654 lines
19 KiB
C++
654 lines
19 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* temperature.h - temperature controller
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*/
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#ifndef TEMPERATURE_H
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#define TEMPERATURE_H
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#include "thermistortables.h"
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#include "MarlinConfig.h"
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#if ENABLED(AUTO_POWER_CONTROL)
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#include "power.h"
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#endif
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#if ENABLED(PID_EXTRUSION_SCALING)
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#include "stepper.h"
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#endif
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#ifndef SOFT_PWM_SCALE
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#define SOFT_PWM_SCALE 0
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#endif
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#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0B)
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#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B)
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#define TEMPERATURE_ISR_ENABLED() TEST(TIMSK0, OCIE0B)
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#define HOTEND_LOOP() for (int8_t e = 0; e < HOTENDS; e++)
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#if HOTENDS == 1
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#define HOTEND_INDEX 0
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#else
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#define HOTEND_INDEX e
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#endif
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/**
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* States for ADC reading in the ISR
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*/
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enum ADCSensorState : char {
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#if HAS_TEMP_ADC_0
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PrepareTemp_0,
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MeasureTemp_0,
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#endif
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#if HAS_TEMP_ADC_1
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PrepareTemp_1,
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MeasureTemp_1,
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#endif
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#if HAS_TEMP_ADC_2
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PrepareTemp_2,
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MeasureTemp_2,
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#endif
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#if HAS_TEMP_ADC_3
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PrepareTemp_3,
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MeasureTemp_3,
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#endif
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#if HAS_TEMP_ADC_4
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PrepareTemp_4,
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MeasureTemp_4,
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#endif
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#if HAS_HEATED_BED
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PrepareTemp_BED,
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MeasureTemp_BED,
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#endif
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#if HAS_TEMP_CHAMBER
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PrepareTemp_CHAMBER,
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MeasureTemp_CHAMBER,
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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Prepare_FILWIDTH,
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Measure_FILWIDTH,
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#endif
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#if ENABLED(ADC_KEYPAD)
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Prepare_ADC_KEY,
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Measure_ADC_KEY,
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#endif
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SensorsReady, // Temperatures ready. Delay the next round of readings to let ADC pins settle.
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StartupDelay // Startup, delay initial temp reading a tiny bit so the hardware can settle
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};
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// Minimum number of Temperature::ISR loops between sensor readings.
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// Multiplied by 16 (OVERSAMPLENR) to obtain the total time to
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// get all oversampled sensor readings
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#define MIN_ADC_ISR_LOOPS 10
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#define ACTUAL_ADC_SAMPLES MAX(int(MIN_ADC_ISR_LOOPS), int(SensorsReady))
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#if HAS_PID_HEATING
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#define PID_K2 (1.0f-PID_K1)
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#define PID_dT ((OVERSAMPLENR * float(ACTUAL_ADC_SAMPLES)) / (F_CPU / 64.0f / 256.0f))
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// Apply the scale factors to the PID values
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#define scalePID_i(i) ( (i) * float(PID_dT) )
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#define unscalePID_i(i) ( (i) / float(PID_dT) )
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#define scalePID_d(d) ( (d) / float(PID_dT) )
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#define unscalePID_d(d) ( (d) * float(PID_dT) )
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#endif
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class Temperature {
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public:
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static float current_temperature[HOTENDS];
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static int16_t current_temperature_raw[HOTENDS],
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target_temperature[HOTENDS];
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static uint8_t soft_pwm_amount[HOTENDS];
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#if ENABLED(AUTO_POWER_E_FANS)
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static int16_t autofan_speed[HOTENDS];
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#endif
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#if ENABLED(FAN_SOFT_PWM)
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static uint8_t soft_pwm_amount_fan[FAN_COUNT],
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soft_pwm_count_fan[FAN_COUNT];
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#endif
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#if ENABLED(PIDTEMP)
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#if ENABLED(PID_PARAMS_PER_HOTEND) && HOTENDS > 1
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static float Kp[HOTENDS], Ki[HOTENDS], Kd[HOTENDS];
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#if ENABLED(PID_EXTRUSION_SCALING)
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static float Kc[HOTENDS];
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#endif
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#define PID_PARAM(param, h) Temperature::param[h]
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#else
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static float Kp, Ki, Kd;
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#if ENABLED(PID_EXTRUSION_SCALING)
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static float Kc;
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#endif
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#define PID_PARAM(param, h) Temperature::param
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#endif // PID_PARAMS_PER_HOTEND
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#endif
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#if HAS_HEATED_BED
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static float current_temperature_bed;
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static int16_t current_temperature_bed_raw, target_temperature_bed;
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static uint8_t soft_pwm_amount_bed;
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#if ENABLED(PIDTEMPBED)
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static float bedKp, bedKi, bedKd;
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#endif
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#endif
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#if ENABLED(BABYSTEPPING)
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static volatile int babystepsTodo[3];
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#endif
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#if ENABLED(PREVENT_COLD_EXTRUSION)
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static bool allow_cold_extrude;
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static int16_t extrude_min_temp;
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FORCE_INLINE static bool tooCold(const int16_t temp) { return allow_cold_extrude ? false : temp < extrude_min_temp; }
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FORCE_INLINE static bool tooColdToExtrude(const uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return tooCold(degHotend(HOTEND_INDEX));
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}
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FORCE_INLINE static bool targetTooColdToExtrude(const uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return tooCold(degTargetHotend(HOTEND_INDEX));
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}
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#else
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FORCE_INLINE static bool tooColdToExtrude(const uint8_t e) { UNUSED(e); return false; }
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FORCE_INLINE static bool targetTooColdToExtrude(const uint8_t e) { UNUSED(e); return false; }
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#endif
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FORCE_INLINE static bool hotEnoughToExtrude(const uint8_t e) { return !tooColdToExtrude(e); }
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FORCE_INLINE static bool targetHotEnoughToExtrude(const uint8_t e) { return !targetTooColdToExtrude(e); }
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private:
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static volatile bool temp_meas_ready;
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static uint16_t raw_temp_value[MAX_EXTRUDERS];
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#if WATCH_HOTENDS
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static uint16_t watch_target_temp[HOTENDS];
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static millis_t watch_heater_next_ms[HOTENDS];
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#endif
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#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
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static uint16_t redundant_temperature_raw;
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static float redundant_temperature;
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#endif
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#if ENABLED(PIDTEMP)
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static float temp_iState[HOTENDS],
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temp_dState[HOTENDS],
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pTerm[HOTENDS],
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iTerm[HOTENDS],
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dTerm[HOTENDS];
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#if ENABLED(PID_EXTRUSION_SCALING)
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static float cTerm[HOTENDS];
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static long last_e_position;
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static long lpq[LPQ_MAX_LEN];
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static int lpq_ptr;
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#endif
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static float pid_error[HOTENDS];
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static bool pid_reset[HOTENDS];
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#endif
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// Init min and max temp with extreme values to prevent false errors during startup
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static int16_t minttemp_raw[HOTENDS],
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maxttemp_raw[HOTENDS],
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minttemp[HOTENDS],
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maxttemp[HOTENDS];
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#if HAS_HEATED_BED
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static uint16_t raw_temp_bed_value;
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#if WATCH_THE_BED
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static uint16_t watch_target_bed_temp;
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static millis_t watch_bed_next_ms;
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#endif
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#if ENABLED(PIDTEMPBED)
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static float temp_iState_bed,
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temp_dState_bed,
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pTerm_bed,
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iTerm_bed,
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dTerm_bed,
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pid_error_bed;
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#else
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static millis_t next_bed_check_ms;
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#endif
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#if HEATER_IDLE_HANDLER
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static millis_t bed_idle_timeout_ms;
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static bool bed_idle_timeout_exceeded;
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#endif
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#ifdef BED_MINTEMP
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static int16_t bed_minttemp_raw;
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#endif
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#ifdef BED_MAXTEMP
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static int16_t bed_maxttemp_raw;
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#endif
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#endif
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#if HAS_TEMP_CHAMBER
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static uint16_t raw_temp_chamber_value;
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static float current_temperature_chamber;
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static int16_t current_temperature_chamber_raw;
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#endif
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#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
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static uint8_t consecutive_low_temperature_error[HOTENDS];
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#endif
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#ifdef MILLISECONDS_PREHEAT_TIME
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static millis_t preheat_end_time[HOTENDS];
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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static int8_t meas_shift_index; // Index of a delayed sample in buffer
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#endif
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#if HAS_AUTO_FAN
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static millis_t next_auto_fan_check_ms;
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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static uint16_t current_raw_filwidth; // Measured filament diameter - one extruder only
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#endif
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#if ENABLED(PROBING_HEATERS_OFF)
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static bool paused;
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#endif
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#if HEATER_IDLE_HANDLER
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static millis_t heater_idle_timeout_ms[HOTENDS];
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static bool heater_idle_timeout_exceeded[HOTENDS];
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#endif
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public:
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#if ENABLED(ADC_KEYPAD)
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static uint32_t current_ADCKey_raw;
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static uint8_t ADCKey_count;
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#endif
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#if ENABLED(PID_EXTRUSION_SCALING)
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static int16_t lpq_len;
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#endif
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/**
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* Instance Methods
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*/
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Temperature();
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void init();
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/**
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* Static (class) methods
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*/
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static float analog2temp(const int raw, const uint8_t e);
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#if HAS_HEATED_BED
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static float analog2tempBed(const int raw);
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#endif
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#if HAS_TEMP_CHAMBER
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static float analog2tempChamber(const int raw);
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#endif
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/**
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* Called from the Temperature ISR
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*/
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static void isr();
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/**
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* Call periodically to manage heaters
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*/
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static void manage_heater() _O2; // Added _O2 to work around a compiler error
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/**
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* Preheating hotends
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*/
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#ifdef MILLISECONDS_PREHEAT_TIME
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static bool is_preheating(const uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return preheat_end_time[HOTEND_INDEX] && PENDING(millis(), preheat_end_time[HOTEND_INDEX]);
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}
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static void start_preheat_time(const uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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preheat_end_time[HOTEND_INDEX] = millis() + MILLISECONDS_PREHEAT_TIME;
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}
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static void reset_preheat_time(const uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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preheat_end_time[HOTEND_INDEX] = 0;
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}
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#else
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#define is_preheating(n) (false)
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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static float analog2widthFil(); // Convert raw Filament Width to millimeters
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static int8_t widthFil_to_size_ratio(); // Convert Filament Width (mm) to an extrusion ratio
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#endif
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//high level conversion routines, for use outside of temperature.cpp
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//inline so that there is no performance decrease.
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//deg=degreeCelsius
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FORCE_INLINE static float degHotend(const uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return current_temperature[HOTEND_INDEX];
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}
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#if ENABLED(SHOW_TEMP_ADC_VALUES)
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FORCE_INLINE static int16_t rawHotendTemp(const uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return current_temperature_raw[HOTEND_INDEX];
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}
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#endif
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FORCE_INLINE static int16_t degTargetHotend(const uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return target_temperature[HOTEND_INDEX];
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}
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#if WATCH_HOTENDS
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static void start_watching_heater(const uint8_t e = 0);
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#endif
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static void setTargetHotend(const int16_t celsius, const uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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#ifdef MILLISECONDS_PREHEAT_TIME
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if (celsius == 0)
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reset_preheat_time(HOTEND_INDEX);
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else if (target_temperature[HOTEND_INDEX] == 0)
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start_preheat_time(HOTEND_INDEX);
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#endif
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#if ENABLED(AUTO_POWER_CONTROL)
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powerManager.power_on();
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#endif
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target_temperature[HOTEND_INDEX] = celsius;
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#if WATCH_HOTENDS
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start_watching_heater(HOTEND_INDEX);
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#endif
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}
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FORCE_INLINE static bool isHeatingHotend(const uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return target_temperature[HOTEND_INDEX] > current_temperature[HOTEND_INDEX];
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}
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FORCE_INLINE static bool isCoolingHotend(const uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return target_temperature[HOTEND_INDEX] < current_temperature[HOTEND_INDEX];
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}
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#if HAS_HEATED_BED
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#if ENABLED(SHOW_TEMP_ADC_VALUES)
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FORCE_INLINE static int16_t rawBedTemp() { return current_temperature_bed_raw; }
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#endif
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FORCE_INLINE static float degBed() { return current_temperature_bed; }
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FORCE_INLINE static int16_t degTargetBed() { return target_temperature_bed; }
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FORCE_INLINE static bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; }
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FORCE_INLINE static bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; }
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static void setTargetBed(const int16_t celsius) {
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#if ENABLED(AUTO_POWER_CONTROL)
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powerManager.power_on();
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#endif
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target_temperature_bed =
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#ifdef BED_MAXTEMP
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MIN(celsius, BED_MAXTEMP)
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#else
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celsius
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#endif
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;
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#if WATCH_THE_BED
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start_watching_bed();
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#endif
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}
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#if WATCH_THE_BED
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static void start_watching_bed();
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#endif
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#endif
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#if HAS_TEMP_CHAMBER
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#if ENABLED(SHOW_TEMP_ADC_VALUES)
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FORCE_INLINE static int16_t rawChamberTemp() { return current_temperature_chamber_raw; }
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#endif
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FORCE_INLINE static float degChamber() { return current_temperature_chamber; }
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#endif
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FORCE_INLINE static bool wait_for_heating(const uint8_t e) {
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return degTargetHotend(e) > TEMP_HYSTERESIS && ABS(degHotend(e) - degTargetHotend(e)) > TEMP_HYSTERESIS;
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}
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/**
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* The software PWM power for a heater
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*/
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static int getHeaterPower(const int heater);
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/**
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* Switch off all heaters, set all target temperatures to 0
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*/
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static void disable_all_heaters();
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/**
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* Perform auto-tuning for hotend or bed in response to M303
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*/
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#if HAS_PID_HEATING
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static void PID_autotune(const float &target, const int8_t hotend, const int8_t ncycles, const bool set_result=false);
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/**
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* Update the temp manager when PID values change
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*/
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#if ENABLED(PIDTEMP)
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FORCE_INLINE static void updatePID() {
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#if ENABLED(PID_EXTRUSION_SCALING)
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last_e_position = 0;
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#endif
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}
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#endif
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#endif
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#if ENABLED(BABYSTEPPING)
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static void babystep_axis(const AxisEnum axis, const int16_t distance) {
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if (TEST(axis_known_position, axis)) {
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#if IS_CORE
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#if ENABLED(BABYSTEP_XY)
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switch (axis) {
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case CORE_AXIS_1: // X on CoreXY and CoreXZ, Y on CoreYZ
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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] += CORESIGN(distance * 2);
|
|
babystepsTodo[CORE_AXIS_2] -= CORESIGN(distance * 2);
|
|
break;
|
|
case NORMAL_AXIS: // Z on CoreXY, Y on CoreXZ, X on CoreYZ
|
|
babystepsTodo[NORMAL_AXIS] += distance;
|
|
break;
|
|
}
|
|
#elif CORE_IS_XZ || CORE_IS_YZ
|
|
// Only Z stepping needs to be handled here
|
|
babystepsTodo[CORE_AXIS_1] += CORESIGN(distance * 2);
|
|
babystepsTodo[CORE_AXIS_2] -= CORESIGN(distance * 2);
|
|
#else
|
|
babystepsTodo[Z_AXIS] += distance;
|
|
#endif
|
|
#else
|
|
babystepsTodo[axis] += distance;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
#endif // BABYSTEPPING
|
|
|
|
#if ENABLED(PROBING_HEATERS_OFF)
|
|
static void pause(const bool p);
|
|
FORCE_INLINE static bool is_paused() { return paused; }
|
|
#endif
|
|
|
|
#if HEATER_IDLE_HANDLER
|
|
|
|
static void start_heater_idle_timer(const uint8_t e, const millis_t timeout_ms) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
heater_idle_timeout_ms[HOTEND_INDEX] = millis() + timeout_ms;
|
|
heater_idle_timeout_exceeded[HOTEND_INDEX] = false;
|
|
}
|
|
|
|
static void reset_heater_idle_timer(const uint8_t e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
heater_idle_timeout_ms[HOTEND_INDEX] = 0;
|
|
heater_idle_timeout_exceeded[HOTEND_INDEX] = false;
|
|
#if WATCH_HOTENDS
|
|
start_watching_heater(HOTEND_INDEX);
|
|
#endif
|
|
}
|
|
|
|
FORCE_INLINE static bool is_heater_idle(const uint8_t e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
return heater_idle_timeout_exceeded[HOTEND_INDEX];
|
|
}
|
|
|
|
#if HAS_HEATED_BED
|
|
static void start_bed_idle_timer(const millis_t timeout_ms) {
|
|
bed_idle_timeout_ms = millis() + timeout_ms;
|
|
bed_idle_timeout_exceeded = false;
|
|
}
|
|
|
|
static void reset_bed_idle_timer() {
|
|
bed_idle_timeout_ms = 0;
|
|
bed_idle_timeout_exceeded = false;
|
|
#if WATCH_THE_BED
|
|
start_watching_bed();
|
|
#endif
|
|
}
|
|
|
|
FORCE_INLINE static bool is_bed_idle() { return bed_idle_timeout_exceeded; }
|
|
#endif
|
|
|
|
#endif // HEATER_IDLE_HANDLER
|
|
|
|
#if HAS_TEMP_SENSOR
|
|
static void print_heaterstates();
|
|
#if ENABLED(AUTO_REPORT_TEMPERATURES)
|
|
static uint8_t auto_report_temp_interval;
|
|
static millis_t next_temp_report_ms;
|
|
static void auto_report_temperatures(void);
|
|
FORCE_INLINE void set_auto_report_interval(uint8_t v) {
|
|
NOMORE(v, 60);
|
|
auto_report_temp_interval = v;
|
|
next_temp_report_ms = millis() + 1000UL * v;
|
|
}
|
|
#endif
|
|
#endif
|
|
|
|
private:
|
|
|
|
#if ENABLED(FAST_PWM_FAN)
|
|
static void setPwmFrequency(const pin_t pin, int val);
|
|
#endif
|
|
|
|
static void set_current_temp_raw();
|
|
|
|
static void updateTemperaturesFromRawValues();
|
|
|
|
#if ENABLED(HEATER_0_USES_MAX6675)
|
|
static int read_max6675();
|
|
#endif
|
|
|
|
static void checkExtruderAutoFans();
|
|
|
|
static float get_pid_output(const int8_t e);
|
|
|
|
#if ENABLED(PIDTEMPBED)
|
|
static float get_pid_output_bed();
|
|
#endif
|
|
|
|
static void _temp_error(const int8_t e, const char * const serial_msg, const char * const lcd_msg);
|
|
static void min_temp_error(const int8_t e);
|
|
static void max_temp_error(const int8_t e);
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
|
|
|
|
enum TRState : char { TRInactive, TRFirstHeating, TRStable, TRRunaway };
|
|
|
|
static void thermal_runaway_protection(TRState * const state, millis_t * const timer, const float ¤t, const float &target, const int8_t heater_id, const uint16_t period_seconds, const uint16_t hysteresis_degc);
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS)
|
|
static TRState thermal_runaway_state_machine[HOTENDS];
|
|
static millis_t thermal_runaway_timer[HOTENDS];
|
|
#endif
|
|
|
|
#if HAS_THERMALLY_PROTECTED_BED
|
|
static TRState thermal_runaway_bed_state_machine;
|
|
static millis_t thermal_runaway_bed_timer;
|
|
#endif
|
|
|
|
#endif // THERMAL_PROTECTION
|
|
|
|
};
|
|
|
|
extern Temperature thermalManager;
|
|
|
|
#endif // TEMPERATURE_H
|