From 7f060d7caf986fb572f4b1509728c23a646eb875 Mon Sep 17 00:00:00 2001 From: chrono Date: Mon, 2 Mar 2015 13:47:35 +0000 Subject: [PATCH] Revert "Testing Fix for Arduino 1.6+ compiler issue #1523" This reverts commit fb75a9272da33ea0a9f2793a1fc89b69428d103c. --- Marlin/Configuration.h | 25 +- Marlin/temperature.cpp | 679 ++++++++++++++++++++--------------------- 2 files changed, 355 insertions(+), 349 deletions(-) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 1c3faf5fc..8c12b0f85 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -215,7 +215,7 @@ Here are some standard links for getting your machine calibrated: // If your configuration is significantly different than this and you don't understand the issues involved, you probably // shouldn't use bed PID until someone else verifies your hardware works. // If this is enabled, find your own PID constants below. -#define PIDTEMPBED +//#define PIDTEMPBED // //#define BED_LIMIT_SWITCHING @@ -226,10 +226,17 @@ Here are some standard links for getting your machine calibrated: #define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current #ifdef PIDTEMPBED -// Felix Foil Heater - #define DEFAULT_bedKp 103.37 - #define DEFAULT_bedKi 2.79 - #define DEFAULT_bedKd 956.94 +//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+) +//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10) + #define DEFAULT_bedKp 10.00 + #define DEFAULT_bedKi .023 + #define DEFAULT_bedKd 305.4 + +//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+) +//from pidautotune +// #define DEFAULT_bedKp 97.1 +// #define DEFAULT_bedKi 1.41 +// #define DEFAULT_bedKd 1675.16 // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles. #endif // PIDTEMPBED @@ -273,15 +280,15 @@ your extruder heater takes 2 minutes to hit the target on heating. // uncomment the 2 defines below: // Parameters for all extruder heaters -#define THERMAL_RUNAWAY_PROTECTION_PERIOD 60 //in seconds -#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 5 // in degree Celsius +//#define THERMAL_RUNAWAY_PROTECTION_PERIOD 40 //in seconds +//#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 4 // in degree Celsius // If you want to enable this feature for your bed heater, // uncomment the 2 defines below: // Parameters for the bed heater -#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 30 //in seconds -#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 5// in degree Celsius +//#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 20 //in seconds +//#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 2 // in degree Celsius //=========================================================================== diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index 3e14056e2..d50c4265b 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -1,19 +1,19 @@ /* 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 . */ @@ -22,8 +22,8 @@ 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 + + It has preliminary support for Matthew Roberts advance algorithm http://reprap.org/pipermail/reprap-dev/2011-May/003323.html */ @@ -63,20 +63,20 @@ float current_temperature_bed = 0.0; float bedKi=(DEFAULT_bedKi*PID_dT); float bedKd=(DEFAULT_bedKd/PID_dT); #endif //PIDTEMPBED - + #ifdef FAN_SOFT_PWM unsigned char fanSpeedSoftPwm; #endif unsigned char soft_pwm_bed; - + #ifdef BABYSTEPPING volatile int babystepsTodo[3]={0,0,0}; #endif #ifdef FILAMENT_SENSOR int current_raw_filwidth = 0; //Holds measured filament diameter - one extruder only -#endif +#endif //=========================================================================== //=============================private variables============================ //=========================================================================== @@ -109,7 +109,7 @@ static volatile bool temp_meas_ready = false; static float temp_iState_min_bed; static float temp_iState_max_bed; #else //PIDTEMPBED - static unsigned long previous_millis_bed_heater; + static unsigned long previous_millis_bed_heater; #endif //PIDTEMPBED static unsigned char soft_pwm[EXTRUDERS]; @@ -120,7 +120,7 @@ static volatile bool temp_meas_ready = false; (defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1) || \ (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1) static unsigned long extruder_autofan_last_check; -#endif +#endif #if EXTRUDERS > 4 # error Unsupported number of extruders @@ -227,9 +227,9 @@ void PID_autotune(float temp, int extruder, int ncycles) SERIAL_ECHOLN("PID Autotune failed. Bad extruder number."); return; } - + SERIAL_ECHOLN("PID Autotune start"); - + disable_heater(); // switch off all heaters. if (extruder<0) @@ -267,7 +267,7 @@ void PID_autotune(float temp, int extruder, int ncycles) #endif if(heating == true && input > temp) { - if(millis() - t2 > 5000) { + if(millis() - t2 > 5000) { heating=false; if (extruder<0) soft_pwm_bed = (bias - d) >> 1; @@ -330,7 +330,7 @@ void PID_autotune(float temp, int extruder, int ncycles) cycles++; min=temp; } - } + } } if(input > (temp + 20)) { SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature too high"); @@ -339,16 +339,16 @@ void PID_autotune(float temp, int extruder, int ncycles) if(millis() - temp_millis > 2000) { int p; if (extruder<0){ - p=soft_pwm_bed; + p=soft_pwm_bed; SERIAL_PROTOCOLPGM("ok B:"); }else{ - p=soft_pwm[extruder]; + p=soft_pwm[extruder]; SERIAL_PROTOCOLPGM("ok T:"); } - - SERIAL_PROTOCOL(input); + + SERIAL_PROTOCOL(input); SERIAL_PROTOCOLPGM(" @:"); - SERIAL_PROTOCOLLN(p); + SERIAL_PROTOCOLLN(p); temp_millis = millis(); } @@ -367,18 +367,18 @@ void PID_autotune(float temp, int extruder, int ncycles) void updatePID() { #ifdef PIDTEMP - for(int e = 0; e < EXTRUDERS; e++) { - temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki,e); + for(int e = 0; e < EXTRUDERS; e++) { + temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki,e); } #endif #ifdef PIDTEMPBED - temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi; + temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi; #endif } - + int getHeaterPower(int heater) { - if (heater<0) - return soft_pwm_bed; + if (heater<0) + return soft_pwm_bed; return soft_pwm[heater]; } @@ -387,16 +387,16 @@ int getHeaterPower(int heater) { (defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1) #if defined(FAN_PIN) && FAN_PIN > -1 - #if EXTRUDER_0_AUTO_FAN_PIN == FAN_PIN + #if EXTRUDER_0_AUTO_FAN_PIN == FAN_PIN #error "You cannot set EXTRUDER_0_AUTO_FAN_PIN equal to FAN_PIN" #endif - #if EXTRUDER_1_AUTO_FAN_PIN == FAN_PIN + #if EXTRUDER_1_AUTO_FAN_PIN == FAN_PIN #error "You cannot set EXTRUDER_1_AUTO_FAN_PIN equal to FAN_PIN" #endif - #if EXTRUDER_2_AUTO_FAN_PIN == FAN_PIN + #if EXTRUDER_2_AUTO_FAN_PIN == FAN_PIN #error "You cannot set EXTRUDER_2_AUTO_FAN_PIN equal to FAN_PIN" #endif - #endif + #endif void setExtruderAutoFanState(int pin, bool state) { @@ -411,53 +411,53 @@ void checkExtruderAutoFans() { uint8_t fanState = 0; - // which fan pins need to be turned on? + // which fan pins need to be turned on? #if defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1 - if (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE) + if (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE) fanState |= 1; #endif #if defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1 - if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) + if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) { - if (EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) + if (EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) fanState |= 1; else fanState |= 2; } #endif #if defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1 - if (current_temperature[2] > EXTRUDER_AUTO_FAN_TEMPERATURE) + if (current_temperature[2] > EXTRUDER_AUTO_FAN_TEMPERATURE) { - if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) + if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) fanState |= 1; - else if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN) + else if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN) fanState |= 2; else fanState |= 4; } #endif #if defined(EXTRUDER_3_AUTO_FAN_PIN) && EXTRUDER_3_AUTO_FAN_PIN > -1 - if (current_temperature[3] > EXTRUDER_AUTO_FAN_TEMPERATURE) + if (current_temperature[3] > EXTRUDER_AUTO_FAN_TEMPERATURE) { - if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) + if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) fanState |= 1; - else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN) + else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN) fanState |= 2; - else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_2_AUTO_FAN_PIN) + else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_2_AUTO_FAN_PIN) fanState |= 4; else fanState |= 8; } #endif - + // update extruder auto fan states #if defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1 setExtruderAutoFanState(EXTRUDER_0_AUTO_FAN_PIN, (fanState & 1) != 0); - #endif + #endif #if defined(EXTRUDER_1_AUTO_FAN_PIN) && EXTRUDER_1_AUTO_FAN_PIN > -1 if (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN) setExtruderAutoFanState(EXTRUDER_1_AUTO_FAN_PIN, (fanState & 2) != 0); - #endif + #endif #if defined(EXTRUDER_2_AUTO_FAN_PIN) && EXTRUDER_2_AUTO_FAN_PIN > -1 if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN && EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN) @@ -479,7 +479,7 @@ void manage_heater() float pid_output; if(temp_meas_ready != true) //better readability - return; + return; updateTemperaturesFromRawValues(); @@ -492,7 +492,7 @@ void manage_heater() } #endif //HEATER_0_USES_MAX6675 - for(int e = 0; e < EXTRUDERS; e++) + for(int e = 0; e < EXTRUDERS; e++) { #if defined (THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0 @@ -527,16 +527,15 @@ void manage_heater() dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]); pid_output = pTerm[e] + iTerm[e] - dTerm[e]; if (pid_output > PID_MAX) { - if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e]; + if (pid_error[e] > 0 ) temp_iState[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]; + if (pid_error[e] < 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration pid_output=0; } - } temp_dState[e] = pid_input; - #else + #else pid_output = constrain(target_temperature[e], 0, PID_MAX); #endif //PID_OPENLOOP #ifdef PID_DEBUG @@ -562,7 +561,7 @@ void manage_heater() #endif // Check if temperature is within the correct range - if((current_temperature[e] > minttemp[e]) && (current_temperature[e] < maxttemp[e])) + if((current_temperature[e] > minttemp[e]) && (current_temperature[e] < maxttemp[e])) { soft_pwm[e] = (int)pid_output >> 1; } @@ -606,9 +605,9 @@ void manage_heater() { checkExtruderAutoFans(); extruder_autofan_last_check = millis(); - } - #endif - + } + #endif + #ifndef PIDTEMPBED if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) return; @@ -616,7 +615,7 @@ void manage_heater() #endif #if TEMP_SENSOR_BED != 0 - + #if defined(THERMAL_RUNAWAY_PROTECTION_BED_PERIOD) && THERMAL_RUNAWAY_PROTECTION_BED_PERIOD > 0 thermal_runaway_protection(&thermal_runaway_bed_state_machine, &thermal_runaway_bed_timer, current_temperature_bed, target_temperature_bed, 9, THERMAL_RUNAWAY_PROTECTION_BED_PERIOD, THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS); #endif @@ -625,18 +624,18 @@ void manage_heater() pid_input = current_temperature_bed; #ifndef PID_OPENLOOP - pid_error_bed = target_temperature_bed - pid_input; - pTerm_bed = bedKp * pid_error_bed; - temp_iState_bed += pid_error_bed; - temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed); - iTerm_bed = bedKi * temp_iState_bed; + pid_error_bed = target_temperature_bed - pid_input; + pTerm_bed = bedKp * pid_error_bed; + temp_iState_bed += pid_error_bed; + temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed); + iTerm_bed = bedKi * temp_iState_bed; - //K1 defined in Configuration.h in the PID settings - #define K2 (1.0-K1) - dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed); - temp_dState_bed = pid_input; + //K1 defined in Configuration.h in the PID settings + #define K2 (1.0-K1) + dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed); + temp_dState_bed = pid_input; - pid_output = pTerm_bed + iTerm_bed - dTerm_bed; + pid_output = pTerm_bed + iTerm_bed - dTerm_bed; if (pid_output > MAX_BED_POWER) { if (pid_error_bed > 0 ) temp_iState_bed -= pid_error_bed; // conditional un-integration pid_output=MAX_BED_POWER; @@ -645,17 +644,17 @@ void manage_heater() pid_output=0; } - #else + #else pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER); #endif //PID_OPENLOOP - if((current_temperature_bed > BED_MINTEMP) && (current_temperature_bed < BED_MAXTEMP)) - { - soft_pwm_bed = (int)pid_output >> 1; - } - else { - soft_pwm_bed = 0; - } + if((current_temperature_bed > BED_MINTEMP) && (current_temperature_bed < BED_MAXTEMP)) + { + soft_pwm_bed = (int)pid_output >> 1; + } + else { + soft_pwm_bed = 0; + } #elif !defined(BED_LIMIT_SWITCHING) // Check if temperature is within the correct range @@ -665,7 +664,7 @@ void manage_heater() { soft_pwm_bed = 0; } - else + else { soft_pwm_bed = MAX_BED_POWER>>1; } @@ -695,27 +694,27 @@ void manage_heater() } #endif #endif - -//code for controlling the extruder rate based on the width sensor + +//code for controlling the extruder rate based on the width sensor #ifdef FILAMENT_SENSOR - if(filament_sensor) - { - meas_shift_index=delay_index1-meas_delay_cm; - if(meas_shift_index<0) - meas_shift_index = meas_shift_index + (MAX_MEASUREMENT_DELAY+1); //loop around buffer if needed - - //get the delayed info and add 100 to reconstitute to a percent of the nominal filament diameter - //then square it to get an area - - if(meas_shift_index<0) - meas_shift_index=0; - else if (meas_shift_index>MAX_MEASUREMENT_DELAY) - meas_shift_index=MAX_MEASUREMENT_DELAY; - - volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = pow((float)(100+measurement_delay[meas_shift_index])/100.0,2); - if (volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] <0.01) - volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]=0.01; - } + if(filament_sensor) + { + meas_shift_index=delay_index1-meas_delay_cm; + if(meas_shift_index<0) + meas_shift_index = meas_shift_index + (MAX_MEASUREMENT_DELAY+1); //loop around buffer if needed + + //get the delayed info and add 100 to reconstitute to a percent of the nominal filament diameter + //then square it to get an area + + if(meas_shift_index<0) + meas_shift_index=0; + else if (meas_shift_index>MAX_MEASUREMENT_DELAY) + meas_shift_index=MAX_MEASUREMENT_DELAY; + + volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = pow((float)(100+measurement_delay[meas_shift_index])/100.0,2); + if (volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] <0.01) + volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]=0.01; + } #endif } @@ -734,7 +733,7 @@ static float analog2temp(int raw, uint8_t e) { SERIAL_ERRORLNPGM(" - Invalid extruder number !"); kill(); return 0.0; - } + } #ifdef HEATER_0_USES_MAX6675 if (e == 0) { @@ -752,8 +751,8 @@ static float analog2temp(int raw, uint8_t e) { { if (PGM_RD_W((*tt)[i][0]) > raw) { - celsius = PGM_RD_W((*tt)[i-1][1]) + - (raw - PGM_RD_W((*tt)[i-1][0])) * + 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; @@ -779,8 +778,8 @@ static float analog2tempBed(int raw) { { if (PGM_RD_W(BEDTEMPTABLE[i][0]) > raw) { - celsius = PGM_RD_W(BEDTEMPTABLE[i-1][1]) + - (raw - PGM_RD_W(BEDTEMPTABLE[i-1][0])) * + 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; @@ -813,9 +812,9 @@ static void updateTemperaturesFromRawValues() #ifdef TEMP_SENSOR_1_AS_REDUNDANT redundant_temperature = analog2temp(redundant_temperature_raw, 1); #endif - #if defined (FILAMENT_SENSOR) && (FILWIDTH_PIN > -1) //check if a sensor is supported + #if defined (FILAMENT_SENSOR) && (FILWIDTH_PIN > -1) //check if a sensor is supported filament_width_meas = analog2widthFil(); - #endif + #endif //Reset the watchdog after we know we have a temperature measurement. watchdog_reset(); @@ -825,29 +824,29 @@ static void updateTemperaturesFromRawValues() } -// For converting raw Filament Width to milimeters +// For converting raw Filament Width to milimeters #ifdef FILAMENT_SENSOR -float analog2widthFil() { -return current_raw_filwidth/16383.0*5.0; -//return current_raw_filwidth; -} - -// For converting raw Filament Width to a ratio -int widthFil_to_size_ratio() { - -float temp; - +float analog2widthFil() { +return current_raw_filwidth/16383.0*5.0; +//return current_raw_filwidth; +} + +// For converting raw Filament Width to a ratio +int widthFil_to_size_ratio() { + +float temp; + temp=filament_width_meas; if(filament_width_measMEASURED_UPPER_LIMIT) - temp= MEASURED_UPPER_LIMIT; + temp= MEASURED_UPPER_LIMIT; -return(filament_width_nominal/temp*100); +return(filament_width_nominal/temp*100); -} +} #endif @@ -858,13 +857,13 @@ void tp_init() { #if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1)) //disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector - MCUCR=(1< -1) + #if defined(HEATER_0_PIN) && (HEATER_0_PIN > -1) SET_OUTPUT(HEATER_0_PIN); #endif - #if defined(HEATER_1_PIN) && (HEATER_1_PIN > -1) + #if defined(HEATER_1_PIN) && (HEATER_1_PIN > -1) SET_OUTPUT(HEATER_1_PIN); #endif - #if defined(HEATER_2_PIN) && (HEATER_2_PIN > -1) + #if defined(HEATER_2_PIN) && (HEATER_2_PIN > -1) SET_OUTPUT(HEATER_2_PIN); #endif - #if defined(HEATER_3_PIN) && (HEATER_3_PIN > -1) + #if defined(HEATER_3_PIN) && (HEATER_3_PIN > -1) SET_OUTPUT(HEATER_3_PIN); #endif - #if defined(HEATER_BED_PIN) && (HEATER_BED_PIN > -1) + #if defined(HEATER_BED_PIN) && (HEATER_BED_PIN > -1) SET_OUTPUT(HEATER_BED_PIN); - #endif - #if defined(FAN_PIN) && (FAN_PIN > -1) + #endif + #if defined(FAN_PIN) && (FAN_PIN > -1) SET_OUTPUT(FAN_PIN); #ifdef FAST_PWM_FAN setPwmFrequency(FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8 @@ -899,24 +898,24 @@ void tp_init() #ifdef FAN_SOFT_PWM soft_pwm_fan = fanSpeedSoftPwm / 2; #endif - #endif + #endif #ifdef HEATER_0_USES_MAX6675 #ifndef SDSUPPORT SET_OUTPUT(SCK_PIN); WRITE(SCK_PIN,0); - + SET_OUTPUT(MOSI_PIN); WRITE(MOSI_PIN,1); - + SET_INPUT(MISO_PIN); WRITE(MISO_PIN,1); #else pinMode(SS_PIN, OUTPUT); digitalWrite(SS_PIN, HIGH); #endif - + SET_OUTPUT(MAX6675_SS); WRITE(MAX6675_SS,1); @@ -930,56 +929,56 @@ void tp_init() #endif #if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1) #if TEMP_0_PIN < 8 - DIDR0 |= 1 << TEMP_0_PIN; + DIDR0 |= 1 << TEMP_0_PIN; #else - DIDR2 |= 1<<(TEMP_0_PIN - 8); + DIDR2 |= 1<<(TEMP_0_PIN - 8); #endif #endif #if defined(TEMP_1_PIN) && (TEMP_1_PIN > -1) #if TEMP_1_PIN < 8 - DIDR0 |= 1< -1) #if TEMP_2_PIN < 8 - DIDR0 |= 1 << TEMP_2_PIN; + DIDR0 |= 1 << TEMP_2_PIN; #else - DIDR2 |= 1<<(TEMP_2_PIN - 8); + DIDR2 |= 1<<(TEMP_2_PIN - 8); #endif #endif #if defined(TEMP_3_PIN) && (TEMP_3_PIN > -1) #if TEMP_3_PIN < 8 - DIDR0 |= 1 << TEMP_3_PIN; + DIDR0 |= 1 << TEMP_3_PIN; #else - DIDR2 |= 1<<(TEMP_3_PIN - 8); + DIDR2 |= 1<<(TEMP_3_PIN - 8); #endif #endif #if defined(TEMP_BED_PIN) && (TEMP_BED_PIN > -1) #if TEMP_BED_PIN < 8 - DIDR0 |= 1< -1) - #if FILWIDTH_PIN < 8 - DIDR0 |= 1< -1) + #if FILWIDTH_PIN < 8 + DIDR0 |= 1< 0 @@ -1119,7 +1118,7 @@ void thermal_runaway_protection(int *state, unsigned long *timer, float temperat SERIAL_ECHO(temperature); SERIAL_ECHO(" ; Target Temp:"); SERIAL_ECHO(target_temperature); - SERIAL_ECHOLN(""); + SERIAL_ECHOLN(""); */ if ((target_temperature == 0) || thermal_runaway) { @@ -1139,7 +1138,7 @@ void thermal_runaway_protection(int *state, unsigned long *timer, float temperat if (temperature >= (target_temperature - hysteresis_degc)) { *timer = millis(); - } + } else if ( (millis() - *timer) > ((unsigned long) period_seconds) * 1000) { SERIAL_ERROR_START; @@ -1174,23 +1173,23 @@ void disable_heater() #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1 target_temperature[0]=0; soft_pwm[0]=0; - #if defined(HEATER_0_PIN) && HEATER_0_PIN > -1 + #if defined(HEATER_0_PIN) && HEATER_0_PIN > -1 WRITE(HEATER_0_PIN,LOW); #endif #endif - + #if defined(TEMP_1_PIN) && TEMP_1_PIN > -1 && EXTRUDERS > 1 target_temperature[1]=0; soft_pwm[1]=0; - #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 + #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 WRITE(HEATER_1_PIN,LOW); #endif #endif - + #if defined(TEMP_2_PIN) && TEMP_2_PIN > -1 && EXTRUDERS > 2 target_temperature[2]=0; soft_pwm[2]=0; - #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1 + #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1 WRITE(HEATER_2_PIN,LOW); #endif #endif @@ -1198,19 +1197,19 @@ void disable_heater() #if defined(TEMP_3_PIN) && TEMP_3_PIN > -1 && EXTRUDERS > 3 target_temperature[3]=0; soft_pwm[3]=0; - #if defined(HEATER_3_PIN) && HEATER_3_PIN > -1 + #if defined(HEATER_3_PIN) && HEATER_3_PIN > -1 WRITE(HEATER_3_PIN,LOW); #endif - #endif + #endif #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1 target_temperature_bed=0; soft_pwm_bed=0; - #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 + #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 WRITE(HEATER_BED_PIN,LOW); #endif - #endif + #endif } void max_temp_error(uint8_t e) { @@ -1260,38 +1259,38 @@ int max6675_temp = 2000; static int read_max6675() { - if (millis() - max6675_previous_millis < MAX6675_HEAT_INTERVAL) + if (millis() - max6675_previous_millis < MAX6675_HEAT_INTERVAL) return max6675_temp; - + max6675_previous_millis = millis(); max6675_temp = 0; - + #ifdef PRR PRR &= ~(1<> 3; } @@ -1328,21 +1327,21 @@ ISR(TIMER0_COMPB_vect) static unsigned char slow_pwm_count = 0; static unsigned char state_heater_0 = 0; static unsigned char state_timer_heater_0 = 0; -#endif +#endif #if (EXTRUDERS > 1) || defined(HEATERS_PARALLEL) static unsigned char soft_pwm_1; #ifdef SLOW_PWM_HEATERS static unsigned char state_heater_1 = 0; static unsigned char state_timer_heater_1 = 0; -#endif +#endif #endif #if EXTRUDERS > 2 static unsigned char soft_pwm_2; #ifdef SLOW_PWM_HEATERS static unsigned char state_heater_2 = 0; static unsigned char state_timer_heater_2 = 0; -#endif +#endif #endif #if EXTRUDERS > 3 static unsigned char soft_pwm_3; @@ -1357,20 +1356,20 @@ ISR(TIMER0_COMPB_vect) #ifdef SLOW_PWM_HEATERS static unsigned char state_heater_b = 0; static unsigned char state_timer_heater_b = 0; +#endif #endif -#endif - + #if defined(FILWIDTH_PIN) &&(FILWIDTH_PIN > -1) static unsigned long raw_filwidth_value = 0; //added for filament width sensor #endif - + #ifndef SLOW_PWM_HEATERS /* * standard PWM modulation */ if(pwm_count == 0){ soft_pwm_0 = soft_pwm[0]; - if(soft_pwm_0 > 0) { + if(soft_pwm_0 > 0) { WRITE(HEATER_0_PIN,1); #ifdef HEATERS_PARALLEL WRITE(HEATER_1_PIN,1); @@ -1400,7 +1399,7 @@ ISR(TIMER0_COMPB_vect) if(soft_pwm_fan > 0) WRITE(FAN_PIN,1); else WRITE(FAN_PIN,0); #endif } - if(soft_pwm_0 < pwm_count) { + if(soft_pwm_0 < pwm_count) { WRITE(HEATER_0_PIN,0); #ifdef HEATERS_PARALLEL WRITE(HEATER_1_PIN,0); @@ -1423,10 +1422,10 @@ ISR(TIMER0_COMPB_vect) #ifdef FAN_SOFT_PWM if(soft_pwm_fan < pwm_count) WRITE(FAN_PIN,0); #endif - + pwm_count += (1 << SOFT_PWM_SCALE); pwm_count &= 0x7f; - + #else //ifndef SLOW_PWM_HEATERS /* * SLOW PWM HEATERS @@ -1437,84 +1436,84 @@ ISR(TIMER0_COMPB_vect) #define MIN_STATE_TIME 16 // MIN_STATE_TIME * 65.5 = time in milliseconds #endif if (slow_pwm_count == 0) { - // EXTRUDER 0 + // EXTRUDER 0 soft_pwm_0 = soft_pwm[0]; if (soft_pwm_0 > 0) { - // turn ON heather only if the minimum time is up - if (state_timer_heater_0 == 0) { - // if change state set timer - if (state_heater_0 == 0) { - state_timer_heater_0 = MIN_STATE_TIME; - } - state_heater_0 = 1; - WRITE(HEATER_0_PIN, 1); + // turn ON heather only if the minimum time is up + if (state_timer_heater_0 == 0) { + // if change state set timer + if (state_heater_0 == 0) { + state_timer_heater_0 = MIN_STATE_TIME; + } + state_heater_0 = 1; + WRITE(HEATER_0_PIN, 1); #ifdef HEATERS_PARALLEL - WRITE(HEATER_1_PIN, 1); + WRITE(HEATER_1_PIN, 1); #endif } } else { - // turn OFF heather only if the minimum time is up + // turn OFF heather only if the minimum time is up if (state_timer_heater_0 == 0) { - // if change state set timer - if (state_heater_0 == 1) { - state_timer_heater_0 = MIN_STATE_TIME; - } - state_heater_0 = 0; - WRITE(HEATER_0_PIN, 0); + // if change state set timer + if (state_heater_0 == 1) { + state_timer_heater_0 = MIN_STATE_TIME; + } + state_heater_0 = 0; + WRITE(HEATER_0_PIN, 0); #ifdef HEATERS_PARALLEL - WRITE(HEATER_1_PIN, 0); + WRITE(HEATER_1_PIN, 0); #endif } } - + #if EXTRUDERS > 1 // EXTRUDER 1 soft_pwm_1 = soft_pwm[1]; if (soft_pwm_1 > 0) { - // turn ON heather only if the minimum time is up - if (state_timer_heater_1 == 0) { - // if change state set timer - if (state_heater_1 == 0) { - state_timer_heater_1 = MIN_STATE_TIME; - } - state_heater_1 = 1; - WRITE(HEATER_1_PIN, 1); + // turn ON heather only if the minimum time is up + if (state_timer_heater_1 == 0) { + // if change state set timer + if (state_heater_1 == 0) { + state_timer_heater_1 = MIN_STATE_TIME; + } + state_heater_1 = 1; + WRITE(HEATER_1_PIN, 1); } } else { - // turn OFF heather only if the minimum time is up + // turn OFF heather only if the minimum time is up if (state_timer_heater_1 == 0) { - // if change state set timer - if (state_heater_1 == 1) { - state_timer_heater_1 = MIN_STATE_TIME; - } - state_heater_1 = 0; - WRITE(HEATER_1_PIN, 0); + // if change state set timer + if (state_heater_1 == 1) { + state_timer_heater_1 = MIN_STATE_TIME; + } + state_heater_1 = 0; + WRITE(HEATER_1_PIN, 0); } } #endif - + #if EXTRUDERS > 2 // EXTRUDER 2 soft_pwm_2 = soft_pwm[2]; if (soft_pwm_2 > 0) { - // turn ON heather only if the minimum time is up - if (state_timer_heater_2 == 0) { - // if change state set timer - if (state_heater_2 == 0) { - state_timer_heater_2 = MIN_STATE_TIME; - } - state_heater_2 = 1; - WRITE(HEATER_2_PIN, 1); + // turn ON heather only if the minimum time is up + if (state_timer_heater_2 == 0) { + // if change state set timer + if (state_heater_2 == 0) { + state_timer_heater_2 = MIN_STATE_TIME; + } + state_heater_2 = 1; + WRITE(HEATER_2_PIN, 1); } } else { - // turn OFF heather only if the minimum time is up + // turn OFF heather only if the minimum time is up if (state_timer_heater_2 == 0) { - // if change state set timer - if (state_heater_2 == 1) { - state_timer_heater_2 = MIN_STATE_TIME; - } - state_heater_2 = 0; - WRITE(HEATER_2_PIN, 0); + // if change state set timer + if (state_heater_2 == 1) { + state_timer_heater_2 = MIN_STATE_TIME; + } + state_heater_2 = 0; + WRITE(HEATER_2_PIN, 0); } } #endif @@ -1523,24 +1522,24 @@ ISR(TIMER0_COMPB_vect) // EXTRUDER 3 soft_pwm_3 = soft_pwm[3]; if (soft_pwm_3 > 0) { - // turn ON heather only if the minimum time is up - if (state_timer_heater_3 == 0) { - // if change state set timer - if (state_heater_3 == 0) { - state_timer_heater_3 = MIN_STATE_TIME; - } - state_heater_3 = 1; - WRITE(HEATER_3_PIN, 1); + // turn ON heather only if the minimum time is up + if (state_timer_heater_3 == 0) { + // if change state set timer + if (state_heater_3 == 0) { + state_timer_heater_3 = MIN_STATE_TIME; + } + state_heater_3 = 1; + WRITE(HEATER_3_PIN, 1); } } else { - // turn OFF heather only if the minimum time is up + // turn OFF heather only if the minimum time is up if (state_timer_heater_3 == 0) { - // if change state set timer - if (state_heater_3 == 1) { - state_timer_heater_3 = MIN_STATE_TIME; - } - state_heater_3 = 0; - WRITE(HEATER_3_PIN, 0); + // if change state set timer + if (state_heater_3 == 1) { + state_timer_heater_3 = MIN_STATE_TIME; + } + state_heater_3 = 0; + WRITE(HEATER_3_PIN, 0); } } #endif @@ -1549,36 +1548,36 @@ ISR(TIMER0_COMPB_vect) // BED soft_pwm_b = soft_pwm_bed; if (soft_pwm_b > 0) { - // turn ON heather only if the minimum time is up - if (state_timer_heater_b == 0) { - // if change state set timer - if (state_heater_b == 0) { - state_timer_heater_b = MIN_STATE_TIME; - } - state_heater_b = 1; - WRITE(HEATER_BED_PIN, 1); + // turn ON heather only if the minimum time is up + if (state_timer_heater_b == 0) { + // if change state set timer + if (state_heater_b == 0) { + state_timer_heater_b = MIN_STATE_TIME; + } + state_heater_b = 1; + WRITE(HEATER_BED_PIN, 1); } } else { - // turn OFF heather only if the minimum time is up + // turn OFF heather only if the minimum time is up if (state_timer_heater_b == 0) { - // if change state set timer - if (state_heater_b == 1) { - state_timer_heater_b = MIN_STATE_TIME; - } - state_heater_b = 0; - WRITE(HEATER_BED_PIN, 0); + // if change state set timer + if (state_heater_b == 1) { + state_timer_heater_b = MIN_STATE_TIME; + } + state_heater_b = 0; + WRITE(HEATER_BED_PIN, 0); } } #endif } // if (slow_pwm_count == 0) - - // EXTRUDER 0 + + // EXTRUDER 0 if (soft_pwm_0 < slow_pwm_count) { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_0 == 0) { - // if change state set timer + // turn OFF heather only if the minimum time is up + if (state_timer_heater_0 == 0) { + // if change state set timer if (state_heater_0 == 1) { - state_timer_heater_0 = MIN_STATE_TIME; + state_timer_heater_0 = MIN_STATE_TIME; } state_heater_0 = 0; WRITE(HEATER_0_PIN, 0); @@ -1587,30 +1586,30 @@ ISR(TIMER0_COMPB_vect) #endif } } - + #if EXTRUDERS > 1 - // EXTRUDER 1 + // EXTRUDER 1 if (soft_pwm_1 < slow_pwm_count) { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_1 == 0) { - // if change state set timer + // turn OFF heather only if the minimum time is up + if (state_timer_heater_1 == 0) { + // if change state set timer if (state_heater_1 == 1) { - state_timer_heater_1 = MIN_STATE_TIME; + state_timer_heater_1 = MIN_STATE_TIME; } state_heater_1 = 0; WRITE(HEATER_1_PIN, 0); } } #endif - + #if EXTRUDERS > 2 // EXTRUDER 2 if (soft_pwm_2 < slow_pwm_count) { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_2 == 0) { - // if change state set timer + // turn OFF heather only if the minimum time is up + if (state_timer_heater_2 == 0) { + // if change state set timer if (state_heater_2 == 1) { - state_timer_heater_2 = MIN_STATE_TIME; + state_timer_heater_2 = MIN_STATE_TIME; } state_heater_2 = 0; WRITE(HEATER_2_PIN, 0); @@ -1621,33 +1620,33 @@ ISR(TIMER0_COMPB_vect) #if EXTRUDERS > 3 // EXTRUDER 3 if (soft_pwm_3 < slow_pwm_count) { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_3 == 0) { - // if change state set timer + // turn OFF heather only if the minimum time is up + if (state_timer_heater_3 == 0) { + // if change state set timer if (state_heater_3 == 1) { - state_timer_heater_3 = MIN_STATE_TIME; + state_timer_heater_3 = MIN_STATE_TIME; } state_heater_3 = 0; WRITE(HEATER_3_PIN, 0); } } #endif - + #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 // BED if (soft_pwm_b < slow_pwm_count) { - // turn OFF heather only if the minimum time is up - if (state_timer_heater_b == 0) { - // if change state set timer + // turn OFF heather only if the minimum time is up + if (state_timer_heater_b == 0) { + // if change state set timer if (state_heater_b == 1) { - state_timer_heater_b = MIN_STATE_TIME; + state_timer_heater_b = MIN_STATE_TIME; } state_heater_b = 0; WRITE(HEATER_BED_PIN, 0); } } #endif - + #ifdef FAN_SOFT_PWM if (pwm_count == 0){ soft_pwm_fan = fanSpeedSoftPwm / 2; @@ -1655,47 +1654,47 @@ ISR(TIMER0_COMPB_vect) } if (soft_pwm_fan < pwm_count) WRITE(FAN_PIN,0); #endif - + pwm_count += (1 << SOFT_PWM_SCALE); pwm_count &= 0x7f; - + // increment slow_pwm_count only every 64 pwm_count circa 65.5ms if ((pwm_count % 64) == 0) { slow_pwm_count++; slow_pwm_count &= 0x7f; - + // Extruder 0 if (state_timer_heater_0 > 0) { state_timer_heater_0--; - } - + } + #if EXTRUDERS > 1 // Extruder 1 - if (state_timer_heater_1 > 0) + if (state_timer_heater_1 > 0) state_timer_heater_1--; #endif - + #if EXTRUDERS > 2 // Extruder 2 - if (state_timer_heater_2 > 0) + if (state_timer_heater_2 > 0) state_timer_heater_2--; #endif #if EXTRUDERS > 3 // Extruder 3 - if (state_timer_heater_3 > 0) + if (state_timer_heater_3 > 0) state_timer_heater_3--; #endif - + #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1 - // Bed - if (state_timer_heater_b > 0) + // Bed + if (state_timer_heater_b > 0) state_timer_heater_b--; #endif } //if ((pwm_count % 64) == 0) { - + #endif //ifndef SLOW_PWM_HEATERS - + switch(temp_state) { case 0: // Prepare TEMP_0 #if defined(TEMP_0_PIN) && (TEMP_0_PIN > -1) @@ -1792,35 +1791,35 @@ ISR(TIMER0_COMPB_vect) #endif temp_state = 10; //change so that Filament Width is also measured break; - case 10: //Prepare FILWIDTH - #if defined(FILWIDTH_PIN) && (FILWIDTH_PIN> -1) - #if FILWIDTH_PIN>7 + case 10: //Prepare FILWIDTH + #if defined(FILWIDTH_PIN) && (FILWIDTH_PIN> -1) + #if FILWIDTH_PIN>7 ADCSRB = 1< -1) - //raw_filwidth_value += ADC; //remove to use an IIR filter approach + ADCSRB = 0; + #endif + ADMUX = ((1 << REFS0) | (FILWIDTH_PIN & 0x07)); + ADCSRA |= 1< -1) + //raw_filwidth_value += ADC; //remove to use an IIR filter approach if(ADC>102) //check that ADC is reading a voltage > 0.5 volts, otherwise don't take in the data. { - raw_filwidth_value= raw_filwidth_value-(raw_filwidth_value>>7); //multipliy raw_filwidth_value by 127/128 - - raw_filwidth_value= raw_filwidth_value + ((unsigned long)ADC<<7); //add new ADC reading + raw_filwidth_value= raw_filwidth_value-(raw_filwidth_value>>7); //multipliy raw_filwidth_value by 127/128 + + raw_filwidth_value= raw_filwidth_value + ((unsigned long)ADC<<7); //add new ADC reading } - #endif - temp_state = 0; - + #endif + temp_state = 0; + temp_count++; - break; - - + break; + + case 12: //Startup, delay initial temp reading a tiny bit so the hardware can settle. temp_state = 0; break; @@ -1829,7 +1828,7 @@ ISR(TIMER0_COMPB_vect) // SERIAL_ERRORLNPGM("Temp measurement error!"); // break; } - + if(temp_count >= OVERSAMPLENR) // 10 * 16 * 1/(16000000/64/256) = 164ms. { if (!temp_meas_ready) //Only update the raw values if they have been read. Else we could be updating them during reading. @@ -1852,12 +1851,12 @@ ISR(TIMER0_COMPB_vect) current_temperature_bed_raw = raw_temp_bed_value; } -//Add similar code for Filament Sensor - can be read any time since IIR filtering is used +//Add similar code for Filament Sensor - can be read any time since IIR filtering is used #if defined(FILWIDTH_PIN) &&(FILWIDTH_PIN > -1) - current_raw_filwidth = raw_filwidth_value>>10; //need to divide to get to 0-16384 range since we used 1/128 IIR filter approach + current_raw_filwidth = raw_filwidth_value>>10; //need to divide to get to 0-16384 range since we used 1/128 IIR filter approach #endif - - + + temp_meas_ready = true; temp_count = 0; raw_temp_0_value = 0; @@ -1948,12 +1947,12 @@ ISR(TIMER0_COMPB_vect) } #endif } - + #ifdef BABYSTEPPING for(uint8_t axis=0;axis<3;axis++) { int curTodo=babystepsTodo[axis]; //get rid of volatile for performance - + if(curTodo>0) { babystep(axis,/*fwd*/true); @@ -1975,12 +1974,12 @@ ISR(TIMER0_COMPB_vect) float scalePID_i(float i) { - return i*PID_dT; + return i*PID_dT; } float unscalePID_i(float i) { - return i/PID_dT; + return i/PID_dT; } float scalePID_d(float d) @@ -1990,7 +1989,7 @@ float scalePID_d(float d) float unscalePID_d(float d) { - return d*PID_dT; + return d*PID_dT; } #endif //PIDTEMP