[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 tweaks
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@ -1261,4 +1261,87 @@
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#define USER_GCODE_5 "G28\nM503"
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#endif
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//===========================================================================
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//============================ I2C Encoder Settings =========================
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//===========================================================================
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/**
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* I2C position encoders for closed loop control.
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* Developed by Chris Barr at Aus3D.
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*
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* Wiki: http://wiki.aus3d.com.au/Magnetic_Encoder
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* Github: https://github.com/Aus3D/MagneticEncoder
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*
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* Supplier: http://aus3d.com.au/magnetic-encoder-module
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* Alternative Supplier: http://reliabuild3d.com/
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*
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* Reilabuild encoders have been modified to improve reliability.
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*/
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//#define I2C_POSITION_ENCODERS
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#if ENABLED(I2C_POSITION_ENCODERS)
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#define I2CPE_ENCODER_CNT 1 // The number of encoders installed; max of 5
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// encoders supported currently.
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#define I2CPE_ENC_1_ADDR I2CPE_PRESET_ADDR_X // I2C address of the encoder. 30-200.
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#define I2CPE_ENC_1_AXIS X_AXIS // Axis the encoder module is installed on. <X|Y|Z|E>_AXIS.
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#define I2CPE_ENC_1_TYPE I2CPE_ENC_TYPE_LINEAR // Type of encoder: I2CPE_ENC_TYPE_LINEAR -or-
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// I2CPE_ENC_TYPE_ROTARY.
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#define I2CPE_ENC_1_TICKS_UNIT 2048 // 1024 for magnetic strips with 2mm poles; 2048 for
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// 1mm poles. For linear encoders this is ticks / mm,
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// for rotary encoders this is ticks / revolution.
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//#define I2CPE_ENC_1_TICKS_REV (16 * 200) // Only needed for rotary encoders; number of stepper
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// steps per full revolution (motor steps/rev * microstepping)
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//#define I2CPE_ENC_1_INVERT // Invert the direction of axis travel.
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#define I2CPE_ENC_1_EC_METHOD I2CPE_ECM_NONE // Type of error error correction.
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#define I2CPE_ENC_1_EC_THRESH 0.10 // Threshold size for error (in mm) above which the
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// printer will attempt to correct the error; errors
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// smaller than this are ignored to minimize effects of
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// measurement noise / latency (filter).
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#define I2CPE_ENC_2_ADDR I2CPE_PRESET_ADDR_Y // Same as above, but for encoder 2.
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#define I2CPE_ENC_2_AXIS Y_AXIS
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#define I2CPE_ENC_2_TYPE I2CPE_ENC_TYPE_LINEAR
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#define I2CPE_ENC_2_TICKS_UNIT 2048
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//#define I2CPE_ENC_2_TICKS_REV (16 * 200)
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//#define I2CPE_ENC_2_INVERT
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#define I2CPE_ENC_2_EC_METHOD I2CPE_ECM_NONE
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#define I2CPE_ENC_2_EC_THRESH 0.10
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#define I2CPE_ENC_3_ADDR I2CPE_PRESET_ADDR_Z // Encoder 3. Add additional configuration options
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#define I2CPE_ENC_3_AXIS Z_AXIS // as above, or use defaults below.
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#define I2CPE_ENC_4_ADDR I2CPE_PRESET_ADDR_E // Encoder 4.
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#define I2CPE_ENC_4_AXIS E_AXIS
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#define I2CPE_ENC_5_ADDR 34 // Encoder 5.
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#define I2CPE_ENC_5_AXIS E_AXIS
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// Default settings for encoders which are enabled, but without settings configured above.
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#define I2CPE_DEF_TYPE I2CPE_ENC_TYPE_LINEAR
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#define I2CPE_DEF_ENC_TICKS_UNIT 2048
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#define I2CPE_DEF_TICKS_REV (16 * 200)
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#define I2CPE_DEF_EC_METHOD I2CPE_ECM_NONE
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#define I2CPE_DEF_EC_THRESH 0.1
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//#define I2CPE_ERR_THRESH_ABORT 100.0 // Threshold size for error (in mm) error on any given
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// axis after which the printer will abort. Comment out to
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// disable abort behaviour.
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#define I2CPE_TIME_TRUSTED 10000 // After an encoder fault, there must be no further fault
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// for this amount of time (in ms) before the encoder
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// is trusted again.
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/**
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* Position is checked every time a new command is executed from the buffer but during long moves,
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* this setting determines the minimum update time between checks. A value of 100 works well with
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* error rolling average when attempting to correct only for skips and not for vibration.
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*/
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#define I2CPE_MIN_UPD_TIME_MS 100 // Minimum time in miliseconds between encoder checks.
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// Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise.
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#define I2CPE_ERR_ROLLING_AVERAGE
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#endif
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#endif // CONFIGURATION_ADV_H
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1101
Marlin/I2CPositionEncoder.cpp
Normal file
1101
Marlin/I2CPositionEncoder.cpp
Normal file
File diff suppressed because it is too large
Load Diff
356
Marlin/I2CPositionEncoder.h
Normal file
356
Marlin/I2CPositionEncoder.h
Normal file
@ -0,0 +1,356 @@
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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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#ifndef I2CPOSENC_H
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#define I2CPOSENC_H
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#include "MarlinConfig.h"
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#if ENABLED(I2C_POSITION_ENCODERS)
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#include "enum.h"
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#include "macros.h"
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#include "types.h"
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#include <Wire.h>
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//=========== Advanced / Less-Common Encoder Configuration Settings ==========
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#define I2CPE_EC_THRESH_PROPORTIONAL // if enabled adjusts the error correction threshold
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// proportional to the current speed of the axis allows
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// for very small error margin at low speeds without
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// stuttering due to reading latency at high speeds
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#define I2CPE_DEBUG // enable encoder-related debug serial echos
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#define I2CPE_REBOOT_TIME 5000 // time we wait for an encoder module to reboot
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// after changing address.
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#define I2CPE_MAG_SIG_GOOD 0
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#define I2CPE_MAG_SIG_MID 1
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#define I2CPE_MAG_SIG_BAD 2
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#define I2CPE_MAG_SIG_NF 255
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#define I2CPE_REQ_REPORT 0
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#define I2CPE_RESET_COUNT 1
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#define I2CPE_SET_ADDR 2
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#define I2CPE_SET_REPORT_MODE 3
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#define I2CPE_CLEAR_EEPROM 4
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#define I2CPE_LED_PAR_MODE 10
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#define I2CPE_LED_PAR_BRT 11
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#define I2CPE_LED_PAR_RATE 14
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#define I2CPE_REPORT_DISTANCE 0
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#define I2CPE_REPORT_STRENGTH 1
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#define I2CPE_REPORT_VERSION 2
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// Default I2C addresses
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#define I2CPE_PRESET_ADDR_X 30
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#define I2CPE_PRESET_ADDR_Y 31
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#define I2CPE_PRESET_ADDR_Z 32
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#define I2CPE_PRESET_ADDR_E 33
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#define I2CPE_DEF_AXIS X_AXIS
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#define I2CPE_DEF_ADDR I2CPE_PRESET_ADDR_X
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// Error event counter; tracks how many times there is an error exceeding a certain threshold
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#define I2CPE_ERR_CNT_THRESH 3.00
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#define I2CPE_ERR_CNT_DEBOUNCE_MS 2000
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#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
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#define I2CPE_ERR_ARRAY_SIZE 32
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#endif
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// Error Correction Methods
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#define I2CPE_ECM_NONE 0
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#define I2CPE_ECM_MICROSTEP 1
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#define I2CPE_ECM_PLANNER 2
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#define I2CPE_ECM_STALLDETECT 3
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// Encoder types
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#define I2CPE_ENC_TYPE_ROTARY 0
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#define I2CPE_ENC_TYPE_LINEAR 1
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// Parser
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#define I2CPE_PARSE_ERR 1
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#define I2CPE_PARSE_OK 0
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#define LOOP_PE(VAR) LOOP_L_N(VAR, I2CPE_ENCODER_CNT)
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#define CHECK_IDX if (!WITHIN(idx, 0, I2CPE_ENCODER_CNT - 1)) return;
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extern const char axis_codes[XYZE];
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typedef union {
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volatile long val = 0;
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uint8_t bval[4];
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} i2cLong;
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class I2CPositionEncoder {
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private:
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AxisEnum encoderAxis = I2CPE_DEF_AXIS;
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uint8_t i2cAddress = I2CPE_DEF_ADDR,
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ecMethod = I2CPE_DEF_EC_METHOD,
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type = I2CPE_DEF_TYPE,
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H = I2CPE_MAG_SIG_NF; // Magnetic field strength
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int encoderTicksPerUnit = I2CPE_DEF_ENC_TICKS_UNIT,
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stepperTicks = I2CPE_DEF_TICKS_REV;
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float ecThreshold = I2CPE_DEF_EC_THRESH;
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bool homed = false,
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trusted = false,
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initialised = false,
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active = false,
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invert = false,
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ec = true;
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int errorCount = 0,
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errorPrev = 0;
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float axisOffset = 0;
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long axisOffsetTicks = 0,
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zeroOffset = 0,
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lastPosition = 0,
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position;
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unsigned long lastPositionTime = 0,
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lastErrorCountTime = 0,
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lastErrorTime;
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//double positionMm; //calculate
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#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
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uint8_t errIdx = 0;
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int err[I2CPE_ERR_ARRAY_SIZE] = {0};
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#endif
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public:
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void init(uint8_t address, AxisEnum axis);
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void reset();
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void update();
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void set_homed();
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long get_raw_count();
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FORCE_INLINE double mm_from_count(long count) {
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if (type == I2CPE_ENC_TYPE_LINEAR) return count / encoderTicksPerUnit;
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else if (type == I2CPE_ENC_TYPE_ROTARY)
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return (count * stepperTicks) / (encoderTicksPerUnit * planner.axis_steps_per_mm[encoderAxis]);
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return -1;
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}
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FORCE_INLINE double get_position_mm() { return mm_from_count(get_position()); }
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FORCE_INLINE long get_position() { return get_raw_count() - zeroOffset - axisOffsetTicks; }
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long get_axis_error_steps(bool report);
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double get_axis_error_mm(bool report);
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void calibrate_steps_mm(int iter);
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bool passes_test(bool report);
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bool test_axis(void);
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FORCE_INLINE int get_error_count(void) { return errorCount; }
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FORCE_INLINE void set_error_count(int newCount) { errorCount = newCount; }
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FORCE_INLINE uint8_t get_address() { return i2cAddress; }
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FORCE_INLINE void set_address(uint8_t addr) { i2cAddress = addr; }
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FORCE_INLINE bool get_active(void) { return active; }
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FORCE_INLINE void set_active(bool a) { active = a; }
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FORCE_INLINE void set_inverted(bool i) { invert = i; }
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FORCE_INLINE AxisEnum get_axis() { return encoderAxis; }
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FORCE_INLINE bool get_ec_enabled() { return ec; }
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FORCE_INLINE void set_ec_enabled(bool enabled) { ec = enabled; }
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FORCE_INLINE uint8_t get_ec_method() { return ecMethod; }
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FORCE_INLINE void set_ec_method(byte method) { ecMethod = method; }
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FORCE_INLINE float get_ec_threshold() { return ecThreshold; }
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FORCE_INLINE void set_ec_threshold(float newThreshold) { ecThreshold = newThreshold; }
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FORCE_INLINE int get_encoder_ticks_mm() {
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if (type == I2CPE_ENC_TYPE_LINEAR) return encoderTicksPerUnit;
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else if (type == I2CPE_ENC_TYPE_ROTARY)
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return (int)((encoderTicksPerUnit / stepperTicks) * planner.axis_steps_per_mm[encoderAxis]);
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return 0;
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}
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FORCE_INLINE int get_ticks_unit() { return encoderTicksPerUnit; }
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FORCE_INLINE void set_ticks_unit(int ticks) { encoderTicksPerUnit = ticks; }
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FORCE_INLINE uint8_t get_type() { return type; }
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FORCE_INLINE void set_type(byte newType) { type = newType; }
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FORCE_INLINE int get_stepper_ticks() { return stepperTicks; }
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FORCE_INLINE void set_stepper_ticks(int ticks) { stepperTicks = ticks; }
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FORCE_INLINE float get_axis_offset() { return axisOffset; }
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FORCE_INLINE void set_axis_offset(float newOffset) {
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axisOffset = newOffset;
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axisOffsetTicks = (long)(axisOffset * get_encoder_ticks_mm());
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}
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FORCE_INLINE void set_current_position(float newPositionMm) {
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set_axis_offset(get_position_mm() - newPositionMm + axisOffset);
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}
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};
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class I2CPositionEncodersMgr {
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private:
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bool I2CPE_anyaxis;
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uint8_t I2CPE_addr;
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int8_t I2CPE_idx;
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public:
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void init(void);
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// consider only updating one endoder per call / tick if encoders become too time intensive
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void update(void) { LOOP_PE(i) encoders[i].update(); }
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void homed(AxisEnum axis) {
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LOOP_PE(i)
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if (encoders[i].get_axis() == axis) encoders[i].set_homed();
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}
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void report_position(uint8_t idx, bool units, bool noOffset);
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void report_status(uint8_t idx) {
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CHECK_IDX
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SERIAL_ECHOPAIR("Encoder ",idx);
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SERIAL_ECHOPGM(": ");
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encoders[idx].get_raw_count();
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encoders[idx].passes_test(true);
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}
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void report_error(uint8_t idx) {
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CHECK_IDX
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encoders[idx].get_axis_error_steps(true);
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}
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void test_axis(uint8_t idx) {
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CHECK_IDX
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encoders[idx].test_axis();
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}
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void calibrate_steps_mm(uint8_t idx, int iterations) {
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CHECK_IDX
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encoders[idx].calibrate_steps_mm(iterations);
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}
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void change_module_address(uint8_t oldaddr, uint8_t newaddr);
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void report_module_firmware(uint8_t address);
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void report_error_count(uint8_t idx, AxisEnum axis) {
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CHECK_IDX
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SERIAL_ECHOPAIR("Error count on ", axis_codes[axis]);
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SERIAL_ECHOLNPAIR(" axis is ", encoders[idx].get_error_count());
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}
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void reset_error_count(uint8_t idx, AxisEnum axis) {
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CHECK_IDX
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encoders[idx].set_error_count(0);
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SERIAL_ECHOPAIR("Error count on ", axis_codes[axis]);
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SERIAL_ECHOLNPGM(" axis has been reset.");
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}
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void enable_ec(uint8_t idx, bool enabled, AxisEnum axis) {
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CHECK_IDX
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encoders[idx].set_ec_enabled(enabled);
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SERIAL_ECHOPAIR("Error correction on ", axis_codes[axis]);
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SERIAL_ECHOPGM(" axis is ");
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serialprintPGM(encoders[idx].get_ec_enabled() ? PSTR("en") : PSTR("dis"));
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SERIAL_ECHOLNPGM("abled.");
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}
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void set_ec_threshold(uint8_t idx, float newThreshold, AxisEnum axis) {
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CHECK_IDX
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encoders[idx].set_ec_threshold(newThreshold);
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SERIAL_ECHOPAIR("Error correct threshold for ", axis_codes[axis]);
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SERIAL_ECHOPAIR_F(" axis set to ", newThreshold);
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SERIAL_ECHOLNPGM("mm.");
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}
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void get_ec_threshold(uint8_t idx, AxisEnum axis) {
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CHECK_IDX
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float threshold = encoders[idx].get_ec_threshold();
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SERIAL_ECHOPAIR("Error correct threshold for ", axis_codes[axis]);
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SERIAL_ECHOPAIR_F(" axis is ", threshold);
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SERIAL_ECHOLNPGM("mm.");
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}
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int8_t idx_from_axis(AxisEnum axis) {
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LOOP_PE(i)
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if (encoders[i].get_axis() == axis) return i;
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return -1;
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}
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int8_t idx_from_addr(uint8_t addr) {
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LOOP_PE(i)
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if (encoders[i].get_address() == addr) return i;
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return -1;
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}
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int8_t parse();
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void M860();
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void M861();
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void M862();
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void M863();
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void M864();
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void M865();
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void M866();
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void M867();
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void M868();
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void M869();
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|
||||
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(); }
|
||||
FORCE_INLINE void gcode_M867() { I2CPEM.M867(); }
|
||||
FORCE_INLINE void gcode_M868() { I2CPEM.M868(); }
|
||||
FORCE_INLINE void gcode_M869() { I2CPEM.M869(); }
|
||||
|
||||
#endif //I2C_POSITION_ENCODERS
|
||||
#endif //I2CPOSENC_H
|
||||
|
||||
|
||||
@ -200,6 +200,16 @@
|
||||
* M666 - Set delta endstop adjustment. (Requires DELTA)
|
||||
* M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
|
||||
* M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
|
||||
* M860 - Report the position of position encoder modules.
|
||||
* M861 - Report the status of position encoder modules.
|
||||
* M862 - Perform an axis continuity test for position encoder modules.
|
||||
* M863 - Perform steps-per-mm calibration for position encoder modules.
|
||||
* M864 - Change position encoder module I2C address.
|
||||
* M865 - Check position encoder module firmware version.
|
||||
* M866 - Report or reset position encoder module error count.
|
||||
* M867 - Enable/disable or toggle error correction for position encoder modules.
|
||||
* M868 - Report or set position encoder module error correction threshold.
|
||||
* M869 - Report position encoder module error.
|
||||
* M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE)
|
||||
* M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130)
|
||||
* M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
|
||||
@ -286,6 +296,10 @@
|
||||
#include "twibus.h"
|
||||
#endif
|
||||
|
||||
#if ENABLED(I2C_POSITION_ENCODERS)
|
||||
#include "I2CPositionEncoder.h"
|
||||
#endif
|
||||
|
||||
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
|
||||
#include "endstop_interrupts.h"
|
||||
#endif
|
||||
@ -662,6 +676,12 @@ static bool send_ok[BUFSIZE];
|
||||
#define host_keepalive() NOOP
|
||||
#endif
|
||||
|
||||
#if ENABLED(I2C_POSITION_ENCODERS)
|
||||
I2CPositionEncodersMgr I2CPEM;
|
||||
uint8_t blockBufferIndexRef = 0;
|
||||
millis_t lastUpdateMillis;
|
||||
#endif
|
||||
|
||||
FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
|
||||
FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
|
||||
|
||||
@ -1493,6 +1513,10 @@ static void set_axis_is_at_home(const AxisEnum axis) {
|
||||
SERIAL_EOL;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLED(I2C_POSITION_ENCODERS)
|
||||
I2CPEM.homed(axis);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
@ -5609,6 +5633,11 @@ inline void gcode_G92() {
|
||||
#if HAS_POSITION_SHIFT
|
||||
position_shift[i] += v - p; // Offset the coordinate space
|
||||
update_software_endstops((AxisEnum)i);
|
||||
|
||||
#if ENABLED(I2C_POSITION_ENCODERS)
|
||||
I2CPEM.encoders[I2CPEM.idx_from_axis((AxisEnum) i)].set_axis_offset(position_shift[i]);
|
||||
#endif
|
||||
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
@ -10904,6 +10933,50 @@ void process_next_command() {
|
||||
break;
|
||||
#endif
|
||||
|
||||
#if ENABLED(I2C_POSITION_ENCODERS)
|
||||
|
||||
case 860: // M860 Report encoder module position
|
||||
gcode_M860();
|
||||
break;
|
||||
|
||||
case 861: // M861 Report encoder module status
|
||||
gcode_M861();
|
||||
break;
|
||||
|
||||
case 862: // M862 Perform axis test
|
||||
gcode_M862();
|
||||
break;
|
||||
|
||||
case 863: // M863 Calibrate steps/mm
|
||||
gcode_M863();
|
||||
break;
|
||||
|
||||
case 864: // M864 Change module address
|
||||
gcode_M864();
|
||||
break;
|
||||
|
||||
case 865: // M865 Check module firmware version
|
||||
gcode_M865();
|
||||
break;
|
||||
|
||||
case 866: // M866 Report axis error count
|
||||
gcode_M866();
|
||||
break;
|
||||
|
||||
case 867: // M867 Toggle error correction
|
||||
gcode_M867();
|
||||
break;
|
||||
|
||||
case 868: // M868 Set error correction threshold
|
||||
gcode_M868();
|
||||
break;
|
||||
|
||||
case 869: // M869 Report axis error
|
||||
gcode_M869();
|
||||
break;
|
||||
|
||||
#endif // I2C_POSITION_ENCODERS
|
||||
|
||||
case 999: // M999: Restart after being Stopped
|
||||
gcode_M999();
|
||||
break;
|
||||
@ -12200,7 +12273,7 @@ void disable_all_steppers() {
|
||||
const bool has_days = (elapsed.value > 60*60*24L);
|
||||
(void)elapsed.toDigital(timestamp, has_days);
|
||||
SERIAL_ECHO(timestamp);
|
||||
SERIAL_ECHO(": ");
|
||||
SERIAL_ECHOPGM(": ");
|
||||
SERIAL_ECHO(axisID);
|
||||
SERIAL_ECHOLNPGM(" driver overtemperature warning!");
|
||||
}
|
||||
@ -12495,6 +12568,16 @@ void idle(
|
||||
#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
|
||||
buzzer.tick();
|
||||
#endif
|
||||
|
||||
#if ENABLED(I2C_POSITION_ENCODERS)
|
||||
if (planner.blocks_queued() &&
|
||||
( (blockBufferIndexRef != planner.block_buffer_head) ||
|
||||
((lastUpdateMillis + I2CPE_MIN_UPD_TIME_MS) < millis())) ) {
|
||||
blockBufferIndexRef = planner.block_buffer_head;
|
||||
I2CPEM.update();
|
||||
lastUpdateMillis = millis();
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
@ -12739,6 +12822,10 @@ void setup() {
|
||||
set_bltouch_deployed(false);
|
||||
#endif
|
||||
|
||||
#if ENABLED(I2C_POSITION_ENCODERS)
|
||||
I2CPEM.init();
|
||||
#endif
|
||||
|
||||
#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
|
||||
i2c.onReceive(i2c_on_receive);
|
||||
i2c.onRequest(i2c_on_request);
|
||||
|
||||
@ -270,11 +270,24 @@
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/**
|
||||
* I2C Position Encoders
|
||||
*/
|
||||
#if ENABLED(I2C_POSITION_ENCODERS)
|
||||
#if DISABLED(BABYSTEPPING)
|
||||
#error "I2C_POSITION_ENCODERS requires BABYSTEPPING."
|
||||
#endif
|
||||
|
||||
#if I2CPE_ENCODER_CNT > 5 || I2CPE_ENCODER_CNT < 1
|
||||
#error "I2CPE_ENCODER_CNT must be between 1 and 5."
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Babystepping
|
||||
*/
|
||||
#if ENABLED(BABYSTEPPING)
|
||||
#if DISABLED(ULTRA_LCD)
|
||||
#if DISABLED(ULTRA_LCD) && DISABLED(I2C_POSITION_ENCODERS)
|
||||
#error "BABYSTEPPING requires an LCD controller."
|
||||
#elif ENABLED(SCARA)
|
||||
#error "BABYSTEPPING is not implemented for SCARA yet."
|
||||
|
||||
@ -34,23 +34,29 @@
|
||||
* between X_AXIS and X Head movement, like CoreXY bots
|
||||
*/
|
||||
enum AxisEnum {
|
||||
NO_AXIS = -1,
|
||||
X_AXIS = 0,
|
||||
A_AXIS = 0,
|
||||
Y_AXIS = 1,
|
||||
B_AXIS = 1,
|
||||
Z_AXIS = 2,
|
||||
C_AXIS = 2,
|
||||
E_AXIS = 3,
|
||||
X_HEAD = 4,
|
||||
Y_HEAD = 5,
|
||||
Z_HEAD = 6,
|
||||
ALL_AXES = 100
|
||||
NO_AXIS = -1,
|
||||
X_AXIS = 0,
|
||||
A_AXIS = 0,
|
||||
Y_AXIS = 1,
|
||||
B_AXIS = 1,
|
||||
Z_AXIS = 2,
|
||||
C_AXIS = 2,
|
||||
E_AXIS = 3,
|
||||
X_HEAD = 4,
|
||||
Y_HEAD = 5,
|
||||
Z_HEAD = 6,
|
||||
ALL_AXES = 100
|
||||
};
|
||||
|
||||
#define LOOP_XYZ(VAR) for (uint8_t VAR=X_AXIS; VAR<=Z_AXIS; VAR++)
|
||||
#define LOOP_XYZE(VAR) for (uint8_t VAR=X_AXIS; VAR<=E_AXIS; VAR++)
|
||||
#define LOOP_XYZE_N(VAR) for (uint8_t VAR=X_AXIS; VAR<XYZE_N; VAR++)
|
||||
#define LOOP_S_LE_N(VAR, S, N) for (uint8_t VAR=S; VAR<=N; VAR++)
|
||||
#define LOOP_S_L_N(VAR, S, N) for (uint8_t VAR=S; VAR<N; VAR++)
|
||||
#define LOOP_LE_N(VAR, N) LOOP_S_LE_N(VAR, 0, N)
|
||||
#define LOOP_L_N(VAR, N) LOOP_S_L_N(VAR, 0, N)
|
||||
|
||||
#define LOOP_NA(VAR) LOOP_L_N(VAR, NUM_AXIS)
|
||||
#define LOOP_XYZ(VAR) LOOP_S_LE_N(VAR, X_AXIS, Z_AXIS)
|
||||
#define LOOP_XYZE(VAR) LOOP_S_LE_N(VAR, X_AXIS, E_AXIS)
|
||||
#define LOOP_XYZE_N(VAR) LOOP_S_L_N(VAR, X_AXIS, XYZE_N)
|
||||
|
||||
typedef enum {
|
||||
LINEARUNIT_MM,
|
||||
|
||||
@ -128,6 +128,12 @@ public:
|
||||
return b;
|
||||
}
|
||||
|
||||
static volatile bool seen_any() {
|
||||
return codebits[3] || codebits[2] || codebits[1] || codebits[0];
|
||||
}
|
||||
|
||||
#define SEEN_TEST(L) TEST(codebits[(L - 'A') >> 3], (L - 'A') & 0x7)
|
||||
|
||||
#else
|
||||
|
||||
// Code is found in the string. If not found, value_ptr is unchanged.
|
||||
@ -139,6 +145,12 @@ public:
|
||||
return b;
|
||||
}
|
||||
|
||||
static volatile bool seen_any() {
|
||||
return *command_args == '\0';
|
||||
}
|
||||
|
||||
#define SEEN_TEST(L) !!strchr(command_args, L)
|
||||
|
||||
#endif // FASTER_GCODE_PARSER
|
||||
|
||||
// Populate all fields by parsing a single line of GCode
|
||||
@ -148,6 +160,13 @@ public:
|
||||
// Code value pointer was set
|
||||
FORCE_INLINE static bool has_value() { return value_ptr != NULL; }
|
||||
|
||||
// Seen and has value
|
||||
FORCE_INLINE static bool seenval(const char c) { return seen(c) && has_value(); }
|
||||
|
||||
static volatile bool seen_axis() {
|
||||
return SEEN_TEST('X') || SEEN_TEST('Y') || SEEN_TEST('Z') || SEEN_TEST('E');
|
||||
}
|
||||
|
||||
// Float removes 'E' to prevent scientific notation interpretation
|
||||
inline static float value_float() {
|
||||
if (value_ptr) {
|
||||
|
||||
@ -108,6 +108,8 @@
|
||||
#define HYPOT2(x,y) (sq(x)+sq(y))
|
||||
#define HYPOT(x,y) sqrt(HYPOT2(x,y))
|
||||
|
||||
#define SIGN(a) ((a>0)-(a<0))
|
||||
|
||||
// Macros to contrain values
|
||||
#define NOLESS(v,n) do{ if (v < n) v = n; }while(0)
|
||||
#define NOMORE(v,n) do{ if (v > n) v = n; }while(0)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user