Added PID autotune. (experimental)
M303 Starts autotune. Wait till the Kp Ki and Kd constants are printed. Put these values in Configuration.h2.0.x
Erik van der Zalm
13 years ago
parent
116dc86b8a
commit
c077316b2b
@ -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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||||
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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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||||
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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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