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/****************************************************************************************************
RepRapFirmware - Heat
This is all the code to deal with heat and temperature.
-----------------------------------------------------------------------------------------------------
Version 0.1
18 November 2012
Adrian Bowyer
RepRap Professional Ltd
http://reprappro.com
Licence: GPL
****************************************************************************************************/
#include "Heat.h"
#include "LocalHeater.h"
#include "HeaterMonitor.h"
#include <Platform/Platform.h>
#include <Platform/RepRap.h>
#include "Sensors/TemperatureSensor.h"
#include <GCodes/GCodeBuffer/GCodeBuffer.h>
#include <Tools/Tool.h>
#include <Platform/TaskPriorities.h>
#include <General/Portability.h>
#if SUPPORT_DHT_SENSOR
# include "Sensors/DhtSensor.h"
#endif
#if SUPPORT_CAN_EXPANSION
# include "RemoteHeater.h"
# include <CanId.h>
# include <CanMessageFormats.h>
# include <CanMessageBuffer.h>
# include "CAN/CanInterface.h"
#endif
#if SUPPORT_REMOTE_COMMANDS
# include <CanMessageGenericParser.h>
# include <CanMessageGenericTables.h>
# include "Sensors/RemoteSensor.h"
#endif
#ifdef DUET3_ATE
# include <Duet3Ate.h>
#endif
#if SUPPORT_CAN_EXPANSION
constexpr uint32_t HeaterTaskStackWords = 470; // task stack size in dwords, must be large enough for auto tuning and a local CAN buffer
#else
constexpr uint32_t HeaterTaskStackWords = 420; // task stack size in dwords, must be large enough for auto tuning. 400 was not quite enough for one Duet WiFi user running 3.2.2.
#endif
static Task<HeaterTaskStackWords> heaterTask;
extern "C" [[noreturn]] void HeaterTaskStart(void * pvParameters) noexcept
{
reprap.GetHeat().HeaterTask();
}
#if SUPPORT_OBJECT_MODEL
// Object model table and functions
// Note: if using GCC version 7.3.1 20180622 and lambda functions are used in this table, you must compile this file with option -std=gnu++17.
// Otherwise the table will be allocated in RAM instead of flash, which wastes too much RAM.
constexpr ObjectModelArrayDescriptor Heat::bedHeatersArrayDescriptor =
{
&heatersLock,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return MaxBedHeaters; },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue((int32_t)((const Heat*)self)->bedHeaters[context.GetLastIndex()]); }
};
constexpr ObjectModelArrayDescriptor Heat::chamberHeatersArrayDescriptor =
{
&heatersLock,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return MaxChamberHeaters; },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue((int32_t)((const Heat*)self)->chamberHeaters[context.GetLastIndex()]); }
};
constexpr ObjectModelArrayDescriptor Heat::heatersArrayDescriptor =
{
&heatersLock,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return ((const Heat*)self)->GetNumHeatersToReport(); },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue(((const Heat*)self)->heaters[context.GetLastIndex()]); }
};
// Macro to build a standard lambda function that includes the necessary type conversions
#define OBJECT_MODEL_FUNC(...) OBJECT_MODEL_FUNC_BODY(Heat, __VA_ARGS__)
constexpr ObjectModelTableEntry Heat::objectModelTable[] =
{
// These entries must be in alphabetical order
// 0. Heat class
{ "bedHeaters", OBJECT_MODEL_FUNC_NOSELF(&bedHeatersArrayDescriptor), ObjectModelEntryFlags::none },
{ "chamberHeaters", OBJECT_MODEL_FUNC_NOSELF(&chamberHeatersArrayDescriptor), ObjectModelEntryFlags::none },
{ "coldExtrudeTemperature", OBJECT_MODEL_FUNC((self->coldExtrude) ? 0.0f : self->extrusionMinTemp, 1), ObjectModelEntryFlags::none },
{ "coldRetractTemperature", OBJECT_MODEL_FUNC((self->coldExtrude) ? 0.0f : self->retractionMinTemp, 1), ObjectModelEntryFlags::none },
{ "heaters", OBJECT_MODEL_FUNC_NOSELF(&heatersArrayDescriptor), ObjectModelEntryFlags::live },
};
constexpr uint8_t Heat::objectModelTableDescriptor[] = { 1, 5 };
DEFINE_GET_OBJECT_MODEL_TABLE(Heat)
#endif
ReadWriteLock Heat::heatersLock;
ReadWriteLock Heat::sensorsLock;
Heat::Heat() noexcept
: sensorCount(0), sensorsRoot(nullptr), sensorOrderingErrors(0), coldExtrude(false), heaterBeingTuned(-1), lastHeaterTuned(-1)
#if SUPPORT_REMOTE_COMMANDS
, newHeaterFaultState(0), newDriverFaultState(0)
#endif
{
for (int8_t& h : bedHeaters)
{
h = -1;
}
for (int8_t& h : chamberHeaters)
{
h = -1;
}
for (Heater*& h : heaters)
{
h = nullptr;
}
// Then set up the real heaters and the corresponding PIDs
for (const Tool*& t : lastStandbyTools)
{
t = nullptr;
}
}
ReadLockedPointer<Heater> Heat::FindHeater(int heater) const noexcept
{
ReadLocker locker(heatersLock);
return ReadLockedPointer<Heater>(locker, (heater < 0 || heater >= (int)MaxHeaters) ? nullptr : heaters[heater]);
}
// Process M307
GCodeResult Heat::SetOrReportHeaterModel(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
{
const unsigned int heater = gb.GetLimitedUIValue('H', MaxHeaters);
const auto h = FindHeater(heater);
if (h.IsNotNull())
{
return h->SetOrReportModel(heater, gb, reply);
}
reply.printf("Heater %u not found", heater);
return GCodeResult::error;
}
// Process M301 or M304. 'heater' is the default heater number to use.
GCodeResult Heat::SetPidParameters(unsigned int heater, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
{
if (gb.Seen('H'))
{
heater = gb.GetUIValue();
}
const auto h = FindHeater(heater);
if (h.IsNotNull())
{
const FopDt& model = h->GetModel();
M301PidParameters pp = model.GetM301PidParameters(false);
bool seen = false;
gb.TryGetFValue('P', pp.kP, seen);
gb.TryGetFValue('I', pp.kI, seen);
gb.TryGetFValue('D', pp.kD, seen);
if (seen)
{
h->SetM301PidParameters(pp);
reprap.HeatUpdated();
}
else if (!model.UsePid())
{
reply.printf("Heater %d is in bang-bang mode", heater);
}
else if (model.ArePidParametersOverridden())
{
reply.printf("Heater %d P:%.1f I:%.3f D:%.1f", heater, (double)pp.kP, (double)pp.kI, (double)pp.kD);
}
else
{
reply.printf("Heater %d uses model-derived PID parameters. Use M307 H%d to view them", heater, heater);
}
return GCodeResult::ok;
}
reply.printf("Heater %u not found", heater);
return GCodeResult::error;
}
// Is the heater enabled?
bool Heat::IsHeaterEnabled(size_t heater) const noexcept
{
const auto h = FindHeater(heater);
return h.IsNotNull() && h->IsHeaterEnabled();
}
// Get a pointer to the temperature sensor entry, or nullptr if the heater number is bad
ReadLockedPointer<TemperatureSensor> Heat::FindSensor(int sn) const noexcept
{
ReadLocker locker(sensorsLock);
for (TemperatureSensor *sensor = sensorsRoot; sensor != nullptr; sensor = sensor->GetNext())
{
if ((int)sensor->GetSensorNumber() == sn)
{
return ReadLockedPointer<TemperatureSensor>(locker, sensor);
}
if ((int)sensor->GetSensorNumber() > sn)
{
break;
}
}
return ReadLockedPointer<TemperatureSensor>(locker, nullptr);
}
// Get a pointer to the first temperature sensor with the specified or higher number
ReadLockedPointer<TemperatureSensor> Heat::FindSensorAtOrAbove(unsigned int sn) const noexcept
{
ReadLocker locker(sensorsLock);
for (TemperatureSensor *sensor = sensorsRoot; sensor != nullptr; sensor = sensor->GetNext())
{
if (sensor->GetSensorNumber() >= sn)
{
return ReadLockedPointer<TemperatureSensor>(locker, sensor);
}
}
return ReadLockedPointer<TemperatureSensor>(locker, nullptr);
}
// Reset all heater models to defaults. Called when running M502.
void Heat::ResetHeaterModels() noexcept
{
ReadLocker lock(heatersLock);
for (Heater* h : heaters)
{
if (h != nullptr && h->IsHeaterEnabled())
{
h->ClearModelAndMonitors();
}
}
}
void Heat::Init() noexcept
{
extrusionMinTemp = HOT_ENOUGH_TO_EXTRUDE;
retractionMinTemp = HOT_ENOUGH_TO_RETRACT;
coldExtrude = false;
heaterTask.Create(HeaterTaskStart, "HEAT", nullptr, TaskPriority::HeatPriority);
}
void Heat::Exit() noexcept
{
{
ReadLocker Lock(heatersLock);
for (Heater *h : heaters)
{
if (h != nullptr)
{
h->SwitchOff();
}
}
}
heaterTask.Suspend();
}
#if SUPPORT_REMOTE_COMMANDS
void Heat::SendHeatersStatus(CanMessageBuffer& buf) noexcept
{
CanMessageHeatersStatus * const msg = buf.SetupStatusMessage<CanMessageHeatersStatus>(CanInterface::GetCanAddress(), CanInterface::GetCurrentMasterAddress());
msg->whichHeaters = 0;
unsigned int heatersFound = 0;
{
ReadLocker lock(heatersLock);
for (size_t heater = 0; heater < MaxHeaters; ++heater)
{
Heater * const h = heaters[heater];
if (h != nullptr)
{
msg->whichHeaters |= (uint64_t)1u << heater;
msg->reports[heatersFound].mode = h->GetModeByte();
msg->reports[heatersFound].averagePwm = (uint8_t)(h->GetAveragePWM() * 255.0);
msg->reports[heatersFound].SetTemperature(h->GetTemperature());
++heatersFound;
}
}
}
if (heatersFound != 0)
{
buf.dataLength = msg->GetActualDataLength(heatersFound);
CanInterface::SendMessageNoReplyNoFree(&buf);
}
}
#endif
[[noreturn]] void Heat::HeaterTask() noexcept
{
uint32_t nextWakeTime = millis();
for (;;)
{
// Wait until we are woken or it's time to send another regular broadcast. If we are really unlucky, we could end up waiting for one tick too long.
nextWakeTime += HeatSampleIntervalMillis;
int32_t delayTime = (int32_t)(nextWakeTime - millis());
if (delayTime > 0)
{
TaskBase::Take((uint32_t)delayTime);
}
#if SUPPORT_CAN_EXPANSION
CanMessageBuffer buf(nullptr);
#endif
#if SUPPORT_REMOTE_COMMANDS
if (CanInterface::InExpansionMode())
{
// Check whether we have any urgent messages to send
if (newDriverFaultState == 1)
{
newDriverFaultState = 2;
reprap.GetPlatform().SendDriversStatus(buf);
}
// Check whether we have new heater fault status messages to send
if (newHeaterFaultState == 1)
{
newHeaterFaultState = 2;
SendHeatersStatus(buf);
}
}
#endif
// Check whether it is time to poll sensors and PIDs and send regular messages
if ((int32_t)(millis() - nextWakeTime) >= 0)
{
// Walk the sensor list and poll all sensors. The list is in increasing sensor number order.
{
#if SUPPORT_CAN_EXPANSION
// Set up to broadcast our sensor temperatures
CanMessageSensorTemperatures * const msg = buf.SetupBroadcastMessage<CanMessageSensorTemperatures>(CanInterface::GetCanAddress());
msg->whichSensors = 0;
unsigned int sensorsFound = 0;
#endif
{
#if SUPPORT_CAN_EXPANSION
unsigned int nextUnreportedSensor = 0;
#endif
ReadLocker lock(sensorsLock);
TemperatureSensor *currentSensor = sensorsRoot;
while (currentSensor != nullptr)
{
currentSensor->Poll();
#if SUPPORT_CAN_EXPANSION
if (currentSensor->GetBoardAddress() == CanInterface::GetCanAddress() && sensorsFound < ARRAY_SIZE(msg->temperatureReports))
{
const unsigned int sn = currentSensor->GetSensorNumber();
if (sn >= nextUnreportedSensor && sn < 64)
{
msg->whichSensors |= (uint64_t)1u << currentSensor->GetSensorNumber();
float temperature;
msg->temperatureReports[sensorsFound].errorCode = (uint8_t)currentSensor->GetLatestTemperature(temperature);
msg->temperatureReports[sensorsFound].SetTemperature(temperature);
++sensorsFound;
nextUnreportedSensor = sn + 1;
}
else
{
// We have a duplicate sensor number, or the sensors list is not ordered by sensor number, or the sensor number is out of range
// Don't send its temperature because that will mess up the relationship between the bitmap and the sensor data in the message
++sensorOrderingErrors;
}
}
#endif
currentSensor = currentSensor->GetNext();
}
}
#if SUPPORT_CAN_EXPANSION
if (sensorsFound != 0) // don't send an empty report
{
buf.dataLength = msg->GetActualDataLength(sensorsFound);
CanInterface::SendBroadcastNoFree(&buf);
}
#endif
}
// Spin the heaters
{
ReadLocker lock(heatersLock);
for (Heater *h : heaters)
{
if (h != nullptr)
{
h->Spin();
}
}
}
// See if we have finished tuning a heater
if (heaterBeingTuned != -1)
{
const auto h = FindHeater(heaterBeingTuned);
if (h.IsNull() || h->GetStatus() != HeaterStatus::tuning)
{
lastHeaterTuned = heaterBeingTuned;
heaterBeingTuned = -1;
}
#if SUPPORT_REMOTE_COMMANDS
else if (CanInterface::InExpansionMode())
{
auto msg = buf.SetupStatusMessage<CanMessageHeaterTuningReport>(CanInterface::GetCanAddress(), CanInterface::GetCurrentMasterAddress());
if (LocalHeater::GetTuningCycleData(*msg))
{
msg->SetStandardFields(heaterBeingTuned);
CanInterface::SendMessageNoReplyNoFree(&buf);
}
}
#endif
}
#if SUPPORT_REMOTE_COMMANDS
if (CanInterface::InExpansionMode())
{
if (newHeaterFaultState == 0)
{
SendHeatersStatus(buf); // send the status of our heaters
}
else
{
newHeaterFaultState = 0; // we recently sent it, so send it again next time
}
// Send our fan RPMs
{
CanMessageFansReport * const msg = buf.SetupStatusMessage<CanMessageFansReport>(CanInterface::GetCanAddress(), CanInterface::GetCurrentMasterAddress());
const unsigned int numReported = reprap.GetFansManager().PopulateFansReport(*msg);
if (numReported != 0)
{
buf.dataLength = msg->GetActualDataLength(numReported);
CanInterface::SendMessageNoReplyNoFree(&buf);
}
}
if (newDriverFaultState == 0)
{
reprap.GetPlatform().SendDriversStatus(buf); // send the status of our drivers
}
else
{
newDriverFaultState = 0; // we recently sent it, so send it again next time
}
// Send a board health message
{
CanMessageBoardStatus * const boardStatusMsg = buf.SetupStatusMessage<CanMessageBoardStatus>(CanInterface::GetCanAddress(), CanInterface::GetCurrentMasterAddress());
boardStatusMsg->Clear();
// We must add fields in the following order: VIN, V12, MCU temperature
size_t index = 0;
#if HAS_VOLTAGE_MONITOR
boardStatusMsg->values[index++] = reprap.GetPlatform().GetPowerVoltages();
boardStatusMsg->hasVin = true;
#endif
#if HAS_12V_MONITOR
boardStatusMsg->values[index++] = reprap.GetPlatform().GetV12Voltages();
boardStatusMsg->hasV12 = true;
#endif
#if HAS_CPU_TEMP_SENSOR
boardStatusMsg->values[index++] = reprap.GetPlatform().GetMcuTemperatures();
boardStatusMsg->hasMcuTemp = true;
#endif
buf.dataLength = boardStatusMsg->GetActualDataLength();
CanInterface::SendMessageNoReplyNoFree(&buf);
}
}
#endif
reprap.KickHeatTaskWatchdog();
}
}
}
void Heat::Diagnostics(MessageType mtype) noexcept
{
Platform& platform = reprap.GetPlatform();
platform.Message(mtype, "=== Heat ===\n");
String<StringLength100> str;
str.copy("Bed heaters");
for (int8_t bedHeater : bedHeaters)
{
str.catf(" %d", bedHeater);
}
str.cat(", chamber heaters");
for (int8_t chamberHeater : chamberHeaters)
{
str.catf(" %d", chamberHeater);
}
str.catf(", ordering errs %u\n", sensorOrderingErrors);
platform.Message(mtype, str.c_str());
for (size_t heater : ARRAY_INDICES(heaters))
{
auto h = FindHeater(heater);
if (h.IsNotNull() && h->GetStatus() == HeaterStatus::active)
{
const float acc = h->GetAccumulator();
h.Release();
platform.MessageF(mtype, "Heater %u is on, I-accum = %.1f\n", heater, (double)acc);
}
}
}
// Configure a heater. Invoked by M950.
GCodeResult Heat::ConfigureHeater(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
{
const size_t heater = gb.GetLimitedUIValue('H', MaxHeaters);
if (gb.Seen('C'))
{
String<StringLength50> pinName;
gb.GetReducedString(pinName.GetRef());
#if SUPPORT_CAN_EXPANSION
const CanAddress board = IoPort::RemoveBoardAddress(pinName.GetRef());
#endif
if (StringEqualsIgnoreCase(pinName.c_str(), NoPinName))
{
// Setting the pin name to "nil" deletes the heater
WriteLocker lock(heatersLock);
DeleteObject(heaters[heater]);
reprap.HeatUpdated();
return GCodeResult::ok;
}
gb.MustSee('T');
const unsigned int sensorNumber = gb.GetUIValue();
WriteLocker lock(heatersLock);
DeleteObject(heaters[heater]);
const PwmFrequency freq = (gb.Seen('Q')) ? min<PwmFrequency>(gb.GetPwmFrequency(), MaxHeaterPwmFrequency) : DefaultHeaterPwmFreq;
#if SUPPORT_CAN_EXPANSION
Heater * const newHeater = (board != CanInterface::GetCanAddress()) ? (Heater *)new RemoteHeater(heater, board) : new LocalHeater(heater);
#else
Heater * const newHeater = new LocalHeater(heater);
#endif
const GCodeResult rslt = newHeater->ConfigurePortAndSensor(pinName.c_str(), freq, sensorNumber, reply);
if (rslt == GCodeResult::ok || rslt == GCodeResult::warning)
{
heaters[heater] = newHeater;
}
else
{
delete newHeater;
}
reprap.HeatUpdated();
return rslt;
}
if (gb.Seen('T'))
{
reply.copy("Can't change sensor number of existing heater");
return GCodeResult::error;
}
const auto h = FindHeater(heater);
if (h.IsNull())
{
reply.printf("Heater %u does not exist", (unsigned int)heater);
return GCodeResult::error;
}
if (gb.Seen('Q'))
{
const GCodeResult rslt = h->SetPwmFrequency(gb.GetPwmFrequency(), reply);
reprap.HeatUpdated();
return rslt;
}
return h->ReportDetails(reply);
}
bool Heat::AllHeatersAtSetTemperatures(bool includingBed, float tolerance) const noexcept
{
for (size_t heater : ARRAY_INDICES(heaters))
{
if (!HeaterAtSetTemperature(heater, true, tolerance) && (includingBed || !IsBedHeater(heater)))
{
return false;
}
}
return true;
}
//query an individual heater
bool Heat::HeaterAtSetTemperature(int heater, bool waitWhenCooling, float tolerance) const noexcept
{
const auto h = FindHeater(heater);
if (h.IsNotNull())
{
const HeaterStatus stat = h->GetStatus();
if (stat == HeaterStatus::active || stat == HeaterStatus::standby)
{
const float dt = h->GetTemperature();
const float target = (stat == HeaterStatus::active) ? h->GetActiveTemperature() : h->GetStandbyTemperature();
return (target < TEMPERATURE_LOW_SO_DONT_CARE)
|| (fabsf(dt - target) <= tolerance)
|| (target < dt && !waitWhenCooling);
}
}
// If the heater doesn't exist or is switched off or in a fault state, there is nothing to wait for
return true;
}
HeaterStatus Heat::GetStatus(int heater) const noexcept
{
const auto h = FindHeater(heater);
return (h.IsNull()) ? HeaterStatus::off : heaters[heater]->GetStatus();
}
void Heat::SetBedHeater(size_t index, int heater) noexcept
{
// First, turn off any existing bed heater in this slot
{
const auto h = FindHeater(bedHeaters[index]);
if (h.IsNotNull())
{
h->SwitchOff();
}
}
bedHeaters[index] = heater;
{
const auto h = FindHeater(heater);
if (h.IsNotNull())
{
h->SetAsBedOrChamberHeater();
}
}
reprap.HeatUpdated();
}
bool Heat::IsBedHeater(int heater) const noexcept
{
for (int8_t bedHeater : bedHeaters)
{
if (heater == bedHeater)
{
return true;
}
}
return false;
}
void Heat::SetChamberHeater(size_t index, int heater) noexcept
{
// First, turn off any existing chamber heater in this slot
{
const auto h = FindHeater(chamberHeaters[index]);
if (h.IsNotNull())
{
h->SwitchOff();
}
}
chamberHeaters[index] = heater;
const auto h = FindHeater(heater);
if (h.IsNotNull())
{
h->SetAsBedOrChamberHeater();
}
reprap.HeatUpdated();
}
bool Heat::IsChamberHeater(int heater) const noexcept
{
for (int8_t chamberHeater : chamberHeaters)
{
if (heater == chamberHeater)
{
return true;
}
}
return false;
}
// This is called when a tool is created that uses this heater
void Heat::SetAsToolHeater(int8_t heater) const noexcept
{
const auto h = FindHeater(heater);
if (h.IsNotNull())
{
h->SetAsToolHeater();
}
reprap.HeatUpdated();
}
void Heat::SetTemperature(int heater, float t, bool activeNotStandby) THROWS(GCodeException)
{
const auto h = FindHeater(heater);
if (h.IsNotNull())
{
h->SetTemperature(t, activeNotStandby);
}
}
float Heat::GetActiveTemperature(int heater) const noexcept
{
const auto h = FindHeater(heater);
return (h.IsNull()) ? ABS_ZERO : h->GetActiveTemperature();
}
float Heat::GetStandbyTemperature(int heater) const noexcept
{
const auto h = FindHeater(heater);
return (h.IsNull()) ? ABS_ZERO : h->GetStandbyTemperature();
}
float Heat::GetHighestTemperatureLimit(int heater) const noexcept
{
const auto h = FindHeater(heater);
return (h.IsNull()) ? BadErrorTemperature : h->GetHighestTemperatureLimit();
}
float Heat::GetLowestTemperatureLimit(int heater) const noexcept
{
const auto h = FindHeater(heater);
return (h.IsNull()) ? ABS_ZERO : h->GetLowestTemperatureLimit();
}
// Get the current temperature of a real or virtual heater
// Return ABS_ZERO if the heater doesn't exist. The Z probe class relies on this.
float Heat::GetHeaterTemperature(int heater) const noexcept
{
const auto h = FindHeater(heater);
return (h.IsNull()) ? ABS_ZERO : h->GetTemperature();
}
// Get the target temperature of a heater
float Heat::GetTargetTemperature(int heater) const noexcept
{
const HeaterStatus hs = GetStatus(heater);
return (hs == HeaterStatus::active) ? GetActiveTemperature(heater)
: (hs == HeaterStatus::standby) ? GetStandbyTemperature(heater)
: 0.0;
}
GCodeResult Heat::Activate(int heater, const StringRef& reply) noexcept
{
const auto h = FindHeater(heater);
if (h.IsNotNull())
{
return h->Activate(reply);
}
reply.copy("Heater %d not found", heater);
return GCodeResult::error;
}
void Heat::SwitchOff(int heater) noexcept
{
const auto h = FindHeater(heater);
if (h.IsNotNull())
{
h->SwitchOff();
lastStandbyTools[heater] = nullptr;
}
}
void Heat::SwitchOffAll(bool includingChamberAndBed) noexcept
{
ReadLocker lock(heatersLock);
for (int heater = 0; heater < (int)MaxHeaters; ++heater)
{
Heater * const h = heaters[heater];
if (h != nullptr && (includingChamberAndBed || !IsBedOrChamberHeater(heater)))
{
h->SwitchOff();
}
}
}
// Turn off all local heaters. Safe to call from an ISR. Called only from the tick ISR.
void Heat::SwitchOffAllLocalFromISR() noexcept
{
for (Heater* h : heaters)
{
if (h != nullptr
#if SUPPORT_CAN_EXPANSION
&& h->IsLocal()
#endif
)
{
h->SwitchOff();
}
}
}
void Heat::Standby(int heater, const Tool *tool) noexcept
{
const auto h = FindHeater(heater);
if (h.IsNotNull())
{
h->Standby();
lastStandbyTools[heater] = tool;
}
}
void Heat::FeedForwardAdjustment(unsigned int heater, float fanPwmChange, float extrusionChange) const noexcept
{
const auto h = FindHeater(heater);
if (h.IsNotNull())
{
h->FeedForwardAdjustment(fanPwmChange, extrusionChange);
}
}
// This one is called from an ISR so we must not get a lock
void Heat::SetExtrusionFeedForward(unsigned int heater, float pwm) const noexcept
{
if (heater < MaxHeaters)
{
Heater * const h = heaters[heater];
if (h != nullptr)
{
h->SetExtrusionFeedForward(pwm);
}
}
}
GCodeResult Heat::ResetFault(int heater, const StringRef& reply) noexcept
{
// This gets called for all heater numbers when clearing all temperature faults, so don't report an error if the heater was not found
const auto h = FindHeater(heater);
return (h.IsNotNull()) ? h->ResetFault(reply) : GCodeResult::ok;
}
float Heat::GetAveragePWM(size_t heater) const noexcept
{
const auto h = FindHeater(heater);
return (h.IsNull()) ? 0.0 : h->GetAveragePWM();
}
bool Heat::IsBedOrChamberHeater(int heater) const noexcept
{
return IsBedHeater(heater) || IsChamberHeater(heater);
}
// Get the highest temperature limit of any heater
float Heat::GetHighestTemperatureLimit() const noexcept
{
float limit = ABS_ZERO;
ReadLocker lock(heatersLock);
for (const Heater *h : heaters)
{
if (h != nullptr)
{
const float tlimit = h->GetHighestTemperatureLimit();
if (tlimit > limit)
{
limit = tlimit;
}
}
}
return limit;
}
#if HAS_MASS_STORAGE || HAS_SBC_INTERFACE
// Write heater model parameters to file returning true if no error
bool Heat::WriteModelParameters(FileStore *f) const noexcept
{
bool ok = f->Write("; Heater model parameters\n");
for (size_t h : ARRAY_INDICES(heaters))
{
if (heaters[h] != nullptr)
{
const FopDt& model = heaters[h]->GetModel();
if (model.IsEnabled())
{
ok = model.WriteParameters(f, h);
}
}
}
return ok;
}
#endif
// Process M570
GCodeResult Heat::ConfigureHeaterMonitoring(size_t heater, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
{
const auto h = FindHeater(heater);
if (h.IsNull())
{
reply.printf("Heater %u not found", heater);
return GCodeResult::error;
}
bool seenValue = false;
float maxTempExcursion, maxFaultTime;
h->GetFaultDetectionParameters(maxTempExcursion, maxFaultTime);
gb.TryGetFValue('P', maxFaultTime, seenValue);
gb.TryGetFValue('T', maxTempExcursion, seenValue);
if (seenValue)
{
return h->SetFaultDetectionParameters(maxTempExcursion, maxFaultTime, reply);
}
reply.printf("Heater %u allowed excursion %.1f" DEGREE_SYMBOL "C, fault trigger time %.1f seconds", heater, (double)maxTempExcursion, (double)maxFaultTime);
return GCodeResult::ok;
}
// Process M303
GCodeResult Heat::TuneHeater(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
{
// To tune a heater, a heater number and/or a tool number musty be given
FansBitmap fans;
int heaterNumber;
const bool seenHeater = gb.Seen('H');
if (seenHeater)
{
heaterNumber = gb.GetIValue();
}
const bool seenTool = gb.Seen('T');
if (seenTool)
{
const int toolNumber = gb.GetIValue();
const auto tool = reprap.GetTool(toolNumber);
if (tool.IsNull())
{
reply.printf("tool %d not found", toolNumber);
return GCodeResult::error;
}
if (seenHeater)
{
if (!tool->UsesHeater(heaterNumber))
{
reply.printf("tool %d does not use heater %d", toolNumber, heaterNumber);
return GCodeResult::error;
}
}
else if (tool->HeaterCount() == 0)
{
reply.printf("tool %d has no heaters", toolNumber);
return GCodeResult::error;
}
else
{
heaterNumber = tool->GetHeater(0);
}
fans = tool->GetFanMapping();
}
if (seenHeater || seenTool)
{
if (heaterBeingTuned != -1)
{
// Trying to start a new auto tune, but we are already tuning a heater
reply.printf("Error: cannot start a new auto tune because heater %d is being tuned", heaterBeingTuned);
return GCodeResult::error;
}
const auto h = FindHeater(heaterNumber);
if (h.IsNull())
{
reply.printf("Heater %u not found", heaterNumber);
return GCodeResult::error;
}
const GCodeResult rslt = h->StartAutoTune(gb, reply, fans);
if (rslt <= GCodeResult::warning)
{
heaterBeingTuned = (int8_t)heaterNumber;
}
return rslt;
}
// If we get here then neither T nor H was given, so report the auto tune status
const int whichPid = (heaterBeingTuned == -1) ? lastHeaterTuned : heaterBeingTuned;
const auto h = FindHeater(whichPid);
if (h.IsNotNull())
{
h->GetAutoTuneStatus(reply);
}
else
{
reply.copy("No heater has been tuned since startup");
}
return GCodeResult::ok;
}
// Process M308
GCodeResult Heat::ConfigureSensor(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
{
gb.MustSee('S');
const unsigned sensorNum = gb.GetUIValue();
if (sensorNum >= MaxSensors)
{
reply.copy("Sensor number out of range");
return GCodeResult::error;
}
#if SUPPORT_CAN_EXPANSION
// Set boardAddress to the board number that the port is on, or NoAddress if the port was not given
CanAddress boardAddress = CanId::NoAddress;
#endif
if (gb.Seen('P'))
{
String<StringLength50> portName;
gb.GetReducedString(portName.GetRef());
#if SUPPORT_CAN_EXPANSION
boardAddress = IoPort::RemoveBoardAddress(portName.GetRef());
#else
if (!IoPort::RemoveBoardAddress(portName.GetRef()))
{
reply.lcat("Board address of port must be 0");
return GCodeResult::error;
}
#endif
if (portName.EqualsIgnoreCase(NoPinName)) // if deleting this sensor
{
WriteLocker lock(sensorsLock);
DeleteSensor(sensorNum);
return GCodeResult::ok;
}
}
if (gb.Seen('Y'))
{
// Creating a new sensor
WriteLocker lock(sensorsLock);
DeleteSensor(sensorNum);
String<StringLength50> typeName; // StringLength20 is too short for "thermocouple-max31856"
gb.GetReducedString(typeName.GetRef());
#if SUPPORT_CAN_EXPANSION
if (boardAddress == CanId::NoAddress)
{
boardAddress = CanInterface::GetCanAddress(); // no port name was given, so default to local
}
TemperatureSensor * const newSensor = TemperatureSensor::Create(sensorNum, boardAddress, typeName.c_str(), reply);
#else
TemperatureSensor * const newSensor = TemperatureSensor::Create(sensorNum, typeName.c_str(), reply);
#endif
if (newSensor == nullptr)
{
return GCodeResult::error;
}
bool changed = false;
const GCodeResult rslt = newSensor->Configure(gb, reply, changed);
if (rslt == GCodeResult::ok)
{
InsertSensor(newSensor);
}
else
{
delete newSensor;
}
return rslt;
}
// Modifying or reporting on an existing sensor
const auto sensor = FindSensor(sensorNum);
if (sensor.IsNull())
{
reply.printf("Sensor %u does not exist", sensorNum);
return GCodeResult::error;
}
#if SUPPORT_CAN_EXPANSION
const CanAddress existingBoardAddress = sensor->GetBoardAddress();
if (boardAddress == CanId::NoAddress)
{
boardAddress = existingBoardAddress;
}
else if (boardAddress != existingBoardAddress)
{
reply.copy("Sensor type parameter needed when moving a sensor to a different board");
return GCodeResult::error;
}
#endif
bool changed = false;
const GCodeResult rslt = sensor->Configure(gb, reply, changed);
if (changed)
{
reprap.SensorsUpdated();
}
return rslt;
}
// Get the name of a heater, or nullptr if it hasn't been named
const char *Heat::GetHeaterSensorName(size_t heater) const noexcept
{
const auto h = FindHeater(heater);
return (h.IsNotNull()) ? h->GetSensorName() : nullptr;
}
// Configure heater protection (M143). Returns true if an error occurred
GCodeResult Heat::HandleM143(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
{
const size_t heaterNumber = (gb.Seen('H')) ? gb.GetLimitedUIValue('H', MaxHeaters) : 1;
const auto h = FindHeater(heaterNumber);
if (h.IsNull())
{
reply.printf("Heater %u does not exist", heaterNumber);
return GCodeResult::error;
}
return h->ConfigureMonitor(gb, reply);
}
// Get the temperature of a sensor
float Heat::GetSensorTemperature(int sensorNum, TemperatureError& err) const noexcept
{
const auto sensor = FindSensor(sensorNum);
if (sensor.IsNotNull())
{
float temp;
err = sensor->GetLatestTemperature(temp);
return temp;
}
err = TemperatureError::unknownSensor;
return BadErrorTemperature;
}
// Return the highest used heater number plus one. Used by RepRap.cpp to shorten responses by omitting unused trailing heater numbers.
size_t Heat::GetNumHeatersToReport() const noexcept
{
size_t ret = ARRAY_SIZE(heaters);
while (ret != 0 && heaters[ret - 1] == nullptr)
{
--ret;
}
return ret;
}
// Return the highest used sensor number plus one
size_t Heat::GetNumSensorsToReport() const noexcept
{
ReadLocker lock(sensorsLock);
const TemperatureSensor *s = sensorsRoot;
if (s == nullptr)
{
return 0;
}
// Find the last sensor in the list
while (s->GetNext() != nullptr)
{
s = s->GetNext();
}
return s->GetSensorNumber() + 1;
}
// Suspend the heaters to conserve power or while doing Z probing
void Heat::SuspendHeaters(bool sus) noexcept
{
for (Heater *h : heaters)
{
if (h != nullptr)
{
h->Suspend(sus);
}
}
}
// Delete a sensor, if there is one. Must write-lock the sensors lock before calling this.
void Heat::DeleteSensor(unsigned int sn) noexcept
{
TemperatureSensor *currentSensor = sensorsRoot;
TemperatureSensor *lastSensor = nullptr;
while (currentSensor != nullptr)
{
if (currentSensor->GetSensorNumber() == sn)
{
TemperatureSensor *sensorToDelete = currentSensor;
currentSensor = currentSensor->GetNext();
if (lastSensor == nullptr)
{
sensorsRoot = currentSensor;
}
else
{
lastSensor->SetNext(currentSensor);
}
delete sensorToDelete;
--sensorCount;
reprap.SensorsUpdated();
break;
}
lastSensor = currentSensor;
currentSensor = currentSensor->GetNext();
}
}
// Insert a sensor. Must write-lock the sensors lock before calling this. The sensors list is kept in order of increasing sensor number.
void Heat::InsertSensor(TemperatureSensor *newSensor) noexcept
{
TemperatureSensor *prev = nullptr;
TemperatureSensor *ts = sensorsRoot;
for (;;)
{
if (ts == nullptr || ts->GetSensorNumber() > newSensor->GetSensorNumber())
{
newSensor->SetNext(ts);
if (prev == nullptr)
{
sensorsRoot = newSensor;
}
else
{
prev->SetNext(newSensor);
}
++sensorCount;
reprap.SensorsUpdated();
break;
}
prev = ts;
ts = ts->GetNext();
}
}
#if HAS_MASS_STORAGE || HAS_SBC_INTERFACE
// Save some resume information returning true if successful.
// We assume that the bed and chamber heaters are either on and active, or off (not on standby).
bool Heat::WriteBedAndChamberTempSettings(FileStore *f) const noexcept
{
String<StringLength256> bufSpace;
const StringRef buf = bufSpace.GetRef();
for (size_t index : ARRAY_INDICES(bedHeaters))
{
const auto h = FindHeater(bedHeaters[index]);
if (h.IsNotNull() && h->GetStatus() == HeaterStatus::active)
{
buf.catf("M140 P%u S%.1f\n", index, (double)h->GetActiveTemperature());
}
}
for (size_t index : ARRAY_INDICES(chamberHeaters))
{
const auto h = FindHeater(chamberHeaters[index]);
if (h.IsNotNull() && h->GetStatus() == HeaterStatus::active)
{
buf.catf("M141 P%u S%.1f\n", index, (double)h->GetActiveTemperature());
}
}
return (buf.strlen() == 0) || f->Write(buf.c_str());
}
#endif
#if SUPPORT_CAN_EXPANSION
void Heat::ProcessRemoteSensorsReport(CanAddress src, const CanMessageSensorTemperatures& msg) noexcept
{
Bitmap<uint64_t> sensorsReported(msg.whichSensors);
sensorsReported.Iterate([this, src, &msg](unsigned int sensor, unsigned int index)
{
if (index < ARRAY_SIZE(msg.temperatureReports))
{
const CanSensorReport& sr = msg.temperatureReports[index];
auto ts = FindSensor(sensor);
if (ts.IsNotNull())
{
ts->UpdateRemoteTemperature(src, sr);
}
# ifdef DUET3_ATE
else
{
Duet3Ate::ProcessOrphanedSensorReport(src, sensor, sr);
}
# elif SUPPORT_REMOTE_COMMANDS
else if (CanInterface::InExpansionMode())
{
// Create a new RemoteSensor
ts.Release();
RemoteSensor * const rs = new RemoteSensor(sensor, src);
rs->UpdateRemoteTemperature(src, sr);
InsertSensor(rs);
}
# endif
}
}
);
}
void Heat::ProcessRemoteHeatersReport(CanAddress src, const CanMessageHeatersStatus& msg) noexcept
{
Bitmap<uint64_t> heatersReported(msg.whichHeaters);
heatersReported.Iterate([this, src, &msg](unsigned int heaterNum, unsigned int index)
{
if (index < ARRAY_SIZE(msg.reports))
{
const auto h = FindHeater(heaterNum);
if (h.IsNotNull())
{
h->UpdateRemoteStatus(src, msg.reports[index]);
}
}
}
);
}
void Heat::ProcessRemoteHeaterTuningReport(CanAddress src, const CanMessageHeaterTuningReport& msg) noexcept
{
const auto h = FindHeater(msg.heater);
if (h.IsNotNull())
{
h->UpdateHeaterTuning(src, msg);
}
}
#endif
#if SUPPORT_REMOTE_COMMANDS
static GCodeResult UnknownHeater(unsigned int heater, const StringRef& reply) noexcept
{
reply.printf("Board %u does not have heater %u", CanInterface::GetCanAddress(), heater);
return GCodeResult::error;
}
GCodeResult Heat::ConfigureHeater(const CanMessageGeneric& msg, const StringRef& reply) noexcept
{
CanMessageGenericParser parser(msg, M950HeaterParams);
uint16_t heater;
if (!parser.GetUintParam('H', heater))
{
return GCodeResult::remoteInternalError;
}
if (heater >= MaxHeaters)
{
reply.copy("Heater number out of range");
return GCodeResult::error;
}
PwmFrequency freq = DefaultFanPwmFreq;
const bool seenFreq = parser.GetUintParam('Q', freq);
String<StringLength50> pinName;
if (parser.GetStringParam('C', pinName.GetRef()))
{
uint16_t sensorNumber;
if (!parser.GetUintParam('T', sensorNumber))
{
reply.copy("Missing sensor number");
return GCodeResult::error;
}
WriteLocker lock(heatersLock);
Heater *oldHeater = nullptr;
std::swap(oldHeater, heaters[heater]);
delete oldHeater;
Heater *newHeater = new LocalHeater(heater);
const GCodeResult rslt = newHeater->ConfigurePortAndSensor(pinName.c_str(), freq, sensorNumber, reply);
if (rslt == GCodeResult::ok || rslt == GCodeResult::warning)
{
heaters[heater] = newHeater;
}
else
{
delete newHeater;
}
return rslt;
}
const auto h = FindHeater(heater);
if (h.IsNull())
{
return UnknownHeater(heater, reply);
}
if (seenFreq)
{
return h->SetPwmFrequency(freq, reply);
}
return h->ReportDetails(reply);
}
GCodeResult Heat::ProcessM307New(const CanMessageUpdateHeaterModelNew& msg, const StringRef& reply) noexcept
{
const auto h = FindHeater(msg.heater);
return (h.IsNotNull()) ? h->SetOrReportModelNew(msg.heater, msg, reply) : UnknownHeater(msg.heater, reply);
}
GCodeResult Heat::SetTemperature(const CanMessageSetHeaterTemperature& msg, const StringRef& reply) noexcept
{
const auto h = FindHeater(msg.heaterNumber);
return (h.IsNotNull()) ? h->SetTemperature(msg, reply) : UnknownHeater(msg.heaterNumber, reply);
}
GCodeResult Heat::SetFaultDetection(const CanMessageSetHeaterFaultDetectionParameters& msg, const StringRef& reply) noexcept
{
const auto h = FindHeater(msg.heater);
return (h.IsNotNull())
? h->SetFaultDetectionParameters(msg.maxTempExcursion, msg.maxFaultTime, reply)
: UnknownHeater(msg.heater, reply);
}
GCodeResult Heat::SetHeaterMonitors(const CanMessageSetHeaterMonitors& msg, const StringRef& reply) noexcept
{
const auto h = FindHeater(msg.heater);
return (h.IsNotNull()) ? h->SetHeaterMonitors(msg, reply) : UnknownHeater(msg.heater, reply);
}
GCodeResult Heat::TuningCommand(const CanMessageHeaterTuningCommand& msg, const StringRef& reply) noexcept
{
if (heaterBeingTuned != -1 && heaterBeingTuned != (int)msg.heaterNumber)
{
reply.printf("Heater %d is already being tuned", heaterBeingTuned);
return GCodeResult::error;
}
const auto h = FindHeater(msg.heaterNumber);
if (h.IsNull())
{
return UnknownHeater(msg.heaterNumber, reply);
}
heaterBeingTuned = (int)msg.heaterNumber; // setting this is OK even if we are stopping or fail to start tuning, because we check it in the heater task loop
return h->TuningCommand(msg, reply);
}
GCodeResult Heat::FeedForward(const CanMessageHeaterFeedForward& msg, const StringRef& reply) noexcept
{
const auto h = FindHeater(msg.heaterNumber);
if (h.IsNull())
{
return UnknownHeater(msg.heaterNumber, reply);
}
h->FeedForwardAdjustment(msg.fanPwmAdjustment, msg.extrusionAdjustment);
return GCodeResult::ok;
}
GCodeResult Heat::ProcessM308(const CanMessageGeneric& msg, const StringRef& reply) noexcept
{
CanMessageGenericParser parser(msg, M308NewParams);
uint16_t sensorNum;
if (parser.GetUintParam('S', sensorNum))
{
if (sensorNum < MaxSensors)
{
// Check for deleting the sensor by assigning a null port. Borrow the sensor type name string temporarily for this.
String<StringLength20> sensorTypeName;
if (parser.GetStringParam('P', sensorTypeName.GetRef()) && sensorTypeName.EqualsIgnoreCase(NoPinName))
{
WriteLocker lock(sensorsLock);
DeleteSensor(sensorNum);
return GCodeResult::ok;
}
if (parser.GetStringParam('Y', sensorTypeName.GetRef()))
{
WriteLocker lock(sensorsLock);
DeleteSensor(sensorNum);
TemperatureSensor * const newSensor = TemperatureSensor::Create(sensorNum, CanInterface::GetCanAddress(), sensorTypeName.c_str(), reply);
if (newSensor == nullptr)
{
return GCodeResult::error;
}
const GCodeResult rslt = newSensor->Configure(parser, reply);
if (rslt == GCodeResult::ok || rslt == GCodeResult::warning)
{
InsertSensor(newSensor);
}
else
{
delete newSensor;
}
return rslt;
}
const auto sensor = FindSensor(sensorNum);
if (sensor.IsNull())
{
reply.printf("Sensor %u does not exist", sensorNum);
return GCodeResult::error;
}
return sensor->Configure(parser, reply);
}
else
{
reply.copy("Sensor number out of range");
return GCodeResult::error;
}
}
reply.copy("Missing sensor number parameter");
return GCodeResult::error;
}
#endif
// End
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