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The-Legend-of-Delta/Repetier Firmware/Repetier/Extruder.cpp
Mario Voigt e159e15327 no message
2019-08-07 14:27:54 +02:00

1676 lines
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/*
This file is part of Repetier-Firmware.
Repetier-Firmware 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.
Repetier-Firmware 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 Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
This firmware is a nearly complete rewrite of the sprinter firmware
by kliment (https://github.com/kliment/Sprinter)
which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
*/
#include "Repetier.h"
uint8_t manageMonitor = 255; ///< Temp. we want to monitor with our host. 1+NUM_EXTRUDER is heated bed
unsigned int counterPeriodical = 0;
volatile uint8_t executePeriodical = 0;
uint8_t counter250ms = 25;
#if FEATURE_DITTO_PRINTING
uint8_t Extruder::dittoMode = 0;
#endif
#if MIXING_EXTRUDER > 0
int Extruder::mixingS;
uint8_t Extruder::mixingDir;
#endif // MIXING_EXTRUDER
#ifdef SUPPORT_MAX6675
extern int16_t read_max6675(uint8_t ss_pin);
#endif
#ifdef SUPPORT_MAX31855
extern int16_t read_max31855(uint8_t ss_pin);
#endif
#if ANALOG_INPUTS > 0
const uint8 osAnalogInputChannels[] PROGMEM = ANALOG_INPUT_CHANNELS;
uint8 osAnalogInputCounter[ANALOG_INPUTS];
uint osAnalogInputBuildup[ANALOG_INPUTS];
uint8 osAnalogInputPos=0; // Current sampling position
volatile uint osAnalogInputValues[ANALOG_INPUTS];
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_1
short temptable_generic1[GENERIC_THERM_NUM_ENTRIES][2];
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_2
short temptable_generic2[GENERIC_THERM_NUM_ENTRIES][2];
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_3
short temptable_generic3[GENERIC_THERM_NUM_ENTRIES][2];
#endif
/** Makes updates to temperatures and heater state every call.
Is called every 100ms.
*/
static uint8_t extruderTempErrors = 0;
void Extruder::manageTemperatures()
{
#if FEATURE_WATCHDOG
HAL::pingWatchdog();
#endif // FEATURE_WATCHDOG
uint8_t errorDetected = 0;
millis_t time = HAL::timeInMilliseconds(); // compare time for decouple tests
for(uint8_t controller = 0; controller < NUM_TEMPERATURE_LOOPS; controller++)
{
TemperatureController *act = tempController[controller];
// Handle automatic cooling of extruders
if(controller < NUM_EXTRUDER)
{
#if SHARED_COOLER && NUM_EXTRUDER >= 2 && EXT0_EXTRUDER_COOLER_PIN == EXT1_EXTRUDER_COOLER_PIN && EXT0_EXTRUDER_COOLER_PIN >= 0
if(controller == 0) {
bool enable = false;
for(uint8_t j = 0; j < NUM_EXTRUDER; j++) {
if(tempController[j]->currentTemperatureC >= EXTRUDER_FAN_COOL_TEMP || tempController[j]->targetTemperatureC >= EXTRUDER_FAN_COOL_TEMP) {
enable = true;
break;
}
}
extruder[0].coolerPWM = (enable ? extruder[0].coolerSpeed : 0);
}
#else
if(act->currentTemperatureC < EXTRUDER_FAN_COOL_TEMP && act->targetTemperatureC < EXTRUDER_FAN_COOL_TEMP)
extruder[controller].coolerPWM = 0;
else
extruder[controller].coolerPWM = extruder[controller].coolerSpeed;
#endif // NUM_EXTRUDER
}
if(controller == autotuneIndex) continue;
#if MIXING_EXTRUDER
if(controller > 0 && controller < NUM_EXTRUDER) continue; // Mixing extruder only test for ext 0
#endif
// Get Temperature
act->updateCurrentTemperature();
// Check for obvious sensor errors
if(!Printer::isAnyTempsensorDefect() && (act->currentTemperatureC < MIN_DEFECT_TEMPERATURE || act->currentTemperatureC > MAX_DEFECT_TEMPERATURE)) // no temp sensor or short in sensor, disable heater
{
extruderTempErrors++;
errorDetected = 1;
if(extruderTempErrors > 10) // Ignore short temporary failures
{
Printer::setAnyTempsensorDefect();
reportTempsensorError();
}
}
if(Printer::isAnyTempsensorDefect()) continue;
uint8_t on = act->currentTemperatureC >= act->targetTemperatureC ? LOW : HIGH;
if(!on && act->isAlarm())
{
beep(50 * (controller + 1), 3);
act->setAlarm(false); //reset alarm
}
// Run test if heater and sensor are decoupled
bool decoupleTestRequired = (time - act->lastDecoupleTest) > act->decoupleTestPeriod; // time enough for temperature change?
if(decoupleTestRequired && act->isDecoupleFullOrHold() && Printer::isPowerOn()) // Only test when powered
{
if(act->isDecoupleFull())
{
if(act->currentTemperatureC - act->lastDecoupleTemp < DECOUPLING_TEST_MIN_TEMP_RISE) // failed test
{
extruderTempErrors++;
errorDetected = 1;
if(extruderTempErrors > 10) // Ignore short temporary failures
{
Printer::setAnyTempsensorDefect();
UI_ERROR_P(Com::tHeaterDecoupled);
Com::printErrorFLN(Com::tHeaterDecoupledWarning);
Com::printF(PSTR("Error:Temp. raised to slow. Rise = "),act->currentTemperatureC - act->lastDecoupleTemp);
Com::printF(PSTR(" after "),(int32_t)(time-act->lastDecoupleTest));
Com::printFLN(PSTR(" ms"));
}
}
else
{
act->stopDecouple();
act->startFullDecouple(time);
}
}
else // hold
{
if(fabs(act->currentTemperatureC - act->targetTemperatureC) > DECOUPLING_TEST_MAX_HOLD_VARIANCE) // failed test
{
extruderTempErrors++;
errorDetected = 1;
if(extruderTempErrors > 10) // Ignore short temporary failures
{
Printer::setAnyTempsensorDefect();
UI_ERROR_P(Com::tHeaterDecoupled);
Com::printErrorFLN(Com::tHeaterDecoupledWarning);
Com::printF(PSTR("Error:Could not hold temperature "),act->lastDecoupleTemp);
Com::printF(PSTR(" measured "),act->currentTemperatureC);
Com::printFLN(PSTR(" deg. C"));
}
}
else
{
act->lastDecoupleTest = time - act->decoupleTestPeriod + 1000; // once running test every second
}
}
}
#if TEMP_PID
act->tempArray[act->tempPointer++] = act->currentTemperatureC;
act->tempPointer &= 3;
if(act->heatManager == HTR_PID)
{
uint8_t output;
float error = act->targetTemperatureC - act->currentTemperatureC;
if(act->targetTemperatureC < 20.0f)
{
output = 0; // off is off, even if damping term wants a heat peak!
act->stopDecouple();
}
else if(error > PID_CONTROL_RANGE)
{
output = act->pidMax;
act->startFullDecouple(time);
}
else if(error < -PID_CONTROL_RANGE)
output = 0;
else
{
act->startHoldDecouple(time);
float pidTerm = act->pidPGain * error;
act->tempIState = constrain(act->tempIState + error, act->tempIStateLimitMin, act->tempIStateLimitMax);
pidTerm += act->pidIGain * act->tempIState * 0.1; // 0.1 = 10Hz
float dgain = act->pidDGain * (act->tempArray[act->tempPointer]-act->currentTemperatureC) * 3.333f;
pidTerm += dgain;
#if SCALE_PID_TO_MAX==1
pidTerm = (pidTerm * act->pidMax) * 0.0039062;
#endif
output = constrain((int)pidTerm, 0, act->pidMax);
}
pwm_pos[act->pwmIndex] = output;
}
else if(act->heatManager == HTR_DEADTIME) // dead-time control
{
uint8_t output;
float error = act->targetTemperatureC - act->currentTemperatureC;
if(act->targetTemperatureC < 20.0f)
{
output = 0; // off is off, even if damping term wants a heat peak!
act->stopDecouple();
}
else if(error > PID_CONTROL_RANGE)
{
output = act->pidMax;
act->startFullDecouple(time);
}
else if(error < -PID_CONTROL_RANGE)
output = 0;
else
{
act->startHoldDecouple(time);
float raising = 3.333 * (act->currentTemperatureC - act->tempArray[act->tempPointer]); // raising dT/dt, 3.33 = reciproke of time interval (300 ms)
act->tempIState = 0.25 * (3.0 * act->tempIState + raising); // damp raising
output = (act->currentTemperatureC + act->tempIState * act->deadTime > act->targetTemperatureC ? 0 : act->pidDriveMax);
}
pwm_pos[act->pwmIndex] = output;
}
else
#endif
if(act->heatManager == HTR_SLOWBANG) // Bang-bang with reduced change frequency to save relais life
{
if (time - act->lastTemperatureUpdate > HEATED_BED_SET_INTERVAL)
{
pwm_pos[act->pwmIndex] = (on ? 255 : 0);
act->lastTemperatureUpdate = time;
if(on) act->startFullDecouple(time);
else act->stopDecouple();
}
}
else // Fast Bang-Bang fallback
{
pwm_pos[act->pwmIndex] = (on ? 255 : 0);
if(on) act->startFullDecouple(time);
else act->stopDecouple();
}
#ifdef MAXTEMP
if(act->currentTemperatureC > MAXTEMP) // Force heater off if MAXTEMP is exceeded
pwm_pos[act->pwmIndex] = 0;
#endif
#if LED_PIN>-1
if(act == &Extruder::current->tempControl)
WRITE(LED_PIN,on);
#endif
}
if(errorDetected == 0 && extruderTempErrors > 0)
extruderTempErrors--;
if(Printer::isAnyTempsensorDefect())
{
for(uint8_t i = 0; i < NUM_TEMPERATURE_LOOPS; i++)
{
pwm_pos[tempController[i]->pwmIndex] = 0;
}
Printer::debugLevel |= 8; // Go into dry mode
}
}
void Extruder::initHeatedBed()
{
#if HAVE_HEATED_BED
#if TEMP_PID
heatedBedController.updateTempControlVars();
#endif
#endif
}
#if defined(USE_GENERIC_THERMISTORTABLE_1) || defined(USE_GENERIC_THERMISTORTABLE_2) || defined(USE_GENERIC_THERMISTORTABLE_3)
void createGenericTable(short table[GENERIC_THERM_NUM_ENTRIES][2],short minTemp,short maxTemp,float beta,float r0,float t0,float r1,float r2)
{
t0 += 273.15f;
float rs, vs;
if(r1==0)
{
rs = r2;
vs = GENERIC_THERM_VREF;
}
else
{
vs =static_cast<float>((GENERIC_THERM_VREF * r1) / (r1 + r2));
rs = (r2 * r1) / (r1 + r2);
}
float k = r0 * exp(-beta / t0);
float delta = (maxTemp-minTemp) / (GENERIC_THERM_NUM_ENTRIES - 1.0f);
for(uint8_t i = 0; i < GENERIC_THERM_NUM_ENTRIES; i++)
{
#if FEATURE_WATCHDOG
HAL::pingWatchdog();
#endif // FEATURE_WATCHDOG
float t = maxTemp - i * delta;
float r = exp(beta / (t + 272.65)) * k;
float v = 4092 * r * vs / ((rs + r) * GENERIC_THERM_VREF);
int adc = static_cast<int>(v);
t *= 8;
if(adc > 4092) adc = 4092;
table[i][0] = (adc >> (ANALOG_REDUCE_BITS));
table[i][1] = static_cast<int>(t);
#ifdef DEBUG_GENERIC
Com::printF(Com::tGenTemp,table[i][0]);
Com::printFLN(Com::tComma,table[i][1]);
#endif
}
}
#endif
/** \brief Initalizes all extruder.
Updates the pin configuration needed for the extruder and activates extruder 0.
Starts a interrupt based analog input reader, which is used by simple thermistors
for temperature reading.
*/
void Extruder::initExtruder()
{
uint8_t i;
Extruder::current = &extruder[0];
#ifdef USE_GENERIC_THERMISTORTABLE_1
createGenericTable(temptable_generic1,GENERIC_THERM1_MIN_TEMP,GENERIC_THERM1_MAX_TEMP,GENERIC_THERM1_BETA,GENERIC_THERM1_R0,GENERIC_THERM1_T0,GENERIC_THERM1_R1,GENERIC_THERM1_R2);
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_2
createGenericTable(temptable_generic2,GENERIC_THERM2_MIN_TEMP,GENERIC_THERM2_MAX_TEMP,GENERIC_THERM2_BETA,GENERIC_THERM2_R0,GENERIC_THERM2_T0,GENERIC_THERM2_R1,GENERIC_THERM2_R2);
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_3
createGenericTable(temptable_generic3,GENERIC_THERM3_MIN_TEMP,GENERIC_THERM3_MAX_TEMP,GENERIC_THERM3_BETA,GENERIC_THERM3_R0,GENERIC_THERM3_T0,GENERIC_THERM3_R1,GENERIC_THERM3_R2);
#endif
#if defined(EXT0_STEP_PIN) && EXT0_STEP_PIN>-1
SET_OUTPUT(EXT0_DIR_PIN);
SET_OUTPUT(EXT0_STEP_PIN);
#endif
#if defined(EXT1_STEP_PIN) && EXT1_STEP_PIN>-1 && NUM_EXTRUDER>1
SET_OUTPUT(EXT1_DIR_PIN);
SET_OUTPUT(EXT1_STEP_PIN);
#endif
#if defined(EXT2_STEP_PIN) && EXT2_STEP_PIN>-1 && NUM_EXTRUDER>2
SET_OUTPUT(EXT2_DIR_PIN);
SET_OUTPUT(EXT2_STEP_PIN);
#endif
#if defined(EXT3_STEP_PIN) && EXT3_STEP_PIN>-1 && NUM_EXTRUDER>3
SET_OUTPUT(EXT3_DIR_PIN);
SET_OUTPUT(EXT3_STEP_PIN);
#endif
#if defined(EXT4_STEP_PIN) && EXT4_STEP_PIN>-1 && NUM_EXTRUDER>4
SET_OUTPUT(EXT4_DIR_PIN);
SET_OUTPUT(EXT4_STEP_PIN);
#endif
#if defined(EXT5_STEP_PIN) && EXT5_STEP_PIN>-1 && NUM_EXTRUDER>5
SET_OUTPUT(EXT5_DIR_PIN);
SET_OUTPUT(EXT5_STEP_PIN);
#endif
for(i=0; i<NUM_EXTRUDER; ++i)
{
Extruder *act = &extruder[i];
if(act->enablePin > -1)
{
HAL::pinMode(act->enablePin,OUTPUT);
if(!act->enableOn) HAL::digitalWrite(act->enablePin,HIGH);
}
act->tempControl.lastTemperatureUpdate = HAL::timeInMilliseconds();
#if defined(SUPPORT_MAX6675) || defined(SUPPORT_MAX31855)
if(act->tempControl.sensorType==101 || act->tempControl.sensorType==102)
{
WRITE(SCK_PIN,0);
SET_OUTPUT(SCK_PIN);
WRITE(MOSI_PIN,1);
SET_OUTPUT(MOSI_PIN);
WRITE(MISO_PIN,1);
SET_INPUT(MISO_PIN);
SET_OUTPUT(SS);
WRITE(SS,HIGH);
HAL::digitalWrite(act->tempControl.sensorPin,1);
HAL::pinMode(act->tempControl.sensorPin,OUTPUT);
}
#endif
}
#if HEATED_BED_HEATER_PIN>-1
SET_OUTPUT(HEATED_BED_HEATER_PIN);
WRITE(HEATED_BED_HEATER_PIN,HEATER_PINS_INVERTED);
Extruder::initHeatedBed();
#endif
HAL::analogStart();
}
void TemperatureController::updateTempControlVars()
{
#if TEMP_PID
if(heatManager==HTR_PID && pidIGain!=0) // prevent division by zero
{
tempIStateLimitMax = (float)pidDriveMax*10.0f/pidIGain;
tempIStateLimitMin = (float)pidDriveMin*10.0f/pidIGain;
}
#endif
}
/** \brief Select extruder ext_num.
This function changes and initalizes a new extruder. This is also called, after the eeprom values are changed.
*/
void Extruder::selectExtruderById(uint8_t extruderId)
{
#if MIXING_EXTRUDER
if(extruderId >= VIRTUAL_EXTRUDER)
extruderId = 0;
for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
Extruder::setMixingWeight(i,extruder[i].virtualWeights[extruderId]);
extruderId = 0;
#endif
if(extruderId >= NUM_EXTRUDER)
extruderId = 0;
#if NUM_EXTRUDER>1 && MIXING_EXTRUDER == 0
bool executeSelect = false;
if(extruderId != Extruder::current->id)
{
GCode::executeFString(Extruder::current->deselectCommands);
executeSelect = true;
}
Commands::waitUntilEndOfAllMoves();
#endif
Extruder::current->extrudePosition = Printer::currentPositionSteps[E_AXIS];
Extruder::current = &extruder[extruderId];
#ifdef SEPERATE_EXTRUDER_POSITIONS
// Use seperate extruder positions only if beeing told. Slic3r e.g. creates a continuous extruder position increment
Printer::currentPositionSteps[E_AXIS] = Extruder::current->extrudePosition;
#endif
Printer::destinationSteps[E_AXIS] = Printer::currentPositionSteps[E_AXIS];
Printer::axisStepsPerMM[E_AXIS] = Extruder::current->stepsPerMM;
Printer::invAxisStepsPerMM[E_AXIS] = 1.0f / Printer::axisStepsPerMM[E_AXIS];
Printer::maxFeedrate[E_AXIS] = Extruder::current->maxFeedrate;
// max_start_speed_units_per_second[E_AXIS] = Extruder::current->maxStartFeedrate;
Printer::maxAccelerationMMPerSquareSecond[E_AXIS] = Printer::maxTravelAccelerationMMPerSquareSecond[E_AXIS] = Extruder::current->maxAcceleration;
Printer::maxTravelAccelerationStepsPerSquareSecond[E_AXIS] =
Printer::maxPrintAccelerationStepsPerSquareSecond[E_AXIS] = Printer::maxAccelerationMMPerSquareSecond[E_AXIS] * Printer::axisStepsPerMM[E_AXIS];
#if USE_ADVANCE
Printer::minExtruderSpeed = (uint8_t)floor(HAL::maxExtruderTimerFrequency() / (Extruder::current->maxStartFeedrate*Extruder::current->stepsPerMM));
Printer::maxExtruderSpeed = (uint8_t)floor(HAL::maxExtruderTimerFrequency() / (Extruder::current->maxFeedrate*Extruder::current->stepsPerMM));
if(Printer::maxExtruderSpeed > 15) Printer::maxExtruderSpeed = 15;
if(Printer::maxExtruderSpeed >= Printer::minExtruderSpeed)
{
Printer::maxExtruderSpeed = Printer::minExtruderSpeed;
}
else
{
float maxdist = Extruder::current->maxFeedrate * Extruder::current->maxFeedrate * 0.00013888 / Extruder::current->maxAcceleration;
maxdist -= Extruder::current->maxStartFeedrate * Extruder::current->maxStartFeedrate * 0.5 / Extruder::current->maxAcceleration;
//Printer::extruderAccelerateDelay = (uint8_t)constrain(ceil(maxdist*Extruder::current->stepsPerMM/(Printer::minExtruderSpeed-Printer::maxExtruderSpeed)),1,255);
}
float fmax = ((float)HAL::maxExtruderTimerFrequency() / ((float)Printer::maxExtruderSpeed * Printer::axisStepsPerMM[E_AXIS])); // Limit feedrate to interrupt speed
if(fmax < Printer::maxFeedrate[E_AXIS]) Printer::maxFeedrate[E_AXIS] = fmax;
#endif
Extruder::current->tempControl.updateTempControlVars();
float cx, cy, cz;
Printer::realPosition(cx, cy, cz);
float oldfeedrate = Printer::feedrate;
Printer::offsetX = -Extruder::current->xOffset * Printer::invAxisStepsPerMM[X_AXIS];
Printer::offsetY = -Extruder::current->yOffset * Printer::invAxisStepsPerMM[Y_AXIS];
Commands::changeFeedrateMultiply(Printer::extrudeMultiply); // needed to adjust extrusionFactor to possibly different diameter
if(Printer::isHomed())
Printer::moveToReal(cx, cy, cz, IGNORE_COORDINATE, Printer::homingFeedrate[X_AXIS]);
Printer::feedrate = oldfeedrate;
Printer::updateCurrentPosition();
#if USE_ADVANCE
HAL::resetExtruderDirection();
#endif
#if NUM_EXTRUDER>1 && MIXING_EXTRUDER == 0
if(executeSelect) // Run only when changing
GCode::executeFString(Extruder::current->selectCommands);
#endif
}
void Extruder::setTemperatureForExtruder(float temperatureInCelsius,uint8_t extr,bool beep)
{
#if MIXING_EXTRUDER
extr = 0; // map any virtual extruder number to 0
#endif // MIXING_EXTRUDER
bool alloffs = true;
for(uint8_t i=0; i<NUM_EXTRUDER; i++)
if(tempController[i]->targetTemperatureC > 15) alloffs = false;
#ifdef MAXTEMP
if(temperatureInCelsius > MAXTEMP) temperatureInCelsius = MAXTEMP;
#endif
if(temperatureInCelsius < 0) temperatureInCelsius = 0;
TemperatureController *tc = tempController[extr];
if(tc->sensorType == 0) temperatureInCelsius = 0;
//if(temperatureInCelsius==tc->targetTemperatureC) return;
tc->setTargetTemperature(temperatureInCelsius);
if(beep && temperatureInCelsius > 30)
tc->setAlarm(true);
if(temperatureInCelsius >= EXTRUDER_FAN_COOL_TEMP) extruder[extr].coolerPWM = extruder[extr].coolerSpeed;
Com::printF(Com::tTargetExtr,extr,0);
Com::printFLN(Com::tColon,temperatureInCelsius,0);
#if FEATURE_DITTO_PRINTING
if(Extruder::dittoMode && extr == 0)
{
TemperatureController *tc2 = tempController[1];
tc2->setTargetTemperature(temperatureInCelsius);
if(temperatureInCelsius >= EXTRUDER_FAN_COOL_TEMP) extruder[1].coolerPWM = extruder[1].coolerSpeed;
#if NUM_EXTRUDER > 2
if(Extruder::dittoMode > 1 && extr == 0)
{
TemperatureController *tc2 = tempController[2];
tc2->setTargetTemperature(temperatureInCelsius);
if(temperatureInCelsius >= EXTRUDER_FAN_COOL_TEMP) extruder[2].coolerPWM = extruder[2].coolerSpeed;
}
#endif
#if NUM_EXTRUDER > 3
if(Extruder::dittoMode > 2 && extr == 0)
{
TemperatureController *tc2 = tempController[3];
tc2->setTargetTemperature(temperatureInCelsius);
if(temperatureInCelsius >= EXTRUDER_FAN_COOL_TEMP) extruder[3].coolerPWM = extruder[3].coolerSpeed;
}
#endif
}
#endif // FEATURE_DITTO_PRINTING
bool alloff = true;
for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
if(tempController[i]->targetTemperatureC > 15) alloff = false;
#if EEPROM_MODE != 0
if(alloff && !alloffs) // All heaters are now switched off?
EEPROM::updatePrinterUsage();
#endif
if(alloffs && !alloff) // heaters are turned on, start measuring printing time
Printer::msecondsPrinting = HAL::timeInMilliseconds();
}
void Extruder::setHeatedBedTemperature(float temperatureInCelsius,bool beep)
{
#if HAVE_HEATED_BED
if(temperatureInCelsius>HEATED_BED_MAX_TEMP) temperatureInCelsius = HEATED_BED_MAX_TEMP;
if(temperatureInCelsius<0) temperatureInCelsius = 0;
if(heatedBedController.targetTemperatureC==temperatureInCelsius) return; // don't flood log with messages if killed
heatedBedController.setTargetTemperature(temperatureInCelsius);
if(beep && temperatureInCelsius>30) heatedBedController.setAlarm(true);
Com::printFLN(Com::tTargetBedColon,heatedBedController.targetTemperatureC,0);
#endif
}
float Extruder::getHeatedBedTemperature()
{
#if HAVE_HEATED_BED
TemperatureController *c = tempController[NUM_TEMPERATURE_LOOPS-1];
return c->currentTemperatureC;
#else
return -1;
#endif
}
#if MIXING_EXTRUDER > 0
void Extruder::setMixingWeight(uint8_t extr,int weight)
{
uint8_t i;
mixingS = 0;
extruder[extr].mixingW = weight;
for(i=0; i<NUM_EXTRUDER; i++)
{
extruder[i].mixingE = extruder[i].mixingW;
mixingS += extruder[i].mixingW;
}
}
void Extruder::step()
{
uint8_t best = 255,i;
int bestError;
if(mixingDir)
{
bestError = -10000;
for(i = 0; i < NUM_EXTRUDER; i++)
{
if(extruder[i].mixingW == 0) continue;
if(extruder[i].mixingE > bestError)
{
bestError = extruder[i].mixingE;
best = i;
}
extruder[i].mixingE += extruder[i].mixingW;
}
if(best == 255) return; // no extruder has weight!
extruder[best].mixingE -= mixingS;
}
else
{
bestError = 10000;
for(i=0; i<NUM_EXTRUDER; i++)
{
if(extruder[i].mixingW == 0) continue;
if(extruder[i].mixingE < bestError)
{
bestError = extruder[i].mixingE;
best = i;
}
extruder[i].mixingE -= extruder[i].mixingW;
}
if(best == 255) return; // no extruder has weight!
extruder[best].mixingE += mixingS;
}
#if NUM_EXTRUDER > 0
if(best == 0) WRITE(EXT0_STEP_PIN, HIGH);
#endif
#if NUM_EXTRUDER > 1
if(best == 1) WRITE(EXT1_STEP_PIN, HIGH);
#endif
#if NUM_EXTRUDER > 2
if(best == 2) WRITE(EXT2_STEP_PIN, HIGH);
#endif
#if NUM_EXTRUDER > 3
if(best == 3) WRITE(EXT3_STEP_PIN, HIGH);
#endif
#if NUM_EXTRUDER > 4
if(best == 4) WRITE(EXT4_STEP_PIN, HIGH);
#endif
#if NUM_EXTRUDER > 5
if(best == 5) WRITE(EXT5_STEP_PIN, HIGH);
#endif
}
void Extruder::unstep()
{
#if NUM_EXTRUDER > 0
WRITE(EXT0_STEP_PIN, LOW);
#endif
#if NUM_EXTRUDER > 1
WRITE(EXT1_STEP_PIN, LOW);
#endif
#if NUM_EXTRUDER > 2
WRITE(EXT2_STEP_PIN, LOW);
#endif
#if NUM_EXTRUDER > 3
WRITE(EXT3_STEP_PIN, LOW);
#endif
#if NUM_EXTRUDER > 4
WRITE(EXT4_STEP_PIN, LOW);
#endif
#if NUM_EXTRUDER > 5
WRITE(EXT5_STEP_PIN, LOW);
#endif
}
void Extruder::setDirection(uint8_t dir)
{
mixingDir = dir;
#if NUM_EXTRUDER > 0
if(dir)
WRITE(EXT0_DIR_PIN,!EXT0_INVERSE);
else
WRITE(EXT0_DIR_PIN,EXT0_INVERSE);
#endif
#if defined(EXT1_DIR_PIN) && NUM_EXTRUDER > 1
if(dir)
WRITE(EXT1_DIR_PIN,!EXT1_INVERSE);
else
WRITE(EXT1_DIR_PIN,EXT1_INVERSE);
#endif
#if defined(EXT2_DIR_PIN) && NUM_EXTRUDER > 2
if(dir)
WRITE(EXT2_DIR_PIN,!EXT2_INVERSE);
else
WRITE(EXT2_DIR_PIN,EXT2_INVERSE);
#endif
#if defined(EXT3_DIR_PIN) && NUM_EXTRUDER > 3
if(dir)
WRITE(EXT3_DIR_PIN,!EXT3_INVERSE);
else
WRITE(EXT3_DIR_PIN,EXT3_INVERSE);
#endif
#if defined(EXT4_DIR_PIN) && NUM_EXTRUDER > 4
if(dir)
WRITE(EXT4_DIR_PIN,!EXT4_INVERSE);
else
WRITE(EXT4_DIR_PIN,EXT4_INVERSE);
#endif
#if defined(EXT5_DIR_PIN) && NUM_EXTRUDER > 5
if(dir)
WRITE(EXT5_DIR_PIN,!EXT5_INVERSE);
else
WRITE(EXT5_DIR_PIN,EXT5_INVERSE);
#endif
}
void Extruder::enable()
{
#if NUM_EXTRUDER > 0 && defined(EXT0_ENABLE_PIN) && EXT0_ENABLE_PIN > -1
WRITE(EXT0_ENABLE_PIN, EXT0_ENABLE_ON );
#endif
#if NUM_EXTRUDER > 1 && defined(EXT1_ENABLE_PIN) && EXT1_ENABLE_PIN > -1
WRITE(EXT1_ENABLE_PIN, EXT1_ENABLE_ON );
#endif
#if NUM_EXTRUDER > 2 && defined(EXT2_ENABLE_PIN) && EXT2_ENABLE_PIN > -1
WRITE(EXT2_ENABLE_PIN, EXT2_ENABLE_ON );
#endif
#if NUM_EXTRUDER > 3 && defined(EXT3_ENABLE_PIN) && EXT3_ENABLE_PIN > -1
WRITE(EXT3_ENABLE_PIN, EXT3_ENABLE_ON );
#endif
#if NUM_EXTRUDER > 4 && defined(EXT4_ENABLE_PIN) && EXT4_ENABLE_PIN > -1
WRITE(EXT4_ENABLE_PIN, EXT4_ENABLE_ON );
#endif
#if NUM_EXTRUDER > 5 && defined(EXT5_ENABLE_PIN) && EXT5_ENABLE_PIN > -1
WRITE(EXT5_ENABLE_PIN, EXT5_ENABLE_ON );
#endif
}
#endif // MIXING_EXTRUDER > 0
void Extruder::disableCurrentExtruderMotor()
{
#if MIXING_EXTRUDER
#if NUM_EXTRUDER > 0 && defined(EXT0_ENABLE_PIN) && EXT0_ENABLE_PIN > -1
WRITE(EXT0_ENABLE_PIN, !EXT0_ENABLE_ON );
#endif
#if NUM_EXTRUDER > 1 && defined(EXT1_ENABLE_PIN) && EXT1_ENABLE_PIN > -1
WRITE(EXT1_ENABLE_PIN, !EXT1_ENABLE_ON );
#endif
#if NUM_EXTRUDER > 2 && defined(EXT2_ENABLE_PIN) && EXT2_ENABLE_PIN > -1
WRITE(EXT2_ENABLE_PIN, !EXT2_ENABLE_ON );
#endif
#if NUM_EXTRUDER > 3 && defined(EXT3_ENABLE_PIN) && EXT3_ENABLE_PIN > -1
WRITE(EXT3_ENABLE_PIN, !EXT3_ENABLE_ON );
#endif
#if NUM_EXTRUDER > 4 && defined(EXT4_ENABLE_PIN) && EXT4_ENABLE_PIN > -1
WRITE(EXT4_ENABLE_PIN, !EXT4_ENABLE_ON );
#endif
#if NUM_EXTRUDER > 5 && defined(EXT5_ENABLE_PIN) && EXT5_ENABLE_PIN > -1
WRITE(EXT5_ENABLE_PIN, !EXT5_ENABLE_ON );
#endif
#else // MIXING_EXTRUDER
if(Extruder::current->enablePin > -1)
digitalWrite(Extruder::current->enablePin,!Extruder::current->enableOn);
#if FEATURE_DITTO_PRINTING
if(Extruder::dittoMode)
{
if(extruder[1].enablePin > -1)
digitalWrite(extruder[1].enablePin,!extruder[1].enableOn);
#if NUM_EXTRUDER > 2
if(Extruder::dittoMode > 1 && extruder[2].enablePin > -1)
digitalWrite(extruder[2].enablePin,!extruder[2].enableOn);
#endif
#if NUM_EXTRUDER > 3
if(Extruder::dittoMode > 2 && extruder[3].enablePin > -1)
digitalWrite(extruder[3].enablePin,!extruder[3].enableOn);
#endif
}
#endif
#endif // MIXING_EXTRUDER
}
void Extruder::disableAllExtruderMotors()
{
for(byte i = 0; i < NUM_EXTRUDER; i++)
{
if(extruder[i].enablePin > -1)
digitalWrite(extruder[i].enablePin, !extruder[i].enableOn);
}
}
#define NUMTEMPS_1 28
// Epcos B57560G0107F000
const short temptable_1[NUMTEMPS_1][2] PROGMEM =
{
{0,4000},{92,2400},{105,2320},{121,2240},{140,2160},{162,2080},{189,2000},{222,1920},{261,1840},{308,1760},
{365,1680},{434,1600},{519,1520},{621,1440},{744,1360},{891,1280},{1067,1200},{1272,1120},
{1771,960},{2357,800},{2943,640},{3429,480},{3760,320},{3869,240},{3912,200},{3948,160},{4077,-160},{4094,-440}
};
#define NUMTEMPS_2 21
const short temptable_2[NUMTEMPS_2][2] PROGMEM =
{
{1*4, 848*8},{54*4, 275*8}, {107*4, 228*8}, {160*4, 202*8},{213*4, 185*8}, {266*4, 171*8}, {319*4, 160*8}, {372*4, 150*8},
{425*4, 141*8}, {478*4, 133*8},{531*4, 125*8},{584*4, 118*8},{637*4, 110*8},{690*4, 103*8},{743*4, 95*8},{796*4, 86*8},
{849*4, 77*8},{902*4, 65*8},{955*4, 49*8},{1008*4, 17*8},{1020*4, 0*8} //safety
};
#define NUMTEMPS_3 28
const short temptable_3[NUMTEMPS_3][2] PROGMEM =
{
{1*4,864*8},{21*4,300*8},{25*4,290*8},{29*4,280*8},{33*4,270*8},{39*4,260*8},{46*4,250*8},{54*4,240*8},{64*4,230*8},{75*4,220*8},
{90*4,210*8},{107*4,200*8},{128*4,190*8},{154*4,180*8},{184*4,170*8},{221*4,160*8},{265*4,150*8},{316*4,140*8},{375*4,130*8},
{441*4,120*8},{513*4,110*8},{588*4,100*8},{734*4,80*8},{856*4,60*8},{938*4,40*8},{986*4,20*8},{1008*4,0*8},{1018*4,-20*8}
};
#define NUMTEMPS_4 20
const short temptable_4[NUMTEMPS_4][2] PROGMEM =
{
{1*4, 430*8},{54*4, 137*8},{107*4, 107*8},{160*4, 91*8},{213*4, 80*8},{266*4, 71*8},{319*4, 64*8},{372*4, 57*8},{425*4, 51*8},
{478*4, 46*8},{531*4, 41*8},{584*4, 35*8},{637*4, 30*8},{690*4, 25*8},{743*4, 20*8},{796*4, 14*8},{849*4, 7*8},{902*4, 0*8},
{955*4, -11*8},{1008*4, -35*8}
};
#define NUMTEMPS_8 34
const short temptable_8[NUMTEMPS_8][2] PROGMEM =
{
{0,8000},{69,2400},{79,2320},{92,2240},{107,2160},{125,2080},{146,2000},{172,1920},{204,1840},{222,1760},{291,1680},{350,1600},
{422,1520},{511,1440},{621,1360},{755,1280},{918,1200},{1114,1120},{1344,1040},{1608,960},{1902,880},{2216,800},{2539,720},
{2851,640},{3137,560},{3385,480},{3588,400},{3746,320},{3863,240},{3945,160},{4002,80},{4038,0},{4061,-80},{4075,-160}
};
#define NUMTEMPS_9 67 // 100k Honeywell 135-104LAG-J01
const short temptable_9[NUMTEMPS_9][2] PROGMEM =
{
{1*4, 941*8},{19*4, 362*8},{37*4, 299*8}, //top rating 300C
{55*4, 266*8},{73*4, 245*8},{91*4, 229*8},{109*4, 216*8},{127*4, 206*8},{145*4, 197*8},{163*4, 190*8},{181*4, 183*8},{199*4, 177*8},
{217*4, 171*8},{235*4, 166*8},{253*4, 162*8},{271*4, 157*8},{289*4, 153*8},{307*4, 149*8},{325*4, 146*8},{343*4, 142*8},{361*4, 139*8},
{379*4, 135*8},{397*4, 132*8},{415*4, 129*8},{433*4, 126*8},{451*4, 123*8},{469*4, 121*8},{487*4, 118*8},{505*4, 115*8},{523*4, 112*8},
{541*4, 110*8},{559*4, 107*8},{577*4, 105*8},{595*4, 102*8},{613*4, 99*8},{631*4, 97*8},{649*4, 94*8},{667*4, 92*8},{685*4, 89*8},
{703*4, 86*8},{721*4, 84*8},{739*4, 81*8},{757*4, 78*8},{775*4, 75*8},{793*4, 72*8},{811*4, 69*8},{829*4, 66*8},{847*4, 62*8},
{865*4, 59*8},{883*4, 55*8},{901*4, 51*8},{919*4, 46*8},{937*4, 41*8},
{955*4, 35*8},{973*4, 27*8},{991*4, 17*8},{1009*4, 1*8},{1023*4, 0} //to allow internal 0 degrees C
};
#define NUMTEMPS_10 20 // 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
const short temptable_10[NUMTEMPS_10][2] PROGMEM =
{
{1*4, 704*8},{54*4, 216*8},{107*4, 175*8},{160*4, 152*8},{213*4, 137*8},{266*4, 125*8},{319*4, 115*8},{372*4, 106*8},{425*4, 99*8},
{478*4, 91*8},{531*4, 85*8},{584*4, 78*8},{637*4, 71*8},{690*4, 65*8},{743*4, 58*8},{796*4, 50*8},{849*4, 42*8},{902*4, 31*8},
{955*4, 17*8},{1008*4, 0}
};
#define NUMTEMPS_11 31 // 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
const short temptable_11[NUMTEMPS_11][2] PROGMEM =
{
{1*4, 936*8},{36*4, 300*8},{71*4, 246*8},{106*4, 218*8},{141*4, 199*8},{176*4, 185*8},{211*4, 173*8},{246*4, 163*8},{281*4, 155*8},
{316*4, 147*8},{351*4, 140*8},{386*4, 134*8},{421*4, 128*8},{456*4, 122*8},{491*4, 117*8},{526*4, 112*8},{561*4, 107*8},{596*4, 102*8},
{631*4, 97*8},{666*4, 92*8},{701*4, 87*8},{736*4, 81*8},{771*4, 76*8},{806*4, 70*8},{841*4, 63*8},{876*4, 56*8},{911*4, 48*8},
{946*4, 38*8},{981*4, 23*8},{1005*4, 5*8},{1016*4, 0}
};
#define NUMTEMPS_12 31 // 100k RS thermistor 198-961 (4.7k pullup)
const short temptable_12[NUMTEMPS_12][2] PROGMEM =
{
{1*4, 929*8},{36*4, 299*8},{71*4, 246*8},{106*4, 217*8},{141*4, 198*8},{176*4, 184*8},{211*4, 173*8},{246*4, 163*8},{281*4, 154*8},{316*4, 147*8},
{351*4, 140*8},{386*4, 134*8},{421*4, 128*8},{456*4, 122*8},{491*4, 117*8},{526*4, 112*8},{561*4, 107*8},{596*4, 102*8},{631*4, 97*8},{666*4, 91*8},
{701*4, 86*8},{736*4, 81*8},{771*4, 76*8},{806*4, 70*8},{841*4, 63*8},{876*4, 56*8},{911*4, 48*8},{946*4, 38*8},{981*4, 23*8},{1005*4, 5*8},{1016*4, 0*8}
};
#if NUM_TEMPS_USERTHERMISTOR0>0
const short temptable_5[NUM_TEMPS_USERTHERMISTOR0][2] PROGMEM = USER_THERMISTORTABLE0 ;
#endif
#if NUM_TEMPS_USERTHERMISTOR1>0
const short temptable_6[NUM_TEMPS_USERTHERMISTOR1][2] PROGMEM = USER_THERMISTORTABLE1 ;
#endif
#if NUM_TEMPS_USERTHERMISTOR2>0
const short temptable_7[NUM_TEMPS_USERTHERMISTOR2][2] PROGMEM = USER_THERMISTORTABLE2 ;
#endif
const short * const temptables[12] PROGMEM = {(short int *)&temptable_1[0][0],(short int *)&temptable_2[0][0],(short int *)&temptable_3[0][0],(short int *)&temptable_4[0][0]
#if NUM_TEMPS_USERTHERMISTOR0>0
,(short int *)&temptable_5[0][0]
#else
,0
#endif
#if NUM_TEMPS_USERTHERMISTOR1>0
,(short int *)&temptable_6[0][0]
#else
,0
#endif
#if NUM_TEMPS_USERTHERMISTOR2>0
,(short int *)&temptable_7[0][0]
#else
,0
#endif
,(short int *)&temptable_8[0][0]
,(short int *)&temptable_9[0][0]
,(short int *)&temptable_10[0][0]
,(short int *)&temptable_11[0][0]
,(short int *)&temptable_12[0][0]
};
const uint8_t temptables_num[12] PROGMEM = {NUMTEMPS_1,NUMTEMPS_2,NUMTEMPS_3,NUMTEMPS_4,NUM_TEMPS_USERTHERMISTOR0,NUM_TEMPS_USERTHERMISTOR1,NUM_TEMPS_USERTHERMISTOR2,NUMTEMPS_8,
NUMTEMPS_9,NUMTEMPS_10,NUMTEMPS_11,NUMTEMPS_12
};
void TemperatureController::updateCurrentTemperature()
{
uint8_t type = sensorType;
// get raw temperature
switch(type)
{
case 0:
currentTemperature = 25;
break;
#if ANALOG_INPUTS>0
case 1:
case 2:
case 3:
case 4:
case 5:
case 6:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
case 97:
case 98:
case 99:
currentTemperature = (1023 << (2 - ANALOG_REDUCE_BITS)) - (osAnalogInputValues[sensorPin] >> (ANALOG_REDUCE_BITS)); // Convert to 10 bit result
break;
case 50: // User defined PTC table
case 51:
case 52:
case 60: // HEATER_USES_AD8495 (Delivers 5mV/degC)
case 100: // AD595
currentTemperature = (osAnalogInputValues[sensorPin] >> (ANALOG_REDUCE_BITS));
break;
#endif
#ifdef SUPPORT_MAX6675
case 101: // MAX6675
currentTemperature = read_max6675(sensorPin);
break;
#endif
#ifdef SUPPORT_MAX31855
case 102: // MAX31855
currentTemperature = read_max31855(sensorPin);
break;
#endif
default:
currentTemperature = 4095; // unknown method, return high value to switch heater off for safety
}
int currentTemperature = this->currentTemperature;
//OUT_P_I_LN("OC for raw ",raw_temp);
switch(type)
{
case 0:
currentTemperatureC = 25;
break;
case 1:
case 2:
case 3:
case 4:
case 5:
case 6:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
{
type--;
uint8_t num = pgm_read_byte(&temptables_num[type])<<1;
uint8_t i=2;
const short *temptable = (const short *)pgm_read_word(&temptables[type]); //pgm_read_word_near(&temptables[type]);
short oldraw = pgm_read_word(&temptable[0]);
short oldtemp = pgm_read_word(&temptable[1]);
short newraw,newtemp;
currentTemperature = (1023<<(2-ANALOG_REDUCE_BITS))-currentTemperature;
while(i<num)
{
newraw = pgm_read_word(&temptable[i++]);
newtemp = pgm_read_word(&temptable[i++]);
if (newraw > currentTemperature)
{
//OUT_P_I("RC O:",oldtemp);OUT_P_I_LN(" OR:",oldraw);
//OUT_P_I("RC N:",newtemp);OUT_P_I_LN(" NR:",newraw);
currentTemperatureC = TEMP_INT_TO_FLOAT(oldtemp + (float)(currentTemperature-oldraw)*(float)(newtemp-oldtemp)/(newraw-oldraw));
return;
}
oldtemp = newtemp;
oldraw = newraw;
}
// Overflow: Set to last value in the table
currentTemperatureC = TEMP_INT_TO_FLOAT(newtemp);
}
break;
case 50: // User defined PTC thermistor
case 51:
case 52:
{
type-=46;
uint8_t num = pgm_read_byte(&temptables_num[type])<<1;
uint8_t i=2;
const short *temptable = (const short *)pgm_read_word(&temptables[type]); //pgm_read_word_near(&temptables[type]);
short oldraw = pgm_read_word(&temptable[0]);
short oldtemp = pgm_read_word(&temptable[1]);
short newraw,newtemp;
while(i<num)
{
newraw = pgm_read_word(&temptable[i++]);
newtemp = pgm_read_word(&temptable[i++]);
if (newraw > currentTemperature)
{
currentTemperatureC = TEMP_INT_TO_FLOAT(oldtemp + (float)(currentTemperature-oldraw)*(float)(newtemp-oldtemp)/(newraw-oldraw));
return;
}
oldtemp = newtemp;
oldraw = newraw;
}
// Overflow: Set to last value in the table
currentTemperatureC = TEMP_INT_TO_FLOAT(newtemp);
break;
}
case 60: // AD8495 (Delivers 5mV/degC vs the AD595's 10mV)
currentTemperatureC = ((float)currentTemperature * 1000.0f / (1024 << (2 - ANALOG_REDUCE_BITS)));
break;
case 100: // AD595
//return (int)((long)raw_temp * 500/(1024<<(2-ANALOG_REDUCE_BITS)));
currentTemperatureC = ((float)currentTemperature * 500.0f / (1024 << (2 - ANALOG_REDUCE_BITS)));
break;
#ifdef SUPPORT_MAX6675
case 101: // MAX6675
currentTemperatureC = (float)currentTemperature / 4.0;
break;
#endif
#ifdef SUPPORT_MAX31855
case 102: // MAX31855
currentTemperatureC = (float)currentTemperature / 4.0;
break;
#endif
#if defined(USE_GENERIC_THERMISTORTABLE_1) || defined(USE_GENERIC_THERMISTORTABLE_2) || defined(USE_GENERIC_THERMISTORTABLE_3)
case 97:
case 98:
case 99:
{
uint8_t i=2;
const short *temptable;
#ifdef USE_GENERIC_THERMISTORTABLE_1
if(type == 97)
temptable = (const short *)temptable_generic1;
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_2
if(type == 98)
temptable = (const short *)temptable_generic2;
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_3
if(type == 99)
temptable = (const short *)temptable_generic3;
#endif
short oldraw = temptable[0];
short oldtemp = temptable[1];
short newraw,newtemp;
currentTemperature = (1023<<(2-ANALOG_REDUCE_BITS))-currentTemperature;
while(i<GENERIC_THERM_NUM_ENTRIES*2)
{
newraw = temptable[i++];
newtemp = temptable[i++];
if (newraw > currentTemperature)
{
//OUT_P_I("RC O:",oldtemp);OUT_P_I_LN(" OR:",oldraw);
//OUT_P_I("RC N:",newtemp);OUT_P_I_LN(" NR:",newraw);
currentTemperatureC = TEMP_INT_TO_FLOAT(oldtemp + (float)(currentTemperature-oldraw)*(float)(newtemp-oldtemp)/(newraw-oldraw));
return;
}
oldtemp = newtemp;
oldraw = newraw;
}
// Overflow: Set to last value in the table
currentTemperatureC = TEMP_INT_TO_FLOAT(newtemp);
break;
}
#endif
}
}
void TemperatureController::setTargetTemperature(float target)
{
targetTemperatureC = target;
stopDecouple();
int temp = TEMP_FLOAT_TO_INT(target);
uint8_t type = sensorType;
switch(sensorType)
{
case 0:
targetTemperature = 0;
break;
case 1:
case 2:
case 3:
case 4:
case 5:
case 6:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
{
type--;
uint8_t num = pgm_read_byte(&temptables_num[type]) << 1;
uint8_t i = 2;
const short *temptable = (const short *)pgm_read_word(&temptables[type]); //pgm_read_word(&temptables[type]);
short oldraw = pgm_read_word(&temptable[0]);
short oldtemp = pgm_read_word(&temptable[1]);
short newraw = 0,newtemp;
while(i<num)
{
newraw = pgm_read_word(&temptable[i++]);
newtemp = pgm_read_word(&temptable[i++]);
if (newtemp < temp)
{
targetTemperature = (1023 << (2 - ANALOG_REDUCE_BITS))- oldraw + (int32_t)(oldtemp - temp) * (int32_t)(oldraw - newraw) / (oldtemp - newtemp);
return;
}
oldtemp = newtemp;
oldraw = newraw;
}
// Overflow: Set to last value in the table
targetTemperature = (1023<<(2-ANALOG_REDUCE_BITS))-newraw;
break;
}
case 50: // user defined PTC thermistor
case 51:
case 52:
{
type -= 46;
uint8_t num = pgm_read_byte(&temptables_num[type]) << 1;
uint8_t i = 2;
const short *temptable = (const short *)pgm_read_word(&temptables[type]); //pgm_read_word(&temptables[type]);
short oldraw = pgm_read_word(&temptable[0]);
short oldtemp = pgm_read_word(&temptable[1]);
short newraw = 0,newtemp;
while(i<num)
{
newraw = pgm_read_word(&temptable[i++]);
newtemp = pgm_read_word(&temptable[i++]);
if (newtemp > temp)
{
targetTemperature = oldraw + (int32_t)(oldtemp-temp) * (int32_t)(oldraw-newraw) / (oldtemp-newtemp);
return;
}
oldtemp = newtemp;
oldraw = newraw;
}
// Overflow: Set to last value in the table
targetTemperature = newraw;
break;
}
case 60: // HEATER_USES_AD8495 (Delivers 5mV/degC)
targetTemperature = (int)((int32_t)temp * (1024 << (2 - ANALOG_REDUCE_BITS))/ 1000);
break;
case 100: // HEATER_USES_AD595
targetTemperature = (int)((int32_t)temp * (1024 << (2 - ANALOG_REDUCE_BITS))/ 500);
break;
#ifdef SUPPORT_MAX6675
case 101: // defined HEATER_USES_MAX6675
targetTemperature = temp * 4;
break;
#endif
#ifdef SUPPORT_MAX31855
case 102: // defined HEATER_USES_MAX31855
targetTemperature = temp * 4;
break;
#endif
#if defined(USE_GENERIC_THERMISTORTABLE_1) || defined(USE_GENERIC_THERMISTORTABLE_2) || defined(USE_GENERIC_THERMISTORTABLE_3)
case 97:
case 98:
case 99:
{
uint8_t i = 2;
const short *temptable;
#ifdef USE_GENERIC_THERMISTORTABLE_1
if(type == 97)
temptable = (const short *)temptable_generic1;
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_2
if(type == 98)
temptable = (const short *)temptable_generic2;
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_3
if(type == 99)
temptable = (const short *)temptable_generic3;
#endif
short oldraw = temptable[0];
short oldtemp = temptable[1];
short newraw,newtemp;
while(i<GENERIC_THERM_NUM_ENTRIES*2)
{
newraw = temptable[i++];
newtemp = temptable[i++];
if (newtemp < temp)
{
targetTemperature = (1023 << (2 - ANALOG_REDUCE_BITS)) - oldraw + (int32_t)(oldtemp-temp) * (int32_t)(oldraw-newraw) / (oldtemp-newtemp);
return;
}
oldtemp = newtemp;
oldraw = newraw;
}
// Overflow: Set to last value in the table
targetTemperature = (1023 << (2 - ANALOG_REDUCE_BITS)) - newraw;
break;
}
#endif
}
}
uint8_t autotuneIndex = 255;
void Extruder::disableAllHeater()
{
for(uint8_t i=0; i<NUM_TEMPERATURE_LOOPS; i++)
{
TemperatureController *c = tempController[i];
c->targetTemperature = 0;
c->targetTemperatureC = 0;
pwm_pos[c->pwmIndex] = 0;
}
autotuneIndex = 255;
}
#if TEMP_PID
void TemperatureController::autotunePID(float temp,uint8_t controllerId,bool storeValues)
{
float currentTemp;
int cycles = 0;
bool heating = true;
uint32_t temp_millis = HAL::timeInMilliseconds();
uint32_t t1 = temp_millis;
uint32_t t2 = temp_millis;
int32_t t_high = 0;
int32_t t_low;
int32_t bias = pidMax >> 1;
int32_t d = pidMax >> 1;
float Ku, Tu;
float Kp = 0, Ki = 0, Kd = 0;
float maxTemp = 20, minTemp = 20;
Com::printInfoFLN(Com::tPIDAutotuneStart);
Extruder::disableAllHeater(); // switch off all heaters.
autotuneIndex = controllerId;
pwm_pos[pwmIndex] = pidMax;
if(controllerId<NUM_EXTRUDER)
{
extruder[controllerId].coolerPWM = extruder[controllerId].coolerSpeed;
extruder[0].coolerPWM = extruder[0].coolerSpeed;
}
for(;;)
{
#if FEATURE_WATCHDOG
HAL::pingWatchdog();
#endif // FEATURE_WATCHDOG
updateCurrentTemperature();
currentTemp = currentTemperatureC;
unsigned long time = HAL::timeInMilliseconds();
maxTemp = RMath::max(maxTemp,currentTemp);
minTemp = RMath::min(minTemp,currentTemp);
if(heating == true && currentTemp > temp) // switch heating -> off
{
if(time - t2 > (controllerId < NUM_EXTRUDER ? 2500 : 1500))
{
heating=false;
pwm_pos[pwmIndex] = (bias - d);
t1 = time;
t_high = t1 - t2;
maxTemp=temp;
}
}
if(heating == false && currentTemp < temp)
{
if(time - t1 > (controllerId < NUM_EXTRUDER ? 5000 : 3000))
{
heating = true;
t2 = time;
t_low=t2 - t1; // half wave length
if(cycles > 0)
{
bias += (d*(t_high - t_low))/(t_low + t_high);
bias = constrain(bias, 20 ,pidMax - 20);
if(bias > pidMax/2) d = pidMax - 1 - bias;
else d = bias;
Com::printF(Com::tAPIDBias,bias);
Com::printF(Com::tAPIDD,d);
Com::printF(Com::tAPIDMin,minTemp);
Com::printFLN(Com::tAPIDMax,maxTemp);
if(cycles > 2)
{
// Parameter according Ziegler¡§CNichols method: http://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method
Ku = (4.0 * d) / (3.14159*(maxTemp-minTemp));
Tu = ((float)(t_low + t_high)/1000.0);
Com::printF(Com::tAPIDKu,Ku);
Com::printFLN(Com::tAPIDTu,Tu);
Kp = 0.6*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu*0.125;
Com::printFLN(Com::tAPIDClassic);
Com::printFLN(Com::tAPIDKp,Kp);
Com::printFLN(Com::tAPIDKi,Ki);
Com::printFLN(Com::tAPIDKd,Kd);
/*
Kp = 0.33*Ku;
Ki = Kp/Tu;
Kd = Kp*Tu/3;
OUT_P_LN(" Some overshoot");
OUT_P_F_LN(" Kp: ",Kp);
OUT_P_F_LN(" Ki: ",Ki);
OUT_P_F_LN(" Kd: ",Kd);
Kp = 0.2*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/3;
OUT_P_LN(" No overshoot");
OUT_P_F_LN(" Kp: ",Kp);
OUT_P_F_LN(" Ki: ",Ki);
OUT_P_F_LN(" Kd: ",Kd);
*/
}
}
pwm_pos[pwmIndex] = (bias + d);
cycles++;
minTemp=temp;
}
}
if(currentTemp > (temp + 40))
{
Com::printErrorFLN(Com::tAPIDFailedHigh);
Extruder::disableAllHeater();
return;
}
if(time - temp_millis > 1000)
{
temp_millis = time;
Commands::printTemperatures();
}
if(((time - t1) + (time - t2)) > (10L*60L*1000L*2L)) // 20 Minutes
{
Com::printErrorFLN(Com::tAPIDFailedTimeout);
Extruder::disableAllHeater();
return;
}
if(cycles > 5)
{
Com::printInfoFLN(Com::tAPIDFinished);
Extruder::disableAllHeater();
if(storeValues)
{
pidPGain = Kp;
pidIGain = Ki;
pidDGain = Kd;
heatManager = HTR_PID;
EEPROM::storeDataIntoEEPROM();
}
return;
}
UI_MEDIUM;
UI_SLOW(true);
}
}
#endif
/** \brief Writes monitored temperatures.
This function is called every 250ms to write the monitored temperature. If monitoring is
disabled, the function is not called.
*/
void writeMonitor()
{
Com::printF(Com::tMTEMPColon,(long)HAL::timeInMilliseconds());
TemperatureController *act = tempController[manageMonitor];
Com::printF(Com::tSpace,act->currentTemperatureC);
Com::printF(Com::tSpace,act->targetTemperatureC, 0);
Com::printFLN(Com::tSpace,pwm_pos[act->pwmIndex]);
}
bool reportTempsensorError()
{
if(!Printer::isAnyTempsensorDefect()) return false;
for(uint8_t i = 0; i < NUM_TEMPERATURE_LOOPS; i++)
{
if(i == NUM_EXTRUDER) Com::printF(Com::tHeatedBed);
else Com::printF(Com::tExtruderSpace,i);
int temp = tempController[i]->currentTemperatureC;
if(temp < MIN_DEFECT_TEMPERATURE || temp > MAX_DEFECT_TEMPERATURE)
Com::printFLN(Com::tTempSensorDefect);
else
Com::printFLN(Com::tTempSensorWorking);
}
Com::printErrorFLN(Com::tDryModeUntilRestart);
return true;
}
#ifdef SUPPORT_MAX6675
int16_t read_max6675(uint8_t ss_pin)
{
int16_t max6675_temp = 0;
HAL::spiInit(1);
HAL::digitalWrite(ss_pin, 0); // enable TT_MAX6675
HAL::delayMicroseconds(1); // ensure 100ns delay - a bit extra is fine
max6675_temp = HAL::spiReceive(0);
max6675_temp <<= 8;
max6675_temp |= HAL::spiReceive(0);
HAL::digitalWrite(ss_pin, 1); // disable TT_MAX6675
return max6675_temp & 4 ? 2000 : max6675_temp >> 3; // thermocouple open?
}
#endif
#ifdef SUPPORT_MAX31855
int16_t read_max31855(uint8_t ss_pin)
{
uint32_t data = 0;
int16_t temperature;
HAL::spiInit(1);
HAL::digitalWrite(ss_pin, 0); // enable TT_MAX31855
HAL::delayMicroseconds(1); // ensure 100ns delay - a bit extra is fine
for (unsigned short byte = 0; byte < 4; byte++)
{
data <<= 8;
data |= HAL::spiReceive();
}
HAL::digitalWrite(ss_pin, 1); // disable TT_MAX31855
//Process temp
if (data & 0x00010000)
return 20000; //Some form of error.
else
{
data = data >> 18;
temperature = data & 0x00001FFF;
if (data & 0x00002000)
{
data = ~data;
temperature = -1 * ((data & 0x00001FFF) + 1);
}
}
return temperature;
}
#endif
#if FEATURE_RETRACTION
void Extruder::retractDistance(float dist) {
float oldFeedrate = Printer::feedrate;
int32_t distance = static_cast<int32_t>(dist * stepsPerMM / Printer::extrusionFactor);
int32_t oldEPos = Printer::currentPositionSteps[E_AXIS];
PrintLine::moveRelativeDistanceInSteps(0, 0, 0, -distance,distance > 0 ? EEPROM_FLOAT(RETRACTION_SPEED) : EEPROM_FLOAT(RETRACTION_UNDO_SPEED), false, false);
Printer::currentPositionSteps[E_AXIS] = oldEPos; // restore previous extruder position
Printer::feedrate = oldFeedrate;
}
void Extruder::retract(bool isRetract,bool isLong) {
float oldFeedrate = Printer::feedrate;
float distance = (isLong ? EEPROM_FLOAT( RETRACTION_LONG_LENGTH) : EEPROM_FLOAT(RETRACTION_LENGTH));
int32_t zlift = static_cast<int32_t>(EEPROM_FLOAT(RETRACTION_Z_LIFT) * Printer::axisStepsPerMM[Z_AXIS]);
int32_t oldZPos = Printer::currentPositionSteps[Z_AXIS];
float oldZPosF = Printer::currentPosition[Z_AXIS];
if(isRetract && !isRetracted()) {
retractDistance(distance);
setRetracted(true);
if(zlift > 0)
PrintLine::moveRelativeDistanceInStepsReal(0,0,zlift,0,Printer::maxFeedrate[Z_AXIS], false);
} else if(!isRetract && isRetracted()) {
distance += (isLong ? EEPROM_FLOAT(RETRACTION_UNDO_EXTRA_LONG_LENGTH) : EEPROM_FLOAT(RETRACTION_UNDO_EXTRA_LENGTH) );
if(zlift > 0)
PrintLine::moveRelativeDistanceInStepsReal(0,0,-zlift,0,Printer::maxFeedrate[Z_AXIS], false);
retractDistance(-distance);
setRetracted(false);
}
Printer::currentPositionSteps[Z_AXIS] = oldZPos; // z lift should have no visible impact
Printer::currentPosition[Z_AXIS] = oldZPosF;
Printer::feedrate = oldFeedrate;
}
#endif
Extruder *Extruder::current;
#if NUM_EXTRUDER>0
const char ext0_select_cmd[] PROGMEM = EXT0_SELECT_COMMANDS;
const char ext0_deselect_cmd[] PROGMEM = EXT0_DESELECT_COMMANDS;
#endif
#if NUM_EXTRUDER>1
const char ext1_select_cmd[] PROGMEM = EXT1_SELECT_COMMANDS;
const char ext1_deselect_cmd[] PROGMEM = EXT1_DESELECT_COMMANDS;
#endif
#if NUM_EXTRUDER>2
const char ext2_select_cmd[] PROGMEM = EXT2_SELECT_COMMANDS;
const char ext2_deselect_cmd[] PROGMEM = EXT2_DESELECT_COMMANDS;
#endif
#if NUM_EXTRUDER>3
const char ext3_select_cmd[] PROGMEM = EXT3_SELECT_COMMANDS;
const char ext3_deselect_cmd[] PROGMEM = EXT3_DESELECT_COMMANDS;
#endif
#if NUM_EXTRUDER>4
const char ext4_select_cmd[] PROGMEM = EXT4_SELECT_COMMANDS;
const char ext4_deselect_cmd[] PROGMEM = EXT4_DESELECT_COMMANDS;
#endif
#if NUM_EXTRUDER>5
const char ext5_select_cmd[] PROGMEM = EXT5_SELECT_COMMANDS;
const char ext5_deselect_cmd[] PROGMEM = EXT5_DESELECT_COMMANDS;
#endif
Extruder extruder[NUM_EXTRUDER] =
{
#if NUM_EXTRUDER > 0
{
0,EXT0_X_OFFSET,EXT0_Y_OFFSET,EXT0_STEPS_PER_MM,EXT0_ENABLE_PIN,EXT0_ENABLE_ON,
EXT0_MAX_FEEDRATE,EXT0_MAX_ACCELERATION,EXT0_MAX_START_FEEDRATE,0,EXT0_WATCHPERIOD
,EXT0_WAIT_RETRACT_TEMP,EXT0_WAIT_RETRACT_UNITS
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
,EXT0_ADVANCE_K
#endif
,EXT0_ADVANCE_L,EXT0_ADVANCE_BACKLASH_STEPS
#endif
#if MIXING_EXTRUDER > 0
,10,10,{10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10}
#endif
,{
0,EXT0_TEMPSENSOR_TYPE,EXT0_SENSOR_INDEX,0,0,0,0,0,EXT0_HEAT_MANAGER
#if TEMP_PID
,0,EXT0_PID_INTEGRAL_DRIVE_MAX,EXT0_PID_INTEGRAL_DRIVE_MIN,EXT0_PID_PGAIN_OR_DEAD_TIME,EXT0_PID_I,EXT0_PID_D,EXT0_PID_MAX,0,0,0,{0,0,0,0}
#endif
,0,0,0,EXT0_DECOUPLE_TEST_PERIOD
}
,ext0_select_cmd,ext0_deselect_cmd,EXT0_EXTRUDER_COOLER_SPEED,0,0,0
}
#endif
#if NUM_EXTRUDER > 1
,{
1,EXT1_X_OFFSET,EXT1_Y_OFFSET,EXT1_STEPS_PER_MM,EXT1_ENABLE_PIN,EXT1_ENABLE_ON,
EXT1_MAX_FEEDRATE,EXT1_MAX_ACCELERATION,EXT1_MAX_START_FEEDRATE,0,EXT1_WATCHPERIOD
,EXT1_WAIT_RETRACT_TEMP,EXT1_WAIT_RETRACT_UNITS
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
,EXT1_ADVANCE_K
#endif
,EXT1_ADVANCE_L,EXT1_ADVANCE_BACKLASH_STEPS
#endif
#if MIXING_EXTRUDER > 0
,10,10,{10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10}
#endif
,{
1,EXT1_TEMPSENSOR_TYPE,EXT1_SENSOR_INDEX,0,0,0,0,0,EXT1_HEAT_MANAGER
#if TEMP_PID
,0,EXT1_PID_INTEGRAL_DRIVE_MAX,EXT1_PID_INTEGRAL_DRIVE_MIN,EXT1_PID_PGAIN_OR_DEAD_TIME,EXT1_PID_I,EXT1_PID_D,EXT1_PID_MAX,0,0,0,{0,0,0,0}
#endif
,0,0,0,EXT1_DECOUPLE_TEST_PERIOD
}
,ext1_select_cmd,ext1_deselect_cmd,EXT1_EXTRUDER_COOLER_SPEED,0,0,0
}
#endif
#if NUM_EXTRUDER > 2
,{
2,EXT2_X_OFFSET,EXT2_Y_OFFSET,EXT2_STEPS_PER_MM,EXT2_ENABLE_PIN,EXT2_ENABLE_ON,
EXT2_MAX_FEEDRATE,EXT2_MAX_ACCELERATION,EXT2_MAX_START_FEEDRATE,0,EXT2_WATCHPERIOD
,EXT2_WAIT_RETRACT_TEMP,EXT2_WAIT_RETRACT_UNITS
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
,EXT2_ADVANCE_K
#endif
,EXT2_ADVANCE_L,EXT2_ADVANCE_BACKLASH_STEPS
#endif
#if MIXING_EXTRUDER > 0
,10,10,{10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10}
#endif
,{
2,EXT2_TEMPSENSOR_TYPE,EXT2_SENSOR_INDEX,0,0,0,0,0,EXT2_HEAT_MANAGER
#if TEMP_PID
,0,EXT2_PID_INTEGRAL_DRIVE_MAX,EXT2_PID_INTEGRAL_DRIVE_MIN,EXT2_PID_PGAIN_OR_DEAD_TIME,EXT2_PID_I,EXT2_PID_D,EXT2_PID_MAX,0,0,0,{0,0,0,0}
#endif
,0,0,0,EXT2_DECOUPLE_TEST_PERIOD
}
,ext2_select_cmd,ext2_deselect_cmd,EXT2_EXTRUDER_COOLER_SPEED,0,0,0
}
#endif
#if NUM_EXTRUDER > 3
,{
3,EXT3_X_OFFSET,EXT3_Y_OFFSET,EXT3_STEPS_PER_MM,EXT3_ENABLE_PIN,EXT3_ENABLE_ON,
EXT3_MAX_FEEDRATE,EXT3_MAX_ACCELERATION,EXT3_MAX_START_FEEDRATE,0,EXT3_WATCHPERIOD
,EXT3_WAIT_RETRACT_TEMP,EXT3_WAIT_RETRACT_UNITS
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
,EXT3_ADVANCE_K
#endif
,EXT3_ADVANCE_L,EXT3_ADVANCE_BACKLASH_STEPS
#endif
#if MIXING_EXTRUDER > 0
,10,10,{10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10}
#endif
,{
3,EXT3_TEMPSENSOR_TYPE,EXT3_SENSOR_INDEX,0,0,0,0,0,EXT3_HEAT_MANAGER
#if TEMP_PID
,0,EXT3_PID_INTEGRAL_DRIVE_MAX,EXT3_PID_INTEGRAL_DRIVE_MIN,EXT3_PID_PGAIN_OR_DEAD_TIME,EXT3_PID_I,EXT3_PID_D,EXT3_PID_MAX,0,0,0,{0,0,0,0}
#endif
,0,0,0,EXT3_DECOUPLE_TEST_PERIOD
}
,ext3_select_cmd,ext3_deselect_cmd,EXT3_EXTRUDER_COOLER_SPEED,0,0,0
}
#endif
#if NUM_EXTRUDER > 4
,{
4,EXT4_X_OFFSET,EXT4_Y_OFFSET,EXT4_STEPS_PER_MM,EXT4_ENABLE_PIN,EXT4_ENABLE_ON,
EXT4_MAX_FEEDRATE,EXT4_MAX_ACCELERATION,EXT4_MAX_START_FEEDRATE,0,EXT4_WATCHPERIOD
,EXT4_WAIT_RETRACT_TEMP,EXT4_WAIT_RETRACT_UNITS
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
,EXT4_ADVANCE_K
#endif
,EXT4_ADVANCE_L,EXT4_ADVANCE_BACKLASH_STEPS
#endif
#if MIXING_EXTRUDER > 0
,10,10,{10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10}
#endif
,{
4,EXT4_TEMPSENSOR_TYPE,EXT4_SENSOR_INDEX,0,0,0,0,0,EXT4_HEAT_MANAGER
#if TEMP_PID
,0,EXT4_PID_INTEGRAL_DRIVE_MAX,EXT4_PID_INTEGRAL_DRIVE_MIN,EXT4_PID_PGAIN_OR_DEAD_TIME,EXT4_PID_I,EXT4_PID_D,EXT4_PID_MAX,0,0,0,{0,0,0,0}
#endif
,0,0,0,EXT4_DECOUPLE_TEST_PERIOD
}
,ext4_select_cmd,ext4_deselect_cmd,EXT4_EXTRUDER_COOLER_SPEED,0,0,0
}
#endif
#if NUM_EXTRUDER > 5
,{
5,EXT5_X_OFFSET,EXT5_Y_OFFSET,EXT5_STEPS_PER_MM,EXT5_ENABLE_PIN,EXT5_ENABLE_ON,
EXT5_MAX_FEEDRATE,EXT5_MAX_ACCELERATION,EXT5_MAX_START_FEEDRATE,0,EXT5_WATCHPERIOD
,EXT5_WAIT_RETRACT_TEMP,EXT5_WAIT_RETRACT_UNITS
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
,EXT5_ADVANCE_K
#endif
,EXT5_ADVANCE_L,EXT5_ADVANCE_BACKLASH_STEPS
#endif
#if MIXING_EXTRUDER > 0
,10,10,{10,10,10,10,10,10,10,10,10,10,10,10,10,10,10,10}
#endif
,{
5,EXT5_TEMPSENSOR_TYPE,EXT5_SENSOR_INDEX,0,0,0,0,0,EXT5_HEAT_MANAGER
#if TEMP_PID
,0,EXT5_PID_INTEGRAL_DRIVE_MAX,EXT5_PID_INTEGRAL_DRIVE_MIN,EXT5_PID_PGAIN_OR_DEAD_TIME,EXT5_PID_I,EXT5_PID_D,EXT5_PID_MAX,0,0,0,{0,0,0,0}
#endif
,0,0,0,EXT5_DECOUPLE_TEST_PERIOD
}
,ext5_select_cmd,ext5_deselect_cmd,EXT5_EXTRUDER_COOLER_SPEED,0,0,0
}
#endif
};
#if HAVE_HEATED_BED
#define NUM_TEMPERATURE_LOOPS NUM_EXTRUDER+1
TemperatureController heatedBedController = {NUM_EXTRUDER,HEATED_BED_SENSOR_TYPE,BED_SENSOR_INDEX,0,0,0,0,0,HEATED_BED_HEAT_MANAGER
#if TEMP_PID
,0,HEATED_BED_PID_INTEGRAL_DRIVE_MAX,HEATED_BED_PID_INTEGRAL_DRIVE_MIN,HEATED_BED_PID_PGAIN_OR_DEAD_TIME,HEATED_BED_PID_IGAIN,HEATED_BED_PID_DGAIN,HEATED_BED_PID_MAX,0,0,0,{0,0,0,0}
#endif
,0,0,0,HEATED_BED_DECOUPLE_TEST_PERIOD
};
#else
#define NUM_TEMPERATURE_LOOPS NUM_EXTRUDER
#endif
TemperatureController *tempController[NUM_TEMPERATURE_LOOPS] =
{
#if NUM_EXTRUDER>0
&extruder[0].tempControl
#endif
#if NUM_EXTRUDER>1
,&extruder[1].tempControl
#endif
#if NUM_EXTRUDER>2
,&extruder[2].tempControl
#endif
#if NUM_EXTRUDER>3
,&extruder[3].tempControl
#endif
#if NUM_EXTRUDER>4
,&extruder[4].tempControl
#endif
#if NUM_EXTRUDER>5
,&extruder[5].tempControl
#endif
#if HAVE_HEATED_BED
#if NUM_EXTRUDER==0
&heatedBedController
#else
,&heatedBedController
#endif
#endif
};
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