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Introduce a new set of temperature values for the PID regulation 

*_temperature_raw: buffer for the ADC ISR (read by temp ISR)
*_temperature_isr: latest temperatures for PID regulation (copied from
  _raw values)
*_temperature: latest temperature for user code

The flow:
  - ADC ISR (async)
    - perform oversampling
    - call ADC callback: copy to _raw (async)
  - temp ISR (timer)
    - convert to C (_isr values)
  - user code (async)
      - check temp_meas_ready
      - call updateTemperature()
        - copy from _isr to current
        - syncronize target temperatures

This removes PINDA value averaging (if needed, should be re-implemented
by averaging in user code where needed)
This commit is contained in:
Yuri D'Elia 2022-05-24 18:37:07 +02:00
parent c1051e046c
commit bcd8496113
1 changed files with 104 additions and 71 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

175
Firmware/temperature.cpp
View File

@ -38,6 +38,7 @@
#include "SdFatUtil.h"
#include <avr/wdt.h>
#include <util/atomic.h>
#include "adc.h"
#include "ConfigurationStore.h"
#include "Timer.h"
@ -56,13 +57,12 @@ int current_temperature_raw[EXTRUDERS] = { 0 };
float current_temperature[EXTRUDERS] = { 0.0 };
#ifdef PINDA_THERMISTOR
uint16_t current_temperature_raw_pinda = 0 ; //value with more averaging applied
uint16_t current_temperature_raw_pinda_fast = 0; //value read from adc
uint16_t current_temperature_raw_pinda = 0;
float current_temperature_pinda = 0.0;
#endif //PINDA_THERMISTOR
#ifdef AMBIENT_THERMISTOR
int current_temperature_raw_ambient = 0 ;
int current_temperature_raw_ambient = 0;
float current_temperature_ambient = 0.0;
#endif //AMBIENT_THERMISTOR
@ -174,7 +174,7 @@ static float analog2tempBed(int raw);
#ifdef AMBIENT_MAXTEMP
static float analog2tempAmbient(int raw);
#endif
static void updateTemperaturesFromRawValues();
static void updateTemperatures();
enum TempRunawayStates : uint8_t
{
@ -270,7 +270,7 @@ void __attribute__((noinline)) PID_autotune(float temp, int extruder, int ncycle
wdt_reset();
#endif //WATCHDOG
if(temp_meas_ready == true) { // temp sample ready
updateTemperaturesFromRawValues();
updateTemperatures();
input = (extruder<0)?current_temperature_bed:current_temperature[extruder];
@ -442,6 +442,12 @@ void manage_heater()
#ifdef WATCHDOG
wdt_reset();
#endif //WATCHDOG
// syncronize temperatures with isr
if(temp_meas_ready)
updateTemperatures();
// periodically check fans
checkFans();
}
@ -568,43 +574,6 @@ static float analog2tempAmbient(int raw)
}
#endif //AMBIENT_THERMISTOR
static void setTemperaturesFromRawValues()
{
for(uint8_t e=0;e<EXTRUDERS;e++)
{
current_temperature[e] = analog2temp(current_temperature_raw[e], e);
}
#ifdef PINDA_THERMISTOR
current_temperature_raw_pinda = (uint16_t)((uint32_t)current_temperature_raw_pinda * 3 + current_temperature_raw_pinda_fast) >> 2;
current_temperature_pinda = analog2tempBed(current_temperature_raw_pinda);
#endif
#ifdef AMBIENT_THERMISTOR
current_temperature_ambient = analog2tempAmbient(current_temperature_raw_ambient); //thermistor for ambient is NTCG104LH104JT1 (2000)
#endif
#ifdef DEBUG_HEATER_BED_SIM
current_temperature_bed = target_temperature_bed;
#else //DEBUG_HEATER_BED_SIM
current_temperature_bed = analog2tempBed(current_temperature_bed_raw);
#endif //DEBUG_HEATER_BED_SIM
}
/* Called to get the raw values into the the actual temperatures. The raw values are created in interrupt context,
and this function is called from normal context as it is too slow to run in interrupts and will block the stepper routine otherwise */
static void updateTemperaturesFromRawValues()
{
// restart a new adc conversion
CRITICAL_SECTION_START;
adc_start_cycle();
temp_meas_ready = false;
CRITICAL_SECTION_END;
// update the previous values
setTemperaturesFromRawValues();
}
void soft_pwm_init()
{
#if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1))
@ -1175,28 +1144,6 @@ int read_max6675()
}
#endif
void adc_ready(void) //callback from adc when sampling finished
{
current_temperature_raw[0] = adc_values[ADC_PIN_IDX(TEMP_0_PIN)]; //heater
#ifdef PINDA_THERMISTOR
current_temperature_raw_pinda_fast = adc_values[ADC_PIN_IDX(TEMP_PINDA_PIN)];
#endif //PINDA_THERMISTOR
current_temperature_bed_raw = adc_values[ADC_PIN_IDX(TEMP_BED_PIN)];
#ifdef VOLT_PWR_PIN
current_voltage_raw_pwr = adc_values[ADC_PIN_IDX(VOLT_PWR_PIN)];
#endif
#ifdef AMBIENT_THERMISTOR
current_temperature_raw_ambient = adc_values[ADC_PIN_IDX(TEMP_AMBIENT_PIN)]; // 5->6
#endif //AMBIENT_THERMISTOR
#ifdef VOLT_BED_PIN
current_voltage_raw_bed = adc_values[ADC_PIN_IDX(VOLT_BED_PIN)]; // 6->9
#endif
#ifdef IR_SENSOR_ANALOG
current_voltage_raw_IR = adc_values[ADC_PIN_IDX(VOLT_IR_PIN)];
#endif //IR_SENSOR_ANALOG
temp_meas_ready = true;
}
#ifdef BABYSTEPPING
FORCE_INLINE static void applyBabysteps() {
for(uint8_t axis=0;axis<3;axis++)
@ -1839,6 +1786,7 @@ bool has_temperature_compensation()
#define TEMP_MGR_INTV 0.27 // seconds, ~3.7Hz
#define TIMER5_PRESCALE 256
#define TIMER5_OCRA_OVF (uint16_t)(TEMP_MGR_INTV / ((long double)TIMER5_PRESCALE / F_CPU))
#define TEMP_MGR_INTERRUPT_STATE() (TIMSK5 & (1<<OCIE5A))
#define ENABLE_TEMP_MGR_INTERRUPT() TIMSK5 |= (1<<OCIE5A)
#define DISABLE_TEMP_MGR_INTERRUPT() TIMSK5 &= ~(1<<OCIE5A)
@ -1874,7 +1822,7 @@ void temp_mgr_init()
TIFR5 |= (1<<OCF5A);
ENABLE_TEMP_MGR_INTERRUPT();
CRITICAL_SECTION_END;
CRITICAL_SECTION_END;
}
static void pid_heater(uint8_t e, const float current, const int target)
@ -2068,27 +2016,112 @@ static void pid_bed(const float current, const int target)
#endif //TEMP_SENSOR_BED
}
// ISR-safe temperatures
static volatile bool adc_values_ready = false;
float current_temperature_isr[EXTRUDERS];
int target_temperature_isr[EXTRUDERS];
float current_temperature_bed_isr;
int target_temperature_bed_isr;
#ifdef PINDA_THERMISTOR
float current_temperature_pinda_isr;
#endif
#ifdef AMBIENT_THERMISTOR
float current_temperature_ambient_isr;
#endif
// ISR callback from adc when sampling finished
void adc_ready()
{
current_temperature_raw[0] = adc_values[ADC_PIN_IDX(TEMP_0_PIN)]; //heater
current_temperature_bed_raw = adc_values[ADC_PIN_IDX(TEMP_BED_PIN)];
#ifdef PINDA_THERMISTOR
current_temperature_raw_pinda = adc_values[ADC_PIN_IDX(TEMP_PINDA_PIN)];
#endif //PINDA_THERMISTOR
#ifdef AMBIENT_THERMISTOR
current_temperature_raw_ambient = adc_values[ADC_PIN_IDX(TEMP_AMBIENT_PIN)]; // 5->6
#endif //AMBIENT_THERMISTOR
#ifdef VOLT_PWR_PIN
current_voltage_raw_pwr = adc_values[ADC_PIN_IDX(VOLT_PWR_PIN)];
#endif
#ifdef VOLT_BED_PIN
current_voltage_raw_bed = adc_values[ADC_PIN_IDX(VOLT_BED_PIN)]; // 6->9
#endif
#ifdef IR_SENSOR_ANALOG
current_voltage_raw_IR = adc_values[ADC_PIN_IDX(VOLT_IR_PIN)];
#endif //IR_SENSOR_ANALOG
adc_values_ready = true;
}
/* Syncronize temperatures:
- fetch updated values from temp_mgr_isr to current values
- update target temperatures for temp_mgr_isr regulation
This function is blocking: check temp_meas_ready before calling! */
static void updateTemperatures()
{
uint8_t temp_mgr_state;
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
temp_mgr_state = TEMP_MGR_INTERRUPT_STATE();
DISABLE_TEMP_MGR_INTERRUPT();
}
for(uint8_t e=0;e<EXTRUDERS;e++) {
current_temperature[e] = current_temperature_isr[e];
target_temperature_isr[e] = target_temperature[e];
}
current_temperature_bed = current_temperature_bed_isr;
target_temperature_bed_isr = target_temperature_bed;
#ifdef PINDA_THERMISTOR
current_temperature_pinda = current_temperature_pinda_isr;
#endif
#ifdef AMBIENT_THERMISTOR
current_temperature_ambient = current_temperature_ambient_isr;
#endif
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
if(temp_mgr_state) ENABLE_TEMP_MGR_INTERRUPT();
temp_meas_ready = false;
}
}
/* Convert raw values into actual temperatures for temp_mgr. The raw values are created in the ADC
interrupt context, while this function runs from the temp_mgr isr which is preemptible as
analog2temp is relatively slow */
static void setIsrTemperaturesFromRawValues()
{
for(uint8_t e=0;e<EXTRUDERS;e++)
current_temperature_isr[e] = analog2temp(current_temperature_raw[e], e);
current_temperature_bed_isr = analog2tempBed(current_temperature_bed_raw);
#ifdef PINDA_THERMISTOR
current_temperature_pinda_isr = analog2tempBed(current_temperature_raw_pinda);
#endif
#ifdef AMBIENT_THERMISTOR
current_temperature_ambient_isr = analog2tempAmbient(current_temperature_raw_ambient); //thermistor for ambient is NTCG104LH104JT1 (2000)
#endif
temp_meas_ready = true;
}
static void temp_mgr_isr()
{
// ADC values need to be converted before checking: converted values are later used in MINTEMP
setTemperaturesFromRawValues();
// update *_isr temperatures from raw values for PID regulation
setIsrTemperaturesFromRawValues();
// TODO: this is now running inside an isr and cannot directly manipulate the lcd,
// this needs to disable temperatures and flag the error to be shown in manage_heater!
check_max_temp();
check_min_temp();
// PID regulation
for(uint8_t e = 0; e < EXTRUDERS; e++)
pid_heater(e, current_temperature[e], target_temperature[e]);
pid_bed(current_temperature_bed, target_temperature_bed);
pid_heater(e, current_temperature_isr[e], target_temperature_isr[e]);
pid_bed(current_temperature_bed_isr, target_temperature_bed_isr);
}
ISR(TIMER5_COMPA_vect)
{
// immediately schedule a new conversion
if(temp_meas_ready != true) return;
if(adc_values_ready != true) return;
adc_start_cycle();
temp_meas_ready = false;
adc_values_ready = false;
// run temperature management with interrupts enabled to reduce latency
DISABLE_TEMP_MGR_INTERRUPT();