void checkHitEndstops() {
if (endstop_hit_bits) {
ECHO_SM(DB, MSG_ENDSTOPS_HIT);
if (endstop_hit_bits & BIT(X_MIN)) {
ECHO_MV(MSG_ENDSTOP_X, (float)endstops_trigsteps[X_AXIS] / axis_steps_per_unit[X_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_XS);
}
if (endstop_hit_bits & BIT(Y_MIN)) {
ECHO_MV(MSG_ENDSTOP_Y, (float)endstops_trigsteps[Y_AXIS] / axis_steps_per_unit[Y_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_YS);
}
if (endstop_hit_bits & BIT(Z_MIN)) {
ECHO_MV(MSG_ENDSTOP_Z, (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_ZS);
}
#ifdef Z_PROBE_ENDSTOP
if (endstop_hit_bits & BIT(Z_PROBE)) {
ECHO_MV(MSG_ENDSTOP_ZPS, (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_ZPS);
}
#endif
#ifdef NPR2
if (endstop_hit_bits & BIT(E_MIN)) {
ECHO_MV(MSG_ENDSTOP_E, (float)endstops_trigsteps[E_AXIS] / axis_steps_per_unit[E_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_ES);
}
#endif
ECHO_E;
endstops_hit_on_purpose();
#if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
if (abort_on_endstop_hit) {
card.sdprinting = false;
card.closeFile();
quickStop();
disable_all_heaters(); // switch off all heaters.
}
#endif
}
}
void checkHitEndstops() {
if (endstop_hit_bits) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
if (endstop_hit_bits & BIT(X_MIN)) {
SERIAL_ECHOPAIR(" X:", (float)endstops_trigsteps[X_AXIS] / axis_steps_per_unit[X_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
}
if (endstop_hit_bits & BIT(Y_MIN)) {
SERIAL_ECHOPAIR(" Y:", (float)endstops_trigsteps[Y_AXIS] / axis_steps_per_unit[Y_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
}
if (endstop_hit_bits & BIT(Z_MIN)) {
SERIAL_ECHOPAIR(" Z:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
}
#ifdef Z_PROBE_ENDSTOP
if (endstop_hit_bits & BIT(Z_PROBE)) {
SERIAL_ECHOPAIR(" Z_PROBE:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "ZP");
}
#endif
SERIAL_EOL;
endstops_hit_on_purpose();
#if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
if (abort_on_endstop_hit) {
card.sdprinting = false;
card.closefile();
quickStop();
disable_all_heaters(); // switch off all heaters.
}
#endif
}
}
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_all_heaters(); // 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 && 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 && 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 CardReader::closeFile(bool store_location /*=false*/) {
file.sync();
file.close();
saving = false;
if (store_location) {
char bufferFilerestart[50];
char bufferX[11];
char bufferY[11];
char bufferZ[11];
char bufferE[11];
char bufferCoord[50];
char bufferCoord1[50];
char bufferCoord2[50];
char bufferSdpos[11];
char nameFile[15];
snprintf(bufferSdpos, sizeof bufferSdpos, "%lu", (unsigned long)sdpos);
strcpy(nameFile, "restart.gcode");
if (!fileRestart.exists(nameFile)) {
fileRestart.createContiguous(&workDir, nameFile, 1);
fileRestart.close();
}
fileRestart.open(&workDir, nameFile, O_WRITE);
fileRestart.truncate(0);
dtostrf(current_position[X_AXIS], 1, 3, bufferX);
dtostrf(current_position[Y_AXIS], 1, 3, bufferY);
dtostrf(current_position[Z_AXIS], 1, 3, bufferZ);
dtostrf(current_position[E_AXIS], 1, 3, bufferE);
#if MECH(DELTA)
strcpy(bufferCoord1, "G1 Z");
strcat(bufferCoord1, bufferZ);
strcat(bufferCoord1, " F8000");
#else
strcpy(bufferCoord1, "G92 Z");
strcat(bufferCoord1, bufferZ);
#endif
strcpy(bufferCoord, "G1 X");
strcat(bufferCoord, bufferX);
strcat(bufferCoord, " Y");
strcat(bufferCoord, bufferY);
strcat(bufferCoord, " Z");
strcat(bufferCoord, bufferZ);
strcat(bufferCoord, " F3600");
strcpy(bufferCoord2, "G92 E");
strcat(bufferCoord2, bufferE);
for (int8_t i = 0; i < (int8_t)strlen(fullName); i++)
fullName[i] = tolower(fullName[i]);
strcpy(bufferFilerestart, "M34 S");
strcat(bufferFilerestart, bufferSdpos);
strcat(bufferFilerestart, " @");
strcat(bufferFilerestart, fullName);
#if MECH(DELTA)
fileRestart.write("G28\n");
#else
fileRestart.write(bufferCoord1);
fileRestart.write("\n");
fileRestart.write("G28 X Y\n");
#endif
if (degTargetBed() > 0) {
char Bedtemp[15];
sprintf(Bedtemp, "M190 S%i\n", (int)degTargetBed());
fileRestart.write(Bedtemp);
}
char CurrHotend[10];
sprintf(CurrHotend, "T%i\n", active_extruder);
fileRestart.write(CurrHotend);
for (uint8_t h = 0; h < HOTENDS; h++) {
if (degTargetHotend(h) > 0) {
char Hotendtemp[15];
sprintf(Hotendtemp, "M109 T%i S%i\n", h, (int)degTargetHotend(h));
fileRestart.write(Hotendtemp);
}
}
#if MECH(DELTA)
fileRestart.write(bufferCoord1);
fileRestart.write("\n");
#endif
fileRestart.write(bufferCoord);
fileRestart.write("\n");
if (fanSpeed > 0) {
char fanSp[15];
sprintf(fanSp, "M106 S%i\n", fanSpeed);
fileRestart.write(fanSp);
}
fileRestart.write(bufferCoord2);
fileRestart.write("\n");
fileRestart.write(bufferFilerestart);
fileRestart.write("\n");
fileRestart.sync();
fileRestart.close();
HAL::delayMilliseconds(200);
#if MECH(DELTA)
enqueue_and_echo_commands_P(PSTR("G28"));
#else
enqueue_and_echo_commands_P(PSTR("G28 X0 Y0"));
#endif
disable_all_heaters();
disable_all_coolers();
fanSpeed = 0;
}
}
void PID_autotune(float temp, int hotend, 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_temp, Ki_temp, Kd_temp;
float max = 0, min = 10000;
#if HAS_AUTO_FAN
millis_t next_auto_fan_check_ms = temp_ms + 2500;
#endif
if (hotend >= HOTENDS
#if !HAS_TEMP_BED
|| hotend < 0
#endif
) {
ECHO_LM(ER, MSG_PID_BAD_EXTRUDER_NUM);
return;
}
ECHO_LM(DB, MSG_PID_AUTOTUNE_START);
if (hotend < 0) {
ECHO_SM(DB, "BED");
}
else {
ECHO_SMV(DB, "Hotend: ", hotend);
}
ECHO_MV(" Temp: ", temp);
ECHO_EMV(" Cycles: ", ncycles);
disable_all_heaters(); // switch off all heaters.
if (hotend < 0)
soft_pwm_bed = bias = d = MAX_BED_POWER / 2;
else
soft_pwm[hotend] = bias = d = PID_MAX / 2;
// PID Tuning loop
for (;;) {
millis_t ms = millis();
if (temp_meas_ready) { // temp sample ready
updateTemperaturesFromRawValues();
input = (hotend<0)?current_temperature_bed:current_temperature[hotend];
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 && input > temp) {
if (ms > t2 + 5000) {
heating = false;
if (hotend < 0)
soft_pwm_bed = (bias - d) >> 1;
else
soft_pwm[hotend] = (bias - d) >> 1;
t1 = ms;
t_high = t1 - t2;
max = temp;
}
}
if (!heating && input < temp) {
if (ms > t1 + 5000) {
heating = true;
t2 = ms;
t_low = t2 - t1;
if (cycles > 0) {
long max_pow = hotend < 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;
ECHO_MV(MSG_BIAS, bias);
ECHO_MV(MSG_D, d);
ECHO_MV(MSG_T_MIN, min);
ECHO_MV(MSG_T_MAX, max);
if (cycles > 2) {
Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
Tu = ((float)(t_low + t_high) / 1000.0);
ECHO_MV(MSG_KU, Ku);
ECHO_EMV(MSG_TU, Tu);
Kp_temp = 0.6 * Ku;
Ki_temp = 2 * Kp_temp / Tu;
Kd_temp = Kp_temp * Tu / 8;
ECHO_EM(MSG_CLASSIC_PID);
ECHO_MV(MSG_KP, Kp_temp);
ECHO_MV(MSG_KI, Ki_temp);
ECHO_EMV(MSG_KD, Kd_temp);
}
else {
ECHO_E;
}
}
if (hotend < 0)
soft_pwm_bed = (bias + d) >> 1;
else
soft_pwm[hotend] = (bias + d) >> 1;
cycles++;
min = temp;
}
