void unified_bed_leveling::report_state() {
echo_name();
SERIAL_PROTOCOLPGM(" System v" UBL_VERSION " ");
if (!planner.leveling_active) SERIAL_PROTOCOLPGM("in");
SERIAL_PROTOCOLLNPGM("active.");
safe_delay(50);
}
void CardReader::removeFile(char* name) {
if (!cardOK) return;
file.close();
sdprinting = false;
SdFile myDir;
curDir = &root;
char *fname = name;
char *dirname_start, *dirname_end;
if (name[0] == '/') {
dirname_start = strchr(name, '/') + 1;
while (dirname_start > 0) {
dirname_end = strchr(dirname_start, '/');
//SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start - name));
//SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end - name));
if (dirname_end > 0 && dirname_end > dirname_start) {
char subdirname[FILENAME_LENGTH];
strncpy(subdirname, dirname_start, dirname_end - dirname_start);
subdirname[dirname_end - dirname_start] = 0;
SERIAL_ECHOLN(subdirname);
if (!myDir.open(curDir, subdirname, O_READ)) {
SERIAL_PROTOCOLPGM("open failed, File: ");
SERIAL_PROTOCOL(subdirname);
SERIAL_PROTOCOLCHAR('.');
return;
}
else {
//SERIAL_ECHOLN("dive ok");
}
curDir = &myDir;
dirname_start = dirname_end + 1;
}
else { // the remainder after all /fsa/fdsa/ is the filename
fname = dirname_start;
//SERIAL_ECHOLN("remainder");
//SERIAL_ECHOLN(fname);
break;
}
}
}
else { // relative path
curDir = &workDir;
}
if (file.remove(curDir, fname)) {
SERIAL_PROTOCOLPGM("File deleted:");
SERIAL_PROTOCOLLN(fname);
sdpos = 0;
}
else {
SERIAL_PROTOCOLPGM("Deletion failed, File: ");
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLCHAR('.');
}
}
void report_current_position_detail() {
stepper.synchronize();
SERIAL_PROTOCOLPGM("\nLogical:");
report_xyze(current_position);
SERIAL_PROTOCOLPGM("Raw: ");
const float raw[XYZ] = { RAW_X_POSITION(current_position[X_AXIS]), RAW_Y_POSITION(current_position[Y_AXIS]), RAW_Z_POSITION(current_position[Z_AXIS]) };
report_xyz(raw);
SERIAL_PROTOCOLPGM("Leveled:");
float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
planner.apply_leveling(leveled);
report_xyz(leveled);
SERIAL_PROTOCOLPGM("UnLevel:");
float unleveled[XYZ] = { leveled[X_AXIS], leveled[Y_AXIS], leveled[Z_AXIS] };
planner.unapply_leveling(unleveled);
report_xyz(unleveled);
#if IS_KINEMATIC
#if IS_SCARA
SERIAL_PROTOCOLPGM("ScaraK: ");
#else
SERIAL_PROTOCOLPGM("DeltaK: ");
#endif
inverse_kinematics(leveled); // writes delta[]
report_xyz(delta);
#endif
SERIAL_PROTOCOLPGM("Stepper:");
const float step_count[XYZE] = { stepper.position(X_AXIS), stepper.position(Y_AXIS), stepper.position(Z_AXIS), stepper.position(E_AXIS) };
report_xyze(step_count, 4, 0);
#if IS_SCARA
const float deg[XYZ] = {
stepper.get_axis_position_degrees(A_AXIS),
stepper.get_axis_position_degrees(B_AXIS)
};
SERIAL_PROTOCOLPGM("Degrees:");
report_xyze(deg, 2);
#endif
SERIAL_PROTOCOLPGM("FromStp:");
get_cartesian_from_steppers(); // writes cartes[XYZ] (with forward kinematics)
const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], stepper.get_axis_position_mm(E_AXIS) };
report_xyze(from_steppers);
const float diff[XYZE] = {
from_steppers[X_AXIS] - leveled[X_AXIS],
from_steppers[Y_AXIS] - leveled[Y_AXIS],
from_steppers[Z_AXIS] - leveled[Z_AXIS],
from_steppers[E_AXIS] - current_position[E_AXIS]
};
SERIAL_PROTOCOLPGM("Differ: ");
report_xyze(diff);
}
void vector_3::debug(const char title[]) {
SERIAL_PROTOCOL(title);
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL_F(x, 6);
SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL_F(y, 6);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(z, 6);
SERIAL_EOL;
}
void vector_3::debug(char* title)
{
SERIAL_PROTOCOL(title);
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL(x);
SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL(y);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL(z);
SERIAL_PROTOCOLPGM("\n");
}
void CardReader::getStatus() {
if (cardOK) {
SERIAL_PROTOCOLPGM(MSG_SD_PRINTING_BYTE);
SERIAL_PROTOCOL(sdpos);
SERIAL_PROTOCOLPGM("/");
SERIAL_PROTOCOLLN(filesize);
}
else {
SERIAL_PROTOCOLLNPGM(MSG_SD_NOT_PRINTING);
}
}
/* ??? Check se serve */
void MemReader::getStatus()
{
if(isprinting){
SERIAL_PROTOCOLPGM(MSG_SD_PRINTING_BYTE);
SERIAL_PROTOCOL(pos);
SERIAL_PROTOCOLPGM("/");
SERIAL_PROTOCOLLN(ScriptLength[program]);
}
else{
SERIAL_PROTOCOLLNPGM(MSG_SD_NOT_PRINTING);
}
}
void PrintCounter::showStats() {
char buffer[21];
duration_t elapsed;
SERIAL_PROTOCOLPGM(MSG_STATS);
SERIAL_ECHOPGM("Prints: ");
SERIAL_ECHO(this->data.totalPrints);
SERIAL_ECHOPGM(", Finished: ");
SERIAL_ECHO(this->data.finishedPrints);
SERIAL_ECHOPGM(", Failed: "); // Note: Removes 1 from failures with an active counter
SERIAL_ECHO(this->data.totalPrints - this->data.finishedPrints
- ((this->isRunning() || this->isPaused()) ? 1 : 0));
SERIAL_EOL;
SERIAL_PROTOCOLPGM(MSG_STATS);
elapsed = this->data.printTime;
elapsed.toString(buffer);
SERIAL_ECHOPGM("Total time: ");
SERIAL_ECHO(buffer);
#if ENABLED(DEBUG_PRINTCOUNTER)
SERIAL_ECHOPGM(" (");
SERIAL_ECHO(this->data.printTime);
SERIAL_ECHOPGM(")");
#endif
elapsed = this->data.longestPrint;
elapsed.toString(buffer);
SERIAL_ECHOPGM(", Longest job: ");
SERIAL_ECHO(buffer);
#if ENABLED(DEBUG_PRINTCOUNTER)
SERIAL_ECHOPGM(" (");
SERIAL_ECHO(this->data.longestPrint);
SERIAL_ECHOPGM(")");
#endif
SERIAL_EOL;
SERIAL_PROTOCOLPGM(MSG_STATS);
SERIAL_ECHOPGM("Filament used: ");
SERIAL_ECHO(this->data.filamentUsed / 1000);
SERIAL_ECHOPGM("m");
SERIAL_EOL;
}
void matrix_3x3::debug(const char title[]) {
SERIAL_PROTOCOLLN(title);
int count = 0;
for(int i=0; i<3; i++) {
for(int j=0; j<3; j++) {
if (matrix[count] >= 0.0) SERIAL_PROTOCOLPGM("+");
SERIAL_PROTOCOL_F(matrix[count], 6);
SERIAL_PROTOCOLPGM(" ");
count++;
}
SERIAL_EOL;
}
}
void Endstops::M119() {
SERIAL_PROTOCOLLNPGM(MSG_M119_REPORT);
#if HAS_X_MIN
SERIAL_PROTOCOLPGM(MSG_X_MIN);
SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_X_MAX
SERIAL_PROTOCOLPGM(MSG_X_MAX);
SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_Y_MIN
SERIAL_PROTOCOLPGM(MSG_Y_MIN);
SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_Y_MAX
SERIAL_PROTOCOLPGM(MSG_Y_MAX);
SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_Z_MIN
SERIAL_PROTOCOLPGM(MSG_Z_MIN);
SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_Z_MAX
SERIAL_PROTOCOLPGM(MSG_Z_MAX);
SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_Z2_MAX
SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
#if HAS_Z_MIN_PROBE_PIN
SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
} // Endstops::M119
void matrix_3x3::debug(char* title)
{
SERIAL_PROTOCOL(title);
SERIAL_PROTOCOL("\n");
int count = 0;
for(int i=0; i<3; i++)
{
for(int j=0; j<3; j++)
{
SERIAL_PROTOCOL(matrix[count]);
SERIAL_PROTOCOLPGM(" ");
count++;
}
SERIAL_PROTOCOLPGM("\n");
}
}
void checkHitEndstops()
{
if( endstop_x_hit || endstop_y_hit || endstop_z_hit || endstop_j_hit) {
SERIAL_ECHO_START;
snprintf(json_str,JSONSIZE,"{%s:[",MSG_ENDSTOPS_HIT);
SERIAL_PROTOCOL(json_str);
comma = false;
if(endstop_x_hit) {
SERIAL_PROTOCOLPGM("\"x\"");
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
comma = true;
}
if(endstop_y_hit) {
if (comma) SERIAL_PROTOCOLPGM(",");
SERIAL_PROTOCOLPGM("\"y\"");
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
comma = true;
}
if(endstop_z_hit) {
if (comma) SERIAL_PROTOCOLPGM(",");
SERIAL_PROTOCOLPGM("\"z\"");
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
comma = true;
}
if(endstop_j_hit) {
if (comma) SERIAL_PROTOCOLPGM(",");
SERIAL_PROTOCOLPGM("\"j\"");
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "J");
}
SERIAL_PROTOCOL("]}");
SERIAL_MSG_END;
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
endstop_j_hit=false;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
if (abort_on_endstop_hit)
{
card.sdprinting = false;
card.closefile();
quickStop();
setTargetHotend0(0);
setTargetHotend1(0);
setTargetHotend2(0);
}
#endif
}
}
//===========================================================================
void Hysteresis::ReportToSerial()
{
SERIAL_PROTOCOLPGM("H=X");
SERIAL_PROTOCOL(m_hysteresis_mm[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y");
SERIAL_PROTOCOL(m_hysteresis_mm[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z");
SERIAL_PROTOCOL(m_hysteresis_mm[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E");
SERIAL_PROTOCOL(m_hysteresis_mm[E_AXIS]);
SERIAL_PROTOCOLPGM(" SHIFTS:x=");
SERIAL_PROTOCOL(axis_shift[X_AXIS]);
SERIAL_PROTOCOLPGM(" y=");
SERIAL_PROTOCOL(axis_shift[Y_AXIS]);
SERIAL_PROTOCOLPGM(" z=");
SERIAL_PROTOCOL(axis_shift[Z_AXIS]);
SERIAL_PROTOCOLPGM(" e=");
SERIAL_PROTOCOL(axis_shift[E_AXIS]);
SERIAL_PROTOCOLLN("");
}
void CardReader::openFile(char* name,bool read)
{
if(!cardOK)
return;
file.close();
sdprinting = false;
SdFile myDir;
curDir=&root;
char *fname=name;
char *dirname_start,*dirname_end;
if(name[0]=='/')
{
dirname_start=strchr(name,'/')+1;
while(dirname_start>0)
{
dirname_end=strchr(dirname_start,'/');
//SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name));
//SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end-name));
if(dirname_end>0 && dirname_end>dirname_start)
{
char subdirname[13];
strncpy(subdirname, dirname_start, dirname_end-dirname_start);
subdirname[dirname_end-dirname_start]=0;
SERIAL_ECHOLN(subdirname);
if(!myDir.open(curDir,subdirname,O_READ))
{
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(subdirname);
SERIAL_PROTOCOLLNPGM(".");
return;
}
else
{
//SERIAL_ECHOLN("dive ok");
}
curDir=&myDir;
dirname_start=dirname_end+1;
}
else // the reminder after all /fsa/fdsa/ is the filename
{
fname=dirname_start;
//SERIAL_ECHOLN("remaider");
//SERIAL_ECHOLN(fname);
break;
}
}
}
else //relative path
{
curDir=&workDir;
}
if(read)
{
if (file.open(curDir, fname, O_READ))
{
filesize = file.fileSize();
SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLPGM(MSG_SD_SIZE);
SERIAL_PROTOCOLLN(filesize);
sdpos = 0;
SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED);
LCD_MESSAGE(fname);
}
else
{
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLLNPGM(".");
}
}
else
{ //write
if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
{
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLLNPGM(".");
}
else
{
saving = true;
SERIAL_PROTOCOLPGM(MSG_SD_WRITE_TO_FILE);
SERIAL_PROTOCOLLN(name);
LCD_MESSAGE(fname);
}
}
}
void CardReader::openFile(char* name, bool read, bool replace_current/*=true*/) {
if (!cardOK) return;
if (file.isOpen()) { //replacing current file by new file, or subfile call
if (!replace_current) {
if (file_subcall_ctr > SD_PROCEDURE_DEPTH - 1) {
SERIAL_ERROR_START;
SERIAL_ERRORPGM("trying to call sub-gcode files with too many levels. MAX level is:");
SERIAL_ERRORLN(SD_PROCEDURE_DEPTH);
kill();
return;
}
SERIAL_ECHO_START;
SERIAL_ECHOPGM("SUBROUTINE CALL target:\"");
SERIAL_ECHO(name);
SERIAL_ECHOPGM("\" parent:\"");
//store current filename and position
getAbsFilename(filenames[file_subcall_ctr]);
SERIAL_ECHO(filenames[file_subcall_ctr]);
SERIAL_ECHOPGM("\" pos");
SERIAL_ECHOLN(sdpos);
filespos[file_subcall_ctr] = sdpos;
file_subcall_ctr++;
}
else {
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Now doing file: ");
SERIAL_ECHOLN(name);
}
file.close();
}
else { //opening fresh file
file_subcall_ctr = 0; //resetting procedure depth in case user cancels print while in procedure
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Now fresh file: ");
SERIAL_ECHOLN(name);
}
sdprinting = false;
SdFile myDir;
curDir = &root;
char *fname = name;
char *dirname_start, *dirname_end;
if (name[0] == '/') {
dirname_start = &name[1];
while(dirname_start > 0) {
dirname_end = strchr(dirname_start, '/');
//SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start - name));
//SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end - name));
if (dirname_end > 0 && dirname_end > dirname_start) {
char subdirname[FILENAME_LENGTH];
strncpy(subdirname, dirname_start, dirname_end - dirname_start);
subdirname[dirname_end - dirname_start] = 0;
SERIAL_ECHOLN(subdirname);
if (!myDir.open(curDir, subdirname, O_READ)) {
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(subdirname);
SERIAL_PROTOCOLCHAR('.');
return;
}
else {
//SERIAL_ECHOLN("dive ok");
}
curDir = &myDir;
dirname_start = dirname_end + 1;
}
else { // the remainder after all /fsa/fdsa/ is the filename
fname = dirname_start;
//SERIAL_ECHOLN("remainder");
//SERIAL_ECHOLN(fname);
break;
}
}
}
else { //relative path
curDir = &workDir;
}
if (read) {
if (file.open(curDir, fname, O_READ)) {
filesize = file.fileSize();
SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLPGM(MSG_SD_SIZE);
SERIAL_PROTOCOLLN(filesize);
sdpos = 0;
SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED);
getfilename(0, fname);
lcd_setstatus(longFilename[0] ? longFilename : fname);
}
else {
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLCHAR('.');
}
}
else { //write
if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) {
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLCHAR('.');
}
else {
saving = true;
SERIAL_PROTOCOLPGM(MSG_SD_WRITE_TO_FILE);
SERIAL_PROTOCOLLN(name);
lcd_setstatus(fname);
}
}
}
void PID_autotune(float temp, int extruder, int ncycles)
{
float input = 0.0;
int cycles = 0;
bool heating = true;
millis_t temp_ms = millis(), t1 = temp_ms, t2 = temp_ms;
long t_high = 0, t_low = 0;
long bias, d;
float Ku, Tu;
float Kp, Ki, Kd;
float max = 0, min = 10000;
#if HAS_AUTO_FAN
millis_t next_auto_fan_check_ms = temp_ms + 2500;
#endif
if (extruder >= EXTRUDERS
#if !HAS_TEMP_BED
|| extruder < 0
#endif
) {
SERIAL_ECHOLN(MSG_PID_BAD_EXTRUDER_NUM);
return;
}
SERIAL_ECHOLN(MSG_PID_AUTOTUNE_START);
disable_heater(); // switch off all heaters.
if (extruder < 0)
soft_pwm_bed = bias = d = MAX_BED_POWER / 2;
else
soft_pwm[extruder] = bias = d = PID_MAX / 2;
// PID Tuning loop
for (;;) {
millis_t ms = millis();
if (temp_meas_ready) { // temp sample ready
updateTemperaturesFromRawValues();
input = (extruder<0)?current_temperature_bed:current_temperature[extruder];
max = max(max, input);
min = min(min, input);
#if HAS_AUTO_FAN
if (ms > next_auto_fan_check_ms) {
checkExtruderAutoFans();
next_auto_fan_check_ms = ms + 2500;
}
#endif
if (heating == true && input > temp) {
if (ms - t2 > 5000) {
heating = false;
if (extruder < 0)
soft_pwm_bed = (bias - d) >> 1;
else
soft_pwm[extruder] = (bias - d) >> 1;
t1 = ms;
t_high = t1 - t2;
max = temp;
}
}
if (heating == false && input < temp) {
if (ms - t1 > 5000) {
heating = true;
t2 = ms;
t_low = t2 - t1;
if (cycles > 0) {
long max_pow = extruder < 0 ? MAX_BED_POWER : PID_MAX;
bias += (d*(t_high - t_low))/(t_low + t_high);
bias = constrain(bias, 20, max_pow - 20);
d = (bias > max_pow / 2) ? max_pow - 1 - bias : bias;
SERIAL_PROTOCOLPGM(MSG_BIAS); SERIAL_PROTOCOL(bias);
SERIAL_PROTOCOLPGM(MSG_D); SERIAL_PROTOCOL(d);
SERIAL_PROTOCOLPGM(MSG_T_MIN); SERIAL_PROTOCOL(min);
SERIAL_PROTOCOLPGM(MSG_T_MAX); SERIAL_PROTOCOLLN(max);
if (cycles > 2) {
Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
Tu = ((float)(t_low + t_high) / 1000.0);
SERIAL_PROTOCOLPGM(MSG_KU); SERIAL_PROTOCOL(Ku);
SERIAL_PROTOCOLPGM(MSG_TU); SERIAL_PROTOCOLLN(Tu);
Kp = 0.6 * Ku;
Ki = 2 * Kp / Tu;
Kd = Kp * Tu / 8;
SERIAL_PROTOCOLLNPGM(MSG_CLASSIC_PID);
SERIAL_PROTOCOLPGM(MSG_KP); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(MSG_KI); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(MSG_KD); SERIAL_PROTOCOLLN(Kd);
/*
Kp = 0.33*Ku;
Ki = Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" Some overshoot ");
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
Kp = 0.2*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" No overshoot ");
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
*/
}
}
if (extruder < 0)
soft_pwm_bed = (bias + d) >> 1;
else
soft_pwm[extruder] = (bias + d) >> 1;
cycles++;
min = temp;
}
void PID_autotune(float temp)
{
float input;
int cycles=0;
bool heating = true;
unsigned long temp_millis = millis();
unsigned long t1=temp_millis;
unsigned long t2=temp_millis;
long t_high;
long t_low;
long bias=127;
long d = 127;
float Ku, Tu;
float Kp, Ki, Kd;
float max, min;
SERIAL_ECHOLN("PID Autotune start");
disable_heater(); // switch off all heaters.
soft_pwm[0] = 255>>1;
for(;;) {
if(temp_meas_ready == true) { // temp sample ready
CRITICAL_SECTION_START;
temp_meas_ready = false;
CRITICAL_SECTION_END;
input = analog2temp(current_raw[0], 0);
max=max(max,input);
min=min(min,input);
if(heating == true && input > temp) {
if(millis() - t2 > 5000) {
heating=false;
soft_pwm[0] = (bias - d) >> 1;
t1=millis();
t_high=t1 - t2;
max=temp;
}
}
if(heating == false && input < temp) {
if(millis() - t1 > 5000) {
heating=true;
t2=millis();
t_low=t2 - t1;
if(cycles > 0) {
bias += (d*(t_high - t_low))/(t_low + t_high);
bias = constrain(bias, 20 ,235);
if(bias > 127) d = 254 - bias;
else d = bias;
SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);
SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d);
SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min);
SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max);
if(cycles > 2) {
Ku = (4.0*d)/(3.14159*(max-min)/2.0);
Tu = ((float)(t_low + t_high)/1000.0);
SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku);
SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu);
Kp = 0.6*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/8;
SERIAL_PROTOCOLLNPGM(" Clasic PID ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
/*
Kp = 0.33*Ku;
Ki = Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" Some overshoot ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
Kp = 0.2*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" No overshoot ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
*/
}
}
soft_pwm[0] = (bias + d) >> 1;
cycles++;
min=temp;
}
}
void unified_bed_leveling::display_map(const int map_type) {
constexpr uint8_t spaces = 8 * (GRID_MAX_POINTS_X - 2);
SERIAL_PROTOCOLPGM("\nBed Topography Report");
if (map_type == 0) {
SERIAL_PROTOCOLPGM(":\n\n");
serial_echo_xy(0, GRID_MAX_POINTS_Y - 1);
SERIAL_ECHO_SP(spaces + 3);
serial_echo_xy(GRID_MAX_POINTS_X - 1, GRID_MAX_POINTS_Y - 1);
SERIAL_EOL();
serial_echo_xy(MESH_MIN_X, MESH_MAX_Y);
SERIAL_ECHO_SP(spaces);
serial_echo_xy(MESH_MAX_X, MESH_MAX_Y);
SERIAL_EOL();
}
else {
SERIAL_PROTOCOLPGM(" for ");
serialprintPGM(map_type == 1 ? PSTR("CSV:\n\n") : PSTR("LCD:\n\n"));
}
const float current_xi = get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
current_yi = get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
const bool is_current = i == current_xi && j == current_yi;
// is the nozzle here? then mark the number
if (map_type == 0) SERIAL_CHAR(is_current ? '[' : ' ');
const float f = z_values[i][j];
if (isnan(f)) {
serialprintPGM(map_type == 0 ? PSTR(" . ") : PSTR("NAN"));
}
else if (map_type <= 1) {
// if we don't do this, the columns won't line up nicely
if (map_type == 0 && f >= 0.0) SERIAL_CHAR(' ');
SERIAL_PROTOCOL_F(f, 3);
}
idle();
if (map_type == 1 && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR(',');
#if TX_BUFFER_SIZE > 0
MYSERIAL.flushTX();
#endif
safe_delay(15);
if (map_type == 0) {
SERIAL_CHAR(is_current ? ']' : ' ');
SERIAL_CHAR(' ');
}
}
SERIAL_EOL();
if (j && map_type == 0) { // we want the (0,0) up tight against the block of numbers
SERIAL_CHAR(' ');
SERIAL_EOL();
}
}
if (map_type == 0) {
serial_echo_xy(MESH_MIN_X, MESH_MIN_Y);
SERIAL_ECHO_SP(spaces + 4);
serial_echo_xy(MESH_MAX_X, MESH_MIN_Y);
SERIAL_EOL();
serial_echo_xy(0, 0);
SERIAL_ECHO_SP(spaces + 5);
serial_echo_xy(GRID_MAX_POINTS_X - 1, 0);
SERIAL_EOL();
}
}
/**
* - Move to the given XY
* - Deploy the probe, if not already deployed
* - Probe the bed, get the Z position
* - Depending on the 'stow' flag
* - Stow the probe, or
* - Raise to the BETWEEN height
* - Return the probed Z position
*/
float probe_pt(const float &lx, const float &ly, const bool stow, const uint8_t verbose_level, const bool printable/*=true*/) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> probe_pt(", lx);
SERIAL_ECHOPAIR(", ", ly);
SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
SERIAL_ECHOLNPGM("stow)");
DEBUG_POS("", current_position);
}
#endif
const float nx = lx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ly - (Y_PROBE_OFFSET_FROM_EXTRUDER);
if (printable
? !position_is_reachable_xy(nx, ny)
: !position_is_reachable_by_probe_xy(lx, ly)
) return NAN;
const float old_feedrate_mm_s = feedrate_mm_s;
#if ENABLED(DELTA)
if (current_position[Z_AXIS] > delta_clip_start_height)
do_blocking_move_to_z(delta_clip_start_height);
#endif
#if HAS_SOFTWARE_ENDSTOPS
// Store the status of the soft endstops and disable if we're probing a non-printable location
static bool enable_soft_endstops = soft_endstops_enabled;
if (!printable) soft_endstops_enabled = false;
#endif
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
// Move the probe to the given XY
do_blocking_move_to_xy(nx, ny);
float measured_z = NAN;
if (!DEPLOY_PROBE()) {
measured_z = run_z_probe(printable);
if (!stow)
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
else
if (STOW_PROBE()) measured_z = NAN;
}
#if HAS_SOFTWARE_ENDSTOPS
// Restore the soft endstop status
soft_endstops_enabled = enable_soft_endstops;
#endif
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Bed X: ");
SERIAL_PROTOCOL_F(lx, 3);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL_F(ly, 3);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL_F(measured_z, 3);
SERIAL_EOL();
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
#endif
feedrate_mm_s = old_feedrate_mm_s;
if (isnan(measured_z)) {
LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
}
return measured_z;
}
void unified_bed_leveling::echo_name() { SERIAL_PROTOCOLPGM("Unified Bed Leveling"); }
