Version 1.3.17T

- M303 - PID relay autotune possible
- G4 Wait until last move is done

4 files changed, 222 insertions, 2 deletions

diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h
index 9f76861..3cb9644 100644
--- a/Sprinter/Configuration.h
+++ b/Sprinter/Configuration.h
@@ -287,6 +287,10 @@ const int dropsegments=5; //everything with less than this number of steps will
 //Command M601 / Command M602 Reset the MIN/MAX Value
 //#define DEBUG_HEATER_TEMP
 
+// M303 - PID relay autotune S<temperature> sets the target temperature. 
+// (default target temperature = 150C)
+#define PID_AUTOTUNE
+
 //PID Controler Settings
 #define PID_INTEGRAL_DRIVE_MAX 80 // too big, and heater will lag after changing temperature, too small and it might not compensate enough for long-term errors
 #define PID_PGAIN 2560 //256 is 1.0  // value of X means that error of 1 degree is changing PWM duty by X, probably no need to go over 25
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index b5d0489..e3c146c 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -116,6 +116,10 @@
  Version 1.3.16T
 - Extra Max Feedrate for Retract (MAX_RETRACT_FEEDRATE)
 
+ Version 1.3.17T
+- M303 - PID relay autotune possible
+- G4 Wait until last move is done
+
 
 */
 
@@ -207,6 +211,8 @@ void __cxa_pure_virtual(){};
 // M220 - set speed factor override percentage S:factor in percent 
 // M221 - set extruder multiply factor S100 --> original Extrude Speed 
 
+// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
+
 // M500 - stores paramters in EEPROM
 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
 // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
@@ -218,7 +224,7 @@ void __cxa_pure_virtual(){};
 // M603 - Show Free Ram
 
 
-#define _VERSION_TEXT "1.3.16T / 24.04.2012"
+#define _VERSION_TEXT "1.3.17T / 04.05.2012"
 
 //Stepper Movement Variables
 char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
@@ -1121,6 +1127,7 @@ FORCE_INLINE void process_commands()
         if(code_seen('P')) codenum = code_value(); // milliseconds to wait
         if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
         codenum += millis();  // keep track of when we started waiting
+        st_synchronize();  // wait for all movements to finish
         while(millis()  < codenum ){
           manage_heater();
         }
@@ -1795,7 +1802,15 @@ FORCE_INLINE void process_commands()
         }
       }
       break;
-
+#ifdef PID_AUTOTUNE
+      case 303: // M303 PID autotune
+      {
+        float help_temp = 150.0;
+        if (code_seen('S')) help_temp=code_value();
+        PID_autotune(help_temp);
+      }
+      break;
+#endif
 #ifdef USE_EEPROM_SETTINGS
       case 500: // Store settings in EEPROM
       {
diff --git a/Sprinter/heater.cpp b/Sprinter/heater.cpp
index 6d980ff..ebab2a5 100644
--- a/Sprinter/heater.cpp
+++ b/Sprinter/heater.cpp
@@ -295,6 +295,203 @@ ISR(TIMER2_OVF_vect)
  #endif
  //--------------------END SOFT PWM---------------------------
 
+//-------------------- START PID AUTOTUNE ---------------------------
+// Based on PID relay test 
+// Thanks to Erik van der Zalm for this idea to use it for Marlin
+// Some information see:
+// http://brettbeauregard.com/blog/2012/01/arduino-pid-autotune-library/
+//------------------------------------------------------------------
+#ifdef PID_AUTOTUNE
+void PID_autotune(int PIDAT_test_temp)
+{
+  float PIDAT_input = 0;
+  int PIDAT_input_help = 0;
+  unsigned char PIDAT_count_input = 0;
+
+  float PIDAT_max, PIDAT_min;
+ 
+  unsigned char PIDAT_PWM_val = 255;
+  
+  unsigned char PIDAT_cycles=0;
+  bool PIDAT_heating = true;
+
+  unsigned long PIDAT_temp_millis = millis();
+  unsigned long PIDAT_t1=PIDAT_temp_millis;
+  unsigned long PIDAT_t2=PIDAT_temp_millis;
+  unsigned long PIDAT_T_check_AI_val = PIDAT_temp_millis;
+
+  unsigned char PIDAT_cycle_cnt = 0;
+  
+  long PIDAT_t_high;
+  long PIDAT_t_low;
+
+  long PIDAT_bias= 127;
+  long PIDAT_d  =  127;
+  
+  float PIDAT_Ku, PIDAT_Tu;
+  float PIDAT_Kp, PIDAT_Ki, PIDAT_Kd;
+  
+  #define PIDAT_TIME_FACTOR ((HEATER_CHECK_INTERVAL*256.0) / 1000.0)
+  
+  showString(PSTR("PID Autotune start\r\n"));
+
+  target_temp = PIDAT_test_temp;
+  
+  #ifdef BED_USES_THERMISTOR
+   WRITE(HEATER_1_PIN,LOW);
+  #endif
+  
+  for(;;) 
+  {
+ 
+    if((millis() - PIDAT_T_check_AI_val) > 100 )
+    {
+      PIDAT_T_check_AI_val = millis();
+      PIDAT_cycle_cnt++;
+      
+      #ifdef HEATER_USES_THERMISTOR
+        current_raw = analogRead(TEMP_0_PIN); 
+        current_raw = 1023 - current_raw;
+        PIDAT_input_help += analog2temp(current_raw);
+        PIDAT_count_input++;
+      #elif defined HEATER_USES_AD595
+        current_raw = analogRead(TEMP_0_PIN);    
+        PIDAT_input_help += analog2temp(current_raw);
+        PIDAT_count_input++;
+      #elif defined HEATER_USES_MAX6675
+        current_raw = read_max6675();
+        PIDAT_input_help += analog2temp(current_raw);
+        PIDAT_count_input++;
+      #endif
+    }
+    
+    if(PIDAT_cycle_cnt >= 10 )
+    {
+      
+      PIDAT_cycle_cnt = 0;
+      
+      PIDAT_input = (float)PIDAT_input_help / (float)PIDAT_count_input;
+      PIDAT_input_help = 0;
+      PIDAT_count_input = 0;
+      
+      PIDAT_max=max(PIDAT_max,PIDAT_input);
+      PIDAT_min=min(PIDAT_min,PIDAT_input);
+      
+      if(PIDAT_heating == true && PIDAT_input > PIDAT_test_temp) 
+      {
+        if(millis() - PIDAT_t2 > 5000) 
+        { 
+          PIDAT_heating = false;
+          PIDAT_PWM_val = (PIDAT_bias - PIDAT_d);
+          PIDAT_t1 = millis();
+          PIDAT_t_high = PIDAT_t1 - PIDAT_t2;
+          PIDAT_max = PIDAT_test_temp;
+        }
+      }
+      
+      if(PIDAT_heating == false && PIDAT_input < PIDAT_test_temp) 
+      {
+        if(millis() - PIDAT_t1 > 5000) 
+        {
+          PIDAT_heating = true;
+          PIDAT_t2 = millis();
+          PIDAT_t_low = PIDAT_t2 - PIDAT_t1;
+          
+          if(PIDAT_cycles > 0) 
+          {
+            PIDAT_bias += (PIDAT_d*(PIDAT_t_high - PIDAT_t_low))/(PIDAT_t_low + PIDAT_t_high);
+            PIDAT_bias = constrain(PIDAT_bias, 20 ,235);
+            if(PIDAT_bias > 127) PIDAT_d = 254 - PIDAT_bias;
+            else PIDAT_d = PIDAT_bias;
+
+            showString(PSTR(" bias: ")); Serial.print(PIDAT_bias);
+            showString(PSTR(" d: "));    Serial.print(PIDAT_d);
+            showString(PSTR(" min: "));  Serial.print(PIDAT_min);
+            showString(PSTR(" max: "));  Serial.println(PIDAT_max);
+            
+            if(PIDAT_cycles > 2) 
+            {
+              PIDAT_Ku = (4.0*PIDAT_d)/(3.14159*(PIDAT_max-PIDAT_min));
+              PIDAT_Tu = ((float)(PIDAT_t_low + PIDAT_t_high)/1000.0);
+              
+              showString(PSTR(" Ku: ")); Serial.print(PIDAT_Ku);
+              showString(PSTR(" Tu: ")); Serial.println(PIDAT_Tu);
+
+              PIDAT_Kp = 0.60*PIDAT_Ku;
+              PIDAT_Ki = 2*PIDAT_Kp/PIDAT_Tu;
+              PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/8;
+              showString(PSTR(" Clasic PID \r\n"));
+              //showString(PSTR(" Kp: ")); Serial.println(PIDAT_Kp);
+              //showString(PSTR(" Ki: ")); Serial.println(PIDAT_Ki);
+              //showString(PSTR(" Kd: ")); Serial.println(PIDAT_Kd);
+              showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256));
+              showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR));
+              showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR));
+              
+              PIDAT_Kp = 0.30*PIDAT_Ku;
+              PIDAT_Ki = PIDAT_Kp/PIDAT_Tu;
+              PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/3;
+              showString(PSTR(" Some overshoot \r\n"));
+              showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256));
+              showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR));
+              showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR));
+              /*
+              PIDAT_Kp = 0.20*PIDAT_Ku;
+              PIDAT_Ki = 2*PIDAT_Kp/PIDAT_Tu;
+              PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/3;
+              showString(PSTR(" No overshoot \r\n"));
+              showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256));
+              showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR));
+              showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR));
+              */
+            }
+          }
+          PIDAT_PWM_val = (PIDAT_bias + PIDAT_d);
+          PIDAT_cycles++;
+          PIDAT_min = PIDAT_test_temp;
+        }
+      } 
+      
+      #ifdef PID_SOFT_PWM
+        g_heater_pwm_val = PIDAT_PWM_val;
+      #else
+        analogWrite_check(HEATER_0_PIN, PIDAT_PWM_val);
+        #if LED_PIN>-1
+          analogWrite_check(LED_PIN, PIDAT_PWM_val);
+        #endif
+      #endif  
+    }
+    
+    if(PIDAT_input > (PIDAT_test_temp + 20)) 
+    {
+      showString(PSTR("PID Autotune failed! Temperature to high\r\n"));
+      return;
+    }
+    
+    if(millis() - PIDAT_temp_millis > 2000) 
+    {
+      PIDAT_temp_millis = millis();
+      showString(PSTR("ok T:"));
+      Serial.print(PIDAT_input);   
+      showString(PSTR(" @:"));
+      Serial.println((unsigned char)PIDAT_PWM_val*1);       
+    }
+    
+    if(((millis() - PIDAT_t1) + (millis() - PIDAT_t2)) > (10L*60L*1000L*2L)) 
+    {
+      showString(PSTR("PID Autotune failed! timeout\r\n"));
+      return;
+    }
+    
+    if(PIDAT_cycles > 5) 
+    {
+      showString(PSTR("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h\r\n"));
+      return;
+    }
+  }
+}
+#endif  
+//---------------- END AUTOTUNE PID ------------------------------
  
  void manage_heater()
  {
diff --git a/Sprinter/heater.h b/Sprinter/heater.h
index 6e00a37..87b6b4d 100644
--- a/Sprinter/heater.h
+++ b/Sprinter/heater.h
@@ -119,4 +119,8 @@ extern unsigned char manage_monitor;
  void init_Timer2_softpwm(void);
 #endif
 
+#ifdef PID_AUTOTUNE
+ void PID_autotune(int PIDAT_test_temp);
+#endif
+
 void manage_heater();