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🐛 Fix Bed/Chamber PID Autotune with MPCTEMP (#23983)

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This commit is contained in:
Giuliano Zaro 2022-04-04 01:44:45 +02:00 committed by Scott Lahteine
parent a6ce9bf559
commit 6c557a2480
9 changed files with 92 additions and 96 deletions
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8
Marlin/src/MarlinCore.cpp
View file

@ -417,7 +417,9 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
if (do_reset_timeout) gcode.reset_stepper_timeout(ms);
if (gcode.stepper_max_timed_out(ms)) {
SERIAL_ERROR_MSG(STR_KILL_INACTIVE_TIME, parser.command_ptr);
SERIAL_ERROR_START();
SERIAL_ECHOPGM(STR_KILL_PRE);
SERIAL_ECHOLNPGM(STR_KILL_INACTIVE_TIME, parser.command_ptr);
kill();
}
@ -475,7 +477,9 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
// KILL the machine
// ----------------------------------------------------------------
if (killCount >= KILL_DELAY) {
SERIAL_ERROR_MSG(STR_KILL_BUTTON);
SERIAL_ERROR_START();
SERIAL_ECHOPGM(STR_KILL_PRE);
SERIAL_ECHOLNPGM(STR_KILL_BUTTON);
kill();
}
#endif

22
Marlin/src/core/language.h
View file

@ -199,16 +199,20 @@
#define STR_FILAMENT_CHANGE_INSERT_M108 "Insert filament and send M108"
#define STR_FILAMENT_CHANGE_WAIT_M108 "Send M108 to resume"
#define STR_STOP_BLTOUCH "!! STOP called because of BLTouch error - restart with M999"
#define STR_STOP_UNHOMED "!! STOP called because of unhomed error - restart with M999"
#define STR_KILL_INACTIVE_TIME "!! KILL caused by too much inactive time - current command: "
#define STR_KILL_BUTTON "!! KILL caused by KILL button/pin"
#define STR_STOP_PRE "!! STOP called because of "
#define STR_STOP_POST " error - restart with M999"
#define STR_STOP_BLTOUCH "BLTouch"
#define STR_STOP_UNHOMED "unhomed"
#define STR_KILL_PRE "!! KILL caused by "
#define STR_KILL_INACTIVE_TIME "too much inactive time - current command: "
#define STR_KILL_BUTTON "KILL button/pin"
// temperature.cpp strings
#define STR_PID_AUTOTUNE_START "PID Autotune start"
#define STR_PID_BAD_HEATER_ID "PID Autotune failed! Bad heater id"
#define STR_PID_TEMP_TOO_HIGH "PID Autotune failed! Temperature too high"
#define STR_PID_TIMEOUT "PID Autotune failed! timeout"
#define STR_PID_AUTOTUNE "PID Autotune"
#define STR_PID_AUTOTUNE_START " start"
#define STR_PID_BAD_HEATER_ID " failed! Bad heater id"
#define STR_PID_TEMP_TOO_HIGH " failed! Temperature too high"
#define STR_PID_TIMEOUT " failed! timeout"
#define STR_BIAS " bias: "
#define STR_D_COLON " d: "
#define STR_T_MIN " min: "
@ -219,7 +223,7 @@
#define STR_KP " Kp: "
#define STR_KI " Ki: "
#define STR_KD " Kd: "
#define STR_PID_AUTOTUNE_FINISHED "PID Autotune finished! Put the last Kp, Ki and Kd constants from below into Configuration.h"
#define STR_PID_AUTOTUNE_FINISHED " finished! Put the last Kp, Ki and Kd constants from below into Configuration.h"
#define STR_PID_DEBUG " PID_DEBUG "
#define STR_PID_DEBUG_INPUT ": Input "
#define STR_PID_DEBUG_OUTPUT " Output "

15
Marlin/src/feature/bltouch.cpp
View file

@ -111,11 +111,8 @@ bool BLTouch::deploy_proc() {
// Last attempt to DEPLOY
if (_deploy_query_alarm()) {
// The deploy might have failed or the probe is actually triggered (nozzle too low?) again
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Recovery Failed");
SERIAL_ERROR_MSG(STR_STOP_BLTOUCH); // Tell the user something is wrong, needs action
stop(); // but it's not too bad, no need to kill, allow restart
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Deploy Failed");
probe.probe_error_stop(); // Something is wrong, needs action, but not too bad, allow restart
return true; // Tell our caller we goofed in case he cares to know
}
}
@ -153,12 +150,8 @@ bool BLTouch::stow_proc() {
// But one more STOW will catch that
// Last attempt to STOW
if (_stow_query_alarm()) { // so if there is now STILL an ALARM condition:
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Recovery Failed");
SERIAL_ERROR_MSG(STR_STOP_BLTOUCH); // Tell the user something is wrong, needs action
stop(); // but it's not too bad, no need to kill, allow restart
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Stow Failed");
probe.probe_error_stop(); // Something is wrong, needs action, but not too bad, allow restart
return true; // Tell our caller we goofed in case he cares to know
}
}

1
Marlin/src/gcode/temp/M303.cpp
View file

@ -71,6 +71,7 @@ void GcodeSuite::M303() {
case H_CHAMBER: default_temp = PREHEAT_1_TEMP_CHAMBER; break;
#endif
default:
SERIAL_ECHOPGM(STR_PID_AUTOTUNE);
SERIAL_ECHOLNPGM(STR_PID_BAD_HEATER_ID);
TERN_(EXTENSIBLE_UI, ExtUI::onPidTuning(ExtUI::result_t::PID_BAD_EXTRUDER_NUM));
TERN_(DWIN_LCD_PROUI, DWIN_PidTuning(PID_BAD_EXTRUDER_NUM));

12
Marlin/src/inc/SanityCheck.h
View file

@ -2854,10 +2854,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#if ENABLED(DWIN_CREALITY_LCD)
#if DISABLED(SDSUPPORT)
#error "DWIN_CREALITY_LCD requires SDSUPPORT to be enabled."
#elif ENABLED(PID_EDIT_MENU)
#error "DWIN_CREALITY_LCD does not support PID_EDIT_MENU."
#elif ENABLED(PID_AUTOTUNE_MENU)
#error "DWIN_CREALITY_LCD does not support PID_AUTOTUNE_MENU."
#elif EITHER(PID_EDIT_MENU, PID_AUTOTUNE_MENU)
#error "DWIN_CREALITY_LCD does not support PID_EDIT_MENU or PID_AUTOTUNE_MENU."
#elif ENABLED(LEVEL_BED_CORNERS)
#error "DWIN_CREALITY_LCD does not support LEVEL_BED_CORNERS."
#elif BOTH(LCD_BED_LEVELING, PROBE_MANUALLY)
@ -2866,10 +2864,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#elif ENABLED(DWIN_LCD_PROUI)
#if DISABLED(SDSUPPORT)
#error "DWIN_LCD_PROUI requires SDSUPPORT to be enabled."
#elif ENABLED(PID_EDIT_MENU)
#error "DWIN_LCD_PROUI does not support PID_EDIT_MENU."
#elif ENABLED(PID_AUTOTUNE_MENU)
#error "DWIN_LCD_PROUI does not support PID_AUTOTUNE_MENU."
#elif EITHER(PID_EDIT_MENU, PID_AUTOTUNE_MENU)
#error "DWIN_LCD_PROUI does not support PID_EDIT_MENU or PID_AUTOTUNE_MENU."
#elif ENABLED(LEVEL_BED_CORNERS)
#error "DWIN_LCD_PROUI does not support LEVEL_BED_CORNERS."
#elif BOTH(LCD_BED_LEVELING, PROBE_MANUALLY)

51
Marlin/src/lcd/menu/menu_advanced.cpp
View file

@ -211,7 +211,7 @@ void menu_backlash();
// Helpers for editing PID Ki & Kd values
// grab the PID value out of the temp variable; scale it; then update the PID driver
void copy_and_scalePID_i(int16_t e) {
void copy_and_scalePID_i(const int8_t e) {
switch (e) {
#if ENABLED(PIDTEMPBED)
case H_BED: thermalManager.temp_bed.pid.Ki = scalePID_i(raw_Ki); break;
@ -227,7 +227,7 @@ void menu_backlash();
break;
}
}
void copy_and_scalePID_d(int16_t e) {
void copy_and_scalePID_d(const int8_t e) {
switch (e) {
#if ENABLED(PIDTEMPBED)
case H_BED: thermalManager.temp_bed.pid.Kd = scalePID_d(raw_Kd); break;
@ -243,30 +243,6 @@ void menu_backlash();
break;
}
}
#define _DEFINE_PIDTEMP_BASE_FUNCS(N) \
void copy_and_scalePID_i_E##N() { copy_and_scalePID_i(N); } \
void copy_and_scalePID_d_E##N() { copy_and_scalePID_d(N); }
#else
#define _DEFINE_PIDTEMP_BASE_FUNCS(N) //
#endif
#if ENABLED(PID_AUTOTUNE_MENU)
#define DEFINE_PIDTEMP_FUNCS(N) \
_DEFINE_PIDTEMP_BASE_FUNCS(N); \
void lcd_autotune_callback_E##N() { _lcd_autotune(heater_id_t(N)); }
#else
#define DEFINE_PIDTEMP_FUNCS(N) _DEFINE_PIDTEMP_BASE_FUNCS(N);
#endif
#if HAS_HOTEND
DEFINE_PIDTEMP_FUNCS(0);
#if ENABLED(PID_PARAMS_PER_HOTEND)
REPEAT_S(1, HOTENDS, DEFINE_PIDTEMP_FUNCS)
#endif
#endif
#if BOTH(AUTOTEMP, HAS_TEMP_HOTEND) || EITHER(PID_AUTOTUNE_MENU, PID_EDIT_MENU)
@ -281,6 +257,7 @@ void menu_backlash();
void menu_advanced_temperature() {
START_MENU();
BACK_ITEM(MSG_ADVANCED_SETTINGS);
//
// Autotemp, Min, Max, Fact
//
@ -300,14 +277,7 @@ void menu_backlash();
// PID-P E5, PID-I E5, PID-D E5, PID-C E5, PID Autotune E5
//
#if ENABLED(PID_EDIT_MENU)
#define _PID_EDIT_ITEMS_TMPL(N,T) \
raw_Ki = unscalePID_i(T.pid.Ki); \
raw_Kd = unscalePID_d(T.pid.Kd); \
EDIT_ITEM_FAST_N(float41sign, N, MSG_PID_P_E, &T.pid.Kp, 1, 9990); \
EDIT_ITEM_FAST_N(float52sign, N, MSG_PID_I_E, &raw_Ki, 0.01f, 9990, []{ copy_and_scalePID_i(N); }); \
EDIT_ITEM_FAST_N(float41sign, N, MSG_PID_D_E, &raw_Kd, 1, 9990, []{ copy_and_scalePID_d(N); })
#if BOTH(PIDTEMP, PID_EDIT_MENU)
#define __PID_HOTEND_MENU_ITEMS(N) \
raw_Ki = unscalePID_i(PID_PARAM(Ki, N)); \
raw_Kd = unscalePID_d(PID_PARAM(Kd, N)); \
@ -337,6 +307,16 @@ void menu_backlash();
#endif
#if ENABLED(PID_EDIT_MENU) && EITHER(PIDTEMPBED, PIDTEMPCHAMBER)
#define _PID_EDIT_ITEMS_TMPL(N,T) \
raw_Ki = unscalePID_i(T.pid.Ki); \
raw_Kd = unscalePID_d(T.pid.Kd); \
EDIT_ITEM_FAST_N(float41sign, N, MSG_PID_P_E, &T.pid.Kp, 1, 9990); \
EDIT_ITEM_FAST_N(float52sign, N, MSG_PID_I_E, &raw_Ki, 0.01f, 9990, []{ copy_and_scalePID_i(N); }); \
EDIT_ITEM_FAST_N(float41sign, N, MSG_PID_D_E, &raw_Kd, 1, 9990, []{ copy_and_scalePID_d(N); })
#endif
#if ENABLED(PIDTEMP)
#if ENABLED(PID_AUTOTUNE_MENU)
#define HOTEND_PID_EDIT_MENU_ITEMS(N) \
_HOTEND_PID_EDIT_MENU_ITEMS(N); \
@ -347,7 +327,8 @@ void menu_backlash();
HOTEND_PID_EDIT_MENU_ITEMS(0);
#if ENABLED(PID_PARAMS_PER_HOTEND)
REPEAT_S(1, HOTENDS, HOTEND_PID_EDIT_MENU_ITEMS)
REPEAT_S(1, HOTENDS, HOTEND_PID_EDIT_MENU_ITEMS);
#endif
#endif
#if ENABLED(PIDTEMPBED)

25
Marlin/src/module/probe.cpp
View file

@ -415,6 +415,21 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {
#endif
/**
* Print an error and stop()
*/
void Probe::probe_error_stop() {
SERIAL_ERROR_START();
SERIAL_ECHOPGM(STR_STOP_PRE);
#if EITHER(Z_PROBE_SLED, Z_PROBE_ALLEN_KEY)
SERIAL_ECHOPGM(STR_STOP_UNHOMED);
#elif ENABLED(BLTOUCH)
SERIAL_ECHOPGM(STR_STOP_BLTOUCH);
#endif
SERIAL_ECHOLNPGM(STR_STOP_POST);
stop();
}
/**
* Attempt to deploy or stow the probe
*
@ -443,8 +458,7 @@ bool Probe::set_deployed(const bool deploy) {
#if EITHER(Z_PROBE_SLED, Z_PROBE_ALLEN_KEY)
if (homing_needed_error(TERN_(Z_PROBE_SLED, _BV(X_AXIS)))) {
SERIAL_ERROR_MSG(STR_STOP_UNHOMED);
stop();
probe_error_stop();
return true;
}
#endif
@ -484,15 +498,12 @@ bool Probe::set_deployed(const bool deploy) {
}
/**
* @brief Used by run_z_probe to do a single Z probe move.
* @brief Move down until the probe triggers or the low limit is reached
* Used by run_z_probe to do a single Z probe move.
*
* @param z Z destination
* @param fr_mm_s Feedrate in mm/s
* @return true to indicate an error
*/
/**
* @brief Move down until the probe triggers or the low limit is reached
*
* @details Used by run_z_probe to get each bed Z height measurement.
* Sets current_position.z to the height where the probe triggered

2
Marlin/src/module/probe.h
View file

@ -78,6 +78,8 @@ public:
static void preheat_for_probing(const celsius_t hotend_temp, const celsius_t bed_temp);
#endif
static void probe_error_stop();
static bool set_deployed(const bool deploy);
#if IS_KINEMATIC

36
Marlin/src/module/temperature.cpp
View file

@ -638,6 +638,7 @@ volatile bool Temperature::raw_temps_ready = false;
TERN_(DWIN_LCD_PROUI, DWIN_PidTuning(isbed ? PID_BED_START : PID_EXTR_START));
if (target > GHV(CHAMBER_MAX_TARGET, BED_MAX_TARGET, temp_range[heater_id].maxtemp - (HOTEND_OVERSHOOT))) {
SERIAL_ECHOPGM(STR_PID_AUTOTUNE);
SERIAL_ECHOLNPGM(STR_PID_TEMP_TOO_HIGH);
TERN_(EXTENSIBLE_UI, ExtUI::onPidTuning(ExtUI::result_t::PID_TEMP_TOO_HIGH));
TERN_(DWIN_LCD_PROUI, DWIN_PidTuning(PID_TEMP_TOO_HIGH));
@ -645,6 +646,7 @@ volatile bool Temperature::raw_temps_ready = false;
return;
}
SERIAL_ECHOPGM(STR_PID_AUTOTUNE);
SERIAL_ECHOLNPGM(STR_PID_AUTOTUNE_START);
disable_all_heaters();
@ -660,10 +662,11 @@ volatile bool Temperature::raw_temps_ready = false;
TERN_(NO_FAN_SLOWING_IN_PID_TUNING, adaptive_fan_slowing = false);
// PID Tuning loop
wait_for_heatup = true; // Can be interrupted with M108
LCD_MESSAGE(MSG_HEATING);
while (wait_for_heatup) {
// PID Tuning loop
wait_for_heatup = true;
while (wait_for_heatup) { // Can be interrupted with M108
const millis_t ms = millis();
@ -729,6 +732,7 @@ volatile bool Temperature::raw_temps_ready = false;
#define MAX_OVERSHOOT_PID_AUTOTUNE 30
#endif
if (current_temp > target + MAX_OVERSHOOT_PID_AUTOTUNE) {
SERIAL_ECHOPGM(STR_PID_AUTOTUNE);
SERIAL_ECHOLNPGM(STR_PID_TEMP_TOO_HIGH);
TERN_(EXTENSIBLE_UI, ExtUI::onPidTuning(ExtUI::result_t::PID_TEMP_TOO_HIGH));
TERN_(DWIN_LCD_PROUI, DWIN_PidTuning(PID_TEMP_TOO_HIGH));
@ -771,11 +775,13 @@ volatile bool Temperature::raw_temps_ready = false;
TERN_(DWIN_LCD_PROUI, DWIN_PidTuning(PID_TUNING_TIMEOUT));
TERN_(EXTENSIBLE_UI, ExtUI::onPidTuning(ExtUI::result_t::PID_TUNING_TIMEOUT));
TERN_(HOST_PROMPT_SUPPORT, hostui.notify(GET_TEXT_F(MSG_PID_TIMEOUT)));
SERIAL_ECHOPGM(STR_PID_AUTOTUNE);
SERIAL_ECHOLNPGM(STR_PID_TIMEOUT);
break;
}
if (cycles > ncycles && cycles > 2) {
SERIAL_ECHOPGM(STR_PID_AUTOTUNE);
SERIAL_ECHOLNPGM(STR_PID_AUTOTUNE_FINISHED);
TERN_(HOST_PROMPT_SUPPORT, hostui.notify(GET_TEXT_F(MSG_PID_AUTOTUNE_DONE)));
@ -875,7 +881,6 @@ volatile bool Temperature::raw_temps_ready = false;
MPC_t& constants = hotend.constants;
// move to center of bed, just above bed height and cool with max fan
SERIAL_ECHOLNPGM("Moving to tuning position");
TERN_(HAS_FAN, zero_fan_speeds());
disable_all_heaters();
TERN_(HAS_FAN, set_fan_speed(ANY(MPC_FAN_0_ALL_HOTENDS, MPC_FAN_0_ACTIVE_HOTEND) ? 0 : active_extruder, 255));
@ -902,6 +907,7 @@ volatile bool Temperature::raw_temps_ready = false;
next_test_ms += 10000UL;
}
}
TERN_(HAS_FAN, set_fan_speed(ANY(MPC_FAN_0_ALL_HOTENDS, MPC_FAN_0_ACTIVE_HOTEND) ? 0 : active_extruder, 0));
TERN_(HAS_FAN, planner.sync_fan_speeds(fan_speed));
@ -909,8 +915,7 @@ volatile bool Temperature::raw_temps_ready = false;
SERIAL_ECHOLNPGM("Heating to 200C");
hotend.soft_pwm_amount = MPC_MAX >> 1;
const millis_t heat_start_time = ms;
next_test_ms = ms;
const millis_t heat_start_time = next_test_ms = ms;
celsius_float_t temp_samples[16];
uint8_t sample_count = 0;
uint16_t sample_distance = 1;
@ -941,7 +946,7 @@ volatile bool Temperature::raw_temps_ready = false;
}
hotend.soft_pwm_amount = 0;
// calculate physical constants from three equally spaced samples
// Calculate physical constants from three equally-spaced samples
sample_count = (sample_count + 1) / 2 * 2 - 1;
const float t1 = temp_samples[0],
t2 = temp_samples[(sample_count - 1) >> 1],
@ -957,14 +962,13 @@ volatile bool Temperature::raw_temps_ready = false;
hotend.modeled_block_temp = asymp_temp + (ambient_temp - asymp_temp) * exp(-block_responsiveness * (ms - heat_start_time) / 1000.0f);
hotend.modeled_sensor_temp = current_temp;
// let the system stabilise under MPC control then get a better measure of ambient loss without and with fan
// Allow the system to stabilize under MPC, then get a better measure of ambient loss with and without fan
SERIAL_ECHOLNPGM("Measuring ambient heatloss at target ", hotend.modeled_block_temp);
hotend.target = hotend.modeled_block_temp;
next_test_ms = ms + MPC_dT * 1000;
constexpr millis_t settle_time = 20000UL,
test_length = 20000UL;
constexpr millis_t settle_time = 20000UL, test_duration = 20000UL;
millis_t settle_end_ms = ms + settle_time,
test_end_ms = settle_end_ms + test_length;
test_end_ms = settle_end_ms + test_duration;
float total_energy_fan0 = 0.0f;
#if HAS_FAN
bool fan0_done = false;
@ -987,7 +991,7 @@ volatile bool Temperature::raw_temps_ready = false;
set_fan_speed(ANY(MPC_FAN_0_ALL_HOTENDS, MPC_FAN_0_ACTIVE_HOTEND) ? 0 : active_extruder, 255);
planner.sync_fan_speeds(fan_speed);
settle_end_ms = ms + settle_time;
test_end_ms = settle_end_ms + test_length;
test_end_ms = settle_end_ms + test_duration;
fan0_done = true;
}
else if (ELAPSED(ms, settle_end_ms) && !ELAPSED(ms, test_end_ms))
@ -1005,11 +1009,11 @@ volatile bool Temperature::raw_temps_ready = false;
}
}
const float power_fan0 = total_energy_fan0 * 1000 / test_length;
const float power_fan0 = total_energy_fan0 * 1000 / test_duration;
constants.ambient_xfer_coeff_fan0 = power_fan0 / (hotend.target - ambient_temp);
#if HAS_FAN
const float power_fan255 = total_energy_fan255 * 1000 / test_length,
const float power_fan255 = total_energy_fan255 * 1000 / test_duration,
ambient_xfer_coeff_fan255 = power_fan255 / (hotend.target - ambient_temp);
constants.fan255_adjustment = ambient_xfer_coeff_fan255 - constants.ambient_xfer_coeff_fan0;
#endif
@ -1371,8 +1375,8 @@ void Temperature::min_temp_error(const heater_id_t heater_id) {
#endif
#elif ENABLED(MPCTEMP)
MPCHeaterInfo& hotend = temp_hotend[ee];
MPC_t& constants = hotend.constants;
MPCHeaterInfo &hotend = temp_hotend[ee];
MPC_t &constants = hotend.constants;
// At startup, initialize modeled temperatures
if (isnan(hotend.modeled_block_temp)) {