diff --git a/Marlin/src/module/temperature.h b/Marlin/src/module/temperature.h
index b0cb3d778e..51fa6f1eff 100644
--- a/Marlin/src/module/temperature.h
+++ b/Marlin/src/module/temperature.h
@@ -177,68 +177,68 @@ typedef struct { float p, i, d, c, f; } raw_pidcf_t;
/// PID classes that implement these features are expected to override these methods
/// Since the finally used PID class is typedef-d, there is no need to use virtual functions
template<int MIN_POW, int MAX_POW>
- struct PID_t{
- protected:
- bool pid_reset = true;
- float temp_iState = 0.0f, temp_dState = 0.0f;
- float work_p = 0, work_i = 0, work_d = 0;
+ struct PID_t {
+ protected:
+ bool pid_reset = true;
+ float temp_iState = 0.0f, temp_dState = 0.0f;
+ float work_p = 0, work_i = 0, work_d = 0;
- public:
- float Kp = 0, Ki = 0, Kd = 0;
- float p() const { return Kp; }
- float i() const { return unscalePID_i(Ki); }
- float d() const { return unscalePID_d(Kd); }
- float c() const { return 1; }
- float f() const { return 0; }
- float pTerm() const { return work_p; }
- float iTerm() const { return work_i; }
- float dTerm() const { return work_d; }
- float cTerm() const { return 0; }
- float fTerm() const { return 0; }
- void set_Kp(float p) { Kp = p; }
- void set_Ki(float i) { Ki = scalePID_i(i); }
- void set_Kd(float d) { Kd = scalePID_d(d); }
- void set_Kc(float) {}
- void set_Kf(float) {}
- int low() const { return MIN_POW; }
- int high() const { return MAX_POW; }
- void reset() { pid_reset = true; }
- 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); }
- void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
- void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
+ public:
+ float Kp = 0, Ki = 0, Kd = 0;
+ float p() const { return Kp; }
+ float i() const { return unscalePID_i(Ki); }
+ float d() const { return unscalePID_d(Kd); }
+ float c() const { return 1; }
+ float f() const { return 0; }
+ float pTerm() const { return work_p; }
+ float iTerm() const { return work_i; }
+ float dTerm() const { return work_d; }
+ float cTerm() const { return 0; }
+ float fTerm() const { return 0; }
+ void set_Kp(float p) { Kp = p; }
+ void set_Ki(float i) { Ki = scalePID_i(i); }
+ void set_Kd(float d) { Kd = scalePID_d(d); }
+ void set_Kc(float) {}
+ void set_Kf(float) {}
+ int low() const { return MIN_POW; }
+ int high() const { return MAX_POW; }
+ void reset() { pid_reset = true; }
+ 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); }
+ void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
+ void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
- float get_fan_scale_output(const uint8_t) { return 0; }
+ float get_fan_scale_output(const uint8_t) { return 0; }
- float get_extrusion_scale_output(const bool, const int32_t, const float, const int16_t) { return 0; }
+ float get_extrusion_scale_output(const bool, const int32_t, const float, const int16_t) { return 0; }
- float get_pid_output(const float target, const float current) {
- const float pid_error = target - current;
- if (!target || pid_error < -(PID_FUNCTIONAL_RANGE)) {
- pid_reset = true;
- return 0;
+ float get_pid_output(const float target, const float current) {
+ const float pid_error = target - current;
+ if (!target || pid_error < -(PID_FUNCTIONAL_RANGE)) {
+ pid_reset = true;
+ return 0;
+ }
+ else if (pid_error > PID_FUNCTIONAL_RANGE) {
+ pid_reset = true;
+ return MAX_POW;
+ }
+
+ if (pid_reset) {
+ pid_reset = false;
+ temp_iState = 0.0;
+ work_d = 0.0;
+ }
+
+ const float max_power_over_i_gain = float(MAX_POW) / Ki - float(MIN_POW);
+ temp_iState = constrain(temp_iState + pid_error, 0, max_power_over_i_gain);
+
+ work_p = Kp * pid_error;
+ work_i = Ki * temp_iState;
+ work_d = work_d + PID_K2 * (Kd * (temp_dState - current) - work_d);
+
+ temp_dState = current;
+
+ return constrain(work_p + work_i + work_d + float(MIN_POW), 0, MAX_POW);
}
- else if (pid_error > PID_FUNCTIONAL_RANGE) {
- pid_reset = true;
- return MAX_POW;
- }
-
- if (pid_reset) {
- pid_reset = false;
- temp_iState = 0.0;
- work_d = 0.0;
- }
-
- const float max_power_over_i_gain = float(MAX_POW) / Ki - float(MIN_POW);
- temp_iState = constrain(temp_iState + pid_error, 0, max_power_over_i_gain);
-
- work_p = Kp * pid_error;
- work_i = Ki * temp_iState;
- work_d = work_d + PID_K2 * (Kd * (temp_dState - current) - work_d);
-
- temp_dState = current;
-
- return constrain(work_p + work_i + work_d + float(MIN_POW), 0, MAX_POW);
- }
};
@@ -249,53 +249,53 @@ typedef struct { float p, i, d, c, f; } raw_pidcf_t;
/// @brief Extrusion scaled PID class
template<int MIN_POW, int MAX_POW, int LPQ_ARR_SZ>
struct PIDC_t : public PID_t<MIN_POW, MAX_POW> {
- private:
- using base = PID_t<MIN_POW, MAX_POW>;
- float work_c = 0;
- float prev_e_pos = 0;
- int32_t lpq[LPQ_ARR_SZ] = {};
- int16_t lpq_ptr = 0;
- public:
- float Kc = 0;
- float c() const { return Kc; }
- void set_Kc(float c) { Kc = c; }
- float cTerm() const { return work_c; }
- void set(float p, float i, float d, float c=1, float f=0) {
- base::set_Kp(p);
- base::set_Ki(i);
- base::set_Kd(d);
- set_Kc(c);
- base::set_Kf(f);
- }
- void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
- void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
- void reset() {
- base::reset();
- prev_e_pos = 0;
- lpq_ptr = 0;
- for (uint8_t i = 0; i < LPQ_ARR_SZ; ++i) lpq[i] = 0;
- }
-
- 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) {
- work_c = 0;
- if (!is_active) return work_c;
-
- if (e_position > prev_e_pos) {
- lpq[lpq_ptr] = e_position - prev_e_pos;
- prev_e_pos = e_position;
+ private:
+ using base = PID_t<MIN_POW, MAX_POW>;
+ float work_c = 0;
+ float prev_e_pos = 0;
+ int32_t lpq[LPQ_ARR_SZ] = {};
+ int16_t lpq_ptr = 0;
+ public:
+ float Kc = 0;
+ float c() const { return Kc; }
+ void set_Kc(float c) { Kc = c; }
+ float cTerm() const { return work_c; }
+ void set(float p, float i, float d, float c=1, float f=0) {
+ base::set_Kp(p);
+ base::set_Ki(i);
+ base::set_Kd(d);
+ set_Kc(c);
+ base::set_Kf(f);
}
- else
- lpq[lpq_ptr] = 0;
-
- ++lpq_ptr;
-
- if (lpq_ptr >= LPQ_ARR_SZ || lpq_ptr >= lpq_len)
+ void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
+ void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
+ void reset() {
+ base::reset();
+ prev_e_pos = 0;
lpq_ptr = 0;
+ for (uint8_t i = 0; i < LPQ_ARR_SZ; ++i) lpq[i] = 0;
+ }
- work_c = (lpq[lpq_ptr] * e_mm_per_step) * Kc;
+ 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) {
+ work_c = 0;
+ if (!is_active) return work_c;
- return work_c;
- }
+ if (e_position > prev_e_pos) {
+ lpq[lpq_ptr] = e_position - prev_e_pos;
+ prev_e_pos = e_position;
+ }
+ else
+ lpq[lpq_ptr] = 0;
+
+ ++lpq_ptr;
+
+ if (lpq_ptr >= LPQ_ARR_SZ || lpq_ptr >= lpq_len)
+ lpq_ptr = 0;
+
+ work_c = (lpq[lpq_ptr] * e_mm_per_step) * Kc;
+
+ return work_c;
+ }
};
/// @brief Fan scaled PID, this class implements the get_fan_scale_output() method
@@ -305,67 +305,67 @@ typedef struct { float p, i, d, c, f; } raw_pidcf_t;
/// @tparam SCALE_LIN_FACTOR parameter from Configuration_adv.h
template<int MIN_POW, int MAX_POW, int SCALE_MIN_SPEED, int SCALE_LIN_FACTOR>
struct PIDF_t : public PID_t<MIN_POW, MAX_POW> {
- private:
- using base = PID_t<MIN_POW, MAX_POW>;
- float work_f = 0;
- public:
- float Kf = 0;
- float f() const { return Kf; }
- void set_Kf(float f) { Kf = f; }
- float fTerm() const { return work_f; }
- void set(float p, float i, float d, float c=1, float f=0) {
- base::set_Kp(p);
- base::set_Ki(i);
- base::set_Kd(d);
- base::set_Kc(c);
- set_Kf(f);
- }
- void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
- void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
+ private:
+ using base = PID_t<MIN_POW, MAX_POW>;
+ float work_f = 0;
+ public:
+ float Kf = 0;
+ float f() const { return Kf; }
+ void set_Kf(float f) { Kf = f; }
+ float fTerm() const { return work_f; }
+ void set(float p, float i, float d, float c=1, float f=0) {
+ base::set_Kp(p);
+ base::set_Ki(i);
+ base::set_Kd(d);
+ base::set_Kc(c);
+ set_Kf(f);
+ }
+ void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
+ void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
- float get_fan_scale_output(const uint8_t fan_speed) {
- work_f = 0;
- if (fan_speed > SCALE_MIN_SPEED)
- work_f = Kf + (SCALE_LIN_FACTOR) * fan_speed;
+ float get_fan_scale_output(const uint8_t fan_speed) {
+ work_f = 0;
+ if (fan_speed > SCALE_MIN_SPEED)
+ work_f = Kf + (SCALE_LIN_FACTOR) * fan_speed;
- return work_f;
- }
+ return work_f;
+ }
};
/// @brief Inherits PID and PIDC - can't use proper diamond inheritance w/o virtual
template<int MIN_POW, int MAX_POW, int LPQ_ARR_SZ, int SCALE_MIN_SPEED, int SCALE_LIN_FACTOR>
struct PIDCF_t : public PIDC_t<MIN_POW, MAX_POW, LPQ_ARR_SZ> {
- private:
- using base = PID_t<MIN_POW, MAX_POW>;
- using cPID = PIDC_t<MIN_POW, MAX_POW, LPQ_ARR_SZ>;
- float work_f = 0;
- public:
- float Kf = 0;
- float c() const { return cPID::c(); }
- float f() const { return Kf; }
- void set_Kc(float c) { cPID::set_Kc(c); }
- void set_Kf(float f) { Kf = f; }
- float cTerm() const { return cPID::cTerm(); }
- float fTerm() const { return work_f; }
- void set(float p, float i, float d, float c=1, float f=0) {
- base::set_Kp(p);
- base::set_Ki(i);
- base::set_Kd(d);
- cPID::set_Kc(c);
- set_Kf(f);
- }
- void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
- void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
+ private:
+ using base = PID_t<MIN_POW, MAX_POW>;
+ using cPID = PIDC_t<MIN_POW, MAX_POW, LPQ_ARR_SZ>;
+ float work_f = 0;
+ public:
+ float Kf = 0;
+ float c() const { return cPID::c(); }
+ float f() const { return Kf; }
+ void set_Kc(float c) { cPID::set_Kc(c); }
+ void set_Kf(float f) { Kf = f; }
+ float cTerm() const { return cPID::cTerm(); }
+ float fTerm() const { return work_f; }
+ void set(float p, float i, float d, float c=1, float f=0) {
+ base::set_Kp(p);
+ base::set_Ki(i);
+ base::set_Kd(d);
+ cPID::set_Kc(c);
+ set_Kf(f);
+ }
+ void set(const raw_pid_t &raw) { set(raw.p, raw.i, raw.d); }
+ void set(const raw_pidcf_t &raw) { set(raw.p, raw.i, raw.d, raw.c, raw.f); }
- void reset() { cPID::reset(); }
+ void reset() { cPID::reset(); }
- float get_fan_scale_output(const uint8_t fan_speed) {
- work_f = fan_speed > (SCALE_MIN_SPEED) ? Kf + (SCALE_LIN_FACTOR) * fan_speed : 0;
- return work_f;
- }
- 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) {
- return cPID::get_extrusion_scale_output(is_active, e_position, e_mm_per_step, lpq_len);
- }
+ float get_fan_scale_output(const uint8_t fan_speed) {
+ work_f = fan_speed > (SCALE_MIN_SPEED) ? Kf + (SCALE_LIN_FACTOR) * fan_speed : 0;
+ return work_f;
+ }
+ 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) {
+ return cPID::get_extrusion_scale_output(is_active, e_position, e_mm_per_step, lpq_len);
+ }
};
typedef
@@ -415,16 +415,16 @@ typedef struct { float p, i, d, c, f; } raw_pidcf_t;
// A temperature sensor
typedef struct TempInfo {
-private:
- raw_adc_t acc;
- raw_adc_t raw;
-public:
- celsius_float_t celsius;
- inline void reset() { acc = 0; }
- inline void sample(const raw_adc_t s) { acc += s; }
- inline void update() { raw = acc; }
- void setraw(const raw_adc_t r) { raw = r; }
- raw_adc_t getraw() const { return raw; }
+ private:
+ raw_adc_t acc;
+ raw_adc_t raw;
+ public:
+ celsius_float_t celsius;
+ inline void reset() { acc = 0; }
+ inline void sample(const raw_adc_t s) { acc += s; }
+ inline void update() { raw = acc; }
+ void setraw(const raw_adc_t r) { raw = r; }
+ raw_adc_t getraw() const { return raw; }
} temp_info_t;
#if HAS_TEMP_REDUNDANT