diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 58d0955290..50be513edb 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -41,7 +41,8 @@
// if Kc is chosen well, the additional required power due to increased melting should be compensated.
#define PID_ADD_EXTRUSION_RATE
#if ENABLED(PID_ADD_EXTRUSION_RATE)
- #define DEFAULT_Kc (1) //heating power=Kc*(e_speed)
+ #define DEFAULT_Kc (100) //heating power=Kc*(e_speed)
+ #define LPQ_MAX_LEN 50
#endif
#endif
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 1acc4596d1..7c244dcc2e 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -329,6 +329,10 @@ extern int fanSpeed;
extern int meas_delay_cm; //delay distance
#endif
+#if ENABLED(PID_ADD_EXTRUSION_RATE)
+ extern int lpq_len;
+#endif
+
#if ENABLED(FWRETRACT)
extern bool autoretract_enabled;
extern bool retracted[EXTRUDERS]; // extruder[n].retracted
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 525a611634..bce975c34b 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -420,6 +420,10 @@ bool target_direction;
boolean chdkActive = false;
#endif
+#if ENABLED(PID_ADD_EXTRUSION_RATE)
+ int lpq_len = 20;
+#endif
+
//===========================================================================
//================================ Functions ================================
//===========================================================================
@@ -4770,7 +4774,16 @@ inline void gcode_M226() {
#if ENABLED(PIDTEMP)
/**
- * M301: Set PID parameters P I D (and optionally C)
+ * M301: Set PID parameters P I D (and optionally C, L)
+ *
+ * P[float] Kp term
+ * I[float] Ki term (unscaled)
+ * D[float] Kd term (unscaled)
+ *
+ * With PID_ADD_EXTRUSION_RATE:
+ *
+ * C[float] Kc term
+ * L[float] LPQ length
*/
inline void gcode_M301() {
@@ -4784,6 +4797,8 @@ inline void gcode_M226() {
if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value());
#if ENABLED(PID_ADD_EXTRUSION_RATE)
if (code_seen('C')) PID_PARAM(Kc, e) = code_value();
+ if (code_seen('L')) lpq_len = code_value();
+ NOMORE(lpq_len, LPQ_MAX_LEN);
#endif
updatePID();
diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp
index edb2d97a2d..ffaeb5be1c 100644
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@@ -14,7 +14,7 @@
*
*/
-#define EEPROM_VERSION "V20"
+#define EEPROM_VERSION "V21"
/**
* V19 EEPROM Layout:
@@ -60,6 +60,7 @@
* M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1]
* M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2]
* M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3]
+ * M301 L lpq_len
*
* PIDTEMPBED:
* M304 PID bedKp, bedKi, bedKd
@@ -227,6 +228,11 @@ void Config_StoreSettings() {
} // Extruders Loop
+ #if DISABLED(PID_ADD_EXTRUSION_RATE)
+ int lpq_len = 20;
+ #endif
+ EEPROM_WRITE_VAR(i, lpq_len);
+
#if DISABLED(PIDTEMPBED)
float bedKp = DUMMY_PID_VALUE, bedKi = DUMMY_PID_VALUE, bedKd = DUMMY_PID_VALUE;
#endif
@@ -393,6 +399,11 @@ void Config_RetrieveSettings() {
for (int q=16; q--;) EEPROM_READ_VAR(i, dummy); // 4x Kp, Ki, Kd, Kc
#endif // !PIDTEMP
+ #if DISABLED(PID_ADD_EXTRUSION_RATE)
+ int lpq_len;
+ #endif
+ EEPROM_READ_VAR(i, lpq_len);
+
#if DISABLED(PIDTEMPBED)
float bedKp, bedKi, bedKd;
#endif
@@ -539,6 +550,9 @@ void Config_ResetDefault() {
PID_PARAM(Kc, e) = DEFAULT_Kc;
#endif
}
+ #if ENABLED(PID_ADD_EXTRUSION_RATE)
+ lpq_len = 20; // default last-position-queue size
+ #endif
// call updatePID (similar to when we have processed M301)
updatePID();
#endif // PIDTEMP
@@ -744,7 +758,8 @@ void Config_PrintSettings(bool forReplay) {
SERIAL_ECHOPAIR(" D", unscalePID_d(PID_PARAM(Kd, i)));
#if ENABLED(PID_ADD_EXTRUSION_RATE)
SERIAL_ECHOPAIR(" C", PID_PARAM(Kc, i));
- #endif
+ if (i == 0) SERIAL_ECHOPAIR(" L", lpq_len);
+ #endif
SERIAL_EOL;
}
}
@@ -758,7 +773,8 @@ void Config_PrintSettings(bool forReplay) {
SERIAL_ECHOPAIR(" D", unscalePID_d(PID_PARAM(Kd, 0)));
#if ENABLED(PID_ADD_EXTRUSION_RATE)
SERIAL_ECHOPAIR(" C", PID_PARAM(Kc, 0));
- #endif
+ SERIAL_ECHOPAIR(" L", lpq_len);
+ #endif
SERIAL_EOL;
}
#endif // PIDTEMP
diff --git a/Marlin/language.h b/Marlin/language.h
index 1a16a04270..fa72989926 100644
--- a/Marlin/language.h
+++ b/Marlin/language.h
@@ -200,6 +200,7 @@
#define MSG_PID_DEBUG_PTERM " pTerm "
#define MSG_PID_DEBUG_ITERM " iTerm "
#define MSG_PID_DEBUG_DTERM " dTerm "
+#define MSG_PID_DEBUG_CTERM " cTerm "
#define MSG_INVALID_EXTRUDER_NUM " - Invalid extruder number !"
#define MSG_HEATER_BED "bed"
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index fa064adccf..9c45d1050b 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -99,6 +99,12 @@ static volatile bool temp_meas_ready = false;
static float pTerm[EXTRUDERS];
static float iTerm[EXTRUDERS];
static float dTerm[EXTRUDERS];
+ #if ENABLED(PID_ADD_EXTRUSION_RATE)
+ static float cTerm[EXTRUDERS];
+ static long last_position[EXTRUDERS];
+ static long lpq[LPQ_MAX_LEN];
+ static int lpq_ptr = 0;
+ #endif
//int output;
static float pid_error[EXTRUDERS];
static float temp_iState_min[EXTRUDERS];
@@ -357,6 +363,9 @@ void updatePID() {
#if ENABLED(PIDTEMP)
for (int e = 0; e < EXTRUDERS; e++) {
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki,e);
+ #if ENABLED(PID_ADD_EXTRUSION_RATE)
+ last_position[e] = 0;
+ #endif
}
#endif
#if ENABLED(PIDTEMPBED)
@@ -497,6 +506,23 @@ float get_pid_output(int e) {
iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
+
+ #if ENABLED(PID_ADD_EXTRUSION_RATE)
+ cTerm[e] = 0;
+ if (e == active_extruder) {
+ long e_position = st_get_position(E_AXIS);
+ if (e_position > last_position[e]) {
+ lpq[lpq_ptr++] = e_position - last_position[e];
+ last_position[e] = e_position;
+ } else {
+ lpq[lpq_ptr++] = 0;
+ }
+ if (lpq_ptr >= lpq_len) lpq_ptr = 0;
+ cTerm[e] = (lpq[lpq_ptr] / axis_steps_per_unit[E_AXIS]) * Kc;
+ pid_output += cTerm[e];
+ }
+ #endif //PID_ADD_EXTRUSION_RATE
+
if (pid_output > PID_MAX) {
if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
pid_output = PID_MAX;
@@ -512,18 +538,16 @@ float get_pid_output(int e) {
#if ENABLED(PID_DEBUG)
SERIAL_ECHO_START;
- SERIAL_ECHO(MSG_PID_DEBUG);
- SERIAL_ECHO(e);
- SERIAL_ECHO(MSG_PID_DEBUG_INPUT);
- SERIAL_ECHO(current_temperature[e]);
- SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT);
- SERIAL_ECHO(pid_output);
- SERIAL_ECHO(MSG_PID_DEBUG_PTERM);
- SERIAL_ECHO(pTerm[e]);
- SERIAL_ECHO(MSG_PID_DEBUG_ITERM);
- SERIAL_ECHO(iTerm[e]);
- SERIAL_ECHO(MSG_PID_DEBUG_DTERM);
- SERIAL_ECHOLN(dTerm[e]);
+ SERIAL_ECHOPAIR(MSG_PID_DEBUG, e);
+ SERIAL_ECHOPAIR(MSG_PID_DEBUG_INPUT, current_temperature[e]);
+ SERIAL_ECHOPAIR(MSG_PID_DEBUG_OUTPUT, pid_output);
+ SERIAL_ECHOPAIR(MSG_PID_DEBUG_PTERM, pTerm[e]);
+ SERIAL_ECHOPAIR(MSG_PID_DEBUG_ITERM, iTerm[e]);
+ SERIAL_ECHOPAIR(MSG_PID_DEBUG_DTERM, dTerm[e]);
+ #if ENABLED(PID_ADD_EXTRUSION_RATE)
+ SERIAL_ECHOPAIR(MSG_PID_DEBUG_CTERM, cTerm[e]);
+ #endif
+ SERIAL_EOL;
#endif //PID_DEBUG
#else /* PID off */
@@ -837,6 +861,9 @@ void tp_init() {
#if ENABLED(PIDTEMP)
temp_iState_min[e] = 0.0;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki,e);
+ #if ENABLED(PID_ADD_EXTRUSION_RATE)
+ last_position[e] = 0;
+ #endif
#endif //PIDTEMP
#if ENABLED(PIDTEMPBED)
temp_iState_min_bed = 0.0;