Use cs.Kp, cs.Ki and cs.Kd from ConfigurationStore.
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f2ae3fb1f7
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54bcc8aa52
4 changed files with 14 additions and 16 deletions
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@ -124,7 +124,7 @@ void Config_PrintSettings(uint8_t level)
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);
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#ifdef PIDTEMP
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printf_P(PSTR("%SPID settings:\n%S M301 P%.2f I%.2f D%.2f\n"),
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echomagic, echomagic, Kp, unscalePID_i(Ki), unscalePID_d(Kd));
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echomagic, echomagic, cs.Kp, unscalePID_i(cs.Ki), unscalePID_d(cs.Kd));
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#endif
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#ifdef PIDTEMPBED
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printf_P(PSTR("%SPID heatbed settings:\n%S M304 P%.2f I%.2f D%.2f\n"),
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@ -6212,9 +6212,9 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
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#ifdef PIDTEMP
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case 301: // M301
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{
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if(code_seen('P')) Kp = code_value();
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if(code_seen('I')) Ki = scalePID_i(code_value());
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if(code_seen('D')) Kd = scalePID_d(code_value());
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if(code_seen('P')) cs.Kp = code_value();
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if(code_seen('I')) cs.Ki = scalePID_i(code_value());
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if(code_seen('D')) cs.Kd = scalePID_d(code_value());
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#ifdef PID_ADD_EXTRUSION_RATE
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if(code_seen('C')) Kc = code_value();
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@ -6223,11 +6223,11 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
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updatePID();
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SERIAL_PROTOCOLRPGM(_T(MSG_OK));
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SERIAL_PROTOCOL(" p:");
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SERIAL_PROTOCOL(Kp);
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SERIAL_PROTOCOL(cs.Kp);
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SERIAL_PROTOCOL(" i:");
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SERIAL_PROTOCOL(unscalePID_i(Ki));
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SERIAL_PROTOCOL(unscalePID_i(cs.Ki));
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SERIAL_PROTOCOL(" d:");
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SERIAL_PROTOCOL(unscalePID_d(Kd));
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SERIAL_PROTOCOL(unscalePID_d(cs.Kd));
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#ifdef PID_ADD_EXTRUSION_RATE
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SERIAL_PROTOCOL(" c:");
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//Kc does not have scaling applied above, or in resetting defaults
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@ -39,6 +39,7 @@
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#include <avr/wdt.h>
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#include "adc.h"
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#include "ConfigurationStore.h"
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//===========================================================================
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@ -79,9 +80,6 @@ float current_temperature_bed = 0.0;
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float _Kp, _Ki, _Kd;
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int pid_cycle, pid_number_of_cycles;
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bool pid_tuning_finished = false;
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float Kp=DEFAULT_Kp;
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float Ki=(DEFAULT_Ki*PID_dT);
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float Kd=(DEFAULT_Kd/PID_dT);
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#ifdef PID_ADD_EXTRUSION_RATE
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float Kc=DEFAULT_Kc;
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#endif
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@ -422,7 +420,7 @@ void updatePID()
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{
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#ifdef PIDTEMP
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for(int e = 0; e < EXTRUDERS; e++) {
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temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
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temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
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}
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#endif
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#ifdef PIDTEMPBED
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@ -638,14 +636,14 @@ void manage_heater()
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temp_iState[e] = 0.0;
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pid_reset[e] = false;
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}
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pTerm[e] = Kp * pid_error[e];
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pTerm[e] = cs.Kp * pid_error[e];
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temp_iState[e] += pid_error[e];
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temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
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iTerm[e] = Ki * temp_iState[e];
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iTerm[e] = cs.Ki * temp_iState[e];
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//K1 defined in Configuration.h in the PID settings
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#define K2 (1.0-K1)
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dTerm[e] = (Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
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dTerm[e] = (cs.Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
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pid_output = pTerm[e] + iTerm[e] - dTerm[e];
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if (pid_output > PID_MAX) {
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if (pid_error[e] > 0 ) temp_iState[e] -= pid_error[e]; // conditional un-integration
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@ -1040,7 +1038,7 @@ void tp_init()
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maxttemp[e] = maxttemp[0];
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#ifdef PIDTEMP
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temp_iState_min[e] = 0.0;
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temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
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temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
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#endif //PIDTEMP
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#ifdef PIDTEMPBED
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temp_iState_min_bed = 0.0;
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@ -73,7 +73,7 @@ extern int current_voltage_raw_bed;
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#ifdef PIDTEMP
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extern int pid_cycle, pid_number_of_cycles;
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extern float Kp,Ki,Kd,Kc,_Kp,_Ki,_Kd;
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extern float Kc,_Kp,_Ki,_Kd;
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extern bool pid_tuning_finished;
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float scalePID_i(float i);
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float scalePID_d(float d);
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