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Firmware/Marlin/I2CPositionEncoder.cpp
jaysonkelly f8a8711075 I2C position encoders update 
Updating I2C position encoders to enable babystepping and Babystep XY when using the ecm microstep correction method. Also changed default method to ECM microstep.
2018-02-08 02:46:12 -06:00

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/**
* 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_CHAR('(');
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)
errPrst[errPrstIdx++] = error; // Error must persist for I2CPE_ERR_PRST_ARRAY_SIZE error cycles. This also serves to improve the average accuracy
if (errPrstIdx >= I2CPE_ERR_PRST_ARRAY_SIZE) {
float sumP = 0;
LOOP_L_N(i, I2CPE_ERR_PRST_ARRAY_SIZE) sumP += errPrst[i];
const int32_t errorP = int32_t(sumP * (1.0 / (I2CPE_ERR_PRST_ARRAY_SIZE)));
SERIAL_ECHO(axis_codes[encoderAxis]);
SERIAL_ECHOPAIR(" - err detected: ", errorP * planner.steps_to_mm[encoderAxis]);
SERIAL_ECHOLNPGM("mm; correcting!");
thermalManager.babystepsTodo[encoderAxis] = -LROUND(errorP);
errPrstIdx = 0;
}
}
else
errPrstIdx = 0;
}
#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.
*
* If A or I not specified:
* X Act on X axis encoder, if present.
* Y Act on Y axis encoder, if present.
* Z Act on Z axis encoder, if present.
* E Act on E axis encoder, if present.
*/
void I2CPositionEncodersMgr::M866() {
if (parse()) return;
const bool hasR = parser.seen('R');
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) {
if (hasR)
reset_error_count(idx, AxisEnum(i));
else
report_error_count(idx, AxisEnum(i));
}
}
}
}
else if (hasR)
reset_error_count(I2CPE_idx, encoders[I2CPE_idx].get_axis());
else
report_error_count(I2CPE_idx, encoders[I2CPE_idx].get_axis());
}
/**
* M867: Enable/disable or toggle error correction for position encoder modules.
*
* A<addr> Module I2C address. [30, 200].
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1].
* S<1|0> Enable/disable error correction. 1 enables, 0 disables. If not
* supplied, toggle.
*
* If A or I not specified:
* X Act on X axis encoder, if present.
* Y Act on Y axis encoder, if present.
* Z Act on Z axis encoder, if present.
* E Act on E axis encoder, if present.
*/
void I2CPositionEncodersMgr::M867() {
if (parse()) return;
const int8_t onoff = parser.seenval('S') ? parser.value_int() : -1;
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) {
const bool ena = onoff == -1 ? !encoders[I2CPE_idx].get_ec_enabled() : !!onoff;
enable_ec(idx, ena, AxisEnum(i));
}
}
}
}
else {
const bool ena = onoff == -1 ? !encoders[I2CPE_idx].get_ec_enabled() : !!onoff;
enable_ec(I2CPE_idx, ena, encoders[I2CPE_idx].get_axis());
}
}
/**
* M868: Report or set position encoder module error correction
* threshold.
*
* A<addr> Module I2C address. [30, 200].
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1].
* T New error correction threshold.
*
* If A not specified:
* X Act on X axis encoder, if present.
* Y Act on Y axis encoder, if present.
* Z Act on Z axis encoder, if present.
* E Act on E axis encoder, if present.
*/
void I2CPositionEncodersMgr::M868() {
if (parse()) return;
const float newThreshold = parser.seenval('T') ? parser.value_float() : -9999;
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) {
if (newThreshold != -9999)
set_ec_threshold(idx, newThreshold, encoders[idx].get_axis());
else
get_ec_threshold(idx, encoders[idx].get_axis());
}
}
}
}
else if (newThreshold != -9999)
set_ec_threshold(I2CPE_idx, newThreshold, encoders[I2CPE_idx].get_axis());
else
get_ec_threshold(I2CPE_idx, encoders[I2CPE_idx].get_axis());
}
/**
* M869: Report position encoder module error.
*
* A<addr> Module I2C address. [30, 200].
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1].
*
* If A not specified:
* X Act on X axis encoder, if present.
* Y Act on Y axis encoder, if present.
* Z Act on Z axis encoder, if present.
* E Act on E axis encoder, if present.
*/
void I2CPositionEncodersMgr::M869() {
if (parse()) return;
if (I2CPE_idx == 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_error(idx);
}
}
}
else
report_error(I2CPE_idx);
}
#endif // I2C_POSITION_ENCODERS
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