From 3d6deb9bdf0aa8e599413385b62910f109d773f1 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 13 Mar 2015 19:49:41 -0700 Subject: [PATCH 1/2] Simplify manage_heater - Make separate get_pid_output(e) and get_pid_output_bed() function - Reduce size of manage_heater function - Hopefully work around linker errors --- Marlin/temperature.cpp | 190 +++++++++++++++++++++-------------------- 1 file changed, 98 insertions(+), 92 deletions(-) diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index 4d01c701cc..69b74dc0db 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -75,6 +75,10 @@ //============================= public variables ============================ //=========================================================================== +#ifdef K1 // Defined in Configuration.h in the PID settings + #define K2 (1.0-K1) +#endif + // Sampling period of the temperature routine #ifdef PID_dT #undef PID_dT @@ -546,12 +550,102 @@ void bed_max_temp_error(void) { _temp_error(-1, MSG_MAXTEMP_BED_OFF, MSG_ERR_MAXTEMP_BED); } +float get_pid_output(int e) { + float pid_output; + #ifdef PIDTEMP + #ifndef PID_OPENLOOP + pid_error[e] = target_temperature[e] - current_temperature[e]; + if (pid_error[e] > PID_FUNCTIONAL_RANGE) { + pid_output = BANG_MAX; + pid_reset[e] = true; + } + else if (pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) { + pid_output = 0; + pid_reset[e] = true; + } + else { + if (pid_reset[e]) { + temp_iState[e] = 0.0; + pid_reset[e] = false; + } + pTerm[e] = PID_PARAM(Kp,e) * pid_error[e]; + temp_iState[e] += pid_error[e]; + temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]); + iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e]; + + dTerm[e] = K2 * PID_PARAM(Kd,e) * (current_temperature[e] - temp_dState[e]) + K1 * dTerm[e]; + pid_output = pTerm[e] + iTerm[e] - dTerm[e]; + if (pid_output > PID_MAX) { + if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration + pid_output = PID_MAX; + } + else if (pid_output < 0) { + if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration + pid_output = 0; + } + } + temp_dState[e] = current_temperature[e]; + #else + pid_output = constrain(target_temperature[e], 0, PID_MAX); + #endif //PID_OPENLOOP + + #ifdef PID_DEBUG + SERIAL_ECHO_START; + SERIAL_ECHO(MSG_PID_DEBUG); + SERIAL_ECHO(e); + SERIAL_ECHO(MSG_PID_DEBUG_INPUT); + SERIAL_ECHO(current_temperature[e]); + SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT); + SERIAL_ECHO(pid_output); + SERIAL_ECHO(MSG_PID_DEBUG_PTERM); + SERIAL_ECHO(pTerm[e]); + SERIAL_ECHO(MSG_PID_DEBUG_ITERM); + SERIAL_ECHO(iTerm[e]); + SERIAL_ECHO(MSG_PID_DEBUG_DTERM); + SERIAL_ECHOLN(dTerm[e]); + #endif //PID_DEBUG + + #else /* PID off */ + pid_output = (current_temperature[e] < target_temperature[e]) ? PID_MAX : 0; + #endif + + return pid_output; +} + +#ifdef PIDTEMPBED + float get_pid_output_bed() { + float pid_output; + #ifndef PID_OPENLOOP + pid_error_bed = target_temperature_bed - current_temperature_bed; + pTerm_bed = bedKp * pid_error_bed; + temp_iState_bed += pid_error_bed; + temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed); + iTerm_bed = bedKi * temp_iState_bed; + + dTerm_bed = K2 * bedKd * (current_temperature_bed - temp_dState_bed) + K1 * dTerm_bed; + temp_dState_bed = current_temperature_bed; + + pid_output = pTerm_bed + iTerm_bed - dTerm_bed; + if (pid_output > MAX_BED_POWER) { + if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration + pid_output = MAX_BED_POWER; + } + else if (pid_output < 0) { + if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration + pid_output = 0; + } + #else + pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER); + #endif // PID_OPENLOOP + + return pid_output; + } +#endif + void manage_heater() { if (!temp_meas_ready) return; - float pid_input, pid_output; - updateTemperaturesFromRawValues(); #ifdef HEATER_0_USES_MAX6675 @@ -569,69 +663,7 @@ void manage_heater() { 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); #endif - #ifdef PIDTEMP - pid_input = current_temperature[e]; - - #ifndef PID_OPENLOOP - pid_error[e] = target_temperature[e] - pid_input; - if (pid_error[e] > PID_FUNCTIONAL_RANGE) { - pid_output = BANG_MAX; - pid_reset[e] = true; - } - else if (pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) { - pid_output = 0; - pid_reset[e] = true; - } - else { - if (pid_reset[e] == true) { - temp_iState[e] = 0.0; - pid_reset[e] = false; - } - pTerm[e] = PID_PARAM(Kp,e) * pid_error[e]; - temp_iState[e] += pid_error[e]; - temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]); - iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e]; - - //K1 defined in Configuration.h in the PID settings - #define K2 (1.0-K1) - dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e])) * K2 + (K1 * dTerm[e]); - pid_output = pTerm[e] + iTerm[e] - dTerm[e]; - if (pid_output > PID_MAX) { - if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration - pid_output = PID_MAX; - } - else if (pid_output < 0) { - if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration - pid_output = 0; - } - } - temp_dState[e] = pid_input; - #else - pid_output = constrain(target_temperature[e], 0, PID_MAX); - #endif //PID_OPENLOOP - - #ifdef PID_DEBUG - SERIAL_ECHO_START; - SERIAL_ECHO(MSG_PID_DEBUG); - SERIAL_ECHO(e); - SERIAL_ECHO(MSG_PID_DEBUG_INPUT); - SERIAL_ECHO(pid_input); - SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT); - SERIAL_ECHO(pid_output); - SERIAL_ECHO(MSG_PID_DEBUG_PTERM); - SERIAL_ECHO(pTerm[e]); - SERIAL_ECHO(MSG_PID_DEBUG_ITERM); - SERIAL_ECHO(iTerm[e]); - SERIAL_ECHO(MSG_PID_DEBUG_DTERM); - SERIAL_ECHOLN(dTerm[e]); - #endif //PID_DEBUG - - #else /* PID off */ - - pid_output = 0; - if (current_temperature[e] < target_temperature[e]) pid_output = PID_MAX; - - #endif + float pid_output = get_pid_output(e); // Check if temperature is within the correct range soft_pwm[e] = current_temperature[e] > minttemp[e] && current_temperature[e] < maxttemp[e] ? (int)pid_output >> 1 : 0; @@ -678,33 +710,7 @@ void manage_heater() { #endif #ifdef PIDTEMPBED - pid_input = current_temperature_bed; - - #ifndef PID_OPENLOOP - pid_error_bed = target_temperature_bed - pid_input; - pTerm_bed = bedKp * pid_error_bed; - temp_iState_bed += pid_error_bed; - temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed); - iTerm_bed = bedKi * temp_iState_bed; - - //K1 defined in Configuration.h in the PID settings - #define K2 (1.0-K1) - dTerm_bed = (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed); - temp_dState_bed = pid_input; - - pid_output = pTerm_bed + iTerm_bed - dTerm_bed; - if (pid_output > MAX_BED_POWER) { - if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration - pid_output = MAX_BED_POWER; - } - else if (pid_output < 0) { - if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration - pid_output = 0; - } - - #else - pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER); - #endif //PID_OPENLOOP + pid_output = get_pid_output_bed(); soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0; From cb57fc727dedbf6589251876790f18a4a394bd42 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 13 Mar 2015 20:19:51 -0700 Subject: [PATCH 2/2] Declare pid_output for PIDBEDTEMP --- Marlin/temperature.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index 69b74dc0db..f6353fcfd6 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -131,8 +131,6 @@ static volatile bool temp_meas_ready = false; static float pid_error[EXTRUDERS]; static float temp_iState_min[EXTRUDERS]; static float temp_iState_max[EXTRUDERS]; - // static float pid_input[EXTRUDERS]; - // static float pid_output[EXTRUDERS]; static bool pid_reset[EXTRUDERS]; #endif //PIDTEMP #ifdef PIDTEMPBED @@ -710,7 +708,7 @@ void manage_heater() { #endif #ifdef PIDTEMPBED - pid_output = get_pid_output_bed(); + float pid_output = get_pid_output_bed(); soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0;