From 1b6bc194279b24e24df29bdd677a112236deac34 Mon Sep 17 00:00:00 2001 From: Sam Lane Date: Sat, 8 Sep 2018 18:08:31 +0100 Subject: [PATCH] Add external closed loop controller support --- Marlin/Configuration_adv.h | 7 ++++ Marlin/src/Marlin.cpp | 6 +++ Marlin/src/config/default/Configuration_adv.h | 7 ++++ Marlin/src/feature/closedloop.cpp | 41 +++++++++++++++++++ Marlin/src/feature/closedloop.h | 25 +++++++++++ Marlin/src/gcode/calibrate/M12.cpp | 36 ++++++++++++++++ Marlin/src/gcode/gcode.cpp | 4 ++ Marlin/src/gcode/gcode.h | 5 +++ Marlin/src/module/planner.cpp | 9 +++- 9 files changed, 139 insertions(+), 1 deletion(-) create mode 100644 Marlin/src/feature/closedloop.cpp create mode 100644 Marlin/src/feature/closedloop.h create mode 100644 Marlin/src/gcode/calibrate/M12.cpp diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 05701ce19..f5e753882 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -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 * diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp index 9720d824f..e7d4a37fe 100644 --- a/Marlin/src/Marlin.cpp +++ b/Marlin/src/Marlin.cpp @@ -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 #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 } /** diff --git a/Marlin/src/config/default/Configuration_adv.h b/Marlin/src/config/default/Configuration_adv.h index 05701ce19..f5e753882 100755 --- a/Marlin/src/config/default/Configuration_adv.h +++ b/Marlin/src/config/default/Configuration_adv.h @@ -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 * diff --git a/Marlin/src/feature/closedloop.cpp b/Marlin/src/feature/closedloop.cpp new file mode 100644 index 000000000..2fe60fcf9 --- /dev/null +++ b/Marlin/src/feature/closedloop.cpp @@ -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 . + * + */ +#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 diff --git a/Marlin/src/feature/closedloop.h b/Marlin/src/feature/closedloop.h new file mode 100644 index 000000000..84cec36fe --- /dev/null +++ b/Marlin/src/feature/closedloop.h @@ -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 . + * + */ +#pragma once + +void init_closedloop(); +void set_closedloop(const byte val); diff --git a/Marlin/src/gcode/calibrate/M12.cpp b/Marlin/src/gcode/calibrate/M12.cpp new file mode 100644 index 000000000..a4b75e71b --- /dev/null +++ b/Marlin/src/gcode/calibrate/M12.cpp @@ -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 . + * + */ +#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 diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp index 6682cfbeb..063f32999 100644 --- a/Marlin/src/gcode/gcode.cpp +++ b/Marlin/src/gcode/gcode.cpp @@ -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) diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h index cb9e03b58..36d8fc3fc 100644 --- a/Marlin/src/gcode/gcode.h +++ b/Marlin/src/gcode/gcode.h @@ -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(); diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 43f7a40a4..4db6e58d4 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -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