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Extruder.cpp
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/*
This file is part of Repetier-Firmware.
Repetier-Firmware 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.
Repetier-Firmware 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 Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
This firmware is a nearly complete rewrite of the sprinter firmware
by kliment (https://github.com/kliment/Sprinter)
which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
*/
#include "Repetier.h"
uint8_t manageMonitor = 0; ///< Temp. we want to monitor with our host. 1+NUM_EXTRUDER is heated bed
unsigned int counterPeriodical = 0;
volatile uint8_t executePeriodical = 0;
uint8_t counter250ms = 25;
#if FEATURE_DITTO_PRINTING
uint8_t Extruder::dittoMode = 0;
#endif
#if MIXING_EXTRUDER > 0
int Extruder::mixingS;
uint8_t Extruder::mixingDir = 10;
uint8_t Extruder::activeMixingExtruder = 0;
#endif // MIXING_EXTRUDER
#ifdef SUPPORT_MAX6675
extern int16_t read_max6675(uint8_t ss_pin);
#endif
#ifdef SUPPORT_MAX31855
extern int16_t read_max31855(uint8_t ss_pin);
#endif
#if ANALOG_INPUTS > 0
const uint8 osAnalogInputChannels[] PROGMEM = ANALOG_INPUT_CHANNELS;
volatile uint osAnalogInputValues[ANALOG_INPUTS];
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_1
short temptable_generic1[GENERIC_THERM_NUM_ENTRIES][2];
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_2
short temptable_generic2[GENERIC_THERM_NUM_ENTRIES][2];
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_3
short temptable_generic3[GENERIC_THERM_NUM_ENTRIES][2];
#endif
/** Makes updates to temperatures and heater state every call.
Is called every 100ms.
*/
static uint8_t extruderTempErrors = 0;
void Extruder::manageTemperatures()
{
#if FEATURE_WATCHDOG
HAL::pingWatchdog();
#endif // FEATURE_WATCHDOG
uint8_t errorDetected = 0;
#ifdef RED_BLUE_STATUS_LEDS
bool hot = false;
#endif
bool newDefectFound = false;
millis_t time = HAL::timeInMilliseconds(); // compare time for decouple tests
#if NUM_TEMPERATURE_LOOPS > 0
for(uint8_t controller = 0; controller < NUM_TEMPERATURE_LOOPS; controller++)
{
TemperatureController *act = tempController[controller];
// Get Temperature
act->updateCurrentTemperature();
#if FAN_THERMO_PIN > -1
// Special case thermistor controlled fan
if(act == &thermoController) {
if(act->currentTemperatureC < Printer::thermoMinTemp)
pwm_pos[PWM_FAN_THERMO] = 0;
else if(act->currentTemperatureC > Printer::thermoMaxTemp)
pwm_pos[PWM_FAN_THERMO] = FAN_THERMO_MAX_PWM;
else {
// Interpolate target speed
float out = FAN_THERMO_MIN_PWM + (FAN_THERMO_MAX_PWM-FAN_THERMO_MIN_PWM) * (act->currentTemperatureC - Printer::thermoMinTemp) / (Printer::thermoMaxTemp - Printer::thermoMinTemp);
if(out > 255)
pwm_pos[PWM_FAN_THERMO] = FAN_THERMO_MAX_PWM;
else
pwm_pos[PWM_FAN_THERMO] = static_cast<uint8_t>(out);
}
continue;
}
#endif
// Handle automatic cooling of extruders
if(controller < NUM_EXTRUDER)
{
#if ((SHARED_COOLER && NUM_EXTRUDER >= 2 && EXT0_EXTRUDER_COOLER_PIN == EXT1_EXTRUDER_COOLER_PIN) || SHARED_COOLER_BOARD_EXT) && EXT0_EXTRUDER_COOLER_PIN > -1
if(controller == 0)
{
bool enable = false;
for(uint8_t j = 0; j < NUM_EXTRUDER; j++)
{
if(tempController[j]->currentTemperatureC >= EXTRUDER_FAN_COOL_TEMP || tempController[j]->targetTemperatureC >= EXTRUDER_FAN_COOL_TEMP)
{
enable = true;
break;
}
}
#if SHARED_COOLER_BOARD_EXT
if(pwm_pos[PWM_BOARD_FAN]) enable = true;
#endif
extruder[0].coolerPWM = (enable ? extruder[0].coolerSpeed : 0);
} // controller == 0
#else
if(act->currentTemperatureC < EXTRUDER_FAN_COOL_TEMP && act->targetTemperatureC < EXTRUDER_FAN_COOL_TEMP)
extruder[controller].coolerPWM = 0;
else
extruder[controller].coolerPWM = extruder[controller].coolerSpeed;
#endif // NUM_EXTRUDER
} // extruder controller
// do skip temperature control while auto tuning is in progress
if(controller == autotuneIndex) continue;
#if MIXING_EXTRUDER
if(controller > 0 && controller < NUM_EXTRUDER) continue; // Mixing extruder only test for ext 0
#endif // MIXING_EXTRUDER
// Check for obvious sensor errors
if(act->currentTemperatureC < MIN_DEFECT_TEMPERATURE || act->currentTemperatureC > MAX_DEFECT_TEMPERATURE) // no temp sensor or short in sensor, disable heater
{
errorDetected = 1;
if(extruderTempErrors < 10) // Ignore short temporary failures
extruderTempErrors++;
else
{
act->flags |= TEMPERATURE_CONTROLLER_FLAG_SENSDEFECT;
if(!Printer::isAnyTempsensorDefect())
{
newDefectFound = true;
Printer::setAnyTempsensorDefect();
reportTempsensorError();
}
EVENT_HEATER_DEFECT(controller);
}
}
#if HAVE_HEATED_BED
else if(controller == HEATED_BED_INDEX && Extruder::getHeatedBedTemperature() > HEATED_BED_MAX_TEMP + 5) {
errorDetected = 1;
if(extruderTempErrors < 10) // Ignore short temporary failures
extruderTempErrors++;
else
{
act->flags |= TEMPERATURE_CONTROLLER_FLAG_SENSDEFECT;
Com::printErrorFLN(PSTR("Heated bed exceeded max temperature!"));
if(!Printer::isAnyTempsensorDefect())
{
newDefectFound = true;
Printer::setAnyTempsensorDefect();
reportTempsensorError();
}
EVENT_HEATER_DEFECT(controller);
}
}
#endif // HAVE_HEATED_BED
#ifdef RED_BLUE_STATUS_LEDS
if(act->currentTemperatureC > 50)
hot = true;
#endif // RED_BLUE_STATUS_LEDS
if(Printer::isAnyTempsensorDefect()) continue;
uint8_t on = act->currentTemperatureC >= act->targetTemperatureC ? LOW : HIGH;
// Make a sound if alarm was set on reaching target temperature
if(!on && act->isAlarm())
{
beep(50 * (controller + 1), 3);
act->setAlarm(false); //reset alarm
}
// Run test if heater and sensor are decoupled
bool decoupleTestRequired = !errorDetected && act->decoupleTestPeriod > 0 && (time - act->lastDecoupleTest) > act->decoupleTestPeriod; // time enough for temperature change?
if(decoupleTestRequired && act->isDecoupleFullOrHold() && Printer::isPowerOn()) // Only test when powered
{
if(act->isDecoupleFull()) // Phase 1: Heating fully until target range is reached
{
if(act->currentTemperatureC - act->lastDecoupleTemp < DECOUPLING_TEST_MIN_TEMP_RISE) // failed test
{
extruderTempErrors++;
errorDetected = 1;
if(extruderTempErrors > 10) // Ignore short temporary failures
{
act->flags |= TEMPERATURE_CONTROLLER_FLAG_SENSDECOUPLED;
if(!Printer::isAnyTempsensorDefect())
{
Printer::setAnyTempsensorDefect();
newDefectFound = true;
}
UI_ERROR_P(Com::tHeaterDecoupled);
Com::printErrorFLN(Com::tHeaterDecoupledWarning);
Com::printF(PSTR("Error:Temp. raised to slow. Rise = "),act->currentTemperatureC - act->lastDecoupleTemp);
Com::printF(PSTR(" after "),(int32_t)(time-act->lastDecoupleTest));
Com::printFLN(PSTR(" ms"));
EVENT_HEATER_DECOUPLED(controller);
}
}
else
{
act->stopDecouple();
act->startFullDecouple(time);
}
}
else // Phase 2: Holding temperature inside a target corridor
{
if(fabs(act->currentTemperatureC - act->targetTemperatureC) > DECOUPLING_TEST_MAX_HOLD_VARIANCE) // failed test
{
extruderTempErrors++;
errorDetected = 1;
if(extruderTempErrors > 10) // Ignore short temporary failures
{
act->flags |= TEMPERATURE_CONTROLLER_FLAG_SENSDECOUPLED;
if(!Printer::isAnyTempsensorDefect())
{
Printer::setAnyTempsensorDefect();
newDefectFound = true;
}
UI_ERROR_P(Com::tHeaterDecoupled);
Com::printErrorFLN(Com::tHeaterDecoupledWarning);
Com::printF(PSTR("Error:Could not hold temperature "),act->lastDecoupleTemp);
Com::printF(PSTR(" measured "),act->currentTemperatureC);
Com::printFLN(PSTR(" deg. C"));
EVENT_HEATER_DECOUPLED(controller);
}
}
else
{
act->lastDecoupleTest = time - act->decoupleTestPeriod + 1000; // once running test every second
}
}
}
#if TEMP_PID
act->tempArray[act->tempPointer++] = act->currentTemperatureC;
act->tempPointer &= 3;
uint8_t output = 0;
float error = act->targetTemperatureC - act->currentTemperatureC;
if(act->targetTemperatureC < 20.0f) // heating is off
{
output = 0; // off is off, even if damping term wants a heat peak!
act->stopDecouple();
}
else if(error > PID_CONTROL_RANGE) // Phase 1: full heating until control range reached
{
output = act->pidMax;
act->startFullDecouple(time);
}
else if(error < -PID_CONTROL_RANGE) // control range left upper side!
output = 0;
else // control range handle by heat manager
{
if(act->heatManager == HTR_PID)
{
act->startHoldDecouple(time);
float pidTerm = act->pidPGain * error;
act->tempIState = constrain(act->tempIState + error, act->tempIStateLimitMin, act->tempIStateLimitMax);
pidTerm += act->pidIGain * act->tempIState * 0.1; // 0.1 = 10Hz
float dgain = act->pidDGain * (act->tempArray[act->tempPointer] - act->currentTemperatureC) * 3.333f;
pidTerm += dgain;
#if SCALE_PID_TO_MAX == 1
pidTerm = (pidTerm * act->pidMax) * 0.0039215;
#endif // SCALE_PID_TO_MAX
output = constrain((int)pidTerm, 0, act->pidMax);
}
else if(act->heatManager == HTR_DEADTIME) // dead-time control
{
act->startHoldDecouple(time);
float raising = 3.333 * (act->currentTemperatureC - act->tempArray[act->tempPointer]); // raising dT/dt, 3.33 = reciproke of time interval (300 ms)
act->tempIState = 0.25 * (3.0 * act->tempIState + raising); // damp raising
output = (act->currentTemperatureC + act->tempIState * act->deadTime > act->targetTemperatureC ? 0 : act->pidDriveMax);
}
else // bang bang and slow bang bang
#endif // TEMP_PID
if(act->heatManager == HTR_SLOWBANG) // Bang-bang with reduced change frequency to save relais life
{
if (time - act->lastTemperatureUpdate > HEATED_BED_SET_INTERVAL)
{
output = (on ? act->pidMax : 0);
act->lastTemperatureUpdate = time;
if(on) act->startFullDecouple(time);
else act->stopDecouple();
}
else continue;
}
else // Fast Bang-Bang fallback
{
output = (on ? act->pidMax : 0);
if(on) act->startFullDecouple(time);
else act->stopDecouple();
}
} // Temperatur control
#ifdef MAXTEMP
if(act->currentTemperatureC > MAXTEMP) // Force heater off if MAXTEMP is exceeded
output = 0;
#endif // MAXTEMP
pwm_pos[act->pwmIndex] = output; // set pwm signal
#if LED_PIN > -1
if(act == &Extruder::current->tempControl)
WRITE(LED_PIN,on);
#endif // LED_PIN
} // for controller
#ifdef RED_BLUE_STATUS_LEDS
if(Printer::isAnyTempsensorDefect())
{
WRITE(BLUE_STATUS_LED,HIGH);
WRITE(RED_STATUS_LED,HIGH);
}
else
{
WRITE(BLUE_STATUS_LED,!hot);
WRITE(RED_STATUS_LED,hot);
}
#endif // RED_BLUE_STATUS_LEDS
if(errorDetected == 0 && extruderTempErrors > 0)
extruderTempErrors--;
if(newDefectFound)
{
Com::printFLN(PSTR("Disabling all heaters due to detected sensor defect."));
for(uint8_t i = 0; i < NUM_TEMPERATURE_LOOPS; i++)
{
tempController[i]->targetTemperatureC = 0;
pwm_pos[tempController[i]->pwmIndex] = 0;
}
#if defined(KILL_IF_SENSOR_DEFECT) && KILL_IF_SENSOR_DEFECT > 0
if(!Printer::debugDryrun() && PrintLine::linesCount > 0) // kill printer if actually printing
{
#if SDSUPPORT
sd.stopPrint();
#endif // SDSUPPORT
Printer::kill(0);
}
#endif // KILL_IF_SENSOR_DEFECT
Printer::debugSet(8); // Go into dry mode
} // any sensor defect
#endif // NUM_TEMPERATURE_LOOPS
}
void TemperatureController::waitForTargetTemperature()
{
if(targetTemperatureC < 30) return;
if(Printer::debugDryrun()) return;
millis_t time = HAL::timeInMilliseconds();
while(true)
{
if( (HAL::timeInMilliseconds() - time) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
Commands::printTemperatures();
time = HAL::timeInMilliseconds();
}
Commands::checkForPeriodicalActions(true);
if(fabs(targetTemperatureC - currentTemperatureC) <= 1)
return;
}
}
/* For pausing we negate target temperature, so negative value means paused extruder.
Since temp. is negative no heating will occur. */
void Extruder::pauseExtruders()
{
disableAllExtruderMotors();
for(fast8_t i = 0; i < NUM_EXTRUDER; i++)
{
if(extruder[i].tempControl.targetTemperatureC > 0)
extruder[i].tempControl.targetTemperatureC = -extruder[i].tempControl.targetTemperatureC;
}
}
void Extruder::unpauseExtruders()
{
// activate temperatures
for(fast8_t i = 0; i < NUM_EXTRUDER; i++)
{
if(extruder[i].tempControl.targetTemperatureC < 0)
extruder[i].tempControl.targetTemperatureC = -extruder[i].tempControl.targetTemperatureC;
}
for(fast8_t i = 0; i < NUM_EXTRUDER; i++)
extruder[i].tempControl.waitForTargetTemperature();
}
void TemperatureController::resetAllErrorStates() {
#if NUM_TEMPERATURE_LOOPS > 0
for(int i = 0;i < NUM_TEMPERATURE_LOOPS; i++) {
tempController[i]->removeErrorStates();
}
#endif
}
#if EXTRUDER_JAM_CONTROL
void TemperatureController::setJammed(bool on)
{
if(on)
{
flags |= TEMPERATURE_CONTROLLER_FLAG_JAM;
Printer::setInterruptEvent(PRINTER_INTERRUPT_EVENT_JAM_DETECTED, true);
}
else flags &= ~(TEMPERATURE_CONTROLLER_FLAG_JAM);
}
void Extruder::markAllUnjammed()
{
for(fast8_t i = 0; i < NUM_EXTRUDER; i++)
{
extruder[i].tempControl.setJammed(false);
extruder[i].tempControl.setSlowedDown(false);
extruder[i].resetJamSteps();
}
if(Printer::feedrateMultiply == JAM_SLOWDOWN_TO)
Commands::changeFeedrateMultiply(100);
Printer::unsetAnyTempsensorDefect(); // stop alarm
Com::printInfoFLN(PSTR("Marked all extruders as unjammed."));
Printer::setUIErrorMessage(false);
}
void Extruder::resetJamSteps()
{
jamStepsOnSignal = jamStepsSinceLastSignal;
jamStepsSinceLastSignal = 0;
Printer::setInterruptEvent(PRINTER_INTERRUPT_EVENT_JAM_SIGNAL0 + id, false);
}
#endif
void Extruder::initHeatedBed()
{
#if HAVE_HEATED_BED
#if TEMP_PID
heatedBedController.updateTempControlVars();
#endif
#endif
}
#if defined(USE_GENERIC_THERMISTORTABLE_1) || defined(USE_GENERIC_THERMISTORTABLE_2) || defined(USE_GENERIC_THERMISTORTABLE_3)
void createGenericTable(short table[GENERIC_THERM_NUM_ENTRIES][2],short minTemp,short maxTemp,float beta,float r0,float t0,float r1,float r2)
{
t0 += 273.15f;
float rs, vs;
if(r1==0)
{
rs = r2;
vs = GENERIC_THERM_VREF;
}
else
{
vs =static_cast<float>((GENERIC_THERM_VREF * r1) / (r1 + r2));
rs = (r2 * r1) / (r1 + r2);
}
float k = r0 * exp(-beta / t0);
float delta = (maxTemp-minTemp) / (GENERIC_THERM_NUM_ENTRIES - 1.0f);
for(uint8_t i = 0; i < GENERIC_THERM_NUM_ENTRIES; i++)
{
#if FEATURE_WATCHDOG
HAL::pingWatchdog();
#endif // FEATURE_WATCHDOG
float t = maxTemp - i * delta;
float r = exp(beta / (t + 272.65)) * k;
float v = 4092 * r * vs / ((rs + r) * GENERIC_THERM_VREF);
int adc = static_cast<int>(v);
t *= 8;
if(adc > 4092) adc = 4092;
table[i][0] = (adc >> (ANALOG_REDUCE_BITS));
table[i][1] = static_cast<int>(t);
#ifdef DEBUG_GENERIC
Com::printF(Com::tGenTemp,table[i][0]);
Com::printFLN(Com::tComma,table[i][1]);
#endif
}
}
#endif
/** \brief Initalizes all extruder.
Updates the pin configuration needed for the extruder and activates extruder 0.
Starts a interrupt based analog input reader, which is used by simple thermistors
for temperature reading.
*/
void Extruder::initExtruder()
{
uint8_t i;
Extruder::current = &extruder[0];
#ifdef USE_GENERIC_THERMISTORTABLE_1
createGenericTable(temptable_generic1,GENERIC_THERM1_MIN_TEMP,GENERIC_THERM1_MAX_TEMP,GENERIC_THERM1_BETA,GENERIC_THERM1_R0,GENERIC_THERM1_T0,GENERIC_THERM1_R1,GENERIC_THERM1_R2);
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_2
createGenericTable(temptable_generic2,GENERIC_THERM2_MIN_TEMP,GENERIC_THERM2_MAX_TEMP,GENERIC_THERM2_BETA,GENERIC_THERM2_R0,GENERIC_THERM2_T0,GENERIC_THERM2_R1,GENERIC_THERM2_R2);
#endif
#ifdef USE_GENERIC_THERMISTORTABLE_3
createGenericTable(temptable_generic3,GENERIC_THERM3_MIN_TEMP,GENERIC_THERM3_MAX_TEMP,GENERIC_THERM3_BETA,GENERIC_THERM3_R0,GENERIC_THERM3_T0,GENERIC_THERM3_R1,GENERIC_THERM3_R2);
#endif
#if defined(EXT0_STEP_PIN) && EXT0_STEP_PIN > -1 && NUM_EXTRUDER > 0
SET_OUTPUT(EXT0_DIR_PIN);
SET_OUTPUT(EXT0_STEP_PIN);
#if defined(EXT0_MIRROR_STEPPER) && EXT0_MIRROR_STEPPER
SET_OUTPUT(EXT0_DIR2_PIN);
SET_OUTPUT(EXT0_STEP2_PIN);
SET_OUTPUT(EXT0_ENABLE2_PIN);
WRITE(EXT0_ENABLE2_PIN,!EXT0_ENABLE_ON);
#endif
#endif
#if defined(EXT1_STEP_PIN) && EXT1_STEP_PIN > -1 && NUM_EXTRUDER > 1
SET_OUTPUT(EXT1_DIR_PIN);
SET_OUTPUT(EXT1_STEP_PIN);
#if defined(EXT1_MIRROR_STEPPER) && EXT1_MIRROR_STEPPER
SET_OUTPUT(EXT1_DIR2_PIN);
SET_OUTPUT(EXT1_STEP2_PIN);
SET_OUTPUT(EXT1_ENABLE2_PIN);
WRITE(EXT1_ENABLE2_PIN,!EXT1_ENABLE_ON);
#endif
#endif
#if defined(EXT2_STEP_PIN) && EXT2_STEP_PIN > -1 && NUM_EXTRUDER > 2
SET_OUTPUT(EXT2_DIR_PIN);
SET_OUTPUT(EXT2_STEP_PIN);
#if defined(EXT2_MIRROR_STEPPER) && EXT2_MIRROR_STEPPER
SET_OUTPUT(EXT2_DIR2_PIN);
SET_OUTPUT(EXT2_STEP2_PIN);
SET_OUTPUT(EXT2_ENABLE2_PIN);
WRITE(EXT2_ENABLE2_PIN,!EXT2_ENABLE_ON);
#endif
#endif
#if defined(EXT3_STEP_PIN) && EXT3_STEP_PIN > -1 && NUM_EXTRUDER > 3
SET_OUTPUT(EXT3_DIR_PIN);
SET_OUTPUT(EXT3_STEP_PIN);
#if defined(EXT3_MIRROR_STEPPER) && EXT3_MIRROR_STEPPER
SET_OUTPUT(EXT3_DIR2_PIN);
SET_OUTPUT(EXT3_STEP2_PIN);
SET_OUTPUT(EXT3_ENABLE2_PIN);
WRITE(EXT3_ENABLE2_PIN,!EXT3_ENABLE_ON);
#endif
#endif
#if defined(EXT4_STEP_PIN) && EXT4_STEP_PIN > -1 && NUM_EXTRUDER > 4
SET_OUTPUT(EXT4_DIR_PIN);
SET_OUTPUT(EXT4_STEP_PIN);
#if defined(EXT4_MIRROR_STEPPER) && EXT4_MIRROR_STEPPER
SET_OUTPUT(EXT4_DIR2_PIN);
SET_OUTPUT(EXT4_STEP2_PIN);
SET_OUTPUT(EXT4_ENABLE2_PIN);
WRITE(EXT4_ENABLE2_PIN,!EXT4_ENABLE_ON);
#endif
#endif
#if defined(EXT5_STEP_PIN) && EXT5_STEP_PIN > -1 && NUM_EXTRUDER > 5
SET_OUTPUT(EXT5_DIR_PIN);
SET_OUTPUT(EXT5_STEP_PIN);
#if defined(EXT5_MIRROR_STEPPER) && EXT5_MIRROR_STEPPER
SET_OUTPUT(EXT5_DIR2_PIN);
SET_OUTPUT(EXT5_STEP2_PIN);
SET_OUTPUT(EXT5_ENABLE2_PIN);
WRITE(EXT5_ENABLE2_PIN,!EXT5_ENABLE_ON);
#endif
#endif
for(i = 0; i < NUM_EXTRUDER; ++i)
{
Extruder *act = &extruder[i];
if(act->enablePin > -1)
{
HAL::pinMode(act->enablePin, OUTPUT);
HAL::digitalWrite(act->enablePin,!act->enableOn);
}
act->tempControl.lastTemperatureUpdate = HAL::timeInMilliseconds();
#if defined(SUPPORT_MAX6675) || defined(SUPPORT_MAX31855)
if(act->tempControl.sensorType == 101 || act->tempControl.sensorType == 102)
{
WRITE(SCK_PIN, 0);
SET_OUTPUT(SCK_PIN);
WRITE(MOSI_PIN, 1);
SET_OUTPUT(MOSI_PIN);
WRITE(MISO_PIN, 1);
SET_INPUT(MISO_PIN);
//SET_OUTPUT(SS);
//WRITE(SS, HIGH);
HAL::pinMode(SS, OUTPUT);
HAL::digitalWrite(SS, 1);
HAL::pinMode(act->tempControl.sensorPin, OUTPUT);
HAL::digitalWrite(act->tempControl.sensorPin, 1);
}
#endif
}
#if HEATED_BED_HEATER_PIN > -1
SET_OUTPUT(HEATED_BED_HEATER_PIN);
WRITE(HEATED_BED_HEATER_PIN, HEATER_PINS_INVERTED);
Extruder::initHeatedBed();
#endif
HAL::analogStart();
}
void TemperatureController::updateTempControlVars()
{
#if TEMP_PID
if(heatManager == HTR_PID && pidIGain != 0) // prevent division by zero
{
tempIStateLimitMax = (float)pidDriveMax * 10.0f / pidIGain;
tempIStateLimitMin = (float)pidDriveMin * 10.0f / pidIGain;
}
#endif
}
/** \brief Select extruder ext_num.
This function changes and initializes a new extruder. This is also called, after the eeprom values are changed.
*/
void Extruder::selectExtruderById(uint8_t extruderId)
{
#if NUM_EXTRUDER > 0
#if MIXING_EXTRUDER
if(extruderId >= VIRTUAL_EXTRUDER)
extruderId = 0;
activeMixingExtruder = extruderId;
for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
Extruder::setMixingWeight(i, extruder[i].virtualWeights[extruderId]);
Com::printFLN(PSTR("SelectExtruder:"), static_cast<int>(extruderId));
extruderId = 0;
#endif
if(extruderId >= NUM_EXTRUDER)
extruderId = 0;
#if !MIXING_EXTRUDER
Com::printFLN(PSTR("SelectExtruder:"), static_cast<int>(extruderId));
#endif
if(Printer::isHomed() && extruder[extruderId].zOffset < Extruder::current->zOffset) { // prevent extruder from hitting bed
Printer::offsetZ = -extruder[extruderId].zOffset * Printer::invAxisStepsPerMM[Z_AXIS];
Printer::moveToReal(IGNORE_COORDINATE, IGNORE_COORDINATE, IGNORE_COORDINATE, IGNORE_COORDINATE, Printer::homingFeedrate[Z_AXIS]);
Commands::waitUntilEndOfAllMoves();
Printer::updateCurrentPosition(true);
}
#if NUM_EXTRUDER > 1 && MIXING_EXTRUDER == 0
bool executeSelect = false;
if(extruderId != Extruder::current->id)
{
GCode::executeFString(Extruder::current->deselectCommands);
executeSelect = true;
}
Commands::waitUntilEndOfAllMoves();
#endif
float cx, cy, cz;
Printer::realPosition(cx, cy, cz);
float oldfeedrate = Printer::feedrate;
Extruder::current->extrudePosition = Printer::currentPositionSteps[E_AXIS];
#if DUAL_X_AXIS
// Park current extruder
int32_t dualXPos = Printer::currentPositionSteps[X_AXIS] - Printer::xMinSteps;
if(Printer::isHomed())
PrintLine::moveRelativeDistanceInSteps(Extruder::current->xOffset - dualXPos, 0, 0, 0, EXTRUDER_SWITCH_XY_SPEED, true, false);
#endif
Extruder::current = &extruder[extruderId];
#ifdef SEPERATE_EXTRUDER_POSITIONS
// Use separate extruder positions only if being told. Slic3r e.g. creates a continuous extruder position increment
Printer::currentPositionSteps[E_AXIS] = Extruder::current->extrudePosition;
#endif
#if MIXING_EXTRUDER
recomputeMixingExtruderSteps();
#else
Printer::destinationSteps[E_AXIS] = Printer::currentPositionSteps[E_AXIS];
Printer::axisStepsPerMM[E_AXIS] = Extruder::current->stepsPerMM;
Printer::invAxisStepsPerMM[E_AXIS] = 1.0f / Printer::axisStepsPerMM[E_AXIS];
#endif
Printer::maxFeedrate[E_AXIS] = Extruder::current->maxFeedrate;
// max_start_speed_units_per_second[E_AXIS] = Extruder::current->maxStartFeedrate;
Printer::maxAccelerationMMPerSquareSecond[E_AXIS] = Printer::maxTravelAccelerationMMPerSquareSecond[E_AXIS] = Extruder::current->maxAcceleration;
Printer::maxTravelAccelerationStepsPerSquareSecond[E_AXIS] =
Printer::maxPrintAccelerationStepsPerSquareSecond[E_AXIS] = Printer::maxAccelerationMMPerSquareSecond[E_AXIS] * Printer::axisStepsPerMM[E_AXIS];
#if USE_ADVANCE
Printer::maxExtruderSpeed = (ufast8_t)floor(HAL::maxExtruderTimerFrequency() / (Extruder::current->maxFeedrate * Extruder::current->stepsPerMM));
#if CPU_ARCH == ARCH_ARM
if(Printer::maxExtruderSpeed > 40) Printer::maxExtruderSpeed = 40;
#else
if(Printer::maxExtruderSpeed > 15) Printer::maxExtruderSpeed = 15;
#endif
float maxdist = Extruder::current->maxFeedrate * Extruder::current->maxFeedrate * 0.00013888 / Extruder::current->maxAcceleration;
maxdist -= Extruder::current->maxStartFeedrate * Extruder::current->maxStartFeedrate * 0.5 / Extruder::current->maxAcceleration;
float fmax = ((float)HAL::maxExtruderTimerFrequency() / ((float)Printer::maxExtruderSpeed * Printer::axisStepsPerMM[E_AXIS])); // Limit feedrate to interrupt speed
if(fmax < Printer::maxFeedrate[E_AXIS]) Printer::maxFeedrate[E_AXIS] = fmax;
#endif
Extruder::current->tempControl.updateTempControlVars();
#if DUAL_X_AXIS
// Unpark new current extruder
if(executeSelect) {// Run only when changing
Commands::waitUntilEndOfAllMoves();
Printer::updateCurrentPosition(true);
GCode::executeFString(Extruder::current->selectCommands);
executeSelect = false;
}
Printer::currentPositionSteps[X_AXIS] = Extruder::current->xOffset - dualXPos;
if(Printer::isHomed())
PrintLine::moveRelativeDistanceInSteps(-Extruder::current->xOffset + dualXPos, 0, 0, 0, EXTRUDER_SWITCH_XY_SPEED, true, false);
Printer::currentPositionSteps[X_AXIS] = dualXPos + Printer::xMinSteps;
Printer::offsetX = 0;
Printer::updateCurrentPosition(true);
#else
Printer::offsetX = -Extruder::current->xOffset * Printer::invAxisStepsPerMM[X_AXIS];
#endif
Printer::offsetY = -Extruder::current->yOffset * Printer::invAxisStepsPerMM[Y_AXIS];
Printer::offsetZ = -Extruder::current->zOffset * Printer::invAxisStepsPerMM[Z_AXIS];
Commands::changeFlowrateMultiply(Printer::extrudeMultiply); // needed to adjust extrusionFactor to possibly different diameter
if(Printer::isHomed()) {
Printer::moveToReal(cx, cy, cz, IGNORE_COORDINATE, EXTRUDER_SWITCH_XY_SPEED);
}
Printer::feedrate = oldfeedrate;
Printer::updateCurrentPosition();
#if USE_ADVANCE
HAL::resetExtruderDirection();
#endif
#if NUM_EXTRUDER > 1 && MIXING_EXTRUDER == 0
if(executeSelect) {// Run only when changing
Commands::waitUntilEndOfAllMoves();
GCode::executeFString(Extruder::current->selectCommands);
}
#endif
#endif
}
#if MIXING_EXTRUDER
void Extruder::recomputeMixingExtruderSteps() {
int32_t sum_w = 0;
float sum = 0;
for(fast8_t i = 0; i < NUM_EXTRUDER; i++) {
sum_w += extruder[i].mixingW;
sum += extruder[i].stepsPerMM * extruder[i].mixingW;
}
sum /= sum_w;
Printer::currentPositionSteps[E_AXIS] = Printer::currentPositionSteps[E_AXIS] * sum / Printer::axisStepsPerMM[E_AXIS]; // reposition according resolution change
Printer::destinationSteps[E_AXIS] = Printer::currentPositionSteps[E_AXIS];
Printer::axisStepsPerMM[E_AXIS] = sum;
Printer::invAxisStepsPerMM[E_AXIS] = 1.0f / Printer::axisStepsPerMM[E_AXIS];
}
#endif
void Extruder::setTemperatureForExtruder(float temperatureInCelsius, uint8_t extr, bool beep, bool wait)
{
#if NUM_EXTRUDER > 0
#if MIXING_EXTRUDER || SHARED_EXTRUDER_HEATER
extr = 0; // map any virtual extruder number to 0
#endif // MIXING_EXTRUDER
bool alloffs = true;
for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
if(tempController[i]->targetTemperatureC > 15) alloffs = false;
#ifdef MAXTEMP
if(temperatureInCelsius > MAXTEMP) temperatureInCelsius = MAXTEMP;
#endif
if(temperatureInCelsius < 0) temperatureInCelsius = 0;
TemperatureController *tc = tempController[extr];
if(tc->sensorType == 0) temperatureInCelsius = 0;
//if(temperatureInCelsius==tc->targetTemperatureC) return;
tc->setTargetTemperature(temperatureInCelsius);
tc->updateTempControlVars();
if(beep && temperatureInCelsius > MAX_ROOM_TEMPERATURE)
tc->setAlarm(true);
if(temperatureInCelsius >= EXTRUDER_FAN_COOL_TEMP) extruder[extr].coolerPWM = extruder[extr].coolerSpeed;
Com::printF(Com::tTargetExtr,extr,0);
Com::printFLN(Com::tColon,temperatureInCelsius,0);
#if FEATURE_DITTO_PRINTING
if(Extruder::dittoMode && extr == 0)
{
TemperatureController *tc2 = tempController[1];
tc2->setTargetTemperature(temperatureInCelsius);
tc2->updateTempControlVars();
if(temperatureInCelsius >= EXTRUDER_FAN_COOL_TEMP) extruder[1].coolerPWM = extruder[1].coolerSpeed;
#if NUM_EXTRUDER > 2
if(Extruder::dittoMode > 1 && extr == 0)
{
TemperatureController *tc2 = tempController[2];
tc2->setTargetTemperature(temperatureInCelsius);
tc2->updateTempControlVars();
if(temperatureInCelsius >= EXTRUDER_FAN_COOL_TEMP) extruder[2].coolerPWM = extruder[2].coolerSpeed;
}
#endif
#if NUM_EXTRUDER > 3
if(Extruder::dittoMode > 2 && extr == 0)
{
TemperatureController *tc2 = tempController[3];
tc2->setTargetTemperature(temperatureInCelsius);
tc2->updateTempControlVars();
if(temperatureInCelsius >= EXTRUDER_FAN_COOL_TEMP) extruder[3].coolerPWM = extruder[3].coolerSpeed;
}
#endif
}
#endif // FEATURE_DITTO_PRINTING
if(wait && temperatureInCelsius > MAX_ROOM_TEMPERATURE
#if defined(SKIP_M109_IF_WITHIN) && SKIP_M109_IF_WITHIN > 0
&& !(abs(tc->currentTemperatureC - tc->targetTemperatureC) < (SKIP_M109_IF_WITHIN))// Already in range
#endif
)
{
Extruder *actExtruder = &extruder[extr];
UI_STATUS_UPD_F(Com::translatedF(UI_TEXT_HEATING_EXTRUDER_ID));
EVENT_WAITING_HEATER(actExtruder->id);
bool dirRising = actExtruder->tempControl.targetTemperatureC > actExtruder->tempControl.currentTemperatureC;
millis_t printedTime = HAL::timeInMilliseconds();
millis_t waituntil = 0;
#if RETRACT_DURING_HEATUP
uint8_t retracted = 0;
#endif
millis_t currentTime;
do
{
previousMillisCmd = currentTime = HAL::timeInMilliseconds();
if( (currentTime - printedTime) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
Commands::printTemperatures();
printedTime = currentTime;
}
Commands::checkForPeriodicalActions(true);
//gcode_read_serial();
#if RETRACT_DURING_HEATUP
if (actExtruder == Extruder::current && actExtruder->waitRetractUnits > 0 && !retracted && dirRising && actExtruder->tempControl.currentTemperatureC > actExtruder->waitRetractTemperature)
{
PrintLine::moveRelativeDistanceInSteps(0, 0, 0, -actExtruder->waitRetractUnits * Printer::axisStepsPerMM[E_AXIS], actExtruder->maxFeedrate / 4, false, false);
retracted = 1;
}
#endif
if((waituntil == 0 &&
(dirRising ? actExtruder->tempControl.currentTemperatureC >= actExtruder->tempControl.targetTemperatureC - 1
: actExtruder->tempControl.currentTemperatureC <= actExtruder->tempControl.targetTemperatureC + 1))
#if defined(TEMP_HYSTERESIS) && TEMP_HYSTERESIS>=1
|| (waituntil != 0 && (abs(actExtruder->tempControl.currentTemperatureC - actExtruder->tempControl.targetTemperatureC)) > TEMP_HYSTERESIS)
#endif
)
{
waituntil = currentTime + 1000UL*(millis_t)actExtruder->watchPeriod; // now wait for temp. to stabalize
}
}
while(waituntil == 0 || (waituntil != 0 && (millis_t)(waituntil - currentTime) < 2000000000UL));
#if RETRACT_DURING_HEATUP
if (retracted && actExtruder == Extruder::current)
{
PrintLine::moveRelativeDistanceInSteps(0, 0, 0, actExtruder->waitRetractUnits * Printer::axisStepsPerMM[E_AXIS], actExtruder->maxFeedrate / 4, false, false);
}
#endif
EVENT_HEATING_FINISHED(actExtruder->id);
}
UI_CLEAR_STATUS;
bool alloff = true;
for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
if(tempController[i]->targetTemperatureC > 15) alloff = false;
#if EEPROM_MODE != 0
if(alloff && !alloffs) // All heaters are now switched off?
EEPROM::updatePrinterUsage();
#endif
if(alloffs && !alloff) // heaters are turned on, start measuring printing time
{
Printer::msecondsPrinting = HAL::timeInMilliseconds();
Printer::filamentPrinted = 0; // new print, new counter
Printer::flag2 &= ~PRINTER_FLAG2_RESET_FILAMENT_USAGE;
}
#endif
}
void Extruder::setHeatedBedTemperature(float temperatureInCelsius,bool beep)
{
#if HAVE_HEATED_BED
if(temperatureInCelsius > HEATED_BED_MAX_TEMP) temperatureInCelsius = HEATED_BED_MAX_TEMP;
if(temperatureInCelsius < 0) temperatureInCelsius = 0;
if(heatedBedController.targetTemperatureC==temperatureInCelsius) return; // don't flood log with messages if killed
heatedBedController.setTargetTemperature(temperatureInCelsius);
if(beep && temperatureInCelsius>30) heatedBedController.setAlarm(true);
Com::printFLN(Com::tTargetBedColon,heatedBedController.targetTemperatureC,0);
if(temperatureInCelsius > 15)
pwm_pos[PWM_BOARD_FAN] = BOARD_FAN_SPEED; // turn on the mainboard cooling fan
else if(Printer::areAllSteppersDisabled())
pwm_pos[PWM_BOARD_FAN] = 0; // turn off the mainboard cooling fan only if steppers disabled
#endif
}
float Extruder::getHeatedBedTemperature()
{
#if HAVE_HEATED_BED
TemperatureController *c = tempController[HEATED_BED_INDEX];
return c->currentTemperatureC;
#else
return -1;
#endif
}
#if MIXING_EXTRUDER > 0
void Extruder::setMixingWeight(uint8_t extr,int weight)
{
uint8_t i;
mixingS = 0;
extruder[extr].mixingW = weight;
for(i=0; i<NUM_EXTRUDER; i++)
{
extruder[i].mixingE = extruder[i].mixingW;
mixingS += extruder[i].mixingW;
}
}
void Extruder::step()
{
if(PrintLine::cur != NULL && PrintLine::cur->isAllEMotors()) {
#if NUM_EXTRUDER > 0
WRITE(EXT0_STEP_PIN, START_STEP_WITH_HIGH);
#if defined(EXT0_MIRROR_STEPPER) && EXT0_MIRROR_STEPPER
WRITE(EXT0_STEP2_PIN, START_STEP_WITH_HIGH);
#endif
#if EXTRUDER_JAM_CONTROL && defined(EXT0_JAM_PIN) && EXT0_JAM_PIN > -1
TEST_EXTRUDER_JAM(0)
#endif
#endif
#if NUM_EXTRUDER > 1
WRITE(EXT1_STEP_PIN, START_STEP_WITH_HIGH);
#if defined(EXT1_MIRROR_STEPPER) && EXT1_MIRROR_STEPPER
WRITE(EXT1_STEP2_PIN, START_STEP_WITH_HIGH);
#endif
#if EXTRUDER_JAM_CONTROL && defined(EXT1_JAM_PIN) && EXT1_JAM_PIN > -1
TEST_EXTRUDER_JAM(1)
#endif
#endif
#if NUM_EXTRUDER > 2
WRITE(EXT2_STEP_PIN, START_STEP_WITH_HIGH);
#if defined(EXT2_MIRROR_STEPPER) && EXT2_MIRROR_STEPPER
WRITE(EXT2_STEP2_PIN, START_STEP_WITH_HIGH);
#endif
#if EXTRUDER_JAM_CONTROL && defined(EXT2_JAM_PIN) && EXT2_JAM_PIN > -1
TEST_EXTRUDER_JAM(2)
#endif
#endif
#if NUM_EXTRUDER > 3
WRITE(EXT3_STEP_PIN, START_STEP_WITH_HIGH);
#if defined(EXT3_MIRROR_STEPPER) && EXT3_MIRROR_STEPPER
WRITE(EXT3_STEP2_PIN, START_STEP_WITH_HIGH);
#endif
#if EXTRUDER_JAM_CONTROL && defined(EXT3_JAM_PIN) && EXT3_JAM_PIN > -1
TEST_EXTRUDER_JAM(3)
#endif
#endif
#if NUM_EXTRUDER > 4
WRITE(EXT4_STEP_PIN, START_STEP_WITH_HIGH);
#if defined(EXT4_MIRROR_STEPPER) && EXT4_MIRROR_STEPPER
WRITE(EXT4_STEP2_PIN, START_STEP_WITH_HIGH);
#endif
#if EXTRUDER_JAM_CONTROL && defined(EXT4_JAM_PIN) && EXT4_JAM_PIN > -1
TEST_EXTRUDER_JAM(4)
#endif
#endif
#if NUM_EXTRUDER > 5
WRITE(EXT5_STEP_PIN, START_STEP_WITH_HIGH);
#if defined(EXT5_MIRROR_STEPPER) && EXT5_MIRROR_STEPPER
WRITE(EXT5_STEP2_PIN, START_STEP_WITH_HIGH);
#endif
#if EXTRUDER_JAM_CONTROL && defined(EXT5_JAM_PIN) && EXT5_JAM_PIN > -1
TEST_EXTRUDER_JAM(5)
#endif
#endif
return;
}
uint8_t best = 255,i;
int bestError;
if(mixingDir)
{
bestError = -10000;
for(i = 0; i < NUM_EXTRUDER; i++)
{
if(extruder[i].mixingW == 0) continue;
if(extruder[i].mixingE > bestError)
{
bestError = extruder[i].mixingE;
best = i;
}
extruder[i].mixingE += extruder[i].mixingW;
}
if(best == 255) return; // no extruder has weight!
extruder[best].mixingE -= mixingS;
}
else
{
bestError = 10000;
for(i = 0; i < NUM_EXTRUDER; i++)
{
if(extruder[i].mixingW == 0) continue;
if(extruder[i].mixingE < bestError)
{
bestError = extruder[i].mixingE;
best = i;
}
extruder[i].mixingE -= extruder[i].mixingW;
}
if(best == 255) return; // no extruder has weight!
extruder[best].mixingE += mixingS;
}
#if NUM_EXTRUDER > 0
if(best == 0)
{
WRITE(EXT0_STEP_PIN, START_STEP_WITH_HIGH);
#if defined(EXT0_MIRROR_STEPPER) && EXT0_MIRROR_STEPPER
WRITE(EXT0_STEP2_PIN, START_STEP_WITH_HIGH);
#endif
#if EXTRUDER_JAM_CONTROL && defined(EXT0_JAM_PIN) && EXT0_JAM_PIN > -1
TEST_EXTRUDER_JAM(0)