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PID now per extruder. Fixed typo

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master
Erik vd Zalm 12 years ago
parent 0ac452e252
commit 6752cb2d9c
7 changed files with 125 additions and 72 deletions
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11
Marlin/Configuration.h
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@ -136,6 +136,17 @@
// #define DEFAULT_Kd 440
#endif // PIDTEMP
// PID parameters for 2nd extruder
#define DEFAULT_Kp_E1 22.2
#define DEFAULT_Ki_E1 1.08
#define DEFAULT_Kd_E1 114
// PID parameters for 3th extruder
// #define DEFAULT_Kp_E2 22.2
// #define DEFAULT_Ki_E2 1.08
// #define DEFAULT_Kd_E2 114
// Bed Temperature Control
// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
//

110
Marlin/ConfigurationStore.cpp
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@ -3,26 +3,26 @@
#include "temperature.h"
#include "ultralcd.h"
#include "ConfigurationStore.h"
void _EEPROM_writeData(int &pos, uint8_t* value, uint8_t size)
{
do
{
eeprom_write_byte((unsigned char*)pos, *value);
pos++;
value++;
void _EEPROM_writeData(int &pos, uint8_t* value, uint8_t size)
{
do
{
eeprom_write_byte((unsigned char*)pos, *value);
pos++;
value++;
}while(--size);
}
}
#define EEPROM_WRITE_VAR(pos, value) _EEPROM_writeData(pos, (uint8_t*)&value, sizeof(value))
void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
{
do
{
*value = eeprom_read_byte((unsigned char*)pos);
pos++;
value++;
void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
{
do
{
*value = eeprom_read_byte((unsigned char*)pos);
pos++;
value++;
}while(--size);
}
}
#define EEPROM_READ_VAR(pos, value) _EEPROM_readData(pos, (uint8_t*)&value, sizeof(value))
//======================================================================================
@ -43,7 +43,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
void Config_StoreSettings()
{
char ver[4]= "000";
int i=EEPROM_OFFSET;
int i=EEPROM_OFFSET;
EEPROM_WRITE_VAR(i,ver); // invalidate data first
EEPROM_WRITE_VAR(i,axis_steps_per_unit);
EEPROM_WRITE_VAR(i,max_feedrate);
@ -58,8 +58,8 @@ void Config_StoreSettings()
EEPROM_WRITE_VAR(i,max_e_jerk);
EEPROM_WRITE_VAR(i,add_homeing);
#ifndef ULTIPANEL
int plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP, plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP, plaPreheatFanSpeed = PLA_PREHEAT_FAN_SPEED;
int absPreheatHotendTemp = ABS_PREHEAT_HOTEND_TEMP, absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP, absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
int plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP, plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP, plaPreheatFanSpeed = PLA_PREHEAT_FAN_SPEED;
int absPreheatHotendTemp = ABS_PREHEAT_HOTEND_TEMP, absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP, absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
#endif
EEPROM_WRITE_VAR(i,plaPreheatHotendTemp);
EEPROM_WRITE_VAR(i,plaPreheatHPBTemp);
@ -75,7 +75,7 @@ void Config_StoreSettings()
EEPROM_WRITE_VAR(i,3000);
EEPROM_WRITE_VAR(i,0);
EEPROM_WRITE_VAR(i,0);
#endif
#endif
char ver2[4]=EEPROM_VERSION;
i=EEPROM_OFFSET;
EEPROM_WRITE_VAR(i,ver2); // validate data
@ -105,7 +105,7 @@ void Config_PrintSettings()
SERIAL_ECHOPAIR(" Z", max_feedrate[2] );
SERIAL_ECHOPAIR(" E", max_feedrate[3]);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
SERIAL_ECHO_START;
@ -120,7 +120,7 @@ void Config_PrintSettings()
SERIAL_ECHOPAIR(" M204 S",acceleration );
SERIAL_ECHOPAIR(" T" ,retract_acceleration);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s), Z=maximum Z jerk (mm/s)");
SERIAL_ECHO_START;
@ -131,7 +131,7 @@ void Config_PrintSettings()
SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
SERIAL_ECHOPAIR(" E" ,max_e_jerk);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Home offset (mm):");
SERIAL_ECHO_START;
@ -143,11 +143,25 @@ void Config_PrintSettings()
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("PID settings:");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M301 P",Kp);
SERIAL_ECHOPAIR(" I" ,Ki/PID_dT);
SERIAL_ECHOPAIR(" D" ,Kd*PID_dT);
SERIAL_ECHOPAIR(" M301 P",Kp[0]);
SERIAL_ECHOPAIR(" I" ,Ki[0]/PID_dT);
SERIAL_ECHOPAIR(" D" ,Kd[0]*PID_dT);
SERIAL_ECHOLN("");
#if EXTRUDERS > 1
SERIAL_ECHOPAIR(" M301 P",Kp[1]);
SERIAL_ECHOPAIR(" I" ,Ki[1]/PID_dT);
SERIAL_ECHOPAIR(" D" ,Kd[1]*PID_dT);
SERIAL_ECHOPGM(" T1");
SERIAL_ECHOLN("");
#endif
#if EXTRUDERS > 2
SERIAL_ECHOPAIR(" M301 P",Kp[2]);
SERIAL_ECHOPAIR(" I" ,Ki[2]/PID_dT);
SERIAL_ECHOPAIR(" D" ,Kd[2]*PID_dT);
SERIAL_ECHOPGM(" T2");
SERIAL_ECHOLN("");
#endif
#endif
}
#endif
@ -161,7 +175,7 @@ void Config_RetrieveSettings()
EEPROM_READ_VAR(i,stored_ver); //read stored version
// SERIAL_ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]");
if (strncmp(ver,stored_ver,3) == 0)
{
{
// version number match
EEPROM_READ_VAR(i,axis_steps_per_unit);
EEPROM_READ_VAR(i,max_feedrate);
@ -176,15 +190,15 @@ void Config_RetrieveSettings()
EEPROM_READ_VAR(i,max_e_jerk);
EEPROM_READ_VAR(i,add_homeing);
#ifndef ULTIPANEL
int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
int absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed;
int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
int absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed;
#endif
EEPROM_READ_VAR(i,plaPreheatHotendTemp);
EEPROM_READ_VAR(i,plaPreheatHPBTemp);
EEPROM_READ_VAR(i,plaPreheatFanSpeed);
EEPROM_READ_VAR(i,absPreheatHotendTemp);
EEPROM_READ_VAR(i,absPreheatHPBTemp);
EEPROM_READ_VAR(i,absPreheatFanSpeed);
EEPROM_READ_VAR(i,absPreheatFanSpeed);
#ifndef PIDTEMP
float Kp,Ki,Kd;
#endif
@ -195,17 +209,17 @@ void Config_RetrieveSettings()
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Stored settings retreived:");
}
else
{
Config_ResetDefault();
SERIAL_ECHO_START;
SERIAL_ECHOLN("Using Default settings:");
}
else
{
Config_ResetDefault();
SERIAL_ECHO_START;
SERIAL_ECHOLN("Using Default settings:");
}
Config_PrintSettings();
}
#endif
void Config_ResetDefault()
#endif
void Config_ResetDefault()
{
float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT;
float tmp2[]=DEFAULT_MAX_FEEDRATE;
@ -234,9 +248,19 @@ void Config_ResetDefault()
absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
#endif
#ifdef PIDTEMP
Kp = DEFAULT_Kp;
Ki = (DEFAULT_Ki*PID_dT);
Kd = (DEFAULT_Kd/PID_dT);
Kp[0] = DEFAULT_Kp;
Ki[0] = (DEFAULT_Ki*PID_dT);
Kd[0] = (DEFAULT_Kd/PID_dT);
#if EXTRUDERS > 1
Kp[1] = DEFAULT_Kp_E1;
Ki[1] = (DEFAULT_Ki_E1*PID_dT);
Kd[1] = (DEFAULT_Kd_E1/PID_dT);
#endif
#if EXTRUDERS > 2
Kp[2] = DEFAULT_Kp_E2;
Ki[2] = (DEFAULT_Ki_E2*PID_dT);
Kd[2] = (DEFAULT_Kd_E2/PID_dT);
#endif
#ifdef PID_ADD_EXTRUSION_RATE
Kc = DEFAULT_Kc;
#endif//PID_ADD_EXTRUSION_RATE

18
Marlin/Marlin_main.cpp
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@ -1401,20 +1401,23 @@ void process_commands()
#ifdef PIDTEMP
case 301: // M301
{
if(code_seen('P')) Kp = code_value();
if(code_seen('I')) Ki = code_value()*PID_dT;
if(code_seen('D')) Kd = code_value()/PID_dT;
if(setTargetedHotend(301)){
break;
}
if(code_seen('P')) Kp[tmp_extruder] = code_value();
if(code_seen('I')) Ki[tmp_extruder] = code_value()*PID_dT;
if(code_seen('D')) Kd[tmp_extruder] = code_value()/PID_dT;
#ifdef PID_ADD_EXTRUSION_RATE
if(code_seen('C')) Kc = code_value();
#endif
updatePID();
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(Kp);
SERIAL_PROTOCOL(Kp[tmp_extruder]);
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(Ki/PID_dT);
SERIAL_PROTOCOL(Ki[tmp_extruder]/PID_dT);
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(Kd*PID_dT);
SERIAL_PROTOCOL(Kd[tmp_extruder]*PID_dT);
#ifdef PID_ADD_EXTRUSION_RATE
SERIAL_PROTOCOL(" c:");
SERIAL_PROTOCOL(Kc*PID_dT);
@ -1936,6 +1939,9 @@ bool setTargetedHotend(int code){
case 109:
SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
break;
case 301:
SERIAL_ECHO(MSG_M301_INVALID_EXTRUDER);
break;
}
SERIAL_ECHOLN(tmp_extruder);
return true;

11
Marlin/language.h
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@ -139,6 +139,7 @@
#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
#define MSG_ERR_NO_THERMISTORS "No thermistors - no temperature"
#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
#define MSG_M301_INVALID_EXTRUDER "M301 Invalid extruder "
#define MSG_HEATING "Heating..."
#define MSG_HEATING_COMPLETE "Heating done."
#define MSG_BED_HEATING "Bed Heating."
@ -293,6 +294,7 @@
#define MSG_M105_INVALID_EXTRUDER "M105 Niepoprawny ekstruder "
#define MSG_ERR_NO_THERMISTORS "Brak termistorow - brak temperatury :("
#define MSG_M109_INVALID_EXTRUDER "M109 Niepoprawny ekstruder "
#define MSG_M301_INVALID_EXTRUDER "M301 Niepoprawny ekstruder "
#define MSG_HEATING "Nagrzewanie ekstrudera..."
#define MSG_HEATING_COMPLETE "Nagrzewanie ekstrudera zakonczone."
#define MSG_BED_HEATING "Nagrzewanie loza..."
@ -452,6 +454,7 @@
#define MSG_M105_INVALID_EXTRUDER "M105 Extruder invalide"
#define MSG_ERR_NO_THERMISTORS "Pas de thermistor, pas de temperature"
#define MSG_M109_INVALID_EXTRUDER "M109 Extruder invalide "
#define MSG_M301_INVALID_EXTRUDER "M301 Extruder invalide "
#define MSG_HEATING "En chauffe..."
#define MSG_HEATING_COMPLETE "Chauffe terminee."
#define MSG_BED_HEATING "Chauffe du lit."
@ -570,7 +573,7 @@
#define MSG_NO_CARD "Keine SDKarte"
#define MSG_DWELL "Warten..."
#define MSG_USERWAIT "Warte auf Nutzer..."
#define MSG_RESUMING "Druck fortsetzung"
#define MSG_RESUMING "Druck fortsetzung"
#define MSG_NO_MOVE "Kein Zug."
#define MSG_PART_RELEASE "Stepper tlw frei"
#define MSG_KILLED "KILLED"
@ -609,6 +612,7 @@
#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
#define MSG_ERR_NO_THERMISTORS "No thermistors - no temp"
#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
#define MSG_M301_INVALID_EXTRUDER "M301 Invalid extruder "
#define MSG_HEATING "Heating..."
#define MSG_HEATING_COMPLETE "Heating done."
#define MSG_BED_HEATING "Bed Heating."
@ -767,6 +771,7 @@
#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor Invalido "
#define MSG_ERR_NO_THERMISTORS "No hay termistores - no temp"
#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor Invalido "
#define MSG_M301_INVALID_EXTRUDER "M301 Extrusor Invalido "
#define MSG_HEATING "Calentando..."
#define MSG_HEATING_COMPLETE "Calentamiento Hecho."
#define MSG_BED_HEATING "Calentando la base."
@ -916,7 +921,8 @@
#define MSG_M104_INVALID_EXTRUDER "M104 ошибка экструдера "
#define MSG_M105_INVALID_EXTRUDER "M105 ошибка экструдера "
#define MSG_ERR_NO_THERMISTORS "Нет термистра - нет температуры"
#define MSG_M109_INVALID_EXTRUDER "M109 ошибка экструдера "
#define MSG_M109_INVALID_EXTRUDER "M109 ошибка экструдера "
#define MSG_M301_INVALID_EXTRUDER "M301 ошибка экструдера "
#define MSG_HEATING "Нагрев... "
#define MSG_HEATING_COMPLETE "Наргето. "
#define MSG_BED_HEATING "Нагрев стола... "
@ -1235,6 +1241,7 @@
#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor inválido "
#define MSG_ERR_NO_THERMISTORS "Nao ha termistor - no temp"
#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor inválido "
#define MSG_M301_INVALID_EXTRUDER "M301 Extrusor inválido "
#define MSG_HEATING "Aquecendo..."
#define MSG_HEATING_COMPLETE "Aquecido."
#define MSG_BED_HEATING "Aquecendo a Base."

4
Marlin/planner.cpp
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@ -478,8 +478,8 @@ void check_axes_activity()
if((DISABLE_Z) && (z_active == 0)) disable_z();
if(DISABLE_E) {
if(e0_active == 0) disable_e0();
if(e1_active == 0) disable_e1();
if(e2_active == 0) disable_e2();
if(e1_active == 1) disable_e1();
if(e2_active == 2) disable_e2();
}
#if FAN_PIN > -1
#ifndef FAN_SOFT_PWM

38
Marlin/temperature.cpp
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@ -34,6 +34,16 @@
#include "temperature.h"
#include "watchdog.h"
#if EXTRUDERS > 3
# error Unsupported number of extruders
#elif EXTRUDERS > 2
# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
#elif EXTRUDERS > 1
# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
#else
# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
#endif
//===========================================================================
//=============================public variables============================
//===========================================================================
@ -44,10 +54,10 @@ float current_temperature[EXTRUDERS] = { 0 };
int current_temperature_bed_raw = 0;
float current_temperature_bed = 0;
#ifdef PIDTEMP
float Kp=DEFAULT_Kp;
float Ki=(DEFAULT_Ki*PID_dT);
float Kd=(DEFAULT_Kd/PID_dT);
#ifdef PIDTEMP
float Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kp, DEFAULT_Kp_E1, DEFAULT_Kp_E2);
float Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Ki*PID_dT, DEFAULT_Ki_E1*PID_dT, DEFAULT_Ki_E2*PID_dT);
float Kd[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kd/PID_dT, DEFAULT_Kd_E1/PID_dT, DEFAULT_Kd_E2/PID_dT);
#ifdef PID_ADD_EXTRUSION_RATE
float Kc=DEFAULT_Kc;
#endif
@ -102,15 +112,7 @@ static volatile bool temp_meas_ready = false;
#if EXTRUDERS > 3
# error Unsupported number of extruders
#elif EXTRUDERS > 2
# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
#elif EXTRUDERS > 1
# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
#else
# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
#endif
// Init min and max temp with extreme values to prevent false errors during startup
static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP );
@ -292,7 +294,7 @@ void updatePID()
{
#ifdef PIDTEMP
for(int e = 0; e < EXTRUDERS; e++) {
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki[e];
}
#endif
#ifdef PIDTEMPBED
@ -337,14 +339,14 @@ void manage_heater()
temp_iState[e] = 0.0;
pid_reset[e] = false;
}
pTerm[e] = Kp * pid_error[e];
pTerm[e] = Kp[e] * pid_error[e];
temp_iState[e] += pid_error[e];
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
iTerm[e] = Ki * temp_iState[e];
iTerm[e] = Ki[e] * temp_iState[e];
//K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm[e] = (Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
dTerm[e] = (Kd[e] * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
temp_dState[e] = pid_input;
pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX);
@ -577,7 +579,7 @@ void tp_init()
maxttemp[e] = maxttemp[0];
#ifdef PIDTEMP
temp_iState_min[e] = 0.0;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki[e];
#endif //PIDTEMP
#ifdef PIDTEMPBED
temp_iState_min_bed = 0.0;

5
Marlin/temperature.h
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@ -39,7 +39,10 @@ extern int target_temperature_bed;
extern float current_temperature_bed;
#ifdef PIDTEMP
extern float Kp,Ki,Kd,Kc;
extern float Kp[EXTRUDERS];
extern float Ki[EXTRUDERS];
extern float Kd[EXTRUDERS];
extern float Kc;
#endif
#ifdef PIDTEMPBED
extern float bedKp,bedKi,bedKd;

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