Add Pid for any Extruder

MarlinKimbra/Configuration.h

@@ -253,30 +253,11 @@
 #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
 
 // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
-// IeC HotEnd
-#define  DEFAULT_Kp 41.51
-#define  DEFAULT_Ki 7.28
-#define  DEFAULT_Kd 59.17
-
-// Buda-Style HotEnd 2.0
-// #define  DEFAULT_Kp 33.24
-// #define  DEFAULT_Ki 2.12
-// #define  DEFAULT_Kd 130.15
-
-// Ultimaker
-// #define  DEFAULT_Kp 22.2
-// #define  DEFAULT_Ki 1.08
-// #define  DEFAULT_Kd 114
-
-// MakerGear
-// #define  DEFAULT_Kp 7.0
-// #define  DEFAULT_Ki 0.1
-// #define  DEFAULT_Kd 12
-
-// Mendel Parts V9 on 12V
-// #define  DEFAULT_Kp 63.0
-// #define  DEFAULT_Ki 2.25
-// #define  DEFAULT_Kd 440
+//            HotEnd{HE0,HE1,HE2,HE3}
+#define  DEFAULT_Kp {41.51,50,0,0}
+#define  DEFAULT_Ki {7.28,15,0,0}
+#define  DEFAULT_Kd {59.17,90,0,0}
+
 #endif // PIDTEMP
 
 // Bed Temperature Control

MarlinKimbra/ConfigurationStore.cpp

@@ -246,9 +246,9 @@ void Config_PrintSettings()
   SERIAL_ECHO_START;
   SERIAL_ECHOLNPGM("PID settings:");
   SERIAL_ECHO_START;
-  SERIAL_ECHOPAIR("   M301 P",Kp); 
-  SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki)); 
-  SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd));
+  SERIAL_ECHOPAIR("   M301 P",Kp[active_extruder]); 
+  SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki[active_extruder])); 
+  SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd[active_extruder]));
   SERIAL_ECHOLN(""); 
 #endif
 } 
@@ -350,7 +350,10 @@ void Config_ResetDefault()
   float tmp2[]=DEFAULT_MAX_FEEDRATE;
   float tmp3[]=DEFAULT_RETRACTION_MAX_FEEDRATE;
   long  tmp4[]=DEFAULT_MAX_ACCELERATION;
-
+  float tmp5[]=DEFAULT_Kp;
+  float tmp6[]=DEFAULT_Ki;
+  float tmp7[]=DEFAULT_Kd;
+  
   for (short i=0;i<7;i++) 
   {
     axis_steps_per_unit[i]=tmp1[i];
@@ -405,9 +408,18 @@ void Config_ResetDefault()
   lcd_contrast = DEFAULT_LCD_CONTRAST;
 #endif
 #ifdef PIDTEMP
-  Kp = DEFAULT_Kp;
-  Ki = scalePID_i(DEFAULT_Ki);
-  Kd = scalePID_d(DEFAULT_Kd);
+  for (short i=0;i<4;i++) 
+  {
+#ifdef SINGLENOZZLE
+    Kp[i] = tmp5[0];
+    Ki[i] = scalePID_i(tmp6[0]);
+    Kd[i] = scalePID_d(tmp7[0]);
+#else
+    Kp[i] = tmp5[i];
+    Ki[i] = scalePID_i(tmp6[i]);
+    Kd[i] = scalePID_d(tmp7[i]);
+#endif
+  }
 
   // call updatePID (similar to when we have processed M301)
   updatePID();

MarlinKimbra/Marlin.h

@@ -238,7 +238,8 @@ extern int feedmultiply;
 extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
 extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
 extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
-extern float current_position[NUM_AXIS] ;
+extern float current_position[NUM_AXIS];
+extern float destination[NUM_AXIS];
 extern float add_homing[3];
 #ifdef NPR2
 extern int old_color; // old color for system NPR2

MarlinKimbra/Marlin_main.cpp

@@ -61,6 +61,10 @@
 #include <SPI.h>
 #endif
 
+#ifdef FIRMWARE_TEST
+#include "firmware_test.h"
+#endif
+
 #define VERSION_STRING  "4.0.0"
 
 // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
@@ -254,6 +258,7 @@ float volumetric_multiplier[EXTRUDERS] = {1.0
   #endif
 };
 float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
+float destination[NUM_AXIS] = {  0.0, 0.0, 0.0, 0.0};
 float add_homing[3]={0,0,0};
 
 #ifdef NPR2
@@ -391,7 +396,6 @@ bool cancel_heatup = false ;
 //=============================Private Variables=============================
 //===========================================================================
 const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
-static float destination[NUM_AXIS] = {  0.0, 0.0, 0.0, 0.0};
 static float offset[3] = {0.0, 0.0, 0.0};
 static bool home_all_axis = true;
 
@@ -4410,9 +4414,9 @@ Sigma_Exit:
     #ifdef PIDTEMP
     case 301: // M301
       {
-        if(code_seen('P')) Kp = code_value();
-        if(code_seen('I')) Ki = scalePID_i(code_value());
-        if(code_seen('D')) Kd = scalePID_d(code_value());
+        if(code_seen('P')) Kp[active_extruder] = code_value();
+        if(code_seen('I')) Ki[active_extruder] = scalePID_i(code_value());
+        if(code_seen('D')) Kd[active_extruder] = scalePID_d(code_value());
 
         #ifdef PID_ADD_EXTRUSION_RATE
         if(code_seen('C')) Kc = code_value();
@@ -4421,11 +4425,11 @@ Sigma_Exit:
         updatePID();
         SERIAL_PROTOCOL(MSG_OK);
         SERIAL_PROTOCOL(" p:");
-        SERIAL_PROTOCOL(Kp);
+        SERIAL_PROTOCOL(Kp[active_extruder]);
         SERIAL_PROTOCOL(" i:");
-        SERIAL_PROTOCOL(unscalePID_i(Ki));
+        SERIAL_PROTOCOL(unscalePID_i(Ki[active_extruder]));
         SERIAL_PROTOCOL(" d:");
-        SERIAL_PROTOCOL(unscalePID_d(Kd));
+        SERIAL_PROTOCOL(unscalePID_d(Kd[active_extruder]));
         #ifdef PID_ADD_EXTRUSION_RATE
         SERIAL_PROTOCOL(" c:");
         //Kc does not have scaling applied above, or in resetting defaults
@@ -5930,232 +5934,6 @@ void setPwmFrequency(uint8_t pin, int val)
 }
 #endif //FAST_PWM_FAN
 
-#ifdef FIRMWARE_TEST
-void FirmwareTest(){
-  SERIAL_ECHOLN("---------- FIRMWARE TEST --------------");
-  SERIAL_ECHOLN("--------- by MarlinKimbra -------------");
-  SERIAL_ECHOLN(" ");
-  SERIAL_ECHOLN(MSG_FWTEST_01);
-  SERIAL_ECHOLN(MSG_FWTEST_02);
-  SERIAL_ECHOLN(MSG_FWTEST_YES_NO);
-  serial_char = MYSERIAL.read();
-  while(serial_char!='y' && serial_char!='Y' && serial_char!='n' && serial_char!='N'){
-    serial_char = MYSERIAL.read();
-  }
-  if (serial_char=='y' || serial_char=='Y'){
-    SERIAL_ECHOLN(MSG_FWTEST_03);
-    SERIAL_ECHOLN(" ");
-    SERIAL_ECHOLN("***** ENDSTOP X *****");
-#if defined(X_MIN_PIN) && X_MIN_PIN > -1 && X_HOME_DIR == -1
-    if (!READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
-      SERIAL_ECHO("MIN ENDSTOP X: ");
-#elif defined(X_MAX_PIN) && X_MAX_PIN > -1 && X_HOME_DIR == 1
-    if (!READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
-      SERIAL_ECHO("MAX ENDSTOP X: ");
-#endif
-      SERIAL_ECHOLN(MSG_ENDSTOP_OPEN);
-    }
-    else
-    {
-      SERIAL_ECHOLN("X ENDSTOP ERROR");
-      SERIAL_ECHO(MSG_FWTEST_INVERT);
-#if X_HOME_DIR == -1
-      SERIAL_ECHOLN("#define X_MIN_ENDSTOP_INVERTING");
-#else
-      SERIAL_ECHOLN("#define X_MAX_ENDSTOP_INVERTING");
-#endif
-      return;
-    }
-    SERIAL_ECHOLN("Premere e tenere premuto l'endstop X.");
-    SERIAL_ECHOLN(MSG_FWTEST_YES);
-    serial_char = MYSERIAL.read();
-    while(serial_char!='y' && serial_char!='Y'){
-      serial_char = MYSERIAL.read();
-    }
-#if defined(X_MIN_PIN) && X_MIN_PIN > -1 && X_HOME_DIR == -1
-    if (READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
-      SERIAL_ECHO("MIN ENDSTOP X: ");
-#elif defined(X_MAX_PIN) && X_MAX_PIN > -1 && X_HOME_DIR == 1
-    if (READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
-      SERIAL_ECHO("MAX ENDSTOP X: ");
-#endif
-      SERIAL_ECHOLN(MSG_ENDSTOP_HIT);
-    }
-      else
-    {
-      SERIAL_ECHO("X ");
-      SERIAL_ECHOLN(MSG_FWTEST_ENDSTOP_ERR);
-      return;
-    }
-    SERIAL_ECHOLN(" ");
-    SERIAL_ECHOLN("***** ENDSTOP Y *****");
-#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1 && Y_HOME_DIR == -1
-    if (!READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
-      SERIAL_ECHO("MIN ENDSTOP Y: ");
-#elif defined(Y_MAX_PIN) && Y_MAX_PIN > -1 && Y_HOME_DIR == 1
-    if (!READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
-      SERIAL_ECHO("MAX ENDSTOP Y: ");
-#endif
-      SERIAL_ECHOLN(MSG_ENDSTOP_OPEN);
-    }
-    else
-    {
-      SERIAL_ECHOLN("Y ENDSTOP ERROR");
-      SERIAL_ECHO(MSG_FWTEST_INVERT);
-#if Y_HOME_DIR == -1
-      SERIAL_ECHOLN("#define Y_MIN_ENDSTOP_INVERTING");
-#else
-      SERIAL_ECHOLN("#define Y_MAX_ENDSTOP_INVERTING");
-#endif
-      return;
-    }
-    SERIAL_ECHOLN("Premere e tenere premuto l'endstop Y.");
-    SERIAL_ECHOLN(MSG_FWTEST_YES);
-    serial_char = MYSERIAL.read();
-    while(serial_char!='y' && serial_char!='Y'){
-      serial_char = MYSERIAL.read();
-    }
-#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1 && Y_HOME_DIR == -1
-    if (READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
-      SERIAL_ECHO("MIN ENDSTOP Y: ");
-#elif defined(Y_MAX_PIN) && Y_MAX_PIN > -1 && Y_HOME_DIR == 1
-    if (READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
-      SERIAL_ECHO("MAX ENDSTOP Y: ");
-#endif
-      SERIAL_ECHOLN(MSG_ENDSTOP_HIT);
-    }
-    else
-    {
-      SERIAL_ECHO("Y ");
-      SERIAL_ECHOLN(MSG_FWTEST_ENDSTOP_ERR);
-      return;
-    }
-    SERIAL_ECHOLN(" ");
-    SERIAL_ECHOLN("***** ENDSTOP Z *****");
-#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1 && Z_HOME_DIR == -1
-    if (!READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
-      SERIAL_ECHO("MIN ENDSTOP Z: ");
-#elif defined(Z_MAX_PIN) && Z_MAX_PIN > -1 && Z_HOME_DIR == 1
-    if (!READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
-      SERIAL_ECHO("MAX ENDSTOP Z: ");
-#endif
-      SERIAL_ECHOLN(MSG_ENDSTOP_OPEN);
-    }
-    else
-    {
-      SERIAL_ECHOLN("Z ENDSTOP ERROR");
-      SERIAL_ECHO(MSG_FWTEST_INVERT);
-#if Z_HOME_DIR == -1
-      SERIAL_ECHOLN("#define Z_MIN_ENDSTOP_INVERTING");
-#else
-      SERIAL_ECHOLN("#define Z_MAX_ENDSTOP_INVERTING");
-#endif
-      return;
-    }
-    SERIAL_ECHOLN("Premere e tenere premuto l'endstop Z.");
-    SERIAL_ECHOLN(MSG_FWTEST_YES);
-    serial_char = MYSERIAL.read();
-    while(serial_char!='y' && serial_char!='Y'){
-      serial_char = MYSERIAL.read();
-    }
-#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1 && Z_HOME_DIR == -1
-    if (READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
-      SERIAL_ECHO("MIN ENDSTOP Z: ");
-#elif defined(Z_MAX_PIN) && Z_MAX_PIN > -1 && Z_HOME_DIR == 1
-    if (READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
-      SERIAL_ECHO("MAX ENDSTOP Z: ");
-#endif
-      SERIAL_ECHOLN(MSG_ENDSTOP_HIT);
-    }
-    else
-    {
-      SERIAL_ECHO("Z ");
-      SERIAL_ECHOLN(MSG_FWTEST_ENDSTOP_ERR);
-      return;
-    }
-    SERIAL_ECHOLN("ENDSTOP OK");
-    SERIAL_ECHOLN(" ");
-  }
-  SERIAL_ECHOLN("***** TEST MOTOR  *****");
-  SERIAL_ECHOLN(MSG_FWTEST_ATTENTION);
-  SERIAL_ECHOLN(MSG_FWTEST_YES);
-  serial_char = MYSERIAL.read();
-  while(serial_char!='y' && serial_char!='Y'){
-    serial_char = MYSERIAL.read();
-  }
-  SERIAL_ECHOLN(MSG_FWTEST_04);
-  SERIAL_ECHOLN(" ");
-  SERIAL_ECHOLN("***** MOTOR X *****");
-#if defined(PS_ON_PIN) && PS_ON_PIN > -1
-  SET_OUTPUT(PS_ON_PIN);
-  WRITE(PS_ON_PIN, PS_ON_AWAKE);
-#endif
-  st_synchronize();
-  for(int8_t i=0; i < NUM_AXIS; i++) current_position[i] = 0;
-  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-  destination[X_AXIS] = current_position[X_AXIS] + 5;
-  prepare_move();
-  st_synchronize();
-  SERIAL_ECHOLN(MSG_FWTEST_XAXIS);
-  SERIAL_ECHOLN(MSG_FWTEST_YES_NO);
-  serial_char = MYSERIAL.read();
-  while(serial_char!='y' && serial_char!='Y' && serial_char!='n' && serial_char!='N'){
-    serial_char = MYSERIAL.read();
-  }
-  if(serial_char=='y' || serial_char=='Y'){
-    SERIAL_ECHOLN("MOTOR X OK");
-  }
-  else
-  {
-    SERIAL_ECHO(MSG_FWTEST_INVERT);
-    SERIAL_ECHOLN("#define INVERT_X_DIR");
-    return;
-  }
-  SERIAL_ECHOLN(" ");
-  SERIAL_ECHOLN("***** MOTOR Y *****");
-  destination[Y_AXIS] = current_position[Y_AXIS] + 5;
-  prepare_move();
-  st_synchronize();
-  SERIAL_ECHOLN(MSG_FWTEST_YAXIS);
-  SERIAL_ECHOLN(MSG_FWTEST_YES_NO);
-  serial_char = MYSERIAL.read();
-  while(serial_char!='y' && serial_char!='Y' && serial_char!='n' && serial_char!='N'){
-    serial_char = MYSERIAL.read();
-  }
-  if(serial_char=='y' || serial_char=='Y'){
-    SERIAL_ECHOLN("MOTOR Y OK");
-  }
-  else
-  {
-    SERIAL_ECHO(MSG_FWTEST_INVERT);
-    SERIAL_ECHOLN("#define INVERT_Y_DIR");
-    return;
-  }
-  SERIAL_ECHOLN(" ");
-  SERIAL_ECHOLN("***** MOTOR Z *****");
-  destination[Z_AXIS] = current_position[Z_AXIS] + 5;
-  prepare_move();
-  st_synchronize();
-  SERIAL_ECHOLN(MSG_FWTEST_ZAXIS);
-  SERIAL_ECHOLN(MSG_FWTEST_YES_NO);
-  serial_char = MYSERIAL.read();
-  while(serial_char!='y' && serial_char!='Y' && serial_char!='n' && serial_char!='N'){
-    serial_char = MYSERIAL.read();
-  }
-  if(serial_char=='y' || serial_char=='Y'){
-    SERIAL_ECHOLN("MOTOR Z OK");
-  }
-  else
-  {
-    SERIAL_ECHO(MSG_FWTEST_INVERT);
-    SERIAL_ECHOLN("#define INVERT_Z_DIR");
-    return;
-  }
-  SERIAL_ECHOLN("MOTOR OK");
-  SERIAL_ECHOLN(" ");
-}
-#endif //FIRMWARE_TEST
-
 bool setTargetedHotend(int code){
   tmp_extruder = active_extruder;
   if(code_seen('T')) {

MarlinKimbra/firmware_test.h

+/*
+  Test.h
+  Tools for firmware test
+  By MagoKimbra
+ */
+
+#include "Marlin.h"
+#include "stepper.h"
+#include "planner.h"
+#include "temperature.h"
+#include "language.h"
+
+static char serial_answer;
+
+void FirmwareTest(){
+  SERIAL_ECHOLN("---------- FIRMWARE TEST --------------");
+  SERIAL_ECHOLN("--------- by MarlinKimbra -------------");
+  SERIAL_ECHOLN(" ");
+  SERIAL_ECHOLN(MSG_FWTEST_01);
+  SERIAL_ECHOLN(MSG_FWTEST_02);
+  SERIAL_ECHOLN(MSG_FWTEST_YES_NO);
+  serial_answer = MYSERIAL.read();
+  while(serial_answer!='y' && serial_answer!='Y' && serial_answer!='n' && serial_answer!='N'){
+    serial_answer = MYSERIAL.read();
+  }
+  if (serial_answer=='y' || serial_answer=='Y'){
+    SERIAL_ECHOLN(MSG_FWTEST_03);
+
+    SERIAL_ECHOLN(" ");
+    SERIAL_ECHOLN("***** ENDSTOP X *****");
+#if defined(X_MIN_PIN) && X_MIN_PIN > -1 && X_HOME_DIR == -1
+    if (!READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
+      SERIAL_ECHO("MIN ENDSTOP X: ");
+      SERIAL_ECHOLN(MSG_ENDSTOP_OPEN);
+    }
+    else
+    {
+      SERIAL_ECHOLN("X ENDSTOP ERROR");
+      SERIAL_ECHO(MSG_FWTEST_INVERT);
+      SERIAL_ECHOLN("#define X_MIN_ENDSTOP_INVERTING");
+      return;
+    }
+    SERIAL_ECHO(MSG_FWTEST_PRESS);
+    SERIAL_ECHOLN("X");
+    SERIAL_ECHOLN(MSG_FWTEST_YES);
+    serial_answer = MYSERIAL.read();
+    while(serial_answer!='y' && serial_answer!='Y' && !(READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)){
+      serial_answer = MYSERIAL.read();
+    }
+    if (READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING){
+      SERIAL_ECHO("MIN ENDSTOP X: ");
+      SERIAL_ECHOLN(MSG_ENDSTOP_HIT);
+    }
+    else
+    {
+      SERIAL_ECHO("X ");
+      SERIAL_ECHOLN(MSG_FWTEST_ENDSTOP_ERR);
+      return;
+    }
+#elif defined(X_MAX_PIN) && X_MAX_PIN > -1 && X_HOME_DIR == 1
+    if (!READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
+      SERIAL_ECHO("MAX ENDSTOP X: ");
+      SERIAL_ECHOLN(MSG_ENDSTOP_OPEN);
+    }
+    else
+    {
+      SERIAL_ECHOLN("X ENDSTOP ERROR");
+      SERIAL_ECHO(MSG_FWTEST_INVERT);
+      SERIAL_ECHOLN("#define X_MAX_ENDSTOP_INVERTING");
+      return;
+    }
+    SERIAL_ECHO(MSG_FWTEST_PRESS);
+    SERIAL_ECHOLN("X");
+    SERIAL_ECHOLN(MSG_FWTEST_YES);
+    serial_answer = MYSERIAL.read();
+    while(serial_answer!='y' && serial_answer!='Y' && !(READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)){
+      serial_answer = MYSERIAL.read();
+    }
+    if (READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING){
+      SERIAL_ECHO("MAX ENDSTOP X: ");
+      SERIAL_ECHOLN(MSG_ENDSTOP_HIT);
+    }
+    else
+    {
+      SERIAL_ECHO("X ");
+      SERIAL_ECHOLN(MSG_FWTEST_ENDSTOP_ERR);
+      return;
+    }
+#elif X_HOME_DIR == -1
+    SERIAL_ECHOLN("ATTENZIONE! X_HOME_DIR = -1, ma e' definito DISABLE_MIN_ENDSTOPS");
+    return;
+#elif X_HOME_DIR == 1
+    SERIAL_ECHOLN("ATTENZIONE! X_HOME_DIR = 1, ma e' definito DISABLE_MAX_ENDSTOPS");
+    return;
+#endif
+
+    SERIAL_ECHOLN(" ");
+    SERIAL_ECHOLN("***** ENDSTOP Y *****");
+#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1 && Y_HOME_DIR == -1
+    if (!READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
+      SERIAL_ECHO("MIN ENDSTOP Y: ");
+      SERIAL_ECHOLN(MSG_ENDSTOP_OPEN);
+    }
+    else
+    {
+      SERIAL_ECHOLN("Y ENDSTOP ERROR");
+      SERIAL_ECHO(MSG_FWTEST_INVERT);
+      SERIAL_ECHOLN("#define Y_MIN_ENDSTOP_INVERTING");
+      return;
+    }
+    SERIAL_ECHO(MSG_FWTEST_PRESS);
+    SERIAL_ECHOLN("Y");
+    SERIAL_ECHOLN(MSG_FWTEST_YES);
+    serial_answer = MYSERIAL.read();
+    while(serial_answer!='y' && serial_answer!='Y' && !(READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)){
+      serial_answer = MYSERIAL.read();
+    }
+    if (READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING){
+      SERIAL_ECHO("MIN ENDSTOP Y: ");
+      SERIAL_ECHOLN(MSG_ENDSTOP_HIT);
+    }
+    else
+    {
+      SERIAL_ECHO("Y ");
+      SERIAL_ECHOLN(MSG_FWTEST_ENDSTOP_ERR);
+      return;
+    }
+#elif defined(Y_MAX_PIN) && Y_MAX_PIN > -1 && Y_HOME_DIR == 1
+    if (!READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
+      SERIAL_ECHO("MAX ENDSTOP Y: ");
+      SERIAL_ECHOLN(MSG_ENDSTOP_OPEN);
+    }
+    else
+    {
+      SERIAL_ECHOLN("Y ENDSTOP ERROR");
+      SERIAL_ECHO(MSG_FWTEST_INVERT);
+      SERIAL_ECHOLN("#define Y_MAX_ENDSTOP_INVERTING");
+      return;
+    }
+    SERIAL_ECHO(MSG_FWTEST_PRESS);
+    SERIAL_ECHOLN("Y");
+    SERIAL_ECHOLN(MSG_FWTEST_YES);
+    serial_answer = MYSERIAL.read();
+    while(serial_answer!='y' && serial_answer!='Y' && !(READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)){
+      serial_answer = MYSERIAL.read();
+    }
+    if (READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING){
+      SERIAL_ECHO("MAX ENDSTOP Y: ");
+      SERIAL_ECHOLN(MSG_ENDSTOP_HIT);
+    }
+    else
+    {
+      SERIAL_ECHO("Y ");
+      SERIAL_ECHOLN(MSG_FWTEST_ENDSTOP_ERR);
+      return;
+    }
+#elif Y_HOME_DIR == -1
+    SERIAL_ECHOLN("ATTENZIONE! Y_HOME_DIR = -1, ma e' definito DISABLE_MIN_ENDSTOPS");
+    return;
+#elif Y_HOME_DIR == 1
+    SERIAL_ECHOLN("ATTENZIONE! Y_HOME_DIR = 1, ma e' definito DISABLE_MAX_ENDSTOPS");
+    return;
+#endif
+
+    SERIAL_ECHOLN(" ");
+    SERIAL_ECHOLN("***** ENDSTOP Z *****");
+#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1 && Z_HOME_DIR == -1
+    if (!READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
+      SERIAL_ECHO("MIN ENDSTOP Z: ");
+      SERIAL_ECHOLN(MSG_ENDSTOP_OPEN);
+    }
+    else
+    {
+      SERIAL_ECHOLN("Z ENDSTOP ERROR");
+      SERIAL_ECHO(MSG_FWTEST_INVERT);
+      SERIAL_ECHOLN("#define Z_MIN_ENDSTOP_INVERTING");
+      return;
+    }
+    SERIAL_ECHO(MSG_FWTEST_PRESS);
+    SERIAL_ECHOLN("Z");
+    SERIAL_ECHOLN(MSG_FWTEST_YES);
+    serial_answer = MYSERIAL.read();
+    while(serial_answer!='y' && serial_answer!='Y' && !(READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)){
+      serial_answer = MYSERIAL.read();
+    }
+    if (READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING){
+      SERIAL_ECHO("MIN ENDSTOP Z: ");
+      SERIAL_ECHOLN(MSG_ENDSTOP_HIT);
+    }
+    else
+    {
+      SERIAL_ECHO("Z ");
+      SERIAL_ECHOLN(MSG_FWTEST_ENDSTOP_ERR);
+      return;
+    }
+#elif defined(Z_MAX_PIN) && Z_MAX_PIN > -1 && Z_HOME_DIR == 1
+    if (!READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
+      SERIAL_ECHO("MAX ENDSTOP Z: ");
+      SERIAL_ECHOLN(MSG_ENDSTOP_OPEN);
+    }
+    else
+    {
+      SERIAL_ECHOLN("Z ENDSTOP ERROR");
+      SERIAL_ECHO(MSG_FWTEST_INVERT);
+      SERIAL_ECHOLN("#define Z_MAX_ENDSTOP_INVERTING");
+      return;
+    }
+    SERIAL_ECHO(MSG_FWTEST_PRESS);
+    SERIAL_ECHOLN("Z");
+    SERIAL_ECHOLN(MSG_FWTEST_YES);
+    serial_answer = MYSERIAL.read();
+    while(serial_answer!='y' && serial_answer!='Y' && !(READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)){
+      serial_answer = MYSERIAL.read();
+    }
+    if (READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING){
+      SERIAL_ECHO("MAX ENDSTOP Z: ");
+      SERIAL_ECHOLN(MSG_ENDSTOP_HIT);
+    }
+    else
+    {
+      SERIAL_ECHO("Z ");
+      SERIAL_ECHOLN(MSG_FWTEST_ENDSTOP_ERR);
+      return;
+    }
+#elif Z_HOME_DIR == -1
+    SERIAL_ECHOLN("ATTENZIONE! Z_HOME_DIR = -1, ma e' definito DISABLE_MIN_ENDSTOPS");
+    return;
+#elif Z_HOME_DIR == 1
+    SERIAL_ECHOLN("ATTENZIONE! Z_HOME_DIR = 1, ma e' definito DISABLE_MAX_ENDSTOPS");
+    return;
+#endif
+
+    SERIAL_ECHOLN("ENDSTOP OK");
+    SERIAL_ECHOLN(" ");
+  }
+
+#if defined(PS_ON_PIN) && PS_ON_PIN > -1
+  SET_OUTPUT(PS_ON_PIN);
+  WRITE(PS_ON_PIN, PS_ON_AWAKE);
+#endif
+
+  // Reset position to 0
+  st_synchronize();
+  for(int8_t i=0; i < NUM_AXIS; i++) current_position[i] = 0;
+  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+
+  SERIAL_ECHOLN("***** TEST MOTOR  *****");
+  SERIAL_ECHOLN(MSG_FWTEST_ATTENTION);
+  SERIAL_ECHOLN(MSG_FWTEST_YES);
+  serial_answer = MYSERIAL.read();
+  while(serial_answer!='y' && serial_answer!='Y'){
+    serial_answer = MYSERIAL.read();
+  }
+  SERIAL_ECHOLN(MSG_FWTEST_04);
+  SERIAL_ECHOLN(" ");
+  SERIAL_ECHOLN("***** MOTOR X *****");
+  destination[X_AXIS] = current_position[X_AXIS] + 5;
+  prepare_move();
+  st_synchronize();
+  SERIAL_ECHOLN(MSG_FWTEST_XAXIS);
+  SERIAL_ECHOLN(MSG_FWTEST_YES_NO);
+  serial_answer = MYSERIAL.read();
+  while(serial_answer!='y' && serial_answer!='Y' && serial_answer!='n' && serial_answer!='N'){
+    serial_answer = MYSERIAL.read();
+  }
+  if(serial_answer=='y' || serial_answer=='Y'){
+    SERIAL_ECHOLN("MOTOR X OK");
+  }
+  else
+  {
+    SERIAL_ECHO(MSG_FWTEST_INVERT);
+    SERIAL_ECHOLN("#define INVERT_X_DIR");
+    return;
+  }
+  SERIAL_ECHOLN(" ");
+  SERIAL_ECHOLN("***** MOTOR Y *****");
+  destination[Y_AXIS] = current_position[Y_AXIS] + 5;
+  prepare_move();
+  st_synchronize();
+  SERIAL_ECHOLN(MSG_FWTEST_YAXIS);
+  SERIAL_ECHOLN(MSG_FWTEST_YES_NO);
+  serial_answer = MYSERIAL.read();
+  while(serial_answer!='y' && serial_answer!='Y' && serial_answer!='n' && serial_answer!='N'){
+    serial_answer = MYSERIAL.read();
+  }
+  if(serial_answer=='y' || serial_answer=='Y'){
+    SERIAL_ECHOLN("MOTOR Y OK");
+  }
+  else
+  {
+    SERIAL_ECHO(MSG_FWTEST_INVERT);
+    SERIAL_ECHOLN("#define INVERT_Y_DIR");
+    return;
+  }
+  SERIAL_ECHOLN(" ");
+  SERIAL_ECHOLN("***** MOTOR Z *****");
+  destination[Z_AXIS] = current_position[Z_AXIS] + 5;
+  prepare_move();
+  st_synchronize();
+  SERIAL_ECHOLN(MSG_FWTEST_ZAXIS);
+  SERIAL_ECHOLN(MSG_FWTEST_YES_NO);
+  serial_answer = MYSERIAL.read();
+  while(serial_answer!='y' && serial_answer!='Y' && serial_answer!='n' && serial_answer!='N'){
+    serial_answer = MYSERIAL.read();
+  }
+  if(serial_answer=='y' || serial_answer=='Y'){
+    SERIAL_ECHOLN("MOTOR Z OK");
+  }
+  else
+  {
+    SERIAL_ECHO(MSG_FWTEST_INVERT);
+    SERIAL_ECHOLN("#define INVERT_Z_DIR");
+    return;
+  }
+  SERIAL_ECHOLN("MOTOR OK");
+  SERIAL_ECHOLN(" ");
+}

MarlinKimbra/language.h

@@ -289,6 +289,7 @@
   #define MSG_FWTEST_NO            "Put the N command to go next"
   #define MSG_FWTEST_YES_NO        "Put the Y or N command to go next"
   #define MSG_FWTEST_ENDSTOP_ERR   "ENDSTOP ERROR! Check wire and connection"
+  #define MSG_FWTEST_PRESS         "Press and hold the endstop "
   #define MSG_FWTEST_INVERT        "Reverse value in "
   #define MSG_FWTEST_XAXIS         "Has the nozzle moved to the right?"
   #define MSG_FWTEST_YAXIS         "Has the nozzle moved forward?"
@@ -1112,6 +1113,7 @@
   #define MSG_FWTEST_NO            "Dai il comando N per andare avanti"
   #define MSG_FWTEST_YES_NO        "Dai il comando Y o N per andare avanti"
   #define MSG_FWTEST_ENDSTOP_ERR   "ENDSTOP ERROR! Controllare cavi e connessioni"
+  #define MSG_FWTEST_PRESS         "Premere e tenere premuto l'endstop "
   #define MSG_FWTEST_INVERT        "Invertire valore in "
   #define MSG_FWTEST_XAXIS         "Il nozzle si e' spostato a destra?"
   #define MSG_FWTEST_YAXIS         "Il nozzle si e' spostato in avanti"

MarlinKimbra/temperature.cpp

@@ -57,11 +57,11 @@ float current_temperature_bed = 0.0;
   float redundant_temperature = 0.0;
 #endif
 #ifdef PIDTEMP
-  float Kp=DEFAULT_Kp;
-  float Ki=(DEFAULT_Ki*PID_dT);
-  float Kd=(DEFAULT_Kd/PID_dT);
+  float Kp[4];
+  float Ki[4];
+  float Kd[4];
   #ifdef PID_ADD_EXTRUSION_RATE
-    float Kc=DEFAULT_Kc;
+    float Kc;
   #endif
 #endif //PIDTEMP
 
@@ -371,11 +371,11 @@ void updatePID()
 #ifdef PIDTEMP
   #ifndef SINGLENOZZLE
     for(int e = 0; e < EXTRUDERS; e++) { 
-       temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;  
+       temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki[e];  
     }
   #else
     for(int e = 0; e < 1; e++) { 
-       temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;  
+       temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki[0];
     }
   #endif
 #endif
@@ -501,14 +501,14 @@ void manage_heater()
             temp_iState[e] = 0.0;
             pid_reset[e] = false;
           }
-          pTerm[e] = Kp * pid_error[e];
+          pTerm[e] = Kp[e] * pid_error[e];
           temp_iState[e] += pid_error[e];
           temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
-          iTerm[e] = Ki * temp_iState[e];
+          iTerm[e] = Ki[e] * temp_iState[e];
 
           //K1 defined in Configuration.h in the PID settings
           #define K2 (1.0-K1)
-          dTerm[e] = (Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
+          dTerm[e] = (Kd[e] * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]);
           pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX);
         }
         temp_dState[e] = pid_input;
@@ -845,7 +845,7 @@ void tp_init()
     maxttemp[e] = maxttemp[0];
 #ifdef PIDTEMP
     temp_iState_min[e] = 0.0;
-    temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki;
+    temp_iState_max[e] = PID_INTEGRAL_DRIVE_MAX / Ki[e];
 #endif //PIDTEMP
 #ifdef PIDTEMPBED
     temp_iState_min_bed = 0.0;

MarlinKimbra/temperature.h

@@ -60,7 +60,7 @@ extern unsigned char soft_pwm_bed;
 #endif
 
 #ifdef PIDTEMP
-extern float Kp,Ki,Kd,Kc;
+extern float Kp[4],Ki[4],Kd[4],Kc;
 float scalePID_i(float i);
 float scalePID_d(float d);
 float unscalePID_i(float i);

MarlinKimbra/ultralcd.cpp

@@ -976,8 +976,8 @@ static void lcd_control_temperature_menu()
 {
 #ifdef PIDTEMP
     // set up temp variables - undo the default scaling
-    raw_Ki = unscalePID_i(Ki);
-    raw_Kd = unscalePID_d(Kd);
+    raw_Ki = unscalePID_i(Ki[active_extruder]);
+    raw_Kd = unscalePID_d(Kd[active_extruder]);
 #endif
 
     START_MENU();
@@ -1009,7 +1009,7 @@ static void lcd_control_temperature_menu()
     MENU_ITEM_EDIT(float32, MSG_FACTOR, &autotemp_factor, 0.0, 1.0);
 #endif
 #ifdef PIDTEMP
-    MENU_ITEM_EDIT(float52, MSG_PID_P, &Kp, 1, 9990);
+    MENU_ITEM_EDIT(float52, MSG_PID_P, &Kp[active_extruder], 1, 9990);
     // i is typically a small value so allows values below 1
     MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I, &raw_Ki, 0.01, 9990, copy_and_scalePID_i);
     MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D, &raw_Kd, 1, 9990, copy_and_scalePID_d);
@@ -1899,7 +1899,7 @@ char *ftostr52(const float &x)
 void copy_and_scalePID_i()
 {
 #ifdef PIDTEMP
-  Ki = scalePID_i(raw_Ki);
+  Ki[active_extruder] = scalePID_i(raw_Ki);
   updatePID();
 #endif
 }
@@ -1909,7 +1909,7 @@ void copy_and_scalePID_i()
 void copy_and_scalePID_d()
 {
 #ifdef PIDTEMP
-  Kd = scalePID_d(raw_Kd);
+  Kd[active_extruder] = scalePID_d(raw_Kd);
   updatePID();
 #endif
 }

README.md

@@ -56,6 +56,7 @@ Features:
 *   Bed Auto Leveling for cartesian and delta printer
 *   Z probe repetability test
 *   Setting step for unit and feedrate for extruders
+*   Setting PID for any extruder
 *   Real-time filament diameter measurement and control
 *   MKR4 suppport for 4 extruder but only two driver
 *   Singlenozzle support
@@ -86,6 +87,12 @@ Different feedrate for all extruder
 -----------------
 * \#define DEFAULT_MAX_FEEDRATE            {300,300,2,100,100,100,100}     // X, Y, Z, E0, E1, E2, E3 (mm/sec)
 
+Different PID for all extruder
+-----------------
+* \#define  DEFAULT_Kp {41.51,50,0,0}
+* \#define  DEFAULT_Ki {7.28,15,0,0}
+* \#define  DEFAULT_Kd {59.17,90,0,0}
+
 Add Feedrate for retraction
 -----------------
 * \#define DEFAULT_RETRACTION_MAX_FEEDRATE {150,150,150,150}               // E0, E1, E2, E3 (mm/sec)