Added PID autotune. (experimental)
M303 Starts autotune. Wait till the Kp Ki and Kd constants are printed. Put these values in Configuration.h
This commit is contained in:
Erik van der Zalm
parent
116dc86b8a
commit
c077316b2b
5 changed files with 274 additions and 169 deletions
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@ -109,6 +109,7 @@
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// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
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// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
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// M503 - print the current settings (from memory not from eeprom)
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// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
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//Stepper Movement Variables
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@ -1197,6 +1198,13 @@ void process_commands()
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allow_cold_extrudes(true);
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}
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break;
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case 303: // M303 PID autotune
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{
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float temp = 150.0;
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if (code_seen('S')) temp=code_value();
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PID_autotune(temp);
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}
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break;
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case 400: // finish all moves
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{
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st_synchronize();
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@ -734,7 +734,7 @@
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#define encrot2 3
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#define encrot3 1
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#define SDCARDDETECT -1
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//bits in the shift register that carry the buttons for:
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// left up center down right red
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#define BL_LE 7
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@ -62,7 +62,7 @@ int current_raw_bed = 0;
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//===========================================================================
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//=============================private variables============================
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//===========================================================================
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static bool temp_meas_ready = false;
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static volatile bool temp_meas_ready = false;
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static unsigned long previous_millis_bed_heater;
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//static unsigned long previous_millis_heater;
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@ -132,7 +132,94 @@ static unsigned long previous_millis_bed_heater;
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//===========================================================================
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//============================= functions ============================
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//===========================================================================
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void PID_autotune(float temp)
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{
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float input;
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int cycles=0;
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bool heating = true;
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soft_pwm[0] = 255>>1;
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unsigned long temp_millis = millis();
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unsigned long t1=temp_millis;
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unsigned long t2=temp_millis;
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long t_high;
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long t_low;
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long bias=127;
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long d = 127;
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float Ku, Tu;
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float Kp, Ki, Kd;
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float max, min;
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SERIAL_ECHOLN("PID Autotune start");
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for(;;) {
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if(temp_meas_ready == true) { // temp sample ready
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CRITICAL_SECTION_START;
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temp_meas_ready = false;
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CRITICAL_SECTION_END;
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input = analog2temp(current_raw[0], 0);
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max=max(max,input);
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min=min(min,input);
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if(heating == true && input > temp) {
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if(millis() - t2 > 5000) {
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heating=false;
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soft_pwm[0] = (bias - d) >> 1;
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t1=millis();
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t_high=t1 - t2;
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max=temp;
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}
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}
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if(heating == false && input < temp) {
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if(millis() - t1 > 5000) {
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heating=true;
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t2=millis();
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t_low=t2 - t1;
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if(cycles > 0) {
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bias += (d*(t_high - t_low))/(t_low + t_high);
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bias = constrain(bias, 20 ,235);
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if(bias > 127) d = 254 - bias;
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else d = bias;
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SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);
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SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d);
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SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min);
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SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max);
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if(cycles > 2) {
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Ku = (4.0*d)/(3.14159*(max-min)/2.0);
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Tu = ((float)(t_low + t_high)/1000.0);
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Kp = 0.6*Ku;
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Ki = 2*Kp/Tu;
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Kd = Kp*Tu/8;
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SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
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}
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}
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soft_pwm[0] = (bias + d) >> 1;
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cycles++;
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min=temp;
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}
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}
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}
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if(input > (temp + 20)) {
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SERIAL_PROTOCOLLNPGM("PID Autotune failed !!!, Temperature to high");
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return;
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}
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if(millis() - temp_millis > 2000) {
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temp_millis = millis();
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SERIAL_PROTOCOLPGM("ok T:");
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SERIAL_PROTOCOL(degHotend(0));
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SERIAL_PROTOCOLPGM(" @:");
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SERIAL_PROTOCOLLN(getHeaterPower(0));
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}
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LCD_STATUS;
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}
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}
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void updatePID()
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{
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#ifdef PIDTEMP
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@ -1,162 +1,165 @@
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/*
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temperature.h - temperature controller
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Part of Marlin
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Copyright (c) 2011 Erik van der Zalm
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef temperature_h
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#define temperature_h
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#include "Marlin.h"
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#include "planner.h"
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#ifdef PID_ADD_EXTRUSION_RATE
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#include "stepper.h"
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#endif
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// public functions
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void tp_init(); //initialise the heating
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void manage_heater(); //it is critical that this is called periodically.
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//low leven conversion routines
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// do not use this routines and variables outsie of temperature.cpp
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int temp2analog(int celsius, uint8_t e);
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int temp2analogBed(int celsius);
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float analog2temp(int raw, uint8_t e);
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float analog2tempBed(int raw);
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extern int target_raw[EXTRUDERS];
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extern int heatingtarget_raw[EXTRUDERS];
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extern int current_raw[EXTRUDERS];
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extern int target_raw_bed;
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extern int current_raw_bed;
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#ifdef BED_LIMIT_SWITCHING
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extern int target_bed_low_temp ;
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extern int target_bed_high_temp ;
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#endif
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extern float Kp,Ki,Kd,Kc;
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#ifdef PIDTEMP
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extern float pid_setpoint[EXTRUDERS];
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#endif
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// #ifdef WATCHPERIOD
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extern int watch_raw[EXTRUDERS] ;
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// extern unsigned long watchmillis;
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// #endif
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//high level conversion routines, for use outside of temperature.cpp
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//inline so that there is no performance decrease.
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//deg=degreeCelsius
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FORCE_INLINE float degHotend(uint8_t extruder) {
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return analog2temp(current_raw[extruder], extruder);
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};
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FORCE_INLINE float degBed() {
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return analog2tempBed(current_raw_bed);
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};
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FORCE_INLINE float degTargetHotend(uint8_t extruder) {
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return analog2temp(target_raw[extruder], extruder);
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};
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FORCE_INLINE float degTargetBed() {
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return analog2tempBed(target_raw_bed);
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};
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FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {
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target_raw[extruder] = temp2analog(celsius, extruder);
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#ifdef PIDTEMP
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pid_setpoint[extruder] = celsius;
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#endif //PIDTEMP
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};
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FORCE_INLINE void setTargetBed(const float &celsius) {
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target_raw_bed = temp2analogBed(celsius);
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#ifdef BED_LIMIT_SWITCHING
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if(celsius>BED_HYSTERESIS)
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{
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target_bed_low_temp= temp2analogBed(celsius-BED_HYSTERESIS);
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target_bed_high_temp= temp2analogBed(celsius+BED_HYSTERESIS);
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}
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else
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{
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target_bed_low_temp=0;
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target_bed_high_temp=0;
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}
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#endif
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};
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FORCE_INLINE bool isHeatingHotend(uint8_t extruder){
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return target_raw[extruder] > current_raw[extruder];
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};
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FORCE_INLINE bool isHeatingBed() {
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return target_raw_bed > current_raw_bed;
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};
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FORCE_INLINE bool isCoolingHotend(uint8_t extruder) {
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return target_raw[extruder] < current_raw[extruder];
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};
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FORCE_INLINE bool isCoolingBed() {
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return target_raw_bed < current_raw_bed;
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};
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#define degHotend0() degHotend(0)
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#define degTargetHotend0() degTargetHotend(0)
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#define setTargetHotend0(_celsius) setTargetHotend((_celsius), 0)
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#define isHeatingHotend0() isHeatingHotend(0)
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#define isCoolingHotend0() isCoolingHotend(0)
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#if EXTRUDERS > 1
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#define degHotend1() degHotend(1)
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#define degTargetHotend1() degTargetHotend(1)
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#define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1)
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#define isHeatingHotend1() isHeatingHotend(1)
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#define isCoolingHotend1() isCoolingHotend(1)
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#endif
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#if EXTRUDERS > 2
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#define degHotend2() degHotend(2)
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#define degTargetHotend2() degTargetHotend(2)
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#define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2)
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#define isHeatingHotend2() isHeatingHotend(2)
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#define isCoolingHotend2() isCoolingHotend(2)
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#endif
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#if EXTRUDERS > 3
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#error Invalid number of extruders
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#endif
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int getHeaterPower(int heater);
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void disable_heater();
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void setWatch();
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void updatePID();
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FORCE_INLINE void autotempShutdown(){
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#ifdef AUTOTEMP
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if(autotemp_enabled)
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{
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autotemp_enabled=false;
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if(degTargetHotend(ACTIVE_EXTRUDER)>autotemp_min)
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setTargetHotend(0,ACTIVE_EXTRUDER);
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}
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#endif
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}
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#endif
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/*
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temperature.h - temperature controller
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Part of Marlin
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Copyright (c) 2011 Erik van der Zalm
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef temperature_h
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#define temperature_h
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#include "Marlin.h"
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#include "planner.h"
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#ifdef PID_ADD_EXTRUSION_RATE
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#include "stepper.h"
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#endif
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// public functions
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void tp_init(); //initialise the heating
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void manage_heater(); //it is critical that this is called periodically.
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//low leven conversion routines
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// do not use this routines and variables outsie of temperature.cpp
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int temp2analog(int celsius, uint8_t e);
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int temp2analogBed(int celsius);
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float analog2temp(int raw, uint8_t e);
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float analog2tempBed(int raw);
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extern int target_raw[EXTRUDERS];
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extern int heatingtarget_raw[EXTRUDERS];
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extern int current_raw[EXTRUDERS];
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extern int target_raw_bed;
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extern int current_raw_bed;
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#ifdef BED_LIMIT_SWITCHING
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extern int target_bed_low_temp ;
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extern int target_bed_high_temp ;
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#endif
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extern float Kp,Ki,Kd,Kc;
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#ifdef PIDTEMP
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extern float pid_setpoint[EXTRUDERS];
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#endif
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// #ifdef WATCHPERIOD
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extern int watch_raw[EXTRUDERS] ;
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// extern unsigned long watchmillis;
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// #endif
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//high level conversion routines, for use outside of temperature.cpp
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//inline so that there is no performance decrease.
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//deg=degreeCelsius
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FORCE_INLINE float degHotend(uint8_t extruder) {
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return analog2temp(current_raw[extruder], extruder);
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};
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FORCE_INLINE float degBed() {
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return analog2tempBed(current_raw_bed);
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};
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FORCE_INLINE float degTargetHotend(uint8_t extruder) {
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return analog2temp(target_raw[extruder], extruder);
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};
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FORCE_INLINE float degTargetBed() {
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return analog2tempBed(target_raw_bed);
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};
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FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {
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target_raw[extruder] = temp2analog(celsius, extruder);
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#ifdef PIDTEMP
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pid_setpoint[extruder] = celsius;
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#endif //PIDTEMP
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};
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FORCE_INLINE void setTargetBed(const float &celsius) {
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target_raw_bed = temp2analogBed(celsius);
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#ifdef BED_LIMIT_SWITCHING
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if(celsius>BED_HYSTERESIS)
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{
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target_bed_low_temp= temp2analogBed(celsius-BED_HYSTERESIS);
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target_bed_high_temp= temp2analogBed(celsius+BED_HYSTERESIS);
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}
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else
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{
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target_bed_low_temp=0;
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target_bed_high_temp=0;
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}
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#endif
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};
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FORCE_INLINE bool isHeatingHotend(uint8_t extruder){
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return target_raw[extruder] > current_raw[extruder];
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};
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FORCE_INLINE bool isHeatingBed() {
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return target_raw_bed > current_raw_bed;
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};
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FORCE_INLINE bool isCoolingHotend(uint8_t extruder) {
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return target_raw[extruder] < current_raw[extruder];
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};
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FORCE_INLINE bool isCoolingBed() {
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return target_raw_bed < current_raw_bed;
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};
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#define degHotend0() degHotend(0)
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#define degTargetHotend0() degTargetHotend(0)
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#define setTargetHotend0(_celsius) setTargetHotend((_celsius), 0)
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#define isHeatingHotend0() isHeatingHotend(0)
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#define isCoolingHotend0() isCoolingHotend(0)
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#if EXTRUDERS > 1
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#define degHotend1() degHotend(1)
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#define degTargetHotend1() degTargetHotend(1)
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#define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1)
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#define isHeatingHotend1() isHeatingHotend(1)
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#define isCoolingHotend1() isCoolingHotend(1)
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#endif
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#if EXTRUDERS > 2
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#define degHotend2() degHotend(2)
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#define degTargetHotend2() degTargetHotend(2)
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#define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2)
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#define isHeatingHotend2() isHeatingHotend(2)
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#define isCoolingHotend2() isCoolingHotend(2)
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#endif
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#if EXTRUDERS > 3
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#error Invalid number of extruders
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#endif
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int getHeaterPower(int heater);
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void disable_heater();
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void setWatch();
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void updatePID();
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FORCE_INLINE void autotempShutdown(){
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#ifdef AUTOTEMP
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if(autotemp_enabled)
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{
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autotemp_enabled=false;
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if(degTargetHotend(ACTIVE_EXTRUDER)>autotemp_min)
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setTargetHotend(0,ACTIVE_EXTRUDER);
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}
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#endif
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}
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void PID_autotune(float temp);
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#endif
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@ -315,19 +315,18 @@ void MainMenu::showStatus()
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static int olddegHotEnd0=-1;
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static int oldtargetHotEnd0=-1;
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//force_lcd_update=true;
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if(force_lcd_update||feedmultiplychanged) //initial display of content
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if(force_lcd_update) //initial display of content
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{
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feedmultiplychanged=false;
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encoderpos=feedmultiply;
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clear();
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lcd.setCursor(0,0);lcdprintPGM("\002123/567\001 ");
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lcd.setCursor(0,0);lcdprintPGM("\002---/---\001 ");
|
||||
#if defined BED_USES_THERMISTOR || defined BED_USES_AD595
|
||||
lcd.setCursor(10,0);lcdprintPGM("B123/567\001 ");
|
||||
lcd.setCursor(10,0);lcdprintPGM("B---/---\001 ");
|
||||
#endif
|
||||
}
|
||||
|
||||
int tHotEnd0=intround(degHotend0());
|
||||
if((abs(tHotEnd0-olddegHotEnd0)>1)||force_lcd_update) //>1 because otherwise the lcd is refreshed to often.
|
||||
if((tHotEnd0!=olddegHotEnd0)||force_lcd_update)
|
||||
{
|
||||
lcd.setCursor(1,0);
|
||||
lcd.print(ftostr3(tHotEnd0));
|
||||
|
|
@ -379,8 +378,15 @@ void MainMenu::showStatus()
|
|||
lcdprintPGM("Z:");lcd.print(ftostr52(current_position[2]));
|
||||
oldzpos=currentz;
|
||||
}
|
||||
|
||||
static int oldfeedmultiply=0;
|
||||
int curfeedmultiply=feedmultiply;
|
||||
|
||||
if(feedmultiplychanged == true) {
|
||||
feedmultiplychanged == false;
|
||||
encoderpos = curfeedmultiply;
|
||||
}
|
||||
|
||||
if(encoderpos!=curfeedmultiply||force_lcd_update)
|
||||
{
|
||||
curfeedmultiply=encoderpos;
|
||||
|
|
@ -391,12 +397,14 @@ void MainMenu::showStatus()
|
|||
feedmultiply=curfeedmultiply;
|
||||
encoderpos=curfeedmultiply;
|
||||
}
|
||||
|
||||
if((curfeedmultiply!=oldfeedmultiply)||force_lcd_update)
|
||||
{
|
||||
oldfeedmultiply=curfeedmultiply;
|
||||
lcd.setCursor(0,2);
|
||||
lcd.print(itostr3(curfeedmultiply));lcdprintPGM("% ");
|
||||
}
|
||||
|
||||
if(messagetext[0]!='\0')
|
||||
{
|
||||
lcd.setCursor(0,LCD_HEIGHT-1);
|
||||
|
|
@ -404,7 +412,6 @@ void MainMenu::showStatus()
|
|||
uint8_t n=strlen(messagetext);
|
||||
for(int8_t i=0;i<LCD_WIDTH-n;i++)
|
||||
lcd.print(" ");
|
||||
|
||||
messagetext[0]='\0';
|
||||
}
|
||||
|
||||
|
|
|
|||
Reference in a new issue