josh
/
Prusa-Firmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Use cs.Kp, cs.Ki and cs.Kd from ConfigurationStore.

This commit is contained in:
Marek Bel 2018-09-24 16:54:50 +02:00
parent f2ae3fb1f7
commit 54bcc8aa52
4 changed files with 14 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Firmware/ConfigurationStore.cpp
View File

@ -124,7 +124,7 @@ void Config_PrintSettings(uint8_t level)
); );
#ifdef PIDTEMP #ifdef PIDTEMP
printf_P(PSTR("%SPID settings:\n%S M301 P%.2f I%.2f D%.2f\n"), printf_P(PSTR("%SPID settings:\n%S M301 P%.2f I%.2f D%.2f\n"),
echomagic, echomagic, Kp, unscalePID_i(Ki), unscalePID_d(Kd)); echomagic, echomagic, cs.Kp, unscalePID_i(cs.Ki), unscalePID_d(cs.Kd));
#endif #endif
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
printf_P(PSTR("%SPID heatbed settings:\n%S M304 P%.2f I%.2f D%.2f\n"), printf_P(PSTR("%SPID heatbed settings:\n%S M304 P%.2f I%.2f D%.2f\n"),

12
Firmware/Marlin_main.cpp
View File

@ -6212,9 +6212,9 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
#ifdef PIDTEMP #ifdef PIDTEMP
case 301: // M301 case 301: // M301
{ {
if(code_seen('P')) Kp = code_value(); if(code_seen('P')) cs.Kp = code_value();
if(code_seen('I')) Ki = scalePID_i(code_value()); if(code_seen('I')) cs.Ki = scalePID_i(code_value());
if(code_seen('D')) Kd = scalePID_d(code_value()); if(code_seen('D')) cs.Kd = scalePID_d(code_value());
#ifdef PID_ADD_EXTRUSION_RATE #ifdef PID_ADD_EXTRUSION_RATE
if(code_seen('C')) Kc = code_value(); if(code_seen('C')) Kc = code_value();
@ -6223,11 +6223,11 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
updatePID(); updatePID();
SERIAL_PROTOCOLRPGM(_T(MSG_OK)); SERIAL_PROTOCOLRPGM(_T(MSG_OK));
SERIAL_PROTOCOL(" p:"); SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(Kp); SERIAL_PROTOCOL(cs.Kp);
SERIAL_PROTOCOL(" i:"); SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(unscalePID_i(Ki)); SERIAL_PROTOCOL(unscalePID_i(cs.Ki));
SERIAL_PROTOCOL(" d:"); SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(Kd)); SERIAL_PROTOCOL(unscalePID_d(cs.Kd));
#ifdef PID_ADD_EXTRUSION_RATE #ifdef PID_ADD_EXTRUSION_RATE
SERIAL_PROTOCOL(" c:"); SERIAL_PROTOCOL(" c:");
//Kc does not have scaling applied above, or in resetting defaults //Kc does not have scaling applied above, or in resetting defaults

14
Firmware/temperature.cpp
View File

@ -39,6 +39,7 @@
#include <avr/wdt.h> #include <avr/wdt.h>
#include "adc.h" #include "adc.h"
#include "ConfigurationStore.h"
//=========================================================================== //===========================================================================
@ -79,9 +80,6 @@ float current_temperature_bed = 0.0;
float _Kp, _Ki, _Kd; float _Kp, _Ki, _Kd;
int pid_cycle, pid_number_of_cycles; int pid_cycle, pid_number_of_cycles;
bool pid_tuning_finished = false; bool pid_tuning_finished = false;
float Kp=DEFAULT_Kp;
float Ki=(DEFAULT_Ki*PID_dT);
float Kd=(DEFAULT_Kd/PID_dT);
#ifdef PID_ADD_EXTRUSION_RATE #ifdef PID_ADD_EXTRUSION_RATE
float Kc=DEFAULT_Kc; float Kc=DEFAULT_Kc;
#endif #endif
@ -422,7 +420,7 @@ void updatePID()
{ {
#ifdef PIDTEMP #ifdef PIDTEMP
for(int e = 0; e < EXTRUDERS; e++) { for(int e = 0; e < EXTRUDERS; e++) {
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki; temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
} }
#endif #endif
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
@ -638,14 +636,14 @@ void manage_heater()
temp_iState[e] = 0.0; temp_iState[e] = 0.0;
pid_reset[e] = false; pid_reset[e] = false;
} }
pTerm[e] = Kp * pid_error[e]; pTerm[e] = cs.Kp * pid_error[e];
temp_iState[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]); temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
iTerm[e] = Ki * temp_iState[e]; iTerm[e] = cs.Ki * temp_iState[e];
//K1 defined in Configuration.h in the PID settings //K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1) #define K2 (1.0-K1)
dTerm[e] = (Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]); dTerm[e] = (cs.Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
pid_output = pTerm[e] + iTerm[e] - dTerm[e]; pid_output = pTerm[e] + iTerm[e] - dTerm[e];
if (pid_output > PID_MAX) { if (pid_output > PID_MAX) {
if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
@ -1040,7 +1038,7 @@ void tp_init()
maxttemp[e] = maxttemp[0]; maxttemp[e] = maxttemp[0];
#ifdef PIDTEMP #ifdef PIDTEMP
temp_iState_min[e] = 0.0; temp_iState_min[e] = 0.0;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki; temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
#endif //PIDTEMP #endif //PIDTEMP
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
temp_iState_min_bed = 0.0; temp_iState_min_bed = 0.0;

2
Firmware/temperature.h
View File

@ -73,7 +73,7 @@ extern int current_voltage_raw_bed;
#ifdef PIDTEMP #ifdef PIDTEMP
extern int pid_cycle, pid_number_of_cycles; extern int pid_cycle, pid_number_of_cycles;
extern float Kp,Ki,Kd,Kc,_Kp,_Ki,_Kd; extern float Kc,_Kp,_Ki,_Kd;
extern bool pid_tuning_finished; extern bool pid_tuning_finished;
float scalePID_i(float i); float scalePID_i(float i);
float scalePID_d(float d); float scalePID_d(float d);