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)
|
|||
// wrong data being written to the variables.
|
||||
// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
|
||||
|
||||
#define EEPROM_VERSION "V13"
|
||||
#define EEPROM_VERSION "V14"
|
||||
|
||||
#ifdef EEPROM_SETTINGS
|
||||
void Config_StoreSettings()
|
||||
|
|
@ -63,11 +63,11 @@ void Config_StoreSettings()
|
|||
EEPROM_WRITE_VAR(i,delta_radius);
|
||||
EEPROM_WRITE_VAR(i,delta_diagonal_rod);
|
||||
EEPROM_WRITE_VAR(i,delta_segments_per_second);
|
||||
#endif
|
||||
#endif//DELTA
|
||||
#ifndef ULTIPANEL
|
||||
int plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP, plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP, plaPreheatFanSpeed = PLA_PREHEAT_FAN_SPEED;
|
||||
int absPreheatHotendTemp = ABS_PREHEAT_HOTEND_TEMP, absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP, absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
|
||||
#endif
|
||||
#endif//ULTIPANEL
|
||||
EEPROM_WRITE_VAR(i,plaPreheatHotendTemp);
|
||||
EEPROM_WRITE_VAR(i,plaPreheatHPBTemp);
|
||||
EEPROM_WRITE_VAR(i,plaPreheatFanSpeed);
|
||||
|
|
@ -76,37 +76,58 @@ void Config_StoreSettings()
|
|||
EEPROM_WRITE_VAR(i,absPreheatFanSpeed);
|
||||
EEPROM_WRITE_VAR(i,zprobe_zoffset);
|
||||
#ifdef PIDTEMP
|
||||
EEPROM_WRITE_VAR(i,Kp);
|
||||
EEPROM_WRITE_VAR(i,Ki);
|
||||
EEPROM_WRITE_VAR(i,Kd);
|
||||
#else
|
||||
float dummy = 0.0f;
|
||||
for (int e = 0; e < 3; e++)
|
||||
{
|
||||
if (e < EXTRUDERS)
|
||||
{
|
||||
EEPROM_WRITE_VAR(i,Kp[e]);
|
||||
EEPROM_WRITE_VAR(i,Ki[e]);
|
||||
EEPROM_WRITE_VAR(i,Kd[e]);
|
||||
#ifdef PID_ADD_EXTRUSION_RATE
|
||||
EEPROM_WRITE_VAR(i,Kc[e]);
|
||||
#else//PID_ADD_EXTRUSION_RATE
|
||||
dummy = 1.0f; // 1.0 = default kc
|
||||
EEPROM_WRITE_VAR(dummmy);
|
||||
#endif//PID_ADD_EXTRUSION_RATE
|
||||
}
|
||||
else
|
||||
{
|
||||
dummy = 3000.0f;
|
||||
EEPROM_WRITE_VAR(i, dummy);
|
||||
dummy = 0.0f;
|
||||
EEPROM_WRITE_VAR(i,dummy);
|
||||
EEPROM_WRITE_VAR(i,dummy);
|
||||
}
|
||||
}
|
||||
#else//PIDTEMP
|
||||
float dummy = 3000.0f;
|
||||
EEPROM_WRITE_VAR(i,dummy);
|
||||
dummy = 0.0f;
|
||||
EEPROM_WRITE_VAR(i,dummy);
|
||||
EEPROM_WRITE_VAR(i,dummy);
|
||||
#endif
|
||||
#endif//PIDTEMP
|
||||
#ifndef DOGLCD
|
||||
int lcd_contrast = 32;
|
||||
#endif
|
||||
#endif//DOGLCD
|
||||
EEPROM_WRITE_VAR(i,lcd_contrast);
|
||||
#ifdef SCARA
|
||||
EEPROM_WRITE_VAR(i,axis_scaling); // Add scaling for SCARA
|
||||
#endif
|
||||
#endif//SCARA
|
||||
#ifdef FWRETRACT
|
||||
EEPROM_WRITE_VAR(i,autoretract_enabled);
|
||||
EEPROM_WRITE_VAR(i,retract_length);
|
||||
#if EXTRUDERS > 1
|
||||
EEPROM_WRITE_VAR(i,retract_length_swap);
|
||||
#endif
|
||||
#endif//EXTRUDERS > 1
|
||||
EEPROM_WRITE_VAR(i,retract_feedrate);
|
||||
EEPROM_WRITE_VAR(i,retract_zlift);
|
||||
EEPROM_WRITE_VAR(i,retract_recover_length);
|
||||
#if EXTRUDERS > 1
|
||||
EEPROM_WRITE_VAR(i,retract_recover_length_swap);
|
||||
#endif
|
||||
#endif//EXTRUDERS > 1
|
||||
EEPROM_WRITE_VAR(i,retract_recover_feedrate);
|
||||
#endif
|
||||
#endif//FWRETRACT
|
||||
|
||||
// Save filament sizes
|
||||
EEPROM_WRITE_VAR(i, volumetric_enabled);
|
||||
|
|
@ -115,8 +136,8 @@ void Config_StoreSettings()
|
|||
EEPROM_WRITE_VAR(i, filament_size[1]);
|
||||
#if EXTRUDERS > 2
|
||||
EEPROM_WRITE_VAR(i, filament_size[2]);
|
||||
#endif
|
||||
#endif
|
||||
#endif//EXTRUDERS > 2
|
||||
#endif//EXTRUDERS > 1
|
||||
|
||||
char ver2[4]=EEPROM_VERSION;
|
||||
i=EEPROM_OFFSET;
|
||||
|
|
@ -149,7 +170,7 @@ SERIAL_ECHOLNPGM("Scaling factors:");
|
|||
SERIAL_ECHOLN("");
|
||||
|
||||
SERIAL_ECHO_START;
|
||||
#endif
|
||||
#endif//SCARA
|
||||
SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOPAIR(" M203 X", max_feedrate[X_AXIS]);
|
||||
|
|
@ -206,16 +227,23 @@ SERIAL_ECHOLNPGM("Scaling factors:");
|
|||
SERIAL_ECHOPAIR(" R" ,delta_radius );
|
||||
SERIAL_ECHOPAIR(" S" ,delta_segments_per_second );
|
||||
SERIAL_ECHOLN("");
|
||||
#endif
|
||||
#endif//DELTA
|
||||
#ifdef PIDTEMP
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOLNPGM("PID settings:");
|
||||
for (int e = 0; e < EXTRUDERS; e++)
|
||||
{
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOPAIR(" M301 P",Kp);
|
||||
SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki));
|
||||
SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd));
|
||||
SERIAL_ECHOPAIR(" M301 E", (long unsigned int)e);
|
||||
SERIAL_ECHOPAIR(" P", Kp[e]);
|
||||
SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki[e]));
|
||||
SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd[e]));
|
||||
#ifdef PID_ADD_EXTRUSION_RATE
|
||||
SERIAL_ECHOPAIR(" C" ,Kc[e]);
|
||||
#endif//PID_ADD_EXTRUSION_RATE
|
||||
SERIAL_ECHOLN("");
|
||||
#endif
|
||||
}
|
||||
#endif//PIDTEMP
|
||||
#ifdef FWRETRACT
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOLNPGM("Retract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)");
|
||||
|
|
@ -244,7 +272,7 @@ SERIAL_ECHOLNPGM("Scaling factors:");
|
|||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOPAIR(" Swap rec. addl. length (mm): ", retract_recover_length_swap);
|
||||
SERIAL_ECHOLN("");
|
||||
#endif
|
||||
#endif//EXTRUDERS > 1
|
||||
SERIAL_ECHO_START;
|
||||
if (volumetric_enabled) {
|
||||
SERIAL_ECHOLNPGM("Filament settings:");
|
||||
|
|
@ -259,14 +287,14 @@ SERIAL_ECHOLNPGM("Scaling factors:");
|
|||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOPAIR(" M200 T2 D", filament_size[2]);
|
||||
SERIAL_ECHOLN("");
|
||||
#endif
|
||||
#endif
|
||||
#endif//EXTRUDERS > 2
|
||||
#endif//EXTRUDERS > 1
|
||||
} else {
|
||||
SERIAL_ECHOLNPGM("Filament settings: Disabled");
|
||||
}
|
||||
#endif
|
||||
#endif//FWRETRACT
|
||||
}
|
||||
#endif
|
||||
#endif//DISABLE_M503
|
||||
|
||||
|
||||
#ifdef EEPROM_SETTINGS
|
||||
|
|
@ -301,11 +329,11 @@ void Config_RetrieveSettings()
|
|||
EEPROM_READ_VAR(i,delta_radius);
|
||||
EEPROM_READ_VAR(i,delta_diagonal_rod);
|
||||
EEPROM_READ_VAR(i,delta_segments_per_second);
|
||||
#endif
|
||||
#endif//DELTA
|
||||
#ifndef ULTIPANEL
|
||||
int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
|
||||
int absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed;
|
||||
#endif
|
||||
#endif//ULTIPANEL
|
||||
EEPROM_READ_VAR(i,plaPreheatHotendTemp);
|
||||
EEPROM_READ_VAR(i,plaPreheatHPBTemp);
|
||||
EEPROM_READ_VAR(i,plaPreheatFanSpeed);
|
||||
|
|
@ -313,35 +341,68 @@ void Config_RetrieveSettings()
|
|||
EEPROM_READ_VAR(i,absPreheatHPBTemp);
|
||||
EEPROM_READ_VAR(i,absPreheatFanSpeed);
|
||||
EEPROM_READ_VAR(i,zprobe_zoffset);
|
||||
#ifndef PIDTEMP
|
||||
float Kp,Ki,Kd;
|
||||
#endif
|
||||
#ifdef PIDTEMP
|
||||
float dummy = 0.0f;
|
||||
for (int e = 0; e < 3; e++) // 3 = max extruders supported by marlin
|
||||
{
|
||||
if (e < EXTRUDERS)
|
||||
{
|
||||
// do not need to scale PID values as the values in EEPROM are already scaled
|
||||
EEPROM_READ_VAR(i,Kp);
|
||||
EEPROM_READ_VAR(i,Ki);
|
||||
EEPROM_READ_VAR(i,Kd);
|
||||
EEPROM_READ_VAR(i,Kp[e]);
|
||||
EEPROM_READ_VAR(i,Ki[e]);
|
||||
EEPROM_READ_VAR(i,Kd[e]);
|
||||
#ifdef PID_ADD_EXTRUSION_RATE
|
||||
EEPROM_READ_VAR(i,Kc[e]);
|
||||
#else//PID_ADD_EXTRUSION_RATE
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
#endif//PID_ADD_EXTRUSION_RATE
|
||||
}
|
||||
else
|
||||
{
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
}
|
||||
}
|
||||
#else//PIDTEMP
|
||||
// 4 x 3 = 12 slots for PID parameters
|
||||
float dummy = 0.0f;
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
EEPROM_READ_VAR(i,dummy);
|
||||
#endif//PIDTEMP
|
||||
#ifndef DOGLCD
|
||||
int lcd_contrast;
|
||||
#endif
|
||||
#endif//DOGLCD
|
||||
EEPROM_READ_VAR(i,lcd_contrast);
|
||||
#ifdef SCARA
|
||||
EEPROM_READ_VAR(i,axis_scaling);
|
||||
#endif
|
||||
#endif//SCARA
|
||||
|
||||
#ifdef FWRETRACT
|
||||
EEPROM_READ_VAR(i,autoretract_enabled);
|
||||
EEPROM_READ_VAR(i,retract_length);
|
||||
#if EXTRUDERS > 1
|
||||
EEPROM_READ_VAR(i,retract_length_swap);
|
||||
#endif
|
||||
#endif//EXTRUDERS > 1
|
||||
EEPROM_READ_VAR(i,retract_feedrate);
|
||||
EEPROM_READ_VAR(i,retract_zlift);
|
||||
EEPROM_READ_VAR(i,retract_recover_length);
|
||||
#if EXTRUDERS > 1
|
||||
EEPROM_READ_VAR(i,retract_recover_length_swap);
|
||||
#endif
|
||||
#endif//EXTRUDERS > 1
|
||||
EEPROM_READ_VAR(i,retract_recover_feedrate);
|
||||
#endif
|
||||
#endif//FWRETRACT
|
||||
|
||||
EEPROM_READ_VAR(i, volumetric_enabled);
|
||||
EEPROM_READ_VAR(i, filament_size[0]);
|
||||
|
|
@ -349,8 +410,8 @@ void Config_RetrieveSettings()
|
|||
EEPROM_READ_VAR(i, filament_size[1]);
|
||||
#if EXTRUDERS > 2
|
||||
EEPROM_READ_VAR(i, filament_size[2]);
|
||||
#endif
|
||||
#endif
|
||||
#endif//EXTRUDERS > 2
|
||||
#endif//EXTRUDERS > 1
|
||||
calculate_volumetric_multipliers();
|
||||
// Call updatePID (similar to when we have processed M301)
|
||||
updatePID();
|
||||
|
|
@ -363,9 +424,9 @@ void Config_RetrieveSettings()
|
|||
}
|
||||
#ifdef EEPROM_CHITCHAT
|
||||
Config_PrintSettings();
|
||||
#endif
|
||||
#endif//EEPROM_CHITCHAT
|
||||
}
|
||||
#endif
|
||||
#endif//EEPROM_SETTINGS
|
||||
|
||||
void Config_ResetDefault()
|
||||
{
|
||||
|
|
@ -379,7 +440,7 @@ void Config_ResetDefault()
|
|||
max_acceleration_units_per_sq_second[i]=tmp3[i];
|
||||
#ifdef SCARA
|
||||
axis_scaling[i]=1;
|
||||
#endif
|
||||
#endif//SCARA
|
||||
}
|
||||
|
||||
// steps per sq second need to be updated to agree with the units per sq second
|
||||
|
|
@ -400,7 +461,7 @@ void Config_ResetDefault()
|
|||
delta_diagonal_rod= DELTA_DIAGONAL_ROD;
|
||||
delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
|
||||
recalc_delta_settings(delta_radius, delta_diagonal_rod);
|
||||
#endif
|
||||
#endif//DELTA
|
||||
#ifdef ULTIPANEL
|
||||
plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP;
|
||||
plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP;
|
||||
|
|
@ -408,24 +469,25 @@ void Config_ResetDefault()
|
|||
absPreheatHotendTemp = ABS_PREHEAT_HOTEND_TEMP;
|
||||
absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP;
|
||||
absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
|
||||
#endif
|
||||
#endif//ULTIPANEL
|
||||
#ifdef ENABLE_AUTO_BED_LEVELING
|
||||
zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
|
||||
#endif
|
||||
#endif//ENABLE_AUTO_BED_LEVELING
|
||||
#ifdef DOGLCD
|
||||
lcd_contrast = DEFAULT_LCD_CONTRAST;
|
||||
#endif
|
||||
#endif//DOGLCD
|
||||
#ifdef PIDTEMP
|
||||
Kp = DEFAULT_Kp;
|
||||
Ki = scalePID_i(DEFAULT_Ki);
|
||||
Kd = scalePID_d(DEFAULT_Kd);
|
||||
|
||||
for (int e = 0; e < EXTRUDERS; e++)
|
||||
{
|
||||
Kp[e] = DEFAULT_Kp;
|
||||
Ki[e] = scalePID_i(DEFAULT_Ki);
|
||||
Kd[e] = scalePID_d(DEFAULT_Kd);
|
||||
#ifdef PID_ADD_EXTRUSION_RATE
|
||||
Kc[e] = DEFAULT_Kc;
|
||||
#endif//PID_ADD_EXTRUSION_RATE
|
||||
}
|
||||
// call updatePID (similar to when we have processed M301)
|
||||
updatePID();
|
||||
|
||||
#ifdef PID_ADD_EXTRUSION_RATE
|
||||
Kc = DEFAULT_Kc;
|
||||
#endif//PID_ADD_EXTRUSION_RATE
|
||||
#endif//PIDTEMP
|
||||
|
||||
#ifdef FWRETRACT
|
||||
|
|
@ -433,15 +495,15 @@ void Config_ResetDefault()
|
|||
retract_length = RETRACT_LENGTH;
|
||||
#if EXTRUDERS > 1
|
||||
retract_length_swap = RETRACT_LENGTH_SWAP;
|
||||
#endif
|
||||
#endif//EXTRUDERS > 1
|
||||
retract_feedrate = RETRACT_FEEDRATE;
|
||||
retract_zlift = RETRACT_ZLIFT;
|
||||
retract_recover_length = RETRACT_RECOVER_LENGTH;
|
||||
#if EXTRUDERS > 1
|
||||
retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
|
||||
#endif
|
||||
#endif//EXTRUDERS > 1
|
||||
retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
|
||||
#endif
|
||||
#endif//FWRETRACT
|
||||
|
||||
volumetric_enabled = false;
|
||||
filament_size[0] = DEFAULT_NOMINAL_FILAMENT_DIA;
|
||||
|
|
@ -449,8 +511,8 @@ void Config_ResetDefault()
|
|||
filament_size[1] = DEFAULT_NOMINAL_FILAMENT_DIA;
|
||||
#if EXTRUDERS > 2
|
||||
filament_size[2] = DEFAULT_NOMINAL_FILAMENT_DIA;
|
||||
#endif
|
||||
#endif
|
||||
#endif//EXTRUDERS > 2
|
||||
#endif//EXTRUDERS > 1
|
||||
calculate_volumetric_multipliers();
|
||||
|
||||
SERIAL_ECHO_START;
|
||||
|
|
|
|||
|
|
@ -3198,28 +3198,48 @@ Sigma_Exit:
|
|||
#ifdef PIDTEMP
|
||||
case 301: // M301
|
||||
{
|
||||
if(code_seen('P')) Kp = code_value();
|
||||
if(code_seen('I')) Ki = scalePID_i(code_value());
|
||||
if(code_seen('D')) Kd = scalePID_d(code_value());
|
||||
|
||||
// multi-extruder PID patch: M301 updates or prints a single extruder's PID values
|
||||
// default behaviour (omitting E parameter) is to update for extruder 0 only
|
||||
int e = 0; // extruder being updated
|
||||
if (code_seen('E'))
|
||||
{
|
||||
e = (int)code_value();
|
||||
}
|
||||
if (e < EXTRUDERS) // catch bad input value
|
||||
{
|
||||
|
||||
if (code_seen('P')) Kp[e] = code_value();
|
||||
if (code_seen('I')) Ki[e] = scalePID_i(code_value());
|
||||
if (code_seen('D')) Kd[e] = scalePID_d(code_value());
|
||||
#ifdef PID_ADD_EXTRUSION_RATE
|
||||
if(code_seen('C')) Kc = code_value();
|
||||
if (code_seen('C')) Kc[e] = code_value();
|
||||
#endif
|
||||
|
||||
updatePID();
|
||||
SERIAL_PROTOCOL(MSG_OK);
|
||||
SERIAL_PROTOCOL(" e:"); // specify extruder in serial output
|
||||
SERIAL_PROTOCOL(e);
|
||||
SERIAL_PROTOCOL(" p:");
|
||||
SERIAL_PROTOCOL(Kp);
|
||||
SERIAL_PROTOCOL(Kp[e]);
|
||||
SERIAL_PROTOCOL(" i:");
|
||||
SERIAL_PROTOCOL(unscalePID_i(Ki));
|
||||
SERIAL_PROTOCOL(unscalePID_i(Ki[e]));
|
||||
SERIAL_PROTOCOL(" d:");
|
||||
SERIAL_PROTOCOL(unscalePID_d(Kd));
|
||||
SERIAL_PROTOCOL(unscalePID_d(Kd[e]));
|
||||
#ifdef PID_ADD_EXTRUSION_RATE
|
||||
SERIAL_PROTOCOL(" c:");
|
||||
//Kc does not have scaling applied above, or in resetting defaults
|
||||
SERIAL_PROTOCOL(Kc);
|
||||
SERIAL_PROTOCOL(Kc[e]);
|
||||
#endif
|
||||
SERIAL_PROTOCOLLN("");
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
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 a new issue