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🚸 Bed distance sensor improvements (MarlinFirmware#25847)
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@markniu @Andy-Big
markniu authored and Andy-Big committed Jul 19, 2023
1 parent 1874320 commit dd6d13a
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Showing 12 changed files with 271 additions and 124 deletions.
237 changes: 146 additions & 91 deletions Marlin/src/feature/bedlevel/bdl/bdl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@
#include "../../../module/temperature.h"
#include "../../../module/endstops.h"
#include "../../babystep.h"
#include "../../../lcd/marlinui.h"

// I2C software Master library for segment bed heating and bed distance sensor
#include <Panda_segmentBed_I2C.h>
Expand All @@ -42,151 +43,205 @@
BDS_Leveling bdl;

//#define DEBUG_OUT_BD
#define DEBUG_OUT ENABLED(DEBUG_OUT_BD)
#include "../../../core/debug_out.h"

// 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_READ_VERSION 1016
#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

I2C_SegmentBED BD_I2C_SENSOR;
float BDS_Leveling::pos_zero_offset;
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;
config_state = BDS_IDLE;
const int ret = BD_I2C_SENSOR.i2c_init(_sda, _scl, BD_SENSOR_I2C_ADDR, delay_s);
if (ret != 1) SERIAL_ECHOLNPGM("BD Sensor Init Fail (", ret, ")");
sync_plan_position();
pos_zero_offset = planner.get_axis_position_mm(Z_AXIS) - current_position.z;
SERIAL_ECHOLNPGM("BD Sensor Zero Offset:", pos_zero_offset);
}

bool BDS_Leveling::check(const uint16_t data, const bool raw_data/*=false*/, const bool hicheck/*=false*/) {
if (BD_I2C_SENSOR.BD_Check_OddEven(data) == 0) {
SERIAL_ECHOLNPGM("Read Error.");
return true; // error
}
if (raw_data == true) {
if (hicheck && (data & 0x3FF) > 550)
SERIAL_ECHOLNPGM("BD Sensor mounted too high!");
else if (!good_data(data))
SERIAL_ECHOLNPGM("Invalid data, please calibrate.");
else
return false;
}
else {
if ((data & 0x3FF) >= (MAX_BD_HEIGHT) * 100 - 10)
SERIAL_ECHOLNPGM("Out of Range.");
else
return false;
}
return true; // error
}

float BDS_Leveling::interpret(const uint16_t data) {
return (data & 0x3FF) / 100.0f;
}

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;
const uint16_t data = BD_I2C_SENSOR.BD_i2c_read();
return check(data) ? NAN : interpret(data);
}

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;

if (config_state == BDS_IDLE && printingIsActive()) return;
static millis_t next_check_ms = 0; // starting at T=0
static float zpos = 0.0f;
const millis_t ms = millis();
if (ELAPSED(ms, next_check_ms)) { // timed out (or first run)
next_check_ms = ms + (config_state < BDS_IDLE ? 200 : 50); // check at 5Hz or 20Hz

uint16_t tmp = 0;
const float cur_z = planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset;
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 (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && good_data(tmp)) {
const float z_sensor = interpret(tmp);
#if ENABLED(BABYSTEPPING)
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(HIGH);
stepper.apply_directions();
if (config_state > 0) {
if (cur_z < config_state * 0.1f
&& old_cur_z == cur_z
&& old_buf_z == current_position.z
&& z_sensor < (MAX_BD_HEIGHT) - 0.1f
) {
babystep.set_mm(Z_AXIS, cur_z - z_sensor);
DEBUG_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z);
}
else {
babystep.set_mm(Z_AXIS, 0); //if (old_cur_z <= cur_z) Z_DIR_WRITE(HIGH);
//stepper.apply_directions(); // TODO: Remove this line as probably not needed
}
}
#endif

old_cur_z = cur_z;
old_buf_z = current_position.z;
endstops.bdp_state_update(z_sensor <= 0.01f);
//endstops.update();

#if HAS_STATUS_MESSAGE
static float old_z_sensor = 0;
if (old_z_sensor != z_sensor) {
old_z_sensor = z_sensor;
char tmp_1[32];
sprintf_P(tmp_1, PSTR("BD:%d.%02dmm"), int(z_sensor), int(z_sensor * 100) % 100);
//SERIAL_ECHOLNPGM("Bed Dis:", z_sensor, "mm");
ui.set_status(tmp_1, true);
}
#endif
}
else
stepper.apply_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
DEBUG_ECHOLNPGM("BD:", tmp & 0x3FF, " Z:", cur_z, "|", current_position.z);
if (TERN0(DEBUG_OUT_BD, BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0)) DEBUG_ECHOLNPGM("CRC error");

if ((tmp & 0x3FF) > 1020) {
if (!good_data(tmp)) {
BD_I2C_SENSOR.BD_i2c_stop();
safe_delay(10);
}

// Read version. Usually used as a connection check
if (config_state == BDS_VERSION) {
config_state = BDS_IDLE;
BD_I2C_SENSOR.BD_i2c_write(CMD_READ_VERSION);
safe_delay(100);
char tmp_1[21];
for (int i = 0; i < 19; i++) {
tmp_1[i] = BD_I2C_SENSOR.BD_i2c_read() & 0xFF;
safe_delay(50);
}
BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA);
SERIAL_ECHOLNPGM("BD Sensor version:", tmp_1);
if (tmp_1[0] != 'V') SERIAL_ECHOLNPGM("Read Error. Check connection and delay.");
safe_delay(50);
}
// read raw calibrate data
if (config_state == -5) {
else if (config_state == BDS_READ_RAW) {
BD_I2C_SENSOR.BD_i2c_write(CMD_START_READ_CALIBRATE_DATA);
safe_delay(1000);
safe_delay(100);

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);
SERIAL_ECHOLNPGM("Calibrate data:", i, ",", tmp & 0x3FF);
(void)check(tmp, true, i == 0);
safe_delay(50);
}
config_state = 0;
BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA);
safe_delay(500);
safe_delay(50);
config_state = BDS_IDLE;
}
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);
else if (config_state <= BDS_CALIBRATE_START) { // Start Calibrate
safe_delay(10);
if (config_state == BDS_CALIBRATE_START) {
config_state = BDS_CALIBRATING;
REMEMBER(gsit, gcode.stepper_inactive_time, SEC_TO_MS(60 * 5));
SERIAL_ECHOLNPGM("c_z0:", planner.get_axis_position_mm(Z_AXIS), "-", pos_zero_offset);

// Move the z axis instead of enabling the Z axis with M17
// TODO: Use do_blocking_move_to_z for synchronized move.
current_position.z = 0;
sync_plan_position();
gcode.process_subcommands_now(F("G1Z0.05"));
safe_delay(300);
gcode.process_subcommands_now(F("G1Z0.00"));
safe_delay(300);
current_position.z = 0;
sync_plan_position();
//safe_delay(1000);

while ((planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset) > 0.00001f) {
safe_delay(200);
SERIAL_ECHOLNPGM("waiting cur_z:", planner.get_axis_position_mm(Z_AXIS));
}
zpos = 0.00001f;
safe_delay(100);
BD_I2C_SENSOR.BD_i2c_write(CMD_START_CALIBRATE); // Begin calibrate
SERIAL_ECHOLNPGM("Begin calibrate");
safe_delay(2000);
config_state = -7;
SERIAL_ECHOLNPGM("BD Sensor Calibrating...");
safe_delay(200);
}
else if (planner.get_axis_position_mm(Z_AXIS) < 10.0f) {
if (z_pose >= MAX_BD_HEIGHT) {
else if ((planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset) < 10.0f) {
if (zpos >= MAX_BD_HEIGHT) {
config_state = BDS_IDLE;
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);
SERIAL_ECHOLNPGM("BD Sensor calibrated.");
zpos = 7.0f;
safe_delay(500);
}
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));
char tmp_1[32];
// TODO: Use prepare_internal_move_to_destination to guarantee machine space
sprintf_P(tmp_1, PSTR("G1Z%d.%d"), int(zpos), int(zpos * 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);
SERIAL_ECHO(tmp_1); SERIAL_ECHOLNPGM(", Z:", current_position.z);
for (float tmp_k = 0; abs(zpos - tmp_k) > 0.004f;) {
tmp_k = planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset;
safe_delay(10);
}
safe_delay(800);
tmp = (z_pose + 0.0001f) * 10;
safe_delay(zpos <= 0.4f ? 600 : 100);
tmp = uint16_t((zpos + 0.00001f) * 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"));
SERIAL_ECHOLNPGM("w:", tmp, ", Z:", zpos);
zpos += 0.1001f;
}
}
}
Expand Down
16 changes: 14 additions & 2 deletions Marlin/src/feature/bedlevel/bdl/bdl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,14 +23,26 @@

#include <stdint.h>

enum BDS_State : int8_t {
BDS_IDLE,
BDS_VERSION = -1,
BDS_READ_MM = -2,
BDS_HOMING_Z = -3,
BDS_READ_RAW = -5,
BDS_CALIBRATE_START = -6,
BDS_CALIBRATING = -7
};

class BDS_Leveling {
public:
static int8_t config_state;
static uint8_t homing;
static void echo_name();
static float pos_zero_offset;
static void init(uint8_t _sda, uint8_t _scl, uint16_t delay_s);
static void process();
static float read();
static float interpret(const uint16_t data);
static float good_data(const uint16_t data) { return (data & 0x3FF) < 1016; }
static bool check(const uint16_t data, const bool raw_data=false, const bool hicheck=false);
};

extern BDS_Leveling bdl;
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