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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 // #define DEFAULT_Kd 440
#endif // PIDTEMP #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 // Bed Temperature Control
// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis // Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
// //

36
Marlin/ConfigurationStore.cpp
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@ -143,10 +143,24 @@ void Config_PrintSettings()
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("PID settings:"); SERIAL_ECHOLNPGM("PID settings:");
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M301 P",Kp); SERIAL_ECHOPAIR(" M301 P",Kp[0]);
SERIAL_ECHOPAIR(" I" ,Ki/PID_dT); SERIAL_ECHOPAIR(" I" ,Ki[0]/PID_dT);
SERIAL_ECHOPAIR(" D" ,Kd*PID_dT); SERIAL_ECHOPAIR(" D" ,Kd[0]*PID_dT);
SERIAL_ECHOLN(""); 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
} }
#endif #endif
@ -234,9 +248,19 @@ void Config_ResetDefault()
absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED; absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
#endif #endif
#ifdef PIDTEMP #ifdef PIDTEMP
Kp = DEFAULT_Kp; Kp[0] = DEFAULT_Kp;
Ki = (DEFAULT_Ki*PID_dT); Ki[0] = (DEFAULT_Ki*PID_dT);
Kd = (DEFAULT_Kd/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 #ifdef PID_ADD_EXTRUSION_RATE
Kc = DEFAULT_Kc; Kc = DEFAULT_Kc;
#endif//PID_ADD_EXTRUSION_RATE #endif//PID_ADD_EXTRUSION_RATE

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

9
Marlin/language.h
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@ -139,6 +139,7 @@
#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder " #define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
#define MSG_ERR_NO_THERMISTORS "No thermistors - no temperature" #define MSG_ERR_NO_THERMISTORS "No thermistors - no temperature"
#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder " #define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
#define MSG_M301_INVALID_EXTRUDER "M301 Invalid extruder "
#define MSG_HEATING "Heating..." #define MSG_HEATING "Heating..."
#define MSG_HEATING_COMPLETE "Heating done." #define MSG_HEATING_COMPLETE "Heating done."
#define MSG_BED_HEATING "Bed Heating." #define MSG_BED_HEATING "Bed Heating."
@ -293,6 +294,7 @@
#define MSG_M105_INVALID_EXTRUDER "M105 Niepoprawny ekstruder " #define MSG_M105_INVALID_EXTRUDER "M105 Niepoprawny ekstruder "
#define MSG_ERR_NO_THERMISTORS "Brak termistorow - brak temperatury :(" #define MSG_ERR_NO_THERMISTORS "Brak termistorow - brak temperatury :("
#define MSG_M109_INVALID_EXTRUDER "M109 Niepoprawny ekstruder " #define MSG_M109_INVALID_EXTRUDER "M109 Niepoprawny ekstruder "
#define MSG_M301_INVALID_EXTRUDER "M301 Niepoprawny ekstruder "
#define MSG_HEATING "Nagrzewanie ekstrudera..." #define MSG_HEATING "Nagrzewanie ekstrudera..."
#define MSG_HEATING_COMPLETE "Nagrzewanie ekstrudera zakonczone." #define MSG_HEATING_COMPLETE "Nagrzewanie ekstrudera zakonczone."
#define MSG_BED_HEATING "Nagrzewanie loza..." #define MSG_BED_HEATING "Nagrzewanie loza..."
@ -452,6 +454,7 @@
#define MSG_M105_INVALID_EXTRUDER "M105 Extruder invalide" #define MSG_M105_INVALID_EXTRUDER "M105 Extruder invalide"
#define MSG_ERR_NO_THERMISTORS "Pas de thermistor, pas de temperature" #define MSG_ERR_NO_THERMISTORS "Pas de thermistor, pas de temperature"
#define MSG_M109_INVALID_EXTRUDER "M109 Extruder invalide " #define MSG_M109_INVALID_EXTRUDER "M109 Extruder invalide "
#define MSG_M301_INVALID_EXTRUDER "M301 Extruder invalide "
#define MSG_HEATING "En chauffe..." #define MSG_HEATING "En chauffe..."
#define MSG_HEATING_COMPLETE "Chauffe terminee." #define MSG_HEATING_COMPLETE "Chauffe terminee."
#define MSG_BED_HEATING "Chauffe du lit." #define MSG_BED_HEATING "Chauffe du lit."
@ -609,6 +612,7 @@
#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder " #define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
#define MSG_ERR_NO_THERMISTORS "No thermistors - no temp" #define MSG_ERR_NO_THERMISTORS "No thermistors - no temp"
#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder " #define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
#define MSG_M301_INVALID_EXTRUDER "M301 Invalid extruder "
#define MSG_HEATING "Heating..." #define MSG_HEATING "Heating..."
#define MSG_HEATING_COMPLETE "Heating done." #define MSG_HEATING_COMPLETE "Heating done."
#define MSG_BED_HEATING "Bed Heating." #define MSG_BED_HEATING "Bed Heating."
@ -767,6 +771,7 @@
#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor Invalido " #define MSG_M105_INVALID_EXTRUDER "M105 Extrusor Invalido "
#define MSG_ERR_NO_THERMISTORS "No hay termistores - no temp" #define MSG_ERR_NO_THERMISTORS "No hay termistores - no temp"
#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor Invalido " #define MSG_M109_INVALID_EXTRUDER "M109 Extrusor Invalido "
#define MSG_M301_INVALID_EXTRUDER "M301 Extrusor Invalido "
#define MSG_HEATING "Calentando..." #define MSG_HEATING "Calentando..."
#define MSG_HEATING_COMPLETE "Calentamiento Hecho." #define MSG_HEATING_COMPLETE "Calentamiento Hecho."
#define MSG_BED_HEATING "Calentando la base." #define MSG_BED_HEATING "Calentando la base."
@ -916,7 +921,8 @@
#define MSG_M104_INVALID_EXTRUDER "M104 ошибка экструдера " #define MSG_M104_INVALID_EXTRUDER "M104 ошибка экструдера "
#define MSG_M105_INVALID_EXTRUDER "M105 ошибка экструдера " #define MSG_M105_INVALID_EXTRUDER "M105 ошибка экструдера "
#define MSG_ERR_NO_THERMISTORS "Нет термистра - нет температуры" #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 "Нагрев... "
#define MSG_HEATING_COMPLETE "Наргето. " #define MSG_HEATING_COMPLETE "Наргето. "
#define MSG_BED_HEATING "Нагрев стола... " #define MSG_BED_HEATING "Нагрев стола... "
@ -1235,6 +1241,7 @@
#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor inválido " #define MSG_M105_INVALID_EXTRUDER "M105 Extrusor inválido "
#define MSG_ERR_NO_THERMISTORS "Nao ha termistor - no temp" #define MSG_ERR_NO_THERMISTORS "Nao ha termistor - no temp"
#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor inválido " #define MSG_M109_INVALID_EXTRUDER "M109 Extrusor inválido "
#define MSG_M301_INVALID_EXTRUDER "M301 Extrusor inválido "
#define MSG_HEATING "Aquecendo..." #define MSG_HEATING "Aquecendo..."
#define MSG_HEATING_COMPLETE "Aquecido." #define MSG_HEATING_COMPLETE "Aquecido."
#define MSG_BED_HEATING "Aquecendo a Base." #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_Z) && (z_active == 0)) disable_z();
if(DISABLE_E) { if(DISABLE_E) {
if(e0_active == 0) disable_e0(); if(e0_active == 0) disable_e0();
if(e1_active == 0) disable_e1(); if(e1_active == 1) disable_e1();
if(e2_active == 0) disable_e2(); if(e2_active == 2) disable_e2();
} }
#if FAN_PIN > -1 #if FAN_PIN > -1
#ifndef FAN_SOFT_PWM #ifndef FAN_SOFT_PWM

36
Marlin/temperature.cpp
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@ -34,6 +34,16 @@
#include "temperature.h" #include "temperature.h"
#include "watchdog.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============================ //=============================public variables============================
//=========================================================================== //===========================================================================
@ -45,9 +55,9 @@ int current_temperature_bed_raw = 0;
float current_temperature_bed = 0; float current_temperature_bed = 0;
#ifdef PIDTEMP #ifdef PIDTEMP
float Kp=DEFAULT_Kp; float Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kp, DEFAULT_Kp_E1, DEFAULT_Kp_E2);
float Ki=(DEFAULT_Ki*PID_dT); float Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Ki*PID_dT, DEFAULT_Ki_E1*PID_dT, DEFAULT_Ki_E2*PID_dT);
float Kd=(DEFAULT_Kd/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 #ifdef PID_ADD_EXTRUSION_RATE
float Kc=DEFAULT_Kc; float Kc=DEFAULT_Kc;
#endif #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 // 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 ); 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 #ifdef PIDTEMP
for(int e = 0; e < EXTRUDERS; e++) { 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 #endif
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
@ -337,14 +339,14 @@ void manage_heater()
temp_iState[e] = 0.0; temp_iState[e] = 0.0;
pid_reset[e] = false; 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] += pid_error[e];
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[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 //K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1) #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; temp_dState[e] = pid_input;
pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX); pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX);
@ -577,7 +579,7 @@ void tp_init()
maxttemp[e] = maxttemp[0]; maxttemp[e] = maxttemp[0];
#ifdef PIDTEMP #ifdef PIDTEMP
temp_iState_min[e] = 0.0; 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 #endif //PIDTEMP
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
temp_iState_min_bed = 0.0; 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; extern float current_temperature_bed;
#ifdef PIDTEMP #ifdef PIDTEMP
extern float Kp,Ki,Kd,Kc; extern float Kp[EXTRUDERS];
extern float Ki[EXTRUDERS];
extern float Kd[EXTRUDERS];
extern float Kc;
#endif #endif
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
extern float bedKp,bedKi,bedKd; extern float bedKp,bedKi,bedKd;

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