Invariant get_pid_output with HOTENDS < 2
This commit is contained in:
Scott Lahteine
parent
77283f5bf0
commit
b72238f406
@ -514,88 +514,86 @@ void Temperature::min_temp_error(uint8_t e) {
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}
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float Temperature::get_pid_output(int e) {
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#if HOTENDS == 1
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UNUSED(e);
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#define _HOTEND_TEST true
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#define _HOTEND_EXTRUDER active_extruder
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#else
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#define _HOTEND_TEST e == active_extruder
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#define _HOTEND_EXTRUDER e
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#endif
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float pid_output;
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#if ENABLED(PIDTEMP)
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#if DISABLED(PID_OPENLOOP)
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pid_error[e] = target_temperature[e] - current_temperature[e];
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dTerm[e] = K2 * PID_PARAM(Kd, e) * (current_temperature[e] - temp_dState[e]) + K1 * dTerm[e];
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temp_dState[e] = current_temperature[e];
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if (pid_error[e] > PID_FUNCTIONAL_RANGE) {
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pid_error[HOTEND_INDEX] = target_temperature[HOTEND_INDEX] - current_temperature[HOTEND_INDEX];
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dTerm[HOTEND_INDEX] = K2 * PID_PARAM(Kd, HOTEND_INDEX) * (current_temperature[HOTEND_INDEX] - temp_dState[HOTEND_INDEX]) + K1 * dTerm[HOTEND_INDEX];
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temp_dState[HOTEND_INDEX] = current_temperature[HOTEND_INDEX];
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if (pid_error[HOTEND_INDEX] > PID_FUNCTIONAL_RANGE) {
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pid_output = BANG_MAX;
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pid_reset[e] = true;
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pid_reset[HOTEND_INDEX] = true;
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}
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else if (pid_error[e] < -(PID_FUNCTIONAL_RANGE) || target_temperature[e] == 0) {
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else if (pid_error[HOTEND_INDEX] < -(PID_FUNCTIONAL_RANGE) || target_temperature[HOTEND_INDEX] == 0) {
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pid_output = 0;
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pid_reset[e] = true;
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pid_reset[HOTEND_INDEX] = true;
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}
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else {
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if (pid_reset[e]) {
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temp_iState[e] = 0.0;
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pid_reset[e] = false;
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if (pid_reset[HOTEND_INDEX]) {
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temp_iState[HOTEND_INDEX] = 0.0;
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pid_reset[HOTEND_INDEX] = false;
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}
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pTerm[e] = PID_PARAM(Kp, e) * pid_error[e];
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temp_iState[e] += pid_error[e];
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temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
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iTerm[e] = PID_PARAM(Ki, e) * temp_iState[e];
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pTerm[HOTEND_INDEX] = PID_PARAM(Kp, HOTEND_INDEX) * pid_error[HOTEND_INDEX];
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temp_iState[HOTEND_INDEX] += pid_error[HOTEND_INDEX];
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temp_iState[HOTEND_INDEX] = constrain(temp_iState[HOTEND_INDEX], temp_iState_min[HOTEND_INDEX], temp_iState_max[HOTEND_INDEX]);
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iTerm[HOTEND_INDEX] = PID_PARAM(Ki, HOTEND_INDEX) * temp_iState[HOTEND_INDEX];
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pid_output = pTerm[e] + iTerm[e] - dTerm[e];
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#if ENABLED(SINGLENOZZLE)
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#define _NOZZLE_TEST true
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#define _NOZZLE_EXTRUDER active_extruder
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#define _CTERM_INDEX 0
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#else
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#define _NOZZLE_TEST e == active_extruder
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#define _NOZZLE_EXTRUDER e
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#define _CTERM_INDEX e
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#endif
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pid_output = pTerm[HOTEND_INDEX] + iTerm[HOTEND_INDEX] - dTerm[HOTEND_INDEX];
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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cTerm[_CTERM_INDEX] = 0;
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if (_NOZZLE_TEST) {
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cTerm[HOTEND_INDEX] = 0;
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if (_HOTEND_TEST) {
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long e_position = stepper.position(E_AXIS);
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if (e_position > last_position[_NOZZLE_EXTRUDER]) {
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lpq[lpq_ptr++] = e_position - last_position[_NOZZLE_EXTRUDER];
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last_position[_NOZZLE_EXTRUDER] = e_position;
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if (e_position > last_position[_HOTEND_EXTRUDER]) {
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lpq[lpq_ptr++] = e_position - last_position[_HOTEND_EXTRUDER];
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last_position[_HOTEND_EXTRUDER] = e_position;
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}
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else {
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lpq[lpq_ptr++] = 0;
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}
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if (lpq_ptr >= lpq_len) lpq_ptr = 0;
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cTerm[_CTERM_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_mm[E_AXIS]) * PID_PARAM(Kc, e);
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pid_output += cTerm[e];
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cTerm[HOTEND_INDEX] = (lpq[lpq_ptr] / planner.axis_steps_per_mm[E_AXIS]) * PID_PARAM(Kc, HOTEND_INDEX);
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pid_output += cTerm[HOTEND_INDEX];
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}
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#endif //PID_ADD_EXTRUSION_RATE
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if (pid_output > PID_MAX) {
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if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
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if (pid_error[HOTEND_INDEX] > 0) temp_iState[HOTEND_INDEX] -= pid_error[HOTEND_INDEX]; // conditional un-integration
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pid_output = PID_MAX;
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}
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else if (pid_output < 0) {
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if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
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if (pid_error[HOTEND_INDEX] < 0) temp_iState[HOTEND_INDEX] -= pid_error[HOTEND_INDEX]; // conditional un-integration
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pid_output = 0;
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}
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}
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#else
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pid_output = constrain(target_temperature[e], 0, PID_MAX);
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pid_output = constrain(target_temperature[HOTEND_INDEX], 0, PID_MAX);
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#endif //PID_OPENLOOP
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#if ENABLED(PID_DEBUG)
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(MSG_PID_DEBUG, e);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_INPUT, current_temperature[e]);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG, HOTEND_INDEX);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_INPUT, current_temperature[HOTEND_INDEX]);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_OUTPUT, pid_output);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_PTERM, pTerm[e]);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_ITERM, iTerm[e]);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_DTERM, dTerm[e]);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_PTERM, pTerm[HOTEND_INDEX]);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_ITERM, iTerm[HOTEND_INDEX]);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_DTERM, dTerm[HOTEND_INDEX]);
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#if ENABLED(PID_ADD_EXTRUSION_RATE)
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_CTERM, cTerm[e]);
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SERIAL_ECHOPAIR(MSG_PID_DEBUG_CTERM, cTerm[HOTEND_INDEX]);
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#endif
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SERIAL_EOL;
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#endif //PID_DEBUG
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#else /* PID off */
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pid_output = (current_temperature[e] < target_temperature[e]) ? PID_MAX : 0;
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pid_output = (current_temperature[HOTEND_INDEX] < target_temperature[HOTEND_INDEX]) ? PID_MAX : 0;
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#endif
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return pid_output;
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@ -672,7 +670,7 @@ void Temperature::manage_heater() {
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#endif
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// Loop through all hotends
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for (int e = 0; e < HOTENDS; e++) {
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for (uint8_t e = 0; e < HOTENDS; e++) {
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#if ENABLED(THERMAL_PROTECTION_HOTENDS)
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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);
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@ -38,6 +38,16 @@
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#define SOFT_PWM_SCALE 0
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#endif
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#if HOTENDS == 1
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#define HOTEND_ARG 0
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#define HOTEND_INDEX 0
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#define EXTRUDER_ARG 0
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#else
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#define HOTEND_ARG hotend
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#define HOTEND_INDEX e
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#define EXTRUDER_ARG active_extruder
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#endif
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class Temperature {
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public:
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@ -112,7 +122,12 @@ class Temperature {
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#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
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static float extrude_min_temp;
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static bool tooColdToExtrude(uint8_t e) { return degHotend(e) < extrude_min_temp; }
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static bool tooColdToExtrude(uint8_t e) {
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#if HOTENDS == 1
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UNUSED(e);
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#endif
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return degHotend(HOTEND_INDEX) < extrude_min_temp;
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}
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#else
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static bool tooColdToExtrude(uint8_t e) { UNUSED(e); return false; }
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#endif
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@ -230,12 +245,6 @@ class Temperature {
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//inline so that there is no performance decrease.
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//deg=degreeCelsius
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#if HOTENDS == 1
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#define HOTEND_ARG 0
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#else
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#define HOTEND_ARG hotend
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#endif
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static float degHotend(uint8_t hotend) {
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#if HOTENDS == 1
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UNUSED(hotend);
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@ -329,8 +338,8 @@ class Temperature {
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#if ENABLED(AUTOTEMP)
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if (planner.autotemp_enabled) {
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planner.autotemp_enabled = false;
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if (degTargetHotend(active_extruder) > planner.autotemp_min)
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setTargetHotend(0, active_extruder);
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if (degTargetHotend(EXTRUDER_ARG) > planner.autotemp_min)
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setTargetHotend(0, EXTRUDER_ARG);
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}
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#endif
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}
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