From d4a848c72a1f38cb9631feffbf4face4eea1338b Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 16 Apr 2016 19:19:40 -0700 Subject: [PATCH] Fix broken PID_PARAMS_PER_EXTRUDER As noted by @FalloutBe in #3519 --- Marlin/temperature.cpp | 58 +++++++++++++++++++++--------------------- Marlin/temperature.h | 10 ++++++-- 2 files changed, 37 insertions(+), 31 deletions(-) diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index 0975e4fafb..69906001db 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -231,7 +231,7 @@ void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false long bias, d; float Ku, Tu; - float Kp = 0, Ki = 0, Kd = 0; + float workKp = 0, workKi = 0, workKd = 0; float max = 0, min = 10000; #if HAS_AUTO_FAN @@ -309,28 +309,28 @@ void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false Tu = ((float)(t_low + t_high) / 1000.0); SERIAL_PROTOCOLPGM(MSG_KU); SERIAL_PROTOCOL(Ku); SERIAL_PROTOCOLPGM(MSG_TU); SERIAL_PROTOCOLLN(Tu); - Kp = 0.6 * Ku; - Ki = 2 * Kp / Tu; - Kd = Kp * Tu / 8; + workKp = 0.6 * Ku; + workKi = 2 * workKp / Tu; + workKd = workKp * Tu / 8; SERIAL_PROTOCOLLNPGM(MSG_CLASSIC_PID); - SERIAL_PROTOCOLPGM(MSG_KP); SERIAL_PROTOCOLLN(Kp); - SERIAL_PROTOCOLPGM(MSG_KI); SERIAL_PROTOCOLLN(Ki); - SERIAL_PROTOCOLPGM(MSG_KD); SERIAL_PROTOCOLLN(Kd); + SERIAL_PROTOCOLPGM(MSG_KP); SERIAL_PROTOCOLLN(workKp); + SERIAL_PROTOCOLPGM(MSG_KI); SERIAL_PROTOCOLLN(workKi); + SERIAL_PROTOCOLPGM(MSG_KD); SERIAL_PROTOCOLLN(workKd); /** - Kp = 0.33*Ku; - Ki = Kp/Tu; - Kd = Kp*Tu/3; + workKp = 0.33*Ku; + workKi = workKp/Tu; + workKd = workKp*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(workKp); + SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(workKi); + SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(workKd); + workKp = 0.2*Ku; + workKi = 2*workKp/Tu; + workKd = workKp*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(workKp); + SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(workKi); + SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(workKd); */ } } @@ -365,24 +365,24 @@ void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false if (cycles > ncycles) { SERIAL_PROTOCOLLNPGM(MSG_PID_AUTOTUNE_FINISHED); const char* estring = extruder < 0 ? "bed" : ""; - SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kp "); SERIAL_PROTOCOLLN(Kp); - SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Ki "); SERIAL_PROTOCOLLN(Ki); - SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kd "); SERIAL_PROTOCOLLN(Kd); + SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kp "); SERIAL_PROTOCOLLN(workKp); + SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Ki "); SERIAL_PROTOCOLLN(workKi); + SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kd "); SERIAL_PROTOCOLLN(workKd); // Use the result? (As with "M303 U1") if (set_result) { if (extruder < 0) { #if ENABLED(PIDTEMPBED) - bedKp = Kp; - bedKi = scalePID_i(Ki); - bedKd = scalePID_d(Kd); + bedKp = workKp; + bedKi = scalePID_i(workKi); + bedKd = scalePID_d(workKd); updatePID(); #endif } else { - PID_PARAM(Kp, extruder) = Kp; - PID_PARAM(Ki, e) = scalePID_i(Ki); - PID_PARAM(Kd, e) = scalePID_d(Kd); + PID_PARAM(Kp, extruder) = workKp; + PID_PARAM(Ki, extruder) = scalePID_i(workKi); + PID_PARAM(Kd, extruder) = scalePID_d(workKd); updatePID(); } } @@ -395,7 +395,7 @@ void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false void updatePID() { #if ENABLED(PIDTEMP) for (int e = 0; e < EXTRUDERS; e++) { - temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki,e); + temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki, e); #if ENABLED(PID_ADD_EXTRUSION_RATE) last_position[e] = 0; #endif diff --git a/Marlin/temperature.h b/Marlin/temperature.h index edccdfc5d0..9747d07acb 100644 --- a/Marlin/temperature.h +++ b/Marlin/temperature.h @@ -82,10 +82,16 @@ extern float current_temperature_bed; #if ENABLED(PIDTEMP) #if ENABLED(PID_PARAMS_PER_EXTRUDER) - extern float Kp[EXTRUDERS], Ki[EXTRUDERS], Kd[EXTRUDERS], Kc[EXTRUDERS]; // one param per extruder + extern float Kp[EXTRUDERS], Ki[EXTRUDERS], Kd[EXTRUDERS]; // one param per extruder + #if ENABLED(PID_ADD_EXTRUSION_RATE) + extern float Kc[EXTRUDERS]; + #endif #define PID_PARAM(param, e) param[e] // use macro to point to array value #else - extern float Kp, Ki, Kd, Kc; // one param per extruder - saves 20 or 36 bytes of ram (inc array pointer) + extern float Kp, Ki, Kd; // one param per extruder - saves 20 or 36 bytes of ram (inc array pointer) + #if ENABLED(PID_ADD_EXTRUSION_RATE) + extern float Kc; + #endif #define PID_PARAM(param, e) param // use macro to point directly to value #endif // PID_PARAMS_PER_EXTRUDER float scalePID_i(float i);