diff options
| -rw-r--r-- | GCodes.h | 9 | ||||
| -rw-r--r-- | GCodes.ino | 96 | ||||
| -rw-r--r-- | Heat.h | 12 | ||||
| -rw-r--r-- | Heat.ino | 30 | ||||
| -rw-r--r-- | Platform.h | 18 | ||||
| -rw-r--r-- | Platform.ino | 1 | ||||
| -rw-r--r-- | RepRapFirmware.ino | 2 |
7 files changed, 130 insertions, 38 deletions
@@ -22,6 +22,8 @@ Licence: GPL #ifndef GCODES_H #define GCODES_H +#define STACK 5 + // Small class to hold an individual GCode @@ -65,11 +67,14 @@ class GCodes private: + boolean AllMovesAreFinishedAndMoveBufferIsLoaded(); boolean ActOnGcode(GCodeBuffer* gb); boolean SetUpMove(GCodeBuffer* gb); boolean DoDwell(GCodeBuffer *gb); boolean DoHome(); boolean NoHome(); + boolean Push(); + boolean Pop(); Platform* platform; boolean active; Webserver* webserver; @@ -85,6 +90,10 @@ class GCodes boolean checkEndStops; boolean drivesRelative; // All except X, Y and Z boolean axesRelative; // X, Y and Z + boolean drivesRelativeStack[STACK]; + boolean axesRelativeStack[STACK]; + float feedrateStack[STACK]; + int8_t stackPointer; char gCodeLetters[DRIVES + 1]; // Extra is for F float lastPos[DRIVES - AXES]; // Just needed for relative moves. float distanceScale; @@ -60,6 +60,7 @@ void GCodes::Init() homeYQueued = false; homeZQueued = false; dwellWaiting = false; + stackPointer = 0; dwellTime = platform->Time(); } @@ -104,6 +105,76 @@ void GCodes::Spin() } } +boolean GCodes::AllMovesAreFinishedAndMoveBufferIsLoaded() +{ + // Last one gone? + + if(moveAvailable) + return false; + + // Wait for all the queued moves to stop so we get the actual last position and feedrate + + if(!reprap.GetMove()->AllMovesAreFinished()) + return false; + reprap.GetMove()->ResumeMoving(); + + // Load the last position; If Move can't accept more, return false - should never happen + + if(!reprap.GetMove()->GetCurrentState(moveBuffer)) + return false; + + return true; +} + +boolean GCodes::Push() +{ + if(stackPointer >= STACK) + { + platform->Message(HOST_MESSAGE, "Push(): stack overflow!\n"); + return true; + } + + if(!AllMovesAreFinishedAndMoveBufferIsLoaded()) + return false; + + drivesRelativeStack[stackPointer] = drivesRelative; + axesRelativeStack[stackPointer] = axesRelative; + feedrateStack[stackPointer] = moveBuffer[DRIVES]; + stackPointer++; + + return true; +} + +boolean GCodes::Pop() +{ + if(stackPointer <= 0) + { + platform->Message(HOST_MESSAGE, "Push(): stack underflow!\n"); + return true; + } + + if(!AllMovesAreFinishedAndMoveBufferIsLoaded()) + return false; + + stackPointer--; + drivesRelative = drivesRelativeStack[stackPointer]; + axesRelative = axesRelativeStack[stackPointer]; + + // Remember for next time if we have just been switched + // to absolute drive moves + + for(int8_t i = AXES; i < DRIVES; i++) + lastPos[i - AXES] = moveBuffer[i]; + + // Do a null move to set the correct feedrate + + moveBuffer[DRIVES] = feedrateStack[stackPointer]; + + checkEndStops = false; + moveAvailable = true; + return true; +} + // Move expects all axis movements to be absolute, and all // extruder drive moves to be relative. This function serves that. // If the Move class can't receive the move (i.e. things have to wait) @@ -158,7 +229,6 @@ boolean GCodes::SetUpMove(GCodeBuffer *gb) lastPos[i - AXES] = moveBuffer[i]; checkEndStops = false; - moveAvailable = true; return true; } @@ -186,23 +256,9 @@ boolean GCodes::DoHome() // Treat more or less like any other move // Do one axis at a time, starting with X. - // Last one gone yet? - - if(moveAvailable) + if(!AllMovesAreFinishedAndMoveBufferIsLoaded()) return false; - // Wait for all the queued moves to stop - - if(!reprap.GetMove()->AllMovesAreFinished()) - return false; - reprap.GetMove()->ResumeMoving(); - - // Load the last position; If Move can't accept more, return false - should never happen - - if(!reprap.GetMove()->GetCurrentState(moveBuffer)) - return false; - - if(homeX) { if(homeXQueued) @@ -437,6 +493,14 @@ boolean GCodes::ActOnGcode(GCodeBuffer *gb) if(gb->Seen('S')) reprap.debug(gb->GetIValue()); break; + + case 120: + result = Push(); + break; + + case 121: + result = Pop(); + break; case 126: // Valve open platform->Message(HOST_MESSAGE, "M126 - valves not yet implemented\n"); @@ -25,18 +25,15 @@ class PID { public: - PID(int8_t h); - void Init(float st, float p, float i, float d, float w); + PID(Platform* p, int8_t h); + void Init(); void Spin(); void SetTemperature(float t); private: + Platform* platform; float temperature; - float kp; - float ki; - float kd; - float kw; int8_t heater; }; @@ -47,7 +44,7 @@ class Heat Heat(Platform* p, GCodes* g); void Spin(); - void Init(float st); + void Init(); void Exit(); private: @@ -57,7 +54,6 @@ class Heat boolean active; PID* pids[HEATERS]; float lastTime; - float sampleTime; }; @@ -25,18 +25,16 @@ Heat::Heat(Platform* p, GCodes* g) platform = p; gCodes = g; for(int8_t heater=0; heater < HEATERS; heater++) - pids[heater] = new PID(heater); + pids[heater] = new PID(platform, heater); active = false; } -void Heat::Init(float st) +void Heat::Init() { - sampleTime = st; - for(int8_t heater=0; heater < HEATERS; heater++) { platform->SetHeater(heater, -1); -// pids[heater]->Init(); + pids[heater]->Init(); } lastTime = platform->Time(); active = true; @@ -53,19 +51,27 @@ void Heat::Spin() return; unsigned long t = platform->Time(); - if(t - lastTime < sampleTime) + if(t - lastTime < platform->HeatSampleTime()) return; lastTime = t; + for(int8_t heater=0; heater < HEATERS; heater++) + pids[heater]->Spin(); } //****************************************************************************************************** -PID::PID(int8_t h) +PID::PID(Platform* p, int8_t h) { + platform = p; heater = h; } - /* - kp = p; - ki = i; - kd = d; - kw = w;*/ + +void PID::Init() +{ + +} + +void PID::Spin() +{ + +} @@ -253,6 +253,12 @@ class Platform float GetTemperature(int8_t heater); // Result is in degrees celsius void SetHeater(int8_t heater, const float& power); // power is a fraction in [0,1] + float pidKp(int8_t heater); + float pidKi(int8_t heater); + float pidKd(int8_t heater); + float pidKw(int8_t heater); + boolean pidBangBang(int8_t heater); + float HeatSampleTime(); //------------------------------------------------------------------------------------------------------- @@ -304,6 +310,7 @@ class Platform float pidKds[HEATERS]; float pidKps[HEATERS]; float pidILimits[HEATERS]; + float heatSampleTime; // Files @@ -369,7 +376,7 @@ inline char* Platform::GetTempDir() //***************************************************************************************************************** -// Drive the RepRap machine +// Drive the RepRap machine - Movement inline float Platform::DriveStepsPerUnit(int8_t drive) { @@ -423,11 +430,20 @@ inline float Platform::AxisLength(int8_t drive) return axisLengths[drive]; } +//******************************************************************************************************** + +// Drive the RepRap machine - Heat and temperature + inline int Platform::GetRawTemperature(byte heater) { return analogRead(tempSensePins[heater]); } +inline float Platform::HeatSampleTime() +{ + return heatSampleTime; +} + //********************************************************************************************************* // Interrupts diff --git a/Platform.ino b/Platform.ino index e20f469c..945edaa3 100644 --- a/Platform.ino +++ b/Platform.ino @@ -107,6 +107,7 @@ void Platform::Init() gcodeDir = GCODE_DIR; sysDir = SYS_DIR; tempDir = TEMP_DIR; + heatSampleTime = HEAT_SAMPLE_TIME; } for(i = 0; i < DRIVES; i++) diff --git a/RepRapFirmware.ino b/RepRapFirmware.ino index fed45307..5cf9eaf8 100644 --- a/RepRapFirmware.ino +++ b/RepRapFirmware.ino @@ -172,7 +172,7 @@ void RepRap::Init() gCodes->Init(); webserver->Init(); move->Init(); - heat->Init(HEAT_SAMPLE_TIME); + heat->Init(); dbg = false; platform->Message(HOST_MESSAGE, "RepRapPro RepRap Firmware (Re)Started\n"); active = true; |