diff --git a/Firmware/Configuration.h b/Firmware/Configuration.h index 5959c7e9..690816f8 100644 --- a/Firmware/Configuration.h +++ b/Firmware/Configuration.h @@ -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 diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index 3ff3ffea..869db774 100644 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -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); diff --git a/Firmware/temperature.cpp b/Firmware/temperature.cpp index cae3fada..e1e74fac 100644 --- a/Firmware/temperature.cpp +++ b/Firmware/temperature.cpp @@ -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)) diff --git a/Firmware/temperature.h b/Firmware/temperature.h index 9a3cee83..9697f440 100644 --- a/Firmware/temperature.h +++ b/Firmware/temperature.h @@ -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