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@ -128,7 +128,7 @@ volatile bool Temperature::temp_meas_ready = false; |
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#if ENABLED(PID_ADD_EXTRUSION_RATE) |
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#if ENABLED(PID_ADD_EXTRUSION_RATE) |
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float Temperature::cTerm[HOTENDS]; |
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float Temperature::cTerm[HOTENDS]; |
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long Temperature::last_position[HOTENDS]; |
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long Temperature::last_e_position; |
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long Temperature::lpq[LPQ_MAX_LEN]; |
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long Temperature::lpq[LPQ_MAX_LEN]; |
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int Temperature::lpq_ptr = 0; |
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int Temperature::lpq_ptr = 0; |
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#endif |
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#endif |
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@ -444,11 +444,11 @@ Temperature::Temperature() { } |
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void Temperature::updatePID() { |
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void Temperature::updatePID() { |
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#if ENABLED(PIDTEMP) |
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#if ENABLED(PIDTEMP) |
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HOTEND_LOOP() { |
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temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki, e); |
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#if ENABLED(PID_ADD_EXTRUSION_RATE) |
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#if ENABLED(PID_ADD_EXTRUSION_RATE) |
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last_position[e] = 0; |
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last_e_position = 0; |
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#endif |
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#endif |
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HOTEND_LOOP() { |
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temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki, e); |
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} |
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} |
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#endif |
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#endif |
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#if ENABLED(PIDTEMPBED) |
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#if ENABLED(PIDTEMPBED) |
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@ -531,10 +531,8 @@ float Temperature::get_pid_output(int e) { |
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#if HOTENDS == 1 |
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#if HOTENDS == 1 |
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UNUSED(e); |
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UNUSED(e); |
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#define _HOTEND_TEST true |
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#define _HOTEND_TEST true |
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#define _HOTEND_EXTRUDER active_extruder |
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#else |
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#else |
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#define _HOTEND_TEST e == active_extruder |
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#define _HOTEND_TEST e == active_extruder |
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#define _HOTEND_EXTRUDER e |
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#endif |
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#endif |
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float pid_output; |
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float pid_output; |
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#if ENABLED(PIDTEMP) |
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#if ENABLED(PIDTEMP) |
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@ -566,14 +564,14 @@ float Temperature::get_pid_output(int e) { |
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cTerm[HOTEND_INDEX] = 0; |
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cTerm[HOTEND_INDEX] = 0; |
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if (_HOTEND_TEST) { |
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if (_HOTEND_TEST) { |
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long e_position = stepper.position(E_AXIS); |
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long e_position = stepper.position(E_AXIS); |
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if (e_position > last_position[_HOTEND_EXTRUDER]) { |
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if (e_position > last_e_position) { |
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lpq[lpq_ptr++] = e_position - last_position[_HOTEND_EXTRUDER]; |
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lpq[lpq_ptr] = e_position - last_e_position; |
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last_position[_HOTEND_EXTRUDER] = e_position; |
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last_e_position = e_position; |
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} |
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} |
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else { |
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else { |
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lpq[lpq_ptr++] = 0; |
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lpq[lpq_ptr] = 0; |
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} |
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} |
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if (lpq_ptr >= lpq_len) lpq_ptr = 0; |
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if (++lpq_ptr >= lpq_len) lpq_ptr = 0; |
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cTerm[HOTEND_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_mm[E_AXIS]) * PID_PARAM(Kc, HOTEND_INDEX); |
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cTerm[HOTEND_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_mm[E_AXIS]) * PID_PARAM(Kc, HOTEND_INDEX); |
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pid_output += cTerm[HOTEND_INDEX]; |
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pid_output += cTerm[HOTEND_INDEX]; |
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} |
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} |
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@ -952,7 +950,7 @@ void Temperature::init() { |
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temp_iState_min[e] = 0.0; |
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temp_iState_min[e] = 0.0; |
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temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki, e); |
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temp_iState_max[e] = (PID_INTEGRAL_DRIVE_MAX) / PID_PARAM(Ki, e); |
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#if ENABLED(PID_ADD_EXTRUSION_RATE) |
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#if ENABLED(PID_ADD_EXTRUSION_RATE) |
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last_position[e] = 0; |
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last_e_position = 0; |
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#endif |
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#endif |
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#endif //PIDTEMP
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#endif //PIDTEMP
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#if ENABLED(PIDTEMPBED) |
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#if ENABLED(PIDTEMPBED) |
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@ -961,6 +959,10 @@ void Temperature::init() { |
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#endif //PIDTEMPBED
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#endif //PIDTEMPBED
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} |
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} |
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#if ENABLED(PIDTEMP) && ENABLED(PID_ADD_EXTRUSION_RATE) |
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last_e_position = 0; |
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#endif |
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#if HAS_HEATER_0 |
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#if HAS_HEATER_0 |
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SET_OUTPUT(HEATER_0_PIN); |
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SET_OUTPUT(HEATER_0_PIN); |
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#endif |
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#endif |
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