style and study

Author: thinkyhead

Marlin/src/module/temperature.h

@@ -191,13 +191,13 @@ typedef struct { float p, i, d, c, f; } raw_pidcf_t;
       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); max_power_over_i_gain = float(MAX_POW) / Ki - float(MIN_POW);}
+      void set_Ki(float i) { Ki = scalePID_i(i); max_power_over_i_gain = float(MAX_POW) / Ki - float(MIN_POW); }
       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; pid_below = false;}
+      void reset() { pid_reset = true; pid_below = false; }
       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); }
@@ -220,22 +220,17 @@ typedef struct { float p, i, d, c, f; } raw_pidcf_t;
         }
         else {
           if (pid_reset) {
-            pid_reset = false;
+            temp_iState = pid_below ? max_power_over_i_gain : 0;
             work_d = 0;
-            if (pid_below) {
-              temp_iState = max_power_over_i_gain;
-              pid_below = false;
-            }
-            else {
-              temp_iState = 0;
-            }
+            pid_reset = false;
+            pid_below = false;
           }
 
-          temp_iState = constrain(temp_iState + pid_error, -max_power_over_i_gain/4.0f, max_power_over_i_gain);
+          temp_iState = constrain(temp_iState + pid_error, -0.25f * max_power_over_i_gain, 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);
+          work_d += (Kd * (temp_dState - current) - work_d) * PID_K2;
 
           output_pow = constrain(work_p + work_i + work_d + float(MIN_POW), 0, MAX_POW);
         }