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scube/Marlin/src/module/temperature.h

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* temperature.h - temperature controller
*/
#include "thermistor/thermistors.h"
#include "../inc/MarlinConfig.h"
#if ENABLED(AUTO_POWER_CONTROL)
#include "../feature/power.h"
#endif
#ifndef SOFT_PWM_SCALE
#define SOFT_PWM_SCALE 0
#endif
#if HOTENDS == 1
#define HOTEND_INDEX 0
#else
#define HOTEND_INDEX e
#endif
// PID storage
typedef struct { float Kp, Ki, Kd; } PID_t;
typedef struct { float Kp, Ki, Kd, Kc; } PIDC_t;
#if ENABLED(PID_EXTRUSION_SCALING)
typedef PIDC_t hotend_pid_t;
#else
typedef PID_t hotend_pid_t;
#endif
#define DUMMY_PID_VALUE 3000.0f
#if ENABLED(PIDTEMP)
#define _PID_Kp(H) Temperature::pid[H].Kp
#define _PID_Ki(H) Temperature::pid[H].Ki
#define _PID_Kd(H) Temperature::pid[H].Kd
#if ENABLED(PID_EXTRUSION_SCALING)
#define _PID_Kc(H) Temperature::pid[H].Kc
#else
#define _PID_Kc(H) 1
#endif
#else
#define _PID_Kp(H) DUMMY_PID_VALUE
#define _PID_Ki(H) DUMMY_PID_VALUE
#define _PID_Kd(H) DUMMY_PID_VALUE
#define _PID_Kc(H) 1
#endif
#define PID_PARAM(F,H) _PID_##F(H)
/**
* States for ADC reading in the ISR
*/
enum ADCSensorState : char {
StartSampling,
#if HAS_TEMP_ADC_0
PrepareTemp_0,
MeasureTemp_0,
#endif
#if HAS_TEMP_ADC_1
PrepareTemp_1,
MeasureTemp_1,
#endif
#if HAS_TEMP_ADC_2
PrepareTemp_2,
MeasureTemp_2,
#endif
#if HAS_TEMP_ADC_3
PrepareTemp_3,
MeasureTemp_3,
#endif
#if HAS_TEMP_ADC_4
PrepareTemp_4,
MeasureTemp_4,
#endif
#if HAS_HEATED_BED
PrepareTemp_BED,
MeasureTemp_BED,
#endif
#if HAS_TEMP_CHAMBER
PrepareTemp_CHAMBER,
MeasureTemp_CHAMBER,
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
Prepare_FILWIDTH,
Measure_FILWIDTH,
#endif
#if HAS_ADC_BUTTONS
Prepare_ADC_KEY,
Measure_ADC_KEY,
#endif
SensorsReady, // Temperatures ready. Delay the next round of readings to let ADC pins settle.
StartupDelay // Startup, delay initial temp reading a tiny bit so the hardware can settle
};
// Minimum number of Temperature::ISR loops between sensor readings.
// Multiplied by 16 (OVERSAMPLENR) to obtain the total time to
// get all oversampled sensor readings
#define MIN_ADC_ISR_LOOPS 10
#define ACTUAL_ADC_SAMPLES MAX(int(MIN_ADC_ISR_LOOPS), int(SensorsReady))
#if HAS_PID_HEATING
#define PID_K2 (1-float(PID_K1))
#define PID_dT ((OVERSAMPLENR * float(ACTUAL_ADC_SAMPLES)) / TEMP_TIMER_FREQUENCY)
// Apply the scale factors to the PID values
#define scalePID_i(i) ( float(i) * PID_dT )
#define unscalePID_i(i) ( float(i) / PID_dT )
#define scalePID_d(d) ( float(d) / PID_dT )
#define unscalePID_d(d) ( float(d) * PID_dT )
#endif
#define G26_CLICK_CAN_CANCEL (HAS_LCD_MENU && ENABLED(G26_MESH_VALIDATION))
class Temperature {
public:
static volatile bool in_temp_isr;
static float current_temperature[HOTENDS];
static int16_t current_temperature_raw[HOTENDS],
target_temperature[HOTENDS];
static uint8_t soft_pwm_amount[HOTENDS];
#if ENABLED(AUTO_POWER_E_FANS)
static uint8_t autofan_speed[HOTENDS];
#endif
#if ENABLED(FAN_SOFT_PWM)
static uint8_t soft_pwm_amount_fan[FAN_COUNT],
soft_pwm_count_fan[FAN_COUNT];
#endif
#if ENABLED(PIDTEMP)
static hotend_pid_t pid[HOTENDS];
#endif
#if HAS_HEATED_BED
static float current_temperature_bed;
static int16_t current_temperature_bed_raw, target_temperature_bed;
static uint8_t soft_pwm_amount_bed;
#if ENABLED(PIDTEMPBED)
static PID_t bed_pid;
#endif
#endif
#if ENABLED(BABYSTEPPING)
static volatile int16_t babystepsTodo[3];
#endif
#if ENABLED(PREVENT_COLD_EXTRUSION)
static bool allow_cold_extrude;
static int16_t extrude_min_temp;
FORCE_INLINE static bool tooCold(const int16_t temp) { return allow_cold_extrude ? false : temp < extrude_min_temp; }
FORCE_INLINE static bool tooColdToExtrude(const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
return tooCold(degHotend(HOTEND_INDEX));
}
FORCE_INLINE static bool targetTooColdToExtrude(const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
return tooCold(degTargetHotend(HOTEND_INDEX));
}
#else
FORCE_INLINE static bool tooColdToExtrude(const uint8_t e) { UNUSED(e); return false; }
FORCE_INLINE static bool targetTooColdToExtrude(const uint8_t e) { UNUSED(e); return false; }
#endif
FORCE_INLINE static bool hotEnoughToExtrude(const uint8_t e) { return !tooColdToExtrude(e); }
FORCE_INLINE static bool targetHotEnoughToExtrude(const uint8_t e) { return !targetTooColdToExtrude(e); }
private:
#if EARLY_WATCHDOG
static bool inited; // If temperature controller is running
#endif
static volatile bool temp_meas_ready;
static uint16_t raw_temp_value[MAX_EXTRUDERS];
#if WATCH_HOTENDS
static uint16_t watch_target_temp[HOTENDS];
static millis_t watch_heater_next_ms[HOTENDS];
#endif
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
static uint16_t redundant_temperature_raw;
static float redundant_temperature;
#endif
#if ENABLED(PID_EXTRUSION_SCALING)
static long last_e_position;
static long lpq[LPQ_MAX_LEN];
static int lpq_ptr;
#endif
// Init min and max temp with extreme values to prevent false errors during startup
static int16_t minttemp_raw[HOTENDS],
maxttemp_raw[HOTENDS],
minttemp[HOTENDS],
maxttemp[HOTENDS];
#if HAS_HEATED_BED
static uint16_t raw_temp_bed_value;
#if WATCH_THE_BED
static uint16_t watch_target_bed_temp;
static millis_t watch_bed_next_ms;
#endif
#if DISABLED(PIDTEMPBED)
static millis_t next_bed_check_ms;
#endif
#if HEATER_IDLE_HANDLER
static millis_t bed_idle_timeout_ms;
static bool bed_idle_timeout_exceeded;
#endif
#ifdef BED_MINTEMP
static int16_t bed_minttemp_raw;
#endif
#ifdef BED_MAXTEMP
static int16_t bed_maxttemp_raw;
#endif
#endif
#if HAS_TEMP_CHAMBER
static uint16_t raw_temp_chamber_value;
static float current_temperature_chamber;
static int16_t current_temperature_chamber_raw;
#endif
#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
static uint8_t consecutive_low_temperature_error[HOTENDS];
#endif
#ifdef MILLISECONDS_PREHEAT_TIME
static millis_t preheat_end_time[HOTENDS];
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
static int8_t meas_shift_index; // Index of a delayed sample in buffer
#endif
#if HAS_AUTO_FAN
static millis_t next_auto_fan_check_ms;
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
static uint16_t current_raw_filwidth; // Measured filament diameter - one extruder only
#endif
#if ENABLED(PROBING_HEATERS_OFF)
static bool paused;
#endif
#if HEATER_IDLE_HANDLER
static millis_t heater_idle_timeout_ms[HOTENDS];
static bool heater_idle_timeout_exceeded[HOTENDS];
#endif
public:
#if HAS_ADC_BUTTONS
static uint32_t current_ADCKey_raw;
static uint8_t ADCKey_count;
#endif
#if ENABLED(PID_EXTRUSION_SCALING)
static int16_t lpq_len;
#endif
/**
* Instance Methods
*/
Temperature();
void init();
/**
* Static (class) methods
*/
static float analog_to_celsius_hotend(const int raw, const uint8_t e);
#if HAS_HEATED_BED
static float analog_to_celsius_bed(const int raw);
#endif
#if HAS_TEMP_CHAMBER
static float analog_to_celsiusChamber(const int raw);
#endif
#if FAN_COUNT > 0
static uint8_t fan_speed[FAN_COUNT];
#define FANS_LOOP(I) LOOP_L_N(I, FAN_COUNT)
static void set_fan_speed(const uint8_t target, const uint16_t speed);
#if ENABLED(PROBING_FANS_OFF)
static bool fans_paused;
static uint8_t paused_fan_speed[FAN_COUNT];
#endif
static constexpr inline uint8_t fanPercent(const uint8_t speed) { return (int(speed) * 100 + 127) / 255; }
#if ENABLED(ADAPTIVE_FAN_SLOWING)
static uint8_t fan_speed_scaler[FAN_COUNT];
#else
static constexpr uint8_t fan_speed_scaler[FAN_COUNT] = ARRAY_N(FAN_COUNT, 128, 128, 128, 128, 128, 128);
#endif
static inline uint8_t lcd_fanSpeedActual(const uint8_t target) {
return (fan_speed[target] * uint16_t(fan_speed_scaler[target])) >> 7;
}
#if ENABLED(EXTRA_FAN_SPEED)
static uint8_t old_fan_speed[FAN_COUNT], new_fan_speed[FAN_COUNT];
static void set_temp_fan_speed(const uint8_t fan, const uint16_t tmp_temp);
#endif
#if HAS_LCD_MENU
static uint8_t lcd_tmpfan_speed[
#if ENABLED(SINGLENOZZLE)
MAX(EXTRUDERS, FAN_COUNT)
#else
FAN_COUNT
#endif
];
static inline void lcd_setFanSpeed(const uint8_t target) { set_fan_speed(target, lcd_tmpfan_speed[target]); }
#if HAS_FAN0
FORCE_INLINE static void lcd_setFanSpeed0() { lcd_setFanSpeed(0); }
#endif
#if HAS_FAN1 || (ENABLED(SINGLENOZZLE) && EXTRUDERS > 1)
FORCE_INLINE static void lcd_setFanSpeed1() { lcd_setFanSpeed(1); }
#endif
#if HAS_FAN2 || (ENABLED(SINGLENOZZLE) && EXTRUDERS > 2)
FORCE_INLINE static void lcd_setFanSpeed2() { lcd_setFanSpeed(2); }
#endif
#endif // HAS_LCD_MENU
#if ENABLED(PROBING_FANS_OFF)
void set_fans_paused(const bool p);
#endif
#endif // FAN_COUNT > 0
static inline void zero_fan_speeds() {
#if FAN_COUNT > 0
FANS_LOOP(i) set_fan_speed(i, 0);
#endif
}
/**
* Called from the Temperature ISR
*/
static void readings_ready();
static void isr();
/**
* Call periodically to manage heaters
*/
static void manage_heater() _O2; // Added _O2 to work around a compiler error
/**
* Preheating hotends
*/
#ifdef MILLISECONDS_PREHEAT_TIME
static bool is_preheating(const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
return preheat_end_time[HOTEND_INDEX] && PENDING(millis(), preheat_end_time[HOTEND_INDEX]);
}
static void start_preheat_time(const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
preheat_end_time[HOTEND_INDEX] = millis() + MILLISECONDS_PREHEAT_TIME;
}
static void reset_preheat_time(const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
preheat_end_time[HOTEND_INDEX] = 0;
}
#else
#define is_preheating(n) (false)
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
static float analog_to_mm_fil_width(); // Convert raw Filament Width to millimeters
static int8_t widthFil_to_size_ratio(); // Convert Filament Width (mm) to an extrusion ratio
#endif
//high level conversion routines, for use outside of temperature.cpp
//inline so that there is no performance decrease.
//deg=degreeCelsius
FORCE_INLINE static float degHotend(const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
return current_temperature[HOTEND_INDEX];
}
#if ENABLED(SHOW_TEMP_ADC_VALUES)
FORCE_INLINE static int16_t rawHotendTemp(const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
return current_temperature_raw[HOTEND_INDEX];
}
#endif
FORCE_INLINE static int16_t degTargetHotend(const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
return target_temperature[HOTEND_INDEX];
}
#if WATCH_HOTENDS
static void start_watching_heater(const uint8_t e = 0);
#endif
static void setTargetHotend(const int16_t celsius, const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
#ifdef MILLISECONDS_PREHEAT_TIME
if (celsius == 0)
reset_preheat_time(HOTEND_INDEX);
else if (target_temperature[HOTEND_INDEX] == 0)
start_preheat_time(HOTEND_INDEX);
#endif
#if ENABLED(AUTO_POWER_CONTROL)
powerManager.power_on();
#endif
target_temperature[HOTEND_INDEX] = MIN(celsius, maxttemp[HOTEND_INDEX] - 15);
#if WATCH_HOTENDS
start_watching_heater(HOTEND_INDEX);
#endif
}
FORCE_INLINE static bool isHeatingHotend(const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
return target_temperature[HOTEND_INDEX] > current_temperature[HOTEND_INDEX];
}
FORCE_INLINE static bool isCoolingHotend(const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
return target_temperature[HOTEND_INDEX] < current_temperature[HOTEND_INDEX];
}
#if HAS_TEMP_HOTEND
static bool wait_for_hotend(const uint8_t target_extruder, const bool no_wait_for_cooling=true
#if G26_CLICK_CAN_CANCEL
, const bool click_to_cancel=false
#endif
);
#endif
#if HAS_HEATED_BED
#if ENABLED(SHOW_TEMP_ADC_VALUES)
FORCE_INLINE static int16_t rawBedTemp() { return current_temperature_bed_raw; }
#endif
FORCE_INLINE static float degBed() { return current_temperature_bed; }
FORCE_INLINE static int16_t degTargetBed() { return target_temperature_bed; }
FORCE_INLINE static bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; }
FORCE_INLINE static bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; }
static void setTargetBed(const int16_t celsius) {
#if ENABLED(AUTO_POWER_CONTROL)
powerManager.power_on();
#endif
target_temperature_bed =
#ifdef BED_MAXTEMP
MIN(celsius, BED_MAXTEMP - 15)
#else
celsius
#endif
;
#if WATCH_THE_BED
start_watching_bed();
#endif
}
#if WATCH_THE_BED
static void start_watching_bed();
#endif
static bool wait_for_bed(const bool no_wait_for_cooling=true
#if G26_CLICK_CAN_CANCEL
, const bool click_to_cancel=false
#endif
);
#endif // HAS_HEATED_BED
#if HAS_TEMP_CHAMBER
#if ENABLED(SHOW_TEMP_ADC_VALUES)
FORCE_INLINE static int16_t rawChamberTemp() { return current_temperature_chamber_raw; }
#endif
FORCE_INLINE static float degChamber() { return current_temperature_chamber; }
#endif
FORCE_INLINE static bool still_heating(const uint8_t e) {
return degTargetHotend(e) > TEMP_HYSTERESIS && ABS(degHotend(e) - degTargetHotend(e)) > TEMP_HYSTERESIS;
}
/**
* The software PWM power for a heater
*/
static int getHeaterPower(const int heater);
/**
* Switch off all heaters, set all target temperatures to 0
*/
static void disable_all_heaters();
/**
* Perform auto-tuning for hotend or bed in response to M303
*/
#if HAS_PID_HEATING
static void PID_autotune(const float &target, const int8_t hotend, const int8_t ncycles, const bool set_result=false);
#if ENABLED(NO_FAN_SLOWING_IN_PID_TUNING)
static bool adaptive_fan_slowing;
#elif ENABLED(ADAPTIVE_FAN_SLOWING)
constexpr static bool adaptive_fan_slowing = true;
#endif
/**
* Update the temp manager when PID values change
*/
#if ENABLED(PIDTEMP)
FORCE_INLINE static void updatePID() {
#if ENABLED(PID_EXTRUSION_SCALING)
last_e_position = 0;
#endif
}
#endif
#endif
#if ENABLED(BABYSTEPPING)
static void babystep_axis(const AxisEnum axis, const int16_t distance);
#endif
#if ENABLED(PROBING_HEATERS_OFF)
static void pause(const bool p);
FORCE_INLINE static bool is_paused() { return paused; }
#endif
#if HEATER_IDLE_HANDLER
static void start_heater_idle_timer(const uint8_t e, const millis_t timeout_ms) {
#if HOTENDS == 1
UNUSED(e);
#endif
heater_idle_timeout_ms[HOTEND_INDEX] = millis() + timeout_ms;
heater_idle_timeout_exceeded[HOTEND_INDEX] = false;
}
static void reset_heater_idle_timer(const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
heater_idle_timeout_ms[HOTEND_INDEX] = 0;
heater_idle_timeout_exceeded[HOTEND_INDEX] = false;
#if WATCH_HOTENDS
start_watching_heater(HOTEND_INDEX);
#endif
}
FORCE_INLINE static bool is_heater_idle(const uint8_t e) {
#if HOTENDS == 1
UNUSED(e);
#endif
return heater_idle_timeout_exceeded[HOTEND_INDEX];
}
#if HAS_HEATED_BED
static void start_bed_idle_timer(const millis_t timeout_ms) {
bed_idle_timeout_ms = millis() + timeout_ms;
bed_idle_timeout_exceeded = false;
}
static void reset_bed_idle_timer() {
bed_idle_timeout_ms = 0;
bed_idle_timeout_exceeded = false;
#if WATCH_THE_BED
start_watching_bed();
#endif
}
FORCE_INLINE static bool is_bed_idle() { return bed_idle_timeout_exceeded; }
#endif
#endif // HEATER_IDLE_HANDLER
#if HAS_TEMP_SENSOR
static void print_heater_states(const uint8_t target_extruder);
#if ENABLED(AUTO_REPORT_TEMPERATURES)
static uint8_t auto_report_temp_interval;
static millis_t next_temp_report_ms;
static void auto_report_temperatures(void);
static inline void set_auto_report_interval(uint8_t v) {
NOMORE(v, 60);
auto_report_temp_interval = v;
next_temp_report_ms = millis() + 1000UL * v;
}
#endif
#endif
#if ENABLED(ULTRA_LCD) || ENABLED(EXTENSIBLE_UI)
static void set_heating_message(const uint8_t e);
#endif
private:
#if ENABLED(FAST_PWM_FAN)
static void setPwmFrequency(const pin_t pin, int val);
#endif
static void set_current_temp_raw();
static void updateTemperaturesFromRawValues();
#define HAS_MAX6675 (ENABLED(HEATER_0_USES_MAX6675) || ENABLED(HEATER_1_USES_MAX6675))
#if HAS_MAX6675
#if ENABLED(HEATER_0_USES_MAX6675) && ENABLED(HEATER_1_USES_MAX6675)
#define COUNT_6675 2
#else
#define COUNT_6675 1
#endif
#if COUNT_6675 > 1
#define READ_MAX6675(N) read_max6675(N)
#else
#define READ_MAX6675(N) read_max6675()
#endif
static int read_max6675(
#if COUNT_6675 > 1
const uint8_t hindex=0
#endif
);
#endif
static void checkExtruderAutoFans();
static float get_pid_output(const int8_t e);
#if ENABLED(PIDTEMPBED)
static float get_pid_output_bed();
#endif
static void _temp_error(const int8_t e, PGM_P const serial_msg, PGM_P const lcd_msg);
static void min_temp_error(const int8_t e);
static void max_temp_error(const int8_t e);
#if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
enum TRState : char { TRInactive, TRFirstHeating, TRStable, TRRunaway };
static void thermal_runaway_protection(TRState * const state, millis_t * const timer, const float &current, const float &target, const int8_t heater_id, const uint16_t period_seconds, const uint16_t hysteresis_degc);
#if ENABLED(THERMAL_PROTECTION_HOTENDS)
static TRState thermal_runaway_state_machine[HOTENDS];
static millis_t thermal_runaway_timer[HOTENDS];
#endif
#if HAS_THERMALLY_PROTECTED_BED
static TRState thermal_runaway_bed_state_machine;
static millis_t thermal_runaway_bed_timer;
#endif
#endif // THERMAL_PROTECTION
};
extern Temperature thermalManager;
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