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Arduino/Repetier/Extruder.h
Nis Wechselberg cbaa0cb12d Updated repetier
2016-07-02 18:11:43 +02:00

319 lines
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#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.
// Toggles 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
#define TEMPERATURE_CONTROLLER_FLAG_SENSDEFECT 8 //< Indicating sensor defect
#define TEMPERATURE_CONTROLLER_FLAG_SENSDECOUPLED 16 //< Indicating sensor decoupling
#define TEMPERATURE_CONTROLLER_FLAG_JAM 32 //< Indicates a jammed filament
#define TEMPERATURE_CONTROLLER_FLAG_SLOWDOWN 64 //< Indicates a slowed down extruder
/** TemperatureController manages one heater-temperature sensor 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.
int8_t heatManager; ///< How is temperature controlled. 0 = on/off, 1 = PID-Control, 3 = dead time control
int16_t currentTemperature; ///< Current temperature 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.
#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 void removeErrorStates() {
flags &= ~(TEMPERATURE_CONTROLLER_FLAG_ALARM | TEMPERATURE_CONTROLLER_FLAG_SENSDEFECT | TEMPERATURE_CONTROLLER_FLAG_SENSDECOUPLED);
}
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);
}
inline bool isSensorDefect()
{
return flags & TEMPERATURE_CONTROLLER_FLAG_SENSDEFECT;
}
inline bool isSensorDecoupled()
{
return flags & TEMPERATURE_CONTROLLER_FLAG_SENSDECOUPLED;
}
static void resetAllErrorStates();
#if EXTRUDER_JAM_CONTROL
inline bool isJammed()
{
return flags & TEMPERATURE_CONTROLLER_FLAG_JAM;
}
void setJammed(bool on);
inline bool isSlowedDown()
{
return flags & TEMPERATURE_CONTROLLER_FLAG_SLOWDOWN;
}
inline void setSlowedDown(bool on)
{
flags &= ~TEMPERATURE_CONTROLLER_FLAG_SLOWDOWN;
if(on) flags |= TEMPERATURE_CONTROLLER_FLAG_SLOWDOWN;
}
#endif
void waitForTargetTemperature();
#if TEMP_PID
void autotunePID(float temp,uint8_t controllerId,int maxCycles,bool storeResult);
#endif
};
class Extruder;
extern Extruder extruder[];
#if EXTRUDER_JAM_CONTROL
#if JAM_METHOD == 1
#define _TEST_EXTRUDER_JAM(x,pin) {\
uint8_t sig = READ(pin);extruder[x].jamStepsSinceLastSignal += extruder[x].jamLastDir;\
if(extruder[x].jamLastSignal != sig && abs(extruder[x].jamStepsSinceLastSignal - extruder[x].jamLastChangeAt) > JAM_MIN_STEPS) {\
if(sig) {extruder[x].resetJamSteps();} \
extruder[x].jamLastSignal = sig;extruder[x].jamLastChangeAt = extruder[x].jamStepsSinceLastSignal;\
} else if(abs(extruder[x].jamStepsSinceLastSignal) > JAM_ERROR_STEPS && !Printer::isDebugJamOrDisabled() && !extruder[x].tempControl.isJammed()) \
extruder[x].tempControl.setJammed(true);\
}
#define RESET_EXTRUDER_JAM(x,dir) extruder[x].jamLastDir = dir ? 1 : -1;
#elif JAM_METHOD == 2
#define _TEST_EXTRUDER_JAM(x,pin) {\
uint8_t sig = READ(pin);\
if(sig){extruder[x].tempControl.setJammed(true);} else if(!Printer::isDebugJamOrDisabled() && !extruder[x].tempControl.isJammed()) {extruder[x].resetJamSteps();}}
#define RESET_EXTRUDER_JAM(x,dir)
#elif JAM_METHOD == 3
#define _TEST_EXTRUDER_JAM(x,pin) {\
uint8_t sig = !READ(pin);\
if(sig){extruder[x].tempControl.setJammed(true);} else if(!Printer::isDebugJamOrDisabled() && !extruder[x].tempControl.isJammed()) {extruder[x].resetJamSteps();}}
#define RESET_EXTRUDER_JAM(x,dir)
#else
#error Unknown value for JAM_METHOD
#endif
#define ___TEST_EXTRUDER_JAM(x,y) _TEST_EXTRUDER_JAM(x,y)
#define __TEST_EXTRUDER_JAM(x) ___TEST_EXTRUDER_JAM(x,EXT ## x ## _JAM_PIN)
#define TEST_EXTRUDER_JAM(x) __TEST_EXTRUDER_JAM(x)
#else
#define TEST_EXTRUDER_JAM(x)
#define RESET_EXTRUDER_JAM(x,dir)
#endif
#define EXTRUDER_FLAG_RETRACTED 1
#define EXTRUDER_FLAG_WAIT_JAM_STARTCOUNT 2 ///< Waiting for the first signal to start counting
/** \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
static uint8_t activeMixingExtruder;
static void recomputeMixingExtruderSteps();
#endif
uint8_t id;
int32_t xOffset;
int32_t yOffset;
int32_t zOffset;
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 EXTRUDER_JAM_CONTROL
int16_t jamStepsSinceLastSignal; // when was the last signal
uint8_t jamLastSignal; // what was the last signal
int8_t jamLastDir;
int16_t jamStepsOnSignal;
int16_t jamLastChangeAt;
#endif
// Methods here
#if EXTRUDER_JAM_CONTROL
inline bool isWaitJamStartcount()
{
return flags & EXTRUDER_FLAG_WAIT_JAM_STARTCOUNT;
}
inline void setWaitJamStartcount(bool on)
{
if(on) flags |= EXTRUDER_FLAG_WAIT_JAM_STARTCOUNT;
else flags &= ~(EXTRUDER_FLAG_WAIT_JAM_STARTCOUNT);
}
static void markAllUnjammed();
void resetJamSteps();
#endif
#if MIXING_EXTRUDER > 0
static void setMixingWeight(uint8_t extr,int weight);
#endif
static void step();
static void unstep();
static void setDirection(uint8_t dir);
static void enable();
#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,bool wait = false);
static void pauseExtruders();
static void unpauseExtruders();
};
#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
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