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Small FREQUENCY_LIMIT changes
This commit is contained in:
Erik vd Zalm
parent
bce67ec2c9
commit
b98fb17fe9
@ -1,127 +0,0 @@
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#!/usr/bin/python
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#
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# Creates a C code lookup table for doing ADC to temperature conversion
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# on a microcontroller
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# based on: http://hydraraptor.blogspot.com/2007/10/measuring-temperature-easy-way.html
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"""Thermistor Value Lookup Table Generator
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Generates lookup to temperature values for use in a microcontroller in C format based on:
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http://hydraraptor.blogspot.com/2007/10/measuring-temperature-easy-way.html
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The main use is for Arduino programs that read data from the circuit board described here:
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http://make.rrrf.org/ts-1.0
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Usage: python createTemperatureLookup.py [options]
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Options:
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-h, --help show this help
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--r0=... thermistor rating where # is the ohm rating of the thermistor at t0 (eg: 10K = 10000)
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--t0=... thermistor temp rating where # is the temperature in Celsuis to get r0 (from your datasheet)
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--beta=... thermistor beta rating. see http://reprap.org/bin/view/Main/MeasuringThermistorBeta
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--r1=... R1 rating where # is the ohm rating of R1 (eg: 10K = 10000)
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--r2=... R2 rating where # is the ohm rating of R2 (eg: 10K = 10000)
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--num-temps=... the number of temperature points to calculate (default: 20)
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--max-adc=... the max ADC reading to use. if you use R1, it limits the top value for the thermistor circuit, and thus the possible range of ADC values
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"""
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from math import *
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import sys
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import getopt
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class Thermistor:
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"Class to do the thermistor maths"
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def __init__(self, r0, t0, beta, r1, r2):
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self.r0 = r0 # stated resistance, e.g. 10K
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self.t0 = t0 + 273.15 # temperature at stated resistance, e.g. 25C
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self.beta = beta # stated beta, e.g. 3500
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self.vadc = 5.0 # ADC reference
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self.vcc = 5.0 # supply voltage to potential divider
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self.k = r0 * exp(-beta / self.t0) # constant part of calculation
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if r1 > 0:
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self.vs = r1 * self.vcc / (r1 + r2) # effective bias voltage
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self.rs = r1 * r2 / (r1 + r2) # effective bias impedance
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else:
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self.vs = self.vcc # effective bias voltage
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self.rs = r2 # effective bias impedance
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def temp(self,adc):
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"Convert ADC reading into a temperature in Celcius"
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v = adc * self.vadc / 1024 # convert the 10 bit ADC value to a voltage
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r = self.rs * v / (self.vs - v) # resistance of thermistor
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return (self.beta / log(r / self.k)) - 273.15 # temperature
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def setting(self, t):
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"Convert a temperature into a ADC value"
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r = self.r0 * exp(self.beta * (1 / (t + 273.15) - 1 / self.t0)) # resistance of the thermistor
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v = self.vs * r / (self.rs + r) # the voltage at the potential divider
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return round(v / self.vadc * 1024) # the ADC reading
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def main(argv):
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r0 = 10000;
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t0 = 25;
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beta = 3947;
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r1 = 680;
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r2 = 1600;
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num_temps = int(20);
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try:
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opts, args = getopt.getopt(argv, "h", ["help", "r0=", "t0=", "beta=", "r1=", "r2="])
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except getopt.GetoptError:
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usage()
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sys.exit(2)
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for opt, arg in opts:
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if opt in ("-h", "--help"):
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usage()
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sys.exit()
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elif opt == "--r0":
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r0 = int(arg)
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elif opt == "--t0":
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t0 = int(arg)
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elif opt == "--beta":
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beta = int(arg)
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elif opt == "--r1":
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r1 = int(arg)
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elif opt == "--r2":
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r2 = int(arg)
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if r1:
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max_adc = int(1023 * r1 / (r1 + r2));
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else:
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max_adc = 1023
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increment = int(max_adc/(num_temps-1));
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t = Thermistor(r0, t0, beta, r1, r2)
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adcs = range(1, max_adc, increment);
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# adcs = [1, 20, 25, 30, 35, 40, 45, 50, 60, 70, 80, 90, 100, 110, 130, 150, 190, 220, 250, 300]
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first = 1
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print "// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts)"
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print "// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py)"
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print "// ./createTemperatureLookup.py --r0=%s --t0=%s --r1=%s --r2=%s --beta=%s --max-adc=%s" % (r0, t0, r1, r2, beta, max_adc)
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print "// r0: %s" % (r0)
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print "// t0: %s" % (t0)
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print "// r1: %s" % (r1)
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print "// r2: %s" % (r2)
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print "// beta: %s" % (beta)
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print "// max adc: %s" % (max_adc)
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print "#define NUMTEMPS %s" % (len(adcs))
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print "short temptable[NUMTEMPS][2] = {"
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counter = 0
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for adc in adcs:
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counter = counter +1
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if counter == len(adcs):
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print " {%s, %s}" % (adc, int(t.temp(adc)))
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else:
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print " {%s, %s}," % (adc, int(t.temp(adc)))
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print "};"
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def usage():
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print __doc__
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if __name__ == "__main__":
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main(sys.argv[1:])
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@ -103,12 +103,11 @@ volatile unsigned char block_buffer_tail; // Index of the block to pro
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bool allow_cold_extrude=false;
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#endif
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#ifdef XY_FREQUENCY_LIMIT
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#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
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// Used for the frequency limit
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static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
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static long x_segment_time[3]={
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0,0,0}; // Segment times (in us). Used for speed calculations
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static long y_segment_time[3]={
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0,0,0};
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static long x_segment_time[3]={MAX_FREQ_TIME + 1,0,0}; // Segment times (in us). Used for speed calculations
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static long y_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
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#endif
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// Returns the index of the next block in the ring buffer
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@ -435,7 +434,7 @@ void getHighESpeed()
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}
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#endif
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void check_axes_activity()
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void check_axes_activity()
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{
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unsigned char x_active = 0;
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unsigned char y_active = 0;
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@ -445,11 +444,11 @@ void check_axes_activity()
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unsigned char tail_fan_speed = 0;
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block_t *block;
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if(block_buffer_tail != block_buffer_head)
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if(block_buffer_tail != block_buffer_head)
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{
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uint8_t block_index = block_buffer_tail;
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tail_fan_speed = block_buffer[block_index].fan_speed;
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while(block_index != block_buffer_head)
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while(block_index != block_buffer_head)
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{
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block = &block_buffer[block_index];
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if(block->steps_x != 0) x_active++;
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@ -460,7 +459,7 @@ void check_axes_activity()
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block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
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}
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}
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else
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else
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{
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#if FAN_PIN > -1
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if (FanSpeed != 0){
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@ -471,19 +470,19 @@ void check_axes_activity()
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if((DISABLE_X) && (x_active == 0)) disable_x();
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if((DISABLE_Y) && (y_active == 0)) disable_y();
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if((DISABLE_Z) && (z_active == 0)) disable_z();
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if((DISABLE_E) && (e_active == 0))
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if((DISABLE_E) && (e_active == 0))
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{
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disable_e0();
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disable_e1();
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disable_e2();
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}
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#if FAN_PIN > -1
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if((FanSpeed == 0) && (fan_speed ==0))
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if((FanSpeed == 0) && (fan_speed ==0))
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{
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analogWrite(FAN_PIN, 0);
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}
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if (FanSpeed != 0 && tail_fan_speed !=0)
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if (FanSpeed != 0 && tail_fan_speed !=0)
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{
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analogWrite(FAN_PIN,tail_fan_speed);
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}
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@ -505,7 +504,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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// If the buffer is full: good! That means we are well ahead of the robot.
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// Rest here until there is room in the buffer.
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while(block_buffer_tail == next_buffer_head)
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while(block_buffer_tail == next_buffer_head)
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{
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manage_heater();
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manage_inactivity();
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@ -522,7 +521,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
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#ifdef PREVENT_DANGEROUS_EXTRUDE
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if(target[E_AXIS]!=position[E_AXIS])
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if(target[E_AXIS]!=position[E_AXIS])
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{
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if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
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{
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@ -530,7 +529,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
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}
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#ifdef PREVENT_LENGTHY_EXTRUDE
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if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
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{
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@ -538,7 +537,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
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}
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#endif
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#endif
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}
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#endif
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@ -558,7 +557,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
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// Bail if this is a zero-length block
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if (block->step_event_count <= dropsegments)
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if (block->step_event_count <= dropsegments)
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{
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return;
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}
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@ -567,19 +566,19 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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// Compute direction bits for this block
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block->direction_bits = 0;
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if (target[X_AXIS] < position[X_AXIS])
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if (target[X_AXIS] < position[X_AXIS])
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{
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block->direction_bits |= (1<<X_AXIS);
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}
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if (target[Y_AXIS] < position[Y_AXIS])
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if (target[Y_AXIS] < position[Y_AXIS])
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{
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block->direction_bits |= (1<<Y_AXIS);
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}
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if (target[Z_AXIS] < position[Z_AXIS])
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if (target[Z_AXIS] < position[Z_AXIS])
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{
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block->direction_bits |= (1<<Z_AXIS);
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}
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if (target[E_AXIS] < position[E_AXIS])
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if (target[E_AXIS] < position[E_AXIS])
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{
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block->direction_bits |= (1<<E_AXIS);
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}
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@ -594,18 +593,18 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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#endif
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// Enable all
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if(block->steps_e != 0)
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if(block->steps_e != 0)
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{
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enable_e0();
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enable_e1();
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enable_e2();
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}
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if (block->steps_e == 0)
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if (block->steps_e == 0)
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{
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if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
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}
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else
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else
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{
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if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
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}
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@ -615,11 +614,11 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
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delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
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delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
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if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
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if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
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{
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block->millimeters = fabs(delta_mm[E_AXIS]);
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}
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else
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else
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{
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block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
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}
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@ -632,18 +631,21 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
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#ifdef OLD_SLOWDOWN
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if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)
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if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)
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feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
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#endif
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#ifdef SLOWDOWN
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// segment time im micro seconds
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unsigned long segment_time = lround(1000000.0/inverse_second);
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if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5)))
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if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5)))
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{
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if (segment_time < minsegmenttime)
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if (segment_time < minsegmenttime)
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{ // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
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inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
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#ifdef XY_FREQUENCY_LIMIT
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segment_time = lround(1000000.0/inverse_second);
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#endif
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}
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}
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#endif
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@ -656,7 +658,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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// Calculate and limit speed in mm/sec for each axis
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float current_speed[4];
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float speed_factor = 1.0; //factor <=1 do decrease speed
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for(int i=0; i < 4; i++)
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for(int i=0; i < 4; i++)
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{
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current_speed[i] = delta_mm[i] * inverse_second;
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if(fabs(current_speed[i]) > max_feedrate[i])
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@ -666,26 +668,26 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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// Max segement time in us.
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#ifdef XY_FREQUENCY_LIMIT
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#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
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// Check and limit the xy direction change frequency
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unsigned char direction_change = block->direction_bits ^ old_direction_bits;
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old_direction_bits = block->direction_bits;
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if((direction_change & (1<<X_AXIS)) == 0)
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segment_time = lround((float)segment_time / speed_factor);
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if((direction_change & (1<<X_AXIS)) == 0)
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{
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x_segment_time[0] += segment_time;
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}
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else
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else
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{
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x_segment_time[2] = x_segment_time[1];
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x_segment_time[1] = x_segment_time[0];
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x_segment_time[0] = segment_time;
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}
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if((direction_change & (1<<Y_AXIS)) == 0)
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if((direction_change & (1<<Y_AXIS)) == 0)
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{
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y_segment_time[0] += segment_time;
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}
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else
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else
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{
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y_segment_time[2] = y_segment_time[1];
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y_segment_time[1] = y_segment_time[0];
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@ -694,14 +696,14 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
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long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
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long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
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if(min_xy_segment_time < MAX_FREQ_TIME)
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if(min_xy_segment_time < MAX_FREQ_TIME)
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speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
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#endif
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// Correct the speed
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if( speed_factor < 1.0)
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if( speed_factor < 1.0)
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{
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for(unsigned char i=0; i < 4; i++)
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for(unsigned char i=0; i < 4; i++)
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{
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current_speed[i] *= speed_factor;
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}
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@ -711,11 +713,11 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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// Compute and limit the acceleration rate for the trapezoid generator.
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float steps_per_mm = block->step_event_count/block->millimeters;
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if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
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if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
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{
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||||
block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
|
||||
}
|
||||
else
|
||||
else
|
||||
{
|
||||
block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
|
||||
// Limit acceleration per axis
|
||||
|
||||
Loading…
Reference in New Issue
Block a user