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🎨 Indent temp structs
This commit is contained in:
Scott Lahteine
parent
a5ac50fcbf
commit
46b5753f56
@ -177,68 +177,68 @@ typedef struct { float p, i, d, c, f; } raw_pidcf_t;
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/// PID classes that implement these features are expected to override these methods
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/// Since the finally used PID class is typedef-d, there is no need to use virtual functions
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template<int MIN_POW, int MAX_POW>
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struct PID_t{
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protected:
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bool pid_reset = true;
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float temp_iState = 0.0f, temp_dState = 0.0f;
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float work_p = 0, work_i = 0, work_d = 0;
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struct PID_t {
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protected:
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bool pid_reset = true;
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float temp_iState = 0.0f, temp_dState = 0.0f;
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float work_p = 0, work_i = 0, work_d = 0;
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public:
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float Kp = 0, Ki = 0, Kd = 0;
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float p() const { return Kp; }
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float i() const { return unscalePID_i(Ki); }
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float d() const { return unscalePID_d(Kd); }
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float c() const { return 1; }
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float f() const { return 0; }
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float pTerm() const { return work_p; }
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float iTerm() const { return work_i; }
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float dTerm() const { return work_d; }
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float cTerm() const { return 0; }
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float fTerm() const { return 0; }
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void set_Kp(float p) { Kp = p; }
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void set_Ki(float i) { Ki = scalePID_i(i); }
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void set_Kd(float d) { Kd = scalePID_d(d); }
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void set_Kc(float) {}
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void set_Kf(float) {}
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int low() const { return MIN_POW; }
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int high() const { return MAX_POW; }
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void reset() { pid_reset = true; }
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void set(float p, float i, float d, float c=1, float f=0) { set_Kp(p); set_Ki(i); set_Kd(d); set_Kc(c); set_Kf(f); }
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void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
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void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
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public:
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float Kp = 0, Ki = 0, Kd = 0;
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float p() const { return Kp; }
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float i() const { return unscalePID_i(Ki); }
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float d() const { return unscalePID_d(Kd); }
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float c() const { return 1; }
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float f() const { return 0; }
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float pTerm() const { return work_p; }
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float iTerm() const { return work_i; }
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float dTerm() const { return work_d; }
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float cTerm() const { return 0; }
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float fTerm() const { return 0; }
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void set_Kp(float p) { Kp = p; }
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void set_Ki(float i) { Ki = scalePID_i(i); }
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void set_Kd(float d) { Kd = scalePID_d(d); }
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void set_Kc(float) {}
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void set_Kf(float) {}
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int low() const { return MIN_POW; }
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int high() const { return MAX_POW; }
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void reset() { pid_reset = true; }
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void set(float p, float i, float d, float c=1, float f=0) { set_Kp(p); set_Ki(i); set_Kd(d); set_Kc(c); set_Kf(f); }
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void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
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void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
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float get_fan_scale_output(const uint8_t) { return 0; }
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float get_fan_scale_output(const uint8_t) { return 0; }
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float get_extrusion_scale_output(const bool, const int32_t, const float, const int16_t) { return 0; }
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float get_extrusion_scale_output(const bool, const int32_t, const float, const int16_t) { return 0; }
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float get_pid_output(const float target, const float current) {
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const float pid_error = target - current;
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if (!target || pid_error < -(PID_FUNCTIONAL_RANGE)) {
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pid_reset = true;
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return 0;
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float get_pid_output(const float target, const float current) {
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const float pid_error = target - current;
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if (!target || pid_error < -(PID_FUNCTIONAL_RANGE)) {
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pid_reset = true;
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return 0;
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}
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else if (pid_error > PID_FUNCTIONAL_RANGE) {
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pid_reset = true;
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return MAX_POW;
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}
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if (pid_reset) {
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pid_reset = false;
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temp_iState = 0.0;
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work_d = 0.0;
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}
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const float max_power_over_i_gain = float(MAX_POW) / Ki - float(MIN_POW);
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temp_iState = constrain(temp_iState + pid_error, 0, max_power_over_i_gain);
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work_p = Kp * pid_error;
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work_i = Ki * temp_iState;
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work_d = work_d + PID_K2 * (Kd * (temp_dState - current) - work_d);
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temp_dState = current;
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return constrain(work_p + work_i + work_d + float(MIN_POW), 0, MAX_POW);
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}
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else if (pid_error > PID_FUNCTIONAL_RANGE) {
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pid_reset = true;
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return MAX_POW;
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}
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if (pid_reset) {
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pid_reset = false;
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temp_iState = 0.0;
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work_d = 0.0;
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}
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const float max_power_over_i_gain = float(MAX_POW) / Ki - float(MIN_POW);
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temp_iState = constrain(temp_iState + pid_error, 0, max_power_over_i_gain);
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work_p = Kp * pid_error;
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work_i = Ki * temp_iState;
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work_d = work_d + PID_K2 * (Kd * (temp_dState - current) - work_d);
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temp_dState = current;
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return constrain(work_p + work_i + work_d + float(MIN_POW), 0, MAX_POW);
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}
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};
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@ -249,53 +249,53 @@ typedef struct { float p, i, d, c, f; } raw_pidcf_t;
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/// @brief Extrusion scaled PID class
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template<int MIN_POW, int MAX_POW, int LPQ_ARR_SZ>
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struct PIDC_t : public PID_t<MIN_POW, MAX_POW> {
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private:
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using base = PID_t<MIN_POW, MAX_POW>;
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float work_c = 0;
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float prev_e_pos = 0;
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int32_t lpq[LPQ_ARR_SZ] = {};
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int16_t lpq_ptr = 0;
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public:
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float Kc = 0;
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float c() const { return Kc; }
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void set_Kc(float c) { Kc = c; }
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float cTerm() const { return work_c; }
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void set(float p, float i, float d, float c=1, float f=0) {
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base::set_Kp(p);
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base::set_Ki(i);
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base::set_Kd(d);
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set_Kc(c);
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base::set_Kf(f);
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}
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void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
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void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
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void reset() {
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base::reset();
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prev_e_pos = 0;
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lpq_ptr = 0;
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for (uint8_t i = 0; i < LPQ_ARR_SZ; ++i) lpq[i] = 0;
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}
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float get_extrusion_scale_output(const bool is_active, const int32_t e_position, const float e_mm_per_step, const int16_t lpq_len) {
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work_c = 0;
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if (!is_active) return work_c;
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if (e_position > prev_e_pos) {
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lpq[lpq_ptr] = e_position - prev_e_pos;
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prev_e_pos = e_position;
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private:
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using base = PID_t<MIN_POW, MAX_POW>;
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float work_c = 0;
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float prev_e_pos = 0;
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int32_t lpq[LPQ_ARR_SZ] = {};
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int16_t lpq_ptr = 0;
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public:
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float Kc = 0;
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float c() const { return Kc; }
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void set_Kc(float c) { Kc = c; }
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float cTerm() const { return work_c; }
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void set(float p, float i, float d, float c=1, float f=0) {
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base::set_Kp(p);
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base::set_Ki(i);
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base::set_Kd(d);
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set_Kc(c);
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base::set_Kf(f);
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}
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else
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lpq[lpq_ptr] = 0;
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++lpq_ptr;
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if (lpq_ptr >= LPQ_ARR_SZ || lpq_ptr >= lpq_len)
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void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
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void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
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void reset() {
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base::reset();
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prev_e_pos = 0;
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lpq_ptr = 0;
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for (uint8_t i = 0; i < LPQ_ARR_SZ; ++i) lpq[i] = 0;
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}
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work_c = (lpq[lpq_ptr] * e_mm_per_step) * Kc;
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float get_extrusion_scale_output(const bool is_active, const int32_t e_position, const float e_mm_per_step, const int16_t lpq_len) {
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work_c = 0;
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if (!is_active) return work_c;
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return work_c;
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}
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if (e_position > prev_e_pos) {
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lpq[lpq_ptr] = e_position - prev_e_pos;
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prev_e_pos = e_position;
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}
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else
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lpq[lpq_ptr] = 0;
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++lpq_ptr;
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if (lpq_ptr >= LPQ_ARR_SZ || lpq_ptr >= lpq_len)
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lpq_ptr = 0;
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work_c = (lpq[lpq_ptr] * e_mm_per_step) * Kc;
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return work_c;
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}
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};
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/// @brief Fan scaled PID, this class implements the get_fan_scale_output() method
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@ -305,67 +305,67 @@ typedef struct { float p, i, d, c, f; } raw_pidcf_t;
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/// @tparam SCALE_LIN_FACTOR parameter from Configuration_adv.h
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template<int MIN_POW, int MAX_POW, int SCALE_MIN_SPEED, int SCALE_LIN_FACTOR>
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struct PIDF_t : public PID_t<MIN_POW, MAX_POW> {
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private:
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using base = PID_t<MIN_POW, MAX_POW>;
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float work_f = 0;
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public:
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float Kf = 0;
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float f() const { return Kf; }
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void set_Kf(float f) { Kf = f; }
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float fTerm() const { return work_f; }
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void set(float p, float i, float d, float c=1, float f=0) {
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base::set_Kp(p);
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base::set_Ki(i);
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base::set_Kd(d);
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base::set_Kc(c);
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set_Kf(f);
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}
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void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
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void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
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private:
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using base = PID_t<MIN_POW, MAX_POW>;
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float work_f = 0;
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public:
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float Kf = 0;
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float f() const { return Kf; }
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void set_Kf(float f) { Kf = f; }
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float fTerm() const { return work_f; }
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void set(float p, float i, float d, float c=1, float f=0) {
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base::set_Kp(p);
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base::set_Ki(i);
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base::set_Kd(d);
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base::set_Kc(c);
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set_Kf(f);
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}
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void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
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void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
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float get_fan_scale_output(const uint8_t fan_speed) {
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work_f = 0;
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if (fan_speed > SCALE_MIN_SPEED)
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work_f = Kf + (SCALE_LIN_FACTOR) * fan_speed;
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float get_fan_scale_output(const uint8_t fan_speed) {
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work_f = 0;
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if (fan_speed > SCALE_MIN_SPEED)
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work_f = Kf + (SCALE_LIN_FACTOR) * fan_speed;
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return work_f;
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}
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return work_f;
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}
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};
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/// @brief Inherits PID and PIDC - can't use proper diamond inheritance w/o virtual
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template<int MIN_POW, int MAX_POW, int LPQ_ARR_SZ, int SCALE_MIN_SPEED, int SCALE_LIN_FACTOR>
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struct PIDCF_t : public PIDC_t<MIN_POW, MAX_POW, LPQ_ARR_SZ> {
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private:
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using base = PID_t<MIN_POW, MAX_POW>;
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using cPID = PIDC_t<MIN_POW, MAX_POW, LPQ_ARR_SZ>;
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float work_f = 0;
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public:
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float Kf = 0;
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float c() const { return cPID::c(); }
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float f() const { return Kf; }
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void set_Kc(float c) { cPID::set_Kc(c); }
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void set_Kf(float f) { Kf = f; }
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float cTerm() const { return cPID::cTerm(); }
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float fTerm() const { return work_f; }
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void set(float p, float i, float d, float c=1, float f=0) {
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base::set_Kp(p);
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base::set_Ki(i);
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base::set_Kd(d);
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cPID::set_Kc(c);
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set_Kf(f);
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}
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void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
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void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
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private:
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using base = PID_t<MIN_POW, MAX_POW>;
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using cPID = PIDC_t<MIN_POW, MAX_POW, LPQ_ARR_SZ>;
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float work_f = 0;
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public:
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float Kf = 0;
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float c() const { return cPID::c(); }
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float f() const { return Kf; }
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void set_Kc(float c) { cPID::set_Kc(c); }
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void set_Kf(float f) { Kf = f; }
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float cTerm() const { return cPID::cTerm(); }
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float fTerm() const { return work_f; }
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void set(float p, float i, float d, float c=1, float f=0) {
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base::set_Kp(p);
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base::set_Ki(i);
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base::set_Kd(d);
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cPID::set_Kc(c);
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set_Kf(f);
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}
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void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
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void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
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void reset() { cPID::reset(); }
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void reset() { cPID::reset(); }
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float get_fan_scale_output(const uint8_t fan_speed) {
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work_f = fan_speed > (SCALE_MIN_SPEED) ? Kf + (SCALE_LIN_FACTOR) * fan_speed : 0;
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return work_f;
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}
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float get_extrusion_scale_output(const bool is_active, const int32_t e_position, const float e_mm_per_step, const int16_t lpq_len) {
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return cPID::get_extrusion_scale_output(is_active, e_position, e_mm_per_step, lpq_len);
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}
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float get_fan_scale_output(const uint8_t fan_speed) {
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work_f = fan_speed > (SCALE_MIN_SPEED) ? Kf + (SCALE_LIN_FACTOR) * fan_speed : 0;
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return work_f;
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}
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float get_extrusion_scale_output(const bool is_active, const int32_t e_position, const float e_mm_per_step, const int16_t lpq_len) {
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return cPID::get_extrusion_scale_output(is_active, e_position, e_mm_per_step, lpq_len);
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}
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};
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typedef
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@ -415,16 +415,16 @@ typedef struct { float p, i, d, c, f; } raw_pidcf_t;
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// A temperature sensor
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typedef struct TempInfo {
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private:
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raw_adc_t acc;
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raw_adc_t raw;
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public:
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celsius_float_t celsius;
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inline void reset() { acc = 0; }
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inline void sample(const raw_adc_t s) { acc += s; }
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inline void update() { raw = acc; }
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void setraw(const raw_adc_t r) { raw = r; }
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raw_adc_t getraw() const { return raw; }
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private:
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raw_adc_t acc;
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raw_adc_t raw;
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public:
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celsius_float_t celsius;
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inline void reset() { acc = 0; }
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inline void sample(const raw_adc_t s) { acc += s; }
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inline void update() { raw = acc; }
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void setraw(const raw_adc_t r) { raw = r; }
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raw_adc_t getraw() const { return raw; }
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} temp_info_t;
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#if HAS_TEMP_REDUNDANT
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