splitting heater stuff out into a separate file
This commit is contained in:
Michael Moon
parent
e5d393a592
commit
273d63f242
2
Makefile
2
Makefile
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@ -14,7 +14,7 @@
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PROGRAM = mendel
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SOURCES = $(PROGRAM).c serial.c dda.c gcode.c timer.c clock.c temp.c sermsg.c dda_queue.c watchdog.c debug.c sersendf.c
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SOURCES = $(PROGRAM).c serial.c dda.c gcode.c timer.c clock.c temp.c sermsg.c dda_queue.c watchdog.c debug.c sersendf.c heater.c
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##############################################################################
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# #
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3
gcode.c
3
gcode.c
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@ -12,6 +12,7 @@
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#include "clock.h"
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#include "watchdog.h"
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#include "debug.h"
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#include "heater.h"
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uint8_t last_field = 0;
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@ -661,7 +662,7 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
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break;
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// M134- save PID settings to eeprom
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case 134:
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temp_save_settings();
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heater_save_settings();
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break;
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#ifdef DEBUG
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@ -0,0 +1,122 @@
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#include "heater.h"
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#include <avr/eeprom.h>
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#include "sersendf.h"
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#include "machine.h"
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#include "pinout.h"
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#include "debug.h"
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#include "arduino.h"
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int16_t heater_p = 0;
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int16_t heater_i = 0;
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int16_t heater_d = 0;
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#define DEFAULT_P 8192
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#define DEFAULT_I 512
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#define DEFAULT_D -24576
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#define DEFAULT_I_LIMIT 384
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int32_t p_factor = 0;
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int32_t i_factor = 0;
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int32_t d_factor = 0;
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int16_t i_limit = 0;
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int32_t EEMEM EE_p_factor;
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int32_t EEMEM EE_i_factor;
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int32_t EEMEM EE_d_factor;
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int16_t EEMEM EE_i_limit;
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#define TH_COUNT 8
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uint16_t temp_history[TH_COUNT] __attribute__ ((__section__ (".bss")));
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uint8_t th_p = 0;
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uint8_t temp_residency = 0;
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#ifndef ABSDELTA
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#define ABSDELTA(a, b) (((a) >= (b))?((a) - (b)):((b) - (a)))
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#endif
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void heater_init() {
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p_factor = eeprom_read_dword((uint32_t *) &EE_p_factor);
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i_factor = eeprom_read_dword((uint32_t *) &EE_i_factor);
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d_factor = eeprom_read_dword((uint32_t *) &EE_d_factor);
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i_limit = eeprom_read_word((uint16_t *) &EE_i_limit);
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if ((p_factor == 0) && (i_factor == 0) && (d_factor == 0) && (i_limit == 0)) {
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p_factor = DEFAULT_P;
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i_factor = DEFAULT_I;
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d_factor = DEFAULT_D;
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i_limit = DEFAULT_I_LIMIT;
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}
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}
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void heater_save_settings() {
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eeprom_write_dword((uint32_t *) &EE_p_factor, p_factor);
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eeprom_write_dword((uint32_t *) &EE_i_factor, i_factor);
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eeprom_write_dword((uint32_t *) &EE_d_factor, d_factor);
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eeprom_write_word((uint16_t *) &EE_i_limit, i_limit);
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}
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void heater_tick(int16_t current_temp, int16_t target_temp) {
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temp_history[th_p++] = current_temp;
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th_p &= (TH_COUNT - 1);
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if (ABSDELTA(current_temp, target_temp) > TEMP_HYSTERESIS)
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temp_residency = 0;
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else if (temp_residency < TEMP_RESIDENCY_TIME)
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temp_residency++;
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int16_t t_error = target_temp - current_temp;
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// PID stuff
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// proportional
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heater_p = t_error;
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// integral
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heater_i += t_error;
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// prevent integrator wind-up
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if (heater_i > i_limit)
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heater_i = i_limit;
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else if (heater_i < -i_limit)
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heater_i = -i_limit;
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// derivative
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// note: D follows temp rather than error so there's no large derivative when the target changes
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heater_d = current_temp - temp_history[th_p];
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// combine factors
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int32_t pid_output_intermed = (
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(
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(((int32_t) heater_p) * p_factor) +
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(((int32_t) heater_i) * i_factor) +
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(((int32_t) heater_d) * d_factor)
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) / PID_SCALE
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);
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// rebase and limit factors
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uint8_t pid_output;
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if (pid_output_intermed > 255)
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pid_output = 255;
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else if (pid_output_intermed < 0)
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pid_output = 0;
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else
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pid_output = pid_output_intermed & 0xFF;
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if (debug_flags & DEBUG_PID)
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sersendf_P(PSTR("T{E:%d, P:%d * %ld = %ld / I:%d * %ld = %ld / D:%d * %ld = %ld # O: %ld = %u}\n"), t_error, heater_p, p_factor, (int32_t) heater_p * p_factor / PID_SCALE, heater_i, i_factor, (int32_t) heater_i * i_factor / PID_SCALE, heater_d, d_factor, (int32_t) heater_d * d_factor / PID_SCALE, pid_output_intermed, pid_output);
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#ifdef HEATER_PWM
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HEATER_PWM = pid_output;
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#else
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if (pid_output >= 8)
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enable_heater();
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else
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disable_heater();
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#endif
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}
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uint8_t temp_achieved() {
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if (temp_residency >= TEMP_RESIDENCY_TIME)
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return 255;
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return 0;
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}
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@ -0,0 +1,21 @@
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#ifndef _HEATER_H
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#define _HEATER_H
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#include <stdint.h>
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// extruder heater PID factors
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// google "PID without a PHD" if you don't understand this PID stuff
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extern int32_t p_factor;
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extern int32_t i_factor;
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extern int32_t d_factor;
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extern int16_t i_limit;
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#define PID_SCALE 1024L
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#define I_LIMIT 4000
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void heater_init(void);
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void heater_save_settings(void);
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void heater_tick(int16_t current_temp, int16_t target_temp);
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uint8_t temp_achieved(void);
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#endif /* _HEATER_H */
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3
mendel.c
3
mendel.c
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@ -18,6 +18,7 @@
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#include "watchdog.h"
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#include "debug.h"
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#include "sersendf.h"
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#include "heater.h"
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void io_init(void) {
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// disable modules we don't use
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@ -92,7 +93,7 @@ void init(void) {
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clock_setup();
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// read PID settings from EEPROM
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temp_init();
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heater_init();
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// set up default feedrate
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current_position.F = startpoint.F = next_target.target.F = SEARCH_FEEDRATE_Z;
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56
temp.c
56
temp.c
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@ -29,11 +29,12 @@
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#include "dda.h"
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#include "sersendf.h"
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#include "debug.h"
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#include "heater.h"
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uint16_t current_temp = 0;
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uint16_t target_temp = 0;
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int16_t heater_p = 0;
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/*int16_t heater_p = 0;
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int16_t heater_i = 0;
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int16_t heater_d = 0;
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@ -45,47 +46,26 @@ int32_t p_factor = 0;
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int32_t i_factor = 0;
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int32_t d_factor = 0;
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int16_t i_limit = 0;
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int32_t EEMEM EE_p_factor;
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int32_t EEMEM EE_i_factor;
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int32_t EEMEM EE_d_factor;
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int16_t EEMEM EE_i_limit;
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*/
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// int32_t EEMEM EE_p_factor;
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// int32_t EEMEM EE_i_factor;
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// int32_t EEMEM EE_d_factor;
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// int16_t EEMEM EE_i_limit;
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uint8_t temp_flags = 0;
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#define TEMP_FLAG_PRESENT 1
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#define TEMP_FLAG_TCOPEN 2
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uint8_t temp_residency = 0;
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#define TH_COUNT 8
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uint16_t temp_history[TH_COUNT] __attribute__ ((__section__ (".bss")));
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uint8_t th_p = 0;
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/*uint8_t temp_residency = 0;
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*/
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// #define TH_COUNT 8
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// uint16_t temp_history[TH_COUNT] __attribute__ ((__section__ (".bss")));
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// uint8_t th_p = 0;
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#ifndef ABSDELTA
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#define ABSDELTA(a, b) (((a) >= (b))?((a) - (b)):((b) - (a)))
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#endif
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void temp_init() {
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p_factor = eeprom_read_dword((uint32_t *) &EE_p_factor);
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i_factor = eeprom_read_dword((uint32_t *) &EE_i_factor);
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d_factor = eeprom_read_dword((uint32_t *) &EE_d_factor);
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i_limit = eeprom_read_word((uint16_t *) &EE_i_limit);
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if ((p_factor == 0) && (i_factor == 0) && (d_factor == 0) && (i_limit == 0)) {
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p_factor = DEFAULT_P;
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i_factor = DEFAULT_I;
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d_factor = DEFAULT_D;
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i_limit = DEFAULT_I_LIMIT;
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}
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}
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void temp_save_settings() {
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eeprom_write_dword((uint32_t *) &EE_p_factor, p_factor);
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eeprom_write_dword((uint32_t *) &EE_i_factor, i_factor);
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eeprom_write_dword((uint32_t *) &EE_d_factor, d_factor);
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eeprom_write_word((uint16_t *) &EE_i_limit, i_limit);
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}
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uint16_t temp_read() {
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uint16_t temp;
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@ -144,12 +124,6 @@ uint16_t temp_get_target() {
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return target_temp;
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}
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uint8_t temp_achieved() {
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if (temp_residency >= TEMP_RESIDENCY_TIME)
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return 255;
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return 0;
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}
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void temp_print() {
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if (temp_flags & TEMP_FLAG_TCOPEN) {
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serial_writestr_P(PSTR("T: no thermocouple!\n"));
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@ -173,7 +147,9 @@ void temp_tick() {
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temp_read();
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temp_history[th_p++] = current_temp;
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heater_tick(current_temp, target_temp);
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/* temp_history[th_p++] = current_temp;
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th_p &= (TH_COUNT - 1);
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if (ABSDELTA(current_temp, target_temp) > TEMP_HYSTERESIS)
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@ -227,6 +203,6 @@ void temp_tick() {
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enable_heater();
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else
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disable_heater();
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#endif
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#endif*/
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}
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}
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10
temp.h
10
temp.h
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@ -6,16 +6,6 @@
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// RepRap host software isn't exactly tolerant on what it ready back.
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#define REPRAP_HOST_COMPATIBILITY
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// extruder heater PID factors
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// google "PID without a PHD" if you don't understand this PID stuff
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extern int32_t p_factor;
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extern int32_t i_factor;
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extern int32_t d_factor;
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extern int16_t i_limit;
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#define PID_SCALE 1024L
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#define I_LIMIT 4000
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typedef union {
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struct {
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uint8_t high;
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