added configuration options, feedrate gcode to the extruder module

diff --git a/src/main.cpp b/src/main.cpp
index 0575dbd..4303fbc 100644 (file)
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -34,7 +34,7 @@ class TemperatureControl : public Module {
             this->desired_adc_value = UNDEFINED;
 
             // Settings
-            this->readings_per_second = 50;
+            this->readings_per_second = 5;
 
             this->r0 = 100000;               // Stated resistance eg. 100K
             this->t0 = 25 + 273.15;          // Temperature at stated resistance, eg. 25C
@@ -166,15 +166,33 @@ class TemperatureControl : public Module {
         double average_adc_reading(){
             double total;
             int j=0;
-            for( int i = 0; i <= this->queue.size()-1; i++ ){
+            int reading_index = this->queue.head;
+            //this->kernel->serial->printf("[");
+            //for( int i = 0; i <= this->queue.size()-1; i++ ){
+            while( reading_index != this->queue.tail ){
                 j++; 
                 //this->kernel->serial->printf("value:%f\r\n", *(this->queue.get_ref(i)) ); 
-                total += *(this->queue.get_ref(i));
+                total += this->queue.buffer[reading_index];
+                //this->kernel->serial->printf("%.4f,", this->queue.buffer[reading_index]);
+                reading_index = this->queue.next_block_index( reading_index );
             }
+            //this->kernel->serial->printf("]->[%4f=%4f]\r\n", total/j, this->adc_value_to_temperature(total/j));
             //this->kernel->serial->printf("total:%f, size:%d \r\n", total, this->queue.size() ); 
             return total / j;
         }
 
+//        double average_adc_reading(){
+//            double total;
+//            int j=0;
+//            for( int i = 0; i <= this->queue.size()-1; i++ ){
+//                j++; 
+//                //this->kernel->serial->printf("value:%f\r\n", *(this->queue.get_ref(i)) ); 
+//                total += *(this->queue.get_ref(i));
+//            }
+//            //this->kernel->serial->printf("total:%f, size:%d \r\n", total, this->queue.size() ); 
+//            return total / j;
+//        }
+
         AnalogIn* thermistor_pin;
         Ticker*   thermistor_read_ticker;
         Ticker*   debug_ticker;

diff --git a/src/modules/tools/extruder/Extruder.cpp b/src/modules/tools/extruder/Extruder.cpp
index 9de8364..2fd4790 100644 (file)
--- a/src/modules/tools/extruder/Extruder.cpp
+++ b/src/modules/tools/extruder/Extruder.cpp
@@ -56,14 +56,17 @@ void Extruder::on_module_loaded() {
 
 // Get config
 void Extruder::on_config_reload(void* argument){
-    this->microseconds_per_step_pulse = 5; //this->kernel->config->value(microseconds_per_step_pulse_ckeckusm)->by_default(5)->as_number();
+    this->microseconds_per_step_pulse = this->kernel->config->value(microseconds_per_step_pulse_ckeckusm)->by_default(5)->as_number();
+    this->steps_per_millimeter        = this->kernel->config->value(steps_per_millimeter_checksum       )->by_default(1)->as_number();
+    this->feed_rate                   = this->kernel->config->value(default_feed_rate_checksum          )->by_default(1)->as_number();
+    this->acceleration                = this->kernel->config->value(acceleration_checksum               )->by_default(1)->as_number();
 }
 
 // Computer extrusion speed based on parameters and gcode distance of travel
 void Extruder::on_gcode_execute(void* argument){
     Gcode* gcode = static_cast<Gcode*>(argument);
    
-    //this->kernel->serial->printf("e: %s\r\n", gcode->command.c_str() );
+    this->kernel->serial->printf("e: %s\r\n", gcode->command.c_str() );
 
     // Absolute/relative mode
     if( gcode->has_letter('M')){
@@ -96,6 +99,9 @@ void Extruder::on_gcode_execute(void* argument){
                     this->solo_mode = true;
                     this->travel_distance = extrusion_distance;
                     this->travel_ratio = 0.0;
+                    if( gcode->has_letter('F') ){
+                        this->feed_rate = gcode->get_value('F');
+                    }
                 }else{
                     this->solo_mode = false;
                     this->travel_ratio = extrusion_distance / gcode->millimeters_of_travel; 
@@ -123,7 +129,7 @@ void Extruder::on_block_begin(void* argument){
         this->current_block = block; 
         this->start_position = this->target_position;
         this->target_position = this->start_position + this->travel_distance ;
-        //this->kernel->serial->printf("bb: target_position: %f, travel_distance:%f \r\n", this->target_position, this->travel_distance );
+        this->kernel->serial->printf("bb: target_position: %f, travel_distance:%f, current_position:%f \r\n", this->target_position, this->travel_distance, this->current_position );
         this->on_speed_change(this);
     }   
     if( fabs(this->travel_ratio) > 0.001 ){
@@ -131,6 +137,7 @@ void Extruder::on_block_begin(void* argument){
         this->current_block = block; 
         this->start_position = this->target_position;
         this->target_position =  this->start_position + ( this->current_block->millimeters * this->travel_ratio );
+        this->kernel->serial->printf("bb: target_position: %f, travel_ratio:%f, current_position:%f \r\n", this->target_position, this->travel_ratio, this->current_position );
         this->on_speed_change(this);
     } 
 
@@ -138,6 +145,7 @@ void Extruder::on_block_begin(void* argument){
 
 void Extruder::on_block_end(void* argument){
     Block* block = static_cast<Block*>(argument);
+    this->kernel->serial->printf("cc: target_position: %f, travel_ratio:%f, travel_distance:%f, current_position:%f \r\n", this->target_position, this->travel_ratio, this->travel_distance, this->current_position );
     this->current_block = NULL; 
 }       
 
@@ -166,10 +174,10 @@ void Extruder::on_speed_change(void* argument){
         double adjusted_speed = nominal_extrusion_speed * stepper_rate_ratio;
 
         // Set timer
-        if((adjusted_speed*1400) < 1 ){ 
+        if((adjusted_speed*this->steps_per_millimeter) < 1 ){ 
             return; 
         } 
-        LPC_TIM1->MR0 = ((SystemCoreClock/4))/(adjusted_speed*1400); 
+        LPC_TIM1->MR0 = ((SystemCoreClock/4))/(adjusted_speed*this->steps_per_millimeter); 
         if( LPC_TIM1->MR0 < 300 ){ 
             this->kernel->serial->printf("tim1mr0 %d, adjusted_speed: %f\r\n", LPC_TIM1->MR0, adjusted_speed ); 
             LPC_TIM1->MR0 = 300; 
@@ -190,7 +198,7 @@ void Extruder::on_speed_change(void* argument){
     if( fabs(this->travel_distance) > 0.001 ){
 
         // Set timer
-        LPC_TIM1->MR0 = ((SystemCoreClock/4))/int(floor(1.6*1400)); 
+        LPC_TIM1->MR0 = ((SystemCoreClock/4))/int(floor((this->feed_rate/60)*this->steps_per_millimeter)); 
 
         // In case we are trying to set the timer to a limit it has already past by
         if( LPC_TIM1->TC >= LPC_TIM1->MR0 ){
@@ -210,7 +218,7 @@ inline void Extruder::stepping_tick(){
 
     //if( fabs( this->current_position - this->target_position ) >= 0.001 ){
     if( ( this->current_position < this->target_position && this->direction == 1 ) || ( this->current_position > this->target_position && this->direction == -1 ) ){    
-        this->current_position += (double(double(1)/double(1400)))*double(this->direction);
+        this->current_position += (double(double(1)/double(1100)))*double(this->direction);
         this->dir_pin = ((this->direction > 0) ? 0 : 1);
         this->step_pin = 1;
     }else{

diff --git a/src/modules/tools/extruder/Extruder.h b/src/modules/tools/extruder/Extruder.h
index 2f6bac6..b1e8f52 100644 (file)
--- a/src/modules/tools/extruder/Extruder.h
+++ b/src/modules/tools/extruder/Extruder.h
@@ -8,6 +8,10 @@
 
 #define microseconds_per_step_pulse_ckeckusm 42333
 #define extruder_module_enable_checksum      6183
+#define steps_per_millimeter_checksum        58088
+#define default_feed_rate_checksum           53183
+#define acceleration_checksum                60356 
+
 
 class Extruder : public Module{
     public:
@@ -29,6 +33,9 @@ class Extruder : public Module{
         Ticker          acceleration_ticker;          // Ticker responsible with updating the speed ( acceleration management ). Uses Timer3
         Block*          current_block;                // Current block we are stepping, same as Stepper's one
         int             microseconds_per_step_pulse;  // Pulse duration for step pulses
+        double          steps_per_millimeter;         // Steps to travel one millimeter
+        double          feed_rate;                    //  
+        double          acceleration;                 // 
 
         bool            solo_mode;
         double          travel_ratio;