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farmbot-arduino-firmware
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Changing stall detection for express board

pull/142/head
Tim Evers 2020-04-26 20:41:30 +02:00
parent 6cb6028273
commit 1fa8040520
8 changed files with 53 additions and 43 deletions
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4
src/Board.h
View File

@ -1,7 +1,7 @@
#ifndef FARMBOT_BOARD_ID
// Farmbot using RAMPS board
#define RAMPS_V14
//#define RAMPS_V14
//#define FARMDUINO_V10
//#define FARMDUINO_V14
@ -10,7 +10,7 @@
//#define FARMDUINO_V30
// Farmbot Express
//#define FARMDUINO_EXP_V20
#define FARMDUINO_EXP_V20
#else

4
src/F11Handler.cpp
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@ -35,6 +35,10 @@ int F11Handler::execute(Command *command)
int stepsPerMM = ParameterList::getInstance()->getValue(MOVEMENT_STEP_PER_MM_X);
int missedStepsMax = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_X);
#if defined(FARMDUINO_EXP_V20)
missedStepsMax += ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_X);
#endif
if (stepsPerMM <= 0)
{
missedStepsMax = 0;

4
src/F12Handler.cpp
View File

@ -35,6 +35,10 @@ int F12Handler::execute(Command *command)
int stepsPerMM = ParameterList::getInstance()->getValue(MOVEMENT_STEP_PER_MM_Y);
int missedStepsMax = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_Y);
#if defined(FARMDUINO_EXP_V20)
missedStepsMax += ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_Y);
#endif
if (stepsPerMM <= 0)
{
missedStepsMax = 0;

5
src/F13Handler.cpp
View File

@ -37,6 +37,11 @@ int F13Handler::execute(Command *command)
int stepsPerMM = ParameterList::getInstance()->getValue(MOVEMENT_STEP_PER_MM_Z);
int missedStepsMax = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_Z);
#if defined(FARMDUINO_EXP_V20)
missedStepsMax += ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_DECAY_Z);
#endif
if (stepsPerMM <= 0)
{
missedStepsMax = 0;

27
src/Movement.cpp
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@ -509,6 +509,10 @@ int Movement::moveToCoords(double xDestScaled, double yDestScaled, double zDestS
axisActive[2] = zHome;
}
axisX.resetNrOfSteps();
axisY.resetNrOfSteps();
axisZ.resetNrOfSteps();
axisX.checkMovement();
axisY.checkMovement();
axisZ.checkMovement();
@ -1530,17 +1534,26 @@ void Movement::checkAxisVsEncoder(MovementAxis *axis, MovementEncoder *encoder,
stallGuard = status & FB_TMC_SPISTATUS_STALLGUARD_MASK ? true : false;
standStill = status & FB_TMC_SPISTATUS_STANDSTILL_MASK ? true : false;
if (stallGuard || standStill) {
// In case of stall detection, count this as a missed step
// Reset every hunderd steps, so the missed steps represents the number of missed steps
// out of every hundred steps done
if (axis->getNrOfSteps() % 100 == 0)
{
*missedSteps = 0;
}
if (stallGuard || standStill && axis->getNrOfSteps() >= *encoderStepDecay) {
// In case of stall detection, count this as a missed step. But ignore the first 500 steps
(*missedSteps)++;
axis->setCurrentPosition(*lastPosition);
}
else {
// Decrease amount of missed steps if there are no missed step
if (*missedSteps > 0)
{
(*missedSteps) -= (*encoderStepDecay);
}
// // Decrease amount of missed steps if there are no missed step
// if (*missedSteps > 0)
// {
// (*missedSteps) -= (*encoderStepDecay);
// }
*lastPosition = axis->currentPosition();
encoder->setPosition(axis->currentPosition());
}

11
src/MovementAxis.cpp
View File

@ -274,6 +274,11 @@ unsigned int MovementAxis::calculateSpeed(long sourcePosition, long currentPosit
return newSpeed;
}
void MovementAxis::resetNrOfSteps()
{
movementSteps = 0;
}
void MovementAxis::checkAxisDirection()
{
@ -400,6 +405,7 @@ void MovementAxis::setTicks()
void MovementAxis::setStepAxis()
{
movementSteps++;
stepIsOn = true;
if (movementUp)
@ -735,6 +741,11 @@ unsigned long MovementAxis::getLength(long l1, long l2)
}
}
unsigned long MovementAxis::getNrOfSteps()
{
return movementSteps;
}
bool MovementAxis::endStopsReached()
{
return ((digitalRead(pinMin) == motorEndStopInv2) || (digitalRead(pinMax) == motorEndStopInv2)) && motorEndStopEnbl;

4
src/MovementAxis.h
View File

@ -89,6 +89,9 @@ public:
void activateDebugPrint();
void test();
unsigned long getNrOfSteps();
void resetNrOfSteps();
char channelLabel;
bool movementStarted;
@ -166,6 +169,7 @@ private:
unsigned long stepOnTick = 0;
unsigned long stepOffTick = 0;
unsigned long axisSpeed = 0;
unsigned long movementSteps = 0;
bool axisActive = false;
bool movementUp = false;

37
src/farmbot_arduino_controller.cpp
View File

@ -635,18 +635,9 @@ void startInterrupt()
// Interrupt management code library written by Paul Stoffregen
// The default time 100 micro seconds
//#if !defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
Timer1.attachInterrupt(interrupt);
Timer1.initialize(MOVEMENT_INTERRUPT_SPEED);
Timer1.start();
//#endif
//#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
// Serial.println("set timer");
// TIMSK2 = (TIMSK2 & B11111110) | 0x01; // Enable timer overflow
// TCCR2B = (TCCR2B & B11111000) | 0x01; // Set divider to 1
// OCR2A = 4; // Set overflow to 4 for total of 64 µs
//#endif
Timer1.attachInterrupt(interrupt);
Timer1.initialize(MOVEMENT_INTERRUPT_SPEED);
Timer1.start();
}
void homeOnBoot()
@ -751,34 +742,12 @@ void startServo()
#if defined(FARMDUINO_EXP_V20) || defined(FARMDUINO_V30)
/**/
//static Trinamic_TMC2130 controllerTMC2130_X(X_CHIP_SELECT);
//static Trinamic_TMC2130 controllerTMC2130_Y(Y_CHIP_SELECT);
//static Trinamic_TMC2130 controllerTMC2130_Z(Z_CHIP_SELECT);
//static Trinamic_TMC2130 controllerTMC2130_E(E_CHIP_SELECT);
void loadTMC2130drivers()
{
Serial.print(COMM_REPORT_COMMENT);
Serial.print(SPACE);
Serial.print("Load TMC drivers");
Serial.print(CRLF);
/**/
//TMC2130X.init();
//TMC2130Y.init();
//TMC2130Z.init();
//TMC2130E.init();
//Trinamic_TMC2130 controllerTMC2130_X = Trinamic_TMC2130(X_CHIP_SELECT);
//Trinamic_TMC2130 controllerTMC2130_Y = Trinamic_TMC2130(Y_CHIP_SELECT);
//Trinamic_TMC2130 controllerTMC2130_Z = Trinamic_TMC2130(Z_CHIP_SELECT);
//Trinamic_TMC2130 controllerTMC2130_E = Trinamic_TMC2130(E_CHIP_SELECT);
//TMC2130X = &controllerTMC2130_X;
//TMC2130Y = &controllerTMC2130_Y;
//TMC2130Z = &controllerTMC2130_Z;
//TMC2130E = &controllerTMC2130_E;
}
void loadTMC2130parameters()