Echo PID settings

Marlin/EEPROM.h

@@ -1,5 +1,3 @@
-#define ECHO(x) Serial << "echo: " << x;
-#define ECHOLN(x) Serial << "echo: "<<x<<endl;
 
 //======================================================================================
 template <class T> int EEPROM_writeAnything(int &ee, const T& value)
@@ -103,7 +101,7 @@ void RetrieveSettings(bool def=false){  // if def=true, the default values will
   ECHOLN("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s),  Z=maximum Z jerk (mm/s)");
   ECHOLN("   M205 S"  <<_FLOAT(minimumfeedrate/60,2) << " T" << _FLOAT(mintravelfeedrate/60,2) << " B" << _FLOAT(minsegmenttime,2) << " X" << _FLOAT(max_xy_jerk/60,2) << " Z" << _FLOAT(max_z_jerk/60,2));
   ECHOLN("PID settings:");
-  ECHOLN("   M301 P"  << _FLOAT(Kp,3) << " I" <<_ FLOAT(Ki,3) << " D" << _FLOAT(Kd,3));  
+  ECHOLN("   M301 P"  << _FLOAT(Kp,3) << " I" << _FLOAT(Ki,3) << " D" << _FLOAT(Kd,3));  
 }  
 
 

Marlin/Marlin.h

@@ -1,124 +1,128 @@
-#ifndef __MARLINH
-#define __MARLINH
-
-// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
-// Licence: GPL
-#include <WProgram.h>
-#include "fastio.h"
-
-
-// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in 
-// the source g-code and may never actually be reached if acceleration management is active.
-typedef struct {
-  // Fields used by the bresenham algorithm for tracing the line
-  long steps_x, steps_y, steps_z, steps_e;  // Step count along each axis
-  long step_event_count;                    // The number of step events required to complete this block
-  volatile long accelerate_until;                    // The index of the step event on which to stop acceleration
-  volatile long decelerate_after;                    // The index of the step event on which to start decelerating
-  volatile long acceleration_rate;                   // The acceleration rate used for acceleration calculation
-  unsigned char direction_bits;             // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
-
-  long advance_rate;
-  volatile long initial_advance;
-  volatile long final_advance;
-  float advance;
-
-  // Fields used by the motion planner to manage acceleration
-  float speed_x, speed_y, speed_z, speed_e;          // Nominal mm/minute for each axis
-  float nominal_speed;                               // The nominal speed for this block in mm/min  
-  float millimeters;                                 // The total travel of this block in mm
-  float entry_speed;
-  float acceleration;                                // acceleration mm/sec^2
-
-  // Settings for the trapezoid generator
-  long nominal_rate;                                 // The nominal step rate for this block in step_events/sec 
-  volatile long initial_rate;                        // The jerk-adjusted step rate at start of block  
-  volatile long final_rate;                          // The minimal rate at exit
-  long acceleration_st;                              // acceleration steps/sec^2
-  volatile char busy;
-} block_t;
-
-
-void get_command();
-void process_commands();
-
-void manage_inactivity(byte debug);
-
-void manage_heater();
-//int temp2analogu(int celsius, const short table[][2], int numtemps);
-//float analog2tempu(int raw, const short table[][2], int numtemps);
-float temp2analog(int celsius);
-float temp2analogBed(int celsius);
-float analog2temp(int raw);
-float analog2tempBed(int raw);
-
-#ifdef HEATER_USES_THERMISTOR
-    #define HEATERSOURCE 1
-#endif
-#ifdef BED_USES_THERMISTOR
-    #define BEDSOURCE 1
-#endif
-
-//#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS)
-//#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS)
-
-#if X_ENABLE_PIN > -1
-#define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
-#define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
-#else
-#define enable_x() ;
-#define disable_x() ;
-#endif
-#if Y_ENABLE_PIN > -1
-#define  enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
-#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
-#else
-#define enable_y() ;
-#define disable_y() ;
-#endif
-#if Z_ENABLE_PIN > -1
-#define  enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
-#define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
-#else
-#define enable_z() ;
-#define disable_z() ;
-#endif
-
-#if E_ENABLE_PIN > -1
-
-	#define  enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON)
-	#define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON)
-
-#else
-#define enable_e() ;
-#define disable_e() ;
-#endif
-
-#define X_AXIS 0
-#define Y_AXIS 1
-#define Z_AXIS 2
-#define E_AXIS 3
-
-void FlushSerialRequestResend();
-void ClearToSend();
-
-void get_coordinates();
-void prepare_move();
-void linear_move(unsigned long steps_remaining[]);
-void do_step(int axis);
-void kill(byte debug);
-
-
-
-void check_axes_activity();
-void plan_init();
-void st_init();
-void tp_init();
-void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
-void plan_set_position(float x, float y, float z, float e);
-void st_wake_up();
-void st_synchronize();
-void enquecommand(const char *cmd);
-
-
+#ifndef __MARLINH
+#define __MARLINH
+
+// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
+// Licence: GPL
+#include <WProgram.h>
+#include "fastio.h"
+
+
+#define ECHO(x) Serial << "echo: " << x;
+#define ECHOLN(x) Serial << "echo: "<<x<<endl;
+
+
+// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in 
+// the source g-code and may never actually be reached if acceleration management is active.
+typedef struct {
+  // Fields used by the bresenham algorithm for tracing the line
+  long steps_x, steps_y, steps_z, steps_e;  // Step count along each axis
+  long step_event_count;                    // The number of step events required to complete this block
+  volatile long accelerate_until;                    // The index of the step event on which to stop acceleration
+  volatile long decelerate_after;                    // The index of the step event on which to start decelerating
+  volatile long acceleration_rate;                   // The acceleration rate used for acceleration calculation
+  unsigned char direction_bits;             // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
+
+  long advance_rate;
+  volatile long initial_advance;
+  volatile long final_advance;
+  float advance;
+
+  // Fields used by the motion planner to manage acceleration
+  float speed_x, speed_y, speed_z, speed_e;          // Nominal mm/minute for each axis
+  float nominal_speed;                               // The nominal speed for this block in mm/min  
+  float millimeters;                                 // The total travel of this block in mm
+  float entry_speed;
+  float acceleration;                                // acceleration mm/sec^2
+
+  // Settings for the trapezoid generator
+  long nominal_rate;                                 // The nominal step rate for this block in step_events/sec 
+  volatile long initial_rate;                        // The jerk-adjusted step rate at start of block  
+  volatile long final_rate;                          // The minimal rate at exit
+  long acceleration_st;                              // acceleration steps/sec^2
+  volatile char busy;
+} block_t;
+
+
+void get_command();
+void process_commands();
+
+void manage_inactivity(byte debug);
+
+void manage_heater();
+//int temp2analogu(int celsius, const short table[][2], int numtemps);
+//float analog2tempu(int raw, const short table[][2], int numtemps);
+float temp2analog(int celsius);
+float temp2analogBed(int celsius);
+float analog2temp(int raw);
+float analog2tempBed(int raw);
+
+#ifdef HEATER_USES_THERMISTOR
+    #define HEATERSOURCE 1
+#endif
+#ifdef BED_USES_THERMISTOR
+    #define BEDSOURCE 1
+#endif
+
+//#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS)
+//#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS)
+
+#if X_ENABLE_PIN > -1
+#define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
+#define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
+#else
+#define enable_x() ;
+#define disable_x() ;
+#endif
+#if Y_ENABLE_PIN > -1
+#define  enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
+#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
+#else
+#define enable_y() ;
+#define disable_y() ;
+#endif
+#if Z_ENABLE_PIN > -1
+#define  enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
+#define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
+#else
+#define enable_z() ;
+#define disable_z() ;
+#endif
+
+#if E_ENABLE_PIN > -1
+
+	#define  enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON)
+	#define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON)
+
+#else
+#define enable_e() ;
+#define disable_e() ;
+#endif
+
+#define X_AXIS 0
+#define Y_AXIS 1
+#define Z_AXIS 2
+#define E_AXIS 3
+
+void FlushSerialRequestResend();
+void ClearToSend();
+
+void get_coordinates();
+void prepare_move();
+void linear_move(unsigned long steps_remaining[]);
+void do_step(int axis);
+void kill(byte debug);
+
+
+
+void check_axes_activity();
+void plan_init();
+void st_init();
+void tp_init();
+void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
+void plan_set_position(float x, float y, float z, float e);
+void st_wake_up();
+void st_synchronize();
+void enquecommand(const char *cmd);
+
+
 #endif

Marlin/Marlin.pde

@@ -1151,9 +1151,10 @@ inline void process_commands()
       if(code_seen('P')) Kp = code_value();
       if(code_seen('I')) Ki = code_value()*PID_dT;
       if(code_seen('D')) Kd = code_value()/PID_dT;
-      Serial.print("Kp ");Serial.println(Kp);
-      Serial.print("Ki ");Serial.println(Ki/PID_dT);
-      Serial.print("Kd ");Serial.println(Kd*PID_dT);
+      ECHOLN("Kp "<<_FLOAT(Kp,2));
+      ECHOLN("Ki "<<_FLOAT(Ki/PID_dT,2));
+      ECHOLN("Kd "<<_FLOAT(Kd*PID_dT,2));
+
       temp_iState_min = 0.0;
       if (Ki!=0) {
       temp_iState_max = PID_INTEGRAL_DRIVE_MAX / (Ki/100.0);