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Complete closed loop stepper idle (Needs testing)

This commit is contained in:
Josh Stewart 2017-03-14 17:25:59 +11:00
parent fc265919df
commit afb6f71aae
3 changed files with 25 additions and 9 deletions
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8
speeduino/idle.h
View File

@ -4,6 +4,13 @@
#include "globals.h"
#include "table.h"
#define IAC_ALGORITHM_NONE 0
#define IAC_ALGORITHM_ONOFF 1
#define IAC_ALGORITHM_PWM_OL 2
#define IAC_ALGORITHM_PWM_CL 3
#define IAC_ALGORITHM_STEP_OL 4
#define IAC_ALGORITHM_STEP_CL 5
#define STEPPER_FORWARD 0
#define STEPPER_BACKWARD 1
#define IDLE_TABLE_SIZE 10
@ -57,6 +64,7 @@ volatile unsigned int idle_pwm_cur_value;
long idle_pid_target_value;
long idle_pwm_target_value;
long idle_cl_target_rpm;
byte idleCounter; //Used for tracking the number of calls to the idle control function
void initialiseIdle();
static inline void disableIdle();

24
speeduino/idle.ino
View File

@ -132,6 +132,8 @@ void initialiseIdle()
idlePID.SetOutputLimits(percentage(configPage1.iacCLminDuty, idle_pwm_max_count), percentage(configPage1.iacCLmaxDuty, idle_pwm_max_count));
idlePID.SetTunings(configPage3.idleKP, configPage3.idleKI, configPage3.idleKD);
idlePID.SetMode(AUTOMATIC); //Turn PID on
idleCounter = 0;
break;
case 4:
@ -164,6 +166,7 @@ void initialiseIdle()
iacStepTime = configPage4.iacStepTime * 1000;
completedHomeSteps = 0;
idleCounter = 0;
idleStepper.stepperStatus = SOFF;
idlePID.SetOutputLimits(0, (configPage4.iacStepHome * 3)); //Maximum number of steps probably needs its own setting
@ -180,10 +183,10 @@ void idleControl()
switch(configPage4.iacAlgorithm)
{
case 0: //Case 0 is no idle control ('None')
case IAC_ALGORITHM_NONE: //Case 0 is no idle control ('None')
break;
case 1: //Case 1 is on/off idle control
case IAC_ALGORITHM_ONOFF: //Case 1 is on/off idle control
if ( (currentStatus.coolant + CALIBRATION_TEMPERATURE_OFFSET) < configPage4.iacFastTemp) //All temps are offset by 40 degrees
{
digitalWrite(pinIdle1, HIGH);
@ -192,7 +195,7 @@ void idleControl()
else if (idleOn) { digitalWrite(pinIdle1, LOW); idleOn = false; }
break;
case 2: //Case 2 is PWM open loop
case IAC_ALGORITHM_PWM_OL: //Case 2 is PWM open loop
//Check for cranking pulsewidth
if( BIT_CHECK(currentStatus.engine, BIT_ENGINE_CRANK) )
{
@ -212,19 +215,21 @@ void idleControl()
}
break;
case 3: //Case 3 is PWM closed loop
case IAC_ALGORITHM_PWM_CL: //Case 3 is PWM closed loop
//No cranking specific value for closed loop (yet?)
idle_cl_target_rpm = table2D_getValue(&iacClosedLoopTable, currentStatus.coolant + CALIBRATION_TEMPERATURE_OFFSET) * 10; //All temps are offset by 40 degrees
//idlePID.SetTunings(configPage3.idleKP, configPage3.idleKI, configPage3.idleKD);
if( (idleCounter & 31) == 1) { idlePID.SetTunings(configPage3.idleKP, configPage3.idleKI, configPage3.idleKD); } //This only needs to be run very infrequently, once every 32 calls to idleControl(). This is approx. once per second
idlePID.Compute();
idle_pwm_target_value = idle_pid_target_value;
if( idle_pwm_target_value == 0 ) { disableIdle(); }
else{ enableIdle(); } //Turn on the C compare unit (ie turn on the interrupt)
//idle_pwm_target_value = 104;
idleCounter++;
break;
case 4: //Case 4 is open loop stepper control
case IAC_ALGORITHM_STEP_OL: //Case 4 is open loop stepper control
//First thing to check is whether there is currently a step going on and if so, whether it needs to be turned off
if( checkForStepping() ) { return; } //If this is true it means there's either a step taking place or
if( !isStepperHomed() ) { return; } //Check whether homing is completed yet.
@ -248,16 +253,19 @@ void idleControl()
}
break;
case 5://Case 5 is closed loop stepper control
case IAC_ALGORITHM_STEP_CL://Case 5 is closed loop stepper control
//First thing to check is whether there is currently a step going on and if so, whether it needs to be turned off
if( checkForStepping() ) { return; } //If this is true it means there's either a step taking place or
if( !isStepperHomed() ) { return; } //Check whether homing is completed yet.
if( (idleCounter & 31) == 1) { idlePID.SetTunings(configPage3.idleKP, configPage3.idleKI, configPage3.idleKD); } //This only needs to be run very infrequently, once every 32 calls to idleControl(). This is approx. once per second
idle_cl_target_rpm = table2D_getValue(&iacClosedLoopTable, currentStatus.coolant + CALIBRATION_TEMPERATURE_OFFSET) * 10; //All temps are offset by 40 degrees
idlePID.Compute();
idleStepper.targetIdleStep = idle_pid_target_value;
idleStepper.targetIdleStep = (idle_pid_target_value >> 7); //Target is scalled down by 128 to bring it inline with most stepper motors range. Allows a sane range of around 300 steps (Maximum RPM error of 600, P=64)
doStep();
idleCounter++;
break;
}
}

2
speeduino/speeduino.ino
View File

@ -915,7 +915,7 @@ void loop()
vvtControl();
idleControl(); //Perform any idle related actions. Even at higher frequencies, running 4x per second is sufficient.
}
if(configPage4.iacAlgorithm == 4) { idleControl(); } //Run idlecontrol every loop for stepper idle.
if(configPage4.iacAlgorithm == IAC_ALGORITHM_STEP_OL || configPage4.iacAlgorithm == IAC_ALGORITHM_STEP_CL) { idleControl(); } //Run idlecontrol every loop for stepper idle.
//Always check for sync
//Main loop runs within this clause