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Implement PID_ADD_EXTRUSION_RATE

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This commit is contained in:
Scott Lahteine
2015-08-30 19:04:30 -07:00
committed by Richard Wackerbarth
parent b5987de08a
commit bc50db9cf6
6 changed files with 81 additions and 17 deletions
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51
Marlin/temperature.cpp
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@ -99,6 +99,12 @@ static volatile bool temp_meas_ready = false;
static float pTerm[EXTRUDERS];
static float iTerm[EXTRUDERS];
static float dTerm[EXTRUDERS];
#if ENABLED(PID_ADD_EXTRUSION_RATE)
static float cTerm[EXTRUDERS];
static long last_position[EXTRUDERS];
static long lpq[LPQ_MAX_LEN];
static int lpq_ptr = 0;
#endif
//int output;
static float pid_error[EXTRUDERS];
static float temp_iState_min[EXTRUDERS];
@ -357,6 +363,9 @@ void updatePID() {
#if ENABLED(PIDTEMP)
for (int e = 0; e < EXTRUDERS; e++) {
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki,e);
#if ENABLED(PID_ADD_EXTRUSION_RATE)
last_position[e] = 0;
#endif
}
#endif
#if ENABLED(PIDTEMPBED)
@ -497,6 +506,23 @@ float get_pid_output(int e) {
iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
#if ENABLED(PID_ADD_EXTRUSION_RATE)
cTerm[e] = 0;
if (e == active_extruder) {
long e_position = st_get_position(E_AXIS);
if (e_position > last_position[e]) {
lpq[lpq_ptr++] = e_position - last_position[e];
last_position[e] = e_position;
} else {
lpq[lpq_ptr++] = 0;
}
if (lpq_ptr >= lpq_len) lpq_ptr = 0;
cTerm[e] = (lpq[lpq_ptr] / axis_steps_per_unit[E_AXIS]) * Kc;
pid_output += cTerm[e];
}
#endif //PID_ADD_EXTRUSION_RATE
if (pid_output > PID_MAX) {
if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
pid_output = PID_MAX;
@ -512,18 +538,16 @@ float get_pid_output(int e) {
#if ENABLED(PID_DEBUG)
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_PID_DEBUG);
SERIAL_ECHO(e);
SERIAL_ECHO(MSG_PID_DEBUG_INPUT);
SERIAL_ECHO(current_temperature[e]);
SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT);
SERIAL_ECHO(pid_output);
SERIAL_ECHO(MSG_PID_DEBUG_PTERM);
SERIAL_ECHO(pTerm[e]);
SERIAL_ECHO(MSG_PID_DEBUG_ITERM);
SERIAL_ECHO(iTerm[e]);
SERIAL_ECHO(MSG_PID_DEBUG_DTERM);
SERIAL_ECHOLN(dTerm[e]);
SERIAL_ECHOPAIR(MSG_PID_DEBUG, e);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_INPUT, current_temperature[e]);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_OUTPUT, pid_output);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_PTERM, pTerm[e]);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_ITERM, iTerm[e]);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_DTERM, dTerm[e]);
#if ENABLED(PID_ADD_EXTRUSION_RATE)
SERIAL_ECHOPAIR(MSG_PID_DEBUG_CTERM, cTerm[e]);
#endif
SERIAL_EOL;
#endif //PID_DEBUG
#else /* PID off */
@ -837,6 +861,9 @@ void tp_init() {
#if ENABLED(PIDTEMP)
temp_iState_min[e] = 0.0;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki,e);
#if ENABLED(PID_ADD_EXTRUSION_RATE)
last_position[e] = 0;
#endif
#endif //PIDTEMP
#if ENABLED(PIDTEMPBED)
temp_iState_min_bed = 0.0;