attempt to move heater PID to extruder controller board

extruder/Makefile

@@ -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
 
 ##############################################################################
 #                                                                            #

extruder/config.h.dist

@@ -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	TH_COUNT					8
-#define	HEATER_PWM						OCR2A
+#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
+// #ifdef	HEATER_PWM
-	#define	enable_heater()			do { TCCR2A |=  MASK(COM2A1); } while (0)
+// 	#define	enable_heater()			do { TCCR2A |=  MASK(COM2A1); } while (0)
-	#define	disable_heater()		do { TCCR2A &= ~MASK(COM2A1); } while (0)
+// 	#define	disable_heater()		do { TCCR2A &= ~MASK(COM2A1); } while (0)
-#else
+// #else
-	#define	enable_heater()			WRITE(HEATER_PIN, 1)
+// 	#define	enable_heater()			WRITE(HEATER_PIN, 1)
-	#define	disable_heater()		WRITE(HEATER_PIN, 0)
+// 	#define	disable_heater()		WRITE(HEATER_PIN, 0)
-#endif
+// #endif
 
 #endif	/* _CONFIG_H */

extruder/debug.h

@@ -0,0 +1 @@
+../debug.h

extruder/extruder.c

@@ -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
+		temp_sensor_tick();
-		raw_temp = analog_read(TEMP_PIN_CHANNEL);
 
-		//Calculate real temperature based on lookup table
+		update_send_cmd(temp_get(0) >> 2);
-		for (i = 1; i < NUMTEMPS; i++) {
+		temp_set(0, get_read_cmd());
-			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();
 	}
 }

extruder/heater.c

@@ -0,0 +1 @@
+../heater.c

extruder/heater.h

@@ -0,0 +1 @@
+../heater.h

extruder/temp.c

@@ -0,0 +1 @@
+../temp.c

extruder/temp.h

@@ -0,0 +1 @@
+../temp.h

heater.c

@@ -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);
 }
 

mendel.c

@@ -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);
 

temp.c

@@ -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

temp.h

@@ -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);