PID now per extruder. Fixed typo

2013-01-06 14:26:23 +01:00
parent 0ac452e252
commit 6752cb2d9c
7 changed files with 125 additions and 72 deletions
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -136,6 +136,17 @@
 //    #define  DEFAULT_Kd 440
 #endif // PIDTEMP

+// PID parameters for 2nd extruder
+    #define DEFAULT_Kp_E1 22.2
+    #define DEFAULT_Ki_E1 1.08
+    #define DEFAULT_Kd_E1 114
+
+
+// PID parameters for 3th extruder
+//    #define DEFAULT_Kp_E2 22.2
+//    #define DEFAULT_Ki_E2 1.08
+//    #define DEFAULT_Kd_E2 114
+
 // Bed Temperature Control
 // Select PID or bang-bang with PIDTEMPBED.  If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
 //
--- a/Marlin/ConfigurationStore.cpp
+++ b/Marlin/ConfigurationStore.cpp
@@ -3,26 +3,26 @@
 #include "temperature.h"
 #include "ultralcd.h"
 #include "ConfigurationStore.h"
-
-void _EEPROM_writeData(int &pos, uint8_t* value, uint8_t size)
-{
-    do
-    {
-        eeprom_write_byte((unsigned char*)pos, *value);
-        pos++;
-        value++;
+
+void _EEPROM_writeData(int &pos, uint8_t* value, uint8_t size)
+{
+    do
+    {
+        eeprom_write_byte((unsigned char*)pos, *value);
+        pos++;
+        value++;
    }while(--size);
-}
+}
 #define EEPROM_WRITE_VAR(pos, value) _EEPROM_writeData(pos, (uint8_t*)&value, sizeof(value))
-void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
-{
-    do
-    {
-        *value = eeprom_read_byte((unsigned char*)pos);
-        pos++;
-        value++;
+void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
+{
+    do
+    {
+        *value = eeprom_read_byte((unsigned char*)pos);
+        pos++;
+        value++;
    }while(--size);
-}
+}
 #define EEPROM_READ_VAR(pos, value) _EEPROM_readData(pos, (uint8_t*)&value, sizeof(value))
 //======================================================================================

@@ -43,7 +43,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
 void Config_StoreSettings() 
 {
  char ver[4]= "000";
-  int i=EEPROM_OFFSET;
+  int i=EEPROM_OFFSET;
  EEPROM_WRITE_VAR(i,ver); // invalidate data first 
  EEPROM_WRITE_VAR(i,axis_steps_per_unit);  
  EEPROM_WRITE_VAR(i,max_feedrate);  
@@ -58,8 +58,8 @@ void Config_StoreSettings()
  EEPROM_WRITE_VAR(i,max_e_jerk);
  EEPROM_WRITE_VAR(i,add_homeing);
  #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;
+  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
  EEPROM_WRITE_VAR(i,plaPreheatHotendTemp);
  EEPROM_WRITE_VAR(i,plaPreheatHPBTemp);
@@ -75,7 +75,7 @@ void Config_StoreSettings()
    EEPROM_WRITE_VAR(i,3000);
    EEPROM_WRITE_VAR(i,0);
    EEPROM_WRITE_VAR(i,0);
-  #endif
+  #endif
  char ver2[4]=EEPROM_VERSION;
  i=EEPROM_OFFSET;
  EEPROM_WRITE_VAR(i,ver2); // validate data
@@ -105,7 +105,7 @@ void Config_PrintSettings()
    SERIAL_ECHOPAIR(" Z", max_feedrate[2] ); 
    SERIAL_ECHOPAIR(" E", max_feedrate[3]);
    SERIAL_ECHOLN("");
-
+
    SERIAL_ECHO_START;
    SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
    SERIAL_ECHO_START;
@@ -120,7 +120,7 @@ void Config_PrintSettings()
    SERIAL_ECHOPAIR("  M204 S",acceleration ); 
    SERIAL_ECHOPAIR(" T" ,retract_acceleration);
    SERIAL_ECHOLN("");
-
+
    SERIAL_ECHO_START;
    SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s),  Z=maximum Z jerk (mm/s)");
    SERIAL_ECHO_START;
@@ -131,7 +131,7 @@ void Config_PrintSettings()
    SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
    SERIAL_ECHOPAIR(" E" ,max_e_jerk);
    SERIAL_ECHOLN(""); 
-
+
    SERIAL_ECHO_START;
    SERIAL_ECHOLNPGM("Home offset (mm):");
    SERIAL_ECHO_START;
@@ -143,10 +143,24 @@ void Config_PrintSettings()
    SERIAL_ECHO_START;
    SERIAL_ECHOLNPGM("PID settings:");
    SERIAL_ECHO_START;
-    SERIAL_ECHOPAIR("   M301 P",Kp); 
-    SERIAL_ECHOPAIR(" I" ,Ki/PID_dT); 
-    SERIAL_ECHOPAIR(" D" ,Kd*PID_dT);
+    SERIAL_ECHOPAIR("   M301 P",Kp[0]); 
+    SERIAL_ECHOPAIR(" I" ,Ki[0]/PID_dT); 
+    SERIAL_ECHOPAIR(" D" ,Kd[0]*PID_dT);
    SERIAL_ECHOLN(""); 
+#if EXTRUDERS > 1
+    SERIAL_ECHOPAIR("   M301 P",Kp[1]); 
+    SERIAL_ECHOPAIR(" I" ,Ki[1]/PID_dT); 
+    SERIAL_ECHOPAIR(" D" ,Kd[1]*PID_dT);
+    SERIAL_ECHOPGM(" T1");
+    SERIAL_ECHOLN(""); 
+#endif
+#if EXTRUDERS > 2
+    SERIAL_ECHOPAIR("   M301 P",Kp[2]); 
+    SERIAL_ECHOPAIR(" I" ,Ki[2]/PID_dT); 
+    SERIAL_ECHOPAIR(" D" ,Kd[2]*PID_dT);
+    SERIAL_ECHOPGM(" T2");
+    SERIAL_ECHOLN(""); 
+#endif
 #endif
 } 
 #endif
@@ -161,7 +175,7 @@ void Config_RetrieveSettings()
    EEPROM_READ_VAR(i,stored_ver); //read stored version
    //  SERIAL_ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]");
    if (strncmp(ver,stored_ver,3) == 0)
-    {
+    {
        // version number match
        EEPROM_READ_VAR(i,axis_steps_per_unit);  
        EEPROM_READ_VAR(i,max_feedrate);  
@@ -176,15 +190,15 @@ void Config_RetrieveSettings()
        EEPROM_READ_VAR(i,max_e_jerk);
        EEPROM_READ_VAR(i,add_homeing);
        #ifndef ULTIPANEL
-        int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
-        int absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed;
+        int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
+        int absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed;
        #endif
        EEPROM_READ_VAR(i,plaPreheatHotendTemp);
        EEPROM_READ_VAR(i,plaPreheatHPBTemp);
        EEPROM_READ_VAR(i,plaPreheatFanSpeed);
        EEPROM_READ_VAR(i,absPreheatHotendTemp);
        EEPROM_READ_VAR(i,absPreheatHPBTemp);
-        EEPROM_READ_VAR(i,absPreheatFanSpeed);
+        EEPROM_READ_VAR(i,absPreheatFanSpeed);
        #ifndef PIDTEMP
        float Kp,Ki,Kd;
        #endif
@@ -195,17 +209,17 @@ void Config_RetrieveSettings()
        SERIAL_ECHO_START;
        SERIAL_ECHOLNPGM("Stored settings retreived:");
    }
-    else
-    {
-        Config_ResetDefault();
-        SERIAL_ECHO_START;
-        SERIAL_ECHOLN("Using Default settings:");
-    }
+    else
+    {
+        Config_ResetDefault();
+        SERIAL_ECHO_START;
+        SERIAL_ECHOLN("Using Default settings:");
+    }
    Config_PrintSettings();
 }
-#endif
-
-void Config_ResetDefault()
+#endif
+
+void Config_ResetDefault()
 {
    float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT;
    float tmp2[]=DEFAULT_MAX_FEEDRATE;
@@ -234,9 +248,19 @@ void Config_ResetDefault()
    absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
 #endif
 #ifdef PIDTEMP
-    Kp = DEFAULT_Kp;
-    Ki = (DEFAULT_Ki*PID_dT);
-    Kd = (DEFAULT_Kd/PID_dT);
+    Kp[0] = DEFAULT_Kp;
+    Ki[0] = (DEFAULT_Ki*PID_dT);
+    Kd[0] = (DEFAULT_Kd/PID_dT);
+    #if EXTRUDERS > 1
+    Kp[1] = DEFAULT_Kp_E1;
+    Ki[1] = (DEFAULT_Ki_E1*PID_dT);
+    Kd[1] = (DEFAULT_Kd_E1/PID_dT);
+    #endif
+    #if EXTRUDERS > 2
+    Kp[2] = DEFAULT_Kp_E2;
+    Ki[2] = (DEFAULT_Ki_E2*PID_dT);
+    Kd[2] = (DEFAULT_Kd_E2/PID_dT);
+    #endif
 #ifdef PID_ADD_EXTRUSION_RATE
    Kc = DEFAULT_Kc;
 #endif//PID_ADD_EXTRUSION_RATE
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1401,20 +1401,23 @@ void process_commands()
    #ifdef PIDTEMP
    case 301: // M301
      {
-        if(code_seen('P')) Kp = code_value();
-        if(code_seen('I')) Ki = code_value()*PID_dT;
-        if(code_seen('D')) Kd = code_value()/PID_dT;
+        if(setTargetedHotend(301)){
+          break;
+        }
+        if(code_seen('P')) Kp[tmp_extruder] = code_value();
+        if(code_seen('I')) Ki[tmp_extruder] = code_value()*PID_dT;
+        if(code_seen('D')) Kd[tmp_extruder] = code_value()/PID_dT;
        #ifdef PID_ADD_EXTRUSION_RATE
        if(code_seen('C')) Kc = code_value();
        #endif
        updatePID();
        SERIAL_PROTOCOL(MSG_OK);
 		SERIAL_PROTOCOL(" p:");
-        SERIAL_PROTOCOL(Kp);
+        SERIAL_PROTOCOL(Kp[tmp_extruder]);
        SERIAL_PROTOCOL(" i:");
-        SERIAL_PROTOCOL(Ki/PID_dT);
+        SERIAL_PROTOCOL(Ki[tmp_extruder]/PID_dT);
        SERIAL_PROTOCOL(" d:");
-        SERIAL_PROTOCOL(Kd*PID_dT);
+        SERIAL_PROTOCOL(Kd[tmp_extruder]*PID_dT);
        #ifdef PID_ADD_EXTRUSION_RATE
        SERIAL_PROTOCOL(" c:");
        SERIAL_PROTOCOL(Kc*PID_dT);
@@ -1936,6 +1939,9 @@ bool setTargetedHotend(int code){
        case 109:
          SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
          break;
+        case 301:
+          SERIAL_ECHO(MSG_M301_INVALID_EXTRUDER);
+          break;
      }
      SERIAL_ECHOLN(tmp_extruder);
      return true;
--- a/Marlin/language.h
+++ b/Marlin/language.h
@@ -139,6 +139,7 @@
 	#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
 	#define MSG_ERR_NO_THERMISTORS "No thermistors - no temperature"
 	#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
+        #define MSG_M301_INVALID_EXTRUDER "M301 Invalid extruder "
 	#define MSG_HEATING "Heating..."
 	#define MSG_HEATING_COMPLETE "Heating done."
 	#define MSG_BED_HEATING "Bed Heating."
@@ -293,6 +294,7 @@
 	#define MSG_M105_INVALID_EXTRUDER "M105 Niepoprawny ekstruder "
 	#define MSG_ERR_NO_THERMISTORS "Brak termistorow - brak temperatury :("
 	#define MSG_M109_INVALID_EXTRUDER "M109 Niepoprawny ekstruder "
+	#define MSG_M301_INVALID_EXTRUDER "M301 Niepoprawny ekstruder "
 	#define MSG_HEATING "Nagrzewanie ekstrudera..."
 	#define MSG_HEATING_COMPLETE "Nagrzewanie ekstrudera zakonczone."
 	#define MSG_BED_HEATING "Nagrzewanie loza..."
@@ -452,6 +454,7 @@
 #define MSG_M105_INVALID_EXTRUDER "M105 Extruder invalide"
 #define MSG_ERR_NO_THERMISTORS "Pas de thermistor, pas de temperature"
 #define MSG_M109_INVALID_EXTRUDER "M109 Extruder invalide "
+#define MSG_M301_INVALID_EXTRUDER "M301 Extruder invalide "
 #define MSG_HEATING "En chauffe..."
 #define MSG_HEATING_COMPLETE "Chauffe terminee."
 #define MSG_BED_HEATING "Chauffe du lit."
@@ -570,7 +573,7 @@
 	#define MSG_NO_CARD          "Keine SDKarte"
 	#define MSG_DWELL            "Warten..."		
 	#define MSG_USERWAIT         "Warte auf Nutzer..."
-    #define MSG_RESUMING         "Druck fortsetzung"
+    #define MSG_RESUMING         "Druck fortsetzung"
 	#define MSG_NO_MOVE          "Kein Zug."
 	#define MSG_PART_RELEASE     "Stepper tlw frei"
 	#define MSG_KILLED           "KILLED"
@@ -609,6 +612,7 @@
 	#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
 	#define MSG_ERR_NO_THERMISTORS "No thermistors - no temp"
 	#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
+        #define MSG_M301_INVALID_EXTRUDER "M301 Invalid extruder "
 	#define MSG_HEATING "Heating..."
 	#define MSG_HEATING_COMPLETE "Heating done."
 	#define MSG_BED_HEATING "Bed Heating."
@@ -767,6 +771,7 @@
 #define MSG_M105_INVALID_EXTRUDER "M105 Extrusor Invalido "
 #define MSG_ERR_NO_THERMISTORS "No hay termistores - no temp"
 #define MSG_M109_INVALID_EXTRUDER "M109 Extrusor Invalido "
+#define MSG_M301_INVALID_EXTRUDER "M301 Extrusor Invalido "
 #define MSG_HEATING "Calentando..."
 #define MSG_HEATING_COMPLETE "Calentamiento Hecho."
 #define MSG_BED_HEATING "Calentando la base."
@@ -916,7 +921,8 @@
 #define MSG_M104_INVALID_EXTRUDER			"M104 ошибка экструдера "
 #define MSG_M105_INVALID_EXTRUDER			"M105 ошибка экструдера "
 #define MSG_ERR_NO_THERMISTORS				"Нет термистра - нет температуры"
-#define MSG_M109_INVALID_EXTRUDER			"M109 ошибка экструдера "
+#define MSG_M109_INVALID_EXTRUDER "M109 ошибка экструдера "
+#define MSG_M301_INVALID_EXTRUDER			"M301 ошибка экструдера "
 #define MSG_HEATING							"Нагрев...  "
 #define MSG_HEATING_COMPLETE				"Наргето.    "
 #define MSG_BED_HEATING						"Нагрев стола...     "
@@ -1235,6 +1241,7 @@
 	#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor inválido "
 	#define MSG_ERR_NO_THERMISTORS "Nao ha termistor - no temp"
 	#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor inválido "
+	#define MSG_M301_INVALID_EXTRUDER "M301 Extrusor inválido "
 	#define MSG_HEATING "Aquecendo..."
 	#define MSG_HEATING_COMPLETE "Aquecido."
 	#define MSG_BED_HEATING "Aquecendo a Base."
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -478,8 +478,8 @@ void check_axes_activity()
  if((DISABLE_Z) && (z_active == 0)) disable_z();
  if(DISABLE_E) {
    if(e0_active == 0) disable_e0();
-    if(e1_active == 0) disable_e1();
-    if(e2_active == 0) disable_e2();
+    if(e1_active == 1) disable_e1();
+    if(e2_active == 2) disable_e2();
  }
 #if FAN_PIN > -1
  #ifndef FAN_SOFT_PWM
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -34,6 +34,16 @@
 #include "temperature.h"
 #include "watchdog.h"

+#if EXTRUDERS > 3
+# error Unsupported number of extruders
+#elif EXTRUDERS > 2
+# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
+#elif EXTRUDERS > 1
+# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
+#else
+# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
+#endif
+
 //===========================================================================
 //=============================public variables============================
 //===========================================================================
@@ -44,10 +54,10 @@ float current_temperature[EXTRUDERS] = { 0 };
 int current_temperature_bed_raw = 0;
 float current_temperature_bed = 0;

-#ifdef PIDTEMP
-  float Kp=DEFAULT_Kp;
-  float Ki=(DEFAULT_Ki*PID_dT);
-  float Kd=(DEFAULT_Kd/PID_dT);
+#ifdef PIDTEMP  
+  float Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kp, DEFAULT_Kp_E1, DEFAULT_Kp_E2);
+  float Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Ki*PID_dT, DEFAULT_Ki_E1*PID_dT, DEFAULT_Ki_E2*PID_dT);
+  float Kd[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kd/PID_dT, DEFAULT_Kd_E1/PID_dT, DEFAULT_Kd_E2/PID_dT);
  #ifdef PID_ADD_EXTRUSION_RATE
    float Kc=DEFAULT_Kc;
  #endif
@@ -102,15 +112,7 @@ static volatile bool temp_meas_ready = false;


  
-#if EXTRUDERS > 3
-# error Unsupported number of extruders
-#elif EXTRUDERS > 2
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
-#elif EXTRUDERS > 1
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
-#else
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
-#endif
+

 // 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 );
@@ -292,7 +294,7 @@ 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
@@ -337,14 +339,14 @@ 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]);
          temp_dState[e] = pid_input;

          pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX);
@@ -577,7 +579,7 @@ 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;
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@@ -39,7 +39,10 @@ extern int target_temperature_bed;
 extern float current_temperature_bed;

 #ifdef PIDTEMP
-  extern float Kp,Ki,Kd,Kc;
+  extern float Kp[EXTRUDERS];
+  extern float Ki[EXTRUDERS];
+  extern float Kd[EXTRUDERS];
+  extern float Kc;
 #endif
 #ifdef PIDTEMPBED
  extern float bedKp,bedKi,bedKd;