Version 1.3.17T
- M303 - PID relay autotune possible - G4 Wait until last move is done
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midopple
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4 changed files with 222 additions and 2 deletions
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@ -287,6 +287,10 @@ const int dropsegments=5; //everything with less than this number of steps will
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//Command M601 / Command M602 Reset the MIN/MAX Value
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//#define DEBUG_HEATER_TEMP
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// M303 - PID relay autotune S<temperature> sets the target temperature.
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// (default target temperature = 150C)
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#define PID_AUTOTUNE
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//PID Controler Settings
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#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
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#define PID_PGAIN 2560 //256 is 1.0 // value of X means that error of 1 degree is changing PWM duty by X, probably no need to go over 25
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@ -116,6 +116,10 @@
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Version 1.3.16T
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- Extra Max Feedrate for Retract (MAX_RETRACT_FEEDRATE)
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Version 1.3.17T
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- M303 - PID relay autotune possible
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- G4 Wait until last move is done
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*/
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@ -207,6 +211,8 @@ void __cxa_pure_virtual(){};
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// M220 - set speed factor override percentage S:factor in percent
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// M221 - set extruder multiply factor S100 --> original Extrude Speed
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// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
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// M500 - stores paramters in EEPROM
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// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
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// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
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@ -218,7 +224,7 @@ void __cxa_pure_virtual(){};
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// M603 - Show Free Ram
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#define _VERSION_TEXT "1.3.16T / 24.04.2012"
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#define _VERSION_TEXT "1.3.17T / 04.05.2012"
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//Stepper Movement Variables
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char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
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@ -1121,6 +1127,7 @@ FORCE_INLINE void process_commands()
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if(code_seen('P')) codenum = code_value(); // milliseconds to wait
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if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
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codenum += millis(); // keep track of when we started waiting
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st_synchronize(); // wait for all movements to finish
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while(millis() < codenum ){
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manage_heater();
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}
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@ -1795,7 +1802,15 @@ FORCE_INLINE void process_commands()
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}
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}
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break;
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#ifdef PID_AUTOTUNE
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case 303: // M303 PID autotune
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{
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float help_temp = 150.0;
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if (code_seen('S')) help_temp=code_value();
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PID_autotune(help_temp);
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}
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break;
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#endif
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#ifdef USE_EEPROM_SETTINGS
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case 500: // Store settings in EEPROM
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{
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@ -295,6 +295,203 @@ ISR(TIMER2_OVF_vect)
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#endif
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//--------------------END SOFT PWM---------------------------
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//-------------------- START PID AUTOTUNE ---------------------------
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// Based on PID relay test
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// Thanks to Erik van der Zalm for this idea to use it for Marlin
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// Some information see:
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// http://brettbeauregard.com/blog/2012/01/arduino-pid-autotune-library/
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//------------------------------------------------------------------
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#ifdef PID_AUTOTUNE
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void PID_autotune(int PIDAT_test_temp)
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{
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float PIDAT_input = 0;
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int PIDAT_input_help = 0;
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unsigned char PIDAT_count_input = 0;
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float PIDAT_max, PIDAT_min;
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unsigned char PIDAT_PWM_val = 255;
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unsigned char PIDAT_cycles=0;
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bool PIDAT_heating = true;
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unsigned long PIDAT_temp_millis = millis();
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unsigned long PIDAT_t1=PIDAT_temp_millis;
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unsigned long PIDAT_t2=PIDAT_temp_millis;
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unsigned long PIDAT_T_check_AI_val = PIDAT_temp_millis;
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unsigned char PIDAT_cycle_cnt = 0;
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long PIDAT_t_high;
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long PIDAT_t_low;
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long PIDAT_bias= 127;
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long PIDAT_d = 127;
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float PIDAT_Ku, PIDAT_Tu;
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float PIDAT_Kp, PIDAT_Ki, PIDAT_Kd;
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#define PIDAT_TIME_FACTOR ((HEATER_CHECK_INTERVAL*256.0) / 1000.0)
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showString(PSTR("PID Autotune start\r\n"));
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target_temp = PIDAT_test_temp;
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#ifdef BED_USES_THERMISTOR
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WRITE(HEATER_1_PIN,LOW);
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#endif
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for(;;)
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{
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if((millis() - PIDAT_T_check_AI_val) > 100 )
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{
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PIDAT_T_check_AI_val = millis();
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PIDAT_cycle_cnt++;
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#ifdef HEATER_USES_THERMISTOR
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current_raw = analogRead(TEMP_0_PIN);
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current_raw = 1023 - current_raw;
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PIDAT_input_help += analog2temp(current_raw);
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PIDAT_count_input++;
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#elif defined HEATER_USES_AD595
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current_raw = analogRead(TEMP_0_PIN);
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PIDAT_input_help += analog2temp(current_raw);
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PIDAT_count_input++;
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#elif defined HEATER_USES_MAX6675
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current_raw = read_max6675();
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PIDAT_input_help += analog2temp(current_raw);
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PIDAT_count_input++;
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#endif
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}
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if(PIDAT_cycle_cnt >= 10 )
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{
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PIDAT_cycle_cnt = 0;
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PIDAT_input = (float)PIDAT_input_help / (float)PIDAT_count_input;
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PIDAT_input_help = 0;
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PIDAT_count_input = 0;
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PIDAT_max=max(PIDAT_max,PIDAT_input);
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PIDAT_min=min(PIDAT_min,PIDAT_input);
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if(PIDAT_heating == true && PIDAT_input > PIDAT_test_temp)
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{
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if(millis() - PIDAT_t2 > 5000)
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{
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PIDAT_heating = false;
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PIDAT_PWM_val = (PIDAT_bias - PIDAT_d);
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PIDAT_t1 = millis();
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PIDAT_t_high = PIDAT_t1 - PIDAT_t2;
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PIDAT_max = PIDAT_test_temp;
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}
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}
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if(PIDAT_heating == false && PIDAT_input < PIDAT_test_temp)
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{
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if(millis() - PIDAT_t1 > 5000)
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{
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PIDAT_heating = true;
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PIDAT_t2 = millis();
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PIDAT_t_low = PIDAT_t2 - PIDAT_t1;
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if(PIDAT_cycles > 0)
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{
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PIDAT_bias += (PIDAT_d*(PIDAT_t_high - PIDAT_t_low))/(PIDAT_t_low + PIDAT_t_high);
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PIDAT_bias = constrain(PIDAT_bias, 20 ,235);
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if(PIDAT_bias > 127) PIDAT_d = 254 - PIDAT_bias;
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else PIDAT_d = PIDAT_bias;
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showString(PSTR(" bias: ")); Serial.print(PIDAT_bias);
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showString(PSTR(" d: ")); Serial.print(PIDAT_d);
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showString(PSTR(" min: ")); Serial.print(PIDAT_min);
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showString(PSTR(" max: ")); Serial.println(PIDAT_max);
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if(PIDAT_cycles > 2)
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{
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PIDAT_Ku = (4.0*PIDAT_d)/(3.14159*(PIDAT_max-PIDAT_min));
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PIDAT_Tu = ((float)(PIDAT_t_low + PIDAT_t_high)/1000.0);
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showString(PSTR(" Ku: ")); Serial.print(PIDAT_Ku);
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showString(PSTR(" Tu: ")); Serial.println(PIDAT_Tu);
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PIDAT_Kp = 0.60*PIDAT_Ku;
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PIDAT_Ki = 2*PIDAT_Kp/PIDAT_Tu;
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PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/8;
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showString(PSTR(" Clasic PID \r\n"));
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//showString(PSTR(" Kp: ")); Serial.println(PIDAT_Kp);
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//showString(PSTR(" Ki: ")); Serial.println(PIDAT_Ki);
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//showString(PSTR(" Kd: ")); Serial.println(PIDAT_Kd);
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showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256));
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showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR));
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showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR));
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PIDAT_Kp = 0.30*PIDAT_Ku;
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PIDAT_Ki = PIDAT_Kp/PIDAT_Tu;
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PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/3;
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showString(PSTR(" Some overshoot \r\n"));
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showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256));
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showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR));
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showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR));
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/*
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PIDAT_Kp = 0.20*PIDAT_Ku;
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PIDAT_Ki = 2*PIDAT_Kp/PIDAT_Tu;
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PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/3;
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showString(PSTR(" No overshoot \r\n"));
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showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256));
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showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR));
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showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR));
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*/
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}
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}
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PIDAT_PWM_val = (PIDAT_bias + PIDAT_d);
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PIDAT_cycles++;
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PIDAT_min = PIDAT_test_temp;
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}
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}
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#ifdef PID_SOFT_PWM
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g_heater_pwm_val = PIDAT_PWM_val;
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#else
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analogWrite_check(HEATER_0_PIN, PIDAT_PWM_val);
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#if LED_PIN>-1
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analogWrite_check(LED_PIN, PIDAT_PWM_val);
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#endif
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#endif
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}
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if(PIDAT_input > (PIDAT_test_temp + 20))
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{
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showString(PSTR("PID Autotune failed! Temperature to high\r\n"));
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return;
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}
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if(millis() - PIDAT_temp_millis > 2000)
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{
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PIDAT_temp_millis = millis();
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showString(PSTR("ok T:"));
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Serial.print(PIDAT_input);
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showString(PSTR(" @:"));
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Serial.println((unsigned char)PIDAT_PWM_val*1);
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}
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if(((millis() - PIDAT_t1) + (millis() - PIDAT_t2)) > (10L*60L*1000L*2L))
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{
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showString(PSTR("PID Autotune failed! timeout\r\n"));
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return;
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}
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if(PIDAT_cycles > 5)
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{
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showString(PSTR("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h\r\n"));
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return;
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}
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}
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}
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#endif
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//---------------- END AUTOTUNE PID ------------------------------
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void manage_heater()
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{
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@ -119,4 +119,8 @@ extern unsigned char manage_monitor;
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void init_Timer2_softpwm(void);
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#endif
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#ifdef PID_AUTOTUNE
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void PID_autotune(int PIDAT_test_temp);
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#endif
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void manage_heater();
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