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✨ Bed Distance Sensor (#24554)

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This commit is contained in:
Mark
2022-08-06 14:14:58 +08:00
committed by Scott Lahteine
parent a0462eb017
commit b02c3258b5
24 changed files with 409 additions and 9 deletions
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195
Marlin/src/feature/bedlevel/bdl/bdl.cpp Normal file
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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2022 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 <https://www.gnu.org/licenses/>.
*
*/
#include "../../../inc/MarlinConfig.h"
#if ENABLED(BD_SENSOR)
#include "../../../MarlinCore.h"
#include "../../../gcode/gcode.h"
#include "../../../module/settings.h"
#include "../../../module/motion.h"
#include "../../../module/planner.h"
#include "../../../module/stepper.h"
#include "../../../module/probe.h"
#include "../../../module/temperature.h"
#include "../../../module/endstops.h"
#include "../../babystep.h"
// I2C software Master library for segment bed heating and bed distance sensor
#include <Panda_segmentBed_I2C.h>
#include "bdl.h"
BDS_Leveling bdl;
//#define DEBUG_OUT_BD
// M102 S-5 Read raw Calibrate data
// M102 S-6 Start Calibrate
// 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'.)
// M102 S-1 Read sensor information
#define MAX_BD_HEIGHT 4.0f
#define CMD_START_READ_CALIBRATE_DATA 1017
#define CMD_END_READ_CALIBRATE_DATA 1018
#define CMD_START_CALIBRATE 1019
#define CMD_END_CALIBRATE 1021
#define CMD_READ_VERSION 1016
I2C_SegmentBED BD_I2C_SENSOR;
#define BD_SENSOR_I2C_ADDR 0x3C
int8_t BDS_Leveling::config_state;
uint8_t BDS_Leveling::homing;
void BDS_Leveling::echo_name() { SERIAL_ECHOPGM("Bed Distance Leveling"); }
void BDS_Leveling::init(uint8_t _sda, uint8_t _scl, uint16_t delay_s) {
int ret = BD_I2C_SENSOR.i2c_init(_sda, _scl, BD_SENSOR_I2C_ADDR, delay_s);
if (ret != 1) SERIAL_ECHOLNPGM("BD_I2C_SENSOR Init Fail return code:", ret);
config_state = 0;
}
float BDS_Leveling::read() {
const uint16_t tmp = BD_I2C_SENSOR.BD_i2c_read();
float BD_z = NAN;
if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020)
BD_z = (tmp & 0x3FF) / 100.0f;
return BD_z;
}
void BDS_Leveling::process() {
//if (config_state == 0) return;
static millis_t next_check_ms = 0; // starting at T=0
static float z_pose = 0.0f;
const millis_t ms = millis();
if (ELAPSED(ms, next_check_ms)) { // timed out (or first run)
next_check_ms = ms + (config_state < 0 ? 1000 : 100); // check at 1Hz or 10Hz
unsigned short tmp = 0;
const float cur_z = planner.get_axis_position_mm(Z_AXIS); //current_position.z
static float old_cur_z = cur_z,
old_buf_z = current_position.z;
tmp = BD_I2C_SENSOR.BD_i2c_read();
if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020) {
const float z_sensor = (tmp & 0x3FF) / 100.0f;
if (cur_z < 0) config_state = 0;
//float abs_z = current_position.z > cur_z ? (current_position.z - cur_z) : (cur_z - current_position.z);
if ( cur_z < config_state * 0.1f
&& config_state > 0
&& old_cur_z == cur_z
&& old_buf_z == current_position.z
&& z_sensor < (MAX_BD_HEIGHT)
) {
babystep.set_mm(Z_AXIS, cur_z - z_sensor);
#if ENABLED(DEBUG_OUT_BD)
SERIAL_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z);
#endif
}
else {
babystep.set_mm(Z_AXIS, 0);
//if (old_cur_z <= cur_z) Z_DIR_WRITE(!INVERT_Z_DIR);
stepper.set_directions();
}
old_cur_z = cur_z;
old_buf_z = current_position.z;
endstops.bdp_state_update(z_sensor <= 0.01f);
//endstops.update();
}
else
stepper.set_directions();
#if ENABLED(DEBUG_OUT_BD)
SERIAL_ECHOLNPGM("BD:", tmp & 0x3FF, ", Z:", cur_z, "|", current_position.z);
if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0) SERIAL_ECHOLNPGM("errorCRC");
#endif
if ((tmp & 0x3FF) > 1020) {
BD_I2C_SENSOR.BD_i2c_stop();
safe_delay(10);
}
// read raw calibrate data
if (config_state == -5) {
BD_I2C_SENSOR.BD_i2c_write(CMD_START_READ_CALIBRATE_DATA);
safe_delay(1000);
for (int i = 0; i < MAX_BD_HEIGHT * 10; i++) {
tmp = BD_I2C_SENSOR.BD_i2c_read();
SERIAL_ECHOLNPGM("Calibrate data:", i, ",", tmp & 0x3FF, ", check:", BD_I2C_SENSOR.BD_Check_OddEven(tmp));
safe_delay(500);
}
config_state = 0;
BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA);
safe_delay(500);
}
else if (config_state <= -6) { // Start Calibrate
safe_delay(100);
if (config_state == -6) {
//BD_I2C_SENSOR.BD_i2c_write(1019); // begin calibrate
//delay(1000);
gcode.stepper_inactive_time = SEC_TO_MS(60 * 5);
gcode.process_subcommands_now(F("M17 Z"));
gcode.process_subcommands_now(F("G1 Z0.0"));
z_pose = 0;
safe_delay(1000);
BD_I2C_SENSOR.BD_i2c_write(CMD_START_CALIBRATE); // Begin calibrate
SERIAL_ECHOLNPGM("Begin calibrate");
safe_delay(2000);
config_state = -7;
}
else if (planner.get_axis_position_mm(Z_AXIS) < 10.0f) {
if (z_pose >= MAX_BD_HEIGHT) {
BD_I2C_SENSOR.BD_i2c_write(CMD_END_CALIBRATE); // End calibrate
SERIAL_ECHOLNPGM("End calibrate data");
z_pose = 7;
config_state = 0;
safe_delay(1000);
}
else {
float tmp_k = 0;
char tmp_1[30];
sprintf_P(tmp_1, PSTR("G1 Z%d.%d"), int(z_pose), int(int(z_pose * 10) % 10));
gcode.process_subcommands_now(tmp_1);
SERIAL_ECHO(tmp_1);
SERIAL_ECHOLNPGM(" ,Z:", current_position.z);
while (tmp_k < (z_pose - 0.1f)) {
tmp_k = planner.get_axis_position_mm(Z_AXIS);
safe_delay(1);
}
safe_delay(800);
tmp = (z_pose + 0.0001f) * 10;
BD_I2C_SENSOR.BD_i2c_write(tmp);
SERIAL_ECHOLNPGM("w:", tmp, ",Zpose:", z_pose);
z_pose += 0.1001f;
//queue.enqueue_now_P(PSTR("G90"));
}
}
}
}
}
#endif // BD_SENSOR

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Marlin/src/feature/bedlevel/bdl/bdl.h Normal file
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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2022 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 <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include <stdint.h>
class BDS_Leveling {
public:
static int8_t config_state;
static uint8_t homing;
static void echo_name();
static void init(uint8_t _sda, uint8_t _scl, uint16_t delay_s);
static void process();
static float read();
};
extern BDS_Leveling bdl;