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speeduino
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Experimental new stepper homing method

This commit is contained in:
Josh Stewart 2016-12-11 23:23:54 +11:00
parent 4d18ee7911
commit ad52690101
3 changed files with 21 additions and 5 deletions
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1
idle.h
View File

@ -24,6 +24,7 @@ struct table2D iacCrankDutyTable;
struct StepperIdle idleStepper;
bool idleOn; //Simply tracks whether idle was on last time around
unsigned int iacStepTime;
unsigned int completedHomeSteps;
volatile byte *idle_pin_port;
volatile byte idle_pin_mask;

24
idle.ino
View File

@ -90,7 +90,8 @@ void initialiseIdle()
iacCrankStepsTable.axisX = configPage4.iacCrankBins;
iacStepTime = configPage4.iacStepTime * 1000;
homeStepper(); //Returns the stepper to the 'home' position
//homeStepper(); //Returns the stepper to the 'home' position
completedHomeSteps = 0;
idleStepper.stepperStatus = SOFF;
break;
@ -175,7 +176,7 @@ void idleControl()
}
else
{
//Means we're in COOLING status. We need to remain in this state for the step time before the next step can be taken
//Means we're in COOLING status but have been in this state long enough to
idleStepper.stepperStatus = SOFF;
}
}
@ -185,9 +186,18 @@ void idleControl()
return;
}
}
if( completedHomeSteps < (configPage4.iacStepHome * 3) ) //Home steps are divided by 3 from TS
{
digitalWrite(pinStepperDir, STEPPER_BACKWARD); //Sets stepper direction to backwards
digitalWrite(pinStepperStep, HIGH);
idleStepper.stepStartTime = micros();
idleStepper.stepperStatus = STEPPING;
completedHomeSteps++;
idleOn = true;
}
//Check for cranking pulsewidth
if( BIT_CHECK(currentStatus.engine, BIT_ENGINE_CRANK) )
else if( BIT_CHECK(currentStatus.engine, BIT_ENGINE_CRANK) )
{
//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
@ -203,7 +213,11 @@ void idleControl()
else if( (currentStatus.coolant + CALIBRATION_TEMPERATURE_OFFSET) < iacStepTable.axisX[IDLE_TABLE_SIZE-1])
{
//Standard running
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 ((mainLoopCount & 255) == 1)
{
//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 ( idleStepper.targetIdleStep > (idleStepper.curIdleStep - configPage4.iacStepHyster) && idleStepper.targetIdleStep < (idleStepper.curIdleStep + configPage4.iacStepHyster) ) { return; } //Hysteris check
else if(idleStepper.targetIdleStep < idleStepper.curIdleStep) { digitalWrite(pinStepperDir, STEPPER_BACKWARD); idleStepper.curIdleStep--; }//Sets stepper direction to backwards
else if (idleStepper.targetIdleStep > idleStepper.curIdleStep) { digitalWrite(pinStepperDir, STEPPER_FORWARD); idleStepper.curIdleStep++; }//Sets stepper direction to forwards

1
speeduino.ino
View File

@ -918,6 +918,7 @@ void loop()
boostControl(); //Most boost tends to run at about 30Hz, so placing it here ensures a new target time is fetched frequently enough
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.
//Always check for sync
//Main loop runs within this clause