Fixed AUTOTEMP (M109 S215 B260 F1 starts autotemp)
Changed SLOWDOWN. IF this does not work ok OLD_SLOWDOWN is the old algo.
This commit is contained in:
Erik van der Zalm
parent
8aee9d51b6
commit
67cf105bc6
@ -121,7 +121,7 @@
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const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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#define DISABLE_MAX_ENDSTOPS
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//#define DISABLE_MAX_ENDSTOPS
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// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
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#define X_ENABLE_ON 0
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@ -196,7 +196,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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//#define ULTRA_LCD //general lcd support, also 16x2
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//#define SDSUPPORT // Enable SD Card Support in Hardware Console
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//#define ULTIPANEL
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#define ULTIPANEL
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#ifdef ULTIPANEL
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// #define NEWPANEL //enable this if you have a click-encoder panel
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#define SDSUPPORT
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@ -41,8 +41,8 @@
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// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
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// you exit the value by any M109 without F*
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// Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
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// on an ultimaker, some initial testing worked with M109 S215 T260 F0.1 in the start.gcode
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//#define AUTOTEMP
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// on an ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
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#define AUTOTEMP
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#ifdef AUTOTEMP
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#define AUTOTEMP_OLDWEIGHT 0.98
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#endif
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@ -94,8 +94,8 @@
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#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate
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#define DEFAULT_MINTRAVELFEEDRATE 0.0
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// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff.
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#define DEFAULT_MINSEGMENTTIME 20000 // Obsolete delete this
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// minimum time in microseconds that a movement needs to take if the buffer is emptied.
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#define DEFAULT_MINSEGMENTTIME 20000
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// If defined the movements slow down when the look ahead buffer is only half full
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#define SLOWDOWN
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@ -147,9 +147,6 @@
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#endif // ADVANCE
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// A debugging feature to compare calculated vs performed steps, to see if steps are lost by the software.
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//#define DEBUG_STEPS
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// Arc interpretation settings:
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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@ -64,6 +64,7 @@
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#define SERIAL_PROTOCOL(x) MYSERIAL.print(x);
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#define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y);
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#define SERIAL_PROTOCOLPGM(x) serialprintPGM(MYPGM(x));
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#define SERIAL_PROTOCOLLN(x) {MYSERIAL.print(x);MYSERIAL.write('\n');}
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#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(MYPGM(x));MYSERIAL.write('\n');}
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@ -849,14 +849,14 @@ void process_commands()
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}
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#if (TEMP_0_PIN > -1)
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SERIAL_PROTOCOLPGM("ok T:");
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SERIAL_PROTOCOL(degHotend(tmp_extruder));
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//SERIAL_PROTOCOLPGM("/");
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//SERIAL_PROTOCOL(degTargetHotend(tmp_extruder));
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SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
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SERIAL_PROTOCOLPGM(" /");
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SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
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#if TEMP_BED_PIN > -1
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SERIAL_PROTOCOLPGM(" B:");
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SERIAL_PROTOCOL(degBed());
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//SERIAL_PROTOCOLPGM("/");
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//SERIAL_PROTOCOL(degTargetBed());
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SERIAL_PROTOCOL_F(degBed(),1);
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SERIAL_PROTOCOLPGM(" /");
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SERIAL_PROTOCOL_F(degTargetBed(),1);
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#endif //TEMP_BED_PIN
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#else
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SERIAL_ERROR_START;
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@ -888,7 +888,7 @@ void process_commands()
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if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
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#ifdef AUTOTEMP
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if (code_seen('S')) autotemp_min=code_value();
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if (code_seen('G')) autotemp_max=code_value();
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if (code_seen('B')) autotemp_max=code_value();
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if (code_seen('F'))
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{
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autotemp_factor=code_value();
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@ -915,9 +915,9 @@ void process_commands()
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if( (millis() - codenum) > 1000UL )
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{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
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SERIAL_PROTOCOLPGM("T:");
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SERIAL_PROTOCOL( degHotend(tmp_extruder) );
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SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
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SERIAL_PROTOCOLPGM(" E:");
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SERIAL_PROTOCOL( (int)tmp_extruder );
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SERIAL_PROTOCOL((int)tmp_extruder);
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#ifdef TEMP_RESIDENCY_TIME
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SERIAL_PROTOCOLPGM(" W:");
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if(residencyStart > -1)
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@ -966,9 +966,10 @@ void process_commands()
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SERIAL_PROTOCOLPGM("T:");
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SERIAL_PROTOCOL(tt);
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SERIAL_PROTOCOLPGM(" E:");
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SERIAL_PROTOCOL( (int)active_extruder );
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SERIAL_PROTOCOL((int)active_extruder);
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SERIAL_PROTOCOLPGM(" B:");
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SERIAL_PROTOCOLLN(degBed());
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SERIAL_PROTOCOL_F(degBed(),1);
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SERIAL_PROTOCOLLN("");
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codenum = millis();
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}
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manage_heater();
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@ -1058,8 +1059,21 @@ void process_commands()
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for(int8_t i=0; i < NUM_AXIS; i++)
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{
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if(code_seen(axis_codes[i]))
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if(i == 3) { // E
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float value = code_value();
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if(value < 20.0) {
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float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
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max_e_jerk *= factor;
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max_feedrate[i] *= factor;
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axis_steps_per_sqr_second[i] *= factor;
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}
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axis_steps_per_unit[i] = value;
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}
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else {
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axis_steps_per_unit[i] = code_value();
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}
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}
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break;
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case 115: // M115
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SerialprintPGM(MSG_M115_REPORT);
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@ -51,9 +51,6 @@
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IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
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*/
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#include "Marlin.h"
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#include "planner.h"
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#include "stepper.h"
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@ -377,21 +374,27 @@ void plan_init() {
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void getHighESpeed()
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{
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static float oldt=0;
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if(!autotemp_enabled)
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if(!autotemp_enabled){
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return;
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if(degTargetHotend0()+2<autotemp_min) //probably temperature set to zero.
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}
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if(degTargetHotend0()+2<autotemp_min) { //probably temperature set to zero.
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return; //do nothing
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}
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float high=0;
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float high=0.0;
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uint8_t block_index = block_buffer_tail;
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while(block_index != block_buffer_head) {
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float se=block_buffer[block_index].steps_e/float(block_buffer[block_index].step_event_count)*block_buffer[block_index].nominal_rate;
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//se; units steps/sec;
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if((block_buffer[block_index].steps_x != 0) ||
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(block_buffer[block_index].steps_y != 0) ||
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(block_buffer[block_index].steps_z != 0)) {
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float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
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//se; mm/sec;
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if(se>high)
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{
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high=se;
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}
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}
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block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
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}
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@ -407,10 +410,6 @@ void getHighESpeed()
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}
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oldt=t;
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setTargetHotend0(t);
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// SERIAL_ECHO_START;
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// SERIAL_ECHOPAIR("highe",high);
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// SERIAL_ECHOPAIR(" t",t);
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// SERIAL_ECHOLN("");
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}
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#endif
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@ -456,6 +455,9 @@ void check_axes_activity() {
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analogWrite(FAN_PIN,tail_fan_speed);
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}
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#endif
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#ifdef AUTOTEMP
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getHighESpeed();
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#endif
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}
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@ -517,7 +519,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
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// Bail if this is a zero-length block
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if (block->step_event_count <=dropsegments) { return; };
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if (block->step_event_count <= dropsegments) { return; };
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block->fan_speed = FanSpeed;
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@ -540,7 +542,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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// Enable all
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if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
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if (block->steps_e == 0) {
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if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
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}
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@ -548,12 +549,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
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}
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// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
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int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
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#ifdef SLOWDOWN
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if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
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#endif
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float delta_mm[4];
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delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
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delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
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@ -569,34 +564,33 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
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float inverse_second = feed_rate * inverse_millimeters;
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int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
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// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
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#ifdef OLD_SLOWDOWN
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if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
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#endif
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#ifdef SLOWDOWN
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// segment time im micro seconds
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unsigned long segment_time = lround(1000000.0/inverse_second);
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if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) {
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if (segment_time < minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
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inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
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}
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}
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#endif
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// END OF SLOW DOWN SECTION
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block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
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block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
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/*
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// segment time im micro seconds
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long segment_time = lround(1000000.0/inverse_second);
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if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
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if (segment_time<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
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segment_time=segment_time+lround(2*(minsegmenttime-segment_time)/blockcount);
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}
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}
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else {
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if (segment_time<minsegmenttime) segment_time=minsegmenttime;
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}
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// END OF SLOW DOWN SECTION
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*/
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// Calculate speed in mm/sec for each axis
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// Calculate and limit speed in mm/sec for each axis
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float current_speed[4];
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for(int i=0; i < 4; i++) {
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current_speed[i] = delta_mm[i] * inverse_second;
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}
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// Limit speed per axis
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float speed_factor = 1.0; //factor <=1 do decrease speed
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for(int i=0; i < 4; i++) {
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current_speed[i] = delta_mm[i] * inverse_second;
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if(abs(current_speed[i]) > max_feedrate[i])
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speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
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}
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@ -633,17 +627,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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// Correct the speed
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if( speed_factor < 1.0) {
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// Serial.print("speed factor : "); Serial.println(speed_factor);
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for(int i=0; i < 4; i++) {
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if(abs(current_speed[i]) > max_feedrate[i])
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speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
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/*
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if(speed_factor < 0.1) {
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Serial.print("speed factor : "); Serial.println(speed_factor);
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Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]);
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}
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*/
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}
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for(unsigned char i=0; i < 4; i++) {
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current_speed[i] *= speed_factor;
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}
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@ -784,9 +767,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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*/
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#endif // ADVANCE
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calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
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MINIMUM_PLANNER_SPEED/block->nominal_speed);
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@ -797,9 +777,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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memcpy(position, target, sizeof(target)); // position[] = target[]
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planner_recalculate();
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#ifdef AUTOTEMP
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getHighESpeed();
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#endif
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st_wake_up();
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}
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@ -54,7 +54,6 @@ volatile static unsigned long step_events_completed; // The number of step event
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static long old_advance = 0;
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#endif
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static long e_steps[3];
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static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
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static long acceleration_time, deceleration_time;
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//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
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static unsigned short acc_step_rate; // needed for deccelaration start point
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@ -216,7 +215,6 @@ void enable_endstops(bool check)
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void st_wake_up() {
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// TCNT1 = 0;
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if(busy == false)
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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}
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@ -295,6 +293,7 @@ ISR(TIMER1_COMPA_vect)
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// Anything in the buffer?
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current_block = plan_get_current_block();
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if (current_block != NULL) {
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current_block->busy = true;
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trapezoid_generator_reset();
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counter_x = -(current_block->step_event_count >> 1);
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counter_y = counter_x;
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@ -773,12 +772,7 @@ void st_init()
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TIMSK0 |= (1<<OCIE0A);
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#endif //ADVANCE
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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enable_endstops(false);
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#else
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enable_endstops(true);
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#endif
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enable_endstops(true); // Start with endstops active. After homing they can be disabled
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sei();
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}
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@ -95,17 +95,6 @@ static unsigned long previous_millis_bed_heater;
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static int maxttemp[EXTRUDERS] = { 16383 }; // the first value used for all
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static int bed_minttemp = 0;
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static int bed_maxttemp = 16383;
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static int heater_pin_map[EXTRUDERS] = { HEATER_0_PIN
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#if EXTRUDERS > 1
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, HEATER_1_PIN
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#endif
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#if EXTRUDERS > 2
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, HEATER_2_PIN
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#endif
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#if EXTRUDERS > 3
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#error Unsupported number of extruders
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#endif
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};
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static void *heater_ttbl_map[EXTRUDERS] = { (void *)heater_0_temptable
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#if EXTRUDERS > 1
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, (void *)heater_1_temptable
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@ -138,7 +127,6 @@ void PID_autotune(float temp)
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float input;
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int cycles=0;
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bool heating = true;
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soft_pwm[0] = 255>>1;
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unsigned long temp_millis = millis();
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unsigned long t1=temp_millis;
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@ -154,7 +142,9 @@ void PID_autotune(float temp)
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SERIAL_ECHOLN("PID Autotune start");
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//disable_heater(); // switch off all heaters.
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disable_heater(); // switch off all heaters.
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soft_pwm[0] = 255>>1;
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for(;;) {
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@ -202,6 +192,7 @@ void PID_autotune(float temp)
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SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
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SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
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SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
|
||||
/*
|
||||
Kp = 0.33*Ku;
|
||||
Ki = Kp/Tu;
|
||||
Kd = Kp*Tu/3;
|
||||
@ -216,6 +207,7 @@ void PID_autotune(float temp)
|
||||
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
|
||||
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
|
||||
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
|
||||
*/
|
||||
}
|
||||
}
|
||||
soft_pwm[0] = (bias + d) >> 1;
|
||||
@ -225,7 +217,7 @@ void PID_autotune(float temp)
|
||||
}
|
||||
}
|
||||
if(input > (temp + 20)) {
|
||||
SERIAL_PROTOCOLLNPGM("PID Autotune failed !, Temperature to high");
|
||||
SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature to high");
|
||||
return;
|
||||
}
|
||||
if(millis() - temp_millis > 2000) {
|
||||
@ -235,6 +227,14 @@ void PID_autotune(float temp)
|
||||
SERIAL_PROTOCOLPGM(" @:");
|
||||
SERIAL_PROTOCOLLN(getHeaterPower(0));
|
||||
}
|
||||
if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) {
|
||||
SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout");
|
||||
return;
|
||||
}
|
||||
if(cycles > 5) {
|
||||
SERIAL_PROTOCOLLNPGM("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h");
|
||||
return;
|
||||
}
|
||||
LCD_STATUS;
|
||||
}
|
||||
}
|
||||
@ -313,11 +313,9 @@ void manage_heater()
|
||||
// Check if temperature is within the correct range
|
||||
if((current_raw[e] > minttemp[e]) && (current_raw[e] < maxttemp[e]))
|
||||
{
|
||||
//analogWrite(heater_pin_map[e], pid_output);
|
||||
soft_pwm[e] = (int)pid_output >> 1;
|
||||
}
|
||||
else {
|
||||
//analogWrite(heater_pin_map[e], 0);
|
||||
soft_pwm[e] = 0;
|
||||
}
|
||||
} // End extruder for loop
|
||||
@ -680,7 +678,7 @@ void disable_heater()
|
||||
target_raw[0]=0;
|
||||
soft_pwm[0]=0;
|
||||
#if HEATER_0_PIN > -1
|
||||
digitalWrite(HEATER_0_PIN,LOW);
|
||||
WRITE(HEATER_0_PIN,LOW);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
@ -688,7 +686,7 @@ void disable_heater()
|
||||
target_raw[1]=0;
|
||||
soft_pwm[1]=0;
|
||||
#if HEATER_1_PIN > -1
|
||||
digitalWrite(HEATER_1_PIN,LOW);
|
||||
WRITE(HEATER_1_PIN,LOW);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
@ -696,20 +694,20 @@ void disable_heater()
|
||||
target_raw[2]=0;
|
||||
soft_pwm[2]=0;
|
||||
#if HEATER_2_PIN > -1
|
||||
digitalWrite(HEATER_2_PIN,LOW);
|
||||
WRITE(HEATER_2_PIN,LOW);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if TEMP_BED_PIN > -1
|
||||
target_raw_bed=0;
|
||||
#if HEATER_BED_PIN > -1
|
||||
digitalWrite(HEATER_BED_PIN,LOW);
|
||||
WRITE(HEATER_BED_PIN,LOW);
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
void max_temp_error(uint8_t e) {
|
||||
digitalWrite(heater_pin_map[e], 0);
|
||||
disable_heater();
|
||||
if(IsStopped() == false) {
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLN(e);
|
||||
@ -718,7 +716,7 @@ void max_temp_error(uint8_t e) {
|
||||
}
|
||||
|
||||
void min_temp_error(uint8_t e) {
|
||||
digitalWrite(heater_pin_map[e], 0);
|
||||
disable_heater();
|
||||
if(IsStopped() == false) {
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLN(e);
|
||||
@ -727,7 +725,7 @@ void min_temp_error(uint8_t e) {
|
||||
}
|
||||
|
||||
void bed_max_temp_error(void) {
|
||||
digitalWrite(HEATER_BED_PIN, 0);
|
||||
WRITE(HEATER_BED_PIN, 0);
|
||||
if(IsStopped() == false) {
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!");
|
||||
|
||||
Loading…
Reference in New Issue
Block a user