From f57913cc58292ec2e5e6e3f4477d95650fa7e3cf Mon Sep 17 00:00:00 2001 From: Michel Pollet Date: Sun, 3 Jun 2012 15:07:56 +0100 Subject: [PATCH] reprap: Implemented the 'heatpot' Somehow raise a temperature using a score, reduces it automatically etc Signed-off-by: Michel Pollet --- examples/board_reprap/src/heatpot.c | 31 ++++++++++++++++-- examples/board_reprap/src/reprap.c | 49 +++++++++++++++++++++++++++-- 2 files changed, 76 insertions(+), 4 deletions(-) diff --git a/examples/board_reprap/src/heatpot.c b/examples/board_reprap/src/heatpot.c index dddf7de..a866a90 100644 --- a/examples/board_reprap/src/heatpot.c +++ b/examples/board_reprap/src/heatpot.c @@ -20,7 +20,9 @@ */ #include +#include #include +#include #include "sim_avr.h" #include "sim_time.h" @@ -33,6 +35,29 @@ heatpot_evaluate_timer( void * param) { heatpot_p p = (heatpot_p) param; + + float weight = 0.0; + + for (int si = 0; si < 32; si++) + if (p->tally[si].sid) + weight += p->tally[si].cost; + + float delta = p->current - p->ambiant; + float noise = (float)((random() % 32) - 16) / 32.0; + delta += noise; + + float cost = ((delta/2) + noise) * -weight; + + if (delta < 0) { + cost = (-delta / 10); + } else { + cost = weight > 0 ? 0.1 : -0.1; + } + p->current += cost; +// printf("%s w=%.3f d=%.3f c=%.3f = %.3f\n", p->name, weight, delta, cost, p->current); + + avr_raise_irq(p->irq + IRQ_HEATPOT_TEMP_OUT, p->current * 256); + return when + p->cycle; } @@ -59,14 +84,16 @@ heatpot_init( const char * name, float ambiant ) { + memset(p, 0, sizeof(*p)); p->avr = avr; strcpy(p->name, (char*)name); p->irq = avr_alloc_irq(&avr->irq_pool, 0, IRQ_HEATPOT_COUNT, irq_names); avr_irq_register_notify(p->irq + IRQ_HEATPOT_TALLY, heatpot_tally_in_hook, p); - p->cycle = avr_usec_to_cycles(avr, 100000 / 1000); + p->cycle = avr_usec_to_cycles(avr, 100000 / 1 /*1000 */); avr_cycle_timer_register_usec(avr, p->cycle, heatpot_evaluate_timer, p); + p->ambiant = p->current = ambiant; } void @@ -78,7 +105,7 @@ heatpot_tally( int f = -1, ei = -1; for (int si = 0; si < 32 && f == -1; si++) if (p->tally[si].sid == 0) - ei = si; + ei = ei == -1 ? si : ei; else if (p->tally[si].sid == sid) f = si; if (f == -1) { diff --git a/examples/board_reprap/src/reprap.c b/examples/board_reprap/src/reprap.c index fad4807..92d67b6 100644 --- a/examples/board_reprap/src/reprap.c +++ b/examples/board_reprap/src/reprap.c @@ -50,7 +50,8 @@ * these are the sources of heat and cold to register to the heatpots */ enum { - TALLY_HOTEND_PWM = 1, + TALLY_AMBIANT = 1, + TALLY_HOTEND_PWM, TALLY_HOTBED, TALLY_HOTEND_FAN, }; @@ -130,14 +131,44 @@ get_ardu_irq( * called when the AVR change any of the pins on port B * so lets update our buffer */ -void +static void hotbed_change_hook( struct avr_irq_t * irq, uint32_t value, void * param) +{ +// printf("%s %d\n", __func__, value); +// pin_state = (pin_state & ~(1 << irq->irq)) | (value << irq->irq); + heatpot_tally( + &reprap.hotbed, + TALLY_HOTEND_PWM, + value ? 1.0f : 0 ); +} +static void +hotend_change_hook( + struct avr_irq_t * irq, + uint32_t value, + void * param) +{ +// printf("%s %d\n", __func__, value); +// pin_state = (pin_state & ~(1 << irq->irq)) | (value << irq->irq); + heatpot_tally( + &reprap.hotend, + TALLY_HOTBED, + value ? 1.0f : 0 ); +} +static void +hotend_fan_change_hook( + struct avr_irq_t * irq, + uint32_t value, + void * param) { printf("%s %d\n", __func__, value); // pin_state = (pin_state & ~(1 << irq->irq)) | (value << irq->irq); + heatpot_tally( + &reprap.hotend, + TALLY_HOTEND_FAN, + value ? -0.05 : 0 ); } @@ -229,12 +260,26 @@ reprap_init( heatpot_init(avr, &r->hotend, "hotend", 28.0f); heatpot_init(avr, &r->hotbed, "hotbed", 25.0f); + heatpot_tally(&r->hotend, TALLY_AMBIANT, -0.5f); + heatpot_tally(&r->hotbed, TALLY_AMBIANT, -0.3f); + /* connect heatpot temp output to thermistors */ avr_connect_irq(r->hotend.irq + IRQ_HEATPOT_TEMP_OUT, r->therm_hotend.irq + IRQ_TERM_TEMP_VALUE_IN); avr_connect_irq(r->hotbed.irq + IRQ_HEATPOT_TEMP_OUT, r->therm_hotbed.irq + IRQ_TERM_TEMP_VALUE_IN); + avr_irq_register_notify( + get_ardu_irq(avr, HEATER_0_PIN, arduidiot_644), + hotend_change_hook, NULL); + avr_irq_register_notify( + get_ardu_irq(avr, FAN_PIN, arduidiot_644), + hotend_fan_change_hook, NULL); + avr_irq_register_notify( + get_ardu_irq(avr, HEATER_BED_PIN, arduidiot_644), + hotbed_change_hook, NULL); + + //avr_irq_register_notify() float axis_pp_per_mm[4] = DEFAULT_AXIS_STEPS_PER_UNIT; // from Marlin! { avr_irq_t * e = get_ardu_irq(avr, X_ENABLE_PIN, arduidiot_644); -- 2.39.5