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Merge pull request #206 from ric355/febstepper 

More stepper control changes for better starting and finer tuning
This commit is contained in:
Josh Stewart 2019-03-13 15:26:43 +11:00 committed by GitHub
parent 8c89ff1c1a 3b29179621
commit d422221bab
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 42 additions and 7 deletions
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4
reference/speeduino.ini
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@ -857,6 +857,7 @@ page = 9
;unused10_152 = scalar, U08, 152, "", 1, 0, 0, 255, 0
;unused10_153 = scalar, U08, 153, "", 1, 0, 0, 255, 0
iacStepperInv = bits, U08, 153, [0:0], "No", "Yes"
iacCoolTime = bits , U08, 153, [1:3], "0", "1", "2", "3", "4", "5", "6","INVALID"
unused10_154 = scalar, U08, 154, "", 1, 0, 0, 255, 0
unused10_155 = scalar, U08, 155, "", 1, 0, 0, 255, 0
@ -1349,6 +1350,8 @@ menuDialog = main
iacChannels = "The number of output channels used for PWM valves. Select 1 for 2-wire valves or 2 for 3-wire valves."
iacStepTime = "Pause time between each step. Values that are too low can cause the motor to behave erratically or not at all"
iacCoolTime = "Cool time between each step. Set to zero if you don't want any cooling at all"
iacStepHome = "Homing steps to perform on startup. Must be greater than the fully open steps value"
iacStepHyster = "The minimum number of steps to move in any one go."
iacAlgorithm = "Selects method of idle control.\nNone = no idle control valve.\nOn/Off valve.\nPWM valve (2,3 wire).\nStepper Valve (4,6,8 wire)."
@ -1721,6 +1724,7 @@ menuDialog = main
dialog = stepper_idle, "Stepper Idle"
field = "Step time (ms)", iacStepTime, { iacAlgorithm == 4 || iacAlgorithm == 5 }
field = "Cool time (ms)", iacCoolTime, { iacAlgorithm == 4 || iacAlgorithm == 5 }
field = "Home steps", iacStepHome, { iacAlgorithm == 4 || iacAlgorithm == 5 }
field = "Minimum Steps", iacStepHyster, { iacAlgorithm == 4 || iacAlgorithm == 5 }
field = "Stepper Inverted", iacStepperInv, { iacAlgorithm == 4 || iacAlgorithm == 5 }

2
speeduino/globals.h
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@ -756,8 +756,8 @@ struct config9 {
uint8_t Auxinpinb[16]; // digital pin number when internal aux in use
byte iacStepperInv : 1; //stepper direction of travel to allow reversing. 0=normal, 1=inverted.
byte iacCoolTime : 3; // how long to wait for the stepper to cool between steps
byte unused10_153;
byte unused10_154;
byte unused10_155;
byte unused10_156;

1
speeduino/idle.h
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@ -39,6 +39,7 @@ struct StepperIdle idleStepper;
bool idleOn; //Simply tracks whether idle was on last time around
byte idleInitComplete = 99; //TRacks which idle method was initialised. 99 is a method that will never exist
unsigned int iacStepTime;
unsigned int iacCoolTime;
unsigned int completedHomeSteps;
volatile PORT_TYPE *idle_pin_port;

42
speeduino/idle.ino
View File

@ -104,6 +104,7 @@ void initialiseIdle()
iacCrankStepsTable.values = configPage6.iacCrankSteps;
iacCrankStepsTable.axisX = configPage6.iacCrankBins;
iacStepTime = configPage6.iacStepTime * 1000;
iacCoolTime = configPage9.iacCoolTime * 1000;
completedHomeSteps = 0;
idleStepper.curIdleStep = 0;
@ -133,6 +134,7 @@ void initialiseIdle()
iacCrankStepsTable.values = configPage6.iacCrankSteps;
iacCrankStepsTable.axisX = configPage6.iacCrankBins;
iacStepTime = configPage6.iacStepTime * 1000;
iacCoolTime = configPage9.iacCoolTime * 1000;
completedHomeSteps = 0;
idleCounter = 0;
@ -250,12 +252,14 @@ void idleControl()
else if( (currentStatus.coolant + CALIBRATION_TEMPERATURE_OFFSET) < iacStepTable.axisX[IDLE_TABLE_SIZE-1])
{
//Standard running
if ((mainLoopCount & 255) == 1)
//We must also have more than zero RPM for the running state
if (((mainLoopCount & 255) == 1) && (currentStatus.RPM > 0))
{
//Only do a lookup of the required value around 4 times per second. Any more than this can create too much jitter and require a hyster value that is too high
idleStepper.targetIdleStep = table2D_getValue(&iacStepTable, (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
iacStepTime = configPage6.iacStepTime * 1000;
iacCoolTime = configPage9.iacCoolTime * 1000;
}
doStep();
}
@ -272,6 +276,7 @@ void idleControl()
//This only needs to be run very infrequently, once every 32 calls to idleControl(). This is approx. once per second
idlePID.SetTunings(configPage6.idleKP, configPage6.idleKI, configPage6.idleKD);
iacStepTime = configPage6.iacStepTime * 1000;
iacCoolTime = configPage9.iacCoolTime * 1000;
}
idle_cl_target_rpm = table2D_getValue(&iacClosedLoopTable, currentStatus.coolant + CALIBRATION_TEMPERATURE_OFFSET) * 10; //All temps are offset by 40 degrees
@ -323,16 +328,37 @@ False: If the motor is ready for another step
static inline byte checkForStepping()
{
bool isStepping = false;
unsigned int timeCheck;
if( (idleStepper.stepperStatus == STEPPING) || (idleStepper.stepperStatus == COOLING) )
{
if(micros_safe() > (idleStepper.stepStartTime + iacStepTime) )
if (idleStepper.stepperStatus == STEPPING)
{
timeCheck = iacStepTime;
}
else
{
timeCheck = iacCoolTime;
}
if(micros_safe() > (idleStepper.stepStartTime + timeCheck) )
{
if(idleStepper.stepperStatus == STEPPING)
{
//Means we're currently in a step, but it needs to be turned off
digitalWrite(pinStepperStep, LOW); //Turn off the step
idleStepper.stepStartTime = micros_safe();
idleStepper.stepperStatus = COOLING; //'Cooling' is the time the stepper needs to sit in LOW state before the next step can be made
// if there is no cool time we can miss that step out completely.
if (iacCoolTime > 0)
{
idleStepper.stepperStatus = COOLING; //'Cooling' is the time the stepper needs to sit in LOW state before the next step can be made
}
else
{
idleStepper.stepperStatus = SOFF;
}
isStepping = true;
}
else
@ -389,13 +415,17 @@ static inline void disableIdle()
IDLE_TIMER_DISABLE();
digitalWrite(pinIdle1, LOW);
}
else if ( (configPage6.iacAlgorithm == IAC_ALGORITHM_STEP_CL) || (configPage6.iacAlgorithm == IAC_ALGORITHM_STEP_OL) )
else if ((configPage6.iacAlgorithm == IAC_ALGORITHM_STEP_OL) )
{
//Only disable the stepper motor if homing is completed
if( (checkForStepping() == false) && (isStepperHomed() == true) )
{
digitalWrite(pinStepperEnable, HIGH); //Disable the DRV8825
idleStepper.targetIdleStep = idleStepper.curIdleStep; //Don't try to move anymore
/* for open loop stepper we should just move to the cranking position when
disabling idle, since the only time this function is called in this scenario
is if the engine stops.
*/
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?
}
}
BIT_CLEAR(currentStatus.spark, BIT_SPARK_IDLE); //Turn the idle control flag off