3DPrinting/Prusa-Firmware
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FS: Improve reliability on speeds with poor optical tracking

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Depending on the filament surface and moving speed, the PAT9125 sensor
can stop being able to track movement.

In such cases, instead of triggering false errors and/or relying on
previous states, read and use the exposure data off the sensor and
increase error counts only for poorly exposed images instead, which
is a good indicator of a far-away (or missing!) tracking surface.
This commit is contained in:
Yuri D'Elia 2020-02-06 13:48:23 +01:00
parent cdc17e8da1
commit 3be859ece9
3 changed files with 26 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
Firmware/fsensor.cpp
View File

@ -488,10 +488,25 @@ ISR(FSENSOR_INT_PIN_VECT)
if (pat9125_y == 0)
{
// no movement detected: increase error count only when extruding, since fast retracts
// cannot always be seen. We also need to ensure that no runout is generated while
// retracting as it's not currently handled everywhere
if (st_dir) ++fsensor_err_cnt;
if (st_dir)
{
// no movement detected: we might be within a blind sensor range,
// update the frame and shutter parameters we didn't earlier
if (!fsensor_oq_meassure)
pat9125_update_bs();
// increment the error count only if underexposed: filament likely missing
if ((pat9125_b < 80) && (pat9125_s > 10))
{
// check for a dark frame (<30% avg brightness) with long exposure
++fsensor_err_cnt;
}
else
{
// good frame, filament likely present
if(fsensor_err_cnt) --fsensor_err_cnt;
}
}
}
else if (pat9125_dir != st_dir)
{

14
Firmware/pat9125.c
View File

@ -219,19 +219,13 @@ uint8_t pat9125_update_y(void)
return 0;
}
uint8_t pat9125_update_y2(void)
uint8_t pat9125_update_bs(void)
{
if ((pat9125_PID1 == 0x31) && (pat9125_PID2 == 0x91))
{
uint8_t ucMotion = pat9125_rd_reg(PAT9125_MOTION);
if (pat9125_PID1 == 0xff) return 0; //NOACK error
if (ucMotion & 0x80)
{
int8_t dy = pat9125_rd_reg(PAT9125_DELTA_YL);
if (pat9125_PID1 == 0xff) return 0; //NOACK error
pat9125_y -= dy; //negative number, because direction switching does not work
}
return 1;
pat9125_b = pat9125_rd_reg(PAT9125_FRAME);
pat9125_s = pat9125_rd_reg(PAT9125_SHUTTER);
if (pat9125_PID1 == 0xff) return 0;
}
return 0;
}

6
Firmware/pat9125.h
View File

@ -19,9 +19,9 @@ extern uint8_t pat9125_b;
extern uint8_t pat9125_s;
extern uint8_t pat9125_init(void);
extern uint8_t pat9125_update(void);
extern uint8_t pat9125_update_y(void);
extern uint8_t pat9125_update_y2(void);
extern uint8_t pat9125_update(void); // update all sensor data
extern uint8_t pat9125_update_y(void); // update _y only
extern uint8_t pat9125_update_bs(void); // update _b/_s only
#if defined(__cplusplus)