My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * temperature.h - temperature controller
  24. */
  25. #ifndef TEMPERATURE_H
  26. #define TEMPERATURE_H
  27. #include "planner.h"
  28. #include "thermistortables.h"
  29. #include "MarlinConfig.h"
  30. #if ENABLED(PID_EXTRUSION_SCALING)
  31. #include "stepper.h"
  32. #endif
  33. #ifndef SOFT_PWM_SCALE
  34. #define SOFT_PWM_SCALE 0
  35. #endif
  36. #if HOTENDS == 1
  37. #define HOTEND_LOOP() const int8_t e = 0;
  38. #define HOTEND_INDEX 0
  39. #define EXTRUDER_IDX 0
  40. #else
  41. #define HOTEND_LOOP() for (int8_t e = 0; e < HOTENDS; e++)
  42. #define HOTEND_INDEX e
  43. #define EXTRUDER_IDX active_extruder
  44. #endif
  45. class Temperature {
  46. public:
  47. static float current_temperature[HOTENDS],
  48. current_temperature_bed;
  49. static int current_temperature_raw[HOTENDS],
  50. target_temperature[HOTENDS],
  51. current_temperature_bed_raw,
  52. target_temperature_bed;
  53. #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
  54. static float redundant_temperature;
  55. #endif
  56. static uint8_t soft_pwm_bed;
  57. #if ENABLED(FAN_SOFT_PWM)
  58. static uint8_t fanSpeedSoftPwm[FAN_COUNT];
  59. #endif
  60. #if ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED)
  61. #define PID_dT ((OVERSAMPLENR * 12.0)/(F_CPU / 64.0 / 256.0))
  62. #endif
  63. #if ENABLED(PIDTEMP)
  64. #if ENABLED(PID_PARAMS_PER_HOTEND) && HOTENDS > 1
  65. static float Kp[HOTENDS], Ki[HOTENDS], Kd[HOTENDS];
  66. #if ENABLED(PID_EXTRUSION_SCALING)
  67. static float Kc[HOTENDS];
  68. #endif
  69. #define PID_PARAM(param, h) Temperature::param[h]
  70. #else
  71. static float Kp, Ki, Kd;
  72. #if ENABLED(PID_EXTRUSION_SCALING)
  73. static float Kc;
  74. #endif
  75. #define PID_PARAM(param, h) Temperature::param
  76. #endif // PID_PARAMS_PER_HOTEND
  77. // Apply the scale factors to the PID values
  78. #define scalePID_i(i) ( (i) * PID_dT )
  79. #define unscalePID_i(i) ( (i) / PID_dT )
  80. #define scalePID_d(d) ( (d) / PID_dT )
  81. #define unscalePID_d(d) ( (d) * PID_dT )
  82. #endif
  83. #if ENABLED(PIDTEMPBED)
  84. static float bedKp, bedKi, bedKd;
  85. #endif
  86. #if ENABLED(BABYSTEPPING)
  87. static volatile int babystepsTodo[3];
  88. #endif
  89. #if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
  90. static int watch_target_temp[HOTENDS];
  91. static millis_t watch_heater_next_ms[HOTENDS];
  92. #endif
  93. #if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
  94. static int watch_target_bed_temp;
  95. static millis_t watch_bed_next_ms;
  96. #endif
  97. #if ENABLED(PREVENT_COLD_EXTRUSION)
  98. static bool allow_cold_extrude;
  99. static float extrude_min_temp;
  100. static bool tooColdToExtrude(uint8_t e) {
  101. #if HOTENDS == 1
  102. UNUSED(e);
  103. #endif
  104. return allow_cold_extrude ? false : degHotend(HOTEND_INDEX) < extrude_min_temp;
  105. }
  106. #else
  107. static bool tooColdToExtrude(uint8_t e) { UNUSED(e); return false; }
  108. #endif
  109. private:
  110. #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
  111. static int redundant_temperature_raw;
  112. static float redundant_temperature;
  113. #endif
  114. static volatile bool temp_meas_ready;
  115. #if ENABLED(PIDTEMP)
  116. static float temp_iState[HOTENDS],
  117. temp_dState[HOTENDS],
  118. pTerm[HOTENDS],
  119. iTerm[HOTENDS],
  120. dTerm[HOTENDS];
  121. #if ENABLED(PID_EXTRUSION_SCALING)
  122. static float cTerm[HOTENDS];
  123. static long last_e_position;
  124. static long lpq[LPQ_MAX_LEN];
  125. static int lpq_ptr;
  126. #endif
  127. static float pid_error[HOTENDS];
  128. static bool pid_reset[HOTENDS];
  129. #endif
  130. #if ENABLED(PIDTEMPBED)
  131. static float temp_iState_bed,
  132. temp_dState_bed,
  133. pTerm_bed,
  134. iTerm_bed,
  135. dTerm_bed,
  136. pid_error_bed;
  137. #else
  138. static millis_t next_bed_check_ms;
  139. #endif
  140. static unsigned long raw_temp_value[4],
  141. raw_temp_bed_value;
  142. // Init min and max temp with extreme values to prevent false errors during startup
  143. static int minttemp_raw[HOTENDS],
  144. maxttemp_raw[HOTENDS],
  145. minttemp[HOTENDS],
  146. maxttemp[HOTENDS];
  147. #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
  148. static int consecutive_low_temperature_error[HOTENDS];
  149. #endif
  150. #ifdef MILLISECONDS_PREHEAT_TIME
  151. static unsigned long preheat_end_time[HOTENDS];
  152. #endif
  153. #ifdef BED_MINTEMP
  154. static int bed_minttemp_raw;
  155. #endif
  156. #ifdef BED_MAXTEMP
  157. static int bed_maxttemp_raw;
  158. #endif
  159. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  160. static int meas_shift_index; // Index of a delayed sample in buffer
  161. #endif
  162. #if HAS_AUTO_FAN
  163. static millis_t next_auto_fan_check_ms;
  164. #endif
  165. static uint8_t soft_pwm[HOTENDS];
  166. #if ENABLED(FAN_SOFT_PWM)
  167. static uint8_t soft_pwm_fan[FAN_COUNT];
  168. #endif
  169. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  170. static int current_raw_filwidth; //Holds measured filament diameter - one extruder only
  171. #endif
  172. public:
  173. /**
  174. * Instance Methods
  175. */
  176. Temperature();
  177. void init();
  178. /**
  179. * Static (class) methods
  180. */
  181. static float analog2temp(int raw, uint8_t e);
  182. static float analog2tempBed(int raw);
  183. /**
  184. * Called from the Temperature ISR
  185. */
  186. static void isr();
  187. /**
  188. * Call periodically to manage heaters
  189. */
  190. static void manage_heater();
  191. /**
  192. * Preheating hotends
  193. */
  194. #ifdef MILLISECONDS_PREHEAT_TIME
  195. static bool is_preheating(uint8_t e) {
  196. #if HOTENDS == 1
  197. UNUSED(e);
  198. #endif
  199. return preheat_end_time[HOTEND_INDEX] && PENDING(millis(), preheat_end_time[HOTEND_INDEX]);
  200. }
  201. static void start_preheat_time(uint8_t e) {
  202. #if HOTENDS == 1
  203. UNUSED(e);
  204. #endif
  205. preheat_end_time[HOTEND_INDEX] = millis() + MILLISECONDS_PREHEAT_TIME;
  206. }
  207. static void reset_preheat_time(uint8_t e) {
  208. #if HOTENDS == 1
  209. UNUSED(e);
  210. #endif
  211. preheat_end_time[HOTEND_INDEX] = 0;
  212. }
  213. #else
  214. #define is_preheating(n) (false)
  215. #endif
  216. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  217. static float analog2widthFil(); // Convert raw Filament Width to millimeters
  218. static int widthFil_to_size_ratio(); // Convert raw Filament Width to an extrusion ratio
  219. #endif
  220. //high level conversion routines, for use outside of temperature.cpp
  221. //inline so that there is no performance decrease.
  222. //deg=degreeCelsius
  223. static float degHotend(uint8_t e) {
  224. #if HOTENDS == 1
  225. UNUSED(e);
  226. #endif
  227. return current_temperature[HOTEND_INDEX];
  228. }
  229. static float degBed() { return current_temperature_bed; }
  230. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  231. static float rawHotendTemp(uint8_t e) {
  232. #if HOTENDS == 1
  233. UNUSED(e);
  234. #endif
  235. return current_temperature_raw[HOTEND_INDEX];
  236. }
  237. static float rawBedTemp() { return current_temperature_bed_raw; }
  238. #endif
  239. static float degTargetHotend(uint8_t e) {
  240. #if HOTENDS == 1
  241. UNUSED(e);
  242. #endif
  243. return target_temperature[HOTEND_INDEX];
  244. }
  245. static float degTargetBed() { return target_temperature_bed; }
  246. #if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
  247. static void start_watching_heater(uint8_t e = 0);
  248. #endif
  249. #if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
  250. static void start_watching_bed();
  251. #endif
  252. static void setTargetHotend(const float& celsius, uint8_t e) {
  253. #if HOTENDS == 1
  254. UNUSED(e);
  255. #endif
  256. #ifdef MILLISECONDS_PREHEAT_TIME
  257. if (celsius == 0.0f)
  258. reset_preheat_time(HOTEND_INDEX);
  259. else if (target_temperature[HOTEND_INDEX] == 0.0f)
  260. start_preheat_time(HOTEND_INDEX);
  261. #endif
  262. target_temperature[HOTEND_INDEX] = celsius;
  263. #if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
  264. start_watching_heater(HOTEND_INDEX);
  265. #endif
  266. }
  267. static void setTargetBed(const float& celsius) {
  268. target_temperature_bed = celsius;
  269. #if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
  270. start_watching_bed();
  271. #endif
  272. }
  273. static bool isHeatingHotend(uint8_t e) {
  274. #if HOTENDS == 1
  275. UNUSED(e);
  276. #endif
  277. return target_temperature[HOTEND_INDEX] > current_temperature[HOTEND_INDEX];
  278. }
  279. static bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; }
  280. static bool isCoolingHotend(uint8_t e) {
  281. #if HOTENDS == 1
  282. UNUSED(e);
  283. #endif
  284. return target_temperature[HOTEND_INDEX] < current_temperature[HOTEND_INDEX];
  285. }
  286. static bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; }
  287. /**
  288. * The software PWM power for a heater
  289. */
  290. static int getHeaterPower(int heater);
  291. /**
  292. * Switch off all heaters, set all target temperatures to 0
  293. */
  294. static void disable_all_heaters();
  295. /**
  296. * Perform auto-tuning for hotend or bed in response to M303
  297. */
  298. #if HAS_PID_HEATING
  299. static void PID_autotune(float temp, int hotend, int ncycles, bool set_result=false);
  300. #endif
  301. /**
  302. * Update the temp manager when PID values change
  303. */
  304. static void updatePID();
  305. #if ENABLED(AUTOTEMP)
  306. static void autotempShutdown() {
  307. if (planner.autotemp_enabled) {
  308. planner.autotemp_enabled = false;
  309. if (degTargetHotend(EXTRUDER_IDX) > planner.autotemp_min)
  310. setTargetHotend(0, EXTRUDER_IDX);
  311. }
  312. }
  313. #endif
  314. #if ENABLED(BABYSTEPPING)
  315. static void babystep_axis(AxisEnum axis, int distance) {
  316. #if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
  317. #if ENABLED(BABYSTEP_XY)
  318. switch (axis) {
  319. case CORE_AXIS_1: // X on CoreXY and CoreXZ, Y on CoreYZ
  320. babystepsTodo[CORE_AXIS_1] += distance * 2;
  321. babystepsTodo[CORE_AXIS_2] += distance * 2;
  322. break;
  323. case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ and CoreYZ
  324. babystepsTodo[CORE_AXIS_1] += distance * 2;
  325. babystepsTodo[CORE_AXIS_2] -= distance * 2;
  326. break;
  327. case NORMAL_AXIS: // Z on CoreXY, Y on CoreXZ, X on CoreYZ
  328. babystepsTodo[NORMAL_AXIS] += distance;
  329. break;
  330. }
  331. #elif ENABLED(COREXZ) || ENABLED(COREYZ)
  332. // Only Z stepping needs to be handled here
  333. babystepsTodo[CORE_AXIS_1] += distance * 2;
  334. babystepsTodo[CORE_AXIS_2] -= distance * 2;
  335. #else
  336. babystepsTodo[Z_AXIS] += distance;
  337. #endif
  338. #else
  339. babystepsTodo[axis] += distance;
  340. #endif
  341. }
  342. #endif // BABYSTEPPING
  343. private:
  344. static void set_current_temp_raw();
  345. static void updateTemperaturesFromRawValues();
  346. #if ENABLED(HEATER_0_USES_MAX6675)
  347. static int read_max6675();
  348. #endif
  349. static void checkExtruderAutoFans();
  350. static float get_pid_output(int e);
  351. #if ENABLED(PIDTEMPBED)
  352. static float get_pid_output_bed();
  353. #endif
  354. static void _temp_error(int e, const char* serial_msg, const char* lcd_msg);
  355. static void min_temp_error(int8_t e);
  356. static void max_temp_error(int8_t e);
  357. #if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
  358. typedef enum TRState { TRInactive, TRFirstHeating, TRStable, TRRunaway } TRstate;
  359. static void thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
  360. #if ENABLED(THERMAL_PROTECTION_HOTENDS)
  361. static TRState thermal_runaway_state_machine[HOTENDS];
  362. static millis_t thermal_runaway_timer[HOTENDS];
  363. #endif
  364. #if HAS_THERMALLY_PROTECTED_BED
  365. static TRState thermal_runaway_bed_state_machine;
  366. static millis_t thermal_runaway_bed_timer;
  367. #endif
  368. #endif // THERMAL_PROTECTION
  369. };
  370. extern Temperature thermalManager;
  371. #endif // TEMPERATURE_H