Firmware/Marlin/temperature.h

381 lines
11 KiB
C
Raw Normal View History

/**
2016-03-24 19:01:20 +01:00
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
2016-04-29 03:18:13 +02:00
* temperature.h - temperature controller
*/
#ifndef TEMPERATURE_H
#define TEMPERATURE_H
#include "Marlin.h"
#include "planner.h"
2016-04-29 03:18:13 +02:00
#if ENABLED(PID_ADD_EXTRUSION_RATE)
#include "stepper.h"
#endif
2016-04-29 03:18:13 +02:00
#ifndef SOFT_PWM_SCALE
#define SOFT_PWM_SCALE 0
#endif
2016-04-29 03:18:13 +02:00
class Temperature {
2016-04-29 03:18:13 +02:00
public:
2016-05-26 20:58:38 +02:00
static int current_temperature_raw[EXTRUDERS];
static float current_temperature[EXTRUDERS];
static int target_temperature[EXTRUDERS];
2016-05-26 20:58:38 +02:00
static int current_temperature_bed_raw;
static float current_temperature_bed;
static int target_temperature_bed;
2016-04-29 03:18:13 +02:00
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
2016-05-26 20:58:38 +02:00
static float redundant_temperature;
2016-04-29 03:18:13 +02:00
#endif
2016-04-28 03:06:32 +02:00
2016-05-26 20:58:38 +02:00
static unsigned char soft_pwm_bed;
2016-04-29 03:18:13 +02:00
#if ENABLED(FAN_SOFT_PWM)
2016-05-26 20:58:38 +02:00
static unsigned char fanSpeedSoftPwm[FAN_COUNT];
#endif
2016-04-29 03:18:13 +02:00
#if ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED)
#define PID_dT ((OVERSAMPLENR * 12.0)/(F_CPU / 64.0 / 256.0))
#endif
2016-04-29 03:18:13 +02:00
#if ENABLED(PIDTEMP)
2015-04-04 01:38:05 +02:00
2016-04-29 03:18:13 +02:00
#if ENABLED(PID_PARAMS_PER_EXTRUDER)
2016-04-29 03:18:13 +02:00
static float Kp[EXTRUDERS], Ki[EXTRUDERS], Kd[EXTRUDERS];
#if ENABLED(PID_ADD_EXTRUSION_RATE)
2016-05-26 20:58:38 +02:00
static float Kc[EXTRUDERS];
2016-04-29 03:18:13 +02:00
#endif
#define PID_PARAM(param, e) Temperature::param[e]
2016-04-29 03:18:13 +02:00
#else
2016-04-29 03:18:13 +02:00
static float Kp, Ki, Kd;
#if ENABLED(PID_ADD_EXTRUSION_RATE)
static float Kc;
#endif
#define PID_PARAM(param, e) Temperature::param
2016-04-29 03:18:13 +02:00
#endif // PID_PARAMS_PER_EXTRUDER
2016-04-29 03:18:13 +02:00
// Apply the scale factors to the PID values
#define scalePID_i(i) ( (i) * PID_dT )
#define unscalePID_i(i) ( (i) / PID_dT )
#define scalePID_d(d) ( (d) / PID_dT )
#define unscalePID_d(d) ( (d) * PID_dT )
2016-04-29 03:18:13 +02:00
#endif
2016-04-29 03:18:13 +02:00
#if ENABLED(PIDTEMPBED)
2016-05-26 20:58:38 +02:00
static float bedKp, bedKi, bedKd;
2016-04-29 03:18:13 +02:00
#endif
2016-04-29 03:18:13 +02:00
#if ENABLED(BABYSTEPPING)
2016-05-26 20:58:38 +02:00
static volatile int babystepsTodo[3];
2016-04-29 03:18:13 +02:00
#endif
2016-04-29 03:18:13 +02:00
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
2016-05-26 20:58:38 +02:00
static int watch_target_temp[EXTRUDERS];
static millis_t watch_heater_next_ms[EXTRUDERS];
2016-04-29 03:18:13 +02:00
#endif
2016-04-29 03:18:13 +02:00
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_BED_TEMP_PERIOD > 0
2016-05-26 20:58:38 +02:00
static int watch_target_bed_temp;
static millis_t watch_bed_next_ms;
2016-04-29 03:18:13 +02:00
#endif
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
2016-05-26 20:58:38 +02:00
static float extrude_min_temp;
static bool tooColdToExtrude(uint8_t e) { return degHotend(e) < extrude_min_temp; }
2016-04-29 03:18:13 +02:00
#else
static bool tooColdToExtrude(uint8_t e) { UNUSED(e); return false; }
2016-04-29 03:18:13 +02:00
#endif
private:
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
2016-05-26 20:58:38 +02:00
static int redundant_temperature_raw;
static float redundant_temperature;
2016-04-29 03:18:13 +02:00
#endif
2016-05-26 20:58:38 +02:00
static volatile bool temp_meas_ready;
2016-04-29 03:18:13 +02:00
#if ENABLED(PIDTEMP)
2016-05-26 20:58:38 +02:00
static float temp_iState[EXTRUDERS];
static float temp_dState[EXTRUDERS];
static float pTerm[EXTRUDERS];
static float iTerm[EXTRUDERS];
static float dTerm[EXTRUDERS];
2016-04-29 03:18:13 +02:00
#if ENABLED(PID_ADD_EXTRUSION_RATE)
2016-05-26 20:58:38 +02:00
static float cTerm[EXTRUDERS];
static long last_position[EXTRUDERS];
static long lpq[LPQ_MAX_LEN];
static int lpq_ptr;
2016-04-29 03:18:13 +02:00
#endif
2016-05-26 20:58:38 +02:00
static float pid_error[EXTRUDERS];
static float temp_iState_min[EXTRUDERS];
static float temp_iState_max[EXTRUDERS];
static bool pid_reset[EXTRUDERS];
2016-04-29 03:18:13 +02:00
#endif
#if ENABLED(PIDTEMPBED)
2016-05-26 20:58:38 +02:00
static float temp_iState_bed;
static float temp_dState_bed;
static float pTerm_bed;
static float iTerm_bed;
static float dTerm_bed;
static float pid_error_bed;
static float temp_iState_min_bed;
static float temp_iState_max_bed;
2016-04-29 03:18:13 +02:00
#else
2016-05-26 20:58:38 +02:00
static millis_t next_bed_check_ms;
2016-04-29 03:18:13 +02:00
#endif
2016-05-26 20:58:38 +02:00
static unsigned long raw_temp_value[4];
static unsigned long raw_temp_bed_value;
2016-04-29 03:18:13 +02:00
// Init min and max temp with extreme values to prevent false errors during startup
2016-05-26 20:58:38 +02:00
static int minttemp_raw[EXTRUDERS];
static int maxttemp_raw[EXTRUDERS];
static int minttemp[EXTRUDERS];
static int maxttemp[EXTRUDERS];
2016-04-29 03:18:13 +02:00
#ifdef BED_MINTEMP
2016-05-26 20:58:38 +02:00
static int bed_minttemp_raw;
2016-04-29 03:18:13 +02:00
#endif
#ifdef BED_MAXTEMP
2016-05-26 20:58:38 +02:00
static int bed_maxttemp_raw;
2016-04-29 03:18:13 +02:00
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
2016-05-26 20:58:38 +02:00
static int meas_shift_index; // Index of a delayed sample in buffer
2016-04-29 03:18:13 +02:00
#endif
#if HAS_AUTO_FAN
2016-05-26 20:58:38 +02:00
static millis_t next_auto_fan_check_ms;
2016-04-29 03:18:13 +02:00
#endif
2016-05-26 20:58:38 +02:00
static unsigned char soft_pwm[EXTRUDERS];
2016-04-29 03:18:13 +02:00
#if ENABLED(FAN_SOFT_PWM)
2016-05-26 20:58:38 +02:00
static unsigned char soft_pwm_fan[FAN_COUNT];
2016-04-29 03:18:13 +02:00
#endif
2016-04-29 03:18:13 +02:00
#if ENABLED(FILAMENT_WIDTH_SENSOR)
2016-05-26 20:58:38 +02:00
static int current_raw_filwidth; //Holds measured filament diameter - one extruder only
2016-04-29 03:18:13 +02:00
#endif
public:
/**
* Instance Methods
*/
Temperature();
void init();
2016-05-26 20:58:38 +02:00
/**
* Static (class) methods
*/
static float analog2temp(int raw, uint8_t e);
static float analog2tempBed(int raw);
2016-04-29 03:18:13 +02:00
/**
* Called from the Temperature ISR
*/
2016-05-26 20:58:38 +02:00
static void isr();
2016-04-29 03:18:13 +02:00
/**
* Call periodically to manage heaters
*/
2016-05-26 20:58:38 +02:00
static void manage_heater();
2016-04-29 03:18:13 +02:00
#if ENABLED(FILAMENT_WIDTH_SENSOR)
2016-05-26 20:58:38 +02:00
static float analog2widthFil(); // Convert raw Filament Width to millimeters
static int widthFil_to_size_ratio(); // Convert raw Filament Width to an extrusion ratio
2016-04-29 03:18:13 +02:00
#endif
//high level conversion routines, for use outside of temperature.cpp
//inline so that there is no performance decrease.
//deg=degreeCelsius
static float degHotend(uint8_t extruder) { return current_temperature[extruder]; }
static float degBed() { return current_temperature_bed; }
2016-04-29 03:18:13 +02:00
#if ENABLED(SHOW_TEMP_ADC_VALUES)
static float rawHotendTemp(uint8_t extruder) { return current_temperature_raw[extruder]; }
static float rawBedTemp() { return current_temperature_bed_raw; }
2016-04-29 03:18:13 +02:00
#endif
static float degTargetHotend(uint8_t extruder) { return target_temperature[extruder]; }
static float degTargetBed() { return target_temperature_bed; }
2016-04-29 03:18:13 +02:00
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
2016-05-26 20:58:38 +02:00
static void start_watching_heater(int e = 0);
2016-04-29 03:18:13 +02:00
#endif
#if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
2016-05-26 20:58:38 +02:00
static void start_watching_bed();
2016-04-29 03:18:13 +02:00
#endif
static void setTargetHotend(const float& celsius, uint8_t extruder) {
2016-04-29 03:18:13 +02:00
target_temperature[extruder] = celsius;
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
start_watching_heater(extruder);
#endif
}
static void setTargetBed(const float& celsius) {
2016-04-29 03:18:13 +02:00
target_temperature_bed = celsius;
#if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
start_watching_bed();
#endif
}
2016-04-29 03:18:13 +02:00
static bool isHeatingHotend(uint8_t extruder) { return target_temperature[extruder] > current_temperature[extruder]; }
static bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; }
2016-04-29 03:18:13 +02:00
static bool isCoolingHotend(uint8_t extruder) { return target_temperature[extruder] < current_temperature[extruder]; }
static bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; }
2016-04-29 03:18:13 +02:00
/**
* The software PWM power for a heater
*/
2016-05-26 20:58:38 +02:00
static int getHeaterPower(int heater);
2016-04-29 03:18:13 +02:00
/**
* Switch off all heaters, set all target temperatures to 0
*/
2016-05-26 20:58:38 +02:00
static void disable_all_heaters();
2016-04-29 03:18:13 +02:00
/**
* Perform auto-tuning for hotend or bed in response to M303
*/
#if HAS_PID_HEATING
2016-05-26 20:58:38 +02:00
static void PID_autotune(float temp, int extruder, int ncycles, bool set_result=false);
2016-04-29 03:18:13 +02:00
#endif
/**
* Update the temp manager when PID values change
*/
2016-05-26 20:58:38 +02:00
static void updatePID();
2016-04-29 03:18:13 +02:00
static void autotempShutdown() {
2016-04-29 03:18:13 +02:00
#if ENABLED(AUTOTEMP)
if (planner.autotemp_enabled) {
planner.autotemp_enabled = false;
if (degTargetHotend(active_extruder) > planner.autotemp_min)
setTargetHotend(0, active_extruder);
}
#endif
}
#if ENABLED(BABYSTEPPING)
static void babystep_axis(AxisEnum axis, int distance) {
#if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
#if ENABLED(BABYSTEP_XY)
switch (axis) {
case CORE_AXIS_1: // X on CoreXY and CoreXZ, Y on CoreYZ
babystepsTodo[CORE_AXIS_1] += distance * 2;
babystepsTodo[CORE_AXIS_2] += distance * 2;
break;
case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ and CoreYZ
babystepsTodo[CORE_AXIS_1] += distance * 2;
babystepsTodo[CORE_AXIS_2] -= distance * 2;
break;
2016-05-20 22:32:30 +02:00
case NORMAL_AXIS: // Z on CoreXY, Y on CoreXZ, X on CoreYZ
babystepsTodo[NORMAL_AXIS] += distance;
break;
}
#elif ENABLED(COREXZ) || ENABLED(COREYZ)
// Only Z stepping needs to be handled here
babystepsTodo[CORE_AXIS_1] += distance * 2;
babystepsTodo[CORE_AXIS_2] -= distance * 2;
#else
babystepsTodo[Z_AXIS] += distance;
#endif
#else
babystepsTodo[axis] += distance;
#endif
}
#endif // BABYSTEPPING
2016-04-29 03:18:13 +02:00
private:
2016-05-26 20:58:38 +02:00
static void set_current_temp_raw();
2016-04-29 03:18:13 +02:00
2016-05-26 20:58:38 +02:00
static void updateTemperaturesFromRawValues();
2016-04-29 03:18:13 +02:00
#if ENABLED(HEATER_0_USES_MAX6675)
2016-05-26 20:58:38 +02:00
static int read_max6675();
2016-04-29 03:18:13 +02:00
#endif
2016-05-26 20:58:38 +02:00
static void checkExtruderAutoFans();
2016-04-29 03:18:13 +02:00
2016-05-26 20:58:38 +02:00
static float get_pid_output(int e);
2016-04-29 03:18:13 +02:00
#if ENABLED(PIDTEMPBED)
2016-05-26 20:58:38 +02:00
static float get_pid_output_bed();
2016-04-29 03:18:13 +02:00
#endif
2016-05-26 20:58:38 +02:00
static void _temp_error(int e, const char* serial_msg, const char* lcd_msg);
static void min_temp_error(uint8_t e);
static void max_temp_error(uint8_t e);
2016-04-29 03:18:13 +02:00
#if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
typedef enum TRState { TRInactive, TRFirstHeating, TRStable, TRRunaway } TRstate;
2016-04-29 03:18:13 +02:00
2016-05-26 20:58:38 +02:00
static void thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
2016-04-29 03:18:13 +02:00
#if ENABLED(THERMAL_PROTECTION_HOTENDS)
2016-05-26 20:58:38 +02:00
static TRState thermal_runaway_state_machine[EXTRUDERS];
static millis_t thermal_runaway_timer[EXTRUDERS];
2016-04-29 03:18:13 +02:00
#endif
#if HAS_THERMALLY_PROTECTED_BED
2016-05-26 20:58:38 +02:00
static TRState thermal_runaway_bed_state_machine;
static millis_t thermal_runaway_bed_timer;
2016-04-29 03:18:13 +02:00
#endif
#endif // THERMAL_PROTECTION
};
extern Temperature thermalManager;
#endif // TEMPERATURE_H