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 "Marlin.h"
  28. #include "planner.h"
  29. #if ENABLED(PID_ADD_EXTRUSION_RATE)
  30. #include "stepper.h"
  31. #endif
  32. #ifndef SOFT_PWM_SCALE
  33. #define SOFT_PWM_SCALE 0
  34. #endif
  35. #if HOTENDS == 1
  36. #define HOTEND_LOOP() const uint8_t e = 0;
  37. #define HOTEND_INDEX 0
  38. #define EXTRUDER_IDX 0
  39. #else
  40. #define HOTEND_LOOP() for (int8_t e = 0; e < HOTENDS; e++)
  41. #define HOTEND_INDEX e
  42. #define EXTRUDER_IDX active_extruder
  43. #endif
  44. class Temperature {
  45. public:
  46. static float current_temperature[HOTENDS],
  47. current_temperature_bed;
  48. static int current_temperature_raw[HOTENDS],
  49. target_temperature[HOTENDS],
  50. current_temperature_bed_raw,
  51. target_temperature_bed;
  52. #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
  53. static float redundant_temperature;
  54. #endif
  55. static unsigned char soft_pwm_bed;
  56. #if ENABLED(FAN_SOFT_PWM)
  57. static unsigned char fanSpeedSoftPwm[FAN_COUNT];
  58. #endif
  59. #if ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED)
  60. #define PID_dT ((OVERSAMPLENR * 12.0)/(F_CPU / 64.0 / 256.0))
  61. #endif
  62. #if ENABLED(PIDTEMP)
  63. #if ENABLED(PID_PARAMS_PER_HOTEND) && HOTENDS > 1
  64. static float Kp[HOTENDS], Ki[HOTENDS], Kd[HOTENDS];
  65. #if ENABLED(PID_ADD_EXTRUSION_RATE)
  66. static float Kc[HOTENDS];
  67. #endif
  68. #define PID_PARAM(param, h) Temperature::param[h]
  69. #else
  70. static float Kp, Ki, Kd;
  71. #if ENABLED(PID_ADD_EXTRUSION_RATE)
  72. static float Kc;
  73. #endif
  74. #define PID_PARAM(param, h) Temperature::param
  75. #endif // PID_PARAMS_PER_HOTEND
  76. // Apply the scale factors to the PID values
  77. #define scalePID_i(i) ( (i) * PID_dT )
  78. #define unscalePID_i(i) ( (i) / PID_dT )
  79. #define scalePID_d(d) ( (d) / PID_dT )
  80. #define unscalePID_d(d) ( (d) * PID_dT )
  81. #endif
  82. #if ENABLED(PIDTEMPBED)
  83. static float bedKp, bedKi, bedKd;
  84. #endif
  85. #if ENABLED(BABYSTEPPING)
  86. static volatile int babystepsTodo[3];
  87. #endif
  88. #if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
  89. static int watch_target_temp[HOTENDS];
  90. static millis_t watch_heater_next_ms[HOTENDS];
  91. #endif
  92. #if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
  93. static int watch_target_bed_temp;
  94. static millis_t watch_bed_next_ms;
  95. #endif
  96. #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
  97. static bool allow_cold_extrude;
  98. static float extrude_min_temp;
  99. static bool tooColdToExtrude(uint8_t e) {
  100. #if HOTENDS == 1
  101. UNUSED(e);
  102. #endif
  103. return allow_cold_extrude ? false : degHotend(HOTEND_INDEX) < extrude_min_temp;
  104. }
  105. #else
  106. static bool tooColdToExtrude(uint8_t e) { UNUSED(e); return false; }
  107. #endif
  108. private:
  109. #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
  110. static int redundant_temperature_raw;
  111. static float redundant_temperature;
  112. #endif
  113. static volatile bool temp_meas_ready;
  114. #if ENABLED(PIDTEMP)
  115. static float temp_iState[HOTENDS],
  116. temp_dState[HOTENDS],
  117. pTerm[HOTENDS],
  118. iTerm[HOTENDS],
  119. dTerm[HOTENDS];
  120. #if ENABLED(PID_ADD_EXTRUSION_RATE)
  121. static float cTerm[HOTENDS];
  122. static long last_e_position;
  123. static long lpq[LPQ_MAX_LEN];
  124. static int lpq_ptr;
  125. #endif
  126. static float pid_error[HOTENDS],
  127. temp_iState_min[HOTENDS],
  128. temp_iState_max[HOTENDS];
  129. static bool pid_reset[HOTENDS];
  130. #endif
  131. #if ENABLED(PIDTEMPBED)
  132. static float temp_iState_bed,
  133. temp_dState_bed,
  134. pTerm_bed,
  135. iTerm_bed,
  136. dTerm_bed,
  137. pid_error_bed,
  138. temp_iState_min_bed,
  139. temp_iState_max_bed;
  140. #else
  141. static millis_t next_bed_check_ms;
  142. #endif
  143. static unsigned long raw_temp_value[4],
  144. raw_temp_bed_value;
  145. // Init min and max temp with extreme values to prevent false errors during startup
  146. static int minttemp_raw[HOTENDS],
  147. maxttemp_raw[HOTENDS],
  148. minttemp[HOTENDS],
  149. maxttemp[HOTENDS];
  150. #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED
  151. static int consecutive_low_temperature_error[HOTENDS];
  152. #endif
  153. #ifdef MILLISECONDS_PREHEAT_TIME
  154. static unsigned long preheat_end_time[HOTENDS];
  155. #endif
  156. #ifdef BED_MINTEMP
  157. static int bed_minttemp_raw;
  158. #endif
  159. #ifdef BED_MAXTEMP
  160. static int bed_maxttemp_raw;
  161. #endif
  162. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  163. static int meas_shift_index; // Index of a delayed sample in buffer
  164. #endif
  165. #if HAS_AUTO_FAN
  166. static millis_t next_auto_fan_check_ms;
  167. #endif
  168. static unsigned char soft_pwm[HOTENDS];
  169. #if ENABLED(FAN_SOFT_PWM)
  170. static unsigned char soft_pwm_fan[FAN_COUNT];
  171. #endif
  172. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  173. static int current_raw_filwidth; //Holds measured filament diameter - one extruder only
  174. #endif
  175. public:
  176. /**
  177. * Instance Methods
  178. */
  179. Temperature();
  180. void init();
  181. /**
  182. * Static (class) methods
  183. */
  184. static float analog2temp(int raw, uint8_t e);
  185. static float analog2tempBed(int raw);
  186. /**
  187. * Called from the Temperature ISR
  188. */
  189. static void isr();
  190. /**
  191. * Call periodically to manage heaters
  192. */
  193. static void manage_heater();
  194. /**
  195. * Preheating hotends
  196. */
  197. #ifdef MILLISECONDS_PREHEAT_TIME
  198. static bool is_preheating(uint8_t e) {
  199. #if HOTENDS == 1
  200. UNUSED(e);
  201. #endif
  202. return preheat_end_time[HOTEND_INDEX] && PENDING(millis(), preheat_end_time[HOTEND_INDEX]);
  203. }
  204. static void start_preheat_time(uint8_t e) {
  205. #if HOTENDS == 1
  206. UNUSED(e);
  207. #endif
  208. preheat_end_time[HOTEND_INDEX] = millis() + MILLISECONDS_PREHEAT_TIME;
  209. }
  210. static void reset_preheat_time(uint8_t e) {
  211. #if HOTENDS == 1
  212. UNUSED(e);
  213. #endif
  214. preheat_end_time[HOTEND_INDEX] = 0;
  215. }
  216. #else
  217. #define is_preheating(n) (false)
  218. #endif
  219. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  220. static float analog2widthFil(); // Convert raw Filament Width to millimeters
  221. static int widthFil_to_size_ratio(); // Convert raw Filament Width to an extrusion ratio
  222. #endif
  223. //high level conversion routines, for use outside of temperature.cpp
  224. //inline so that there is no performance decrease.
  225. //deg=degreeCelsius
  226. static float degHotend(uint8_t e) {
  227. #if HOTENDS == 1
  228. UNUSED(e);
  229. #endif
  230. return current_temperature[HOTEND_INDEX];
  231. }
  232. static float degBed() { return current_temperature_bed; }
  233. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  234. static float rawHotendTemp(uint8_t e) {
  235. #if HOTENDS == 1
  236. UNUSED(e);
  237. #endif
  238. return current_temperature_raw[HOTEND_INDEX];
  239. }
  240. static float rawBedTemp() { return current_temperature_bed_raw; }
  241. #endif
  242. static float degTargetHotend(uint8_t e) {
  243. #if HOTENDS == 1
  244. UNUSED(e);
  245. #endif
  246. return target_temperature[HOTEND_INDEX];
  247. }
  248. static float degTargetBed() { return target_temperature_bed; }
  249. #if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
  250. static void start_watching_heater(uint8_t e = 0);
  251. #endif
  252. #if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
  253. static void start_watching_bed();
  254. #endif
  255. static void setTargetHotend(const float& celsius, uint8_t e) {
  256. #if HOTENDS == 1
  257. UNUSED(e);
  258. #endif
  259. #ifdef MILLISECONDS_PREHEAT_TIME
  260. if (celsius == 0.0f)
  261. reset_preheat_time(HOTEND_INDEX);
  262. else if (target_temperature[HOTEND_INDEX] == 0.0f)
  263. start_preheat_time(HOTEND_INDEX);
  264. #endif
  265. target_temperature[HOTEND_INDEX] = celsius;
  266. #if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
  267. start_watching_heater(HOTEND_INDEX);
  268. #endif
  269. }
  270. static void setTargetBed(const float& celsius) {
  271. target_temperature_bed = celsius;
  272. #if ENABLED(THERMAL_PROTECTION_BED) && WATCH_BED_TEMP_PERIOD > 0
  273. start_watching_bed();
  274. #endif
  275. }
  276. static bool isHeatingHotend(uint8_t e) {
  277. #if HOTENDS == 1
  278. UNUSED(e);
  279. #endif
  280. return target_temperature[HOTEND_INDEX] > current_temperature[HOTEND_INDEX];
  281. }
  282. static bool isHeatingBed() { return target_temperature_bed > current_temperature_bed; }
  283. static bool isCoolingHotend(uint8_t e) {
  284. #if HOTENDS == 1
  285. UNUSED(e);
  286. #endif
  287. return target_temperature[HOTEND_INDEX] < current_temperature[HOTEND_INDEX];
  288. }
  289. static bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; }
  290. /**
  291. * The software PWM power for a heater
  292. */
  293. static int getHeaterPower(int heater);
  294. /**
  295. * Switch off all heaters, set all target temperatures to 0
  296. */
  297. static void disable_all_heaters();
  298. /**
  299. * Perform auto-tuning for hotend or bed in response to M303
  300. */
  301. #if HAS_PID_HEATING
  302. static void PID_autotune(float temp, int hotend, int ncycles, bool set_result=false);
  303. #endif
  304. /**
  305. * Update the temp manager when PID values change
  306. */
  307. static void updatePID();
  308. static void autotempShutdown() {
  309. #if ENABLED(AUTOTEMP)
  310. if (planner.autotemp_enabled) {
  311. planner.autotemp_enabled = false;
  312. if (degTargetHotend(EXTRUDER_IDX) > planner.autotemp_min)
  313. setTargetHotend(0, EXTRUDER_IDX);
  314. }
  315. #endif
  316. }
  317. #if ENABLED(BABYSTEPPING)
  318. static void babystep_axis(AxisEnum axis, int distance) {
  319. #if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
  320. #if ENABLED(BABYSTEP_XY)
  321. switch (axis) {
  322. case CORE_AXIS_1: // X on CoreXY and CoreXZ, Y on CoreYZ
  323. babystepsTodo[CORE_AXIS_1] += distance * 2;
  324. babystepsTodo[CORE_AXIS_2] += distance * 2;
  325. break;
  326. case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ and CoreYZ
  327. babystepsTodo[CORE_AXIS_1] += distance * 2;
  328. babystepsTodo[CORE_AXIS_2] -= distance * 2;
  329. break;
  330. case NORMAL_AXIS: // Z on CoreXY, Y on CoreXZ, X on CoreYZ
  331. babystepsTodo[NORMAL_AXIS] += distance;
  332. break;
  333. }
  334. #elif ENABLED(COREXZ) || ENABLED(COREYZ)
  335. // Only Z stepping needs to be handled here
  336. babystepsTodo[CORE_AXIS_1] += distance * 2;
  337. babystepsTodo[CORE_AXIS_2] -= distance * 2;
  338. #else
  339. babystepsTodo[Z_AXIS] += distance;
  340. #endif
  341. #else
  342. babystepsTodo[axis] += distance;
  343. #endif
  344. }
  345. #endif // BABYSTEPPING
  346. private:
  347. static void set_current_temp_raw();
  348. static void updateTemperaturesFromRawValues();
  349. #if ENABLED(HEATER_0_USES_MAX6675)
  350. static int read_max6675();
  351. #endif
  352. static void checkExtruderAutoFans();
  353. static float get_pid_output(int e);
  354. #if ENABLED(PIDTEMPBED)
  355. static float get_pid_output_bed();
  356. #endif
  357. static void _temp_error(int e, const char* serial_msg, const char* lcd_msg);
  358. static void min_temp_error(uint8_t e);
  359. static void max_temp_error(uint8_t e);
  360. #if ENABLED(THERMAL_PROTECTION_HOTENDS) || HAS_THERMALLY_PROTECTED_BED
  361. typedef enum TRState { TRInactive, TRFirstHeating, TRStable, TRRunaway } TRstate;
  362. static void thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
  363. #if ENABLED(THERMAL_PROTECTION_HOTENDS)
  364. static TRState thermal_runaway_state_machine[HOTENDS];
  365. static millis_t thermal_runaway_timer[HOTENDS];
  366. #endif
  367. #if HAS_THERMALLY_PROTECTED_BED
  368. static TRState thermal_runaway_bed_state_machine;
  369. static millis_t thermal_runaway_bed_timer;
  370. #endif
  371. #endif // THERMAL_PROTECTION
  372. };
  373. extern Temperature thermalManager;
  374. #endif // TEMPERATURE_H