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Merge pull request #1460 from MRprusa3d/PFW-723

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Pfw 723
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PavelSindler 2019-01-23 14:12:19 +01:00 committed by GitHub
commit 54f8f4eb4d
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GPG Key ID: 4AEE18F83AFDEB23
9 changed files with 119 additions and 74 deletions
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4
Firmware/Configuration.h
View File

@ -126,13 +126,11 @@
// Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP
#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
#define PID_MAX BANG_MAX // limits current to nozzle while PID is active; 255=full current
#ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
//#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
#define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
#define K1 0.95 //smoothing factor within the PID
#define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine

1
Firmware/Marlin_main.cpp
View File

@ -7640,6 +7640,7 @@ void Stop()
disable_heater();
if(Stopped == false) {
Stopped = true;
lcd_print_stop();
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
SERIAL_ERROR_START;
SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);

162
Firmware/temperature.cpp
View File

@ -41,6 +41,9 @@
#include "adc.h"
#include "ConfigurationStore.h"
#include "Timer.h"
#include "Configuration_prusa.h"
//===========================================================================
//=============================public variables============================
@ -103,15 +106,15 @@ static volatile bool temp_meas_ready = false;
#ifdef PIDTEMP
//static cannot be external:
static float temp_iState[EXTRUDERS] = { 0 };
static float temp_dState[EXTRUDERS] = { 0 };
static float iState_sum[EXTRUDERS] = { 0 };
static float dState_last[EXTRUDERS] = { 0 };
static float pTerm[EXTRUDERS];
static float iTerm[EXTRUDERS];
static float dTerm[EXTRUDERS];
//int output;
static float pid_error[EXTRUDERS];
static float temp_iState_min[EXTRUDERS];
static float temp_iState_max[EXTRUDERS];
static float iState_sum_min[EXTRUDERS];
static float iState_sum_max[EXTRUDERS];
// static float pid_input[EXTRUDERS];
// static float pid_output[EXTRUDERS];
static bool pid_reset[EXTRUDERS];
@ -152,6 +155,8 @@ static volatile bool temp_meas_ready = false;
# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
#endif
static ShortTimer oTimer4minTempHeater,oTimer4minTempBed;
// Init min and max temp with extreme values to prevent false errors during startup
static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP );
static int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP );
@ -413,7 +418,7 @@ void updatePID()
{
#ifdef PIDTEMP
for(int e = 0; e < EXTRUDERS; e++) {
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
}
#endif
#ifdef PIDTEMPBED
@ -582,6 +587,11 @@ void checkExtruderAutoFans()
#endif // any extruder auto fan pins set
void resetPID(uint8_t extruder) // ready for eventually parameters adjusting
{
extruder=extruder; // only for compiler-warning elimination (if function do nothing)
}
void manage_heater()
{
#ifdef WATCHDOG
@ -593,9 +603,13 @@ void manage_heater()
if(temp_meas_ready != true) //better readability
return;
// more precisely - this condition partially stabilizes time interval for regulation values evaluation (@ ~ 230ms)
updateTemperaturesFromRawValues();
check_max_temp();
check_min_temp();
#ifdef TEMP_RUNAWAY_BED_HYSTERESIS
temp_runaway_check(0, target_temperature_bed, current_temperature_bed, (int)soft_pwm_bed, true);
#endif
@ -611,38 +625,42 @@ void manage_heater()
pid_input = current_temperature[e];
#ifndef PID_OPENLOOP
pid_error[e] = target_temperature[e] - pid_input;
if(pid_error[e] > PID_FUNCTIONAL_RANGE) {
pid_output = BANG_MAX;
pid_reset[e] = true;
}
else if(pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) {
if(target_temperature[e] == 0) {
pid_output = 0;
pid_reset[e] = true;
}
else {
if(pid_reset[e] == true) {
temp_iState[e] = 0.0;
} else {
pid_error[e] = target_temperature[e] - pid_input;
if(pid_reset[e]) {
iState_sum[e] = 0.0;
dTerm[e] = 0.0; // 'dState_last[e]' initial setting is not necessary (see end of if-statement)
pid_reset[e] = false;
}
#ifndef PonM
pTerm[e] = cs.Kp * pid_error[e];
temp_iState[e] += pid_error[e];
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
iTerm[e] = cs.Ki * temp_iState[e];
//K1 defined in Configuration.h in the PID settings
iState_sum[e] += pid_error[e];
iState_sum[e] = constrain(iState_sum[e], iState_sum_min[e], iState_sum_max[e]);
iTerm[e] = cs.Ki * iState_sum[e];
// K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm[e] = (cs.Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
dTerm[e] = (cs.Kd * (pid_input - dState_last[e]))*K2 + (K1 * dTerm[e]); // e.g. digital filtration of derivative term changes
pid_output = pTerm[e] + iTerm[e] - dTerm[e]; // subtraction due to "Derivative on Measurement" method (i.e. derivative of input instead derivative of error is used)
if (pid_output > PID_MAX) {
if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
if (pid_error[e] > 0 ) iState_sum[e] -= pid_error[e]; // conditional un-integration
pid_output=PID_MAX;
} else if (pid_output < 0){
if (pid_error[e] < 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
} else if (pid_output < 0) {
if (pid_error[e] < 0 ) iState_sum[e] -= pid_error[e]; // conditional un-integration
pid_output=0;
}
#else // PonM ("Proportional on Measurement" method)
iState_sum[e] += cs.Ki * pid_error[e];
iState_sum[e] -= cs.Kp * (pid_input - dState_last[e]);
iState_sum[e] = constrain(iState_sum[e], 0, PID_INTEGRAL_DRIVE_MAX);
dTerm[e] = cs.Kd * (pid_input - dState_last[e]);
pid_output = iState_sum[e] - dTerm[e]; // subtraction due to "Derivative on Measurement" method (i.e. derivative of input instead derivative of error is used)
pid_output = constrain(pid_output, 0, PID_MAX);
#endif // PonM
}
temp_dState[e] = pid_input;
dState_last[e] = pid_input;
#else
pid_output = constrain(target_temperature[e], 0, PID_MAX);
#endif //PID_OPENLOOP
@ -659,7 +677,7 @@ void manage_heater()
SERIAL_ECHO(" iTerm ");
SERIAL_ECHO(iTerm[e]);
SERIAL_ECHO(" dTerm ");
SERIAL_ECHOLN(dTerm[e]);
SERIAL_ECHOLN(-dTerm[e]);
#endif //PID_DEBUG
#else /* PID off */
pid_output = 0;
@ -669,16 +687,12 @@ void manage_heater()
#endif
// Check if temperature is within the correct range
#ifdef AMBIENT_THERMISTOR
if(((current_temperature_ambient < MINTEMP_MINAMBIENT) || (current_temperature[e] > minttemp[e])) && (current_temperature[e] < maxttemp[e]))
#else //AMBIENT_THERMISTOR
if((current_temperature[e] > minttemp[e]) && (current_temperature[e] < maxttemp[e]))
#endif //AMBIENT_THERMISTOR
if((current_temperature[e] < maxttemp[e]) && (target_temperature[e] != 0))
{
soft_pwm[e] = (int)pid_output >> 1;
}
else
{
{
soft_pwm[e] = 0;
}
@ -763,11 +777,7 @@ void manage_heater()
pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
#endif //PID_OPENLOOP
#ifdef AMBIENT_THERMISTOR
if(((current_temperature_bed > BED_MINTEMP) || (current_temperature_ambient < MINTEMP_MINAMBIENT)) && (current_temperature_bed < BED_MAXTEMP))
#else //AMBIENT_THERMISTOR
if((current_temperature_bed > BED_MINTEMP) && (current_temperature_bed < BED_MAXTEMP))
#endif //AMBIENT_THERMISTOR
if(current_temperature_bed < BED_MAXTEMP)
{
soft_pwm_bed = (int)pid_output >> 1;
}
@ -777,7 +787,7 @@ void manage_heater()
#elif !defined(BED_LIMIT_SWITCHING)
// Check if temperature is within the correct range
if((current_temperature_bed > BED_MINTEMP) && (current_temperature_bed < BED_MAXTEMP))
if(current_temperature_bed < BED_MAXTEMP)
{
if(current_temperature_bed >= target_temperature_bed)
{
@ -795,7 +805,7 @@ void manage_heater()
}
#else //#ifdef BED_LIMIT_SWITCHING
// Check if temperature is within the correct band
if((current_temperature_bed > BED_MINTEMP) && (current_temperature_bed < BED_MAXTEMP))
if(current_temperature_bed < BED_MAXTEMP)
{
if(current_temperature_bed > target_temperature_bed + BED_HYSTERESIS)
{
@ -812,6 +822,8 @@ void manage_heater()
WRITE(HEATER_BED_PIN,LOW);
}
#endif
if(target_temperature_bed==0)
soft_pwm_bed = 0;
#endif
#ifdef HOST_KEEPALIVE_FEATURE
@ -997,8 +1009,8 @@ void tp_init()
// populate with the first value
maxttemp[e] = maxttemp[0];
#ifdef PIDTEMP
temp_iState_min[e] = 0.0;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
iState_sum_min[e] = 0.0;
iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
#endif //PIDTEMP
#ifdef PIDTEMPBED
temp_iState_min_bed = 0.0;
@ -1526,7 +1538,7 @@ void adc_ready(void) //callback from adc when sampling finished
// Timer 0 is shared with millies
ISR(TIMER0_COMPB_vect)
ISR(TIMER0_COMPB_vect) // @ 1kHz ~ 1ms
{
static bool _lock = false;
if (_lock) return;
@ -1534,11 +1546,6 @@ ISR(TIMER0_COMPB_vect)
asm("sei");
if (!temp_meas_ready) adc_cycle();
else
{
check_max_temp();
check_min_temp();
}
lcd_buttons_update();
static unsigned char pwm_count = (1 << SOFT_PWM_SCALE);
@ -1931,26 +1938,49 @@ void check_min_temp_bed()
void check_min_temp()
{
static bool bCheckingOnHeater=false; // state variable, which allows to short no-checking delay (is set, when temperature is (first time) over heaterMintemp)
static bool bCheckingOnBed=false; // state variable, which allows to short no-checking delay (is set, when temperature is (first time) over bedMintemp)
#ifdef AMBIENT_THERMISTOR
static uint8_t heat_cycles = 0;
if (current_temperature_raw_ambient > OVERSAMPLENR*MINTEMP_MINAMBIENT_RAW)
{
if (READ(HEATER_0_PIN) == HIGH)
{
// if ((heat_cycles % 10) == 0)
// printf_P(PSTR("X%d\n"), heat_cycles);
if (heat_cycles > 50) //reaction time 5-10s
check_min_temp_heater0();
else
heat_cycles++;
}
else
heat_cycles = 0;
return;
}
if(current_temperature_raw_ambient>(OVERSAMPLENR*MINTEMP_MINAMBIENT_RAW)) // thermistor is NTC type, so operator is ">" ;-)
{ // ambient temperature is low
#endif //AMBIENT_THERMISTOR
// *** 'common' part of code for MK2.5 & MK3
// * nozzle checking
if(target_temperature[active_extruder]>minttemp[active_extruder])
{ // ~ nozzle heating is on
bCheckingOnHeater=bCheckingOnHeater||(current_temperature[active_extruder]>=minttemp[active_extruder]); // for eventually delay cutting
if(oTimer4minTempHeater.expired(HEATER_MINTEMP_DELAY)||(!oTimer4minTempHeater.running())||bCheckingOnHeater)
{
bCheckingOnHeater=true; // not necessary
check_min_temp_heater0(); // delay is elapsed or temperature is/was over minTemp => periodical checking is active
}
}
else { // ~ nozzle heating is off
oTimer4minTempHeater.start();
bCheckingOnHeater=false;
}
// * bed checking
if(target_temperature_bed>BED_MINTEMP)
{ // ~ bed heating is on
bCheckingOnBed=bCheckingOnBed||(current_temperature_bed>=BED_MINTEMP); // for eventually delay cutting
if(oTimer4minTempBed.expired(BED_MINTEMP_DELAY)||(!oTimer4minTempBed.running())||bCheckingOnBed)
{
bCheckingOnBed=true; // not necessary
check_min_temp_bed(); // delay is elapsed or temperature is/was over minTemp => periodical checking is active
}
}
else { // ~ bed heating is off
oTimer4minTempBed.start();
bCheckingOnBed=false;
}
// *** end of 'common' part
#ifdef AMBIENT_THERMISTOR
}
else { // ambient temperature is standard
check_min_temp_heater0();
check_min_temp_bed();
}
#endif //AMBIENT_THERMISTOR
check_min_temp_heater0();
check_min_temp_bed();
}
#if (defined(FANCHECK) && defined(TACH_0) && (TACH_0 > -1))

8
Firmware/temperature.h
View File

@ -87,6 +87,8 @@ extern int current_voltage_raw_bed;
extern volatile int babystepsTodo[3];
#endif
void resetPID(uint8_t extruder);
inline void babystepsTodoZadd(int n)
{
if (n != 0) {
@ -137,11 +139,15 @@ FORCE_INLINE float degTargetBed() {
FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {
target_temperature[extruder] = celsius;
resetPID(extruder);
};
static inline void setTargetHotendSafe(const float &celsius, uint8_t extruder)
{
if (extruder<EXTRUDERS) target_temperature[extruder] = celsius;
if (extruder<EXTRUDERS) {
target_temperature[extruder] = celsius;
resetPID(extruder);
}
}
static inline void setAllTargetHotends(const float &celsius)

2
Firmware/variants/1_75mm_MK2-RAMBo10a-E3Dv6full.h
View File

@ -105,7 +105,9 @@ EXTRUDER SETTINGS
#define HEATER_0_MINTEMP 15
#define HEATER_1_MINTEMP 5
#define HEATER_2_MINTEMP 5
#define HEATER_MINTEMP_DELAY 15000 // [ms] ! if changed, check maximal allowed value @ ShortTimer
#define BED_MINTEMP 15
#define BED_MINTEMP_DELAY 50000 // [ms] ! if changed, check maximal allowed value @ ShortTimer
// Maxtemps
#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)

2
Firmware/variants/1_75mm_MK2-RAMBo13a-E3Dv6full.h
View File

@ -105,7 +105,9 @@ EXTRUDER SETTINGS
#define HEATER_0_MINTEMP 15
#define HEATER_1_MINTEMP 5
#define HEATER_2_MINTEMP 5
#define HEATER_MINTEMP_DELAY 15000 // [ms] ! if changed, check maximal allowed value @ ShortTimer
#define BED_MINTEMP 15
#define BED_MINTEMP_DELAY 50000 // [ms] ! if changed, check maximal allowed value @ ShortTimer
// Maxtemps
#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)

6
Firmware/variants/1_75mm_MK25-RAMBo10a-E3Dv6full.h
View File

@ -153,10 +153,12 @@
*------------------------------------*/
// Mintemps
#define HEATER_0_MINTEMP 15
#define HEATER_0_MINTEMP 30
#define HEATER_1_MINTEMP 5
#define HEATER_2_MINTEMP 5
#define BED_MINTEMP 15
#define HEATER_MINTEMP_DELAY 15000 // [ms] ! if changed, check maximal allowed value @ ShortTimer
#define BED_MINTEMP 30
#define BED_MINTEMP_DELAY 50000 // [ms] ! if changed, check maximal allowed value @ ShortTimer
// Maxtemps
#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)

6
Firmware/variants/1_75mm_MK25-RAMBo13a-E3Dv6full.h
View File

@ -154,10 +154,12 @@
*------------------------------------*/
// Mintemps
#define HEATER_0_MINTEMP 15
#define HEATER_0_MINTEMP 30
#define HEATER_1_MINTEMP 5
#define HEATER_2_MINTEMP 5
#define BED_MINTEMP 15
#define HEATER_MINTEMP_DELAY 15000 // [ms] ! if changed, check maximal allowed value @ ShortTimer
#define BED_MINTEMP 30
#define BED_MINTEMP_DELAY 50000 // [ms] ! if changed, check maximal allowed value @ ShortTimer
// Maxtemps
#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)

2
Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
View File

@ -276,7 +276,9 @@
#define HEATER_0_MINTEMP 15
#define HEATER_1_MINTEMP 5
#define HEATER_2_MINTEMP 5
#define HEATER_MINTEMP_DELAY 15000 // [ms] ! if changed, check maximal allowed value @ ShortTimer
#define BED_MINTEMP 15
#define BED_MINTEMP_DELAY 50000 // [ms] ! if changed, check maximal allowed value @ ShortTimer
// Maxtemps
#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)