Added PID tuning for heated bed

- Updated FW_version
- Added PID heated bed tuning
- Default PID bed temp set to 55°C
- Changed PID default cycles from 5 to 8 (most seen in PID tuning
guides)

Firmware/Configuration.h

@@ -5,7 +5,7 @@
 #include "Configuration_prusa.h"
 
 // Firmware version
-#define FW_version "3.0.10-11"
+#define FW_version "3.0.10-12"
 
 #define FW_PRUSA3D_MAGIC "PRUSA3DFW"
 #define FW_PRUSA3D_MAGIC_LEN 10

Firmware/Marlin_main.cpp

@@ -4869,7 +4869,7 @@ SERIAL_PROTOCOLPGM("\n\n");
     {
       float temp = 150.0;
       int e=0;
-      int c=5;
+      int c=8;
       if (code_seen('E')) e=code_value();
         if (e<0)
           temp=70;

Firmware/language_all.cpp

@@ -1977,13 +1977,52 @@ const char * const MSG_PICK_Z_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_PICK_Z_EN
 };
 
+const char MSG_PID_BED_EN[] PROGMEM = "PID bed cal.        ";
+const char MSG_PID_BED_DE[] PROGMEM = "PID Bett Kalibrier. ";
+const char MSG_PID_BED_NL[] PROGMEM = "PID bed kalibratie  ";
+const char * const MSG_PID_BED_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_PID_BED_EN,
+	MSG_PID_BED_EN,
+	MSG_PID_BED_EN,
+	MSG_PID_BED_EN,
+	MSG_PID_BED_EN,
+	MSG_PID_BED_DE,
+	MSG_PID_BED_NL
+};
+
+const char MSG_PID_BED_FINISHED_EN[] PROGMEM = "PID bed cal. done   ";
+const char MSG_PID_BED_FINISHED_DE[] PROGMEM = "PID Bett Kal. fertig";
+const char MSG_PID_BED_FINISHED_NL[] PROGMEM = "PID bed kal. klaar  ";
+const char * const MSG_PID_BED_FINISHED_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_PID_BED_FINISHED_EN,
+	MSG_PID_BED_FINISHED_EN,
+	MSG_PID_BED_FINISHED_EN,
+	MSG_PID_BED_FINISHED_EN,
+	MSG_PID_BED_FINISHED_EN,
+	MSG_PID_BED_FINISHED_DE,
+	MSG_PID_BED_FINISHED_NL
+};
+
+const char MSG_PID_BED_RUNNING_EN[] PROGMEM = "PID bed cal. ";
+const char MSG_PID_BED_RUNNING_DE[] PROGMEM = "PID Bett Kal.";
+const char MSG_PID_BED_RUNNING_NL[] PROGMEM = "PID bed kal. ";
+const char * const MSG_PID_BED_RUNNING_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_PID_BED_RUNNING_EN,
+	MSG_PID_BED_RUNNING_EN,
+	MSG_PID_BED_RUNNING_EN,
+	MSG_PID_BED_RUNNING_EN,
+	MSG_PID_BED_RUNNING_EN,
+	MSG_PID_BED_RUNNING_DE,
+	MSG_PID_BED_RUNNING_NL
+};
+
 const char MSG_PID_EXTRUDER_EN[] PROGMEM = "PID calibration";
 const char MSG_PID_EXTRUDER_CZ[] PROGMEM = "PID kalibrace";
 const char MSG_PID_EXTRUDER_IT[] PROGMEM = "Calibrazione PID";
 const char MSG_PID_EXTRUDER_ES[] PROGMEM = "Calibracion PID";
 const char MSG_PID_EXTRUDER_PL[] PROGMEM = "Kalibracja PID";
 const char MSG_PID_EXTRUDER_DE[] PROGMEM = "PID Kalibrierung";
-const char MSG_PID_EXTRUDER_NL[] PROGMEM = "PID Kalibratie";
+const char MSG_PID_EXTRUDER_NL[] PROGMEM = "PID kalibratie";
 const char * const MSG_PID_EXTRUDER_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_PID_EXTRUDER_EN,
 	MSG_PID_EXTRUDER_CZ,
@@ -1994,13 +2033,13 @@ const char * const MSG_PID_EXTRUDER_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_PID_EXTRUDER_NL
 };
 
-const char MSG_PID_FINISHED_EN[] PROGMEM = "PID cal. finished";
+const char MSG_PID_FINISHED_EN[] PROGMEM = "PID cal. done       ";
 const char MSG_PID_FINISHED_CZ[] PROGMEM = "PID kal. ukoncena";
 const char MSG_PID_FINISHED_IT[] PROGMEM = "Cal. PID completa";
 const char MSG_PID_FINISHED_ES[] PROGMEM = "Cal. PID terminada";
 const char MSG_PID_FINISHED_PL[] PROGMEM = "Kal. PID zakonczona";
-const char MSG_PID_FINISHED_DE[] PROGMEM = "PID Kal. fertig";
-const char MSG_PID_FINISHED_NL[] PROGMEM = "PID kal. klaar";
+const char MSG_PID_FINISHED_DE[] PROGMEM = "PID Kal. fertig     ";
+const char MSG_PID_FINISHED_NL[] PROGMEM = "PID kal. klaar      ";
 const char * const MSG_PID_FINISHED_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_PID_FINISHED_EN,
 	MSG_PID_FINISHED_CZ,
@@ -2011,13 +2050,13 @@ const char * const MSG_PID_FINISHED_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_PID_FINISHED_NL
 };
 
-const char MSG_PID_RUNNING_EN[] PROGMEM = "PID cal.           ";
+const char MSG_PID_RUNNING_EN[] PROGMEM = "PID cal.     ";
 const char MSG_PID_RUNNING_CZ[] PROGMEM = "PID kal.           ";
 const char MSG_PID_RUNNING_IT[] PROGMEM = "Cal. PID";
 const char MSG_PID_RUNNING_ES[] PROGMEM = "Cal. PID           ";
 const char MSG_PID_RUNNING_PL[] PROGMEM = "Kal. PID";
-const char MSG_PID_RUNNING_DE[] PROGMEM = "PID Kal.         ";
-const char MSG_PID_RUNNING_NL[] PROGMEM = "PID kal.         ";
+const char MSG_PID_RUNNING_DE[] PROGMEM = "PID Kal.     ";
+const char MSG_PID_RUNNING_NL[] PROGMEM = "PID kal.     ";
 const char * const MSG_PID_RUNNING_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_PID_RUNNING_EN,
 	MSG_PID_RUNNING_CZ,

Firmware/language_all.h

@@ -352,6 +352,12 @@ 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_BED_LANG_TABLE[LANG_NUM];
+#define MSG_PID_BED LANG_TABLE_SELECT(MSG_PID_BED_LANG_TABLE)
+extern const char* const MSG_PID_BED_FINISHED_LANG_TABLE[LANG_NUM];
+#define MSG_PID_BED_FINISHED LANG_TABLE_SELECT(MSG_PID_BED_FINISHED_LANG_TABLE)
+extern const char* const MSG_PID_BED_RUNNING_LANG_TABLE[LANG_NUM];
+#define MSG_PID_BED_RUNNING LANG_TABLE_SELECT(MSG_PID_BED_RUNNING_LANG_TABLE)
 extern const char* const MSG_PID_EXTRUDER_LANG_TABLE[LANG_NUM];
 #define MSG_PID_EXTRUDER LANG_TABLE_SELECT(MSG_PID_EXTRUDER_LANG_TABLE)
 extern const char* const MSG_PID_FINISHED_LANG_TABLE[LANG_NUM];

Firmware/language_de.h

@@ -273,8 +273,11 @@
 #define MSG_RESUMING_PRINT										"Druck fortsetzen"
 #define MSG_PID_EXTRUDER										"PID Kalibrierung"
 #define MSG_SET_TEMPERATURE										"Temp.einstellen"
-#define MSG_PID_FINISHED										"PID Kal. fertig"
-#define MSG_PID_RUNNING											"PID Kal.         "
+#define MSG_PID_FINISHED										"PID Kal. fertig     "
+#define MSG_PID_RUNNING											"PID Kal.     "
+#define(length=20, lines=1) MSG_PID_BED							"PID Bett Kalibrier. "
+#define(length=20, lines=1) MSG_PID_BED_FINISHED				"PID Bett Kal. fertig"
+#define(length=20, lines=1) MSG_PID_BED_RUNNING					"PID Bett Kal."
 
 #define MSG_CALIBRATE_PINDA										"PINDA Temp. Kal."
 #define MSG_CALIBRATION_PINDA_MENU								"PINDA Temp. Kal."

Firmware/language_en.h

@@ -271,8 +271,12 @@
 #define(length=20, lines=1) MSG_RESUMING_PRINT					"Resuming print"
 #define(length=20, lines=1) MSG_PID_EXTRUDER					"PID calibration"
 #define(length=20, lines=1) MSG_SET_TEMPERATURE					"Set temperature:"
-#define(length=20, lines=1) MSG_PID_FINISHED					"PID cal. finished"
-#define(length=20, lines=1) MSG_PID_RUNNING						"PID cal.           "
+#define(length=20, lines=1) MSG_PID_FINISHED					"PID cal. done       "
+#define(length=20, lines=1) MSG_PID_RUNNING						"PID cal.     "
+#define(length=20, lines=1) MSG_PID_BED							"PID bed cal.        "
+#define(length=20, lines=1) MSG_PID_BED_FINISHED				"PID bed cal. done   "
+#define(length=20, lines=1) MSG_PID_BED_RUNNING					"PID bed cal. "
+
 
 #define(length=20, lines=1) MSG_CALIBRATE_PINDA					"PINDA Temp. cal."
 #define(length=20, lines=1) MSG_CALIBRATION_PINDA_MENU			"PINDA Temp. cal."

Firmware/language_nl.h

@@ -270,10 +270,13 @@
 #define(length=20) MSG_FINISHING_MOVEMENTS									"Bewegingen afwerken"
 #define MSG_PRINT_PAUSED										"Druck pauzeren"
 #define MSG_RESUMING_PRINT										"Print hervatten"
-#define MSG_PID_EXTRUDER										"PID Kalibratie"
+#define MSG_PID_EXTRUDER										"PID kalibratie"
 #define MSG_SET_TEMPERATURE										"Temp. instellen"
-#define MSG_PID_FINISHED										"PID kal. klaar"
-#define MSG_PID_RUNNING											"PID kal.         "
+#define MSG_PID_FINISHED										"PID kal. klaar      "
+#define MSG_PID_RUNNING											"PID kal.     "
+#define MSG_PID_BED												"PID bed kalibratie  "
+#define MSG_PID_BED_FINISHED									"PID bed kal. klaar  "
+#define MSG_PID_BED_RUNNING										"PID bed kal. "
 
 #define MSG_CALIBRATE_PINDA										"PINDA Temp. kal."
 #define MSG_CALIBRATION_PINDA_MENU								"PINDA Temp. kal."

Firmware/ultralcd.cpp

@@ -108,6 +108,7 @@ bool printer_connected = true;
 
 unsigned long display_time; //just timer for showing pid finished message on lcd;
 float pid_temp = DEFAULT_PID_TEMP;
+float pid_bed_temp = DEFAULT_PID_BED_TEMP;
 
 bool long_press_active = false;
 long long_press_timer = millis();
@@ -771,7 +772,7 @@ void lcd_commands()
 			enquecommand_P(PSTR("G1 Z15 F1500"));
 			st_synchronize();
 			#ifdef SNMM
-			lcd_commands_step = 7;
+			lcd_commands_step = 8;
 			#else
 			lcd_commands_step = 5;
 			#endif
@@ -820,6 +821,48 @@ void lcd_commands()
 		}
 	}
 
+	if (lcd_commands_type == LCD_COMMAND_PID_BED) {
+		char cmd1[30];
+
+		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 E-1 S");
+			strcat(cmd1, ftostr3(pid_bed_temp));
+			enquecommand(cmd1);
+			lcd_setstatuspgm(MSG_PID_BED_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_BED_FINISHED);
+			strcpy(cmd1, "M304 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_BED_TEMP;
+			lcd_commands_step = 0;
+			lcd_commands_type = 0;
+		}
+	}
+
 
 }
 
@@ -1574,6 +1617,25 @@ void pid_extruder() {
 
 }
 
+void pid_bed() {
+
+	lcd_implementation_clear();
+	lcd.setCursor(1, 0);
+	lcd_printPGM(MSG_SET_TEMPERATURE);
+	pid_bed_temp += int(encoderPosition);
+	if (pid_bed_temp > BED_MAXTEMP) pid_bed_temp = BED_MAXTEMP;
+	if (pid_bed_temp < BED_MINTEMP) pid_bed_temp = BED_MINTEMP;
+	encoderPosition = 0;
+	lcd.setCursor(1, 2);
+	lcd.print(ftostr3(pid_bed_temp));
+	if (lcd_clicked()) {
+		lcd_commands_type = LCD_COMMAND_PID_BED;
+		lcd_return_to_status();
+		lcd_update(2);
+	}
+
+}
+
 void lcd_adjust_z() {
   int enc_dif = 0;
   int cursor_pos = 1;
@@ -2632,6 +2694,7 @@ MENU_ITEM(function, MSG_CALIBRATE_BED, lcd_mesh_calibration);
     MENU_ITEM(submenu, MSG_BED_CORRECTION_MENU, lcd_adjust_bed);
 	MENU_ITEM(submenu, MSG_CALIBRATION_PINDA_MENU, lcd_pinda_calibration_menu);
 	MENU_ITEM(submenu, MSG_PID_EXTRUDER, pid_extruder);
+	MENU_ITEM(submenu, MSG_PID_BED, pid_bed);
     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

@@ -94,7 +94,8 @@ void lcd_mylang();
   #define LCD_COMMAND_LONG_PAUSE 5
   #define LCD_COMMAND_LONG_PAUSE_RESUME 6
   #define LCD_COMMAND_PID_EXTRUDER 7 
-
+  #define LCD_COMMAND_PID_BED 8
+
   extern unsigned long lcd_timeoutToStatus;
   extern int lcd_commands_type;
 

Firmware/variants/1_75mm_MK2-RAMBo10a-E3Dv6full.h

@@ -138,9 +138,9 @@ CHANGE FILAMENT SETTINGS
 // Filament change configuration
 #define FILAMENTCHANGEENABLE
 #ifdef FILAMENTCHANGEENABLE
-#define FILAMENTCHANGE_XPOS 211
-#define FILAMENTCHANGE_YPOS 0
-#define FILAMENTCHANGE_ZADD 2
+#define FILAMENTCHANGE_XPOS 0
+#define FILAMENTCHANGE_YPOS -2.2
+#define FILAMENTCHANGE_ZADD 20
 #define FILAMENTCHANGE_FIRSTRETRACT -2
 #define FILAMENTCHANGE_FINALRETRACT -80
 
@@ -161,7 +161,7 @@ ADDITIONAL FEATURES SETTINGS
 *------------------------------------*/
 
 // Define Prusa filament runout sensor
-//#define FILAMENT_RUNOUT_SUPPORT
+#define FILAMENT_RUNOUT_SUPPORT
 
 #ifdef FILAMENT_RUNOUT_SUPPORT
 #define FILAMENT_RUNOUT_SENSOR 1
@@ -371,7 +371,8 @@ THERMISTORS SETTINGS
 #define Z_BABYSTEP_MAX 0
 
 #define PINDA_PREHEAT_X 75
-#define PINDA_PREHEAT_Y 75
+#define PINDA_PREHEAT_Y -3
+#define PINDA_PREHEAT_Z 1
 #define PINDA_HEAT_T 120 //time in s
 
 #define PINDA_MIN_T 50
@@ -385,10 +386,10 @@ THERMISTORS SETTINGS
 #define LONG_PRESS_TIME 1000 //time in ms for button long press 
 #define BUTTON_BLANKING_TIME 200 //time in ms for blanking after button release
 
-#define PAUSE_RETRACT 2 
+#define PAUSE_RETRACT 1 
 
 #define DEFAULT_PID_TEMP 210
 
-#define DEFAULT_RETRACTION 1 //used for PINDA temp compensation
+#define DEFAULT_RETRACTION 1 //used for PINDA temp calibration
 
 #endif //__CONFIGURATION_PRUSA_H

Firmware/variants/1_75mm_MK2-RAMBo13a-E3Dv6full.h

@@ -408,6 +408,7 @@ THERMISTORS SETTINGS
 #define PAUSE_RETRACT 1 
 
 #define DEFAULT_PID_TEMP 210
+#define DEFAULT_PID_BED_TEMP 55
 
 #define DEFAULT_RETRACTION 1 //used for PINDA temp calibration