Version 1.3.21T
- M301 set PID Parameter, After PID values change use M500 to store to EEPROM - If no PID is used, deaktivate Variables for PID settings
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midopple
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9fe56bac47
commit
eb9de32b30
5 changed files with 82 additions and 27 deletions
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@ -127,7 +127,16 @@
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- Extra Parameter for Max Extruder Jerk
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- New Parameter (max_e_jerk) in EEPROM --> Default settings after update !
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Version 1.3.20T
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- fix a few typos and correct english usage
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- reimplement homing routine as an inline function
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- refactor eeprom routines to make it possible to modify the value of a single parameter
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- calculate eeprom parameter addresses based on previous param address plus sizeof(type)
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- add 0 C point in Thermistortable 7
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Version 1.3.21T
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- M301 set PID Parameter, and Store to EEPROM
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- If no PID is used, deaktivate Variables for PID settings
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*/
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@ -219,6 +228,7 @@ 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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// M301 - Set PID parameters P I and D
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// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
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// M400 - Finish all moves
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@ -234,7 +244,7 @@ void __cxa_pure_virtual(){};
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// M603 - Show Free Ram
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#define _VERSION_TEXT "1.3.19T / 11.06.2012"
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#define _VERSION_TEXT "1.3.21T / 17.07.2012"
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//Stepper Movement Variables
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char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
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@ -250,7 +260,9 @@ float max_xy_jerk = _MAX_XY_JERK;
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float max_z_jerk = _MAX_Z_JERK;
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float max_e_jerk = _MAX_E_JERK;
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unsigned long min_seg_time = _MIN_SEG_TIME;
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unsigned int Kp = PID_PGAIN, Ki = PID_IGAIN, Kd = PID_DGAIN;
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#ifdef PIDTEMP
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unsigned int PID_Kp = PID_PGAIN, PID_Ki = PID_IGAIN, PID_Kd = PID_DGAIN;
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#endif
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long max_acceleration_units_per_sq_second[4] = _MAX_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
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@ -851,6 +863,10 @@ void setup()
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//second value --> Print settings to UART
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EEPROM_RetrieveSettings(false,false);
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#endif
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#ifdef PIDTEMP
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updatePID();
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#endif
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//Free Ram
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showString(PSTR("Free Ram: "));
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@ -1817,6 +1833,16 @@ FORCE_INLINE void process_commands()
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}
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}
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break;
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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')) PID_Kp = code_value();
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if(code_seen('I')) PID_Ki = code_value();
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if(code_seen('D')) PID_Kd = code_value();
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updatePID();
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}
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break;
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#endif //PIDTEMP
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#ifdef PID_AUTOTUNE
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case 303: // M303 PID autotune
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{
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@ -66,8 +66,8 @@ unsigned long previous_millis_heater, previous_millis_bed_heater, previous_milli
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//int output;
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int error;
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int heater_duty = 0;
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const int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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const int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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#endif
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@ -496,6 +496,14 @@ void PID_autotune(int PIDAT_test_temp)
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}
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#endif
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//---------------- END AUTOTUNE PID ------------------------------
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void updatePID()
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{
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#ifdef PIDTEMP
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temp_iState_min = (256L * -PID_INTEGRAL_DRIVE_MAX) / PID_Ki;
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temp_iState_max = (256L * PID_INTEGRAL_DRIVE_MAX) / PID_Ki;
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#endif
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}
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void manage_heater()
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{
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@ -637,7 +645,7 @@ void PID_autotune(int PIDAT_test_temp)
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int delta_temp = current_temp - prev_temp;
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prev_temp = current_temp;
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pTerm = ((long)PID_PGAIN * error) / 256;
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pTerm = ((long)PID_Kp * error) / 256;
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const int H0 = min(HEATER_DUTY_FOR_SETPOINT(target_temp),HEATER_CURRENT);
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heater_duty = H0 + pTerm;
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@ -645,7 +653,7 @@ void PID_autotune(int PIDAT_test_temp)
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{
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temp_iState += error;
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temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
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iTerm = ((long)PID_IGAIN * temp_iState) / 256;
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iTerm = ((long)PID_Ki * temp_iState) / 256;
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heater_duty += iTerm;
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}
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@ -656,7 +664,7 @@ void PID_autotune(int PIDAT_test_temp)
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if(prev_error > 9){ prev_error /= 9; log3 += 2; }
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if(prev_error > 3){ prev_error /= 3; log3 ++; }
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dTerm = ((long)PID_DGAIN * delta_temp) / (256*log3);
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dTerm = ((long)PID_Kd * delta_temp) / (256*log3);
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heater_duty += dTerm;
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heater_duty = constrain(heater_duty, 0, HEATER_CURRENT);
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@ -88,6 +88,8 @@ extern unsigned char manage_monitor;
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extern int dTerm;
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extern int error;
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extern int heater_duty;
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extern unsigned int PID_Kp, PID_Ki, PID_Kd;
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#endif
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#if defined(FAN_SOFT_PWM) && (FAN_PIN > -1)
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@ -123,4 +125,8 @@ extern unsigned char manage_monitor;
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void PID_autotune(int PIDAT_test_temp);
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#endif
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#ifdef PIDTEMP
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void updatePID();
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#endif
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void manage_heater();
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@ -23,6 +23,9 @@
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#include "store_eeprom.h"
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#include "Configuration.h"
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#ifdef PIDTEMP
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extern unsigned int PID_Kp, PID_Ki, PID_Kd;
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#endif
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#ifdef USE_EEPROM_SETTINGS
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@ -65,10 +68,17 @@ void EEPROM_StoreSettings()
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EEPROM_write_setting(max_z_jerk_address, max_z_jerk);
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EEPROM_write_setting(max_e_jerk_address, max_e_jerk);
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//PID Settings, not used yet --> placeholder
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EEPROM_write_setting(Kp_address, Kp); //Kp
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EEPROM_write_setting(Ki_address, Ki); //Ki
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EEPROM_write_setting(Kd_address, Kd); //Kd
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//PID Settings
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#ifdef PIDTEMP
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EEPROM_write_setting(Kp_address, PID_Kp); //Kp
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EEPROM_write_setting(Ki_address, PID_Ki); //Ki
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EEPROM_write_setting(Kd_address, PID_Kd); //Kd
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#else
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EEPROM_write_setting(Kp_address, 2048); //Kp
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EEPROM_write_setting(Ki_address, 32); //Ki
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EEPROM_write_setting(Kd_address, 2048); //Kd
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#endif
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char ver2[4]=EEPROM_VERSION;
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EEPROM_write_setting(EEPROM_OFFSET, ver2); // validate data
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@ -123,7 +133,7 @@ void EEPROM_printSettings()
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showString(PSTR(" T" ));
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Serial.print(mintravelfeedrate );
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// showString(PSTR(" B"));
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// Serial.print(minsegmenttime );
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// Serial.print(min_seg_time );
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showString(PSTR(" X"));
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Serial.print(max_xy_jerk );
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showString(PSTR(" Z"));
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@ -133,15 +143,15 @@ void EEPROM_printSettings()
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#ifdef PIDTEMP
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/*
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showString(PSTR("PID settings:");
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showString(PSTR(" M301 P"));
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Serial.print(Kp);
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showString(PSTR("PID settings:\r\n"));
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showString(PSTR(" M301 P"));
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Serial.print(PID_Kp);
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showString(PSTR(" I"));
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Serial.print(Ki);
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SshowString(PSTR(" D"));
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Serial.print(Kd);
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*/
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Serial.print(PID_Ki);
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showString(PSTR(" D"));
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Serial.println(PID_Kd);
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#endif
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#endif
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@ -169,9 +179,12 @@ void EEPROM_RetrieveSettings(bool def, bool printout)
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EEPROM_read_setting(max_xy_jerk_address, max_xy_jerk);
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EEPROM_read_setting(max_z_jerk_address, max_z_jerk);
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EEPROM_read_setting(max_e_jerk_address, max_e_jerk);
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EEPROM_read_setting(Kp_address, Kp);
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EEPROM_read_setting(Ki_address, Ki);
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EEPROM_read_setting(Kd_address, Kd);
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#ifdef PIDTEMP
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EEPROM_read_setting(Kp_address, PID_Kp);
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EEPROM_read_setting(Ki_address, PID_Ki);
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EEPROM_read_setting(Kd_address, PID_Kd);
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#endif
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showString(PSTR("Stored settings retreived\r\n"));
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}
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@ -195,9 +208,12 @@ void EEPROM_RetrieveSettings(bool def, bool printout)
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max_z_jerk=_MAX_Z_JERK;
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max_e_jerk=_MAX_E_JERK;
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min_seg_time=_MIN_SEG_TIME;
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Kp = PID_PGAIN;
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Ki = PID_IGAIN;
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Kd = PID_DGAIN;
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#ifdef PIDTEMP
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PID_Kp = PID_PGAIN;
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PID_Ki = PID_IGAIN;
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PID_Kd = PID_DGAIN;
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#endif
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showString(PSTR("Using Default settings\r\n"));
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}
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@ -41,7 +41,6 @@ extern float max_xy_jerk;
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extern float max_z_jerk;
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extern float max_e_jerk;
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extern unsigned long min_seg_time;
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extern unsigned int Kp, Ki, Kd;
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#define axis_steps_per_unit_address (EEPROM_OFFSET + 4*sizeof(char))
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#define max_feedrate_address (axis_steps_per_unit_address + 4*sizeof(float))
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