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Add external closed loop controller support

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This commit is contained in:
Sam Lane 2018-09-08 18:08:31 +01:00 committed by Scott Lahteine
parent 2ebfe90be9
commit 1b6bc19427
9 changed files with 139 additions and 1 deletions
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7
Marlin/Configuration_adv.h
View file

@ -287,6 +287,13 @@
//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
// Employ an external closed loop controller. Override pins here if needed.
//#define EXTERNAL_CLOSED_LOOP_CONTROLLER
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
//#define CLOSED_LOOP_ENABLE_PIN -1
//#define CLOSED_LOOP_MOVE_COMPLETE_PIN -1
#endif
/**
* Dual Steppers / Dual Endstops
*

6
Marlin/src/Marlin.cpp
View file

@ -40,6 +40,8 @@
#include "sd/cardreader.h"
#include "module/configuration_store.h"
#include "module/printcounter.h" // PrintCounter or Stopwatch
#include "feature/closedloop.h"
#ifdef ARDUINO
#include <pins_arduino.h>
#endif
@ -903,6 +905,10 @@ void setup() {
#if ENABLED(USE_WATCHDOG) // Reinit watchdog after HAL_get_reset_source call
watchdog_init();
#endif
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
init_closedloop();
#endif
}
/**

7
Marlin/src/config/default/Configuration_adv.h
View file

@ -287,6 +287,13 @@
//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
// Employ an external closed loop controller. Override pins here if needed.
//#define EXTERNAL_CLOSED_LOOP_CONTROLLER
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
//#define CLOSED_LOOP_ENABLE_PIN -1
//#define CLOSED_LOOP_MOVE_COMPLETE_PIN -1
#endif
/**
* Dual Steppers / Dual Endstops
*

41
Marlin/src/feature/closedloop.cpp Normal file
View file

@ -0,0 +1,41 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
#if !PIN_EXISTS(CLOSED_LOOP_ENABLE) || !PIN_EXISTS(CLOSED_LOOP_MOVE_COMPLETE)
#error "CLOSED_LOOP_ENABLE_PIN and CLOSED_LOOP_MOVE_COMPLETE_PIN are required for EXTERNAL_CLOSED_LOOP_CONTROLLER."
#endif
#include "closedloop.h"
void init_closedloop() {
OUT_WRITE(CLOSED_LOOP_ENABLE_PIN, LOW);
SET_INPUT_PULLUP(CLOSED_LOOP_MOVE_COMPLETE_PIN);
}
void set_closedloop(const byte val) {
OUT_WRITE(CLOSED_LOOP_ENABLE_PIN, val);
}
#endif // EXTERNAL_CLOSED_LOOP_CONTROLLER

25
Marlin/src/feature/closedloop.h Normal file
View file

@ -0,0 +1,25 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
void init_closedloop();
void set_closedloop(const byte val);

36
Marlin/src/gcode/calibrate/M12.cpp Normal file
View file

@ -0,0 +1,36 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfigPre.h"
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
#include "../gcode.h"
#include "../../module/planner.h"
#include "../../feature/closedloop.h"
void GcodeSuite::M12() {
planner.synchronize();
if (parser.seenval('S'))
set_closedloop(parser.value_int()); // Force a CLC set
}
#endif

4
Marlin/src/gcode/gcode.cpp
View file

@ -292,6 +292,10 @@ void GcodeSuite::process_parsed_command(
case 5: M5(); break; // M5 - turn spindle/laser off
#endif
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
case 12: M12(); break; // M12: Synchronize and optionally force a CLC set
#endif
case 17: M17(); break; // M17: Enable all stepper motors
#if ENABLED(SDSUPPORT)

5
Marlin/src/gcode/gcode.h
View file

@ -76,6 +76,7 @@
* M3 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to clockwise
* M4 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to counter-clockwise
* M5 - Turn laser/spindle off
* M12 - Set up closed loop control system. More features coming soon. (Requires EXTERNAL_CLOSED_LOOP_CONTROLLER)
* M17 - Enable/Power all stepper motors
* M18 - Disable all stepper motors; same as M84
* M20 - List SD card. (Requires SDSUPPORT)
@ -438,6 +439,10 @@ private:
static void M5();
#endif
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
static void M12();
#endif
static void M17();
static void M18_M84();

9
Marlin/src/module/planner.cpp
View file

@ -1539,7 +1539,14 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
/**
* Block until all buffered steps are executed / cleaned
*/
void Planner::synchronize() { while (has_blocks_queued() || cleaning_buffer_counter) idle(); }
void Planner::synchronize() {
while (
has_blocks_queued() || cleaning_buffer_counter
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
|| !READ(CLOSED_LOOP_MOVE_COMPLETE_PIN)
#endif
) idle();
}
/**
* Planner::_buffer_steps