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Das OS_TASK_DELAY(6); führt dazu das der Task 6ms Sekunden geblockt wird.

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Brummie
Ansonsten: Respekt! Du bist schon sehr weit gekommen. Sehr schön.

Wie hast Du denn die Temperatur-Regelung gemacht? Ist das ein Interrupt, der zu fixen Zeiten ausgeführt wird, oder hängt die Frequenz der PID-Regelung von den ADC-Werten ab?

void JET_PID_Task(void){
	uint8_t	i;
	while(1){

		i++;

		OS_TASK_Delay(6);

		if(OS_EVENT_GetTimed(&New_Jet_Temp_Event,100) == 0){
		
		} else {
			HARD_FAULT();
		}

		IST_JET_Temperature	= get_JET_Temperature();

		if(PID_WAIT_EVENT){
			if (  ( IST_JET_Temperature - SOLL_JET_Temperature ) > 10 ){
				PID_WAIT_EVENT |= 0b0010;
				
				if (PID_WAIT_EVENT ==  0b0111) {
					PID_WAIT_EVENT = 0;
					quit_Command();
				}
			}
		}

		OUT_JET_P =	(( SOLL_JET_Temperature	- IST_JET_Temperature )	* JET_PID_Kp	) /10.0;

		if (OUT_JET_P >	255.0){		OUT_JET_P =	255.0; }
		if (OUT_JET_P <	-255.0){	OUT_JET_P =	-255.0;}

		if (i%2){
			if ( abs ( ( SOLL_JET_Temperature -	IST_JET_Temperature	) )	< 300 ){	
				OUT_JET_I +=	(( SOLL_JET_Temperature	- IST_JET_Temperature )	* JET_PID_Ki /1000.0);
				OUT_JET_D =	(IST_JET_Temperature	- OLD_IST_JET_Temperature )	* JET_PID_Kd /10.0;
			}
			OLD_IST_JET_Temperature	= IST_JET_Temperature;	
		}
		
		if (OUT_JET_I >	200.0){		OUT_JET_I =	200.0; }
		if (OUT_JET_I <	-200.0){	OUT_JET_I =	-200.0;}

		if ( abs ( ( SOLL_JET_Temperature -	IST_JET_Temperature	) )	< 300 ){	
			OUT_JET	= OUT_JET_P	+ OUT_JET_I	+	OUT_JET_D; 
		}
		else {
			OUT_JET	= OUT_JET_P;
		}

		if (OUT_JET	> 255.0	){	OUT_JET	= 255.0;}
		if (OUT_JET	< 0	) {		OUT_JET	= 0;}

		set_Jet_PWM( (uint8_t)OUT_JET);
		
	}
}

	// Wie schnell kann	ich	werden ? 

	uint8_t	find_blocks	= 0;
	uint32_t way =	0;
	uint32_t End_Feedrate =	0;
	if ( HOME == 0){



		while(1){
			COMMAND	* next_Motion;
			next_Motion	= next_G_Code_in_FIFO(find_blocks);
			if (next_Motion	!= 0){
				
				if (next_Motion->Pre_Calc == 0){
					Pre_Calculation(next_Motion);
				}

				if ( next_Motion->AXIS_Step_Relative[actual_Motion->Priority_Axis] == 0	){
					break;
				}

				if ( ( next_Motion->Direction &	(1 <<  actual_Motion->Priority_Axis	)) != (	actual_Motion->Direction & (1 <<  actual_Motion->Priority_Axis ))){
					break;
				}	
				way	+= next_Motion->AXIS_Step_Relative[actual_Motion->Priority_Axis] ;

				End_Feedrate +=	( next_Motion->AXIS_Step_Relative[actual_Motion->Priority_Axis]	 / next_Motion->Acceleration);
				find_blocks	++;
			}
			else{
				break;
			}
			


			if (find_blocks	> 8){
				break;
			}
		}
	}
	
	way	= way>>1;

	//End_Feedrate	=  (way	/ actual_Motion->Acceleration )	;
	
	End_Feedrate = End_Feedrate	>> 1;
	
	if (End_Feedrate  >	 actual_Motion->Feedrate){
		End_Feedrate  =	 actual_Motion->Feedrate;
	}
	actual_Motion->End_Feedrate	=  (uint16_t)End_Feedrate ;

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Naja ich hab hier auch ein Raspberry rumfliegen . Aber ich kann keine Firmware dafür schreiben .

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Kenn sich hier vielleicht jemand mit dem SD-Karten Protokoll aus ?