diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index fb9b40cf0f..2fa6074b2c 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -514,88 +514,86 @@ void Temperature::min_temp_error(uint8_t e) {
}
float Temperature::get_pid_output(int e) {
+ #if HOTENDS == 1
+ UNUSED(e);
+ #define _HOTEND_TEST true
+ #define _HOTEND_EXTRUDER active_extruder
+ #else
+ #define _HOTEND_TEST e == active_extruder
+ #define _HOTEND_EXTRUDER e
+ #endif
float pid_output;
#if ENABLED(PIDTEMP)
#if DISABLED(PID_OPENLOOP)
- pid_error[e] = target_temperature[e] - current_temperature[e];
- dTerm[e] = K2 * PID_PARAM(Kd, e) * (current_temperature[e] - temp_dState[e]) + K1 * dTerm[e];
- temp_dState[e] = current_temperature[e];
- if (pid_error[e] > PID_FUNCTIONAL_RANGE) {
+ pid_error[HOTEND_INDEX] = target_temperature[HOTEND_INDEX] - current_temperature[HOTEND_INDEX];
+ dTerm[HOTEND_INDEX] = K2 * PID_PARAM(Kd, HOTEND_INDEX) * (current_temperature[HOTEND_INDEX] - temp_dState[HOTEND_INDEX]) + K1 * dTerm[HOTEND_INDEX];
+ temp_dState[HOTEND_INDEX] = current_temperature[HOTEND_INDEX];
+ if (pid_error[HOTEND_INDEX] > PID_FUNCTIONAL_RANGE) {
pid_output = BANG_MAX;
- pid_reset[e] = true;
+ pid_reset[HOTEND_INDEX] = true;
}
- else if (pid_error[e] < -(PID_FUNCTIONAL_RANGE) || target_temperature[e] == 0) {
+ else if (pid_error[HOTEND_INDEX] < -(PID_FUNCTIONAL_RANGE) || target_temperature[HOTEND_INDEX] == 0) {
pid_output = 0;
- pid_reset[e] = true;
+ pid_reset[HOTEND_INDEX] = true;
}
else {
- if (pid_reset[e]) {
- temp_iState[e] = 0.0;
- pid_reset[e] = false;
+ if (pid_reset[HOTEND_INDEX]) {
+ temp_iState[HOTEND_INDEX] = 0.0;
+ pid_reset[HOTEND_INDEX] = 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];
+ pTerm[HOTEND_INDEX] = PID_PARAM(Kp, HOTEND_INDEX) * pid_error[HOTEND_INDEX];
+ temp_iState[HOTEND_INDEX] += pid_error[HOTEND_INDEX];
+ temp_iState[HOTEND_INDEX] = constrain(temp_iState[HOTEND_INDEX], temp_iState_min[HOTEND_INDEX], temp_iState_max[HOTEND_INDEX]);
+ iTerm[HOTEND_INDEX] = PID_PARAM(Ki, HOTEND_INDEX) * temp_iState[HOTEND_INDEX];
- pid_output = pTerm[e] + iTerm[e] - dTerm[e];
-
- #if ENABLED(SINGLENOZZLE)
- #define _NOZZLE_TEST true
- #define _NOZZLE_EXTRUDER active_extruder
- #define _CTERM_INDEX 0
- #else
- #define _NOZZLE_TEST e == active_extruder
- #define _NOZZLE_EXTRUDER e
- #define _CTERM_INDEX e
- #endif
+ pid_output = pTerm[HOTEND_INDEX] + iTerm[HOTEND_INDEX] - dTerm[HOTEND_INDEX];
#if ENABLED(PID_ADD_EXTRUSION_RATE)
- cTerm[_CTERM_INDEX] = 0;
- if (_NOZZLE_TEST) {
+ cTerm[HOTEND_INDEX] = 0;
+ if (_HOTEND_TEST) {
long e_position = stepper.position(E_AXIS);
- if (e_position > last_position[_NOZZLE_EXTRUDER]) {
- lpq[lpq_ptr++] = e_position - last_position[_NOZZLE_EXTRUDER];
- last_position[_NOZZLE_EXTRUDER] = e_position;
+ if (e_position > last_position[_HOTEND_EXTRUDER]) {
+ lpq[lpq_ptr++] = e_position - last_position[_HOTEND_EXTRUDER];
+ last_position[_HOTEND_EXTRUDER] = e_position;
}
else {
lpq[lpq_ptr++] = 0;
}
if (lpq_ptr >= lpq_len) lpq_ptr = 0;
- cTerm[_CTERM_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_mm[E_AXIS]) * PID_PARAM(Kc, e);
- pid_output += cTerm[e];
+ cTerm[HOTEND_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_mm[E_AXIS]) * PID_PARAM(Kc, HOTEND_INDEX);
+ pid_output += cTerm[HOTEND_INDEX];
}
#endif //PID_ADD_EXTRUSION_RATE
if (pid_output > PID_MAX) {
- if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
+ if (pid_error[HOTEND_INDEX] > 0) temp_iState[HOTEND_INDEX] -= pid_error[HOTEND_INDEX]; // 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
+ if (pid_error[HOTEND_INDEX] < 0) temp_iState[HOTEND_INDEX] -= pid_error[HOTEND_INDEX]; // conditional un-integration
pid_output = 0;
}
}
#else
- pid_output = constrain(target_temperature[e], 0, PID_MAX);
+ pid_output = constrain(target_temperature[HOTEND_INDEX], 0, PID_MAX);
#endif //PID_OPENLOOP
#if ENABLED(PID_DEBUG)
SERIAL_ECHO_START;
- SERIAL_ECHOPAIR(MSG_PID_DEBUG, e);
- SERIAL_ECHOPAIR(MSG_PID_DEBUG_INPUT, current_temperature[e]);
+ SERIAL_ECHOPAIR(MSG_PID_DEBUG, HOTEND_INDEX);
+ SERIAL_ECHOPAIR(MSG_PID_DEBUG_INPUT, current_temperature[HOTEND_INDEX]);
SERIAL_ECHOPAIR(MSG_PID_DEBUG_OUTPUT, pid_output);
- SERIAL_ECHOPAIR(MSG_PID_DEBUG_PTERM, pTerm[e]);
- SERIAL_ECHOPAIR(MSG_PID_DEBUG_ITERM, iTerm[e]);
- SERIAL_ECHOPAIR(MSG_PID_DEBUG_DTERM, dTerm[e]);
+ SERIAL_ECHOPAIR(MSG_PID_DEBUG_PTERM, pTerm[HOTEND_INDEX]);
+ SERIAL_ECHOPAIR(MSG_PID_DEBUG_ITERM, iTerm[HOTEND_INDEX]);
+ SERIAL_ECHOPAIR(MSG_PID_DEBUG_DTERM, dTerm[HOTEND_INDEX]);
#if ENABLED(PID_ADD_EXTRUSION_RATE)
- SERIAL_ECHOPAIR(MSG_PID_DEBUG_CTERM, cTerm[e]);
+ SERIAL_ECHOPAIR(MSG_PID_DEBUG_CTERM, cTerm[HOTEND_INDEX]);
#endif
SERIAL_EOL;
#endif //PID_DEBUG
#else /* PID off */
- pid_output = (current_temperature[e] < target_temperature[e]) ? PID_MAX : 0;
+ pid_output = (current_temperature[HOTEND_INDEX] < target_temperature[HOTEND_INDEX]) ? PID_MAX : 0;
#endif
return pid_output;
@@ -672,7 +670,7 @@ void Temperature::manage_heater() {
#endif
// Loop through all hotends
- for (int e = 0; e < HOTENDS; e++) {
+ for (uint8_t e = 0; e < HOTENDS; e++) {
#if ENABLED(THERMAL_PROTECTION_HOTENDS)
thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_PROTECTION_PERIOD, THERMAL_PROTECTION_HYSTERESIS);
diff --git a/Marlin/temperature.h b/Marlin/temperature.h
index 60aa80d6a7..f8b190800b 100644
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@@ -38,6 +38,16 @@
#define SOFT_PWM_SCALE 0
#endif
+#if HOTENDS == 1
+ #define HOTEND_ARG 0
+ #define HOTEND_INDEX 0
+ #define EXTRUDER_ARG 0
+#else
+ #define HOTEND_ARG hotend
+ #define HOTEND_INDEX e
+ #define EXTRUDER_ARG active_extruder
+#endif
+
class Temperature {
public:
@@ -112,7 +122,12 @@ class Temperature {
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
static float extrude_min_temp;
- static bool tooColdToExtrude(uint8_t e) { return degHotend(e) < extrude_min_temp; }
+ static bool tooColdToExtrude(uint8_t e) {
+ #if HOTENDS == 1
+ UNUSED(e);
+ #endif
+ return degHotend(HOTEND_INDEX) < extrude_min_temp;
+ }
#else
static bool tooColdToExtrude(uint8_t e) { UNUSED(e); return false; }
#endif
@@ -230,12 +245,6 @@ class Temperature {
//inline so that there is no performance decrease.
//deg=degreeCelsius
- #if HOTENDS == 1
- #define HOTEND_ARG 0
- #else
- #define HOTEND_ARG hotend
- #endif
-
static float degHotend(uint8_t hotend) {
#if HOTENDS == 1
UNUSED(hotend);
@@ -329,8 +338,8 @@ class Temperature {
#if ENABLED(AUTOTEMP)
if (planner.autotemp_enabled) {
planner.autotemp_enabled = false;
- if (degTargetHotend(active_extruder) > planner.autotemp_min)
- setTargetHotend(0, active_extruder);
+ if (degTargetHotend(EXTRUDER_ARG) > planner.autotemp_min)
+ setTargetHotend(0, EXTRUDER_ARG);
}
#endif
}