josh
/
Teacup_Firmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

time to save again, eliminated floats and dropped over 2k of codesize

This commit is contained in:
Michael Moon 2010-01-18 09:04:00 +11:00
parent db94bf21e8
commit 780ec03947
3 changed files with 62 additions and 36 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

72
mendel/gcode.c
View File

@ -8,6 +8,8 @@
extern uint8_t option_bitfield; extern uint8_t option_bitfield;
decfloat read_digit;
#define PI 3.1415926535 #define PI 3.1415926535
/* /*
@ -23,21 +25,30 @@ uint8_t indexof(uint8_t c, char *string) {
return 255; return 255;
} }
float manexp_to_float(uint32_t mantissa, uint8_t exp) { int32_t decfloat_to_int(decfloat *df, int32_t multiplicand, int32_t denominator) {
float v = mantissa; int32_t r = df->mantissa;
uint8_t e = df->exponent - 1;
if (exp == 2) if (multiplicand != 1)
v /= 10; r *= multiplicand;
else if (exp == 3) if (denominator != 1)
v /= 100; r /= denominator;
else if (exp == 4)
v /= 1000;
else if (exp == 5)
v /= 10000;
else if (exp == 6)
v /= 100000;
return v; while (e >= 5) {
r /= 100000;
e -= 5;
}
if (e == 1)
r /= 10;
else if (e == 2)
r /= 100;
else if (e == 3)
r /= 1000;
else if (e == 4)
r /= 10000;
return r;
} }
/* /*
@ -46,8 +57,8 @@ float manexp_to_float(uint32_t mantissa, uint8_t exp) {
void scan_char(uint8_t c) { void scan_char(uint8_t c) {
static uint8_t last_field = 0; static uint8_t last_field = 0;
static uint32_t mantissa = 0; // static uint32_t mantissa = 0;
static uint8_t exp = 0; // static uint8_t exp = 0;
static GCODE_COMMAND next_target = { 0, 0, 0, 0, { 0, 0, 0, 0, 0 } }; static GCODE_COMMAND next_target = { 0, 0, 0, 0, { 0, 0, 0, 0, 0 } };
// uppercase // uppercase
@ -59,30 +70,31 @@ void scan_char(uint8_t c) {
if (last_field) { if (last_field) {
switch (last_field) { switch (last_field) {
case 'G': case 'G':
next_target.G = mantissa; next_target.G = read_digit.mantissa;
break; break;
case 'M': case 'M':
next_target.M = mantissa; next_target.M = read_digit.mantissa;
break; break;
case 'X': case 'X':
next_target.target.X = manexp_to_float(mantissa, exp) * STEPS_PER_MM_X; next_target.target.X = decfloat_to_int(&read_digit, STEPS_PER_MM_X, 1);
break; break;
case 'Y': case 'Y':
next_target.target.Y = manexp_to_float(mantissa, exp) * STEPS_PER_MM_Y; next_target.target.Y = decfloat_to_int(&read_digit, STEPS_PER_MM_Y, 1);
break; break;
case 'Z': case 'Z':
next_target.target.Z = manexp_to_float(mantissa, exp) * STEPS_PER_MM_Z; next_target.target.Z = decfloat_to_int(&read_digit, STEPS_PER_MM_Z, 1);
break; break;
case 'E': case 'E':
next_target.target.E = manexp_to_float(mantissa, exp) * STEPS_PER_MM_E; next_target.target.E = decfloat_to_int(&read_digit, STEPS_PER_MM_E, 1);
break; break;
case 'F': case 'F':
// just save an integer value for F, we need move distance and n_steps to convert it to a useful value, so wait until we have those to convert it // just save an integer value for F, we need move distance and n_steps to convert it to a useful value, so wait until we have those to convert it
next_target.target.F = mantissa; next_target.target.F = read_digit.mantissa;
break; break;
} }
mantissa = 0; read_digit.sign = 0;
exp = 0; read_digit.mantissa = 0;
read_digit.exponent = 0;
} }
last_field = c; last_field = c;
switch (c) { switch (c) {
@ -126,13 +138,13 @@ void scan_char(uint8_t c) {
// process digits // process digits
else if (c == '-') else if (c == '-')
exp |= 0x80; read_digit.sign = 1;
else if ((c == '.') && ((exp & 0x7F) == 0)) else if ((c == '.') && (read_digit.exponent == 0))
exp |= 1; read_digit.exponent = 1;
else if (c >= '0' && c <= '9') { else if (c >= '0' && c <= '9') {
mantissa = ((mantissa << 3) + (mantissa << 1)) + (c - '0'); read_digit.mantissa = (read_digit.mantissa << 3) + (read_digit.mantissa << 1) + (c - '0');
if (exp & 0x7F) if (read_digit.exponent)
exp++; read_digit.exponent++;
} }
} }

8
mendel/gcode.h
View File

@ -3,6 +3,14 @@
#include "target.h" #include "target.h"
#include <stdint.h>
typedef struct {
uint16_t sign :1;
uint16_t mantissa :11;
uint16_t exponent :4;
} decfloat;
typedef struct { typedef struct {
uint16_t seen; uint16_t seen;
#define SEEN_G 1 #define SEEN_G 1

18
mendel/temp.c
View File

@ -17,11 +17,11 @@ int16_t heater_p = 0;
int16_t heater_i = 0; int16_t heater_i = 0;
int16_t heater_d = 0; int16_t heater_d = 0;
int16_t p_factor = 680; int32_t p_factor = 680;
int16_t i_factor = 18; int32_t i_factor = 18;
int16_t d_factor = 200; int32_t d_factor = 200;
#define PID_SCALE 1024 #define PID_SCALE 1024L
uint16_t temp_read() { uint16_t temp_read() {
uint16_t temp; uint16_t temp;
@ -69,12 +69,18 @@ void temp_tick() {
// note: D follows temp rather than error so there's no large derivative when the target temperature changes // note: D follows temp rather than error so there's no large derivative when the target temperature changes
heater_d = (current_temp - last_temp); heater_d = (current_temp - last_temp);
int16_t pid_output = ((heater_p * p_factor) + (heater_i * i_factor) + (heater_d * d_factor)) / PID_SCALE; uint8_t pid_output = (
(
(((int32_t) heater_p) * p_factor) +
(((int32_t) heater_i) * i_factor) +
(((int32_t) heater_d) * d_factor)
) / PID_SCALE
);
#ifdef HEATER_PIN_PWMABLE #ifdef HEATER_PIN_PWMABLE
HEATER_PIN_PWMABLE = pid_output HEATER_PIN_PWMABLE = pid_output
#else #else
if (pid_output > 0) { if (pid_output >= 128) {
enable_heater(); enable_heater();
} }
else { else {