New Pid endstop and fix M303 error

MarlinKimbra/Configuration.h

@@ -21,7 +21,6 @@
 // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
 // build by the user have been successfully uploaded into firmware.
 #define STRING_VERSION "4.1.3"
-#define STRING_URL "reprap.org"
 #define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__     // build date and time
 #define STRING_CONFIG_H_AUTHOR "(none, default config)"   // Who made the changes.
 #define STRING_SPLASH_LINE1 "v" STRING_VERSION            // will be shown during bootup in line 1
@@ -222,6 +221,7 @@
 #define PID_FUNCTIONAL_RANGE 10 // degC
 #define PID_INTEGRAL_DRIVE_MAX PID_MAX // Limit for the integral term
 #define K1 0.95 // Smoothing factor within the PID
+#define MAX_OVERSHOOT_PID_AUTOTUNE 20   // Max valor for overshoot autotune
 
 //             HotEnd{HE0,HE1,HE2,HE3}
 #define DEFAULT_Kp {40, 40, 40, 40}     // Kp for E0, E1, E2, E3

MarlinKimbra/Configuration_adv.h

@@ -31,7 +31,7 @@
 
   /**
    * Whenever an M104 or M109 increases the target temperature the firmware will wait for the
-   * WATCH_TEMP_PERIOD to transpire, and if the temperature hasn't increased by WATCH_TEMP_INCREASE
+   * WATCH_TEMP_PERIOD to expire, and if the temperature hasn't increased by WATCH_TEMP_INCREASE
    * degrees, the machine is halted, requiring a hard reset. This test restarts with any M104/M109,
    * but only if the current temperature is far enough below the target for a reliable test.
    */

MarlinKimbra/Marlin.h

@@ -36,6 +36,7 @@
 
 #define BIT(b) (1<<(b))
 #define TEST(n,b) (((n)&BIT(b))!=0)
+#define SET_BIT(n,b,value) (n) ^= ((-value)^(n)) & (BIT(b))
 #define RADIANS(d) ((d)*M_PI/180.0)
 #define DEGREES(r) ((d)*180.0/M_PI)
 #define NOLESS(v,n) do{ if (v < n) v = n; }while(0)

MarlinKimbra/Marlin_main.cpp

@@ -3667,11 +3667,13 @@ inline void gcode_G92() {
         didXYZ = true;
     }
   }
-  #if defined(DELTA) || defined(SCARA)
-    if (didXYZ) sync_plan_position_delta();
-  #else
-    if (didXYZ) sync_plan_position();
-  #endif
+  if (didXYZ) {
+    #if defined(DELTA) || defined(SCARA)
+      sync_plan_position_delta();
+    #else
+      sync_plan_position();
+    #endif
+  }
 }
 
 #ifdef ULTIPANEL
@@ -5961,7 +5963,7 @@ inline void gcode_T() {
         #else // !DUAL_X_CARRIAGE
           // Offset hotend (only by XY)
           #if HOTENDS > 1
-            for (int i=X_AXIS; i<=Y_AXIS; i++)
+            for (int i = X_AXIS; i <= Y_AXIS; i++)
               current_position[i] += hotend_offset[i][target_extruder] - hotend_offset[i][active_extruder];
           #endif // HOTENDS > 1
 
@@ -6409,7 +6411,10 @@ void process_next_command() {
       #endif // PREVENT_DANGEROUS_EXTRUDE
 
       case 303: // M303 PID autotune
-        gcode_M303(); break;
+        gcode_M303();
+        gcode_LastN += 1;
+        FlushSerialRequestResend();
+        break;
 
       #ifdef PIDTEMPBED
         case 304: // M304

MarlinKimbra/comunication.h

@@ -39,15 +39,15 @@
   #endif
 #endif
 
-#define START       "start"                //start for host
-#define OK          "ok"                   //ok answer for host
-#define ER          "Error:"               //error for host
-#define WT          "wait"                 //wait for host
-#define DB          "<MK4>: "              //message for user
-#define RS          "Resend:"              //resend for host
-#define PAUSE       "//action:pause"       //command for host that support action
-#define RESUME      "//action:resume"      //command for host that support action
-#define DISCONNECT  "//action:disconnect"  //command for host that support action
+#define START       "start"               //start for host
+#define OK          "ok"                  //ok answer for host
+#define ER          "Error: "             //error for host
+#define WT          "wait"                //wait for host
+#define DB          "MK4: "               //message for user
+#define RS          "Resend: "            //resend for host
+#define PAUSE       "//action:pause"      //command for host that support action
+#define RESUME      "//action:resume"     //command for host that support action
+#define DISCONNECT  "//action:disconnect" //command for host that support action
 
 #define SERIAL_INIT(baud) MYSERIAL.begin(baud), delay(1)
 #define SERIAL_WRITE(x) MYSERIAL.write(x)

MarlinKimbra/stepper.cpp

@@ -76,6 +76,11 @@ volatile long endstops_trigsteps[3] = { 0 };
 volatile long endstops_stepsTotal, endstops_stepsDone;
 static volatile char endstop_hit_bits = 0; // use X_MIN, Y_MIN, Z_MIN and Z_PROBE as BIT value
 
+static char old_endstop_bits = 0; // use X_MIN, X_MAX... Z_MAX, Z_PROBE
+#ifdef Z_DUAL_ENDSTOPS
+  static char old_dual_endstop_bits = 0; // actually only implemented for Z
+#endif
+
 #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
   bool abort_on_endstop_hit = false;
 #endif
@@ -84,35 +89,6 @@ static volatile char endstop_hit_bits = 0; // use X_MIN, Y_MIN, Z_MIN and Z_PROB
   int motor_current_setting[3] = DEFAULT_PWM_MOTOR_CURRENT;
 #endif
 
-#if HAS_X_MIN
-  static bool old_x_min_endstop = false;
-#endif
-#if HAS_X_MAX
-  static bool old_x_max_endstop = false;
-#endif
-#if HAS_Y_MIN
-  static bool old_y_min_endstop = false;
-#endif
-#if HAS_Y_MAX
-  static bool old_y_max_endstop = false;
-#endif
-
-static bool old_z_min_endstop = false;
-static bool old_z_max_endstop = false;
-
-#ifdef Z_DUAL_ENDSTOPS
-  static bool old_z2_min_endstop = false;
-  static bool old_z2_max_endstop = false;
-#endif
-
-#ifdef Z_PROBE_ENDSTOP // No need to check for valid pin, SanityCheck.h already does this.
-  static bool old_z_probe_endstop = false;
-#endif
-
-#ifdef NPR2
-  static bool old_e_min_endstop = false;
-#endif
-
 static bool check_endstops = true;
 
 volatile long count_position[NUM_AXIS] = { 0 };
@@ -159,11 +135,11 @@ volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
     #define Z_APPLY_STEP(v,Q) \
     if (performing_homing) { \
       if (Z_HOME_DIR > 0) {\
-        if (!(old_z_max_endstop && (count_direction[Z_AXIS] > 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
-        if (!(old_z2_max_endstop && (count_direction[Z_AXIS] > 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
+        if (!(TEST(old_endstop_bits, Z_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
+        if (!(TEST(old_dual_endstop_bits, Z_MAX) && (count_direction[Z_AXIS] > 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
       } else {\
-        if (!(old_z_min_endstop && (count_direction[Z_AXIS] < 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
-        if (!(old_z2_min_endstop && (count_direction[Z_AXIS] < 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
+        if (!(TEST(old_endstop_bits, Z_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z_motor) Z_STEP_WRITE(v); \
+        if (!(TEST(old_dual_endstop_bits, Z_MIN) && (count_direction[Z_AXIS] < 0)) && !locked_z2_motor) Z2_STEP_WRITE(v); \
       } \
     } else { \
       Z_STEP_WRITE(v); \
@@ -489,24 +465,33 @@ ISR(TIMER1_COMPA_vect) {
 
     // Check endstops
     if (check_endstops) {
-      
-      #define _ENDSTOP(axis, minmax) axis ##_## minmax ##_endstop
+
+      char current_endstop_bits;
+      #ifdef Z_DUAL_ENDSTOPS
+        char current_dual_endstop_bits;
+      #endif
+
       #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
       #define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
-      #define _OLD_ENDSTOP(axis, minmax) old_## axis ##_## minmax ##_endstop
       #define _AXIS(AXIS) AXIS ##_AXIS
-      #define _HIT_BIT(AXIS) AXIS ##_MIN
-      #define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_HIT_BIT(AXIS))
-
-      #define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
-        bool _ENDSTOP(axis, minmax) = (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)); \
-        if (_ENDSTOP(axis, minmax) && _OLD_ENDSTOP(axis, minmax) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
+      #define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_ENDSTOP(AXIS, MIN))
+      #define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
+
+      // GET_ENDSTOP_STATUS: set the current endstop bits for an endstop to its status
+      #define GET_ENDSTOP_STATUS(endstop, AXIS, MINMAX) SET_BIT(endstop, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
+      // TEST_ENDSTOP: test the old and the current status of an endstop
+      #define TEST_ENDSTOPS(AXIS, MINMAX) (TEST(current_endstop_bits, _ENDSTOP(AXIS, MINMAX)) && TEST(old_endstop_bits, _ENDSTOP(AXIS, MINMAX)))
+      // TEST_DUAL_ENDSTOP: same like TEST_ENDSTOP for dual endstops
+      #define TEST_DUAL_ENDSTOPS(AXIS, MINMAX) (TEST(current_dual_endstop_bits, _ENDSTOP(AXIS, MINMAX)) && TEST(old_dual_endstop_bits, _ENDSTOP(AXIS, MINMAX)))
+
+      #define UPDATE_ENDSTOP(AXIS,MINMAX) \
+        GET_ENDSTOP_STATUS(current_endstop_bits, AXIS, MINMAX); \
+        if (TEST_ENDSTOPS(AXIS, MINMAX)  && (current_block->steps[_AXIS(AXIS)] > 0)) { \
           endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
           _ENDSTOP_HIT(AXIS); \
           step_events_completed = current_block->step_event_count; \
-        } \
-        _OLD_ENDSTOP(axis, minmax) = _ENDSTOP(axis, minmax);
-      
+        }
+
       #ifdef COREXY
         // Head direction in -X axis for CoreXY bots.
         // If DeltaX == -DeltaY, the movement is only in Y axis
@@ -522,7 +507,7 @@ ISR(TIMER1_COMPA_vect) {
             #endif
               {
                 #if HAS_X_MIN
-                  UPDATE_ENDSTOP(x, X, min, MIN);
+                  UPDATE_ENDSTOP(X, MIN);
                 #endif
               }
           }
@@ -533,7 +518,7 @@ ISR(TIMER1_COMPA_vect) {
             #endif
               {
                 #if HAS_X_MAX
-                  UPDATE_ENDSTOP(x, X, max, MAX);
+                  UPDATE_ENDSTOP(X, MAX);
                 #endif
               }
           }
@@ -548,12 +533,12 @@ ISR(TIMER1_COMPA_vect) {
       #endif
           { // -direction
             #if HAS_Y_MIN
-              UPDATE_ENDSTOP(y, Y, min, MIN);
+              UPDATE_ENDSTOP(Y, MIN);
             #endif
           }
           else { // +direction
             #if HAS_Y_MAX
-              UPDATE_ENDSTOP(y, Y, max, MAX);
+              UPDATE_ENDSTOP(Y, MAX);
             #endif
           }
       #ifdef COREXY
@@ -563,43 +548,38 @@ ISR(TIMER1_COMPA_vect) {
         #if HAS_Z_MIN
 
           #ifdef Z_DUAL_ENDSTOPS
+            GET_ENDSTOP_STATUS(current_endstop_bits, Z, MIN);
+              #if HAS_Z2_MIN
+                GET_ENDSTOP_STATUS(current_dual_endstop_bits, Z, MIN);
+              #endif
+
+            bool z_test = TEST_ENDSTOPS(Z, MIN)
+            #if HAS_Z2_MIN
+              && TEST_DUAL_ENDSTOPS(Z, MIN)
+            #endif
+            ;
 
-            bool z_min_endstop = READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING,
-                z2_min_endstop =
-                  #if HAS_Z2_MIN
-                    READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING
-                  #else
-                    z_min_endstop
-                  #endif
-                ;
-
-            bool z_min_both = z_min_endstop && old_z_min_endstop,
-                z2_min_both = z2_min_endstop && old_z2_min_endstop;
-            if ((z_min_both || z2_min_both) && current_block->steps[Z_AXIS] > 0) {
+            if (z_test && current_block->steps[Z_AXIS] > 0) {
               endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
               endstop_hit_bits |= BIT(Z_MIN);
-              if (!performing_homing || (performing_homing && z_min_both && z2_min_both)) //if not performing home or if both endstops were trigged during homing...
+              if (!performing_homing || (performing_homing && !z_test)) //if not performing home or if both endstops were trigged during homing...
                 step_events_completed = current_block->step_event_count;
             }
-            old_z_min_endstop = z_min_endstop;
-            old_z2_min_endstop = z2_min_endstop;
-
           #else // !Z_DUAL_ENDSTOPS
 
-            UPDATE_ENDSTOP(z, Z, min, MIN);
-
+            UPDATE_ENDSTOP(Z, MIN);
           #endif // !Z_DUAL_ENDSTOPS
-
         #endif // Z_MIN_PIN
 
         #ifdef Z_PROBE_ENDSTOP
-          UPDATE_ENDSTOP(z, Z, probe, PROBE);
-          z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
-          if (z_probe_endstop && old_z_probe_endstop) {
+          UPDATE_ENDSTOP(Z, PROBE);
+          GET_ENDSTOP_STATUS(current_endstop_bits, Z, PROBE);
+
+          if(TEST_ENDSTOPS(Z, PROBE))
+          {
             endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
             endstop_hit_bits |= BIT(Z_PROBE);
           }
-          old_z_probe_endstop = z_probe_endstop;
         #endif
       }
       else { // z +direction
@@ -607,40 +587,39 @@ ISR(TIMER1_COMPA_vect) {
 
           #ifdef Z_DUAL_ENDSTOPS
 
-            bool z_max_endstop = READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING,
-                z2_max_endstop =
-                  #if HAS_Z2_MAX
-                    READ(Z2_MAX_PIN) != Z2_MAX_ENDSTOP_INVERTING
-                  #else
-                    z_max_endstop
-                  #endif
-                ;
-
-            bool z_max_both = z_max_endstop && old_z_max_endstop,
-                z2_max_both = z2_max_endstop && old_z2_max_endstop;
-            if ((z_max_both || z2_max_both) && current_block->steps[Z_AXIS] > 0) {
-              endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
-              endstop_hit_bits |= BIT(Z_MIN);
+            GET_ENDSTOP_STATUS(current_endstop_bits, Z, MAX);
+              #if HAS_Z2_MAX
+                GET_ENDSTOP_STATUS(current_dual_endstop_bits, Z, MAX);
+              #endif
 
-             // if (z_max_both) ECHO_EV("z_max_endstop = true");
-             // if (z2_max_both) ECHO_EV("z2_max_endstop = true");
+            bool z_test = TEST_ENDSTOPS(Z, MAX) 
+            #if HAS_Z2_MAX
+              && TEST_DUAL_ENDSTOPS(Z, MAX)
+            #endif
+            ;
 
-              if (!performing_homing || (performing_homing && z_max_both && z2_max_both)) //if not performing home or if both endstops were trigged during homing...
+            if (z_test && current_block->steps[Z_AXIS] > 0) {
+              endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+              endstop_hit_bits |= BIT(Z_MIN);
+              if (!performing_homing || (performing_homing && !z_test)) //if not performing home or if both endstops were trigged during homing...
                 step_events_completed = current_block->step_event_count;
             }
-            old_z_max_endstop = z_max_endstop;
-            old_z2_max_endstop = z2_max_endstop;
 
           #else // !Z_DUAL_ENDSTOPS
 
-            UPDATE_ENDSTOP(z, Z, max, MAX);
+            UPDATE_ENDSTOP(Z, MAX);
 
           #endif // !Z_DUAL_ENDSTOPS
-
         #endif // Z_MAX_PIN
+
       }
+      old_endstop_bits = current_endstop_bits;
+      #ifdef Z_DUAL_ENDSTOPS
+        old_dual_endstop_bits = current_dual_endstop_bits;
+      #endif
     }
 
+
     // Take multiple steps per interrupt (For high speed moves)
     for (int8_t i = 0; i < step_loops; i++) {
       #ifndef AT90USB

MarlinKimbra/temperature.cpp

@@ -55,9 +55,9 @@ float current_temperature_bed = 0.0;
 #endif
 
 #ifdef PIDTEMPBED
-  float bedKp=DEFAULT_bedKp;
-  float bedKi=(DEFAULT_bedKi*PID_dT);
-  float bedKd=(DEFAULT_bedKd/PID_dT);
+  float bedKp = DEFAULT_bedKp;
+  float bedKi = (DEFAULT_bedKi*PID_dT);
+  float bedKd = (DEFAULT_bedKd/PID_dT);
 #endif //PIDTEMPBED
   
 #ifdef FAN_SOFT_PWM
@@ -181,8 +181,7 @@ static void updateTemperaturesFromRawValues();
 //================================ Functions ================================
 //===========================================================================
 
-void PID_autotune(float temp, int hotend, int ncycles)
-{
+void PID_autotune(float temp, int hotend, int ncycles) {
   float input = 0.0;
   int cycles = 0;
   bool heating = true;
@@ -300,7 +299,7 @@ void PID_autotune(float temp, int hotend, int ncycles)
         }
       }
     }
-    if (input > temp + 20) {
+    if (input > temp + MAX_OVERSHOOT_PID_AUTOTUNE) {
       ECHO_LM(ER, MSG_PID_TEMP_TOO_HIGH);
       return;
     }
@@ -315,7 +314,7 @@ void PID_autotune(float temp, int hotend, int ncycles)
       }
       else {
         p = soft_pwm[hotend];
-        ECHO_SMV(OK, MSG_T, input);
+        ECHO_SMV(OK, MSG_T, input, 1);
         ECHO_EMV(MSG_AT, p);
       }
 

MarlinKimbra/temperature.h

@@ -66,7 +66,7 @@ extern float current_temperature_bed;
 
 #ifdef PIDTEMP
   extern float Kp[HOTENDS], Ki[HOTENDS], Kd[HOTENDS];
-  #define PID_PARAM(param,e) param[e] // use macro to point to array value
+  #define PID_PARAM(param, e) param[e] // use macro to point to array value
   float scalePID_i(float i);
   float scalePID_d(float d);
   float unscalePID_i(float i);