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Correct motore idle power handling on steppers

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This commit is contained in:
Rob Giseburt
2020-07-26 15:54:36 -05:00
parent c9b6a576dc
commit de76996f20
1 changed files with 10 additions and 14 deletions
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g2core/device/step_dir_driver/step_dir_driver.h
+10 -14
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@@ -86,7 +86,7 @@ struct StepDirStepper final : Stepper {
float _power_level; // the power level now
void _updatePowerLevel() {
if (MOTOR_IDLE == _power_state) {
if ((MOTOR_IDLE == _power_state) || (MOTOR_OFF == _power_state)) {
_power_level = _idle_power_level;
} else {
_power_level = _active_power_level;
@@ -166,18 +166,12 @@ struct StepDirStepper final : Stepper {
timeout_ms = _motor_activity_timeout_ms;
}
this->enable(); // sets _power_state, that will be adjusted next
_power_state = MOTOR_POWER_TIMEOUT_COUNTDOWN;
if (_power_mode == MOTOR_POWERED_IN_CYCLE || _power_mode == MOTOR_POWER_REDUCED_WHEN_IDLE) {
_motor_activity_timeout.set(timeout_ms);
}
if (!_enable.isNull()) {
if (_enable_polarity == IO_ACTIVE_HIGH) {
_enable.set();
} else {
_enable.clear();
}
}
};
void _enableImpl() override {
@@ -201,6 +195,7 @@ struct StepDirStepper final : Stepper {
if (this->getPowerMode() == MOTOR_ALWAYS_POWERED) {
return;
}
if (!_enable.isNull()) {
if (_enable_polarity == IO_ACTIVE_HIGH) {
_enable.clear();
@@ -208,8 +203,11 @@ struct StepDirStepper final : Stepper {
_enable.set();
}
}
_motor_activity_timeout.clear();
_power_state = MOTOR_OFF;
_updatePowerLevel();
};
void stepStart() override {
@@ -291,9 +289,7 @@ struct StepDirStepper final : Stepper {
// HOT - called from the DDA interrupt
void motionStopped() //HOT_FUNC
{
if (_power_mode == MOTOR_POWERED_IN_CYCLE) {
this->enable();
} else if (_power_mode == MOTOR_POWER_REDUCED_WHEN_IDLE) {
if ((_power_mode == MOTOR_POWERED_IN_CYCLE) || (_power_mode == MOTOR_POWER_REDUCED_WHEN_IDLE)) {
_power_state = MOTOR_POWER_TIMEOUT_START;
} else if (_power_mode == MOTOR_POWERED_ONLY_WHEN_MOVING) {
if (_power_state == MOTOR_RUNNING) {
@@ -311,7 +307,7 @@ struct StepDirStepper final : Stepper {
void periodicCheck(bool have_actually_stopped) override
{
if (_power_state == MOTOR_POWER_TIMEOUT_START && _power_mode != MOTOR_ALWAYS_POWERED) {
if ((_power_state == MOTOR_POWER_TIMEOUT_START) && (_power_mode != MOTOR_ALWAYS_POWERED)) {
if (_power_mode == MOTOR_POWERED_ONLY_WHEN_MOVING) {
this->disable();
return;
@@ -319,7 +315,7 @@ struct StepDirStepper final : Stepper {
// start timeouts initiated during a load so the loader does not need to burn these cycles
_power_state = MOTOR_POWER_TIMEOUT_COUNTDOWN;
if (_power_mode == MOTOR_POWERED_IN_CYCLE || _power_mode == MOTOR_POWER_REDUCED_WHEN_IDLE) {
if ((_power_mode == MOTOR_POWERED_IN_CYCLE) || (_power_mode == MOTOR_POWER_REDUCED_WHEN_IDLE)) {
_motor_activity_timeout.set(_motor_activity_timeout_ms);
}
}