PID now per extruder. Fixed typo

Marlin/Configuration.h

@@ -136,6 +136,17 @@
 //    #define  DEFAULT_Kd 440
 #endif // PIDTEMP
 
+// PID parameters for 2nd extruder
+    #define DEFAULT_Kp_E1 22.2
+    #define DEFAULT_Ki_E1 1.08
+    #define DEFAULT_Kd_E1 114
+
+
+// PID parameters for 3th extruder
+//    #define DEFAULT_Kp_E2 22.2
+//    #define DEFAULT_Ki_E2 1.08
+//    #define DEFAULT_Kd_E2 114
+
 // Bed Temperature Control
 // Select PID or bang-bang with PIDTEMPBED.  If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
 //

Marlin/ConfigurationStore.cpp

@@ -143,10 +143,24 @@ void Config_PrintSettings()
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM("PID settings:");
     SERIAL_ECHO_START;
-    SERIAL_ECHOPAIR("   M301 P",Kp); 
+    SERIAL_ECHOPAIR("   M301 P",Kp[0]); 
-    SERIAL_ECHOPAIR(" I" ,Ki/PID_dT); 
+    SERIAL_ECHOPAIR(" I" ,Ki[0]/PID_dT); 
-    SERIAL_ECHOPAIR(" D" ,Kd*PID_dT);
+    SERIAL_ECHOPAIR(" D" ,Kd[0]*PID_dT);
     SERIAL_ECHOLN(""); 
+#if EXTRUDERS > 1
+    SERIAL_ECHOPAIR("   M301 P",Kp[1]); 
+    SERIAL_ECHOPAIR(" I" ,Ki[1]/PID_dT); 
+    SERIAL_ECHOPAIR(" D" ,Kd[1]*PID_dT);
+    SERIAL_ECHOPGM(" T1");
+    SERIAL_ECHOLN(""); 
+#endif
+#if EXTRUDERS > 2
+    SERIAL_ECHOPAIR("   M301 P",Kp[2]); 
+    SERIAL_ECHOPAIR(" I" ,Ki[2]/PID_dT); 
+    SERIAL_ECHOPAIR(" D" ,Kd[2]*PID_dT);
+    SERIAL_ECHOPGM(" T2");
+    SERIAL_ECHOLN(""); 
+#endif
 #endif
 } 
 #endif
@@ -234,9 +248,19 @@ void Config_ResetDefault()
     absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
 #endif
 #ifdef PIDTEMP
-    Kp = DEFAULT_Kp;
+    Kp[0] = DEFAULT_Kp;
-    Ki = (DEFAULT_Ki*PID_dT);
+    Ki[0] = (DEFAULT_Ki*PID_dT);
-    Kd = (DEFAULT_Kd/PID_dT);
+    Kd[0] = (DEFAULT_Kd/PID_dT);
+    #if EXTRUDERS > 1
+    Kp[1] = DEFAULT_Kp_E1;
+    Ki[1] = (DEFAULT_Ki_E1*PID_dT);
+    Kd[1] = (DEFAULT_Kd_E1/PID_dT);
+    #endif
+    #if EXTRUDERS > 2
+    Kp[2] = DEFAULT_Kp_E2;
+    Ki[2] = (DEFAULT_Ki_E2*PID_dT);
+    Kd[2] = (DEFAULT_Kd_E2/PID_dT);
+    #endif
 #ifdef PID_ADD_EXTRUSION_RATE
     Kc = DEFAULT_Kc;
 #endif//PID_ADD_EXTRUSION_RATE

Marlin/Marlin_main.cpp

@@ -1401,20 +1401,23 @@ void process_commands()
     #ifdef PIDTEMP
     case 301: // M301
       {
-        if(code_seen('P')) Kp = code_value();
+        if(setTargetedHotend(301)){
-        if(code_seen('I')) Ki = code_value()*PID_dT;
+          break;
-        if(code_seen('D')) Kd = code_value()/PID_dT;
+        }
+        if(code_seen('P')) Kp[tmp_extruder] = code_value();
+        if(code_seen('I')) Ki[tmp_extruder] = code_value()*PID_dT;
+        if(code_seen('D')) Kd[tmp_extruder] = code_value()/PID_dT;
         #ifdef PID_ADD_EXTRUSION_RATE
         if(code_seen('C')) Kc = code_value();
         #endif
         updatePID();
         SERIAL_PROTOCOL(MSG_OK);
 		SERIAL_PROTOCOL(" p:");
-        SERIAL_PROTOCOL(Kp);
+        SERIAL_PROTOCOL(Kp[tmp_extruder]);
         SERIAL_PROTOCOL(" i:");
-        SERIAL_PROTOCOL(Ki/PID_dT);
+        SERIAL_PROTOCOL(Ki[tmp_extruder]/PID_dT);
         SERIAL_PROTOCOL(" d:");
-        SERIAL_PROTOCOL(Kd*PID_dT);
+        SERIAL_PROTOCOL(Kd[tmp_extruder]*PID_dT);
         #ifdef PID_ADD_EXTRUSION_RATE
         SERIAL_PROTOCOL(" c:");
         SERIAL_PROTOCOL(Kc*PID_dT);
@@ -1936,6 +1939,9 @@ bool setTargetedHotend(int code){
         case 109:
           SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
           break;
+        case 301:
+          SERIAL_ECHO(MSG_M301_INVALID_EXTRUDER);
+          break;
       }
       SERIAL_ECHOLN(tmp_extruder);
       return true;

Marlin/language.h

@@ -139,6 +139,7 @@
 	#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
 	#define MSG_ERR_NO_THERMISTORS "No thermistors - no temperature"
 	#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
+        #define MSG_M301_INVALID_EXTRUDER "M301 Invalid extruder "
 	#define MSG_HEATING "Heating..."
 	#define MSG_HEATING_COMPLETE "Heating done."
 	#define MSG_BED_HEATING "Bed Heating."
@@ -293,6 +294,7 @@
 	#define MSG_M105_INVALID_EXTRUDER "M105 Niepoprawny ekstruder "
 	#define MSG_ERR_NO_THERMISTORS "Brak termistorow - brak temperatury :("
 	#define MSG_M109_INVALID_EXTRUDER "M109 Niepoprawny ekstruder "
+	#define MSG_M301_INVALID_EXTRUDER "M301 Niepoprawny ekstruder "
 	#define MSG_HEATING "Nagrzewanie ekstrudera..."
 	#define MSG_HEATING_COMPLETE "Nagrzewanie ekstrudera zakonczone."
 	#define MSG_BED_HEATING "Nagrzewanie loza..."
@@ -452,6 +454,7 @@
 #define MSG_M105_INVALID_EXTRUDER "M105 Extruder invalide"
 #define MSG_ERR_NO_THERMISTORS "Pas de thermistor, pas de temperature"
 #define MSG_M109_INVALID_EXTRUDER "M109 Extruder invalide "
+#define MSG_M301_INVALID_EXTRUDER "M301 Extruder invalide "
 #define MSG_HEATING "En chauffe..."
 #define MSG_HEATING_COMPLETE "Chauffe terminee."
 #define MSG_BED_HEATING "Chauffe du lit."
@@ -609,6 +612,7 @@
 	#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
 	#define MSG_ERR_NO_THERMISTORS "No thermistors - no temp"
 	#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
+        #define MSG_M301_INVALID_EXTRUDER "M301 Invalid extruder "
 	#define MSG_HEATING "Heating..."
 	#define MSG_HEATING_COMPLETE "Heating done."
 	#define MSG_BED_HEATING "Bed Heating."
@@ -767,6 +771,7 @@
 #define MSG_M105_INVALID_EXTRUDER "M105 Extrusor Invalido "
 #define MSG_ERR_NO_THERMISTORS "No hay termistores - no temp"
 #define MSG_M109_INVALID_EXTRUDER "M109 Extrusor Invalido "
+#define MSG_M301_INVALID_EXTRUDER "M301 Extrusor Invalido "
 #define MSG_HEATING "Calentando..."
 #define MSG_HEATING_COMPLETE "Calentamiento Hecho."
 #define MSG_BED_HEATING "Calentando la base."
@@ -917,6 +922,7 @@
 #define MSG_M105_INVALID_EXTRUDER			"M105 ошибка экструдера "
 #define MSG_ERR_NO_THERMISTORS				"Нет термистра - нет температуры"
 #define MSG_M109_INVALID_EXTRUDER "M109 ошибка экструдера "
+#define MSG_M301_INVALID_EXTRUDER			"M301 ошибка экструдера "
 #define MSG_HEATING							"Нагрев...  "
 #define MSG_HEATING_COMPLETE				"Наргето.    "
 #define MSG_BED_HEATING						"Нагрев стола...     "
@@ -1235,6 +1241,7 @@
 	#define MSG_M105_INVALID_EXTRUDER "M105 Extrusor inválido "
 	#define MSG_ERR_NO_THERMISTORS "Nao ha termistor - no temp"
 	#define MSG_M109_INVALID_EXTRUDER "M109 Extrusor inválido "
+	#define MSG_M301_INVALID_EXTRUDER "M301 Extrusor inválido "
 	#define MSG_HEATING "Aquecendo..."
 	#define MSG_HEATING_COMPLETE "Aquecido."
 	#define MSG_BED_HEATING "Aquecendo a Base."

Marlin/planner.cpp

@@ -478,8 +478,8 @@ void check_axes_activity()
   if((DISABLE_Z) && (z_active == 0)) disable_z();
   if(DISABLE_E) {
     if(e0_active == 0) disable_e0();
-    if(e1_active == 0) disable_e1();
+    if(e1_active == 1) disable_e1();
-    if(e2_active == 0) disable_e2();
+    if(e2_active == 2) disable_e2();
   }
 #if FAN_PIN > -1
   #ifndef FAN_SOFT_PWM

Marlin/temperature.cpp

@@ -34,6 +34,16 @@
 #include "temperature.h"
 #include "watchdog.h"
 
+#if EXTRUDERS > 3
+# error Unsupported number of extruders
+#elif EXTRUDERS > 2
+# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
+#elif EXTRUDERS > 1
+# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
+#else
+# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
+#endif
+
 //===========================================================================
 //=============================public variables============================
 //===========================================================================
@@ -45,9 +55,9 @@ int current_temperature_bed_raw = 0;
 float current_temperature_bed = 0;
 
 #ifdef PIDTEMP  
-  float Kp=DEFAULT_Kp;
+  float Kp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kp, DEFAULT_Kp_E1, DEFAULT_Kp_E2);
-  float Ki=(DEFAULT_Ki*PID_dT);
+  float Ki[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Ki*PID_dT, DEFAULT_Ki_E1*PID_dT, DEFAULT_Ki_E2*PID_dT);
-  float Kd=(DEFAULT_Kd/PID_dT);
+  float Kd[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_Kd/PID_dT, DEFAULT_Kd_E1/PID_dT, DEFAULT_Kd_E2/PID_dT);
   #ifdef PID_ADD_EXTRUSION_RATE
     float Kc=DEFAULT_Kc;
   #endif
@@ -102,15 +112,7 @@ static volatile bool temp_meas_ready = false;
 
 
   
-#if EXTRUDERS > 3
+
-# error Unsupported number of extruders
-#elif EXTRUDERS > 2
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2, v3 }
-#elif EXTRUDERS > 1
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1, v2 }
-#else
-# define ARRAY_BY_EXTRUDERS(v1, v2, v3) { v1 }
-#endif
 
 // Init min and max temp with extreme values to prevent false errors during startup
 static int minttemp_raw[EXTRUDERS] = ARRAY_BY_EXTRUDERS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP );
@@ -292,7 +294,7 @@ void updatePID()
 {
 #ifdef PIDTEMP
   for(int e = 0; e < EXTRUDERS; e++) { 
-     temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;  
+     temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki[e];  
   }
 #endif
 #ifdef PIDTEMPBED
@@ -337,14 +339,14 @@ void manage_heater()
             temp_iState[e] = 0.0;
             pid_reset[e] = false;
           }
-          pTerm[e] = Kp * pid_error[e];
+          pTerm[e] = Kp[e] * pid_error[e];
           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];
+          iTerm[e] = Ki[e] * 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]);
+          dTerm[e] = (Kd[e] * (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);
@@ -577,7 +579,7 @@ void tp_init()
     maxttemp[e] = maxttemp[0];
 #ifdef PIDTEMP
     temp_iState_min[e] = 0.0;
-    temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
+    temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki[e];
 #endif //PIDTEMP
 #ifdef PIDTEMPBED
     temp_iState_min_bed = 0.0;

Marlin/temperature.h

@@ -39,7 +39,10 @@ extern int target_temperature_bed;
 extern float current_temperature_bed;
 
 #ifdef PIDTEMP
-  extern float Kp,Ki,Kd,Kc;
+  extern float Kp[EXTRUDERS];
+  extern float Ki[EXTRUDERS];
+  extern float Kd[EXTRUDERS];
+  extern float Kc;
 #endif
 #ifdef PIDTEMPBED
   extern float bedKp,bedKi,bedKd;