diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 414aeb32897f1946fd5e4cc39c5123f3b0044478..35ab606d2d90e2865ef98757e513152b12840e5b 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -228,6 +228,7 @@ inline bool IsRunning() { return Running; }
inline bool IsStopped() { return !Running; }
bool enqueue_and_echo_command(const char* cmd, bool say_ok=false); //put a single ASCII command at the end of the current buffer or return false when it is full
+void enqueue_and_echo_command_now(const char* cmd); // enqueue now, only return when the command has been enqueued
void enqueue_and_echo_commands_P(const char* cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
void prepare_arc_move(char isclockwise);
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 04a371c781a61a9bb660107c7428a012221ef419..bb5ab23f104e1de697846e8f6db8e8648220a342 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -549,6 +549,10 @@ inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
return true;
}
+void enqueue_and_echo_command_now(const char* cmd) {
+ while (!enqueue_and_echo_command(cmd)) idle();
+}
+
/**
* Enqueue with Serial Echo
*/
@@ -5135,20 +5139,27 @@ inline void gcode_M226() {
/**
* M303: PID relay autotune
- * S<temperature> sets the target temperature. (default target temperature = 150C)
- * E<extruder> (-1 for the bed)
+ *
+ * S<temperature> sets the target temperature. (default 150C)
+ * E<extruder> (-1 for the bed) (default 0)
* C<cycles>
+ * U<bool> with a non-zero value will apply the result to current settings
*/
inline void gcode_M303() {
int e = code_seen('E') ? code_value_short() : 0;
int c = code_seen('C') ? code_value_short() : 5;
+ bool u = code_seen('U') && code_value_short() != 0;
+
float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0);
- if (e >=0 && e < EXTRUDERS)
+ if (e >= 0 && e < EXTRUDERS)
target_extruder = e;
- KEEPALIVE_STATE(NOT_BUSY);
- PID_autotune(temp, e, c);
+ KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
+
+ PID_autotune(temp, e, c, u);
+
+ KEEPALIVE_STATE(IN_HANDLER);
}
#if ENABLED(SCARA)
diff --git a/Marlin/cardreader.cpp b/Marlin/cardreader.cpp
index e508190c41057e83b223aee1532d36bd5fd2238c..c3585e31e258c66b23756c2acad348e20cddc663 100644
--- a/Marlin/cardreader.cpp
+++ b/Marlin/cardreader.cpp
@@ -247,7 +247,7 @@ void CardReader::openAndPrintFile(const char *name) {
char cmd[4 + (FILENAME_LENGTH + 1) * MAX_DIR_DEPTH + 2]; // Room for "M23 ", names with slashes, a null, and one extra
sprintf_P(cmd, PSTR("M23 %s"), name);
for (char *c = &cmd[4]; *c; c++) *c = tolower(*c);
- enqueue_and_echo_command(cmd);
+ enqueue_and_echo_command_now(cmd);
enqueue_and_echo_commands_P(PSTR("M24"));
}
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 054990daabf07c2bd70ae6749ae684f82ef5339f..4df22333d92f4230ef18baf1db8cff0bc6ee7fab 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -199,7 +199,7 @@ static void updateTemperaturesFromRawValues();
//================================ Functions ================================
//===========================================================================
-void PID_autotune(float temp, int extruder, int ncycles) {
+void PID_autotune(float temp, int extruder, int ncycles, bool set_result/*=false*/) {
float input = 0.0;
int cycles = 0;
bool heating = true;
@@ -346,6 +346,24 @@ void PID_autotune(float temp, int extruder, int ncycles) {
SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kp "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Ki "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM("#define DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kd "); SERIAL_PROTOCOLLN(Kd);
+
+ // Use the result? (As with "M303 U1")
+ if (set_result) {
+ if (extruder < 0) {
+ #if ENABLED(PIDTEMPBED)
+ bedKp = Kp;
+ bedKi = scalePID_i(Ki);
+ bedKd = scalePID_d(Kd);
+ updatePID();
+ #endif
+ }
+ else {
+ PID_PARAM(Kp, extruder) = Kp;
+ PID_PARAM(Ki, e) = scalePID_i(Ki);
+ PID_PARAM(Kd, e) = scalePID_d(Kd);
+ updatePID();
+ }
+ }
return;
}
lcd_update();
diff --git a/Marlin/temperature.h b/Marlin/temperature.h
index 29a6920ce925303512bc768cafba7d451bb1a194..1a4d648f31533c67f837d9037eb1b27e5299eca9 100644
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@@ -141,7 +141,7 @@ int getHeaterPower(int heater);
void disable_all_heaters();
void updatePID();
-void PID_autotune(float temp, int extruder, int ncycles);
+void PID_autotune(float temp, int extruder, int ncycles, bool set_result=false);
void setExtruderAutoFanState(int pin, bool state);
void checkExtruderAutoFans();
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index e605948c9dde65445335ec0e65476e846bd83fcd..43f112e8c88374ede1c970f8dedbef9553d0132d 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1067,6 +1067,33 @@ static void lcd_control_menu() {
*
*/
+#if ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED)
+
+ #if ENABLED(PIDTEMP)
+ int autotune_temp[EXTRUDERS] = { 150 };
+ const int heater_maxtemp[EXTRUDERS] = ARRAY_BY_EXTRUDERS(HEATER_0_MAXTEMP, HEATER_1_MAXTEMP, HEATER_2_MAXTEMP, HEATER_3_MAXTEMP);
+ #endif
+
+ #if ENABLED(PIDTEMPBED)
+ int autotune_temp_bed = 70;
+ #endif
+
+ static void _lcd_autotune(int e) {
+ char cmd[30];
+ sprintf_P(cmd, PSTR("M303 U1 E%d S%d"), e,
+ #if ENABLED(PIDTEMP) && ENABLED(PIDTEMPBED)
+ e < 0 ? autotune_temp_bed : autotune_temp[e]
+ #elif ENABLED(PIDTEMPBED)
+ autotune_temp_bed
+ #else
+ autotune_temp[e]
+ #endif
+ );
+ enqueue_and_echo_command_now(cmd);
+ }
+
+#endif PIDTEMP || PIDTEMPBED
+
#if ENABLED(PIDTEMP)
// Helpers for editing PID Ki & Kd values
@@ -1079,18 +1106,19 @@ static void lcd_control_menu() {
PID_PARAM(Kd, e) = scalePID_d(raw_Kd);
updatePID();
}
- #define COPY_AND_SCALE(eindex) \
+ #define _PIDTEMP_FUNCTIONS(eindex) \
void copy_and_scalePID_i_E ## eindex() { copy_and_scalePID_i(eindex); } \
- void copy_and_scalePID_d_E ## eindex() { copy_and_scalePID_d(eindex); }
+ void copy_and_scalePID_d_E ## eindex() { copy_and_scalePID_d(eindex); } \
+ void lcd_autotune_callback_E ## eindex() { _lcd_autotune(eindex); }
- COPY_AND_SCALE(0);
+ _PIDTEMP_FUNCTIONS(0);
#if ENABLED(PID_PARAMS_PER_EXTRUDER)
#if EXTRUDERS > 1
- COPY_AND_SCALE(1);
+ _PIDTEMP_FUNCTIONS(1);
#if EXTRUDERS > 2
- COPY_AND_SCALE(2);
+ _PIDTEMP_FUNCTIONS(2);
#if EXTRUDERS > 3
- COPY_AND_SCALE(3);
+ _PIDTEMP_FUNCTIONS(3);
#endif //EXTRUDERS > 3
#endif //EXTRUDERS > 2
#endif //EXTRUDERS > 1
@@ -1176,15 +1204,15 @@ static void lcd_control_temperature_menu() {
#endif
//
- // PID-P, PID-I, PID-D, PID-C
- // PID-P E1, PID-I E1, PID-D E1, PID-C E1
- // PID-P E2, PID-I E2, PID-D E2, PID-C E2
- // PID-P E3, PID-I E3, PID-D E3, PID-C E3
- // PID-P E4, PID-I E4, PID-D E4, PID-C E4
+ // PID-P, PID-I, PID-D, PID-C, PID Autotune
+ // PID-P E1, PID-I E1, PID-D E1, PID-C E1, PID Autotune E1
+ // PID-P E2, PID-I E2, PID-D E2, PID-C E2, PID Autotune E2
+ // PID-P E3, PID-I E3, PID-D E3, PID-C E3, PID Autotune E3
+ // PID-P E4, PID-I E4, PID-D E4, PID-C E4, PID Autotune E4
//
#if ENABLED(PIDTEMP)
- #define _PID_MENU_ITEMS(ELABEL, eindex) \
+ #define _PID_BASE_MENU_ITEMS(ELABEL, eindex) \
raw_Ki = unscalePID_i(PID_PARAM(Ki, eindex)); \
raw_Kd = unscalePID_d(PID_PARAM(Kd, eindex)); \
MENU_ITEM_EDIT(float52, MSG_PID_P ELABEL, &PID_PARAM(Kp, eindex), 1, 9990); \
@@ -1192,13 +1220,17 @@ static void lcd_control_temperature_menu() {
MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D ELABEL, &raw_Kd, 1, 9990, copy_and_scalePID_d_E ## eindex)
#if ENABLED(PID_ADD_EXTRUSION_RATE)
- #define PID_MENU_ITEMS(ELABEL, eindex) \
- _PID_MENU_ITEMS(ELABEL, eindex); \
+ #define _PID_MENU_ITEMS(ELABEL, eindex) \
+ _PID_BASE_MENU_ITEMS(ELABEL, eindex); \
MENU_ITEM_EDIT(float3, MSG_PID_C ELABEL, &PID_PARAM(Kc, eindex), 1, 9990)
#else
- #define PID_MENU_ITEMS(ELABEL, eindex) _PID_MENU_ITEMS(ELABEL, eindex)
+ #define _PID_MENU_ITEMS(ELABEL, eindex) _PID_BASE_MENU_ITEMS(ELABEL, eindex)
#endif
+ #define PID_MENU_ITEMS(ELABEL, eindex) \
+ _PID_MENU_ITEMS(ELABEL, eindex); \
+ MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(int3, MSG_PID_AUTOTUNE ELABEL, &autotune_temp[eindex], 150, heater_maxtemp[eindex] - 15, lcd_autotune_callback_E ## eindex)
+
#if ENABLED(PID_PARAMS_PER_EXTRUDER) && EXTRUDERS > 1
PID_MENU_ITEMS(MSG_E1, 0);
PID_MENU_ITEMS(MSG_E2, 1);