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

time to save, more very minor tweaks during testing runs

This commit is contained in:
Michael Moon 2010-02-08 16:30:14 +11:00
parent f8eee368c4
commit d5c2e0534d
2 changed files with 63 additions and 56 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
mendel/gcode.c
View File

@ -448,8 +448,13 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
// M104- set temperature
case 104:
temp_set(gcmd->S);
enable_heater();
enable_steppers();
if (gcmd->S) {
enable_heater();
enable_steppers();
}
else {
disable_heater();
}
break;
// M105- get temperature

110
mendel/temp.c
View File

@ -131,69 +131,71 @@ void temp_print() {
}
void temp_tick() {
uint16_t last_temp = current_temp;
temp_read();
if (target_temp) {
uint16_t last_temp = current_temp;
temp_read();
// if (DEBUG)
// serial_writestr_P(PSTR("T{"));
// if (DEBUG)
// serial_writestr_P(PSTR("T{"));
int16_t t_error = target_temp - current_temp;
int16_t t_error = target_temp - current_temp;
// if (DEBUG) {
// serial_writestr_P(PSTR("E:"));
// serwrite_int16(t_error);
// }
// if (DEBUG) {
// serial_writestr_P(PSTR("E:"));
// serwrite_int16(t_error);
// }
// PID stuff
// proportional
heater_p = t_error;
// PID stuff
// proportional
heater_p = t_error;
// integral
heater_i += t_error;
// prevent integrator wind-up
if (heater_i > I_LIMIT)
heater_i = I_LIMIT;
else if (heater_i < -I_LIMIT)
heater_i = -I_LIMIT;
// integral
heater_i += t_error;
// prevent integrator wind-up
if (heater_i > I_LIMIT)
heater_i = I_LIMIT;
else if (heater_i < -I_LIMIT)
heater_i = -I_LIMIT;
// derivative
// note: D follows temp rather than error so there's no large derivative when the target changes
heater_d = (current_temp - last_temp);
// derivative
// note: D follows temp rather than error so there's no large derivative when the target changes
heater_d = (current_temp - last_temp);
// combine factors
int32_t pid_output_intermed = (
(
(((int32_t) heater_p) * p_factor) +
(((int32_t) heater_i) * i_factor) +
(((int32_t) heater_d) * d_factor)
) / PID_SCALE
);
// combine factors
int32_t pid_output_intermed = (
(
(((int32_t) heater_p) * p_factor) +
(((int32_t) heater_i) * i_factor) +
(((int32_t) heater_d) * d_factor)
) / PID_SCALE
);
// rebase and limit factors
uint8_t pid_output;
if (pid_output_intermed > 127)
pid_output = 255;
else if (pid_output_intermed < -128)
pid_output = 0;
else
pid_output = (pid_output_intermed + 128);
// rebase and limit factors
uint8_t pid_output;
if (pid_output_intermed > 127)
pid_output = 255;
else if (pid_output_intermed < -128)
pid_output = 0;
else
pid_output = (pid_output_intermed + 128);
// if (DEBUG) {
// serial_writestr_P(PSTR(",O:"));
// serwrite_uint8(pid_output);
// }
// if (DEBUG) {
// serial_writestr_P(PSTR(",O:"));
// serwrite_uint8(pid_output);
// }
#ifdef HEATER_PWM
HEATER_PWM = pid_output;
#else
if (pid_output >= 128) {
enable_heater();
#ifdef HEATER_PWM
HEATER_PWM = pid_output;
#else
if (pid_output >= 128) {
enable_heater();
}
else {
disable_heater();
}
#endif
// if (DEBUG)
// serial_writechar('}');
}
else {
disable_heater();
}
#endif
// if (DEBUG)
// serial_writechar('}');
}