⚗️ Temperature Model Predictive Control (#23751)

Marlin/src/gcode/gcode.cpp

@@ -787,6 +787,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 305: M305(); break;                                  // M305: Set user thermistor parameters
       #endif
 
+      #if ENABLED(MPCTEMP)
+        case 306: M306(); break;                                  // M306: MPC autotune
+      #endif
+
       #if ENABLED(REPETIER_GCODE_M360)
         case 360: M360(); break;                                  // M360: Firmware settings
       #endif

Marlin/src/gcode/gcode.h

@@ -215,6 +215,7 @@
  * M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
  * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
  * M305 - Set user thermistor parameters R T and P. (Requires TEMP_SENSOR_x 1000)
+ * M306 - MPC autotune. (Requires MPCTEMP)
  * M309 - Set chamber PID parameters P I and D. (Requires PIDTEMPCHAMBER)
  * M350 - Set microstepping mode. (Requires digital microstepping pins.)
  * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
@@ -928,6 +929,11 @@ private:
     static void M305();
   #endif
 
+  #if ENABLED(MPCTEMP)
+    static void M306();
+    static void M306_report(const bool forReplay=true);
+  #endif
+
   #if ENABLED(PIDTEMPCHAMBER)
     static void M309();
     static void M309_report(const bool forReplay=true);

Marlin/src/gcode/temp/M306.cpp

@@ -0,0 +1,86 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(MPCTEMP)
+
+#include "../gcode.h"
+#include "../../module/temperature.h"
+
+/**
+ * M306: MPC settings and autotune
+ *
+ *  T                         Autotune the active extruder.
+ *
+ *  A<watts/kelvin>           Ambient heat transfer coefficient (no fan).
+ *  C<joules/kelvin>          Block heat capacity.
+ *  E<extruder>               Extruder number to set. (Default: E0)
+ *  F<watts/kelvin>           Ambient heat transfer coefficient (fan on full).
+ *  P<watts>                  Heater power.
+ *  R<kelvin/second/kelvin>   Sensor responsiveness (= transfer coefficient / heat capcity).
+ */
+
+void GcodeSuite::M306() {
+  if (parser.seen_test('T')) { thermalManager.MPC_autotune(); return; }
+
+  if (parser.seen("ACFPR")) {
+    const heater_id_t hid = (heater_id_t)parser.intval('E', 0);
+    MPC_t &constants = thermalManager.temp_hotend[hid].constants;
+    if (parser.seenval('P')) constants.heater_power = parser.value_float();
+    if (parser.seenval('C')) constants.block_heat_capacity = parser.value_float();
+    if (parser.seenval('R')) constants.sensor_responsiveness = parser.value_float();
+    if (parser.seenval('A')) constants.ambient_xfer_coeff_fan0 = parser.value_float();
+    #if ENABLED(MPC_INCLUDE_FAN)
+      if (parser.seenval('F')) constants.fan255_adjustment = parser.value_float() - constants.ambient_xfer_coeff_fan0;
+    #endif
+    return;
+  }
+
+  HOTEND_LOOP() {
+    SERIAL_ECHOLNPGM("MPC constants for hotend ", e);
+    MPC_t& constants = thermalManager.temp_hotend[e].constants;
+    SERIAL_ECHOLNPGM("Heater power: ", constants.heater_power);
+    SERIAL_ECHOLNPGM("Heatblock heat capacity: ", constants.block_heat_capacity);
+    SERIAL_ECHOLNPAIR_F("Sensor responsivness: ", constants.sensor_responsiveness, 4);
+    SERIAL_ECHOLNPAIR_F("Ambient heat transfer coeff. (no fan): ", constants.ambient_xfer_coeff_fan0, 4);
+    #if ENABLED(MPC_INCLUDE_FAN)
+      SERIAL_ECHOLNPAIR_F("Ambient heat transfer coeff. (full fan): ", constants.ambient_xfer_coeff_fan0 + constants.fan255_adjustment, 4);
+    #endif
+  }
+}
+
+void GcodeSuite::M306_report(const bool forReplay/*=true*/) {
+  report_heading(forReplay, F("Model predictive control"));
+  HOTEND_LOOP() {
+    report_echo_start(forReplay);
+    MPC_t& constants = thermalManager.temp_hotend[e].constants;
+    SERIAL_ECHOPGM("  M306 E", e);
+    SERIAL_ECHOPAIR_F(" P", constants.heater_power, 2);
+    SERIAL_ECHOPAIR_F(" C", constants.block_heat_capacity, 2);
+    SERIAL_ECHOPAIR_F(" R", constants.sensor_responsiveness, 4);
+    SERIAL_ECHOPAIR_F(" A", constants.ambient_xfer_coeff_fan0, 4);
+    SERIAL_ECHOLNPAIR_F(" F", constants.ambient_xfer_coeff_fan0 + constants.fan255_adjustment, 4);
+  }
+}
+
+#endif // MPCTEMP