Implement PID_ADD_EXTRUSION_RATE
This commit is contained in:
Scott Lahteine
Richard Wackerbarth
parent
b5987de08a
commit
bc50db9cf6
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@ -41,7 +41,8 @@
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// if Kc is chosen well, the additional required power due to increased melting should be compensated.
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#define PID_ADD_EXTRUSION_RATE
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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#define DEFAULT_Kc (1) //heating power=Kc*(e_speed)
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#define DEFAULT_Kc (100) //heating power=Kc*(e_speed)
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#define LPQ_MAX_LEN 50
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#endif
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#endif
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@ -329,6 +329,10 @@ extern int fanSpeed;
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extern int meas_delay_cm; //delay distance
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#endif
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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extern int lpq_len;
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#endif
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#if ENABLED(FWRETRACT)
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extern bool autoretract_enabled;
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extern bool retracted[EXTRUDERS]; // extruder[n].retracted
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@ -420,6 +420,10 @@ bool target_direction;
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boolean chdkActive = false;
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#endif
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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int lpq_len = 20;
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#endif
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//===========================================================================
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//================================ Functions ================================
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//===========================================================================
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@ -4770,7 +4774,16 @@ inline void gcode_M226() {
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#if ENABLED(PIDTEMP)
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/**
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* M301: Set PID parameters P I D (and optionally C)
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* M301: Set PID parameters P I D (and optionally C, L)
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*
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* P[float] Kp term
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* I[float] Ki term (unscaled)
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* D[float] Kd term (unscaled)
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*
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* With PID_ADD_EXTRUSION_RATE:
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*
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* C[float] Kc term
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* L[float] LPQ length
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*/
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inline void gcode_M301() {
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@ -4784,6 +4797,8 @@ inline void gcode_M226() {
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if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value());
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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if (code_seen('C')) PID_PARAM(Kc, e) = code_value();
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if (code_seen('L')) lpq_len = code_value();
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NOMORE(lpq_len, LPQ_MAX_LEN);
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#endif
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updatePID();
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@ -14,7 +14,7 @@
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*
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*/
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#define EEPROM_VERSION "V20"
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#define EEPROM_VERSION "V21"
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/**
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* V19 EEPROM Layout:
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@ -60,6 +60,7 @@
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* M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1]
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* M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2]
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* M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3]
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* M301 L lpq_len
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*
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* PIDTEMPBED:
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* M304 PID bedKp, bedKi, bedKd
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@ -227,6 +228,11 @@ void Config_StoreSettings() {
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} // Extruders Loop
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#if DISABLED(PID_ADD_EXTRUSION_RATE)
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int lpq_len = 20;
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#endif
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EEPROM_WRITE_VAR(i, lpq_len);
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#if DISABLED(PIDTEMPBED)
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float bedKp = DUMMY_PID_VALUE, bedKi = DUMMY_PID_VALUE, bedKd = DUMMY_PID_VALUE;
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#endif
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@ -393,6 +399,11 @@ void Config_RetrieveSettings() {
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for (int q=16; q--;) EEPROM_READ_VAR(i, dummy); // 4x Kp, Ki, Kd, Kc
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#endif // !PIDTEMP
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#if DISABLED(PID_ADD_EXTRUSION_RATE)
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int lpq_len;
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#endif
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EEPROM_READ_VAR(i, lpq_len);
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#if DISABLED(PIDTEMPBED)
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float bedKp, bedKi, bedKd;
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#endif
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@ -539,6 +550,9 @@ void Config_ResetDefault() {
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PID_PARAM(Kc, e) = DEFAULT_Kc;
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#endif
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}
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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lpq_len = 20; // default last-position-queue size
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#endif
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// call updatePID (similar to when we have processed M301)
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updatePID();
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#endif // PIDTEMP
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@ -744,7 +758,8 @@ void Config_PrintSettings(bool forReplay) {
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SERIAL_ECHOPAIR(" D", unscalePID_d(PID_PARAM(Kd, i)));
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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SERIAL_ECHOPAIR(" C", PID_PARAM(Kc, i));
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#endif
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if (i == 0) SERIAL_ECHOPAIR(" L", lpq_len);
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#endif
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SERIAL_EOL;
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}
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}
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@ -758,7 +773,8 @@ void Config_PrintSettings(bool forReplay) {
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SERIAL_ECHOPAIR(" D", unscalePID_d(PID_PARAM(Kd, 0)));
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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SERIAL_ECHOPAIR(" C", PID_PARAM(Kc, 0));
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#endif
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SERIAL_ECHOPAIR(" L", lpq_len);
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#endif
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SERIAL_EOL;
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}
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#endif // PIDTEMP
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@ -200,6 +200,7 @@
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#define MSG_PID_DEBUG_PTERM " pTerm "
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#define MSG_PID_DEBUG_ITERM " iTerm "
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#define MSG_PID_DEBUG_DTERM " dTerm "
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#define MSG_PID_DEBUG_CTERM " cTerm "
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#define MSG_INVALID_EXTRUDER_NUM " - Invalid extruder number !"
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#define MSG_HEATER_BED "bed"
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@ -99,6 +99,12 @@ static volatile bool temp_meas_ready = false;
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static float pTerm[EXTRUDERS];
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static float iTerm[EXTRUDERS];
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static float dTerm[EXTRUDERS];
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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static float cTerm[EXTRUDERS];
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static long last_position[EXTRUDERS];
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static long lpq[LPQ_MAX_LEN];
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static int lpq_ptr = 0;
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#endif
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//int output;
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static float pid_error[EXTRUDERS];
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static float temp_iState_min[EXTRUDERS];
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@ -357,6 +363,9 @@ void updatePID() {
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#if ENABLED(PIDTEMP)
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for (int e = 0; e < EXTRUDERS; e++) {
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temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki,e);
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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last_position[e] = 0;
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#endif
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}
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#endif
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#if ENABLED(PIDTEMPBED)
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@ -497,6 +506,23 @@ float get_pid_output(int e) {
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iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
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pid_output = pTerm[e] + iTerm[e] - dTerm[e];
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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cTerm[e] = 0;
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if (e == active_extruder) {
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long e_position = st_get_position(E_AXIS);
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if (e_position > last_position[e]) {
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lpq[lpq_ptr++] = e_position - last_position[e];
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last_position[e] = e_position;
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} else {
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lpq[lpq_ptr++] = 0;
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}
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if (lpq_ptr >= lpq_len) lpq_ptr = 0;
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cTerm[e] = (lpq[lpq_ptr] / axis_steps_per_unit[E_AXIS]) * Kc;
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pid_output += cTerm[e];
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}
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#endif //PID_ADD_EXTRUSION_RATE
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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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pid_output = PID_MAX;
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@ -512,18 +538,16 @@ float get_pid_output(int e) {
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#if ENABLED(PID_DEBUG)
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SERIAL_ECHO_START;
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SERIAL_ECHO(MSG_PID_DEBUG);
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SERIAL_ECHO(e);
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SERIAL_ECHO(MSG_PID_DEBUG_INPUT);
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SERIAL_ECHO(current_temperature[e]);
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SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT);
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SERIAL_ECHO(pid_output);
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SERIAL_ECHO(MSG_PID_DEBUG_PTERM);
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SERIAL_ECHO(pTerm[e]);
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SERIAL_ECHO(MSG_PID_DEBUG_ITERM);
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SERIAL_ECHO(iTerm[e]);
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SERIAL_ECHO(MSG_PID_DEBUG_DTERM);
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SERIAL_ECHOLN(dTerm[e]);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG, e);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_INPUT, current_temperature[e]);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_OUTPUT, pid_output);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_PTERM, pTerm[e]);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_ITERM, iTerm[e]);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_DTERM, dTerm[e]);
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_CTERM, cTerm[e]);
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#endif
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SERIAL_EOL;
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#endif //PID_DEBUG
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#else /* PID off */
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@ -837,6 +861,9 @@ void tp_init() {
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#if ENABLED(PIDTEMP)
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temp_iState_min[e] = 0.0;
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temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki,e);
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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last_position[e] = 0;
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#endif
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#endif //PIDTEMP
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#if ENABLED(PIDTEMPBED)
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temp_iState_min_bed = 0.0;
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