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Merge pull request #92 from k-eex/PID

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PID fixes
This commit is contained in:
kliment 2011-09-17 14:31:01 -07:00
commit 8fa84ce04e
2 changed files with 51 additions and 22 deletions
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14
Sprinter/Configuration.h
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@ -118,12 +118,16 @@ char uuid[] = "00000000-0000-0000-0000-000000000000";
//// PID settings:
// Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful.
//#define PIDTEMP
//#define PIDTEMP 1
#ifdef PIDTEMP
#define PID_INTEGRAL_DRIVE_MAX 220
#define PID_PGAIN 180 //100 is 1.0
#define PID_IGAIN 2 //100 is 1.0
#define PID_DGAIN 100 //100 is 1.0
#define PID_INTEGRAL_DRIVE_MAX 80 // too big, and heater will lag after changing temperature, too small and it might not compensate enough for long-term errors
#define PID_PGAIN 1280 //256 is 1.0 // value of 5.0 means that error of 20C is changing it almost halfway of the PWM range
#define PID_IGAIN 64 //256 is 1.0 // value of 0.25 means that each degree error over 1 sec (2 measurements) changes duty cycle by 0.5 units (verify?)
#define PID_DGAIN 2048 //256 is 1.0 // value of 8.0 means that each degree change over one measurement (half second) adjusts PWM by 8 units to compensate
// magic formula 1, to get approximate "zero error" PWM duty. It is most likely linear formula
#define HEATER_DUTY_FOR_SETPOINT(setpoint) (22+1*setpoint)
// magic formula 2, to make led brightness approximately linear
#define LED_PWM_FOR_BRIGHTNESS(brightness) ((64*brightness-1384)/(300-brightness))
#endif
// Change this value (range 1-255) to limit the current to the nozzle

59
Sprinter/Sprinter.pde
View file

@ -1,4 +1,4 @@
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL
#include "fastio.h"
@ -112,20 +112,22 @@ char *strchr_pointer; // just a pointer to find chars in the cmd string like X,
// degree increments (i.e. 100=25 deg).
int target_raw = 0;
int target_temp = 0;
int current_raw = 0;
int target_bed_raw = 0;
int current_bed_raw = 0;
int tt = 0, bt = 0;
#ifdef PIDTEMP
int temp_iState = 0;
int temp_dState = 0;
int prev_temp = 0;
int pTerm;
int iTerm;
int dTerm;
//int output;
int error;
int temp_iState_min = 100 * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
int temp_iState_max = 100 * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
int heater_duty = 0;
const int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
const int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
#endif
#ifndef HEATER_CURRENT
#define HEATER_CURRENT 255
@ -766,7 +768,7 @@ inline void process_commands()
}
break;
case 104: // M104
if (code_seen('S')) target_raw = temp2analogh(code_value());
if (code_seen('S')) target_raw = temp2analogh(target_temp = code_value());
#ifdef WATCHPERIOD
if(target_raw > current_raw){
watchmillis = max(1,millis());
@ -791,6 +793,12 @@ inline void process_commands()
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) || defined HEATER_USES_AD595
Serial.print("ok T:");
Serial.print(tt);
#ifdef PIDTEMP
Serial.print(" @:");
Serial.print(heater_duty);
Serial.print(",");
Serial.print(iTerm);
#endif
#if TEMP_1_PIN > -1 || defined BED_USES_AD595
Serial.print(" B:");
Serial.println(bt);
@ -803,7 +811,7 @@ inline void process_commands()
return;
//break;
case 109: { // M109 - Wait for extruder heater to reach target.
if (code_seen('S')) target_raw = temp2analogh(code_value());
if (code_seen('S')) target_raw = temp2analogh(target_temp = code_value());
#ifdef WATCHPERIOD
if(target_raw>current_raw){
watchmillis = max(1,millis());
@ -1461,7 +1469,7 @@ void manage_heater()
#ifdef WATCHPERIOD
if(watchmillis && millis() - watchmillis > WATCHPERIOD){
if(watch_raw + 1 >= current_raw){
target_raw = 0;
target_temp = target_raw = 0;
WRITE(HEATER_0_PIN,LOW);
analogWrite(HEATER_0_PIN, 0);
#if LED_PIN>-1
@ -1474,11 +1482,11 @@ void manage_heater()
#endif
#ifdef MINTEMP
if(current_raw <= minttemp)
target_raw = 0;
target_temp = target_raw = 0;
#endif
#ifdef MAXTEMP
if(current_raw >= maxttemp) {
target_raw = 0;
target_temp = target_raw = 0;
#if (ALARM_PIN > -1)
WRITE(ALARM_PIN,HIGH);
#endif
@ -1486,14 +1494,31 @@ void manage_heater()
#endif
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) || defined (HEATER_USES_AD595)
#ifdef PIDTEMP
error = target_raw - current_raw;
pTerm = (PID_PGAIN * error) / 100;
temp_iState += error;
temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
iTerm = (PID_IGAIN * temp_iState) / 100;
dTerm = (PID_DGAIN * (current_raw - temp_dState)) / 100;
temp_dState = current_raw;
analogWrite(HEATER_0_PIN, constrain(pTerm + iTerm - dTerm, 0, HEATER_CURRENT));
int current_temp = analog2temp(current_raw);
error = target_temp - current_temp;
int delta_temp = current_temp - prev_temp;
prev_temp = current_temp;
pTerm = ((long)PID_PGAIN * error) / 256;
const int H0 = min(HEATER_DUTY_FOR_SETPOINT(target_temp),HEATER_CURRENT);
heater_duty = H0 + pTerm;
if(error < 20){
temp_iState += error;
temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
iTerm = ((long)PID_IGAIN * temp_iState) / 256;
heater_duty += iTerm;
}
int prev_error = abs(target_temp - prev_temp);
int log3 = 1; // discrete logarithm base 3, plus 1
if(prev_error > 81){ prev_error /= 81; log3 += 4; }
if(prev_error > 9){ prev_error /= 9; log3 += 2; }
if(prev_error > 3){ prev_error /= 3; log3 ++; }
dTerm = ((long)PID_DGAIN * delta_temp) / (256*log3);
heater_duty += dTerm;
heater_duty = constrain(heater_duty, 0, HEATER_CURRENT);
analogWrite(HEATER_0_PIN, heater_duty);
#if LED_PIN>-1
analogWrite(LED_PIN, constrain(LED_PWM_FOR_BRIGHTNESS(heater_duty),0,255));
#endif
#else
if(current_raw >= target_raw)
{