PID tuning from menu

Firmware/language_all.cpp

@@ -692,6 +692,11 @@ const char * const MSG_DWELL_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_DWELL_DE
 };
 
+const char MSG_EEPROM_SAVING_EN[] PROGMEM = "Saving";
+const char * const MSG_EEPROM_SAVING_LANG_TABLE[1] PROGMEM = {
+	MSG_EEPROM_SAVING_EN
+};
+
 const char MSG_ENDSTOPS_HIT_EN[] PROGMEM = "endstops hit: ";
 const char * const MSG_ENDSTOPS_HIT_LANG_TABLE[1] PROGMEM = {
 	MSG_ENDSTOPS_HIT_EN
@@ -1736,6 +1741,21 @@ const char * const MSG_PICK_Z_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_PICK_Z_DE
 };
 
+const char MSG_PID_EXTRUDER_EN[] PROGMEM = "PID calibration";
+const char * const MSG_PID_EXTRUDER_LANG_TABLE[1] PROGMEM = {
+	MSG_PID_EXTRUDER_EN
+};
+
+const char MSG_PID_FINISHED_EN[] PROGMEM = "PID cal. finished";
+const char * const MSG_PID_FINISHED_LANG_TABLE[1] PROGMEM = {
+	MSG_PID_FINISHED_EN
+};
+
+const char MSG_PID_RUNNING_EN[] PROGMEM = "PID cal.           ";
+const char * const MSG_PID_RUNNING_LANG_TABLE[1] PROGMEM = {
+	MSG_PID_RUNNING_EN
+};
+
 const char MSG_PLANNER_BUFFER_BYTES_EN[] PROGMEM = "  PlannerBufferBytes: ";
 const char * const MSG_PLANNER_BUFFER_BYTES_LANG_TABLE[1] PROGMEM = {
 	MSG_PLANNER_BUFFER_BYTES_EN
@@ -2446,6 +2466,11 @@ const char * const MSG_SET_ORIGIN_LANG_TABLE[1] PROGMEM = {
 	MSG_SET_ORIGIN_EN
 };
 
+const char MSG_SET_TEMPERATURE_EN[] PROGMEM = "Set temperature";
+const char * const MSG_SET_TEMPERATURE_LANG_TABLE[1] PROGMEM = {
+	MSG_SET_TEMPERATURE_EN
+};
+
 const char MSG_SHOW_END_STOPS_EN[] PROGMEM = "Show end stops";
 const char MSG_SHOW_END_STOPS_CZ[] PROGMEM = "Stav konc. spin.";
 const char MSG_SHOW_END_STOPS_IT[] PROGMEM = "Stato finecorsa";

Firmware/language_all.h

@@ -139,6 +139,8 @@ extern const char* const MSG_DISABLE_STEPPERS_LANG_TABLE[LANG_NUM];
 #define MSG_DISABLE_STEPPERS LANG_TABLE_SELECT(MSG_DISABLE_STEPPERS_LANG_TABLE)
 extern const char* const MSG_DWELL_LANG_TABLE[LANG_NUM];
 #define MSG_DWELL LANG_TABLE_SELECT(MSG_DWELL_LANG_TABLE)
+extern const char* const MSG_EEPROM_SAVING_LANG_TABLE[1];
+#define MSG_EEPROM_SAVING LANG_TABLE_SELECT_EXPLICIT(MSG_EEPROM_SAVING_LANG_TABLE, 0)
 extern const char* const MSG_ENDSTOPS_HIT_LANG_TABLE[1];
 #define MSG_ENDSTOPS_HIT LANG_TABLE_SELECT_EXPLICIT(MSG_ENDSTOPS_HIT_LANG_TABLE, 0)
 extern const char* const MSG_ENDSTOP_HIT_LANG_TABLE[1];
@@ -345,6 +347,12 @@ extern const char* const MSG_PAUSE_PRINT_LANG_TABLE[LANG_NUM];
 #define MSG_PAUSE_PRINT LANG_TABLE_SELECT(MSG_PAUSE_PRINT_LANG_TABLE)
 extern const char* const MSG_PICK_Z_LANG_TABLE[LANG_NUM];
 #define MSG_PICK_Z LANG_TABLE_SELECT(MSG_PICK_Z_LANG_TABLE)
+extern const char* const MSG_PID_EXTRUDER_LANG_TABLE[1];
+#define MSG_PID_EXTRUDER LANG_TABLE_SELECT_EXPLICIT(MSG_PID_EXTRUDER_LANG_TABLE, 0)
+extern const char* const MSG_PID_FINISHED_LANG_TABLE[1];
+#define MSG_PID_FINISHED LANG_TABLE_SELECT_EXPLICIT(MSG_PID_FINISHED_LANG_TABLE, 0)
+extern const char* const MSG_PID_RUNNING_LANG_TABLE[1];
+#define MSG_PID_RUNNING LANG_TABLE_SELECT_EXPLICIT(MSG_PID_RUNNING_LANG_TABLE, 0)
 extern const char* const MSG_PLANNER_BUFFER_BYTES_LANG_TABLE[1];
 #define MSG_PLANNER_BUFFER_BYTES LANG_TABLE_SELECT_EXPLICIT(MSG_PLANNER_BUFFER_BYTES_LANG_TABLE, 0)
 extern const char* const MSG_PLEASE_WAIT_LANG_TABLE[LANG_NUM];
@@ -483,6 +491,8 @@ extern const char* const MSG_SET_HOME_OFFSETS_LANG_TABLE[1];
 #define MSG_SET_HOME_OFFSETS LANG_TABLE_SELECT_EXPLICIT(MSG_SET_HOME_OFFSETS_LANG_TABLE, 0)
 extern const char* const MSG_SET_ORIGIN_LANG_TABLE[1];
 #define MSG_SET_ORIGIN LANG_TABLE_SELECT_EXPLICIT(MSG_SET_ORIGIN_LANG_TABLE, 0)
+extern const char* const MSG_SET_TEMPERATURE_LANG_TABLE[1];
+#define MSG_SET_TEMPERATURE LANG_TABLE_SELECT_EXPLICIT(MSG_SET_TEMPERATURE_LANG_TABLE, 0)
 extern const char* const MSG_SHOW_END_STOPS_LANG_TABLE[LANG_NUM];
 #define MSG_SHOW_END_STOPS LANG_TABLE_SELECT(MSG_SHOW_END_STOPS_LANG_TABLE)
 extern const char* const MSG_SILENT_MODE_OFF_LANG_TABLE[LANG_NUM];

Firmware/language_en.h

@@ -268,4 +268,9 @@
 #define MSG_PRINTER_DISCONNECTED								"Printer disconnected"
 #define MSG_FINISHING_MOVEMENTS									"Finishing movements"
 #define MSG_PRINT_PAUSED										"Print paused"
-#define MSG_RESUMING_PRINT										"Resuming print"
+#define MSG_RESUMING_PRINT										"Resuming print"
+#define MSG_PID_EXTRUDER										"PID calibration"
+#define MSG_SET_TEMPERATURE										"Set temperature"
+#define MSG_PID_FINISHED										"PID cal. finished"
+#define MSG_PID_RUNNING											"PID cal.           "
+#define MSG_EEPROM_SAVING										"Saving"

Firmware/temperature.cpp

@@ -51,7 +51,12 @@ float current_temperature_bed = 0.0;
   int redundant_temperature_raw = 0;
   float redundant_temperature = 0.0;
 #endif
+  
+
 #ifdef PIDTEMP
+  float _Kp, _Ki, _Kd;
+  int pid_cycle, pid_number_of_cycles;
+  bool pid_tuning_finished = false;
   float Kp=DEFAULT_Kp;
   float Ki=(DEFAULT_Ki*PID_dT);
   float Kd=(DEFAULT_Kd/PID_dT);
@@ -181,10 +186,12 @@ unsigned long watchmillis[EXTRUDERS] = ARRAY_BY_EXTRUDERS(0,0,0);
 //=============================   functions      ============================
 //===========================================================================
 
-void PID_autotune(float temp, int extruder, int ncycles)
-{
+  void PID_autotune(float temp, int extruder, int ncycles)
+  {
+  pid_number_of_cycles = ncycles;
+  pid_tuning_finished = false;
   float input = 0.0;
-  int cycles=0;
+  pid_cycle=0;
   bool heating = true;
 
   unsigned long temp_millis = millis();
@@ -195,7 +202,6 @@ void PID_autotune(float temp, int extruder, int ncycles)
 
   long bias, d;
   float Ku, Tu;
-  float Kp, Ki, Kd;
   float max = 0, min = 10000;
 
 #if (defined(EXTRUDER_0_AUTO_FAN_PIN) && EXTRUDER_0_AUTO_FAN_PIN > -1) || \
@@ -210,6 +216,8 @@ void PID_autotune(float temp, int extruder, int ncycles)
   #endif
        ){
           SERIAL_ECHOLN("PID Autotune failed. Bad extruder number.");
+		  pid_tuning_finished = true;
+		  pid_cycle = 0;
           return;
         }
 	
@@ -267,7 +275,7 @@ void PID_autotune(float temp, int extruder, int ncycles)
           heating=true;
           t2=millis();
           t_low=t2 - t1;
-          if(cycles > 0) {
+          if(pid_cycle > 0) {
             bias += (d*(t_high - t_low))/(t_low + t_high);
             bias = constrain(bias, 20 ,(extruder<0?(MAX_BED_POWER):(PID_MAX))-20);
             if(bias > (extruder<0?(MAX_BED_POWER):(PID_MAX))/2) d = (extruder<0?(MAX_BED_POWER):(PID_MAX)) - 1 - bias;
@@ -277,33 +285,33 @@ void PID_autotune(float temp, int extruder, int ncycles)
             SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d);
             SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min);
             SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max);
-            if(cycles > 2) {
+            if(pid_cycle > 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;
+              _Kp = 0.6*Ku;
+              _Ki = 2*_Kp/Tu;
+              _Kd = _Kp*Tu/8;
               SERIAL_PROTOCOLLNPGM(" Classic PID ");
-              SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
-              SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
-              SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
+              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;
+              _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_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);
+              SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(_Kp);
+              SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(_Ki);
+              SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(_Kd);
               */
             }
           }
@@ -311,13 +319,15 @@ void PID_autotune(float temp, int extruder, int ncycles)
             soft_pwm_bed = (bias + d) >> 1;
           else
             soft_pwm[extruder] = (bias + d) >> 1;
-          cycles++;
+          pid_cycle++;
           min=temp;
         }
       } 
     }
     if(input > (temp + 20)) {
       SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature too high");
+	  pid_tuning_finished = true;
+	  pid_cycle = 0;
       return;
     }
     if(millis() - temp_millis > 2000) {
@@ -338,10 +348,14 @@ void PID_autotune(float temp, int extruder, int ncycles)
     }
     if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) {
       SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout");
+	  pid_tuning_finished = true;
+	  pid_cycle = 0;
       return;
     }
-    if(cycles > ncycles) {
+    if(pid_cycle > ncycles) {
       SERIAL_PROTOCOLLNPGM("PID Autotune finished! Put the last Kp, Ki and Kd constants from above into Configuration.h");
+	  pid_tuning_finished = true;
+	  pid_cycle = 0;
       return;
     }
     lcd_update();

Firmware/temperature.h

@@ -58,7 +58,9 @@ extern float current_temperature_bed;
 #endif
 
 #ifdef PIDTEMP
-  extern float Kp,Ki,Kd,Kc;
+  extern int pid_cycle, pid_number_of_cycles;
+  extern float Kp,Ki,Kd,Kc,_Kp,_Ki,_Kd;
+  extern bool pid_tuning_finished;
   float scalePID_i(float i);
   float scalePID_d(float d);
   float unscalePID_i(float i);

Firmware/ultralcd.cpp

@@ -106,6 +106,7 @@ int farm_status = 0;
 unsigned long allert_timer = millis();
 bool printer_connected = true;
 
+float pid_temp = DEFAULT_PID_TEMP;
 
 bool long_press_active = false;
 long long_press_timer = millis();
@@ -774,6 +775,47 @@ void lcd_commands()
 		}
 
 	}
+	if (lcd_commands_type == LCD_COMMAND_PID_EXTRUDER) {
+		char cmd1[30];
+		unsigned long display_time; //just timer for showing pid finished message on lcd;
+		if (lcd_commands_step == 0) {
+			custom_message_type = 3;
+			custom_message_state = 1;
+			custom_message = true;
+			lcdDrawUpdate = 3;
+			lcd_commands_step = 3;
+		}
+		if (lcd_commands_step == 3 && !blocks_queued()) { //PID calibration
+			strcpy(cmd1, "M303 E0 S");
+			strcat(cmd1, ftostr3(pid_temp));
+			enquecommand(cmd1);
+			lcd_setstatuspgm(MSG_PID_RUNNING);
+			lcd_commands_step = 2;
+		}
+		if (lcd_commands_step == 2 && pid_tuning_finished) { //saving to eeprom
+			pid_tuning_finished = false;
+			custom_message_state = 0;
+			lcd_setstatuspgm(MSG_PID_FINISHED);
+			strcpy(cmd1, "M301 P");
+			strcat(cmd1, ftostr32(_Kp));
+			strcat(cmd1, " I");
+			strcat(cmd1, ftostr32(_Ki));
+			strcat(cmd1, " D");
+			strcat(cmd1, ftostr32(_Kd));
+			enquecommand(cmd1);
+			enquecommand_P(PSTR("M500"));
+			display_time = millis();
+			lcd_commands_step = 1;
+		}
+		if ((lcd_commands_step == 1) && ((millis()- display_time)>2000)) { //calibration finished message
+			lcd_setstatuspgm(WELCOME_MSG);
+			custom_message_type = 0;
+			custom_message = false;
+			pid_temp = DEFAULT_PID_TEMP;
+			lcd_commands_step = 0;
+			lcd_commands_type = 0;
+		}
+	}
 
 
 }
@@ -1510,6 +1552,25 @@ static void lcd_adjust_bed()
     END_MENU();
 }
 
+void pid_extruder() {
+
+	lcd_implementation_clear();
+	lcd.setCursor(1, 0);
+	lcd_printPGM(MSG_SET_TEMPERATURE);
+	pid_temp += int(encoderPosition);
+	if (pid_temp > HEATER_0_MAXTEMP) pid_temp = HEATER_0_MAXTEMP;
+	if (pid_temp < HEATER_0_MINTEMP) pid_temp = HEATER_0_MINTEMP;
+	encoderPosition = 0;
+	lcd.setCursor(1, 2);
+	lcd.print(ftostr3(pid_temp));
+	if (lcd_clicked()) {
+		lcd_commands_type = LCD_COMMAND_PID_EXTRUDER;
+		lcd_return_to_status();
+		lcd_update(2);
+	}
+
+}
+
 void lcd_adjust_z() {
   int enc_dif = 0;
   int cursor_pos = 1;
@@ -2539,6 +2600,7 @@ MENU_ITEM(function, MSG_CALIBRATE_BED, lcd_mesh_calibration);
 #endif
     MENU_ITEM(gcode, MSG_AUTO_HOME, PSTR("G28 W"));
     MENU_ITEM(submenu, MSG_BED_CORRECTION_MENU, lcd_adjust_bed);
+	MENU_ITEM(submenu, MSG_PID_EXTRUDER, pid_extruder);
     MENU_ITEM(submenu, MSG_SHOW_END_STOPS, menu_show_end_stops);
     MENU_ITEM(gcode, MSG_CALIBRATE_BED_RESET, PSTR("M44"));
 #ifndef SNMM

Firmware/ultralcd.h

@@ -93,6 +93,7 @@ void lcd_mylang();
   #define LCD_COMMAND_FARM_MODE_CONFIRM 4
   #define LCD_COMMAND_LONG_PAUSE 5
   #define LCD_COMMAND_LONG_PAUSE_RESUME 6
+  #define LCD_COMMAND_PID_EXTRUDER 7 
 
   extern unsigned long lcd_timeoutToStatus;
   extern int lcd_commands_type;

Firmware/ultralcd_implementation_hitachi_HD44780.h

@@ -948,6 +948,17 @@ static void lcd_implementation_status_screen()
 			{
 				lcd.print(lcd_status_message);
 			}
+			// PID tuning in progress
+			if (custom_message_type == 3) {
+				lcd.print(lcd_status_message);
+				if (pid_cycle <= pid_number_of_cycles && custom_message_state > 0) {
+					lcd.setCursor(10, 3);
+					lcd.print(itostr3(pid_cycle));
+					
+					lcd.print('/');
+					lcd.print(itostr3left(pid_number_of_cycles));
+				}
+			}
 		}
 	else
 		{