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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if ENABLED(PIDTEMP)
-
- #include "../gcode.h"
- #include "../../module/temperature.h"
-
- /**
- * M301: Set PID parameters P I D (and optionally C, L)
- *
- * P[float] Kp term
- * I[float] Ki term (unscaled)
- * D[float] Kd term (unscaled)
- *
- * With PID_EXTRUSION_SCALING:
- *
- * C[float] Kc term
- * L[int] LPQ length
- */
- void GcodeSuite::M301() {
-
- // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
- // default behaviour (omitting E parameter) is to update for extruder 0 only
- const uint8_t e = parser.byteval('E'); // extruder being updated
-
- if (e < HOTENDS) { // catch bad input value
- if (parser.seen('P')) PID_PARAM(Kp, e) = parser.value_float();
- if (parser.seen('I')) PID_PARAM(Ki, e) = scalePID_i(parser.value_float());
- if (parser.seen('D')) PID_PARAM(Kd, e) = scalePID_d(parser.value_float());
- #if ENABLED(PID_EXTRUSION_SCALING)
- if (parser.seen('C')) PID_PARAM(Kc, e) = parser.value_float();
- if (parser.seenval('L')) thermalManager.lpq_len = parser.value_int();
- NOMORE(thermalManager.lpq_len, LPQ_MAX_LEN);
- NOLESS(thermalManager.lpq_len, 0);
- #endif
-
- thermalManager.updatePID();
- SERIAL_ECHO_START();
- #if ENABLED(PID_PARAMS_PER_HOTEND)
- SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
- #endif // PID_PARAMS_PER_HOTEND
- SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
- SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
- SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
- #if ENABLED(PID_EXTRUSION_SCALING)
- //Kc does not have scaling applied above, or in resetting defaults
- SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
- #endif
- SERIAL_EOL();
- }
- else {
- SERIAL_ERROR_START();
- SERIAL_ERRORLNPGM(MSG_INVALID_EXTRUDER);
- }
- }
-
- #endif // PIDTEMP
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