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attempt to move heater PID to extruder controller board

This commit is contained in:
Michael Moon 2010-10-28 13:23:39 +11:00
parent 773241399d
commit 95e7013dd6
12 changed files with 142 additions and 73 deletions
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2
extruder/Makefile
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@ -31,7 +31,7 @@
PROGRAM = extruder
SOURCES = $(PROGRAM).c intercom.c delay.c analog.c watchdog.c
SOURCES = $(PROGRAM).c intercom.c delay.c analog.c watchdog.c heater.c temp.c
##############################################################################
# #

96
extruder/config.h.dist
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@ -26,15 +26,49 @@
#define TRIM_POT AIO0
#define TRIM_POT_CHANNEL 0
//Debug LED will blink on RS485 transmission
#define DEBUG_LED DIO13
//Read analog voltage from thermistor
#define TEMP_PIN AIO3
#define TEMP_PIN_CHANNEL 3
#define REFERENCE REFERENCE_AVCC
#define ANALOG_MASK (MASK(TRIM_POT_CHANNEL) | MASK(TEMP_PIN_CHANNEL))
#define TEMP_THERMISTOR
// extruder settings
#define TEMP_HYSTERESIS 20
#define TEMP_RESIDENCY_TIME 60
#define NUM_TEMP_SENSORS 1
#ifdef TEMP_C
/***************************************************************************\
* *
* Fill in the following struct according to your hardware *
* *
* If your temperature sensor has no associated heater, enter '255' as the *
* heater index. *
* *
* for GEN3 set temp_type to TT_INTERCOM, temp_pin to 0 and heater index to *
* 255 *
* *
\***************************************************************************/
struct {
uint8_t temp_type;
uint8_t temp_pin;
uint8_t heater_index;
} temp_sensors[NUM_TEMP_SENSORS] =
{
{
TT_THERMISTOR,
PINC3,
0
}
};
#endif
// list of PWM-able pins and corresponding timers
// timer1 is used for step timing so don't use OC1A/OC1B (DIO9/DIO10)
// OC0A DIO6
@ -44,12 +78,46 @@
// OC2A DIO11
// OC2B DIO3
#define HEATER_PIN DIO11
#define HEATER_PWM OCR2A
#define TH_COUNT 8
#define PID_SCALE 1024L
#define BED_PIN DIO12
#define NUM_HEATERS 2
#ifdef HEATER_C
/***************************************************************************\
* *
* Fill in the following struct according to your hardware *
* *
* For the atmega168/328, timer/pin mappings are as follows *
* *
* OCR0A - PD6 *
* OCR0B - PD5 *
* OCR2A - PB3 *
* OCR2B - PD3 *
* *
\***************************************************************************/
struct {
volatile uint8_t *heater_port;
uint8_t heater_pin;
volatile uint8_t *heater_pwm;
} heaters[NUM_HEATERS] =
{
{
&PORTD,
PIND6,
&OCR0A
},
{
&PORTB,
PINB4,
0
}
};
#endif
#define ANALOG_MASK (MASK(TRIM_POT_CHANNEL) | MASK(TEMP_PIN_CHANNEL))
// #define HEATER_PIN DIO11
// #define HEATER_PWM OCR2A
//
// #define BED_PIN DIO12
/*
Intercom
@ -68,12 +136,12 @@
Heater
*/
#ifdef HEATER_PWM
#define enable_heater() do { TCCR2A |= MASK(COM2A1); } while (0)
#define disable_heater() do { TCCR2A &= ~MASK(COM2A1); } while (0)
#else
#define enable_heater() WRITE(HEATER_PIN, 1)
#define disable_heater() WRITE(HEATER_PIN, 0)
#endif
// #ifdef HEATER_PWM
// #define enable_heater() do { TCCR2A |= MASK(COM2A1); } while (0)
// #define disable_heater() do { TCCR2A &= ~MASK(COM2A1); } while (0)
// #else
// #define enable_heater() WRITE(HEATER_PIN, 1)
// #define disable_heater() WRITE(HEATER_PIN, 0)
// #endif
#endif /* _CONFIG_H */

1
extruder/debug.h Symbolic link
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@ -0,0 +1 @@
../debug.h

62
extruder/extruder.c
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@ -7,33 +7,11 @@
#include "analog.h"
#include "config.h"
#include "watchdog.h"
#include "heater.h"
#include "temp.h"
static uint8_t motor_pwm;
#define NUMTEMPS 20
short temptable[NUMTEMPS][2] = {
{1, 841},
{54, 255},
{107, 209},
{160, 184},
{213, 166},
{266, 153},
{319, 142},
{372, 132},
{425, 124},
{478, 116},
{531, 108},
{584, 101},
{637, 93},
{690, 86},
{743, 78},
{796, 70},
{849, 61},
{902, 50},
{955, 34},
{1008, 3}
};
void io_init(void) {
// setup I/O pins
WRITE(DEBUG_LED, 0); SET_OUTPUT(DEBUG_LED);
@ -60,14 +38,14 @@ void io_init(void) {
WRITE(BED_PIN, 0); SET_OUTPUT(BED_PIN);
#endif
#if defined(HEATER_PWM) || defined(FAN_PWM) || defined(BED_PWM)
// #if defined(HEATER_PWM) || defined(FAN_PWM) || defined(BED_PWM)
// setup PWM timer: fast PWM, no prescaler
TCCR2A = MASK(WGM21) | MASK(WGM20);
TCCR2B = MASK(CS22);
TIMSK2 = 0;
OCR2A = 0;
OCR2B = 0;
#endif
// #endif
#if defined(H1E_PWM) && defined(H2E_PWM)
TCCR0A = MASK(WGM01) | MASK(WGM00);
@ -174,6 +152,12 @@ void init(void) {
// set up inputs and outputs
io_init();
// temp sensor
temp_init();
// heater
heater_init();
// set up extruder motor driver
motor_init();
@ -187,9 +171,6 @@ void init(void) {
int main (void)
{
static uint8_t i;
static uint16_t raw_temp;
init();
enable_heater();
@ -204,26 +185,9 @@ int main (void)
//Read motor PWM
motor_pwm = analog_read(TRIM_POT_CHANNEL) >> 2;
//Read current temperature
raw_temp = analog_read(TEMP_PIN_CHANNEL);
temp_sensor_tick();
//Calculate real temperature based on lookup table
for (i = 1; i < NUMTEMPS; i++) {
if (temptable[i][0] > raw_temp) {
raw_temp = temptable[i][1] +
(temptable[i][0] - raw_temp) * (temptable[i-1][1] - temptable[i][1]) / (temptable[i][0] - temptable[i-1][0]);
break;
}
}
//Clamp for overflows
if (i == NUMTEMPS) raw_temp = temptable[NUMTEMPS-1][1];
if (raw_temp > 255) raw_temp = 255;
//Update the intercom values
update_send_cmd(raw_temp);
HEATER_PWM = get_read_cmd();
update_send_cmd(temp_get(0) >> 2);
temp_set(0, get_read_cmd());
}
}

1
extruder/heater.c Symbolic link
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@ -0,0 +1 @@
../heater.c

1
extruder/heater.h Symbolic link
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@ -0,0 +1 @@
../heater.h

1
extruder/temp.c Symbolic link
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@ -0,0 +1 @@
../temp.c

1
extruder/temp.h Symbolic link
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@ -0,0 +1 @@
../temp.h

12
heater.c
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@ -4,9 +4,11 @@
#include <avr/pgmspace.h>
#include "arduino.h"
#include "timer.h"
// #include "timer.h"
#include "debug.h"
#include "sersendf.h"
#ifdef DEBUG
#include "sersendf.h"
#endif
#define HEATER_C
#include "config.h"
@ -124,10 +126,12 @@ void heater_tick(uint8_t h, uint16_t current_temp, uint16_t target_temp) {
heaters_runtime[h].pid_output = 0;
else
heaters_runtime[h].pid_output = pid_output_intermed & 0xFF;
#ifdef DEBUG
if (debug_flags & DEBUG_PID)
sersendf_P(PSTR("T{E:%d, P:%d * %ld = %ld / I:%d * %ld = %ld / D:%d * %ld = %ld # O: %ld = %u}\n"), t_error, heaters_runtime[h].heater_p, heaters_pid[h].p_factor, (int32_t) heaters_runtime[h].heater_p * heaters_pid[h].p_factor / PID_SCALE, heaters_runtime[h].heater_i, heaters_pid[h].i_factor, (int32_t) heaters_runtime[h].heater_i * heaters_pid[h].i_factor / PID_SCALE, heaters_runtime[h].heater_d, heaters_pid[h].d_factor, (int32_t) heaters_runtime[h].heater_d * heaters_pid[h].d_factor / PID_SCALE, pid_output_intermed, heaters_runtime[h].pid_output);
#endif
heater_set(h, heaters_runtime[h].pid_output);
}

22
mendel.c
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@ -35,15 +35,33 @@ void io_init(void) {
WRITE(X_STEP_PIN, 0); SET_OUTPUT(X_STEP_PIN);
WRITE(X_DIR_PIN, 0); SET_OUTPUT(X_DIR_PIN);
WRITE(X_MIN_PIN, 1); SET_INPUT(X_MIN_PIN);
#ifdef X_MAX_PIN
WRITE(X_MAX_PIN, 1); SET_INPUT(X_MAX_PIN);
#endif
#ifdef X_ENABLE_PIN
WRITE(X_ENABLE_PIN, 1); SET_OUTPUT(X_ENABLE_PIN);
#endif
WRITE(Y_STEP_PIN, 0); SET_OUTPUT(Y_STEP_PIN);
WRITE(Y_DIR_PIN, 0); SET_OUTPUT(Y_DIR_PIN);
WRITE(Y_MIN_PIN, 1); SET_INPUT(Y_MIN_PIN);
#ifdef Y_MAX_PIN
WRITE(Y_MAX_PIN, 1); SET_INPUT(Y_MAX_PIN);
#endif
#ifdef Y_ENABLE_PIN
WRITE(Y_ENABLE_PIN, 1); SET_OUTPUT(Y_ENABLE_PIN);
#endif
WRITE(Z_STEP_PIN, 0); SET_OUTPUT(Z_STEP_PIN);
WRITE(Z_DIR_PIN, 0); SET_OUTPUT(Z_DIR_PIN);
WRITE(Z_MIN_PIN, 1); SET_INPUT(Z_MIN_PIN);
#ifdef Z_MAX_PIN
WRITE(Z_MAX_PIN, 1); SET_INPUT(Z_MAX_PIN);
#endif
#ifdef Z_ENABLE_PIN
WRITE(Z_ENABLE_PIN, 1); SET_OUTPUT(Z_ENABLE_PIN);
#endif
WRITE(E_STEP_PIN, 0); SET_OUTPUT(E_STEP_PIN);
WRITE(E_DIR_PIN, 0); SET_OUTPUT(E_DIR_PIN);

14
temp.c
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@ -5,9 +5,11 @@
#include <avr/pgmspace.h>
#include "arduino.h"
#include "timer.h"
// #include "timer.h"
#include "debug.h"
#include "sersendf.h"
#ifndef EXTRUDER
#include "sersendf.h"
#endif
#include "heater.h"
#ifdef GEN3
#include "intercom.h"
@ -189,7 +191,7 @@ void temp_sensor_tick() {
temp = temptable[NUMTEMPS-1][1] * 4;
temp_sensors_runtime[i].next_read_time = 0;
}
} while (0);
break;
#endif /* TEMP_THERMISTOR */
@ -253,6 +255,11 @@ void temp_set(uint8_t index, uint16_t temperature) {
#endif
}
uint16_t temp_get(uint8_t index) {
return temp_sensors_runtime[index].last_read_temp;
}
#ifndef EXTRUDER
void temp_print(uint8_t index) {
uint8_t c = 0;
@ -260,3 +267,4 @@ void temp_print(uint8_t index) {
sersendf_P(PSTR("T: %u.%u\n"), temp_sensors_runtime[index].last_read_temp >> 2, c);
}
#endif

2
temp.h
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@ -20,6 +20,8 @@ void temp_sensor_tick(void);
uint8_t temp_achieved(void);
void temp_set(uint8_t index, uint16_t temperature);
uint16_t temp_get(uint8_t index);
void temp_print(uint8_t index);
uint16_t temp_read(uint8_t index);