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Merge pull request #3525 from thinkyhead/rc_fix_pid_params_per_extruder

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Fix broken PID_PARAMS_PER_EXTRUDER
This commit is contained in:
Scott Lahteine 2016-04-16 19:49:42 -07:00
commit 8429ae6beb
2 changed files with 37 additions and 31 deletions
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58
Marlin/temperature.cpp
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@ -231,7 +231,7 @@ void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false
long bias, d; long bias, d;
float Ku, Tu; float Ku, Tu;
float Kp = 0, Ki = 0, Kd = 0; float workKp = 0, workKi = 0, workKd = 0;
float max = 0, min = 10000; float max = 0, min = 10000;
#if HAS_AUTO_FAN #if HAS_AUTO_FAN
@ -309,28 +309,28 @@ void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false
Tu = ((float)(t_low + t_high) / 1000.0); Tu = ((float)(t_low + t_high) / 1000.0);
SERIAL_PROTOCOLPGM(MSG_KU); SERIAL_PROTOCOL(Ku); SERIAL_PROTOCOLPGM(MSG_KU); SERIAL_PROTOCOL(Ku);
SERIAL_PROTOCOLPGM(MSG_TU); SERIAL_PROTOCOLLN(Tu); SERIAL_PROTOCOLPGM(MSG_TU); SERIAL_PROTOCOLLN(Tu);
Kp = 0.6 * Ku; workKp = 0.6 * Ku;
Ki = 2 * Kp / Tu; workKi = 2 * workKp / Tu;
Kd = Kp * Tu / 8; workKd = workKp * Tu / 8;
SERIAL_PROTOCOLLNPGM(MSG_CLASSIC_PID); SERIAL_PROTOCOLLNPGM(MSG_CLASSIC_PID);
SERIAL_PROTOCOLPGM(MSG_KP); SERIAL_PROTOCOLLN(Kp); SERIAL_PROTOCOLPGM(MSG_KP); SERIAL_PROTOCOLLN(workKp);
SERIAL_PROTOCOLPGM(MSG_KI); SERIAL_PROTOCOLLN(Ki); SERIAL_PROTOCOLPGM(MSG_KI); SERIAL_PROTOCOLLN(workKi);
SERIAL_PROTOCOLPGM(MSG_KD); SERIAL_PROTOCOLLN(Kd); SERIAL_PROTOCOLPGM(MSG_KD); SERIAL_PROTOCOLLN(workKd);
/** /**
Kp = 0.33*Ku; workKp = 0.33*Ku;
Ki = Kp/Tu; workKi = workKp/Tu;
Kd = Kp*Tu/3; workKd = workKp*Tu/3;
SERIAL_PROTOCOLLNPGM(" Some overshoot "); SERIAL_PROTOCOLLNPGM(" Some overshoot ");
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(workKp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(workKi);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(workKd);
Kp = 0.2*Ku; workKp = 0.2*Ku;
Ki = 2*Kp/Tu; workKi = 2*workKp/Tu;
Kd = Kp*Tu/3; workKd = workKp*Tu/3;
SERIAL_PROTOCOLLNPGM(" No overshoot "); SERIAL_PROTOCOLLNPGM(" No overshoot ");
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(workKp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(workKi);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(workKd);
*/ */
} }
} }
@ -365,24 +365,24 @@ void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false
if (cycles > ncycles) { if (cycles > ncycles) {
SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED); SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED);
const char* estring = extruder < 0 ? "bed" : ""; const char* estring = extruder < 0 ? "bed" : "";
SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kp "); SERIAL_PROTOCOLLN(Kp); SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kp "); SERIAL_PROTOCOLLN(workKp);
SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Ki "); SERIAL_PROTOCOLLN(Ki); SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Ki "); SERIAL_PROTOCOLLN(workKi);
SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kd "); SERIAL_PROTOCOLLN(Kd); SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kd "); SERIAL_PROTOCOLLN(workKd);
// Use the result? (As with "M303 U1") // Use the result? (As with "M303 U1")
if (set_result) { if (set_result) {
if (extruder < 0) { if (extruder < 0) {
#if ENABLED(PIDTEMPBED) #if ENABLED(PIDTEMPBED)
bedKp = Kp; bedKp = workKp;
bedKi = scalePID_i(Ki); bedKi = scalePID_i(workKi);
bedKd = scalePID_d(Kd); bedKd = scalePID_d(workKd);
updatePID(); updatePID();
#endif #endif
} }
else { else {
PID_PARAM(Kp, extruder) = Kp; PID_PARAM(Kp, extruder) = workKp;
PID_PARAM(Ki, e) = scalePID_i(Ki); PID_PARAM(Ki, extruder) = scalePID_i(workKi);
PID_PARAM(Kd, e) = scalePID_d(Kd); PID_PARAM(Kd, extruder) = scalePID_d(workKd);
updatePID(); updatePID();
} }
} }
@ -395,7 +395,7 @@ void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false
void updatePID() { void updatePID() {
#if ENABLED(PIDTEMP) #if ENABLED(PIDTEMP)
for (int e = 0; e < EXTRUDERS; e++) { for (int e = 0; e < EXTRUDERS; e++) {
temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki,e); temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki, e);
#if ENABLED(PID_ADD_EXTRUSION_RATE) #if ENABLED(PID_ADD_EXTRUSION_RATE)
last_position[e] = 0; last_position[e] = 0;
#endif #endif

10
Marlin/temperature.h
View file

@ -82,10 +82,16 @@ extern float current_temperature_bed;
#if ENABLED(PIDTEMP) #if ENABLED(PIDTEMP)
#if ENABLED(PID_PARAMS_PER_EXTRUDER) #if ENABLED(PID_PARAMS_PER_EXTRUDER)
extern float Kp[EXTRUDERS], Ki[EXTRUDERS], Kd[EXTRUDERS], Kc[EXTRUDERS]; // one param per extruder extern float Kp[EXTRUDERS], Ki[EXTRUDERS], Kd[EXTRUDERS]; // one param per extruder
#if ENABLED(PID_ADD_EXTRUSION_RATE)
extern float Kc[EXTRUDERS];
#endif
#define PID_PARAM(param, e) param[e] // use macro to point to array value #define PID_PARAM(param, e) param[e] // use macro to point to array value
#else #else
extern float Kp, Ki, Kd, Kc; // one param per extruder - saves 20 or 36 bytes of ram (inc array pointer) extern float Kp, Ki, Kd; // one param per extruder - saves 20 or 36 bytes of ram (inc array pointer)
#if ENABLED(PID_ADD_EXTRUSION_RATE)
extern float Kc;
#endif
#define PID_PARAM(param, e) param // use macro to point directly to value #define PID_PARAM(param, e) param // use macro to point directly to value
#endif // PID_PARAMS_PER_EXTRUDER #endif // PID_PARAMS_PER_EXTRUDER
float scalePID_i(float i); float scalePID_i(float i);