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Extruder.cpp
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1299 lines (1247 loc) · 47.1 KB
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/*
This file is part of Repetier-Firmware.
Repetier-Firmware 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.
Repetier-Firmware 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 Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
This firmware is a nearly complete rewrite of the sprinter firmware
by kliment (https://github.com/kliment/Sprinter)
which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
*/
#include "Repetier.h"
#include "pins_arduino.h"
#include "ui.h"
#if EEPROM_MODE!=0
#include "Eeprom.h"
#endif
uint8_t manageMonitor = 255; ///< Temp. we want to monitor with our host. 1+NUM_EXTRUDER is heated bed
unsigned int counterPeriodical = 0;
volatile uint8_t executePeriodical = 0;
uint8_t counter250ms=25;
#if FEATURE_DITTO_PRINTING
uint8_t Extruder::dittoMode = 0;
#endif
#ifdef SUPPORT_MAX6675
extern int16_t read_max6675(uint8_t ss_pin);
#endif
#ifdef SUPPORT_MAX31855
extern int16_t read_max31855(uint8_t ss_pin);
#endif
#if ANALOG_INPUTS>0
const uint8 osAnalogInputChannels[] PROGMEM = ANALOG_INPUT_CHANNELS;
uint8 osAnalogInputCounter[ANALOG_INPUTS];
uint osAnalogInputBuildup[ANALOG_INPUTS];
uint8 osAnalogInputPos=0; // Current sampling position
volatile uint osAnalogInputValues[ANALOG_INPUTS];
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_1
short temptable_generic1[GENERIC_THERM_NUM_ENTRIES][2];
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_2
short temptable_generic2[GENERIC_THERM_NUM_ENTRIES][2];
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_3
short temptable_generic3[GENERIC_THERM_NUM_ENTRIES][2];
#endif
/** Makes updates to temperatures and heater state every call.
Is called every 100ms.
*/
static uint8_t extruderTempErrors = 0;
void Extruder::manageTemperatures()
{
#if FEATURE_WATCHDOG
HAL::pingWatchdog();
#endif // FEATURE_WATCHDOG
uint8_t errorDetected = 0;
for(uint8_t controller=0; controller<NUM_TEMPERATURE_LOOPS; controller++)
{
if(controller == autotuneIndex) continue;
TemperatureController *act = tempController[controller];
// Get Temperature
//int oldTemp = act->currentTemperatureC;
act->updateCurrentTemperature();
if(controller<NUM_EXTRUDER)
{
#if NUM_EXTRUDER>=2 && EXT0_EXTRUDER_COOLER_PIN==EXT1_EXTRUDER_COOLER_PIN && EXT0_EXTRUDER_COOLER_PIN>=0
if(controller==1 && autotuneIndex!=0 && autotuneIndex!=1)
if(tempController[0]->currentTemperatureC<EXTRUDER_FAN_COOL_TEMP && tempController[0]->targetTemperatureC<EXTRUDER_FAN_COOL_TEMP &&
tempController[1]->currentTemperatureC<EXTRUDER_FAN_COOL_TEMP && tempController[1]->targetTemperatureC<EXTRUDER_FAN_COOL_TEMP)
extruder[0].coolerPWM = 0;
else
extruder[0].coolerPWM = extruder[0].coolerSpeed;
if(controller>1)
#endif // NUM_EXTRUDER
if(act->currentTemperatureC<EXTRUDER_FAN_COOL_TEMP && act->targetTemperatureC<EXTRUDER_FAN_COOL_TEMP)
extruder[controller].coolerPWM = 0;
else
extruder[controller].coolerPWM = extruder[controller].coolerSpeed;
}
if(!Printer::isAnyTempsensorDefect() && (act->currentTemperatureC < MIN_DEFECT_TEMPERATURE || act->currentTemperatureC > MAX_DEFECT_TEMPERATURE)) // no temp sensor or short in sensor, disable heater
{
extruderTempErrors++;
errorDetected = 1;
if(extruderTempErrors > 10) // Ignore short temporary failures
{
Printer::flag0 |= PRINTER_FLAG0_TEMPSENSOR_DEFECT;
reportTempsensorError();
}
}
if(Printer::isAnyTempsensorDefect()) continue;
uint8_t on = act->currentTemperature>=act->targetTemperature ? LOW : HIGH;
if(!on && act->isAlarm()) {
beep(50*(controller+1),3);
act->setAlarm(false); //reset alarm
}
#ifdef TEMP_PID
act->tempArray[act->tempPointer++] = act->currentTemperatureC;
act->tempPointer &= 3;
if(act->heatManager == 1)
{
uint8_t output;
float error = act->targetTemperatureC - act->currentTemperatureC;
if(act->targetTemperatureC<20.0f) output = 0; // off is off, even if damping term wants a heat peak!
else if(error>PID_CONTROL_RANGE)
output = act->pidMax;
else if(error<-PID_CONTROL_RANGE)
output = 0;
else
{
float pidTerm = act->pidPGain * error;
act->tempIState = constrain(act->tempIState+error,act->tempIStateLimitMin,act->tempIStateLimitMax);
pidTerm += act->pidIGain * act->tempIState*0.1;
long dgain = act->pidDGain * (act->tempArray[act->tempPointer]-act->currentTemperatureC)*3.333f;
pidTerm += dgain;
#if SCALE_PID_TO_MAX==1
pidTerm = (pidTerm*act->pidMax)*0.0039062;
#endif
output = constrain((int)pidTerm, 0, act->pidMax);
}
pwm_pos[act->pwmIndex] = output;
}
else if(act->heatManager == 3) // deat-time control
{
uint8_t output;
float error = act->targetTemperatureC - act->currentTemperatureC;
if(act->targetTemperatureC<20.0f)
output = 0; // off is off, even if damping term wants a heat peak!
else if(error>PID_CONTROL_RANGE)
output = act->pidMax;
else if(error < -PID_CONTROL_RANGE)
output = 0;
else
{
float raising = 3.333 * (act->currentTemperatureC - act->tempArray[act->tempPointer]); // raising dT/dt, 3.33 = reciproke of time interval (300 ms)
act->tempIState = 0.25 * (3.0 * act->tempIState + raising); // damp raising
output = (act->currentTemperatureC + act->tempIState * act->pidPGain > act->targetTemperatureC ? 0 : output = act->pidDriveMax);
}
pwm_pos[act->pwmIndex] = output;
}
else
#endif
if(act->heatManager == 2) // Bang-bang with reduced change frequency to save relais life
{
unsigned long time = HAL::timeInMilliseconds();
if (time - act->lastTemperatureUpdate > HEATED_BED_SET_INTERVAL)
{
pwm_pos[act->pwmIndex] = (on ? 255 : 0);
act->lastTemperatureUpdate = time;
}
}
else // Fast Bang-Bang fallback
{
pwm_pos[act->pwmIndex] = (on ? 255 : 0);
}
#ifdef MAXTEMP
if(act->currentTemperatureC>MAXTEMP) // Force heater off if MAXTEMP is exceeded
pwm_pos[act->pwmIndex] = 0;
#endif
#if LED_PIN>-1
if(act == &Extruder::current->tempControl)
WRITE(LED_PIN,on);
#endif
}
if(errorDetected == 0 && extruderTempErrors>0)
extruderTempErrors--;
if(Printer::isAnyTempsensorDefect())
{
for(uint8_t i=0; i<NUM_TEMPERATURE_LOOPS; i++)
{
pwm_pos[tempController[i]->pwmIndex] = 0;
}
Printer::debugLevel |= 8; // Go into dry mode
}
}
void Extruder::initHeatedBed()
{
#if HAVE_HEATED_BED
#ifdef TEMP_PID
heatedBedController.updateTempControlVars();
#endif
#endif
}
#if defined(USE_GENERIC_THERMISTORTABLE_1) || defined(USE_GENERIC_THERMISTORTABLE_2) || defined(USE_GENERIC_THERMISTORTABLE_3)
void createGenericTable(short table[GENERIC_THERM_NUM_ENTRIES][2],short minTemp,short maxTemp,float beta,float r0,float t0,float r1,float r2)
{
t0+=273.15f;
float rs,vs;
if(r1==0)
{
rs = r2;
vs = GENERIC_THERM_VREF;
}
else
{
vs =(float)(GENERIC_THERM_VREF*r1)/(r1+r2);
rs = (r2*r1)/(r1+r2);
}
float k = r0*exp(-beta/t0);
float delta = (maxTemp-minTemp)/(GENERIC_THERM_NUM_ENTRIES-1.0f);
for(uint8_t i=0; i<GENERIC_THERM_NUM_ENTRIES; i++)
{
#if FEATURE_WATCHDOG
HAL::pingWatchdog();
#endif // FEATURE_WATCHDOG
float t = maxTemp-i*delta;
float r = exp(beta/(t+272.65))*k;
float v = 4092*r*vs/((rs+r)*GENERIC_THERM_VREF);
int adc = (int)(v);
t *= 8;
if(adc>4092) adc=4092;
table[i][0] = (adc>>(ANALOG_REDUCE_BITS));
table[i][1] = (int)t;
#ifdef DEBUG_GENERIC
Com::printF(Com::tGenTemp,table[i][0]);
Com::printFLN(Com::tComma,table[i][1]);
#endif
}
}
#endif
/** \brief Initalizes all extruder.
Updates the pin configuration needed for the extruder and activates extruder 0.
Starts a interrupt based analog input reader, which is used by simple thermistors
for temperature reading.
*/
void Extruder::initExtruder()
{
uint8_t i;
Extruder::current = &extruder[0];
#ifdef USE_GENERIC_THERMISTORTABLE_1
createGenericTable(temptable_generic1,GENERIC_THERM1_MIN_TEMP,GENERIC_THERM1_MAX_TEMP,GENERIC_THERM1_BETA,GENERIC_THERM1_R0,GENERIC_THERM1_T0,GENERIC_THERM1_R1,GENERIC_THERM1_R2);
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_2
createGenericTable(temptable_generic2,GENERIC_THERM2_MIN_TEMP,GENERIC_THERM2_MAX_TEMP,GENERIC_THERM2_BETA,GENERIC_THERM2_R0,GENERIC_THERM2_T0,GENERIC_THERM2_R1,GENERIC_THERM2_R2);
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_3
createGenericTable(temptable_generic3,GENERIC_THERM3_MIN_TEMP,GENERIC_THERM3_MAX_TEMP,GENERIC_THERM3_BETA,GENERIC_THERM3_R0,GENERIC_THERM3_T0,GENERIC_THERM3_R1,GENERIC_THERM3_R2);
#endif
#if defined(EXT0_STEP_PIN) && EXT0_STEP_PIN>-1
SET_OUTPUT(EXT0_DIR_PIN);
SET_OUTPUT(EXT0_STEP_PIN);
#endif
#if defined(EXT1_STEP_PIN) && EXT1_STEP_PIN>-1 && NUM_EXTRUDER>1
SET_OUTPUT(EXT1_DIR_PIN);
SET_OUTPUT(EXT1_STEP_PIN);
#endif
#if defined(EXT2_STEP_PIN) && EXT2_STEP_PIN>-1 && NUM_EXTRUDER>2
SET_OUTPUT(EXT2_DIR_PIN);
SET_OUTPUT(EXT2_STEP_PIN);
#endif
#if defined(EXT3_STEP_PIN) && EXT3_STEP_PIN>-1 && NUM_EXTRUDER>3
SET_OUTPUT(EXT3_DIR_PIN);
SET_OUTPUT(EXT3_STEP_PIN);
#endif
#if defined(EXT4_STEP_PIN) && EXT4_STEP_PIN>-1 && NUM_EXTRUDER>4
SET_OUTPUT(EXT4_DIR_PIN);
SET_OUTPUT(EXT4_STEP_PIN);
#endif
#if defined(EXT5_STEP_PIN) && EXT5_STEP_PIN>-1 && NUM_EXTRUDER>5
SET_OUTPUT(EXT5_DIR_PIN);
SET_OUTPUT(EXT5_STEP_PIN);
#endif
for(i=0; i<NUM_EXTRUDER; ++i)
{
Extruder *act = &extruder[i];
if(act->enablePin > -1)
{
HAL::pinMode(act->enablePin,OUTPUT);
if(!act->enableOn) HAL::digitalWrite(act->enablePin,HIGH);
}
act->tempControl.lastTemperatureUpdate = HAL::timeInMilliseconds();
#if defined(SUPPORT_MAX6675) || defined(SUPPORT_MAX31855)
if(act->tempControl.sensorType==101 || act->tempControl.sensorType==102)
{
WRITE(SCK_PIN,0);
SET_OUTPUT(SCK_PIN);
WRITE(MOSI_PIN,1);
SET_OUTPUT(MOSI_PIN);
WRITE(MISO_PIN,1);
SET_INPUT(MISO_PIN);
SET_OUTPUT(SS);
WRITE(SS,HIGH);
HAL::digitalWrite(act->tempControl.sensorPin,1);
HAL::pinMode(act->tempControl.sensorPin,OUTPUT);
}
#endif
}
#if HEATED_BED_HEATER_PIN>-1
SET_OUTPUT(HEATED_BED_HEATER_PIN);
Extruder::initHeatedBed();
#endif
HAL::analogStart();
}
void TemperatureController::updateTempControlVars()
{
#ifdef TEMP_PID
if(heatManager==1 && pidIGain!=0) // prevent division by zero
{
tempIStateLimitMax = (float)pidDriveMax*10.0f/pidIGain;
tempIStateLimitMin = (float)pidDriveMin*10.0f/pidIGain;
}
#endif
}
/** \brief Select extruder ext_num.
This function changes and initalizes a new extruder. This is also called, after the eeprom values are changed.
*/
void Extruder::selectExtruderById(uint8_t extruderId)
{
if(extruderId>=NUM_EXTRUDER)
extruderId = 0;
#if NUM_EXTRUDER>1
bool executeSelect = false;
if(extruderId!=Extruder::current->id)
{
GCode::executeFString(Extruder::current->deselectCommands);
executeSelect = true;
}
#endif
Extruder::current->extrudePosition = Printer::currentPositionSteps[E_AXIS];
Extruder::current = &extruder[extruderId];
#ifdef SEPERATE_EXTRUDER_POSITIONS
// Use seperate extruder positions only if beeing told. Slic3r e.g. creates a continuous extruder position increment
Printer::currentPositionSteps[E_AXIS] = Extruder::current->extrudePosition;
#endif
Printer::destinationSteps[E_AXIS] = Printer::currentPositionSteps[E_AXIS];
Printer::axisStepsPerMM[E_AXIS] = Extruder::current->stepsPerMM;
Printer::invAxisStepsPerMM[E_AXIS] = 1.0f/Printer::axisStepsPerMM[E_AXIS];
Printer::maxFeedrate[E_AXIS] = Extruder::current->maxFeedrate;
// max_start_speed_units_per_second[3] = Extruder::current->maxStartFeedrate;
Printer::maxAccelerationMMPerSquareSecond[E_AXIS] = Printer::maxTravelAccelerationMMPerSquareSecond[E_AXIS] = Extruder::current->maxAcceleration;
Printer::maxTravelAccelerationStepsPerSquareSecond[E_AXIS] = Printer::maxPrintAccelerationStepsPerSquareSecond[E_AXIS] = Printer::maxAccelerationMMPerSquareSecond[E_AXIS] * Printer::axisStepsPerMM[E_AXIS];
#if defined(USE_ADVANCE)
Printer::minExtruderSpeed = (uint8_t)floor(HAL::maxExtruderTimerFrequency()/(Extruder::current->maxStartFeedrate*Extruder::current->stepsPerMM));
Printer::maxExtruderSpeed = (uint8_t)floor(HAL::maxExtruderTimerFrequency()/(Extruder::current->maxFeedrate*Extruder::current->stepsPerMM));
if(Printer::maxExtruderSpeed>15) Printer::maxExtruderSpeed = 15;
if(Printer::maxExtruderSpeed>=Printer::minExtruderSpeed)
{
Printer::maxExtruderSpeed = Printer::minExtruderSpeed;
}
else
{
float maxdist = Extruder::current->maxFeedrate*Extruder::current->maxFeedrate*0.00013888/Extruder::current->maxAcceleration;
maxdist-= Extruder::current->maxStartFeedrate*Extruder::current->maxStartFeedrate*0.5/Extruder::current->maxAcceleration;
//Printer::extruderAccelerateDelay = (uint8_t)constrain(ceil(maxdist*Extruder::current->stepsPerMM/(Printer::minExtruderSpeed-Printer::maxExtruderSpeed)),1,255);
}
float fmax=((float)HAL::maxExtruderTimerFrequency()/((float)Printer::maxExtruderSpeed*Printer::axisStepsPerMM[E_AXIS])); // Limit feedrate to interrupt speed
if(fmax<Printer::maxFeedrate[E_AXIS]) Printer::maxFeedrate[E_AXIS] = fmax;
#endif
Extruder::current->tempControl.updateTempControlVars();
float cx,cy,cz;
Printer::realPosition(cx,cy,cz);
float oldfeedrate = Printer::feedrate;
Printer::offsetX = -Extruder::current->xOffset*Printer::invAxisStepsPerMM[X_AXIS];
Printer::offsetY = -Extruder::current->yOffset*Printer::invAxisStepsPerMM[Y_AXIS];
if(Printer::isHomed())
Printer::moveToReal(cx,cy,cz,IGNORE_COORDINATE,Printer::homingFeedrate[X_AXIS]);
Printer::feedrate = oldfeedrate;
Printer::updateCurrentPosition();
#if NUM_EXTRUDER>1
if(executeSelect) // Run only when changing
GCode::executeFString(Extruder::current->selectCommands);
#endif
}
void Extruder::setTemperatureForExtruder(float temperatureInCelsius,uint8_t extr,bool beep)
{
bool alloffs = true;
for(uint8_t i=0; i<NUM_EXTRUDER; i++)
if(tempController[i]->targetTemperatureC>15) alloffs = false;
#ifdef MAXTEMP
if(temperatureInCelsius>MAXTEMP) temperatureInCelsius = MAXTEMP;
#endif
if(temperatureInCelsius<0) temperatureInCelsius=0;
TemperatureController *tc = tempController[extr];
//if(temperatureInCelsius==tc->targetTemperatureC) return;
tc->setTargetTemperature(temperatureInCelsius);
if(beep && temperatureInCelsius>30)
tc->setAlarm(true);
if(temperatureInCelsius>=EXTRUDER_FAN_COOL_TEMP) extruder[extr].coolerPWM = extruder[extr].coolerSpeed;
Com::printF(Com::tTargetExtr,extr,0);
Com::printFLN(Com::tColon,temperatureInCelsius,0);
#if FEATURE_DITTO_PRINTING
if(Extruder::dittoMode && extr == 0)
{
TemperatureController *tc2 = tempController[1];
tc2->setTargetTemperature(temperatureInCelsius);
if(temperatureInCelsius>=EXTRUDER_FAN_COOL_TEMP) extruder[1].coolerPWM = extruder[1].coolerSpeed;
}
#endif // FEATURE_DITTO_PRINTING
bool alloff = true;
for(uint8_t i=0; i<NUM_EXTRUDER; i++)
if(tempController[i]->targetTemperatureC>15) alloff = false;
#if EEPROM_MODE != 0
if(alloff && !alloffs) // All heaters are now switched off?
EEPROM::updatePrinterUsage();
#endif
if(alloffs && !alloff) // heaters are turned on, start measuring printing time
Printer::msecondsPrinting = HAL::timeInMilliseconds();
}
void Extruder::setHeatedBedTemperature(float temperatureInCelsius,bool beep)
{
#if HAVE_HEATED_BED
if(temperatureInCelsius>HEATED_BED_MAX_TEMP) temperatureInCelsius = HEATED_BED_MAX_TEMP;
if(temperatureInCelsius<0) temperatureInCelsius = 0;
if(heatedBedController.targetTemperatureC==temperatureInCelsius) return; // don't flood log with messages if killed
heatedBedController.setTargetTemperature(temperatureInCelsius);
if(beep && temperatureInCelsius>30) heatedBedController.setAlarm(true);
Com::printFLN(Com::tTargetBedColon,heatedBedController.targetTemperatureC,0);
#endif
}
float Extruder::getHeatedBedTemperature()
{
#if HAVE_HEATED_BED
TemperatureController *c = tempController[NUM_TEMPERATURE_LOOPS-1];
return c->currentTemperatureC;
#else
return -1;
#endif
}
void Extruder::disableCurrentExtruderMotor()
{
if(Extruder::current->enablePin > -1)
digitalWrite(Extruder::current->enablePin,!Extruder::current->enableOn);
#if FEATURE_DITTO_PRINTING
if(Extruder::dittoMode)
{
if(extruder[1].enablePin > -1)
digitalWrite(extruder[1].enablePin,!extruder[1].enableOn);
}
#endif
}
#define NUMTEMPS_1 28
// Epcos B57560G0107F000
const short temptable_1[NUMTEMPS_1][2] PROGMEM =
{
{0,4000},{92,2400},{105,2320},{121,2240},{140,2160},{162,2080},{189,2000},{222,1920},{261,1840},{308,1760},
{365,1680},{434,1600},{519,1520},{621,1440},{744,1360},{891,1280},{1067,1200},{1272,1120},
{1771,960},{2357,800},{2943,640},{3429,480},{3760,320},{3869,240},{3912,200},{3948,160},{4077,-160},{4094,-440}
};
#define NUMTEMPS_2 21
const short temptable_2[NUMTEMPS_2][2] PROGMEM =
{
{1*4, 848*8},{54*4, 275*8}, {107*4, 228*8}, {160*4, 202*8},{213*4, 185*8}, {266*4, 171*8}, {319*4, 160*8}, {372*4, 150*8},
{425*4, 141*8}, {478*4, 133*8},{531*4, 125*8},{584*4, 118*8},{637*4, 110*8},{690*4, 103*8},{743*4, 95*8},{796*4, 86*8},
{849*4, 77*8},{902*4, 65*8},{955*4, 49*8},{1008*4, 17*8},{1020*4, 0*8} //safety
};
#define NUMTEMPS_3 28
const short temptable_3[NUMTEMPS_3][2] PROGMEM =
{
{1*4,864*8},{21*4,300*8},{25*4,290*8},{29*4,280*8},{33*4,270*8},{39*4,260*8},{46*4,250*8},{54*4,240*8},{64*4,230*8},{75*4,220*8},
{90*4,210*8},{107*4,200*8},{128*4,190*8},{154*4,180*8},{184*4,170*8},{221*4,160*8},{265*4,150*8},{316*4,140*8},{375*4,130*8},
{441*4,120*8},{513*4,110*8},{588*4,100*8},{734*4,80*8},{856*4,60*8},{938*4,40*8},{986*4,20*8},{1008*4,0*8},{1018*4,-20*8}
};
#define NUMTEMPS_4 20
const short temptable_4[NUMTEMPS_4][2] PROGMEM =
{
{1*4, 430*8},{54*4, 137*8},{107*4, 107*8},{160*4, 91*8},{213*4, 80*8},{266*4, 71*8},{319*4, 64*8},{372*4, 57*8},{425*4, 51*8},
{478*4, 46*8},{531*4, 41*8},{584*4, 35*8},{637*4, 30*8},{690*4, 25*8},{743*4, 20*8},{796*4, 14*8},{849*4, 7*8},{902*4, 0*8},
{955*4, -11*8},{1008*4, -35*8}
};
#define NUMTEMPS_8 34
const short temptable_8[NUMTEMPS_8][2] PROGMEM =
{
{0,8000},{69,2400},{79,2320},{92,2240},{107,2160},{125,2080},{146,2000},{172,1920},{204,1840},{222,1760},{291,1680},{350,1600},
{422,1520},{511,1440},{621,1360},{755,1280},{918,1200},{1114,1120},{1344,1040},{1608,960},{1902,880},{2216,800},{2539,720},
{2851,640},{3137,560},{3385,480},{3588,400},{3746,320},{3863,240},{3945,160},{4002,80},{4038,0},{4061,-80},{4075,-160}
};
#define NUMTEMPS_9 67 // 100k Honeywell 135-104LAG-J01
const short temptable_9[NUMTEMPS_9][2] PROGMEM =
{
{1*4, 941*8},{19*4, 362*8},{37*4, 299*8}, //top rating 300C
{55*4, 266*8},{73*4, 245*8},{91*4, 229*8},{109*4, 216*8},{127*4, 206*8},{145*4, 197*8},{163*4, 190*8},{181*4, 183*8},{199*4, 177*8},
{217*4, 171*8},{235*4, 166*8},{253*4, 162*8},{271*4, 157*8},{289*4, 153*8},{307*4, 149*8},{325*4, 146*8},{343*4, 142*8},{361*4, 139*8},
{379*4, 135*8},{397*4, 132*8},{415*4, 129*8},{433*4, 126*8},{451*4, 123*8},{469*4, 121*8},{487*4, 118*8},{505*4, 115*8},{523*4, 112*8},
{541*4, 110*8},{559*4, 107*8},{577*4, 105*8},{595*4, 102*8},{613*4, 99*8},{631*4, 97*8},{649*4, 94*8},{667*4, 92*8},{685*4, 89*8},
{703*4, 86*8},{721*4, 84*8},{739*4, 81*8},{757*4, 78*8},{775*4, 75*8},{793*4, 72*8},{811*4, 69*8},{829*4, 66*8},{847*4, 62*8},
{865*4, 59*8},{883*4, 55*8},{901*4, 51*8},{919*4, 46*8},{937*4, 41*8},
{955*4, 35*8},{973*4, 27*8},{991*4, 17*8},{1009*4, 1*8},{1023*4, 0} //to allow internal 0 degrees C
};
#define NUMTEMPS_10 20 // 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
const short temptable_10[NUMTEMPS_10][2] PROGMEM =
{
{1*4, 704*8},{54*4, 216*8},{107*4, 175*8},{160*4, 152*8},{213*4, 137*8},{266*4, 125*8},{319*4, 115*8},{372*4, 106*8},{425*4, 99*8},
{478*4, 91*8},{531*4, 85*8},{584*4, 78*8},{637*4, 71*8},{690*4, 65*8},{743*4, 58*8},{796*4, 50*8},{849*4, 42*8},{902*4, 31*8},
{955*4, 17*8},{1008*4, 0}
};
#define NUMTEMPS_11 31 // 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
const short temptable_11[NUMTEMPS_11][2] PROGMEM =
{
{1*4, 936*8},{36*4, 300*8},{71*4, 246*8},{106*4, 218*8},{141*4, 199*8},{176*4, 185*8},{211*4, 173*8},{246*4, 163*8},{281*4, 155*8},
{316*4, 147*8},{351*4, 140*8},{386*4, 134*8},{421*4, 128*8},{456*4, 122*8},{491*4, 117*8},{526*4, 112*8},{561*4, 107*8},{596*4, 102*8},
{631*4, 97*8},{666*4, 92*8},{701*4, 87*8},{736*4, 81*8},{771*4, 76*8},{806*4, 70*8},{841*4, 63*8},{876*4, 56*8},{911*4, 48*8},
{946*4, 38*8},{981*4, 23*8},{1005*4, 5*8},{1016*4, 0}
};
#define NUMTEMPS_12 31 // 100k RS thermistor 198-961 (4.7k pullup)
const short temptable_12[NUMTEMPS_12][2] PROGMEM =
{
{1*4, 929*8},{36*4, 299*8},{71*4, 246*8},{106*4, 217*8},{141*4, 198*8},{176*4, 184*8},{211*4, 173*8},{246*4, 163*8},{281*4, 154*8},{316*4, 147*8},
{351*4, 140*8},{386*4, 134*8},{421*4, 128*8},{456*4, 122*8},{491*4, 117*8},{526*4, 112*8},{561*4, 107*8},{596*4, 102*8},{631*4, 97*8},{666*4, 91*8},
{701*4, 86*8},{736*4, 81*8},{771*4, 76*8},{806*4, 70*8},{841*4, 63*8},{876*4, 56*8},{911*4, 48*8},{946*4, 38*8},{981*4, 23*8},{1005*4, 5*8},{1016*4, 0*8}
};
#if NUM_TEMPS_USERTHERMISTOR0>0
const short temptable_5[NUM_TEMPS_USERTHERMISTOR0][2] PROGMEM = USER_THERMISTORTABLE0 ;
#endif
#if NUM_TEMPS_USERTHERMISTOR1>0
const short temptable_6[NUM_TEMPS_USERTHERMISTOR1][2] PROGMEM = USER_THERMISTORTABLE1 ;
#endif
#if NUM_TEMPS_USERTHERMISTOR2>0
const short temptable_7[NUM_TEMPS_USERTHERMISTOR2][2] PROGMEM = USER_THERMISTORTABLE2 ;
#endif
const short * const temptables[12] PROGMEM = {(short int *)&temptable_1[0][0],(short int *)&temptable_2[0][0],(short int *)&temptable_3[0][0],(short int *)&temptable_4[0][0]
#if NUM_TEMPS_USERTHERMISTOR0>0
,(short int *)&temptable_5[0][0]
#else
,0
#endif
#if NUM_TEMPS_USERTHERMISTOR1>0
,(short int *)&temptable_6[0][0]
#else
,0
#endif
#if NUM_TEMPS_USERTHERMISTOR2>0
,(short int *)&temptable_7[0][0]
#else
,0
#endif
,(short int *)&temptable_8[0][0]
,(short int *)&temptable_9[0][0]
,(short int *)&temptable_10[0][0]
,(short int *)&temptable_11[0][0]
,(short int *)&temptable_12[0][0]
};
const uint8_t temptables_num[12] PROGMEM = {NUMTEMPS_1,NUMTEMPS_2,NUMTEMPS_3,NUMTEMPS_4,NUM_TEMPS_USERTHERMISTOR0,NUM_TEMPS_USERTHERMISTOR1,NUM_TEMPS_USERTHERMISTOR2,NUMTEMPS_8,
NUMTEMPS_9,NUMTEMPS_10,NUMTEMPS_11,NUMTEMPS_12
};
void TemperatureController::updateCurrentTemperature()
{
uint8_t type = sensorType;
// get raw temperature
switch(type)
{
#if ANALOG_INPUTS>0
case 1:
case 2:
case 3:
case 4:
case 5:
case 6:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
case 97:
case 98:
case 99:
currentTemperature = (1023<<(2-ANALOG_REDUCE_BITS))-(osAnalogInputValues[sensorPin]>>(ANALOG_REDUCE_BITS)); // Convert to 10 bit result
break;
case 50: // User defined PTC table
case 51:
case 52:
case 60: // HEATER_USES_AD8495 (Delivers 5mV/degC)
case 100: // AD595
currentTemperature = (osAnalogInputValues[sensorPin]>>(ANALOG_REDUCE_BITS));
break;
#endif
#ifdef SUPPORT_MAX6675
case 101: // MAX6675
currentTemperature = read_max6675(sensorPin);
break;
#endif
#ifdef SUPPORT_MAX31855
case 102: // MAX31855
currentTemperature = read_max31855(sensorPin);
#endif
default:
currentTemperature = 4095; // unknown method, return high value to switch heater off for safety
}
int currentTemperature = this->currentTemperature;
//OUT_P_I_LN("OC for raw ",raw_temp);
switch(type)
{
case 1:
case 2:
case 3:
case 4:
case 5:
case 6:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
{
type--;
uint8_t num = pgm_read_byte(&temptables_num[type])<<1;
uint8_t i=2;
const short *temptable = (const short *)pgm_read_word(&temptables[type]); //pgm_read_word_near(&temptables[type]);
short oldraw = pgm_read_word(&temptable[0]);
short oldtemp = pgm_read_word(&temptable[1]);
short newraw,newtemp;
currentTemperature = (1023<<(2-ANALOG_REDUCE_BITS))-currentTemperature;
while(i<num)
{
newraw = pgm_read_word(&temptable[i++]);
newtemp = pgm_read_word(&temptable[i++]);
if (newraw > currentTemperature)
{
//OUT_P_I("RC O:",oldtemp);OUT_P_I_LN(" OR:",oldraw);
//OUT_P_I("RC N:",newtemp);OUT_P_I_LN(" NR:",newraw);
currentTemperatureC = TEMP_INT_TO_FLOAT(oldtemp + (float)(currentTemperature-oldraw)*(float)(newtemp-oldtemp)/(newraw-oldraw));
return;
}
oldtemp = newtemp;
oldraw = newraw;
}
// Overflow: Set to last value in the table
currentTemperatureC = TEMP_INT_TO_FLOAT(newtemp);
}
break;
case 50: // User defined PTC thermistor
case 51:
case 52:
{
type-=46;
uint8_t num = pgm_read_byte(&temptables_num[type])<<1;
uint8_t i=2;
const short *temptable = (const short *)pgm_read_word(&temptables[type]); //pgm_read_word_near(&temptables[type]);
short oldraw = pgm_read_word(&temptable[0]);
short oldtemp = pgm_read_word(&temptable[1]);
short newraw,newtemp;
while(i<num)
{
newraw = pgm_read_word(&temptable[i++]);
newtemp = pgm_read_word(&temptable[i++]);
if (newraw > currentTemperature)
{
currentTemperatureC = TEMP_INT_TO_FLOAT(oldtemp + (float)(currentTemperature-oldraw)*(float)(newtemp-oldtemp)/(newraw-oldraw));
return;
}
oldtemp = newtemp;
oldraw = newraw;
}
// Overflow: Set to last value in the table
currentTemperatureC = TEMP_INT_TO_FLOAT(newtemp);
break;
}
case 60: // AD8495 (Delivers 5mV/degC vs the AD595's 10mV)
currentTemperatureC = ((float)currentTemperature * 1000.0f/(1024<<(2-ANALOG_REDUCE_BITS)));
break;
case 100: // AD595
//return (int)((long)raw_temp * 500/(1024<<(2-ANALOG_REDUCE_BITS)));
currentTemperatureC = ((float)currentTemperature * 500.0f/(1024<<(2-ANALOG_REDUCE_BITS)));
break;
#ifdef SUPPORT_MAX6675
case 101: // MAX6675
currentTemperatureC = (float)currentTemperature /4.0;
break;
#endif
#ifdef SUPPORT_MAX31855
case 102: // MAX31855
currentTemperatureC = (float)currentTemperature /4.0;
break;
#endif
#if defined(USE_GENERIC_THERMISTORTABLE_1) || defined(USE_GENERIC_THERMISTORTABLE_2) || defined(USE_GENERIC_THERMISTORTABLE_3)
case 97:
case 98:
case 99:
{
uint8_t i=2;
const short *temptable;
#ifdef USE_GENERIC_THERMISTORTABLE_1
if(type == 97)
temptable = (const short *)temptable_generic1;
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_2
if(type == 98)
temptable = (const short *)temptable_generic2;
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_3
if(type == 99)
temptable = (const short *)temptable_generic3;
#endif
short oldraw = temptable[0];
short oldtemp = temptable[1];
short newraw,newtemp;
currentTemperature = (1023<<(2-ANALOG_REDUCE_BITS))-currentTemperature;
while(i<GENERIC_THERM_NUM_ENTRIES*2)
{
newraw = temptable[i++];
newtemp = temptable[i++];
if (newraw > currentTemperature)
{
//OUT_P_I("RC O:",oldtemp);OUT_P_I_LN(" OR:",oldraw);
//OUT_P_I("RC N:",newtemp);OUT_P_I_LN(" NR:",newraw);
currentTemperatureC = TEMP_INT_TO_FLOAT(oldtemp + (float)(currentTemperature-oldraw)*(float)(newtemp-oldtemp)/(newraw-oldraw));
return;
}
oldtemp = newtemp;
oldraw = newraw;
}
// Overflow: Set to last value in the table
currentTemperatureC = TEMP_INT_TO_FLOAT(newtemp);
break;
}
#endif
}
}
void TemperatureController::setTargetTemperature(float target)
{
targetTemperatureC = target;
int temp = TEMP_FLOAT_TO_INT(target);
uint8_t type = sensorType;
switch(sensorType)
{
case 1:
case 2:
case 3:
case 4:
case 5:
case 6:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
{
type--;
uint8_t num = pgm_read_byte(&temptables_num[type])<<1;
uint8_t i=2;
const short *temptable = (const short *)pgm_read_word(&temptables[type]); //pgm_read_word(&temptables[type]);
short oldraw = pgm_read_word(&temptable[0]);
short oldtemp = pgm_read_word(&temptable[1]);
short newraw,newtemp;
while(i<num)
{
newraw = pgm_read_word(&temptable[i++]);
newtemp = pgm_read_word(&temptable[i++]);
if (newtemp < temp)
{
targetTemperature = (1023<<(2-ANALOG_REDUCE_BITS))- oldraw + (long)(oldtemp-temp)*(long)(oldraw-newraw)/(oldtemp-newtemp);
return;
}
oldtemp = newtemp;
oldraw = newraw;
}
// Overflow: Set to last value in the table
targetTemperature = (1023<<(2-ANALOG_REDUCE_BITS))-newraw;
break;
}
case 50: // user defined PTC thermistor
case 51:
case 52:
{
type-=46;
uint8_t num = pgm_read_byte(&temptables_num[type])<<1;
uint8_t i=2;
const short *temptable = (const short *)pgm_read_word(&temptables[type]); //pgm_read_word(&temptables[type]);
short oldraw = pgm_read_word(&temptable[0]);
short oldtemp = pgm_read_word(&temptable[1]);
short newraw,newtemp;
while(i<num)
{
newraw = pgm_read_word(&temptable[i++]);
newtemp = pgm_read_word(&temptable[i++]);
if (newtemp > temp)
{
targetTemperature = oldraw + (long)(oldtemp-temp)*(long)(oldraw-newraw)/(oldtemp-newtemp);
return;
}
oldtemp = newtemp;
oldraw = newraw;
}
// Overflow: Set to last value in the table
targetTemperature = newraw;
break;
}
case 60: // HEATER_USES_AD8495 (Delivers 5mV/degC)
targetTemperature = (int)((long)temp * (1024<<(2-ANALOG_REDUCE_BITS))/ 1000);
break;
case 100: // HEATER_USES_AD595
targetTemperature = (int)((long)temp * (1024<<(2-ANALOG_REDUCE_BITS))/ 500);
break;
#ifdef SUPPORT_MAX6675
case 101: // defined HEATER_USES_MAX6675
targetTemperature = temp * 4;
break;
#endif
#ifdef SUPPORT_MAX31855
case 102: // defined HEATER_USES_MAX31855
targetTemperature = temp * 4;
break;
#endif
#if defined(USE_GENERIC_THERMISTORTABLE_1) || defined(USE_GENERIC_THERMISTORTABLE_2) || defined(USE_GENERIC_THERMISTORTABLE_3)
case 97:
case 98:
case 99:
{
uint8_t i=2;
const short *temptable;
#ifdef USE_GENERIC_THERMISTORTABLE_1
if(type == 97)
temptable = (const short *)temptable_generic1;
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_2
if(type == 98)
temptable = (const short *)temptable_generic2;
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_3
if(type == 99)
temptable = (const short *)temptable_generic3;
#endif
short oldraw = temptable[0];
short oldtemp = temptable[1];
short newraw,newtemp;
while(i<GENERIC_THERM_NUM_ENTRIES*2)
{
newraw = temptable[i++];
newtemp = temptable[i++];
if (newtemp < temp)
{
targetTemperature = (1023<<(2-ANALOG_REDUCE_BITS))- oldraw + (long)(oldtemp-temp)*(long)(oldraw-newraw)/(oldtemp-newtemp);
return;
}
oldtemp = newtemp;
oldraw = newraw;
}
// Overflow: Set to last value in the table
targetTemperature = (1023<<(2-ANALOG_REDUCE_BITS))-newraw;
break;
}
#endif
}
}
uint8_t autotuneIndex = 255;
void Extruder::disableAllHeater()
{
for(uint8_t i=0; i<NUM_TEMPERATURE_LOOPS; i++)
{
TemperatureController *c = tempController[i];
c->targetTemperature = 0;
c->targetTemperatureC = 0;
pwm_pos[c->pwmIndex] = 0;
}
autotuneIndex = 255;
}
#ifdef TEMP_PID
void TemperatureController::autotunePID(float temp,uint8_t controllerId,bool storeValues)
{
float currentTemp;
int cycles=0;
bool heating = true;
unsigned long temp_millis = HAL::timeInMilliseconds();
unsigned long t1=temp_millis;
unsigned long t2=temp_millis;
long t_high;
long t_low;
long bias=pidMax>>1;
long d = pidMax>>1;
float Ku, Tu;
float Kp, Ki, Kd;
float maxTemp=20, minTemp=20;
Com::printInfoFLN(Com::tPIDAutotuneStart);
Extruder::disableAllHeater(); // switch off all heaters.
autotuneIndex = controllerId;
pwm_pos[pwmIndex] = pidMax;
if(controllerId<NUM_EXTRUDER)
{
extruder[controllerId].coolerPWM = extruder[controllerId].coolerSpeed;
extruder[0].coolerPWM = extruder[0].coolerSpeed;
}
for(;;)
{
#if FEATURE_WATCHDOG
HAL::pingWatchdog();
#endif // FEATURE_WATCHDOG
updateCurrentTemperature();
currentTemp = currentTemperatureC;
unsigned long time = HAL::timeInMilliseconds();
maxTemp=RMath::max(maxTemp,currentTemp);
minTemp=RMath::min(minTemp,currentTemp);
if(heating == true && currentTemp > temp) // switch heating -> off
{
if(time - t2 > (controllerId<NUM_EXTRUDER ? 2500 : 1500))
{
heating=false;
pwm_pos[pwmIndex] = (bias - d);
t1=time;
t_high=t1 - t2;
maxTemp=temp;
}
}
if(heating == false && currentTemp < temp)
{
if(time - t1 > (controllerId<NUM_EXTRUDER ? 5000 : 3000))
{
heating=true;
t2=time;
t_low=t2 - t1; // half wave length
if(cycles > 0)
{
bias += (d*(t_high - t_low))/(t_low + t_high);
bias = constrain(bias, 20 ,pidMax-20);
if(bias > pidMax/2) d = pidMax - 1 - bias;
else d = bias;
Com::printF(Com::tAPIDBias,bias);
Com::printF(Com::tAPIDD,d);
Com::printF(Com::tAPIDMin,minTemp);
Com::printFLN(Com::tAPIDMax,maxTemp);
if(cycles > 2)
{
// Parameter according Ziegler¡§CNichols method: http://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method
Ku = (4.0*d)/(3.14159*(maxTemp-minTemp));
Tu = ((float)(t_low + t_high)/1000.0);
Com::printF(Com::tAPIDKu,Ku);
Com::printFLN(Com::tAPIDTu,Tu);
Kp = 0.6*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu*0.125;
Com::printFLN(Com::tAPIDClassic);
Com::printFLN(Com::tAPIDKp,Kp);
Com::printFLN(Com::tAPIDKi,Ki);
Com::printFLN(Com::tAPIDKd,Kd);
/*
Kp = 0.33*Ku;
Ki = Kp/Tu;
Kd = Kp*Tu/3;
OUT_P_LN(" Some overshoot");
OUT_P_F_LN(" Kp: ",Kp);
OUT_P_F_LN(" Ki: ",Ki);
OUT_P_F_LN(" Kd: ",Kd);
Kp = 0.2*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/3;
OUT_P_LN(" No overshoot");
OUT_P_F_LN(" Kp: ",Kp);
OUT_P_F_LN(" Ki: ",Ki);
OUT_P_F_LN(" Kd: ",Kd);
*/
}
}
pwm_pos[pwmIndex] = (bias + d);
cycles++;
minTemp=temp;
}
}
if(currentTemp > (temp + 20))
{
Com::printErrorFLN(Com::tAPIDFailedHigh);
Extruder::disableAllHeater();
return;
}
if(time - temp_millis > 1000)
{
temp_millis = time;