;
*state = TRStable;
// While the temperature is stable watch for a bad temperature
case TRStable:
if (current >= tr_target_temperature[heater_index] - hysteresis_degc) {
*timer = millis() + period_seconds * 1000UL;
break;
}
else if (PENDING(millis(), *timer)) break;
*state = TRRunaway;
case TRRunaway:
_temp_error(heater_id, PSTR(MSG_T_THERMAL_RUNAWAY), TEMP_ERR_PSTR(MSG_THERMAL_RUNAWAY, heater_id));
}
}
#endif // THERMAL_PROTECTION_HOTENDS || THERMAL_PROTECTION_BED
void Temperature::disable_all_heaters() {
#if ENABLED(AUTOTEMP)
planner.autotemp_enabled = false;
#endif
HOTEND_LOOP() setTargetHotend(0, e);
setTargetBed(0);
// Unpause and reset everything
#if ENABLED(PROBING_HEATERS_OFF)
pause(false);
#endif
// If all heaters go down then for sure our print job has stopped
print_job_timer.stop();
#define DISABLE_HEATER(NR) { \
setTargetHotend(0, NR); \
soft_pwm_amount[NR] = 0; \
WRITE_HEATER_ ##NR (LOW); \
}
#if HAS_TEMP_HOTEND
DISABLE_HEATER(0);
#if HOTENDS > 1
DISABLE_HEATER(1);
#if HOTENDS > 2
DISABLE_HEATER(2);
#if HOTENDS > 3
DISABLE_HEATER(3);
#if HOTENDS > 4
DISABLE_HEATER(4);
#endif // HOTENDS > 4
#endif // HOTENDS > 3
#endif // HOTENDS > 2
#endif // HOTENDS > 1
#endif
#if HAS_TEMP_BED
target_temperature_bed = 0;
soft_pwm_amount_bed = 0;
#if HAS_HEATER_BED
WRITE_HEATER_BED(LOW);
#endif
#endif
}
#if ENABLED(PROBING_HEATERS_OFF)
void Temperature::pause(const bool p) {
if (p != paused) {
paused = p;
if (p) {
HOTEND_LOOP() start_heater_idle_timer(e, 0); // timeout immediately
#if HAS_TEMP_BED
start_bed_idle_timer(0); // timeout immediately
#endif
}
else {
HOTEND_LOOP() reset_heater_idle_timer(e);
#if HAS_TEMP_BED
reset_bed_idle_timer();
#endif
}
}
}
#endif // PROBING_HEATERS_OFF
#if ENABLED(HEATER_0_USES_MAX6675)
#define MAX6675_HEAT_INTERVAL 250u
#if ENABLED(MAX6675_IS_MAX31855)
uint32_t max6675_temp = 2000;
#define MAX6675_ERROR_MASK 7
#define MAX6675_DISCARD_BITS 18
#define MAX6675_SPEED_BITS (_BV(SPR1)) // clock ÷ 64
#else
uint16_t max6675_temp = 2000;
#define MAX6675_ERROR_MASK 4
#define MAX6675_DISCARD_BITS 3
#define MAX6675_SPEED_BITS (_BV(SPR0)) // clock ÷ 16
#endif
int Temperature::read_max6675() {
static millis_t next_max6675_ms = 0;
millis_t ms = millis();
if (PENDING(ms, next_max6675_ms)) return (int)max6675_temp;
next_max6675_ms = ms + MAX6675_HEAT_INTERVAL;
CBI(
#ifdef PRR
PRR
#elif defined(PRR0)
PRR0
#endif
, PRSPI);
SPCR = _BV(MSTR) | _BV(SPE) | MAX6675_SPEED_BITS;
WRITE(MAX6675_SS, 0); // enable TT_MAX6675
// ensure 100ns delay - a bit extra is fine
asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
// Read a big-endian temperature value
max6675_temp = 0;
for (uint8_t i = sizeof(max6675_temp); i--;) {
max6675_temp |= max6675_spi.receive();
if (i > 0) max6675_temp <<= 8; // shift left if not the last byte
}
WRITE(MAX6675_SS, 1); // disable TT_MAX6675
if (max6675_temp & MAX6675_ERROR_MASK) {
SERIAL_ERROR_START();
SERIAL_ERRORPGM("Temp measurement error! ");
#if MAX6675_ERROR_MASK == 7
SERIAL_ERRORPGM("MAX31855 ");
if (max6675_temp & 1)
SERIAL_ERRORLNPGM("Open Circuit");
else if (max6675_temp & 2)
SERIAL_ERRORLNPGM("Short to GND");
else if (max6675_temp & 4)
SERIAL_ERRORLNPGM("Short to VCC");
#else
SERIAL_ERRORLNPGM("MAX6675");
#endif
max6675_temp = MAX6675_TMAX * 4; // thermocouple open
}
else
max6675_temp >>= MAX6675_DISCARD_BITS;
#if ENABLED(MAX6675_IS_MAX31855)
// Support negative temperature
if (max6675_temp & 0x00002000) max6675_temp |= 0xFFFFC000;
#endif
return (int)max6675_temp;
}
#endif // HEATER_0_USES_MAX6675
/**
* Get raw temperatures
*/
void Temperature::set_current_temp_raw() {
#if HAS_TEMP_0 && DISABLED(HEATER_0_USES_MAX6675)
current_temperature_raw[0] = raw_temp_value[0];
#endif
#if HAS_TEMP_1
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
redundant_temperature_raw = raw_temp_value[1];
#else
current_temperature_raw[1] = raw_temp_value[1];
#endif
#if HAS_TEMP_2
current_temperature_raw[2] = raw_temp_value[2];
#if HAS_TEMP_3
current_temperature_raw[3] = raw_temp_value[3];
#if HAS_TEMP_4
current_temperature_raw[4] = raw_temp_value[4];
#endif
#endif
#endif
#endif
current_temperature_bed_raw = raw_temp_bed_value;
current_temperature_chamber_raw = raw_temp_chamber_value;
temp_meas_ready = true;
}
#if ENABLED(PINS_DEBUGGING)
/**
* monitors endstops & Z probe for changes
*
* If a change is detected then the LED is toggled and
* a message is sent out the serial port
*
* Yes, we could miss a rapid back & forth change but
* that won't matter because this is all manual.
*
*/
void endstop_monitor() {
static uint16_t old_endstop_bits_local = 0;
static uint8_t local_LED_status = 0;
uint16_t current_endstop_bits_local = 0;
#if HAS_X_MIN
if (READ(X_MIN_PIN)) SBI(current_endstop_bits_local, X_MIN);
#endif
#if HAS_X_MAX
if (READ(X_MAX_PIN)) SBI(current_endstop_bits_local, X_MAX);
#endif
#if HAS_Y_MIN
if (READ(Y_MIN_PIN)) SBI(current_endstop_bits_local, Y_MIN);
#endif
#if HAS_Y_MAX
if (READ(Y_MAX_PIN)) SBI(current_endstop_bits_local, Y_MAX);
#endif
#if HAS_Z_MIN
if (READ(Z_MIN_PIN)) SBI(current_endstop_bits_local, Z_MIN);
#endif
#if HAS_Z_MAX
if (READ(Z_MAX_PIN)) SBI(current_endstop_bits_local, Z_MAX);
#endif
#if HAS_Z_MIN_PROBE_PIN
if (READ(Z_MIN_PROBE_PIN)) SBI(current_endstop_bits_local, Z_MIN_PROBE);
#endif
#if HAS_Z2_MIN
if (READ(Z2_MIN_PIN)) SBI(current_endstop_bits_local, Z2_MIN);
#endif
#if HAS_Z2_MAX
if (READ(Z2_MAX_PIN)) SBI(current_endstop_bits_local, Z2_MAX);
#endif
uint16_t endstop_change = current_endstop_bits_local ^ old_endstop_bits_local;
if (endstop_change) {
#if HAS_X_MIN
if (TEST(endstop_change, X_MIN)) SERIAL_PROTOCOLPAIR(" X_MIN:", !!TEST(current_endstop_bits_local, X_MIN));
#endif
#if HAS_X_MAX
if (TEST(endstop_change, X_MAX)) SERIAL_PROTOCOLPAIR(" X_MAX:", !!TEST(current_endstop_bits_local, X_MAX));
#endif
#if HAS_Y_MIN
if (TEST(endstop_change, Y_MIN)) SERIAL_PROTOCOLPAIR(" Y_MIN:", !!TEST(current_endstop_bits_local, Y_MIN));
#endif
#if HAS_Y_MAX
if (TEST(endstop_change, Y_MAX)) SERIAL_PROTOCOLPAIR(" Y_MAX:", !!TEST(current_endstop_bits_local, Y_MAX));
#endif
#if HAS_Z_MIN
if (TEST(endstop_change, Z_MIN)) SERIAL_PROTOCOLPAIR(" Z_MIN:", !!TEST(current_endstop_bits_local, Z_MIN));
#endif
#if HAS_Z_MAX
if (TEST(endstop_change, Z_MAX)) SERIAL_PROTOCOLPAIR(" Z_MAX:", !!TEST(current_endstop_bits_local, Z_MAX));
#endif
#if HAS_Z_MIN_PROBE_PIN
if (TEST(endstop_change, Z_MIN_PROBE)) SERIAL_PROTOCOLPAIR(" PROBE:", !!TEST(current_endstop_bits_local, Z_MIN_PROBE));
#endif
#if HAS_Z2_MIN
if (TEST(endstop_change, Z2_MIN)) SERIAL_PROTOCOLPAIR(" Z2_MIN:", !!TEST(current_endstop_bits_local, Z2_MIN));
#endif
#if HAS_Z2_MAX
if (TEST(endstop_change, Z2_MAX)) SERIAL_PROTOCOLPAIR(" Z2_MAX:", !!TEST(current_endstop_bits_local, Z2_MAX));
#endif
SERIAL_PROTOCOLPGM("\n\n");
analogWrite(LED_PIN, local_LED_status);
local_LED_status ^= 255;
old_endstop_bits_local = current_endstop_bits_local;
}
}
#endif // PINS_DEBUGGING
/**
* Timer 0 is shared with millies so don't change the prescaler.
*
* This ISR uses the compare method so it runs at the base
* frequency (16 MHz / 64 / 256 = 976.5625 Hz), but at the TCNT0 set
* in OCR0B above (128 or halfway between OVFs).
*
* - Manage PWM to all the heaters and fan
* - Prepare or Measure one of the raw ADC sensor values
* - Check new temperature values for MIN/MAX errors (kill on error)
* - Step the babysteps value for each axis towards 0
* - For PINS_DEBUGGING, monitor and report endstop pins
* - For ENDSTOP_INTERRUPTS_FEATURE check endstops if flagged
*/
ISR(TIMER0_COMPB_vect) { Temperature::isr(); }
volatile bool Temperature::in_temp_isr = false;
void Temperature::isr() {
// The stepper ISR can interrupt this ISR. When it does it re-enables this ISR
// at the end of its run, potentially causing re-entry. This flag prevents it.
if (in_temp_isr) return;
in_temp_isr = true;
// Allow UART and stepper ISRs
CBI(TIMSK0, OCIE0B); //Disable Temperature ISR
sei();
static int8_t temp_count = -1;
static ADCSensorState adc_sensor_state = StartupDelay;
static uint8_t pwm_count = _BV(SOFT_PWM_SCALE);
// avoid multiple loads of pwm_count
uint8_t pwm_count_tmp = pwm_count;
#if ENABLED(ADC_KEYPAD)
static unsigned int raw_ADCKey_value = 0;
#endif
// Static members for each heater
#if ENABLED(SLOW_PWM_HEATERS)
static uint8_t slow_pwm_count = 0;
#define ISR_STATICS(n) \
static uint8_t soft_pwm_count_ ## n, \
state_heater_ ## n = 0, \
state_timer_heater_ ## n = 0
#else
#define ISR_STATICS(n) static uint8_t soft_pwm_count_ ## n = 0
#endif
// Statics per heater
ISR_STATICS(0);
#if HOTENDS > 1
ISR_STATICS(1);
#if HOTENDS > 2
ISR_STATICS(2);
#if HOTENDS > 3
ISR_STATICS(3);
#if HOTENDS > 4
ISR_STATICS(4);
#endif // HOTENDS > 4
#endif // HOTENDS > 3
#endif // HOTENDS > 2
#endif // HOTENDS > 1
#if HAS_HEATER_BED
ISR_STATICS(BED);
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
static unsigned long raw_filwidth_value = 0;
#endif
#if DISABLED(SLOW_PWM_HEATERS)
constexpr uint8_t pwm_mask =
#if ENABLED(SOFT_PWM_DITHER)
_BV(SOFT_PWM_SCALE) - 1
#else
0
#endif
;
/**
* Standard PWM modulation
*/
if (pwm_count_tmp >= 127) {
pwm_count_tmp -= 127;
soft_pwm_count_0 = (soft_pwm_count_0 & pwm_mask) + soft_pwm_amount[0];
WRITE_HEATER_0(soft_pwm_count_0 > pwm_mask ? HIGH : LOW);
#if HOTENDS > 1
soft_pwm_count_1 = (soft_pwm_count_1 & pwm_mask) + soft_pwm_amount[1];
WRITE_HEATER_1(soft_pwm_count_1 > pwm_mask ? HIGH : LOW);
#if HOTENDS > 2
soft_pwm_count_2 = (soft_pwm_count_2 & pwm_mask) + soft_pwm_amount[2];
WRITE_HEATER_2(soft_pwm_count_2 > pwm_mask ? HIGH : LOW);
#if HOTENDS > 3
soft_pwm_count_3 = (soft_pwm_count_3 & pwm_mask) + soft_pwm_amount[3];
WRITE_HEATER_3(soft_pwm_count_3 > pwm_mask ? HIGH : LOW);
#if HOTENDS > 4
soft_pwm_count_4 = (soft_pwm_count_4 & pwm_mask) + soft_pwm_amount[4];
WRITE_HEATER_4(soft_pwm_count_4 > pwm_mask ? HIGH : LOW);
#endif // HOTENDS > 4
#endif // HOTENDS > 3
#endif // HOTENDS > 2
#endif // HOTENDS > 1
#if HAS_HEATER_BED
soft_pwm_count_BED = (soft_pwm_count_BED & pwm_mask) + soft_pwm_amount_bed;
WRITE_HEATER_BED(soft_pwm_count_BED > pwm_mask ? HIGH : LOW);
#endif
#if ENABLED(FAN_SOFT_PWM)
#if HAS_FAN0
soft_pwm_count_fan[0] = (soft_pwm_count_fan[0] & pwm_mask) + (soft_pwm_amount_fan[0] >> 1);
WRITE_FAN(soft_pwm_count_fan[0] > pwm_mask ? HIGH : LOW);
#endif
#if HAS_FAN1
soft_pwm_count_fan[1] = (soft_pwm_count_fan[1] & pwm_mask) + (soft_pwm_amount_fan[1] >> 1);
WRITE_FAN1(soft_pwm_count_fan[1] > pwm_mask ? HIGH : LOW);
#endif
#if HAS_FAN2
soft_pwm_count_fan[2] = (soft_pwm_count_fan[2] & pwm_mask) + (soft_pwm_amount_fan[2] >> 1);
WRITE_FAN2(soft_pwm_count_fan[2] > pwm_mask ? HIGH : LOW);
#endif
#endif
}
else {
if (soft_pwm_count_0 <= pwm_count_tmp) WRITE_HEATER_0(LOW);
#if HOTENDS > 1
if (soft_pwm_count_1 <= pwm_count_tmp) WRITE_HEATER_1(LOW);
#if HOTENDS > 2
if (soft_pwm_count_2 <= pwm_count_tmp) WRITE_HEATER_2(LOW);
#if HOTENDS > 3
if (soft_pwm_count_3 <= pwm_count_tmp) WRITE_HEATER_3(LOW);
#if HOTENDS > 4
if (soft_pwm_count_4 <= pwm_count_tmp) WRITE_HEATER_4(LOW);
#endif // HOTENDS > 4
#endif // HOTENDS > 3
#endif // HOTENDS > 2
#endif // HOTENDS > 1
#if HAS_HEATER_BED
if (soft_pwm_count_BED <= pwm_count_tmp) WRITE_HEATER_BED(LOW);
#endif
#if ENABLED(FAN_SOFT_PWM)
#if HAS_FAN0
if (soft_pwm_count_fan[0] <= pwm_count_tmp) WRITE_FAN(LOW);
#endif
#if HAS_FAN1
if (soft_pwm_count_fan[1] <= pwm_count_tmp) WRITE_FAN1(LOW);
#endif
#if HAS_FAN2
if (soft_pwm_count_fan[2] <= pwm_count_tmp) WRITE_FAN2(LOW);
#endif
#endif
}
// SOFT_PWM_SCALE to frequency:
//
// 0: 16000000/64/256/128 = 7.6294 Hz
// 1: / 64 = 15.2588 Hz
// 2: / 32 = 30.5176 Hz
// 3: / 16 = 61.0352 Hz
// 4: / 8 = 122.0703 Hz
// 5: / 4 = 244.1406 Hz
pwm_count = pwm_count_tmp + _BV(SOFT_PWM_SCALE);
#else // SLOW_PWM_HEATERS
/**
* SLOW PWM HEATERS
*
* For relay-driven heaters
*/
#ifndef MIN_STATE_TIME
#define MIN_STATE_TIME 16 // MIN_STATE_TIME * 65.5 = time in milliseconds
#endif
// Macros for Slow PWM timer logic
#define _SLOW_PWM_ROUTINE(NR, src) \
soft_pwm_count_ ##NR = src; \
if (soft_pwm_count_ ##NR > 0) { \
if (state_timer_heater_ ##NR == 0) { \
if (state_heater_ ##NR == 0) state_timer_heater_ ##NR = MIN_STATE_TIME; \
state_heater_ ##NR = 1; \
WRITE_HEATER_ ##NR(1); \
} \
} \
else { \
if (state_timer_heater_ ##NR == 0) { \
if (state_heater_ ##NR == 1) state_timer_heater_ ##NR = MIN_STATE_TIME; \
state_heater_ ##NR = 0; \
WRITE_HEATER_ ##NR(0); \
} \
}
#define SLOW_PWM_ROUTINE(n) _SLOW_PWM_ROUTINE(n, soft_pwm_amount[n])
#define PWM_OFF_ROUTINE(NR) \
if (soft_pwm_count_ ##NR < slow_pwm_count) { \
if (state_timer_heater_ ##NR == 0) { \
if (state_heater_ ##NR == 1) state_timer_heater_ ##NR = MIN_STATE_TIME; \
state_heater_ ##NR = 0; \
WRITE_HEATER_ ##NR (0); \
} \
}
if (slow_pwm_count == 0) {
SLOW_PWM_ROUTINE(0);
#if HOTENDS > 1
SLOW_PWM_ROUTINE(1);
#if HOTENDS > 2
SLOW_PWM_ROUTINE(2);
#if HOTENDS > 3
SLOW_PWM_ROUTINE(3);
#if HOTENDS > 4
SLOW_PWM_ROUTINE(4);
#endif // HOTENDS > 4
#endif // HOTENDS > 3
#endif // HOTENDS > 2
#endif // HOTENDS > 1
#if HAS_HEATER_BED
_SLOW_PWM_ROUTINE(BED, soft_pwm_amount_bed); // BED
#endif
} // slow_pwm_count == 0
PWM_OFF_ROUTINE(0);
#if HOTENDS > 1
PWM_OFF_ROUTINE(1);
#if HOTENDS > 2
PWM_OFF_ROUTINE(2);
#if HOTENDS > 3
PWM_OFF_ROUTINE(3);
#if HOTENDS > 4
PWM_OFF_ROUTINE(4);
#endif // HOTENDS > 4
#endif // HOTENDS > 3
#endif // HOTENDS > 2
#endif // HOTENDS > 1
#if HAS_HEATER_BED
PWM_OFF_ROUTINE(BED); // BED
#endif
#if ENABLED(FAN_SOFT_PWM)
if (pwm_count_tmp >= 127) {
pwm_count_tmp = 0;
#if HAS_FAN0
soft_pwm_count_fan[0] = soft_pwm_amount_fan[0] >> 1;
WRITE_FAN(soft_pwm_count_fan[0] > 0 ? HIGH : LOW);
#endif
#if HAS_FAN1
soft_pwm_count_fan[1] = soft_pwm_amount_fan[1] >> 1;
WRITE_FAN1(soft_pwm_count_fan[1] > 0 ? HIGH : LOW);
#endif
#if HAS_FAN2
soft_pwm_count_fan[2] = soft_pwm_amount_fan[2] >> 1;
WRITE_FAN2(soft_pwm_count_fan[2] > 0 ? HIGH : LOW);
#endif
}
#if HAS_FAN0
if (soft_pwm_count_fan[0] <= pwm_count_tmp) WRITE_FAN(LOW);
#endif
#if HAS_FAN1
if (soft_pwm_count_fan[1] <= pwm_count_tmp) WRITE_FAN1(LOW);
#endif
#if HAS_FAN2
if (soft_pwm_count_fan[2] <= pwm_count_tmp) WRITE_FAN2(LOW);
#endif
#endif // FAN_SOFT_PWM
// SOFT_PWM_SCALE to frequency:
//
// 0: 16000000/64/256/128 = 7.6294 Hz
// 1: / 64 = 15.2588 Hz
// 2: / 32 = 30.5176 Hz
// 3: / 16 = 61.0352 Hz
// 4: / 8 = 122.0703 Hz
// 5: / 4 = 244.1406 Hz
pwm_count = pwm_count_tmp + _BV(SOFT_PWM_SCALE);
// increment slow_pwm_count only every 64th pwm_count,
// i.e. yielding a PWM frequency of 16/128 Hz (8s).
if (((pwm_count >> SOFT_PWM_SCALE) & 0x3F) == 0) {
slow_pwm_count++;
slow_pwm_count &= 0x7F;
if (state_timer_heater_0 > 0) state_timer_heater_0--;
#if HOTENDS > 1
if (state_timer_heater_1 > 0) state_timer_heater_1--;
#if HOTENDS > 2
if (state_timer_heater_2 > 0) state_timer_heater_2--;
#if HOTENDS > 3
if (state_timer_heater_3 > 0) state_timer_heater_3--;
#if HOTENDS > 4
if (state_timer_heater_4 > 0) state_timer_heater_4--;
#endif // HOTENDS > 4
#endif // HOTENDS > 3
#endif // HOTENDS > 2
#endif // HOTENDS > 1
#if HAS_HEATER_BED
if (state_timer_heater_BED > 0) state_timer_heater_BED--;
#endif
} // ((pwm_count >> SOFT_PWM_SCALE) & 0x3F) == 0
#endif // SLOW_PWM_HEATERS
//
// Update lcd buttons 488 times per second
//
static bool do_buttons;
if ((do_buttons ^= true)) lcd_buttons_update();
/**
* One sensor is sampled on every other call of the ISR.
* Each sensor is read 16 (OVERSAMPLENR) times, taking the average.
*
* On each Prepare pass, ADC is started for a sensor pin.
* On the next pass, the ADC value is read and accumulated.
*
* This gives each ADC 0.9765ms to charge up.
*/
#define SET_ADMUX_ADCSRA(pin) ADMUX = _BV(REFS0) | (pin & 0x07); SBI(ADCSRA, ADSC)
#ifdef MUX5
#define START_ADC(pin) if (pin > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#else
#define START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#endif
switch (adc_sensor_state) {
case SensorsReady: {
// All sensors have been read. Stay in this state for a few
// ISRs to save on calls to temp update/checking code below.
constexpr int8_t extra_loops = MIN_ADC_ISR_LOOPS - (int8_t)SensorsReady;
static uint8_t delay_count = 0;
if (extra_loops > 0) {
if (delay_count == 0) delay_count = extra_loops; // Init this delay
if (--delay_count) // While delaying...
adc_sensor_state = (ADCSensorState)(int(SensorsReady) - 1); // retain this state (else, next state will be 0)
break;
}
else
adc_sensor_state = (ADCSensorState)0; // Fall-through to start first sensor now
}
#if HAS_TEMP_0
case PrepareTemp_0:
START_ADC(TEMP_0_PIN);
break;
case MeasureTemp_0:
raw_temp_value[0] += ADC;
break;
#endif
#if HAS_TEMP_BED
case PrepareTemp_BED:
START_ADC(TEMP_BED_PIN);
break;
case MeasureTemp_BED:
raw_temp_bed_value += ADC;
break;
#endif
#if HAS_TEMP_CHAMBER
case PrepareTemp_CHAMBER:
START_ADC(TEMP_CHAMBER_PIN);
break;
case MeasureTemp_CHAMBER:
raw_temp_chamber_value += ADC;
break;
#endif
#if HAS_TEMP_1
case PrepareTemp_1:
START_ADC(TEMP_1_PIN);
break;
case MeasureTemp_1:
raw_temp_value[1] += ADC;
break;
#endif
#if HAS_TEMP_2
case PrepareTemp_2:
START_ADC(TEMP_2_PIN);
break;
case MeasureTemp_2:
raw_temp_value[2] += ADC;
break;
#endif
#if HAS_TEMP_3
case PrepareTemp_3:
START_ADC(TEMP_3_PIN);
break;
case MeasureTemp_3:
raw_temp_value[3] += ADC;
break;
#endif
#if HAS_TEMP_4
case PrepareTemp_4:
START_ADC(TEMP_4_PIN);
break;
case MeasureTemp_4:
raw_temp_value[4] += ADC;
break;
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
case Prepare_FILWIDTH:
START_ADC(FILWIDTH_PIN);
break;
case Measure_FILWIDTH:
if (ADC > 102) { // Make sure ADC is reading > 0.5 volts, otherwise don't read.
raw_filwidth_value -= (raw_filwidth_value >> 7); // Subtract 1/128th of the raw_filwidth_value
raw_filwidth_value += ((unsigned long)ADC << 7); // Add new ADC reading, scaled by 128
}
break;
#endif
#if ENABLED(ADC_KEYPAD)
case Prepare_ADC_KEY:
START_ADC(ADC_KEYPAD_PIN);
break;
case Measure_ADC_KEY:
if (ADCKey_count < 16) {
raw_ADCKey_value = ADC;
if (raw_ADCKey_value > 900) {
//ADC Key release
ADCKey_count = 0;
current_ADCKey_raw = 0;
}
else {
current_ADCKey_raw += raw_ADCKey_value;
ADCKey_count++;
}
}
break;
#endif // ADC_KEYPAD
case StartupDelay: break;
} // switch(adc_sensor_state)
if (!adc_sensor_state && ++temp_count >= OVERSAMPLENR) { // 10 * 16 * 1/(16000000/64/256) = 164ms.
temp_count = 0;
// Update the raw values if they've been read. Else we could be updating them during reading.
if (!temp_meas_ready) set_current_temp_raw();
// Filament Sensor - can be read any time since IIR filtering is used
#if ENABLED(FILAMENT_WIDTH_SENSOR)
current_raw_filwidth = raw_filwidth_value >> 10; // Divide to get to 0-16384 range since we used 1/128 IIR filter approach
#endif
ZERO(raw_temp_value);
raw_temp_bed_value = 0;
raw_temp_chamber_value = 0;
#define TEMPDIR(N) ((HEATER_##N##_RAW_LO_TEMP) > (HEATER_##N##_RAW_HI_TEMP) ? -1 : 1)
int constexpr temp_dir[] = {
#if ENABLED(HEATER_0_USES_MAX6675)
0
#else
TEMPDIR(0)
#endif
#if HOTENDS > 1
, TEMPDIR(1)
#if HOTENDS > 2
, TEMPDIR(2)
#if HOTENDS > 3
, TEMPDIR(3)
#if HOTENDS > 4
, TEMPDIR(4)
#endif // HOTENDS > 4
#endif // HOTENDS > 3
#endif // HOTENDS > 2
#endif // HOTENDS > 1
};
for (uint8_t e = 0; e < COUNT(temp_dir); e++) {
const int16_t tdir = temp_dir[e], rawtemp = current_temperature_raw[e] * tdir;
const bool heater_on = 0 <
#if ENABLED(PIDTEMP)
soft_pwm_amount[e]
#else
target_temperature[e]
#endif
;
if (rawtemp > maxttemp_raw[e] * tdir && heater_on) max_temp_error(e);
if (rawtemp < minttemp_raw[e] * tdir && !is_preheating(e) && heater_on) {
#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
if (++consecutive_low_temperature_error[e] >= MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED)
#endif
min_temp_error(e);
}
#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
else
consecutive_low_temperature_error[e] = 0;
#endif
}
#if HAS_TEMP_BED
#if HEATER_BED_RAW_LO_TEMP > HEATER_BED_RAW_HI_TEMP
#define GEBED <=
#else
#define GEBED >=
#endif
const bool bed_on = 0 <
#if ENABLED(PIDTEMPBED)
soft_pwm_amount_bed
#else
target_temperature_bed
#endif
;
if (current_temperature_bed_raw GEBED bed_maxttemp_raw && bed_on) max_temp_error(-1);
if (bed_minttemp_raw GEBED current_temperature_bed_raw && bed_on) min_temp_error(-1);
#endif
} // temp_count >= OVERSAMPLENR
// Go to the next state, up to SensorsReady
adc_sensor_state = (ADCSensorState)(int(adc_sensor_state) + 1);
if (adc_sensor_state > SensorsReady) adc_sensor_state = (ADCSensorState)0;
#if ENABLED(BABYSTEPPING)
LOOP_XYZ(axis) {
const int curTodo = babystepsTodo[axis]; // get rid of volatile for performance
if (curTodo) {
stepper.babystep((AxisEnum)axis, curTodo > 0);
if (curTodo > 0) babystepsTodo[axis]--;
else babystepsTodo[axis]++;
}
}
#endif // BABYSTEPPING
#if ENABLED(PINS_DEBUGGING)
extern bool endstop_monitor_flag;
// run the endstop monitor at 15Hz
static uint8_t endstop_monitor_count = 16; // offset this check from the others
if (endstop_monitor_flag) {
endstop_monitor_count += _BV(1); // 15 Hz
endstop_monitor_count &= 0x7F;
if (!endstop_monitor_count) endstop_monitor(); // report changes in endstop status
}
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
extern volatile uint8_t e_hit;
if (e_hit && ENDSTOPS_ENABLED) {
endstops.update(); // call endstop update routine
e_hit--;
}
#endif
cli();
in_temp_isr = false;
SBI(TIMSK0, OCIE0B); //re-enable Temperature ISR
}
#if HAS_TEMP_SENSOR
void print_heater_state(const float &c, const float &t,
#if ENABLED(SHOW_TEMP_ADC_VALUES)
const float r,
#endif
const int8_t e=-3
) {
#if !(HAS_TEMP_BED && HAS_TEMP_HOTEND && HAS_TEMP_CHAMBER) && HOTENDS <= 1
UNUSED(e);
#endif
SERIAL_PROTOCOLCHAR(' ');
SERIAL_PROTOCOLCHAR(
#if HAS_TEMP_CHAMBER && HAS_TEMP_BED && HAS_TEMP_HOTEND
e == -2 ? 'C' : e == -1 ? 'B' : 'T'
#elif HAS_TEMP_BED && HAS_TEMP_HOTEND
e == -1 ? 'B' : 'T'
#elif HAS_TEMP_HOTEND
'T'
#else
'B'
#endif
);
#if HOTENDS > 1
if (e >= 0) SERIAL_PROTOCOLCHAR('0' + e);
#endif
SERIAL_PROTOCOLCHAR(':');
SERIAL_PROTOCOL(c);
SERIAL_PROTOCOLPAIR(" /" , t);
#if ENABLED(SHOW_TEMP_ADC_VALUES)
SERIAL_PROTOCOLPAIR(" (", r / OVERSAMPLENR);
SERIAL_PROTOCOLCHAR(')');
#endif
delay(2);
}
extern uint8_t target_extruder;
void Temperature::print_heaterstates() {
#if HAS_TEMP_HOTEND
print_heater_state(degHotend(target_extruder), degTargetHotend(target_extruder)
#if ENABLED(SHOW_TEMP_ADC_VALUES)
, rawHotendTemp(target_extruder)
#endif
);
#endif
#if HAS_TEMP_BED
print_heater_state(degBed(), degTargetBed()
#if ENABLED(SHOW_TEMP_ADC_VALUES)
, rawBedTemp()
#endif
, -1 // BED
);
#endif
#if HAS_TEMP_CHAMBER
print_heater_state(degChamber(), 0
#if ENABLED(SHOW_TEMP_ADC_VALUES)
, rawChamberTemp()
#endif
, -2 // CHAMBER
);
#endif
#if HOTENDS > 1
HOTEND_LOOP() print_heater_state(degHotend(e), degTargetHotend(e)
#if ENABLED(SHOW_TEMP_ADC_VALUES)
, rawHotendTemp(e)
#endif
, e
);
#endif
SERIAL_PROTOCOLPGM(" @:");
SERIAL_PROTOCOL(getHeaterPower(target_extruder));
#if HAS_TEMP_BED
SERIAL_PROTOCOLPGM(" B@:");
SERIAL_PROTOCOL(getHeaterPower(-1));
#endif
#if HOTENDS > 1
HOTEND_LOOP() {
SERIAL_PROTOCOLPAIR(" @", e);
SERIAL_PROTOCOLCHAR(':');
SERIAL_PROTOCOL(getHeaterPower(e));
}
#endif
}
#if ENABLED(AUTO_REPORT_TEMPERATURES)
uint8_t Temperature::auto_report_temp_interval;
millis_t Temperature::next_temp_report_ms;
void Temperature::auto_report_temperatures() {
if (auto_report_temp_interval && ELAPSED(millis(), next_temp_report_ms)) {
next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
print_heaterstates();
SERIAL_EOL();
}
}
#endif // AUTO_REPORT_TEMPERATURES
#endif // HAS_TEMP_SENSOR
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