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#include <ThermoplastExtruder_SNAP_v1.h>
//
// Variables from host software
//
byte vRefFactor = 7;
byte tempScaler = 4;
int currentPos = 0;
//this guys sets us up.
void setup_extruder_snap_v1()
{
snap.addDevice(EXTRUDER_ADDRESS);
//init to defaults in java software.
vRefFactor = 7;
tempScaler = 4;
currentPos = 0;
}
//this guy actually processes the commands.
void process_thermoplast_extruder_snap_commands_v1()
{
byte cmd = snap.getByte(0);
switch (cmd)
{
// tell the host what version we are.
case CMD_VERSION:
snap.startMessage(0, EXTRUDER_ADDRESS);
snap.sendDataByte(CMD_VERSION);
snap.sendDataByte(VERSION_MAJOR);
snap.sendDataByte(VERSION_MINOR);
snap.sendMessage();
break;
// move motor forward.
case CMD_FORWARD:
extruder.setDirection(1);
extruder.setSpeed(snap.getByte(1));
break;
// move motor backward.
case CMD_REVERSE:
extruder.setDirection(0);
extruder.setSpeed(snap.getByte(1));
break;
// Open the valve
case CMD_VALVEOPEN:
extruder.setValve(1, snap.getByte(1));
break;
// Close the valve
case CMD_VALVECLOSE:
extruder.setValve(0, snap.getByte(1));
break;
// dunno what this is supposed to do...
case CMD_SETPOS:
currentPos = snap.getInt(1);
break;
// dunno what this is supposed to do either...
case CMD_GETPOS:
//send some Bogus data so the Host software is happy
snap.startMessage(0, EXTRUDER_ADDRESS);
snap.sendDataByte(CMD_GETPOS);
snap.sendDataInt(currentPos);
snap.sendMessage();
break;
// we also cant really do this.
case CMD_SEEK:
//debug.println("n/i: seek");
break;
// Free motor. There is no torque hold for a DC motor, so all we do is switch off
case CMD_FREE:
extruder.setSpeed(0);
break;
// this is also a mystery... we cant really do this either.
case CMD_NOTIFY:
//debug.println("n/i: notify");
break;
// are we out of filament?
case CMD_ISEMPTY:
// We don't know so we say we're not empty
snap.startMessage(0, EXTRUDER_ADDRESS);
snap.sendDataByte(CMD_ISEMPTY);
snap.sendDataByte(0);
snap.sendMessage();
break;
// set our heater and target information
case CMD_SETHEAT:
//extruder.heater_low = snap.getByte(1);
//extruder.heater_high = snap.getByte(2);
extruder.heater_low = 64;
extruder.heater_high = 255;
extruder.target_celsius = calculateTemperatureForPicTemp(snap.getByte(3));
extruder.max_celsius = calculateTemperatureForPicTemp(snap.getByte(4));
break;
// tell the host software how hot we are.
case CMD_GETTEMP:
//TODO: is delay needed?
delay(100);
snap.startMessage(0, EXTRUDER_ADDRESS);
snap.sendDataByte(CMD_GETTEMP);
snap.sendDataByte(calculatePicTempForCelsius(extruder.getTemperature()));
snap.sendDataByte(extruder.getTemperature()); //dunno what this is for... its how it is in the old firmware too.
snap.sendMessage();
break;
// turn our fan on/off.
case CMD_SETCOOLER:
extruder.setCooler(snap.getByte(1));
break;
// used for temp conversion.
case CMD_SETVREF:
vRefFactor = snap.getByte(1);
break;
// used for temp conversion.
case CMD_SETTEMPSCALER:
tempScaler = snap.getByte(1);
break;
case CMD_DEVICE_TYPE:
snap.startMessage(0, EXTRUDER_ADDRESS);
snap.sendDataByte(CMD_DEVICE_TYPE);
snap.sendDataByte(DEVICE_TYPE);
snap.sendMessage();
break;
}
snap.releaseLock();
}
/***************
* This is code for doing reading conversions since the Arduino does the temp readings via straight analog reads.
***************/
int calculateTemperatureForPicTemp(int picTemp)
{
int scale = 1 << (tempScaler+1);
double clock = 4000000.0 / (4.0 * (double)scale); // hertz
double vRef = 0.25 * 5.0 + 5.0 * vRefFactor / 32.0; // volts
double T = (double)picTemp / clock; // seconds
double resistance = -T / (log(1 - vRef / 5.0) * CAPACITOR); // ohms
return (int)((1.0 / (1.0 / ABSOLUTE_ZERO + log(resistance/RZ) / BETA)) - ABSOLUTE_ZERO);
}
/**
* Calculates an expected PIC Temperature expected for a
* given resistance
* @param resistance
* @return
*/
int calculatePicTempForCelsius(int temperature)
{
double resistance = RZ * exp(BETA * (1/(temperature + ABSOLUTE_ZERO) - 1/ABSOLUTE_ZERO));
int scale = 1 << (tempScaler+1);
double clock = 4000000.0 / (4.0 * scale); // hertz
double vRef = 0.25 * 5.0 + 5.0 * vRefFactor / 32.0; // volts
double T = -resistance * (log(1 - vRef / 5.0) * CAPACITOR);
int pictemp = (int)(T * clock);
//prevent tempscaling taking us to crazy heights.
if (pictemp <= 0)
pictemp = 1;
if (pictemp >= 255)
pictemp = 255;
return pictemp;
}
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