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bed pid

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Conflicts:

	Marlin/Configuration.h
This commit is contained in:
Mark Finn
2012-09-12 21:01:31 -05:00
parent 769796ed4c
commit 9698f4ea64
4 changed files with 176 additions and 53 deletions
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171
Marlin/temperature.cpp
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@ -57,6 +57,15 @@ int current_raw_bed = 0;
float Kc=DEFAULT_Kc;
#endif
#endif //PIDTEMP
#ifdef PIDTEMPBED
// used external
float pid_setpoint_bed = { 0.0 };
float bedKp=DEFAULT_bedKp;
float bedKi=(DEFAULT_bedKi*PID_dT);
float bedKd=(DEFAULT_bedKd/PID_dT);
#endif //PIDTEMPBED
//===========================================================================
@ -64,9 +73,6 @@ int current_raw_bed = 0;
//===========================================================================
static volatile bool temp_meas_ready = false;
static unsigned long previous_millis_bed_heater;
//static unsigned long previous_millis_heater;
#ifdef PIDTEMP
//static cannot be external:
static float temp_iState[EXTRUDERS] = { 0 };
@ -82,7 +88,20 @@ static unsigned long previous_millis_bed_heater;
// static float pid_output[EXTRUDERS];
static bool pid_reset[EXTRUDERS];
#endif //PIDTEMP
#ifdef PIDTEMPBED
//static cannot be external:
static float temp_iState_bed = { 0 };
static float temp_dState_bed = { 0 };
static float pTerm_bed;
static float iTerm_bed;
static float dTerm_bed;
//int output;
static float pid_error_bed;
static float temp_iState_min_bed;
static float temp_iState_max_bed;
#endif //PIDTEMPBED
static unsigned char soft_pwm[EXTRUDERS];
static unsigned char soft_pwm_bed;
#ifdef WATCHPERIOD
int watch_raw[EXTRUDERS] = { -1000 }; // the first value used for all
@ -122,7 +141,7 @@ static unsigned long previous_millis_bed_heater;
//============================= functions ============================
//===========================================================================
void PID_autotune(float temp)
void PID_autotune(float temp, int extruder, int ncycles)
{
float input;
int cycles=0;
@ -139,27 +158,45 @@ void PID_autotune(float temp)
float Ku, Tu;
float Kp, Ki, Kd;
float max, min;
if ((extruder > EXTRUDERS)
#if (TEMP_BED_PIN <= -1)
||(extruder < 0)
#endif
){
SERIAL_ECHOLN("PID Autotune failed. Bad extruder number.");
return;
}
SERIAL_ECHOLN("PID Autotune start");
disable_heater(); // switch off all heaters.
soft_pwm[0] = PID_MAX/2;
for(;;) {
if (extruder<0)
soft_pwm_bed = PID_MAX/2;
else
soft_pwm[extruder] = PID_MAX/2;
for(;;) {
if(temp_meas_ready == true) { // temp sample ready
CRITICAL_SECTION_START;
temp_meas_ready = false;
CRITICAL_SECTION_END;
input = analog2temp(current_raw[0], 0);
input = (extruder<0)?analog2tempBed(current_raw_bed):analog2temp(current_raw[extruder], extruder);
max=max(max,input);
min=min(min,input);
if(heating == true && input > temp) {
if(millis() - t2 > 5000) {
heating=false;
soft_pwm[0] = (bias - d) >> 1;
if (extruder<0)
soft_pwm_bed = (bias - d) >> 1;
else
soft_pwm[extruder] = (bias - d) >> 1;
t1=millis();
t_high=t1 - t2;
max=temp;
@ -210,7 +247,10 @@ void PID_autotune(float temp)
*/
}
}
soft_pwm[0] = (bias + d) >> 1;
if (extruder<0)
soft_pwm_bed = (bias + d) >> 1;
else
soft_pwm[extruder] = (bias + d) >> 1;
cycles++;
min=temp;
}
@ -221,17 +261,26 @@ void PID_autotune(float temp)
return;
}
if(millis() - temp_millis > 2000) {
temp_millis = millis();
SERIAL_PROTOCOLPGM("ok T:");
SERIAL_PROTOCOL(degHotend(0));
int p;
if (extruder<0){
p=soft_pwm_bed;
SERIAL_PROTOCOLPGM("ok B:");
}else{
p=soft_pwm[extruder];
SERIAL_PROTOCOLPGM("ok T:");
}
SERIAL_PROTOCOL(input);
SERIAL_PROTOCOLPGM(" @:");
SERIAL_PROTOCOLLN(getHeaterPower(0));
SERIAL_PROTOCOLLN(p);
temp_millis = millis();
}
if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) {
SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout");
return;
}
if(cycles > 5) {
if(cycles > ncycles) {
SERIAL_PROTOCOLLNPGM("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h");
return;
}
@ -245,19 +294,18 @@ void updatePID()
for(int e = 0; e < EXTRUDERS; e++) {
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
}
temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi;
#endif
}
int getHeaterPower(int heater) {
if (heater<0)
return soft_pwm_bed;
return soft_pwm[heater];
}
void manage_heater()
{
#ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
static int bed_needs_heating=0;
static int bed_is_on=0;
#endif
#ifdef USE_WATCHDOG
wd_reset();
@ -298,12 +346,16 @@ void manage_heater()
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];
//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]);
temp_dState[e] = pid_input;
pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX);
}
#else
pid_output = constrain(pid_setpoint[e], 0, PID_MAX);
#endif //PID_OPENLOOP
#ifdef PID_DEBUG
SERIAL_ECHOLN(" PIDDEBUG "<<e<<": Input "<<pid_input<<" Output "<<pid_output" pTerm "<<pTerm[e]<<" iTerm "<<iTerm[e]<<" dTerm "<<dTerm[e]);
@ -338,42 +390,58 @@ void manage_heater()
}
#endif
#ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
if (bed_needs_heating){
if (bed_is_on==0)
WRITE(HEATER_BED_PIN,HIGH);
if (bed_is_on==1)
WRITE(HEATER_BED_PIN,LOW);
bed_is_on=(bed_is_on+1) % HEATER_BED_DUTY_CYCLE_DIVIDER;
}
#endif
#ifndef PIDTEMPBED
if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
return;
previous_millis_bed_heater = millis();
#if TEMP_BED_PIN > -1
#ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
bed_needs_heating=0;
#endif
#ifndef BED_LIMIT_SWITCHING
#if TEMP_BED_PIN > -1
#ifdef PIDTEMPBED
pid_input = analog2tempBed(current_raw_bed);
#ifndef PID_OPENLOOP
pid_error_bed = pid_setpoint_bed - pid_input;
pTerm_bed = bedKp * pid_error_bed;
temp_iState_bed += pid_error_bed;
temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
iTerm_bed = bedKi * temp_iState_bed;
//K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
temp_dState_bed = pid_input;
pid_output = constrain(pTerm_bed + iTerm_bed - dTerm_bed, 0, PID_MAX);
#else
pid_output = constrain(pid_setpoint_bed, 0, PID_MAX);
#endif //PID_OPENLOOP
if((current_raw_bed > bed_minttemp) && (current_raw_bed < bed_maxttemp))
{
soft_pwm_bed = (int)pid_output >> 1;
}
else {
soft_pwm_bed = 0;
}
#elif not defined BED_LIMIT_SWITCHING
// Check if temperature is within the correct range
if((current_raw_bed > bed_minttemp) && (current_raw_bed < bed_maxttemp)) {
if(current_raw_bed >= target_raw_bed)
{
WRITE(HEATER_BED_PIN,LOW);
soft_pwm_bed = 0;
}
else
{
#ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
bed_needs_heating=1;
#endif
WRITE(HEATER_BED_PIN,HIGH);
soft_pwm_bed = 100;
}
}
else {
soft_pwm_bed = 0;
WRITE(HEATER_BED_PIN,LOW);
}
#else //#ifdef BED_LIMIT_SWITCHING
@ -381,18 +449,16 @@ void manage_heater()
if((current_raw_bed > bed_minttemp) && (current_raw_bed < bed_maxttemp)) {
if(current_raw_bed > target_bed_high_temp)
{
WRITE(HEATER_BED_PIN,LOW);
soft_pwm_bed = 0;
}
else
if(current_raw_bed <= target_bed_low_temp)
{
#ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
bed_needs_heating=1;
#endif
WRITE(HEATER_BED_PIN,HIGH);
soft_pwm_bed = 100;
}
}
else {
soft_pwm_bed = 0;
WRITE(HEATER_BED_PIN,LOW);
}
#endif
@ -567,6 +633,8 @@ void tp_init()
#ifdef PIDTEMP
temp_iState_min[e] = 0.0;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
temp_iState_min_bed = 0.0;
temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi;
#endif //PIDTEMP
}
@ -728,6 +796,7 @@ void disable_heater()
#if TEMP_BED_PIN > -1
target_raw_bed=0;
soft_pwm_bed=0;
#if HEATER_BED_PIN > -1
WRITE(HEATER_BED_PIN,LOW);
#endif
@ -832,6 +901,7 @@ ISR(TIMER0_COMPB_vect)
static unsigned char soft_pwm_0;
static unsigned char soft_pwm_1;
static unsigned char soft_pwm_2;
static unsigned char soft_pwm_b;
if(pwm_count == 0){
soft_pwm_0 = soft_pwm[0];
@ -844,6 +914,10 @@ ISR(TIMER0_COMPB_vect)
soft_pwm_2 = soft_pwm[2];
if(soft_pwm_2 > 0) WRITE(HEATER_2_PIN,1);
#endif
#if HEATER_BED_PIN > -1
soft_pwm_b = soft_pwm_bed;
if(soft_pwm_b > 0) WRITE(HEATER_BED_PIN,1);
#endif
}
if(soft_pwm_0 <= pwm_count) WRITE(HEATER_0_PIN,0);
#if EXTRUDERS > 1
@ -852,6 +926,9 @@ ISR(TIMER0_COMPB_vect)
#if EXTRUDERS > 2
if(soft_pwm_2 <= pwm_count) WRITE(HEATER_2_PIN,0);
#endif
#if HEATER_BED_PIN > -1
if(soft_pwm_b <= pwm_count) WRITE(HEATER_BED_PIN,0);
#endif
pwm_count++;
pwm_count &= 0x7f;