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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <https://www.gnu.org/licenses/>.
- *
- */
- #pragma once
-
- /**
- * feature/runout.h - Runout sensor support
- */
-
- #include "../sd/cardreader.h"
- #include "../module/printcounter.h"
- #include "../module/planner.h"
- #include "../module/stepper.h" // for block_t
- #include "../gcode/queue.h"
- #include "../feature/pause.h"
-
- #include "../inc/MarlinConfig.h"
-
- #if ENABLED(EXTENSIBLE_UI)
- #include "../lcd/extui/ui_api.h"
- #endif
-
- //#define FILAMENT_RUNOUT_SENSOR_DEBUG
- #ifndef FILAMENT_RUNOUT_THRESHOLD
- #define FILAMENT_RUNOUT_THRESHOLD 5
- #endif
-
- void event_filament_runout(const uint8_t extruder);
-
- template<class RESPONSE_T, class SENSOR_T>
- class TFilamentMonitor;
- class FilamentSensorEncoder;
- class FilamentSensorSwitch;
- class RunoutResponseDelayed;
- class RunoutResponseDebounced;
-
- /********************************* TEMPLATE SPECIALIZATION *********************************/
-
- typedef TFilamentMonitor<
- TERN(HAS_FILAMENT_RUNOUT_DISTANCE, RunoutResponseDelayed, RunoutResponseDebounced),
- TERN(FILAMENT_MOTION_SENSOR, FilamentSensorEncoder, FilamentSensorSwitch)
- > FilamentMonitor;
-
- extern FilamentMonitor runout;
-
- /*******************************************************************************************/
-
- class FilamentMonitorBase {
- public:
- static bool enabled, filament_ran_out;
-
- #if ENABLED(HOST_ACTION_COMMANDS)
- static bool host_handling;
- #else
- static constexpr bool host_handling = false;
- #endif
- };
-
- template<class RESPONSE_T, class SENSOR_T>
- class TFilamentMonitor : public FilamentMonitorBase {
- private:
- typedef RESPONSE_T response_t;
- typedef SENSOR_T sensor_t;
- static response_t response;
- static sensor_t sensor;
-
- public:
- static void setup() {
- sensor.setup();
- reset();
- }
-
- static void reset() {
- filament_ran_out = false;
- response.reset();
- }
-
- // Call this method when filament is present,
- // so the response can reset its counter.
- static void filament_present(const uint8_t extruder) {
- response.filament_present(extruder);
- }
-
- #if HAS_FILAMENT_RUNOUT_DISTANCE
- static float& runout_distance() { return response.runout_distance_mm; }
- static void set_runout_distance(const_float_t mm) { response.runout_distance_mm = mm; }
- #endif
-
- // Handle a block completion. RunoutResponseDelayed uses this to
- // add up the length of filament moved while the filament is out.
- static void block_completed(const block_t * const b) {
- if (enabled) {
- response.block_completed(b);
- sensor.block_completed(b);
- }
- }
-
- // Give the response a chance to update its counter.
- static void run() {
- if (enabled && !filament_ran_out && (printingIsActive() || did_pause_print)) {
- TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, cli()); // Prevent RunoutResponseDelayed::block_completed from accumulating here
- response.run();
- sensor.run();
- const uint8_t runout_flags = response.has_run_out();
- TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, sei());
- #if MULTI_FILAMENT_SENSOR
- #if ENABLED(WATCH_ALL_RUNOUT_SENSORS)
- const bool ran_out = !!runout_flags; // any sensor triggers
- uint8_t extruder = 0;
- if (ran_out) {
- uint8_t bitmask = runout_flags;
- while (!(bitmask & 1)) {
- bitmask >>= 1;
- extruder++;
- }
- }
- #else
- const bool ran_out = TEST(runout_flags, active_extruder); // suppress non active extruders
- uint8_t extruder = active_extruder;
- #endif
- #else
- const bool ran_out = !!runout_flags;
- uint8_t extruder = active_extruder;
- #endif
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
- if (runout_flags) {
- SERIAL_ECHOPGM("Runout Sensors: ");
- LOOP_L_N(i, 8) SERIAL_ECHO('0' + TEST(runout_flags, i));
- SERIAL_ECHOPGM(" -> ", extruder);
- if (ran_out) SERIAL_ECHOPGM(" RUN OUT");
- SERIAL_EOL();
- }
- #endif
-
- if (ran_out) {
- filament_ran_out = true;
- event_filament_runout(extruder);
- planner.synchronize();
- }
- }
- }
- };
-
- /*************************** FILAMENT PRESENCE SENSORS ***************************/
-
- class FilamentSensorBase {
- protected:
- /**
- * Called by FilamentSensorSwitch::run when filament is detected.
- * Called by FilamentSensorEncoder::block_completed when motion is detected.
- */
- static void filament_present(const uint8_t extruder) {
- runout.filament_present(extruder); // ...which calls response.filament_present(extruder)
- }
-
- public:
- static void setup() {
- #define _INIT_RUNOUT_PIN(P,S,U,D) do{ if (ENABLED(U)) SET_INPUT_PULLUP(P); else if (ENABLED(D)) SET_INPUT_PULLDOWN(P); else SET_INPUT(P); }while(0)
- #define INIT_RUNOUT_PIN(N) _INIT_RUNOUT_PIN(FIL_RUNOUT##N##_PIN, FIL_RUNOUT##N##_STATE, FIL_RUNOUT##N##_PULLUP, FIL_RUNOUT##N##_PULLDOWN)
- #if NUM_RUNOUT_SENSORS >= 1
- INIT_RUNOUT_PIN(1);
- #endif
- #if NUM_RUNOUT_SENSORS >= 2
- INIT_RUNOUT_PIN(2);
- #endif
- #if NUM_RUNOUT_SENSORS >= 3
- INIT_RUNOUT_PIN(3);
- #endif
- #if NUM_RUNOUT_SENSORS >= 4
- INIT_RUNOUT_PIN(4);
- #endif
- #if NUM_RUNOUT_SENSORS >= 5
- INIT_RUNOUT_PIN(5);
- #endif
- #if NUM_RUNOUT_SENSORS >= 6
- INIT_RUNOUT_PIN(6);
- #endif
- #if NUM_RUNOUT_SENSORS >= 7
- INIT_RUNOUT_PIN(7);
- #endif
- #if NUM_RUNOUT_SENSORS >= 8
- INIT_RUNOUT_PIN(8);
- #endif
- #undef _INIT_RUNOUT_PIN
- #undef INIT_RUNOUT_PIN
- }
-
- // Return a bitmask of runout pin states
- static uint8_t poll_runout_pins() {
- #define _OR_RUNOUT(N) | (READ(FIL_RUNOUT##N##_PIN) ? _BV((N) - 1) : 0)
- return (0 REPEAT_1(NUM_RUNOUT_SENSORS, _OR_RUNOUT));
- #undef _OR_RUNOUT
- }
-
- // Return a bitmask of runout flag states (1 bits always indicates runout)
- static uint8_t poll_runout_states() {
- return poll_runout_pins() ^ uint8_t(0
- #if NUM_RUNOUT_SENSORS >= 1
- | (FIL_RUNOUT1_STATE ? 0 : _BV(1 - 1))
- #endif
- #if NUM_RUNOUT_SENSORS >= 2
- | (FIL_RUNOUT2_STATE ? 0 : _BV(2 - 1))
- #endif
- #if NUM_RUNOUT_SENSORS >= 3
- | (FIL_RUNOUT3_STATE ? 0 : _BV(3 - 1))
- #endif
- #if NUM_RUNOUT_SENSORS >= 4
- | (FIL_RUNOUT4_STATE ? 0 : _BV(4 - 1))
- #endif
- #if NUM_RUNOUT_SENSORS >= 5
- | (FIL_RUNOUT5_STATE ? 0 : _BV(5 - 1))
- #endif
- #if NUM_RUNOUT_SENSORS >= 6
- | (FIL_RUNOUT6_STATE ? 0 : _BV(6 - 1))
- #endif
- #if NUM_RUNOUT_SENSORS >= 7
- | (FIL_RUNOUT7_STATE ? 0 : _BV(7 - 1))
- #endif
- #if NUM_RUNOUT_SENSORS >= 8
- | (FIL_RUNOUT8_STATE ? 0 : _BV(8 - 1))
- #endif
- );
- }
- };
-
- #if ENABLED(FILAMENT_MOTION_SENSOR)
-
- /**
- * This sensor uses a magnetic encoder disc and a Hall effect
- * sensor (or a slotted disc and optical sensor). The state
- * will toggle between 0 and 1 on filament movement. It can detect
- * filament runout and stripouts or jams.
- */
- class FilamentSensorEncoder : public FilamentSensorBase {
- private:
- static uint8_t motion_detected;
-
- static void poll_motion_sensor() {
- static uint8_t old_state;
- const uint8_t new_state = poll_runout_pins(),
- change = old_state ^ new_state;
- old_state = new_state;
-
- #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
- if (change) {
- SERIAL_ECHOPGM("Motion detected:");
- LOOP_L_N(e, NUM_RUNOUT_SENSORS)
- if (TEST(change, e)) SERIAL_CHAR(' ', '0' + e);
- SERIAL_EOL();
- }
- #endif
-
- motion_detected |= change;
- }
-
- public:
- static void block_completed(const block_t * const b) {
- // If the sensor wheel has moved since the last call to
- // this method reset the runout counter for the extruder.
- if (TEST(motion_detected, b->extruder))
- filament_present(b->extruder);
-
- // Clear motion triggers for next block
- motion_detected = 0;
- }
-
- static void run() { poll_motion_sensor(); }
- };
-
- #else
-
- /**
- * This is a simple endstop switch in the path of the filament.
- * It can detect filament runout, but not stripouts or jams.
- */
- class FilamentSensorSwitch : public FilamentSensorBase {
- private:
- static bool poll_runout_state(const uint8_t extruder) {
- const uint8_t runout_states = poll_runout_states();
- #if MULTI_FILAMENT_SENSOR
- if ( !TERN0(DUAL_X_CARRIAGE, idex_is_duplicating())
- && !TERN0(MULTI_NOZZLE_DUPLICATION, extruder_duplication_enabled)
- ) return TEST(runout_states, extruder); // A specific extruder ran out
- #else
- UNUSED(extruder);
- #endif
- return !!runout_states; // Any extruder ran out
- }
-
- public:
- static void block_completed(const block_t * const) {}
-
- static void run() {
- LOOP_L_N(s, NUM_RUNOUT_SENSORS) {
- const bool out = poll_runout_state(s);
- if (!out) filament_present(s);
- #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
- static uint8_t was_out; // = 0
- if (out != TEST(was_out, s)) {
- TBI(was_out, s);
- SERIAL_ECHOLNF(F("Filament Sensor "), AS_DIGIT(s), out ? F(" OUT") : F(" IN"));
- }
- #endif
- }
- }
- };
-
-
- #endif // !FILAMENT_MOTION_SENSOR
-
- /********************************* RESPONSE TYPE *********************************/
-
- #if HAS_FILAMENT_RUNOUT_DISTANCE
-
- // RunoutResponseDelayed triggers a runout event only if the length
- // of filament specified by FILAMENT_RUNOUT_DISTANCE_MM has been fed
- // during a runout condition.
- class RunoutResponseDelayed {
- private:
- static volatile float runout_mm_countdown[NUM_RUNOUT_SENSORS];
-
- public:
- static float runout_distance_mm;
-
- static void reset() {
- LOOP_L_N(i, NUM_RUNOUT_SENSORS) filament_present(i);
- }
-
- static void run() {
- #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
- static millis_t t = 0;
- const millis_t ms = millis();
- if (ELAPSED(ms, t)) {
- t = millis() + 1000UL;
- LOOP_L_N(i, NUM_RUNOUT_SENSORS)
- SERIAL_ECHOF(i ? F(", ") : F("Remaining mm: "), runout_mm_countdown[i]);
- SERIAL_EOL();
- }
- #endif
- }
-
- static uint8_t has_run_out() {
- uint8_t runout_flags = 0;
- LOOP_L_N(i, NUM_RUNOUT_SENSORS) if (runout_mm_countdown[i] < 0) SBI(runout_flags, i);
- return runout_flags;
- }
-
- static void filament_present(const uint8_t extruder) {
- runout_mm_countdown[extruder] = runout_distance_mm;
- }
-
- static void block_completed(const block_t * const b) {
- if (b->steps.x || b->steps.y || b->steps.z || did_pause_print) { // Allow pause purge move to re-trigger runout state
- // Only trigger on extrusion with XYZ movement to allow filament change and retract/recover.
- const uint8_t e = b->extruder;
- const int32_t steps = b->steps.e;
- runout_mm_countdown[e] -= (TEST(b->direction_bits, E_AXIS) ? -steps : steps) * planner.mm_per_step[E_AXIS_N(e)];
- }
- }
- };
-
- #else // !HAS_FILAMENT_RUNOUT_DISTANCE
-
- // RunoutResponseDebounced triggers a runout event after a runout
- // condition has been detected runout_threshold times in a row.
-
- class RunoutResponseDebounced {
- private:
- static constexpr int8_t runout_threshold = FILAMENT_RUNOUT_THRESHOLD;
- static int8_t runout_count[NUM_RUNOUT_SENSORS];
-
- public:
- static void reset() {
- LOOP_L_N(i, NUM_RUNOUT_SENSORS) filament_present(i);
- }
-
- static void run() {
- LOOP_L_N(i, NUM_RUNOUT_SENSORS) if (runout_count[i] >= 0) runout_count[i]--;
- }
-
- static uint8_t has_run_out() {
- uint8_t runout_flags = 0;
- LOOP_L_N(i, NUM_RUNOUT_SENSORS) if (runout_count[i] < 0) SBI(runout_flags, i);
- return runout_flags;
- }
-
- static void block_completed(const block_t * const) { }
-
- static void filament_present(const uint8_t extruder) {
- runout_count[extruder] = runout_threshold;
- }
- };
-
- #endif // !HAS_FILAMENT_RUNOUT_DISTANCE
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