time to save again, preliminary PID/PWM support for extruder barrel heater
This commit is contained in:
Michael Moon
parent
411ada4d82
commit
496d58f357
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@ -3,6 +3,31 @@
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#include <avr/io.h>
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/*
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utility functions
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*/
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#ifndef MASK
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#define MASK(PIN) (1 << PIN)
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#endif
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#define _READ(IO) (RPORT_ ## IO & MASK(PIN_ ## IO))
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#define _WRITE(IO, v) if (v) { WPORT_ ## IO |= MASK(PIN_ ## IO); } else { WPORT_ ## IO &= ~MASK(PIN_ ## IO); }
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#define _SET_INPUT(IO) (DDR_ ## IO |= MASK(PIN_ ## IO))
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#define _SET_OUTPUT(IO) (DDR_ ## IO &= ~MASK(PIN_ ## IO))
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// why double up on macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
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#define READ(IO) _READ(IO)
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#define WRITE(IO, v) _WRITE(IO, v)
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#define SET_INPUT(IO) _SET_INPUT(IO)
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#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
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/*
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pins
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*/
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#define PIN_DIO0 PD0
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#define RPORT_DIO0 PIND
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#define WPORT_DIO0 PORTD
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20
mendel/dda.c
20
mendel/dda.c
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@ -2,6 +2,7 @@
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#include <string.h>
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#include "pinout.h"
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#include "timer.h"
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extern struct {
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@ -128,7 +129,8 @@ uint32_t approx_distance_3( int32_t dx, int32_t dy, int32_t dz )
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*/
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void dda_create(TARGET *target, DDA *dda) {
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static TARGET startpoint = { 0, 0, 0, 0, 0 };
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static TARGET startpoint = { 0, 0, 0, 0, 0 };
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uint32_t distance;
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// we start at the previous endpoint
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// memcpy(&dda->currentpoint, &startpoint, sizeof(TARGET));
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@ -145,16 +147,16 @@ void dda_create(TARGET *target, DDA *dda) {
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// since it's unusual to combine X, Y and Z changes in a single move on reprap, check if we can use simpler approximations before trying the full 3d approximation.
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if (dda->z_delta == 0)
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dda->distance = approx_distance(dda->x_delta, dda->y_delta);
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distance = approx_distance(dda->x_delta, dda->y_delta);
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else if (dda->x_delta == 0 && dda->y_delta == 0)
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dda->distance = dda->z_delta;
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distance = dda->z_delta;
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else
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dda->distance = approx_distance_3(dda->x_delta, dda->y_delta, dda->z_delta);
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distance = approx_distance_3(dda->x_delta, dda->y_delta, dda->z_delta);
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if (dda->distance < 2)
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dda->distance = dda->e_delta;
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if (dda->distance < 2)
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dda->distance = dda->f_delta;
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if (distance < 2)
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distance = dda->e_delta;
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if (distance < 2)
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distance = dda->f_delta;
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dda->total_steps = dda->x_delta;
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if (dda->y_delta > dda->total_steps)
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@ -194,7 +196,7 @@ void dda_create(TARGET *target, DDA *dda) {
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// mm (distance) * 60000000 us/min / step (total_steps) = mm.us per step.min
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// so in the interrupt we must simply calculate
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// mm.us per step.min / mm per min (F) = us per step
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dda->move_duration = dda->distance * 60000000 / dda->total_steps;
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dda->move_duration = distance * 60000000 / dda->total_steps;
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// next dda starts where we finish
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memcpy(&startpoint, &dda->endpoint, sizeof(TARGET));
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@ -35,7 +35,6 @@ typedef struct {
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uint32_t total_steps;
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uint16_t f_scale;
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uint32_t distance;
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uint32_t move_duration;
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} DDA;
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@ -4,6 +4,7 @@
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#include "machine.h"
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#include "dda.h"
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#include "serial.h"
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extern uint8_t option_bitfield;
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@ -76,13 +77,8 @@ void scan_char(uint8_t c) {
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next_target.target.E = manexp_to_float(mantissa, exp) * STEPS_PER_MM_E;
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break;
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case 'F':
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// TODO: calculate end speed in microseconds per step from millimeters per minute
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// MM = sqrt(X^2 + Y^2)
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// STEPS = max(X * STEPS_PER_MM_X, Y * STEPS_PER_MM_Y)
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// DURATION = MM / MM_PER_MIN * 60 SEC_PER_MIN * 1000000 US_PER_SEC
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// US/STEP = DURATION / STEPS
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// intF = sqrt(X^2 + Y^2) / max(X * STEPS_PER_MM_X, Y * STEPS_PER_MM_Y)
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next_target.target.F = manexp_to_float(mantissa, exp) * STEPS_PER_MM_F;
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// just save an integer value for F, we need move distance and n_steps to convert it to a useful value, so wait until we have those to convert it
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next_target.target.F = mantissa;
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break;
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}
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mantissa = 0;
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@ -122,6 +118,8 @@ void scan_char(uint8_t c) {
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last_field = 0;
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memset(&next_target, 0, sizeof(GCODE_COMMAND));
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next_target.option = option_bitfield;
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serial_writeblock((uint8_t *) "OK\n", 3);
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break;
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}
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}
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@ -4,7 +4,9 @@
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/*
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machine variables
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*/
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#define MOVEBUFFER_SIZE 8
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/*
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axis calculations, adjust as necessary
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*/
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@ -17,27 +19,18 @@
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#define EXTRUDER_INLET_DIAMETER 3
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#define EXTRUDER_NOZZLE_DIAMETER 0.8
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#define STEPS_PER_MM_X (XY_STEPS_PER_REV * XY_COG_CIRCUMFERENCE)
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#define STEPS_PER_MM_Y (XY_STEPS_PER_REV * XY_COG_CIRCUMFERENCE)
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#define STEPS_PER_MM_Z (3200)
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#define STEPS_PER_MM_E (EXTRUDER_STEPS_PER_REV * EXTRUDER_SHAFT_RADIUS * PI * EXTRUDER_INLET_DIAMETER / EXTRUDER_NOZZLE_DIAMETER)
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#define STEPS_PER_MM_PER_S_F (3200)
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#define STEPS_PER_MM_F STEPS_PER_MM_PER_S_F
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/*
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F is sent in units of millimeters per second
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and implemented as microseconds per step
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MM/S * steps/mm * 1000000us/s = steps per microsecond
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heater PID variables
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used as int16_t * FACTOR so don't put brackets around them
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*/
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#define FAST_MM_PER_SEC 40
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#define SLOW_MM_PER_SEC 20
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#define ACCEL 10
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#define P_FACTOR 133 / 1024
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#define I_FACTOR 17 / 1024
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#define D_FACTOR 180 / 1024
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#endif /* _MACHINE_H */
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130
mendel/pinout.h
130
mendel/pinout.h
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@ -3,58 +3,118 @@
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#include "arduino.h"
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#ifndef MASK
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#define MASK(PIN) (1 << PIN)
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#endif
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/*
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Machine Pin Definitions
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*/
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#define READ(IO) (RPORT_ ## IO & MASK(PIN_ ## IO))
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#define WRITE(IO, v) if (v) { WPORT_ ## IO |= MASK(PIN_ ## IO); } else { WPORT_ ## IO &= ~MASK(PIN_ ## IO); }
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// RXD DIO0
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// TXD DIO1
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#define SET_INPUT(IO) (DDR_ ## IO |= MASK(PIN_ ## IO))
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#define SET_OUTPUT(IO) (DDR_ ## IO &= ~MASK(PIN ## IO))
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#define X_STEP_PIN AIO0
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#define X_DIR_PIN AIO1
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#define X_MIN_PIN AIO2
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#define _x_step(st) WRITE(AIO0, st)
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#define Y_STEP_PIN AIO3
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#define Y_DIR_PIN AIO4
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#define Y_MIN_PIN AIO5
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#define Z_STEP_PIN DIO5
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#define Z_DIR_PIN DIO6
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#define Z_MIN_PIN DIO7
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#define E_STEP_PIN DIO2
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#define E_DIR_PIN DIO3
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// list of PWM-able pins
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// OC0A DIO6
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// OC0B DIO5
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// OC1A DIO9
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// OC1B DIO10
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// OC2A DIO11
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// OC2B DIO3
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#define HEATER_PIN DIO6
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#define HEATER_PIN_PWM OC0A
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#define SCK DIO13
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#define MISO DIO12
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#define MOSI DIO11
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#define SS DIO10
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/*
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X Stepper
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*/
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#define _x_step(st) WRITE(X_STEP_PIN, st)
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#define x_step() _x_step(1);
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#define x_direction(dir) WRITE(AIO1, dir)
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#define x_min() READ(AIO2)
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#ifdef MAX_ENDSTOPS
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#define x_max() READ(AIO3)
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#define x_direction(dir) WRITE(X_DIR_PIN, dir)
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#define x_min() READ(X_MIN_PIN)
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#ifdef X_MAX_PIN
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#define x_max() READ(X_MAX_PIN)
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#else
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#define x_max() (0)
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#define x_max() (0)
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#endif
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#define _y_step(st) WRITE(DIO2, st)
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/*
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Y Stepper
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*/
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#define _y_step(st) WRITE(Y_STEP_PIN, st)
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#define y_step() _y_step(1);
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#define y_direction(dir) WRITE(DIO3, dir)
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#define y_min() READ(DIO4)
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#ifdef MAX_ENDSTOPS
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#define y_max() READ(DIO5)
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#define y_direction(dir) WRITE(Y_DIR_PIN, dir)
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#define y_min() READ(Y_MIN_PIN)
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#ifdef Y_MAX_PIN
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#define y_max() READ(Y_MAX_PIN)
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#else
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#define y_max() (0)
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#define y_max() (0)
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#endif
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#define _z_step(st) WRITE(DIO6, st)
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/*
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Z Stepper
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*/
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#define _z_step(st) WRITE(Z_STEP_PIN, st)
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#define z_step() _z_step(1);
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#define z_direction(dir) WRITE(DIO7, dir)
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#define z_min() READ(DIO8)
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#ifdef MAX_ENDSTOPS
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#define z_max() READ(DIO9)
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#define z_direction(dir) WRITE(Z_DIR_PIN, dir)
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#define z_min() READ(Z_MIN_PIN)
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#ifdef Z_MAX_PIN
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#define z_max() READ(Z_MAX_PIN)
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#else
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#define z_max() (0)
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#define z_max() (0)
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#endif
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#define _e_step(st) WRITE(AIO4, st)
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/*
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Extruder
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*/
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#define _e_step(st) WRITE(E_STEP_PIN, st)
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#define e_step() _e_step(1);
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#define e_direction(dir) WRITE(AIO5, dir)
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#define e_direction(dir) WRITE(E_DIR_PIN, dir)
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#define enable_steppers() WRITE(DIO10, 1)
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#define disable_steppers() WRITE(DIO10, 0)
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/*
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Heater
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*/
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inline void unstep(void) {
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_x_step(0);
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_y_step(0);
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_z_step(0);
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_e_step(0);
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}
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#define enable_heater() WRITE(HEATER_PIN, 1)
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#define disable_heater() WRITE(HEATER_PIN, 0)
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/*
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Stepper Enable (ATX PSU pwr_good signal?)
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*/
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#ifdef STEPPER_ENABLE_PIN
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#define enable_steppers() WRITE(STEPPER_ENABLE_PIN, 1)
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#define disable_steppers() WRITE(STEPPER_ENABLE_PIN, 0)
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#else
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#define enable_steppers() if (0) {}
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#define disable_steppers() if (0) {}
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#endif
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/*
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End Step - All Steppers
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(so we don't have to delay in interrupt context)
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*/
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#define unstep() do { _x_step(0); _y_step(0); _z_step(0); _e_step(0); } while (0)
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#endif /* _PINOUT_H */
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@ -0,0 +1,76 @@
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#include "temp.h"
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#include "machine.h"
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#include "pinout.h"
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uint16_t current_temp;
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uint16_t target_temp;
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int16_t heater_p;
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int16_t heater_i;
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int16_t heater_d;
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void temp_setup() {
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SET_OUTPUT(SCK);
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SET_INPUT(MISO);
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SET_OUTPUT(SS);
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WRITE(SS, 0);
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WRITE(SCK, 0);
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}
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uint16_t temp_read() {
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uint16_t temp;
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SPCR = MASK(MSTR) | MASK(SPE);
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SPDR = 0;
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for (;(SPSR & MASK(SPIF)) == 0;);
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temp = SPDR << 8;
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SPDR = 0;
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for (;(SPSR & MASK(SPIF)) == 0;);
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temp |= SPDR;
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if ((temp & 0x8002) == 0) {
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// got "device id"
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if (temp & 4) {
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// thermocouple open
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}
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else {
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current_temp = temp >> 3;
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return current_temp;
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}
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}
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return 0;
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}
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void temp_set(uint16_t t) {
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target_temp = t;
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}
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void temp_tick() {
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uint16_t last_temp = current_temp;
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temp_read();
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int16_t t_delta = target_temp - current_temp;
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// PID stuff
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heater_p = t_delta;
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heater_i += t_delta;
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// note: D follows temp rather than error so there's no large derivative when the target temperature changes
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heater_d = (current_temp - last_temp);
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int16_t pid_output = (heater_p * P_FACTOR) + (heater_i * I_FACTOR) + (heater_d * D_FACTOR);
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#ifdef HEATER_PIN_PWMABLE
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HEATER_PIN_PWMABLE = pid_output
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#else
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if (pid_output > 0) {
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enable_heater();
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}
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else {
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disable_heater();
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}
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#endif
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}
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@ -0,0 +1,11 @@
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#ifndef _TEMP_H
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#define _TEMP_H
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#include <stdint.h>
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void temp_setup(void);
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uint16_t temp_read(void);
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void temp_set(uint16_t t);
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void temp_tick(void);
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#endif /* _TIMER_H */
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@ -31,9 +31,6 @@ inline void disableTimerInterrupt(void)
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TIMSK1 &= ~(1<<OCIE1A);
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}
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inline void setTimerCeiling(uint16_t c)
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{
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OCR1A = c;
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}
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#define setTimerCeiling(c) OCR1A = c
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#endif /* _TIMER_H */
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