a ton of work on the heater PID loop, it's working great now
This commit is contained in:
Michael Moon
parent
2182d7b77a
commit
06cdfaa251
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@ -7,21 +7,21 @@
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#
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# and then used like this:
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#
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# $ arduincmd G1 X100
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# $ arduinocmd M250
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# $ mendel_cmd G1 X100
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# $ mendel_cmd M250
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#
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# {X:4200,Y:0,Z:0,E:0,F:300,c:19334400}
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# {X:4200,Y:0,Z:0,E:0,F:300,c:0}
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# Q1/1E
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# $ readsym_uint8 mb_head
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# $ mendel_readsym_uint8 mb_head
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# 1
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# $ readsym_target startpoint
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# $ mendel_readsym_target startpoint
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# X: 2100
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# Y: 0
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# Z: 0
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# E: 0
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# F: 300
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# $ readsym_mb
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# $ mendel_readsym_mb
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# [0] {
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# eX: 0 eY: 0 eZ: 0 eE: 0 eF: 0
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# flags: 0
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@ -101,13 +101,10 @@ mendel_cmd() {
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while [ "$REPLY" != "OK" ]
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do
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read -u 3
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# if [ "$LN" -ne 0 ]
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# then
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if [ "$REPLY" != "OK" ]
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then
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echo "$REPLY"
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fi
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# fi
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if [ "$REPLY" != "OK" ]
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then
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echo "$REPLY"
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fi
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LN=$(( $LN + 1 ))
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done
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) 3<>/dev/arduino;
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@ -123,19 +120,17 @@ mendel_cmd_hr() {
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while [ "$REPLY" != "OK" ]
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do
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read -u 3
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# if [ "$LN" -ne 0 ]
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# then
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echo "< $REPLY"
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# fi
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echo "< $REPLY"
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LN=$(( $LN + 1 ))
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done
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) 3<>/dev/arduino;
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}
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mendel_print() {
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( IFS=$'\n'
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(
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for F in "$@"
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do
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IFS=$'\n'
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for L in $(< $F)
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do
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mendel_cmd_hr "$L"
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@ -150,14 +145,25 @@ mendel_readsym() {
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sym=$1
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if [ -n "$sym" ]
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then
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make mendel.sym &>/dev/null
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if egrep -q '\b'$sym'\b' mendel.sym
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if [[ "$sym" =~ ^(0?x?[0-9A-Fa-f]+)(:([0-9]+))?$ ]]
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then
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ADDR=$(( $(egrep '\b'$sym'\b' mendel.sym | cut -d\ -f1) ))
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SIZE=$(egrep '\b'$sym'\b' mendel.sym | cut -d+ -f2)
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ADDR=$(( ${BASH_REMATCH[1]} ))
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SIZE=$(( ${BASH_REMATCH[3]} ))
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if [ "$SIZE" -le 1 ]
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then
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SIZE=1
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fi
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mendel_cmd "M253 S$ADDR P$SIZE"
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else
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echo "unknown symbol: $sym"
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make mendel.sym &>/dev/null
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if egrep -q '\b'$sym'\b' mendel.sym
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then
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ADDR=$(( $(egrep '\b'$sym'\b' mendel.sym | cut -d\ -f1) ))
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SIZE=$(egrep '\b'$sym'\b' mendel.sym | cut -d+ -f2)
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mendel_cmd "M253 S$ADDR P$SIZE"
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else
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echo "unknown symbol: $sym"
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fi
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fi
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else
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echo "what symbol?" > /dev/fd/2
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@ -243,3 +249,24 @@ mendel_readsym_mb() {
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printf "\n}\n";
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ENDPERL
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}
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mendel_heater_pid() {
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P=$(mendel_readsym_int16 heater_p)
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I=$(mendel_readsym_int16 heater_i)
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D=$(mendel_readsym_int16 heater_d)
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PF=$(mendel_readsym_int32 p_factor)
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IF=$(mendel_readsym_int32 i_factor)
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DF=$(mendel_readsym_int32 d_factor)
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O=$(mendel_readsym_uint8 0x27)
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T=$(mendel_cmd M105 | cut -d\ -f2 | cut -d/ -f1)
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echo "P=$P pf=$PF r="$(($P * $PF))
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echo "I=$I if=$IF r="$(($I * $IF))
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echo "D=$D df=$DF r="$(($D * $DF))
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echo "R="$(( $(($P * $PF)) + $(($I * $IF)) + $(($D * $DF)) )) / 1024
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echo "R="$(( $(( $(($P * $PF)) + $(($I * $IF)) + $(($D * $DF)) )) / 1024 ))
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echo "R="$(( $(( $(( $(($P * $PF)) + $(($I * $IF)) + $(($D * $DF)) )) / 1024 )) + 128 ))
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echo "O=$O T=$T"
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}
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@ -528,7 +528,7 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
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// backup feedrate, move E very quickly then restore feedrate
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uint32_t f = startpoint.F;
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startpoint.F = FEEDRATE_FAST_E;
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SpecialMoveE(E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
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SpecialMoveE(startpoint.E + E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
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startpoint.F = f;
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} while (0);
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break;
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@ -541,7 +541,7 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
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// backup feedrate, move E very quickly then restore feedrate
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uint32_t f = startpoint.F;
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startpoint.F = FEEDRATE_FAST_E;
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SpecialMoveE(-E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
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SpecialMoveE(startpoint.E - E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
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startpoint.F = f;
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} while (0);
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break;
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@ -594,6 +594,10 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
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if (gcmd->seen_S)
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i_limit = gcmd->S;
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break;
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// M134- save PID settings to eeprom
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case 134:
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temp_save_settings();
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break;
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// M140- echo off
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case 140:
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@ -48,6 +48,7 @@
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// extruder settings
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#define TEMP_HYSTERESIS 20
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#define TEMP_RESIDENCY_TIME 60
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/*
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calculated values - you shouldn't need to touch these
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@ -85,6 +85,9 @@ void init(void) {
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// set up clock
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clock_setup();
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// read PID settings from EEPROM
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temp_init();
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// set up default feedrate
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current_position.F = startpoint.F = next_target.target.F = FEEDRATE_SLOW_Z;
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@ -108,7 +111,7 @@ void clock_250ms(void) {
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if (steptimeout > (30 * 4)) {
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power_off();
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}
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else if (temp_get_target() == 0)
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else
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steptimeout++;
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ifclock(CLOCK_FLAG_1S) {
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130
mendel/temp.c
130
mendel/temp.c
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@ -18,12 +18,15 @@
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#include "temp.h"
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#include <avr/eeprom.h>
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#include "machine.h"
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#include "pinout.h"
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#include "clock.h"
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#include "serial.h"
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#include "sermsg.h"
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#include "timer.h"
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#include "dda.h"
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uint16_t current_temp = 0;
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uint16_t target_temp = 0;
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@ -32,15 +35,55 @@ int16_t heater_p = 0;
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int16_t heater_i = 0;
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int16_t heater_d = 0;
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int32_t p_factor = 680;
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int32_t i_factor = 18;
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int32_t d_factor = 200;
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int16_t i_limit = 500;
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#define DEFAULT_P 4096
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#define DEFAULT_I 64
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#define DEFAULT_D -12288
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#define DEFAULT_I_LIMIT 3072
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int32_t p_factor = 0;
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int32_t i_factor = 0;
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int32_t d_factor = 0;
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int16_t i_limit = 0;
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int32_t EEMEM EE_p_factor;
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int32_t EEMEM EE_i_factor;
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int32_t EEMEM EE_d_factor;
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int16_t EEMEM EE_i_limit;
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uint8_t temp_flags = 0;
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#define TEMP_FLAG_PRESENT 1
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#define TEMP_FLAG_TCOPEN 2
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uint8_t temp_residency = 0;
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#define TH_COUNT 8
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uint16_t temp_history[TH_COUNT] __attribute__ ((__section__ (".bss")));
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uint8_t th_p = 0;
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#ifndef ABSDELTA
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#define ABSDELTA(a, b) (((a) >= (b))?((a) - (b)):((b) - (a)))
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#endif
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void temp_init() {
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p_factor = eeprom_read_dword((uint32_t *) &EE_p_factor);
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i_factor = eeprom_read_dword((uint32_t *) &EE_i_factor);
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d_factor = eeprom_read_dword((uint32_t *) &EE_d_factor);
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i_limit = eeprom_read_word((uint16_t *) &EE_i_limit);
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if ((p_factor == 0) && (i_factor == 0) && (d_factor == 0) && (i_limit == 0)) {
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p_factor = DEFAULT_P;
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i_factor = DEFAULT_I;
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d_factor = DEFAULT_D;
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i_limit = DEFAULT_I_LIMIT;
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}
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}
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void temp_save_settings() {
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eeprom_write_dword((uint32_t *) &EE_p_factor, p_factor);
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eeprom_write_dword((uint32_t *) &EE_i_factor, i_factor);
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eeprom_write_dword((uint32_t *) &EE_d_factor, d_factor);
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eeprom_write_word((uint16_t *) &EE_i_limit, i_limit);
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}
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uint16_t temp_read() {
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uint16_t temp;
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@ -87,6 +130,10 @@ uint16_t temp_read() {
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}
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void temp_set(uint16_t t) {
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if (t) {
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steptimeout = 0;
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power_on();
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}
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target_temp = t;
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}
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@ -99,12 +146,8 @@ uint16_t temp_get_target() {
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}
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uint8_t temp_achieved() {
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if (current_temp >= target_temp)
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if ((current_temp - target_temp) < TEMP_HYSTERESIS)
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return 255;
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if (current_temp < target_temp)
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if ((target_temp - current_temp) < TEMP_HYSTERESIS)
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return 255;
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if (temp_residency >= TEMP_RESIDENCY_TIME)
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return 255;
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return 0;
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}
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@ -146,17 +189,27 @@ void temp_print() {
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void temp_tick() {
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if (target_temp) {
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uint16_t last_temp = current_temp;
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steptimeout = 0;
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// uint16_t last_temp = current_temp;
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temp_read();
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temp_history[th_p++] = current_temp;
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th_p &= (TH_COUNT - 1);
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if (ABSDELTA(current_temp, target_temp) > TEMP_HYSTERESIS)
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temp_residency = 0;
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else if (temp_residency < TEMP_RESIDENCY_TIME)
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temp_residency++;
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// if (DEBUG)
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// serial_writestr_P(PSTR("T{"));
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serial_writestr_P(PSTR("T{"));
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int16_t t_error = target_temp - current_temp;
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// if (DEBUG) {
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// serial_writestr_P(PSTR("E:"));
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// serwrite_int16(t_error);
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serial_writestr_P(PSTR("E:"));
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serwrite_int16(t_error);
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// }
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// PID stuff
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@ -173,7 +226,27 @@ void temp_tick() {
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// derivative
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// note: D follows temp rather than error so there's no large derivative when the target changes
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heater_d = (current_temp - last_temp);
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// heater_d = (current_temp - last_temp);
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heater_d = current_temp - temp_history[th_p];
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serial_writestr_P(PSTR(", P:"));
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serwrite_int16(heater_p);
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serial_writestr_P(PSTR(" * "));
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serwrite_int32(p_factor);
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serial_writestr_P(PSTR(" = "));
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serwrite_int32((int32_t) heater_p * p_factor / PID_SCALE);
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serial_writestr_P(PSTR(" / I:"));
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serwrite_int16(heater_i);
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serial_writestr_P(PSTR(" * "));
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serwrite_int32(i_factor);
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serial_writestr_P(PSTR(" = "));
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serwrite_int32((int32_t) heater_i * i_factor / PID_SCALE);
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serial_writestr_P(PSTR(" / D:"));
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serwrite_int16(heater_d);
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serial_writestr_P(PSTR(" * "));
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serwrite_int32(d_factor);
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serial_writestr_P(PSTR(" = "));
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serwrite_int32((int32_t) heater_d * d_factor / PID_SCALE);
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// combine factors
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int32_t pid_output_intermed = (
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@ -184,32 +257,39 @@ void temp_tick() {
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) / PID_SCALE
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);
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serial_writestr_P(PSTR(" # O: "));
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serwrite_int32(pid_output_intermed);
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// rebase and limit factors
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uint8_t pid_output;
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if (pid_output_intermed > 127)
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// if (pid_output_intermed > 127)
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// pid_output = 255;
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// else if (pid_output_intermed < -128)
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// pid_output = 0;
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// else
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// pid_output = (pid_output_intermed + 128);
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if (pid_output_intermed > 255)
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pid_output = 255;
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else if (pid_output_intermed < -128)
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else if (pid_output_intermed < 0)
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pid_output = 0;
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else
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pid_output = (pid_output_intermed + 128);
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pid_output = pid_output_intermed & 0xFF;
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// if (DEBUG) {
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// serial_writestr_P(PSTR(",O:"));
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// serwrite_uint8(pid_output);
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serial_writestr_P(PSTR(" = "));
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serwrite_uint8(pid_output);
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// }
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#ifdef HEATER_PWM
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HEATER_PWM = pid_output;
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#else
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if (pid_output >= 128) {
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if (pid_output >= 8)
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enable_heater();
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}
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else {
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else
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disable_heater();
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}
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#endif
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// if (DEBUG)
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// serial_writechar('}');
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serial_writestr_P(PSTR("}\n"));
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}
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}
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@ -27,6 +27,12 @@ typedef union {
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} interpret;
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} max6675_data_format;
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// setup temperature system
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void temp_init(void);
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// save PID factors to EEPROM
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void temp_save_settings(void);
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// read temperature from sensor
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uint16_t temp_read(void);
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