My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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temperature.cpp 57KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * temperature.cpp - temperature control
  24. */
  25. #include "Marlin.h"
  26. #include "ultralcd.h"
  27. #include "temperature.h"
  28. #include "thermistortables.h"
  29. #include "language.h"
  30. #if ENABLED(BABYSTEPPING)
  31. #include "stepper.h"
  32. #endif
  33. #if ENABLED(USE_WATCHDOG)
  34. #include "watchdog.h"
  35. #endif
  36. #ifdef K1 // Defined in Configuration.h in the PID settings
  37. #define K2 (1.0-K1)
  38. #endif
  39. #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
  40. static void* heater_ttbl_map[2] = {(void*)HEATER_0_TEMPTABLE, (void*)HEATER_1_TEMPTABLE };
  41. static uint8_t heater_ttbllen_map[2] = { HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN };
  42. #else
  43. 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);
  44. 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);
  45. #endif
  46. Temperature thermalManager;
  47. // public:
  48. float Temperature::current_temperature[HOTENDS] = { 0.0 },
  49. Temperature::current_temperature_bed = 0.0;
  50. int Temperature::current_temperature_raw[HOTENDS] = { 0 },
  51. Temperature::target_temperature[HOTENDS] = { 0 },
  52. Temperature::current_temperature_bed_raw = 0,
  53. Temperature::target_temperature_bed = 0;
  54. #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
  55. float Temperature::redundant_temperature = 0.0;
  56. #endif
  57. unsigned char Temperature::soft_pwm_bed;
  58. #if ENABLED(FAN_SOFT_PWM)
  59. unsigned char Temperature::fanSpeedSoftPwm[FAN_COUNT];
  60. #endif
  61. #if ENABLED(PIDTEMP)
  62. #if ENABLED(PID_PARAMS_PER_HOTEND) && HOTENDS > 1
  63. float Temperature::Kp[HOTENDS] = ARRAY_BY_HOTENDS1(DEFAULT_Kp),
  64. Temperature::Ki[HOTENDS] = ARRAY_BY_HOTENDS1((DEFAULT_Ki) * (PID_dT)),
  65. Temperature::Kd[HOTENDS] = ARRAY_BY_HOTENDS1((DEFAULT_Kd) / (PID_dT));
  66. #if ENABLED(PID_EXTRUSION_SCALING)
  67. float Temperature::Kc[HOTENDS] = ARRAY_BY_HOTENDS1(DEFAULT_Kc);
  68. #endif
  69. #else
  70. float Temperature::Kp = DEFAULT_Kp,
  71. Temperature::Ki = (DEFAULT_Ki) * (PID_dT),
  72. Temperature::Kd = (DEFAULT_Kd) / (PID_dT);
  73. #if ENABLED(PID_EXTRUSION_SCALING)
  74. float Temperature::Kc = DEFAULT_Kc;
  75. #endif
  76. #endif
  77. #endif
  78. #if ENABLED(PIDTEMPBED)
  79. float Temperature::bedKp = DEFAULT_bedKp,
  80. Temperature::bedKi = ((DEFAULT_bedKi) * PID_dT),
  81. Temperature::bedKd = ((DEFAULT_bedKd) / PID_dT);
  82. #endif
  83. #if ENABLED(BABYSTEPPING)
  84. volatile int Temperature::babystepsTodo[3] = { 0 };
  85. #endif
  86. #if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
  87. int Temperature::watch_target_temp[HOTENDS] = { 0 };
  88. millis_t Temperature::watch_heater_next_ms[HOTENDS] = { 0 };
  89. #endif
  90. #if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
  91. int Temperature::watch_target_bed_temp = 0;
  92. millis_t Temperature::watch_bed_next_ms = 0;
  93. #endif
  94. #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
  95. bool Temperature::allow_cold_extrude = false;
  96. float Temperature::extrude_min_temp = EXTRUDE_MINTEMP;
  97. #endif
  98. // private:
  99. #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
  100. int Temperature::redundant_temperature_raw = 0;
  101. float Temperature::redundant_temperature = 0.0;
  102. #endif
  103. volatile bool Temperature::temp_meas_ready = false;
  104. #if ENABLED(PIDTEMP)
  105. float Temperature::temp_iState[HOTENDS] = { 0 },
  106. Temperature::temp_dState[HOTENDS] = { 0 },
  107. Temperature::pTerm[HOTENDS],
  108. Temperature::iTerm[HOTENDS],
  109. Temperature::dTerm[HOTENDS];
  110. #if ENABLED(PID_EXTRUSION_SCALING)
  111. float Temperature::cTerm[HOTENDS];
  112. long Temperature::last_e_position;
  113. long Temperature::lpq[LPQ_MAX_LEN];
  114. int Temperature::lpq_ptr = 0;
  115. #endif
  116. float Temperature::pid_error[HOTENDS],
  117. Temperature::temp_iState_min[HOTENDS],
  118. Temperature::temp_iState_max[HOTENDS];
  119. bool Temperature::pid_reset[HOTENDS];
  120. #endif
  121. #if ENABLED(PIDTEMPBED)
  122. float Temperature::temp_iState_bed = { 0 },
  123. Temperature::temp_dState_bed = { 0 },
  124. Temperature::pTerm_bed,
  125. Temperature::iTerm_bed,
  126. Temperature::dTerm_bed,
  127. Temperature::pid_error_bed,
  128. Temperature::temp_iState_min_bed,
  129. Temperature::temp_iState_max_bed;
  130. #else
  131. millis_t Temperature::next_bed_check_ms;
  132. #endif
  133. unsigned long Temperature::raw_temp_value[4] = { 0 };
  134. unsigned long Temperature::raw_temp_bed_value = 0;
  135. // Init min and max temp with extreme values to prevent false errors during startup
  136. int 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),
  137. 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),
  138. Temperature::minttemp[HOTENDS] = { 0 },
  139. Temperature::maxttemp[HOTENDS] = ARRAY_BY_HOTENDS1(16383);
  140. #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
  141. int Temperature::consecutive_low_temperature_error[HOTENDS] = { 0 };
  142. #endif
  143. #ifdef MILLISECONDS_PREHEAT_TIME
  144. unsigned long Temperature::preheat_end_time[HOTENDS] = { 0 };
  145. #endif
  146. #ifdef BED_MINTEMP
  147. int Temperature::bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP;
  148. #endif
  149. #ifdef BED_MAXTEMP
  150. int Temperature::bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
  151. #endif
  152. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  153. int Temperature::meas_shift_index; // Index of a delayed sample in buffer
  154. #endif
  155. #if HAS_AUTO_FAN
  156. millis_t Temperature::next_auto_fan_check_ms;
  157. #endif
  158. unsigned char Temperature::soft_pwm[HOTENDS];
  159. #if ENABLED(FAN_SOFT_PWM)
  160. unsigned char Temperature::soft_pwm_fan[FAN_COUNT];
  161. #endif
  162. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  163. int Temperature::current_raw_filwidth = 0; //Holds measured filament diameter - one extruder only
  164. #endif
  165. #if HAS_PID_HEATING
  166. void Temperature::PID_autotune(float temp, int hotend, int ncycles, bool set_result/*=false*/) {
  167. float input = 0.0;
  168. int cycles = 0;
  169. bool heating = true;
  170. millis_t temp_ms = millis(), t1 = temp_ms, t2 = temp_ms;
  171. long t_high = 0, t_low = 0;
  172. long bias, d;
  173. float Ku, Tu;
  174. float workKp = 0, workKi = 0, workKd = 0;
  175. float max = 0, min = 10000;
  176. #if HAS_AUTO_FAN
  177. next_auto_fan_check_ms = temp_ms + 2500UL;
  178. #endif
  179. if (hotend >=
  180. #if ENABLED(PIDTEMP)
  181. HOTENDS
  182. #else
  183. 0
  184. #endif
  185. || hotend <
  186. #if ENABLED(PIDTEMPBED)
  187. -1
  188. #else
  189. 0
  190. #endif
  191. ) {
  192. SERIAL_ECHOLN(MSG_PID_BAD_EXTRUDER_NUM);
  193. return;
  194. }
  195. SERIAL_ECHOLN(MSG_PID_AUTOTUNE_START);
  196. disable_all_heaters(); // switch off all heaters.
  197. #if HAS_PID_FOR_BOTH
  198. if (hotend < 0)
  199. soft_pwm_bed = bias = d = (MAX_BED_POWER) / 2;
  200. else
  201. soft_pwm[hotend] = bias = d = (PID_MAX) / 2;
  202. #elif ENABLED(PIDTEMP)
  203. soft_pwm[hotend] = bias = d = (PID_MAX) / 2;
  204. #else
  205. soft_pwm_bed = bias = d = (MAX_BED_POWER) / 2;
  206. #endif
  207. wait_for_heatup = true;
  208. // PID Tuning loop
  209. while (wait_for_heatup) {
  210. millis_t ms = millis();
  211. if (temp_meas_ready) { // temp sample ready
  212. updateTemperaturesFromRawValues();
  213. input =
  214. #if HAS_PID_FOR_BOTH
  215. hotend < 0 ? current_temperature_bed : current_temperature[hotend]
  216. #elif ENABLED(PIDTEMP)
  217. current_temperature[hotend]
  218. #else
  219. current_temperature_bed
  220. #endif
  221. ;
  222. max = max(max, input);
  223. min = min(min, input);
  224. #if HAS_AUTO_FAN
  225. if (ELAPSED(ms, next_auto_fan_check_ms)) {
  226. checkExtruderAutoFans();
  227. next_auto_fan_check_ms = ms + 2500UL;
  228. }
  229. #endif
  230. if (heating && input > temp) {
  231. if (ELAPSED(ms, t2 + 5000UL)) {
  232. heating = false;
  233. #if HAS_PID_FOR_BOTH
  234. if (hotend < 0)
  235. soft_pwm_bed = (bias - d) >> 1;
  236. else
  237. soft_pwm[hotend] = (bias - d) >> 1;
  238. #elif ENABLED(PIDTEMP)
  239. soft_pwm[hotend] = (bias - d) >> 1;
  240. #elif ENABLED(PIDTEMPBED)
  241. soft_pwm_bed = (bias - d) >> 1;
  242. #endif
  243. t1 = ms;
  244. t_high = t1 - t2;
  245. max = temp;
  246. }
  247. }
  248. if (!heating && input < temp) {
  249. if (ELAPSED(ms, t1 + 5000UL)) {
  250. heating = true;
  251. t2 = ms;
  252. t_low = t2 - t1;
  253. if (cycles > 0) {
  254. long max_pow =
  255. #if HAS_PID_FOR_BOTH
  256. hotend < 0 ? MAX_BED_POWER : PID_MAX
  257. #elif ENABLED(PIDTEMP)
  258. PID_MAX
  259. #else
  260. MAX_BED_POWER
  261. #endif
  262. ;
  263. bias += (d * (t_high - t_low)) / (t_low + t_high);
  264. bias = constrain(bias, 20, max_pow - 20);
  265. d = (bias > max_pow / 2) ? max_pow - 1 - bias : bias;
  266. SERIAL_PROTOCOLPAIR(MSG_BIAS, bias);
  267. SERIAL_PROTOCOLPAIR(MSG_D, d);
  268. SERIAL_PROTOCOLPAIR(MSG_T_MIN, min);
  269. SERIAL_PROTOCOLPAIR(MSG_T_MAX, max);
  270. if (cycles > 2) {
  271. Ku = (4.0 * d) / (M_PI * (max - min) * 0.5);
  272. Tu = ((float)(t_low + t_high) * 0.001);
  273. SERIAL_PROTOCOLPAIR(MSG_KU, Ku);
  274. SERIAL_PROTOCOLPAIR(MSG_TU, Tu);
  275. workKp = 0.6 * Ku;
  276. workKi = 2 * workKp / Tu;
  277. workKd = workKp * Tu * 0.125;
  278. SERIAL_PROTOCOLLNPGM("\n" MSG_CLASSIC_PID);
  279. SERIAL_PROTOCOLPAIR(MSG_KP, workKp);
  280. SERIAL_PROTOCOLPAIR(MSG_KI, workKi);
  281. SERIAL_PROTOCOLLNPAIR(MSG_KD, workKd);
  282. /**
  283. workKp = 0.33*Ku;
  284. workKi = workKp/Tu;
  285. workKd = workKp*Tu/3;
  286. SERIAL_PROTOCOLLNPGM(" Some overshoot");
  287. SERIAL_PROTOCOLPAIR(" Kp: ", workKp);
  288. SERIAL_PROTOCOLPAIR(" Ki: ", workKi);
  289. SERIAL_PROTOCOLPAIR(" Kd: ", workKd);
  290. workKp = 0.2*Ku;
  291. workKi = 2*workKp/Tu;
  292. workKd = workKp*Tu/3;
  293. SERIAL_PROTOCOLLNPGM(" No overshoot");
  294. SERIAL_PROTOCOLPAIR(" Kp: ", workKp);
  295. SERIAL_PROTOCOLPAIR(" Ki: ", workKi);
  296. SERIAL_PROTOCOLPAIR(" Kd: ", workKd);
  297. */
  298. }
  299. }
  300. #if HAS_PID_FOR_BOTH
  301. if (hotend < 0)
  302. soft_pwm_bed = (bias + d) >> 1;
  303. else
  304. soft_pwm[hotend] = (bias + d) >> 1;
  305. #elif ENABLED(PIDTEMP)
  306. soft_pwm[hotend] = (bias + d) >> 1;
  307. #else
  308. soft_pwm_bed = (bias + d) >> 1;
  309. #endif
  310. cycles++;
  311. min = temp;
  312. }
  313. }
  314. }
  315. #define MAX_OVERSHOOT_PID_AUTOTUNE 20
  316. if (input > temp + MAX_OVERSHOOT_PID_AUTOTUNE) {
  317. SERIAL_PROTOCOLLNPGM(MSG_PID_TEMP_TOO_HIGH);
  318. return;
  319. }
  320. // Every 2 seconds...
  321. if (ELAPSED(ms, temp_ms + 2000UL)) {
  322. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  323. print_heaterstates();
  324. SERIAL_EOL;
  325. #endif
  326. temp_ms = ms;
  327. } // every 2 seconds
  328. // Over 2 minutes?
  329. if (((ms - t1) + (ms - t2)) > (10L * 60L * 1000L * 2L)) {
  330. SERIAL_PROTOCOLLNPGM(MSG_PID_TIMEOUT);
  331. return;
  332. }
  333. if (cycles > ncycles) {
  334. SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED);
  335. #if HAS_PID_FOR_BOTH
  336. const char* estring = hotend < 0 ? "bed" : "";
  337. SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Kp ", workKp); SERIAL_EOL;
  338. SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Ki ", workKi); SERIAL_EOL;
  339. SERIAL_PROTOCOLPAIR("#define DEFAULT_", estring); SERIAL_PROTOCOLPAIR("Kd ", workKd); SERIAL_EOL;
  340. #elif ENABLED(PIDTEMP)
  341. SERIAL_PROTOCOLPAIR("#define DEFAULT_Kp ", workKp); SERIAL_EOL;
  342. SERIAL_PROTOCOLPAIR("#define DEFAULT_Ki ", workKi); SERIAL_EOL;
  343. SERIAL_PROTOCOLPAIR("#define DEFAULT_Kd ", workKd); SERIAL_EOL;
  344. #else
  345. SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKp ", workKp); SERIAL_EOL;
  346. SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKi ", workKi); SERIAL_EOL;
  347. SERIAL_PROTOCOLPAIR("#define DEFAULT_bedKd ", workKd); SERIAL_EOL;
  348. #endif
  349. #define _SET_BED_PID() do { \
  350. bedKp = workKp; \
  351. bedKi = scalePID_i(workKi); \
  352. bedKd = scalePID_d(workKd); \
  353. updatePID(); } while(0)
  354. #define _SET_EXTRUDER_PID() do { \
  355. PID_PARAM(Kp, hotend) = workKp; \
  356. PID_PARAM(Ki, hotend) = scalePID_i(workKi); \
  357. PID_PARAM(Kd, hotend) = scalePID_d(workKd); \
  358. updatePID(); } while(0)
  359. // Use the result? (As with "M303 U1")
  360. if (set_result) {
  361. #if HAS_PID_FOR_BOTH
  362. if (hotend < 0)
  363. _SET_BED_PID();
  364. else
  365. _SET_EXTRUDER_PID();
  366. #elif ENABLED(PIDTEMP)
  367. _SET_EXTRUDER_PID();
  368. #else
  369. _SET_BED_PID();
  370. #endif
  371. }
  372. return;
  373. }
  374. lcd_update();
  375. }
  376. if (!wait_for_heatup) disable_all_heaters();
  377. }
  378. #endif // HAS_PID_HEATING
  379. /**
  380. * Class and Instance Methods
  381. */
  382. Temperature::Temperature() { }
  383. void Temperature::updatePID() {
  384. #if ENABLED(PIDTEMP)
  385. #if ENABLED(PID_EXTRUSION_SCALING)
  386. last_e_position = 0;
  387. #endif
  388. HOTEND_LOOP() {
  389. temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki, e);
  390. }
  391. #endif
  392. #if ENABLED(PIDTEMPBED)
  393. temp_iState_max_bed = (PID_BED_INTEGRAL_DRIVE_MAX) / bedKi;
  394. #endif
  395. }
  396. int Temperature::getHeaterPower(int heater) {
  397. return heater < 0 ? soft_pwm_bed : soft_pwm[heater];
  398. }
  399. #if HAS_AUTO_FAN
  400. void Temperature::checkExtruderAutoFans() {
  401. const int8_t fanPin[] = { EXTRUDER_0_AUTO_FAN_PIN, EXTRUDER_1_AUTO_FAN_PIN, EXTRUDER_2_AUTO_FAN_PIN, EXTRUDER_3_AUTO_FAN_PIN };
  402. const int fanBit[] = { 0,
  403. EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN ? 0 : 1,
  404. EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN ? 0 :
  405. EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN ? 1 : 2,
  406. EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN ? 0 :
  407. EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN ? 1 :
  408. EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_2_AUTO_FAN_PIN ? 2 : 3
  409. };
  410. uint8_t fanState = 0;
  411. HOTEND_LOOP() {
  412. if (current_temperature[e] > EXTRUDER_AUTO_FAN_TEMPERATURE)
  413. SBI(fanState, fanBit[e]);
  414. }
  415. uint8_t fanDone = 0;
  416. for (int8_t f = 0; f <= 3; f++) {
  417. int8_t pin = fanPin[f];
  418. if (pin >= 0 && !TEST(fanDone, fanBit[f])) {
  419. unsigned char newFanSpeed = TEST(fanState, fanBit[f]) ? EXTRUDER_AUTO_FAN_SPEED : 0;
  420. // this idiom allows both digital and PWM fan outputs (see M42 handling).
  421. digitalWrite(pin, newFanSpeed);
  422. analogWrite(pin, newFanSpeed);
  423. SBI(fanDone, fanBit[f]);
  424. }
  425. }
  426. }
  427. #endif // HAS_AUTO_FAN
  428. //
  429. // Temperature Error Handlers
  430. //
  431. void Temperature::_temp_error(int e, const char* serial_msg, const char* lcd_msg) {
  432. static bool killed = false;
  433. if (IsRunning()) {
  434. SERIAL_ERROR_START;
  435. serialprintPGM(serial_msg);
  436. SERIAL_ERRORPGM(MSG_STOPPED_HEATER);
  437. if (e >= 0) SERIAL_ERRORLN((int)e); else SERIAL_ERRORLNPGM(MSG_HEATER_BED);
  438. }
  439. #if DISABLED(BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE)
  440. if (!killed) {
  441. Running = false;
  442. killed = true;
  443. kill(lcd_msg);
  444. }
  445. else
  446. disable_all_heaters(); // paranoia
  447. #endif
  448. }
  449. void Temperature::max_temp_error(int8_t e) {
  450. #if HAS_TEMP_BED
  451. _temp_error(e, PSTR(MSG_T_MAXTEMP), e >= 0 ? PSTR(MSG_ERR_MAXTEMP) : PSTR(MSG_ERR_MAXTEMP_BED));
  452. #else
  453. _temp_error(HOTEND_INDEX, PSTR(MSG_T_MAXTEMP), PSTR(MSG_ERR_MAXTEMP));
  454. #if HOTENDS == 1
  455. UNUSED(e);
  456. #endif
  457. #endif
  458. }
  459. void Temperature::min_temp_error(int8_t e) {
  460. #if HAS_TEMP_BED
  461. _temp_error(e, PSTR(MSG_T_MINTEMP), e >= 0 ? PSTR(MSG_ERR_MINTEMP) : PSTR(MSG_ERR_MINTEMP_BED));
  462. #else
  463. _temp_error(HOTEND_INDEX, PSTR(MSG_T_MINTEMP), PSTR(MSG_ERR_MINTEMP));
  464. #if HOTENDS == 1
  465. UNUSED(e);
  466. #endif
  467. #endif
  468. }
  469. float Temperature::get_pid_output(int e) {
  470. #if HOTENDS == 1
  471. UNUSED(e);
  472. #define _HOTEND_TEST true
  473. #else
  474. #define _HOTEND_TEST e == active_extruder
  475. #endif
  476. float pid_output;
  477. #if ENABLED(PIDTEMP)
  478. #if DISABLED(PID_OPENLOOP)
  479. pid_error[HOTEND_INDEX] = target_temperature[HOTEND_INDEX] - current_temperature[HOTEND_INDEX];
  480. dTerm[HOTEND_INDEX] = K2 * PID_PARAM(Kd, HOTEND_INDEX) * (current_temperature[HOTEND_INDEX] - temp_dState[HOTEND_INDEX]) + K1 * dTerm[HOTEND_INDEX];
  481. temp_dState[HOTEND_INDEX] = current_temperature[HOTEND_INDEX];
  482. if (pid_error[HOTEND_INDEX] > PID_FUNCTIONAL_RANGE) {
  483. pid_output = BANG_MAX;
  484. pid_reset[HOTEND_INDEX] = true;
  485. }
  486. else if (pid_error[HOTEND_INDEX] < -(PID_FUNCTIONAL_RANGE) || target_temperature[HOTEND_INDEX] == 0) {
  487. pid_output = 0;
  488. pid_reset[HOTEND_INDEX] = true;
  489. }
  490. else {
  491. if (pid_reset[HOTEND_INDEX]) {
  492. temp_iState[HOTEND_INDEX] = 0.0;
  493. pid_reset[HOTEND_INDEX] = false;
  494. }
  495. pTerm[HOTEND_INDEX] = PID_PARAM(Kp, HOTEND_INDEX) * pid_error[HOTEND_INDEX];
  496. temp_iState[HOTEND_INDEX] += pid_error[HOTEND_INDEX];
  497. temp_iState[HOTEND_INDEX] = constrain(temp_iState[HOTEND_INDEX], temp_iState_min[HOTEND_INDEX], temp_iState_max[HOTEND_INDEX]);
  498. iTerm[HOTEND_INDEX] = PID_PARAM(Ki, HOTEND_INDEX) * temp_iState[HOTEND_INDEX];
  499. pid_output = pTerm[HOTEND_INDEX] + iTerm[HOTEND_INDEX] - dTerm[HOTEND_INDEX];
  500. #if ENABLED(PID_EXTRUSION_SCALING)
  501. cTerm[HOTEND_INDEX] = 0;
  502. if (_HOTEND_TEST) {
  503. long e_position = stepper.position(E_AXIS);
  504. if (e_position > last_e_position) {
  505. lpq[lpq_ptr] = e_position - last_e_position;
  506. last_e_position = e_position;
  507. }
  508. else {
  509. lpq[lpq_ptr] = 0;
  510. }
  511. if (++lpq_ptr >= lpq_len) lpq_ptr = 0;
  512. cTerm[HOTEND_INDEX] = (lpq[lpq_ptr] * planner.steps_to_mm[E_AXIS]) * PID_PARAM(Kc, HOTEND_INDEX);
  513. pid_output += cTerm[HOTEND_INDEX];
  514. }
  515. #endif // PID_EXTRUSION_SCALING
  516. if (pid_output > PID_MAX) {
  517. if (pid_error[HOTEND_INDEX] > 0) temp_iState[HOTEND_INDEX] -= pid_error[HOTEND_INDEX]; // conditional un-integration
  518. pid_output = PID_MAX;
  519. }
  520. else if (pid_output < 0) {
  521. if (pid_error[HOTEND_INDEX] < 0) temp_iState[HOTEND_INDEX] -= pid_error[HOTEND_INDEX]; // conditional un-integration
  522. pid_output = 0;
  523. }
  524. }
  525. #else
  526. pid_output = constrain(target_temperature[HOTEND_INDEX], 0, PID_MAX);
  527. #endif //PID_OPENLOOP
  528. #if ENABLED(PID_DEBUG)
  529. SERIAL_ECHO_START;
  530. SERIAL_ECHOPAIR(MSG_PID_DEBUG, HOTEND_INDEX);
  531. SERIAL_ECHOPAIR(MSG_PID_DEBUG_INPUT, current_temperature[HOTEND_INDEX]);
  532. SERIAL_ECHOPAIR(MSG_PID_DEBUG_OUTPUT, pid_output);
  533. SERIAL_ECHOPAIR(MSG_PID_DEBUG_PTERM, pTerm[HOTEND_INDEX]);
  534. SERIAL_ECHOPAIR(MSG_PID_DEBUG_ITERM, iTerm[HOTEND_INDEX]);
  535. SERIAL_ECHOPAIR(MSG_PID_DEBUG_DTERM, dTerm[HOTEND_INDEX]);
  536. #if ENABLED(PID_EXTRUSION_SCALING)
  537. SERIAL_ECHOPAIR(MSG_PID_DEBUG_CTERM, cTerm[HOTEND_INDEX]);
  538. #endif
  539. SERIAL_EOL;
  540. #endif //PID_DEBUG
  541. #else /* PID off */
  542. pid_output = (current_temperature[HOTEND_INDEX] < target_temperature[HOTEND_INDEX]) ? PID_MAX : 0;
  543. #endif
  544. return pid_output;
  545. }
  546. #if ENABLED(PIDTEMPBED)
  547. float Temperature::get_pid_output_bed() {
  548. float pid_output;
  549. #if DISABLED(PID_OPENLOOP)
  550. pid_error_bed = target_temperature_bed - current_temperature_bed;
  551. pTerm_bed = bedKp * pid_error_bed;
  552. temp_iState_bed += pid_error_bed;
  553. temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
  554. iTerm_bed = bedKi * temp_iState_bed;
  555. dTerm_bed = K2 * bedKd * (current_temperature_bed - temp_dState_bed) + K1 * dTerm_bed;
  556. temp_dState_bed = current_temperature_bed;
  557. pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
  558. if (pid_output > MAX_BED_POWER) {
  559. if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
  560. pid_output = MAX_BED_POWER;
  561. }
  562. else if (pid_output < 0) {
  563. if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
  564. pid_output = 0;
  565. }
  566. #else
  567. pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
  568. #endif // PID_OPENLOOP
  569. #if ENABLED(PID_BED_DEBUG)
  570. SERIAL_ECHO_START;
  571. SERIAL_ECHOPGM(" PID_BED_DEBUG ");
  572. SERIAL_ECHOPGM(": Input ");
  573. SERIAL_ECHO(current_temperature_bed);
  574. SERIAL_ECHOPGM(" Output ");
  575. SERIAL_ECHO(pid_output);
  576. SERIAL_ECHOPGM(" pTerm ");
  577. SERIAL_ECHO(pTerm_bed);
  578. SERIAL_ECHOPGM(" iTerm ");
  579. SERIAL_ECHO(iTerm_bed);
  580. SERIAL_ECHOPGM(" dTerm ");
  581. SERIAL_ECHOLN(dTerm_bed);
  582. #endif //PID_BED_DEBUG
  583. return pid_output;
  584. }
  585. #endif //PIDTEMPBED
  586. /**
  587. * Manage heating activities for extruder hot-ends and a heated bed
  588. * - Acquire updated temperature readings
  589. * - Also resets the watchdog timer
  590. * - Invoke thermal runaway protection
  591. * - Manage extruder auto-fan
  592. * - Apply filament width to the extrusion rate (may move)
  593. * - Update the heated bed PID output value
  594. */
  595. void Temperature::manage_heater() {
  596. if (!temp_meas_ready) return;
  597. updateTemperaturesFromRawValues(); // also resets the watchdog
  598. #if ENABLED(HEATER_0_USES_MAX6675)
  599. if (current_temperature[0] > min(HEATER_0_MAXTEMP, 1023)) max_temp_error(0);
  600. if (current_temperature[0] < max(HEATER_0_MINTEMP, 0.01)) min_temp_error(0);
  601. #endif
  602. #if (ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0) || (ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0) || DISABLED(PIDTEMPBED) || HAS_AUTO_FAN
  603. millis_t ms = millis();
  604. #endif
  605. // Loop through all hotends
  606. HOTEND_LOOP() {
  607. #if ENABLED(THERMAL_PROTECTION_HOTENDS)
  608. 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);
  609. #endif
  610. float pid_output = get_pid_output(e);
  611. // Check if temperature is within the correct range
  612. soft_pwm[e] = (current_temperature[e] > minttemp[e] || is_preheating(e)) && current_temperature[e] < maxttemp[e] ? (int)pid_output >> 1 : 0;
  613. // Check if the temperature is failing to increase
  614. #if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
  615. // Is it time to check this extruder's heater?
  616. if (watch_heater_next_ms[e] && ELAPSED(ms, watch_heater_next_ms[e])) {
  617. // Has it failed to increase enough?
  618. if (degHotend(e) < watch_target_temp[e]) {
  619. // Stop!
  620. _temp_error(e, PSTR(MSG_T_HEATING_FAILED), PSTR(MSG_HEATING_FAILED_LCD));
  621. }
  622. else {
  623. // Start again if the target is still far off
  624. start_watching_heater(e);
  625. }
  626. }
  627. #endif // THERMAL_PROTECTION_HOTENDS
  628. // Check if the temperature is failing to increase
  629. #if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
  630. // Is it time to check the bed?
  631. if (watch_bed_next_ms && ELAPSED(ms, watch_bed_next_ms)) {
  632. // Has it failed to increase enough?
  633. if (degBed() < watch_target_bed_temp) {
  634. // Stop!
  635. _temp_error(-1, PSTR(MSG_T_HEATING_FAILED), PSTR(MSG_HEATING_FAILED_LCD));
  636. }
  637. else {
  638. // Start again if the target is still far off
  639. start_watching_bed();
  640. }
  641. }
  642. #endif // THERMAL_PROTECTION_HOTENDS
  643. #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
  644. if (fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) {
  645. _temp_error(0, PSTR(MSG_REDUNDANCY), PSTR(MSG_ERR_REDUNDANT_TEMP));
  646. }
  647. #endif
  648. } // Hotends Loop
  649. #if HAS_AUTO_FAN
  650. if (ELAPSED(ms, next_auto_fan_check_ms)) { // only need to check fan state very infrequently
  651. checkExtruderAutoFans();
  652. next_auto_fan_check_ms = ms + 2500UL;
  653. }
  654. #endif
  655. // Control the extruder rate based on the width sensor
  656. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  657. if (filament_sensor) {
  658. meas_shift_index = filwidth_delay_index1 - meas_delay_cm;
  659. if (meas_shift_index < 0) meas_shift_index += MAX_MEASUREMENT_DELAY + 1; //loop around buffer if needed
  660. // Get the delayed info and add 100 to reconstitute to a percent of
  661. // the nominal filament diameter then square it to get an area
  662. meas_shift_index = constrain(meas_shift_index, 0, MAX_MEASUREMENT_DELAY);
  663. float vm = pow((measurement_delay[meas_shift_index] + 100.0) * 0.01, 2);
  664. NOLESS(vm, 0.01);
  665. volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = vm;
  666. }
  667. #endif //FILAMENT_WIDTH_SENSOR
  668. #if DISABLED(PIDTEMPBED)
  669. if (PENDING(ms, next_bed_check_ms)) return;
  670. next_bed_check_ms = ms + BED_CHECK_INTERVAL;
  671. #endif
  672. #if TEMP_SENSOR_BED != 0
  673. #if HAS_THERMALLY_PROTECTED_BED
  674. 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);
  675. #endif
  676. #if ENABLED(PIDTEMPBED)
  677. float pid_output = get_pid_output_bed();
  678. soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0;
  679. #elif ENABLED(BED_LIMIT_SWITCHING)
  680. // Check if temperature is within the correct band
  681. if (current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP) {
  682. if (current_temperature_bed >= target_temperature_bed + BED_HYSTERESIS)
  683. soft_pwm_bed = 0;
  684. else if (current_temperature_bed <= target_temperature_bed - (BED_HYSTERESIS))
  685. soft_pwm_bed = MAX_BED_POWER >> 1;
  686. }
  687. else {
  688. soft_pwm_bed = 0;
  689. WRITE_HEATER_BED(LOW);
  690. }
  691. #else // !PIDTEMPBED && !BED_LIMIT_SWITCHING
  692. // Check if temperature is within the correct range
  693. if (current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP) {
  694. soft_pwm_bed = current_temperature_bed < target_temperature_bed ? MAX_BED_POWER >> 1 : 0;
  695. }
  696. else {
  697. soft_pwm_bed = 0;
  698. WRITE_HEATER_BED(LOW);
  699. }
  700. #endif
  701. #endif //TEMP_SENSOR_BED != 0
  702. }
  703. #define PGM_RD_W(x) (short)pgm_read_word(&x)
  704. // Derived from RepRap FiveD extruder::getTemperature()
  705. // For hot end temperature measurement.
  706. float Temperature::analog2temp(int raw, uint8_t e) {
  707. #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
  708. if (e > HOTENDS)
  709. #else
  710. if (e >= HOTENDS)
  711. #endif
  712. {
  713. SERIAL_ERROR_START;
  714. SERIAL_ERROR((int)e);
  715. SERIAL_ERRORLNPGM(MSG_INVALID_EXTRUDER_NUM);
  716. kill(PSTR(MSG_KILLED));
  717. return 0.0;
  718. }
  719. #if ENABLED(HEATER_0_USES_MAX6675)
  720. if (e == 0) return 0.25 * raw;
  721. #endif
  722. if (heater_ttbl_map[e] != NULL) {
  723. float celsius = 0;
  724. uint8_t i;
  725. short(*tt)[][2] = (short(*)[][2])(heater_ttbl_map[e]);
  726. for (i = 1; i < heater_ttbllen_map[e]; i++) {
  727. if (PGM_RD_W((*tt)[i][0]) > raw) {
  728. celsius = PGM_RD_W((*tt)[i - 1][1]) +
  729. (raw - PGM_RD_W((*tt)[i - 1][0])) *
  730. (float)(PGM_RD_W((*tt)[i][1]) - PGM_RD_W((*tt)[i - 1][1])) /
  731. (float)(PGM_RD_W((*tt)[i][0]) - PGM_RD_W((*tt)[i - 1][0]));
  732. break;
  733. }
  734. }
  735. // Overflow: Set to last value in the table
  736. if (i == heater_ttbllen_map[e]) celsius = PGM_RD_W((*tt)[i - 1][1]);
  737. return celsius;
  738. }
  739. return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * (TEMP_SENSOR_AD595_GAIN)) + TEMP_SENSOR_AD595_OFFSET;
  740. }
  741. // Derived from RepRap FiveD extruder::getTemperature()
  742. // For bed temperature measurement.
  743. float Temperature::analog2tempBed(int raw) {
  744. #if ENABLED(BED_USES_THERMISTOR)
  745. float celsius = 0;
  746. byte i;
  747. for (i = 1; i < BEDTEMPTABLE_LEN; i++) {
  748. if (PGM_RD_W(BEDTEMPTABLE[i][0]) > raw) {
  749. celsius = PGM_RD_W(BEDTEMPTABLE[i - 1][1]) +
  750. (raw - PGM_RD_W(BEDTEMPTABLE[i - 1][0])) *
  751. (float)(PGM_RD_W(BEDTEMPTABLE[i][1]) - PGM_RD_W(BEDTEMPTABLE[i - 1][1])) /
  752. (float)(PGM_RD_W(BEDTEMPTABLE[i][0]) - PGM_RD_W(BEDTEMPTABLE[i - 1][0]));
  753. break;
  754. }
  755. }
  756. // Overflow: Set to last value in the table
  757. if (i == BEDTEMPTABLE_LEN) celsius = PGM_RD_W(BEDTEMPTABLE[i - 1][1]);
  758. return celsius;
  759. #elif defined(BED_USES_AD595)
  760. return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * (TEMP_SENSOR_AD595_GAIN)) + TEMP_SENSOR_AD595_OFFSET;
  761. #else
  762. UNUSED(raw);
  763. return 0;
  764. #endif
  765. }
  766. /**
  767. * Get the raw values into the actual temperatures.
  768. * The raw values are created in interrupt context,
  769. * and this function is called from normal context
  770. * as it would block the stepper routine.
  771. */
  772. void Temperature::updateTemperaturesFromRawValues() {
  773. #if ENABLED(HEATER_0_USES_MAX6675)
  774. current_temperature_raw[0] = read_max6675();
  775. #endif
  776. HOTEND_LOOP() {
  777. current_temperature[e] = Temperature::analog2temp(current_temperature_raw[e], e);
  778. }
  779. current_temperature_bed = Temperature::analog2tempBed(current_temperature_bed_raw);
  780. #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
  781. redundant_temperature = Temperature::analog2temp(redundant_temperature_raw, 1);
  782. #endif
  783. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  784. filament_width_meas = analog2widthFil();
  785. #endif
  786. #if ENABLED(USE_WATCHDOG)
  787. // Reset the watchdog after we know we have a temperature measurement.
  788. watchdog_reset();
  789. #endif
  790. CRITICAL_SECTION_START;
  791. temp_meas_ready = false;
  792. CRITICAL_SECTION_END;
  793. }
  794. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  795. // Convert raw Filament Width to millimeters
  796. float Temperature::analog2widthFil() {
  797. return current_raw_filwidth / 16383.0 * 5.0;
  798. //return current_raw_filwidth;
  799. }
  800. // Convert raw Filament Width to a ratio
  801. int Temperature::widthFil_to_size_ratio() {
  802. float temp = filament_width_meas;
  803. if (temp < MEASURED_LOWER_LIMIT) temp = filament_width_nominal; //assume sensor cut out
  804. else NOMORE(temp, MEASURED_UPPER_LIMIT);
  805. return filament_width_nominal / temp * 100;
  806. }
  807. #endif
  808. /**
  809. * Initialize the temperature manager
  810. * The manager is implemented by periodic calls to manage_heater()
  811. */
  812. void Temperature::init() {
  813. #if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1))
  814. //disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector
  815. MCUCR = _BV(JTD);
  816. MCUCR = _BV(JTD);
  817. #endif
  818. // Finish init of mult hotend arrays
  819. HOTEND_LOOP() {
  820. // populate with the first value
  821. maxttemp[e] = maxttemp[0];
  822. #if ENABLED(PIDTEMP)
  823. temp_iState_min[e] = 0.0;
  824. temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki, e);
  825. #if ENABLED(PID_EXTRUSION_SCALING)
  826. last_e_position = 0;
  827. #endif
  828. #endif //PIDTEMP
  829. #if ENABLED(PIDTEMPBED)
  830. temp_iState_min_bed = 0.0;
  831. temp_iState_max_bed = (PID_BED_INTEGRAL_DRIVE_MAX) / bedKi;
  832. #endif //PIDTEMPBED
  833. }
  834. #if ENABLED(PIDTEMP) && ENABLED(PID_EXTRUSION_SCALING)
  835. last_e_position = 0;
  836. #endif
  837. #if HAS_HEATER_0
  838. SET_OUTPUT(HEATER_0_PIN);
  839. #endif
  840. #if HAS_HEATER_1
  841. SET_OUTPUT(HEATER_1_PIN);
  842. #endif
  843. #if HAS_HEATER_2
  844. SET_OUTPUT(HEATER_2_PIN);
  845. #endif
  846. #if HAS_HEATER_3
  847. SET_OUTPUT(HEATER_3_PIN);
  848. #endif
  849. #if HAS_HEATER_BED
  850. SET_OUTPUT(HEATER_BED_PIN);
  851. #endif
  852. #if ENABLED(FAST_PWM_FAN) || ENABLED(FAN_SOFT_PWM)
  853. #if HAS_FAN0
  854. SET_OUTPUT(FAN_PIN);
  855. #if ENABLED(FAST_PWM_FAN)
  856. setPwmFrequency(FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
  857. #endif
  858. #if ENABLED(FAN_SOFT_PWM)
  859. soft_pwm_fan[0] = fanSpeedSoftPwm[0] / 2;
  860. #endif
  861. #endif
  862. #if HAS_FAN1
  863. SET_OUTPUT(FAN1_PIN);
  864. #if ENABLED(FAST_PWM_FAN)
  865. setPwmFrequency(FAN1_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
  866. #endif
  867. #if ENABLED(FAN_SOFT_PWM)
  868. soft_pwm_fan[1] = fanSpeedSoftPwm[1] / 2;
  869. #endif
  870. #endif
  871. #if HAS_FAN2
  872. SET_OUTPUT(FAN2_PIN);
  873. #if ENABLED(FAST_PWM_FAN)
  874. setPwmFrequency(FAN2_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
  875. #endif
  876. #if ENABLED(FAN_SOFT_PWM)
  877. soft_pwm_fan[2] = fanSpeedSoftPwm[2] / 2;
  878. #endif
  879. #endif
  880. #endif // FAST_PWM_FAN || FAN_SOFT_PWM
  881. #if ENABLED(HEATER_0_USES_MAX6675)
  882. #if DISABLED(SDSUPPORT)
  883. OUT_WRITE(SCK_PIN, LOW);
  884. OUT_WRITE(MOSI_PIN, HIGH);
  885. SET_INPUT(MISO_PIN);
  886. WRITE(MISO_PIN,1);
  887. #else
  888. OUT_WRITE(SS_PIN, HIGH);
  889. #endif
  890. OUT_WRITE(MAX6675_SS, HIGH);
  891. #endif //HEATER_0_USES_MAX6675
  892. #ifdef DIDR2
  893. #define ANALOG_SELECT(pin) do{ if (pin < 8) SBI(DIDR0, pin); else SBI(DIDR2, pin - 8); }while(0)
  894. #else
  895. #define ANALOG_SELECT(pin) do{ SBI(DIDR0, pin); }while(0)
  896. #endif
  897. // Set analog inputs
  898. ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07;
  899. DIDR0 = 0;
  900. #ifdef DIDR2
  901. DIDR2 = 0;
  902. #endif
  903. #if HAS_TEMP_0
  904. ANALOG_SELECT(TEMP_0_PIN);
  905. #endif
  906. #if HAS_TEMP_1
  907. ANALOG_SELECT(TEMP_1_PIN);
  908. #endif
  909. #if HAS_TEMP_2
  910. ANALOG_SELECT(TEMP_2_PIN);
  911. #endif
  912. #if HAS_TEMP_3
  913. ANALOG_SELECT(TEMP_3_PIN);
  914. #endif
  915. #if HAS_TEMP_BED
  916. ANALOG_SELECT(TEMP_BED_PIN);
  917. #endif
  918. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  919. ANALOG_SELECT(FILWIDTH_PIN);
  920. #endif
  921. #if HAS_AUTO_FAN_0
  922. pinMode(EXTRUDER_0_AUTO_FAN_PIN, OUTPUT);
  923. #endif
  924. #if HAS_AUTO_FAN_1 && (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN)
  925. pinMode(EXTRUDER_1_AUTO_FAN_PIN, OUTPUT);
  926. #endif
  927. #if HAS_AUTO_FAN_2 && (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN) && (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
  928. pinMode(EXTRUDER_2_AUTO_FAN_PIN, OUTPUT);
  929. #endif
  930. #if HAS_AUTO_FAN_3 && (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN) && (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN) && (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_2_AUTO_FAN_PIN)
  931. pinMode(EXTRUDER_3_AUTO_FAN_PIN, OUTPUT);
  932. #endif
  933. // Use timer0 for temperature measurement
  934. // Interleave temperature interrupt with millies interrupt
  935. OCR0B = 128;
  936. SBI(TIMSK0, OCIE0B);
  937. // Wait for temperature measurement to settle
  938. delay(250);
  939. #define TEMP_MIN_ROUTINE(NR) \
  940. minttemp[NR] = HEATER_ ## NR ## _MINTEMP; \
  941. while(analog2temp(minttemp_raw[NR], NR) < HEATER_ ## NR ## _MINTEMP) { \
  942. if (HEATER_ ## NR ## _RAW_LO_TEMP < HEATER_ ## NR ## _RAW_HI_TEMP) \
  943. minttemp_raw[NR] += OVERSAMPLENR; \
  944. else \
  945. minttemp_raw[NR] -= OVERSAMPLENR; \
  946. }
  947. #define TEMP_MAX_ROUTINE(NR) \
  948. maxttemp[NR] = HEATER_ ## NR ## _MAXTEMP; \
  949. while(analog2temp(maxttemp_raw[NR], NR) > HEATER_ ## NR ## _MAXTEMP) { \
  950. if (HEATER_ ## NR ## _RAW_LO_TEMP < HEATER_ ## NR ## _RAW_HI_TEMP) \
  951. maxttemp_raw[NR] -= OVERSAMPLENR; \
  952. else \
  953. maxttemp_raw[NR] += OVERSAMPLENR; \
  954. }
  955. #ifdef HEATER_0_MINTEMP
  956. TEMP_MIN_ROUTINE(0);
  957. #endif
  958. #ifdef HEATER_0_MAXTEMP
  959. TEMP_MAX_ROUTINE(0);
  960. #endif
  961. #if HOTENDS > 1
  962. #ifdef HEATER_1_MINTEMP
  963. TEMP_MIN_ROUTINE(1);
  964. #endif
  965. #ifdef HEATER_1_MAXTEMP
  966. TEMP_MAX_ROUTINE(1);
  967. #endif
  968. #if HOTENDS > 2
  969. #ifdef HEATER_2_MINTEMP
  970. TEMP_MIN_ROUTINE(2);
  971. #endif
  972. #ifdef HEATER_2_MAXTEMP
  973. TEMP_MAX_ROUTINE(2);
  974. #endif
  975. #if HOTENDS > 3
  976. #ifdef HEATER_3_MINTEMP
  977. TEMP_MIN_ROUTINE(3);
  978. #endif
  979. #ifdef HEATER_3_MAXTEMP
  980. TEMP_MAX_ROUTINE(3);
  981. #endif
  982. #endif // HOTENDS > 3
  983. #endif // HOTENDS > 2
  984. #endif // HOTENDS > 1
  985. #ifdef BED_MINTEMP
  986. while(analog2tempBed(bed_minttemp_raw) < BED_MINTEMP) {
  987. #if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP
  988. bed_minttemp_raw += OVERSAMPLENR;
  989. #else
  990. bed_minttemp_raw -= OVERSAMPLENR;
  991. #endif
  992. }
  993. #endif //BED_MINTEMP
  994. #ifdef BED_MAXTEMP
  995. while (analog2tempBed(bed_maxttemp_raw) > BED_MAXTEMP) {
  996. #if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP
  997. bed_maxttemp_raw -= OVERSAMPLENR;
  998. #else
  999. bed_maxttemp_raw += OVERSAMPLENR;
  1000. #endif
  1001. }
  1002. #endif //BED_MAXTEMP
  1003. }
  1004. #if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
  1005. /**
  1006. * Start Heating Sanity Check for hotends that are below
  1007. * their target temperature by a configurable margin.
  1008. * This is called when the temperature is set. (M104, M109)
  1009. */
  1010. void Temperature::start_watching_heater(uint8_t e) {
  1011. #if HOTENDS == 1
  1012. UNUSED(e);
  1013. #endif
  1014. if (degHotend(HOTEND_INDEX) < degTargetHotend(HOTEND_INDEX) - (WATCH_TEMP_INCREASE + TEMP_HYSTERESIS + 1)) {
  1015. watch_target_temp[HOTEND_INDEX] = degHotend(HOTEND_INDEX) + WATCH_TEMP_INCREASE;
  1016. watch_heater_next_ms[HOTEND_INDEX] = millis() + (WATCH_TEMP_PERIOD) * 1000UL;
  1017. }
  1018. else
  1019. watch_heater_next_ms[HOTEND_INDEX] = 0;
  1020. }
  1021. #endif
  1022. #if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
  1023. /**
  1024. * Start Heating Sanity Check for hotends that are below
  1025. * their target temperature by a configurable margin.
  1026. * This is called when the temperature is set. (M140, M190)
  1027. */
  1028. void Temperature::start_watching_bed() {
  1029. if (degBed() < degTargetBed() - (WATCH_BED_TEMP_INCREASE + TEMP_BED_HYSTERESIS + 1)) {
  1030. watch_target_bed_temp = degBed() + WATCH_BED_TEMP_INCREASE;
  1031. watch_bed_next_ms = millis() + (WATCH_BED_TEMP_PERIOD) * 1000UL;
  1032. }
  1033. else
  1034. watch_bed_next_ms = 0;
  1035. }
  1036. #endif
  1037. #if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
  1038. #if ENABLED(THERMAL_PROTECTION_HOTENDS)
  1039. Temperature::TRState Temperature::thermal_runaway_state_machine[HOTENDS] = { TRInactive };
  1040. millis_t Temperature::thermal_runaway_timer[HOTENDS] = { 0 };
  1041. #endif
  1042. #if HAS_THERMALLY_PROTECTED_BED
  1043. Temperature::TRState Temperature::thermal_runaway_bed_state_machine = TRInactive;
  1044. millis_t Temperature::thermal_runaway_bed_timer;
  1045. #endif
  1046. void Temperature::thermal_runaway_protection(Temperature::TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc) {
  1047. static float tr_target_temperature[HOTENDS + 1] = { 0.0 };
  1048. /**
  1049. SERIAL_ECHO_START;
  1050. SERIAL_ECHOPGM("Thermal Thermal Runaway Running. Heater ID: ");
  1051. if (heater_id < 0) SERIAL_ECHOPGM("bed"); else SERIAL_ECHO(heater_id);
  1052. SERIAL_ECHOPAIR(" ; State:", *state);
  1053. SERIAL_ECHOPAIR(" ; Timer:", *timer);
  1054. SERIAL_ECHOPAIR(" ; Temperature:", temperature);
  1055. SERIAL_ECHOPAIR(" ; Target Temp:", target_temperature);
  1056. SERIAL_EOL;
  1057. */
  1058. int heater_index = heater_id >= 0 ? heater_id : HOTENDS;
  1059. // If the target temperature changes, restart
  1060. if (tr_target_temperature[heater_index] != target_temperature) {
  1061. tr_target_temperature[heater_index] = target_temperature;
  1062. *state = target_temperature > 0 ? TRFirstHeating : TRInactive;
  1063. }
  1064. switch (*state) {
  1065. // Inactive state waits for a target temperature to be set
  1066. case TRInactive: break;
  1067. // When first heating, wait for the temperature to be reached then go to Stable state
  1068. case TRFirstHeating:
  1069. if (temperature < tr_target_temperature[heater_index]) break;
  1070. *state = TRStable;
  1071. // While the temperature is stable watch for a bad temperature
  1072. case TRStable:
  1073. if (temperature < tr_target_temperature[heater_index] - hysteresis_degc && ELAPSED(millis(), *timer))
  1074. *state = TRRunaway;
  1075. else {
  1076. *timer = millis() + period_seconds * 1000UL;
  1077. break;
  1078. }
  1079. case TRRunaway:
  1080. _temp_error(heater_id, PSTR(MSG_T_THERMAL_RUNAWAY), PSTR(MSG_THERMAL_RUNAWAY));
  1081. }
  1082. }
  1083. #endif // THERMAL_PROTECTION_HOTENDS || THERMAL_PROTECTION_BED
  1084. void Temperature::disable_all_heaters() {
  1085. HOTEND_LOOP() setTargetHotend(0, e);
  1086. setTargetBed(0);
  1087. // If all heaters go down then for sure our print job has stopped
  1088. print_job_timer.stop();
  1089. #define DISABLE_HEATER(NR) { \
  1090. setTargetHotend(0, NR); \
  1091. soft_pwm[NR] = 0; \
  1092. WRITE_HEATER_ ## NR (LOW); \
  1093. }
  1094. #if HAS_TEMP_HOTEND
  1095. setTargetHotend(0, 0);
  1096. soft_pwm[0] = 0;
  1097. WRITE_HEATER_0P(LOW); // Should HEATERS_PARALLEL apply here? Then change to DISABLE_HEATER(0)
  1098. #endif
  1099. #if HOTENDS > 1 && HAS_TEMP_1
  1100. DISABLE_HEATER(1);
  1101. #endif
  1102. #if HOTENDS > 2 && HAS_TEMP_2
  1103. DISABLE_HEATER(2);
  1104. #endif
  1105. #if HOTENDS > 3 && HAS_TEMP_3
  1106. DISABLE_HEATER(3);
  1107. #endif
  1108. #if HAS_TEMP_BED
  1109. target_temperature_bed = 0;
  1110. soft_pwm_bed = 0;
  1111. #if HAS_HEATER_BED
  1112. WRITE_HEATER_BED(LOW);
  1113. #endif
  1114. #endif
  1115. }
  1116. #if ENABLED(HEATER_0_USES_MAX6675)
  1117. #define MAX6675_HEAT_INTERVAL 250u
  1118. #if ENABLED(MAX6675_IS_MAX31855)
  1119. uint32_t max6675_temp = 2000;
  1120. #define MAX6675_ERROR_MASK 7
  1121. #define MAX6675_DISCARD_BITS 18
  1122. #define MAX6675_SPEED_BITS (_BV(SPR1)) // clock ÷ 64
  1123. #else
  1124. uint16_t max6675_temp = 2000;
  1125. #define MAX6675_ERROR_MASK 4
  1126. #define MAX6675_DISCARD_BITS 3
  1127. #define MAX6675_SPEED_BITS (_BV(SPR0)) // clock ÷ 16
  1128. #endif
  1129. int Temperature::read_max6675() {
  1130. static millis_t next_max6675_ms = 0;
  1131. millis_t ms = millis();
  1132. if (PENDING(ms, next_max6675_ms)) return (int)max6675_temp;
  1133. next_max6675_ms = ms + MAX6675_HEAT_INTERVAL;
  1134. CBI(
  1135. #ifdef PRR
  1136. PRR
  1137. #elif defined(PRR0)
  1138. PRR0
  1139. #endif
  1140. , PRSPI);
  1141. SPCR = _BV(MSTR) | _BV(SPE) | MAX6675_SPEED_BITS;
  1142. WRITE(MAX6675_SS, 0); // enable TT_MAX6675
  1143. // ensure 100ns delay - a bit extra is fine
  1144. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  1145. asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
  1146. // Read a big-endian temperature value
  1147. max6675_temp = 0;
  1148. for (uint8_t i = sizeof(max6675_temp); i--;) {
  1149. SPDR = 0;
  1150. for (;!TEST(SPSR, SPIF););
  1151. max6675_temp |= SPDR;
  1152. if (i > 0) max6675_temp <<= 8; // shift left if not the last byte
  1153. }
  1154. WRITE(MAX6675_SS, 1); // disable TT_MAX6675
  1155. if (max6675_temp & MAX6675_ERROR_MASK)
  1156. max6675_temp = 4000; // thermocouple open
  1157. else
  1158. max6675_temp >>= MAX6675_DISCARD_BITS;
  1159. return (int)max6675_temp;
  1160. }
  1161. #endif //HEATER_0_USES_MAX6675
  1162. /**
  1163. * Get raw temperatures
  1164. */
  1165. void Temperature::set_current_temp_raw() {
  1166. #if HAS_TEMP_0 && DISABLED(HEATER_0_USES_MAX6675)
  1167. current_temperature_raw[0] = raw_temp_value[0];
  1168. #endif
  1169. #if HAS_TEMP_1
  1170. #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
  1171. redundant_temperature_raw = raw_temp_value[1];
  1172. #else
  1173. current_temperature_raw[1] = raw_temp_value[1];
  1174. #endif
  1175. #if HAS_TEMP_2
  1176. current_temperature_raw[2] = raw_temp_value[2];
  1177. #if HAS_TEMP_3
  1178. current_temperature_raw[3] = raw_temp_value[3];
  1179. #endif
  1180. #endif
  1181. #endif
  1182. current_temperature_bed_raw = raw_temp_bed_value;
  1183. temp_meas_ready = true;
  1184. }
  1185. /**
  1186. * Timer 0 is shared with millies
  1187. * - Manage PWM to all the heaters and fan
  1188. * - Update the raw temperature values
  1189. * - Check new temperature values for MIN/MAX errors
  1190. * - Step the babysteps value for each axis towards 0
  1191. */
  1192. ISR(TIMER0_COMPB_vect) { Temperature::isr(); }
  1193. void Temperature::isr() {
  1194. static unsigned char temp_count = 0;
  1195. static TempState temp_state = StartupDelay;
  1196. static unsigned char pwm_count = _BV(SOFT_PWM_SCALE);
  1197. // Static members for each heater
  1198. #if ENABLED(SLOW_PWM_HEATERS)
  1199. static unsigned char slow_pwm_count = 0;
  1200. #define ISR_STATICS(n) \
  1201. static unsigned char soft_pwm_ ## n; \
  1202. static unsigned char state_heater_ ## n = 0; \
  1203. static unsigned char state_timer_heater_ ## n = 0
  1204. #else
  1205. #define ISR_STATICS(n) static unsigned char soft_pwm_ ## n
  1206. #endif
  1207. // Statics per heater
  1208. ISR_STATICS(0);
  1209. #if (HOTENDS > 1) || ENABLED(HEATERS_PARALLEL)
  1210. ISR_STATICS(1);
  1211. #if HOTENDS > 2
  1212. ISR_STATICS(2);
  1213. #if HOTENDS > 3
  1214. ISR_STATICS(3);
  1215. #endif
  1216. #endif
  1217. #endif
  1218. #if HAS_HEATER_BED
  1219. ISR_STATICS(BED);
  1220. #endif
  1221. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  1222. static unsigned long raw_filwidth_value = 0;
  1223. #endif
  1224. #if DISABLED(SLOW_PWM_HEATERS)
  1225. /**
  1226. * standard PWM modulation
  1227. */
  1228. if (pwm_count == 0) {
  1229. soft_pwm_0 = soft_pwm[0];
  1230. if (soft_pwm_0 > 0) {
  1231. WRITE_HEATER_0(1);
  1232. }
  1233. else WRITE_HEATER_0P(0); // If HEATERS_PARALLEL should apply, change to WRITE_HEATER_0
  1234. #if HOTENDS > 1
  1235. soft_pwm_1 = soft_pwm[1];
  1236. WRITE_HEATER_1(soft_pwm_1 > 0 ? 1 : 0);
  1237. #if HOTENDS > 2
  1238. soft_pwm_2 = soft_pwm[2];
  1239. WRITE_HEATER_2(soft_pwm_2 > 0 ? 1 : 0);
  1240. #if HOTENDS > 3
  1241. soft_pwm_3 = soft_pwm[3];
  1242. WRITE_HEATER_3(soft_pwm_3 > 0 ? 1 : 0);
  1243. #endif
  1244. #endif
  1245. #endif
  1246. #if HAS_HEATER_BED
  1247. soft_pwm_BED = soft_pwm_bed;
  1248. WRITE_HEATER_BED(soft_pwm_BED > 0 ? 1 : 0);
  1249. #endif
  1250. #if ENABLED(FAN_SOFT_PWM)
  1251. #if HAS_FAN0
  1252. soft_pwm_fan[0] = fanSpeedSoftPwm[0] / 2;
  1253. WRITE_FAN(soft_pwm_fan[0] > 0 ? 1 : 0);
  1254. #endif
  1255. #if HAS_FAN1
  1256. soft_pwm_fan[1] = fanSpeedSoftPwm[1] / 2;
  1257. WRITE_FAN1(soft_pwm_fan[1] > 0 ? 1 : 0);
  1258. #endif
  1259. #if HAS_FAN2
  1260. soft_pwm_fan[2] = fanSpeedSoftPwm[2] / 2;
  1261. WRITE_FAN2(soft_pwm_fan[2] > 0 ? 1 : 0);
  1262. #endif
  1263. #endif
  1264. }
  1265. if (soft_pwm_0 < pwm_count) WRITE_HEATER_0(0);
  1266. #if HOTENDS > 1
  1267. if (soft_pwm_1 < pwm_count) WRITE_HEATER_1(0);
  1268. #if HOTENDS > 2
  1269. if (soft_pwm_2 < pwm_count) WRITE_HEATER_2(0);
  1270. #if HOTENDS > 3
  1271. if (soft_pwm_3 < pwm_count) WRITE_HEATER_3(0);
  1272. #endif
  1273. #endif
  1274. #endif
  1275. #if HAS_HEATER_BED
  1276. if (soft_pwm_BED < pwm_count) WRITE_HEATER_BED(0);
  1277. #endif
  1278. #if ENABLED(FAN_SOFT_PWM)
  1279. #if HAS_FAN0
  1280. if (soft_pwm_fan[0] < pwm_count) WRITE_FAN(0);
  1281. #endif
  1282. #if HAS_FAN1
  1283. if (soft_pwm_fan[1] < pwm_count) WRITE_FAN1(0);
  1284. #endif
  1285. #if HAS_FAN2
  1286. if (soft_pwm_fan[2] < pwm_count) WRITE_FAN2(0);
  1287. #endif
  1288. #endif
  1289. pwm_count += _BV(SOFT_PWM_SCALE);
  1290. pwm_count &= 0x7f;
  1291. #else // SLOW_PWM_HEATERS
  1292. /**
  1293. * SLOW PWM HEATERS
  1294. *
  1295. * for heaters drived by relay
  1296. */
  1297. #ifndef MIN_STATE_TIME
  1298. #define MIN_STATE_TIME 16 // MIN_STATE_TIME * 65.5 = time in milliseconds
  1299. #endif
  1300. // Macros for Slow PWM timer logic - HEATERS_PARALLEL applies
  1301. #define _SLOW_PWM_ROUTINE(NR, src) \
  1302. soft_pwm_ ## NR = src; \
  1303. if (soft_pwm_ ## NR > 0) { \
  1304. if (state_timer_heater_ ## NR == 0) { \
  1305. if (state_heater_ ## NR == 0) state_timer_heater_ ## NR = MIN_STATE_TIME; \
  1306. state_heater_ ## NR = 1; \
  1307. WRITE_HEATER_ ## NR(1); \
  1308. } \
  1309. } \
  1310. else { \
  1311. if (state_timer_heater_ ## NR == 0) { \
  1312. if (state_heater_ ## NR == 1) state_timer_heater_ ## NR = MIN_STATE_TIME; \
  1313. state_heater_ ## NR = 0; \
  1314. WRITE_HEATER_ ## NR(0); \
  1315. } \
  1316. }
  1317. #define SLOW_PWM_ROUTINE(n) _SLOW_PWM_ROUTINE(n, soft_pwm[n])
  1318. #define PWM_OFF_ROUTINE(NR) \
  1319. if (soft_pwm_ ## NR < slow_pwm_count) { \
  1320. if (state_timer_heater_ ## NR == 0) { \
  1321. if (state_heater_ ## NR == 1) state_timer_heater_ ## NR = MIN_STATE_TIME; \
  1322. state_heater_ ## NR = 0; \
  1323. WRITE_HEATER_ ## NR (0); \
  1324. } \
  1325. }
  1326. if (slow_pwm_count == 0) {
  1327. SLOW_PWM_ROUTINE(0); // EXTRUDER 0
  1328. #if HOTENDS > 1
  1329. SLOW_PWM_ROUTINE(1); // EXTRUDER 1
  1330. #if HOTENDS > 2
  1331. SLOW_PWM_ROUTINE(2); // EXTRUDER 2
  1332. #if HOTENDS > 3
  1333. SLOW_PWM_ROUTINE(3); // EXTRUDER 3
  1334. #endif
  1335. #endif
  1336. #endif
  1337. #if HAS_HEATER_BED
  1338. _SLOW_PWM_ROUTINE(BED, soft_pwm_bed); // BED
  1339. #endif
  1340. } // slow_pwm_count == 0
  1341. PWM_OFF_ROUTINE(0); // EXTRUDER 0
  1342. #if HOTENDS > 1
  1343. PWM_OFF_ROUTINE(1); // EXTRUDER 1
  1344. #if HOTENDS > 2
  1345. PWM_OFF_ROUTINE(2); // EXTRUDER 2
  1346. #if HOTENDS > 3
  1347. PWM_OFF_ROUTINE(3); // EXTRUDER 3
  1348. #endif
  1349. #endif
  1350. #endif
  1351. #if HAS_HEATER_BED
  1352. PWM_OFF_ROUTINE(BED); // BED
  1353. #endif
  1354. #if ENABLED(FAN_SOFT_PWM)
  1355. if (pwm_count == 0) {
  1356. #if HAS_FAN0
  1357. soft_pwm_fan[0] = fanSpeedSoftPwm[0] / 2;
  1358. WRITE_FAN(soft_pwm_fan[0] > 0 ? 1 : 0);
  1359. #endif
  1360. #if HAS_FAN1
  1361. soft_pwm_fan[1] = fanSpeedSoftPwm[1] / 2;
  1362. WRITE_FAN1(soft_pwm_fan[1] > 0 ? 1 : 0);
  1363. #endif
  1364. #if HAS_FAN2
  1365. soft_pwm_fan[2] = fanSpeedSoftPwm[2] / 2;
  1366. WRITE_FAN2(soft_pwm_fan[2] > 0 ? 1 : 0);
  1367. #endif
  1368. }
  1369. #if HAS_FAN0
  1370. if (soft_pwm_fan[0] < pwm_count) WRITE_FAN(0);
  1371. #endif
  1372. #if HAS_FAN1
  1373. if (soft_pwm_fan[1] < pwm_count) WRITE_FAN1(0);
  1374. #endif
  1375. #if HAS_FAN2
  1376. if (soft_pwm_fan[2] < pwm_count) WRITE_FAN2(0);
  1377. #endif
  1378. #endif //FAN_SOFT_PWM
  1379. pwm_count += _BV(SOFT_PWM_SCALE);
  1380. pwm_count &= 0x7f;
  1381. // increment slow_pwm_count only every 64 pwm_count circa 65.5ms
  1382. if ((pwm_count % 64) == 0) {
  1383. slow_pwm_count++;
  1384. slow_pwm_count &= 0x7f;
  1385. // EXTRUDER 0
  1386. if (state_timer_heater_0 > 0) state_timer_heater_0--;
  1387. #if HOTENDS > 1 // EXTRUDER 1
  1388. if (state_timer_heater_1 > 0) state_timer_heater_1--;
  1389. #if HOTENDS > 2 // EXTRUDER 2
  1390. if (state_timer_heater_2 > 0) state_timer_heater_2--;
  1391. #if HOTENDS > 3 // EXTRUDER 3
  1392. if (state_timer_heater_3 > 0) state_timer_heater_3--;
  1393. #endif
  1394. #endif
  1395. #endif
  1396. #if HAS_HEATER_BED
  1397. if (state_timer_heater_BED > 0) state_timer_heater_BED--;
  1398. #endif
  1399. } // (pwm_count % 64) == 0
  1400. #endif // SLOW_PWM_HEATERS
  1401. #define SET_ADMUX_ADCSRA(pin) ADMUX = _BV(REFS0) | (pin & 0x07); SBI(ADCSRA, ADSC)
  1402. #ifdef MUX5
  1403. #define START_ADC(pin) if (pin > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
  1404. #else
  1405. #define START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
  1406. #endif
  1407. // Prepare or measure a sensor, each one every 12th frame
  1408. switch (temp_state) {
  1409. case PrepareTemp_0:
  1410. #if HAS_TEMP_0
  1411. START_ADC(TEMP_0_PIN);
  1412. #endif
  1413. lcd_buttons_update();
  1414. temp_state = MeasureTemp_0;
  1415. break;
  1416. case MeasureTemp_0:
  1417. #if HAS_TEMP_0
  1418. raw_temp_value[0] += ADC;
  1419. #endif
  1420. temp_state = PrepareTemp_BED;
  1421. break;
  1422. case PrepareTemp_BED:
  1423. #if HAS_TEMP_BED
  1424. START_ADC(TEMP_BED_PIN);
  1425. #endif
  1426. lcd_buttons_update();
  1427. temp_state = MeasureTemp_BED;
  1428. break;
  1429. case MeasureTemp_BED:
  1430. #if HAS_TEMP_BED
  1431. raw_temp_bed_value += ADC;
  1432. #endif
  1433. temp_state = PrepareTemp_1;
  1434. break;
  1435. case PrepareTemp_1:
  1436. #if HAS_TEMP_1
  1437. START_ADC(TEMP_1_PIN);
  1438. #endif
  1439. lcd_buttons_update();
  1440. temp_state = MeasureTemp_1;
  1441. break;
  1442. case MeasureTemp_1:
  1443. #if HAS_TEMP_1
  1444. raw_temp_value[1] += ADC;
  1445. #endif
  1446. temp_state = PrepareTemp_2;
  1447. break;
  1448. case PrepareTemp_2:
  1449. #if HAS_TEMP_2
  1450. START_ADC(TEMP_2_PIN);
  1451. #endif
  1452. lcd_buttons_update();
  1453. temp_state = MeasureTemp_2;
  1454. break;
  1455. case MeasureTemp_2:
  1456. #if HAS_TEMP_2
  1457. raw_temp_value[2] += ADC;
  1458. #endif
  1459. temp_state = PrepareTemp_3;
  1460. break;
  1461. case PrepareTemp_3:
  1462. #if HAS_TEMP_3
  1463. START_ADC(TEMP_3_PIN);
  1464. #endif
  1465. lcd_buttons_update();
  1466. temp_state = MeasureTemp_3;
  1467. break;
  1468. case MeasureTemp_3:
  1469. #if HAS_TEMP_3
  1470. raw_temp_value[3] += ADC;
  1471. #endif
  1472. temp_state = Prepare_FILWIDTH;
  1473. break;
  1474. case Prepare_FILWIDTH:
  1475. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  1476. START_ADC(FILWIDTH_PIN);
  1477. #endif
  1478. lcd_buttons_update();
  1479. temp_state = Measure_FILWIDTH;
  1480. break;
  1481. case Measure_FILWIDTH:
  1482. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  1483. // raw_filwidth_value += ADC; //remove to use an IIR filter approach
  1484. if (ADC > 102) { //check that ADC is reading a voltage > 0.5 volts, otherwise don't take in the data.
  1485. raw_filwidth_value -= (raw_filwidth_value >> 7); //multiply raw_filwidth_value by 127/128
  1486. raw_filwidth_value += ((unsigned long)ADC << 7); //add new ADC reading
  1487. }
  1488. #endif
  1489. temp_state = PrepareTemp_0;
  1490. temp_count++;
  1491. break;
  1492. case StartupDelay:
  1493. temp_state = PrepareTemp_0;
  1494. break;
  1495. // default:
  1496. // SERIAL_ERROR_START;
  1497. // SERIAL_ERRORLNPGM("Temp measurement error!");
  1498. // break;
  1499. } // switch(temp_state)
  1500. if (temp_count >= OVERSAMPLENR) { // 10 * 16 * 1/(16000000/64/256) = 164ms.
  1501. // Update the raw values if they've been read. Else we could be updating them during reading.
  1502. if (!temp_meas_ready) set_current_temp_raw();
  1503. // Filament Sensor - can be read any time since IIR filtering is used
  1504. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  1505. current_raw_filwidth = raw_filwidth_value >> 10; // Divide to get to 0-16384 range since we used 1/128 IIR filter approach
  1506. #endif
  1507. temp_count = 0;
  1508. for (int i = 0; i < 4; i++) raw_temp_value[i] = 0;
  1509. raw_temp_bed_value = 0;
  1510. #if HAS_TEMP_0 && DISABLED(HEATER_0_USES_MAX6675)
  1511. #if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP
  1512. #define GE0 <=
  1513. #else
  1514. #define GE0 >=
  1515. #endif
  1516. if (current_temperature_raw[0] GE0 maxttemp_raw[0]) max_temp_error(0);
  1517. if (minttemp_raw[0] GE0 current_temperature_raw[0] && !is_preheating(0) && target_temperature[0] > 0.0f) {
  1518. #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
  1519. if (++consecutive_low_temperature_error[0] >= MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED)
  1520. #endif
  1521. min_temp_error(0);
  1522. }
  1523. #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
  1524. else
  1525. consecutive_low_temperature_error[0] = 0;
  1526. #endif
  1527. #endif
  1528. #if HAS_TEMP_1 && HOTENDS > 1
  1529. #if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP
  1530. #define GE1 <=
  1531. #else
  1532. #define GE1 >=
  1533. #endif
  1534. if (current_temperature_raw[1] GE1 maxttemp_raw[1]) max_temp_error(1);
  1535. if (minttemp_raw[1] GE1 current_temperature_raw[1] && !is_preheating(1) && target_temperature[1] > 0.0f) {
  1536. #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
  1537. if (++consecutive_low_temperature_error[1] >= MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED)
  1538. #endif
  1539. min_temp_error(1);
  1540. }
  1541. #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
  1542. else
  1543. consecutive_low_temperature_error[1] = 0;
  1544. #endif
  1545. #endif // TEMP_SENSOR_1
  1546. #if HAS_TEMP_2 && HOTENDS > 2
  1547. #if HEATER_2_RAW_LO_TEMP > HEATER_2_RAW_HI_TEMP
  1548. #define GE2 <=
  1549. #else
  1550. #define GE2 >=
  1551. #endif
  1552. if (current_temperature_raw[2] GE2 maxttemp_raw[2]) max_temp_error(2);
  1553. if (minttemp_raw[2] GE2 current_temperature_raw[2] && !is_preheating(2) && target_temperature[2] > 0.0f) {
  1554. #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
  1555. if (++consecutive_low_temperature_error[2] >= MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED)
  1556. #endif
  1557. min_temp_error(2);
  1558. }
  1559. #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
  1560. else
  1561. consecutive_low_temperature_error[2] = 0;
  1562. #endif
  1563. #endif // TEMP_SENSOR_2
  1564. #if HAS_TEMP_3 && HOTENDS > 3
  1565. #if HEATER_3_RAW_LO_TEMP > HEATER_3_RAW_HI_TEMP
  1566. #define GE3 <=
  1567. #else
  1568. #define GE3 >=
  1569. #endif
  1570. if (current_temperature_raw[3] GE3 maxttemp_raw[3]) max_temp_error(3);
  1571. if (minttemp_raw[3] GE3 current_temperature_raw[3] && !is_preheating(3) && target_temperature[3] > 0.0f) {
  1572. #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
  1573. if (++consecutive_low_temperature_error[3] >= MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED)
  1574. #endif
  1575. min_temp_error(3);
  1576. }
  1577. #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
  1578. else
  1579. consecutive_low_temperature_error[3] = 0;
  1580. #endif
  1581. #endif // TEMP_SENSOR_3
  1582. #if HAS_TEMP_BED
  1583. #if HEATER_BED_RAW_LO_TEMP > HEATER_BED_RAW_HI_TEMP
  1584. #define GEBED <=
  1585. #else
  1586. #define GEBED >=
  1587. #endif
  1588. if (current_temperature_bed_raw GEBED bed_maxttemp_raw) max_temp_error(-1);
  1589. if (bed_minttemp_raw GEBED current_temperature_bed_raw && target_temperature_bed > 0.0f) min_temp_error(-1);
  1590. #endif
  1591. } // temp_count >= OVERSAMPLENR
  1592. #if ENABLED(BABYSTEPPING)
  1593. for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) {
  1594. int curTodo = babystepsTodo[axis]; //get rid of volatile for performance
  1595. if (curTodo > 0) {
  1596. stepper.babystep(axis,/*fwd*/true);
  1597. babystepsTodo[axis]--; //fewer to do next time
  1598. }
  1599. else if (curTodo < 0) {
  1600. stepper.babystep(axis,/*fwd*/false);
  1601. babystepsTodo[axis]++; //fewer to do next time
  1602. }
  1603. }
  1604. #endif //BABYSTEPPING
  1605. }