Merge pull request #1603 from thinkyhead/issue_1523_compiler_error
Simplify manage_heater
This commit is contained in:
Scott Lahteine
commit
901c3c5392
1 changed files with 98 additions and 94 deletions
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@ -75,6 +75,10 @@
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//============================= public variables ============================
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//===========================================================================
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#ifdef K1 // Defined in Configuration.h in the PID settings
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#define K2 (1.0-K1)
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#endif
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// Sampling period of the temperature routine
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#ifdef PID_dT
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#undef PID_dT
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@ -127,8 +131,6 @@ static volatile bool temp_meas_ready = false;
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static float pid_error[EXTRUDERS];
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static float temp_iState_min[EXTRUDERS];
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static float temp_iState_max[EXTRUDERS];
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// static float pid_input[EXTRUDERS];
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// static float pid_output[EXTRUDERS];
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static bool pid_reset[EXTRUDERS];
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#endif //PIDTEMP
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#ifdef PIDTEMPBED
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@ -546,12 +548,102 @@ void bed_max_temp_error(void) {
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_temp_error(-1, MSG_MAXTEMP_BED_OFF, MSG_ERR_MAXTEMP_BED);
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}
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float get_pid_output(int e) {
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float pid_output;
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#ifdef PIDTEMP
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#ifndef PID_OPENLOOP
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pid_error[e] = target_temperature[e] - current_temperature[e];
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if (pid_error[e] > PID_FUNCTIONAL_RANGE) {
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pid_output = BANG_MAX;
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pid_reset[e] = true;
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}
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else if (pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) {
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pid_output = 0;
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pid_reset[e] = true;
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}
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else {
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if (pid_reset[e]) {
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temp_iState[e] = 0.0;
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pid_reset[e] = false;
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}
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pTerm[e] = PID_PARAM(Kp,e) * pid_error[e];
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temp_iState[e] += pid_error[e];
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temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
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iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
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dTerm[e] = K2 * PID_PARAM(Kd,e) * (current_temperature[e] - temp_dState[e]) + K1 * dTerm[e];
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pid_output = pTerm[e] + iTerm[e] - dTerm[e];
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if (pid_output > PID_MAX) {
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if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
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pid_output = PID_MAX;
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}
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else if (pid_output < 0) {
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if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
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pid_output = 0;
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}
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}
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temp_dState[e] = current_temperature[e];
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#else
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pid_output = constrain(target_temperature[e], 0, PID_MAX);
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#endif //PID_OPENLOOP
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#ifdef PID_DEBUG
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SERIAL_ECHO_START;
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SERIAL_ECHO(MSG_PID_DEBUG);
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SERIAL_ECHO(e);
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SERIAL_ECHO(MSG_PID_DEBUG_INPUT);
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SERIAL_ECHO(current_temperature[e]);
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SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT);
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SERIAL_ECHO(pid_output);
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SERIAL_ECHO(MSG_PID_DEBUG_PTERM);
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SERIAL_ECHO(pTerm[e]);
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SERIAL_ECHO(MSG_PID_DEBUG_ITERM);
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SERIAL_ECHO(iTerm[e]);
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SERIAL_ECHO(MSG_PID_DEBUG_DTERM);
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SERIAL_ECHOLN(dTerm[e]);
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#endif //PID_DEBUG
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#else /* PID off */
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pid_output = (current_temperature[e] < target_temperature[e]) ? PID_MAX : 0;
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#endif
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return pid_output;
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}
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#ifdef PIDTEMPBED
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float get_pid_output_bed() {
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float pid_output;
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#ifndef PID_OPENLOOP
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pid_error_bed = target_temperature_bed - current_temperature_bed;
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pTerm_bed = bedKp * pid_error_bed;
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temp_iState_bed += pid_error_bed;
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temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
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iTerm_bed = bedKi * temp_iState_bed;
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dTerm_bed = K2 * bedKd * (current_temperature_bed - temp_dState_bed) + K1 * dTerm_bed;
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temp_dState_bed = current_temperature_bed;
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pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
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if (pid_output > MAX_BED_POWER) {
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if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
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pid_output = MAX_BED_POWER;
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}
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else if (pid_output < 0) {
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if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
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pid_output = 0;
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}
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#else
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pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
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#endif // PID_OPENLOOP
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return pid_output;
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}
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#endif
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void manage_heater() {
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if (!temp_meas_ready) return;
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float pid_input, pid_output;
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updateTemperaturesFromRawValues();
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#ifdef HEATER_0_USES_MAX6675
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@ -569,69 +661,7 @@ void manage_heater() {
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thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS);
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#endif
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#ifdef PIDTEMP
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pid_input = current_temperature[e];
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#ifndef PID_OPENLOOP
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pid_error[e] = target_temperature[e] - pid_input;
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if (pid_error[e] > PID_FUNCTIONAL_RANGE) {
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pid_output = BANG_MAX;
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pid_reset[e] = true;
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}
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else if (pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) {
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pid_output = 0;
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pid_reset[e] = true;
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}
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else {
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if (pid_reset[e] == true) {
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temp_iState[e] = 0.0;
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pid_reset[e] = false;
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}
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pTerm[e] = PID_PARAM(Kp,e) * pid_error[e];
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temp_iState[e] += pid_error[e];
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temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
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iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
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//K1 defined in Configuration.h in the PID settings
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#define K2 (1.0-K1)
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dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e])) * K2 + (K1 * dTerm[e]);
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pid_output = pTerm[e] + iTerm[e] - dTerm[e];
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if (pid_output > PID_MAX) {
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if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
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pid_output = PID_MAX;
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}
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else if (pid_output < 0) {
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if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
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pid_output = 0;
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}
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}
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temp_dState[e] = pid_input;
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#else
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pid_output = constrain(target_temperature[e], 0, PID_MAX);
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#endif //PID_OPENLOOP
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#ifdef PID_DEBUG
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SERIAL_ECHO_START;
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SERIAL_ECHO(MSG_PID_DEBUG);
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SERIAL_ECHO(e);
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SERIAL_ECHO(MSG_PID_DEBUG_INPUT);
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SERIAL_ECHO(pid_input);
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SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT);
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SERIAL_ECHO(pid_output);
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SERIAL_ECHO(MSG_PID_DEBUG_PTERM);
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SERIAL_ECHO(pTerm[e]);
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SERIAL_ECHO(MSG_PID_DEBUG_ITERM);
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SERIAL_ECHO(iTerm[e]);
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SERIAL_ECHO(MSG_PID_DEBUG_DTERM);
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SERIAL_ECHOLN(dTerm[e]);
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#endif //PID_DEBUG
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#else /* PID off */
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pid_output = 0;
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if (current_temperature[e] < target_temperature[e]) pid_output = PID_MAX;
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#endif
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float pid_output = get_pid_output(e);
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// Check if temperature is within the correct range
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soft_pwm[e] = current_temperature[e] > minttemp[e] && current_temperature[e] < maxttemp[e] ? (int)pid_output >> 1 : 0;
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@ -678,33 +708,7 @@ void manage_heater() {
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#endif
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#ifdef PIDTEMPBED
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pid_input = current_temperature_bed;
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#ifndef PID_OPENLOOP
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pid_error_bed = target_temperature_bed - pid_input;
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pTerm_bed = bedKp * pid_error_bed;
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temp_iState_bed += pid_error_bed;
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temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
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iTerm_bed = bedKi * temp_iState_bed;
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//K1 defined in Configuration.h in the PID settings
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#define K2 (1.0-K1)
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dTerm_bed = (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
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temp_dState_bed = pid_input;
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pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
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if (pid_output > MAX_BED_POWER) {
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if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
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pid_output = MAX_BED_POWER;
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}
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else if (pid_output < 0) {
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if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
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pid_output = 0;
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}
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#else
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pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
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#endif //PID_OPENLOOP
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float pid_output = get_pid_output_bed();
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soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0;
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