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⚗️ Temperature Model Predictive Control (#23751)
This commit is contained in:
tombrazier
Scott Lahteine
parent
3443a9e18b
commit
21c838cb1b
@ -589,10 +589,12 @@
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//===========================================================================
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//============================= PID Settings ================================
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//===========================================================================
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// PID Tuning Guide here: https://reprap.org/wiki/PID_Tuning
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// Comment the following line to disable PID and enable bang-bang.
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#define PIDTEMP
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// Enable PIDTEMP for PID control or MPCTEMP for Predictive Model.
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// temperature control. Disable both for bang-bang heating.
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#define PIDTEMP // See the PID Tuning Guide at https://reprap.org/wiki/PID_Tuning
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//#define MPCTEMP // ** EXPERIMENTAL **
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#define BANG_MAX 255 // Limits current to nozzle while in bang-bang mode; 255=full current
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#define PID_MAX BANG_MAX // Limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
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#define PID_K1 0.95 // Smoothing factor within any PID loop
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@ -612,7 +614,45 @@
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#define DEFAULT_Ki 1.08
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#define DEFAULT_Kd 114.00
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#endif
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#endif // PIDTEMP
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#endif
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/**
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* Model Predictive Control for hotend
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*
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* Use a physical model of the hotend to control temperature. When configured correctly
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* this gives better responsiveness and stability than PID and it also removes the need
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* for PID_EXTRUSION_SCALING and PID_FAN_SCALING. Use M306 to autotune the model.
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*/
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#if ENABLED(MPCTEMP)
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#define MPC_MAX BANG_MAX // (0..255) Current to nozzle while MPC is active.
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#define MPC_HEATER_POWER { 40.0f } // (W) Heat cartridge powers.
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#define MPC_INCLUDE_FAN // Model the fan speed?
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// Measured physical constants from M306
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#define MPC_BLOCK_HEAT_CAPACITY { 16.7f } // (J/K) Heat block heat capacities.
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#define MPC_SENSOR_RESPONSIVENESS { 0.22f } // (K/s per ∆K) Rate of change of sensor temperature from heat block.
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#define MPC_AMBIENT_XFER_COEFF { 0.068f } // (W/K) Heat transfer coefficients from heat block to room air with fan off.
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#if ENABLED(MPC_INCLUDE_FAN)
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#define MPC_AMBIENT_XFER_COEFF_FAN255 { 0.097f } // (W/K) Heat transfer coefficients from heat block to room air with fan on full.
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#endif
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// For one fan and multiple hotends MPC needs to know how to apply the fan cooling effect.
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#if ENABLED(MPC_INCLUDE_FAN)
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//#define MPC_FAN_0_ALL_HOTENDS
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//#define MPC_FAN_0_ACTIVE_HOTEND
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#endif
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#define FILAMENT_HEAT_CAPACITY_PERMM 5.6e-3f // 0.0056 J/K/mm for 1.75mm PLA (0.0149 J/K/mm for 2.85mm PLA).
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//#define FILAMENT_HEAT_CAPACITY_PERMM 3.6e-3f // 0.0036 J/K/mm for 1.75mm PETG (0.0094 J/K/mm for 2.85mm PETG).
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// Advanced options
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#define MPC_SMOOTHING_FACTOR 0.5f // (0.0...1.0) Noisy temperature sensors may need a lower value for stabilization.
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#define MPC_MIN_AMBIENT_CHANGE 1.0f // (K/s) Modeled ambient temperature rate of change, when correcting model inaccuracies.
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#define MPC_STEADYSTATE 0.5f // (K/s) Temperature change rate for steady state logic to be enforced.
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#define MPC_TUNING_POS { X_CENTER, Y_CENTER, 1.0f } // (mm) M306 Autotuning position, ideally bed center just above the surface.
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#endif
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//===========================================================================
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//====================== PID > Bed Temperature Control ======================
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@ -209,19 +209,19 @@ void MarlinHAL::adc_init() {
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adc1_config_width(ADC_WIDTH_12Bit);
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// Configure channels only if used as (re-)configuring a pin for ADC that is used elsewhere might have adverse effects
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TERN_(HAS_TEMP_ADC_0, adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_1, adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_2, adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_3, adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_4, adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_5, adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_6, adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_7, adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
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TERN_(HAS_HEATED_BED, adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_CHAMBER, adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_PROBE, adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_COOLER, adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_BOARD, adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_0, adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_1, adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_2, adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_3, adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_4, adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_5, adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_6, adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_ADC_7, adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db));
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TERN_(HAS_HEATED_BED, adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_CHAMBER, adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_PROBE, adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_COOLER, adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db));
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TERN_(HAS_TEMP_BOARD, adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db));
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TERN_(FILAMENT_WIDTH_SENSOR, adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db));
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// Note that adc2 is shared with the WiFi module, which has higher priority, so the conversion may fail.
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@ -787,6 +787,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
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case 305: M305(); break; // M305: Set user thermistor parameters
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#endif
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#if ENABLED(MPCTEMP)
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case 306: M306(); break; // M306: MPC autotune
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#endif
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#if ENABLED(REPETIER_GCODE_M360)
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case 360: M360(); break; // M360: Firmware settings
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#endif
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@ -215,6 +215,7 @@
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* M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
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* M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
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* M305 - Set user thermistor parameters R T and P. (Requires TEMP_SENSOR_x 1000)
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* M306 - MPC autotune. (Requires MPCTEMP)
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* M309 - Set chamber PID parameters P I and D. (Requires PIDTEMPCHAMBER)
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* M350 - Set microstepping mode. (Requires digital microstepping pins.)
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* M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
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@ -928,6 +929,11 @@ private:
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static void M305();
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#endif
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#if ENABLED(MPCTEMP)
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static void M306();
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static void M306_report(const bool forReplay=true);
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#endif
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#if ENABLED(PIDTEMPCHAMBER)
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static void M309();
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static void M309_report(const bool forReplay=true);
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86
Marlin/src/gcode/temp/M306.cpp
Normal file
86
Marlin/src/gcode/temp/M306.cpp
Normal file
@ -0,0 +1,86 @@
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program 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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* This program 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 this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if ENABLED(MPCTEMP)
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#include "../gcode.h"
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#include "../../module/temperature.h"
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/**
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* M306: MPC settings and autotune
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*
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* T Autotune the active extruder.
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*
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* A<watts/kelvin> Ambient heat transfer coefficient (no fan).
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* C<joules/kelvin> Block heat capacity.
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* E<extruder> Extruder number to set. (Default: E0)
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* F<watts/kelvin> Ambient heat transfer coefficient (fan on full).
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* P<watts> Heater power.
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* R<kelvin/second/kelvin> Sensor responsiveness (= transfer coefficient / heat capcity).
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*/
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void GcodeSuite::M306() {
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if (parser.seen_test('T')) { thermalManager.MPC_autotune(); return; }
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if (parser.seen("ACFPR")) {
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const heater_id_t hid = (heater_id_t)parser.intval('E', 0);
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MPC_t &constants = thermalManager.temp_hotend[hid].constants;
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if (parser.seenval('P')) constants.heater_power = parser.value_float();
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if (parser.seenval('C')) constants.block_heat_capacity = parser.value_float();
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if (parser.seenval('R')) constants.sensor_responsiveness = parser.value_float();
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if (parser.seenval('A')) constants.ambient_xfer_coeff_fan0 = parser.value_float();
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#if ENABLED(MPC_INCLUDE_FAN)
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if (parser.seenval('F')) constants.fan255_adjustment = parser.value_float() - constants.ambient_xfer_coeff_fan0;
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#endif
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return;
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}
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HOTEND_LOOP() {
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SERIAL_ECHOLNPGM("MPC constants for hotend ", e);
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MPC_t& constants = thermalManager.temp_hotend[e].constants;
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SERIAL_ECHOLNPGM("Heater power: ", constants.heater_power);
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SERIAL_ECHOLNPGM("Heatblock heat capacity: ", constants.block_heat_capacity);
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SERIAL_ECHOLNPAIR_F("Sensor responsivness: ", constants.sensor_responsiveness, 4);
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SERIAL_ECHOLNPAIR_F("Ambient heat transfer coeff. (no fan): ", constants.ambient_xfer_coeff_fan0, 4);
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#if ENABLED(MPC_INCLUDE_FAN)
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SERIAL_ECHOLNPAIR_F("Ambient heat transfer coeff. (full fan): ", constants.ambient_xfer_coeff_fan0 + constants.fan255_adjustment, 4);
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#endif
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}
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}
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void GcodeSuite::M306_report(const bool forReplay/*=true*/) {
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report_heading(forReplay, F("Model predictive control"));
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HOTEND_LOOP() {
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report_echo_start(forReplay);
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MPC_t& constants = thermalManager.temp_hotend[e].constants;
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SERIAL_ECHOPGM(" M306 E", e);
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SERIAL_ECHOPAIR_F(" P", constants.heater_power, 2);
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SERIAL_ECHOPAIR_F(" C", constants.block_heat_capacity, 2);
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SERIAL_ECHOPAIR_F(" R", constants.sensor_responsiveness, 4);
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SERIAL_ECHOPAIR_F(" A", constants.ambient_xfer_coeff_fan0, 4);
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SERIAL_ECHOLNPAIR_F(" F", constants.ambient_xfer_coeff_fan0 + constants.fan255_adjustment, 4);
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}
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}
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#endif // MPCTEMP
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@ -1401,6 +1401,26 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
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#error "You must set DISPLAY_CHARSET_HD44780 to JAPANESE, WESTERN or CYRILLIC for your LCD controller."
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#endif
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/**
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* Extruder temperature control algorithm - There can be only one!
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*/
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#if BOTH(PIDTEMP, MPCTEMP)
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#error "Only enable PIDTEMP or MPCTEMP, but not both."
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#endif
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#if ENABLED(MPC_INCLUDE_FAN)
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#if FAN_COUNT < 1
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#error "MPC_INCLUDE_FAN requires at least one fan."
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#endif
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#if FAN_COUNT < HOTENDS
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#if COUNT_ENABLED(MPC_FAN_0_ALL_HOTENDS, MPC_FAN_0_ACTIVE_HOTEND) > 1
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#error "Enable either MPC_FAN_0_ALL_HOTENDS or MPC_FAN_0_ACTIVE_HOTEND, not both."
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#elif NONE(MPC_FAN_0_ALL_HOTENDS, MPC_FAN_0_ACTIVE_HOTEND)
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#error "MPC_INCLUDE_FAN requires MPC_FAN_0_ALL_HOTENDS or MPC_FAN_0_ACTIVE_HOTEND for one fan with multiple hotends."
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#endif
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#endif
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#endif
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/**
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* Bed Heating Options - PID vs Limit Switching
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*/
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@ -85,7 +85,7 @@ void ChironTFT::Startup() {
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// opt_enable FIL_RUNOUT_PULLUP
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TFTSer.begin(115200);
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// wait for the TFT panel to initialise and finish the animation
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// Wait for the TFT panel to initialize and finish the animation
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safe_delay(1000);
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// There are different panels for the Chiron with slightly different commands
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@ -85,7 +85,7 @@ void AnycubicTFTClass::OnSetup() {
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SENDLINE_DBG_PGM("J17", "TFT Serial Debug: Main board reset... J17"); // J17 Main board reset
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delay_ms(10);
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// initialise the state of the key pins running on the tft
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// Init the state of the key pins running on the TFT
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#if ENABLED(SDSUPPORT) && PIN_EXISTS(SD_DETECT)
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SET_INPUT_PULLUP(SD_DETECT_PIN);
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#endif
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@ -555,6 +555,13 @@ typedef struct SettingsDataStruct {
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uint8_t ui_language; // M414 S
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#endif
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//
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// Model predictive control
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//
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#if ENABLED(MPCTEMP)
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MPC_t mpc_constants[HOTENDS]; // M306
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#endif
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} SettingsData;
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//static_assert(sizeof(SettingsData) <= MARLIN_EEPROM_SIZE, "EEPROM too small to contain SettingsData!");
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@ -1564,6 +1571,14 @@ void MarlinSettings::postprocess() {
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EEPROM_WRITE(ui.language);
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#endif
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//
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// Model predictive control
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//
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#if ENABLED(MPCTEMP)
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HOTEND_LOOP()
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EEPROM_WRITE(thermalManager.temp_hotend[e].constants);
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#endif
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//
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// Report final CRC and Data Size
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//
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@ -2514,6 +2529,16 @@ void MarlinSettings::postprocess() {
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}
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#endif
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//
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// Model predictive control
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//
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#if ENABLED(MPCTEMP)
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{
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HOTEND_LOOP()
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EEPROM_READ(thermalManager.temp_hotend[e].constants);
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}
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#endif
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//
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// Validate Final Size and CRC
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//
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@ -3220,6 +3245,37 @@ void MarlinSettings::reset() {
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//
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TERN_(DWIN_LCD_PROUI, DWIN_SetDataDefaults());
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//
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// Model predictive control
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//
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#if ENABLED(MPCTEMP)
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constexpr float _mpc_heater_power[] = MPC_HEATER_POWER;
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constexpr float _mpc_block_heat_capacity[] = MPC_BLOCK_HEAT_CAPACITY;
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constexpr float _mpc_sensor_responsiveness[] = MPC_SENSOR_RESPONSIVENESS;
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constexpr float _mpc_ambient_xfer_coeff[] = MPC_AMBIENT_XFER_COEFF;
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#if ENABLED(MPC_INCLUDE_FAN)
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constexpr float _mpc_ambient_xfer_coeff_fan255[] = MPC_AMBIENT_XFER_COEFF_FAN255;
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#endif
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static_assert(COUNT(_mpc_heater_power) == HOTENDS, "MPC_HEATER_POWER must have HOTENDS items.");
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static_assert(COUNT(_mpc_block_heat_capacity) == HOTENDS, "MPC_BLOCK_HEAT_CAPACITY must have HOTENDS items.");
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static_assert(COUNT(_mpc_sensor_responsiveness) == HOTENDS, "MPC_SENSOR_RESPONSIVENESS must have HOTENDS items.");
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static_assert(COUNT(_mpc_ambient_xfer_coeff) == HOTENDS, "MPC_AMBIENT_XFER_COEFF must have HOTENDS items.");
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#if ENABLED(MPC_INCLUDE_FAN)
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static_assert(COUNT(_mpc_ambient_xfer_coeff_fan255) == HOTENDS, "MPC_AMBIENT_XFER_COEFF_FAN255 must have HOTENDS items.");
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#endif
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HOTEND_LOOP() {
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thermalManager.temp_hotend[e].constants.heater_power = _mpc_heater_power[e];
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thermalManager.temp_hotend[e].constants.block_heat_capacity = _mpc_block_heat_capacity[e];
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thermalManager.temp_hotend[e].constants.sensor_responsiveness = _mpc_sensor_responsiveness[e];
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thermalManager.temp_hotend[e].constants.ambient_xfer_coeff_fan0 = _mpc_ambient_xfer_coeff[e];
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#if ENABLED(MPC_INCLUDE_FAN)
|
||||
thermalManager.temp_hotend[e].constants.fan255_adjustment = _mpc_ambient_xfer_coeff_fan255[e] - _mpc_ambient_xfer_coeff[e];
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
postprocess();
|
||||
|
||||
#if EITHER(EEPROM_CHITCHAT, DEBUG_LEVELING_FEATURE)
|
||||
@ -3506,6 +3562,11 @@ void MarlinSettings::reset() {
|
||||
#endif
|
||||
|
||||
TERN_(HAS_MULTI_LANGUAGE, gcode.M414_report(forReplay));
|
||||
|
||||
//
|
||||
// Model predictive control
|
||||
//
|
||||
TERN_(MPCTEMP, gcode.M306_report(forReplay));
|
||||
}
|
||||
|
||||
#endif // !DISABLE_M503
|
||||
|
||||
@ -141,7 +141,8 @@
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if ENABLED(PID_EXTRUSION_SCALING)
|
||||
#if EITHER(MPCTEMP, PID_EXTRUSION_SCALING)
|
||||
#include <math.h>
|
||||
#include "stepper.h"
|
||||
#endif
|
||||
|
||||
@ -509,10 +510,14 @@ PGMSTR(str_t_heating_failed, STR_T_HEATING_FAILED);
|
||||
volatile bool Temperature::raw_temps_ready = false;
|
||||
|
||||
#if ENABLED(PID_EXTRUSION_SCALING)
|
||||
int32_t Temperature::last_e_position, Temperature::lpq[LPQ_MAX_LEN];
|
||||
int32_t Temperature::pes_e_position, Temperature::lpq[LPQ_MAX_LEN];
|
||||
lpq_ptr_t Temperature::lpq_ptr = 0;
|
||||
#endif
|
||||
|
||||
#if ENABLED(MPCTEMP)
|
||||
int32_t Temperature::mpc_e_position; // = 0
|
||||
#endif
|
||||
|
||||
#define TEMPDIR(N) ((TEMP_SENSOR_##N##_RAW_LO_TEMP) < (TEMP_SENSOR_##N##_RAW_HI_TEMP) ? 1 : -1)
|
||||
#define TP_CMP(S,A,B) (TEMPDIR(S) < 0 ? ((A)<(B)) : ((A)>(B)))
|
||||
|
||||
@ -587,8 +592,8 @@ volatile bool Temperature::raw_temps_ready = false;
|
||||
PID_t tune_pid = { 0, 0, 0 };
|
||||
celsius_float_t maxT = 0, minT = 10000;
|
||||
|
||||
const bool isbed = (heater_id == H_BED);
|
||||
const bool ischamber = (heater_id == H_CHAMBER);
|
||||
const bool isbed = (heater_id == H_BED),
|
||||
ischamber = (heater_id == H_CHAMBER);
|
||||
|
||||
#if ENABLED(PIDTEMPCHAMBER)
|
||||
#define C_TERN(T,A,B) ((T) ? (A) : (B))
|
||||
@ -846,6 +851,198 @@ volatile bool Temperature::raw_temps_ready = false;
|
||||
|
||||
#endif // HAS_PID_HEATING
|
||||
|
||||
#if ENABLED(MPCTEMP)
|
||||
|
||||
void Temperature::MPC_autotune() {
|
||||
auto housekeeping = [] (millis_t& ms, celsius_float_t& current_temp, millis_t& next_report_ms) {
|
||||
ms = millis();
|
||||
|
||||
if (updateTemperaturesIfReady()) { // temp sample ready
|
||||
current_temp = degHotend(active_extruder);
|
||||
TERN_(HAS_FAN_LOGIC, manage_extruder_fans(ms));
|
||||
}
|
||||
|
||||
if (ELAPSED(ms, next_report_ms)) {
|
||||
next_report_ms += 1000UL;
|
||||
SERIAL_ECHOLNPGM("Temperature ", current_temp);
|
||||
}
|
||||
|
||||
hal.idletask();
|
||||
};
|
||||
|
||||
SERIAL_ECHOLNPGM("Measuring MPC constants for E", active_extruder);
|
||||
MPCHeaterInfo& hotend = temp_hotend[active_extruder];
|
||||
MPC_t& constants = hotend.constants;
|
||||
|
||||
// move to center of bed, just above bed height and cool with max fan
|
||||
SERIAL_ECHOLNPGM("Moving to tuning position");
|
||||
TERN_(HAS_FAN, zero_fan_speeds());
|
||||
disable_all_heaters();
|
||||
TERN_(HAS_FAN, set_fan_speed(ANY(MPC_FAN_0_ALL_HOTENDS, MPC_FAN_0_ACTIVE_HOTEND) ? 0 : active_extruder, 255));
|
||||
TERN_(HAS_FAN, planner.sync_fan_speeds(fan_speed));
|
||||
gcode.home_all_axes(true);
|
||||
const xyz_pos_t tuningpos = MPC_TUNING_POS;
|
||||
do_blocking_move_to(tuningpos);
|
||||
|
||||
SERIAL_ECHOLNPGM("Cooling to ambient");
|
||||
millis_t ms = millis(), next_report_ms = ms, next_test_ms = ms + 10000UL;
|
||||
celsius_float_t current_temp = degHotend(active_extruder),
|
||||
ambient_temp = current_temp;
|
||||
|
||||
wait_for_heatup = true; // Can be interrupted with M108
|
||||
while (wait_for_heatup) {
|
||||
housekeeping(ms, current_temp, next_report_ms);
|
||||
|
||||
if (ELAPSED(ms, next_test_ms)) {
|
||||
if (current_temp >= ambient_temp) {
|
||||
ambient_temp = (ambient_temp + current_temp) / 2.0f;
|
||||
break;
|
||||
}
|
||||
ambient_temp = current_temp;
|
||||
next_test_ms += 10000UL;
|
||||
}
|
||||
}
|
||||
TERN_(HAS_FAN, set_fan_speed(ANY(MPC_FAN_0_ALL_HOTENDS, MPC_FAN_0_ACTIVE_HOTEND) ? 0 : active_extruder, 0));
|
||||
TERN_(HAS_FAN, planner.sync_fan_speeds(fan_speed));
|
||||
|
||||
hotend.modeled_ambient_temp = ambient_temp;
|
||||
|
||||
SERIAL_ECHOLNPGM("Heating to 200C");
|
||||
hotend.soft_pwm_amount = MPC_MAX >> 1;
|
||||
const millis_t heat_start_time = ms;
|
||||
next_test_ms = ms;
|
||||
celsius_float_t temp_samples[16];
|
||||
uint8_t sample_count = 0;
|
||||
uint16_t sample_distance = 1;
|
||||
float t1_time = 0;
|
||||
|
||||
while (wait_for_heatup) {
|
||||
housekeeping(ms, current_temp, next_report_ms);
|
||||
|
||||
if (ELAPSED(ms, next_test_ms)) {
|
||||
// record samples between 100C and 200C
|
||||
if (current_temp >= 100.0f) {
|
||||
// if there are too many samples, space them more widely
|
||||
if (sample_count == COUNT(temp_samples)) {
|
||||
for (uint8_t i = 0; i < COUNT(temp_samples) / 2; i++)
|
||||
temp_samples[i] = temp_samples[i*2];
|
||||
sample_count /= 2;
|
||||
sample_distance *= 2;
|
||||
}
|
||||
|
||||
if (sample_count == 0) t1_time = float(ms - heat_start_time) / 1000.0f;
|
||||
temp_samples[sample_count++] = current_temp;
|
||||
}
|
||||
|
||||
if (current_temp >= 200.0f) break;
|
||||
|
||||
next_test_ms += 1000UL * sample_distance;
|
||||
}
|
||||
}
|
||||
hotend.soft_pwm_amount = 0;
|
||||
|
||||
// calculate physical constants from three equally spaced samples
|
||||
sample_count = (sample_count + 1) / 2 * 2 - 1;
|
||||
const float t1 = temp_samples[0],
|
||||
t2 = temp_samples[(sample_count - 1) >> 1],
|
||||
t3 = temp_samples[sample_count - 1],
|
||||
asymp_temp = (t2 * t2 - t1 * t3) / (2 * t2 - t1 - t3),
|
||||
block_responsiveness = -log((t2 - asymp_temp) / (t1 - asymp_temp)) / (sample_distance * (sample_count >> 1));
|
||||
|
||||
constants.ambient_xfer_coeff_fan0 = constants.heater_power * MPC_MAX / 255 / (asymp_temp - ambient_temp);
|
||||
constants.fan255_adjustment = 0.0f;
|
||||
constants.block_heat_capacity = constants.ambient_xfer_coeff_fan0 / block_responsiveness;
|
||||
constants.sensor_responsiveness = block_responsiveness / (1.0f - (ambient_temp - asymp_temp) * exp(-block_responsiveness * t1_time) / (t1 - asymp_temp));
|
||||
|
||||
hotend.modeled_block_temp = asymp_temp + (ambient_temp - asymp_temp) * exp(-block_responsiveness * (ms - heat_start_time) / 1000.0f);
|
||||
hotend.modeled_sensor_temp = current_temp;
|
||||
|
||||
// let the system stabilise under MPC control then get a better measure of ambient loss without and with fan
|
||||
SERIAL_ECHOLNPGM("Measuring ambient heatloss at target ", hotend.modeled_block_temp);
|
||||
hotend.target = hotend.modeled_block_temp;
|
||||
next_test_ms = ms + MPC_dT * 1000;
|
||||
constexpr millis_t settle_time = 20000UL,
|
||||
test_length = 20000UL;
|
||||
millis_t settle_end_ms = ms + settle_time,
|
||||
test_end_ms = settle_end_ms + test_length;
|
||||
float total_energy_fan0 = 0.0f;
|
||||
#if HAS_FAN
|
||||
bool fan0_done = false;
|
||||
float total_energy_fan255 = 0.0f;
|
||||
#endif
|
||||
float last_temp = current_temp;
|
||||
|
||||
while (wait_for_heatup) {
|
||||
housekeeping(ms, current_temp, next_report_ms);
|
||||
|
||||
if (ELAPSED(ms, next_test_ms)) {
|
||||
// use MPC to control the temperature, let it settle for 30s and then track power output for 10s
|
||||
hotend.soft_pwm_amount = (int)get_pid_output_hotend(active_extruder) >> 1;
|
||||
|
||||
if (ELAPSED(ms, settle_end_ms) && !ELAPSED(ms, test_end_ms) && TERN1(HAS_FAN, !fan0_done))
|
||||
total_energy_fan0 += constants.heater_power * hotend.soft_pwm_amount / 127 * MPC_dT + (last_temp - current_temp) * constants.block_heat_capacity;
|
||||
#if HAS_FAN
|
||||
else if (ELAPSED(ms, test_end_ms) && !fan0_done) {
|
||||
SERIAL_ECHOLNPGM("Measuring ambient heatloss with full fan");
|
||||
set_fan_speed(ANY(MPC_FAN_0_ALL_HOTENDS, MPC_FAN_0_ACTIVE_HOTEND) ? 0 : active_extruder, 255);
|
||||
planner.sync_fan_speeds(fan_speed);
|
||||
settle_end_ms = ms + settle_time;
|
||||
test_end_ms = settle_end_ms + test_length;
|
||||
fan0_done = true;
|
||||
}
|
||||
else if (ELAPSED(ms, settle_end_ms) && !ELAPSED(ms, test_end_ms))
|
||||
total_energy_fan255 += constants.heater_power * hotend.soft_pwm_amount / 127 * MPC_dT + (last_temp - current_temp) * constants.block_heat_capacity;
|
||||
#endif
|
||||
else if (ELAPSED(ms, test_end_ms)) break;
|
||||
|
||||
last_temp = current_temp;
|
||||
next_test_ms += MPC_dT * 1000;
|
||||
}
|
||||
|
||||
if (!WITHIN(current_temp, hotend.target - 15.0f, hotend.target + 15.0f)) {
|
||||
SERIAL_ECHOLNPGM("Temperature error while measuring ambient loss");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
const float power_fan0 = total_energy_fan0 * 1000 / test_length;
|
||||
constants.ambient_xfer_coeff_fan0 = power_fan0 / (hotend.target - ambient_temp);
|
||||
|
||||
#if HAS_FAN
|
||||
const float power_fan255 = total_energy_fan255 * 1000 / test_length,
|
||||
ambient_xfer_coeff_fan255 = power_fan255 / (hotend.target - ambient_temp);
|
||||
constants.fan255_adjustment = ambient_xfer_coeff_fan255 - constants.ambient_xfer_coeff_fan0;
|
||||
#endif
|
||||
|
||||
hotend.target = 0.0f;
|
||||
hotend.soft_pwm_amount = 0;
|
||||
TERN_(HAS_FAN, set_fan_speed(ANY(MPC_FAN_0_ALL_HOTENDS, MPC_FAN_0_ACTIVE_HOTEND) ? 0 : active_extruder, 0));
|
||||
TERN_(HAS_FAN, planner.sync_fan_speeds(fan_speed));
|
||||
|
||||
if (!wait_for_heatup) SERIAL_ECHOLNPGM("Test was interrupted");
|
||||
|
||||
wait_for_heatup = false;
|
||||
|
||||
SERIAL_ECHOLNPGM("Done");
|
||||
|
||||
/* <-- add a slash to enable
|
||||
SERIAL_ECHOLNPGM("t1_time ", t1_time);
|
||||
SERIAL_ECHOLNPGM("sample_count ", sample_count);
|
||||
SERIAL_ECHOLNPGM("sample_distance ", sample_distance);
|
||||
for (uint8_t i = 0; i < sample_count; i++)
|
||||
SERIAL_ECHOLNPGM("sample ", i, " : ", temp_samples[i]);
|
||||
SERIAL_ECHOLNPGM("t1 ", t1, " t2 ", t2, " t3 ", t3);
|
||||
SERIAL_ECHOLNPGM("asymp_temp ", asymp_temp);
|
||||
SERIAL_ECHOLNPAIR_F("block_responsiveness ", block_responsiveness, 4);
|
||||
//*/
|
||||
SERIAL_ECHOLNPGM("MPC_BLOCK_HEAT_CAPACITY ", constants.block_heat_capacity);
|
||||
SERIAL_ECHOLNPAIR_F("MPC_SENSOR_RESPONSIVENESS ", constants.sensor_responsiveness, 4);
|
||||
SERIAL_ECHOLNPAIR_F("MPC_AMBIENT_XFER_COEFF ", constants.ambient_xfer_coeff_fan0, 4);
|
||||
TERN_(HAS_FAN, SERIAL_ECHOLNPAIR_F("MPC_AMBIENT_XFER_COEFF_FAN255 ", ambient_xfer_coeff_fan255, 4));
|
||||
}
|
||||
|
||||
#endif // MPCTEMP
|
||||
|
||||
int16_t Temperature::getHeaterPower(const heater_id_t heater_id) {
|
||||
switch (heater_id) {
|
||||
#if HAS_HEATED_BED
|
||||
@ -1101,7 +1298,7 @@ void Temperature::min_temp_error(const heater_id_t heater_id) {
|
||||
pid_reset.set(ee);
|
||||
}
|
||||
else if (pid_error > PID_FUNCTIONAL_RANGE) {
|
||||
pid_output = BANG_MAX;
|
||||
pid_output = PID_MAX;
|
||||
pid_reset.set(ee);
|
||||
}
|
||||
else {
|
||||
@ -1128,9 +1325,9 @@ void Temperature::min_temp_error(const heater_id_t heater_id) {
|
||||
work_pid[ee].Kc = 0;
|
||||
if (this_hotend) {
|
||||
const long e_position = stepper.position(E_AXIS);
|
||||
if (e_position > last_e_position) {
|
||||
lpq[lpq_ptr] = e_position - last_e_position;
|
||||
last_e_position = e_position;
|
||||
if (e_position > pes_e_position) {
|
||||
lpq[lpq_ptr] = e_position - pes_e_position;
|
||||
pes_e_position = e_position;
|
||||
}
|
||||
else
|
||||
lpq[lpq_ptr] = 0;
|
||||
@ -1173,7 +1370,86 @@ void Temperature::min_temp_error(const heater_id_t heater_id) {
|
||||
}
|
||||
#endif
|
||||
|
||||
#else // No PID enabled
|
||||
#elif ENABLED(MPCTEMP)
|
||||
MPCHeaterInfo& hotend = temp_hotend[ee];
|
||||
MPC_t& constants = hotend.constants;
|
||||
|
||||
// At startup, initialize modeled temperatures
|
||||
if (isnan(hotend.modeled_block_temp)) {
|
||||
hotend.modeled_ambient_temp = min(30.0f, hotend.celsius); // cap initial value at reasonable max room temperature of 30C
|
||||
hotend.modeled_block_temp = hotend.modeled_sensor_temp = hotend.celsius;
|
||||
}
|
||||
|
||||
#if HOTENDS == 1
|
||||
constexpr bool this_hotend = true;
|
||||
#else
|
||||
const bool this_hotend = (ee == active_extruder);
|
||||
#endif
|
||||
|
||||
float ambient_xfer_coeff = constants.ambient_xfer_coeff_fan0;
|
||||
#if ENABLED(MPC_INCLUDE_FAN)
|
||||
const uint8_t fan_index = ANY(MPC_FAN_0_ACTIVE_HOTEND, MPC_FAN_0_ALL_HOTENDS) ? 0 : ee;
|
||||
const float fan_fraction = TERN_(MPC_FAN_0_ACTIVE_HOTEND, !this_hotend ? 0.0f : ) fan_speed[fan_index] * RECIPROCAL(255);
|
||||
ambient_xfer_coeff += fan_fraction * constants.fan255_adjustment;
|
||||
#endif
|
||||
|
||||
if (this_hotend) {
|
||||
const int32_t e_position = stepper.position(E_AXIS);
|
||||
const float e_speed = (e_position - mpc_e_position) * planner.mm_per_step[E_AXIS] / MPC_dT;
|
||||
|
||||
// the position can appear to make big jumps when, e.g. homing
|
||||
if (fabs(e_speed) > planner.settings.max_feedrate_mm_s[E_AXIS])
|
||||
mpc_e_position = e_position;
|
||||
else if (e_speed > 0.0f) { // ignore retract/recover moves
|
||||
ambient_xfer_coeff += e_speed * FILAMENT_HEAT_CAPACITY_PERMM;
|
||||
mpc_e_position = e_position;
|
||||
}
|
||||
}
|
||||
|
||||
// update the modeled temperatures
|
||||
float blocktempdelta = hotend.soft_pwm_amount * constants.heater_power * (MPC_dT / 127) / constants.block_heat_capacity;
|
||||
blocktempdelta += (hotend.modeled_ambient_temp - hotend.modeled_block_temp) * ambient_xfer_coeff * MPC_dT / constants.block_heat_capacity;
|
||||
hotend.modeled_block_temp += blocktempdelta;
|
||||
|
||||
const float sensortempdelta = (hotend.modeled_block_temp - hotend.modeled_sensor_temp) * (constants.sensor_responsiveness * MPC_dT);
|
||||
hotend.modeled_sensor_temp += sensortempdelta;
|
||||
|
||||
// Any delta between hotend.modeled_sensor_temp and hotend.celsius is either model
|
||||
// error diverging slowly or (fast) noise. Slowly correct towards this temperature and noise will average out.
|
||||
const float delta_to_apply = (hotend.celsius - hotend.modeled_sensor_temp) * (MPC_SMOOTHING_FACTOR);
|
||||
hotend.modeled_block_temp += delta_to_apply;
|
||||
hotend.modeled_sensor_temp += delta_to_apply;
|
||||
|
||||
// only correct ambient when close to steady state (output power is not clipped or asymptotic temperature is reached)
|
||||
if (WITHIN(hotend.soft_pwm_amount, 1, 126) || fabs(blocktempdelta + delta_to_apply) < (MPC_STEADYSTATE * MPC_dT))
|
||||
hotend.modeled_ambient_temp += delta_to_apply > 0.f ? max(delta_to_apply, MPC_MIN_AMBIENT_CHANGE * MPC_dT) : min(delta_to_apply, -MPC_MIN_AMBIENT_CHANGE * MPC_dT);
|
||||
|
||||
float power = 0.0;
|
||||
if (hotend.target != 0 && TERN1(HEATER_IDLE_HANDLER, !heater_idle[ee].timed_out)) {
|
||||
// plan power level to get to target temperature in 2 seconds
|
||||
power = (hotend.target - hotend.modeled_block_temp) * constants.block_heat_capacity / 2.0f;
|
||||
power -= (hotend.modeled_ambient_temp - hotend.modeled_block_temp) * ambient_xfer_coeff;
|
||||
}
|
||||
|
||||
float pid_output = power * 254.0f / constants.heater_power + 1.0f; // ensure correct quantization into a range of 0 to 127
|
||||
pid_output = constrain(pid_output, 0, MPC_MAX);
|
||||
|
||||
/* <-- add a slash to enable
|
||||
static uint32_t nexttime = millis() + 1000;
|
||||
if (ELAPSED(millis(), nexttime)) {
|
||||
nexttime += 1000;
|
||||
SERIAL_ECHOLNPGM("block temp ", hotend.modeled_block_temp,
|
||||
", celsius ", hotend.celsius,
|
||||
", blocktempdelta ", blocktempdelta,
|
||||
", delta_to_apply ", delta_to_apply,
|
||||
", ambient ", hotend.modeled_ambient_temp,
|
||||
", power ", power,
|
||||
", pid_output ", pid_output,
|
||||
", pwm ", (int)pid_output >> 1);
|
||||
}
|
||||
//*/
|
||||
|
||||
#else // No PID or MPC enabled
|
||||
|
||||
const bool is_idling = TERN0(HEATER_IDLE_HANDLER, heater_idle[ee].timed_out);
|
||||
const float pid_output = (!is_idling && temp_hotend[ee].celsius < temp_hotend[ee].target) ? BANG_MAX : 0;
|
||||
@ -2178,7 +2454,7 @@ void Temperature::init() {
|
||||
TERN_(PROBING_HEATERS_OFF, paused_for_probing = false);
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#if BOTH(PIDTEMP, PID_EXTRUSION_SCALING)
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last_e_position = 0;
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pes_e_position = 0;
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#endif
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// Init (and disable) SPI thermocouples
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@ -2248,6 +2524,10 @@ void Temperature::init() {
|
||||
));
|
||||
#endif
|
||||
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||||
#if ENABLED(MPCTEMP)
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||||
HOTEND_LOOP() temp_hotend[e].modeled_block_temp = NAN;
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||||
#endif
|
||||
|
||||
#if HAS_HEATER_0
|
||||
#ifdef BOARD_OPENDRAIN_MOSFETS
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||||
OUT_WRITE_OD(HEATER_0_PIN, HEATER_0_INVERTING);
|
||||
|
||||
@ -94,6 +94,18 @@ hotend_pid_t;
|
||||
#define _PID_Kf(H) 0
|
||||
#endif
|
||||
|
||||
#if ENABLED(MPCTEMP)
|
||||
typedef struct {
|
||||
float heater_power; // M306 P
|
||||
float block_heat_capacity; // M306 C
|
||||
float sensor_responsiveness; // M306 R
|
||||
float ambient_xfer_coeff_fan0; // M306 A
|
||||
#if ENABLED(MPC_INCLUDE_FAN)
|
||||
float fan255_adjustment; // M306 F
|
||||
#endif
|
||||
} MPC_t;
|
||||
#endif
|
||||
|
||||
/**
|
||||
* States for ADC reading in the ISR
|
||||
*/
|
||||
@ -177,7 +189,7 @@ enum ADCSensorState : char {
|
||||
|
||||
#if HAS_PID_HEATING
|
||||
#define PID_K2 (1-float(PID_K1))
|
||||
#define PID_dT ((OVERSAMPLENR * float(ACTUAL_ADC_SAMPLES)) / TEMP_TIMER_FREQUENCY)
|
||||
#define PID_dT ((OVERSAMPLENR * float(ACTUAL_ADC_SAMPLES)) / (TEMP_TIMER_FREQUENCY))
|
||||
|
||||
// Apply the scale factors to the PID values
|
||||
#define scalePID_i(i) ( float(i) * PID_dT )
|
||||
@ -186,6 +198,10 @@ enum ADCSensorState : char {
|
||||
#define unscalePID_d(d) ( float(d) * PID_dT )
|
||||
#endif
|
||||
|
||||
#if ENABLED(MPCTEMP)
|
||||
#define MPC_dT ((OVERSAMPLENR * float(ACTUAL_ADC_SAMPLES)) / (TEMP_TIMER_FREQUENCY))
|
||||
#endif
|
||||
|
||||
#if ENABLED(G26_MESH_VALIDATION) && EITHER(HAS_MARLINUI_MENU, EXTENSIBLE_UI)
|
||||
#define G26_CLICK_CAN_CANCEL 1
|
||||
#endif
|
||||
@ -223,8 +239,19 @@ struct PIDHeaterInfo : public HeaterInfo {
|
||||
T pid; // Initialized by settings.load()
|
||||
};
|
||||
|
||||
#if ENABLED(MPCTEMP)
|
||||
struct MPCHeaterInfo : public HeaterInfo {
|
||||
MPC_t constants;
|
||||
float modeled_ambient_temp,
|
||||
modeled_block_temp,
|
||||
modeled_sensor_temp;
|
||||
};
|
||||
#endif
|
||||
|
||||
#if ENABLED(PIDTEMP)
|
||||
typedef struct PIDHeaterInfo<hotend_pid_t> hotend_info_t;
|
||||
#elif ENABLED(MPCTEMP)
|
||||
typedef struct MPCHeaterInfo hotend_info_t;
|
||||
#else
|
||||
typedef heater_info_t hotend_info_t;
|
||||
#endif
|
||||
@ -489,10 +516,14 @@ class Temperature {
|
||||
#endif
|
||||
|
||||
#if ENABLED(PID_EXTRUSION_SCALING)
|
||||
static int32_t last_e_position, lpq[LPQ_MAX_LEN];
|
||||
static int32_t pes_e_position, lpq[LPQ_MAX_LEN];
|
||||
static lpq_ptr_t lpq_ptr;
|
||||
#endif
|
||||
|
||||
#if ENABLED(MPCTEMP)
|
||||
static int32_t mpc_e_position;
|
||||
#endif
|
||||
|
||||
#if HAS_HOTEND
|
||||
static temp_range_t temp_range[HOTENDS];
|
||||
#endif
|
||||
@ -932,12 +963,16 @@ class Temperature {
|
||||
*/
|
||||
#if ENABLED(PIDTEMP)
|
||||
static void updatePID() {
|
||||
TERN_(PID_EXTRUSION_SCALING, last_e_position = 0);
|
||||
TERN_(PID_EXTRUSION_SCALING, pes_e_position = 0);
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
#if ENABLED(MPCTEMP)
|
||||
void MPC_autotune();
|
||||
#endif
|
||||
|
||||
#if ENABLED(PROBING_HEATERS_OFF)
|
||||
static void pause_heaters(const bool p);
|
||||
#endif
|
||||
|
||||
@ -219,6 +219,7 @@ HAS_EXTRUDERS = src_filter=+<src/gcode/units/M82_M83.cp
|
||||
HAS_TEMP_PROBE = src_filter=+<src/gcode/temp/M192.cpp>
|
||||
HAS_COOLER = src_filter=+<src/gcode/temp/M143_M193.cpp>
|
||||
AUTO_REPORT_TEMPERATURES = src_filter=+<src/gcode/temp/M155.cpp>
|
||||
MPCTEMP = src_filter=+<src/gcode/temp/M306.cpp>
|
||||
INCH_MODE_SUPPORT = src_filter=+<src/gcode/units/G20_G21.cpp>
|
||||
TEMPERATURE_UNITS_SUPPORT = src_filter=+<src/gcode/units/M149.cpp>
|
||||
NEED_HEX_PRINT = src_filter=+<src/libs/hex_print.cpp>
|
||||
|
||||
@ -240,6 +240,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
|
||||
-<src/gcode/temp/M123.cpp>
|
||||
-<src/gcode/temp/M155.cpp>
|
||||
-<src/gcode/temp/M192.cpp>
|
||||
-<src/gcode/temp/M306.cpp>
|
||||
-<src/gcode/units/G20_G21.cpp>
|
||||
-<src/gcode/units/M82_M83.cpp>
|
||||
-<src/gcode/units/M149.cpp>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user