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Code Issues Releases Wiki Activity

M303 pid autotune cleanup, commentary

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This commit is contained in:
Scott Lahteine 2018-01-03 21:30:45 -06:00
parent f968b41f63
commit 4af3d436b2
3 changed files with 43 additions and 51 deletions
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2
Marlin/src/gcode/temperature/M303.cpp
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@ -26,7 +26,7 @@
/** /**
* M303: PID relay autotune * M303: PID relay autotune
* *
* S<temperature> sets the target temperature. (default 150C) * S<temperature> sets the target temperature. (default 150C / 70C)
* E<extruder> (-1 for the bed) (default 0) * E<extruder> (-1 for the bed) (default 0)
* C<cycles> * C<cycles>
* U<bool> with a non-zero value will apply the result to current settings * U<bool> with a non-zero value will apply the result to current settings

90
Marlin/src/module/temperature.cpp
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@ -219,8 +219,8 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
* Alternately heat and cool the nozzle, observing its behavior to * Alternately heat and cool the nozzle, observing its behavior to
* determine the best PID values to achieve a stable temperature. * determine the best PID values to achieve a stable temperature.
*/ */
void Temperature::PID_autotune(const float temp, const int8_t hotend, const int8_t ncycles, const bool set_result/*=false*/) { void Temperature::PID_autotune(const float &target, const int8_t hotend, const int8_t ncycles, const bool set_result/*=false*/) {
float input = 0.0; float current = 0.0;
int cycles = 0; int cycles = 0;
bool heating = true; bool heating = true;
@ -232,34 +232,19 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
workKp = 0, workKi = 0, workKd = 0, workKp = 0, workKi = 0, workKd = 0,
max = 0, min = 10000; max = 0, min = 10000;
#define HAS_TP_BED (ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED))
#if HAS_TP_BED && ENABLED(THERMAL_PROTECTION_HOTENDS) && ENABLED(PIDTEMP)
#define TV(B,H) (hotend < 0 ? (B) : (H))
#elif HAS_TP_BED
#define TV(B,H) (B)
#else
#define TV(B,H) (H)
#endif
#if WATCH_THE_BED || WATCH_HOTENDS #if WATCH_THE_BED || WATCH_HOTENDS
const float watch_temp_target = temp - const int8_t watch_temp_period = TV(WATCH_BED_TEMP_PERIOD, WATCH_TEMP_PERIOD),
#if ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED) && ENABLED(THERMAL_PROTECTION_HOTENDS) && ENABLED(PIDTEMP) watch_temp_increase = TV(WATCH_BED_TEMP_INCREASE, WATCH_TEMP_INCREASE);
(hotend < 0 ? (WATCH_BED_TEMP_INCREASE + TEMP_BED_HYSTERESIS + 1) : (WATCH_TEMP_INCREASE + TEMP_HYSTERESIS + 1)) const float watch_temp_target = target - float(watch_temp_increase + TV(TEMP_BED_HYSTERESIS, TEMP_HYSTERESIS) + 1);
#elif ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED)
(WATCH_BED_TEMP_INCREASE + TEMP_BED_HYSTERESIS + 1)
#else
(WATCH_TEMP_INCREASE + TEMP_HYSTERESIS + 1)
#endif
;
const int8_t watch_temp_period =
#if ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED) && ENABLED(THERMAL_PROTECTION_HOTENDS) && ENABLED(PIDTEMP)
hotend < 0 ? WATCH_BED_TEMP_PERIOD : WATCH_TEMP_PERIOD
#elif ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED)
WATCH_BED_TEMP_PERIOD
#else
WATCH_TEMP_PERIOD
#endif
;
const int8_t watch_temp_increase =
#if ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED) && ENABLED(THERMAL_PROTECTION_HOTENDS) && ENABLED(PIDTEMP)
hotend < 0 ? WATCH_BED_TEMP_INCREASE : WATCH_TEMP_INCREASE
#elif ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED)
WATCH_BED_TEMP_INCREASE
#else
WATCH_TEMP_INCREASE
#endif
;
millis_t temp_change_ms = next_temp_ms + watch_temp_period * 1000UL; millis_t temp_change_ms = next_temp_ms + watch_temp_period * 1000UL;
float next_watch_temp = 0.0; float next_watch_temp = 0.0;
bool heated = false; bool heated = false;
@ -300,7 +285,7 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
soft_pwm_amount_bed = bias = d = (MAX_BED_POWER) >> 1; soft_pwm_amount_bed = bias = d = (MAX_BED_POWER) >> 1;
#endif #endif
wait_for_heatup = true; wait_for_heatup = true; // Can be interrupted with M108
// PID Tuning loop // PID Tuning loop
while (wait_for_heatup) { while (wait_for_heatup) {
@ -310,7 +295,8 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
if (temp_meas_ready) { // temp sample ready if (temp_meas_ready) { // temp sample ready
updateTemperaturesFromRawValues(); updateTemperaturesFromRawValues();
input = // Get the current temperature and constrain it
current =
#if HAS_PID_FOR_BOTH #if HAS_PID_FOR_BOTH
hotend < 0 ? current_temperature_bed : current_temperature[hotend] hotend < 0 ? current_temperature_bed : current_temperature[hotend]
#elif ENABLED(PIDTEMP) #elif ENABLED(PIDTEMP)
@ -319,9 +305,8 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
current_temperature_bed current_temperature_bed
#endif #endif
; ;
NOLESS(max, current);
NOLESS(max, input); NOMORE(min, current);
NOMORE(min, input);
#if HAS_AUTO_FAN #if HAS_AUTO_FAN
if (ELAPSED(ms, next_auto_fan_check_ms)) { if (ELAPSED(ms, next_auto_fan_check_ms)) {
@ -330,7 +315,7 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
} }
#endif #endif
if (heating && input > temp) { if (heating && current > target) {
if (ELAPSED(ms, t2 + 5000UL)) { if (ELAPSED(ms, t2 + 5000UL)) {
heating = false; heating = false;
#if HAS_PID_FOR_BOTH #if HAS_PID_FOR_BOTH
@ -345,11 +330,11 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
#endif #endif
t1 = ms; t1 = ms;
t_high = t1 - t2; t_high = t1 - t2;
max = temp; max = target;
} }
} }
if (!heating && input < temp) { if (!heating && current < target) {
if (ELAPSED(ms, t1 + 5000UL)) { if (ELAPSED(ms, t1 + 5000UL)) {
heating = true; heating = true;
t2 = ms; t2 = ms;
@ -373,7 +358,7 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
SERIAL_PROTOCOLPAIR(MSG_T_MIN, min); SERIAL_PROTOCOLPAIR(MSG_T_MIN, min);
SERIAL_PROTOCOLPAIR(MSG_T_MAX, max); SERIAL_PROTOCOLPAIR(MSG_T_MAX, max);
if (cycles > 2) { if (cycles > 2) {
Ku = (4.0 * d) / (M_PI * (max - min) * 0.5); // i.e., CIRCLE_CIRC((max - min) * 0.25) Ku = (4.0 * d) / (M_PI * (max - min) * 0.5);
Tu = ((float)(t_low + t_high) * 0.001); Tu = ((float)(t_low + t_high) * 0.001);
SERIAL_PROTOCOLPAIR(MSG_KU, Ku); SERIAL_PROTOCOLPAIR(MSG_KU, Ku);
SERIAL_PROTOCOLPAIR(MSG_TU, Tu); SERIAL_PROTOCOLPAIR(MSG_TU, Tu);
@ -413,41 +398,48 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
soft_pwm_amount_bed = (bias + d) >> 1; soft_pwm_amount_bed = (bias + d) >> 1;
#endif #endif
cycles++; cycles++;
min = temp; min = target;
} }
} }
} }
// Did the temperature overshoot very far?
#define MAX_OVERSHOOT_PID_AUTOTUNE 20 #define MAX_OVERSHOOT_PID_AUTOTUNE 20
if (input > temp + MAX_OVERSHOOT_PID_AUTOTUNE) { if (current > target + MAX_OVERSHOOT_PID_AUTOTUNE) {
SERIAL_PROTOCOLLNPGM(MSG_PID_TEMP_TOO_HIGH); SERIAL_PROTOCOLLNPGM(MSG_PID_TEMP_TOO_HIGH);
break; break;
} }
// Every 2 seconds...
// Report heater states every 2 seconds
if (ELAPSED(ms, next_temp_ms)) { if (ELAPSED(ms, next_temp_ms)) {
#if HAS_TEMP_HOTEND || HAS_TEMP_BED #if HAS_TEMP_HOTEND || HAS_TEMP_BED
print_heaterstates(); print_heaterstates();
SERIAL_EOL(); SERIAL_EOL();
#endif #endif
next_temp_ms = ms + 2000UL; next_temp_ms = ms + 2000UL;
// Make sure heating is actually working
#if WATCH_THE_BED || WATCH_HOTENDS #if WATCH_THE_BED || WATCH_HOTENDS
if (!heated && input > next_watch_temp) { if (!heated) { // If not yet reached target...
if (input > watch_temp_target) heated = true; if (current > next_watch_temp) { // Over the watch temp?
next_watch_temp = input + watch_temp_increase; next_watch_temp = current + watch_temp_increase; // - set the next temp to watch for
temp_change_ms = ms + watch_temp_period * 1000UL; temp_change_ms = ms + watch_temp_period * 1000UL; // - move the expiration timer up
if (current > watch_temp_target) heated = true; // - Flag if target temperature reached
}
else if (ELAPSED(ms, temp_change_ms)) // Watch timer expired
_temp_error(hotend, PSTR(MSG_T_HEATING_FAILED), PSTR(MSG_HEATING_FAILED_LCD));
} }
else if (!heated && ELAPSED(ms, temp_change_ms)) else if (current < target - (MAX_OVERSHOOT_PID_AUTOTUNE)) // Heated, then temperature fell too far?
_temp_error(hotend, PSTR(MSG_T_HEATING_FAILED), PSTR(MSG_HEATING_FAILED_LCD));
else if (heated && input < temp - MAX_OVERSHOOT_PID_AUTOTUNE)
_temp_error(hotend, PSTR(MSG_T_THERMAL_RUNAWAY), PSTR(MSG_THERMAL_RUNAWAY)); _temp_error(hotend, PSTR(MSG_T_THERMAL_RUNAWAY), PSTR(MSG_THERMAL_RUNAWAY));
#endif #endif
} // every 2 seconds } // every 2 seconds
// Timeout after 20 minutes since the last undershoot/overshoot cycle // Timeout after 20 minutes since the last undershoot/overshoot cycle
if (((ms - t1) + (ms - t2)) > (20L * 60L * 1000L)) { if (((ms - t1) + (ms - t2)) > (20L * 60L * 1000L)) {
SERIAL_PROTOCOLLNPGM(MSG_PID_TIMEOUT); SERIAL_PROTOCOLLNPGM(MSG_PID_TIMEOUT);
break; break;
} }
if (cycles > ncycles) { if (cycles > ncycles) {
SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED); SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED);

2
Marlin/src/module/temperature.h
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@ -445,7 +445,7 @@ class Temperature {
* Perform auto-tuning for hotend or bed in response to M303 * Perform auto-tuning for hotend or bed in response to M303
*/ */
#if HAS_PID_HEATING #if HAS_PID_HEATING
static void PID_autotune(const float temp, const int8_t hotend, const int8_t ncycles, const bool set_result=false); static void PID_autotune(const float &target, const int8_t hotend, const int8_t ncycles, const bool set_result=false);
/** /**
* Update the temp manager when PID values change * Update the temp manager when PID values change