The-Legend-of-Delta/Repetier Firmware/Repetier/Extruder.h
2019-08-07 14:27:54 +02:00

460 lines
14 KiB
C++

#ifndef EXTRUDER_H_INCLUDED
#define EXTRUDER_H_INCLUDED
#define CELSIUS_EXTRA_BITS 3
#define VIRTUAL_EXTRUDER 16 // don't change this to more then 16 without modifying the eeprom positions
//#if TEMP_PID
//extern uint8_t current_extruder_out;
//#endif
// Updates the temperature of all extruders and heated bed if it's time.
// Toggels the heater power if necessary.
extern bool reportTempsensorError(); ///< Report defect sensors
extern uint8_t manageMonitor;
#define HTR_OFF 0
#define HTR_PID 1
#define HTR_SLOWBANG 2
#define HTR_DEADTIME 3
#define TEMPERATURE_CONTROLLER_FLAG_ALARM 1
#define TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL 2 //< Full heating enabled
#define TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_HOLD 4 //< Holding target temperature
/** TemperatureController manages one heater-temperature sensore loop. You can have up to
4 loops allowing pid/bang bang for up to 3 extruder and the heated bed.
*/
class TemperatureController
{
public:
uint8_t pwmIndex; ///< pwm index for output control. 0-2 = Extruder, 3 = Fan, 4 = Heated Bed
uint8_t sensorType; ///< Type of temperature sensor.
uint8_t sensorPin; ///< Pin to read extruder temperature.
int16_t currentTemperature; ///< Currenttemperature value read from sensor.
int16_t targetTemperature; ///< Target temperature value in units of sensor.
float currentTemperatureC; ///< Current temperature in degC.
float targetTemperatureC; ///< Target temperature in degC.
uint32_t lastTemperatureUpdate; ///< Time in millis of the last temperature update.
int8_t heatManager; ///< How is temperature controled. 0 = on/off, 1 = PID-Control, 3 = deat time control
#if TEMP_PID
float tempIState; ///< Temp. var. for PID computation.
uint8_t pidDriveMax; ///< Used for windup in PID calculation.
uint8_t pidDriveMin; ///< Used for windup in PID calculation.
#define deadTime pidPGain
// deadTime is logically different value but physically overlays pidPGain for saving space
float pidPGain; ///< Pgain (proportional gain) for PID temperature control [0,01 Units].
float pidIGain; ///< Igain (integral) for PID temperature control [0,01 Units].
float pidDGain; ///< Dgain (damping) for PID temperature control [0,01 Units].
uint8_t pidMax; ///< Maximum PWM value, the heater should be set.
float tempIStateLimitMax;
float tempIStateLimitMin;
uint8_t tempPointer;
float tempArray[4];
#endif
uint8_t flags;
millis_t lastDecoupleTest; ///< Last time of decoupling sensor-heater test
float lastDecoupleTemp; ///< Temperature on last test
millis_t decoupleTestPeriod; ///< Time between setting and testing decoupling.
void setTargetTemperature(float target);
void updateCurrentTemperature();
void updateTempControlVars();
inline bool isAlarm()
{
return flags & TEMPERATURE_CONTROLLER_FLAG_ALARM;
}
inline void setAlarm(bool on)
{
if(on) flags |= TEMPERATURE_CONTROLLER_FLAG_ALARM;
else flags &= ~TEMPERATURE_CONTROLLER_FLAG_ALARM;
}
inline bool isDecoupleFull()
{
return flags & TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL;
}
inline bool isDecoupleFullOrHold()
{
return flags & (TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL | TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_HOLD);
}
inline void setDecoupleFull(bool on)
{
flags &= ~(TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL | TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_HOLD);
if(on) flags |= TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL;
}
inline bool isDecoupleHold()
{
return flags & TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_HOLD;
}
inline void setDecoupleHold(bool on)
{
flags &= ~(TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL | TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_HOLD);
if(on) flags |= TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_HOLD;
}
inline void startFullDecouple(millis_t &t)
{
if(isDecoupleFull()) return;
lastDecoupleTest = t;
lastDecoupleTemp = currentTemperatureC;
setDecoupleFull(true);
}
inline void startHoldDecouple(millis_t &t)
{
if(isDecoupleHold()) return;
if(fabs(currentTemperatureC - targetTemperatureC) + 1 > DECOUPLING_TEST_MAX_HOLD_VARIANCE) return;
lastDecoupleTest = t;
lastDecoupleTemp = targetTemperatureC;
setDecoupleHold(true);
}
inline void stopDecouple()
{
setDecoupleFull(false);
}
#if TEMP_PID
void autotunePID(float temp,uint8_t controllerId,bool storeResult);
#endif
};
class Extruder;
extern Extruder extruder[];
#define EXTRUDER_FLAG_RETRACTED 1
/** \brief Data to drive one extruder.
This structure contains all definitions for an extruder and all
current state variables, like current temperature, feeder position etc.
*/
class Extruder // Size: 12*1 Byte+12*4 Byte+4*2Byte = 68 Byte
{
public:
static Extruder *current;
#if FEATURE_DITTO_PRINTING
static uint8_t dittoMode;
#endif
#if MIXING_EXTRUDER > 0
static int mixingS; ///< Sum of all weights
static uint8_t mixingDir; ///< Direction flag
#endif
uint8_t id;
int32_t xOffset;
int32_t yOffset;
float stepsPerMM; ///< Steps per mm.
int8_t enablePin; ///< Pin to enable extruder stepper motor.
// uint8_t directionPin; ///< Pin number to assign the direction.
// uint8_t stepPin; ///< Pin number for a step.
uint8_t enableOn;
// uint8_t invertDir; ///< 1 if the direction of the extruder should be inverted.
float maxFeedrate; ///< Maximum feedrate in mm/s.
float maxAcceleration; ///< Maximum acceleration in mm/s^2.
float maxStartFeedrate; ///< Maximum start feedrate in mm/s.
int32_t extrudePosition; ///< Current extruder position in steps.
int16_t watchPeriod; ///< Time in seconds, a M109 command will wait to stabalize temperature
int16_t waitRetractTemperature; ///< Temperature to retract the filament when waiting for heatup
int16_t waitRetractUnits; ///< Units to retract the filament when waiting for heatup
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
float advanceK; ///< Koefficient for advance algorithm. 0 = off
#endif
float advanceL;
int16_t advanceBacklash;
#endif // USE_ADVANCE
#if MIXING_EXTRUDER > 0
int mixingW; ///< Weight for this extruder when mixing steps
int mixingE; ///< Cumulated error for this step.
int virtualWeights[VIRTUAL_EXTRUDER]; // Virtual extruder weights
#endif // MIXING_EXTRUDER > 0
TemperatureController tempControl;
const char * PROGMEM selectCommands;
const char * PROGMEM deselectCommands;
uint8_t coolerSpeed; ///< Speed to use when enabled
uint8_t coolerPWM; ///< current PWM setting
float diameter;
uint8_t flags;
#if MIXING_EXTRUDER > 0
static void setMixingWeight(uint8_t extr,int weight);
static void step();
static void unstep();
static void setDirection(uint8_t dir);
static void enable();
#else
/** \brief Sends the high-signal to the stepper for next extruder step.
Call this function only, if interrupts are disabled.
*/
static inline void step()
{
#if NUM_EXTRUDER==1
WRITE(EXT0_STEP_PIN,HIGH);
#else
switch(Extruder::current->id)
{
case 0:
#if NUM_EXTRUDER>0
WRITE(EXT0_STEP_PIN,HIGH);
#if FEATURE_DITTO_PRINTING
if(Extruder::dittoMode)
{
WRITE(EXT1_STEP_PIN,HIGH);
#if NUM_EXTRUDER > 2
if(Extruder::dittoMode > 1)
{
WRITE(EXT2_STEP_PIN,HIGH);
}
#endif
#if NUM_EXTRUDER > 3
if(Extruder::dittoMode > 2)
{
WRITE(EXT3_STEP_PIN,HIGH);
}
#endif
}
#endif
#endif
break;
#if defined(EXT1_STEP_PIN) && NUM_EXTRUDER>1
case 1:
WRITE(EXT1_STEP_PIN,HIGH);
break;
#endif
#if defined(EXT2_STEP_PIN) && NUM_EXTRUDER>2
case 2:
WRITE(EXT2_STEP_PIN,HIGH);
break;
#endif
#if defined(EXT3_STEP_PIN) && NUM_EXTRUDER>3
case 3:
WRITE(EXT3_STEP_PIN,HIGH);
break;
#endif
#if defined(EXT4_STEP_PIN) && NUM_EXTRUDER>4
case 4:
WRITE(EXT4_STEP_PIN,HIGH);
break;
#endif
#if defined(EXT5_STEP_PIN) && NUM_EXTRUDER>5
case 5:
WRITE(EXT5_STEP_PIN,HIGH);
break;
#endif
}
#endif
}
/** \brief Sets stepper signal to low for current extruder.
Call this function only, if interrupts are disabled.
*/
static inline void unstep()
{
#if NUM_EXTRUDER == 1
WRITE(EXT0_STEP_PIN,LOW);
#else
switch(Extruder::current->id)
{
case 0:
#if NUM_EXTRUDER > 0
WRITE(EXT0_STEP_PIN,LOW);
#if FEATURE_DITTO_PRINTING
if(Extruder::dittoMode)
{
WRITE(EXT1_STEP_PIN,LOW);
#if NUM_EXTRUDER > 2
if(Extruder::dittoMode > 1)
{
WRITE(EXT2_STEP_PIN,LOW);
}
#endif
#if NUM_EXTRUDER > 3
if(Extruder::dittoMode > 2)
{
WRITE(EXT3_STEP_PIN,LOW);
}
#endif // NUM_EXTRUDER > 3
}
#endif // FEATURE_DITTO_PRINTING
#endif // NUM_EXTRUDER > 0
break;
#if defined(EXT1_STEP_PIN) && NUM_EXTRUDER > 1
case 1:
WRITE(EXT1_STEP_PIN,LOW);
break;
#endif
#if defined(EXT2_STEP_PIN) && NUM_EXTRUDER > 2
case 2:
WRITE(EXT2_STEP_PIN,LOW);
break;
#endif
#if defined(EXT3_STEP_PIN) && NUM_EXTRUDER > 3
case 3:
WRITE(EXT3_STEP_PIN,LOW);
break;
#endif
#if defined(EXT4_STEP_PIN) && NUM_EXTRUDER > 4
case 4:
WRITE(EXT4_STEP_PIN,LOW);
break;
#endif
#if defined(EXT5_STEP_PIN) && NUM_EXTRUDER > 5
case 5:
WRITE(EXT5_STEP_PIN,LOW);
break;
#endif
}
#endif
}
/** \brief Activates the extruder stepper and sets the direction. */
static inline void setDirection(uint8_t dir)
{
#if MIXING_EXTRUDER > 0
mixingDir = dir;
#endif
#if NUM_EXTRUDER == 1
if(dir)
WRITE(EXT0_DIR_PIN, !EXT0_INVERSE);
else
WRITE(EXT0_DIR_PIN, EXT0_INVERSE);
#else
switch(Extruder::current->id)
{
#if NUM_EXTRUDER > 0
case 0:
if(dir)
WRITE(EXT0_DIR_PIN,!EXT0_INVERSE);
else
WRITE(EXT0_DIR_PIN,EXT0_INVERSE);
#if FEATURE_DITTO_PRINTING
if(Extruder::dittoMode)
{
if(dir)
WRITE(EXT1_DIR_PIN,!EXT1_INVERSE);
else
WRITE(EXT1_DIR_PIN,EXT1_INVERSE);
#if NUM_EXTRUDER > 2
if(Extruder::dittoMode > 1)
{
if(dir)
WRITE(EXT2_DIR_PIN,!EXT2_INVERSE);
else
WRITE(EXT2_DIR_PIN,EXT2_INVERSE);
}
#endif
#if NUM_EXTRUDER > 3
if(Extruder::dittoMode > 2)
{
if(dir)
WRITE(EXT3_DIR_PIN,!EXT3_INVERSE);
else
WRITE(EXT3_DIR_PIN,EXT3_INVERSE);
}
#endif
}
#endif
break;
#endif
#if defined(EXT1_DIR_PIN) && NUM_EXTRUDER > 1
case 1:
if(dir)
WRITE(EXT1_DIR_PIN,!EXT1_INVERSE);
else
WRITE(EXT1_DIR_PIN,EXT1_INVERSE);
break;
#endif
#if defined(EXT2_DIR_PIN) && NUM_EXTRUDER > 2
case 2:
if(dir)
WRITE(EXT2_DIR_PIN,!EXT2_INVERSE);
else
WRITE(EXT2_DIR_PIN,EXT2_INVERSE);
break;
#endif
#if defined(EXT3_DIR_PIN) && NUM_EXTRUDER > 3
case 3:
if(dir)
WRITE(EXT3_DIR_PIN,!EXT3_INVERSE);
else
WRITE(EXT3_DIR_PIN,EXT3_INVERSE);
break;
#endif
#if defined(EXT4_DIR_PIN) && NUM_EXTRUDER > 4
case 4:
if(dir)
WRITE(EXT4_DIR_PIN,!EXT4_INVERSE);
else
WRITE(EXT4_DIR_PIN,EXT4_INVERSE);
break;
#endif
#if defined(EXT5_DIR_PIN) && NUM_EXTRUDER > 5
case 5:
if(dir)
WRITE(EXT5_DIR_PIN,!EXT5_INVERSE);
else
WRITE(EXT5_DIR_PIN,EXT5_INVERSE);
break;
#endif
}
#endif
}
static inline void enable()
{
#if NUM_EXTRUDER == 1
#if EXT0_ENABLE_PIN > -1
WRITE(EXT0_ENABLE_PIN,EXT0_ENABLE_ON );
#endif
#else
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
}
#endif
#if FEATURE_RETRACTION
inline bool isRetracted() {return (flags & EXTRUDER_FLAG_RETRACTED) != 0;}
inline void setRetracted(bool on) {
flags = (flags & (255 - EXTRUDER_FLAG_RETRACTED)) | (on ? EXTRUDER_FLAG_RETRACTED : 0);
}
void retract(bool isRetract,bool isLong);
void retractDistance(float dist);
#endif
static void manageTemperatures();
static void disableCurrentExtruderMotor();
static void disableAllExtruderMotors();
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);
};
#if HAVE_HEATED_BED
#define NUM_TEMPERATURE_LOOPS NUM_EXTRUDER+1
extern TemperatureController heatedBedController;
#else
#define NUM_TEMPERATURE_LOOPS NUM_EXTRUDER
#endif
#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;
extern TemperatureController *tempController[NUM_TEMPERATURE_LOOPS];
extern uint8_t autotuneIndex;
#endif // EXTRUDER_H_INCLUDED