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196 lines
6.6 KiB
196 lines
6.6 KiB
/**
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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 ENABLED(BABYSTEPPING)
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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); //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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#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 <= 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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