time to save again, eliminated floats and dropped over 2k of codesize
This commit is contained in:
Michael Moon
parent
db94bf21e8
commit
780ec03947
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@ -8,6 +8,8 @@
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extern uint8_t option_bitfield;
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decfloat read_digit;
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#define PI 3.1415926535
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/*
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@ -23,21 +25,30 @@ uint8_t indexof(uint8_t c, char *string) {
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return 255;
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}
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float manexp_to_float(uint32_t mantissa, uint8_t exp) {
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float v = mantissa;
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int32_t decfloat_to_int(decfloat *df, int32_t multiplicand, int32_t denominator) {
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int32_t r = df->mantissa;
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uint8_t e = df->exponent - 1;
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if (exp == 2)
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v /= 10;
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else if (exp == 3)
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v /= 100;
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else if (exp == 4)
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v /= 1000;
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else if (exp == 5)
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v /= 10000;
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else if (exp == 6)
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v /= 100000;
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if (multiplicand != 1)
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r *= multiplicand;
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if (denominator != 1)
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r /= denominator;
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return v;
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while (e >= 5) {
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r /= 100000;
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e -= 5;
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}
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if (e == 1)
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r /= 10;
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else if (e == 2)
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r /= 100;
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else if (e == 3)
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r /= 1000;
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else if (e == 4)
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r /= 10000;
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return r;
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}
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/*
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@ -46,8 +57,8 @@ float manexp_to_float(uint32_t mantissa, uint8_t exp) {
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void scan_char(uint8_t c) {
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static uint8_t last_field = 0;
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static uint32_t mantissa = 0;
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static uint8_t exp = 0;
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// static uint32_t mantissa = 0;
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// static uint8_t exp = 0;
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static GCODE_COMMAND next_target = { 0, 0, 0, 0, { 0, 0, 0, 0, 0 } };
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// uppercase
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@ -59,30 +70,31 @@ void scan_char(uint8_t c) {
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if (last_field) {
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switch (last_field) {
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case 'G':
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next_target.G = mantissa;
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next_target.G = read_digit.mantissa;
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break;
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case 'M':
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next_target.M = mantissa;
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next_target.M = read_digit.mantissa;
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break;
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case 'X':
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next_target.target.X = manexp_to_float(mantissa, exp) * STEPS_PER_MM_X;
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next_target.target.X = decfloat_to_int(&read_digit, STEPS_PER_MM_X, 1);
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break;
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case 'Y':
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next_target.target.Y = manexp_to_float(mantissa, exp) * STEPS_PER_MM_Y;
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next_target.target.Y = decfloat_to_int(&read_digit, STEPS_PER_MM_Y, 1);
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break;
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case 'Z':
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next_target.target.Z = manexp_to_float(mantissa, exp) * STEPS_PER_MM_Z;
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next_target.target.Z = decfloat_to_int(&read_digit, STEPS_PER_MM_Z, 1);
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break;
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case 'E':
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next_target.target.E = manexp_to_float(mantissa, exp) * STEPS_PER_MM_E;
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next_target.target.E = decfloat_to_int(&read_digit, STEPS_PER_MM_E, 1);
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break;
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case 'F':
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// 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
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next_target.target.F = mantissa;
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next_target.target.F = read_digit.mantissa;
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break;
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}
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mantissa = 0;
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exp = 0;
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read_digit.sign = 0;
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read_digit.mantissa = 0;
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read_digit.exponent = 0;
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}
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last_field = c;
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switch (c) {
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@ -126,13 +138,13 @@ void scan_char(uint8_t c) {
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// process digits
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else if (c == '-')
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exp |= 0x80;
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else if ((c == '.') && ((exp & 0x7F) == 0))
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exp |= 1;
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read_digit.sign = 1;
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else if ((c == '.') && (read_digit.exponent == 0))
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read_digit.exponent = 1;
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else if (c >= '0' && c <= '9') {
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mantissa = ((mantissa << 3) + (mantissa << 1)) + (c - '0');
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if (exp & 0x7F)
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exp++;
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read_digit.mantissa = (read_digit.mantissa << 3) + (read_digit.mantissa << 1) + (c - '0');
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if (read_digit.exponent)
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read_digit.exponent++;
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}
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}
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@ -3,6 +3,14 @@
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#include "target.h"
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#include <stdint.h>
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typedef struct {
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uint16_t sign :1;
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uint16_t mantissa :11;
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uint16_t exponent :4;
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} decfloat;
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typedef struct {
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uint16_t seen;
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#define SEEN_G 1
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@ -17,11 +17,11 @@ int16_t heater_p = 0;
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int16_t heater_i = 0;
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int16_t heater_d = 0;
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int16_t p_factor = 680;
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int16_t i_factor = 18;
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int16_t d_factor = 200;
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int32_t p_factor = 680;
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int32_t i_factor = 18;
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int32_t d_factor = 200;
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#define PID_SCALE 1024
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#define PID_SCALE 1024L
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uint16_t temp_read() {
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uint16_t temp;
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@ -69,12 +69,18 @@ void temp_tick() {
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// note: D follows temp rather than error so there's no large derivative when the target temperature changes
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heater_d = (current_temp - last_temp);
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int16_t pid_output = ((heater_p * p_factor) + (heater_i * i_factor) + (heater_d * d_factor)) / PID_SCALE;
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uint8_t pid_output = (
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(
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(((int32_t) heater_p) * p_factor) +
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(((int32_t) heater_i) * i_factor) +
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(((int32_t) heater_d) * d_factor)
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) / PID_SCALE
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);
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#ifdef HEATER_PIN_PWMABLE
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HEATER_PIN_PWMABLE = pid_output
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#else
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if (pid_output > 0) {
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if (pid_output >= 128) {
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enable_heater();
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}
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else {
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