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I2C position encoders update

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Updating I2C position encoders to enable babystepping and Babystep XY when using the ecm microstep correction method. Also changed default method to ECM microstep.
This commit is contained in:
jaysonkelly 2018-02-05 22:25:24 -07:00 • committed by Scott Lahteine
parent b509567567
commit f8a8711075
41 changed files with 134 additions and 128 deletions
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24
Marlin/I2CPositionEncoder.cpp
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@ -173,22 +173,30 @@
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
if (errIdx == 0) {
// in order to correct for "error" but avoid correcting for noise and non skips
// 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);
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);
thermalManager.babystepsTodo[encoderAxis] = -LROUND(error / 2);
}
#endif