Mark
2 years ago
committed by
Scott Lahteine
Scott Lahteine
24 changed files with 409 additions and 9 deletions
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/**
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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 "../../../MarlinCore.h" |
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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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// 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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// M102 S-5 Read raw Calibrate data
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// M102 S-6 Start Calibrate
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// M102 S4 Set the adjustable Z height value (e.g., 'M102 S4' means it will do adjusting while the Z height <= 0.4mm , disable with 'M102 S0'.)
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// M102 S-1 Read sensor information
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#define MAX_BD_HEIGHT 4.0f |
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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 CMD_READ_VERSION 1016 |
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I2C_SegmentBED BD_I2C_SENSOR; |
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#define BD_SENSOR_I2C_ADDR 0x3C |
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int8_t BDS_Leveling::config_state; |
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uint8_t BDS_Leveling::homing; |
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void BDS_Leveling::echo_name() { SERIAL_ECHOPGM("Bed Distance Leveling"); } |
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void BDS_Leveling::init(uint8_t _sda, uint8_t _scl, uint16_t delay_s) { |
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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_I2C_SENSOR Init Fail return code:", ret); |
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config_state = 0; |
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} |
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float BDS_Leveling::read() { |
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const uint16_t tmp = BD_I2C_SENSOR.BD_i2c_read(); |
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float BD_z = NAN; |
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if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020) |
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BD_z = (tmp & 0x3FF) / 100.0f; |
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return BD_z; |
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} |
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void BDS_Leveling::process() { |
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//if (config_state == 0) return;
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static millis_t next_check_ms = 0; // starting at T=0
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static float z_pose = 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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next_check_ms = ms + (config_state < 0 ? 1000 : 100); // check at 1Hz or 10Hz
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unsigned short tmp = 0; |
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const float cur_z = planner.get_axis_position_mm(Z_AXIS); //current_position.z
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static float old_cur_z = cur_z, |
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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) && (tmp & 0x3FF) < 1020) { |
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const float z_sensor = (tmp & 0x3FF) / 100.0f; |
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if (cur_z < 0) config_state = 0; |
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//float abs_z = current_position.z > cur_z ? (current_position.z - cur_z) : (cur_z - current_position.z);
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if ( cur_z < config_state * 0.1f |
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&& config_state > 0 |
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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) |
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) { |
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babystep.set_mm(Z_AXIS, cur_z - z_sensor); |
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#if ENABLED(DEBUG_OUT_BD) |
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SERIAL_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z); |
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#endif |
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} |
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else { |
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babystep.set_mm(Z_AXIS, 0); |
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//if (old_cur_z <= cur_z) Z_DIR_WRITE(!INVERT_Z_DIR);
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stepper.set_directions(); |
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} |
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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 <= 0.01f); |
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//endstops.update();
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} |
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else |
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stepper.set_directions(); |
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#if ENABLED(DEBUG_OUT_BD) |
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SERIAL_ECHOLNPGM("BD:", tmp & 0x3FF, ", Z:", cur_z, "|", current_position.z); |
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if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0) SERIAL_ECHOLNPGM("errorCRC"); |
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#endif |
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if ((tmp & 0x3FF) > 1020) { |
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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 raw calibrate data
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if (config_state == -5) { |
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BD_I2C_SENSOR.BD_i2c_write(CMD_START_READ_CALIBRATE_DATA); |
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safe_delay(1000); |
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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, ", check:", BD_I2C_SENSOR.BD_Check_OddEven(tmp)); |
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safe_delay(500); |
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} |
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config_state = 0; |
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BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA); |
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safe_delay(500); |
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} |
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else if (config_state <= -6) { // Start Calibrate
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safe_delay(100); |
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if (config_state == -6) { |
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//BD_I2C_SENSOR.BD_i2c_write(1019); // begin calibrate
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//delay(1000);
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gcode.stepper_inactive_time = SEC_TO_MS(60 * 5); |
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gcode.process_subcommands_now(F("M17 Z")); |
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gcode.process_subcommands_now(F("G1 Z0.0")); |
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z_pose = 0; |
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safe_delay(1000); |
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BD_I2C_SENSOR.BD_i2c_write(CMD_START_CALIBRATE); // Begin calibrate
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SERIAL_ECHOLNPGM("Begin calibrate"); |
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safe_delay(2000); |
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config_state = -7; |
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} |
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else if (planner.get_axis_position_mm(Z_AXIS) < 10.0f) { |
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if (z_pose >= MAX_BD_HEIGHT) { |
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BD_I2C_SENSOR.BD_i2c_write(CMD_END_CALIBRATE); // End calibrate
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SERIAL_ECHOLNPGM("End calibrate data"); |
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z_pose = 7; |
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config_state = 0; |
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safe_delay(1000); |
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} |
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else { |
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float tmp_k = 0; |
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char tmp_1[30]; |
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sprintf_P(tmp_1, PSTR("G1 Z%d.%d"), int(z_pose), int(int(z_pose * 10) % 10)); |
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gcode.process_subcommands_now(tmp_1); |
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SERIAL_ECHO(tmp_1); |
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SERIAL_ECHOLNPGM(" ,Z:", current_position.z); |
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while (tmp_k < (z_pose - 0.1f)) { |
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tmp_k = planner.get_axis_position_mm(Z_AXIS); |
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safe_delay(1); |
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} |
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safe_delay(800); |
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tmp = (z_pose + 0.0001f) * 10; |
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BD_I2C_SENSOR.BD_i2c_write(tmp); |
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SERIAL_ECHOLNPGM("w:", tmp, ",Zpose:", z_pose); |
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z_pose += 0.1001f; |
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//queue.enqueue_now_P(PSTR("G90"));
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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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@ -0,0 +1,36 @@ |
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/**
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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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#pragma once |
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#include <stdint.h> |
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class BDS_Leveling { |
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public: |
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static int8_t config_state; |
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static uint8_t homing; |
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static void echo_name(); |
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static void init(uint8_t _sda, uint8_t _scl, uint16_t delay_s); |
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static void process(); |
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static float read(); |
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}; |
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extern BDS_Leveling bdl; |
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@ -0,0 +1,57 @@ |
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/**
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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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/**
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* M102.cpp - Configure Bed Distance Sensor |
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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.h" |
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#include "../../feature/bedlevel/bdl/bdl.h" |
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/**
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* M102: Configure the Bed Distance Sensor |
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* |
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* M102 S<10ths> : Set adjustable Z height in 10ths of a mm (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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* Negative S values are commands: |
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* M102 S-1 : Read sensor information |
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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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void GcodeSuite::M102() { |
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if (parser.seenval('S')) |
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bdl.config_state = parser.value_int(); |
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else |
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M102_report(); |
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} |
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void GcodeSuite::M102_report(const bool forReplay/*=true*/) { |
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report_heading(forReplay, F("Bed Distance Sensor")); |
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SERIAL_ECHOLNPGM(" M102 S", bdl.config_state); |
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} |
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#endif // BD_SENSOR
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@ -0,0 +1,19 @@ |
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#!/usr/bin/env bash |
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# |
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# Build tests for PANDA_PI_V29 |
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# |
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# exit on first failure |
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set -e |
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# |
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# Build with the default configurations |
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# |
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restore_configs |
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opt_set MOTHERBOARD BOARD_PANDA_PI_V29 SERIAL_PORT -1 \ |
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Z_CLEARANCE_DEPLOY_PROBE 0 Z_CLEARANCE_BETWEEN_PROBES 1 Z_CLEARANCE_MULTI_PROBE 1 |
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opt_enable BD_SENSOR AUTO_BED_LEVELING_BILINEAR Z_SAFE_HOMING BABYSTEPPING |
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exec_test $1 $2 "Panda Pi V29 | BD Sensor | ABL-B" "$3" |
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# clean up |
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restore_configs |
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