🎨Change CRLF line ending to LF
This commit is contained in:
Alex Voinea
parent
a1b8ee67b3
commit
9b3f51008b
@ -1,190 +1,190 @@
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#include <avr/io.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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#include "io_atmega2560.h"
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#include "io_atmega2560.h"
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// All this is about silencing the heat bed, as it behaves like a loudspeaker.
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// All this is about silencing the heat bed, as it behaves like a loudspeaker.
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// Basically, we want the PWM heating switched at 30Hz (or so) which is a well ballanced
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// Basically, we want the PWM heating switched at 30Hz (or so) which is a well ballanced
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// frequency for both power supply units (i.e. both PSUs are reasonably silent).
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// frequency for both power supply units (i.e. both PSUs are reasonably silent).
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// The only trouble is the rising or falling edge of bed heating - that creates an audible click.
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// The only trouble is the rising or falling edge of bed heating - that creates an audible click.
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// This audible click may be suppressed by making the rising or falling edge NOT sharp.
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// This audible click may be suppressed by making the rising or falling edge NOT sharp.
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// Of course, making non-sharp edges in digital technology is not easy, but there is a solution.
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// Of course, making non-sharp edges in digital technology is not easy, but there is a solution.
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// It is possible to do a fast PWM sequence with duty starting from 0 to 255.
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// It is possible to do a fast PWM sequence with duty starting from 0 to 255.
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// Doing this at higher frequency than the bed "loudspeaker" can handle makes the click barely audible.
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// Doing this at higher frequency than the bed "loudspeaker" can handle makes the click barely audible.
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// Technically:
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// Technically:
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// timer0 is set to fast PWM mode at 62.5kHz (timer0 is linked to the bed heating pin) (zero prescaler)
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// timer0 is set to fast PWM mode at 62.5kHz (timer0 is linked to the bed heating pin) (zero prescaler)
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// To keep the bed switching at 30Hz - we don't want the PWM running at 62kHz all the time
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// To keep the bed switching at 30Hz - we don't want the PWM running at 62kHz all the time
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// since it would burn the heatbed's MOSFET:
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// since it would burn the heatbed's MOSFET:
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// 16MHz/256 levels of PWM duty gives us 62.5kHz
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// 16MHz/256 levels of PWM duty gives us 62.5kHz
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// 62.5kHz/256 gives ~244Hz, that is still too fast - 244/8 gives ~30Hz, that's what we need
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// 62.5kHz/256 gives ~244Hz, that is still too fast - 244/8 gives ~30Hz, that's what we need
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// So the automaton runs atop of inner 8 (or 16) cycles.
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// So the automaton runs atop of inner 8 (or 16) cycles.
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// The finite automaton is running in the ISR(TIMER0_OVF_vect)
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// The finite automaton is running in the ISR(TIMER0_OVF_vect)
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// 2019-08-14 update: the original algorithm worked very well, however there were 2 regressions:
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// 2019-08-14 update: the original algorithm worked very well, however there were 2 regressions:
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// 1. 62kHz ISR requires considerable amount of processing power,
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// 1. 62kHz ISR requires considerable amount of processing power,
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// USB transfer speed dropped by 20%, which was most notable when doing short G-code segments.
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// USB transfer speed dropped by 20%, which was most notable when doing short G-code segments.
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// 2. Some users reported TLed PSU started clicking when running at 120V/60Hz.
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// 2. Some users reported TLed PSU started clicking when running at 120V/60Hz.
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// This looks like the original algorithm didn't maintain base PWM 30Hz, but only 15Hz
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// This looks like the original algorithm didn't maintain base PWM 30Hz, but only 15Hz
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// To address both issues, there is an improved approach based on the idea of leveraging
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// To address both issues, there is an improved approach based on the idea of leveraging
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// different CLK prescalers in some automaton states - i.e. when holding LOW or HIGH on the output pin,
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// different CLK prescalers in some automaton states - i.e. when holding LOW or HIGH on the output pin,
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// we don't have to clock 62kHz, but we can increase the CLK prescaler for these states to 8 (or even 64).
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// we don't have to clock 62kHz, but we can increase the CLK prescaler for these states to 8 (or even 64).
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// That shall result in the ISR not being called that much resulting in regained performance
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// That shall result in the ISR not being called that much resulting in regained performance
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// Theoretically this is relatively easy, however one must be very carefull handling the AVR's timer
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// Theoretically this is relatively easy, however one must be very carefull handling the AVR's timer
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// control registers correctly, especially setting them in a correct order.
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// control registers correctly, especially setting them in a correct order.
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// Some registers are double buffered, some changes are applied in next cycles etc.
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// Some registers are double buffered, some changes are applied in next cycles etc.
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// The biggest problem was with the CLK prescaler itself - this circuit is shared among almost all timers,
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// The biggest problem was with the CLK prescaler itself - this circuit is shared among almost all timers,
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// we don't want to reset the prescaler counted value when transiting among automaton states.
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// we don't want to reset the prescaler counted value when transiting among automaton states.
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// Resetting the prescaler would make the PWM more precise, right now there are temporal segments
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// Resetting the prescaler would make the PWM more precise, right now there are temporal segments
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// of variable period ranging from 0 to 7 62kHz ticks - that's logical, the timer must "sync"
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// of variable period ranging from 0 to 7 62kHz ticks - that's logical, the timer must "sync"
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// to the new slower CLK after setting the slower prescaler value.
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// to the new slower CLK after setting the slower prescaler value.
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// In our application, this isn't any significant problem and may be ignored.
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// In our application, this isn't any significant problem and may be ignored.
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// Doing changes in timer's registers non-correctly results in artefacts on the output pin
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// Doing changes in timer's registers non-correctly results in artefacts on the output pin
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// - it can toggle unnoticed, which will result in bed clicking again.
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// - it can toggle unnoticed, which will result in bed clicking again.
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// That's why there are special transition states ZERO_TO_RISE and ONE_TO_FALL, which enable the
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// That's why there are special transition states ZERO_TO_RISE and ONE_TO_FALL, which enable the
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// counter change its operation atomically and without artefacts on the output pin.
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// counter change its operation atomically and without artefacts on the output pin.
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// The resulting signal on the output pin was checked with an osciloscope.
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// The resulting signal on the output pin was checked with an osciloscope.
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// If there are any change requirements in the future, the signal must be checked with an osciloscope again,
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// If there are any change requirements in the future, the signal must be checked with an osciloscope again,
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// ad-hoc changes may completely screw things up!
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// ad-hoc changes may completely screw things up!
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// 2020-01-29 update: we are introducing a new option to the automaton that will allow us to force the output state
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// 2020-01-29 update: we are introducing a new option to the automaton that will allow us to force the output state
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// to either full ON or OFF. This is so that interference during the MBL probing is minimal.
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// to either full ON or OFF. This is so that interference during the MBL probing is minimal.
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// To accomplish this goal we use bedPWMDisabled. It is only supposed to be used for brief periods of time as to
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// To accomplish this goal we use bedPWMDisabled. It is only supposed to be used for brief periods of time as to
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// not make the bed temperature too unstable. Also, careful consideration should be used when using this
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// not make the bed temperature too unstable. Also, careful consideration should be used when using this
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// option as leaving this enabled will also keep the bed output in the state it stopped in.
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// option as leaving this enabled will also keep the bed output in the state it stopped in.
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///! Definition off finite automaton states
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///! Definition off finite automaton states
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enum class States : uint8_t {
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enum class States : uint8_t {
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ZERO_START = 0,///< entry point of the automaton - reads the soft_pwm_bed value for the next whole PWM cycle
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ZERO_START = 0,///< entry point of the automaton - reads the soft_pwm_bed value for the next whole PWM cycle
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ZERO, ///< steady 0 (OFF), no change for the whole period
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ZERO, ///< steady 0 (OFF), no change for the whole period
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ZERO_TO_RISE, ///< metastate allowing the timer change its state atomically without artefacts on the output pin
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ZERO_TO_RISE, ///< metastate allowing the timer change its state atomically without artefacts on the output pin
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RISE, ///< 16 fast PWM cycles with increasing duty up to steady ON
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RISE, ///< 16 fast PWM cycles with increasing duty up to steady ON
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RISE_TO_ONE, ///< metastate allowing the timer change its state atomically without artefacts on the output pin
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RISE_TO_ONE, ///< metastate allowing the timer change its state atomically without artefacts on the output pin
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ONE, ///< steady 1 (ON), no change for the whole period
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ONE, ///< steady 1 (ON), no change for the whole period
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ONE_TO_FALL, ///< metastate allowing the timer change its state atomically without artefacts on the output pin
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ONE_TO_FALL, ///< metastate allowing the timer change its state atomically without artefacts on the output pin
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FALL, ///< 16 fast PWM cycles with decreasing duty down to steady OFF
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FALL, ///< 16 fast PWM cycles with decreasing duty down to steady OFF
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FALL_TO_ZERO ///< metastate allowing the timer change its state atomically without artefacts on the output pin
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FALL_TO_ZERO ///< metastate allowing the timer change its state atomically without artefacts on the output pin
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};
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};
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///! Inner states of the finite automaton
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///! Inner states of the finite automaton
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static States state = States::ZERO_START;
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static States state = States::ZERO_START;
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bool bedPWMDisabled = 0;
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bool bedPWMDisabled = 0;
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///! Fast PWM counter is used in the RISE and FALL states (62.5kHz)
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///! Fast PWM counter is used in the RISE and FALL states (62.5kHz)
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static uint8_t slowCounter = 0;
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static uint8_t slowCounter = 0;
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///! Slow PWM counter is used in the ZERO and ONE states (62.5kHz/8 or 64)
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///! Slow PWM counter is used in the ZERO and ONE states (62.5kHz/8 or 64)
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static uint8_t fastCounter = 0;
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static uint8_t fastCounter = 0;
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///! PWM counter for the whole cycle - a cache for soft_pwm_bed
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///! PWM counter for the whole cycle - a cache for soft_pwm_bed
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static uint8_t pwm = 0;
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static uint8_t pwm = 0;
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///! The slow PWM duty for the next 30Hz cycle
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///! The slow PWM duty for the next 30Hz cycle
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///! Set in the whole firmware at various places
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///! Set in the whole firmware at various places
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extern unsigned char soft_pwm_bed;
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extern unsigned char soft_pwm_bed;
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/// fastMax - how many fast PWM steps to do in RISE and FALL states
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/// fastMax - how many fast PWM steps to do in RISE and FALL states
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/// 16 is a good compromise between silenced bed ("smooth" edges)
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/// 16 is a good compromise between silenced bed ("smooth" edges)
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/// and not burning the switching MOSFET
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/// and not burning the switching MOSFET
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static const uint8_t fastMax = 16;
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static const uint8_t fastMax = 16;
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/// Scaler 16->256 for fast PWM
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/// Scaler 16->256 for fast PWM
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static const uint8_t fastShift = 4;
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static const uint8_t fastShift = 4;
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/// Increment slow PWM counter by slowInc every ZERO or ONE state
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/// Increment slow PWM counter by slowInc every ZERO or ONE state
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/// This allows for fine-tuning the basic PWM switching frequency
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/// This allows for fine-tuning the basic PWM switching frequency
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/// A possible further optimization - use a 64 prescaler (instead of 8)
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/// A possible further optimization - use a 64 prescaler (instead of 8)
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/// increment slowCounter by 1
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/// increment slowCounter by 1
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/// but use less bits of soft PWM - something like soft_pwm_bed >> 2
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/// but use less bits of soft PWM - something like soft_pwm_bed >> 2
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/// that may further reduce the CPU cycles required by the bed heating automaton
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/// that may further reduce the CPU cycles required by the bed heating automaton
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/// Due to the nature of bed heating the reduced PID precision may not be a major issue, however doing 8x less ISR(timer0_ovf) may significantly improve the performance
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/// Due to the nature of bed heating the reduced PID precision may not be a major issue, however doing 8x less ISR(timer0_ovf) may significantly improve the performance
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static const uint8_t slowInc = 1;
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static const uint8_t slowInc = 1;
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ISR(TIMER0_OVF_vect) // timer compare interrupt service routine
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ISR(TIMER0_OVF_vect) // timer compare interrupt service routine
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{
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{
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switch(state){
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switch(state){
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case States::ZERO_START:
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case States::ZERO_START:
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if (bedPWMDisabled) return; // stay in the OFF state and do not change the output pin
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if (bedPWMDisabled) return; // stay in the OFF state and do not change the output pin
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pwm = soft_pwm_bed << 1;// expecting soft_pwm_bed to be 7bit!
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pwm = soft_pwm_bed << 1;// expecting soft_pwm_bed to be 7bit!
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if( pwm != 0 ){
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if( pwm != 0 ){
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state = States::ZERO; // do nothing, let it tick once again after the 30Hz period
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state = States::ZERO; // do nothing, let it tick once again after the 30Hz period
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}
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}
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break;
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break;
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case States::ZERO: // end of state ZERO - we'll either stay in ZERO or change to RISE
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case States::ZERO: // end of state ZERO - we'll either stay in ZERO or change to RISE
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// In any case update our cache of pwm value for the next whole cycle from soft_pwm_bed
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// In any case update our cache of pwm value for the next whole cycle from soft_pwm_bed
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slowCounter += slowInc; // this does software timer_clk/256 or less (depends on slowInc)
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slowCounter += slowInc; // this does software timer_clk/256 or less (depends on slowInc)
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if( slowCounter > pwm ){
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if( slowCounter > pwm ){
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return;
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return;
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} // otherwise moving towards RISE
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} // otherwise moving towards RISE
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state = States::ZERO_TO_RISE; // and finalize the change in a transitional state RISE0
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state = States::ZERO_TO_RISE; // and finalize the change in a transitional state RISE0
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break;
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break;
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// even though it may look like the ZERO state may be glued together with the ZERO_TO_RISE, don't do it
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// even though it may look like the ZERO state may be glued together with the ZERO_TO_RISE, don't do it
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// the timer must tick once more in order to get rid of occasional output pin toggles.
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// the timer must tick once more in order to get rid of occasional output pin toggles.
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case States::ZERO_TO_RISE: // special state for handling transition between prescalers and switching inverted->non-inverted fast-PWM without toggling the output pin.
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case States::ZERO_TO_RISE: // special state for handling transition between prescalers and switching inverted->non-inverted fast-PWM without toggling the output pin.
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// It must be done in consequent steps, otherwise the pin will get flipped up and down during one PWM cycle.
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// It must be done in consequent steps, otherwise the pin will get flipped up and down during one PWM cycle.
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// Also beware of the correct sequence of the following timer control registers initialization - it really matters!
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// Also beware of the correct sequence of the following timer control registers initialization - it really matters!
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state = States::RISE; // prepare for standard RISE cycles
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state = States::RISE; // prepare for standard RISE cycles
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fastCounter = fastMax - 1;// we'll do 16-1 cycles of RISE
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fastCounter = fastMax - 1;// we'll do 16-1 cycles of RISE
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TCNT0 = 255; // force overflow on the next clock cycle
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TCNT0 = 255; // force overflow on the next clock cycle
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TCCR0B = (1 << CS00); // change prescaler to 1, i.e. 62.5kHz
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TCCR0B = (1 << CS00); // change prescaler to 1, i.e. 62.5kHz
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TCCR0A &= ~(1 << COM0B0); // Clear OC0B on Compare Match, set OC0B at BOTTOM (non-inverting mode)
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TCCR0A &= ~(1 << COM0B0); // Clear OC0B on Compare Match, set OC0B at BOTTOM (non-inverting mode)
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break;
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break;
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case States::RISE:
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case States::RISE:
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OCR0B = (fastMax - fastCounter) << fastShift;
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OCR0B = (fastMax - fastCounter) << fastShift;
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if( fastCounter ){
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if( fastCounter ){
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--fastCounter;
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--fastCounter;
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} else { // end of RISE cycles, changing into state ONE
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} else { // end of RISE cycles, changing into state ONE
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state = States::RISE_TO_ONE;
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state = States::RISE_TO_ONE;
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OCR0B = 255; // full duty
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OCR0B = 255; // full duty
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TCNT0 = 254; // make the timer overflow in the next cycle
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TCNT0 = 254; // make the timer overflow in the next cycle
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// @@TODO these constants are still subject to investigation
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// @@TODO these constants are still subject to investigation
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}
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}
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break;
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break;
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case States::RISE_TO_ONE:
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case States::RISE_TO_ONE:
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state = States::ONE;
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state = States::ONE;
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OCR0B = 255; // full duty
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OCR0B = 255; // full duty
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TCNT0 = 255; // make the timer overflow in the next cycle
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TCNT0 = 255; // make the timer overflow in the next cycle
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TCCR0B = (1 << CS01); // change prescaler to 8, i.e. 7.8kHz
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TCCR0B = (1 << CS01); // change prescaler to 8, i.e. 7.8kHz
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break;
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break;
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case States::ONE: // state ONE - we'll either stay in ONE or change to FALL
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case States::ONE: // state ONE - we'll either stay in ONE or change to FALL
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OCR0B = 255;
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OCR0B = 255;
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if (bedPWMDisabled) return; // stay in the ON state and do not change the output pin
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if (bedPWMDisabled) return; // stay in the ON state and do not change the output pin
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slowCounter += slowInc; // this does software timer_clk/256 or less
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slowCounter += slowInc; // this does software timer_clk/256 or less
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if( slowCounter < pwm ){
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if( slowCounter < pwm ){
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return;
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return;
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}
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}
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if( (soft_pwm_bed << 1) >= (255 - slowInc - 1) ){ //@@TODO simplify & explain
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if( (soft_pwm_bed << 1) >= (255 - slowInc - 1) ){ //@@TODO simplify & explain
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// if slowInc==2, soft_pwm == 251 will be the first to do short drops to zero. 252 will keep full heating
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// if slowInc==2, soft_pwm == 251 will be the first to do short drops to zero. 252 will keep full heating
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return; // want full duty for the next ONE cycle again - so keep on heating and just wait for the next timer ovf
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return; // want full duty for the next ONE cycle again - so keep on heating and just wait for the next timer ovf
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}
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}
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// otherwise moving towards FALL
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// otherwise moving towards FALL
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// @@TODO it looks like ONE_TO_FALL isn't necessary, there are no artefacts at all
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// @@TODO it looks like ONE_TO_FALL isn't necessary, there are no artefacts at all
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state = States::ONE;//_TO_FALL;
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state = States::ONE;//_TO_FALL;
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// TCCR0B = (1 << CS00); // change prescaler to 1, i.e. 62.5kHz
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// TCCR0B = (1 << CS00); // change prescaler to 1, i.e. 62.5kHz
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// break;
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// break;
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// case States::ONE_TO_FALL:
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// case States::ONE_TO_FALL:
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// OCR0B = 255; // zero duty
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// OCR0B = 255; // zero duty
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state=States::FALL;
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state=States::FALL;
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fastCounter = fastMax - 1;// we'll do 16-1 cycles of RISE
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fastCounter = fastMax - 1;// we'll do 16-1 cycles of RISE
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TCNT0 = 255; // force overflow on the next clock cycle
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TCNT0 = 255; // force overflow on the next clock cycle
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TCCR0B = (1 << CS00); // change prescaler to 1, i.e. 62.5kHz
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TCCR0B = (1 << CS00); // change prescaler to 1, i.e. 62.5kHz
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// must switch to inverting mode already here, because it takes a whole PWM cycle and it would make a "1" at the end of this pwm cycle
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// must switch to inverting mode already here, because it takes a whole PWM cycle and it would make a "1" at the end of this pwm cycle
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// COM0B1 remains set both in inverting and non-inverting mode
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// COM0B1 remains set both in inverting and non-inverting mode
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TCCR0A |= (1 << COM0B0); // inverting mode
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TCCR0A |= (1 << COM0B0); // inverting mode
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break;
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break;
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case States::FALL:
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case States::FALL:
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OCR0B = (fastMax - fastCounter) << fastShift; // this is the same as in RISE, because now we are setting the zero part of duty due to inverting mode
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OCR0B = (fastMax - fastCounter) << fastShift; // this is the same as in RISE, because now we are setting the zero part of duty due to inverting mode
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//TCCR0A |= (1 << COM0B0); // already set in ONE_TO_FALL
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//TCCR0A |= (1 << COM0B0); // already set in ONE_TO_FALL
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if( fastCounter ){
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if( fastCounter ){
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--fastCounter;
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--fastCounter;
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} else { // end of FALL cycles, changing into state ZERO
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} else { // end of FALL cycles, changing into state ZERO
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state = States::FALL_TO_ZERO;
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state = States::FALL_TO_ZERO;
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TCNT0 = 128; //@@TODO again - need to wait long enough to propagate the timer state changes
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TCNT0 = 128; //@@TODO again - need to wait long enough to propagate the timer state changes
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OCR0B = 255;
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OCR0B = 255;
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}
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}
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break;
|
break;
|
||||||
case States::FALL_TO_ZERO:
|
case States::FALL_TO_ZERO:
|
||||||
state = States::ZERO_START; // go to read new soft_pwm_bed value for the next cycle
|
state = States::ZERO_START; // go to read new soft_pwm_bed value for the next cycle
|
||||||
TCNT0 = 128;
|
TCNT0 = 128;
|
||||||
OCR0B = 255;
|
OCR0B = 255;
|
||||||
TCCR0B = (1 << CS01); // change prescaler to 8, i.e. 7.8kHz
|
TCCR0B = (1 << CS01); // change prescaler to 8, i.e. 7.8kHz
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user