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Using map of minimum speed in ramp increments' computations. #333

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Using map of minimum speed in ramp increments' computations. #333

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3857c7d
Using map of minimum speed in ramp increments'computations.
TheAntTeam Mar 12, 2022
615a92d
Tentative fix of unwanted initial ramping.
TheAntTeam Mar 12, 2022
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54 changes: 31 additions & 23 deletions FluidNC/src/Spindles/PWMSpindle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,10 +57,10 @@ namespace Spindles {
_use_pwm_ramping = false;
} else {
// TODO: Do we want to deal with a min speed?
_ramp_up_dev_increment = mapSpeed(maxSpeed()) / (_spinup_ms / _ramp_interval);
_ramp_down_dev_increment = mapSpeed(maxSpeed()) / (_spindown_ms / _ramp_interval);
//log_info("PWM Ramping Maxspeed:" << maxSpeed() << " spinup incr:" << _ramp_up_dev_increment
//<< " spindown incr:" << _ramp_down_dev_increment);
_ramp_up_dev_increment = (mapSpeed(maxSpeed()) - mapSpeed(minSpeed())) / (_spinup_ms / _ramp_interval);
_ramp_down_dev_increment = (mapSpeed(maxSpeed()) - mapSpeed(minSpeed())) / (_spindown_ms / _ramp_interval);
// log_info("PWM Ramping Maxspeed:" << maxSpeed() << " spinup incr:" << _ramp_up_dev_increment
// << " spindown incr:" << _ramp_down_dev_increment);
}
}

Expand Down Expand Up @@ -190,33 +190,41 @@ namespace Spindles {

void PWM::ramp_speed(uint32_t target_rpm) {
// speed is given, but we need to work in dev_speed
uint32_t target_duty = mapSpeed(target_rpm);
uint32_t target_duty = mapSpeed(target_rpm);
uint32_t next_duty = _current_duty; // this is the value that increments in this function
uint32_t min_duty = mapSpeed(_speeds[0].speed);
bool spinup = (target_duty > _current_duty);

//log_info("Ramp duty from:" << _current_duty << " to:" << target_duty);
// log_info("Ramp duty from:" << _current_duty << " to:" << target_duty);

while ((spinup && next_duty < target_duty) || (!spinup && (next_duty > target_duty))) {
if (spinup) {
if (next_duty + _ramp_up_dev_increment < target_duty) {
next_duty += _ramp_up_dev_increment;
if (next_duty < min_duty) {
set_output(min_duty);
_current_duty = min_duty;
// log_info("Force duty:" << _speeds[0].speed << " mapped:" << mapSpeed(_speeds[0].speed));
return;
} else {
while ((spinup && next_duty < target_duty) || (!spinup && (next_duty > target_duty))) {
if (spinup) {
if (next_duty + _ramp_up_dev_increment < target_duty) {
next_duty += _ramp_up_dev_increment;
} else {
next_duty = target_duty;
}
} else {
next_duty = target_duty;
if ((next_duty > _ramp_down_dev_increment) && (next_duty - _ramp_down_dev_increment > target_duty)) { // is is safe to subtract?
next_duty -= _ramp_down_dev_increment;
} else {
next_duty = target_duty;
}
}
} else {
if ((next_duty > _ramp_down_dev_increment) && (next_duty - _ramp_down_dev_increment > target_duty)) { // is is safe to subtract?
next_duty -= _ramp_down_dev_increment;
} else {
next_duty = target_duty;
// log_info("Actual duty:" << next_duty << " to:" << target_duty);
set_output(next_duty);
_current_duty = next_duty;
if (next_duty == target_duty) {
return;
}
delay_ms(_ramp_interval);
}

set_output(next_duty);
_current_duty = next_duty;
if (next_duty == target_duty) {
return;
}
delay_ms(_ramp_interval);
}
}

Expand Down
1 change: 1 addition & 0 deletions FluidNC/src/Spindles/Spindle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@ namespace Spindles {
bool _defaultedSpeeds;
uint32_t offSpeed() { return _speeds[0].offset; }
uint32_t maxSpeed() { return _speeds[_speeds.size() - 1].speed; }
uint32_t minSpeed() { return _speeds[0].speed; }
uint32_t mapSpeed(SpindleSpeed speed);
void setupSpeeds(uint32_t max_dev_speed);
void shelfSpeeds(SpindleSpeed min, SpindleSpeed max);
Expand Down