360 lines
14 KiB
C
360 lines
14 KiB
C
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#ifndef EXTRUDER_H_INCLUDED
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#define EXTRUDER_H_INCLUDED
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#define CELSIUS_EXTRA_BITS 3
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#define VIRTUAL_EXTRUDER 16 // don't change this to more then 16 without modifying the eeprom positions
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// Updates the temperature of all extruders and heated bed if it's time.
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// Toggles the heater power if necessary.
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extern bool reportTempsensorError(); ///< Report defect sensors
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extern uint8_t manageMonitor;
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#define HTR_OFF 0
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#define HTR_PID 1
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#define HTR_SLOWBANG 2
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#define HTR_DEADTIME 3
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#define TEMPERATURE_CONTROLLER_FLAG_ALARM 1
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#define TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL 2 ///< Full heating enabled
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#define TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_HOLD 4 ///< Holding target temperature
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#define TEMPERATURE_CONTROLLER_FLAG_SENSDEFECT 8 ///< Indicating sensor defect
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#define TEMPERATURE_CONTROLLER_FLAG_SENSDECOUPLED 16 ///< Indicating sensor decoupling
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#define TEMPERATURE_CONTROLLER_FLAG_JAM 32 ///< Indicates a jammed filament
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#define TEMPERATURE_CONTROLLER_FLAG_SLOWDOWN 64 ///< Indicates a slowed down extruder
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#define TEMPERATURE_CONTROLLER_FLAG_FILAMENTCHANGE 128 ///< Indicates we are switching filament
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#ifndef PID_TEMP_CORRECTION
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#define PID_TEMP_CORRECTION 2.0
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#endif
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/** TemperatureController manages one heater-temperature sensor loop. You can have up to
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4 loops allowing pid/bang bang for up to 3 extruder and the heated bed.
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*/
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class TemperatureController
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{
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public:
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uint8_t pwmIndex; ///< pwm index for output control. 0-2 = Extruder, 3 = Fan, 4 = Heated Bed
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uint8_t sensorType; ///< Type of temperature sensor.
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uint8_t sensorPin; ///< Pin to read extruder temperature.
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int8_t heatManager; ///< How is temperature controlled. 0 = on/off, 1 = PID-Control, 3 = dead time control
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int16_t currentTemperature; ///< Current temperature value read from sensor.
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//int16_t targetTemperature; ///< Target temperature value in units of sensor.
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float currentTemperatureC; ///< Current temperature in degC.
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float targetTemperatureC; ///< Target temperature in degC.
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float temperatureC; ///< For 1s updates temperature and last build a short time history
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float lastTemperatureC; ///< Used to compute D errors.
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uint32_t lastTemperatureUpdate; ///< Time in millis of the last temperature update.
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float tempIState; ///< Temp. var. for PID computation.
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uint8_t pidDriveMax; ///< Used for windup in PID calculation.
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uint8_t pidDriveMin; ///< Used for windup in PID calculation.
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#define deadTime pidPGain
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// deadTime is logically different value but physically overlays pidPGain for saving space
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float pidPGain; ///< Pgain (proportional gain) for PID temperature control [0,01 Units].
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float pidIGain; ///< Igain (integral) for PID temperature control [0,01 Units].
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float pidDGain; ///< Dgain (damping) for PID temperature control [0,01 Units].
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uint8_t pidMax; ///< Maximum PWM value, the heater should be set.
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float tempIStateLimitMax;
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float tempIStateLimitMin;
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uint8_t flags;
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millis_t lastDecoupleTest; ///< Last time of decoupling sensor-heater test
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float lastDecoupleTemp; ///< Temperature on last test
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millis_t decoupleTestPeriod; ///< Time between setting and testing decoupling.
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millis_t preheatStartTime; ///< Time (in milliseconds) when heat up was started
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int16_t preheatTemperature;
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void setTargetTemperature(float target);
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void updateCurrentTemperature();
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void updateTempControlVars();
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inline bool isAlarm()
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{
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return flags & TEMPERATURE_CONTROLLER_FLAG_ALARM;
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}
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inline void setAlarm(bool on)
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{
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if(on) flags |= TEMPERATURE_CONTROLLER_FLAG_ALARM;
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else flags &= ~TEMPERATURE_CONTROLLER_FLAG_ALARM;
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}
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inline bool isDecoupleFull()
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{
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return flags & TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL;
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}
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inline void removeErrorStates() {
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flags &= ~(TEMPERATURE_CONTROLLER_FLAG_ALARM | TEMPERATURE_CONTROLLER_FLAG_SENSDEFECT | TEMPERATURE_CONTROLLER_FLAG_SENSDECOUPLED);
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}
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inline bool isDecoupleFullOrHold()
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{
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return flags & (TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL | TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_HOLD);
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}
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inline void setDecoupleFull(bool on)
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{
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flags &= ~(TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL | TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_HOLD);
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if(on) flags |= TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL;
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}
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inline bool isDecoupleHold()
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{
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return flags & TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_HOLD;
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}
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inline void setDecoupleHold(bool on)
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{
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flags &= ~(TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL | TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_HOLD);
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if(on) flags |= TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_HOLD;
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}
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inline void startFullDecouple(millis_t &t)
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{
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if(isDecoupleFull()) return;
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lastDecoupleTest = t;
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lastDecoupleTemp = currentTemperatureC;
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setDecoupleFull(true);
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}
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inline void startHoldDecouple(millis_t &t)
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{
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if(isDecoupleHold()) return;
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if(fabs(currentTemperatureC - targetTemperatureC) + 1 > DECOUPLING_TEST_MAX_HOLD_VARIANCE) return;
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lastDecoupleTest = t;
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lastDecoupleTemp = targetTemperatureC;
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setDecoupleHold(true);
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}
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inline void stopDecouple()
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{
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setDecoupleFull(false);
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}
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inline bool isSensorDefect()
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{
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return flags & TEMPERATURE_CONTROLLER_FLAG_SENSDEFECT;
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}
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inline bool isSensorDecoupled()
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{
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return flags & TEMPERATURE_CONTROLLER_FLAG_SENSDECOUPLED;
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}
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static void resetAllErrorStates();
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fast8_t errorState();
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inline bool isFilamentChange()
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{
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return flags & TEMPERATURE_CONTROLLER_FLAG_FILAMENTCHANGE;
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}
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inline bool isJammed()
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{
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return flags & TEMPERATURE_CONTROLLER_FLAG_JAM;
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}
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inline bool isSlowedDown()
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{
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return flags & TEMPERATURE_CONTROLLER_FLAG_SLOWDOWN;
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}
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#if EXTRUDER_JAM_CONTROL
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inline void setFilamentChange(bool on)
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{
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flags &= ~TEMPERATURE_CONTROLLER_FLAG_FILAMENTCHANGE;
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if(on) flags |= TEMPERATURE_CONTROLLER_FLAG_FILAMENTCHANGE;
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}
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void setJammed(bool on);
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inline void setSlowedDown(bool on)
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{
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flags &= ~TEMPERATURE_CONTROLLER_FLAG_SLOWDOWN;
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if(on) flags |= TEMPERATURE_CONTROLLER_FLAG_SLOWDOWN;
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}
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#endif
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void waitForTargetTemperature();
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void autotunePID(float temp,uint8_t controllerId,int maxCycles,bool storeResult, int method);
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inline void startPreheatTime()
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{
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preheatStartTime = HAL::timeInMilliseconds();
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}
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inline void resetPreheatTime()
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{
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preheatStartTime = 0;
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}
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inline millis_t preheatTime()
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{
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return preheatStartTime == 0 ? 0 : HAL::timeInMilliseconds() - preheatStartTime;
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}
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};
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class Extruder;
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extern Extruder extruder[];
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#if EXTRUDER_JAM_CONTROL
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#if JAM_METHOD == 1
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#define _TEST_EXTRUDER_JAM(x,pin) {\
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uint8_t sig = READ(pin);extruder[x].jamStepsSinceLastSignal += extruder[x].jamLastDir;\
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if(extruder[x].jamLastSignal != sig && abs(extruder[x].jamStepsSinceLastSignal - extruder[x].jamLastChangeAt) > JAM_MIN_STEPS) {\
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if(sig) {extruder[x].resetJamSteps();} \
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extruder[x].jamLastSignal = sig;extruder[x].jamLastChangeAt = extruder[x].jamStepsSinceLastSignal;\
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} else if(abs(extruder[x].jamStepsSinceLastSignal) > extruder[x].jamErrorSteps && !Printer::isDebugJamOrDisabled() && !extruder[x].tempControl.isJammed() && !extruder[x].tempControl.isFilamentChange()) {\
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if(extruder[x].jamLastDir > 0) {\
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extruder[x].tempControl.setJammed(true);\
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} else {\
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extruder[x].tempControl.setFilamentChange(true);}} \
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}
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#define RESET_EXTRUDER_JAM(x,dir) extruder[x].jamLastDir = dir ? 1 : -1;
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#elif JAM_METHOD == 2
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#define _TEST_EXTRUDER_JAM(x,pin) {\
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uint8_t sig = READ(pin);\
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if(sig != extruder[x].jamLastSignal) {\
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extruder[x].jamLastSignal = sig;\
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if(sig)\
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{extruder[x].tempControl.setFilamentChange(true);extruder[x].tempControl.setJammed(true);} \
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else if(!Printer::isDebugJamOrDisabled() && extruder[x].tempControl.isJammed()) \
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{extruder[x].resetJamSteps();}}\
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}
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#define RESET_EXTRUDER_JAM(x,dir)
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#elif JAM_METHOD == 3
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#define _TEST_EXTRUDER_JAM(x,pin) {\
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uint8_t sig = !READ(pin);\
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if(sig != extruder[x].jamLastSignal) {\
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extruder[x].jamLastSignal = sig;\
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if(sig)\
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{extruder[x].tempControl.setFilamentChange(true);extruder[x].tempControl.setJammed(true);} \
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else if(!Printer::isDebugJamOrDisabled() && extruder[x].tempControl.isJammed()) \
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{extruder[x].resetJamSteps();}}\
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}
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#define RESET_EXTRUDER_JAM(x,dir)
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#else
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#error Unknown value for JAM_METHOD
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#endif
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#define ___TEST_EXTRUDER_JAM(x,y) _TEST_EXTRUDER_JAM(x,y)
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#define __TEST_EXTRUDER_JAM(x) ___TEST_EXTRUDER_JAM(x,EXT ## x ## _JAM_PIN)
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#define TEST_EXTRUDER_JAM(x) __TEST_EXTRUDER_JAM(x)
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#else
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#define TEST_EXTRUDER_JAM(x)
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#define RESET_EXTRUDER_JAM(x,dir)
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#endif
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#define EXTRUDER_FLAG_RETRACTED 1
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#define EXTRUDER_FLAG_WAIT_JAM_STARTCOUNT 2 ///< Waiting for the first signal to start counting
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/** \brief Data to drive one extruder.
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This structure contains all definitions for an extruder and all
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current state variables, like current temperature, feeder position etc.
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*/
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class Extruder // Size: 12*1 Byte+12*4 Byte+4*2Byte = 68 Byte
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{
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public:
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static Extruder *current;
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#if FEATURE_DITTO_PRINTING
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static uint8_t dittoMode;
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#endif
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#if MIXING_EXTRUDER > 0
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static int mixingS; ///< Sum of all weights
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static uint8_t mixingDir; ///< Direction flag
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static uint8_t activeMixingExtruder;
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static void recomputeMixingExtruderSteps();
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#endif
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uint8_t id;
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int32_t xOffset;
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int32_t yOffset;
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int32_t zOffset;
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float stepsPerMM; ///< Steps per mm.
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int8_t enablePin; ///< Pin to enable extruder stepper motor.
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// uint8_t directionPin; ///< Pin number to assign the direction.
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// uint8_t stepPin; ///< Pin number for a step.
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uint8_t enableOn;
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// uint8_t invertDir; ///< 1 if the direction of the extruder should be inverted.
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float maxFeedrate; ///< Maximum feedrate in mm/s.
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float maxAcceleration; ///< Maximum acceleration in mm/s^2.
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float maxStartFeedrate; ///< Maximum start feedrate in mm/s.
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int32_t extrudePosition; ///< Current extruder position in steps.
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int16_t watchPeriod; ///< Time in seconds, a M109 command will wait to stabilize temperature
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int16_t waitRetractTemperature; ///< Temperature to retract the filament when waiting for heat up
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int16_t waitRetractUnits; ///< Units to retract the filament when waiting for heat up
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#if USE_ADVANCE
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#if ENABLE_QUADRATIC_ADVANCE
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float advanceK; ///< Coefficient for advance algorithm. 0 = off
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#endif
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float advanceL;
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int16_t advanceBacklash;
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#endif // USE_ADVANCE
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#if MIXING_EXTRUDER > 0
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int mixingW; ///< Weight for this extruder when mixing steps
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int mixingWB; ///< Weight after balancing extruder steps per mm
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int mixingE; ///< Cumulated error for this step.
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int virtualWeights[VIRTUAL_EXTRUDER]; // Virtual extruder weights
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#endif // MIXING_EXTRUDER > 0
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TemperatureController tempControl;
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const char * PROGMEM selectCommands;
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const char * PROGMEM deselectCommands;
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uint8_t coolerSpeed; ///< Speed to use when enabled
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uint8_t coolerPWM; ///< current PWM setting
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float diameter;
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uint8_t flags;
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#if EXTRUDER_JAM_CONTROL
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int32_t jamStepsSinceLastSignal; // when was the last signal
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uint8_t jamLastSignal; // what was the last signal
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int8_t jamLastDir;
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int32_t jamStepsOnSignal;
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int32_t jamLastChangeAt;
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int32_t jamSlowdownSteps;
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int32_t jamErrorSteps;
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uint8_t jamSlowdownTo;
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#endif
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// Methods here
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#if EXTRUDER_JAM_CONTROL
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inline bool isWaitJamStartcount()
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{
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return flags & EXTRUDER_FLAG_WAIT_JAM_STARTCOUNT;
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}
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inline void setWaitJamStartcount(bool on)
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{
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if(on) flags |= EXTRUDER_FLAG_WAIT_JAM_STARTCOUNT;
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else flags &= ~(EXTRUDER_FLAG_WAIT_JAM_STARTCOUNT);
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}
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static void markAllUnjammed();
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void resetJamSteps();
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#endif
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#if MIXING_EXTRUDER > 0
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static void setMixingWeight(uint8_t extr,int weight);
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#endif
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static void step();
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static void unstep();
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static void setDirection(uint8_t dir);
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static void enable();
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#if FEATURE_RETRACTION
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inline bool isRetracted() {return (flags & EXTRUDER_FLAG_RETRACTED) != 0;}
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inline void setRetracted(bool on) {
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flags = (flags & (255 - EXTRUDER_FLAG_RETRACTED)) | (on ? EXTRUDER_FLAG_RETRACTED : 0);
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}
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void retract(bool isRetract,bool isLong);
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void retractDistance(float dist,bool extraLength = false);
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#endif
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static void manageTemperatures();
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static void disableCurrentExtruderMotor();
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static void disableAllExtruderMotors();
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static void selectExtruderById(uint8_t extruderId);
|
||
|
|
static void disableAllHeater();
|
||
|
|
static void initExtruder();
|
||
|
|
static void initHeatedBed();
|
||
|
|
static void setHeatedBedTemperature(float temp_celsius,bool beep = false);
|
||
|
|
static float getHeatedBedTemperature();
|
||
|
|
static void setTemperatureForExtruder(float temp_celsius,uint8_t extr,bool beep = false,bool wait = false);
|
||
|
|
static void pauseExtruders(bool bed = false);
|
||
|
|
static void unpauseExtruders(bool wait = true);
|
||
|
|
};
|
||
|
|
|
||
|
|
#if HAVE_HEATED_BED
|
||
|
|
#define HEATED_BED_INDEX NUM_EXTRUDER
|
||
|
|
extern TemperatureController heatedBedController;
|
||
|
|
#else
|
||
|
|
#define HEATED_BED_INDEX NUM_EXTRUDER-1
|
||
|
|
#endif
|
||
|
|
#if FAN_THERMO_PIN > -1
|
||
|
|
#define THERMO_CONTROLLER_INDEX HEATED_BED_INDEX+1
|
||
|
|
extern TemperatureController thermoController;
|
||
|
|
#else
|
||
|
|
#define THERMO_CONTROLLER_INDEX HEATED_BED_INDEX
|
||
|
|
#endif
|
||
|
|
#define NUM_TEMPERATURE_LOOPS THERMO_CONTROLLER_INDEX+1
|
||
|
|
|
||
|
|
#define TEMP_INT_TO_FLOAT(temp) ((float)(temp)/(float)(1<<CELSIUS_EXTRA_BITS))
|
||
|
|
#define TEMP_FLOAT_TO_INT(temp) ((int)((temp)*(1<<CELSIUS_EXTRA_BITS)))
|
||
|
|
|
||
|
|
//extern Extruder *Extruder::current;
|
||
|
|
#if NUM_TEMPERATURE_LOOPS > 0
|
||
|
|
extern TemperatureController *tempController[NUM_TEMPERATURE_LOOPS];
|
||
|
|
#endif
|
||
|
|
extern uint8_t autotuneIndex;
|
||
|
|
|
||
|
|
|
||
|
|
#endif // EXTRUDER_H_INCLUDED
|