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speeduino
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Changes to separate out stepper cooling step time from stepper step time.

This commit is contained in:
Richard Metcalfe 2019-02-26 22:53:43 +00:00
parent 33720f77f8
commit 3b29179621
4 changed files with 33 additions and 3 deletions
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4
reference/speeduino.ini
View File

@ -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
@ -1348,6 +1349,8 @@ 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)."
@ -1719,6 +1722,7 @@ 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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@ -746,8 +746,8 @@ 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;

29
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;
@ -257,6 +259,7 @@ void idleControl()
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();
}
@ -273,6 +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
@ -324,16 +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