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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
****************************************************************************************************/
#ifndef HEAT_H
#define HEAT_H
/**
* The master class that controls all the heaters in the RepRap machine
*/
#include <RepRapFirmware.h>
#include <Platform/RepRap.h>
#include "Heater.h"
#include "TemperatureError.h"
#include <RTOSIface/RTOSIface.h>
class TemperatureSensor;
class HeaterMonitor;
class GCodeBuffer;
class CanMessageSensorTemperatures;
class CanMessageHeatersStatus;
class Heat INHERIT_OBJECT_MODEL
{
public:
Heat() noexcept;
Heat(const Heat&) = delete;
// Methods that don't relate to a particular heater
[[noreturn]] void HeaterTask() noexcept;
void Init() noexcept; // Set everything up
void Exit() noexcept; // Shut everything down
void ResetHeaterModels() noexcept; // Reset all active heater models to defaults
bool ColdExtrude() const noexcept; // Is cold extrusion allowed?
void AllowColdExtrude(bool b) noexcept; // Allow or deny cold extrusion
float GetExtrusionMinTemp() const noexcept; // Get minimum extrusion temperature
float GetRetractionMinTemp() const noexcept; // Get minimum retraction temperature
void SetExtrusionMinTemp(float t) noexcept; // Set minimum extrusion temperature
void SetRetractionMinTemp(float t) noexcept; // Set minimum retraction temperature
int GetBedHeater(size_t index) const noexcept // Get a hot bed heater number
pre(index < NumBedHeaters);
void SetBedHeater(size_t index, int heater) noexcept // Set a hot bed heater number
pre(index < NumBedHeaters; -1 <= heater; heater < MaxHeaters);
bool IsBedHeater(int heater) const noexcept; // Check if this heater is a bed heater
int GetChamberHeater(size_t index) const noexcept // Get a chamber heater number
pre(index < NumChamberHeaters);
void SetChamberHeater(size_t index, int heater) noexcept // Set a chamber heater number
pre(index < NumChamberHeaters; -1 <= heater; heater < MaxHeaters);
bool IsChamberHeater(int heater) const noexcept; // Check if this heater is a chamber heater
void SetAsToolHeater(int8_t heater) const noexcept; // called when a tool is created that uses this heater
bool IsBedOrChamberHeater(int heater) const noexcept; // Queried by the Platform class
bool AllHeatersAtSetTemperatures(bool includingBed, float tolerance) const noexcept; // Is everything at temperature within tolerance?
void SwitchOffAll(bool includingChamberAndBed) noexcept; // Turn all heaters off. Not safe to call from an ISR.
void SwitchOffAllLocalFromISR() noexcept; // Turn off all local heaters. Safe to call from an ISR.
void SuspendHeaters(bool sus) noexcept; // Suspend the heaters to conserve power or while probing
GCodeResult ResetFault(int heater, const StringRef& reply) noexcept; // Reset a heater fault for a specific heater or all heaters
GCodeResult SetOrReportHeaterModel(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
GCodeResult TuneHeater(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
GCodeResult ConfigureSensor(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException); // Create a sensor or change the parameters for an existing sensor
GCodeResult SetPidParameters(unsigned int heater, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException); // Set the P/I/D parameters for a heater
GCodeResult HandleM143(GCodeBuffer &gb, const StringRef &reply) THROWS(GCodeException); // Configure heater protection (M143)
ReadLockedPointer<TemperatureSensor> FindSensor(int sn) const noexcept; // Get a pointer to the temperature sensor entry
ReadLockedPointer<TemperatureSensor> FindSensorAtOrAbove(unsigned int sn) const noexcept; // Get a pointer to the first temperature sensor with the specified or higher number
float GetSensorTemperature(int sensorNum, TemperatureError& err) const noexcept; // Result is in degrees Celsius
float GetHighestTemperatureLimit() const noexcept; // Get the highest temperature limit of any heater
size_t GetNumHeatersToReport() const noexcept;
size_t GetNumSensorsToReport() const noexcept;
void Diagnostics(MessageType mtype) noexcept; // Output useful information
// Methods that relate to a particular heater
const char *GetHeaterSensorName(size_t heater) const noexcept; // Get the name of the sensor associated with heater, or nullptr if it hasn't been named
float GetAveragePWM(size_t heater) const noexcept // Return the running average PWM to the heater as a fraction in [0, 1].
pre(heater < MaxHeaters);
const Tool* GetLastStandbyTool(int heater) const noexcept
pre(heater >= 0; heater < MaxHeaters)
{
return lastStandbyTools[heater];
}
bool IsHeaterEnabled(size_t heater) const noexcept // Is this heater enabled?
pre(heater < MaxHeaters);
float GetActiveTemperature(int heater) const noexcept;
float GetStandbyTemperature(int heater) const noexcept;
float GetHighestTemperatureLimit(int heater) const noexcept;
float GetLowestTemperatureLimit(int heater) const noexcept;
float GetTargetTemperature(int heater) const noexcept; // Get the target temperature
float GetHeaterTemperature(int heater) const noexcept; // Get the current temperature of a heater
HeaterStatus GetStatus(int heater) const noexcept; // Get the off/standby/active status
bool HeaterAtSetTemperature(int heater, bool waitWhenCooling, float tolerance) const noexcept;
GCodeResult ConfigureHeater(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
GCodeResult ConfigureHeaterMonitoring(size_t heater, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
void SetActiveTemperature(int heater, float t) THROWS(GCodeException) { SetTemperature(heater, t, true); }
void SetStandbyTemperature(int heater, float t) THROWS(GCodeException) { SetTemperature(heater, t, false); }
GCodeResult Activate(int heater, const StringRef& reply) noexcept; // Turn on a heater
void Standby(int heater, const Tool* tool) noexcept; // Set a heater to standby
void SwitchOff(int heater) noexcept; // Turn off a specific heater
void FeedForwardAdjustment(unsigned int heater, float fanPwmChange, float extrusionChange) const noexcept;
void SetExtrusionFeedForward(unsigned int heater, float pwm) const noexcept;
#if HAS_MASS_STORAGE || HAS_SBC_INTERFACE
bool WriteModelParameters(FileStore *f) const noexcept; // Write heater model parameters to file returning true if no error
bool WriteBedAndChamberTempSettings(FileStore *f) const noexcept; // Save some resume information
#endif
#if SUPPORT_CAN_EXPANSION
void ProcessRemoteSensorsReport(CanAddress src, const CanMessageSensorTemperatures& msg) noexcept;
void ProcessRemoteHeatersReport(CanAddress src, const CanMessageHeatersStatus& msg) noexcept;
void ProcessRemoteHeaterTuningReport(CanAddress src, const CanMessageHeaterTuningReport& msg) noexcept;
#endif
#if SUPPORT_REMOTE_COMMANDS
GCodeResult ConfigureHeater(const CanMessageGeneric& msg, const StringRef& reply) noexcept;
GCodeResult ProcessM307New(const CanMessageHeaterModelNewNew& msg, const StringRef& reply) noexcept;
GCodeResult ProcessM308(const CanMessageGeneric& msg, const StringRef& reply) noexcept;
GCodeResult SetFaultDetection(const CanMessageSetHeaterFaultDetectionParameters& msg, const StringRef& reply) noexcept;
GCodeResult SetHeaterMonitors(const CanMessageSetHeaterMonitors& msg, const StringRef& reply) noexcept;
GCodeResult SetTemperature(const CanMessageSetHeaterTemperature& msg, const StringRef& reply) noexcept;
GCodeResult TuningCommand(const CanMessageHeaterTuningCommand& msg, const StringRef& reply) noexcept;
GCodeResult FeedForward(const CanMessageHeaterFeedForward& msg, const StringRef& reply) noexcept;
#endif
static ReadWriteLock sensorsLock; // needs to be public so that the OMT in EndstopsManager can lock it
protected:
DECLARE_OBJECT_MODEL
OBJECT_MODEL_ARRAY(bedHeaters)
OBJECT_MODEL_ARRAY(chamberHeaters)
OBJECT_MODEL_ARRAY(heaters)
private:
ReadLockedPointer<Heater> FindHeater(int heater) const noexcept;
void DeleteSensor(unsigned int sn) noexcept;
void InsertSensor(TemperatureSensor *newSensor) noexcept;
void SetTemperature(int heater, float t, bool activeNotStandby) THROWS(GCodeException);
#if SUPPORT_REMOTE_COMMANDS
void SendHeatersStatus(CanMessageBuffer& buf) noexcept;
#endif
static ReadWriteLock heatersLock;
uint8_t volatile sensorCount;
TemperatureSensor * volatile sensorsRoot; // The sensor list
Heater* heaters[MaxHeaters]; // A local or remote heater
const Tool* lastStandbyTools[MaxHeaters]; // The last tool that caused the corresponding heater to be set to standby
float extrusionMinTemp; // Minimum temperature to allow regular extrusion
float retractionMinTemp; // Minimum temperature to allow regular retraction
unsigned int sensorOrderingErrors; // Counts any issue with unordered temperature sensors
bool coldExtrude; // Is cold extrusion allowed?
int8_t bedHeaters[MaxBedHeaters]; // Indices of the hot bed heaters to use or -1 if none is available
int8_t chamberHeaters[MaxChamberHeaters]; // Indices of the chamber heaters to use or -1 if none is available
int8_t heaterBeingTuned; // which PID is currently being tuned
int8_t lastHeaterTuned; // which PID we last finished tuning
#if SUPPORT_REMOTE_COMMANDS
uint8_t newHeaterFaultState; // 0 = normal, 1 = new heater fault, 2 = sent heater fault CAN message
uint8_t newDriverFaultState; // 0 = normal, 1 = new driver fault, 2 = sent driver fault CAN message
#endif
};
//***********************************************************************************************************
inline bool Heat::ColdExtrude() const noexcept
{
return coldExtrude;
}
inline void Heat::AllowColdExtrude(bool b) noexcept
{
coldExtrude = b;
reprap.HeatUpdated();
}
inline float Heat::GetExtrusionMinTemp() const noexcept
{
return extrusionMinTemp;
}
inline float Heat::GetRetractionMinTemp() const noexcept
{
return retractionMinTemp;
}
inline void Heat::SetExtrusionMinTemp(float t) noexcept
{
extrusionMinTemp = t;
reprap.HeatUpdated();
}
inline void Heat::SetRetractionMinTemp(float t) noexcept
{
retractionMinTemp = t;
reprap.HeatUpdated();
}
inline int Heat::GetBedHeater(size_t index) const noexcept
{
return bedHeaters[index];
}
inline int Heat::GetChamberHeater(size_t index) const noexcept
{
return chamberHeaters[index];
}
#endif
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