Increased default PWM frequency from 10 to 100 Hz. Removed K constant from PID settings, added Feed Forward settings.

Signed-off-by: Bas Laarhoven <[email protected]>

Author: modmaker

bebopr_r2.c

@@ -78,7 +78,7 @@ static const pwm_config_record pwm_config_data[] = {
   {
     .tag		= pwm_extruder,
     .device_path	= PWM_PATH_PREFIX "ehrpwm.2:0",	// BEBOPR_R2_J3 - PWM1
-    .frequency		= 10,
+    .frequency		= 100,
   },
   {
     .tag		= pwm_fan,
@@ -99,11 +99,12 @@ static const heater_config_record heater_config_data[] = {
     .analog_output	= pwm_extruder,
     .pid =
     {
-	    .K = 0.0,
+	    .FF_factor = 0.33,
+	    .FF_offset = 40.0,
 	    .P = 15.0,
-	    .I = 10.0,
+	    .I = 0.0,
 	    .D = 0.0,
-	    .I_limit = 0.7,
+	    .I_limit = 10.0,
     },
   },
   {

heater.c

@@ -221,7 +221,8 @@ int heater_init( void)
       pd->pid_settings.P	= ps->pid.P;
       pd->pid_settings.I	= ps->pid.I;
       pd->pid_settings.D	= ps->pid.D;
-      pd->pid_settings.K	= 0.0;
+      pd->pid_settings.FF_factor= ps->pid.FF_factor;
+      pd->pid_settings.FF_offset= ps->pid.FF_offset;
       pd->pid_settings.I_limit	= ps->pid.I_limit;
       pd->setpoint		= 0.0;
       pd->history_ix		= 0;

heater.h

@@ -8,11 +8,12 @@
 
 
 typedef struct {
-  double	K;
   double	P;
   double	I;
   double	D;
   double	I_limit;
+  double	FF_factor;
+  double	FF_offset;
 } pid_settings;
 
 typedef const struct {