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temperature.cpp
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temperature.cpp
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/*
temperature.c - temperature control
Part of Marlin
Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
This firmware is a mashup between Sprinter and grbl.
(https://github.com/kliment/Sprinter)
(https://github.com/simen/grbl/tree)
It has preliminary support for Matthew Roberts advance algorithm
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*/
#include "Marlin.h"
#include "temperature.h"
#include "language.h"
//===========================================================================
//=============================public variables============================
//===========================================================================
int target_raw[EXTRUDERS] = { 0 };
int target_raw_bed = 0;
#ifdef BED_LIMIT_SWITCHING
int target_bed_low_temp =0;
int target_bed_high_temp =0;
#endif
int current_raw[EXTRUDERS] = { 0 };
int current_raw_bed = 0;
#ifdef USE_BED_PWM
float pid_bed_setpoint = 0.0;
float bed_temp_iState_min;
float bed_temp_iState_max;
float bed_Kp=DEFAULT_BED_Kp;
float bed_Ki=(DEFAULT_BED_Ki*PID_dT);
float bed_Kd=(DEFAULT_BED_Kd/PID_dT);
static float bed_temp_iState = 0;
static float bed_temp_dState = 0;
static float bed_pTerm;
static float bed_iTerm;
static float bed_dTerm;
bool pid_bed_reset;
static unsigned char bed_soft_pwm;
static float pid_bed_error;
#endif
#ifdef PIDTEMP
// used external
float pid_setpoint[EXTRUDERS] = { 0.0 };
float Kp=DEFAULT_Kp;
float Ki=(DEFAULT_Ki*PID_dT);
float Kd=(DEFAULT_Kd/PID_dT);
#ifdef PID_ADD_EXTRUSION_RATE
float Kc=DEFAULT_Kc;
#endif
#endif //PIDTEMP
int heater_0_maxtemp = HEATER_LOW_TEMP_MAX;
int heater_1_maxtemp = HEATER_LOW_TEMP_MAX;
float heater_0_offset;
float heater_1_offset;
#if ENABLE_HEATER_CHECK
long heating_started[EXTRUDERS]; // Contains the time (in ms) at which heating started, i.e. new target > last target
long last_heater_check[EXTRUDERS]; // Contains the last time the heater was checked
float previous_temp[EXTRUDERS]; // Contains the temperature at the last check, to allow to calculate the temperature delta over time
#endif
//===========================================================================
//=============================private variables============================
//===========================================================================
static volatile bool temp_meas_ready = false;
static unsigned long previous_millis_bed_heater;
//static unsigned long previous_millis_heater;
#ifdef PIDTEMP
//static cannot be external:
static float temp_iState[EXTRUDERS] = { 0 };
static float temp_dState[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 pid_input[EXTRUDERS];
// static float pid_output[EXTRUDERS];
static bool pid_reset[EXTRUDERS];
#endif //PIDTEMP
static unsigned char soft_pwm[EXTRUDERS];
#ifdef WATCHPERIOD
int watch_raw[EXTRUDERS] = { -1000 }; // the first value used for all
int watch_oldtemp[3] = {0,0,0};
unsigned long watchmillis = 0;
#endif //WATCHPERIOD
// Init min and max temp with extreme values to prevent false errors during startup
#ifdef USE_RTD
static int minttemp[EXTRUDERS] = { 15800 }; // 2^14 - 1. TODO: check if this also initalizes all members of minttemp
static int maxttemp[EXTRUDERS] = { 0 }; // the first value used for all
#else
static int minttemp[EXTRUDERS] = { 0 };
static int maxttemp[EXTRUDERS] = { 15800 }; // the first value used for all
#endif
static int bed_minttemp = 0;
static int bed_maxttemp = 15810;
static void *heater_ttbl_map[EXTRUDERS] = { (void *)heater_0_temptable
#if EXTRUDERS > 1
, (void *)heater_1_temptable
#endif
#if EXTRUDERS > 2
, (void *)heater_2_temptable
#endif
#if EXTRUDERS > 3
#error Unsupported number of extruders
#endif
};
static int heater_ttbllen_map[EXTRUDERS] = { heater_0_temptable_len
#if EXTRUDERS > 1
, heater_1_temptable_len
#endif
#if EXTRUDERS > 2
, heater_2_temptable_len
#endif
#if EXTRUDERS > 3
#error Unsupported number of extruders
#endif
};
//===========================================================================
//============================= functions ============================
//===========================================================================
void PID_autotune(float temp)
{
float input;
int cycles=0;
bool heating = true;
unsigned long temp_millis = millis();
unsigned long t1=temp_millis;
unsigned long t2=temp_millis;
long t_high;
long t_low;
long bias=PID_MAX/2;
long d = PID_MAX/2;
float Ku, Tu;
float Kp, Ki, Kd;
float max, min;
//SERIAL_ECHOLN("PID Autotune start");
disable_heater(); // switch off all heaters.
soft_pwm[0] = PID_MAX/2;
for(;;) {
if(temp_meas_ready == true) { // temp sample ready
CRITICAL_SECTION_START;
temp_meas_ready = false;
CRITICAL_SECTION_END;
input = analog2temp(current_raw[0], 0);
max=max(max,input);
min=min(min,input);
if(heating == true && input > temp) {
if(millis() - t2 > 5000) {
heating=false;
soft_pwm[0] = (bias - d) >> 1;
t1=millis();
t_high=t1 - t2;
max=temp;
}
}
if(heating == false && input < temp) {
if(millis() - t1 > 5000) {
heating=true;
t2=millis();
t_low=t2 - t1;
if(cycles > 0) {
bias += (d*(t_high - t_low))/(t_low + t_high);
bias = constrain(bias, 30 ,PID_MAX-30);
if(bias > PID_MAX/2) d = PID_MAX - 1 - bias;
else d = bias;
SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);
SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d);
SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min);
SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max);
if(cycles > 2) {
Ku = (4.0*d)/(3.14159*(max-min)/2.0);
Tu = ((float)(t_low + t_high)/1000.0);
SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku);
SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu);
Kp = 0.6*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/8;
SERIAL_PROTOCOLLNPGM(" Clasic PID ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
/*
Kp = 0.33*Ku;
Ki = Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" Some overshoot ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
Kp = 0.2*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" No overshoot ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
*/
}
}
soft_pwm[0] = (bias + d) >> 1;
cycles++;
min=temp;
}
}
}
if(input > (temp + 30)) {
SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature too high");
SERIAL_PROTOCOLLNPGM("ok");
return;
}
if(millis() - temp_millis > 2000) {
temp_millis = millis();
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(degHotend(0));
SERIAL_PROTOCOLPGM(" @:");
SERIAL_PROTOCOLLN(getHeaterPower(0));
}
if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) {
SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout");
SERIAL_PROTOCOLLNPGM("ok");
return;
}
if(cycles > 5) {
SERIAL_PROTOCOLLNPGM("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h");
SERIAL_PROTOCOLLNPGM("ok");
return;
}
}
}
#ifdef USE_BED_PWM
void PID_autotune_bed(float temp)
{
float input;
int cycles=0;
bool heating = true;
unsigned long temp_millis = millis();
unsigned long t1=temp_millis;
unsigned long t2=temp_millis;
long t_high;
long t_low;
long bias=PID_MAX/2;
long d = PID_MAX/2;
float Ku, Tu;
float Kp, Ki, Kd;
float max, min;
//SERIAL_ECHOLN("PID Autotune start");
disable_heater(); // switch off all heaters.
bed_soft_pwm = PID_MAX/2;
for(;;) {
if(temp_meas_ready == true) { // temp sample ready
CRITICAL_SECTION_START;
temp_meas_ready = false;
CRITICAL_SECTION_END;
input = analog2tempBed(current_raw_bed);
max=max(max,input);
min=min(min,input);
if(heating == true && input > temp) {
if(millis() - t2 > 5000) {
heating=false;
bed_soft_pwm = (bias - d) >> 1;
t1=millis();
t_high=t1 - t2;
max=temp;
}
}
if(heating == false && input < temp) {
if(millis() - t1 > 5000) {
heating=true;
t2=millis();
t_low=t2 - t1;
if(cycles > 0) {
bias += (d*(t_high - t_low))/(t_low + t_high);
bias = constrain(bias, 30 ,PID_MAX-30);
if(bias > PID_MAX/2) d = PID_MAX - 1 - bias;
else d = bias;
SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);
SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d);
SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min);
SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max);
if(cycles > 2) {
Ku = (4.0*d)/(3.14159*(max-min)/2.0);
Tu = ((float)(t_low + t_high)/1000.0);
SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku);
SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu);
Kp = 0.6*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/8;
SERIAL_PROTOCOLLNPGM(" Clasic PID ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
/*
Kp = 0.33*Ku;
Ki = Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" Some overshoot ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
Kp = 0.2*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" No overshoot ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
*/
}
}
bed_soft_pwm = (bias + d) >> 1;
cycles++;
min=temp;
}
}
}
if(input > (temp + 30)) {
SERIAL_PROTOCOLLNPGM("Bed PID Autotune failed! Temperature too high");
SERIAL_PROTOCOLLNPGM("ok");
return;
}
if(millis() - temp_millis > 2000) {
temp_millis = millis();
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(degBed());
SERIAL_PROTOCOLPGM(" @:");
SERIAL_PROTOCOLLN(getHeaterPowerBed());
}
if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) {
SERIAL_PROTOCOLLNPGM("Bed PID Autotune failed! timeout");
SERIAL_PROTOCOLLNPGM("ok");
return;
}
if(cycles > 5) {
SERIAL_PROTOCOLLNPGM("Bed PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h");
SERIAL_PROTOCOLLNPGM("ok");
return;
}
}
}
#endif
void updatePID()
{
#ifdef PIDTEMP
for (int e = 0; e < EXTRUDERS; e++) {
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
}
#endif
}
int getHeaterPower(int heater)
{
return soft_pwm[heater];
}
#ifdef USE_BED_PWM
int getHeaterPowerBed() {
return bed_soft_pwm;
}
void updateBedPID()
{
#ifdef USE_BED_PWM
bed_temp_iState_max = PID_INTEGRAL_DRIVE_MAX / bed_Ki;
#endif
}
#endif
bool is_heating_ok(uint8_t extruder)
{
#if ENABLE_HEATER_CHECK
long t = millis();
if (heating_started[extruder] > 0 &&
soft_pwm[extruder] >= HEATING_CHECK_POWER &&
t - heating_started[extruder] > HEATING_WAIT_FOR_CHECK * 1000l &&
t - last_heater_check[extruder] > HEATING_CHECK_INTERVAL * 1000l) {
last_heater_check[extruder] = t;
float current = degHotend(extruder);
float delta_t = current - previous_temp[extruder];
previous_temp[extruder] = current;
/* SERIAL_ECHO("t: ");
SERIAL_ECHO(t);
SERIAL_ECHO(" pwm: ");
SERIAL_ECHO(soft_pwm[extruder]);
SERIAL_ECHO(" delta_T: ");
SERIAL_ECHO(delta_t);
SERIAL_ECHOLN("");*/
return delta_t > 0;
} else if (heating_started[extruder] > 0 && soft_pwm[extruder] < HEATING_CHECK_POWER) {
heating_started[extruder] = 0; // Stop watching
SERIAL_ECHO("DEBUG: Stopped watching heating. T");
SERIAL_ECHO(extruder);
SERIAL_ECHO(":");
SERIAL_ECHO(degHotend(extruder));
SERIAL_ECHO("/");
SERIAL_ECHO(pid_setpoint[extruder]);
SERIAL_ECHO(" @ ");
SERIAL_ECHOLN(getHeaterPower(extruder));
return true;
}
else return true; // Watching, but not at interval, so everything's fine
#else
return true;
#endif
}
bool is_steady(uint8_t extruder)
{
#if ENABLE_HEATER_CHECK
long t = millis();
if (heating_started[extruder] == 0 && // Only check if heating watcher has stopped
t - last_heater_check[extruder] > COOLING_CHECK_INTERVAL * 1000l) {
last_heater_check[extruder] = t;
// Compare current temperature with target temperature
float current = degHotend(extruder);
float target = degTargetHotend(extruder);
float delta_t1 = target - current;
float delta_t2 = current - previous_temp[extruder];
previous_temp[extruder] = current;
return delta_t1 < COOLING_WARNING_DELTA || delta_t2 > 0;
}
else return true;
#else
return true;
#endif
}
void manage_heater()
{
#ifdef USE_RTD
updateMaxTemp();
#endif
#ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
static int bed_needs_heating=0;
static int bed_is_on=0;
#endif
float pid_input;
float pid_output;
float pid_bed_input;
float pid_bed_output;
if(temp_meas_ready != true) { return; } //better readability
CRITICAL_SECTION_START;
temp_meas_ready = false;
CRITICAL_SECTION_END;
for (int e = 0; e < EXTRUDERS; e++) {
#ifdef PIDTEMP
pid_input = analog2temp(current_raw[e], e);
#ifndef PID_OPENLOOP
pid_error[e] = pid_setpoint[e] - pid_input;
//d term is calculated regardless of running PID or not
//K1 defined in Configuration.h in the PID settings
//Added by Ayberk Ozgur
dTerm[e] = (1.0 - K1)*(Kd*(pid_input - temp_dState[e])) + K1*dTerm[e];
temp_dState[e] = pid_input;
if(pid_error[e] > 30) {
pid_output = PID_MAX;
pid_reset[e] = true;
}
else if(pid_error[e] < -30) {
pid_output = 0;
pid_reset[e] = true;
}
else {
if(pid_reset[e] == true) {
temp_iState[e] = 0.0;
pid_reset[e] = false;
}
//p term
pTerm[e] = Kp * pid_error[e];
//i term
temp_iState[e] += pid_error[e];
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
iTerm[e] = Ki * temp_iState[e];
pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX);
}
#endif //PID_OPENLOOP
#ifdef PID_DEBUG
SERIAL_ECHO_START;
SERIAL_ECHO(" PIDDEBUG ");
SERIAL_ECHO(e);
SERIAL_ECHO(": Input ");
SERIAL_ECHO(pid_input);
SERIAL_ECHO(" Output ");
SERIAL_ECHO(pid_output);
SERIAL_ECHO(" pTerm ");
SERIAL_ECHO(pTerm[e]);
SERIAL_ECHO(" iTerm ");
SERIAL_ECHO(iTerm[e]);
SERIAL_ECHO(" dTerm ");
SERIAL_ECHOLN(dTerm[e]);
#endif //PID_DEBUG
#else /* PID off */
pid_output = 0;
if(current_raw[e] < target_raw[e]) {
pid_output = PID_MAX;
}
#endif
// Check if temperature is within the correct range
#ifdef USE_RTD
if((current_raw[e] < minttemp[e]) && (current_raw[e] > maxttemp[e])) {
soft_pwm[e] = (int)pid_output >> 1;
}
#else
if ((current_raw[e] > minttemp[e]) && (current_raw[e] < maxttemp[e])) {
soft_pwm[e] = (int)pid_output >> 1;
}
#endif
else {
soft_pwm[e] = 0;
}
if (!is_steady(e)) {
SERIAL_ERROR_START
SERIAL_ERROR(MSG_ERR_TEMP_DROP);
SERIAL_ERROR(" T");
SERIAL_ERROR(e);
SERIAL_ERROR(": ");
SERIAL_ERROR(pid_input);
SERIAL_ERROR("/");
SERIAL_ERROR(pid_setpoint[e]);
SERIAL_ERROR(" @ ");
SERIAL_ECHOLN(getHeaterPower(e));
Stop();
}
if (!is_heating_ok(e)) {
SERIAL_ERROR_START
SERIAL_ERROR(MSG_ERR_NOT_HEATING);
SERIAL_ERROR(" T");
SERIAL_ERROR(e);
SERIAL_ERROR(": ");
SERIAL_ERROR(pid_input);
SERIAL_ERROR("/");
SERIAL_ERROR(pid_setpoint[e]);
SERIAL_ERROR(" @ ");
SERIAL_ECHOLN(getHeaterPower(e));
Stop();
}
} // End extruder for loop
#ifdef WATCHPERIOD
if(watchmillis && millis() - watchmillis > WATCHPERIOD) {
if(watch_oldtemp[0] >= degHotend(active_extruder)) {
setTargetHotend(0,active_extruder);
SERIAL_ECHO_START;
SERIAL_ECHOLN("Heating failed");
}
else {
watchmillis = 0;
}
}
#endif
#ifdef USE_BED_PWM
pid_bed_input = analog2tempBed(current_raw_bed);
pid_bed_error = pid_bed_setpoint - pid_bed_input;
//d term is calculated regardless of running PID or not
//K1 defined in Configuration.h in the PID settings
//Added by Ayberk Ozgur
bed_dTerm = (1.0 - BED_K1)*(bed_Kd*(pid_bed_input - bed_temp_dState)) + BED_K1*bed_dTerm;
bed_temp_dState = pid_bed_input;
if (pid_bed_error > BED_PID_THRESHOLD) {
pid_bed_output = PID_MAX;
pid_bed_reset = true;
}
else if (pid_bed_error < -BED_PID_THRESHOLD) {
pid_bed_output = 0;
pid_bed_reset = true;
}
else {
if (pid_bed_reset == true) {
bed_temp_iState = 0.0;
pid_bed_reset = false;
}
//p term
bed_pTerm = bed_Kp * pid_bed_error;
//i term
bed_temp_iState += pid_bed_error;
bed_temp_iState = constrain(bed_temp_iState, bed_temp_iState_min, bed_temp_iState_max);
bed_iTerm = bed_Ki * bed_temp_iState;
pid_bed_output = constrain(bed_pTerm + bed_iTerm - bed_dTerm, 0, PID_MAX);
}
// Check if temperature is within the correct range
if ((current_raw_bed > bed_minttemp) && (current_raw_bed < bed_maxttemp)) {
bed_soft_pwm= (int)pid_bed_output >> 1;
}
else {
bed_soft_pwm = 0;
}
#ifdef PID_BED_DEBUG
SERIAL_ECHO_START;
SERIAL_ECHO(" PID_BED_DEBUG ");
SERIAL_ECHO(": Setpoint ");
SERIAL_ECHO(pid_bed_setpoint);
SERIAL_ECHO(": Error ");
SERIAL_ECHO(pid_bed_error);
SERIAL_ECHO(" Output ");
SERIAL_ECHO(pid_bed_output);
SERIAL_ECHO(" pTerm ");
SERIAL_ECHO(bed_pTerm);
SERIAL_ECHO(" iTerm ");
SERIAL_ECHO(bed_iTerm);
SERIAL_ECHO(" dTerm ");
SERIAL_ECHOLN(bed_dTerm);
#endif //PID_BED_DEBUG
#else
#ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
if (bed_needs_heating) {
if (bed_is_on == 0) { WRITE(HEATER_BED_PIN, HIGH); }
if (bed_is_on == 1) { WRITE(HEATER_BED_PIN, LOW); }
bed_is_on = (bed_is_on + 1) % HEATER_BED_DUTY_CYCLE_DIVIDER;
}
#endif
if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) { return; }
previous_millis_bed_heater = millis();
#if TEMP_BED_PIN > -1
#ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
bed_needs_heating=0;
#endif
#ifndef BED_LIMIT_SWITCHING
// Check if temperature is within the correct range
if((current_raw_bed > bed_minttemp) && (current_raw_bed < bed_maxttemp)) {
if(current_raw_bed >= target_raw_bed)
{
WRITE(HEATER_BED_PIN,LOW);
}
else
{
#ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
bed_needs_heating=1;
#endif
WRITE(HEATER_BED_PIN,HIGH);
}
}
else {
WRITE(HEATER_BED_PIN,LOW);
}
#else //#ifdef BED_LIMIT_SWITCHING
// Check if temperature is within the correct band
if((current_raw_bed > bed_minttemp) && (current_raw_bed < bed_maxttemp)) {
if(current_raw_bed > target_bed_high_temp)
{
WRITE(HEATER_BED_PIN,LOW);
}
else
if(current_raw_bed <= target_bed_low_temp)
{
#ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
bed_needs_heating=1;
#endif
WRITE(HEATER_BED_PIN,HIGH);
}
}
else {
WRITE(HEATER_BED_PIN,LOW);
}
#endif
#endif
#endif
}
#define PGM_RD_W(x) (short)pgm_read_word(&x)
#define PGM_RD_W2(x) (short)pgm_read_word(&x)
// Takes hot end temperature value as input and returns corresponding raw value.
// For a thermistor, it uses the RepRap thermistor temp table.
// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
// TODO: celsius is an int: why not specified as float (same as analog2temp)
int temp2analog(int celsius, uint8_t e) {
// SERIAL_ECHO("temp2analog:");
// SERIAL_ECHOLN(old_head_pcb[1]);
if (e >= EXTRUDERS) {
SERIAL_ERROR_START;
SERIAL_ERROR((int)e);
SERIAL_ERRORLNPGM(" - Invalid extruder number!");
kill();
}
#ifdef HEATER_0_USES_MAX6675
if (e == 0) {
return celsius * 4;
}
#endif
#ifdef USE_RTD
if (e == 0) { return ((celsius - 10.4) - 1459.1 - heater_0_offset) / (-0.1132); }
if (e == 1) { return ((celsius - 10.4) - 1459.1 - heater_1_offset) / (-0.1132); }
#else
int raw = 0;
byte i;
if (!old_head_pcb[e]) {
// New head PCB with PT-100 detected:
if (celsius <= temptable_pt100[0][1])
{
raw = temptable_pt100[0][0];
}
else
{
for (i = 1; i < temptable_pt100_len; i++) {
if (PGM_RD_W(temptable_pt100[i][1]) > celsius) { // Table entries increase monotonic
// Interpolate between i-1 and i'th entry:
raw = PGM_RD_W(temptable_pt100[i - 1][0]) +
(celsius - PGM_RD_W(temptable_pt100[i - 1][1])) *
(PGM_RD_W(temptable_pt100[i][0]) - PGM_RD_W(temptable_pt100[i - 1][0])) /
(PGM_RD_W(temptable_pt100[i][1]) - PGM_RD_W(temptable_pt100[i - 1][1]));
break;
}
}
// If celsius is bigger than the biggest table entry, return biggest raw entry:
if (i == temptable_pt100_len) { raw = PGM_RD_W(temptable_pt100[i - 1][0]); }
}
return raw;
}
else {
// Old head PCB: apply old thermistor logic
if (heater_ttbl_map[e] != 0) {
short (*tt)[][2] = (short (*)[][2])(heater_ttbl_map[e]);
for (i=1; i<heater_ttbllen_map[e]; i++) {
if (PGM_RD_W((*tt)[i][1]) < celsius) {
raw = PGM_RD_W((*tt)[i-1][0]) +
(celsius - PGM_RD_W((*tt)[i-1][1])) *
(PGM_RD_W((*tt)[i][0]) - PGM_RD_W((*tt)[i-1][0])) /
(PGM_RD_W((*tt)[i][1]) - PGM_RD_W((*tt)[i-1][1]));
break;
}
}
// Overflow: Set to last value in the table
if (i == heater_ttbllen_map[e]) raw = PGM_RD_W((*tt)[i-1][0]);
return (1023 * OVERSAMPLENR) - raw;
}
}
return ((celsius-TEMP_SENSOR_AD595_OFFSET)/TEMP_SENSOR_AD595_GAIN) * (1024.0 / (5.0 * 100.0) ) * OVERSAMPLENR;
#endif
}
// Takes bed temperature value as input and returns corresponding raw value.
// For a thermistor, it uses the RepRap thermistor temp table.
// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
int temp2analogBed(int celsius) {
#ifdef BED_USES_THERMISTOR
int raw = 0;
byte i;
for (i=1; i<bedtemptable_len; i++)
{
if (PGM_RD_W(bedtemptable[i][1]) < celsius)
{
raw = PGM_RD_W(bedtemptable[i-1][0]) +
(celsius - PGM_RD_W(bedtemptable[i-1][1])) *
(PGM_RD_W(bedtemptable[i][0]) - PGM_RD_W(bedtemptable[i-1][0])) /
(PGM_RD_W(bedtemptable[i][1]) - PGM_RD_W(bedtemptable[i-1][1]));
break;
}
}
// Overflow: Set to last value in the table
if (i == bedtemptable_len) raw = PGM_RD_W(bedtemptable[i-1][0]);
return (1023 * OVERSAMPLENR) - raw;
#elif defined BED_USES_AD595
return lround(((celsius-TEMP_SENSOR_AD595_OFFSET)/TEMP_SENSOR_AD595_GAIN) * (1024.0 * OVERSAMPLENR/ (5.0 * 100.0) ) );
#else
#warning No heater-type defined for the bed.
return 0;
#endif
}
// Derived from RepRap FiveD extruder::getTemperature()
// For hot end temperature measurement.
float analog2temp(int raw, uint8_t e) {
// SERIAL_ECHO("analog2temp:");
// SERIAL_ECHOLN(old_head_pcb[1]);
if (e >= EXTRUDERS) {
SERIAL_ERROR_START;
SERIAL_ERROR((int)e);
SERIAL_ERRORLNPGM(" - Invalid extruder number !");
kill();
}
#ifdef HEATER_0_USES_MAX6675
if (e == 0) { return 0.25 * raw; }
#endif
#ifdef USE_RTD
if (raw == 0) { return 0; }
else {
if (e == 0) { return (-0.1132*raw) + 1459.1 + 10.4 + heater_0_offset; }
if (e == 1) { return (-0.1132*raw) + 1459.1 + 10.4 + heater_1_offset; }
}
#else
float celsius = 0;
byte i;
if (!old_head_pcb[e]) {
// New head PCB with PT-100 detected
//short raw_u = (short) raw; // Should be safe as ADC = 10 bit unsigned
if (raw < temptable_pt100[0][0])
{
celsius = (float)temptable_pt100[0][1];
}
else
{
for (i = 1; i < temptable_pt100_len; i++) {
if (PGM_RD_W(temptable_pt100[i][0]) > raw) {
// Linear interpolate between i-1 and i:
// SERIAL_ECHO("analog2temp (t");
// SERIAL_ECHO(e);
// SERIAL_ECHO(" raw:");
// SERIAL_ECHO(raw);
// SERIAL_ECHO(") a:");
// SERIAL_ECHO(PGM_RD_W(temptable_pt100[i - 1][1]));
// SERIAL_ECHO(" b:");
// SERIAL_ECHO(raw - temptable_pt100[i - 1][0]);
// SERIAL_ECHO(" c1:");
// SERIAL_ECHO((float)(PGM_RD_W(temptable_pt100[i][1] - temptable_pt100[i - 1][1])));
// SERIAL_ECHO(" c2:");
// SERIAL_ECHO((float)(PGM_RD_W(temptable_pt100[i][0] - temptable_pt100[i - 1][0])));
// SERIAL_ECHO(" celsius: ");
celsius = PGM_RD_W(temptable_pt100[i - 1][1]) +
(raw - PGM_RD_W(temptable_pt100[i - 1][0])) *
(float)(PGM_RD_W(temptable_pt100[i][1]) - PGM_RD_W(temptable_pt100[i - 1][1])) /
(float)(PGM_RD_W(temptable_pt100[i][0]) - PGM_RD_W(temptable_pt100[i - 1][0]));
break;
}
}
// If raw is still bigger than the last entry in the table, return the last value:
if (i == temptable_pt100_len) { celsius = PGM_RD_W(temptable_pt100[i - 1][1]); }
}
return celsius;
}
else {
// Old head PCB: apply old thermistor logic:
if (heater_ttbl_map[e] != 0) {
short (*tt)[][2] = (short (*)[][2])(heater_ttbl_map[e]);
raw = (1023 * OVERSAMPLENR) - raw;
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;
#endif
}
// Derived from RepRap FiveD extruder::getTemperature()
// For bed temperature measurement.
float analog2tempBed(int raw) {
#ifdef BED_USES_THERMISTOR
float celsius = 0;
byte i;
raw = (1023 * OVERSAMPLENR) - raw;
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
#warning No heater-type defined for the bed.