cleanup for pull
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@ -95,7 +95,6 @@
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// PID settings:
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// PID settings:
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// Comment the following line to disable PID and enable bang-bang.
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// Comment the following line to disable PID and enable bang-bang.
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#define PIDTEMP
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#define PIDTEMP
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#define PIDTEMPBED
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#define PID_MAX 255 // limits current to nozzle; 255=full current
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#define PID_MAX 255 // limits current to nozzle; 255=full current
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#ifdef PIDTEMP
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#ifdef PIDTEMP
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//#define PID_DEBUG // Sends debug data to the serial port.
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//#define PID_DEBUG // Sends debug data to the serial port.
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@ -115,22 +114,50 @@
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// #define DEFAULT_Ki 0.1
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// #define DEFAULT_Ki 0.1
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// #define DEFAULT_Kd 12
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// #define DEFAULT_Kd 12
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//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, argressive factor of .15 (vs .1, 1, 10)
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#define DEFAULT_bedKp 10.00
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#define DEFAULT_bedKi .023
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#define DEFAULT_bedKd 305.4
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//mark from pidautotune
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// #define DEFAULT_bedKp 97.1
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// #define DEFAULT_bedKi 1.41
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// #define DEFAULT_bedKd 1675.16
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// Mendel Parts V9 on 12V
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// Mendel Parts V9 on 12V
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// #define DEFAULT_Kp 63.0
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// #define DEFAULT_Kp 63.0
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// #define DEFAULT_Ki 2.25
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// #define DEFAULT_Ki 2.25
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// #define DEFAULT_Kd 440
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// #define DEFAULT_Kd 440
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#endif // PIDTEMP
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#endif // PIDTEMP
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// Bed Temperature Control
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// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
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//
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// uncomment this to enable PID on the bed. It uses the same ferquency PWM as the extruder.
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// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
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// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
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// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
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// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly
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// shouldn't use bed PID until someone else verifies your hardware works.
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// If this is enabled, find your own PID constants below.
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//#define PIDTEMPBED
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//
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//#define BED_LIMIT_SWITCHING
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// This sets the max power delived to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
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// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
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// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
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// so you shouldn't use it unless you are OK with PWM on your bed. (see the comment on enabling PIDTEMPBED)
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#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
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#ifdef PIDTEMPBED
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//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
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//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, argressive factor of .15 (vs .1, 1, 10)
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#define DEFAULT_bedKp 10.00
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#define DEFAULT_bedKi .023
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#define DEFAULT_bedKd 305.4
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//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
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//from pidautotune
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// #define DEFAULT_bedKp 97.1
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// #define DEFAULT_bedKi 1.41
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// #define DEFAULT_bedKd 1675.16
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// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
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#endif // PIDTEMPBED
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//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
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//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
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//can be software-disabled for whatever purposes by
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//can be software-disabled for whatever purposes by
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#define PREVENT_DANGEROUS_EXTRUDE
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#define PREVENT_DANGEROUS_EXTRUDE
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@ -5,13 +5,10 @@
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//=============================Thermal Settings ============================
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//=============================Thermal Settings ============================
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//===========================================================================
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//===========================================================================
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// Select one of these only to define how the bed temp is read.
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//
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//#define BED_LIMIT_SWITCHING
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#ifdef BED_LIMIT_SWITCHING
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#ifdef BED_LIMIT_SWITCHING
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#define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS
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#define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS
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#endif
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#endif
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#define BED_CHECK_INTERVAL 5000 //ms
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#define BED_CHECK_INTERVAL 5000 //ms between checks in bang-bang control
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//// Heating sanity check:
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//// Heating sanity check:
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// This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
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// This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
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@ -153,8 +153,7 @@ void PID_autotune(float temp, int extruder, int ncycles)
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long t_high;
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long t_high;
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long t_low;
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long t_low;
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long bias=PID_MAX/2;
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long bias, d;
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long d = PID_MAX/2;
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float Ku, Tu;
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float Ku, Tu;
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float Kp, Ki, Kd;
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float Kp, Ki, Kd;
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float max, min;
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float max, min;
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@ -173,9 +172,15 @@ void PID_autotune(float temp, int extruder, int ncycles)
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disable_heater(); // switch off all heaters.
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disable_heater(); // switch off all heaters.
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if (extruder<0)
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if (extruder<0)
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soft_pwm_bed = PID_MAX/2;
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{
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soft_pwm_bed = (PID_MAX_BED)/2;
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bias = d = (PID_MAX_BED)/2;
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}
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else
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else
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soft_pwm[extruder] = PID_MAX/2;
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{
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soft_pwm[extruder] = (PID_MAX)/2;
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bias = d = (PID_MAX)/2;
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}
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@ -209,8 +214,8 @@ void PID_autotune(float temp, int extruder, int ncycles)
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t_low=t2 - t1;
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t_low=t2 - t1;
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if(cycles > 0) {
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if(cycles > 0) {
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bias += (d*(t_high - t_low))/(t_low + t_high);
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bias += (d*(t_high - t_low))/(t_low + t_high);
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bias = constrain(bias, 20 ,PID_MAX-20);
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bias = constrain(bias, 20 ,(extruder<0?(PID_MAX_BED):(PID_MAX))-20);
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if(bias > PID_MAX/2) d = PID_MAX - 1 - bias;
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if(bias > (extruder<0?(PID_MAX_BED):(PID_MAX))/2) d = (extruder<0?(PID_MAX_BED):(PID_MAX)) - 1 - bias;
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else d = bias;
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else d = bias;
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SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);
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SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);
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@ -414,10 +419,10 @@ void manage_heater()
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dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
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dTerm_bed= (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
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temp_dState_bed = pid_input;
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temp_dState_bed = pid_input;
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pid_output = constrain(pTerm_bed + iTerm_bed - dTerm_bed, 0, PID_MAX);
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pid_output = constrain(pTerm_bed + iTerm_bed - dTerm_bed, 0, PID_MAX_BED);
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#else
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#else
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pid_output = constrain(pid_setpoint_bed, 0, PID_MAX);
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pid_output = constrain(pid_setpoint_bed, 0, PID_MAX_BED);
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#endif //PID_OPENLOOP
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#endif //PID_OPENLOOP
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if((current_raw_bed > bed_minttemp) && (current_raw_bed < bed_maxttemp))
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if((current_raw_bed > bed_minttemp) && (current_raw_bed < bed_maxttemp))
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@ -437,7 +442,7 @@ void manage_heater()
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}
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}
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else
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else
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{
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{
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soft_pwm_bed = 100;
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soft_pwm_bed = PID_MAX_BED>>1;
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}
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}
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}
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}
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else {
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else {
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@ -454,7 +459,7 @@ void manage_heater()
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else
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else
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if(current_raw_bed <= target_bed_low_temp)
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if(current_raw_bed <= target_bed_low_temp)
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{
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{
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soft_pwm_bed = 100;
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soft_pwm_bed = PID_MAX_BED>>1;
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}
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}
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}
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}
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else {
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else {
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