3DPrinting/Prusa-Firmware
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Use cs.bedKp, cs.bedKi and cs.bedKd from ConfigurationStore.

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This commit is contained in:
Marek Bel 2018-09-24 16:57:48 +02:00
parent 54bcc8aa52
commit 20ba2b1c79
4 changed files with 12 additions and 21 deletions
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2
Firmware/ConfigurationStore.cpp
View File

@ -128,7 +128,7 @@ void Config_PrintSettings(uint8_t level)
#endif
#ifdef PIDTEMPBED
printf_P(PSTR("%SPID heatbed settings:\n%S M304 P%.2f I%.2f D%.2f\n"),
echomagic, echomagic, bedKp, unscalePID_i(bedKi), unscalePID_d(bedKd));
echomagic, echomagic, cs.bedKp, unscalePID_i(cs.bedKi), unscalePID_d(cs.bedKd));
#endif
#ifdef FWRETRACT
printf_P(PSTR(

12
Firmware/Marlin_main.cpp
View File

@ -6240,18 +6240,18 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
#ifdef PIDTEMPBED
case 304: // M304
{
if(code_seen('P')) bedKp = code_value();
if(code_seen('I')) bedKi = scalePID_i(code_value());
if(code_seen('D')) bedKd = scalePID_d(code_value());
if(code_seen('P')) cs.bedKp = code_value();
if(code_seen('I')) cs.bedKi = scalePID_i(code_value());
if(code_seen('D')) cs.bedKd = scalePID_d(code_value());
updatePID();
SERIAL_PROTOCOLRPGM(_T(MSG_OK));
SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(bedKp);
SERIAL_PROTOCOL(cs.bedKp);
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(unscalePID_i(bedKi));
SERIAL_PROTOCOL(unscalePID_i(cs.bedKi));
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(bedKd));
SERIAL_PROTOCOL(unscalePID_d(cs.bedKd));
SERIAL_PROTOCOLLN("");
}
break;

16
Firmware/temperature.cpp
View File

@ -84,12 +84,6 @@ float current_temperature_bed = 0.0;
float Kc=DEFAULT_Kc;
#endif
#endif //PIDTEMP
#ifdef PIDTEMPBED
float bedKp=DEFAULT_bedKp;
float bedKi=(DEFAULT_bedKi*PID_dT);
float bedKd=(DEFAULT_bedKd/PID_dT);
#endif //PIDTEMPBED
#ifdef FAN_SOFT_PWM
unsigned char fanSpeedSoftPwm;
@ -424,7 +418,7 @@ void updatePID()
}
#endif
#ifdef PIDTEMPBED
temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi;
temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / cs.bedKi;
#endif
}
@ -751,14 +745,14 @@ void manage_heater()
#ifndef PID_OPENLOOP
pid_error_bed = target_temperature_bed - pid_input;
pTerm_bed = bedKp * pid_error_bed;
pTerm_bed = cs.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;
iTerm_bed = cs.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);
dTerm_bed= (cs.bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
temp_dState_bed = pid_input;
pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
@ -1042,7 +1036,7 @@ void tp_init()
#endif //PIDTEMP
#ifdef PIDTEMPBED
temp_iState_min_bed = 0.0;
temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / bedKi;
temp_iState_max_bed = PID_INTEGRAL_DRIVE_MAX / cs.bedKi;
#endif //PIDTEMPBED
}

3
Firmware/temperature.h
View File

@ -81,9 +81,6 @@ extern int current_voltage_raw_bed;
float unscalePID_d(float d);
#endif
#ifdef PIDTEMPBED
extern float bedKp,bedKi,bedKd;
#endif
#ifdef BABYSTEPPING