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🐛 Fix / refactor shared PID (#24673)

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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
Giuliano Zaro
2022-09-04 02:51:53 +02:00
committed by GitHub
parent f6d109287f
commit 094701cc71
15 changed files with 323 additions and 266 deletions
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47
Marlin/src/module/temperature.cpp
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@@ -597,7 +597,7 @@ volatile bool Temperature::raw_temps_ready = false;
millis_t next_temp_ms = millis(), t1 = next_temp_ms, t2 = next_temp_ms;
long t_high = 0, t_low = 0;
PID_t tune_pid = { 0, 0, 0 };
raw_pid_t tune_pid = { 0, 0, 0 };
celsius_float_t maxT = 0, minT = 10000;
const bool isbed = (heater_id == H_BED),
@@ -716,16 +716,16 @@ volatile bool Temperature::raw_temps_ready = false;
pf = (ischamber || isbed) ? 0.2f : 0.6f,
df = (ischamber || isbed) ? 1.0f / 3.0f : 1.0f / 8.0f;
tune_pid.Kp = Ku * pf;
tune_pid.Ki = tune_pid.Kp * 2.0f / Tu;
tune_pid.Kd = tune_pid.Kp * Tu * df;
tune_pid.p = Ku * pf;
tune_pid.i = tune_pid.p * 2.0f / Tu;
tune_pid.d = tune_pid.p * Tu * df;
SERIAL_ECHOLNPGM(STR_KU, Ku, STR_TU, Tu);
if (ischamber || isbed)
SERIAL_ECHOLNPGM(" No overshoot");
else
SERIAL_ECHOLNPGM(STR_CLASSIC_PID);
SERIAL_ECHOLNPGM(STR_KP, tune_pid.Kp, STR_KI, tune_pid.Ki, STR_KD, tune_pid.Kd);
SERIAL_ECHOLNPGM(STR_KP, tune_pid.p, STR_KI, tune_pid.i, STR_KD, tune_pid.d);
}
}
SHV((bias + d) >> 1);
@@ -795,39 +795,36 @@ volatile bool Temperature::raw_temps_ready = false;
#if EITHER(PIDTEMPBED, PIDTEMPCHAMBER)
FSTR_P const estring = GHV(F("chamber"), F("bed"), FPSTR(NUL_STR));
say_default_(); SERIAL_ECHOF(estring); SERIAL_ECHOLNPGM("Kp ", tune_pid.Kp);
say_default_(); SERIAL_ECHOF(estring); SERIAL_ECHOLNPGM("Ki ", tune_pid.Ki);
say_default_(); SERIAL_ECHOF(estring); SERIAL_ECHOLNPGM("Kd ", tune_pid.Kd);
say_default_(); SERIAL_ECHOF(estring); SERIAL_ECHOLNPGM("Kp ", tune_pid.p);
say_default_(); SERIAL_ECHOF(estring); SERIAL_ECHOLNPGM("Ki ", tune_pid.i);
say_default_(); SERIAL_ECHOF(estring); SERIAL_ECHOLNPGM("Kd ", tune_pid.d);
#else
say_default_(); SERIAL_ECHOLNPGM("Kp ", tune_pid.Kp);
say_default_(); SERIAL_ECHOLNPGM("Ki ", tune_pid.Ki);
say_default_(); SERIAL_ECHOLNPGM("Kd ", tune_pid.Kd);
say_default_(); SERIAL_ECHOLNPGM("Kp ", tune_pid.p);
say_default_(); SERIAL_ECHOLNPGM("Ki ", tune_pid.i);
say_default_(); SERIAL_ECHOLNPGM("Kd ", tune_pid.d);
#endif
auto _set_hotend_pid = [](const uint8_t e, const PID_t &in_pid) {
auto _set_hotend_pid = [](const uint8_t tool, const raw_pid_t &in_pid) {
#if ENABLED(PIDTEMP)
PID_PARAM(Kp, e) = in_pid.Kp;
PID_PARAM(Ki, e) = scalePID_i(in_pid.Ki);
PID_PARAM(Kd, e) = scalePID_d(in_pid.Kd);
#if ENABLED(PID_PARAMS_PER_HOTEND)
thermalManager.temp_hotend[tool].pid.set(in_pid);
#else
HOTEND_LOOP() thermalManager.temp_hotend[e].pid.set(in_pid);
#endif
updatePID();
#else
UNUSED(e); UNUSED(in_pid);
#endif
UNUSED(tool); UNUSED(in_pid);
};
#if ENABLED(PIDTEMPBED)
auto _set_bed_pid = [](const PID_t &in_pid) {
temp_bed.pid.Kp = in_pid.Kp;
temp_bed.pid.Ki = scalePID_i(in_pid.Ki);
temp_bed.pid.Kd = scalePID_d(in_pid.Kd);
auto _set_bed_pid = [](const raw_pid_t &in_pid) {
temp_bed.pid.set(in_pid);
};
#endif
#if ENABLED(PIDTEMPCHAMBER)
auto _set_chamber_pid = [](const PID_t &in_pid) {
temp_chamber.pid.Kp = in_pid.Kp;
temp_chamber.pid.Ki = scalePID_i(in_pid.Ki);
temp_chamber.pid.Kd = scalePID_d(in_pid.Kd);
auto _set_chamber_pid = [](const raw_pid_t &in_pid) {
temp_chamber.pid.set(in_pid);
};
#endif