Apply indentation to gcode_M303, PID_autotune
This commit is contained in:
Scott Lahteine
parent
ba66336503
commit
a26d70e932
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@ -5559,25 +5559,25 @@ inline void gcode_M226() {
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* U<bool> with a non-zero value will apply the result to current settings
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*/
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inline void gcode_M303() {
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#if ENABLED(PIDTEMP)
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int e = code_seen('E') ? code_value_short() : 0;
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int c = code_seen('C') ? code_value_short() : 5;
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bool u = code_seen('U') && code_value_short() != 0;
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#if ENABLED(PIDTEMP)
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int e = code_seen('E') ? code_value_short() : 0;
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int c = code_seen('C') ? code_value_short() : 5;
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bool u = code_seen('U') && code_value_short() != 0;
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float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0);
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float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0);
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if (e >= 0 && e < EXTRUDERS)
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target_extruder = e;
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if (e >= 0 && e < EXTRUDERS)
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target_extruder = e;
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KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
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KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
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PID_autotune(temp, e, c, u);
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PID_autotune(temp, e, c, u);
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KEEPALIVE_STATE(IN_HANDLER);
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#else
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
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#endif
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KEEPALIVE_STATE(IN_HANDLER);
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#else
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
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#endif
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}
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#if ENABLED(SCARA)
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@ -223,176 +223,176 @@ static void updateTemperaturesFromRawValues();
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#if ENABLED(PIDTEMP)
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void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false*/) {
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float input = 0.0;
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int cycles = 0;
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bool heating = true;
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void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false*/) {
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float input = 0.0;
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int cycles = 0;
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bool heating = true;
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millis_t temp_ms = millis(), t1 = temp_ms, t2 = temp_ms;
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long t_high = 0, t_low = 0;
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millis_t temp_ms = millis(), t1 = temp_ms, t2 = temp_ms;
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long t_high = 0, t_low = 0;
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long bias, d;
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float Ku, Tu;
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float workKp = 0, workKi = 0, workKd = 0;
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float max = 0, min = 10000;
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long bias, d;
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float Ku, Tu;
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float workKp = 0, workKi = 0, workKd = 0;
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float max = 0, min = 10000;
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#if HAS_AUTO_FAN
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millis_t next_auto_fan_check_ms = temp_ms + 2500UL;
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#endif
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if (extruder >= EXTRUDERS
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#if !HAS_TEMP_BED
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|| extruder < 0
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#if HAS_AUTO_FAN
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millis_t next_auto_fan_check_ms = temp_ms + 2500UL;
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#endif
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) {
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SERIAL_ECHOLN(MSG_PID_BAD_EXTRUDER_NUM);
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return;
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}
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SERIAL_ECHOLN(MSG_PID_AUTOTUNE_START);
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disable_all_heaters(); // switch off all heaters.
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if (extruder < 0)
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soft_pwm_bed = bias = d = (MAX_BED_POWER) / 2;
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else
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soft_pwm[extruder] = bias = d = (PID_MAX) / 2;
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// PID Tuning loop
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for (;;) {
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millis_t ms = millis();
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if (temp_meas_ready) { // temp sample ready
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updateTemperaturesFromRawValues();
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input = (extruder < 0) ? current_temperature_bed : current_temperature[extruder];
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max = max(max, input);
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min = min(min, input);
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#if HAS_AUTO_FAN
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if (ELAPSED(ms, next_auto_fan_check_ms)) {
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checkExtruderAutoFans();
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next_auto_fan_check_ms = ms + 2500UL;
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}
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if (extruder >= EXTRUDERS
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#if !HAS_TEMP_BED
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|| extruder < 0
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#endif
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) {
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SERIAL_ECHOLN(MSG_PID_BAD_EXTRUDER_NUM);
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return;
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}
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if (heating && input > temp) {
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if (ELAPSED(ms, t2 + 5000UL)) {
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heating = false;
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if (extruder < 0)
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soft_pwm_bed = (bias - d) >> 1;
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else
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soft_pwm[extruder] = (bias - d) >> 1;
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t1 = ms;
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t_high = t1 - t2;
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max = temp;
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}
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}
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SERIAL_ECHOLN(MSG_PID_AUTOTUNE_START);
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if (!heating && input < temp) {
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if (ELAPSED(ms, t1 + 5000UL)) {
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heating = true;
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t2 = ms;
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t_low = t2 - t1;
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if (cycles > 0) {
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long max_pow = extruder < 0 ? MAX_BED_POWER : PID_MAX;
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bias += (d * (t_high - t_low)) / (t_low + t_high);
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bias = constrain(bias, 20, max_pow - 20);
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d = (bias > max_pow / 2) ? max_pow - 1 - bias : bias;
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disable_all_heaters(); // switch off all heaters.
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SERIAL_PROTOCOLPGM(MSG_BIAS); SERIAL_PROTOCOL(bias);
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SERIAL_PROTOCOLPGM(MSG_D); SERIAL_PROTOCOL(d);
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SERIAL_PROTOCOLPGM(MSG_T_MIN); SERIAL_PROTOCOL(min);
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SERIAL_PROTOCOLPGM(MSG_T_MAX); SERIAL_PROTOCOLLN(max);
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if (cycles > 2) {
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Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
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Tu = ((float)(t_low + t_high) / 1000.0);
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SERIAL_PROTOCOLPGM(MSG_KU); SERIAL_PROTOCOL(Ku);
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SERIAL_PROTOCOLPGM(MSG_TU); SERIAL_PROTOCOLLN(Tu);
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workKp = 0.6 * Ku;
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workKi = 2 * workKp / Tu;
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workKd = workKp * Tu / 8;
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SERIAL_PROTOCOLLNPGM(MSG_CLASSIC_PID);
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SERIAL_PROTOCOLPGM(MSG_KP); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM(MSG_KI); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM(MSG_KD); SERIAL_PROTOCOLLN(workKd);
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/**
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workKp = 0.33*Ku;
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workKi = workKp/Tu;
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workKd = workKp*Tu/3;
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SERIAL_PROTOCOLLNPGM(" Some overshoot ");
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SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(workKd);
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workKp = 0.2*Ku;
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workKi = 2*workKp/Tu;
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workKd = workKp*Tu/3;
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SERIAL_PROTOCOLLNPGM(" No overshoot ");
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SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(workKd);
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*/
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}
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if (extruder < 0)
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soft_pwm_bed = bias = d = (MAX_BED_POWER) / 2;
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else
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soft_pwm[extruder] = bias = d = (PID_MAX) / 2;
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// PID Tuning loop
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for (;;) {
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millis_t ms = millis();
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if (temp_meas_ready) { // temp sample ready
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updateTemperaturesFromRawValues();
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input = (extruder < 0) ? current_temperature_bed : current_temperature[extruder];
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max = max(max, input);
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min = min(min, input);
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#if HAS_AUTO_FAN
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if (ELAPSED(ms, next_auto_fan_check_ms)) {
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checkExtruderAutoFans();
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next_auto_fan_check_ms = ms + 2500UL;
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}
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#endif
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if (heating && input > temp) {
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if (ELAPSED(ms, t2 + 5000UL)) {
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heating = false;
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if (extruder < 0)
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soft_pwm_bed = (bias - d) >> 1;
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else
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soft_pwm[extruder] = (bias - d) >> 1;
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t1 = ms;
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t_high = t1 - t2;
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max = temp;
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}
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}
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if (!heating && input < temp) {
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if (ELAPSED(ms, t1 + 5000UL)) {
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heating = true;
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t2 = ms;
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t_low = t2 - t1;
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if (cycles > 0) {
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long max_pow = extruder < 0 ? MAX_BED_POWER : PID_MAX;
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bias += (d * (t_high - t_low)) / (t_low + t_high);
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bias = constrain(bias, 20, max_pow - 20);
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d = (bias > max_pow / 2) ? max_pow - 1 - bias : bias;
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SERIAL_PROTOCOLPGM(MSG_BIAS); SERIAL_PROTOCOL(bias);
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SERIAL_PROTOCOLPGM(MSG_D); SERIAL_PROTOCOL(d);
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SERIAL_PROTOCOLPGM(MSG_T_MIN); SERIAL_PROTOCOL(min);
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SERIAL_PROTOCOLPGM(MSG_T_MAX); SERIAL_PROTOCOLLN(max);
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if (cycles > 2) {
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Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
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Tu = ((float)(t_low + t_high) / 1000.0);
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SERIAL_PROTOCOLPGM(MSG_KU); SERIAL_PROTOCOL(Ku);
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SERIAL_PROTOCOLPGM(MSG_TU); SERIAL_PROTOCOLLN(Tu);
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workKp = 0.6 * Ku;
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workKi = 2 * workKp / Tu;
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workKd = workKp * Tu / 8;
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SERIAL_PROTOCOLLNPGM(MSG_CLASSIC_PID);
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SERIAL_PROTOCOLPGM(MSG_KP); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM(MSG_KI); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM(MSG_KD); SERIAL_PROTOCOLLN(workKd);
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/**
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workKp = 0.33*Ku;
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workKi = workKp/Tu;
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workKd = workKp*Tu/3;
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SERIAL_PROTOCOLLNPGM(" Some overshoot ");
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SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(workKd);
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workKp = 0.2*Ku;
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workKi = 2*workKp/Tu;
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workKd = workKp*Tu/3;
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SERIAL_PROTOCOLLNPGM(" No overshoot ");
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SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(workKd);
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*/
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}
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}
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if (extruder < 0)
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soft_pwm_bed = (bias + d) >> 1;
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else
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soft_pwm[extruder] = (bias + d) >> 1;
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cycles++;
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min = temp;
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}
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if (extruder < 0)
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soft_pwm_bed = (bias + d) >> 1;
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else
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soft_pwm[extruder] = (bias + d) >> 1;
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cycles++;
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min = temp;
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}
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}
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}
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#define MAX_OVERSHOOT_PID_AUTOTUNE 20
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if (input > temp + MAX_OVERSHOOT_PID_AUTOTUNE) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_TEMP_TOO_HIGH);
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return;
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}
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// Every 2 seconds...
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if (ELAPSED(ms, temp_ms + 2000UL)) {
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#if HAS_TEMP_HOTEND || HAS_TEMP_BED
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print_heaterstates();
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SERIAL_EOL;
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#endif
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#define MAX_OVERSHOOT_PID_AUTOTUNE 20
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if (input > temp + MAX_OVERSHOOT_PID_AUTOTUNE) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_TEMP_TOO_HIGH);
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return;
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}
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// Every 2 seconds...
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if (ELAPSED(ms, temp_ms + 2000UL)) {
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#if HAS_TEMP_HOTEND || HAS_TEMP_BED
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print_heaterstates();
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SERIAL_EOL;
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#endif
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temp_ms = ms;
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} // every 2 seconds
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// Over 2 minutes?
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if (((ms - t1) + (ms - t2)) > (10L * 60L * 1000L * 2L)) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_TIMEOUT);
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return;
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}
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if (cycles > ncycles) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED);
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const char* estring = extruder < 0 ? "bed" : "";
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SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kp "); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Ki "); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kd "); SERIAL_PROTOCOLLN(workKd);
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temp_ms = ms;
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} // every 2 seconds
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// Over 2 minutes?
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if (((ms - t1) + (ms - t2)) > (10L * 60L * 1000L * 2L)) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_TIMEOUT);
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return;
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}
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if (cycles > ncycles) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED);
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const char* estring = extruder < 0 ? "bed" : "";
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SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kp "); SERIAL_PROTOCOLLN(workKp);
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SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Ki "); SERIAL_PROTOCOLLN(workKi);
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SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kd "); SERIAL_PROTOCOLLN(workKd);
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// Use the result? (As with "M303 U1")
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if (set_result) {
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if (extruder < 0) {
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#if ENABLED(PIDTEMPBED)
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bedKp = workKp;
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bedKi = scalePID_i(workKi);
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bedKd = scalePID_d(workKd);
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// Use the result? (As with "M303 U1")
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if (set_result) {
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if (extruder < 0) {
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#if ENABLED(PIDTEMPBED)
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bedKp = workKp;
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bedKi = scalePID_i(workKi);
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bedKd = scalePID_d(workKd);
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updatePID();
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#endif
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}
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else {
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PID_PARAM(Kp, extruder) = workKp;
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PID_PARAM(Ki, extruder) = scalePID_i(workKi);
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PID_PARAM(Kd, extruder) = scalePID_d(workKd);
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updatePID();
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#endif
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}
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else {
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PID_PARAM(Kp, extruder) = workKp;
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PID_PARAM(Ki, extruder) = scalePID_i(workKi);
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PID_PARAM(Kd, extruder) = scalePID_d(workKd);
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updatePID();
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}
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}
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return;
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}
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return;
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lcd_update();
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}
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lcd_update();
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}
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}
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#endif // PIDTEMP
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