/**
* 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();
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 inline void setup() {
sensor.setup();
reset();
}
static inline void reset() {
filament_ran_out = false;
response.reset();
}
// Call this method when filament is present,
// so the response can reset its counter.
static inline void filament_present(const uint8_t extruder) {
response.filament_present(extruder);
}
#if HAS_FILAMENT_RUNOUT_DISTANCE
static inline float& runout_distance() { return response.runout_distance_mm; }
static inline void set_runout_distance(const float &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 inline 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 inline 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 bool ran_out = response.has_run_out();
TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, sei());
if (ran_out) {
filament_ran_out = true;
event_filament_runout();
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 inline void filament_present(const uint8_t extruder) {
runout.filament_present(extruder); // ...which calls response.filament_present(extruder)
}
public:
static inline 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 inline uint8_t poll_runout_pins() {
#define _OR_RUNOUT(N) | (READ(FIL_RUNOUT##N##_PIN) ? _BV((N) - 1) : 0)
return (0 REPEAT_S(1, INCREMENT(NUM_RUNOUT_SENSORS), _OR_RUNOUT));
#undef _OR_RUNOUT
}
// Return a bitmask of runout flag states (1 bits always indicates runout)
static inline 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 inline 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 inline 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 inline 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 inline 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 inline void block_completed(const block_t* const) {}
static inline void run() {
const bool out = poll_runout_state(active_extruder);
if (!out) filament_present(active_extruder);
#if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
static bool was_out = false;
if (out != was_out) {
was_out = out;
SERIAL_ECHOPGM("Filament ");
SERIAL_ECHOPGM_P(out ? PSTR("OUT\n") : PSTR("IN\n"));
}
#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[EXTRUDERS];
public:
static float runout_distance_mm;
static inline void reset() {
LOOP_L_N(i, EXTRUDERS) filament_present(i);
}
static inline 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, EXTRUDERS)
SERIAL_ECHOPAIR_P(i ? PSTR(", ") : PSTR("Remaining mm: "), runout_mm_countdown[i]);
SERIAL_EOL();
}
#endif
}
static inline bool has_run_out() {
return runout_mm_countdown[active_extruder] < 0;
}
static inline void filament_present(const uint8_t extruder) {
runout_mm_countdown[extruder] = runout_distance_mm;
}
static inline 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.steps_to_mm[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;
public:
static inline void reset() { runout_count = runout_threshold; }
static inline void run() { if (runout_count >= 0) runout_count--; }
static inline bool has_run_out() { return runout_count < 0; }
static inline void block_completed(const block_t* const) { }
static inline void filament_present(const uint8_t) { runout_count = runout_threshold; }
};
#endif // !HAS_FILAMENT_RUNOUT_DISTANCE