unsigned short int UbirchSIM800::HTTP_get(const char *url, unsigned long int &length, STREAM &file) {
unsigned short int status = HTTP_get(url, length);
PRINT("HTTP STATUS: ");
DEBUGLN(status);
PRINT("FILE LENGTH: ");
DEBUGLN(length);
if (length == 0) return status;
char *buffer = (char *) malloc(SIM800_BUFSIZE);
uint32_t pos = 0;
do {
size_t r = HTTP_read(buffer, pos, SIM800_BUFSIZE);
#if !defined(NDEBUG) && defined(DEBUG_PROGRESS)
if ((pos % 10240) == 0) {
PRINT(" ");
DEBUGLN(pos);
} else if (pos % (1024) == 0) { PRINT("<"); }
#endif
pos += r;
file.write(buffer, r);
} while (pos < length);
free(buffer);
PRINTLN("");
return status;
}
boolean URCQueue<i>::Enqueue(const char *pURCText)
{
if(FCount >= i)
{
DEBUG_P(PSTR("** URC Queue is Full"LB));
return false;
}
DEBUG_P(PSTR("Queuing URC --> "));
DEBUGLN(pURCText);
char *item = strdup(pURCText);
if(item)
{
FURCQueue[FCount] = item;
FCount++;
return true;
}
else
{
DEBUG_P(PSTR("**URC Not enough memory"LB));
return false;
}
};
ModemGSM::EStandardAnswer ModemGSM::WaitAnswer(unsigned int pTimeoutMS, boolean pHandleURC)
{
//DEBUG_P("WaitAnswer --> ");
for(;;)
{
if(Readln(pTimeoutMS, false) == TIMEOUT)
{
DEBUG_P(PSTR("** TIMEOUT"LB));
return saTimeout;
}
//DEBUGLN(FRXBuff);
if(strcmp_P(FRXBuff,PSTR("OK")) == 0)
{
//DEBUGLN_P("OK");
return saOk;
}
else if( (strcmp_P(FRXBuff,PSTR("ERROR")) == 0) ||
(strncmp_P(FRXBuff,PSTR("+CME ERROR:"), 11) == 0) ||
(strncmp_P(FRXBuff,PSTR("+CMS ERROR:"), 11) == 0))
{
DEBUG_P(PSTR("** "));
DEBUGLN(FRXBuff);
return saError;
}
else if(pHandleURC)
HandleURC();
else
return saUnknown;
}
}
boolean ModemGSM::RegisterNumberInPB(char *pName, char *pNumber)
{
DEBUG_P(PSTR("Writing PB entry --> "));
if(pName)
{
DEBUG(pName);
DEBUG_P(PSTR(" : "));
}
DEBUGLN(pNumber);
if(pName)
{
SendCommand(PSTR("AT+CPBW=,\"%s\",,\"%s\""), pNumber, pName);
}
else
SendCommand(PSTR("AT+CPBW=,\"%s\""), pNumber);
boolean res = WaitAnswer(5000, true) == saOk;
//Wait a while. It seems that issuing a command immediately after this the modem hangs
delay(2000);
return res;
}
void UbirchSIM800::print(uint32_t s) {
#ifdef DEBUG_AT
PRINT("+++ ");
DEBUGLN(s);
#endif
_serial.print(s);
}
boolean URCQueue<i>::Dequeue(char *pURCText, size_t pURCTextSize)
{
if(FCount == 0)
{
DEBUG_P(PSTR("** URC Queue is Empty"LB));
return false;
}
DEBUG_P(PSTR("Dequeuing URC --> "));
if(pURCText)
{
strncpy(pURCText, FURCQueue[0], pURCTextSize - 1);
pURCText[pURCTextSize - 1] = '\0';
DEBUGLN(FURCQueue[0]);
}
else
DEBUG_P(PSTR("Value Discarded"LB));
Dispose(0);
FCount--;
memmove(FURCQueue, FURCQueue+1, sizeof(char *) * FCount);
return true;
};
unsigned short int UbirchSIM800::HTTP_post(const char *url, unsigned long int &length, STREAM &file, uint32_t size) {
expect_AT_OK(F("+HTTPTERM"));
delay(100);
if (!expect_AT_OK(F("+HTTPINIT"))) return 1000;
if (!expect_AT_OK(F("+HTTPPARA=\"CID\",1"))) return 1101;
if (!expect_AT_OK(F("+HTTPPARA=\"UA\",\"UBIRCH#1\""))) return 1102;
if (!expect_AT_OK(F("+HTTPPARA=\"REDIR\",1"))) return 1103;
println_param("AT+HTTPPARA=\"URL\"", url);
if (!expect_OK()) return 1110;
print(F("AT+HTTPDATA="));
print(size);
print(F(","));
println((uint32_t) 120000);
if (!expect(F("DOWNLOAD"))) return 0;
uint8_t *buffer = (uint8_t *) malloc(SIM800_BUFSIZE);
uint32_t pos = 0, r = 0;
do {
for (r = 0; r < SIM800_BUFSIZE; r++) {
int c = file.read();
if (c == -1) break;
_serial.write((uint8_t) c);
}
if (r < SIM800_BUFSIZE) {
#if !defined(NDEBUG) && defined(DEBUG_PROGRESS)
PRINTLN("EOF");
#endif
break;
}
#ifndef NDEBUG
if ((pos % 10240) == 0) {
PRINT(" ");
DEBUGLN(pos);
} else if (pos % (1024) == 0) { PRINT(">"); }
#endif
pos += r;
} while (r == SIM800_BUFSIZE);
free(buffer);
PRINTLN("");
if (!expect_OK(5000)) return 1005;
if (!expect_AT_OK(F("+HTTPACTION=1"))) return 1004;
// wait for the action to be completed, give it 5s for each try
uint16_t status;
while (!expect_scan(F("+HTTPACTION: 1,%hu,%lu"), &status, &length, 5000));
return status;
}
bool UbirchSIM800::status() {
println(F("AT+CIPSTATUS=0"));
char status[SIM800_BUFSIZE];
expect_scan(F("+CIPSTATUS: %s"), status);
DEBUGLN(status);
if (!expect_OK()) return false;
return strcmp_P(status, PSTR("CONNECTED")) < 0;
}
size_t UbirchSIM800::HTTP_read(char *buffer, uint32_t start, size_t length) {
print(F("AT+HTTPREAD="));
print(start);
print(F(","));
println((uint32_t) length);
unsigned long int available;
expect_scan(F("+HTTPREAD: %lu"), &available);
#ifdef DEBUG_PACKETS
PRINT("~~~ PACKET: ");
DEBUGLN(available);
#endif
size_t idx = read(buffer, (size_t) available);
if (!expect_OK()) return 0;
#ifdef DEBUG_PACKETS
PRINT("~~~ DONE: ");
DEBUGLN(idx);
#endif
return idx;
}
boolean ModemGSM::WriteSMS(const char *pDestPhoneNumber, const char *pBody,int *pIndex)
{
boolean res = false;
DEBUG_P(PSTR("Writing SMS --> %s : "), pDestPhoneNumber);
DEBUGLN(pBody);
if(pIndex)
*pIndex = 0;
SendCommand(PSTR("AT+CMGW=\"%s\""), pDestPhoneNumber);
DiscardPrompt(1500); //Discard modem prompt
FSerial->print(pBody);
delay(500);
FSerial->print(0x1A,BYTE); //CTRL+Z End of Message
for(;;)
{
//AT+CMGW can take a long time to answer
switch(WaitAnswer(20000))
{
case saOk:
return res;
case saError:
case saTimeout:
return false;
case saUnknown:
{
int idx;
if(sscanf_P(FRXBuff, PSTR("+CMGW: %d"), &idx) == 1)
{
DEBUG_P(PSTR("SMS Written at index -> %d"LB), idx);
res = true;
if(pIndex)
*pIndex = idx;
}
else
HandleURC();
}
}
}
}
boolean ModemGSM::ReadSMSAtIndex(int pIndex, TSMSPtr pSMS)
{
boolean hasEntry = false;
DEBUG_P(PSTR("Reading SMS entry at --> %d"LB), pIndex);
SendCommand(PSTR("AT+CMGR=%d"), pIndex);
for(;;)
{
switch(WaitAnswer(5000))
{
case saOk:
return hasEntry;
case saError:
case saTimeout:
return false;
case saUnknown:
{
int idx;
if(sscanf_P(FRXBuff, PSTR("+CMGR: \"%*[^\"]\",\"%20[^\"]\""), pSMS->phone) == 1)
{
DEBUG_P(PSTR(" SMS Number -> %s"LB), pSMS->phone);
if(Readln(500, true) != 0)
{
DEBUG_P(PSTR(" SMS Text -> "));
DEBUGLN(FRXBuff);
strncpy(pSMS->body, FRXBuff, sizeof(pSMS->body) - 1);
pSMS->body[sizeof(pSMS->body) - 1] = '\0';
hasEntry = true;
}
else
{
DEBUG_P(PSTR("** Timeout reading SMS text"LB));
return false;
}
}
else
HandleURC();
}
}
}
}
boolean ModemGSM::GetPBEntryByName(const char *pName, char *pNumber, int *pIndex)
{
boolean hasEntry = false;
DEBUG_P(PSTR("Reading PB entry --> %s"LB), pName);
SendCommand(PSTR("AT+CPBF=\"%s\""), pName);
for(;;)
{
switch(WaitAnswer(10000))
{
case saOk:
return hasEntry;
case saError:
case saTimeout:
return false;
case saUnknown:
{
int idx;
//Stop on first entry.
if(!hasEntry && (sscanf_P(FRXBuff,PSTR("+CPBF: %d,\"%20[^\"]\""), &idx, pNumber) == 2))
{
DEBUGLN(pNumber);
hasEntry = true;
if(pIndex)
*pIndex = idx;
}
else
HandleURC();
}
}
}
}
bool UbirchSIM800::is_urc(const char *line, size_t len) {
urc_status = 0xff;
for (uint8_t i = 0; i < 17; i++) {
#ifdef __AVR__
const char *urc = (const char *) pgm_read_word(&(_urc_messages[i]));
#else
const char *urc = _urc_messages[i];
#endif
size_t urc_len = strlen(urc);
if (len >= urc_len && !strncmp(urc, line, urc_len)) {
#ifdef DEBUG_URC
PRINT("!!! SIM800 URC(");
DEBUG(i);
PRINT(") ");
DEBUGLN(urc);
#endif
urc_status = i;
return true;
}
}
return false;
}
int ModemGSM::Dispatch()
{
int res = 0;
int level;
int ind;
static int state=0;
EvalNetworkLedStatus();
#ifdef REGISTRATION_DELAYED
if(FNetworkRegDelayActive && FNetworkRegDelayTS.IsExpired())
{
DEBUG_P(PSTR("Network Registration Delay Expired --> Now Registered To Network"LB));
FNetworkRegDelayActive = false;
FRegisteredToNetwork = true;
}
#endif
if(FLastKeepAliveTS.IsExpired())
{
#if SIMULATION
if(FPBReady)
{
int idx;
char temp[30];
// switch(state % 3) //repeat commands
switch(state)
{
case 0:
{
DEBUG_P(PSTR("---- Posting Fake SMS"LB));
WriteSMS("+390000000000", "ON 0000,22", &idx);
sprintf_P(temp, PSTR("+CMTI: \"SM\",%d"), idx);
break;
}
case 1:
{
DEBUG_P(PSTR("---- Posting Fake SMS"LB));
WriteSMS("+390000000000", "ON 0000,22", &idx);
sprintf_P(temp, PSTR("+CMTI: \"SM\",%d"), idx);
break;
}
default:
{
temp[0] = 0;
if(!SendKeepAlive())
{
FKeepAliveFailedCount++;
//if the modem is not answering try the hard way ...
if(FKeepAliveFailedCount > 5)
{
//Try to power off the modem
SendCommand("AT+CPWROFF");
delay(1000);
//Signal Error condition
FError = true;
return res;
}
}
else
{
FError = false;
FKeepAliveFailedCount = 0;
}
}
}
state++;
if(temp[0])
{
FURCQueue.Enqueue(temp);
DEBUG_P(PSTR("---- Posted Fake SMS"LB));
}
}
else
#endif
if(!SendKeepAlive())
{
FKeepAliveFailedCount++;
//if the modem is not answering try the hard way ...
if(FKeepAliveFailedCount > 5)
{
//Try to power off the modem
SendCommand("AT+CPWROFF");
delay(1000);
//Signal Error condition
FError = true;
return res;
}
}
else
{
FError = false;
FKeepAliveFailedCount = 0;
}
FLastKeepAliveTS.Reset();
};
int idx;
//Check for Queued URC or Data from Modem SerialLine
if((FURCQueue.Count() ? FURCQueue.Dequeue(FRXBuff, sizeof(FRXBuff)) : false) || (Readln(100, false) != TIMEOUT))
{
if(sscanf_P(FRXBuff, PSTR("+CMTI: \"%*[^\"]\",%d"), &idx) == 1)
{
DEBUG_P(PSTR("SMS Received at -> %d"LB), idx);
//Save SMS position in SM Memory, the SMS is stored by the Modem
FSMSInQueue.Enqueue(idx);
}
else if((sscanf_P(FRXBuff,PSTR("+CMGS: %d"), &level) == 1) || (sscanf_P(FRXBuff,PSTR("+CMSS: %d"), &level) == 1))
{
DEBUG_P(PSTR("Last Message Sent Successfully"LB));
}
else if(sscanf_P(FRXBuff,PSTR("+CIEV: %d,%d"), &ind, &level) == 2)
{
if(ind == 2)
{
if((level >= 1) && (level <= 5))
{
FSignalLevel = level;
DEBUG_P(PSTR("Signal Strength --> %d"LB), level);
}
else
{
FSignalLevel = UNKNOWN_LEVEL;
DEBUG_P(PSTR("**BAD Signal Strength --> %d"LB), level);
}
}
}
else if(sscanf_P(FRXBuff,PSTR("+CREG: %d"), &level) == 1)
{
if((level == 1) || (level == 5))
{
#ifdef REGISTRATION_DELAYED
DEBUG_P(PSTR("Registered to Network Indication --> Starting Delay"LB));
FNetworkRegDelayActive = true;
//Wait for a while to be sure that SMS will work
FNetworkRegDelayTS.Reset();
#else
FRegisteredToNetwork = true;
DEBUGLN_P(PSTR("Registered to Network"LB));
#endif
}
else
{
DEBUG_P(PSTR("NOT Registered to Network"LB));
FRegisteredToNetwork = false;
#ifdef REGISTRATION_DELAYED
FNetworkRegDelayActive = false;
#endif
}
FLastBlinkTS.Reset();
EvalNetworkLedStatus();
}
else if(strncmp(FRXBuff,"+XDRVI: ", 8) == 0)
{
resetCount++;
DEBUG_P(PSTR("Module RESET"LB));
DiscardSerialInput(5000);
InnerSetup();
}
else if(strcmp_P(FRXBuff,PSTR("+PBREADY")) == 0)
{
FPBReady = true;
for(int i = 0; i < 10; i++)
if(ClearSMSMemory())
break;
else
{
delay(1000);
DEBUG_P(PSTR("Retrying .... "LB));
}
FLastKeepAliveTS.Reset();
}
else
{
DEBUG_P(PSTR("** Unhandled -> "));
DEBUGLN(FRXBuff);
}
}
//Do not fire SMS retries if the network is not available
if((FSMSOutQueue.Count() && FRegisteredToNetwork) && !(FSMSResendPending && !FSMSResendTS.IsExpired()))
{
int idx;
FSMSOutQueue.Peek(&idx);
if(SendSMSAtIndex(idx))
{
SMSDequeue(qOut, NULL);
FSMSResendPending = false;
}
else
{
//A retry failed ?
if(FSMSResendPending)
{
//some other retry available ?
if(FSMSRetry)
{
FSMSRetry--;
FSMSResendTS.Reset();
DEBUG_P(PSTR("Retrying SMS Send. Retry Count --> %d"LB), (int)FSMSRetry);
}
else
{
//discard SMS
FSMSResendPending = false;
FSMSOutQueue.Dequeue(NULL);
DEBUG_P(PSTR("** Too Many Retries SMS Send Aborted"LB));
}
}
else
{
//Start a delay and retry sequence
FSMSRetry = SMS_RETRY_COUNT;
FSMSResendPending = true;
FSMSResendTS.Reset();
DEBUG_P(PSTR("Retrying SMS Send. Retry Count --> %d"LB), (int)FSMSRetry);
}
}
}
return res;
}
/*EDU US*/ void rgb_lcd::effectiveNewWrite(String newString){
//--- On crée des variables locales
int8_t userCol; // Utilisée pour sauvegarder la position du curseur utilisateur
//--- On sauvegarde la position du curseur de l'utilisateur
userCol = m_curentCol;
//--- On récupère la ligne courante
DEBUG2("La ligne courante est : ", m_curentRow);
//--- On récupère la colonne courante
DEBUG2("La colonne courante est : ", m_curentCol);
//--- On récupère la dernière taille max à partir de temp
int8_t maxLength=m_maxLength[m_curentCol][m_curentRow];
DEBUG2("La derniere taille max enregistree est : ", maxLength);
//--- Détermination de la taille du nbr reçu
int8_t newMaxLength=newString.length();
DEBUG2("La nouvelle taille max est : ", newMaxLength);
//--- On compare et enregistre la taille max
int8_t curentLength;
if(newMaxLength>maxLength){
// Il faut sauvegarder la nouvelle valeurs
m_maxLength[m_curentCol][m_curentRow]=newMaxLength;
// Sauvegarde dans une variable pratique
curentLength=newMaxLength;
DEBUG2("On enregistre la nouvelle taille max avec : ", m_maxLength[m_curentCol][m_curentRow]);
}
else {
// Sauvegarde dans une variable pratique
curentLength=maxLength;
DEBUG2("On garde l ancienne valeur de taille max : ", m_maxLength[m_curentCol][m_curentRow]);
}
//--- TEMP: On construit une chaine à partir de la ligne courante et de la position du curseur
//-- On construit 1 chaîne vide
char tempRow[16];
//-- On remplit la chaine avec des valeurs par défaut
for(int8_t k=0;k<NBR_COLS;k++){
tempRow[k]='-';
}
//--- TEMP: On ajoute le nombre reçu à la ligne courante et à l'endroit du curseur
//-- On complète la chaîne newString pour qu'elle ait la longueur max constatée
//-- La taille de la chaîne doit être de curentLength
//-- On compare la longeur réelle et la longeur souhaitée
int8_t diffLength = maxLength-newMaxLength;
DEBUG2("La difference de longeur (pour cette position) est de :", diffLength);
//-- On teste si le nombre à diminué de longueur
if(diffLength>0){
//- Il faut alors complèter la chaîne car elle est trop courte
for(int8_t i=0;i<=diffLength;i++){
//- On ajoute un x à la chaîne
newString+=' ';
}
DEBUG2("Des 0 ont été ajoutés. La chaîne vaut maitenant : ", newString);
}
//--- On enregistre la nouvelle chaîne temp. On commence la boucle à l'endroit du curseur
for(int8_t i=0;i<curentLength;i++){
//-Ecriture du nouveau mot dans la ligne courente du tableau temp
tempRow[m_curentCol+i]=newString[i];
}
//-- Affichage de la ligne TEMP => Serial
DEBUG_TAB("La chaine temp vaut maintenant : ",tempRow,0,16);
//for(int8_t i=0;i<16;i++){Serial.print(tempRow[i]);} Serial.println(" ");
//--- Affichage de memory => Serial
DEBUG_TAB2("MEMORY (avant modifications) contient : ", m_memory,0,15,0,1);
//for(int8_t i=0;i<16;i++){Serial.print(m_memory[i][0]);} Serial.println(" ");
//for(int8_t i=0;i<16;i++){Serial.print(m_memory[i][1]);} Serial.println(" ");
//--- On va comparer la ligne temp avec m_memory uniquement sur la plage taille max
DEBUG("Debut comparaison entre la ligne temp et m_memory - ");
DEBUGLN("La comparaison se fait case par case sur la ligne courante");
// INFOS : Debut de la boucle=position curseur (m_curentCol)
// INFOS : Fin de la boucle = position curseur+largeur max
//-- On calcule le début de la boucle
int8_t startTest = m_curentCol;
//-- On calcule la fin de la boucle
int8_t endTest = startTest+curentLength;
//-- Rappel colone utilisateur
DEBUG2("Colonne utilisateur : ", userCol);
//-- On lance la comparaison sur la plage active
for(int8_t c=startTest;c<endTest;c++){
//-- Comparaison case par case
if(tempRow[c]!=m_memory[c][m_curentRow]){
DEBUG2("Case : ", c);
//Serial.print("Case : "); Serial.print(c);
DEBUG2(" : ", tempRow[c]);
//Serial.print(" : "); Serial.print(tempRow[c]);
DEBUG2(" different de : ", m_memory[c][m_curentRow]);
//Serial.print(" different de : "); Serial.print(m_memory[c][m_curentRow]);
DEBUG(" => Requete I2C necessaire ! ");
//Serial.print(" => Requete I2C necessaire ! ");
//-- On enregistre la nouvelle valeur dans m_memory
m_memory[c][m_curentRow]=tempRow[c];
//-- On se rappelle qu'écire déplace le curseur
//-- On envoit une reqête I2C
//-On place le curseur à l'endroit de la modification
setCursorOn(m_curentRow,c);
DEBUG2("Curseur place en : ",c);
// >>> EFECTIVE WRITE !
DEBUG2("Ecriture I2C de : ", tempRow[c]);
write(tempRow[c]);
}
else{
DEBUG2("Case : ", c);
DEBUG2(" : ", tempRow[c]);
DEBUG2(" egale a : ", m_memory[m_curentRow][c]);
}
}
//-- On replace le curseur après la fin du mot courant
//- On calcule la nouvelle position souhaitée pour le curseur
int8_t newPos;
newPos = userCol + curentLength;
setCursorOn(m_curentRow, newPos); // setCursor change automatiquement la position courante
//--- Affichage de memory => Serial
DEBUG_TAB2("MEMORY (apres modifications) contient : ", m_memory,0,15,0,1);
}
//
// Copied largely unchanged from Marlin
//
void Device_Heater::DoPidAutotune(uint8_t device_number, float temp, int ncycles)
{
float input = 0.0;
int cycles = 0;
bool heating = true;
unsigned long temp_millis = millis();
unsigned long t1=temp_millis;
unsigned long t2=temp_millis;
long t_high = 0;
long t_low = 0;
long bias, d;
float Ku, Tu;
float Kp, Ki, Kd;
float max = 0;
float min = 10000;
uint8_t p;
uint8_t i;
extern volatile bool temp_meas_ready;
DEBUGLNPGM("PID Autotune start");
// switch off all heaters during auto-tune
for (i=0; i<Device_Heater::GetNumDevices(); i++)
{
if (Device_Heater::IsInUse(i))
Device_Heater::SetHeaterPower(&heater_info_array[device_number], 0);
}
HeaterInfo *heater_info = &heater_info_array[device_number];
bias = d = p = heater_info->power_on_level;
SetHeaterPower(heater_info, p);
for(;;)
{
if(temp_meas_ready == true)
{ // temp sample ready
Device_TemperatureSensor::UpdateTemperatureSensors();
input = Device_Heater::ReadCurrentTemperature(device_number);
max=max(max,input);
min=min(min,input);
if(heating == true && input > temp)
{
if(millis() - t2 > 5000)
{
heating=false;
p = bias - d;
SetHeaterPower(heater_info, p);
t1=millis();
t_high=t1 - t2;
max=temp;
}
}
if(heating == false && input < temp)
{
if(millis() - t1 > 5000) {
heating=true;
t2=millis();
t_low=t2 - t1;
if(cycles > 0) {
bias += (d*(t_high - t_low))/(t_low + t_high);
bias = constrain(bias, 20 ,heater_info->power_on_level-20);
if (bias > heater_info->power_on_level/2)
d = heater_info->power_on_level - 1 - bias;
else
d = bias;
DEBUGPGM(" bias: "); DEBUG_F(bias, DEC);
DEBUGPGM(" d: "); DEBUG_F(d, DEC);
DEBUGPGM(" min: "); DEBUG(min);
DEBUGPGM(" max: "); DEBUGLN(max);
if(cycles > 2)
{
Ku = (4.0*d)/(3.14159*(max-min)/2.0);
Tu = ((float)(t_low + t_high)/1000.0);
DEBUGPGM(" Ku: "); DEBUG(Ku);
DEBUGPGM(" Tu: "); DEBUGLN(Tu);
Kp = 0.6*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/8;
DEBUGLNPGM(" Clasic PID ");
DEBUGPGM(" Kp: "); DEBUGLN(Kp);
DEBUGPGM(" Ki: "); DEBUGLN(Ki);
DEBUGPGM(" Kd: "); DEBUGLN(Kd);
/*
Kp = 0.33*Ku;
Ki = Kp/Tu;
Kd = Kp*Tu/3;
DEBUGLNPGM(" Some overshoot ")
DEBUGPGM(" Kp: "); DEBUGLN(Kp);
DEBUGPGM(" Ki: "); DEBUGLN(Ki);
DEBUGPGM(" Kd: "); DEBUGLN(Kd);
Kp = 0.2*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/3;
DEBUGLNPGM(" No overshoot ")
DEBUGPGM(" Kp: "); DEBUGLN(Kp);
DEBUGPGM(" Ki: "); DEBUGLN(Ki);
DEBUGPGM(" Kd: "); DEBUGLN(Kd);
*/
}
}
p = bias + d;
SetHeaterPower(heater_info, p);
cycles++;
min=temp;
}
}
}
if(input > (temp + 20))
{
ERRORLNPGM("PID Autotune failed! Temperature too high");
return;
}
if(millis() - temp_millis > 2000)
{
DEBUGLNPGM("ok T:");
DEBUG(input);
DEBUGPGM(" @:");
DEBUGLN(p);
temp_millis = millis();
}
if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L))
{
ERRORLNPGM("PID Autotune failed! timeout");
return;
}
if(cycles > ncycles)
{
DEBUGLNPGM("PID Autotune finished! Record the last Kp, Ki and Kd constants");
return;
}
}
}
TValue vm_interpret(AttoVM* vm, AttoBlock* block, int start, int argc)
{
DEBUGF("Interpret block: %d ops\n", block->code->size);
int error = 0;
TValue* max = (TValue*)(block->code->elements + start + block->code->size);
TValue *pc_val = (TValue*)(block->code->elements + start);
Instruction i = TV2INST(*pc_val);
Stack *stack = &block->stack;
const char* opcode_names[] = { OPCODE_NAMES };
const char* op_name = NULL;
int x;
for(x = 0; pc_val < max && !error; ++x) {
op_name = i >= NUM_OPS ? "unknown" : opcode_names[i];
if(i >= NUM_OPS) {
ERROR("bad opcode: %d", i);
}
DEBUGF("[%d]\t%s (%d)\n", x, op_name, i);
switch(i) {
case OP_NOP:
DISPATCH;
case OP_POP:
EXPECT_ON_STACK(1);
TValue v = pop(stack);
valueDestroy(&v);
DISPATCH;
case OP_DUP: {
EXPECT_ON_STACK(1);
TValue v = pop(stack);
push(stack, v);
push(stack, v);
DISPATCH;
}
case OP_SWAP: {
EXPECT_ON_STACK(2);
TValue f = pop(stack);
TValue s = pop(stack);
push(stack, f);
push(stack, s);
DISPATCH;
}
case OP_ADD:
case OP_SUB:
case OP_MUL:
case OP_DIV:
case OP_MOD:
case OP_POW: {
EXPECT_ON_STACK(2);
TValue b = pop(stack);
TValue a = pop(stack);
TValue res = MathOp(i, a, b);
push(stack, res);
DISPATCH;
}
case OP_OR:
case OP_AND:
case OP_XOR: {
EXPECT_ON_STACK(2);
TValue b = pop(stack);
TValue a = pop(stack);
TValue res = BitwiseOp(i, a, b);
push(stack, res);
DISPATCH;
}
case OP_NOT: {
EXPECT_ON_STACK(1);
TValue a = pop(stack);
push(stack, createNumber(~(long)TV2NUM(a)));
DISPATCH;
}
case OP_EQ:
case OP_LT:
case OP_GT:
case OP_LTE:
case OP_GTE:
case OP_CMP: {
EXPECT_ON_STACK(2);
TValue b = pop(stack);
TValue a = pop(stack);
TValue res = ComparisonOp(i, a, b);
push(stack, res);
DISPATCH;
}
case OP_IF: {
EXPECT_ON_STACK(1);
TValue t = pop(stack);
if(boolValue(t)) {
NEXTINST;
}
DISPATCH;
}
case OP_JMP: {
EXPECT_ON_STACK(1);
long jmp = (long)TV2NUM(pop(stack));
if(jmp + pc_val >= max || jmp + (long)pc_val < 0) {
ERROR("Invalid jump: %ld", jmp);
}
pc_val += jmp;
DISPATCH;
}
case OP_PUSHCONST: {
int index = TV2INST(*++pc_val);
if(index >= (int)block->k->size) {
ERROR("Constant index out of bounds: %d", index);
}
TValue k = getIndex(block->k, index);
push(stack, k);
DISPATCH;
}
case OP_PUSHVAR: {
int index = TV2INST(*++pc_val);
if(index < 0 || index >= block->sizev) {
ERROR("Variable index out of bounds: %d", index);
}
DEBUGF("PUSHVAR, index %d, value >> %s\n", index, TValue_to_string(block->vars[index]));
TValue var = block->vars[index];
var.value.var.index = index;
block->vars[index] = var;
push(stack, var);
DISPATCH;
}
case OP_SETVAR: {
EXPECT_ON_STACK(2);
TValue var = pop(stack);
if(var.type != TYPE_VAR) {
ERROR("Expected a var, but got %s", TValue_type_to_string(var));
}
int index = var.value.var.index;
TValue *val = malloc(sizeof(TValue));
*val = pop(stack);
block->vars[index] = createVar(val);
DEBUGF("SETVAR, index %d, value >> %s\n", index, TValue_to_string(block->vars[index]));
DISPATCH;
}
case OP_VALUEVAR: {
EXPECT_ON_STACK(1);
TValue var = pop(stack);
if(var.type != TYPE_VAR) {
ERROR("Expected a var, but got %s", TValue_type_to_string(var));
}
Value val = *var.value.var.value;
AttoType type = var.value.var.type;
TValue t;
t.value = val;
t.type = type;
push(stack, t);
DISPATCH;
}
case OP_BOOLVALUE: {
EXPECT_ON_STACK(1);
TValue tos = pop(stack);
int bool = boolValue(tos);
valueDestroy(&tos);
push(stack, createBool(bool));
DISPATCH;
}
case OP_CONCAT: {
EXPECT_ON_STACK(2);
TValue top = pop(stack);
TValue sec = pop(stack);
if(!(top.type == TYPE_STRING && sec.type == TYPE_STRING)) {
ERROR("Expected two string values, but got %s and %s", TValue_type_to_string(sec),
TValue_type_to_string(top));
}
char *top_s = TV2STR(top);
char *sec_s = TV2STR(sec);
char *str = malloc(strlen(top_s) + strlen(sec_s));
strcpy(str, sec_s);
strcat(str, top_s);
valueDestroy(&top);
valueDestroy(&sec);
push(stack, createString(str, strlen(str), 0));
free(str);
DISPATCH;
}
case OP_PRINT: {
EXPECT_ON_STACK(1);
TValue v = pop(stack);
char *str = TValue_to_string(v);
printf("%s", str);
if(v.type == TYPE_NUMBER) free(str);
valueDestroy(&v);
DISPATCH;
}
case OP_READLINE: {
char *buf = malloc(BUFSIZ);
memset(buf, '\0', BUFSIZ);
if(fgets(buf, BUFSIZ, stdin) ) {
char *nl = strchr(buf, '\n');
if(nl) {
*nl = '\0';
}
}
unsigned len = strlen(buf) + 1;
push(stack, createString(buf, len, 0));
free(buf);
DISPATCH;
}
case OP_DUMPSTACK:
print_stack(*stack);
DISPATCH;
case OP_CLEARSTACK: {
Stack s = StackNew();
StackDestroy(&block->stack);
*stack = s;
DISPATCH;
}
case OP_CALL: {
EXPECT_ON_STACK(2);
TValue fcn = pop(stack);
TValue num = pop(stack);
// FIXME: this explodes when types aren't right :(
if(fcn.type != TYPE_FUNCTION || num.type != TYPE_NUMBER) {
ERROR("Expected function and numeric values, but got %s and %s", TValue_type_to_string(fcn),
TValue_type_to_string(num));
}
int nargs = (int)TV2NUM(num);
EXPECT_ON_STACK(nargs);
int j;
for(j = 0; j < nargs; ++j) {
TValue v = pop(stack);
push(&fcn.value.function.b->stack, v);
}
TValue ret = vm_interpret(vm, fcn.value.function.b, 0, nargs);
if(ret.type != TYPE_NULL) {
push(stack, ret);
}
valueDestroy(&fcn);
valueDestroy(&num);
valueDestroy(&fcn);
DISPATCH;
}
case OP_RETURN: {
EXPECT_ON_STACK(1);
TValue ret = pop(stack);
DEBUGF("Finished block, returning with %s\n", TValue_to_string(ret));
return ret;
DISPATCH;
}
default:
ERROR("Unrecognized opcode: %d", i);
}
}
DEBUGLN("Finished block");
return createNull();
}
