PID now per extruder. Fixed typo
This commit is contained in:
Erik vd Zalm
parent
0ac452e252
commit
6752cb2d9c
7 changed files with 125 additions and 72 deletions
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@ -136,6 +136,17 @@
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// #define DEFAULT_Kd 440
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#endif // PIDTEMP
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// PID parameters for 2nd extruder
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#define DEFAULT_Kp_E1 22.2
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#define DEFAULT_Ki_E1 1.08
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#define DEFAULT_Kd_E1 114
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// PID parameters for 3th extruder
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// #define DEFAULT_Kp_E2 22.2
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// #define DEFAULT_Ki_E2 1.08
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// #define DEFAULT_Kd_E2 114
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// Bed Temperature Control
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// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
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//
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@ -3,26 +3,26 @@
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#include "temperature.h"
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#include "ultralcd.h"
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#include "ConfigurationStore.h"
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void _EEPROM_writeData(int &pos, uint8_t* value, uint8_t size)
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{
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do
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{
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eeprom_write_byte((unsigned char*)pos, *value);
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pos++;
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value++;
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void _EEPROM_writeData(int &pos, uint8_t* value, uint8_t size)
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{
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do
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{
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eeprom_write_byte((unsigned char*)pos, *value);
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pos++;
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value++;
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}while(--size);
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}
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}
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#define EEPROM_WRITE_VAR(pos, value) _EEPROM_writeData(pos, (uint8_t*)&value, sizeof(value))
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void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
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{
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do
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{
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*value = eeprom_read_byte((unsigned char*)pos);
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pos++;
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value++;
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void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
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{
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do
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{
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*value = eeprom_read_byte((unsigned char*)pos);
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pos++;
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value++;
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}while(--size);
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}
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}
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#define EEPROM_READ_VAR(pos, value) _EEPROM_readData(pos, (uint8_t*)&value, sizeof(value))
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//======================================================================================
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@ -43,7 +43,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
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void Config_StoreSettings()
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{
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char ver[4]= "000";
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int i=EEPROM_OFFSET;
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int i=EEPROM_OFFSET;
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EEPROM_WRITE_VAR(i,ver); // invalidate data first
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EEPROM_WRITE_VAR(i,axis_steps_per_unit);
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EEPROM_WRITE_VAR(i,max_feedrate);
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@ -58,8 +58,8 @@ void Config_StoreSettings()
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EEPROM_WRITE_VAR(i,max_e_jerk);
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EEPROM_WRITE_VAR(i,add_homeing);
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#ifndef ULTIPANEL
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int plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP, plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP, plaPreheatFanSpeed = PLA_PREHEAT_FAN_SPEED;
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int absPreheatHotendTemp = ABS_PREHEAT_HOTEND_TEMP, absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP, absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
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int plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP, plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP, plaPreheatFanSpeed = PLA_PREHEAT_FAN_SPEED;
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int absPreheatHotendTemp = ABS_PREHEAT_HOTEND_TEMP, absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP, absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
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#endif
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EEPROM_WRITE_VAR(i,plaPreheatHotendTemp);
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EEPROM_WRITE_VAR(i,plaPreheatHPBTemp);
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@ -75,7 +75,7 @@ void Config_StoreSettings()
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EEPROM_WRITE_VAR(i,3000);
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EEPROM_WRITE_VAR(i,0);
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EEPROM_WRITE_VAR(i,0);
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#endif
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#endif
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char ver2[4]=EEPROM_VERSION;
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i=EEPROM_OFFSET;
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EEPROM_WRITE_VAR(i,ver2); // validate data
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@ -105,7 +105,7 @@ void Config_PrintSettings()
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SERIAL_ECHOPAIR(" Z", max_feedrate[2] );
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SERIAL_ECHOPAIR(" E", max_feedrate[3]);
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SERIAL_ECHOLN("");
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
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SERIAL_ECHO_START;
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@ -120,7 +120,7 @@ void Config_PrintSettings()
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SERIAL_ECHOPAIR(" M204 S",acceleration );
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SERIAL_ECHOPAIR(" T" ,retract_acceleration);
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SERIAL_ECHOLN("");
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SERIAL_ECHO_START;
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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)");
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SERIAL_ECHO_START;
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@ -131,7 +131,7 @@ void Config_PrintSettings()
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SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
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SERIAL_ECHOPAIR(" E" ,max_e_jerk);
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SERIAL_ECHOLN("");
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM("Home offset (mm):");
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SERIAL_ECHO_START;
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@ -143,10 +143,24 @@ void Config_PrintSettings()
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM("PID settings:");
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" M301 P",Kp);
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SERIAL_ECHOPAIR(" I" ,Ki/PID_dT);
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SERIAL_ECHOPAIR(" D" ,Kd*PID_dT);
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SERIAL_ECHOPAIR(" M301 P",Kp[0]);
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SERIAL_ECHOPAIR(" I" ,Ki[0]/PID_dT);
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SERIAL_ECHOPAIR(" D" ,Kd[0]*PID_dT);
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SERIAL_ECHOLN("");
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#if EXTRUDERS > 1
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SERIAL_ECHOPAIR(" M301 P",Kp[1]);
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SERIAL_ECHOPAIR(" I" ,Ki[1]/PID_dT);
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SERIAL_ECHOPAIR(" D" ,Kd[1]*PID_dT);
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SERIAL_ECHOPGM(" T1");
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SERIAL_ECHOLN("");
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#endif
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#if EXTRUDERS > 2
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SERIAL_ECHOPAIR(" M301 P",Kp[2]);
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SERIAL_ECHOPAIR(" I" ,Ki[2]/PID_dT);
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SERIAL_ECHOPAIR(" D" ,Kd[2]*PID_dT);
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SERIAL_ECHOPGM(" T2");
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SERIAL_ECHOLN("");
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#endif
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#endif
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}
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#endif
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@ -161,7 +175,7 @@ void Config_RetrieveSettings()
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EEPROM_READ_VAR(i,stored_ver); //read stored version
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// SERIAL_ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]");
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if (strncmp(ver,stored_ver,3) == 0)
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{
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{
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// version number match
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EEPROM_READ_VAR(i,axis_steps_per_unit);
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EEPROM_READ_VAR(i,max_feedrate);
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@ -176,15 +190,15 @@ void Config_RetrieveSettings()
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EEPROM_READ_VAR(i,max_e_jerk);
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EEPROM_READ_VAR(i,add_homeing);
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#ifndef ULTIPANEL
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int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
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int absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed;
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int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
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int absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed;
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#endif
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EEPROM_READ_VAR(i,plaPreheatHotendTemp);
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EEPROM_READ_VAR(i,plaPreheatHPBTemp);
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EEPROM_READ_VAR(i,plaPreheatFanSpeed);
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EEPROM_READ_VAR(i,absPreheatHotendTemp);
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EEPROM_READ_VAR(i,absPreheatHPBTemp);
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EEPROM_READ_VAR(i,absPreheatFanSpeed);
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EEPROM_READ_VAR(i,absPreheatFanSpeed);
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#ifndef PIDTEMP
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float Kp,Ki,Kd;
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#endif
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@ -195,17 +209,17 @@ void Config_RetrieveSettings()
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM("Stored settings retreived:");
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}
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else
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{
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Config_ResetDefault();
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SERIAL_ECHO_START;
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SERIAL_ECHOLN("Using Default settings:");
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}
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else
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{
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Config_ResetDefault();
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SERIAL_ECHO_START;
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SERIAL_ECHOLN("Using Default settings:");
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}
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Config_PrintSettings();
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}
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#endif
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void Config_ResetDefault()
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#endif
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void Config_ResetDefault()
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{
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float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT;
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float tmp2[]=DEFAULT_MAX_FEEDRATE;
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@ -234,9 +248,19 @@ void Config_ResetDefault()
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absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
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#endif
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#ifdef PIDTEMP
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Kp = DEFAULT_Kp;
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Ki = (DEFAULT_Ki*PID_dT);
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Kd = (DEFAULT_Kd/PID_dT);
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Kp[0] = DEFAULT_Kp;
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Ki[0] = (DEFAULT_Ki*PID_dT);
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Kd[0] = (DEFAULT_Kd/PID_dT);
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#if EXTRUDERS > 1
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Kp[1] = DEFAULT_Kp_E1;
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Ki[1] = (DEFAULT_Ki_E1*PID_dT);
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Kd[1] = (DEFAULT_Kd_E1/PID_dT);
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#endif
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#if EXTRUDERS > 2
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Kp[2] = DEFAULT_Kp_E2;
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Ki[2] = (DEFAULT_Ki_E2*PID_dT);
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Kd[2] = (DEFAULT_Kd_E2/PID_dT);
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#endif
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#ifdef PID_ADD_EXTRUSION_RATE
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Kc = DEFAULT_Kc;
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#endif//PID_ADD_EXTRUSION_RATE
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@ -1401,20 +1401,23 @@ void process_commands()
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#ifdef PIDTEMP
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case 301: // M301
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{
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if(code_seen('P')) Kp = code_value();
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if(code_seen('I')) Ki = code_value()*PID_dT;
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if(code_seen('D')) Kd = code_value()/PID_dT;
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if(setTargetedHotend(301)){
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break;
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}
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if(code_seen('P')) Kp[tmp_extruder] = code_value();
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if(code_seen('I')) Ki[tmp_extruder] = code_value()*PID_dT;
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if(code_seen('D')) Kd[tmp_extruder] = code_value()/PID_dT;
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#ifdef PID_ADD_EXTRUSION_RATE
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if(code_seen('C')) Kc = code_value();
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#endif
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updatePID();
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SERIAL_PROTOCOL(MSG_OK);
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SERIAL_PROTOCOL(" p:");
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SERIAL_PROTOCOL(Kp);
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SERIAL_PROTOCOL(Kp[tmp_extruder]);
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SERIAL_PROTOCOL(" i:");
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SERIAL_PROTOCOL(Ki/PID_dT);
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SERIAL_PROTOCOL(Ki[tmp_extruder]/PID_dT);
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SERIAL_PROTOCOL(" d:");
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SERIAL_PROTOCOL(Kd*PID_dT);
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SERIAL_PROTOCOL(Kd[tmp_extruder]*PID_dT);
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#ifdef PID_ADD_EXTRUSION_RATE
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SERIAL_PROTOCOL(" c:");
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SERIAL_PROTOCOL(Kc*PID_dT);
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@ -1936,6 +1939,9 @@ bool setTargetedHotend(int code){
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case 109:
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SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
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break;
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case 301:
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SERIAL_ECHO(MSG_M301_INVALID_EXTRUDER);
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break;
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}
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SERIAL_ECHOLN(tmp_extruder);
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return true;
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@ -139,6 +139,7 @@
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#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
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#define MSG_ERR_NO_THERMISTORS "No thermistors - no temperature"
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#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
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#define MSG_M301_INVALID_EXTRUDER "M301 Invalid extruder "
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#define MSG_HEATING "Heating..."
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#define MSG_HEATING_COMPLETE "Heating done."
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#define MSG_BED_HEATING "Bed Heating."
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@ -293,6 +294,7 @@
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#define MSG_M105_INVALID_EXTRUDER "M105 Niepoprawny ekstruder "
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#define MSG_ERR_NO_THERMISTORS "Brak termistorow - brak temperatury :("
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#define MSG_M109_INVALID_EXTRUDER "M109 Niepoprawny ekstruder "
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#define MSG_M301_INVALID_EXTRUDER "M301 Niepoprawny ekstruder "
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#define MSG_HEATING "Nagrzewanie ekstrudera..."
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#define MSG_HEATING_COMPLETE "Nagrzewanie ekstrudera zakonczone."
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#define MSG_BED_HEATING "Nagrzewanie loza..."
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@ -452,6 +454,7 @@
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#define MSG_M105_INVALID_EXTRUDER "M105 Extruder invalide"
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#define MSG_ERR_NO_THERMISTORS "Pas de thermistor, pas de temperature"
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#define MSG_M109_INVALID_EXTRUDER "M109 Extruder invalide "
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#define MSG_M301_INVALID_EXTRUDER "M301 Extruder invalide "
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#define MSG_HEATING "En chauffe..."
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#define MSG_HEATING_COMPLETE "Chauffe terminee."
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#define MSG_BED_HEATING "Chauffe du lit."
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@ -570,7 +573,7 @@
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#define MSG_NO_CARD "Keine SDKarte"
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#define MSG_DWELL "Warten..."
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#define MSG_USERWAIT "Warte auf Nutzer..."
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#define MSG_RESUMING "Druck fortsetzung"
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#define MSG_RESUMING "Druck fortsetzung"
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#define MSG_NO_MOVE "Kein Zug."
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#define MSG_PART_RELEASE "Stepper tlw frei"
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#define MSG_KILLED "KILLED"
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@ -609,6 +612,7 @@
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#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
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#define MSG_ERR_NO_THERMISTORS "No thermistors - no temp"
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#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
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#define MSG_M301_INVALID_EXTRUDER "M301 Invalid extruder "
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#define MSG_HEATING "Heating..."
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#define MSG_HEATING_COMPLETE "Heating done."
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#define MSG_BED_HEATING "Bed Heating."
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@ -767,6 +771,7 @@
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#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor Invalido "
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#define MSG_ERR_NO_THERMISTORS "No hay termistores - no temp"
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#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor Invalido "
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#define MSG_M301_INVALID_EXTRUDER "M301 Extrusor Invalido "
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#define MSG_HEATING "Calentando..."
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#define MSG_HEATING_COMPLETE "Calentamiento Hecho."
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#define MSG_BED_HEATING "Calentando la base."
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@ -916,7 +921,8 @@
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#define MSG_M104_INVALID_EXTRUDER "M104 ошибка экструдера "
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#define MSG_M105_INVALID_EXTRUDER "M105 ошибка экструдера "
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#define MSG_ERR_NO_THERMISTORS "Нет термистра - нет температуры"
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#define MSG_M109_INVALID_EXTRUDER "M109 ошибка экструдера "
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#define MSG_M109_INVALID_EXTRUDER "M109 ошибка экструдера "
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#define MSG_M301_INVALID_EXTRUDER "M301 ошибка экструдера "
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#define MSG_HEATING "Нагрев... "
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#define MSG_HEATING_COMPLETE "Наргето. "
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#define MSG_BED_HEATING "Нагрев стола... "
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@ -1235,6 +1241,7 @@
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#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor inválido "
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#define MSG_ERR_NO_THERMISTORS "Nao ha termistor - no temp"
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#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor inválido "
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#define MSG_M301_INVALID_EXTRUDER "M301 Extrusor inválido "
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#define MSG_HEATING "Aquecendo..."
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#define MSG_HEATING_COMPLETE "Aquecido."
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#define MSG_BED_HEATING "Aquecendo a Base."
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@ -478,8 +478,8 @@ void check_axes_activity()
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if((DISABLE_Z) && (z_active == 0)) disable_z();
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if(DISABLE_E) {
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if(e0_active == 0) disable_e0();
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if(e1_active == 0) disable_e1();
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if(e2_active == 0) disable_e2();
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if(e1_active == 1) disable_e1();
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if(e2_active == 2) disable_e2();
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}
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#if FAN_PIN > -1
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#ifndef FAN_SOFT_PWM
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@ -34,6 +34,16 @@
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#include "temperature.h"
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#include "watchdog.h"
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#if EXTRUDERS > 3
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# error Unsupported number of extruders
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#elif EXTRUDERS > 2
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# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
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#elif EXTRUDERS > 1
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# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
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#else
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# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
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#endif
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//===========================================================================
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//=============================public variables============================
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//===========================================================================
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@ -44,10 +54,10 @@ float current_temperature[EXTRUDERS] = { 0 };
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int current_temperature_bed_raw = 0;
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float current_temperature_bed = 0;
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#ifdef PIDTEMP
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float Kp=DEFAULT_Kp;
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float Ki=(DEFAULT_Ki*PID_dT);
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float Kd=(DEFAULT_Kd/PID_dT);
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#ifdef PIDTEMP
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float Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kp, DEFAULT_Kp_E1, DEFAULT_Kp_E2);
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||||
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);
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||||
#ifdef PID_ADD_EXTRUSION_RATE
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||||
float Kc=DEFAULT_Kc;
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||||
#endif
|
||||
|
|
@ -102,15 +112,7 @@ static volatile bool temp_meas_ready = false;
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|||
|
||||
|
||||
|
||||
#if EXTRUDERS > 3
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||||
# error Unsupported number of extruders
|
||||
#elif EXTRUDERS > 2
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||||
# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
|
||||
#elif EXTRUDERS > 1
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||||
# 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;
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
Reference in a new issue