[New Feature] I2C position encoder support (#6946)
* [New Feature] I2C position encoder support I plan to continue improving/cleaning this up, as there areas that need work. * let the cleanups begin. * progress * more progress * comments, rename files, etc. * clean * Cleanups per thinkyhead * a few more cleanups * cleanups, bugfixes, etc. * remove unnecessary passes_test(), additional cleanups/optimizations * cleanups * misc. * Fix up I2CPEM.init() and a few other things. * organize, fix, rename, etc. * more optimization * a few more tweaksmaster
bgort
8 years ago
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GitHub
parent
f7dacd1f50
commit
2f55870edb
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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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//todo: add support for multiple encoders on a single axis
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//todo: add z axis auto-leveling
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//todo: consolidate some of the related M codes?
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//todo: add endstop-replacement mode?
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//todo: try faster I2C speed; tweak TWI_FREQ (400000L, or faster?); or just TWBR = ((CPU_FREQ / 400000L) - 16) / 2;
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//todo: consider Marlin-optimized Wire library; i.e. MarlinWire, like MarlinSerial
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#include "MarlinConfig.h"
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#if ENABLED(I2C_POSITION_ENCODERS)
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#include "Marlin.h"
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#include "temperature.h"
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#include "stepper.h"
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#include "I2CPositionEncoder.h"
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#include "gcode.h"
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#include <Wire.h>
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void I2CPositionEncoder::init(uint8_t address, AxisEnum axis) {
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encoderAxis = axis;
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i2cAddress = address;
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initialised++;
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SERIAL_ECHOPAIR("Seetting up encoder on ", axis_codes[encoderAxis]);
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SERIAL_ECHOLNPAIR(" axis, addr = ", address);
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position = get_position();
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}
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void I2CPositionEncoder::update() {
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if (!initialised || !homed || !active) return; //check encoder is set up and active
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position = get_position();
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//we don't want to stop things just because the encoder missed a message,
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//so we only care about responses that indicate bad magnetic strength
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if (!passes_test(false)) { //check encoder data is good
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lastErrorTime = millis();
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/*
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if (trusted) { //commented out as part of the note below
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trusted = false;
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SERIAL_ECHOPGM("Fault detected on ");
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SERIAL_ECHO(axis_codes[encoderAxis]);
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SERIAL_ECHOLNPGM(" axis encoder. Disengaging error correction until module is trusted again.");
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}
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*/
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return;
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}
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if (!trusted) {
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/**
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* This is commented out because it introduces error and can cause bad print quality.
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*
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* This code is intended to manage situations where the encoder has reported bad magnetic strength.
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* This indicates that the magnetic strip was too far away from the sensor to reliably track position.
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* When this happens, this code resets the offset based on where the printer thinks it is. This has been
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* shown to introduce errors in actual position which result in drifting prints and poor print quality.
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* Perhaps a better method would be to disable correction on the axis with a problem, report it to the
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* user via the status leds on the encoder module and prompt the user to re-home the axis at which point
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* the encoder would be re-enabled.
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*/
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/*
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// If the magnetic strength has been good for a certain time, start trusting the module again
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if (millis() - lastErrorTime > I2CPE_TIME_TRUSTED) {
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trusted = true;
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SERIAL_ECHOPGM("Untrusted encoder module on ");
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SERIAL_ECHO(axis_codes[encoderAxis]);
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SERIAL_ECHOLNPGM(" axis has been fault-free for set duration, reinstating error correction.");
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//the encoder likely lost its place when the error occured, so we'll reset and use the printer's
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//idea of where it the axis is to re-initialise
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double position = stepper.get_axis_position_mm(encoderAxis);
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long positionInTicks = position * get_ticks_unit();
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//shift position from previous to current position
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zeroOffset -= (positionInTicks - get_position());
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#if defined(I2CPE_DEBUG)
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SERIAL_ECHOPGM("Current position is ");
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SERIAL_ECHOLN(position);
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SERIAL_ECHOPGM("Position in encoder ticks is ");
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SERIAL_ECHOLN(positionInTicks);
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SERIAL_ECHOPGM("New zero-offset of ");
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SERIAL_ECHOLN(zeroOffset);
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SERIAL_ECHOPGM("New position reads as ");
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SERIAL_ECHO(get_position());
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SERIAL_ECHOPGM("(");
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SERIAL_ECHO(mm_from_count(get_position()));
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SERIAL_ECHOLNPGM(")");
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#endif
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}
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*/
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return;
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}
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lastPosition = position;
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unsigned long positionTime = millis();
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//only do error correction if setup and enabled
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if (ec && ecMethod != I2CPE_ECM_NONE) {
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#if defined(I2CPE_EC_THRESH_PROPORTIONAL)
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unsigned long distance = abs(position - lastPosition);
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unsigned long deltaTime = positionTime - lastPositionTime;
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unsigned long speed = distance / deltaTime;
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float threshold = constrain((speed / 50), 1, 50) * ecThreshold;
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#else
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float threshold = get_error_correct_threshold();
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#endif
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//check error
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#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
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double sum = 0, diffSum = 0;
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errIdx = (errIdx >= I2CPE_ERR_ARRAY_SIZE - 1) ? 0 : errIdx + 1;
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err[errIdx] = get_axis_error_steps(false);
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LOOP_L_N(i, I2CPE_ERR_ARRAY_SIZE) {
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sum += err[i];
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if (i) diffSum += abs(err[i-1] - err[i]);
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}
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long error = (long)(sum/(I2CPE_ERR_ARRAY_SIZE + 1)); //calculate average for error
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#else
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long error = get_axis_error_steps(false);
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#endif
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//SERIAL_ECHOPGM("Axis err*r steps: ");
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//SERIAL_ECHOLN(error);
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#if defined(I2CPE_ERR_THRESH_ABORT)
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if (abs(error) > I2CPE_ERR_THRESH_ABORT * planner.axis_steps_per_mm[encoderAxis]) {
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//kill("Significant Error");
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SERIAL_ECHOPGM("Axis error greater than set threshold, aborting!");
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SERIAL_ECHOLN(error);
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safe_delay(5000);
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}
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#endif
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#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
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if (errIdx == 0) {
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// in order to correct for "error" but avoid correcting for noise and non skips
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// it must be > threshold and have a difference average of < 10 and be < 2000 steps
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if (abs(error) > threshold * planner.axis_steps_per_mm[encoderAxis] &&
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diffSum < 10*(I2CPE_ERR_ARRAY_SIZE-1) && abs(error) < 2000) { //Check for persistent error (skip)
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SERIAL_ECHO(axis_codes[encoderAxis]);
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SERIAL_ECHOPAIR(" diffSum: ", diffSum/(I2CPE_ERR_ARRAY_SIZE-1));
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SERIAL_ECHOPAIR(" - err detected: ", error / planner.axis_steps_per_mm[encoderAxis]);
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SERIAL_ECHOLNPGM("mm; correcting!");
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thermalManager.babystepsTodo[encoderAxis] = -lround(error);
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}
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}
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#else
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if (abs(error) > threshold * planner.axis_steps_per_mm[encoderAxis]) {
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//SERIAL_ECHOLN(error);
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//SERIAL_ECHOLN(position);
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thermalManager.babystepsTodo[encoderAxis] = -lround(error/2);
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}
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#endif
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if (abs(error) > (I2CPE_ERR_CNT_THRESH * planner.axis_steps_per_mm[encoderAxis]) && millis() - lastErrorCountTime > I2CPE_ERR_CNT_DEBOUNCE_MS) {
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SERIAL_ECHOPAIR("Large error on ", axis_codes[encoderAxis]);
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SERIAL_ECHOPAIR(" axis. error: ", (int)error);
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SERIAL_ECHOLNPAIR("; diffSum: ", diffSum);
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errorCount++;
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lastErrorCountTime = millis();
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}
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}
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lastPositionTime = positionTime;
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}
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void I2CPositionEncoder::set_homed() {
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if (active) {
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reset(); // Reset module's offset to zero (so current position is homed / zero)
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delay(10);
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zeroOffset = get_raw_count();
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homed++;
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trusted++;
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#if defined(I2CPE_DEBUG)
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SERIAL_ECHO(axis_codes[encoderAxis]);
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SERIAL_ECHOPAIR(" axis encoder homed, offset of ", zeroOffset);
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SERIAL_ECHOLNPGM(" ticks.");
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#endif
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}
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}
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bool I2CPositionEncoder::passes_test(bool report) {
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if (H == I2CPE_MAG_SIG_GOOD) {
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if (report) {
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SERIAL_ECHO(axis_codes[encoderAxis]);
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SERIAL_ECHOLNPGM(" axis encoder passes test; field strength good.");
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}
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return true;
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} else if (H == I2CPE_MAG_SIG_MID) {
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if (report) {
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SERIAL_ECHOPAIR("Warning, ", axis_codes[encoderAxis]);
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SERIAL_ECHOLNPGM(" axis encoder passes test; field strength fair.");
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}
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return true;
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} else if (H == I2CPE_MAG_SIG_BAD) {
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if (report) {
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SERIAL_ECHOPAIR("Warning, ", axis_codes[encoderAxis]);
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SERIAL_ECHOLNPGM(" axis magnetic strip not detected!");
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}
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return false;
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}
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if (report) {
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SERIAL_ECHOPAIR("Warning, ", axis_codes[encoderAxis]);
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SERIAL_ECHOLNPGM(" axis encoder not detected!");
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}
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return false;
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}
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double I2CPositionEncoder::get_axis_error_mm(bool report) {
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double target, actual, error;
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target = stepper.get_axis_position_mm(encoderAxis);
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actual = mm_from_count(position);
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error = actual - target;
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if (abs(error) > 10000) error = 0; // ?
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if (report) {
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SERIAL_ECHO(axis_codes[encoderAxis]);
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SERIAL_ECHOPAIR(" axis target: ", target);
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SERIAL_ECHOPAIR(", actual: ", actual);
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SERIAL_ECHOLNPAIR(", error : ",error);
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}
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return error;
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}
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long I2CPositionEncoder::get_axis_error_steps(bool report) {
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if (!active) {
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if (report) {
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SERIAL_ECHO(axis_codes[encoderAxis]);
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SERIAL_ECHOLNPGM(" axis encoder not active!");
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}
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return 0;
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}
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float stepperTicksPerUnit;
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long encoderTicks = position, encoderCountInStepperTicksScaled;
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//long stepperTicks = stepper.position(encoderAxis);
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// With a rotary encoder we're concerned with ticks/rev; whereas with a linear we're concerned with ticks/mm
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stepperTicksPerUnit = (type == I2CPE_ENC_TYPE_ROTARY) ? stepperTicks : planner.axis_steps_per_mm[encoderAxis];
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//convert both 'ticks' into same units / base
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encoderCountInStepperTicksScaled = lround((stepperTicksPerUnit * encoderTicks) / encoderTicksPerUnit);
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long target = stepper.position(encoderAxis),
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error = (encoderCountInStepperTicksScaled - target);
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//suppress discontinuities (might be caused by bad I2C readings...?)
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bool suppressOutput = (abs(error - errorPrev) > 100);
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if (report) {
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SERIAL_ECHO(axis_codes[encoderAxis]);
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SERIAL_ECHOPAIR(" axis target: ", target);
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SERIAL_ECHOPAIR(", actual: ", encoderCountInStepperTicksScaled);
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SERIAL_ECHOLNPAIR(", error : ", error);
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if (suppressOutput) SERIAL_ECHOLNPGM("Discontinuity detected, suppressing error.");
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}
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errorPrev = error;
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return (suppressOutput ? 0 : error);
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}
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long I2CPositionEncoder::get_raw_count() {
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uint8_t index = 0;
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i2cLong encoderCount;
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encoderCount.val = 0x00;
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if (Wire.requestFrom((int)i2cAddress, 3) != 3) {
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//houston, we have a problem...
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H = I2CPE_MAG_SIG_NF;
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return 0;
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}
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while (Wire.available())
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encoderCount.bval[index++] = (uint8_t)Wire.read();
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//extract the magnetic strength
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H = (B00000011 & (encoderCount.bval[2] >> 6));
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//extract sign bit; sign = (encoderCount.bval[2] & B00100000);
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//set all upper bits to the sign value to overwrite H
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encoderCount.val = (encoderCount.bval[2] & B00100000) ? (encoderCount.val | 0xFFC00000) : (encoderCount.val & 0x003FFFFF);
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if (invert) encoderCount.val *= -1;
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return encoderCount.val;
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}
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bool I2CPositionEncoder::test_axis() {
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//only works on XYZ cartesian machines for the time being
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if (!(encoderAxis == X_AXIS || encoderAxis == Y_AXIS || encoderAxis == Z_AXIS)) return false;
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int feedrate;
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float startPosition, endPosition;
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float startCoord[NUM_AXIS] = {0}, endCoord[NUM_AXIS] = {0};
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startPosition = soft_endstop_min[encoderAxis] + 10;
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endPosition = soft_endstop_max[encoderAxis] - 10;
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feedrate = (int)MMM_TO_MMS((encoderAxis == Z_AXIS) ? HOMING_FEEDRATE_Z : HOMING_FEEDRATE_XY);
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ec = false;
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LOOP_NA(i) {
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startCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
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endCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
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}
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startCoord[encoderAxis] = startPosition;
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endCoord[encoderAxis] = endPosition;
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stepper.synchronize();
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planner.buffer_line(startCoord[X_AXIS],startCoord[Y_AXIS],startCoord[Z_AXIS],
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|
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
|
||||||
|
stepper.synchronize();
|
||||||
|
|
||||||
|
// if the module isn't currently trusted, wait until it is (or until it should be if things are working)
|
||||||
|
if (!trusted) {
|
||||||
|
long startWaitingTime = millis();
|
||||||
|
while (!trusted && millis() - startWaitingTime < I2CPE_TIME_TRUSTED)
|
||||||
|
safe_delay(500);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (trusted) { // if trusted, commence test
|
||||||
|
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
|
||||||
|
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
|
||||||
|
stepper.synchronize();
|
||||||
|
}
|
||||||
|
|
||||||
|
return trusted;
|
||||||
|
}
|
||||||
|
|
||||||
|
void I2CPositionEncoder::calibrate_steps_mm(int iter) {
|
||||||
|
if (type != I2CPE_ENC_TYPE_LINEAR) {
|
||||||
|
SERIAL_ECHOLNPGM("Steps per mm calibration is only available using linear encoders.");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!(encoderAxis == X_AXIS || encoderAxis == Y_AXIS || encoderAxis == Z_AXIS)) {
|
||||||
|
SERIAL_ECHOLNPGM("Automatic steps / mm calibration not supported for this axis.");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
float oldStepsMm, newStepsMm,
|
||||||
|
startDistance, endDistance,
|
||||||
|
travelDistance, travelledDistance, total = 0,
|
||||||
|
startCoord[NUM_AXIS] = {0}, endCoord[NUM_AXIS] = {0};
|
||||||
|
|
||||||
|
double feedrate;
|
||||||
|
|
||||||
|
long startCount, stopCount;
|
||||||
|
|
||||||
|
feedrate = MMM_TO_MMS((encoderAxis == Z_AXIS) ? HOMING_FEEDRATE_Z : HOMING_FEEDRATE_XY);
|
||||||
|
|
||||||
|
bool oldec = ec;
|
||||||
|
ec = false;
|
||||||
|
|
||||||
|
startDistance = 20;
|
||||||
|
endDistance = soft_endstop_max[encoderAxis] - 20;
|
||||||
|
travelDistance = endDistance - startDistance;
|
||||||
|
|
||||||
|
LOOP_NA(i) {
|
||||||
|
startCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
|
||||||
|
endCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
|
||||||
|
}
|
||||||
|
|
||||||
|
startCoord[encoderAxis] = startDistance;
|
||||||
|
endCoord[encoderAxis] = endDistance;
|
||||||
|
|
||||||
|
LOOP_L_N(i, iter) {
|
||||||
|
stepper.synchronize();
|
||||||
|
|
||||||
|
planner.buffer_line(startCoord[X_AXIS],startCoord[Y_AXIS],startCoord[Z_AXIS],
|
||||||
|
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
|
||||||
|
stepper.synchronize();
|
||||||
|
|
||||||
|
delay(250);
|
||||||
|
startCount = get_position();
|
||||||
|
|
||||||
|
//do_blocking_move_to(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS]);
|
||||||
|
|
||||||
|
planner.buffer_line(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS],
|
||||||
|
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
|
||||||
|
stepper.synchronize();
|
||||||
|
|
||||||
|
//Read encoder distance
|
||||||
|
delay(250);
|
||||||
|
stopCount = get_position();
|
||||||
|
|
||||||
|
travelledDistance = mm_from_count(abs(stopCount - startCount));
|
||||||
|
|
||||||
|
SERIAL_ECHOPAIR("Attempted to travel: ", travelDistance);
|
||||||
|
SERIAL_ECHOLNPGM("mm.");
|
||||||
|
|
||||||
|
SERIAL_ECHOPAIR("Actually travelled: ", travelledDistance);
|
||||||
|
SERIAL_ECHOLNPGM("mm.");
|
||||||
|
|
||||||
|
//Calculate new axis steps per unit
|
||||||
|
oldStepsMm = planner.axis_steps_per_mm[encoderAxis];
|
||||||
|
newStepsMm = (oldStepsMm * travelDistance) / travelledDistance;
|
||||||
|
|
||||||
|
SERIAL_ECHOLNPAIR("Old steps per mm: ", oldStepsMm);
|
||||||
|
SERIAL_ECHOLNPAIR("New steps per mm: ", newStepsMm);
|
||||||
|
|
||||||
|
//Save new value
|
||||||
|
planner.axis_steps_per_mm[encoderAxis] = newStepsMm;
|
||||||
|
|
||||||
|
if (iter > 1) {
|
||||||
|
total += newStepsMm;
|
||||||
|
|
||||||
|
// swap start and end points so next loop runs from current position
|
||||||
|
float tempCoord = startCoord[encoderAxis];
|
||||||
|
startCoord[encoderAxis] = endCoord[encoderAxis];
|
||||||
|
endCoord[encoderAxis] = tempCoord;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (iter > 1) {
|
||||||
|
total /= (float)iter;
|
||||||
|
SERIAL_ECHOLNPAIR("Average steps per mm: ", total);
|
||||||
|
}
|
||||||
|
|
||||||
|
ec = oldec;
|
||||||
|
|
||||||
|
SERIAL_ECHOLNPGM("Calculated steps per mm has been set. Please save to EEPROM (M500) if you wish to keep these values.");
|
||||||
|
}
|
||||||
|
|
||||||
|
void I2CPositionEncoder::reset() {
|
||||||
|
Wire.beginTransmission(i2cAddress);
|
||||||
|
Wire.write(I2CPE_RESET_COUNT);
|
||||||
|
Wire.endTransmission();
|
||||||
|
|
||||||
|
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
|
||||||
|
ZERO(err);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
void I2CPositionEncodersMgr::init() {
|
||||||
|
Wire.begin();
|
||||||
|
|
||||||
|
#if I2CPE_ENCODER_CNT > 0
|
||||||
|
uint8_t i = 0;
|
||||||
|
|
||||||
|
encoders[i].init(I2CPE_ENC_1_ADDR, I2CPE_ENC_1_AXIS);
|
||||||
|
|
||||||
|
#if defined(I2CPE_ENC_1_TYPE)
|
||||||
|
encoders[i].set_type(I2CPE_ENC_1_TYPE);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_1_TICKS_UNIT)
|
||||||
|
encoders[i].set_ticks_unit(I2CPE_ENC_1_TICKS_UNIT);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_1_TICKS_REV)
|
||||||
|
encoders[i].set_stepper_ticks(I2CPE_ENC_1_TICKS_REV);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_1_INVERT)
|
||||||
|
encoders[i].set_inverted(I2CPE_ENC_1_INVERT);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_1_EC_METHOD)
|
||||||
|
encoders[i].set_ec_method(I2CPE_ENC_1_EC_METHOD);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_1_EC_THRESH)
|
||||||
|
encoders[i].set_ec_threshold(I2CPE_ENC_1_EC_THRESH);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
encoders[i].set_active(encoders[i].passes_test(true));
|
||||||
|
|
||||||
|
#if (I2CPE_ENC_1_AXIS == E_AXIS)
|
||||||
|
encoders[i].set_homed();
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if I2CPE_ENCODER_CNT > 1
|
||||||
|
i++;
|
||||||
|
|
||||||
|
encoders[i].init(I2CPE_ENC_2_ADDR, I2CPE_ENC_2_AXIS);
|
||||||
|
|
||||||
|
#if defined(I2CPE_ENC_2_TYPE)
|
||||||
|
encoders[i].set_type(I2CPE_ENC_2_TYPE);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_2_TICKS_UNIT)
|
||||||
|
encoders[i].set_ticks_unit(I2CPE_ENC_2_TICKS_UNIT);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_2_TICKS_REV)
|
||||||
|
encoders[i].set_stepper_ticks(I2CPE_ENC_2_TICKS_REV);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_2_INVERT)
|
||||||
|
encoders[i].set_inverted(I2CPE_ENC_2_INVERT);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_2_EC_METHOD)
|
||||||
|
encoders[i].set_ec_method(I2CPE_ENC_2_EC_METHOD);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_2_EC_THRESH)
|
||||||
|
encoders[i].set_ec_threshold(I2CPE_ENC_2_EC_THRESH);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
encoders[i].set_active(encoders[i].passes_test(true));
|
||||||
|
|
||||||
|
#if (I2CPE_ENC_2_AXIS == E_AXIS)
|
||||||
|
encoders[i].set_homed();
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if I2CPE_ENCODER_CNT > 2
|
||||||
|
i++;
|
||||||
|
|
||||||
|
encoders[i].init(I2CPE_ENC_3_ADDR, I2CPE_ENC_3_AXIS);
|
||||||
|
|
||||||
|
#if defined(I2CPE_ENC_3_TYPE)
|
||||||
|
encoders[i].set_type(I2CPE_ENC_3_TYPE);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_3_TICKS_UNIT)
|
||||||
|
encoders[i].set_ticks_unit(I2CPE_ENC_3_TICKS_UNIT);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_3_TICKS_REV)
|
||||||
|
encoders[i].set_stepper_ticks(I2CPE_ENC_3_TICKS_REV);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_3_INVERT)
|
||||||
|
encoders[i].set_inverted(I2CPE_ENC_3_INVERT);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_3_EC_METHOD)
|
||||||
|
encoders[i].set_ec_method(I2CPE_ENC_3_EC_METHOD);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_3_EC_THRESH)
|
||||||
|
encoders[i].set_ec_threshold(I2CPE_ENC_3_EC_THRESH);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
encoders[i].set_active(encoders[i].passes_test(true));
|
||||||
|
|
||||||
|
#if (I2CPE_ENC_3_AXIS == E_AXIS)
|
||||||
|
encoders[i].set_homed();
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if I2CPE_ENCODER_CNT > 3
|
||||||
|
i++;
|
||||||
|
|
||||||
|
encoders[i].init(I2CPE_ENC_4_ADDR, I2CPE_ENC_4_AXIS);
|
||||||
|
|
||||||
|
#if defined(I2CPE_ENC_4_TYPE)
|
||||||
|
encoders[i].set_type(I2CPE_ENC_4_TYPE);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_4_TICKS_UNIT)
|
||||||
|
encoders[i].set_ticks_unit(I2CPE_ENC_4_TICKS_UNIT);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_4_TICKS_REV)
|
||||||
|
encoders[i].set_stepper_ticks(I2CPE_ENC_4_TICKS_REV);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_4_INVERT)
|
||||||
|
encoders[i].set_inverted(I2CPE_ENC_4_INVERT);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_4_EC_METHOD)
|
||||||
|
encoders[i].set_ec_method(I2CPE_ENC_4_EC_METHOD);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_4_EC_THRESH)
|
||||||
|
encoders[i].set_ec_threshold(I2CPE_ENC_4_EC_THRESH);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
encoders[i].set_active(encoders[i].passes_test(true));
|
||||||
|
|
||||||
|
#if (I2CPE_ENC_4_AXIS == E_AXIS)
|
||||||
|
encoders[i].set_homed();
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if I2CPE_ENCODER_CNT > 4
|
||||||
|
i++;
|
||||||
|
|
||||||
|
encoders[i].init(I2CPE_ENC_5_ADDR, I2CPE_ENC_5_AXIS);
|
||||||
|
|
||||||
|
#if defined(I2CPE_ENC_5_TYPE)
|
||||||
|
encoders[i].set_type(I2CPE_ENC_5_TYPE);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_5_TICKS_UNIT)
|
||||||
|
encoders[i].set_ticks_unit(I2CPE_ENC_5_TICKS_UNIT);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_5_TICKS_REV)
|
||||||
|
encoders[i].set_stepper_ticks(I2CPE_ENC_5_TICKS_REV);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_5_INVERT)
|
||||||
|
encoders[i].set_inverted(I2CPE_ENC_5_INVERT);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_5_EC_METHOD)
|
||||||
|
encoders[i].set_ec_method(I2CPE_ENC_5_EC_METHOD);
|
||||||
|
#endif
|
||||||
|
#if defined(I2CPE_ENC_5_EC_THRESH)
|
||||||
|
encoders[i].set_ec_threshold(I2CPE_ENC_5_EC_THRESH);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
encoders[i].set_active(encoders[i].passes_test(true));
|
||||||
|
|
||||||
|
#if (I2CPE_ENC_5_AXIS == E_AXIS)
|
||||||
|
encoders[i].set_homed();
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
void I2CPositionEncodersMgr::report_position(uint8_t idx, bool units, bool noOffset) {
|
||||||
|
CHECK_IDX
|
||||||
|
|
||||||
|
if (units) {
|
||||||
|
SERIAL_ECHOLN(noOffset ? encoders[idx].mm_from_count(encoders[idx].get_raw_count()) : encoders[idx].get_position_mm());
|
||||||
|
} else {
|
||||||
|
if (noOffset) {
|
||||||
|
long raw_count = encoders[idx].get_raw_count();
|
||||||
|
SERIAL_ECHO(axis_codes[encoders[idx].get_axis()]);
|
||||||
|
SERIAL_ECHOPGM(" ");
|
||||||
|
|
||||||
|
for (uint8_t j = 31; j > 0; j--)
|
||||||
|
SERIAL_ECHO((bool)(0x00000001 & (raw_count >> j)));
|
||||||
|
|
||||||
|
SERIAL_ECHO((bool)(0x00000001 & (raw_count)));
|
||||||
|
SERIAL_ECHOLNPAIR(" ", raw_count);
|
||||||
|
} else
|
||||||
|
SERIAL_ECHOLN(encoders[idx].get_position());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void I2CPositionEncodersMgr::change_module_address(uint8_t oldaddr, uint8_t newaddr) {
|
||||||
|
// First check 'new' address is not in use
|
||||||
|
Wire.beginTransmission(newaddr);
|
||||||
|
if (!Wire.endTransmission()) {
|
||||||
|
SERIAL_ECHOPAIR("?There is already a device with that address on the I2C bus! (", newaddr);
|
||||||
|
SERIAL_ECHOLNPGM(")");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Now check that we can find the module on the oldaddr address
|
||||||
|
Wire.beginTransmission(oldaddr);
|
||||||
|
if (Wire.endTransmission()) {
|
||||||
|
SERIAL_ECHOPAIR("?No module detected at this address! (", oldaddr);
|
||||||
|
SERIAL_ECHOLNPGM(")");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
SERIAL_ECHOPAIR("Module found at ", oldaddr);
|
||||||
|
SERIAL_ECHOLNPAIR(", changing address to ", newaddr);
|
||||||
|
|
||||||
|
// Change the modules address
|
||||||
|
Wire.beginTransmission(oldaddr);
|
||||||
|
Wire.write(I2CPE_SET_ADDR);
|
||||||
|
Wire.write(newaddr);
|
||||||
|
Wire.endTransmission();
|
||||||
|
|
||||||
|
SERIAL_ECHOLNPGM("Address changed, resetting and waiting for confirmation..");
|
||||||
|
|
||||||
|
// Wait for the module to reset (can probably be improved by polling address with a timeout).
|
||||||
|
safe_delay(I2CPE_REBOOT_TIME);
|
||||||
|
|
||||||
|
// Look for the module at the new address.
|
||||||
|
Wire.beginTransmission(newaddr);
|
||||||
|
if (Wire.endTransmission()) {
|
||||||
|
SERIAL_ECHOLNPGM("Address change failed! Check encoder module.");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
SERIAL_ECHOLNPGM("Address change successful!");
|
||||||
|
|
||||||
|
// Now, if this module is configured, find which encoder instance it's supposed to correspond to
|
||||||
|
// and enable it (it will likely have failed initialisation on power-up, before the address change).
|
||||||
|
int8_t idx = idx_from_addr(newaddr);
|
||||||
|
if (idx >= 0 && !encoders[idx].get_active()) {
|
||||||
|
SERIAL_ECHO(axis_codes[encoders[idx].get_axis()]);
|
||||||
|
SERIAL_ECHOLNPGM(" axis encoder was not detected on printer startup. Trying again.");
|
||||||
|
encoders[idx].set_active(encoders[idx].passes_test(true));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void I2CPositionEncodersMgr::report_module_firmware(uint8_t address) {
|
||||||
|
// First check there is a module
|
||||||
|
Wire.beginTransmission(address);
|
||||||
|
if (Wire.endTransmission()) {
|
||||||
|
SERIAL_ECHOPAIR("?No module detected at this address! (", address);
|
||||||
|
SERIAL_ECHOLNPGM(")");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
SERIAL_ECHOPAIR("Requesting version info from module at address ", address);
|
||||||
|
SERIAL_ECHOPGM(":\n");
|
||||||
|
|
||||||
|
Wire.beginTransmission(address);
|
||||||
|
Wire.write(I2CPE_SET_REPORT_MODE);
|
||||||
|
Wire.write(I2CPE_REPORT_VERSION);
|
||||||
|
Wire.endTransmission();
|
||||||
|
|
||||||
|
// Read value
|
||||||
|
if (Wire.requestFrom((int)address, 32)) {
|
||||||
|
char c;
|
||||||
|
while (Wire.available() > 0 && (c = (char)Wire.read()) > 0)
|
||||||
|
SERIAL_ECHO(c);
|
||||||
|
SERIAL_EOL;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Set module back to normal (distance) mode
|
||||||
|
Wire.beginTransmission((int)address);
|
||||||
|
Wire.write(I2CPE_SET_REPORT_MODE);
|
||||||
|
Wire.write(I2CPE_REPORT_DISTANCE);
|
||||||
|
Wire.endTransmission();
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t I2CPositionEncodersMgr::parse() {
|
||||||
|
I2CPE_addr = 0;
|
||||||
|
|
||||||
|
if (parser.seen('A')) {
|
||||||
|
if (!parser.has_value()) {
|
||||||
|
SERIAL_PROTOCOLLNPGM("?A seen, but no address specified! [30-200]");
|
||||||
|
return I2CPE_PARSE_ERR;
|
||||||
|
};
|
||||||
|
|
||||||
|
I2CPE_addr = parser.value_byte();
|
||||||
|
|
||||||
|
if (!WITHIN(I2CPE_addr, 30, 200)) { // reserve the first 30 and last 55
|
||||||
|
SERIAL_PROTOCOLLNPGM("?Address out of range. [30-200]");
|
||||||
|
return I2CPE_PARSE_ERR;
|
||||||
|
}
|
||||||
|
|
||||||
|
I2CPE_idx = idx_from_addr(I2CPE_addr);
|
||||||
|
|
||||||
|
if (!WITHIN(I2CPE_idx, 0, I2CPE_ENCODER_CNT - 1)) {
|
||||||
|
SERIAL_PROTOCOLLNPGM("?No device with this address!");
|
||||||
|
return I2CPE_PARSE_ERR;
|
||||||
|
}
|
||||||
|
} else if (parser.seenval('I')) {
|
||||||
|
if (!parser.has_value()) {
|
||||||
|
SERIAL_PROTOCOLLNPAIR("?I seen, but no index specified! [0-", I2CPE_ENCODER_CNT - 1);
|
||||||
|
SERIAL_ECHOLNPGM("]");
|
||||||
|
return I2CPE_PARSE_ERR;
|
||||||
|
};
|
||||||
|
|
||||||
|
I2CPE_idx = parser.value_byte();
|
||||||
|
|
||||||
|
if (!WITHIN(I2CPE_idx, 0, I2CPE_ENCODER_CNT - 1)) {
|
||||||
|
SERIAL_PROTOCOLLNPAIR("?Index out of range. [0-", I2CPE_ENCODER_CNT - 1);
|
||||||
|
SERIAL_ECHOLNPGM("]");
|
||||||
|
return I2CPE_PARSE_ERR;
|
||||||
|
}
|
||||||
|
|
||||||
|
I2CPE_addr = encoders[I2CPE_idx].get_address();
|
||||||
|
} else {
|
||||||
|
I2CPE_idx = -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
I2CPE_anyaxis = parser.seen_axis();
|
||||||
|
|
||||||
|
return I2CPE_PARSE_OK;
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* M860: Report the position(s) of position encoder module(s).
|
||||||
|
*
|
||||||
|
* A<addr> Module I2C address. [30, 200].
|
||||||
|
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1]
|
||||||
|
* O Include homed zero-offset in returned position.
|
||||||
|
* U Units in mm or raw step count.
|
||||||
|
*
|
||||||
|
* If A or I not specified:
|
||||||
|
* X Report on X axis encoder, if present.
|
||||||
|
* Y Report on Y axis encoder, if present.
|
||||||
|
* Z Report on Z axis encoder, if present.
|
||||||
|
* E Report on E axis encoder, if present.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
void I2CPositionEncodersMgr::M860() {
|
||||||
|
if (parse()) return;
|
||||||
|
|
||||||
|
bool hasU = parser.seen('U'), hasO = parser.seen('O');
|
||||||
|
|
||||||
|
if (I2CPE_idx < 0) {
|
||||||
|
int8_t idx;
|
||||||
|
LOOP_XYZE(i) {
|
||||||
|
if ((!I2CPE_anyaxis || parser.seen(axis_codes[i])) && ((idx = idx_from_axis(AxisEnum(i))) >= 0))
|
||||||
|
report_position((uint8_t)idx, hasU, hasO);
|
||||||
|
}
|
||||||
|
} else report_position((uint8_t)I2CPE_idx, hasU, hasO);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* M861: Report the status of position encoder modules.
|
||||||
|
*
|
||||||
|
* A<addr> Module I2C address. [30, 200].
|
||||||
|
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1]
|
||||||
|
*
|
||||||
|
* If A or I not specified:
|
||||||
|
* X Report on X axis encoder, if present.
|
||||||
|
* Y Report on Y axis encoder, if present.
|
||||||
|
* Z Report on Z axis encoder, if present.
|
||||||
|
* E Report on E axis encoder, if present.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
void I2CPositionEncodersMgr::M861() {
|
||||||
|
if (parse()) return;
|
||||||
|
|
||||||
|
if (I2CPE_idx < 0) {
|
||||||
|
int8_t idx;
|
||||||
|
LOOP_XYZE(i) {
|
||||||
|
if ((!I2CPE_anyaxis || parser.seen(axis_codes[i])) && ((idx = idx_from_axis(AxisEnum(i))) >= 0))
|
||||||
|
report_status((uint8_t)idx);
|
||||||
|
}
|
||||||
|
} else report_status((uint8_t)I2CPE_idx);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* M862: Perform an axis continuity test for position encoder
|
||||||
|
* modules.
|
||||||
|
*
|
||||||
|
* A<addr> Module I2C address. [30, 200].
|
||||||
|
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1]
|
||||||
|
*
|
||||||
|
* If A or I not specified:
|
||||||
|
* X Report on X axis encoder, if present.
|
||||||
|
* Y Report on Y axis encoder, if present.
|
||||||
|
* Z Report on Z axis encoder, if present.
|
||||||
|
* E Report on E axis encoder, if present.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
void I2CPositionEncodersMgr::M862() {
|
||||||
|
if (parse()) return;
|
||||||
|
|
||||||
|
if (I2CPE_idx < 0) {
|
||||||
|
int8_t idx;
|
||||||
|
LOOP_XYZE(i) {
|
||||||
|
if ((!I2CPE_anyaxis || parser.seen(axis_codes[i])) && ((idx = idx_from_axis(AxisEnum(i))) >= 0))
|
||||||
|
test_axis((uint8_t)idx);
|
||||||
|
}
|
||||||
|
} else test_axis((uint8_t)I2CPE_idx);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* M863: Perform steps-per-mm calibration for
|
||||||
|
* position encoder modules.
|
||||||
|
*
|
||||||
|
* A<addr> Module I2C address. [30, 200].
|
||||||
|
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1]
|
||||||
|
* P Number of rePeats/iterations.
|
||||||
|
*
|
||||||
|
* If A or I not specified:
|
||||||
|
* X Report on X axis encoder, if present.
|
||||||
|
* Y Report on Y axis encoder, if present.
|
||||||
|
* Z Report on Z axis encoder, if present.
|
||||||
|
* E Report on E axis encoder, if present.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
void I2CPositionEncodersMgr::M863() {
|
||||||
|
if (parse()) return;
|
||||||
|
|
||||||
|
int iterations = parser.seenval('P') ? constrain(parser.value_byte(), 1, 10) : 1;
|
||||||
|
|
||||||
|
if (I2CPE_idx < 0) {
|
||||||
|
int8_t idx;
|
||||||
|
LOOP_XYZE(i) {
|
||||||
|
if ((!I2CPE_anyaxis || parser.seen(axis_codes[i])) && ((idx = idx_from_axis(AxisEnum(i))) >= 0))
|
||||||
|
calibrate_steps_mm((uint8_t)idx, iterations);
|
||||||
|
}
|
||||||
|
} else calibrate_steps_mm((uint8_t)I2CPE_idx, iterations);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* M864: Change position encoder module I2C address.
|
||||||
|
*
|
||||||
|
* A<addr> Module current/old I2C address. If not present,
|
||||||
|
* assumes default address (030). [30, 200].
|
||||||
|
* N<addr> Module new I2C address. [30, 200].
|
||||||
|
*
|
||||||
|
* If N not specified:
|
||||||
|
* X Use I2CPE_PRESET_ADDR_X (030).
|
||||||
|
* Y Use I2CPE_PRESET_ADDR_Y (031).
|
||||||
|
* Z Use I2CPE_PRESET_ADDR_Z (032).
|
||||||
|
* E Use I2CPE_PRESET_ADDR_E (033).
|
||||||
|
*/
|
||||||
|
void I2CPositionEncodersMgr::M864() {
|
||||||
|
uint8_t newAddress;
|
||||||
|
|
||||||
|
if (parse()) return;
|
||||||
|
|
||||||
|
if (!I2CPE_addr) I2CPE_addr = I2CPE_PRESET_ADDR_X;
|
||||||
|
|
||||||
|
if (parser.seen('N')) {
|
||||||
|
if (!parser.has_value()) {
|
||||||
|
SERIAL_PROTOCOLLNPGM("?N seen, but no address specified! [30-200]");
|
||||||
|
return;
|
||||||
|
};
|
||||||
|
|
||||||
|
newAddress = parser.value_byte();
|
||||||
|
|
||||||
|
if (!WITHIN(newAddress, 30, 200)) {
|
||||||
|
SERIAL_PROTOCOLLNPGM("?New address out of range. [30-200]");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
} else if (!I2CPE_anyaxis) {
|
||||||
|
SERIAL_PROTOCOLLNPGM("?You must specify N or [XYZE].");
|
||||||
|
return;
|
||||||
|
} else {
|
||||||
|
if (parser.seen('X')) newAddress = I2CPE_PRESET_ADDR_X;
|
||||||
|
else if (parser.seen('Y')) newAddress = I2CPE_PRESET_ADDR_Y;
|
||||||
|
else if (parser.seen('Z')) newAddress = I2CPE_PRESET_ADDR_Z;
|
||||||
|
else if (parser.seen('E')) newAddress = I2CPE_PRESET_ADDR_E;
|
||||||
|
else return;
|
||||||
|
}
|
||||||
|
|
||||||
|
SERIAL_ECHOPAIR("Changing module at address ", I2CPE_addr);
|
||||||
|
SERIAL_ECHOLNPAIR(" to address ", newAddress);
|
||||||
|
|
||||||
|
change_module_address(I2CPE_addr, newAddress);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* M865: Check position encoder module firmware version.
|
||||||
|
*
|
||||||
|
* A<addr> Module I2C address. [30, 200].
|
||||||
|
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1].
|
||||||
|
*
|
||||||
|
* If A or I not specified:
|
||||||
|
* X Check X axis encoder, if present.
|
||||||
|
* Y Check Y axis encoder, if present.
|
||||||
|
* Z Check Z axis encoder, if present.
|
||||||
|
* E Check E axis encoder, if present.
|
||||||
|
*/
|
||||||
|
void I2CPositionEncodersMgr::M865() {
|
||||||
|
if (parse()) return;
|
||||||
|
|
||||||
|
if (!I2CPE_addr) {
|
||||||
|
int8_t idx;
|
||||||
|
LOOP_XYZE(i) {
|
||||||
|
if ((!I2CPE_anyaxis || parser.seen(axis_codes[i])) && ((idx = idx_from_axis(AxisEnum(i))) >= 0))
|
||||||
|
report_module_firmware(encoders[idx].get_address());
|
||||||
|
}
|
||||||
|
} else report_module_firmware(I2CPE_addr);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* M866: Report or reset position encoder module error
|
||||||
|
* count.
|
||||||
|
*
|
||||||
|
* A<addr> Module I2C address. [30, 200].
|
||||||
|
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1].
|
||||||
|
* R Reset error counter.
|
||||||
|
*
|
||||||
|
* If A or I not specified:
|
||||||
|
* X Act on X axis encoder, if present.
|
||||||
|
* Y Act on Y axis encoder, if present.
|
||||||
|
* Z Act on Z axis encoder, if present.
|
||||||
|
* E Act on E axis encoder, if present.
|
||||||
|
*/
|
||||||
|
void I2CPositionEncodersMgr::M866() {
|
||||||
|
if (parse()) return;
|
||||||
|
|
||||||
|
bool hasR = parser.seen('R');
|
||||||
|
|
||||||
|
if (I2CPE_idx < 0) {
|
||||||
|
int8_t idx;
|
||||||
|
LOOP_XYZE(i) {
|
||||||
|
if ((!I2CPE_anyaxis || parser.seen(axis_codes[i])) && ((idx = idx_from_axis(AxisEnum(i))) >= 0)) {
|
||||||
|
if (hasR) reset_error_count((uint8_t)idx, AxisEnum(i));
|
||||||
|
else report_error_count((uint8_t)idx, AxisEnum(i));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
if (hasR) reset_error_count((uint8_t)I2CPE_idx, encoders[I2CPE_idx].get_axis());
|
||||||
|
else report_error_count((uint8_t)I2CPE_idx, encoders[I2CPE_idx].get_axis());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* M867: Enable/disable or toggle error correction for position encoder modules.
|
||||||
|
*
|
||||||
|
* A<addr> Module I2C address. [30, 200].
|
||||||
|
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1].
|
||||||
|
* S<1|0> Enable/disable error correction. 1 enables, 0 disables. If not
|
||||||
|
* supplied, toggle.
|
||||||
|
*
|
||||||
|
* If A or I not specified:
|
||||||
|
* X Act on X axis encoder, if present.
|
||||||
|
* Y Act on Y axis encoder, if present.
|
||||||
|
* Z Act on Z axis encoder, if present.
|
||||||
|
* E Act on E axis encoder, if present.
|
||||||
|
*/
|
||||||
|
void I2CPositionEncodersMgr::M867() {
|
||||||
|
if (parse()) return;
|
||||||
|
|
||||||
|
int8_t onoff = parser.seenval('S') ? parser.value_int() : -1;
|
||||||
|
|
||||||
|
if (I2CPE_idx < 0) {
|
||||||
|
int8_t idx;
|
||||||
|
LOOP_XYZE(i) {
|
||||||
|
if ((!I2CPE_anyaxis || parser.seen(axis_codes[i])) && ((idx = idx_from_axis(AxisEnum(i))) >= 0)) {
|
||||||
|
if (onoff == -1) enable_ec((uint8_t)idx, !encoders[idx].get_ec_enabled(), AxisEnum(i));
|
||||||
|
else enable_ec((uint8_t)idx, (bool)onoff, AxisEnum(i));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
if (onoff == -1) enable_ec((uint8_t)I2CPE_idx, !encoders[I2CPE_idx].get_ec_enabled(), encoders[I2CPE_idx].get_axis());
|
||||||
|
else enable_ec((uint8_t)I2CPE_idx, (bool)onoff, encoders[I2CPE_idx].get_axis());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* M868: Report or set position encoder module error correction
|
||||||
|
* threshold.
|
||||||
|
*
|
||||||
|
* A<addr> Module I2C address. [30, 200].
|
||||||
|
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1].
|
||||||
|
* T New error correction threshold.
|
||||||
|
*
|
||||||
|
* If A not specified:
|
||||||
|
* X Act on X axis encoder, if present.
|
||||||
|
* Y Act on Y axis encoder, if present.
|
||||||
|
* Z Act on Z axis encoder, if present.
|
||||||
|
* E Act on E axis encoder, if present.
|
||||||
|
*/
|
||||||
|
void I2CPositionEncodersMgr::M868() {
|
||||||
|
if (parse()) return;
|
||||||
|
|
||||||
|
float newThreshold = parser.seenval('T') ? parser.value_float() : -9999;
|
||||||
|
|
||||||
|
if (I2CPE_idx < 0) {
|
||||||
|
int8_t idx;
|
||||||
|
LOOP_XYZE(i) {
|
||||||
|
if ((!I2CPE_anyaxis || parser.seen(axis_codes[i])) && ((idx = idx_from_axis(AxisEnum(i))) >= 0)) {
|
||||||
|
if (newThreshold != -9999) set_ec_threshold((uint8_t)idx, newThreshold, encoders[idx].get_axis());
|
||||||
|
else get_ec_threshold((uint8_t)idx, encoders[idx].get_axis());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
if (newThreshold != -9999) set_ec_threshold((uint8_t)I2CPE_idx, newThreshold, encoders[I2CPE_idx].get_axis());
|
||||||
|
else get_ec_threshold((uint8_t)I2CPE_idx, encoders[I2CPE_idx].get_axis());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* M869: Report position encoder module error.
|
||||||
|
*
|
||||||
|
* A<addr> Module I2C address. [30, 200].
|
||||||
|
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1].
|
||||||
|
*
|
||||||
|
* If A not specified:
|
||||||
|
* X Act on X axis encoder, if present.
|
||||||
|
* Y Act on Y axis encoder, if present.
|
||||||
|
* Z Act on Z axis encoder, if present.
|
||||||
|
* E Act on E axis encoder, if present.
|
||||||
|
*/
|
||||||
|
void I2CPositionEncodersMgr::M869() {
|
||||||
|
if (parse()) return;
|
||||||
|
|
||||||
|
if (I2CPE_idx < 0) {
|
||||||
|
int8_t idx;
|
||||||
|
LOOP_XYZE(i) {
|
||||||
|
if ((!I2CPE_anyaxis || parser.seen(axis_codes[i])) && ((idx = idx_from_axis(AxisEnum(i))) >= 0))
|
||||||
|
report_error((uint8_t)idx);
|
||||||
|
}
|
||||||
|
} else report_error((uint8_t)I2CPE_idx);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
@ -0,0 +1,356 @@
|
|||||||
|
/**
|
||||||
|
* Marlin 3D Printer Firmware
|
||||||
|
* Copyright (C) 2016, 2017 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 <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef I2CPOSENC_H
|
||||||
|
#define I2CPOSENC_H
|
||||||
|
|
||||||
|
#include "MarlinConfig.h"
|
||||||
|
|
||||||
|
#if ENABLED(I2C_POSITION_ENCODERS)
|
||||||
|
|
||||||
|
#include "enum.h"
|
||||||
|
#include "macros.h"
|
||||||
|
#include "types.h"
|
||||||
|
#include <Wire.h>
|
||||||
|
|
||||||
|
//=========== Advanced / Less-Common Encoder Configuration Settings ==========
|
||||||
|
|
||||||
|
#define I2CPE_EC_THRESH_PROPORTIONAL // if enabled adjusts the error correction threshold
|
||||||
|
// proportional to the current speed of the axis allows
|
||||||
|
// for very small error margin at low speeds without
|
||||||
|
// stuttering due to reading latency at high speeds
|
||||||
|
|
||||||
|
#define I2CPE_DEBUG // enable encoder-related debug serial echos
|
||||||
|
|
||||||
|
#define I2CPE_REBOOT_TIME 5000 // time we wait for an encoder module to reboot
|
||||||
|
// after changing address.
|
||||||
|
|
||||||
|
#define I2CPE_MAG_SIG_GOOD 0
|
||||||
|
#define I2CPE_MAG_SIG_MID 1
|
||||||
|
#define I2CPE_MAG_SIG_BAD 2
|
||||||
|
#define I2CPE_MAG_SIG_NF 255
|
||||||
|
|
||||||
|
#define I2CPE_REQ_REPORT 0
|
||||||
|
#define I2CPE_RESET_COUNT 1
|
||||||
|
#define I2CPE_SET_ADDR 2
|
||||||
|
#define I2CPE_SET_REPORT_MODE 3
|
||||||
|
#define I2CPE_CLEAR_EEPROM 4
|
||||||
|
|
||||||
|
#define I2CPE_LED_PAR_MODE 10
|
||||||
|
#define I2CPE_LED_PAR_BRT 11
|
||||||
|
#define I2CPE_LED_PAR_RATE 14
|
||||||
|
|
||||||
|
#define I2CPE_REPORT_DISTANCE 0
|
||||||
|
#define I2CPE_REPORT_STRENGTH 1
|
||||||
|
#define I2CPE_REPORT_VERSION 2
|
||||||
|
|
||||||
|
// Default I2C addresses
|
||||||
|
#define I2CPE_PRESET_ADDR_X 30
|
||||||
|
#define I2CPE_PRESET_ADDR_Y 31
|
||||||
|
#define I2CPE_PRESET_ADDR_Z 32
|
||||||
|
#define I2CPE_PRESET_ADDR_E 33
|
||||||
|
|
||||||
|
#define I2CPE_DEF_AXIS X_AXIS
|
||||||
|
#define I2CPE_DEF_ADDR I2CPE_PRESET_ADDR_X
|
||||||
|
|
||||||
|
// Error event counter; tracks how many times there is an error exceeding a certain threshold
|
||||||
|
#define I2CPE_ERR_CNT_THRESH 3.00
|
||||||
|
#define I2CPE_ERR_CNT_DEBOUNCE_MS 2000
|
||||||
|
|
||||||
|
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
|
||||||
|
#define I2CPE_ERR_ARRAY_SIZE 32
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Error Correction Methods
|
||||||
|
#define I2CPE_ECM_NONE 0
|
||||||
|
#define I2CPE_ECM_MICROSTEP 1
|
||||||
|
#define I2CPE_ECM_PLANNER 2
|
||||||
|
#define I2CPE_ECM_STALLDETECT 3
|
||||||
|
|
||||||
|
// Encoder types
|
||||||
|
#define I2CPE_ENC_TYPE_ROTARY 0
|
||||||
|
#define I2CPE_ENC_TYPE_LINEAR 1
|
||||||
|
|
||||||
|
// Parser
|
||||||
|
#define I2CPE_PARSE_ERR 1
|
||||||
|
#define I2CPE_PARSE_OK 0
|
||||||
|
|
||||||
|
#define LOOP_PE(VAR) LOOP_L_N(VAR, I2CPE_ENCODER_CNT)
|
||||||
|
#define CHECK_IDX if (!WITHIN(idx, 0, I2CPE_ENCODER_CNT - 1)) return;
|
||||||
|
|
||||||
|
extern const char axis_codes[XYZE];
|
||||||
|
|
||||||
|
typedef union {
|
||||||
|
volatile long val = 0;
|
||||||
|
uint8_t bval[4];
|
||||||
|
} i2cLong;
|
||||||
|
|
||||||
|
class I2CPositionEncoder {
|
||||||
|
private:
|
||||||
|
AxisEnum encoderAxis = I2CPE_DEF_AXIS;
|
||||||
|
|
||||||
|
uint8_t i2cAddress = I2CPE_DEF_ADDR,
|
||||||
|
ecMethod = I2CPE_DEF_EC_METHOD,
|
||||||
|
type = I2CPE_DEF_TYPE,
|
||||||
|
H = I2CPE_MAG_SIG_NF; // Magnetic field strength
|
||||||
|
|
||||||
|
int encoderTicksPerUnit = I2CPE_DEF_ENC_TICKS_UNIT,
|
||||||
|
stepperTicks = I2CPE_DEF_TICKS_REV;
|
||||||
|
|
||||||
|
float ecThreshold = I2CPE_DEF_EC_THRESH;
|
||||||
|
|
||||||
|
bool homed = false,
|
||||||
|
trusted = false,
|
||||||
|
initialised = false,
|
||||||
|
active = false,
|
||||||
|
invert = false,
|
||||||
|
ec = true;
|
||||||
|
|
||||||
|
int errorCount = 0,
|
||||||
|
errorPrev = 0;
|
||||||
|
|
||||||
|
float axisOffset = 0;
|
||||||
|
|
||||||
|
long axisOffsetTicks = 0,
|
||||||
|
zeroOffset = 0,
|
||||||
|
lastPosition = 0,
|
||||||
|
position;
|
||||||
|
|
||||||
|
unsigned long lastPositionTime = 0,
|
||||||
|
lastErrorCountTime = 0,
|
||||||
|
lastErrorTime;
|
||||||
|
|
||||||
|
//double positionMm; //calculate
|
||||||
|
|
||||||
|
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
|
||||||
|
uint8_t errIdx = 0;
|
||||||
|
int err[I2CPE_ERR_ARRAY_SIZE] = {0};
|
||||||
|
#endif
|
||||||
|
|
||||||
|
public:
|
||||||
|
void init(uint8_t address, AxisEnum axis);
|
||||||
|
void reset();
|
||||||
|
|
||||||
|
void update();
|
||||||
|
|
||||||
|
void set_homed();
|
||||||
|
|
||||||
|
long get_raw_count();
|
||||||
|
|
||||||
|
FORCE_INLINE double mm_from_count(long count) {
|
||||||
|
if (type == I2CPE_ENC_TYPE_LINEAR) return count / encoderTicksPerUnit;
|
||||||
|
else if (type == I2CPE_ENC_TYPE_ROTARY)
|
||||||
|
return (count * stepperTicks) / (encoderTicksPerUnit * planner.axis_steps_per_mm[encoderAxis]);
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
FORCE_INLINE double get_position_mm() { return mm_from_count(get_position()); }
|
||||||
|
FORCE_INLINE long get_position() { return get_raw_count() - zeroOffset - axisOffsetTicks; }
|
||||||
|
|
||||||
|
long get_axis_error_steps(bool report);
|
||||||
|
double get_axis_error_mm(bool report);
|
||||||
|
|
||||||
|
void calibrate_steps_mm(int iter);
|
||||||
|
|
||||||
|
bool passes_test(bool report);
|
||||||
|
|
||||||
|
bool test_axis(void);
|
||||||
|
|
||||||
|
FORCE_INLINE int get_error_count(void) { return errorCount; }
|
||||||
|
FORCE_INLINE void set_error_count(int newCount) { errorCount = newCount; }
|
||||||
|
|
||||||
|
FORCE_INLINE uint8_t get_address() { return i2cAddress; }
|
||||||
|
FORCE_INLINE void set_address(uint8_t addr) { i2cAddress = addr; }
|
||||||
|
|
||||||
|
FORCE_INLINE bool get_active(void) { return active; }
|
||||||
|
FORCE_INLINE void set_active(bool a) { active = a; }
|
||||||
|
|
||||||
|
FORCE_INLINE void set_inverted(bool i) { invert = i; }
|
||||||
|
|
||||||
|
FORCE_INLINE AxisEnum get_axis() { return encoderAxis; }
|
||||||
|
|
||||||
|
FORCE_INLINE bool get_ec_enabled() { return ec; }
|
||||||
|
FORCE_INLINE void set_ec_enabled(bool enabled) { ec = enabled; }
|
||||||
|
|
||||||
|
FORCE_INLINE uint8_t get_ec_method() { return ecMethod; }
|
||||||
|
FORCE_INLINE void set_ec_method(byte method) { ecMethod = method; }
|
||||||
|
|
||||||
|
FORCE_INLINE float get_ec_threshold() { return ecThreshold; }
|
||||||
|
FORCE_INLINE void set_ec_threshold(float newThreshold) { ecThreshold = newThreshold; }
|
||||||
|
|
||||||
|
FORCE_INLINE int get_encoder_ticks_mm() {
|
||||||
|
if (type == I2CPE_ENC_TYPE_LINEAR) return encoderTicksPerUnit;
|
||||||
|
else if (type == I2CPE_ENC_TYPE_ROTARY)
|
||||||
|
return (int)((encoderTicksPerUnit / stepperTicks) * planner.axis_steps_per_mm[encoderAxis]);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
FORCE_INLINE int get_ticks_unit() { return encoderTicksPerUnit; }
|
||||||
|
FORCE_INLINE void set_ticks_unit(int ticks) { encoderTicksPerUnit = ticks; }
|
||||||
|
|
||||||
|
FORCE_INLINE uint8_t get_type() { return type; }
|
||||||
|
FORCE_INLINE void set_type(byte newType) { type = newType; }
|
||||||
|
|
||||||
|
FORCE_INLINE int get_stepper_ticks() { return stepperTicks; }
|
||||||
|
FORCE_INLINE void set_stepper_ticks(int ticks) { stepperTicks = ticks; }
|
||||||
|
|
||||||
|
FORCE_INLINE float get_axis_offset() { return axisOffset; }
|
||||||
|
FORCE_INLINE void set_axis_offset(float newOffset) {
|
||||||
|
axisOffset = newOffset;
|
||||||
|
axisOffsetTicks = (long)(axisOffset * get_encoder_ticks_mm());
|
||||||
|
}
|
||||||
|
|
||||||
|
FORCE_INLINE void set_current_position(float newPositionMm) {
|
||||||
|
set_axis_offset(get_position_mm() - newPositionMm + axisOffset);
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
class I2CPositionEncodersMgr {
|
||||||
|
private:
|
||||||
|
bool I2CPE_anyaxis;
|
||||||
|
uint8_t I2CPE_addr;
|
||||||
|
int8_t I2CPE_idx;
|
||||||
|
|
||||||
|
public:
|
||||||
|
void init(void);
|
||||||
|
|
||||||
|
// consider only updating one endoder per call / tick if encoders become too time intensive
|
||||||
|
void update(void) { LOOP_PE(i) encoders[i].update(); }
|
||||||
|
|
||||||
|
void homed(AxisEnum axis) {
|
||||||
|
LOOP_PE(i)
|
||||||
|
if (encoders[i].get_axis() == axis) encoders[i].set_homed();
|
||||||
|
}
|
||||||
|
|
||||||
|
void report_position(uint8_t idx, bool units, bool noOffset);
|
||||||
|
|
||||||
|
void report_status(uint8_t idx) {
|
||||||
|
CHECK_IDX
|
||||||
|
SERIAL_ECHOPAIR("Encoder ",idx);
|
||||||
|
SERIAL_ECHOPGM(": ");
|
||||||
|
encoders[idx].get_raw_count();
|
||||||
|
encoders[idx].passes_test(true);
|
||||||
|
}
|
||||||
|
|
||||||
|
void report_error(uint8_t idx) {
|
||||||
|
CHECK_IDX
|
||||||
|
encoders[idx].get_axis_error_steps(true);
|
||||||
|
}
|
||||||
|
|
||||||
|
void test_axis(uint8_t idx) {
|
||||||
|
CHECK_IDX
|
||||||
|
encoders[idx].test_axis();
|
||||||
|
}
|
||||||
|
|
||||||
|
void calibrate_steps_mm(uint8_t idx, int iterations) {
|
||||||
|
CHECK_IDX
|
||||||
|
encoders[idx].calibrate_steps_mm(iterations);
|
||||||
|
}
|
||||||
|
|
||||||
|
void change_module_address(uint8_t oldaddr, uint8_t newaddr);
|
||||||
|
void report_module_firmware(uint8_t address);
|
||||||
|
|
||||||
|
void report_error_count(uint8_t idx, AxisEnum axis) {
|
||||||
|
CHECK_IDX
|
||||||
|
SERIAL_ECHOPAIR("Error count on ", axis_codes[axis]);
|
||||||
|
SERIAL_ECHOLNPAIR(" axis is ", encoders[idx].get_error_count());
|
||||||
|
}
|
||||||
|
|
||||||
|
void reset_error_count(uint8_t idx, AxisEnum axis) {
|
||||||
|
CHECK_IDX
|
||||||
|
encoders[idx].set_error_count(0);
|
||||||
|
SERIAL_ECHOPAIR("Error count on ", axis_codes[axis]);
|
||||||
|
SERIAL_ECHOLNPGM(" axis has been reset.");
|
||||||
|
}
|
||||||
|
|
||||||
|
void enable_ec(uint8_t idx, bool enabled, AxisEnum axis) {
|
||||||
|
CHECK_IDX
|
||||||
|
encoders[idx].set_ec_enabled(enabled);
|
||||||
|
SERIAL_ECHOPAIR("Error correction on ", axis_codes[axis]);
|
||||||
|
SERIAL_ECHOPGM(" axis is ");
|
||||||
|
serialprintPGM(encoders[idx].get_ec_enabled() ? PSTR("en") : PSTR("dis"));
|
||||||
|
SERIAL_ECHOLNPGM("abled.");
|
||||||
|
}
|
||||||
|
|
||||||
|
void set_ec_threshold(uint8_t idx, float newThreshold, AxisEnum axis) {
|
||||||
|
CHECK_IDX
|
||||||
|
encoders[idx].set_ec_threshold(newThreshold);
|
||||||
|
SERIAL_ECHOPAIR("Error correct threshold for ", axis_codes[axis]);
|
||||||
|
SERIAL_ECHOPAIR_F(" axis set to ", newThreshold);
|
||||||
|
SERIAL_ECHOLNPGM("mm.");
|
||||||
|
}
|
||||||
|
|
||||||
|
void get_ec_threshold(uint8_t idx, AxisEnum axis) {
|
||||||
|
CHECK_IDX
|
||||||
|
float threshold = encoders[idx].get_ec_threshold();
|
||||||
|
SERIAL_ECHOPAIR("Error correct threshold for ", axis_codes[axis]);
|
||||||
|
SERIAL_ECHOPAIR_F(" axis is ", threshold);
|
||||||
|
SERIAL_ECHOLNPGM("mm.");
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t idx_from_axis(AxisEnum axis) {
|
||||||
|
LOOP_PE(i)
|
||||||
|
if (encoders[i].get_axis() == axis) return i;
|
||||||
|
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t idx_from_addr(uint8_t addr) {
|
||||||
|
LOOP_PE(i)
|
||||||
|
if (encoders[i].get_address() == addr) return i;
|
||||||
|
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t parse();
|
||||||
|
|
||||||
|
void M860();
|
||||||
|
void M861();
|
||||||
|
void M862();
|
||||||
|
void M863();
|
||||||
|
void M864();
|
||||||
|
void M865();
|
||||||
|
void M866();
|
||||||
|
void M867();
|
||||||
|
void M868();
|
||||||
|
void M869();
|
||||||
|
|
||||||
|
I2CPositionEncoder encoders[I2CPE_ENCODER_CNT];
|
||||||
|
};
|
||||||
|
|
||||||
|
extern I2CPositionEncodersMgr I2CPEM;
|
||||||
|
|
||||||
|
FORCE_INLINE void gcode_M860() { I2CPEM.M860(); }
|
||||||
|
FORCE_INLINE void gcode_M861() { I2CPEM.M861(); }
|
||||||
|
FORCE_INLINE void gcode_M862() { I2CPEM.M862(); }
|
||||||
|
FORCE_INLINE void gcode_M863() { I2CPEM.M863(); }
|
||||||
|
FORCE_INLINE void gcode_M864() { I2CPEM.M864(); }
|
||||||
|
FORCE_INLINE void gcode_M865() { I2CPEM.M865(); }
|
||||||
|
FORCE_INLINE void gcode_M866() { I2CPEM.M866(); }
|
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FORCE_INLINE void gcode_M867() { I2CPEM.M867(); }
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FORCE_INLINE void gcode_M868() { I2CPEM.M868(); }
|
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FORCE_INLINE void gcode_M869() { I2CPEM.M869(); }
|
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#endif //I2C_POSITION_ENCODERS
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|
#endif //I2CPOSENC_H
|
||||||
|
|
||||||
|
|
||||||
Loading…
Reference in new issue