Merge pull request #206 from ric355/febstepper
More stepper control changes for better starting and finer tuning
This commit is contained in:
Josh Stewart
GitHub
commit
d422221bab
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@ -857,6 +857,7 @@ page = 9
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;unused10_152 = scalar, U08, 152, "", 1, 0, 0, 255, 0
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;unused10_153 = scalar, U08, 153, "", 1, 0, 0, 255, 0
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iacStepperInv = bits, U08, 153, [0:0], "No", "Yes"
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iacCoolTime = bits , U08, 153, [1:3], "0", "1", "2", "3", "4", "5", "6","INVALID"
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unused10_154 = scalar, U08, 154, "", 1, 0, 0, 255, 0
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unused10_155 = scalar, U08, 155, "", 1, 0, 0, 255, 0
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@ -1349,6 +1350,8 @@ menuDialog = main
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iacChannels = "The number of output channels used for PWM valves. Select 1 for 2-wire valves or 2 for 3-wire valves."
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iacStepTime = "Pause time between each step. Values that are too low can cause the motor to behave erratically or not at all"
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iacCoolTime = "Cool time between each step. Set to zero if you don't want any cooling at all"
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iacStepHome = "Homing steps to perform on startup. Must be greater than the fully open steps value"
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iacStepHyster = "The minimum number of steps to move in any one go."
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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)."
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@ -1721,6 +1724,7 @@ menuDialog = main
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dialog = stepper_idle, "Stepper Idle"
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field = "Step time (ms)", iacStepTime, { iacAlgorithm == 4 || iacAlgorithm == 5 }
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field = "Cool time (ms)", iacCoolTime, { iacAlgorithm == 4 || iacAlgorithm == 5 }
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field = "Home steps", iacStepHome, { iacAlgorithm == 4 || iacAlgorithm == 5 }
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field = "Minimum Steps", iacStepHyster, { iacAlgorithm == 4 || iacAlgorithm == 5 }
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field = "Stepper Inverted", iacStepperInv, { iacAlgorithm == 4 || iacAlgorithm == 5 }
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@ -756,8 +756,8 @@ struct config9 {
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uint8_t Auxinpinb[16]; // digital pin number when internal aux in use
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byte iacStepperInv : 1; //stepper direction of travel to allow reversing. 0=normal, 1=inverted.
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byte iacCoolTime : 3; // how long to wait for the stepper to cool between steps
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byte unused10_153;
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byte unused10_154;
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byte unused10_155;
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byte unused10_156;
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@ -39,6 +39,7 @@ struct StepperIdle idleStepper;
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bool idleOn; //Simply tracks whether idle was on last time around
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byte idleInitComplete = 99; //TRacks which idle method was initialised. 99 is a method that will never exist
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unsigned int iacStepTime;
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unsigned int iacCoolTime;
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unsigned int completedHomeSteps;
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volatile PORT_TYPE *idle_pin_port;
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@ -104,6 +104,7 @@ void initialiseIdle()
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iacCrankStepsTable.values = configPage6.iacCrankSteps;
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iacCrankStepsTable.axisX = configPage6.iacCrankBins;
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iacStepTime = configPage6.iacStepTime * 1000;
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iacCoolTime = configPage9.iacCoolTime * 1000;
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completedHomeSteps = 0;
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idleStepper.curIdleStep = 0;
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@ -133,6 +134,7 @@ void initialiseIdle()
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iacCrankStepsTable.values = configPage6.iacCrankSteps;
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iacCrankStepsTable.axisX = configPage6.iacCrankBins;
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iacStepTime = configPage6.iacStepTime * 1000;
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iacCoolTime = configPage9.iacCoolTime * 1000;
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completedHomeSteps = 0;
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idleCounter = 0;
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@ -250,12 +252,14 @@ void idleControl()
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else if( (currentStatus.coolant + CALIBRATION_TEMPERATURE_OFFSET) < iacStepTable.axisX[IDLE_TABLE_SIZE-1])
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{
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//Standard running
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if ((mainLoopCount & 255) == 1)
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//We must also have more than zero RPM for the running state
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if (((mainLoopCount & 255) == 1) && (currentStatus.RPM > 0))
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{
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//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
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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
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if(currentStatus.idleUpActive == true) { idleStepper.targetIdleStep += configPage2.idleUpAdder; } //Add Idle Up amount if active
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iacStepTime = configPage6.iacStepTime * 1000;
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iacCoolTime = configPage9.iacCoolTime * 1000;
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}
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doStep();
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}
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@ -272,6 +276,7 @@ void idleControl()
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//This only needs to be run very infrequently, once every 32 calls to idleControl(). This is approx. once per second
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idlePID.SetTunings(configPage6.idleKP, configPage6.idleKI, configPage6.idleKD);
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iacStepTime = configPage6.iacStepTime * 1000;
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iacCoolTime = configPage9.iacCoolTime * 1000;
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}
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idle_cl_target_rpm = table2D_getValue(&iacClosedLoopTable, currentStatus.coolant + CALIBRATION_TEMPERATURE_OFFSET) * 10; //All temps are offset by 40 degrees
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@ -323,16 +328,37 @@ False: If the motor is ready for another step
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static inline byte checkForStepping()
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{
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bool isStepping = false;
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unsigned int timeCheck;
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if( (idleStepper.stepperStatus == STEPPING) || (idleStepper.stepperStatus == COOLING) )
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{
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if(micros_safe() > (idleStepper.stepStartTime + iacStepTime) )
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if (idleStepper.stepperStatus == STEPPING)
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{
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timeCheck = iacStepTime;
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}
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else
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{
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timeCheck = iacCoolTime;
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}
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if(micros_safe() > (idleStepper.stepStartTime + timeCheck) )
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{
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if(idleStepper.stepperStatus == STEPPING)
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{
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//Means we're currently in a step, but it needs to be turned off
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digitalWrite(pinStepperStep, LOW); //Turn off the step
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idleStepper.stepStartTime = micros_safe();
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// if there is no cool time we can miss that step out completely.
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if (iacCoolTime > 0)
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{
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idleStepper.stepperStatus = COOLING; //'Cooling' is the time the stepper needs to sit in LOW state before the next step can be made
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}
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else
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{
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idleStepper.stepperStatus = SOFF;
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}
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isStepping = true;
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}
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else
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@ -389,13 +415,17 @@ static inline void disableIdle()
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IDLE_TIMER_DISABLE();
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digitalWrite(pinIdle1, LOW);
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}
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else if ( (configPage6.iacAlgorithm == IAC_ALGORITHM_STEP_CL) || (configPage6.iacAlgorithm == IAC_ALGORITHM_STEP_OL) )
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else if ((configPage6.iacAlgorithm == IAC_ALGORITHM_STEP_OL) )
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{
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//Only disable the stepper motor if homing is completed
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if( (checkForStepping() == false) && (isStepperHomed() == true) )
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{
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digitalWrite(pinStepperEnable, HIGH); //Disable the DRV8825
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idleStepper.targetIdleStep = idleStepper.curIdleStep; //Don't try to move anymore
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/* for open loop stepper we should just move to the cranking position when
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disabling idle, since the only time this function is called in this scenario
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is if the engine stops.
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*/
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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
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if(currentStatus.idleUpActive == true) { idleStepper.targetIdleStep += configPage2.idleUpAdder; } //Add Idle Up amount if active?
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}
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}
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BIT_CLEAR(currentStatus.spark, BIT_SPARK_IDLE); //Turn the idle control flag off
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