3DPrinting/Prusa-Firmware
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Isolate current/target temperature in pid_heater/bed functions

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This commit is contained in:
Yuri D'Elia 2022-05-24 12:57:35 +02:00
parent 0933f01a7f
commit 65cf8e541a
1 changed files with 24 additions and 23 deletions
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47
Firmware/temperature.cpp
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@ -417,6 +417,7 @@ void __attribute__((noinline)) PID_autotune(float temp, int extruder, int ncycle
void updatePID() void updatePID()
{ {
// TODO: iState_sum_max and PID values should be synchronized for temp_mgr_isr
#ifdef PIDTEMP #ifdef PIDTEMP
for(uint_least8_t e = 0; e < EXTRUDERS; e++) { for(uint_least8_t e = 0; e < EXTRUDERS; e++) {
iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki; iState_sum_max[e] = PID_INTEGRAL_DRIVE_MAX / cs.Ki;
@ -1876,24 +1877,24 @@ void temp_mgr_init()
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
} }
static void pid_heater(uint8_t e) static void pid_heater(uint8_t e, const float current, const int target)
{ {
float pid_input; float pid_input;
float pid_output; float pid_output;
#ifdef TEMP_RUNAWAY_EXTRUDER_HYSTERESIS #ifdef TEMP_RUNAWAY_EXTRUDER_HYSTERESIS
temp_runaway_check(e+1, target_temperature[e], current_temperature[e], (int)soft_pwm[e], false); temp_runaway_check(e+1, target, current, (int)soft_pwm[e], false);
#endif #endif
#ifdef PIDTEMP #ifdef PIDTEMP
pid_input = current_temperature[e]; pid_input = current;
#ifndef PID_OPENLOOP #ifndef PID_OPENLOOP
if(target_temperature[e] == 0) { if(target == 0) {
pid_output = 0; pid_output = 0;
pid_reset[e] = true; pid_reset[e] = true;
} else { } else {
pid_error[e] = target_temperature[e] - pid_input; pid_error[e] = target - pid_input;
if(pid_reset[e]) { if(pid_reset[e]) {
iState_sum[e] = 0.0; iState_sum[e] = 0.0;
dTerm[e] = 0.0; // 'dState_last[e]' initial setting is not necessary (see end of if-statement) dTerm[e] = 0.0; // 'dState_last[e]' initial setting is not necessary (see end of if-statement)
@ -1926,7 +1927,7 @@ static void pid_heater(uint8_t e)
} }
dState_last[e] = pid_input; dState_last[e] = pid_input;
#else //PID_OPENLOOP #else //PID_OPENLOOP
pid_output = constrain(target_temperature[e], 0, PID_MAX); pid_output = constrain(target[e], 0, PID_MAX);
#endif //PID_OPENLOOP #endif //PID_OPENLOOP
#ifdef PID_DEBUG #ifdef PID_DEBUG
@ -1947,25 +1948,25 @@ static void pid_heater(uint8_t e)
#else /* PID off */ #else /* PID off */
pid_output = 0; pid_output = 0;
if(current_temperature[e] < target_temperature[e]) { if(current[e] < target[e]) {
pid_output = PID_MAX; pid_output = PID_MAX;
} }
#endif #endif
// Check if temperature is within the correct range // Check if temperature is within the correct range
if((current_temperature[e] < maxttemp[e]) && (target_temperature[e] != 0)) if((current < maxttemp[e]) && (target != 0))
soft_pwm[e] = (int)pid_output >> 1; soft_pwm[e] = (int)pid_output >> 1;
else else
soft_pwm[e] = 0; soft_pwm[e] = 0;
} }
static void pid_bed() static void pid_bed(const float current, const int target)
{ {
float pid_input; float pid_input;
float pid_output; float pid_output;
#ifdef TEMP_RUNAWAY_BED_HYSTERESIS #ifdef TEMP_RUNAWAY_BED_HYSTERESIS
temp_runaway_check(0, target_temperature_bed, current_temperature_bed, (int)soft_pwm_bed, true); temp_runaway_check(0, target, current, (int)soft_pwm_bed, true);
#endif #endif
#ifndef PIDTEMPBED #ifndef PIDTEMPBED
@ -1977,10 +1978,10 @@ static void pid_bed()
#if TEMP_SENSOR_BED != 0 #if TEMP_SENSOR_BED != 0
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
pid_input = current_temperature_bed; pid_input = current;
#ifndef PID_OPENLOOP #ifndef PID_OPENLOOP
pid_error_bed = target_temperature_bed - pid_input; pid_error_bed = target - pid_input;
pTerm_bed = cs.bedKp * pid_error_bed; pTerm_bed = cs.bedKp * pid_error_bed;
temp_iState_bed += pid_error_bed; temp_iState_bed += pid_error_bed;
temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed); temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
@ -2001,10 +2002,10 @@ static void pid_bed()
} }
#else #else
pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER); pid_output = constrain(target, 0, MAX_BED_POWER);
#endif //PID_OPENLOOP #endif //PID_OPENLOOP
if(current_temperature_bed < BED_MAXTEMP) if(current < BED_MAXTEMP)
{ {
soft_pwm_bed = (int)pid_output >> 1; soft_pwm_bed = (int)pid_output >> 1;
timer02_set_pwm0(soft_pwm_bed << 1); timer02_set_pwm0(soft_pwm_bed << 1);
@ -2017,9 +2018,9 @@ static void pid_bed()
#elif !defined(BED_LIMIT_SWITCHING) #elif !defined(BED_LIMIT_SWITCHING)
// Check if temperature is within the correct range // Check if temperature is within the correct range
if(current_temperature_bed < BED_MAXTEMP) if(current < BED_MAXTEMP)
{ {
if(current_temperature_bed >= target_temperature_bed) if(current >= target)
{ {
soft_pwm_bed = 0; soft_pwm_bed = 0;
timer02_set_pwm0(soft_pwm_bed << 1); timer02_set_pwm0(soft_pwm_bed << 1);
@ -2038,14 +2039,14 @@ static void pid_bed()
} }
#else //#ifdef BED_LIMIT_SWITCHING #else //#ifdef BED_LIMIT_SWITCHING
// Check if temperature is within the correct band // Check if temperature is within the correct band
if(current_temperature_bed < BED_MAXTEMP) if(current < BED_MAXTEMP)
{ {
if(current_temperature_bed > target_temperature_bed + BED_HYSTERESIS) if(current > target + BED_HYSTERESIS)
{ {
soft_pwm_bed = 0; soft_pwm_bed = 0;
timer02_set_pwm0(soft_pwm_bed << 1); timer02_set_pwm0(soft_pwm_bed << 1);
} }
else if(current_temperature_bed <= target_temperature_bed - BED_HYSTERESIS) else if(current <= target - BED_HYSTERESIS)
{ {
soft_pwm_bed = MAX_BED_POWER>>1; soft_pwm_bed = MAX_BED_POWER>>1;
timer02_set_pwm0(soft_pwm_bed << 1); timer02_set_pwm0(soft_pwm_bed << 1);
@ -2059,7 +2060,7 @@ static void pid_bed()
} }
#endif //BED_LIMIT_SWITCHING #endif //BED_LIMIT_SWITCHING
if(target_temperature_bed==0) if(target==0)
{ {
soft_pwm_bed = 0; soft_pwm_bed = 0;
timer02_set_pwm0(soft_pwm_bed << 1); timer02_set_pwm0(soft_pwm_bed << 1);
@ -2073,13 +2074,13 @@ static void temp_mgr_isr()
setTemperaturesFromRawValues(); setTemperaturesFromRawValues();
// TODO: this is now running inside an isr and cannot directly manipulate the lcd, // TODO: this is now running inside an isr and cannot directly manipulate the lcd,
// this needs to disable temperatures and flag the error to be shown in manage_heaters! // this needs to disable temperatures and flag the error to be shown in manage_heater!
check_max_temp(); check_max_temp();
check_min_temp(); check_min_temp();
for(uint8_t e = 0; e < EXTRUDERS; e++) for(uint8_t e = 0; e < EXTRUDERS; e++)
pid_heater(e); pid_heater(e, current_temperature[e], target_temperature[e]);
pid_bed(); pid_bed(current_temperature_bed, target_temperature_bed);
} }
ISR(TIMER5_COMPA_vect) ISR(TIMER5_COMPA_vect)