From 9698f4ea649ed48ed02df4b8298aafb85d2f6c3d Mon Sep 17 00:00:00 2001
From: Mark Finn <mark@mfinn.net>
Date: Wed, 12 Sep 2012 21:01:31 -0500
Subject: [PATCH] bed pid
Conflicts:
Marlin/Configuration.h
---
Marlin/Configuration.h | 13 +++-
Marlin/Marlin.pde | 31 +++++++-
Marlin/temperature.cpp | 171 ++++++++++++++++++++++++++++++-----------
Marlin/temperature.h | 14 +++-
4 files changed, 176 insertions(+), 53 deletions(-)
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 0ec06316f8d..2bcfc728335 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -95,10 +95,11 @@
// PID settings:
// Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP
+#define PIDTEMPBED
#define PID_MAX 255 // limits current to nozzle; 255=full current
#ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port.
- //#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
+ //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
#define PID_INTEGRAL_DRIVE_MAX 255 //limit for the integral term
#define K1 0.95 //smoothing factor withing the PID
#define PID_dT ((16.0 * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the
@@ -114,6 +115,16 @@
// #define DEFAULT_Ki 0.1
// #define DEFAULT_Kd 12
+//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, argressive factor of .15 (vs .1, 1, 10)
+ #define DEFAULT_bedKp 10.00
+ #define DEFAULT_bedKi .023
+ #define DEFAULT_bedKd 305.4
+
+//mark from pidautotune
+// #define DEFAULT_bedKp 97.1
+// #define DEFAULT_bedKi 1.41
+// #define DEFAULT_bedKd 1675.16
+
// Mendel Parts V9 on 12V
// #define DEFAULT_Kp 63.0
// #define DEFAULT_Ki 2.25
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index 5c46e7355f2..91fbac52cdb 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -113,6 +113,7 @@
// M221 S<factor in percent>- set extrude factor override percentage
// M240 - Trigger a camera to take a photograph
// M301 - Set PID parameters P I and D
+// M304 - Set bed PID parameters P I and D
// M302 - Allow cold extrudes
// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
// M400 - Finish all moves
@@ -1002,6 +1003,10 @@ void process_commands()
#ifdef PIDTEMP
SERIAL_PROTOCOLPGM(" @:");
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
+ #endif
+ #ifdef PIDTEMPBED
+ SERIAL_PROTOCOLPGM(" B@:");
+ SERIAL_PROTOCOL(getHeaterPower(-1));
#endif
SERIAL_PROTOCOLLN("");
return;
@@ -1405,6 +1410,24 @@ void process_commands()
}
break;
#endif //PIDTEMP
+ #ifdef PIDTEMPBED
+ case 304: // M304
+ {
+ if(code_seen('P')) bedKp = code_value();
+ if(code_seen('I')) bedKi = code_value()*PID_dT;
+ if(code_seen('D')) bedKd = code_value()/PID_dT;
+ updatePID();
+ SERIAL_PROTOCOL(MSG_OK);
+ SERIAL_PROTOCOL(" p:");
+ SERIAL_PROTOCOL(Kp);
+ SERIAL_PROTOCOL(" i:");
+ SERIAL_PROTOCOL(Ki/PID_dT);
+ SERIAL_PROTOCOL(" d:");
+ SERIAL_PROTOCOL(Kd*PID_dT);
+ SERIAL_PROTOCOLLN("");
+ }
+ break;
+ #endif //PIDTEMP
case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
{
#ifdef PHOTOGRAPH_PIN
@@ -1437,8 +1460,14 @@ void process_commands()
case 303: // M303 PID autotune
{
float temp = 150.0;
+ int e=0;
+ int c=5;
+ if (code_seen('E')) e=code_value();
+ if (e<0)
+ temp=70;
if (code_seen('S')) temp=code_value();
- PID_autotune(temp);
+ if (code_seen('C')) c=code_value();
+ PID_autotune(temp, e, c);
}
break;
case 400: // M400 finish all moves
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index a0413f710e2..f31f84b260b 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -57,6 +57,15 @@ int current_raw_bed = 0;
float Kc=DEFAULT_Kc;
#endif
#endif //PIDTEMP
+
+#ifdef PIDTEMPBED
+ // used external
+ float pid_setpoint_bed = { 0.0 };
+
+ float bedKp=DEFAULT_bedKp;
+ float bedKi=(DEFAULT_bedKi*PID_dT);
+ float bedKd=(DEFAULT_bedKd/PID_dT);
+#endif //PIDTEMPBED
//===========================================================================
@@ -64,9 +73,6 @@ int current_raw_bed = 0;
//===========================================================================
static volatile bool temp_meas_ready = false;
-static unsigned long previous_millis_bed_heater;
-//static unsigned long previous_millis_heater;
-
#ifdef PIDTEMP
//static cannot be external:
static float temp_iState[EXTRUDERS] = { 0 };
@@ -82,7 +88,20 @@ static unsigned long previous_millis_bed_heater;
// static float pid_output[EXTRUDERS];
static bool pid_reset[EXTRUDERS];
#endif //PIDTEMP
+#ifdef PIDTEMPBED
+ //static cannot be external:
+ static float temp_iState_bed = { 0 };
+ static float temp_dState_bed = { 0 };
+ static float pTerm_bed;
+ static float iTerm_bed;
+ static float dTerm_bed;
+ //int output;
+ static float pid_error_bed;
+ static float temp_iState_min_bed;
+ static float temp_iState_max_bed;
+#endif //PIDTEMPBED
static unsigned char soft_pwm[EXTRUDERS];
+ static unsigned char soft_pwm_bed;
#ifdef WATCHPERIOD
int watch_raw[EXTRUDERS] = { -1000 }; // the first value used for all
@@ -122,7 +141,7 @@ static unsigned long previous_millis_bed_heater;
//============================= functions ============================
//===========================================================================
-void PID_autotune(float temp)
+void PID_autotune(float temp, int extruder, int ncycles)
{
float input;
int cycles=0;
@@ -139,27 +158,45 @@ void PID_autotune(float temp)
float Ku, Tu;
float Kp, Ki, Kd;
float max, min;
-
+
+ if ((extruder > EXTRUDERS)
+ #if (TEMP_BED_PIN <= -1)
+ ||(extruder < 0)
+ #endif
+ ){
+ SERIAL_ECHOLN("PID Autotune failed. Bad extruder number.");
+ return;
+ }
+
SERIAL_ECHOLN("PID Autotune start");
disable_heater(); // switch off all heaters.
-
- soft_pwm[0] = PID_MAX/2;
-
- for(;;) {
+
+ if (extruder<0)
+ soft_pwm_bed = PID_MAX/2;
+ else
+ soft_pwm[extruder] = PID_MAX/2;
+
+
+
+
+ for(;;) {
if(temp_meas_ready == true) { // temp sample ready
CRITICAL_SECTION_START;
temp_meas_ready = false;
CRITICAL_SECTION_END;
- input = analog2temp(current_raw[0], 0);
-
+ input = (extruder<0)?analog2tempBed(current_raw_bed):analog2temp(current_raw[extruder], extruder);
+
max=max(max,input);
min=min(min,input);
if(heating == true && input > temp) {
if(millis() - t2 > 5000) {
heating=false;
- soft_pwm[0] = (bias - d) >> 1;
+ if (extruder<0)
+ soft_pwm_bed = (bias - d) >> 1;
+ else
+ soft_pwm[extruder] = (bias - d) >> 1;
t1=millis();
t_high=t1 - t2;
max=temp;
@@ -210,7 +247,10 @@ void PID_autotune(float temp)
*/
}
}
- soft_pwm[0] = (bias + d) >> 1;
+ if (extruder<0)
+ soft_pwm_bed = (bias + d) >> 1;
+ else
+ soft_pwm[extruder] = (bias + d) >> 1;
cycles++;
min=temp;
}
@@ -221,17 +261,26 @@ void PID_autotune(float temp)
return;
}
if(millis() - temp_millis > 2000) {
- temp_millis = millis();
- SERIAL_PROTOCOLPGM("ok T:");
- SERIAL_PROTOCOL(degHotend(0));
+ int p;
+ if (extruder<0){
+ p=soft_pwm_bed;
+ SERIAL_PROTOCOLPGM("ok B:");
+ }else{
+ p=soft_pwm[extruder];
+ SERIAL_PROTOCOLPGM("ok T:");
+ }
+
+ SERIAL_PROTOCOL(input);
SERIAL_PROTOCOLPGM(" @:");
- SERIAL_PROTOCOLLN(getHeaterPower(0));
+ SERIAL_PROTOCOLLN(p);
+
+ temp_millis = millis();
}
if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) {
SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout");
return;
}
- if(cycles > 5) {
+ if(cycles > ncycles) {
SERIAL_PROTOCOLLNPGM("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h");
return;
}
@@ -245,19 +294,18 @@ void updatePID()
for(int e = 0; e < EXTRUDERS; e++) {
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
}
+ temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi;
#endif
}
int getHeaterPower(int heater) {
+ if (heater<0)
+ return soft_pwm_bed;
return soft_pwm[heater];
}
void manage_heater()
{
-#ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
- static int bed_needs_heating=0;
- static int bed_is_on=0;
-#endif
#ifdef USE_WATCHDOG
wd_reset();
@@ -298,12 +346,16 @@ void manage_heater()
temp_iState[e] += pid_error[e];
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
iTerm[e] = Ki * temp_iState[e];
+
//K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm[e] = (Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
temp_dState[e] = pid_input;
+
pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX);
}
+ #else
+ pid_output = constrain(pid_setpoint[e], 0, PID_MAX);
#endif //PID_OPENLOOP
#ifdef PID_DEBUG
SERIAL_ECHOLN(" PIDDEBUG "<<e<<": Input "<<pid_input<<" Output "<<pid_output" pTerm "<<pTerm[e]<<" iTerm "<<iTerm[e]<<" dTerm "<<dTerm[e]);
@@ -338,42 +390,58 @@ void manage_heater()
}
#endif
-#ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
- if (bed_needs_heating){
- if (bed_is_on==0)
- WRITE(HEATER_BED_PIN,HIGH);
- if (bed_is_on==1)
- WRITE(HEATER_BED_PIN,LOW);
- bed_is_on=(bed_is_on+1) % HEATER_BED_DUTY_CYCLE_DIVIDER;
- }
-#endif
+ #ifndef PIDTEMPBED
if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
return;
previous_millis_bed_heater = millis();
-
- #if TEMP_BED_PIN > -1
-
- #ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
- bed_needs_heating=0;
#endif
- #ifndef BED_LIMIT_SWITCHING
+ #if TEMP_BED_PIN > -1
+
+ #ifdef PIDTEMPBED
+ pid_input = analog2tempBed(current_raw_bed);
+
+ #ifndef PID_OPENLOOP
+ pid_error_bed = pid_setpoint_bed - pid_input;
+ pTerm_bed = bedKp * pid_error_bed;
+ temp_iState_bed += pid_error_bed;
+ temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
+ iTerm_bed = bedKi * temp_iState_bed;
+
+ //K1 defined in Configuration.h in the PID settings
+ #define K2 (1.0-K1)
+ dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
+ temp_dState_bed = pid_input;
+
+ pid_output = constrain(pTerm_bed + iTerm_bed - dTerm_bed, 0, PID_MAX);
+
+ #else
+ pid_output = constrain(pid_setpoint_bed, 0, PID_MAX);
+ #endif //PID_OPENLOOP
+
+ if((current_raw_bed > bed_minttemp) && (current_raw_bed < bed_maxttemp))
+ {
+ soft_pwm_bed = (int)pid_output >> 1;
+ }
+ else {
+ soft_pwm_bed = 0;
+ }
+
+ #elif not defined BED_LIMIT_SWITCHING
// Check if temperature is within the correct range
if((current_raw_bed > bed_minttemp) && (current_raw_bed < bed_maxttemp)) {
if(current_raw_bed >= target_raw_bed)
{
- WRITE(HEATER_BED_PIN,LOW);
+ soft_pwm_bed = 0;
}
else
{
- #ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
- bed_needs_heating=1;
- #endif
- WRITE(HEATER_BED_PIN,HIGH);
+ soft_pwm_bed = 100;
}
}
else {
+ soft_pwm_bed = 0;
WRITE(HEATER_BED_PIN,LOW);
}
#else //#ifdef BED_LIMIT_SWITCHING
@@ -381,18 +449,16 @@ void manage_heater()
if((current_raw_bed > bed_minttemp) && (current_raw_bed < bed_maxttemp)) {
if(current_raw_bed > target_bed_high_temp)
{
- WRITE(HEATER_BED_PIN,LOW);
+ soft_pwm_bed = 0;
}
else
if(current_raw_bed <= target_bed_low_temp)
{
- #ifdef HEATER_BED_DUTY_CYCLE_DIVIDER
- bed_needs_heating=1;
- #endif
- WRITE(HEATER_BED_PIN,HIGH);
+ soft_pwm_bed = 100;
}
}
else {
+ soft_pwm_bed = 0;
WRITE(HEATER_BED_PIN,LOW);
}
#endif
@@ -567,6 +633,8 @@ void tp_init()
#ifdef PIDTEMP
temp_iState_min[e] = 0.0;
temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
+ temp_iState_min_bed = 0.0;
+ temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi;
#endif //PIDTEMP
}
@@ -728,6 +796,7 @@ void disable_heater()
#if TEMP_BED_PIN > -1
target_raw_bed=0;
+ soft_pwm_bed=0;
#if HEATER_BED_PIN > -1
WRITE(HEATER_BED_PIN,LOW);
#endif
@@ -832,6 +901,7 @@ ISR(TIMER0_COMPB_vect)
static unsigned char soft_pwm_0;
static unsigned char soft_pwm_1;
static unsigned char soft_pwm_2;
+ static unsigned char soft_pwm_b;
if(pwm_count == 0){
soft_pwm_0 = soft_pwm[0];
@@ -844,6 +914,10 @@ ISR(TIMER0_COMPB_vect)
soft_pwm_2 = soft_pwm[2];
if(soft_pwm_2 > 0) WRITE(HEATER_2_PIN,1);
#endif
+ #if HEATER_BED_PIN > -1
+ soft_pwm_b = soft_pwm_bed;
+ if(soft_pwm_b > 0) WRITE(HEATER_BED_PIN,1);
+ #endif
}
if(soft_pwm_0 <= pwm_count) WRITE(HEATER_0_PIN,0);
#if EXTRUDERS > 1
@@ -852,6 +926,9 @@ ISR(TIMER0_COMPB_vect)
#if EXTRUDERS > 2
if(soft_pwm_2 <= pwm_count) WRITE(HEATER_2_PIN,0);
#endif
+ #if HEATER_BED_PIN > -1
+ if(soft_pwm_b <= pwm_count) WRITE(HEATER_BED_PIN,0);
+ #endif
pwm_count++;
pwm_count &= 0x7f;
diff --git a/Marlin/temperature.h b/Marlin/temperature.h
index 1848c703ddf..ae289de41f3 100644
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@@ -46,11 +46,15 @@ extern int current_raw_bed;
extern int target_bed_low_temp ;
extern int target_bed_high_temp ;
#endif
-extern float Kp,Ki,Kd,Kc;
#ifdef PIDTEMP
+ extern float Kp,Ki,Kd,Kc;
extern float pid_setpoint[EXTRUDERS];
#endif
+#ifdef PIDTEMPBED
+ extern float bedKp,bedKi,bedKd;
+ extern float pid_setpoint_bed;
+#endif
// #ifdef WATCHPERIOD
extern int watch_raw[EXTRUDERS] ;
@@ -88,7 +92,9 @@ FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {
FORCE_INLINE void setTargetBed(const float &celsius) {
target_raw_bed = temp2analogBed(celsius);
- #ifdef BED_LIMIT_SWITCHING
+ #ifdef PIDTEMPBED
+ pid_setpoint_bed = celsius;
+ #elif defined BED_LIMIT_SWITCHING
if(celsius>BED_HYSTERESIS)
{
target_bed_low_temp= temp2analogBed(celsius-BED_HYSTERESIS);
@@ -163,7 +169,7 @@ FORCE_INLINE void autotempShutdown(){
#endif
}
-void PID_autotune(float temp);
+void PID_autotune(float temp, int extruder, int ncycles);
#endif
-
+