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PID tuning from menu

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This commit is contained in:
PavelSindler 2017-03-31 17:12:16 +02:00
parent 759f53e301
commit 870f85ce61
8 changed files with 158 additions and 28 deletions
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25
Firmware/language_all.cpp
View file

@ -692,6 +692,11 @@ const char * const MSG_DWELL_LANG_TABLE[LANG_NUM] PROGMEM = {
MSG_DWELL_DE
};
const char MSG_EEPROM_SAVING_EN[] PROGMEM = "Saving";
const char * const MSG_EEPROM_SAVING_LANG_TABLE[1] PROGMEM = {
MSG_EEPROM_SAVING_EN
};
const char MSG_ENDSTOPS_HIT_EN[] PROGMEM = "endstops hit: ";
const char * const MSG_ENDSTOPS_HIT_LANG_TABLE[1] PROGMEM = {
MSG_ENDSTOPS_HIT_EN
@ -1736,6 +1741,21 @@ const char * const MSG_PICK_Z_LANG_TABLE[LANG_NUM] PROGMEM = {
MSG_PICK_Z_DE
};
const char MSG_PID_EXTRUDER_EN[] PROGMEM = "PID calibration";
const char * const MSG_PID_EXTRUDER_LANG_TABLE[1] PROGMEM = {
MSG_PID_EXTRUDER_EN
};
const char MSG_PID_FINISHED_EN[] PROGMEM = "PID cal. finished";
const char * const MSG_PID_FINISHED_LANG_TABLE[1] PROGMEM = {
MSG_PID_FINISHED_EN
};
const char MSG_PID_RUNNING_EN[] PROGMEM = "PID cal. ";
const char * const MSG_PID_RUNNING_LANG_TABLE[1] PROGMEM = {
MSG_PID_RUNNING_EN
};
const char MSG_PLANNER_BUFFER_BYTES_EN[] PROGMEM = " PlannerBufferBytes: ";
const char * const MSG_PLANNER_BUFFER_BYTES_LANG_TABLE[1] PROGMEM = {
MSG_PLANNER_BUFFER_BYTES_EN
@ -2446,6 +2466,11 @@ const char * const MSG_SET_ORIGIN_LANG_TABLE[1] PROGMEM = {
MSG_SET_ORIGIN_EN
};
const char MSG_SET_TEMPERATURE_EN[] PROGMEM = "Set temperature";
const char * const MSG_SET_TEMPERATURE_LANG_TABLE[1] PROGMEM = {
MSG_SET_TEMPERATURE_EN
};
const char MSG_SHOW_END_STOPS_EN[] PROGMEM = "Show end stops";
const char MSG_SHOW_END_STOPS_CZ[] PROGMEM = "Stav konc. spin.";
const char MSG_SHOW_END_STOPS_IT[] PROGMEM = "Stato finecorsa";

10
Firmware/language_all.h
View file

@ -139,6 +139,8 @@ extern const char* const MSG_DISABLE_STEPPERS_LANG_TABLE[LANG_NUM];
#define MSG_DISABLE_STEPPERS LANG_TABLE_SELECT(MSG_DISABLE_STEPPERS_LANG_TABLE)
extern const char* const MSG_DWELL_LANG_TABLE[LANG_NUM];
#define MSG_DWELL LANG_TABLE_SELECT(MSG_DWELL_LANG_TABLE)
extern const char* const MSG_EEPROM_SAVING_LANG_TABLE[1];
#define MSG_EEPROM_SAVING LANG_TABLE_SELECT_EXPLICIT(MSG_EEPROM_SAVING_LANG_TABLE, 0)
extern const char* const MSG_ENDSTOPS_HIT_LANG_TABLE[1];
#define MSG_ENDSTOPS_HIT LANG_TABLE_SELECT_EXPLICIT(MSG_ENDSTOPS_HIT_LANG_TABLE, 0)
extern const char* const MSG_ENDSTOP_HIT_LANG_TABLE[1];
@ -345,6 +347,12 @@ extern const char* const MSG_PAUSE_PRINT_LANG_TABLE[LANG_NUM];
#define MSG_PAUSE_PRINT LANG_TABLE_SELECT(MSG_PAUSE_PRINT_LANG_TABLE)
extern const char* const MSG_PICK_Z_LANG_TABLE[LANG_NUM];
#define MSG_PICK_Z LANG_TABLE_SELECT(MSG_PICK_Z_LANG_TABLE)
extern const char* const MSG_PID_EXTRUDER_LANG_TABLE[1];
#define MSG_PID_EXTRUDER LANG_TABLE_SELECT_EXPLICIT(MSG_PID_EXTRUDER_LANG_TABLE, 0)
extern const char* const MSG_PID_FINISHED_LANG_TABLE[1];
#define MSG_PID_FINISHED LANG_TABLE_SELECT_EXPLICIT(MSG_PID_FINISHED_LANG_TABLE, 0)
extern const char* const MSG_PID_RUNNING_LANG_TABLE[1];
#define MSG_PID_RUNNING LANG_TABLE_SELECT_EXPLICIT(MSG_PID_RUNNING_LANG_TABLE, 0)
extern const char* const MSG_PLANNER_BUFFER_BYTES_LANG_TABLE[1];
#define MSG_PLANNER_BUFFER_BYTES LANG_TABLE_SELECT_EXPLICIT(MSG_PLANNER_BUFFER_BYTES_LANG_TABLE, 0)
extern const char* const MSG_PLEASE_WAIT_LANG_TABLE[LANG_NUM];
@ -483,6 +491,8 @@ extern const char* const MSG_SET_HOME_OFFSETS_LANG_TABLE[1];
#define MSG_SET_HOME_OFFSETS LANG_TABLE_SELECT_EXPLICIT(MSG_SET_HOME_OFFSETS_LANG_TABLE, 0)
extern const char* const MSG_SET_ORIGIN_LANG_TABLE[1];
#define MSG_SET_ORIGIN LANG_TABLE_SELECT_EXPLICIT(MSG_SET_ORIGIN_LANG_TABLE, 0)
extern const char* const MSG_SET_TEMPERATURE_LANG_TABLE[1];
#define MSG_SET_TEMPERATURE LANG_TABLE_SELECT_EXPLICIT(MSG_SET_TEMPERATURE_LANG_TABLE, 0)
extern const char* const MSG_SHOW_END_STOPS_LANG_TABLE[LANG_NUM];
#define MSG_SHOW_END_STOPS LANG_TABLE_SELECT(MSG_SHOW_END_STOPS_LANG_TABLE)
extern const char* const MSG_SILENT_MODE_OFF_LANG_TABLE[LANG_NUM];

7
Firmware/language_en.h
View file

@ -268,4 +268,9 @@
#define MSG_PRINTER_DISCONNECTED "Printer disconnected"
#define MSG_FINISHING_MOVEMENTS "Finishing movements"
#define MSG_PRINT_PAUSED "Print paused"
#define MSG_RESUMING_PRINT "Resuming print"
#define MSG_RESUMING_PRINT "Resuming print"
#define MSG_PID_EXTRUDER "PID calibration"
#define MSG_SET_TEMPERATURE "Set temperature"
#define MSG_PID_FINISHED "PID cal. finished"
#define MSG_PID_RUNNING "PID cal. "
#define MSG_EEPROM_SAVING "Saving"

66
Firmware/temperature.cpp
View file

@ -51,7 +51,12 @@ float current_temperature_bed = 0.0;
int redundant_temperature_raw = 0;
float redundant_temperature = 0.0;
#endif
#ifdef PIDTEMP
float _Kp, _Ki, _Kd;
int pid_cycle, pid_number_of_cycles;
bool pid_tuning_finished = false;
float Kp=DEFAULT_Kp;
float Ki=(DEFAULT_Ki*PID_dT);
float Kd=(DEFAULT_Kd/PID_dT);
@ -181,10 +186,12 @@ unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0);
//============================= functions ============================
//===========================================================================
void PID_autotune(float temp, int extruder, int ncycles)
{
void PID_autotune(float temp, int extruder, int ncycles)
{
pid_number_of_cycles = ncycles;
pid_tuning_finished = false;
float input = 0.0;
int cycles=0;
pid_cycle=0;
bool heating = true;
unsigned long temp_millis = millis();
@ -195,7 +202,6 @@ void PID_autotune(float temp, int extruder, int ncycles)
long bias, d;
float Ku, Tu;
float Kp, Ki, Kd;
float max = 0, min = 10000;
#if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \
@ -210,6 +216,8 @@ void PID_autotune(float temp, int extruder, int ncycles)
#endif
){
SERIAL_ECHOLN("PID Autotune failed. Bad extruder number.");
pid_tuning_finished = true;
pid_cycle = 0;
return;
}
@ -267,7 +275,7 @@ void PID_autotune(float temp, int extruder, int ncycles)
heating=true;
t2=millis();
t_low=t2 - t1;
if(cycles > 0) {
if(pid_cycle > 0) {
bias += (d*(t_high - t_low))/(t_low + t_high);
bias = constrain(bias, 20 ,(extruder<0?(MAX_BED_POWER):(PID_MAX))-20);
if(bias > (extruder<0?(MAX_BED_POWER):(PID_MAX))/2) d = (extruder<0?(MAX_BED_POWER):(PID_MAX)) - 1 - bias;
@ -277,33 +285,33 @@ void PID_autotune(float temp, int extruder, int ncycles)
SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d);
SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min);
SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max);
if(cycles > 2) {
if(pid_cycle > 2) {
Ku = (4.0*d)/(3.14159*(max-min)/2.0);
Tu = ((float)(t_low + t_high)/1000.0);
SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku);
SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu);
Kp = 0.6*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/8;
_Kp = 0.6*Ku;
_Ki = 2*_Kp/Tu;
_Kd = _Kp*Tu/8;
SERIAL_PROTOCOLLNPGM(" Classic PID ");
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(_Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(_Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(_Kd);
/*
Kp = 0.33*Ku;
Ki = Kp/Tu;
Kd = Kp*Tu/3;
_Kp = 0.33*Ku;
_Ki = _Kp/Tu;
_Kd = _Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" Some overshoot ");
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
Kp = 0.2*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(_Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(_Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(_Kd);
_Kp = 0.2*Ku;
_Ki = 2*_Kp/Tu;
_Kd = _Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" No overshoot ");
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(_Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(_Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(_Kd);
*/
}
}
@ -311,13 +319,15 @@ void PID_autotune(float temp, int extruder, int ncycles)
soft_pwm_bed = (bias + d) >> 1;
else
soft_pwm[extruder] = (bias + d) >> 1;
cycles++;
pid_cycle++;
min=temp;
}
}
}
if(input > (temp + 20)) {
SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature too high");
pid_tuning_finished = true;
pid_cycle = 0;
return;
}
if(millis() - temp_millis > 2000) {
@ -338,10 +348,14 @@ void PID_autotune(float temp, int extruder, int ncycles)
}
if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) {
SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout");
pid_tuning_finished = true;
pid_cycle = 0;
return;
}
if(cycles > ncycles) {
if(pid_cycle > ncycles) {
SERIAL_PROTOCOLLNPGM("PID Autotune finished! Put the last Kp, Ki and Kd constants from above into Configuration.h");
pid_tuning_finished = true;
pid_cycle = 0;
return;
}
lcd_update();

4
Firmware/temperature.h
View file

@ -58,7 +58,9 @@ extern float current_temperature_bed;
#endif
#ifdef PIDTEMP
extern float Kp,Ki,Kd,Kc;
extern int pid_cycle, pid_number_of_cycles;
extern float Kp,Ki,Kd,Kc,_Kp,_Ki,_Kd;
extern bool pid_tuning_finished;
float scalePID_i(float i);
float scalePID_d(float d);
float unscalePID_i(float i);

62
Firmware/ultralcd.cpp
View file

@ -106,6 +106,7 @@ int farm_status = 0;
unsigned long allert_timer = millis();
bool printer_connected = true;
float pid_temp = DEFAULT_PID_TEMP;
bool long_press_active = false;
long long_press_timer = millis();
@ -774,6 +775,47 @@ void lcd_commands()
}
}
if (lcd_commands_type == LCD_COMMAND_PID_EXTRUDER) {
char cmd1[30];
unsigned long display_time; //just timer for showing pid finished message on lcd;
if (lcd_commands_step == 0) {
custom_message_type = 3;
custom_message_state = 1;
custom_message = true;
lcdDrawUpdate = 3;
lcd_commands_step = 3;
}
if (lcd_commands_step == 3 && !blocks_queued()) { //PID calibration
strcpy(cmd1, "M303 E0 S");
strcat(cmd1, ftostr3(pid_temp));
enquecommand(cmd1);
lcd_setstatuspgm(MSG_PID_RUNNING);
lcd_commands_step = 2;
}
if (lcd_commands_step == 2 && pid_tuning_finished) { //saving to eeprom
pid_tuning_finished = false;
custom_message_state = 0;
lcd_setstatuspgm(MSG_PID_FINISHED);
strcpy(cmd1, "M301 P");
strcat(cmd1, ftostr32(_Kp));
strcat(cmd1, " I");
strcat(cmd1, ftostr32(_Ki));
strcat(cmd1, " D");
strcat(cmd1, ftostr32(_Kd));
enquecommand(cmd1);
enquecommand_P(PSTR("M500"));
display_time = millis();
lcd_commands_step = 1;
}
if ((lcd_commands_step == 1) && ((millis()- display_time)>2000)) { //calibration finished message
lcd_setstatuspgm(WELCOME_MSG);
custom_message_type = 0;
custom_message = false;
pid_temp = DEFAULT_PID_TEMP;
lcd_commands_step = 0;
lcd_commands_type = 0;
}
}
}
@ -1510,6 +1552,25 @@ static void lcd_adjust_bed()
END_MENU();
}
void pid_extruder() {
lcd_implementation_clear();
lcd.setCursor(1, 0);
lcd_printPGM(MSG_SET_TEMPERATURE);
pid_temp += int(encoderPosition);
if (pid_temp > HEATER_0_MAXTEMP) pid_temp = HEATER_0_MAXTEMP;
if (pid_temp < HEATER_0_MINTEMP) pid_temp = HEATER_0_MINTEMP;
encoderPosition = 0;
lcd.setCursor(1, 2);
lcd.print(ftostr3(pid_temp));
if (lcd_clicked()) {
lcd_commands_type = LCD_COMMAND_PID_EXTRUDER;
lcd_return_to_status();
lcd_update(2);
}
}
void lcd_adjust_z() {
int enc_dif = 0;
int cursor_pos = 1;
@ -2539,6 +2600,7 @@ MENU_ITEM(function, MSG_CALIBRATE_BED, lcd_mesh_calibration);
#endif
MENU_ITEM(gcode, MSG_AUTO_HOME, PSTR("G28 W"));
MENU_ITEM(submenu, MSG_BED_CORRECTION_MENU, lcd_adjust_bed);
MENU_ITEM(submenu, MSG_PID_EXTRUDER, pid_extruder);
MENU_ITEM(submenu, MSG_SHOW_END_STOPS, menu_show_end_stops);
MENU_ITEM(gcode, MSG_CALIBRATE_BED_RESET, PSTR("M44"));
#ifndef SNMM

1
Firmware/ultralcd.h
View file

@ -93,6 +93,7 @@ void lcd_mylang();
#define LCD_COMMAND_FARM_MODE_CONFIRM 4
#define LCD_COMMAND_LONG_PAUSE 5
#define LCD_COMMAND_LONG_PAUSE_RESUME 6
#define LCD_COMMAND_PID_EXTRUDER 7
extern unsigned long lcd_timeoutToStatus;
extern int lcd_commands_type;

11
Firmware/ultralcd_implementation_hitachi_HD44780.h
View file

@ -948,6 +948,17 @@ static void lcd_implementation_status_screen()
{
lcd.print(lcd_status_message);
}
// PID tuning in progress
if (custom_message_type == 3) {
lcd.print(lcd_status_message);
if (pid_cycle <= pid_number_of_cycles && custom_message_state > 0) {
lcd.setCursor(10, 3);
lcd.print(itostr3(pid_cycle));
lcd.print('/');
lcd.print(itostr3left(pid_number_of_cycles));
}
}
}
else
{