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382 lines
11 KiB
C++
382 lines
11 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* temperature.h - temperature controller
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*/
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#ifndef TEMPERATURE_H
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#define TEMPERATURE_H
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#include "Marlin.h"
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#include "planner.h"
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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#include "stepper.h"
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#endif
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#ifndef SOFT_PWM_SCALE
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#define SOFT_PWM_SCALE 0
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#endif
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class Temperature {
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public:
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int current_temperature_raw[EXTRUDERS] = { 0 };
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float current_temperature[EXTRUDERS] = { 0.0 };
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int target_temperature[EXTRUDERS] = { 0 };
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int current_temperature_bed_raw = 0;
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float current_temperature_bed = 0.0;
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int target_temperature_bed = 0;
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#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
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float redundant_temperature = 0.0;
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#endif
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unsigned char soft_pwm_bed;
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#if ENABLED(FAN_SOFT_PWM)
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unsigned char fanSpeedSoftPwm[FAN_COUNT];
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#endif
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#if ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED)
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#define PID_dT ((OVERSAMPLENR * 12.0)/(F_CPU / 64.0 / 256.0))
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#endif
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#if ENABLED(PIDTEMP)
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#if ENABLED(PID_PARAMS_PER_EXTRUDER)
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static float Kp[EXTRUDERS], Ki[EXTRUDERS], Kd[EXTRUDERS];
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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float Kc[EXTRUDERS];
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#endif
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#define PID_PARAM(param, e) Temperature::param[e]
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#else
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static float Kp, Ki, Kd;
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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static float Kc;
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#endif
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#define PID_PARAM(param, e) Temperature::param
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#endif // PID_PARAMS_PER_EXTRUDER
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// Apply the scale factors to the PID values
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#define scalePID_i(i) ( (i) * PID_dT )
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#define unscalePID_i(i) ( (i) / PID_dT )
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#define scalePID_d(d) ( (d) / PID_dT )
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#define unscalePID_d(d) ( (d) * PID_dT )
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#endif
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#if ENABLED(PIDTEMPBED)
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float bedKp = DEFAULT_bedKp,
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bedKi = ((DEFAULT_bedKi) * PID_dT),
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bedKd = ((DEFAULT_bedKd) / PID_dT);
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#endif
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#if ENABLED(BABYSTEPPING)
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volatile int babystepsTodo[3] = { 0 };
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#endif
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#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
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int watch_target_temp[EXTRUDERS] = { 0 };
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millis_t watch_heater_next_ms[EXTRUDERS] = { 0 };
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#endif
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#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_BED_TEMP_PERIOD > 0
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int watch_target_bed_temp = 0;
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millis_t watch_bed_next_ms = 0;
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#endif
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#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
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float extrude_min_temp = EXTRUDE_MINTEMP;
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FORCE_INLINE bool tooColdToExtrude(uint8_t e) { return degHotend(e) < extrude_min_temp; }
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#else
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FORCE_INLINE bool tooColdToExtrude(uint8_t e) { UNUSED(e); return false; }
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#endif
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private:
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#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
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int redundant_temperature_raw = 0;
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float redundant_temperature = 0.0;
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#endif
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volatile bool temp_meas_ready = false;
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#if ENABLED(PIDTEMP)
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float temp_iState[EXTRUDERS] = { 0 };
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float temp_dState[EXTRUDERS] = { 0 };
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float pTerm[EXTRUDERS];
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float iTerm[EXTRUDERS];
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float dTerm[EXTRUDERS];
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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float cTerm[EXTRUDERS];
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long last_position[EXTRUDERS];
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long lpq[LPQ_MAX_LEN];
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int lpq_ptr = 0;
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#endif
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float pid_error[EXTRUDERS];
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float temp_iState_min[EXTRUDERS];
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float temp_iState_max[EXTRUDERS];
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bool pid_reset[EXTRUDERS];
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#endif
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#if ENABLED(PIDTEMPBED)
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float temp_iState_bed = { 0 };
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float temp_dState_bed = { 0 };
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float pTerm_bed;
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float iTerm_bed;
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float dTerm_bed;
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float pid_error_bed;
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float temp_iState_min_bed;
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float temp_iState_max_bed;
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#else
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millis_t next_bed_check_ms;
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#endif
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unsigned long raw_temp_value[4] = { 0 };
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unsigned long raw_temp_bed_value = 0;
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// Init min and max temp with extreme values to prevent false errors during startup
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int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS(HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP);
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int maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS(HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP);
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int minttemp[EXTRUDERS] = { 0 };
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int maxttemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(16383);
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#ifdef BED_MINTEMP
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int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP;
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#endif
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#ifdef BED_MAXTEMP
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int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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int meas_shift_index; // Index of a delayed sample in buffer
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#endif
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#if HAS_AUTO_FAN
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millis_t next_auto_fan_check_ms;
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#endif
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unsigned char soft_pwm[EXTRUDERS];
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#if ENABLED(FAN_SOFT_PWM)
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unsigned char soft_pwm_fan[FAN_COUNT];
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#endif
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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int current_raw_filwidth = 0; //Holds measured filament diameter - one extruder only
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#endif
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public:
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/**
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* Static (class) methods
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*/
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static float analog2temp(int raw, uint8_t e);
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static float analog2tempBed(int raw);
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/**
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* Instance Methods
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*/
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Temperature();
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void init();
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/**
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* Called from the Temperature ISR
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*/
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void isr();
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/**
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* Call periodically to manage heaters
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*/
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void manage_heater();
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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float analog2widthFil(); // Convert raw Filament Width to millimeters
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int widthFil_to_size_ratio(); // Convert raw Filament Width to an extrusion ratio
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#endif
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//high level conversion routines, for use outside of temperature.cpp
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//inline so that there is no performance decrease.
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//deg=degreeCelsius
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FORCE_INLINE float degHotend(uint8_t extruder) { return current_temperature[extruder]; }
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FORCE_INLINE float degBed() { return current_temperature_bed; }
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#if ENABLED(SHOW_TEMP_ADC_VALUES)
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FORCE_INLINE float rawHotendTemp(uint8_t extruder) { return current_temperature_raw[extruder]; }
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FORCE_INLINE float rawBedTemp() { return current_temperature_bed_raw; }
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#endif
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FORCE_INLINE float degTargetHotend(uint8_t extruder) { return target_temperature[extruder]; }
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FORCE_INLINE float degTargetBed() { return target_temperature_bed; }
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#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
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void start_watching_heater(int e = 0);
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#endif
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#if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
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void start_watching_bed();
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#endif
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FORCE_INLINE void setTargetHotend(const float& celsius, uint8_t extruder) {
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target_temperature[extruder] = celsius;
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#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
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start_watching_heater(extruder);
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#endif
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}
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FORCE_INLINE void setTargetBed(const float& celsius) {
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target_temperature_bed = celsius;
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#if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
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start_watching_bed();
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#endif
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}
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FORCE_INLINE bool isHeatingHotend(uint8_t extruder) { return target_temperature[extruder] > current_temperature[extruder]; }
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FORCE_INLINE bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; }
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FORCE_INLINE bool isCoolingHotend(uint8_t extruder) { return target_temperature[extruder] < current_temperature[extruder]; }
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FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; }
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/**
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* The software PWM power for a heater
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*/
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int getHeaterPower(int heater);
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/**
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* Switch off all heaters, set all target temperatures to 0
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*/
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void disable_all_heaters();
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/**
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* Perform auto-tuning for hotend or bed in response to M303
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*/
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#if HAS_PID_HEATING
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void PID_autotune(float temp, int extruder, int ncycles, bool set_result=false);
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#endif
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/**
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* Update the temp manager when PID values change
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*/
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void updatePID();
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FORCE_INLINE void autotempShutdown() {
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#if ENABLED(AUTOTEMP)
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if (planner.autotemp_enabled) {
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planner.autotemp_enabled = false;
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if (degTargetHotend(active_extruder) > planner.autotemp_min)
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setTargetHotend(0, active_extruder);
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}
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#endif
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}
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#if ENABLED(BABYSTEPPING)
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FORCE_INLINE void babystep_axis(AxisEnum axis, int distance) {
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#if ENABLED(COREXY) || ENABLED(COREXZ)
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#if ENABLED(BABYSTEP_XY)
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switch (axis) {
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case X_AXIS: // X on CoreXY and CoreXZ
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babystepsTodo[A_AXIS] += distance * 2;
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babystepsTodo[CORE_AXIS_2] += distance * 2;
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break;
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case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ
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babystepsTodo[A_AXIS] += distance * 2;
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babystepsTodo[CORE_AXIS_2] -= distance * 2;
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break;
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case CORE_AXIS_3: // Z on CoreXY, Y on CoreXZ
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babystepsTodo[CORE_AXIS_3] += distance;
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break;
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}
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#elif ENABLED(COREXZ)
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babystepsTodo[A_AXIS] += distance * 2;
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babystepsTodo[C_AXIS] -= distance * 2;
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#else
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babystepsTodo[Z_AXIS] += distance;
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#endif
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#else
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babystepsTodo[axis] += distance;
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#endif
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}
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#endif // BABYSTEPPING
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private:
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void set_current_temp_raw();
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void updateTemperaturesFromRawValues();
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#if ENABLED(HEATER_0_USES_MAX6675)
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int read_max6675();
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#endif
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void checkExtruderAutoFans();
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float get_pid_output(int e);
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#if ENABLED(PIDTEMPBED)
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float get_pid_output_bed();
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#endif
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void _temp_error(int e, const char* serial_msg, const char* lcd_msg);
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void min_temp_error(uint8_t e);
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void max_temp_error(uint8_t e);
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#if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
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typedef enum TRState { TRReset, TRInactive, TRFirstHeating, TRStable, TRRunaway } TRstate;
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void thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
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#if ENABLED(THERMAL_PROTECTION_HOTENDS)
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TRState thermal_runaway_state_machine[EXTRUDERS] = { TRReset };
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millis_t thermal_runaway_timer[EXTRUDERS] = { 0 };
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#endif
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#if HAS_THERMALLY_PROTECTED_BED
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TRState thermal_runaway_bed_state_machine = TRReset;
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millis_t thermal_runaway_bed_timer;
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#endif
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#endif // THERMAL_PROTECTION
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};
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extern Temperature thermalManager;
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#endif // TEMPERATURE_H
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