Independent PID parameters for each extruder
* Variables Kp, Ki, Kd, Kc now arrays of size EXTRUDERS * M301 gains (optional, default=0) E parameter to define which extruder's settings to modify. Tested, works with Repetier Host's EEPROM config window, albeit only reads/updates settings for E0. * All Kp, Ki, Kd, Kc parameters saved in EEPROM (version now v14), up to 3 extruders supported (same as Marlin in general)
This commit is contained in:
grob6000
parent
6e8e9bb41e
commit
37c7e8300f
@ -38,7 +38,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
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// wrong data being written to the variables.
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// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
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#define EEPROM_VERSION "V13"
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#define EEPROM_VERSION "V14"
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#ifdef EEPROM_SETTINGS
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void Config_StoreSettings()
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@ -63,11 +63,11 @@ void Config_StoreSettings()
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EEPROM_WRITE_VAR(i,delta_radius);
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EEPROM_WRITE_VAR(i,delta_diagonal_rod);
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EEPROM_WRITE_VAR(i,delta_segments_per_second);
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#endif
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#endif//DELTA
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#ifndef ULTIPANEL
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int plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP, plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP, plaPreheatFanSpeed = PLA_PREHEAT_FAN_SPEED;
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int absPreheatHotendTemp = ABS_PREHEAT_HOTEND_TEMP, absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP, absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
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#endif
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#endif//ULTIPANEL
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EEPROM_WRITE_VAR(i,plaPreheatHotendTemp);
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EEPROM_WRITE_VAR(i,plaPreheatHPBTemp);
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EEPROM_WRITE_VAR(i,plaPreheatFanSpeed);
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@ -76,37 +76,58 @@ void Config_StoreSettings()
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EEPROM_WRITE_VAR(i,absPreheatFanSpeed);
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EEPROM_WRITE_VAR(i,zprobe_zoffset);
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#ifdef PIDTEMP
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EEPROM_WRITE_VAR(i,Kp);
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EEPROM_WRITE_VAR(i,Ki);
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EEPROM_WRITE_VAR(i,Kd);
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#else
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float dummy = 0.0f;
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for (int e = 0; e < 3; e++)
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{
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if (e < EXTRUDERS)
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{
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EEPROM_WRITE_VAR(i,Kp[e]);
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EEPROM_WRITE_VAR(i,Ki[e]);
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EEPROM_WRITE_VAR(i,Kd[e]);
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#ifdef PID_ADD_EXTRUSION_RATE
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EEPROM_WRITE_VAR(i,Kc[e]);
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#else//PID_ADD_EXTRUSION_RATE
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dummy = 1.0f; // 1.0 = default kc
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EEPROM_WRITE_VAR(dummmy);
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#endif//PID_ADD_EXTRUSION_RATE
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}
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else
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{
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dummy = 3000.0f;
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EEPROM_WRITE_VAR(i, dummy);
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dummy = 0.0f;
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EEPROM_WRITE_VAR(i,dummy);
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EEPROM_WRITE_VAR(i,dummy);
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}
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}
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#else//PIDTEMP
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float dummy = 3000.0f;
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EEPROM_WRITE_VAR(i,dummy);
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dummy = 0.0f;
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EEPROM_WRITE_VAR(i,dummy);
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EEPROM_WRITE_VAR(i,dummy);
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#endif
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#endif//PIDTEMP
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#ifndef DOGLCD
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int lcd_contrast = 32;
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#endif
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#endif//DOGLCD
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EEPROM_WRITE_VAR(i,lcd_contrast);
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#ifdef SCARA
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EEPROM_WRITE_VAR(i,axis_scaling); // Add scaling for SCARA
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#endif
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#endif//SCARA
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#ifdef FWRETRACT
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EEPROM_WRITE_VAR(i,autoretract_enabled);
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EEPROM_WRITE_VAR(i,retract_length);
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#if EXTRUDERS > 1
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EEPROM_WRITE_VAR(i,retract_length_swap);
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#endif
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#endif//EXTRUDERS > 1
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EEPROM_WRITE_VAR(i,retract_feedrate);
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EEPROM_WRITE_VAR(i,retract_zlift);
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EEPROM_WRITE_VAR(i,retract_recover_length);
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#if EXTRUDERS > 1
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EEPROM_WRITE_VAR(i,retract_recover_length_swap);
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#endif
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#endif//EXTRUDERS > 1
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EEPROM_WRITE_VAR(i,retract_recover_feedrate);
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#endif
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#endif//FWRETRACT
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// Save filament sizes
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EEPROM_WRITE_VAR(i, volumetric_enabled);
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@ -115,8 +136,8 @@ void Config_StoreSettings()
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EEPROM_WRITE_VAR(i, filament_size[1]);
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#if EXTRUDERS > 2
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EEPROM_WRITE_VAR(i, filament_size[2]);
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#endif
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#endif
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#endif//EXTRUDERS > 2
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#endif//EXTRUDERS > 1
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char ver2[4]=EEPROM_VERSION;
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i=EEPROM_OFFSET;
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@ -149,7 +170,7 @@ SERIAL_ECHOLNPGM("Scaling factors:");
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SERIAL_ECHOLN("");
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SERIAL_ECHO_START;
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#endif
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#endif//SCARA
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SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" M203 X", max_feedrate[X_AXIS]);
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@ -206,16 +227,23 @@ SERIAL_ECHOLNPGM("Scaling factors:");
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SERIAL_ECHOPAIR(" R" ,delta_radius );
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SERIAL_ECHOPAIR(" S" ,delta_segments_per_second );
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SERIAL_ECHOLN("");
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#endif
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#endif//DELTA
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#ifdef PIDTEMP
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM("PID settings:");
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for (int e = 0; e < EXTRUDERS; e++)
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{
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" M301 P",Kp);
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SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki));
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SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd));
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SERIAL_ECHOPAIR(" M301 E", (long unsigned int)e);
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SERIAL_ECHOPAIR(" P", Kp[e]);
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SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki[e]));
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SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd[e]));
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#ifdef PID_ADD_EXTRUSION_RATE
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SERIAL_ECHOPAIR(" C" ,Kc[e]);
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#endif//PID_ADD_EXTRUSION_RATE
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SERIAL_ECHOLN("");
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#endif
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}
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#endif//PIDTEMP
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#ifdef FWRETRACT
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM("Retract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)");
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@ -244,7 +272,7 @@ SERIAL_ECHOLNPGM("Scaling factors:");
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" Swap rec. addl. length (mm): ", retract_recover_length_swap);
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SERIAL_ECHOLN("");
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#endif
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#endif//EXTRUDERS > 1
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SERIAL_ECHO_START;
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if (volumetric_enabled) {
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SERIAL_ECHOLNPGM("Filament settings:");
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@ -259,14 +287,14 @@ SERIAL_ECHOLNPGM("Scaling factors:");
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" M200 T2 D", filament_size[2]);
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SERIAL_ECHOLN("");
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#endif
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#endif
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#endif//EXTRUDERS > 2
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#endif//EXTRUDERS > 1
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} else {
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SERIAL_ECHOLNPGM("Filament settings: Disabled");
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}
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#endif
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#endif//FWRETRACT
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}
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#endif
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#endif//DISABLE_M503
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#ifdef EEPROM_SETTINGS
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@ -301,11 +329,11 @@ void Config_RetrieveSettings()
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EEPROM_READ_VAR(i,delta_radius);
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EEPROM_READ_VAR(i,delta_diagonal_rod);
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EEPROM_READ_VAR(i,delta_segments_per_second);
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#endif
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#endif//DELTA
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#ifndef ULTIPANEL
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int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
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int absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed;
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#endif
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#endif//ULTIPANEL
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EEPROM_READ_VAR(i,plaPreheatHotendTemp);
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EEPROM_READ_VAR(i,plaPreheatHPBTemp);
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EEPROM_READ_VAR(i,plaPreheatFanSpeed);
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@ -313,35 +341,68 @@ void Config_RetrieveSettings()
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EEPROM_READ_VAR(i,absPreheatHPBTemp);
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EEPROM_READ_VAR(i,absPreheatFanSpeed);
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EEPROM_READ_VAR(i,zprobe_zoffset);
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#ifndef PIDTEMP
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float Kp,Ki,Kd;
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#endif
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#ifdef PIDTEMP
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float dummy = 0.0f;
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for (int e = 0; e < 3; e++) // 3 = max extruders supported by marlin
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{
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if (e < EXTRUDERS)
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{
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// do not need to scale PID values as the values in EEPROM are already scaled
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EEPROM_READ_VAR(i,Kp);
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EEPROM_READ_VAR(i,Ki);
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EEPROM_READ_VAR(i,Kd);
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EEPROM_READ_VAR(i,Kp[e]);
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EEPROM_READ_VAR(i,Ki[e]);
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EEPROM_READ_VAR(i,Kd[e]);
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#ifdef PID_ADD_EXTRUSION_RATE
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EEPROM_READ_VAR(i,Kc[e]);
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#else//PID_ADD_EXTRUSION_RATE
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EEPROM_READ_VAR(i,dummy);
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#endif//PID_ADD_EXTRUSION_RATE
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}
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else
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{
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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}
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}
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#else//PIDTEMP
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// 4 x 3 = 12 slots for PID parameters
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float dummy = 0.0f;
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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EEPROM_READ_VAR(i,dummy);
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#endif//PIDTEMP
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#ifndef DOGLCD
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int lcd_contrast;
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#endif
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#endif//DOGLCD
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EEPROM_READ_VAR(i,lcd_contrast);
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#ifdef SCARA
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EEPROM_READ_VAR(i,axis_scaling);
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#endif
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#endif//SCARA
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#ifdef FWRETRACT
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EEPROM_READ_VAR(i,autoretract_enabled);
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EEPROM_READ_VAR(i,retract_length);
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#if EXTRUDERS > 1
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EEPROM_READ_VAR(i,retract_length_swap);
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#endif
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#endif//EXTRUDERS > 1
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EEPROM_READ_VAR(i,retract_feedrate);
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EEPROM_READ_VAR(i,retract_zlift);
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EEPROM_READ_VAR(i,retract_recover_length);
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#if EXTRUDERS > 1
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EEPROM_READ_VAR(i,retract_recover_length_swap);
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#endif
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#endif//EXTRUDERS > 1
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EEPROM_READ_VAR(i,retract_recover_feedrate);
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#endif
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#endif//FWRETRACT
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EEPROM_READ_VAR(i, volumetric_enabled);
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EEPROM_READ_VAR(i, filament_size[0]);
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@ -349,8 +410,8 @@ void Config_RetrieveSettings()
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EEPROM_READ_VAR(i, filament_size[1]);
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#if EXTRUDERS > 2
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EEPROM_READ_VAR(i, filament_size[2]);
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#endif
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#endif
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#endif//EXTRUDERS > 2
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#endif//EXTRUDERS > 1
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calculate_volumetric_multipliers();
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// Call updatePID (similar to when we have processed M301)
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updatePID();
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@ -363,9 +424,9 @@ void Config_RetrieveSettings()
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}
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#ifdef EEPROM_CHITCHAT
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Config_PrintSettings();
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#endif
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#endif//EEPROM_CHITCHAT
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}
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#endif
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#endif//EEPROM_SETTINGS
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void Config_ResetDefault()
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{
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@ -379,7 +440,7 @@ void Config_ResetDefault()
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max_acceleration_units_per_sq_second[i]=tmp3[i];
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#ifdef SCARA
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axis_scaling[i]=1;
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#endif
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#endif//SCARA
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}
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// steps per sq second need to be updated to agree with the units per sq second
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@ -400,7 +461,7 @@ void Config_ResetDefault()
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delta_diagonal_rod= DELTA_DIAGONAL_ROD;
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delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
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recalc_delta_settings(delta_radius, delta_diagonal_rod);
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#endif
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#endif//DELTA
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#ifdef ULTIPANEL
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plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP;
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plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP;
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@ -408,24 +469,25 @@ void Config_ResetDefault()
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absPreheatHotendTemp = ABS_PREHEAT_HOTEND_TEMP;
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absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP;
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absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
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#endif
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#endif//ULTIPANEL
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#ifdef ENABLE_AUTO_BED_LEVELING
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zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
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#endif
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#endif//ENABLE_AUTO_BED_LEVELING
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#ifdef DOGLCD
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lcd_contrast = DEFAULT_LCD_CONTRAST;
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#endif
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#endif//DOGLCD
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#ifdef PIDTEMP
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Kp = DEFAULT_Kp;
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Ki = scalePID_i(DEFAULT_Ki);
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Kd = scalePID_d(DEFAULT_Kd);
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for (int e = 0; e < EXTRUDERS; e++)
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{
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Kp[e] = DEFAULT_Kp;
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Ki[e] = scalePID_i(DEFAULT_Ki);
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Kd[e] = scalePID_d(DEFAULT_Kd);
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#ifdef PID_ADD_EXTRUSION_RATE
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Kc[e] = DEFAULT_Kc;
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#endif//PID_ADD_EXTRUSION_RATE
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}
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// call updatePID (similar to when we have processed M301)
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updatePID();
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#ifdef PID_ADD_EXTRUSION_RATE
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Kc = DEFAULT_Kc;
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#endif//PID_ADD_EXTRUSION_RATE
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#endif//PIDTEMP
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#ifdef FWRETRACT
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@ -433,15 +495,15 @@ void Config_ResetDefault()
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retract_length = RETRACT_LENGTH;
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#if EXTRUDERS > 1
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retract_length_swap = RETRACT_LENGTH_SWAP;
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#endif
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#endif//EXTRUDERS > 1
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retract_feedrate = RETRACT_FEEDRATE;
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retract_zlift = RETRACT_ZLIFT;
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retract_recover_length = RETRACT_RECOVER_LENGTH;
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#if EXTRUDERS > 1
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retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
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#endif
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#endif//EXTRUDERS > 1
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retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
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#endif
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#endif//FWRETRACT
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volumetric_enabled = false;
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filament_size[0] = DEFAULT_NOMINAL_FILAMENT_DIA;
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@ -449,8 +511,8 @@ void Config_ResetDefault()
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filament_size[1] = DEFAULT_NOMINAL_FILAMENT_DIA;
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#if EXTRUDERS > 2
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filament_size[2] = DEFAULT_NOMINAL_FILAMENT_DIA;
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#endif
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#endif
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#endif//EXTRUDERS > 2
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#endif//EXTRUDERS > 1
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calculate_volumetric_multipliers();
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SERIAL_ECHO_START;
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@ -3198,28 +3198,48 @@ Sigma_Exit:
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#ifdef PIDTEMP
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case 301: // M301
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{
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if(code_seen('P')) Kp = code_value();
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if(code_seen('I')) Ki = scalePID_i(code_value());
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if(code_seen('D')) Kd = scalePID_d(code_value());
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// multi-extruder PID patch: M301 updates or prints a single extruder's PID values
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// default behaviour (omitting E parameter) is to update for extruder 0 only
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int e = 0; // extruder being updated
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if (code_seen('E'))
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{
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e = (int)code_value();
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}
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if (e < EXTRUDERS) // catch bad input value
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{
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if (code_seen('P')) Kp[e] = code_value();
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if (code_seen('I')) Ki[e] = scalePID_i(code_value());
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if (code_seen('D')) Kd[e] = scalePID_d(code_value());
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#ifdef PID_ADD_EXTRUSION_RATE
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if(code_seen('C')) Kc = code_value();
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if (code_seen('C')) Kc[e] = code_value();
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#endif
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updatePID();
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SERIAL_PROTOCOL(MSG_OK);
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SERIAL_PROTOCOL(" e:"); // specify extruder in serial output
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SERIAL_PROTOCOL(e);
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SERIAL_PROTOCOL(" p:");
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SERIAL_PROTOCOL(Kp);
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SERIAL_PROTOCOL(Kp[e]);
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SERIAL_PROTOCOL(" i:");
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SERIAL_PROTOCOL(unscalePID_i(Ki));
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SERIAL_PROTOCOL(unscalePID_i(Ki[e]));
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SERIAL_PROTOCOL(" d:");
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SERIAL_PROTOCOL(unscalePID_d(Kd));
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SERIAL_PROTOCOL(unscalePID_d(Kd[e]));
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#ifdef PID_ADD_EXTRUSION_RATE
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SERIAL_PROTOCOL(" c:");
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//Kc does not have scaling applied above, or in resetting defaults
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SERIAL_PROTOCOL(Kc);
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SERIAL_PROTOCOL(Kc[e]);
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#endif
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SERIAL_PROTOCOLLN("");
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}
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else
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{
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
|
||||
}
|
||||
|
||||
}
|
||||
break;
|
||||
#endif //PIDTEMP
|
||||
|
||||
@ -50,14 +50,6 @@ float current_temperature_bed = 0.0;
|
||||
int redundant_temperature_raw = 0;
|
||||
float redundant_temperature = 0.0;
|
||||
#endif
|
||||
#ifdef PIDTEMP
|
||||
float Kp=DEFAULT_Kp;
|
||||
float Ki=(DEFAULT_Ki*PID_dT);
|
||||
float Kd=(DEFAULT_Kd/PID_dT);
|
||||
#ifdef PID_ADD_EXTRUSION_RATE
|
||||
float Kc=DEFAULT_Kc;
|
||||
#endif
|
||||
#endif //PIDTEMP
|
||||
|
||||
#ifdef PIDTEMPBED
|
||||
float bedKp=DEFAULT_bedKp;
|
||||
@ -133,6 +125,15 @@ static volatile bool temp_meas_ready = false;
|
||||
# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
|
||||
#endif
|
||||
|
||||
#ifdef PIDTEMP
|
||||
float Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kp, DEFAULT_Kp, DEFAULT_Kp);
|
||||
float Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT, DEFAULT_Ki*PID_dT);
|
||||
float Kd[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT, DEFAULT_Kd / PID_dT);
|
||||
#ifdef PID_ADD_EXTRUSION_RATE
|
||||
float Kc[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kc, DEFAULT_Kc, DEFAULT_Kc);
|
||||
#endif
|
||||
#endif //PIDTEMP
|
||||
|
||||
// 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 maxttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP );
|
||||
@ -342,7 +343,7 @@ 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
|
||||
@ -463,14 +464,14 @@ 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]);
|
||||
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
|
||||
if (pid_output > PID_MAX) {
|
||||
if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
|
||||
@ -810,7 +811,7 @@ 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;
|
||||
|
||||
@ -58,7 +58,7 @@ extern float current_temperature_bed;
|
||||
#endif
|
||||
|
||||
#ifdef PIDTEMP
|
||||
extern float Kp,Ki,Kd,Kc;
|
||||
extern float Kp[EXTRUDERS], Ki[EXTRUDERS], Kd[EXTRUDERS], Kc[EXTRUDERS];
|
||||
float scalePID_i(float i);
|
||||
float scalePID_d(float d);
|
||||
float unscalePID_i(float i);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user