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🐛 Fix, Refactor PID scaling (MarlinFirmware#25096)
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@MarkMan0 @thinkyhead
MarkMan0 authored and thinkyhead committed Apr 7, 2023
1 parent 8c34258 commit 536e8a7
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Showing 4 changed files with 203 additions and 102 deletions.
4 changes: 2 additions & 2 deletions Marlin/src/module/settings.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1095,7 +1095,7 @@ void MarlinSettings::postprocess() {
{
_FIELD_TEST(bedPID);
#if ENABLED(PIDTEMPBED)
const PID_t &pid = thermalManager.temp_bed.pid;
const auto &pid = thermalManager.temp_bed.pid;
const raw_pid_t bed_pid = { pid.p(), pid.i(), pid.d() };
#else
const raw_pid_t bed_pid = { NAN, NAN, NAN };
Expand All @@ -1109,7 +1109,7 @@ void MarlinSettings::postprocess() {
{
_FIELD_TEST(chamberPID);
#if ENABLED(PIDTEMPCHAMBER)
const PID_t &pid = thermalManager.temp_chamber.pid;
const auto &pid = thermalManager.temp_chamber.pid;
const raw_pid_t chamber_pid = { pid.p(), pid.i(), pid.d() };
#else
const raw_pid_t chamber_pid = { NAN, NAN, NAN };
Expand Down
59 changes: 18 additions & 41 deletions Marlin/src/module/temperature.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -534,10 +534,6 @@ PGMSTR(str_t_heating_failed, STR_T_HEATING_FAILED);

volatile bool Temperature::raw_temps_ready = false;

#if ENABLED(PID_EXTRUSION_SCALING)
int32_t Temperature::pes_e_position, Temperature::lpq[LPQ_MAX_LEN];
lpq_ptr_t Temperature::lpq_ptr = 0;
#endif

#if ENABLED(MPCTEMP)
int32_t Temperature::mpc_e_position; // = 0
Expand Down Expand Up @@ -1338,50 +1334,33 @@ void Temperature::mintemp_error(const heater_id_t heater_id) {

#if HAS_PID_HEATING

template<typename TT, int MIN_POW, int MAX_POW>
template<typename TT>
class PIDRunner {
public:
TT &tempinfo;
__typeof__(TT::pid) work_pid{0};
float temp_iState = 0, temp_dState = 0;
bool pid_reset = true;

PIDRunner(TT &t) : tempinfo(t) { }

float get_pid_output() {

float get_pid_output(const uint8_t extr=0) {
#if ENABLED(PID_OPENLOOP)

return constrain(tempinfo.target, 0, MAX_POW);

#else // !PID_OPENLOOP

const float pid_error = tempinfo.target - tempinfo.celsius;
if (!tempinfo.target || pid_error < -(PID_FUNCTIONAL_RANGE)) {
pid_reset = true;
return 0;
}
else if (pid_error > PID_FUNCTIONAL_RANGE) {
pid_reset = true;
return MAX_POW;
}
float out = tempinfo.pid.get_pid_output(tempinfo.target, tempinfo.celsius);

if (pid_reset) {
pid_reset = false;
temp_iState = 0.0;
work_pid.Kd = 0.0;
}

const float max_power_over_i_gain = float(MAX_POW) / tempinfo.pid.Ki - float(MIN_POW);
temp_iState = constrain(temp_iState + pid_error, 0, max_power_over_i_gain);

work_pid.Kp = tempinfo.pid.Kp * pid_error;
work_pid.Ki = tempinfo.pid.Ki * temp_iState;
work_pid.Kd = work_pid.Kd + PID_K2 * (tempinfo.pid.Kd * (temp_dState - tempinfo.celsius) - work_pid.Kd);
#if ENABLED(PID_FAN_SCALING)
out += tempinfo.pid.get_fan_scale_output(thermalManager.fan_speed[extr]);
#endif

temp_dState = tempinfo.celsius;
#if ENABLED(PID_EXTRUSION_SCALING)
out += tempinfo.pid.get_extrusion_scale_output(
extr == active_extruder, stepper.position(E_AXIS), planner.mm_per_step[E_AXIS], thermalManager.lpq_len
);
#endif

return constrain(work_pid.Kp + work_pid.Ki + work_pid.Kd + float(MIN_POW), 0, MAX_POW);
return constrain(out, tempinfo.pid.low(), tempinfo.pid.high());

#endif // !PID_OPENLOOP
}
Expand All @@ -1395,7 +1374,8 @@ void Temperature::mintemp_error(const heater_id_t heater_id) {
STR_PID_DEBUG_INPUT, c,
STR_PID_DEBUG_OUTPUT, pid_out
#if DISABLED(PID_OPENLOOP)
, " pTerm ", work_pid.Kp, " iTerm ", work_pid.Ki, " dTerm ", work_pid.Kd
, " pTerm ", tempinfo.pid.pTerm(), " iTerm ", tempinfo.pid.iTerm(), " dTerm ", tempinfo.pid.dTerm()
, " cTerm ", tempinfo.pid.cTerm(), " fTerm ", tempinfo.pid.fTerm()
#endif
);
}
Expand All @@ -1413,14 +1393,14 @@ void Temperature::mintemp_error(const heater_id_t heater_id) {

#if ENABLED(PIDTEMP)

typedef PIDRunner<hotend_info_t, 0, PID_MAX> PIDRunnerHotend;
typedef PIDRunner<hotend_info_t> PIDRunnerHotend;

static PIDRunnerHotend hotend_pid[HOTENDS] = {
#define _HOTENDPID(E) temp_hotend[E],
REPEAT(HOTENDS, _HOTENDPID)
};

const float pid_output = is_idling ? 0 : hotend_pid[ee].get_pid_output();
const float pid_output = is_idling ? 0 : hotend_pid[ee].get_pid_output(ee);

#if ENABLED(PID_DEBUG)
if (ee == active_extruder)
Expand Down Expand Up @@ -1521,7 +1501,7 @@ void Temperature::mintemp_error(const heater_id_t heater_id) {
#if ENABLED(PIDTEMPBED)

float Temperature::get_pid_output_bed() {
static PIDRunner<bed_info_t, MIN_BED_POWER, MAX_BED_POWER> bed_pid(temp_bed);
static PIDRunner<bed_info_t> bed_pid(temp_bed);
const float pid_output = bed_pid.get_pid_output();
TERN_(PID_BED_DEBUG, bed_pid.debug(temp_bed.celsius, pid_output, F("(Bed)")));
return pid_output;
Expand All @@ -1532,7 +1512,7 @@ void Temperature::mintemp_error(const heater_id_t heater_id) {
#if ENABLED(PIDTEMPCHAMBER)

float Temperature::get_pid_output_chamber() {
static PIDRunner<chamber_info_t, MIN_CHAMBER_POWER, MAX_CHAMBER_POWER> chamber_pid(temp_chamber);
static PIDRunner<chamber_info_t> chamber_pid(temp_chamber);
const float pid_output = chamber_pid.get_pid_output();
TERN_(PID_CHAMBER_DEBUG, chamber_pid.debug(temp_chamber.celsius, pid_output, F("(Chamber)")));
return pid_output;
Expand Down Expand Up @@ -2471,9 +2451,6 @@ void Temperature::init() {

TERN_(PROBING_HEATERS_OFF, paused_for_probing = false);

#if BOTH(PIDTEMP, PID_EXTRUSION_SCALING)
pes_e_position = 0;
#endif

// Init (and disable) SPI thermocouples
#if TEMP_SENSOR_IS_ANY_MAX_TC(0) && PIN_EXISTS(TEMP_0_CS)
Expand Down
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