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Diffstat (limited to 'src/FilamentMonitors/PulsedFilamentMonitor.cpp')
| -rw-r--r-- | src/FilamentMonitors/PulsedFilamentMonitor.cpp | 251 |
1 files changed, 251 insertions, 0 deletions
diff --git a/src/FilamentMonitors/PulsedFilamentMonitor.cpp b/src/FilamentMonitors/PulsedFilamentMonitor.cpp new file mode 100644 index 00000000..d1e2522a --- /dev/null +++ b/src/FilamentMonitors/PulsedFilamentMonitor.cpp @@ -0,0 +1,251 @@ +/* + * PulsedFilamentSensor.cpp + * + * Created on: 9 Jan 2018 + * Author: David + */ + +#include "PulsedFilamentMonitor.h" +#include "GCodes/GCodeBuffer.h" +#include "Platform.h" +#include "RepRap.h" + +PulsedFilamentMonitor::PulsedFilamentMonitor(int type) + : FilamentMonitor(type), + mmPerPulse(DefaultMmPerPulse), tolerance(DefaultTolerance), minimumExtrusionCheckLength(DefaultMinimumExtrusionCheckLength) +{ + Init(); +} + +void PulsedFilamentMonitor::Init() +{ + sensorValue = 0; + calibrationStarted = dataReceived = false; + Reset(); +} + +void PulsedFilamentMonitor::Reset() +{ + extrusionCommanded = movementMeasured = extrusionCommandedAtLastMeasurement = movementMeasuredAtLastCheck = 0.0; + samplesReceived = 0; + comparisonStarted = false; +} + +// Configure this sensor, returning true if error and setting 'seen' if we processed any configuration parameters +bool PulsedFilamentMonitor::Configure(GCodeBuffer& gb, StringRef& reply, bool& seen) +{ + if (ConfigurePin(gb, reply, RISING, seen)) + { + return true; + } + + gb.TryGetFValue('S', mmPerPulse, seen); // this is mm per rev for Duet3D sensors, mm per pulse for pulsed sensors + gb.TryGetFValue('E', minimumExtrusionCheckLength, seen); + + if (gb.Seen('R')) + { + seen = true; + tolerance = gb.GetFValue() * 0.01; + } + + if (seen) + { + Init(); + } + else + { + reply.printf("Pulse-type filament monitor on endstop input %u, sensitivity %.2fmm/pulse, check every %.1fmm, tolerance %.1f%%, ", + GetEndstopNumber(), + (double)mmPerPulse, + (double)minimumExtrusionCheckLength, + (double)(tolerance * 100.0)); + + if (!dataReceived) + { + reply.cat("no data received"); + } + else + { + reply.catf("current position %.1f, ", (double)GetCurrentPosition()); + if (calibrationStarted && fabsf(totalMovementMeasured) > 1.0 && totalExtrusionCommanded > 20.0) + { + const float measuredCalibration = totalExtrusionCommanded/totalMovementMeasured; + const float normalRatio = 1.0/measuredCalibration; + const int measuredPosTolerance = lrintf(100.0 * (((normalRatio > 0.0) ? maxMovementRatio : minMovementRatio) - normalRatio)/normalRatio); + const int measuredNegTolerance = lrintf(100.0 * (normalRatio - ((normalRatio > 0.0) ? minMovementRatio : maxMovementRatio))/normalRatio); + reply.catf("measured sensitivity %.2fmm/pulse over %.1fmm, tolerance +%d%% -%d%%", + (double)measuredCalibration, + (double)totalExtrusionCommanded, + measuredPosTolerance, + measuredNegTolerance); + } + else + { + reply.cat("no calibration data"); + } + } + } + + return false; +} + +// ISR for when the pin state changes +void PulsedFilamentMonitor::Interrupt() +{ + ++sensorValue; + extrusionCommandedAtLastMeasurement = extrusionCommanded; + if (samplesReceived < 100) + { + ++samplesReceived; + } +} + +// Call the following regularly to keep the status up to date +void PulsedFilamentMonitor::Poll() +{ + cpu_irq_disable(); + const uint16_t locSensorVal = sensorValue; + sensorValue = 0; + cpu_irq_enable(); + movementMeasured += (float)locSensorVal; + extrusionCommandedAtLastMeasurement = extrusionCommanded; +} + +// Return the current wheel angle +float PulsedFilamentMonitor::GetCurrentPosition() const +{ + return (float)sensorValue; +} + +// Call the following at intervals to check the status. This is only called when extrusion is in progress or imminent. +// 'filamentConsumed' is the net amount of extrusion since the last call to this function. +// 'hadNonPrintingMove' is called if filamentConsumed includes extruder movement form non-printing moves. +FilamentSensorStatus PulsedFilamentMonitor::Check(bool full, bool hadNonPrintingMove, float filamentConsumed) +{ + Poll(); // this may update movementMeasured + + FilamentSensorStatus ret = FilamentSensorStatus::ok; + if (!hadNonPrintingMove) + { + // We have had a non-printing move recently and we are configured to not check non-printing moves. Reset the counters. + movementMeasured = movementMeasuredAtLastCheck; // ignore measured extrusion since last check + } + else + { + extrusionCommanded += filamentConsumed; // include the extrusion we have just been told about + movementMeasuredAtLastCheck = movementMeasured; // save for next time + + if (full) + { + if (extrusionCommandedAtLastMeasurement >= minimumExtrusionCheckLength) + { + ret = CheckFilament(extrusionCommandedAtLastMeasurement, false); + } + else if (extrusionCommanded >= minimumExtrusionCheckLength * 1.1 && millis() - lastMeasurementTime > 110) + { + ret = CheckFilament(extrusionCommanded, true); + } + } + } + + return ret; +} + +// Compare the amount commanded with the amount of extrusion measured, and set up for the next comparison +FilamentSensorStatus PulsedFilamentMonitor::CheckFilament(float amountCommanded, bool overdue) +{ + const float extrusionMeasured = movementMeasured * mmPerPulse; + if (reprap.Debug(moduleFilamentSensors)) + { + debugPrintf("Extr req %.3f meas %.3f rem %.3f %s\n", (double)amountCommanded, (double)extrusionMeasured, (double)(extrusionCommanded - amountCommanded), + (overdue) ? " overdue" : ""); + } + + FilamentSensorStatus ret = FilamentSensorStatus::ok; + if (!comparisonStarted) + { + // The first measurement after we start extruding is often a long way out, so discard it + comparisonStarted = true; + calibrationStarted = false; + } + else if (tolerance >= 0.0) + { + const float minExtrusionExpected = (amountCommanded >= 0.0) + ? amountCommanded * (1.0 - tolerance) + : amountCommanded * (1.0 + tolerance); + if (extrusionMeasured < minExtrusionExpected) + { + ret = FilamentSensorStatus::tooLittleMovement; + } + else + { + const float maxExtrusionExpected = (amountCommanded >= 0.0) + ? amountCommanded * (1.0 + tolerance) + : amountCommanded * (1.0 - tolerance); + if (extrusionMeasured > maxExtrusionExpected) + { + ret = FilamentSensorStatus::tooMuchMovement; + } + } + } + + // Update the calibration accumulators, even if the user hasn't asked to do calibration + const float ratio = movementMeasured/amountCommanded; + if (calibrationStarted) + { + if (ratio < minMovementRatio) + { + minMovementRatio = ratio; + } + if (ratio > maxMovementRatio) + { + maxMovementRatio = ratio; + } + totalExtrusionCommanded += amountCommanded; + totalMovementMeasured += movementMeasured; + } + else + { + minMovementRatio = maxMovementRatio = ratio; + totalExtrusionCommanded = amountCommanded; + totalMovementMeasured = movementMeasured; + calibrationStarted = true; + } + + extrusionCommanded -= amountCommanded; + extrusionCommandedAtLastMeasurement = movementMeasured = 0.0; + + return ret; +} + +// Clear the measurement state - called when we are not printing a file. Return the present/not present status if available. +FilamentSensorStatus PulsedFilamentMonitor::Clear(bool full) +{ + Poll(); // to keep the diagnostics up to date + Reset(); + + return FilamentSensorStatus::ok; +} + +// Print diagnostic info for this sensor +void PulsedFilamentMonitor::Diagnostics(MessageType mtype, unsigned int extruder) +{ + Poll(); + const char* const statusText = (!dataReceived) ? "no data received" : "ok"; + reprap.GetPlatform().MessageF(mtype, "Extruder %u sensor: position %.2f, %s, ", extruder, (double)GetCurrentPosition(), statusText); + if (calibrationStarted && fabsf(totalMovementMeasured) > 1.0 && totalExtrusionCommanded > 20.0) + { + const float measuredMmPerRev = totalExtrusionCommanded/totalMovementMeasured; + const float normalRatio = 1.0/measuredMmPerRev; + const int measuredPosTolerance = lrintf(100.0 * (((normalRatio > 0.0) ? maxMovementRatio : minMovementRatio) - normalRatio)/normalRatio); + const int measuredNegTolerance = lrintf(100.0 * (normalRatio - ((normalRatio > 0.0) ? minMovementRatio : maxMovementRatio))/normalRatio); + reprap.GetPlatform().MessageF(mtype,"measured sensitivity %.2fmm/pulse +%d%% -%d%%\n", + (double)measuredMmPerRev, measuredPosTolerance, measuredNegTolerance); + } + else + { + reprap.GetPlatform().Message(mtype, "no calibration data\n"); + } +} + +// End |