Merge pull request #9040 from thinkyhead/bf2_m303_bughunt
[2.0.x] M303 pid autotune cleanup, comment
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Scott Lahteine
GitHub
commit
41246b45f1
@ -26,7 +26,7 @@
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/**
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* M303: PID relay autotune
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*
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* S<temperature> sets the target temperature. (default 150C)
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* S<temperature> sets the target temperature. (default 150C / 70C)
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* E<extruder> (-1 for the bed) (default 0)
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* C<cycles>
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* U<bool> with a non-zero value will apply the result to current settings
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@ -219,8 +219,8 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
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* Alternately heat and cool the nozzle, observing its behavior to
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* determine the best PID values to achieve a stable temperature.
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*/
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void Temperature::PID_autotune(const float temp, const int8_t hotend, const int8_t ncycles, const bool set_result/*=false*/) {
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float input = 0.0;
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void Temperature::PID_autotune(const float &target, const int8_t hotend, const int8_t ncycles, const bool set_result/*=false*/) {
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float current = 0.0;
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int cycles = 0;
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bool heating = true;
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@ -232,34 +232,19 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
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workKp = 0, workKi = 0, workKd = 0,
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max = 0, min = 10000;
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#define HAS_TP_BED (ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED))
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#if HAS_TP_BED && ENABLED(THERMAL_PROTECTION_HOTENDS) && ENABLED(PIDTEMP)
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#define TV(B,H) (hotend < 0 ? (B) : (H))
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#elif HAS_TP_BED
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#define TV(B,H) (B)
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#else
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#define TV(B,H) (H)
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#endif
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#if WATCH_THE_BED || WATCH_HOTENDS
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const float watch_temp_target = temp -
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#if ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED) && ENABLED(THERMAL_PROTECTION_HOTENDS) && ENABLED(PIDTEMP)
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(hotend < 0 ? (WATCH_BED_TEMP_INCREASE + TEMP_BED_HYSTERESIS + 1) : (WATCH_TEMP_INCREASE + TEMP_HYSTERESIS + 1))
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#elif ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED)
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(WATCH_BED_TEMP_INCREASE + TEMP_BED_HYSTERESIS + 1)
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#else
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(WATCH_TEMP_INCREASE + TEMP_HYSTERESIS + 1)
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#endif
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;
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const int8_t watch_temp_period =
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#if ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED) && ENABLED(THERMAL_PROTECTION_HOTENDS) && ENABLED(PIDTEMP)
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hotend < 0 ? WATCH_BED_TEMP_PERIOD : WATCH_TEMP_PERIOD
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#elif ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED)
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WATCH_BED_TEMP_PERIOD
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#else
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WATCH_TEMP_PERIOD
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#endif
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;
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const int8_t watch_temp_increase =
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#if ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED) && ENABLED(THERMAL_PROTECTION_HOTENDS) && ENABLED(PIDTEMP)
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hotend < 0 ? WATCH_BED_TEMP_INCREASE : WATCH_TEMP_INCREASE
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#elif ENABLED(THERMAL_PROTECTION_BED) && ENABLED(PIDTEMPBED)
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WATCH_BED_TEMP_INCREASE
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#else
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WATCH_TEMP_INCREASE
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#endif
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;
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const int8_t watch_temp_period = TV(WATCH_BED_TEMP_PERIOD, WATCH_TEMP_PERIOD),
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watch_temp_increase = TV(WATCH_BED_TEMP_INCREASE, WATCH_TEMP_INCREASE);
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const float watch_temp_target = target - float(watch_temp_increase + TV(TEMP_BED_HYSTERESIS, TEMP_HYSTERESIS) + 1);
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millis_t temp_change_ms = next_temp_ms + watch_temp_period * 1000UL;
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float next_watch_temp = 0.0;
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bool heated = false;
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@ -300,7 +285,7 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
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soft_pwm_amount_bed = bias = d = (MAX_BED_POWER) >> 1;
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#endif
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wait_for_heatup = true;
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wait_for_heatup = true; // Can be interrupted with M108
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// PID Tuning loop
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while (wait_for_heatup) {
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@ -310,7 +295,8 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
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if (temp_meas_ready) { // temp sample ready
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updateTemperaturesFromRawValues();
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input =
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// Get the current temperature and constrain it
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current =
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#if HAS_PID_FOR_BOTH
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hotend < 0 ? current_temperature_bed : current_temperature[hotend]
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#elif ENABLED(PIDTEMP)
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@ -319,9 +305,8 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
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current_temperature_bed
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#endif
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;
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NOLESS(max, input);
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NOMORE(min, input);
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NOLESS(max, current);
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NOMORE(min, current);
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#if HAS_AUTO_FAN
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if (ELAPSED(ms, next_auto_fan_check_ms)) {
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@ -330,7 +315,7 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
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}
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#endif
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if (heating && input > temp) {
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if (heating && current > target) {
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if (ELAPSED(ms, t2 + 5000UL)) {
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heating = false;
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#if HAS_PID_FOR_BOTH
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@ -345,11 +330,11 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
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#endif
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t1 = ms;
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t_high = t1 - t2;
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max = temp;
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max = target;
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}
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}
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if (!heating && input < temp) {
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if (!heating && current < target) {
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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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@ -373,7 +358,7 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
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SERIAL_PROTOCOLPAIR(MSG_T_MIN, min);
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SERIAL_PROTOCOLPAIR(MSG_T_MAX, max);
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if (cycles > 2) {
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Ku = (4.0 * d) / (M_PI * (max - min) * 0.5); // i.e., CIRCLE_CIRC((max - min) * 0.25)
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Ku = (4.0 * d) / (M_PI * (max - min) * 0.5);
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Tu = ((float)(t_low + t_high) * 0.001);
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SERIAL_PROTOCOLPAIR(MSG_KU, Ku);
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SERIAL_PROTOCOLPAIR(MSG_TU, Tu);
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@ -413,41 +398,48 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS],
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soft_pwm_amount_bed = (bias + d) >> 1;
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#endif
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cycles++;
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min = temp;
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min = target;
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}
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}
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}
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// Did the temperature overshoot very far?
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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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if (current > target + MAX_OVERSHOOT_PID_AUTOTUNE) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_TEMP_TOO_HIGH);
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break;
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}
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// Every 2 seconds...
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// Report heater states every 2 seconds
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if (ELAPSED(ms, next_temp_ms)) {
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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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next_temp_ms = ms + 2000UL;
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// Make sure heating is actually working
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#if WATCH_THE_BED || WATCH_HOTENDS
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if (!heated && input > next_watch_temp) {
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if (input > watch_temp_target) heated = true;
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next_watch_temp = input + watch_temp_increase;
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temp_change_ms = ms + watch_temp_period * 1000UL;
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if (!heated) { // If not yet reached target...
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if (current > next_watch_temp) { // Over the watch temp?
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next_watch_temp = current + watch_temp_increase; // - set the next temp to watch for
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temp_change_ms = ms + watch_temp_period * 1000UL; // - move the expiration timer up
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if (current > watch_temp_target) heated = true; // - Flag if target temperature reached
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}
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else if (!heated && ELAPSED(ms, temp_change_ms))
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else if (ELAPSED(ms, temp_change_ms)) // Watch timer expired
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_temp_error(hotend, PSTR(MSG_T_HEATING_FAILED), PSTR(MSG_HEATING_FAILED_LCD));
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else if (heated && input < temp - MAX_OVERSHOOT_PID_AUTOTUNE)
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}
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else if (current < target - (MAX_OVERSHOOT_PID_AUTOTUNE)) // Heated, then temperature fell too far?
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_temp_error(hotend, PSTR(MSG_T_THERMAL_RUNAWAY), PSTR(MSG_THERMAL_RUNAWAY));
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#endif
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} // every 2 seconds
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// Timeout after 20 minutes since the last undershoot/overshoot cycle
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if (((ms - t1) + (ms - t2)) > (20L * 60L * 1000L)) {
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SERIAL_PROTOCOLLNPGM(MSG_PID_TIMEOUT);
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break;
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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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@ -445,7 +445,7 @@ class Temperature {
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* Perform auto-tuning for hotend or bed in response to M303
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*/
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#if HAS_PID_HEATING
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static void PID_autotune(const float temp, const int8_t hotend, const int8_t ncycles, const bool set_result=false);
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static void PID_autotune(const float &target, const int8_t hotend, const int8_t ncycles, const bool set_result=false);
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/**
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* Update the temp manager when PID values change
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