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/*
* RotatingMagnetFilamentMonitor.h
*
* Created on: 9 Jan 2018
* Author: David
*/
#ifndef SRC_FILAMENTSENSORS_ROTATINGMAGNETFILAMENTMONITOR_H_
#define SRC_FILAMENTSENSORS_ROTATINGMAGNETFILAMENTMONITOR_H_
#include "Duet3DFilamentMonitor.h"
class RotatingMagnetFilamentMonitor : public Duet3DFilamentMonitor
{
public:
RotatingMagnetFilamentMonitor(unsigned int extruder, unsigned int type) noexcept;
bool Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) override;
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;
private:
static constexpr float DefaultMmPerRev = 28.8;
static constexpr float DefaultMinMovementAllowed = 0.6;
static constexpr float DefaultMaxMovementAllowed = 1.6;
static constexpr float DefaultMinimumExtrusionCheckLength = 3.0;
// Version 1 message definitions
static constexpr uint16_t TypeMagnetV1ErrorMask = 0x8000u;
static constexpr uint16_t TypeMagnetV1SwitchOpenMask = 0x4000;
// Version 2 message definitions
static constexpr uint16_t TypeMagnetV2ParityMask = 0x8000;
// Definitions for identifying the top level type of a message
static constexpr uint16_t TypeMagnetV2MessageTypeMask = 0x6C00;
static constexpr uint16_t TypeMagnetV2MessageTypePosition = 0x0800;
static constexpr uint16_t TypeMagnetV2MessageTypeError = 0x2000;
static constexpr uint16_t TypeMagnetV2MessageTypeInfo = 0x6000;
// Definitions for position data messages
static constexpr uint16_t TypeMagnetV2SwitchOpenMask = 0x1000;
// Definitions for info message types
static constexpr uint16_t TypeMagnetV2InfoTypeMask = 0x1F00;
static constexpr uint16_t TypeMagnetV2InfoTypeVersion = 0x0000;
static constexpr uint16_t TypeMagnetV3InfoTypeMagnitude = 0x0200;
static constexpr uint16_t TypeMagnetV3InfoTypeAgc = 0x0300;
static constexpr uint16_t TypeMagnetAngleMask = 0x03FF; // we use a 10-bit sensor angle
void Init() noexcept;
void Reset() noexcept;
void HandleIncomingData() noexcept;
float GetCurrentPosition() const noexcept;
FilamentSensorStatus CheckFilament(float amountCommanded, float amountMeasured, bool overdue) noexcept;
// Configuration parameters
float mmPerRev;
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;
uint16_t sensorValue; // 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
uint8_t lastErrorCode; // the last error code received
uint8_t magnitude; // the last magnitude received (sensor firmware V3)
uint8_t agc; // the last agc received (sensor firmware V3)
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 (mm) since we last did a comparison
float movementMeasuredThisSegment; // the accumulated movement in complete rotations since the previous comparison
// Values measured for calibration
float minMovementRatio, maxMovementRatio;
float totalExtrusionCommanded;
float totalMovementMeasured;
bool dataReceived;
bool backwards;
enum class MagneticMonitorState : uint8_t
{
idle,
calibrating,
comparing
};
MagneticMonitorState magneticMonitorState;
};
#endif /* SRC_FILAMENTSENSORS_ROTATINGMAGNETFILAMENTMONITOR_H_ */
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