Version 1.3.21T

- M301 set PID Parameter, After PID values change use M500 to store to EEPROM
- If no PID is used, deaktivate Variables for PID settings

5 files changed, 82 insertions, 27 deletions

diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index 3620030..b3373a0 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -127,7 +127,16 @@
 - Extra Parameter for Max Extruder Jerk
 - New Parameter (max_e_jerk) in EEPROM --> Default settings after update !
 
+ Version 1.3.20T
+- fix a few typos and correct english usage
+- reimplement homing routine as an inline function
+- refactor eeprom routines to make it possible to modify the value of a single parameter
+- calculate eeprom parameter addresses based on previous param address plus sizeof(type)
+- add 0 C point in Thermistortable 7
 
+ Version 1.3.21T
+- M301 set PID Parameter, and Store to EEPROM
+- If no PID is used, deaktivate Variables for PID settings
 
 */
 
@@ -219,6 +228,7 @@ void __cxa_pure_virtual(){};
 // M220 - set speed factor override percentage S=factor in percent 
 // M221 - set extruder multiply factor S100 --> original Extrude Speed 
 
+// M301 - Set PID parameters P I and D
 // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
 
 // M400 - Finish all moves
@@ -234,7 +244,7 @@ void __cxa_pure_virtual(){};
 // M603 - Show Free Ram
 
 
-#define _VERSION_TEXT "1.3.19T / 11.06.2012"
+#define _VERSION_TEXT "1.3.21T / 17.07.2012"
 
 //Stepper Movement Variables
 char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
@@ -250,7 +260,9 @@ float max_xy_jerk = _MAX_XY_JERK;
 float max_z_jerk = _MAX_Z_JERK;
 float max_e_jerk = _MAX_E_JERK;
 unsigned long min_seg_time = _MIN_SEG_TIME;
-unsigned int Kp = PID_PGAIN, Ki = PID_IGAIN, Kd = PID_DGAIN;
+#ifdef PIDTEMP
+ unsigned int PID_Kp = PID_PGAIN, PID_Ki = PID_IGAIN, PID_Kd = PID_DGAIN;
+#endif
 
 long  max_acceleration_units_per_sq_second[4] = _MAX_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
 
@@ -851,6 +863,10 @@ void setup()
   //second value --> Print settings to UART
   EEPROM_RetrieveSettings(false,false);
   #endif
+  
+  #ifdef PIDTEMP
+  updatePID();
+  #endif
 
   //Free Ram
   showString(PSTR("Free Ram: "));
@@ -1817,6 +1833,16 @@ FORCE_INLINE void process_commands()
         }
       }
       break;
+#ifdef PIDTEMP
+      case 301: // M301
+      {
+        if(code_seen('P')) PID_Kp = code_value();
+        if(code_seen('I')) PID_Ki = code_value();
+        if(code_seen('D')) PID_Kd = code_value();
+        updatePID();
+      }
+      break;
+#endif //PIDTEMP      
 #ifdef PID_AUTOTUNE
       case 303: // M303 PID autotune
       {
diff --git a/Sprinter/heater.cpp b/Sprinter/heater.cpp
index 7682516..8283373 100644
--- a/Sprinter/heater.cpp
+++ b/Sprinter/heater.cpp
@@ -66,8 +66,8 @@ unsigned long previous_millis_heater, previous_millis_bed_heater, previous_milli
       //int output;
   int error;
   int heater_duty = 0;
-  const int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
-  const int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
+  int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
+  int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
 #endif
 
 
@@ -496,6 +496,14 @@ void PID_autotune(int PIDAT_test_temp)
 }
 #endif  
 //---------------- END AUTOTUNE PID ------------------------------
+
+ void updatePID()
+ {
+   #ifdef PIDTEMP
+    temp_iState_min = (256L * -PID_INTEGRAL_DRIVE_MAX) / PID_Ki;
+    temp_iState_max = (256L * PID_INTEGRAL_DRIVE_MAX) / PID_Ki;
+   #endif
+ }
  
  void manage_heater()
  {
@@ -637,7 +645,7 @@ void PID_autotune(int PIDAT_test_temp)
       int delta_temp = current_temp - prev_temp;
       
       prev_temp = current_temp;
-      pTerm = ((long)PID_PGAIN * error) / 256;
+      pTerm = ((long)PID_Kp * error) / 256;
       const int H0 = min(HEATER_DUTY_FOR_SETPOINT(target_temp),HEATER_CURRENT);
       heater_duty = H0 + pTerm;
       
@@ -645,7 +653,7 @@ void PID_autotune(int PIDAT_test_temp)
       {
         temp_iState += error;
         temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
-        iTerm = ((long)PID_IGAIN * temp_iState) / 256;
+        iTerm = ((long)PID_Ki * temp_iState) / 256;
         heater_duty += iTerm;
       }
       
@@ -656,7 +664,7 @@ void PID_autotune(int PIDAT_test_temp)
       if(prev_error >  9){ prev_error /=  9; log3 += 2; }
       if(prev_error >  3){ prev_error /=  3; log3 ++;   }
       
-      dTerm = ((long)PID_DGAIN * delta_temp) / (256*log3);
+      dTerm = ((long)PID_Kd * delta_temp) / (256*log3);
       heater_duty += dTerm;
       heater_duty = constrain(heater_duty, 0, HEATER_CURRENT);
 
diff --git a/Sprinter/heater.h b/Sprinter/heater.h
index 87b6b4d..33252a1 100644
--- a/Sprinter/heater.h
+++ b/Sprinter/heater.h
@@ -88,6 +88,8 @@ extern unsigned char manage_monitor;
   extern int dTerm;
   extern int error;
   extern int heater_duty;
+  
+  extern unsigned int PID_Kp, PID_Ki, PID_Kd;
 #endif
 
 #if defined(FAN_SOFT_PWM) && (FAN_PIN > -1)
@@ -123,4 +125,8 @@ extern unsigned char manage_monitor;
  void PID_autotune(int PIDAT_test_temp);
 #endif
 
+#ifdef PIDTEMP
+ void updatePID();
+#endif
+
 void manage_heater();
diff --git a/Sprinter/store_eeprom.cpp b/Sprinter/store_eeprom.cpp
index 5dc884a..694e2c5 100644
--- a/Sprinter/store_eeprom.cpp
+++ b/Sprinter/store_eeprom.cpp
@@ -23,6 +23,9 @@
 #include "store_eeprom.h"
 #include "Configuration.h"
 
+#ifdef PIDTEMP
+ extern unsigned int PID_Kp, PID_Ki, PID_Kd;
+#endif
 
 
 #ifdef USE_EEPROM_SETTINGS
@@ -65,10 +68,17 @@ void EEPROM_StoreSettings()
   EEPROM_write_setting(max_z_jerk_address, max_z_jerk);
   EEPROM_write_setting(max_e_jerk_address, max_e_jerk);
 
-  //PID Settings, not used yet --> placeholder
-  EEPROM_write_setting(Kp_address, Kp);     //Kp
-  EEPROM_write_setting(Ki_address, Ki);     //Ki
-  EEPROM_write_setting(Kd_address, Kd);     //Kd
+  //PID Settings
+  #ifdef PIDTEMP
+   EEPROM_write_setting(Kp_address, PID_Kp);     //Kp
+   EEPROM_write_setting(Ki_address, PID_Ki);     //Ki
+   EEPROM_write_setting(Kd_address, PID_Kd);     //Kd
+  #else
+   EEPROM_write_setting(Kp_address, 2048);     //Kp
+   EEPROM_write_setting(Ki_address, 32);     //Ki
+   EEPROM_write_setting(Kd_address, 2048);     //Kd
+  #endif
+  
 
   char ver2[4]=EEPROM_VERSION;
   EEPROM_write_setting(EEPROM_OFFSET, ver2); // validate data
@@ -123,7 +133,7 @@ void EEPROM_printSettings()
       showString(PSTR(" T" ));
       Serial.print(mintravelfeedrate ); 
 //      showString(PSTR(" B"));
-//      Serial.print(minsegmenttime ); 
+//      Serial.print(min_seg_time ); 
       showString(PSTR(" X"));
       Serial.print(max_xy_jerk ); 
       showString(PSTR(" Z"));
@@ -133,15 +143,15 @@ void EEPROM_printSettings()
 
       
     #ifdef PIDTEMP
-    /*
-      showString(PSTR("PID settings:");
-      showString(PSTR("   M301 P"));
-      Serial.print(Kp); 
+    
+      showString(PSTR("PID settings:\r\n"));
+      showString(PSTR("  M301 P"));
+      Serial.print(PID_Kp); 
       showString(PSTR(" I"));
-      Serial.print(Ki); 
-      SshowString(PSTR(" D"));
-      Serial.print(Kd);
-    */
+      Serial.print(PID_Ki); 
+      showString(PSTR(" D"));
+      Serial.println(PID_Kd);
+    
     #endif
   #endif
 
@@ -169,9 +179,12 @@ void EEPROM_RetrieveSettings(bool def, bool printout)
       EEPROM_read_setting(max_xy_jerk_address, max_xy_jerk);
       EEPROM_read_setting(max_z_jerk_address, max_z_jerk);
       EEPROM_read_setting(max_e_jerk_address, max_e_jerk);
-      EEPROM_read_setting(Kp_address, Kp);
-      EEPROM_read_setting(Ki_address, Ki);
-      EEPROM_read_setting(Kd_address, Kd);
+
+      #ifdef PIDTEMP
+       EEPROM_read_setting(Kp_address, PID_Kp);
+       EEPROM_read_setting(Ki_address, PID_Ki);
+       EEPROM_read_setting(Kd_address, PID_Kd);
+      #endif
 
       showString(PSTR("Stored settings retreived\r\n"));
     }
@@ -195,9 +208,12 @@ void EEPROM_RetrieveSettings(bool def, bool printout)
       max_z_jerk=_MAX_Z_JERK;
       max_e_jerk=_MAX_E_JERK;
       min_seg_time=_MIN_SEG_TIME;
-      Kp = PID_PGAIN;
-      Ki = PID_IGAIN;
-      Kd = PID_DGAIN;
+      
+      #ifdef PIDTEMP
+       PID_Kp = PID_PGAIN;
+       PID_Ki = PID_IGAIN;
+       PID_Kd = PID_DGAIN;
+      #endif
 
       showString(PSTR("Using Default settings\r\n"));
     }
diff --git a/Sprinter/store_eeprom.h b/Sprinter/store_eeprom.h
index f275f3a..a9ddf7d 100644
--- a/Sprinter/store_eeprom.h
+++ b/Sprinter/store_eeprom.h
@@ -41,7 +41,6 @@ extern float max_xy_jerk;
 extern float max_z_jerk;
 extern float max_e_jerk;
 extern unsigned long min_seg_time;
-extern unsigned int Kp, Ki, Kd;
 
 #define axis_steps_per_unit_address (EEPROM_OFFSET + 4*sizeof(char))
 #define max_feedrate_address (axis_steps_per_unit_address + 4*sizeof(float))