From 67cf105bc69c555547d1c2ba1974b03a2a2c70c3 Mon Sep 17 00:00:00 2001 From: Erik van der Zalm Date: Sun, 15 Apr 2012 19:17:33 +0200 Subject: [PATCH] Fixed AUTOTEMP (M109 S215 B260 F1 starts autotemp) Changed SLOWDOWN. IF this does not work ok OLD_SLOWDOWN is the old algo. --- Marlin/Configuration.h | 6 +-- Marlin/Configuration_adv.h | 11 ++--- Marlin/Marlin.h | 1 + Marlin/Marlin.pde | 38 ++++++++++----- Marlin/planner.cpp | 94 +++++++++++++++----------------------- Marlin/stepper.cpp | 10 +--- Marlin/temperature.cpp | 44 +++++++++--------- 7 files changed, 93 insertions(+), 111 deletions(-) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 2adda3fd6..18942a5a6 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -121,7 +121,7 @@ const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. -#define DISABLE_MAX_ENDSTOPS +//#define DISABLE_MAX_ENDSTOPS // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 #define X_ENABLE_ON 0 @@ -165,7 +165,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th // default settings -#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200*8/3,760*1.1} // default steps per unit for ultimaker +#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200*8/3,760*1.1} // default steps per unit for ultimaker #define DEFAULT_MAX_FEEDRATE {500, 500, 5, 45} // (mm/sec) #define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. @@ -196,7 +196,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th //#define ULTRA_LCD //general lcd support, also 16x2 //#define SDSUPPORT // Enable SD Card Support in Hardware Console -//#define ULTIPANEL +#define ULTIPANEL #ifdef ULTIPANEL // #define NEWPANEL //enable this if you have a click-encoder panel #define SDSUPPORT diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 9a7acdf94..d796a0829 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -41,8 +41,8 @@ // the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp // you exit the value by any M109 without F* // Also, if the temperature is set to a value -1) SERIAL_PROTOCOLPGM("ok T:"); - SERIAL_PROTOCOL(degHotend(tmp_extruder)); - //SERIAL_PROTOCOLPGM("/"); - //SERIAL_PROTOCOL(degTargetHotend(tmp_extruder)); + SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); + SERIAL_PROTOCOLPGM(" /"); + SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1); #if TEMP_BED_PIN > -1 SERIAL_PROTOCOLPGM(" B:"); - SERIAL_PROTOCOL(degBed()); - //SERIAL_PROTOCOLPGM("/"); - //SERIAL_PROTOCOL(degTargetBed()); + SERIAL_PROTOCOL_F(degBed(),1); + SERIAL_PROTOCOLPGM(" /"); + SERIAL_PROTOCOL_F(degTargetBed(),1); #endif //TEMP_BED_PIN #else SERIAL_ERROR_START; @@ -888,7 +888,7 @@ void process_commands() if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder); #ifdef AUTOTEMP if (code_seen('S')) autotemp_min=code_value(); - if (code_seen('G')) autotemp_max=code_value(); + if (code_seen('B')) autotemp_max=code_value(); if (code_seen('F')) { autotemp_factor=code_value(); @@ -915,9 +915,9 @@ void process_commands() if( (millis() - codenum) > 1000UL ) { //Print Temp Reading and remaining time every 1 second while heating up/cooling down SERIAL_PROTOCOLPGM("T:"); - SERIAL_PROTOCOL( degHotend(tmp_extruder) ); + SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); SERIAL_PROTOCOLPGM(" E:"); - SERIAL_PROTOCOL( (int)tmp_extruder ); + SERIAL_PROTOCOL((int)tmp_extruder); #ifdef TEMP_RESIDENCY_TIME SERIAL_PROTOCOLPGM(" W:"); if(residencyStart > -1) @@ -966,9 +966,10 @@ void process_commands() SERIAL_PROTOCOLPGM("T:"); SERIAL_PROTOCOL(tt); SERIAL_PROTOCOLPGM(" E:"); - SERIAL_PROTOCOL( (int)active_extruder ); + SERIAL_PROTOCOL((int)active_extruder); SERIAL_PROTOCOLPGM(" B:"); - SERIAL_PROTOCOLLN(degBed()); + SERIAL_PROTOCOL_F(degBed(),1); + SERIAL_PROTOCOLLN(""); codenum = millis(); } manage_heater(); @@ -1058,7 +1059,20 @@ void process_commands() for(int8_t i=0; i < NUM_AXIS; i++) { if(code_seen(axis_codes[i])) - axis_steps_per_unit[i] = code_value(); + + if(i == 3) { // E + float value = code_value(); + if(value < 20.0) { + float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab. + max_e_jerk *= factor; + max_feedrate[i] *= factor; + axis_steps_per_sqr_second[i] *= factor; + } + axis_steps_per_unit[i] = value; + } + else { + axis_steps_per_unit[i] = code_value(); + } } break; case 115: // M115 diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index 46adece87..cfb503deb 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -51,9 +51,6 @@ IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a) */ - - - #include "Marlin.h" #include "planner.h" #include "stepper.h" @@ -377,20 +374,26 @@ void plan_init() { void getHighESpeed() { static float oldt=0; - if(!autotemp_enabled) + if(!autotemp_enabled){ return; - if(degTargetHotend0()+2high) - { - high=se; + if((block_buffer[block_index].steps_x != 0) || + (block_buffer[block_index].steps_y != 0) || + (block_buffer[block_index].steps_z != 0)) { + float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed; + //se; mm/sec; + if(se>high) + { + high=se; + } } block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); } @@ -407,10 +410,6 @@ void getHighESpeed() } oldt=t; setTargetHotend0(t); -// SERIAL_ECHO_START; -// SERIAL_ECHOPAIR("highe",high); -// SERIAL_ECHOPAIR(" t",t); -// SERIAL_ECHOLN(""); } #endif @@ -456,6 +455,9 @@ void check_axes_activity() { analogWrite(FAN_PIN,tail_fan_speed); } #endif + #ifdef AUTOTEMP + getHighESpeed(); + #endif } @@ -517,7 +519,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e))); // Bail if this is a zero-length block - if (block->step_event_count <=dropsegments) { return; }; + if (block->step_event_count <= dropsegments) { return; }; block->fan_speed = FanSpeed; @@ -540,7 +542,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa // Enable all if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); } - if (block->steps_e == 0) { if(feed_rate 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); - #endif - float delta_mm[4]; delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS]; delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]; @@ -569,34 +564,33 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa // Calculate speed in mm/second for each axis. No divide by zero due to previous checks. float inverse_second = feed_rate * inverse_millimeters; - block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0 - block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0 - + int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1); + + // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill + #ifdef OLD_SLOWDOWN + if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); + #endif -/* + #ifdef SLOWDOWN // segment time im micro seconds - long segment_time = lround(1000000.0/inverse_second); - if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) { - if (segment_time 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) { + if (segment_time < minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more. + inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued)); } } - else { - if (segment_timenominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0 + block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0 - // Calculate speed in mm/sec for each axis + // Calculate and limit speed in mm/sec for each axis float current_speed[4]; - for(int i=0; i < 4; i++) { - current_speed[i] = delta_mm[i] * inverse_second; - } - - // Limit speed per axis float speed_factor = 1.0; //factor <=1 do decrease speed for(int i=0; i < 4; i++) { + current_speed[i] = delta_mm[i] * inverse_second; if(abs(current_speed[i]) > max_feedrate[i]) speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i])); } @@ -633,17 +627,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa // Correct the speed if( speed_factor < 1.0) { -// Serial.print("speed factor : "); Serial.println(speed_factor); - for(int i=0; i < 4; i++) { - if(abs(current_speed[i]) > max_feedrate[i]) - speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i])); - /* - if(speed_factor < 0.1) { - Serial.print("speed factor : "); Serial.println(speed_factor); - Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]); - } - */ - } for(unsigned char i=0; i < 4; i++) { current_speed[i] *= speed_factor; } @@ -784,9 +767,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa */ #endif // ADVANCE - - - calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed, MINIMUM_PLANNER_SPEED/block->nominal_speed); @@ -797,9 +777,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa memcpy(position, target, sizeof(target)); // position[] = target[] planner_recalculate(); - #ifdef AUTOTEMP - getHighESpeed(); - #endif + st_wake_up(); } diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index e9b42f45d..29be5c6d9 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -54,7 +54,6 @@ volatile static unsigned long step_events_completed; // The number of step event static long old_advance = 0; #endif static long e_steps[3]; -static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler. static long acceleration_time, deceleration_time; //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate; static unsigned short acc_step_rate; // needed for deccelaration start point @@ -216,7 +215,6 @@ void enable_endstops(bool check) void st_wake_up() { // TCNT1 = 0; - if(busy == false) ENABLE_STEPPER_DRIVER_INTERRUPT(); } @@ -295,6 +293,7 @@ ISR(TIMER1_COMPA_vect) // Anything in the buffer? current_block = plan_get_current_block(); if (current_block != NULL) { + current_block->busy = true; trapezoid_generator_reset(); counter_x = -(current_block->step_event_count >> 1); counter_y = counter_x; @@ -773,12 +772,7 @@ void st_init() TIMSK0 |= (1< 1 - , HEATER_1_PIN -#endif -#if EXTRUDERS > 2 - , HEATER_2_PIN -#endif -#if EXTRUDERS > 3 - #error Unsupported number of extruders -#endif - }; static void *heater_ttbl_map[EXTRUDERS] = { (void *)heater_0_temptable #if EXTRUDERS > 1 , (void *)heater_1_temptable @@ -138,7 +127,6 @@ void PID_autotune(float temp) float input; int cycles=0; bool heating = true; - soft_pwm[0] = 255>>1; unsigned long temp_millis = millis(); unsigned long t1=temp_millis; @@ -154,8 +142,10 @@ void PID_autotune(float temp) SERIAL_ECHOLN("PID Autotune start"); - //disable_heater(); // switch off all heaters. + disable_heater(); // switch off all heaters. + soft_pwm[0] = 255>>1; + for(;;) { if(temp_meas_ready == true) { // temp sample ready @@ -202,6 +192,7 @@ void PID_autotune(float temp) SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); + /* Kp = 0.33*Ku; Ki = Kp/Tu; Kd = Kp*Tu/3; @@ -216,6 +207,7 @@ void PID_autotune(float temp) SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); + */ } } soft_pwm[0] = (bias + d) >> 1; @@ -225,7 +217,7 @@ void PID_autotune(float temp) } } if(input > (temp + 20)) { - SERIAL_PROTOCOLLNPGM("PID Autotune failed !, Temperature to high"); + SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature to high"); return; } if(millis() - temp_millis > 2000) { @@ -235,6 +227,14 @@ void PID_autotune(float temp) SERIAL_PROTOCOLPGM(" @:"); SERIAL_PROTOCOLLN(getHeaterPower(0)); } + if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) { + SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout"); + return; + } + if(cycles > 5) { + SERIAL_PROTOCOLLNPGM("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h"); + return; + } LCD_STATUS; } } @@ -313,11 +313,9 @@ void manage_heater() // Check if temperature is within the correct range if((current_raw[e] > minttemp[e]) && (current_raw[e] < maxttemp[e])) { - //analogWrite(heater_pin_map[e], pid_output); soft_pwm[e] = (int)pid_output >> 1; } else { - //analogWrite(heater_pin_map[e], 0); soft_pwm[e] = 0; } } // End extruder for loop @@ -680,7 +678,7 @@ void disable_heater() target_raw[0]=0; soft_pwm[0]=0; #if HEATER_0_PIN > -1 - digitalWrite(HEATER_0_PIN,LOW); + WRITE(HEATER_0_PIN,LOW); #endif #endif @@ -688,7 +686,7 @@ void disable_heater() target_raw[1]=0; soft_pwm[1]=0; #if HEATER_1_PIN > -1 - digitalWrite(HEATER_1_PIN,LOW); + WRITE(HEATER_1_PIN,LOW); #endif #endif @@ -696,20 +694,20 @@ void disable_heater() target_raw[2]=0; soft_pwm[2]=0; #if HEATER_2_PIN > -1 - digitalWrite(HEATER_2_PIN,LOW); + WRITE(HEATER_2_PIN,LOW); #endif #endif #if TEMP_BED_PIN > -1 target_raw_bed=0; #if HEATER_BED_PIN > -1 - digitalWrite(HEATER_BED_PIN,LOW); + WRITE(HEATER_BED_PIN,LOW); #endif #endif } void max_temp_error(uint8_t e) { - digitalWrite(heater_pin_map[e], 0); + disable_heater(); if(IsStopped() == false) { SERIAL_ERROR_START; SERIAL_ERRORLN(e); @@ -718,7 +716,7 @@ void max_temp_error(uint8_t e) { } void min_temp_error(uint8_t e) { - digitalWrite(heater_pin_map[e], 0); + disable_heater(); if(IsStopped() == false) { SERIAL_ERROR_START; SERIAL_ERRORLN(e); @@ -727,7 +725,7 @@ void min_temp_error(uint8_t e) { } void bed_max_temp_error(void) { - digitalWrite(HEATER_BED_PIN, 0); + WRITE(HEATER_BED_PIN, 0); if(IsStopped() == false) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!");