293 lines
11 KiB
C
293 lines
11 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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//#if TEMP_PID
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//extern uint8_t current_extruder_out;
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//#endif
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// Updates the temperature of all extruders and heated bed if it's time.
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// Toggels 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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/** TemperatureController manages one heater-temperature sensore 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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int16_t currentTemperature; ///< Currenttemperature 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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uint32_t lastTemperatureUpdate; ///< Time in millis of the last temperature update.
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int8_t heatManager; ///< How is temperature controled. 0 = on/off, 1 = PID-Control, 3 = deat time control
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#if TEMP_PID
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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 tempPointer;
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float tempArray[4];
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#endif
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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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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 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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#if EXTRUDER_JAM_CONTROL
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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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void setJammed(bool on);
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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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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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#if TEMP_PID
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void autotunePID(float temp,uint8_t controllerId,int maxCycles,bool storeResult);
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#endif
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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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#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) > JAM_ERROR_STEPS && !Printer::isDebugJamOrDisabled() && !extruder[x].tempControl.isJammed()) \
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extruder[x].tempControl.setJammed(true);\
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}
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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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#define RESET_EXTRUDER_JAM(x,dir) extruder[x].jamLastDir = dir ? 1 : -1;
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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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#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 stabalize temperature
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int16_t waitRetractTemperature; ///< Temperature to retract the filament when waiting for heatup
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int16_t waitRetractUnits; ///< Units to retract the filament when waiting for heatup
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#if USE_ADVANCE
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#if ENABLE_QUADRATIC_ADVANCE
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float advanceK; ///< Koefficient 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 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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int16_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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int16_t jamStepsOnSignal;
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int16_t jamLastChangeAt;
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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);
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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);
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static void disableAllHeater();
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static void initExtruder();
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static void initHeatedBed();
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static void setHeatedBedTemperature(float temp_celsius,bool beep = false);
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static float getHeatedBedTemperature();
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static void setTemperatureForExtruder(float temp_celsius,uint8_t extr,bool beep = false,bool wait = false);
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static void pauseExtruders();
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static void unpauseExtruders();
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};
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#if HAVE_HEATED_BED
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#define NUM_TEMPERATURE_LOOPS NUM_EXTRUDER+1
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extern TemperatureController heatedBedController;
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#else
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#define NUM_TEMPERATURE_LOOPS NUM_EXTRUDER
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#endif
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#define TEMP_INT_TO_FLOAT(temp) ((float)(temp)/(float)(1<<CELSIUS_EXTRA_BITS))
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#define TEMP_FLOAT_TO_INT(temp) ((int)((temp)*(1<<CELSIUS_EXTRA_BITS)))
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//extern Extruder *Extruder::current;
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extern TemperatureController *tempController[NUM_TEMPERATURE_LOOPS];
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extern uint8_t autotuneIndex;
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#endif // EXTRUDER_H_INCLUDED
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