heater.h File Reference

Teacup configuration for the CNC Control Panel project. More...

#include "config.h"
#include <stdint.h>
#include "temp.h"
#include "config.h"
#include <avr/io.h>

Defines
#define	enable_heater() heater_set(0, 64)
#define	disable_heater() heater_set(0, 0)
#define	DEFINE_HEATER(name, pin) HEATER_ ## name,
#define	HOST
	This is the motherboard, as opposed to the extruder.
#define	STEPS_PER_M_X 333333
#define	STEPS_PER_M_Y 333333
#define	STEPS_PER_M_Z 333333
#define	MAXIMUM_FEEDRATE_X 2000
	used for G0 rapid moves and as a cap for all other feedrates
#define	MAXIMUM_FEEDRATE_Y 2000
#define	MAXIMUM_FEEDRATE_Z 2000
#define	SEARCH_FEEDRATE_X 60
	used when searching endstops and as default feedrate
#define	SEARCH_FEEDRATE_Y 60
#define	SEARCH_FEEDRATE_Z 60
#define	X_MIN 0.0
	Soft axis limits, in mm.
#define	X_MAX 720.0
#define	Y_MIN 0.0
#define	Y_MAX 420.0
#define	Z_MIN 0.0
#define	Z_MAX 110.0
#define	ACCELERATION_RAMPING
	acceleration and deceleration ramping.
#define	ACCELERATION 50.
	how fast to accelerate when using ACCELERATION_RAMPING.
#define	_READ(IO) (IO ## _RPORT & MASK(IO ## _PIN))
	Read a pin.
#define	_WRITE(IO, v) do { if (v) { IO ## _WPORT \|= MASK(IO ## _PIN); } else { IO ## _WPORT &= ~MASK(IO ## _PIN); }; } while (0)
	write to a pin
#define	_TOGGLE(IO) do { IO ## _RPORT = MASK(IO ## _PIN); } while (0)
	toggle a pin
#define	_SET_INPUT(IO) do { IO ## _DDR &= ~MASK(IO ## _PIN); } while (0)
	set pin as input
#define	_SET_OUTPUT(IO) do { IO ## _DDR \|= MASK(IO ## _PIN); } while (0)
	set pin as output
#define	_GET_INPUT(IO) ((IO ## _DDR & MASK(IO ## _PIN)) == 0)
	check if pin is an input
#define	_GET_OUTPUT(IO) ((IO ## _DDR & MASK(IO ## _PIN)) != 0)
	check if pin is an output
#define	READ(IO) _READ(IO)
	Read a pin wrapper.
#define	WRITE(IO, v) _WRITE(IO, v)
	Write to a pin wrapper.
#define	TOGGLE(IO) _TOGGLE(IO)
	toggle a pin wrapper
#define	SET_INPUT(IO) _SET_INPUT(IO)
	set pin as input wrapper
#define	SET_OUTPUT(IO) _SET_OUTPUT(IO)
	set pin as output wrapper
#define	GET_INPUT(IO) _GET_INPUT(IO)
	check if pin is an input wrapper
#define	GET_OUTPUT(IO) _GET_OUTPUT(IO)
	check if pin is an output wrapper
#define	X_STEP_PIN AIO0
#define	X_DIR_PIN AIO1
#define	X_MIN_PIN AIO2
#define	X_INVERT_DIR 1
#define	X_INVERT_MIN 1
#define	Y_STEP_PIN AIO3
#define	Y_DIR_PIN AIO4
#define	Y_MIN_PIN AIO5
#define	Y_INVERT_MIN 1
#define	Z_STEP_PIN DIO2
#define	Z_DIR_PIN DIO4
#define	Z_MIN_PIN DIO7
#define	Z_INVERT_MIN 1
#define	CHARGEPUMP_PIN DIO3
#define	ESTOP_IN_PIN DIO8
#define	ESTOP_INVERT_IN 1
#define	BAUD 115200
	Baud rate for the connection to the host.
#define	XONXOFF
	Xon/Xoff flow control.
#define	MOVEBUFFER_SIZE 8
	move buffer size, in number of moves note that each move takes a fair chunk of ram (69 bytes as of this writing) so don't make the buffer too big - a bigger serial readbuffer may help more than increasing this unless your gcodes are more than 70 characters long on average.
#define	USE_WATCHDOG
	Teacup implements a watchdog, which has to be reset every 250ms or it will reboot the controller.
#define	STEP_INTERRUPT_INTERRUPTIBLE 0
	this option makes the step interrupt interruptible (nested).
#define	ENDSTOP_STEPS 4
	number of steps to run into the endstops intentionally As Endstops trigger false alarm sometimes, Teacup debounces them by counting a number of consecutive positives.
Enumerations
enum	heater_t
Functions
void	heater_init (void)
	initialise heater subsystem Set directions, initialise PWM timers, read PID factors from eeprom, etc
void	heater_save_settings (void)
	Write PID factors to eeprom.
void	heater_set (heater_t index, uint8_t value)
	manually set PWM output
void	heater_tick (heater_t h, temp_sensor_t t, uint16_t current_temp, uint16_t target_temp)
	run heater PID algorithm
uint8_t	heaters_all_off (void)
	turn off all heaters
void	pid_set_p (heater_t index, int32_t p)
	set heater P factor
void	pid_set_i (heater_t index, int32_t i)
	set heater I factor
void	pid_set_d (heater_t index, int32_t d)
	set heater D factor
void	pid_set_i_limit (heater_t index, int32_t i_limit)
	set heater I limit
void	heater_print (uint16_t i)
	send heater debug info to host

Detailed Description

Teacup configuration for the CNC Control Panel project.

pin definitions and I/O macros

Note:: this is configured for an Arduino Uno talking to a Heiz Zero3 controller connected to a Heiz High-Z S-720 CNC mill.

why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html

Define Documentation

#define ACCELERATION 50.

how fast to accelerate when using ACCELERATION_RAMPING.

given in mm/s^2, decimal allowed, useful range 1. to 10'000. Start with 10. for milling (high precision) or 1000. for printing

#define ACCELERATION_RAMPING

acceleration and deceleration ramping.

Each movement starts at (almost) no speed, linearly accelerates to target speed and decelerates just in time to smoothly stop at the target. alternative to ACCELERATION_REPRAP

#define BAUD 115200

Baud rate for the connection to the host.

Usually 115200, other common values are 19200, 38400 or 57600.

#define ENDSTOP_STEPS 4

number of steps to run into the endstops intentionally As Endstops trigger false alarm sometimes, Teacup debounces them by counting a number of consecutive positives.

Valid range is 1...255. Use 4 or less for reliable endstops, 8 or even more for flaky ones.

TODO: investigate removing this altogether. The S-720 has reed switch endstops that are also buffered on the Zero3, I don't expect it to send any false positives.

#define HOST

This is the motherboard, as opposed to the extruder.

See extruder/ directory for GEN3 extruder firmware

#define MOVEBUFFER_SIZE 8

move buffer size, in number of moves note that each move takes a fair chunk of ram (69 bytes as of this writing) so don't make the buffer too big - a bigger serial readbuffer may help more than increasing this unless your gcodes are more than 70 characters long on average.

however, a larger movebuffer will probably help with lots of short consecutive moves, as each move takes a bunch of math (hence time) to set up so a longer buffer allows more of the math to be done during preceding longer moves

#define STEP_INTERRUPT_INTERRUPTIBLE 0

this option makes the step interrupt interruptible (nested).

this should help immensely with dropped serial characters, but may also make debugging infuriating due to the complexities arising from nested interrupts

Note:: disable this option if you're using a '168 or for some reason your ram usage is above 90%. This option hugely increases likelihood of stack smashing.

#define USE_WATCHDOG

Teacup implements a watchdog, which has to be reset every 250ms or it will reboot the controller.

As rebooting (and letting the GCode sending application trying to continue the build with a then different Home point) is probably even worse than just hanging, and there is no better restore code in place, this is disabled for now.

TODO: add reboot type check, if caused by watchdog send XOFF to the host and lock-up -- otherwise the above scenario applies and we don't want that on a metal-handling machine like this one.

#define X_MIN 0.0

Soft axis limits, in mm.

Define them to your machine's size relative to what your host considers to be the origin.

#define XONXOFF

Xon/Xoff flow control.

Redundant when using RepRap Host for sending GCode, but mandatory when sending GCode files with a plain terminal emulator, like GtkTerm (Linux), CoolTerm (Mac) or HyperTerminal (Windows).

Function Documentation

void heater_print ( uint16_t i )

send heater debug info to host

Parameters:

i

index of heater to send info for

void heater_set	(	heater_t	index,
		uint8_t	value
	)

manually set PWM output

Parameters:

	index	the heater we're setting the output for
	value	the PWM value to write

anything done by this function is overwritten by heater_tick above if the heater has an associated temp sensor

Referenced by heater_tick().

void heater_tick	(	heater_t	h,
		temp_sensor_t	t,
		uint16_t	current_temp,
		uint16_t	target_temp
	)

run heater PID algorithm

Parameters:

	h	which heater we're running the loop for
	t	which temp sensor this heater is attached to
	current_temp	the temperature that the associated temp sensor is reporting
	target_temp	the temperature we're trying to achieve

Referenced by temp_sensor_tick().

uint8_t heaters_all_off ( void )

turn off all heaters

for emergency stop

void pid_set_d	(	heater_t	index,
		int32_t	d
	)

set heater D factor

Parameters:

	index	heater to change D factor for
	d	scaled D factor

void pid_set_i	(	heater_t	index,
		int32_t	i
	)

set heater I factor

Parameters:

	index	heater to change I factor for
	i	scaled I factor

void pid_set_i_limit	(	heater_t	index,
		int32_t	i_limit
	)

set heater I limit

Parameters:

	index	heater to set I limit for
	i_limit	scaled I limit

void pid_set_p	(	heater_t	index,
		int32_t	p
	)

set heater P factor

Parameters:

	index	heater to change factor for
	p	scaled P factor

heater.h File Reference

Defines

Enumerations

Functions

Detailed Description

Define Documentation

Function Documentation