70 lines
2.4 KiB
C
70 lines
2.4 KiB
C
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* M301: Set PID parameters P I D (and optionally C, L)
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*
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* P[float] Kp term
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* I[float] Ki term (unscaled)
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* D[float] Kd term (unscaled)
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*
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* With PID_EXTRUSION_SCALING:
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*
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* C[float] Kc term
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* L[float] LPQ length
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*/
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void gcode_M301() {
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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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const uint8_t e = parser.byteval('E'); // extruder being updated
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if (e < HOTENDS) { // catch bad input value
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if (parser.seen('P')) PID_PARAM(Kp, e) = parser.value_float();
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if (parser.seen('I')) PID_PARAM(Ki, e) = scalePID_i(parser.value_float());
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if (parser.seen('D')) PID_PARAM(Kd, e) = scalePID_d(parser.value_float());
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#if ENABLED(PID_EXTRUSION_SCALING)
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if (parser.seen('C')) PID_PARAM(Kc, e) = parser.value_float();
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if (parser.seen('L')) lpq_len = parser.value_float();
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NOMORE(lpq_len, LPQ_MAX_LEN);
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#endif
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thermalManager.updatePID();
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SERIAL_ECHO_START();
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#if ENABLED(PID_PARAMS_PER_HOTEND)
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SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
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#endif // PID_PARAMS_PER_HOTEND
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SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
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SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
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SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
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#if ENABLED(PID_EXTRUSION_SCALING)
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//Kc does not have scaling applied above, or in resetting defaults
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SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
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#endif
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SERIAL_EOL();
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}
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else {
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SERIAL_ERROR_START();
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SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
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}
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}
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