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Merge pull request #2467 from wavexx/fsensor_tweaks 

Improve MK3 (PAT9125) optical sensor accuracy
This commit is contained in:
DRracer 2020-02-06 17:06:26 +01:00 committed by GitHub
parent 4774b44e21 853bb79b6b
commit ad19b3c5b1
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GPG Key ID: 4AEE18F83AFDEB23
9 changed files with 213 additions and 124 deletions
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13
Firmware/Marlin_main.cpp
View File

@ -640,6 +640,9 @@ void failstats_reset_print()
eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0); eeprom_update_byte((uint8_t *)EEPROM_POWER_COUNT, 0);
eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0); eeprom_update_byte((uint8_t *)EEPROM_MMU_FAIL, 0);
eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0); eeprom_update_byte((uint8_t *)EEPROM_MMU_LOAD_FAIL, 0);
#if defined(FILAMENT_SENSOR) && defined(PAT9125)
fsensor_softfail = 0;
#endif
} }
@ -6672,7 +6675,7 @@ Sigma_Exit:
{ {
if(code_seen(axis_codes[i])) if(code_seen(axis_codes[i]))
{ {
if(i == 3) { // E if(i == E_AXIS) { // E
float value = code_value(); float value = code_value();
if(value < 20.0) { if(value < 20.0) {
float factor = cs.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab. float factor = cs.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
@ -6681,6 +6684,9 @@ Sigma_Exit:
axis_steps_per_sqr_second[i] *= factor; axis_steps_per_sqr_second[i] *= factor;
} }
cs.axis_steps_per_unit[i] = value; cs.axis_steps_per_unit[i] = value;
#if defined(FILAMENT_SENSOR) && defined(PAT9125)
fsensor_set_axis_steps_per_unit(value);
#endif
} }
else { else {
cs.axis_steps_per_unit[i] = code_value(); cs.axis_steps_per_unit[i] = code_value();
@ -8428,7 +8434,6 @@ Sigma_Exit:
res_valid |= (i == E_AXIS) && ((res_new == 64) || (res_new == 128)); // resolutions valid for E only res_valid |= (i == E_AXIS) && ((res_new == 64) || (res_new == 128)); // resolutions valid for E only
if (res_valid) if (res_valid)
{ {
st_synchronize(); st_synchronize();
uint16_t res = tmc2130_get_res(i); uint16_t res = tmc2130_get_res(i);
tmc2130_set_res(i, res_new); tmc2130_set_res(i, res_new);
@ -8445,6 +8450,10 @@ Sigma_Exit:
cs.axis_steps_per_unit[i] /= fac; cs.axis_steps_per_unit[i] /= fac;
position[i] /= fac; position[i] /= fac;
} }
#if defined(FILAMENT_SENSOR) && defined(PAT9125)
if (i == E_AXIS)
fsensor_set_axis_steps_per_unit(cs.axis_steps_per_unit[i]);
#endif
} }
} }
} }

3
Firmware/config.h
View File

@ -34,7 +34,8 @@
//#define PAT9125_I2C_ADDR 0x79 //ID=HI //#define PAT9125_I2C_ADDR 0x79 //ID=HI
//#define PAT9125_I2C_ADDR 0x73 //ID=NC //#define PAT9125_I2C_ADDR 0x73 //ID=NC
#define PAT9125_XRES 0 #define PAT9125_XRES 0
#define PAT9125_YRES 240 #define PAT9125_YRES 240 // maximum resolution (5*X cpi)
#define PAT9124_YRES_MM (5*PAT9125_YRES/25.4) // counts per mm
//SM4 configuration //SM4 configuration
#define SM4_DEFDELAY 500 //default step delay [us] #define SM4_DEFDELAY 500 //default step delay [us]

229
Firmware/fsensor.cpp
View File

@ -18,8 +18,11 @@
//! @name Basic parameters //! @name Basic parameters
//! @{ //! @{
#define FSENSOR_CHUNK_LEN 0.64F //!< filament sensor chunk length 0.64mm #define FSENSOR_CHUNK_LEN 1.25 //!< filament sensor chunk length (mm)
#define FSENSOR_ERR_MAX 17 //!< filament sensor maximum error count for runout detection #define FSENSOR_ERR_MAX 4 //!< filament sensor maximum error/chunk count for runout detection
#define FSENSOR_SOFTERR_CMAX 3 //!< number of contiguous soft failures before a triggering a runout
#define FSENSOR_SOFTERR_DELTA 30000 //!< maximum interval (ms) to consider soft failures contiguous
//! @} //! @}
//! @name Optical quality measurement parameters //! @name Optical quality measurement parameters
@ -44,25 +47,30 @@ const char ERRMSG_PAT9125_NOT_RESP[] PROGMEM = "PAT9125 not responding (%d)!\n";
#define FSENSOR_INT_PIN_PCMSK_BIT PCINT13 // PinChange Interrupt / PinChange Enable Mask @ PJ4 #define FSENSOR_INT_PIN_PCMSK_BIT PCINT13 // PinChange Interrupt / PinChange Enable Mask @ PJ4
#define FSENSOR_INT_PIN_PCICR_BIT PCIE1 // PinChange Interrupt Enable / Flag @ PJ4 #define FSENSOR_INT_PIN_PCICR_BIT PCIE1 // PinChange Interrupt Enable / Flag @ PJ4
//uint8_t fsensor_int_pin = FSENSOR_INT_PIN;
uint8_t fsensor_int_pin_old = 0;
int16_t fsensor_chunk_len = 0;
//! enabled = initialized and sampled every chunk event //! enabled = initialized and sampled every chunk event
bool fsensor_enabled = true; bool fsensor_enabled = true;
//! runout watching is done in fsensor_update (called from main loop) //! runout watching is done in fsensor_update (called from main loop)
bool fsensor_watch_runout = true; bool fsensor_watch_runout = true;
//! not responding - is set if any communication error occurred during initialization or readout //! not responding - is set if any communication error occurred during initialization or readout
bool fsensor_not_responding = false; bool fsensor_not_responding = false;
#ifdef PAT9125
uint8_t fsensor_int_pin_old = 0;
//! optical checking "chunk lenght" (already in steps)
int16_t fsensor_chunk_len = 0;
//! enable/disable quality meassurement //! enable/disable quality meassurement
bool fsensor_oq_meassure_enabled = false; bool fsensor_oq_meassure_enabled = false;
//! number of errors, updated in ISR //! number of errors, updated in ISR
uint8_t fsensor_err_cnt = 0; uint8_t fsensor_err_cnt = 0;
//! variable for accumulating step count (updated callbacks from stepper and ISR) //! variable for accumulating step count (updated callbacks from stepper and ISR)
int16_t fsensor_st_cnt = 0; int16_t fsensor_st_cnt = 0;
//! last dy value from pat9125 sensor (used in ISR) //! count of total sensor "soft" failures (filament status checks)
int16_t fsensor_dy_old = 0; uint8_t fsensor_softfail = 0;
//! timestamp of last soft failure
unsigned long fsensor_softfail_last = 0;
//! count of soft failures within the configured time
uint8_t fsensor_softfail_ccnt = 0;
#endif
//! log flag: 0=log disabled, 1=log enabled //! log flag: 0=log disabled, 1=log enabled
uint8_t fsensor_log = 1; uint8_t fsensor_log = 1;
@ -75,6 +83,8 @@ uint8_t fsensor_log = 1;
bool fsensor_autoload_enabled = true; bool fsensor_autoload_enabled = true;
//! autoload watching enable/disable flag //! autoload watching enable/disable flag
bool fsensor_watch_autoload = false; bool fsensor_watch_autoload = false;
#ifdef PAT9125
// //
uint16_t fsensor_autoload_y; uint16_t fsensor_autoload_y;
// //
@ -84,6 +94,7 @@ uint32_t fsensor_autoload_last_millis;
// //
uint8_t fsensor_autoload_sum; uint8_t fsensor_autoload_sum;
//! @} //! @}
#endif
//! @name filament optical quality measurement variables //! @name filament optical quality measurement variables
@ -125,11 +136,29 @@ void fsensor_stop_and_save_print(void)
fsensor_watch_runout = false; fsensor_watch_runout = false;
} }
#ifdef PAT9125
// Reset all internal counters to zero, including stepper callbacks
void fsensor_reset_err_cnt()
{
fsensor_err_cnt = 0;
pat9125_y = 0;
st_reset_fsensor();
}
void fsensor_set_axis_steps_per_unit(float u)
{
fsensor_chunk_len = (int16_t)(FSENSOR_CHUNK_LEN * u);
}
#endif
void fsensor_restore_print_and_continue(void) void fsensor_restore_print_and_continue(void)
{ {
printf_P(PSTR("fsensor_restore_print_and_continue\n")); printf_P(PSTR("fsensor_restore_print_and_continue\n"));
fsensor_watch_runout = true; fsensor_watch_runout = true;
fsensor_err_cnt = 0; #ifdef PAT9125
fsensor_reset_err_cnt();
#endif
restore_print_from_ram_and_continue(0); restore_print_from_ram_and_continue(0);
} }
@ -154,7 +183,7 @@ void fsensor_init(void)
#ifdef PAT9125 #ifdef PAT9125
uint8_t oq_meassure_enabled = eeprom_read_byte((uint8_t*)EEPROM_FSENS_OQ_MEASS_ENABLED); uint8_t oq_meassure_enabled = eeprom_read_byte((uint8_t*)EEPROM_FSENS_OQ_MEASS_ENABLED);
fsensor_oq_meassure_enabled = (oq_meassure_enabled == 1)?true:false; fsensor_oq_meassure_enabled = (oq_meassure_enabled == 1)?true:false;
fsensor_chunk_len = (int16_t)(FSENSOR_CHUNK_LEN * cs.axis_steps_per_unit[E_AXIS]); fsensor_set_axis_steps_per_unit(cs.axis_steps_per_unit[E_AXIS]);
if (!pat9125) if (!pat9125)
{ {
@ -194,8 +223,7 @@ bool fsensor_enable(bool bUpdateEEPROM)
fsensor_enabled = pat9125 ? true : false; fsensor_enabled = pat9125 ? true : false;
fsensor_watch_runout = true; fsensor_watch_runout = true;
fsensor_oq_meassure = false; fsensor_oq_meassure = false;
fsensor_err_cnt = 0; fsensor_reset_err_cnt();
fsensor_dy_old = 0;
eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, fsensor_enabled ? 0x01 : 0x00); eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, fsensor_enabled ? 0x01 : 0x00);
FSensorStateMenu = fsensor_enabled ? 1 : 0; FSensorStateMenu = fsensor_enabled ? 1 : 0;
} }
@ -275,12 +303,11 @@ void fsensor_autoload_check_start(void)
fsensor_autoload_last_millis = _millis(); fsensor_autoload_last_millis = _millis();
fsensor_watch_runout = false; fsensor_watch_runout = false;
fsensor_watch_autoload = true; fsensor_watch_autoload = true;
fsensor_err_cnt = 0;
} }
void fsensor_autoload_check_stop(void) void fsensor_autoload_check_stop(void)
{ {
// puts_P(_N("fsensor_autoload_check_stop\n")); // puts_P(_N("fsensor_autoload_check_stop\n"));
if (!fsensor_enabled) return; if (!fsensor_enabled) return;
// puts_P(_N("fsensor_autoload_check_stop 1\n")); // puts_P(_N("fsensor_autoload_check_stop 1\n"));
@ -291,7 +318,7 @@ void fsensor_autoload_check_stop(void)
fsensor_autoload_sum = 0; fsensor_autoload_sum = 0;
fsensor_watch_autoload = false; fsensor_watch_autoload = false;
fsensor_watch_runout = true; fsensor_watch_runout = true;
fsensor_err_cnt = 0; fsensor_reset_err_cnt();
} }
#endif //PAT9125 #endif //PAT9125
@ -356,6 +383,7 @@ bool fsensor_check_autoload(void)
return false; return false;
} }
#ifdef PAT9125
void fsensor_oq_meassure_set(bool State) void fsensor_oq_meassure_set(bool State)
{ {
fsensor_oq_meassure_enabled = State; fsensor_oq_meassure_enabled = State;
@ -389,7 +417,6 @@ void fsensor_oq_meassure_stop(void)
printf_P(_N(" st_sum=%u yd_sum=%u er_sum=%u er_max=%hhu\n"), fsensor_oq_st_sum, fsensor_oq_yd_sum, fsensor_oq_er_sum, fsensor_oq_er_max); printf_P(_N(" st_sum=%u yd_sum=%u er_sum=%u er_max=%hhu\n"), fsensor_oq_st_sum, fsensor_oq_yd_sum, fsensor_oq_er_sum, fsensor_oq_er_max);
printf_P(_N(" yd_min=%u yd_max=%u yd_avg=%u sh_avg=%u\n"), fsensor_oq_yd_min, fsensor_oq_yd_max, (uint16_t)((uint32_t)fsensor_oq_yd_sum * fsensor_chunk_len / fsensor_oq_st_sum), (uint16_t)(fsensor_oq_sh_sum / fsensor_oq_samples)); printf_P(_N(" yd_min=%u yd_max=%u yd_avg=%u sh_avg=%u\n"), fsensor_oq_yd_min, fsensor_oq_yd_max, (uint16_t)((uint32_t)fsensor_oq_yd_sum * fsensor_chunk_len / fsensor_oq_st_sum), (uint16_t)(fsensor_oq_sh_sum / fsensor_oq_samples));
fsensor_oq_meassure = false; fsensor_oq_meassure = false;
fsensor_err_cnt = 0;
} }
const char _OK[] PROGMEM = "OK"; const char _OK[] PROGMEM = "OK";
@ -427,18 +454,23 @@ bool fsensor_oq_result(void)
printf_P(_N("fsensor_oq_result %S\n"), (res?_OK:_NG)); printf_P(_N("fsensor_oq_result %S\n"), (res?_OK:_NG));
return res; return res;
} }
#ifdef PAT9125
ISR(FSENSOR_INT_PIN_VECT) ISR(FSENSOR_INT_PIN_VECT)
{ {
if (mmu_enabled || ir_sensor_detected) return; if (mmu_enabled || ir_sensor_detected) return;
if (!((fsensor_int_pin_old ^ FSENSOR_INT_PIN_PIN_REG) & FSENSOR_INT_PIN_MASK)) return; if (!((fsensor_int_pin_old ^ FSENSOR_INT_PIN_PIN_REG) & FSENSOR_INT_PIN_MASK)) return;
fsensor_int_pin_old = FSENSOR_INT_PIN_PIN_REG; fsensor_int_pin_old = FSENSOR_INT_PIN_PIN_REG;
// prevent isr re-entry
static bool _lock = false; static bool _lock = false;
if (_lock) return; if (_lock) return;
_lock = true; _lock = true;
// fetch fsensor_st_cnt atomically
int st_cnt = fsensor_st_cnt; int st_cnt = fsensor_st_cnt;
fsensor_st_cnt = 0; fsensor_st_cnt = 0;
sei(); sei();
uint8_t old_err_cnt = fsensor_err_cnt; uint8_t old_err_cnt = fsensor_err_cnt;
uint8_t pat9125_res = fsensor_oq_meassure?pat9125_update():pat9125_update_y(); uint8_t pat9125_res = fsensor_oq_meassure?pat9125_update():pat9125_update_y();
if (!pat9125_res) if (!pat9125_res)
@ -447,56 +479,71 @@ ISR(FSENSOR_INT_PIN_VECT)
fsensor_not_responding = true; fsensor_not_responding = true;
printf_P(ERRMSG_PAT9125_NOT_RESP, 1); printf_P(ERRMSG_PAT9125_NOT_RESP, 1);
} }
if (st_cnt != 0) if (st_cnt != 0)
{ //movement {
if (st_cnt > 0) //positive movement // movement was planned, check for sensor movement
{ int8_t st_dir = st_cnt >= 0;
if (pat9125_y < 0) int8_t pat9125_dir = pat9125_y >= 0;
{
if (fsensor_err_cnt) if (pat9125_y == 0)
fsensor_err_cnt += 2; {
else if (st_dir)
fsensor_err_cnt++; {
} // no movement detected: we might be within a blind sensor range,
else if (pat9125_y > 0) // update the frame and shutter parameters we didn't earlier
{ if (!fsensor_oq_meassure)
if (fsensor_err_cnt) pat9125_update_bs();
fsensor_err_cnt--;
} // increment the error count only if underexposed: filament likely missing
else //(pat9125_y == 0) if ((pat9125_b < 80) && (pat9125_s > 10))
if (((fsensor_dy_old <= 0) || (fsensor_err_cnt)) && (st_cnt > (fsensor_chunk_len >> 1))) {
fsensor_err_cnt++; // check for a dark frame (<30% avg brightness) with long exposure
if (fsensor_oq_meassure) ++fsensor_err_cnt;
{ }
if (fsensor_oq_skipchunk) else
{ {
fsensor_oq_skipchunk--; // good frame, filament likely present
fsensor_err_cnt = 0; if(fsensor_err_cnt) --fsensor_err_cnt;
} }
else }
{ }
if (st_cnt == fsensor_chunk_len) else if (pat9125_dir != st_dir)
{ {
if (pat9125_y > 0) if (fsensor_oq_yd_min > pat9125_y) fsensor_oq_yd_min = (fsensor_oq_yd_min + pat9125_y) / 2; // detected direction opposite of motor movement
if (pat9125_y >= 0) if (fsensor_oq_yd_max < pat9125_y) fsensor_oq_yd_max = (fsensor_oq_yd_max + pat9125_y) / 2; if (st_dir) ++fsensor_err_cnt;
} }
fsensor_oq_samples++; else if (pat9125_dir == st_dir)
fsensor_oq_st_sum += st_cnt; {
if (pat9125_y > 0) fsensor_oq_yd_sum += pat9125_y; // direction agreeing with planned movement
if (fsensor_err_cnt > old_err_cnt) if (fsensor_err_cnt) --fsensor_err_cnt;
fsensor_oq_er_sum += (fsensor_err_cnt - old_err_cnt); }
if (fsensor_oq_er_max < fsensor_err_cnt)
fsensor_oq_er_max = fsensor_err_cnt; if (st_dir && fsensor_oq_meassure)
fsensor_oq_sh_sum += pat9125_s; {
} // extruding with quality assessment
} if (fsensor_oq_skipchunk)
} {
else //negative movement fsensor_oq_skipchunk--;
{ fsensor_err_cnt = 0;
} }
} else
else {
{ //no movement if (st_cnt == fsensor_chunk_len)
{
if (pat9125_y > 0) if (fsensor_oq_yd_min > pat9125_y) fsensor_oq_yd_min = (fsensor_oq_yd_min + pat9125_y) / 2;
if (pat9125_y >= 0) if (fsensor_oq_yd_max < pat9125_y) fsensor_oq_yd_max = (fsensor_oq_yd_max + pat9125_y) / 2;
}
fsensor_oq_samples++;
fsensor_oq_st_sum += st_cnt;
if (pat9125_y > 0) fsensor_oq_yd_sum += pat9125_y;
if (fsensor_err_cnt > old_err_cnt)
fsensor_oq_er_sum += (fsensor_err_cnt - old_err_cnt);
if (fsensor_oq_er_max < fsensor_err_cnt)
fsensor_oq_er_max = fsensor_err_cnt;
fsensor_oq_sh_sum += pat9125_s;
}
}
} }
#ifdef DEBUG_FSENSOR_LOG #ifdef DEBUG_FSENSOR_LOG
@ -507,9 +554,7 @@ ISR(FSENSOR_INT_PIN_VECT)
} }
#endif //DEBUG_FSENSOR_LOG #endif //DEBUG_FSENSOR_LOG
fsensor_dy_old = pat9125_y;
pat9125_y = 0; pat9125_y = 0;
_lock = false; _lock = false;
return; return;
} }
@ -529,19 +574,16 @@ void fsensor_setup_interrupt(void)
PCICR |= bit(FSENSOR_INT_PIN_PCICR_BIT); // enable corresponding PinChangeInterrupt (set of pins) PCICR |= bit(FSENSOR_INT_PIN_PCICR_BIT); // enable corresponding PinChangeInterrupt (set of pins)
} }
#endif //PAT9125
void fsensor_st_block_chunk(int cnt) void fsensor_st_block_chunk(int cnt)
{ {
if (!fsensor_enabled) return; if (!fsensor_enabled) return;
fsensor_st_cnt += cnt; fsensor_st_cnt += cnt;
if (abs(fsensor_st_cnt) >= fsensor_chunk_len)
{ // !!! bit toggling (PINxn <- 1) (for PinChangeInterrupt) does not work for some MCU pins
// !!! bit toggling (PINxn <- 1) (for PinChangeInterrupt) does not work for some MCU pins if (PIN_GET(FSENSOR_INT_PIN)) {PIN_VAL(FSENSOR_INT_PIN, LOW);}
if (PIN_GET(FSENSOR_INT_PIN)) {PIN_VAL(FSENSOR_INT_PIN, LOW);} else {PIN_VAL(FSENSOR_INT_PIN, HIGH);}
else {PIN_VAL(FSENSOR_INT_PIN, HIGH);}
}
} }
#endif //PAT9125
//! Common code for enqueing M600 and supplemental codes into the command queue. //! Common code for enqueing M600 and supplemental codes into the command queue.
@ -578,32 +620,41 @@ void fsensor_update(void)
st_synchronize(); st_synchronize();
// check the filament in isolation // check the filament in isolation
fsensor_err_cnt = 0; fsensor_reset_err_cnt();
fsensor_oq_meassure_start(0); fsensor_oq_meassure_start(0);
float e_tmp = current_position[E_AXIS]; float e_tmp = current_position[E_AXIS];
current_position[E_AXIS] -= 3; current_position[E_AXIS] -= 3;
plan_buffer_line_curposXYZE(200/60, active_extruder); plan_buffer_line_curposXYZE(250/60, active_extruder);
current_position[E_AXIS] = e_tmp; current_position[E_AXIS] = e_tmp;
plan_buffer_line_curposXYZE(200/60, active_extruder); plan_buffer_line_curposXYZE(200/60, active_extruder);
st_synchronize(); st_synchronize();
uint8_t err_cnt = fsensor_err_cnt;
fsensor_oq_meassure_stop(); fsensor_oq_meassure_stop();
bool err = false; bool err = false;
err |= (err_cnt > 1); err |= (fsensor_err_cnt > 1);
err |= (fsensor_oq_er_sum > 2); err |= (fsensor_oq_er_sum > 2);
err |= (fsensor_oq_yd_sum < (4 * FSENSOR_OQ_MIN_YD)); err |= (fsensor_oq_yd_sum < (4 * FSENSOR_OQ_MIN_YD));
fsensor_restore_print_and_continue(); fsensor_restore_print_and_continue();
fsensor_autoload_enabled = autoload_enabled_tmp; fsensor_autoload_enabled = autoload_enabled_tmp;
fsensor_oq_meassure_enabled = oq_meassure_enabled_tmp; fsensor_oq_meassure_enabled = oq_meassure_enabled_tmp;
if (!err) unsigned long now = _millis();
printf_P(PSTR("fsensor_err_cnt = 0\n")); if (!err && (now - fsensor_softfail_last) > FSENSOR_SOFTERR_DELTA)
else fsensor_softfail_ccnt = 0;
fsensor_enque_M600(); if (!err && fsensor_softfail_ccnt <= FSENSOR_SOFTERR_CMAX)
{
printf_P(PSTR("fsensor_err_cnt = 0\n"));
++fsensor_softfail;
++fsensor_softfail_ccnt;
fsensor_softfail_last = now;
}
else
{
fsensor_softfail_ccnt = 0;
fsensor_softfail_last = 0;
fsensor_enque_M600();
}
} }
#else //PAT9125 #else //PAT9125
if (CHECK_FSENSOR && ir_sensor_detected) if (CHECK_FSENSOR && ir_sensor_detected)

19
Firmware/fsensor.h
View File

@ -6,15 +6,16 @@
#include "config.h" #include "config.h"
//! minimum meassured chunk length in steps
extern int16_t fsensor_chunk_len;
// enable/disable flag // enable/disable flag
extern bool fsensor_enabled; extern bool fsensor_enabled;
// not responding flag // not responding flag
extern bool fsensor_not_responding; extern bool fsensor_not_responding;
//enable/disable quality meassurement #ifdef PAT9125
extern bool fsensor_oq_meassure_enabled; // optical checking "chunk lenght" (already in steps)
extern int16_t fsensor_chunk_len;
// count of soft failures
extern uint8_t fsensor_softfail;
#endif
//! @name save restore printing //! @name save restore printing
//! @{ //! @{
@ -28,6 +29,11 @@ extern void fsensor_checkpoint_print(void);
//! initialize //! initialize
extern void fsensor_init(void); extern void fsensor_init(void);
#ifdef PAT9125
//! update axis resolution
extern void fsensor_set_axis_steps_per_unit(float u);
#endif
//! @name enable/disable //! @name enable/disable
//! @{ //! @{
extern bool fsensor_enable(bool bUpdateEEPROM=true); extern bool fsensor_enable(bool bUpdateEEPROM=true);
@ -52,8 +58,10 @@ extern void fsensor_autoload_check_stop(void);
extern bool fsensor_check_autoload(void); extern bool fsensor_check_autoload(void);
//! @} //! @}
#ifdef PAT9125
//! @name optical quality measurement support //! @name optical quality measurement support
//! @{ //! @{
extern bool fsensor_oq_meassure_enabled;
extern void fsensor_oq_meassure_set(bool State); extern void fsensor_oq_meassure_set(bool State);
extern void fsensor_oq_meassure_start(uint8_t skip); extern void fsensor_oq_meassure_start(uint8_t skip);
extern void fsensor_oq_meassure_stop(void); extern void fsensor_oq_meassure_stop(void);
@ -70,6 +78,7 @@ extern void fsensor_st_block_chunk(int cnt);
// to drain fsensor_st_cnt anyway at the beginning of the new block. // to drain fsensor_st_cnt anyway at the beginning of the new block.
#define fsensor_st_block_begin(rev) fsensor_st_block_chunk(0) #define fsensor_st_block_begin(rev) fsensor_st_block_chunk(0)
//! @} //! @}
#endif //PAT9125
#if IR_SENSOR_ANALOG #if IR_SENSOR_ANALOG

23
Firmware/pat9125.c
View File

@ -183,9 +183,9 @@ uint8_t pat9125_update(void)
if (pat9125_PID1 == 0xff) return 0; if (pat9125_PID1 == 0xff) return 0;
if (ucMotion & 0x80) if (ucMotion & 0x80)
{ {
uint8_t ucXL = pat9125_rd_reg(PAT9125_DELTA_XL); uint16_t ucXL = pat9125_rd_reg(PAT9125_DELTA_XL);
uint8_t ucYL = pat9125_rd_reg(PAT9125_DELTA_YL); uint16_t ucYL = pat9125_rd_reg(PAT9125_DELTA_YL);
uint8_t ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH); uint16_t ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH);
if (pat9125_PID1 == 0xff) return 0; if (pat9125_PID1 == 0xff) return 0;
int16_t iDX = ucXL | ((ucXYH << 4) & 0xf00); int16_t iDX = ucXL | ((ucXYH << 4) & 0xf00);
int16_t iDY = ucYL | ((ucXYH << 8) & 0xf00); int16_t iDY = ucYL | ((ucXYH << 8) & 0xf00);
@ -207,8 +207,8 @@ uint8_t pat9125_update_y(void)
if (pat9125_PID1 == 0xff) return 0; if (pat9125_PID1 == 0xff) return 0;
if (ucMotion & 0x80) if (ucMotion & 0x80)
{ {
uint8_t ucYL = pat9125_rd_reg(PAT9125_DELTA_YL); uint16_t ucYL = pat9125_rd_reg(PAT9125_DELTA_YL);
uint8_t ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH); uint16_t ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH);
if (pat9125_PID1 == 0xff) return 0; if (pat9125_PID1 == 0xff) return 0;
int16_t iDY = ucYL | ((ucXYH << 8) & 0xf00); int16_t iDY = ucYL | ((ucXYH << 8) & 0xf00);
if (iDY & 0x800) iDY -= 4096; if (iDY & 0x800) iDY -= 4096;
@ -219,18 +219,13 @@ uint8_t pat9125_update_y(void)
return 0; return 0;
} }
uint8_t pat9125_update_y2(void) uint8_t pat9125_update_bs(void)
{ {
if ((pat9125_PID1 == 0x31) && (pat9125_PID2 == 0x91)) if ((pat9125_PID1 == 0x31) && (pat9125_PID2 == 0x91))
{ {
uint8_t ucMotion = pat9125_rd_reg(PAT9125_MOTION); pat9125_b = pat9125_rd_reg(PAT9125_FRAME);
if (pat9125_PID1 == 0xff) return 0; //NOACK error pat9125_s = pat9125_rd_reg(PAT9125_SHUTTER);
if (ucMotion & 0x80) if (pat9125_PID1 == 0xff) return 0;
{
int8_t dy = pat9125_rd_reg(PAT9125_DELTA_YL);
if (pat9125_PID1 == 0xff) return 0; //NOACK error
pat9125_y -= dy; //negative number, because direction switching does not work
}
return 1; return 1;
} }
return 0; return 0;

6
Firmware/pat9125.h
View File

@ -19,9 +19,9 @@ extern uint8_t pat9125_b;
extern uint8_t pat9125_s; extern uint8_t pat9125_s;
extern uint8_t pat9125_init(void); extern uint8_t pat9125_init(void);
extern uint8_t pat9125_update(void); extern uint8_t pat9125_update(void); // update all sensor data
extern uint8_t pat9125_update_y(void); extern uint8_t pat9125_update_y(void); // update _y only
extern uint8_t pat9125_update_y2(void); extern uint8_t pat9125_update_bs(void); // update _b/_s only
#if defined(__cplusplus) #if defined(__cplusplus)

25
Firmware/stepper.cpp
View File

@ -36,9 +36,9 @@
#include "tmc2130.h" #include "tmc2130.h"
#endif //TMC2130 #endif //TMC2130
#ifdef FILAMENT_SENSOR #if defined(FILAMENT_SENSOR) && defined(PAT9125)
#include "fsensor.h" #include "fsensor.h"
int fsensor_counter = 0; //counter for e-steps int fsensor_counter; //counter for e-steps
#endif //FILAMENT_SENSOR #endif //FILAMENT_SENSOR
#include "mmu.h" #include "mmu.h"
@ -421,9 +421,8 @@ FORCE_INLINE void stepper_next_block()
#endif /* LIN_ADVANCE */ #endif /* LIN_ADVANCE */
count_direction[E_AXIS] = 1; count_direction[E_AXIS] = 1;
} }
#ifdef FILAMENT_SENSOR #if defined(FILAMENT_SENSOR) && defined(PAT9125)
fsensor_counter = 0; fsensor_st_block_begin(count_direction[E_AXIS] < 0);
fsensor_st_block_begin(count_direction[E_AXIS] < 0);
#endif //FILAMENT_SENSOR #endif //FILAMENT_SENSOR
} }
else { else {
@ -973,13 +972,13 @@ FORCE_INLINE void advance_isr_scheduler() {
WRITE_NC(E0_STEP_PIN, !INVERT_E_STEP_PIN); WRITE_NC(E0_STEP_PIN, !INVERT_E_STEP_PIN);
e_steps += (rev? 1: -1); e_steps += (rev? 1: -1);
WRITE_NC(E0_STEP_PIN, INVERT_E_STEP_PIN); WRITE_NC(E0_STEP_PIN, INVERT_E_STEP_PIN);
#ifdef FILAMENT_SENSOR #if defined(FILAMENT_SENSOR) && defined(PAT9125)
fsensor_counter += (rev? -1: 1); fsensor_counter += (rev? -1: 1);
#endif #endif
} }
while(--max_ticks); while(--max_ticks);
#ifdef FILAMENT_SENSOR #if defined(FILAMENT_SENSOR) && defined(PAT9125)
if (abs(fsensor_counter) >= fsensor_chunk_len) if (abs(fsensor_counter) >= fsensor_chunk_len)
{ {
fsensor_st_block_chunk(fsensor_counter); fsensor_st_block_chunk(fsensor_counter);
@ -1357,8 +1356,6 @@ void quickStop()
} }
#ifdef BABYSTEPPING #ifdef BABYSTEPPING
void babystep(const uint8_t axis,const bool direction) void babystep(const uint8_t axis,const bool direction)
{ {
//MUST ONLY BE CALLED BY A ISR, it depends on that no other ISR interrupts this //MUST ONLY BE CALLED BY A ISR, it depends on that no other ISR interrupts this
@ -1594,3 +1591,13 @@ void microstep_readings()
#endif #endif
} }
#endif //TMC2130 #endif //TMC2130
#if defined(FILAMENT_SENSOR) && defined(PAT9125)
void st_reset_fsensor()
{
CRITICAL_SECTION_START;
fsensor_counter = 0;
CRITICAL_SECTION_END;
}
#endif //FILAMENT_SENSOR

5
Firmware/stepper.h
View File

@ -92,7 +92,10 @@ void microstep_readings();
#ifdef BABYSTEPPING #ifdef BABYSTEPPING
void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention
#endif #endif
#if defined(FILAMENT_SENSOR) && defined(PAT9125)
// reset the internal filament sensor state
void st_reset_fsensor();
#endif
#endif #endif

14
Firmware/ultralcd.cpp
View File

@ -1796,11 +1796,23 @@ static void lcd_menu_fails_stats_print()
uint8_t crashX = eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X); uint8_t crashX = eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_X);
uint8_t crashY = eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y); uint8_t crashY = eeprom_read_byte((uint8_t*)EEPROM_CRASH_COUNT_Y);
lcd_home(); lcd_home();
#ifndef PAT9125
lcd_printf_P(failStatsFmt, lcd_printf_P(failStatsFmt,
_i("Last print failures"), ////c=20 r=1 _i("Last print failures"), ////c=20 r=1
_i("Power failures"), power, ////c=14 r=1 _i("Power failures"), power, ////c=14 r=1
_i("Filam. runouts"), filam, ////c=14 r=1 _i("Filam. runouts"), filam, ////c=14 r=1
_i("Crash"), crashX, crashY); ////c=7 r=1 _i("Crash"), crashX, crashY); ////c=7 r=1
#else
// On the MK3 include detailed PAT9125 statistics about soft failures
lcd_printf_P(PSTR("%S\n"
" %-16.16S%-3d\n"
" %-7.7S H %-3d S %-3d\n"
" %-7.7S X %-3d Y %-3d"),
_i("Last print failures"), ////c=20 r=1
_i("Power failures"), power, ////c=14 r=1
_i("Runouts"), filam, fsensor_softfail, //c=7 r=1
_i("Crash"), crashX, crashY); ////c=7 r=1
#endif
menu_back_if_clicked_fb(); menu_back_if_clicked_fb();
} }
@ -2231,10 +2243,12 @@ void lcd_set_filament_autoload() {
fsensor_autoload_set(!fsensor_autoload_enabled); fsensor_autoload_set(!fsensor_autoload_enabled);
} }
#if defined(FILAMENT_SENSOR) && defined(PAT9125)
void lcd_set_filament_oq_meass() void lcd_set_filament_oq_meass()
{ {
fsensor_oq_meassure_set(!fsensor_oq_meassure_enabled); fsensor_oq_meassure_set(!fsensor_oq_meassure_enabled);
} }
#endif
FilamentAction eFilamentAction=FilamentAction::None; // must be initialized as 'non-autoLoad' FilamentAction eFilamentAction=FilamentAction::None; // must be initialized as 'non-autoLoad'