462 lines
13 KiB
C++
462 lines
13 KiB
C++
/**
|
|
* 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/>.
|
|
*
|
|
*/
|
|
|
|
/**
|
|
* temperature.h - temperature controller
|
|
*/
|
|
|
|
#ifndef TEMPERATURE_H
|
|
#define TEMPERATURE_H
|
|
|
|
#include "planner.h"
|
|
#include "thermistortables.h"
|
|
|
|
#include "MarlinConfig.h"
|
|
|
|
#if ENABLED(PID_EXTRUSION_SCALING)
|
|
#include "stepper.h"
|
|
#endif
|
|
|
|
#ifndef SOFT_PWM_SCALE
|
|
#define SOFT_PWM_SCALE 0
|
|
#endif
|
|
|
|
#if HOTENDS == 1
|
|
#define HOTEND_LOOP() const int8_t e = 0;
|
|
#define HOTEND_INDEX 0
|
|
#define EXTRUDER_IDX 0
|
|
#else
|
|
#define HOTEND_LOOP() for (int8_t e = 0; e < HOTENDS; e++)
|
|
#define HOTEND_INDEX e
|
|
#define EXTRUDER_IDX active_extruder
|
|
#endif
|
|
|
|
class Temperature {
|
|
|
|
public:
|
|
|
|
static float current_temperature[HOTENDS],
|
|
current_temperature_bed;
|
|
static int current_temperature_raw[HOTENDS],
|
|
target_temperature[HOTENDS],
|
|
current_temperature_bed_raw,
|
|
target_temperature_bed;
|
|
|
|
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
|
|
static float redundant_temperature;
|
|
#endif
|
|
|
|
static uint8_t soft_pwm_bed;
|
|
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
static uint8_t fanSpeedSoftPwm[FAN_COUNT];
|
|
#endif
|
|
|
|
#if ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED)
|
|
#define PID_dT ((OVERSAMPLENR * 12.0)/(F_CPU / 64.0 / 256.0))
|
|
#endif
|
|
|
|
#if ENABLED(PIDTEMP)
|
|
|
|
#if ENABLED(PID_PARAMS_PER_HOTEND) && HOTENDS > 1
|
|
|
|
static float Kp[HOTENDS], Ki[HOTENDS], Kd[HOTENDS];
|
|
#if ENABLED(PID_EXTRUSION_SCALING)
|
|
static float Kc[HOTENDS];
|
|
#endif
|
|
#define PID_PARAM(param, h) Temperature::param[h]
|
|
|
|
#else
|
|
|
|
static float Kp, Ki, Kd;
|
|
#if ENABLED(PID_EXTRUSION_SCALING)
|
|
static float Kc;
|
|
#endif
|
|
#define PID_PARAM(param, h) Temperature::param
|
|
|
|
#endif // PID_PARAMS_PER_HOTEND
|
|
|
|
// 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 )
|
|
|
|
#endif
|
|
|
|
#if ENABLED(PIDTEMPBED)
|
|
static float bedKp, bedKi, bedKd;
|
|
#endif
|
|
|
|
#if ENABLED(BABYSTEPPING)
|
|
static volatile int babystepsTodo[3];
|
|
#endif
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
|
|
static int watch_target_temp[HOTENDS];
|
|
static millis_t watch_heater_next_ms[HOTENDS];
|
|
#endif
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
|
|
static int watch_target_bed_temp;
|
|
static millis_t watch_bed_next_ms;
|
|
#endif
|
|
|
|
#if ENABLED(PREVENT_COLD_EXTRUSION)
|
|
static bool allow_cold_extrude;
|
|
static float extrude_min_temp;
|
|
static bool tooColdToExtrude(uint8_t e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
return allow_cold_extrude ? false : degHotend(HOTEND_INDEX) < extrude_min_temp;
|
|
}
|
|
#else
|
|
static bool tooColdToExtrude(uint8_t e) { UNUSED(e); return false; }
|
|
#endif
|
|
|
|
private:
|
|
|
|
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
|
|
static int redundant_temperature_raw;
|
|
static float redundant_temperature;
|
|
#endif
|
|
|
|
static volatile bool temp_meas_ready;
|
|
|
|
#if ENABLED(PIDTEMP)
|
|
static float temp_iState[HOTENDS],
|
|
temp_dState[HOTENDS],
|
|
pTerm[HOTENDS],
|
|
iTerm[HOTENDS],
|
|
dTerm[HOTENDS];
|
|
|
|
#if ENABLED(PID_EXTRUSION_SCALING)
|
|
static float cTerm[HOTENDS];
|
|
static long last_e_position;
|
|
static long lpq[LPQ_MAX_LEN];
|
|
static int lpq_ptr;
|
|
#endif
|
|
|
|
static float pid_error[HOTENDS];
|
|
static bool pid_reset[HOTENDS];
|
|
#endif
|
|
|
|
#if ENABLED(PIDTEMPBED)
|
|
static float temp_iState_bed,
|
|
temp_dState_bed,
|
|
pTerm_bed,
|
|
iTerm_bed,
|
|
dTerm_bed,
|
|
pid_error_bed;
|
|
#else
|
|
static millis_t next_bed_check_ms;
|
|
#endif
|
|
|
|
static unsigned long raw_temp_value[4],
|
|
raw_temp_bed_value;
|
|
|
|
// Init min and max temp with extreme values to prevent false errors during startup
|
|
static int minttemp_raw[HOTENDS],
|
|
maxttemp_raw[HOTENDS],
|
|
minttemp[HOTENDS],
|
|
maxttemp[HOTENDS];
|
|
|
|
#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
|
|
static int consecutive_low_temperature_error[HOTENDS];
|
|
#endif
|
|
|
|
#ifdef MILLISECONDS_PREHEAT_TIME
|
|
static unsigned long preheat_end_time[HOTENDS];
|
|
#endif
|
|
|
|
#ifdef BED_MINTEMP
|
|
static int bed_minttemp_raw;
|
|
#endif
|
|
|
|
#ifdef BED_MAXTEMP
|
|
static int bed_maxttemp_raw;
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
static int meas_shift_index; // Index of a delayed sample in buffer
|
|
#endif
|
|
|
|
#if HAS_AUTO_FAN
|
|
static millis_t next_auto_fan_check_ms;
|
|
#endif
|
|
|
|
static uint8_t soft_pwm[HOTENDS];
|
|
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
static uint8_t soft_pwm_fan[FAN_COUNT];
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
static int current_raw_filwidth; //Holds measured filament diameter - one extruder only
|
|
#endif
|
|
|
|
public:
|
|
|
|
/**
|
|
* Instance Methods
|
|
*/
|
|
|
|
Temperature();
|
|
|
|
void init();
|
|
|
|
/**
|
|
* Static (class) methods
|
|
*/
|
|
static float analog2temp(int raw, uint8_t e);
|
|
static float analog2tempBed(int raw);
|
|
|
|
/**
|
|
* Called from the Temperature ISR
|
|
*/
|
|
static void isr();
|
|
|
|
/**
|
|
* Call periodically to manage heaters
|
|
*/
|
|
static void manage_heater();
|
|
|
|
/**
|
|
* Preheating hotends
|
|
*/
|
|
#ifdef MILLISECONDS_PREHEAT_TIME
|
|
static bool is_preheating(uint8_t e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
return preheat_end_time[HOTEND_INDEX] && PENDING(millis(), preheat_end_time[HOTEND_INDEX]);
|
|
}
|
|
static void start_preheat_time(uint8_t e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
preheat_end_time[HOTEND_INDEX] = millis() + MILLISECONDS_PREHEAT_TIME;
|
|
}
|
|
static void reset_preheat_time(uint8_t e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
preheat_end_time[HOTEND_INDEX] = 0;
|
|
}
|
|
#else
|
|
#define is_preheating(n) (false)
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
static float analog2widthFil(); // Convert raw Filament Width to millimeters
|
|
static int widthFil_to_size_ratio(); // Convert raw Filament Width to an extrusion ratio
|
|
#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 e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
return current_temperature[HOTEND_INDEX];
|
|
}
|
|
static float degBed() { return current_temperature_bed; }
|
|
|
|
#if ENABLED(SHOW_TEMP_ADC_VALUES)
|
|
static float rawHotendTemp(uint8_t e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
return current_temperature_raw[HOTEND_INDEX];
|
|
}
|
|
static float rawBedTemp() { return current_temperature_bed_raw; }
|
|
#endif
|
|
|
|
static float degTargetHotend(uint8_t e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
return target_temperature[HOTEND_INDEX];
|
|
}
|
|
static float degTargetBed() { return target_temperature_bed; }
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
|
|
static void start_watching_heater(uint8_t e = 0);
|
|
#endif
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
|
|
static void start_watching_bed();
|
|
#endif
|
|
|
|
static void setTargetHotend(const float& celsius, uint8_t e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
#ifdef MILLISECONDS_PREHEAT_TIME
|
|
if (celsius == 0.0f)
|
|
reset_preheat_time(HOTEND_INDEX);
|
|
else if (target_temperature[HOTEND_INDEX] == 0.0f)
|
|
start_preheat_time(HOTEND_INDEX);
|
|
#endif
|
|
target_temperature[HOTEND_INDEX] = celsius;
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
|
|
start_watching_heater(HOTEND_INDEX);
|
|
#endif
|
|
}
|
|
|
|
static void setTargetBed(const float& celsius) {
|
|
target_temperature_bed = celsius;
|
|
#if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
|
|
start_watching_bed();
|
|
#endif
|
|
}
|
|
|
|
static bool isHeatingHotend(uint8_t e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
return target_temperature[HOTEND_INDEX] > current_temperature[HOTEND_INDEX];
|
|
}
|
|
static bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; }
|
|
|
|
static bool isCoolingHotend(uint8_t e) {
|
|
#if HOTENDS == 1
|
|
UNUSED(e);
|
|
#endif
|
|
return target_temperature[HOTEND_INDEX] < current_temperature[HOTEND_INDEX];
|
|
}
|
|
static bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; }
|
|
|
|
/**
|
|
* The software PWM power for a heater
|
|
*/
|
|
static int getHeaterPower(int heater);
|
|
|
|
/**
|
|
* Switch off all heaters, set all target temperatures to 0
|
|
*/
|
|
static void disable_all_heaters();
|
|
|
|
/**
|
|
* Perform auto-tuning for hotend or bed in response to M303
|
|
*/
|
|
#if HAS_PID_HEATING
|
|
static void PID_autotune(float temp, int hotend, int ncycles, bool set_result=false);
|
|
#endif
|
|
|
|
/**
|
|
* Update the temp manager when PID values change
|
|
*/
|
|
static void updatePID();
|
|
|
|
#if ENABLED(AUTOTEMP)
|
|
static void autotempShutdown() {
|
|
if (planner.autotemp_enabled) {
|
|
planner.autotemp_enabled = false;
|
|
if (degTargetHotend(EXTRUDER_IDX) > planner.autotemp_min)
|
|
setTargetHotend(0, EXTRUDER_IDX);
|
|
}
|
|
}
|
|
#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;
|
|
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
|
|
|
|
private:
|
|
|
|
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(int e);
|
|
|
|
#if ENABLED(PIDTEMPBED)
|
|
static float get_pid_output_bed();
|
|
#endif
|
|
|
|
static void _temp_error(int e, const char* serial_msg, const char* lcd_msg);
|
|
static void min_temp_error(int8_t e);
|
|
static void max_temp_error(int8_t e);
|
|
|
|
#if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
|
|
|
|
typedef enum TRState { TRInactive, TRFirstHeating, TRStable, TRRunaway } TRstate;
|
|
|
|
static void thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int 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
|