setting up new branch
This commit is contained in:
Michael Moon
parent
bce08901d8
commit
994fa1b4c7
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@ -0,0 +1,86 @@
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#!/usr/bin/perl
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my ($ss, $es, $f, $dn, $dt, $a, $n0, $nn, $np, $c0, $cn, $cp, $n, $c, $t, $tp, $v, $vp);
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my ($c0_exact, $cn_exact, $v_exact, $t_exact, $vp_exact, $tp_exact);
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my ($n_pre);
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$ss = 300;
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$es = 400;
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$f = 16000000;
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$dn = 50000;
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$ssq = $ss * $ss;
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$esq = $es * $es;
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$dsq = ($esq - $ssq);
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# $a = $dsq / ($dn << 1);
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#$n0 = int(($ss * $ss) / (2 * $a));
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#$nn = int(($es * $es) / (2 * $a));
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# $n0 = int($ssq * $dn / $dsq);
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# $nn = int($esq * $dn / $dsq);
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$c0 = int($f / $ss);
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# $c0_exact = $f * sqrt(2 / abs($a));
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# $dt = ($es - $ss) / $a;
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# printf "A:\t%d-%d/%g: %d\n", $es, $ss, $dt, $a;
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# printf "N:\t%d-%d %d:%d\n", $n0, $nn, $nn - $n0, $dn, $a;
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# printf "C:\t%d\t%g\n", $c0, $c0_exact * (sqrt(abs($n0) + 1) - sqrt(abs($n0)));
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# $n = $np = $n0;
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$c = $cp = int($f / $ss);
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$end_c = int($f / $es);
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$t = $tp = $t_exact = 0;
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# $v = $vp = $ss;
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$n_pre = int(4 * $ssq * $dn / $dsq) | 1;
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# $cn_exact = $c0_exact * (sqrt(abs($n0) + 1) - sqrt(abs($n0)));
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# $v_exact = $vp_exact = $f / $cn_exact;
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printf "\tt:i\t\t\tdt\tn\tV\t\ta\n";
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for (0..$dn) {
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# approximation
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# $c = int($c * 1000) / 1000;
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printf "Approx:\t%8.6f:%i\t%10d\t%d\t%12.3f\t%12.3f\n", $t, $_, $c, ($n_pre / 4) - 1, $f / $c, ($t > 0)?($v - $ss) / ($t):0;
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# $tp = $t;
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# $cp = $c;
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# $np = $n;
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# $vp = $v;
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$t += $c / $f;
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if (
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(($n_pre > 0) && ($c > $end_c)) ||
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(($n_pre < 0) && ($c < $end_c))
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) {
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$c = int($c - ((2 * $c) / $n_pre));
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$n_pre += 4;
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}
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# $v = $f / $c;
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# exact
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# printf "Exact:\t%8.6f:%i\t%10.3f\t%i\t%12.3f\t%12.3f\n\n", $t_exact, $_, $cn_exact, $n, $v_exact, ($t_exact > 0)?($v_exact - $ss) / ($t_exact):0
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# if ($_ % 10 == 0);
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#
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# $vp_exact = $v_exact;
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# $tp_exact = $t_exact;
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#
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# $t_exact += $cn_exact / $f;
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# $cn_exact = $c0_exact * (sqrt(abs($n) + 1) - sqrt(abs($n)));
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# $v_exact = $f / $cn_exact;
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# loop increment
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# if ($nn > $n0) {
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# $n++;
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$n_pre += 4;
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# }
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# else {
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# $n--;
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# $n_pre -= 4;
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# }
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}
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printf "dt:%8.3f\tv:%8.3f\n", int(($f / $es) + 0.5), $f / int(($f / $es) + 0.5);
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@ -126,7 +126,7 @@ void dda_create(DDA *dda, TARGET *target) {
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// initialise DDA to a known state
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dda->live = 0;
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dda->total_steps = 0;
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// dda->total_steps = 0;
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dda->waitfor_temp = 0;
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if (debug_flags & DEBUG_DDA)
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@ -162,7 +162,7 @@ void dda_create(DDA *dda, TARGET *target) {
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serial_writestr_P(PSTR("] ["));
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}
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if (dda->x_delta > dda->total_steps)
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// if (dda->x_delta > dda->total_steps)
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dda->total_steps = dda->x_delta;
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if (dda->y_delta > dda->total_steps)
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dda->total_steps = dda->y_delta;
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@ -449,7 +449,7 @@ void dda_step(DDA *dda) {
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// else we are already at target speed
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}
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if (step_option & DID_STEP) {
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if (step_option) {
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// we stepped, reset timeout
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steptimeout = 0;
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@ -1,10 +1,12 @@
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#include "dda_queue.h"
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#include <string.h>
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#include <avr/interrupt.h>
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#include "timer.h"
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#include "serial.h"
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#include "sermsg.h"
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#include "temp.h"
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uint8_t mb_head = 0;
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uint8_t mb_tail = 0;
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@ -18,6 +20,41 @@ uint8_t queue_empty() {
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return ((mb_tail == mb_head) && (movebuffer[mb_tail].live == 0))?255:0;
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}
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void queue_step() {
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disableTimerInterrupt();
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// do our next step
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// NOTE: dda_step makes this interrupt interruptible after steps have been sent but before new speed is calculated.
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if (movebuffer[mb_tail].live) {
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if (movebuffer[mb_tail].waitfor_temp) {
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if (temp_achieved()) {
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movebuffer[mb_tail].live = movebuffer[mb_tail].waitfor_temp = 0;
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serial_writestr_P(PSTR("Temp achieved\n"));
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}
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#if STEP_INTERRUPT_INTERRUPTIBLE
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sei();
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#endif
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}
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else {
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dda_step(&(movebuffer[mb_tail]));
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}
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}
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// serial_writechar('!');
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// fall directly into dda_start instead of waiting for another step
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if (movebuffer[mb_tail].live == 0)
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next_move();
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#if STEP_INTERRUPT_INTERRUPTIBLE
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cli();
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#endif
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// check queue, if empty we don't need to interrupt again until re-enabled in dda_create
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if (queue_empty() == 0)
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enableTimerInterrupt();
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}
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void enqueue(TARGET *t) {
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// don't call this function when the queue is full, but just in case, wait for a move to complete and free up the space for the passed target
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while (queue_full())
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@ -47,10 +84,11 @@ void enqueue_temp_wait() {
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while (queue_full())
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delay(WAITING_DELAY);
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uint8_t h = mb_head;
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h++;
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if (h == MOVEBUFFER_SIZE)
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h = 0;
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uint8_t h = mb_head + 1;
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// h++;
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// if (h == MOVEBUFFER_SIZE)
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// h = 0;
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h &= (MOVEBUFFER_SIZE - 1);
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// wait for temp flag
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movebuffer[h].waitfor_temp = 1;
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@ -76,16 +114,13 @@ void enqueue_temp_wait() {
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}
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void next_move() {
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if (queue_empty()) {
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// memcpy(&startpoint, ¤t_position, sizeof(TARGET));
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startpoint.E = current_position.E = 0;
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}
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else {
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if (queue_empty() == 0) {
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// next item
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uint8_t t = mb_tail;
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t++;
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if (t == MOVEBUFFER_SIZE)
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t = 0;
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uint8_t t = mb_tail + 1;
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// t++;
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// if (t == MOVEBUFFER_SIZE)
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// t = 0;
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t &= (MOVEBUFFER_SIZE - 1);
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dda_start(&movebuffer[t]);
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mb_tail = t;
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}
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@ -20,6 +20,9 @@ extern DDA movebuffer[MOVEBUFFER_SIZE];
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uint8_t queue_full(void);
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uint8_t queue_empty(void);
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// take one step
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void queue_step(void);
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// add a new target to the queue
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void enqueue(TARGET *t);
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@ -98,11 +98,15 @@ mendel_reset() {
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mendel_setup
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}
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mendel_talk() {
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( cat <&3 & cat >&3; kill $! ; ) 3<>/dev/arduino
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}
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mendel_cmd() {
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(
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IFS=$' \t\n'
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RSC=0
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cmd="$*"
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local IFS=$' \t\n'
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local RSC=0
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local cmd="$*"
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echo "$cmd" >&3;
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while [ "$REPLY" != "OK" ]
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do
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@ -122,28 +126,27 @@ mendel_cmd() {
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echo "Too many retries: aborting" >&2
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fi
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fi
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LN=$(( $LN + 1 ))
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done
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) 3<>/dev/arduino;
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}
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mendel_cmd_hr() {
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(
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IFS=$' \t\n'
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cmd="$*"
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RSC=0
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local IFS=$' \t\n'
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local cmd="$*"
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local RSC=0
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echo "$cmd" >&3
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echo "> $cmd"
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echo "S> $cmd"
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while [ "$REPLY" != "OK" ]
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do
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read -u 3
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echo "< $REPLY"
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echo "<R $REPLY"
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if [[ "$REPLY" =~ ^RESEND ]]
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then
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if [ "$RSC" -le 3 ]
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then
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echo "$cmd" >&3
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echo "> $cmd"
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echo "S> $cmd"
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RSC=$(( $RSC + 1))
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else
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REPLY="OK"
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@ -158,7 +161,7 @@ mendel_print() {
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(
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for F in "$@"
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do
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IFS=$'\n'
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local IFS=$'\n'
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for L in $(< $F)
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do
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mendel_cmd_hr "$L"
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@ -169,14 +172,14 @@ mendel_print() {
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mendel_readsym() {
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(
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IFS=$' \t\n'
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sym=$1
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local IFS=$' \t\n'
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local sym=$1
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if [ -n "$sym" ]
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then
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if [[ "$sym" =~ ^(0?x?[0-9A-Fa-f]+)(:([0-9]+))?$ ]]
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then
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ADDR=$(( ${BASH_REMATCH[1]} ))
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SIZE=$(( ${BASH_REMATCH[3]} ))
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local ADDR=$(( ${BASH_REMATCH[1]} ))
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local SIZE=$(( ${BASH_REMATCH[3]} ))
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if [ "$SIZE" -le 1 ]
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then
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SIZE=1
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@ -186,8 +189,8 @@ mendel_readsym() {
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make mendel.sym &>/dev/null
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if egrep -q '\b'$sym'\b' mendel.sym
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then
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ADDR=$(( $(egrep '\b'$sym'\b' mendel.sym | cut -d\ -f1) ))
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SIZE=$(egrep '\b'$sym'\b' mendel.sym | cut -d+ -f2)
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local ADDR=$(( $(egrep '\b'$sym'\b' mendel.sym | cut -d\ -f1) ))
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local SIZE=$(egrep '\b'$sym'\b' mendel.sym | cut -d+ -f2)
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mendel_cmd "M253 S$ADDR P$SIZE"
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else
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echo "unknown symbol: $sym"
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@ -200,44 +203,44 @@ mendel_readsym() {
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}
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mendel_readsym_uint8() {
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sym=$1
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val=$(mendel_readsym $sym)
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local sym=$1
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local val=$(mendel_readsym $sym)
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perl -e 'printf "%u\n", eval "0x".$ARGV[0]' $val
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}
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mendel_readsym_int8() {
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sym=$1
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val=$(mendel_readsym $sym)
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local sym=$1
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local val=$(mendel_readsym $sym)
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perl -e 'printf "%d\n", ((eval "0x".$ARGV[0]) & 0x7F) - (((eval "0x".$ARGV[0]) & 0x80)?0x80:0)' $val
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}
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mendel_readsym_uint16() {
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sym=$1
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val=$(mendel_readsym $sym)
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local sym=$1
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local val=$(mendel_readsym $sym)
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perl -e '$ARGV[0] =~ m#(..)(..)# && printf "%u\n", eval "0x$2$1"' $val
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}
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mendel_readsym_int16() {
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sym=$1
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val=$(mendel_readsym $sym)
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local sym=$1
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local val=$(mendel_readsym $sym)
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perl -e '$ARGV[0] =~ m#(..)(..)# && printf "%d\n", ((eval "0x$2$1") & 0x7FFF) - (((eval "0x$2$1") & 0x8000)?0x8000:0)' $val
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}
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mendel_readsym_uint32() {
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sym=$1
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val=$(mendel_readsym $sym)
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local sym=$1
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local val=$(mendel_readsym $sym)
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perl -e '$ARGV[0] =~ m#(..)(..)(..)(..)# && printf "%u\n", eval "0x$4$3$2$1"' $val
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}
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mendel_readsym_int32() {
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sym=$1
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val=$(mendel_readsym $sym)
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local sym=$1
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local val=$(mendel_readsym $sym)
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perl -e '$ARGV[0] =~ m#(..)(..)(..)(..)# && printf "%d\n", eval "0x$4$3$2$1"' $val
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}
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mendel_readsym_target() {
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sym=$1
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val=$(mendel_readsym "$sym")
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local sym=$1
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local val=$(mendel_readsym "$sym")
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if [ -n "$val" ]
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then
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perl -e '@a = qw/X Y Z E F/; $c = 0; while (length $ARGV[0]) { $ARGV[0] =~ s#^(..)(..)(..)(..)##; printf "%s: %d\n", $a[$c], eval "0x$4$3$2$1"; $c++; }' "$val"
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@ -245,9 +248,9 @@ mendel_readsym_target() {
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}
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mendel_readsym_mb() {
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val=$(mendel_readsym movebuffer)
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mbhead=$(mendel_readsym mb_head)
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mbtail=$(mendel_readsym mb_tail)
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local val=$(mendel_readsym movebuffer)
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local mbhead=$(mendel_readsym mb_head)
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local mbtail=$(mendel_readsym mb_tail)
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perl - <<'ENDPERL' -- $val $mbhead $mbtail
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$i = -1;
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@a = qw/eX 4 eY 4 eZ 4 eE 4 eF 4 flags 9 dX 12 dY 4 dZ 4 dE 4 cX 12 cY 4 cZ 4 cE 4 ts 12 c 12 ec 4 n 4/;
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@ -279,16 +282,16 @@ ENDPERL
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}
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mendel_heater_pid() {
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P=$(mendel_readsym_int16 heater_p)
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I=$(mendel_readsym_int16 heater_i)
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D=$(mendel_readsym_int16 heater_d)
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local P=$(mendel_readsym_int16 heater_p)
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local I=$(mendel_readsym_int16 heater_i)
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local D=$(mendel_readsym_int16 heater_d)
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PF=$(mendel_readsym_int32 p_factor)
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IF=$(mendel_readsym_int32 i_factor)
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DF=$(mendel_readsym_int32 d_factor)
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local PF=$(mendel_readsym_int32 p_factor)
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local IF=$(mendel_readsym_int32 i_factor)
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local DF=$(mendel_readsym_int32 d_factor)
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O=$(mendel_readsym_uint8 0x27)
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T=$(mendel_cmd M105 | cut -d\ -f2 | cut -d/ -f1)
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local O=$(mendel_readsym_uint8 0x27)
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local T=$(mendel_cmd M105 | cut -d\ -f2 | cut -d/ -f1)
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echo "P=$P pf=$PF r="$(($P * $PF))
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echo "I=$I if=$IF r="$(($I * $IF))
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@ -298,3 +301,13 @@ mendel_heater_pid() {
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echo "R="$(( $(( $(( $(($P * $PF)) + $(($I * $IF)) + $(($D * $DF)) )) / 1024 )) + 128 ))
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echo "O=$O T=$T"
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}
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if [[ "$0" =~ ^mendel_(setup|reset|cmd|readsym|heater_pid) ]]
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then
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eval "$0" "$@"
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fi
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if [[ "$1" =~ ^mendel_(setup|reset|cmd|readsym|heater_pid) ]]
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then
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eval "$@"
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fi
|
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|
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|
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@ -523,7 +523,7 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
|
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// backup feedrate, move E very quickly then restore feedrate
|
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uint32_t f = startpoint.F;
|
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startpoint.F = FEEDRATE_FAST_E;
|
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SpecialMoveE(startpoint.E + E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
|
||||
SpecialMoveE(E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
|
||||
startpoint.F = f;
|
||||
} while (0);
|
||||
break;
|
||||
|
|
@ -536,7 +536,7 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
|
|||
// backup feedrate, move E very quickly then restore feedrate
|
||||
uint32_t f = startpoint.F;
|
||||
startpoint.F = FEEDRATE_FAST_E;
|
||||
SpecialMoveE(startpoint.E - E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
|
||||
SpecialMoveE(-E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
|
||||
startpoint.F = f;
|
||||
} while (0);
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -64,7 +64,7 @@
|
|||
// does this refer to filament or extrudate? extrudate depends on XY distance vs E distance.. hm lets go with filament
|
||||
// #define STEPS_PER_MM_E ((uint32_t) ((E_STEPS_PER_REV / (EXTRUDER_SHAFT_RADIUS * PI * EXTRUDER_INLET_DIAMETER / EXTRUDER_NOZZLE_DIAMETER)) + 0.5))
|
||||
|
||||
#define STEPS_PER_MM_E ((uint32_t) ((E_STEPS_PER_REV * EXTRUDER_NOZZLE_DIAMETER / (EXTRUDER_SHAFT_RADIUS * PI * EXTRUDER_INLET_DIAMETER)) + 0.5))
|
||||
#define STEPS_PER_MM_E ((uint32_t) ((E_STEPS_PER_REV * EXTRUDER_NOZZLE_DIAMETER / EXTRUDER_SHAFT_RADIUS / PI / EXTRUDER_INLET_DIAMETER) + 0.5))
|
||||
|
||||
// same as above with 25.4 scale factor
|
||||
#define STEPS_PER_IN_X ((uint32_t) ((25.4 * X_STEPS_PER_REV / X_COG_CIRCUMFERENCE) + 0.5))
|
||||
|
|
|
|||
|
|
@ -117,31 +117,9 @@ void clock_250ms(void) {
|
|||
ifclock(CLOCK_FLAG_1S) {
|
||||
if (debug_flags & DEBUG_POSITION) {
|
||||
// current position
|
||||
// serial_writestr_P(PSTR("Pos: "));
|
||||
// serwrite_int32(current_position.X);
|
||||
// serial_writechar(',');
|
||||
// serwrite_int32(current_position.Y);
|
||||
// serial_writechar(',');
|
||||
// serwrite_int32(current_position.Z);
|
||||
// serial_writechar(',');
|
||||
// serwrite_int32(current_position.E);
|
||||
// serial_writechar(',');
|
||||
// serwrite_uint32(current_position.F);
|
||||
// serial_writechar('\n');
|
||||
sersendf_P(PSTR("Pos: %ld,%ld,%ld,%ld,%lu\n"), current_position.X, current_position.Y, current_position.Z, current_position.E, current_position.F);
|
||||
|
||||
// target position
|
||||
// serial_writestr_P(PSTR("Dst: "));
|
||||
// serwrite_int32(movebuffer[mb_tail].endpoint.X);
|
||||
// serial_writechar(',');
|
||||
// serwrite_int32(movebuffer[mb_tail].endpoint.Y);
|
||||
// serial_writechar(',');
|
||||
// serwrite_int32(movebuffer[mb_tail].endpoint.Z);
|
||||
// serial_writechar(',');
|
||||
// serwrite_int32(movebuffer[mb_tail].endpoint.E);
|
||||
// serial_writechar(',');
|
||||
// serwrite_uint32(movebuffer[mb_tail].endpoint.F);
|
||||
// serial_writechar('\n');
|
||||
sersendf_P(PSTR("Dst: %ld,%ld,%ld,%ld,%lu\n"), movebuffer[mb_tail].endpoint.X, movebuffer[mb_tail].endpoint.Y, movebuffer[mb_tail].endpoint.Z, movebuffer[mb_tail].endpoint.E, movebuffer[mb_tail].endpoint.F);
|
||||
|
||||
// Queue
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
func.sh
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
#!/bin/bash
|
||||
|
||||
DEV=/dev/arduino
|
||||
BAUD=115200
|
||||
|
||||
waitfor avrdude
|
||||
stty $BAUD raw ignbrk -hup -echo ixon < $DEV
|
||||
|
||||
(
|
||||
read -t 0.1; RV=$?
|
||||
while [ $RV -eq 0 ] || [ $RV -ge 128 ]
|
||||
do
|
||||
if [ $RV -eq 0 ]
|
||||
then
|
||||
echo "> $REPLY"
|
||||
echo "$REPLY" >&3
|
||||
fi
|
||||
while [ "$REPLY" != "OK" ]
|
||||
do
|
||||
read -s -u 3
|
||||
echo "< $REPLY"
|
||||
done
|
||||
read -t 1
|
||||
$RV = $?
|
||||
done
|
||||
) 3<>$DEV
|
||||
|
|
@ -152,9 +152,10 @@ void serial_writeblock(void *data, int datalen)
|
|||
|
||||
void serial_writestr(uint8_t *data)
|
||||
{
|
||||
uint8_t i = 0;
|
||||
uint8_t i = 0, r;
|
||||
// yes, this is *supposed* to be assignment rather than comparison, so we break when r is assigned zero
|
||||
for (uint8_t r; (r = data[i]); i++)
|
||||
// for (uint8_t r; (r = data[i]); i++)
|
||||
while ((r = data[i++]))
|
||||
serial_writechar(r);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -13,9 +13,8 @@ void sersendf(char *format, ...) {
|
|||
va_start(args, format);
|
||||
|
||||
uint16_t i = 0;
|
||||
uint8_t c = 1, j = 0;
|
||||
for (; c != 0; i++) {
|
||||
c = format[i];
|
||||
uint8_t c, j = 0;
|
||||
while ((c = format[i++])) {
|
||||
if (j) {
|
||||
switch(c) {
|
||||
case 'l':
|
||||
|
|
@ -74,8 +73,7 @@ void sersendf_P(PGM_P format, ...) {
|
|||
|
||||
uint16_t i = 0;
|
||||
uint8_t c = 1, j = 0;
|
||||
for (; c != 0; i++) {
|
||||
c = pgm_read_byte(&format[i]);
|
||||
while ((c = pgm_read_byte(&format[i++]))) {
|
||||
if (j) {
|
||||
switch(c) {
|
||||
case 's':
|
||||
|
|
|
|||
103
mendel/temp.c
103
mendel/temp.c
|
|
@ -13,7 +13,7 @@
|
|||
case 105:
|
||||
uint16_t t = temp_get();
|
||||
|
||||
note that the MAX6675 can't do more than approx 4 conversions per second
|
||||
note that the MAX6675 can't do more than approx 5 conversions per second- we go for 4 so the timing isn't too tight
|
||||
*/
|
||||
|
||||
#include "temp.h"
|
||||
|
|
@ -37,10 +37,10 @@ int16_t heater_p = 0;
|
|||
int16_t heater_i = 0;
|
||||
int16_t heater_d = 0;
|
||||
|
||||
#define DEFAULT_P 4096
|
||||
#define DEFAULT_I 256
|
||||
#define DEFAULT_D -14336
|
||||
#define DEFAULT_I_LIMIT 768
|
||||
#define DEFAULT_P 8192
|
||||
#define DEFAULT_I 512
|
||||
#define DEFAULT_D -24576
|
||||
#define DEFAULT_I_LIMIT 384
|
||||
int32_t p_factor = 0;
|
||||
int32_t i_factor = 0;
|
||||
int32_t d_factor = 0;
|
||||
|
|
@ -151,66 +151,22 @@ uint8_t temp_achieved() {
|
|||
}
|
||||
|
||||
void temp_print() {
|
||||
// serial_writestr_P(PSTR("T: "));
|
||||
if (temp_flags & TEMP_FLAG_TCOPEN) {
|
||||
serial_writestr_P(PSTR("T: no thermocouple!\n"));
|
||||
}
|
||||
else {
|
||||
// serwrite_uint16(current_temp >> 2);
|
||||
// serial_writechar('.');
|
||||
// if (current_temp & 3) {
|
||||
// if ((current_temp & 3) == 3)
|
||||
// serial_writechar('7');
|
||||
// else if ((current_temp & 3) == 1)
|
||||
// serial_writechar('2');
|
||||
// serial_writechar('5');
|
||||
// }
|
||||
// else {
|
||||
// serial_writechar('0');
|
||||
// }
|
||||
// // serial_writestr_P(PSTR("°C"));
|
||||
// serial_writechar('/');
|
||||
// serwrite_uint16(target_temp >> 2);
|
||||
// serial_writechar('.');
|
||||
// if (target_temp & 3) {
|
||||
// if ((target_temp & 3) == 3)
|
||||
// serial_writechar('7');
|
||||
// else if ((target_temp & 3) == 1)
|
||||
// serial_writechar('2');
|
||||
// serial_writechar('5');
|
||||
// }
|
||||
// else {
|
||||
// serial_writechar('0');
|
||||
// }
|
||||
//
|
||||
// serial_writestr_P(PSTR(" :"));
|
||||
// serwrite_uint8(temp_residency);
|
||||
uint8_t c = 0, t = 0;
|
||||
|
||||
if (current_temp & 3)
|
||||
c = 5;
|
||||
if ((current_temp & 3) == 1)
|
||||
c += 20;
|
||||
else if ((current_temp & 3) == 3)
|
||||
c += 70;
|
||||
|
||||
if (target_temp & 3)
|
||||
t = 5;
|
||||
if ((target_temp & 3) == 1)
|
||||
t += 20;
|
||||
else if ((target_temp & 3) == 3)
|
||||
t += 70;
|
||||
|
||||
sersendf_P(PSTR("%u.%u/%u.%u :%u\n"), current_temp >> 2, c, target_temp >> 2, t, temp_residency);
|
||||
c = (current_temp & 3) * 25;
|
||||
t = (target_temp & 3) * 25;
|
||||
sersendf_P(PSTR("T: %u.%u/%u.%u :%u\n"), current_temp >> 2, c, target_temp >> 2, t, temp_residency);
|
||||
}
|
||||
// serial_writechar('\n');
|
||||
}
|
||||
|
||||
void temp_tick() {
|
||||
if (target_temp) {
|
||||
steptimeout = 0;
|
||||
|
||||
// uint16_t last_temp = current_temp;
|
||||
temp_read();
|
||||
|
||||
temp_history[th_p++] = current_temp;
|
||||
|
|
@ -221,16 +177,8 @@ void temp_tick() {
|
|||
else if (temp_residency < TEMP_RESIDENCY_TIME)
|
||||
temp_residency++;
|
||||
|
||||
// if (debug_flags & DEBUG_PID)
|
||||
// serial_writestr_P(PSTR("T{"));
|
||||
|
||||
int16_t t_error = target_temp - current_temp;
|
||||
|
||||
// if (debug_flags & DEBUG_PID) {
|
||||
// serial_writestr_P(PSTR("E:"));
|
||||
// serwrite_int16(t_error);
|
||||
// }
|
||||
|
||||
// PID stuff
|
||||
// proportional
|
||||
heater_p = t_error;
|
||||
|
|
@ -245,30 +193,8 @@ void temp_tick() {
|
|||
|
||||
// derivative
|
||||
// note: D follows temp rather than error so there's no large derivative when the target changes
|
||||
// heater_d = (current_temp - last_temp);
|
||||
heater_d = current_temp - temp_history[th_p];
|
||||
|
||||
// if (debug_flags & DEBUG_PID) {
|
||||
// serial_writestr_P(PSTR(", P:"));
|
||||
// serwrite_int16(heater_p);
|
||||
// serial_writestr_P(PSTR(" * "));
|
||||
// serwrite_int32(p_factor);
|
||||
// serial_writestr_P(PSTR(" = "));
|
||||
// serwrite_int32((int32_t) heater_p * p_factor / PID_SCALE);
|
||||
// serial_writestr_P(PSTR(" / I:"));
|
||||
// serwrite_int16(heater_i);
|
||||
// serial_writestr_P(PSTR(" * "));
|
||||
// serwrite_int32(i_factor);
|
||||
// serial_writestr_P(PSTR(" = "));
|
||||
// serwrite_int32((int32_t) heater_i * i_factor / PID_SCALE);
|
||||
// serial_writestr_P(PSTR(" / D:"));
|
||||
// serwrite_int16(heater_d);
|
||||
// serial_writestr_P(PSTR(" * "));
|
||||
// serwrite_int32(d_factor);
|
||||
// serial_writestr_P(PSTR(" = "));
|
||||
// serwrite_int32((int32_t) heater_d * d_factor / PID_SCALE);
|
||||
// }
|
||||
|
||||
// combine factors
|
||||
int32_t pid_output_intermed = (
|
||||
(
|
||||
|
|
@ -278,11 +204,6 @@ void temp_tick() {
|
|||
) / PID_SCALE
|
||||
);
|
||||
|
||||
// if (debug_flags & DEBUG_PID) {
|
||||
// serial_writestr_P(PSTR(" # O: "));
|
||||
// serwrite_int32(pid_output_intermed);
|
||||
// }
|
||||
|
||||
// rebase and limit factors
|
||||
uint8_t pid_output;
|
||||
if (pid_output_intermed > 255)
|
||||
|
|
@ -292,11 +213,6 @@ void temp_tick() {
|
|||
else
|
||||
pid_output = pid_output_intermed & 0xFF;
|
||||
|
||||
// if (debug_flags & DEBUG_PID) {
|
||||
// serial_writestr_P(PSTR(" = "));
|
||||
// serwrite_uint8(pid_output);
|
||||
// }
|
||||
|
||||
if (debug_flags & DEBUG_PID)
|
||||
sersendf_P(PSTR("T{E:%d, P:%d * %ld = %ld / I:%d * %ld = %ld / D:%d * %ld = %ld # O: %ld = %u}\n"), t_error, heater_p, p_factor, (int32_t) heater_p * p_factor / PID_SCALE, heater_i, i_factor, (int32_t) heater_i * i_factor / PID_SCALE, heater_d, d_factor, (int32_t) heater_d * d_factor / PID_SCALE, pid_output_intermed, pid_output);
|
||||
|
||||
|
|
@ -308,8 +224,5 @@ void temp_tick() {
|
|||
else
|
||||
disable_heater();
|
||||
#endif
|
||||
|
||||
// if (debug_flags & DEBUG_PID)
|
||||
// serial_writestr_P(PSTR("}\n"));
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,41 +12,8 @@
|
|||
ISR(TIMER1_COMPA_vect) {
|
||||
WRITE(SCK, 1);
|
||||
|
||||
disableTimerInterrupt();
|
||||
queue_step();
|
||||
|
||||
// do our next step
|
||||
// NOTE: dda_step makes this interrupt interruptible after steps have been sent but before new speed is calculated.
|
||||
if (movebuffer[mb_tail].live) {
|
||||
if (movebuffer[mb_tail].waitfor_temp) {
|
||||
#if STEP_INTERRUPT_INTERRUPTIBLE
|
||||
// this interrupt can now be interruptible
|
||||
// disableTimerInterrupt();
|
||||
sei();
|
||||
#endif
|
||||
|
||||
if (temp_achieved()) {
|
||||
movebuffer[mb_tail].live = 0;
|
||||
serial_writestr_P(PSTR("Temp achieved, next move\n"));
|
||||
}
|
||||
}
|
||||
else {
|
||||
dda_step(&(movebuffer[mb_tail]));
|
||||
}
|
||||
}
|
||||
|
||||
// serial_writechar('!');
|
||||
|
||||
// fall directly into dda_start instead of waiting for another step
|
||||
if (movebuffer[mb_tail].live == 0)
|
||||
next_move();
|
||||
|
||||
#if STEP_INTERRUPT_INTERRUPTIBLE
|
||||
// return from interrupt in a way that prevents this interrupt nesting with itself at high step rates
|
||||
cli();
|
||||
#endif
|
||||
// check queue, if empty we don't need to interrupt again until re-enabled in dda_create
|
||||
if (queue_empty() == 0)
|
||||
enableTimerInterrupt();
|
||||
WRITE(SCK, 0);
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue