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/*
* LaserFilamentMonitor.h
*
* Created on: 9 Jan 2018
* Author: David
*/
#ifndef SRC_FILAMENTSENSORS_LASERFILAMENTMONITOR_H_
#define SRC_FILAMENTSENSORS_LASERFILAMENTMONITOR_H_
#include "Duet3DFilamentMonitor.h"
class LaserFilamentMonitor : public Duet3DFilamentMonitor
{
public:
LaserFilamentMonitor(unsigned int drv, unsigned int monitorType, DriverId did) noexcept;
GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) THROWS(GCodeException) override;
#if SUPPORT_REMOTE_COMMANDS
GCodeResult Configure(const CanMessageGenericParser& parser, const StringRef& reply) noexcept override;
#endif
FilamentSensorStatus Check(bool isPrinting, bool fromIsr, uint32_t isrMillis, float filamentConsumed) noexcept override;
FilamentSensorStatus Clear() noexcept override;
void Diagnostics(MessageType mtype, unsigned int extruder) noexcept override;
protected:
DECLARE_OBJECT_MODEL
private:
static constexpr float DefaultMinMovementAllowed = 0.6;
static constexpr float DefaultMaxMovementAllowed = 1.6;
static constexpr float DefaultMinimumExtrusionCheckLength = 3.0;
// This is the received data format:
// v1 Data word: P00S 00pp pppp pppp S = switch open, pppppppppp = 10-bit filament position (50 counts/mm)
// v2 Data word: P00S 1ppp pppp pppp S = switch open, ppppppppppp = 11-bit filament position (100 counts/mm)
// v1 Error word: P010 0000 0000 0000
// v2 Error word: P010 0000 0000 eeee eeee = error code, will not be zero
// v1 Quality word: P10s ssss bbbb bbbb sssss = shutter, bbbbbbbb = brightness
// v2 Version word: P110 0000 vvvv vvvv vvvvvvvv = sensor/firmware version, at least 2
// v2 Image quality word: P110 0001 qqqq qqqq qqqqqqqq = image quality
// v2 Brightness word: P110 0010 bbbb bbbb bbbbbbbb = brightness
// v2 Shutter word: P110 0011 ssss ssss ssssssss = shutter
// Definitions for all messages
static constexpr uint16_t TypeLaserParityMask = 0x8000;
// Definitions for identifying the top level type of a message
static constexpr uint16_t TypeLaserMessageTypeMask = 0x6000;
static constexpr uint16_t TypeLaserMessageTypePosition = 0x0000;
static constexpr uint16_t TypeLaserMessageTypeError = 0x2000;
static constexpr uint16_t TypeLaserMessageTypeQuality = 0x4000;
static constexpr uint16_t TypeLaserMessageTypeInfo = 0x6000;
// Definitions for position data messages
static constexpr uint16_t TypeLaserSwitchOpenBitMask = 0x1000;
static constexpr uint16_t TypeLaserLargeDataRangeBitMask = 0x0800;
static constexpr uint16_t TypeLaserDefaultRange = 1024; // 10-bit sensor position
static constexpr uint16_t TypeLaserLargeRange = 2048; // 11-bit sensor position
// Definitions for info message types
static constexpr uint16_t TypeLaserInfoTypeMask = 0x1F00;
static constexpr uint16_t TypeLaserInfoTypeVersion = 0x0000;
static constexpr uint16_t TypeLaserInfoTypeImageQuality = 0x0100;
static constexpr uint16_t TypeLaserInfoTypeBrightness = 0x0200;
static constexpr uint16_t TypeLaserInfoTypeShutter = 0x0300;
static constexpr size_t EdgeCaptureBufferSize = 64; // must be a power of 2
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;
float MeasuredSensitivity() const noexcept;
// Configuration parameters
float calibrationFactor;
float minMovementAllowed, maxMovementAllowed;
float minimumExtrusionCheckLength;
bool comparisonEnabled;
bool checkNonPrintingMoves;
// Other data
uint32_t framingErrorCount; // the number of framing errors we received
uint32_t parityErrorCount; // the number of words with bad parity we received
uint32_t overdueCount; // the number of times a position report was overdue
uint32_t candidateStartBitTime; // the time that we received a possible start bit
float extrusionCommandedAtCandidateStartBit; // the amount of extrusion commanded since the previous comparison when we received the possible start bit
uint32_t lastSyncTime; // the last time we took a measurement that was synced to a start bit
float extrusionCommandedSinceLastSync;
float movementMeasuredSinceLastSync;
uint32_t lastMeasurementTime; // the last time we received a value
uint16_t sensorValue; // last known filament position (10 or 11 bits)
uint16_t switchOpenMask; // mask to isolate the switch open bit(s) from the sensor value
uint8_t version; // sensor/firmware version
uint8_t imageQuality; // image quality returned by version 2 prototype sensor
uint8_t shutter; // shutter value returned by sensor
uint8_t brightness; // brightness returned by sensor
uint8_t lastErrorCode; // the last error code received
bool sensorError; // true if received an error report (cleared by a position report)
bool wasPrintingAtStartBit;
bool haveStartBitData;
bool synced;
float extrusionCommandedThisSegment; // the amount of extrusion commanded since we last did a comparison
float movementMeasuredThisSegment; // the accumulated movement since the previous comparison
// Values measured for calibration
float minMovementRatio, maxMovementRatio;
float totalExtrusionCommanded;
float totalMovementMeasured;
bool dataReceived;
bool backwards;
enum class LaserMonitorState : uint8_t
{
idle,
calibrating,
comparing
};
LaserMonitorState laserMonitorState;
};
#endif /* SRC_FILAMENTSENSORS_LASERFILAMENTMONITOR_H_ */
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