-
Notifications
You must be signed in to change notification settings - Fork 0
/
I2CPositionEncoder.cpp
1132 lines (940 loc) · 35.7 KB
/
I2CPositionEncoder.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/**
* 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/>.
*
*/
//todo: add support for multiple encoders on a single axis
//todo: add z axis auto-leveling
//todo: consolidate some of the related M codes?
//todo: add endstop-replacement mode?
//todo: try faster I2C speed; tweak TWI_FREQ (400000L, or faster?); or just TWBR = ((CPU_FREQ / 400000L) - 16) / 2;
//todo: consider Marlin-optimized Wire library; i.e. MarlinWire, like MarlinSerial
#include "MarlinConfig.h"
#if ENABLED(I2C_POSITION_ENCODERS)
#include "Marlin.h"
#include "temperature.h"
#include "stepper.h"
#include "I2CPositionEncoder.h"
#include "gcode.h"
#include <Wire.h>
void I2CPositionEncoder::init(const uint8_t address, const AxisEnum axis) {
encoderAxis = axis;
i2cAddress = address;
initialised++;
SERIAL_ECHOPAIR("Setting up encoder on ", axis_codes[encoderAxis]);
SERIAL_ECHOLNPAIR(" axis, addr = ", address);
position = get_position();
}
void I2CPositionEncoder::update() {
if (!initialised || !homed || !active) return; //check encoder is set up and active
position = get_position();
//we don't want to stop things just because the encoder missed a message,
//so we only care about responses that indicate bad magnetic strength
if (!passes_test(false)) { //check encoder data is good
lastErrorTime = millis();
/*
if (trusted) { //commented out as part of the note below
trusted = false;
SERIAL_ECHOPGM("Fault detected on ");
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOLNPGM(" axis encoder. Disengaging error correction until module is trusted again.");
}
*/
return;
}
if (!trusted) {
/**
* This is commented out because it introduces error and can cause bad print quality.
*
* This code is intended to manage situations where the encoder has reported bad magnetic strength.
* This indicates that the magnetic strip was too far away from the sensor to reliably track position.
* When this happens, this code resets the offset based on where the printer thinks it is. This has been
* shown to introduce errors in actual position which result in drifting prints and poor print quality.
* Perhaps a better method would be to disable correction on the axis with a problem, report it to the
* user via the status leds on the encoder module and prompt the user to re-home the axis at which point
* the encoder would be re-enabled.
*/
/*
// If the magnetic strength has been good for a certain time, start trusting the module again
if (millis() - lastErrorTime > I2CPE_TIME_TRUSTED) {
trusted = true;
SERIAL_ECHOPGM("Untrusted encoder module on ");
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOLNPGM(" axis has been fault-free for set duration, reinstating error correction.");
//the encoder likely lost its place when the error occured, so we'll reset and use the printer's
//idea of where it the axis is to re-initialise
float position = stepper.get_axis_position_mm(encoderAxis);
int32_t positionInTicks = position * get_ticks_unit();
//shift position from previous to current position
zeroOffset -= (positionInTicks - get_position());
#ifdef I2CPE_DEBUG
SERIAL_ECHOPGM("Current position is ");
SERIAL_ECHOLN(position);
SERIAL_ECHOPGM("Position in encoder ticks is ");
SERIAL_ECHOLN(positionInTicks);
SERIAL_ECHOPGM("New zero-offset of ");
SERIAL_ECHOLN(zeroOffset);
SERIAL_ECHOPGM("New position reads as ");
SERIAL_ECHO(get_position());
SERIAL_ECHOPGM("(");
SERIAL_ECHO(mm_from_count(get_position()));
SERIAL_ECHOLNPGM(")");
#endif
}
*/
return;
}
lastPosition = position;
const millis_t positionTime = millis();
//only do error correction if setup and enabled
if (ec && ecMethod != I2CPE_ECM_NONE) {
#ifdef I2CPE_EC_THRESH_PROPORTIONAL
const millis_t deltaTime = positionTime - lastPositionTime;
const uint32_t distance = abs(position - lastPosition),
speed = distance / deltaTime;
const float threshold = constrain((speed / 50), 1, 50) * ecThreshold;
#else
const float threshold = get_error_correct_threshold();
#endif
//check error
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
float sum = 0, diffSum = 0;
errIdx = (errIdx >= I2CPE_ERR_ARRAY_SIZE - 1) ? 0 : errIdx + 1;
err[errIdx] = get_axis_error_steps(false);
LOOP_L_N(i, I2CPE_ERR_ARRAY_SIZE) {
sum += err[i];
if (i) diffSum += abs(err[i-1] - err[i]);
}
const int32_t error = int32_t(sum / (I2CPE_ERR_ARRAY_SIZE + 1)); //calculate average for error
#else
const int32_t error = get_axis_error_steps(false);
#endif
//SERIAL_ECHOPGM("Axis error steps: ");
//SERIAL_ECHOLN(error);
#ifdef I2CPE_ERR_THRESH_ABORT
if (labs(error) > I2CPE_ERR_THRESH_ABORT * planner.axis_steps_per_mm[encoderAxis]) {
//kill("Significant Error");
SERIAL_ECHOPGM("Axis error greater than set threshold, aborting!");
SERIAL_ECHOLN(error);
safe_delay(5000);
}
#endif
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
if (errIdx == 0) {
// in order to correct for "error" but avoid correcting for noise and non skips
// it must be > threshold and have a difference average of < 10 and be < 2000 steps
if (labs(error) > threshold * planner.axis_steps_per_mm[encoderAxis] &&
diffSum < 10 * (I2CPE_ERR_ARRAY_SIZE - 1) && labs(error) < 2000) { //Check for persistent error (skip)
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" diffSum: ", diffSum / (I2CPE_ERR_ARRAY_SIZE - 1));
SERIAL_ECHOPAIR(" - err detected: ", error / planner.axis_steps_per_mm[encoderAxis]);
SERIAL_ECHOLNPGM("mm; correcting!");
thermalManager.babystepsTodo[encoderAxis] = -LROUND(error);
}
}
#else
if (labs(error) > threshold * planner.axis_steps_per_mm[encoderAxis]) {
//SERIAL_ECHOLN(error);
//SERIAL_ECHOLN(position);
thermalManager.babystepsTodo[encoderAxis] = -LROUND(error/2);
}
#endif
if (labs(error) > I2CPE_ERR_CNT_THRESH * planner.axis_steps_per_mm[encoderAxis]) {
const millis_t ms = millis();
if (ELAPSED(ms, nextErrorCountTime)) {
SERIAL_ECHOPAIR("Large error on ", axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" axis. error: ", (int)error);
SERIAL_ECHOLNPAIR("; diffSum: ", diffSum);
errorCount++;
nextErrorCountTime = ms + I2CPE_ERR_CNT_DEBOUNCE_MS;
}
}
}
lastPositionTime = positionTime;
}
void I2CPositionEncoder::set_homed() {
if (active) {
reset(); // Reset module's offset to zero (so current position is homed / zero)
delay(10);
zeroOffset = get_raw_count();
homed++;
trusted++;
#ifdef I2CPE_DEBUG
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" axis encoder homed, offset of ", zeroOffset);
SERIAL_ECHOLNPGM(" ticks.");
#endif
}
}
bool I2CPositionEncoder::passes_test(const bool report) {
if (report) {
if (H != I2CPE_MAG_SIG_GOOD) SERIAL_ECHOPGM("Warning. ");
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOPGM(" axis ");
serialprintPGM(H == I2CPE_MAG_SIG_BAD ? PSTR("magnetic strip ") : PSTR("encoder "));
switch (H) {
case I2CPE_MAG_SIG_GOOD:
case I2CPE_MAG_SIG_MID:
SERIAL_ECHOLNPGM("passes test; field strength ");
serialprintPGM(H == I2CPE_MAG_SIG_GOOD ? PSTR("good.\n") : PSTR("fair.\n"));
break;
default:
SERIAL_ECHOLNPGM("not detected!");
}
}
return (H == I2CPE_MAG_SIG_GOOD || H == I2CPE_MAG_SIG_MID);
}
float I2CPositionEncoder::get_axis_error_mm(const bool report) {
float target, actual, error;
target = stepper.get_axis_position_mm(encoderAxis);
actual = mm_from_count(position);
error = actual - target;
if (labs(error) > 10000) error = 0; // ?
if (report) {
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" axis target: ", target);
SERIAL_ECHOPAIR(", actual: ", actual);
SERIAL_ECHOLNPAIR(", error : ",error);
}
return error;
}
int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) {
if (!active) {
if (report) {
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOLNPGM(" axis encoder not active!");
}
return 0;
}
float stepperTicksPerUnit;
int32_t encoderTicks = position, encoderCountInStepperTicksScaled;
//int32_t stepperTicks = stepper.position(encoderAxis);
// With a rotary encoder we're concerned with ticks/rev; whereas with a linear we're concerned with ticks/mm
stepperTicksPerUnit = (type == I2CPE_ENC_TYPE_ROTARY) ? stepperTicks : planner.axis_steps_per_mm[encoderAxis];
//convert both 'ticks' into same units / base
encoderCountInStepperTicksScaled = LROUND((stepperTicksPerUnit * encoderTicks) / encoderTicksPerUnit);
int32_t target = stepper.position(encoderAxis),
error = (encoderCountInStepperTicksScaled - target);
//suppress discontinuities (might be caused by bad I2C readings...?)
bool suppressOutput = (labs(error - errorPrev) > 100);
if (report) {
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" axis target: ", target);
SERIAL_ECHOPAIR(", actual: ", encoderCountInStepperTicksScaled);
SERIAL_ECHOLNPAIR(", error : ", error);
if (suppressOutput) SERIAL_ECHOLNPGM("Discontinuity detected, suppressing error.");
}
errorPrev = error;
return (suppressOutput ? 0 : error);
}
int32_t I2CPositionEncoder::get_raw_count() {
uint8_t index = 0;
i2cLong encoderCount;
encoderCount.val = 0x00;
if (Wire.requestFrom((int)i2cAddress, 3) != 3) {
//houston, we have a problem...
H = I2CPE_MAG_SIG_NF;
return 0;
}
while (Wire.available())
encoderCount.bval[index++] = (uint8_t)Wire.read();
//extract the magnetic strength
H = (B00000011 & (encoderCount.bval[2] >> 6));
//extract sign bit; sign = (encoderCount.bval[2] & B00100000);
//set all upper bits to the sign value to overwrite H
encoderCount.val = (encoderCount.bval[2] & B00100000) ? (encoderCount.val | 0xFFC00000) : (encoderCount.val & 0x003FFFFF);
if (invert) encoderCount.val *= -1;
return encoderCount.val;
}
bool I2CPositionEncoder::test_axis() {
//only works on XYZ cartesian machines for the time being
if (!(encoderAxis == X_AXIS || encoderAxis == Y_AXIS || encoderAxis == Z_AXIS)) return false;
float startCoord[NUM_AXIS] = { 0 }, endCoord[NUM_AXIS] = { 0 };
const float startPosition = soft_endstop_min[encoderAxis] + 10,
endPosition = soft_endstop_max[encoderAxis] - 10,
feedrate = FLOOR(MMM_TO_MMS((encoderAxis == Z_AXIS) ? HOMING_FEEDRATE_Z : HOMING_FEEDRATE_XY));
ec = false;
LOOP_NA(i) {
startCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
endCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
}
startCoord[encoderAxis] = startPosition;
endCoord[encoderAxis] = endPosition;
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();
// if the module isn't currently trusted, wait until it is (or until it should be if things are working)
if (!trusted) {
int32_t 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(const uint8_t 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 old_steps_mm, new_steps_mm,
startDistance, endDistance,
travelDistance, travelledDistance, total = 0,
startCoord[NUM_AXIS] = { 0 }, endCoord[NUM_AXIS] = { 0 };
float feedrate;
int32_t 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
old_steps_mm = planner.axis_steps_per_mm[encoderAxis];
new_steps_mm = (old_steps_mm * travelDistance) / travelledDistance;
SERIAL_ECHOLNPAIR("Old steps per mm: ", old_steps_mm);
SERIAL_ECHOLNPAIR("New steps per mm: ", new_steps_mm);
//Save new value
planner.axis_steps_per_mm[encoderAxis] = new_steps_mm;
if (iter > 1) {
total += new_steps_mm;
// 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
}
bool I2CPositionEncodersMgr::I2CPE_anyaxis;
uint8_t I2CPositionEncodersMgr::I2CPE_addr,
I2CPositionEncodersMgr::I2CPE_idx;
I2CPositionEncoder I2CPositionEncodersMgr::encoders[I2CPE_ENCODER_CNT];
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);
#ifdef I2CPE_ENC_1_TYPE
encoders[i].set_type(I2CPE_ENC_1_TYPE);
#endif
#ifdef I2CPE_ENC_1_TICKS_UNIT
encoders[i].set_ticks_unit(I2CPE_ENC_1_TICKS_UNIT);
#endif
#ifdef I2CPE_ENC_1_TICKS_REV
encoders[i].set_stepper_ticks(I2CPE_ENC_1_TICKS_REV);
#endif
#ifdef I2CPE_ENC_1_INVERT
encoders[i].set_inverted(I2CPE_ENC_1_INVERT);
#endif
#ifdef I2CPE_ENC_1_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_1_EC_METHOD);
#endif
#ifdef 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);
#ifdef I2CPE_ENC_2_TYPE
encoders[i].set_type(I2CPE_ENC_2_TYPE);
#endif
#ifdef I2CPE_ENC_2_TICKS_UNIT
encoders[i].set_ticks_unit(I2CPE_ENC_2_TICKS_UNIT);
#endif
#ifdef I2CPE_ENC_2_TICKS_REV
encoders[i].set_stepper_ticks(I2CPE_ENC_2_TICKS_REV);
#endif
#ifdef I2CPE_ENC_2_INVERT
encoders[i].set_inverted(I2CPE_ENC_2_INVERT);
#endif
#ifdef I2CPE_ENC_2_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_2_EC_METHOD);
#endif
#ifdef 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);
#ifdef I2CPE_ENC_3_TYPE
encoders[i].set_type(I2CPE_ENC_3_TYPE);
#endif
#ifdef I2CPE_ENC_3_TICKS_UNIT
encoders[i].set_ticks_unit(I2CPE_ENC_3_TICKS_UNIT);
#endif
#ifdef I2CPE_ENC_3_TICKS_REV
encoders[i].set_stepper_ticks(I2CPE_ENC_3_TICKS_REV);
#endif
#ifdef I2CPE_ENC_3_INVERT
encoders[i].set_inverted(I2CPE_ENC_3_INVERT);
#endif
#ifdef I2CPE_ENC_3_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_3_EC_METHOD);
#endif
#ifdef 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);
#ifdef I2CPE_ENC_4_TYPE
encoders[i].set_type(I2CPE_ENC_4_TYPE);
#endif
#ifdef I2CPE_ENC_4_TICKS_UNIT
encoders[i].set_ticks_unit(I2CPE_ENC_4_TICKS_UNIT);
#endif
#ifdef I2CPE_ENC_4_TICKS_REV
encoders[i].set_stepper_ticks(I2CPE_ENC_4_TICKS_REV);
#endif
#ifdef I2CPE_ENC_4_INVERT
encoders[i].set_inverted(I2CPE_ENC_4_INVERT);
#endif
#ifdef I2CPE_ENC_4_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_4_EC_METHOD);
#endif
#ifdef 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);
#ifdef I2CPE_ENC_5_TYPE
encoders[i].set_type(I2CPE_ENC_5_TYPE);
#endif
#ifdef I2CPE_ENC_5_TICKS_UNIT
encoders[i].set_ticks_unit(I2CPE_ENC_5_TICKS_UNIT);
#endif
#ifdef I2CPE_ENC_5_TICKS_REV
encoders[i].set_stepper_ticks(I2CPE_ENC_5_TICKS_REV);
#endif
#ifdef I2CPE_ENC_5_INVERT
encoders[i].set_inverted(I2CPE_ENC_5_INVERT);
#endif
#ifdef I2CPE_ENC_5_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_5_EC_METHOD);
#endif
#ifdef 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(const int8_t idx, const bool units, const 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) {
const int32_t raw_count = encoders[idx].get_raw_count();
SERIAL_ECHO(axis_codes[encoders[idx].get_axis()]);
SERIAL_CHAR(' ');
for (uint8_t j = 31; j > 0; j--)
SERIAL_ECHO((bool)(0x00000001 & (raw_count >> j)));
SERIAL_ECHO((bool)(0x00000001 & raw_count));
SERIAL_CHAR(' ');
SERIAL_ECHOLN(raw_count);
}
else
SERIAL_ECHOLN(encoders[idx].get_position());
}
}
void I2CPositionEncodersMgr::change_module_address(const uint8_t oldaddr, const 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).
const 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(const 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_ECHOLNPGM(":");
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(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 (I2CPE_idx >= I2CPE_ENCODER_CNT) {
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_PROTOCOLLNPGM("]");
return I2CPE_PARSE_ERR;
};
I2CPE_idx = parser.value_byte();
if (I2CPE_idx >= I2CPE_ENCODER_CNT) {
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 = 0xFF;
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;
const bool hasU = parser.seen('U'), hasO = parser.seen('O');
if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_position(idx, hasU, hasO);
}
}
}
else
report_position(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 == 0xFF) {
LOOP_XYZE(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_status(idx);
}
}
}
else
report_status(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 == 0xFF) {
LOOP_XYZE(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) test_axis(idx);
}
}
}
else
test_axis(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;
const uint8_t iterations = constrain(parser.byteval('P', 1), 1, 10);
if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) calibrate_steps_mm(idx, iterations);
}
}
}
else
calibrate_steps_mm(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].
* S<addr> Module new I2C address. [30, 200].
*
* If S is 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('S')) {
if (!parser.has_value()) {
SERIAL_PROTOCOLLNPGM("?S 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 S 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) {
LOOP_XYZE(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 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.
*