Corrected mag filament monitor position report in OM for ATE build

2 files changed, 7 insertions, 11 deletions

diff --git a/src/FilamentMonitors/RotatingMagnetFilamentMonitor.cpp b/src/FilamentMonitors/RotatingMagnetFilamentMonitor.cpp
index a6563d67..894608bb 100644
--- a/src/FilamentMonitors/RotatingMagnetFilamentMonitor.cpp
+++ b/src/FilamentMonitors/RotatingMagnetFilamentMonitor.cpp
@@ -42,7 +42,7 @@ constexpr ObjectModelTableEntry RotatingMagnetFilamentMonitor::objectModelTable[
 	{ "enabled",			OBJECT_MODEL_FUNC(self->comparisonEnabled),		 														ObjectModelEntryFlags::none },
 #ifdef DUET3_ATE
 	{ "mag",				OBJECT_MODEL_FUNC((int32_t)self->magnitude),															ObjectModelEntryFlags::live },
-	{ "position",			OBJECT_MODEL_FUNC((int32_t)self->sensorValue),															ObjectModelEntryFlags::live },
+	{ "position",			OBJECT_MODEL_FUNC((int32_t)self->lastKnownPosition),													ObjectModelEntryFlags::live },
 #endif
 	{ "status",				OBJECT_MODEL_FUNC(self->GetStatusText()),																ObjectModelEntryFlags::live },
 	{ "type",				OBJECT_MODEL_FUNC_NOSELF("rotatingMagnet"), 															ObjectModelEntryFlags::none },
@@ -90,7 +90,7 @@ RotatingMagnetFilamentMonitor::RotatingMagnetFilamentMonitor(unsigned int drv, u
 void RotatingMagnetFilamentMonitor::Init() noexcept
 {
 	dataReceived = false;
-	sensorValue = 0;
+	sensorValue = lastKnownPosition = 0;
 	parityErrorCount = framingErrorCount = overrunErrorCount = polarityErrorCount = overdueCount = 0;
 	lastMeasurementTime = 0;
 	lastErrorCode = 0;
@@ -233,12 +233,6 @@ GCodeResult RotatingMagnetFilamentMonitor::Configure(GCodeBuffer& gb, const Stri
 	return rslt;
 }
 
-// Return the current wheel angle
-float RotatingMagnetFilamentMonitor::GetCurrentPosition() const noexcept
-{
-	return (sensorValue & TypeMagnetAngleMask) * (360.0/1024.0);
-}
-
 // Deal with any received data
 void RotatingMagnetFilamentMonitor::HandleIncomingData() noexcept
 {
@@ -349,6 +343,7 @@ void RotatingMagnetFilamentMonitor::HandleIncomingData() noexcept
 		if (receivedPositionReport)
 		{
 			// We have a completed a position report
+			lastKnownPosition = sensorValue & TypeMagnetAngleMask;
 			const uint16_t angleChange = (val - sensorValue) & TypeMagnetAngleMask;			// angle change in range 0..1023
 			const int32_t movement = (angleChange <= 512) ? (int32_t)angleChange : (int32_t)angleChange - 1024;
 			movementMeasuredSinceLastSync += (float)movement/1024;
@@ -537,7 +532,8 @@ void RotatingMagnetFilamentMonitor::Diagnostics(MessageType mtype, unsigned int
 	if (dataReceived)
 	{
 		buf.catf("pos %.2f, errs: frame %" PRIu32 " parity %" PRIu32 " ovrun %" PRIu32 " pol %" PRIu32 " ovdue %" PRIu32 "\n",
-					(double)GetCurrentPosition(), framingErrorCount, parityErrorCount, overrunErrorCount, polarityErrorCount, overdueCount);
+					(double)((float)lastKnownPosition * (360.0/1024.0)),
+					framingErrorCount, parityErrorCount, overrunErrorCount, polarityErrorCount, overdueCount);
 	}
 	else
 	{
diff --git a/src/FilamentMonitors/RotatingMagnetFilamentMonitor.h b/src/FilamentMonitors/RotatingMagnetFilamentMonitor.h
index b8fc3d33..340389c7 100644
--- a/src/FilamentMonitors/RotatingMagnetFilamentMonitor.h
+++ b/src/FilamentMonitors/RotatingMagnetFilamentMonitor.h
@@ -59,7 +59,6 @@ private:
 	void Init() noexcept;
 	void Reset() noexcept;
 	void HandleIncomingData() noexcept;
-	float GetCurrentPosition() const noexcept;
 	FilamentSensorStatus CheckFilament(float amountCommanded, float amountMeasured, bool overdue) noexcept;
 
 	bool HaveCalibrationData() const noexcept;
@@ -84,7 +83,8 @@ private:
 	float extrusionCommandedSinceLastSync;
 	float movementMeasuredSinceLastSync;
 
-	uint16_t sensorValue;									// last known filament position (10 bits)
+	uint16_t sensorValue;									// latest word received from sensor
+	uint16_t lastKnownPosition;								// last known filament position (10 bits)
 	uint32_t lastMeasurementTime;							// the last time we received a value
 	uint16_t switchOpenMask;								// mask to isolate the switch open bit(s) from the sensor value
 	uint8_t version;										// sensor/firmware version