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Fix Stepper idle cranking outputting half steps (#1197) 

* Fix Stepper idle cranking outputting half steps

* Add macros for stepper less and more air

---------

Co-authored-by: Josh Stewart <josh@noisymime.org>
This commit is contained in:
Vitor Moreno B. Sales 2024-03-15 23:05:10 -03:00 committed by GitHub
parent e2bcac6ea3
commit 98cf514bcf
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GPG Key ID: B5690EEEBB952194
2 changed files with 20 additions and 64 deletions
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82
speeduino/idle.cpp
View File

@ -8,6 +8,9 @@ A full copy of the license may be found in the projects root directory
#include "timers.h"
#include "src/PID_v1/PID_v1.h"
#define STEPPER_LESS_AIR_DIRECTION() ((configPage9.iacStepperInv == 0) ? STEPPER_BACKWARD : STEPPER_FORWARD)
#define STEPPER_MORE_AIR_DIRECTION() ((configPage9.iacStepperInv == 0) ? STEPPER_FORWARD : STEPPER_BACKWARD)
byte idleUpOutputHIGH = HIGH; // Used to invert the idle Up Output
byte idleUpOutputLOW = LOW; // Used to invert the idle Up Output
byte idleCounter; //Used for tracking the number of calls to the idle control function
@ -196,16 +199,6 @@ void initialiseIdle(bool forcehoming)
idleStepper.stepperStatus = SOFF;
}
if (! configPage9.iacStepperInv)
{
idleStepper.lessAirDirection = STEPPER_BACKWARD;
idleStepper.moreAirDirection = STEPPER_FORWARD;
}
else
{
idleStepper.lessAirDirection = STEPPER_FORWARD;
idleStepper.moreAirDirection = STEPPER_BACKWARD;
}
configPage6.iacPWMrun = false; // just in case. This needs to be false with stepper idle
break;
@ -227,17 +220,6 @@ void initialiseIdle(bool forcehoming)
idleStepper.stepperStatus = SOFF;
}
if (! configPage9.iacStepperInv)
{
idleStepper.lessAirDirection = STEPPER_BACKWARD;
idleStepper.moreAirDirection = STEPPER_FORWARD;
}
else
{
idleStepper.lessAirDirection = STEPPER_FORWARD;
idleStepper.moreAirDirection = STEPPER_BACKWARD;
}
idlePID.SetSampleTime(250); //4Hz means 250ms
idlePID.SetOutputLimits((configPage2.iacCLminValue * 3)<<2, (configPage2.iacCLmaxValue * 3)<<2); //Maximum number of steps; always less than home steps count.
idlePID.SetTunings(configPage6.idleKP, configPage6.idleKI, configPage6.idleKD);
@ -271,17 +253,6 @@ void initialiseIdle(bool forcehoming)
idleStepper.stepperStatus = SOFF;
}
if (! configPage9.iacStepperInv)
{
idleStepper.lessAirDirection = STEPPER_BACKWARD;
idleStepper.moreAirDirection = STEPPER_FORWARD;
}
else
{
idleStepper.lessAirDirection = STEPPER_FORWARD;
idleStepper.moreAirDirection = STEPPER_BACKWARD;
}
idlePID.SetSampleTime(250); //4Hz means 250ms
idlePID.SetOutputLimits((configPage2.iacCLminValue * 3)<<2, (configPage2.iacCLmaxValue * 3)<<2); //Maximum number of steps; always less than home steps count.
idlePID.SetTunings(configPage6.idleKP, configPage6.idleKI, configPage6.idleKD);
@ -381,20 +352,20 @@ Performs a step
*/
static inline void doStep(void)
{
if ( (idleStepper.targetIdleStep <= (idleStepper.curIdleStep - configPage6.iacStepHyster)) || (idleStepper.targetIdleStep >= (idleStepper.curIdleStep + configPage6.iacStepHyster)) ) //Hysteresis check
int16_t error = idleStepper.targetIdleStep - idleStepper.curIdleStep;
if ( (error < -((int8_t)configPage6.iacStepHyster)) || (error > configPage6.iacStepHyster) ) //Hysteresis check
{
// the home position for a stepper is pintle fully seated, i.e. no airflow.
if(idleStepper.targetIdleStep < idleStepper.curIdleStep)
if (error < 0)
{
// we are moving toward the home position (reducing air)
digitalWrite(pinStepperDir, idleStepper.lessAirDirection);
digitalWrite(pinStepperDir, STEPPER_LESS_AIR_DIRECTION() );
idleStepper.curIdleStep--;
}
else
if (idleStepper.targetIdleStep > idleStepper.curIdleStep)
{
// we are moving away from the home position (adding air).
digitalWrite(pinStepperDir, idleStepper.moreAirDirection);
digitalWrite(pinStepperDir, STEPPER_MORE_AIR_DIRECTION() );
idleStepper.curIdleStep++;
}
@ -403,7 +374,11 @@ static inline void doStep(void)
idleStepper.stepStartTime = micros_safe();
idleStepper.stepperStatus = STEPPING;
idleOn = true;
BIT_SET(currentStatus.spark, BIT_SPARK_IDLE);
}
else
BIT_CLEAR(currentStatus.spark, BIT_SPARK_IDLE);
}
/*
@ -417,7 +392,7 @@ static inline byte isStepperHomed(void)
bool isHomed = true; //As it's the most common scenario, default value is true
if( completedHomeSteps < (configPage6.iacStepHome * 3) ) //Home steps are divided by 3 from TS
{
digitalWrite(pinStepperDir, idleStepper.lessAirDirection); //homing the stepper closes off the air bleed
digitalWrite(pinStepperDir, STEPPER_LESS_AIR_DIRECTION() ); //homing the stepper closes off the air bleed
digitalWrite(pinStepperEnable, LOW); //Enable the DRV8825
digitalWrite(pinStepperStep, HIGH);
idleStepper.stepStartTime = micros_safe();
@ -653,14 +628,6 @@ void idleControl(void)
//Currently cranking. Use the cranking table
idleStepper.targetIdleStep = table2D_getValue(&iacCrankStepsTable, (currentStatus.coolant + CALIBRATION_TEMPERATURE_OFFSET)) * 3; //All temps are offset by 40 degrees. Step counts are divided by 3 in TS. Multiply back out here
if(currentStatus.idleUpActive == true) { idleStepper.targetIdleStep += configPage2.idleUpAdder; } //Add Idle Up amount if active
//limit to the configured max steps. This must include any idle up adder, to prevent over-opening.
if (idleStepper.targetIdleStep > (configPage9.iacMaxSteps * 3) )
{
idleStepper.targetIdleStep = configPage9.iacMaxSteps * 3;
}
doStep();
idleTaper = 0;
}
else
@ -688,21 +655,17 @@ void idleControl(void)
iacStepTime_uS = configPage6.iacStepTime * 1000;
iacCoolTime_uS = configPage9.iacCoolTime * 1000;
//limit to the configured max steps. This must include any idle up adder, to prevent over-opening.
if (idleStepper.targetIdleStep > (configPage9.iacMaxSteps * 3) )
{
idleStepper.targetIdleStep = configPage9.iacMaxSteps * 3;
}
}
doStep();
}
//limit to the configured max steps. This must include any idle up adder, to prevent over-opening.
if (idleStepper.targetIdleStep > (configPage9.iacMaxSteps * 3) )
{
idleStepper.targetIdleStep = configPage9.iacMaxSteps * 3;
}
if( ((uint16_t)configPage9.iacMaxSteps * 3) > 255 ) { currentStatus.idleLoad = idleStepper.curIdleStep / 2; }//Current step count (Divided by 2 for byte)
else { currentStatus.idleLoad = idleStepper.curIdleStep; }
doStep();
}
//Set or clear the idle active flag
if(idleStepper.targetIdleStep != idleStepper.curIdleStep) { BIT_SET(currentStatus.spark, BIT_SPARK_IDLE); }
else { BIT_CLEAR(currentStatus.spark, BIT_SPARK_IDLE); }
break;
case IAC_ALGORITHM_STEP_OLCL: //Case 7 is closed+open loop stepper control
@ -722,7 +685,6 @@ void idleControl(void)
idleStepper.targetIdleStep = configPage9.iacMaxSteps * 3;
}
doStep();
idleTaper = 0;
idle_pid_target_value = idleStepper.targetIdleStep << 2; //Resolution increased
idlePID.ResetIntegeral();
@ -779,14 +741,10 @@ void idleControl(void)
{
idleStepper.targetIdleStep = configPage9.iacMaxSteps * 3;
}
doStep();
if( ( (uint16_t)configPage9.iacMaxSteps * 3) > 255 ) { currentStatus.idleLoad = idleStepper.curIdleStep / 2; }//Current step count (Divided by 2 for byte)
else { currentStatus.idleLoad = idleStepper.curIdleStep; }
doStep();
}
//Set or clear the idle active flag
if(idleStepper.targetIdleStep != idleStepper.curIdleStep) { BIT_SET(currentStatus.spark, BIT_SPARK_IDLE); }
else { BIT_CLEAR(currentStatus.spark, BIT_SPARK_IDLE); }
if (BIT_CHECK(LOOP_TIMER, BIT_TIMER_1HZ)) //Use timer flag instead idle count
{
//This only needs to be run very infrequently, once per second

2
speeduino/idle.h
View File

@ -32,8 +32,6 @@ struct StepperIdle
int targetIdleStep; //What the targeted step is
volatile StepperStatus stepperStatus;
volatile unsigned long stepStartTime;
byte lessAirDirection;
byte moreAirDirection;
};
extern uint16_t idle_pwm_max_count; //Used for variable PWM frequency