@ -75,6 +75,10 @@
//============================= public variables ============================
//===========================================================================
# ifdef K1 // Defined in Configuration.h in the PID settings
# define K2 (1.0-K1)
# endif
// Sampling period of the temperature routine
# ifdef PID_dT
# undef PID_dT
@ -127,8 +131,6 @@ static volatile bool temp_meas_ready = false;
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
# ifdef PIDTEMPBED
@ -546,12 +548,102 @@ void bed_max_temp_error(void) {
_temp_error ( - 1 , MSG_MAXTEMP_BED_OFF , MSG_ERR_MAXTEMP_BED ) ;
}
float get_pid_output ( int e ) {
float pid_output ;
# ifdef PIDTEMP
# ifndef PID_OPENLOOP
pid_error [ e ] = target_temperature [ e ] - current_temperature [ e ] ;
if ( pid_error [ e ] > PID_FUNCTIONAL_RANGE ) {
pid_output = BANG_MAX ;
pid_reset [ e ] = true ;
}
else if ( pid_error [ e ] < - PID_FUNCTIONAL_RANGE | | target_temperature [ e ] = = 0 ) {
pid_output = 0 ;
pid_reset [ e ] = true ;
}
else {
if ( pid_reset [ e ] ) {
temp_iState [ e ] = 0.0 ;
pid_reset [ e ] = false ;
}
pTerm [ e ] = PID_PARAM ( Kp , e ) * pid_error [ e ] ;
temp_iState [ e ] + = pid_error [ e ] ;
temp_iState [ e ] = constrain ( temp_iState [ e ] , temp_iState_min [ e ] , temp_iState_max [ e ] ) ;
iTerm [ e ] = PID_PARAM ( Ki , e ) * temp_iState [ e ] ;
dTerm [ e ] = K2 * PID_PARAM ( Kd , e ) * ( current_temperature [ e ] - temp_dState [ e ] ) + 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 ] ; // conditional un-integration
pid_output = PID_MAX ;
}
else if ( pid_output < 0 ) {
if ( pid_error [ e ] < 0 ) temp_iState [ e ] - = pid_error [ e ] ; // conditional un-integration
pid_output = 0 ;
}
}
temp_dState [ e ] = current_temperature [ e ] ;
# else
pid_output = constrain ( target_temperature [ e ] , 0 , PID_MAX ) ;
# endif //PID_OPENLOOP
# ifdef PID_DEBUG
SERIAL_ECHO_START ;
SERIAL_ECHO ( MSG_PID_DEBUG ) ;
SERIAL_ECHO ( e ) ;
SERIAL_ECHO ( MSG_PID_DEBUG_INPUT ) ;
SERIAL_ECHO ( current_temperature [ e ] ) ;
SERIAL_ECHO ( MSG_PID_DEBUG_OUTPUT ) ;
SERIAL_ECHO ( pid_output ) ;
SERIAL_ECHO ( MSG_PID_DEBUG_PTERM ) ;
SERIAL_ECHO ( pTerm [ e ] ) ;
SERIAL_ECHO ( MSG_PID_DEBUG_ITERM ) ;
SERIAL_ECHO ( iTerm [ e ] ) ;
SERIAL_ECHO ( MSG_PID_DEBUG_DTERM ) ;
SERIAL_ECHOLN ( dTerm [ e ] ) ;
# endif //PID_DEBUG
# else /* PID off */
pid_output = ( current_temperature [ e ] < target_temperature [ e ] ) ? PID_MAX : 0 ;
# endif
return pid_output ;
}
# ifdef PIDTEMPBED
float get_pid_output_bed ( ) {
float pid_output ;
# ifndef PID_OPENLOOP
pid_error_bed = target_temperature_bed - current_temperature_bed ;
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 ;
dTerm_bed = K2 * bedKd * ( current_temperature_bed - temp_dState_bed ) + K1 * dTerm_bed ;
temp_dState_bed = current_temperature_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 ;
}
else if ( pid_output < 0 ) {
if ( pid_error_bed < 0 ) temp_iState_bed - = pid_error_bed ; // conditional un-integration
pid_output = 0 ;
}
# else
pid_output = constrain ( target_temperature_bed , 0 , MAX_BED_POWER ) ;
# endif // PID_OPENLOOP
return pid_output ;
}
# endif
void manage_heater ( ) {
if ( ! temp_meas_ready ) return ;
float pid_input , pid_output ;
updateTemperaturesFromRawValues ( ) ;
# ifdef HEATER_0_USES_MAX6675
@ -569,69 +661,7 @@ void manage_heater() {
thermal_runaway_protection ( & thermal_runaway_state_machine [ e ] , & thermal_runaway_timer [ e ] , current_temperature [ e ] , target_temperature [ e ] , e , THERMAL_RUNAWAY_PROTECTION_PERIOD , THERMAL_RUNAWAY_PROTECTION_HYSTERESIS ) ;
# endif
# ifdef PIDTEMP
pid_input = current_temperature [ e ] ;
# ifndef PID_OPENLOOP
pid_error [ e ] = target_temperature [ e ] - pid_input ;
if ( pid_error [ e ] > PID_FUNCTIONAL_RANGE ) {
pid_output = BANG_MAX ;
pid_reset [ e ] = true ;
}
else if ( pid_error [ e ] < - PID_FUNCTIONAL_RANGE | | target_temperature [ e ] = = 0 ) {
pid_output = 0 ;
pid_reset [ e ] = true ;
}
else {
if ( pid_reset [ e ] = = true ) {
temp_iState [ e ] = 0.0 ;
pid_reset [ e ] = false ;
}
pTerm [ e ] = PID_PARAM ( Kp , e ) * pid_error [ e ] ;
temp_iState [ e ] + = pid_error [ e ] ;
temp_iState [ e ] = constrain ( temp_iState [ e ] , temp_iState_min [ e ] , temp_iState_max [ e ] ) ;
iTerm [ e ] = PID_PARAM ( Ki , e ) * temp_iState [ e ] ;
//K1 defined in Configuration.h in the PID settings
# define K2 (1.0-K1)
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 ] ; // conditional un-integration
pid_output = PID_MAX ;
}
else if ( pid_output < 0 ) {
if ( pid_error [ e ] < 0 ) temp_iState [ e ] - = pid_error [ e ] ; // conditional un-integration
pid_output = 0 ;
}
}
temp_dState [ e ] = pid_input ;
# else
pid_output = constrain ( target_temperature [ e ] , 0 , PID_MAX ) ;
# endif //PID_OPENLOOP
# ifdef PID_DEBUG
SERIAL_ECHO_START ;
SERIAL_ECHO ( MSG_PID_DEBUG ) ;
SERIAL_ECHO ( e ) ;
SERIAL_ECHO ( MSG_PID_DEBUG_INPUT ) ;
SERIAL_ECHO ( pid_input ) ;
SERIAL_ECHO ( MSG_PID_DEBUG_OUTPUT ) ;
SERIAL_ECHO ( pid_output ) ;
SERIAL_ECHO ( MSG_PID_DEBUG_PTERM ) ;
SERIAL_ECHO ( pTerm [ e ] ) ;
SERIAL_ECHO ( MSG_PID_DEBUG_ITERM ) ;
SERIAL_ECHO ( iTerm [ e ] ) ;
SERIAL_ECHO ( MSG_PID_DEBUG_DTERM ) ;
SERIAL_ECHOLN ( dTerm [ e ] ) ;
# endif //PID_DEBUG
# else /* PID off */
pid_output = 0 ;
if ( current_temperature [ e ] < target_temperature [ e ] ) pid_output = PID_MAX ;
# endif
float pid_output = get_pid_output ( e ) ;
// Check if temperature is within the correct range
soft_pwm [ e ] = current_temperature [ e ] > minttemp [ e ] & & current_temperature [ e ] < maxttemp [ e ] ? ( int ) pid_output > > 1 : 0 ;
@ -678,33 +708,7 @@ void manage_heater() {
# endif
# ifdef PIDTEMPBED
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 ;
//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 ;
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 ;
}
else if ( pid_output < 0 ) {
if ( pid_error_bed < 0 ) temp_iState_bed - = pid_error_bed ; // conditional un-integration
pid_output = 0 ;
}
# else
pid_output = constrain ( target_temperature_bed , 0 , MAX_BED_POWER ) ;
# endif //PID_OPENLOOP
float pid_output = get_pid_output_bed ( ) ;
soft_pwm_bed = current_temperature_bed > BED_MINTEMP & & current_temperature_bed < BED_MAXTEMP ? ( int ) pid_output > > 1 : 0 ;
@ -878,8 +882,8 @@ 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 < < JTD ) ;
MCUCR = ( 1 < < JTD ) ;
MCUCR = BIT ( JTD ) ;
MCUCR = BIT ( JTD ) ;
# endif
// Finish init of mult extruder arrays
@ -937,13 +941,13 @@ void tp_init()
# endif //HEATER_0_USES_MAX6675
# ifdef DIDR2
# define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= 1 << pin; else DIDR2 |= 1 << (pin - 8); }while(0)
# define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= BIT(pin); else DIDR2 |= BIT (pin - 8); }while(0)
# else
# define ANALOG_SELECT(pin) do{ DIDR0 |= 1 << pin ; }while(0)
# define ANALOG_SELECT(pin) do{ DIDR0 |= BIT(pin) ; }while(0)
# endif
// Set analog inputs
ADCSRA = 1 < < ADEN | 1 < < ADSC | 1 < < ADIF | 0x07 ;
ADCSRA = BIT ( ADEN ) | BIT ( ADSC ) | BIT ( ADIF ) | 0x07 ;
DIDR0 = 0 ;
# ifdef DIDR2
DIDR2 = 0 ;
@ -970,7 +974,7 @@ void tp_init()
// Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt
OCR0B = 128 ;
TIMSK0 | = ( 1 < < OCIE0B ) ;
TIMSK0 | = BIT ( OCIE0B ) ;
// Wait for temperature measurement to settle
delay ( 250 ) ;
@ -1174,12 +1178,12 @@ void disable_heater() {
max6675_temp = 0 ;
# ifdef PRR
PRR & = ~ ( 1 < < PRSPI ) ;
PRR & = ~ BIT ( PRSPI ) ;
# elif defined(PRR0)
PRR0 & = ~ ( 1 < < PRSPI ) ;
PRR0 & = ~ BIT ( PRSPI ) ;
# endif
SPCR = ( 1 < < MSTR ) | ( 1 < < SPE ) | ( 1 < < SPR0 ) ;
SPCR = BIT ( MSTR ) | BIT ( SPE ) | BIT ( SPR0 ) ;
// enable TT_MAX6675
WRITE ( MAX6675_SS , 0 ) ;
@ -1190,13 +1194,13 @@ void disable_heater() {
// read MSB
SPDR = 0 ;
for ( ; ( SPSR & ( 1 < < SPIF ) ) = = 0 ; ) ;
for ( ; ( SPSR & BIT ( SPIF ) ) = = 0 ; ) ;
max6675_temp = SPDR ;
max6675_temp < < = 8 ;
// read LSB
SPDR = 0 ;
for ( ; ( SPSR & ( 1 < < SPIF ) ) = = 0 ; ) ;
for ( ; ( SPSR & BIT ( SPIF ) ) = = 0 ; ) ;
max6675_temp | = SPDR ;
// disable TT_MAX6675
@ -1246,7 +1250,7 @@ ISR(TIMER0_COMPB_vect) {
static unsigned long raw_temp_3_value = 0 ;
static unsigned long raw_temp_bed_value = 0 ;
static TempState temp_state = StartupDelay ;
static unsigned char pwm_count = ( 1 < < SOFT_PWM_SCALE ) ;
static unsigned char pwm_count = BIT ( SOFT_PWM_SCALE ) ;
// Static members for each heater
# ifdef SLOW_PWM_HEATERS
@ -1331,7 +1335,7 @@ ISR(TIMER0_COMPB_vect) {
if ( soft_pwm_fan < pwm_count ) WRITE_FAN ( 0 ) ;
# endif
pwm_count + = ( 1 < < SOFT_PWM_SCALE ) ;
pwm_count + = BIT ( SOFT_PWM_SCALE ) ;
pwm_count & = 0x7f ;
# else // SLOW_PWM_HEATERS
@ -1412,7 +1416,7 @@ ISR(TIMER0_COMPB_vect) {
if ( soft_pwm_fan < pwm_count ) WRITE_FAN ( 0 ) ;
# endif //FAN_SOFT_PWM
pwm_count + = ( 1 < < SOFT_PWM_SCALE ) ;
pwm_count + = BIT ( SOFT_PWM_SCALE ) ;
pwm_count & = 0x7f ;
// increment slow_pwm_count only every 64 pwm_count circa 65.5ms
@ -1438,9 +1442,9 @@ ISR(TIMER0_COMPB_vect) {
# endif // SLOW_PWM_HEATERS
# define SET_ADMUX_ADCSRA(pin) ADMUX = (1 << REFS0) | (pin & 0x07); ADCSRA |= 1<<ADSC
# define SET_ADMUX_ADCSRA(pin) ADMUX = BIT(REFS0) | (pin & 0x07); ADCSRA |= BIT(ADSC)
# ifdef MUX5
# define START_ADC(pin) if (pin > 7) ADCSRB = 1 << MUX5 ; else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
# define START_ADC(pin) if (pin > 7) ADCSRB = BIT(MUX5) ; else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
# else
# define START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
# endif
Scott Lahteine
10 years ago