diff options
Diffstat (limited to 'Sprinter/heater.cpp')
| -rw-r--r-- | Sprinter/heater.cpp | 422 |
1 files changed, 357 insertions, 65 deletions
diff --git a/Sprinter/heater.cpp b/Sprinter/heater.cpp index c02924c..8283373 100644 --- a/Sprinter/heater.cpp +++ b/Sprinter/heater.cpp @@ -32,6 +32,10 @@ void controllerFan(void); #endif +#ifdef EXTRUDERFAN_PIN + void extruderFan(void); +#endif + // Manage heater variables. For a thermistor or AD595 thermocouple, raw values refer to the // reading from the analog pin. For a MAX6675 thermocouple, the raw value is the temperature in 0.25 // degree increments (i.e. 100=25 deg). @@ -50,8 +54,8 @@ unsigned long previous_millis_heater, previous_millis_bed_heater, previous_milli #ifdef PIDTEMP volatile unsigned char g_heater_pwm_val = 0; - unsigned char PWM_off_time = 0; - unsigned char PWM_out_on = 0; + //unsigned char PWM_off_time = 0; + //unsigned char PWM_out_on = 0; int temp_iState = 0; int temp_dState = 0; @@ -62,11 +66,15 @@ unsigned long previous_millis_heater, previous_millis_bed_heater, previous_milli //int output; int error; int heater_duty = 0; - const int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; - const int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; + int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; + int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; #endif +#if defined(FAN_SOFT_PWM) && (FAN_PIN > -1) + volatile unsigned char g_fan_pwm_val = 0; +#endif + #ifdef AUTOTEMP float autotemp_max=AUTO_TEMP_MAX; float autotemp_min=AUTO_TEMP_MIN; @@ -155,90 +163,347 @@ int read_max6675() #endif -#ifdef PID_SOFT_PWM +//------------------------------------------------------------------------ +// Soft PWM for Heater and FAN +//------------------------------------------------------------------------ +#if defined(PID_SOFT_PWM) || (defined(FAN_SOFT_PWM) && (FAN_PIN > -1)) void init_Timer2_softpwm(void) { // This is a simple SOFT PWM with 500 Hz for Extruder Heating - TIFR2 = (1 << TOV2); // clear interrupt flag TCCR2B = (1 << CS22) | (1 << CS20); // start timer (ck/128 prescalar) - TCCR2A = (1 << WGM21); // CTC mode - OCR2A = 128; // We want to have at least 30Hz or else it gets choppy - TIMSK2 = (1 << OCIE2A); // enable timer2 output compare match interrupt - + TCCR2A = 0;//(1 << WGM21); // Normal mode + + TIMSK2 |= (1 << TOIE2); + + #ifdef PID_SOFT_PWM + OCR2A = 128; // We want to have at least 500Hz or else it gets choppy + TIMSK2 |= (1 << OCIE2A); // enable timer2 output compare match interrupt + #endif + + #if defined(FAN_SOFT_PWM) && (FAN_PIN > -1) + OCR2B = 128; // We want to have at least 500Hz or else it gets choppy + TIMSK2 |= (1 << OCIE2B); // enable timer2 output compare match interrupt + #endif + } +#endif +#if defined(PID_SOFT_PWM) || (defined(FAN_SOFT_PWM) && (FAN_PIN > -1)) +ISR(TIMER2_OVF_vect) +{ + + //-------------------------------------- + // Soft PWM, Heater, start PWM cycle + //-------------------------------------- + #ifdef PID_SOFT_PWM + if(g_heater_pwm_val >= 2) + { + #if LED_PIN > -1 + WRITE(LED_PIN,HIGH); + #endif + WRITE(HEATER_0_PIN,HIGH); - ISR(TIMER2_COMPA_vect) - { - - - if(g_heater_pwm_val < 2) + if(g_heater_pwm_val <= 253) + OCR2A = g_heater_pwm_val; + else + OCR2A = 192; + } + else { #if LED_PIN > -1 WRITE(LED_PIN,LOW); #endif WRITE(HEATER_0_PIN,LOW); - PWM_out_on = 0; - OCR2A = 128; + OCR2A = 192; } - else if(g_heater_pwm_val > 253) + #endif + + //-------------------------------------- + // Soft PWM, Fan, start PWM cycle + //-------------------------------------- + #if defined(FAN_SOFT_PWM) && (FAN_PIN > -1) + if(g_fan_pwm_val >= 2) { - #if LED_PIN > -1 - WRITE(LED_PIN,HIGH); - #endif - WRITE(HEATER_0_PIN,HIGH); - PWM_out_on = 1; - OCR2A = 128; + #if (FAN_PIN > -1) + WRITE(FAN_PIN,HIGH); + #endif + + if(g_fan_pwm_val <= 253) + OCR2B = g_fan_pwm_val; + else + OCR2B = 128; } else { - - if(PWM_out_on == 1) - { - - #if LED_PIN > -1 - WRITE(LED_PIN,LOW); - #endif - WRITE(HEATER_0_PIN,LOW); - PWM_out_on = 0; - OCR2A = PWM_off_time; - } - else - { - - #if LED_PIN > -1 - WRITE(LED_PIN,HIGH); - #endif - WRITE(HEATER_0_PIN,HIGH); - PWM_out_on = 1; - - if(g_heater_pwm_val > 253) - { - OCR2A = 253; - PWM_off_time = 2; - } - else if(g_heater_pwm_val < 2) - { - OCR2A = 2; - PWM_off_time = 253; - } - else - { - OCR2A = g_heater_pwm_val; - PWM_off_time = 255 - g_heater_pwm_val; - } - - } + #if (FAN_PIN > -1) + WRITE(FAN_PIN,LOW); + #endif + + OCR2B = 128; } - + #endif + +} +#endif + + + #ifdef PID_SOFT_PWM + ISR(TIMER2_COMPA_vect) + { + + + if(g_heater_pwm_val > 253) + { + #if LED_PIN > -1 + WRITE(LED_PIN,HIGH); + #endif + WRITE(HEATER_0_PIN,HIGH); + } + else + { + #if LED_PIN > -1 + WRITE(LED_PIN,LOW); + #endif + WRITE(HEATER_0_PIN,LOW); + } + + } #endif + + #if defined(FAN_SOFT_PWM) && (FAN_PIN > -1) + ISR(TIMER2_COMPB_vect) + { + + + if(g_fan_pwm_val > 253) + { + #if (FAN_PIN > -1) + WRITE(FAN_PIN,HIGH); + #endif + } + else + { + #if (FAN_PIN > -1) + WRITE(FAN_PIN,LOW); + #endif + } + + + } + #endif + //--------------------END SOFT PWM--------------------------- + +//-------------------- START PID AUTOTUNE --------------------------- +// Based on PID relay test +// Thanks to Erik van der Zalm for this idea to use it for Marlin +// Some information see: +// http://brettbeauregard.com/blog/2012/01/arduino-pid-autotune-library/ +//------------------------------------------------------------------ +#ifdef PID_AUTOTUNE +void PID_autotune(int PIDAT_test_temp) +{ + float PIDAT_input = 0; + int PIDAT_input_help = 0; + unsigned char PIDAT_count_input = 0; + + float PIDAT_max, PIDAT_min; + + unsigned char PIDAT_PWM_val = 255; + + unsigned char PIDAT_cycles=0; + bool PIDAT_heating = true; + + unsigned long PIDAT_temp_millis = millis(); + unsigned long PIDAT_t1=PIDAT_temp_millis; + unsigned long PIDAT_t2=PIDAT_temp_millis; + unsigned long PIDAT_T_check_AI_val = PIDAT_temp_millis; + + unsigned char PIDAT_cycle_cnt = 0; + + long PIDAT_t_high; + long PIDAT_t_low; + + long PIDAT_bias= 127; + long PIDAT_d = 127; + + float PIDAT_Ku, PIDAT_Tu; + float PIDAT_Kp, PIDAT_Ki, PIDAT_Kd; + + #define PIDAT_TIME_FACTOR ((HEATER_CHECK_INTERVAL*256.0) / 1000.0) + + showString(PSTR("PID Autotune start\r\n")); + + target_temp = PIDAT_test_temp; + + #ifdef BED_USES_THERMISTOR + WRITE(HEATER_1_PIN,LOW); + #endif + + for(;;) + { + if((millis() - PIDAT_T_check_AI_val) > 100 ) + { + PIDAT_T_check_AI_val = millis(); + PIDAT_cycle_cnt++; + + #ifdef HEATER_USES_THERMISTOR + current_raw = analogRead(TEMP_0_PIN); + current_raw = 1023 - current_raw; + PIDAT_input_help += analog2temp(current_raw); + PIDAT_count_input++; + #elif defined HEATER_USES_AD595 + current_raw = analogRead(TEMP_0_PIN); + PIDAT_input_help += analog2temp(current_raw); + PIDAT_count_input++; + #elif defined HEATER_USES_MAX6675 + current_raw = read_max6675(); + PIDAT_input_help += analog2temp(current_raw); + PIDAT_count_input++; + #endif + } + + if(PIDAT_cycle_cnt >= 10 ) + { + + PIDAT_cycle_cnt = 0; + + PIDAT_input = (float)PIDAT_input_help / (float)PIDAT_count_input; + PIDAT_input_help = 0; + PIDAT_count_input = 0; + + PIDAT_max=max(PIDAT_max,PIDAT_input); + PIDAT_min=min(PIDAT_min,PIDAT_input); + + if(PIDAT_heating == true && PIDAT_input > PIDAT_test_temp) + { + if(millis() - PIDAT_t2 > 5000) + { + PIDAT_heating = false; + PIDAT_PWM_val = (PIDAT_bias - PIDAT_d); + PIDAT_t1 = millis(); + PIDAT_t_high = PIDAT_t1 - PIDAT_t2; + PIDAT_max = PIDAT_test_temp; + } + } + + if(PIDAT_heating == false && PIDAT_input < PIDAT_test_temp) + { + if(millis() - PIDAT_t1 > 5000) + { + PIDAT_heating = true; + PIDAT_t2 = millis(); + PIDAT_t_low = PIDAT_t2 - PIDAT_t1; + + if(PIDAT_cycles > 0) + { + PIDAT_bias += (PIDAT_d*(PIDAT_t_high - PIDAT_t_low))/(PIDAT_t_low + PIDAT_t_high); + PIDAT_bias = constrain(PIDAT_bias, 20 ,235); + if(PIDAT_bias > 127) PIDAT_d = 254 - PIDAT_bias; + else PIDAT_d = PIDAT_bias; + + showString(PSTR(" bias: ")); Serial.print(PIDAT_bias); + showString(PSTR(" d: ")); Serial.print(PIDAT_d); + showString(PSTR(" min: ")); Serial.print(PIDAT_min); + showString(PSTR(" max: ")); Serial.println(PIDAT_max); + + if(PIDAT_cycles > 2) + { + PIDAT_Ku = (4.0*PIDAT_d)/(3.14159*(PIDAT_max-PIDAT_min)); + PIDAT_Tu = ((float)(PIDAT_t_low + PIDAT_t_high)/1000.0); + + showString(PSTR(" Ku: ")); Serial.print(PIDAT_Ku); + showString(PSTR(" Tu: ")); Serial.println(PIDAT_Tu); + + PIDAT_Kp = 0.60*PIDAT_Ku; + PIDAT_Ki = 2*PIDAT_Kp/PIDAT_Tu; + PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/8; + showString(PSTR(" Clasic PID \r\n")); + //showString(PSTR(" Kp: ")); Serial.println(PIDAT_Kp); + //showString(PSTR(" Ki: ")); Serial.println(PIDAT_Ki); + //showString(PSTR(" Kd: ")); Serial.println(PIDAT_Kd); + showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256)); + showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR)); + showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR)); + + PIDAT_Kp = 0.30*PIDAT_Ku; + PIDAT_Ki = PIDAT_Kp/PIDAT_Tu; + PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/3; + showString(PSTR(" Some overshoot \r\n")); + showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256)); + showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR)); + showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR)); + /* + PIDAT_Kp = 0.20*PIDAT_Ku; + PIDAT_Ki = 2*PIDAT_Kp/PIDAT_Tu; + PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/3; + showString(PSTR(" No overshoot \r\n")); + showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256)); + showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR)); + showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR)); + */ + } + } + PIDAT_PWM_val = (PIDAT_bias + PIDAT_d); + PIDAT_cycles++; + PIDAT_min = PIDAT_test_temp; + } + } + + #ifdef PID_SOFT_PWM + g_heater_pwm_val = PIDAT_PWM_val; + #else + analogWrite_check(HEATER_0_PIN, PIDAT_PWM_val); + #if LED_PIN>-1 + analogWrite_check(LED_PIN, PIDAT_PWM_val); + #endif + #endif + } + + if(PIDAT_input > (PIDAT_test_temp + 20)) + { + showString(PSTR("PID Autotune failed! Temperature to high\r\n")); + return; + } + + if(millis() - PIDAT_temp_millis > 2000) + { + PIDAT_temp_millis = millis(); + showString(PSTR("ok T:")); + Serial.print(PIDAT_input); + showString(PSTR(" @:")); + Serial.println((unsigned char)PIDAT_PWM_val*1); + } + + if(((millis() - PIDAT_t1) + (millis() - PIDAT_t2)) > (10L*60L*1000L*2L)) + { + showString(PSTR("PID Autotune failed! timeout\r\n")); + return; + } + + if(PIDAT_cycles > 5) + { + showString(PSTR("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h\r\n")); + return; + } + } +} +#endif +//---------------- END AUTOTUNE PID ------------------------------ + + void updatePID() + { + #ifdef PIDTEMP + temp_iState_min = (256L * -PID_INTEGRAL_DRIVE_MAX) / PID_Ki; + temp_iState_max = (256L * PID_INTEGRAL_DRIVE_MAX) / PID_Ki; + #endif + } void manage_heater() { @@ -247,6 +512,8 @@ int read_max6675() if((millis() - previous_millis_monitor) > 250 ) { previous_millis_monitor = millis(); + + if(manage_monitor <= 1) { showString(PSTR("MTEMP:")); @@ -378,7 +645,7 @@ int read_max6675() int delta_temp = current_temp - prev_temp; prev_temp = current_temp; - pTerm = ((long)PID_PGAIN * error) / 256; + pTerm = ((long)PID_Kp * error) / 256; const int H0 = min(HEATER_DUTY_FOR_SETPOINT(target_temp),HEATER_CURRENT); heater_duty = H0 + pTerm; @@ -386,7 +653,7 @@ int read_max6675() { temp_iState += error; temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); - iTerm = ((long)PID_IGAIN * temp_iState) / 256; + iTerm = ((long)PID_Ki * temp_iState) / 256; heater_duty += iTerm; } @@ -397,7 +664,7 @@ int read_max6675() if(prev_error > 9){ prev_error /= 9; log3 += 2; } if(prev_error > 3){ prev_error /= 3; log3 ++; } - dTerm = ((long)PID_DGAIN * delta_temp) / (256*log3); + dTerm = ((long)PID_Kd * delta_temp) / (256*log3); heater_duty += dTerm; heater_duty = constrain(heater_duty, 0, HEATER_CURRENT); @@ -491,6 +758,10 @@ int read_max6675() controllerFan(); //Check if fan should be turned on to cool stepper drivers down #endif +#ifdef EXTRUDERFAN_PIN + extruderFan(); //Check if fan should be turned on to cool extruder down +#endif + } #if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR) @@ -601,3 +872,24 @@ void controllerFan() } #endif +#ifdef EXTRUDERFAN_PIN +unsigned long lastExtruderCheck = 0; + +void extruderFan() +{ + if ((millis() - lastExtruderCheck) >= 2500) //Not a time critical function, so we only check every 2500ms + { + lastExtruderCheck = millis(); + + if (analog2temp(current_raw) < EXTRUDERFAN_DEC) + { + WRITE(EXTRUDERFAN_PIN, LOW); //... turn the fan off + } + else + { + WRITE(EXTRUDERFAN_PIN, HIGH); //... turn the fan on + } + } +} +#endif + |