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Merge pull request #1710 from PavelSindler/preheat_error_MK2 

Preheat error improvement for mk2
This commit is contained in:
MRprusa3d 2019-04-10 01:11:59 +02:00 committed by GitHub
parent 88e6e1d4ad 9bfeedcd8e
commit 9575948875
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 102 additions and 82 deletions
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4
Firmware/Configuration.h
View File

@ -141,13 +141,11 @@
// Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP
#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
#define PID_MAX BANG_MAX // limits current to nozzle while PID is active; 255=full current
#ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
//#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
#define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
#define K1 0.95 //smoothing factor within the PID
#define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine

20
Firmware/Marlin_main.cpp
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@ -1,21 +1,6 @@
/* -*- c++ -*- */
/*
Reprap firmware based on Sprinter and grbl.
Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
/**
* @file
*/
/*
@ -6385,6 +6370,7 @@ void Stop()
disable_heater();
if(Stopped == false) {
Stopped = true;
lcd_print_stop();
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
SERIAL_ERROR_START;
SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);

72
Firmware/temperature.cpp
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@ -91,15 +91,15 @@ static volatile bool temp_meas_ready = false;
#ifdef PIDTEMP
//static cannot be external:
static float temp_iState[EXTRUDERS] = { 0 };
static float temp_dState[EXTRUDERS] = { 0 };
static float iState_sum[EXTRUDERS] = { 0 };
static float dState_last[EXTRUDERS] = { 0 };
static float pTerm[EXTRUDERS];
static float iTerm[EXTRUDERS];
static float dTerm[EXTRUDERS];
//int output;
static float pid_error[EXTRUDERS];
static float temp_iState_min[EXTRUDERS];
static float temp_iState_max[EXTRUDERS];
static float iState_sum_min[EXTRUDERS];
static float iState_sum_max[EXTRUDERS];
// static float pid_input[EXTRUDERS];
// static float pid_output[EXTRUDERS];
static bool pid_reset[EXTRUDERS];
@ -396,7 +396,7 @@ void updatePID()
{
#ifdef PIDTEMP
for(int e = 0; e < EXTRUDERS; e++) {
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
}
#endif
#ifdef PIDTEMPBED
@ -482,6 +482,12 @@ void checkExtruderAutoFans()
#endif // any extruder auto fan pins set
// ready for eventually parameters adjusting
void resetPID(uint8_t) // only for compiler-warning elimination (if function do nothing)
//void resetPID(uint8_t extruder)
{
}
void manage_heater()
{
float pid_input;
@ -489,6 +495,7 @@ void manage_heater()
if(temp_meas_ready != true) //better readability
return;
// more precisely - this condition partially stabilizes time interval for regulation values evaluation (@ ~ 230ms)
updateTemperaturesFromRawValues();
@ -507,38 +514,42 @@ void manage_heater()
pid_input = current_temperature[e];
#ifndef PID_OPENLOOP
pid_error[e] = target_temperature[e] - pid_input;
if(pid_error[e] > PID_FUNCTIONAL_RANGE) {
pid_output = BANG_MAX;
pid_reset[e] = true;
}
else if(pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) {
if(target_temperature[e] == 0) {
pid_output = 0;
pid_reset[e] = true;
}
else {
if(pid_reset[e] == true) {
temp_iState[e] = 0.0;
} else {
pid_error[e] = target_temperature[e] - pid_input;
if(pid_reset[e]) {
iState_sum[e] = 0.0;
dTerm[e] = 0.0; // 'dState_last[e]' initial setting is not necessary (see end of if-statement)
pid_reset[e] = false;
}
#ifndef PonM
pTerm[e] = Kp * 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];
iState_sum[e] += pid_error[e];
iState_sum[e] = constrain(iState_sum[e], iState_sum_min[e], iState_sum_max[e]);
iTerm[e] = Ki * iState_sum[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]);
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
dTerm[e] = (Kd * (pid_input - dState_last[e]))*K2 + (K1 * dTerm[e]); // e.g. digital filtration of derivative term changes
pid_output = pTerm[e] + iTerm[e] - dTerm[e]; // subtraction due to "Derivative on Measurement" method (i.e. derivative of input instead derivative of error is used)
if (pid_output > PID_MAX) {
if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
if (pid_error[e] > 0 ) iState_sum[e] -= pid_error[e]; // conditional un-integration
pid_output=PID_MAX;
} else if (pid_output < 0) {
if (pid_error[e] < 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
if (pid_error[e] < 0 ) iState_sum[e] -= pid_error[e]; // conditional un-integration
pid_output=0;
}
#else // PonM ("Proportional on Measurement" method)
iState_sum[e] += Ki * pid_error[e];
iState_sum[e] -= Kp * (pid_input - dState_last[e]);
iState_sum[e] = constrain(iState_sum[e], 0, PID_INTEGRAL_DRIVE_MAX);
dTerm[e] = Kd * (pid_input - dState_last[e]);
pid_output = iState_sum[e] - dTerm[e]; // subtraction due to "Derivative on Measurement" method (i.e. derivative of input instead derivative of error is used)
pid_output = constrain(pid_output, 0, PID_MAX);
#endif // PonM
}
temp_dState[e] = pid_input;
dState_last[e] = pid_input;
#else
pid_output = constrain(target_temperature[e], 0, PID_MAX);
#endif //PID_OPENLOOP
@ -555,7 +566,7 @@ void manage_heater()
SERIAL_ECHO(" iTerm ");
SERIAL_ECHO(iTerm[e]);
SERIAL_ECHO(" dTerm ");
SERIAL_ECHOLN(dTerm[e]);
SERIAL_ECHOLN(-dTerm[e]);
#endif //PID_DEBUG
#else /* PID off */
pid_output = 0;
@ -565,11 +576,12 @@ void manage_heater()
#endif
// Check if temperature is within the correct range
if((current_temperature[e] > minttemp[e]) && (current_temperature[e] < maxttemp[e]))
if((current_temperature[e] < maxttemp[e]) && (target_temperature[e] != 0))
{
soft_pwm[e] = (int)pid_output >> 1;
}
else {
else
{
soft_pwm[e] = 0;
}
@ -693,6 +705,8 @@ void manage_heater()
WRITE(HEATER_BED_PIN,LOW);
}
#endif
if(target_temperature_bed==0)
soft_pwm_bed = 0;
#endif
//code for controlling the extruder rate based on the width sensor
@ -891,8 +905,8 @@ void tp_init()
// populate with the first value
maxttemp[e] = maxttemp[0];
#ifdef PIDTEMP
temp_iState_min[e] = 0.0;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
iState_sum_min[e] = 0.0;
iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
#endif //PIDTEMP
#ifdef PIDTEMPBED
temp_iState_min_bed = 0.0;

16
Firmware/temperature.h
View File

@ -76,6 +76,8 @@ extern float current_temperature_bed;
extern volatile int babystepsTodo[3];
#endif
void resetPID(uint8_t extruder);
inline void babystepsTodoZadd(int n)
{
if (n != 0) {
@ -126,8 +128,22 @@ FORCE_INLINE float degTargetBed() {
FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {
target_temperature[extruder] = celsius;
resetPID(extruder);
};
static inline void setTargetHotendSafe(const float &celsius, uint8_t extruder)
{
if (extruder<EXTRUDERS) {
target_temperature[extruder] = celsius;
resetPID(extruder);
}
}
static inline void setAllTargetHotends(const float &celsius)
{
for(int i=0;i<EXTRUDERS;i++) setTargetHotend(celsius,i);
}
FORCE_INLINE void setTargetBed(const float &celsius) {
target_temperature_bed = celsius;
};

67
Firmware/ultralcd.cpp
View File

@ -4872,6 +4872,41 @@ static void lcd_sd_updir()
currentMenuViewOffset = 0;
}
void lcd_print_stop() {
cancel_heatup = true;
#ifdef MESH_BED_LEVELING
mbl.active = false;
#endif
// Stop the stoppers, update the position from the stoppers.
if (mesh_bed_leveling_flag == false && homing_flag == false) {
planner_abort_hard();
// Because the planner_abort_hard() initialized current_position[Z] from the stepper,
// Z baystep is no more applied. Reset it.
babystep_reset();
}
// Clean the input command queue.
cmdqueue_reset();
lcd_setstatuspgm(MSG_PRINT_ABORTED);
lcd_update(2);
card.sdprinting = false;
card.closefile();
stoptime = millis();
unsigned long t = (stoptime - starttime - pause_time) / 1000; //time in s
pause_time = 0;
save_statistics(total_filament_used, t);
lcd_return_to_status();
lcd_ignore_click(true);
lcd_commands_type = LCD_COMMAND_STOP_PRINT;
if (farm_mode) prusa_statistics(7);
// Turn off the print fan
SET_OUTPUT(FAN_PIN);
WRITE(FAN_PIN, 0);
fanSpeed=0;
}
void lcd_sdcard_stop()
{
@ -4899,37 +4934,7 @@ void lcd_sdcard_stop()
}
if ((int32_t)encoderPosition == 2)
{
cancel_heatup = true;
#ifdef MESH_BED_LEVELING
mbl.active = false;
#endif
// Stop the stoppers, update the position from the stoppers.
if (mesh_bed_leveling_flag == false && homing_flag == false) {
planner_abort_hard();
// Because the planner_abort_hard() initialized current_position[Z] from the stepper,
// Z baystep is no more applied. Reset it.
babystep_reset();
}
// Clean the input command queue.
cmdqueue_reset();
lcd_setstatuspgm(MSG_PRINT_ABORTED);
lcd_update(2);
card.sdprinting = false;
card.closefile();
stoptime = millis();
unsigned long t = (stoptime - starttime - pause_time) / 1000; //time in s
pause_time = 0;
save_statistics(total_filament_used, t);
lcd_return_to_status();
lcd_ignore_click(true);
lcd_commands_type = LCD_COMMAND_STOP_PRINT;
if (farm_mode) prusa_statistics(7);
// Turn off the print fan
SET_OUTPUT(FAN_PIN);
WRITE(FAN_PIN, 0);
fanSpeed=0;
lcd_print_stop();
}
}

1
Firmware/ultralcd.h
View File

@ -31,6 +31,7 @@
unsigned char lcd_choose_color();
void lcd_mylang();
bool lcd_detected(void);
void lcd_print_stop();
void lcd_menu_statistics();