mirror of
https://github.com/MarlinFirmware/Marlin.git
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259 lines
9 KiB
C++
259 lines
9 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2022 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 <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../../inc/MarlinConfig.h"
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#if ENABLED(BD_SENSOR)
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#include "../../../gcode/gcode.h"
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#include "../../../module/settings.h"
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#include "../../../module/motion.h"
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#include "../../../module/planner.h"
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#include "../../../module/stepper.h"
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#include "../../../module/probe.h"
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#include "../../../module/temperature.h"
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#include "../../../module/endstops.h"
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#include "../../babystep.h"
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#include "../../../lcd/marlinui.h"
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// I2C software Master library for segment bed heating and bed distance sensor
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#include <Panda_segmentBed_I2C.h>
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#include "bdl.h"
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BDS_Leveling bdl;
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//#define DEBUG_OUT_BD
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#define DEBUG_OUT ENABLED(DEBUG_OUT_BD)
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#include "../../../core/debug_out.h"
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/**
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* M102 S<#> : Set adjustable Z height in 0.1mm units (10ths of a mm)
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* (e.g., 'M102 S4' enables adjusting for Z <= 0.4mm)
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* M102 S0 : Disable adjustable Z height
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*
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* M102 S-1 : Read BDsensor version
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* M102 S-2 : Read BDsensor distance value
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* M102 S-5 : Read raw Calibration data
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* M102 S-6 : Start Calibration
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*/
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#define MAX_BD_HEIGHT 4.0f
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#define CMD_READ_VERSION 1016
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#define CMD_START_READ_CALIBRATE_DATA 1017
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#define CMD_END_READ_CALIBRATE_DATA 1018
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#define CMD_START_CALIBRATE 1019
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#define CMD_END_CALIBRATE 1021
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#define BD_SENSOR_I2C_ADDR 0x3C
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I2C_SegmentBED BD_I2C_SENSOR;
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float BDS_Leveling::pos_zero_offset;
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int8_t BDS_Leveling::config_state;
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void BDS_Leveling::init(uint8_t _sda, uint8_t _scl, uint16_t delay_s) {
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config_state = BDS_IDLE;
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const int ret = BD_I2C_SENSOR.i2c_init(_sda, _scl, BD_SENSOR_I2C_ADDR, delay_s);
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if (ret != 1) SERIAL_ECHOLNPGM("BD Sensor Init Fail (", ret, ")");
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sync_plan_position();
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pos_zero_offset = planner.get_axis_position_mm(Z_AXIS) - current_position.z;
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SERIAL_ECHOLNPGM("BD Sensor Zero Offset:", pos_zero_offset);
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}
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bool BDS_Leveling::check(const uint16_t data, const bool raw_data/*=false*/, const bool hicheck/*=false*/) {
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if (BD_I2C_SENSOR.BD_Check_OddEven(data) == 0) {
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SERIAL_ECHOLNPGM("Read Error.");
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return true; // error
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}
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if (raw_data == true) {
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if (hicheck && (data & 0x3FF) > 400)
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SERIAL_ECHOLNPGM("Bad BD Sensor height! Recommended distance 0.5-2.0mm");
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else if (!good_data(data))
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SERIAL_ECHOLNPGM("Invalid data, please calibrate.");
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else
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return false;
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}
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else {
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if ((data & 0x3FF) >= (MAX_BD_HEIGHT) * 100 - 10)
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SERIAL_ECHOLNPGM("Out of Range.");
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else
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return false;
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}
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return true; // error
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}
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float BDS_Leveling::interpret(const uint16_t data) {
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return (data & 0x3FF) * 0.01f;
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}
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float BDS_Leveling::read() {
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const uint16_t data = BD_I2C_SENSOR.BD_i2c_read();
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return check(data) ? NAN : interpret(data);
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}
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void BDS_Leveling::process() {
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if (config_state == BDS_IDLE && marlin.printingIsActive()) return;
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static millis_t next_check_ms = 0; // starting at T=0
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static float zpos = 0.0f;
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const millis_t ms = millis();
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if (ELAPSED(ms, next_check_ms)) { // timed out (or first run)
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// Check at 1KHz, 5Hz, or 20Hz
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next_check_ms = ms + (config_state == BDS_HOMING_Z ? 1 : (config_state < BDS_IDLE ? 200 : 50));
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uint16_t tmp = 0;
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const float cur_z = planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset;
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static float old_cur_z = cur_z, old_buf_z = current_position.z;
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tmp = BD_I2C_SENSOR.BD_i2c_read();
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if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && good_data(tmp)) {
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const float z_sensor = interpret(tmp);
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#if ENABLED(BABYSTEPPING)
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if (config_state > 0) {
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if (cur_z < config_state * 0.1f
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&& old_cur_z == cur_z
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&& old_buf_z == current_position.z
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&& z_sensor < (MAX_BD_HEIGHT) - 0.1f
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) {
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babystep.set_mm(Z_AXIS, cur_z - z_sensor);
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DEBUG_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z);
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}
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else
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babystep.set_mm(Z_AXIS, 0);
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}
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#endif
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old_cur_z = cur_z;
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old_buf_z = current_position.z;
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endstops.bdp_state_update(z_sensor <= BD_SENSOR_HOME_Z_POSITION);
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#if HAS_STATUS_MESSAGE
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static float old_z_sensor = 0;
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if (old_z_sensor != z_sensor) {
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old_z_sensor = z_sensor;
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char tmp_1[32];
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sprintf_P(tmp_1, PSTR("BD:%d.%02dmm"), int(z_sensor), int(z_sensor * 100) % 100);
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//SERIAL_ECHOLNPGM("Bed Dis:", z_sensor, "mm");
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ui.set_status(tmp_1, true);
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}
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#endif
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}
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else if (config_state == BDS_HOMING_Z) {
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SERIAL_ECHOLNPGM("Read:", tmp);
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marlin.kill(F("BDsensor connect Err!"));
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}
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DEBUG_ECHOLNPGM("BD:", tmp & 0x3FF, " Z:", cur_z, "|", current_position.z);
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if (TERN0(DEBUG_OUT_BD, BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0)) DEBUG_ECHOLNPGM("CRC error");
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if (!good_data(tmp)) {
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BD_I2C_SENSOR.BD_i2c_stop();
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safe_delay(10);
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}
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// Read version. Usually used as a connection check
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if (config_state == BDS_VERSION) {
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config_state = BDS_IDLE;
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BD_I2C_SENSOR.BD_i2c_write(CMD_READ_VERSION);
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safe_delay(100);
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char tmp_1[21];
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for (int i = 0; i < 19; i++) {
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tmp_1[i] = BD_I2C_SENSOR.BD_i2c_read() & 0xFF;
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safe_delay(50);
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}
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BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA);
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SERIAL_ECHOLNPGM("BD Sensor version:", tmp_1);
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if (tmp_1[0] != 'V') SERIAL_ECHOLNPGM("Read Error. Check connection and delay.");
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safe_delay(50);
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}
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// read raw calibrate data
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else if (config_state == BDS_READ_RAW) {
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BD_I2C_SENSOR.BD_i2c_write(CMD_START_READ_CALIBRATE_DATA);
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safe_delay(100);
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for (int i = 0; i < MAX_BD_HEIGHT * 10; i++) {
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tmp = BD_I2C_SENSOR.BD_i2c_read();
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SERIAL_ECHOLNPGM("Calibrate data:", i, ",", tmp & 0x3FF);
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(void)check(tmp, true, i == 0);
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safe_delay(50);
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}
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BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA);
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safe_delay(50);
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config_state = BDS_IDLE;
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}
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else if (config_state <= BDS_CALIBRATE_START) { // Start Calibrate
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safe_delay(10);
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if (config_state == BDS_CALIBRATE_START) {
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config_state = BDS_CALIBRATING;
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REMEMBER(gsit, gcode.stepper_inactive_time, MIN_TO_MS(5));
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SERIAL_ECHOLNPGM("c_z0:", planner.get_axis_position_mm(Z_AXIS), "-", pos_zero_offset);
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// Move the z axis instead of enabling the Z axis with M17
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// TODO: Use do_blocking_move_to_z for synchronized move.
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current_position.z = 0;
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sync_plan_position();
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gcode.process_subcommands_now(F("G1Z0.05"));
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safe_delay(300);
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gcode.process_subcommands_now(F("G1Z0.00"));
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safe_delay(300);
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current_position.z = 0;
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sync_plan_position();
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//safe_delay(1000);
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while ((planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset) > 0.00001f) {
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safe_delay(200);
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SERIAL_ECHOLNPGM("waiting cur_z:", planner.get_axis_position_mm(Z_AXIS));
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}
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zpos = 0.00001f;
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safe_delay(100);
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BD_I2C_SENSOR.BD_i2c_write(CMD_START_CALIBRATE); // Begin calibrate
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SERIAL_ECHOLNPGM("BD Sensor Calibrating...");
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safe_delay(200);
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}
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else if ((planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset) < 10.0f) {
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if (zpos >= MAX_BD_HEIGHT) {
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config_state = BDS_IDLE;
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BD_I2C_SENSOR.BD_i2c_write(CMD_END_CALIBRATE); // End calibrate
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SERIAL_ECHOLNPGM("BD Sensor calibrated.");
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zpos = 7.0f;
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safe_delay(500);
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}
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else {
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char tmp_1[32];
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// TODO: Use prepare_internal_move_to_destination to guarantee machine space
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sprintf_P(tmp_1, PSTR("G1Z%d.%d"), int(zpos), int(zpos * 10) % 10);
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gcode.process_subcommands_now(tmp_1);
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SERIAL_ECHO(tmp_1); SERIAL_ECHOLNPGM(", Z:", current_position.z);
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uint16_t failcount = 300;
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for (float tmp_k = 0; abs(zpos - tmp_k) > 0.006f && failcount--;) {
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tmp_k = planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset;
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safe_delay(10);
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if (!failcount--) break;
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}
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safe_delay(600);
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tmp = uint16_t((zpos + 0.00001f) * 10);
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BD_I2C_SENSOR.BD_i2c_write(tmp);
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SERIAL_ECHOLNPGM("w:", tmp, ", Z:", zpos);
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zpos += 0.1001f;
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}
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}
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}
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}
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}
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#endif // BD_SENSOR
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