9509a60549
autoload sensitivity decreased (false triggering on MK25) filtering algorithm more robust additional check - fixed sync with autoload and better condition
505 lines
15 KiB
C++
505 lines
15 KiB
C++
#include "Marlin.h"
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#include "fsensor.h"
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#include <avr/pgmspace.h>
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#include "pat9125.h"
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#include "stepper.h"
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#include "planner.h"
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#include "fastio.h"
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#include "cmdqueue.h"
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//Basic params
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#define FSENSOR_CHUNK_LEN 180 //filament sensor chunk length in steps - 0.64mm
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#define FSENSOR_ERR_MAX 8 //filament sensor maximum error count for runout detection
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//Optical quality meassurement params
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#define FSENSOR_OQ_MAX_ES 6 //maximum error sum while loading (length ~64mm = 100chunks)
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#define FSENSOR_OQ_MAX_EM 2 //maximum error counter value while loading
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#define FSENSOR_OQ_MIN_YD 2 //minimum yd per chunk (applied to avg value)
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#define FSENSOR_OQ_MAX_YD 200 //maximum yd per chunk (applied to avg value)
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#define FSENSOR_OQ_MAX_PD 4 //maximum positive deviation (= yd_max/yd_avg)
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#define FSENSOR_OQ_MAX_ND 5 //maximum negative deviation (= yd_avg/yd_min)
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#define FSENSOR_OQ_MAX_SH 13 //maximum shutter value
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const char ERRMSG_PAT9125_NOT_RESP[] PROGMEM = "PAT9125 not responding (%d)!\n";
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#define FSENSOR_INT_PIN 63 //filament sensor interrupt pin PK1
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#define FSENSOR_INT_PIN_MSK 0x02 //filament sensor interrupt pin mask (bit1)
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extern void stop_and_save_print_to_ram(float z_move, float e_move);
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extern void restore_print_from_ram_and_continue(float e_move);
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extern int8_t FSensorStateMenu;
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void fsensor_stop_and_save_print(void)
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{
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printf_P(PSTR("fsensor_stop_and_save_print\n"));
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stop_and_save_print_to_ram(0, 0); //XYZE - no change
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}
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void fsensor_restore_print_and_continue(void)
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{
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printf_P(PSTR("fsensor_restore_print_and_continue\n"));
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restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
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}
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//uint8_t fsensor_int_pin = FSENSOR_INT_PIN;
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uint8_t fsensor_int_pin_old = 0;
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int16_t fsensor_chunk_len = FSENSOR_CHUNK_LEN;
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//enabled = initialized and sampled every chunk event
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bool fsensor_enabled = true;
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//runout watching is done in fsensor_update (called from main loop)
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bool fsensor_watch_runout = true;
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//not responding - is set if any communication error occured durring initialization or readout
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bool fsensor_not_responding = false;
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//printing saved
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bool fsensor_printing_saved = false;
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//number of errors, updated in ISR
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uint8_t fsensor_err_cnt = 0;
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//variable for accumolating step count (updated callbacks from stepper and ISR)
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int16_t fsensor_st_cnt = 0;
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//last dy value from pat9125 sensor (used in ISR)
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uint8_t fsensor_dy_old = 0;
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//log flag: 0=log disabled, 1=log enabled
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uint8_t fsensor_log = 0;
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////////////////////////////////////////////////////////////////////////////////
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//filament autoload variables
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//autoload feature enabled
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bool fsensor_autoload_enabled = true;
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//autoload watching enable/disable flag
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bool fsensor_watch_autoload = false;
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//
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uint16_t fsensor_autoload_y;
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//
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uint8_t fsensor_autoload_c;
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//
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uint32_t fsensor_autoload_last_millis;
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//
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uint8_t fsensor_autoload_sum;
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////////////////////////////////////////////////////////////////////////////////
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//filament optical quality meassurement variables
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//meassurement enable/disable flag
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bool fsensor_oq_meassure = false;
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//skip-chunk counter, for accurate meassurement is necesary to skip first chunk...
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uint8_t fsensor_oq_skipchunk;
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//number of samples from start of meassurement
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uint8_t fsensor_oq_samples;
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//sum of steps in positive direction movements
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uint16_t fsensor_oq_st_sum;
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//sum of deltas in positive direction movements
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uint16_t fsensor_oq_yd_sum;
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//sum of errors durring meassurement
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uint16_t fsensor_oq_er_sum;
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//max error counter value durring meassurement
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uint8_t fsensor_oq_er_max;
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//minimum delta value
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uint16_t fsensor_oq_yd_min;
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//maximum delta value
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uint16_t fsensor_oq_yd_max;
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//sum of shutter value
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uint16_t fsensor_oq_sh_sum;
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void fsensor_init(void)
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{
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int pat9125 = pat9125_init();
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printf_P(_N("PAT9125_init:%d\n"), pat9125);
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uint8_t fsensor = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
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fsensor_autoload_enabled=eeprom_read_byte((uint8_t*)EEPROM_FSENS_AUTOLOAD_ENABLED);
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if (!pat9125)
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{
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fsensor = 0; //disable sensor
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fsensor_not_responding = true;
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}
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else
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fsensor_not_responding = false;
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if (fsensor)
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fsensor_enable();
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else
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fsensor_disable();
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printf_P(PSTR("FSensor %S\n"), (fsensor_enabled?PSTR("ENABLED"):PSTR("DISABLED\n")));
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}
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bool fsensor_enable(void)
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{
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uint8_t pat9125 = pat9125_init();
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printf_P(PSTR("PAT9125_init:%hhu\n"), pat9125);
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if (pat9125)
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fsensor_not_responding = false;
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else
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fsensor_not_responding = true;
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fsensor_enabled = pat9125?true:false;
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fsensor_watch_runout = true;
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fsensor_oq_meassure = false;
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fsensor_err_cnt = 0;
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fsensor_dy_old = 0;
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eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, fsensor_enabled?0x01:0x00);
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FSensorStateMenu = fsensor_enabled?1:0;
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return fsensor_enabled;
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}
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void fsensor_disable(void)
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{
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fsensor_enabled = false;
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eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, 0x00);
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FSensorStateMenu = 0;
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}
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void fsensor_autoload_set(bool State)
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{
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fsensor_autoload_enabled = State;
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eeprom_update_byte((unsigned char *)EEPROM_FSENS_AUTOLOAD_ENABLED, fsensor_autoload_enabled);
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}
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void pciSetup(byte pin)
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{
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*digitalPinToPCMSK(pin) |= bit (digitalPinToPCMSKbit(pin)); // enable pin
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PCIFR |= bit (digitalPinToPCICRbit(pin)); // clear any outstanding interrupt
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PCICR |= bit (digitalPinToPCICRbit(pin)); // enable interrupt for the group
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}
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void fsensor_autoload_check_start(void)
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{
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// puts_P(_N("fsensor_autoload_check_start\n"));
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if (!fsensor_enabled) return;
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if (!fsensor_autoload_enabled) return;
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if (fsensor_watch_autoload) return;
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if (!pat9125_update_y()) //update sensor
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{
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fsensor_disable();
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fsensor_not_responding = true;
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fsensor_watch_autoload = false;
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printf_P(ERRMSG_PAT9125_NOT_RESP, 3);
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return;
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}
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puts_P(_N("fsensor_autoload_check_start - autoload ENABLED\n"));
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fsensor_autoload_y = pat9125_y; //save current y value
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fsensor_autoload_c = 0; //reset number of changes counter
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fsensor_autoload_sum = 0;
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fsensor_autoload_last_millis = millis();
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fsensor_watch_runout = false;
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fsensor_watch_autoload = true;
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fsensor_err_cnt = 0;
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}
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void fsensor_autoload_check_stop(void)
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{
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// puts_P(_N("fsensor_autoload_check_stop\n"));
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if (!fsensor_enabled) return;
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// puts_P(_N("fsensor_autoload_check_stop 1\n"));
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if (!fsensor_autoload_enabled) return;
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// puts_P(_N("fsensor_autoload_check_stop 2\n"));
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if (!fsensor_watch_autoload) return;
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puts_P(_N("fsensor_autoload_check_stop - autoload DISABLED\n"));
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fsensor_autoload_sum = 0;
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fsensor_watch_autoload = false;
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fsensor_watch_runout = true;
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fsensor_err_cnt = 0;
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}
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bool fsensor_check_autoload(void)
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{
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if (!fsensor_enabled) return false;
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if (!fsensor_autoload_enabled) return false;
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if (!fsensor_watch_autoload)
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{
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fsensor_autoload_check_start();
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return false;
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}
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uint8_t fsensor_autoload_c_old = fsensor_autoload_c;
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if ((millis() - fsensor_autoload_last_millis) < 25) return false;
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fsensor_autoload_last_millis = millis();
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if (!pat9125_update_y()) //update sensor
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{
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fsensor_disable();
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fsensor_not_responding = true;
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printf_P(ERRMSG_PAT9125_NOT_RESP, 2);
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return false;
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}
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int16_t dy = pat9125_y - fsensor_autoload_y;
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if (dy) //? dy value is nonzero
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{
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if (dy > 0) //? delta-y value is positive (inserting)
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{
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fsensor_autoload_sum += dy;
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fsensor_autoload_c += 3; //increment change counter by 3
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}
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else if (fsensor_autoload_c > 1)
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fsensor_autoload_c -= 2; //decrement change counter by 2
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fsensor_autoload_y = pat9125_y; //save current value
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}
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else if (fsensor_autoload_c > 0)
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fsensor_autoload_c--;
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if (fsensor_autoload_c == 0) fsensor_autoload_sum = 0;
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// puts_P(_N("fsensor_check_autoload\n"));
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if (fsensor_autoload_c != fsensor_autoload_c_old)
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printf_P(PSTR("fsensor_check_autoload dy=%d c=%d sum=%d\n"), dy, fsensor_autoload_c, fsensor_autoload_sum);
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// if ((fsensor_autoload_c >= 15) && (fsensor_autoload_sum > 30))
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if ((fsensor_autoload_c >= 12) && (fsensor_autoload_sum > 20))
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{
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// puts_P(_N("fsensor_check_autoload = true !!!\n"));
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return true;
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}
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return false;
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}
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void fsensor_oq_meassure_start(uint8_t skip)
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{
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if (!fsensor_enabled) return;
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printf_P(PSTR("fsensor_oq_meassure_start\n"));
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fsensor_oq_skipchunk = skip;
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fsensor_oq_samples = 0;
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fsensor_oq_st_sum = 0;
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fsensor_oq_yd_sum = 0;
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fsensor_oq_er_sum = 0;
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fsensor_oq_er_max = 0;
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fsensor_oq_yd_min = FSENSOR_OQ_MAX_YD;
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fsensor_oq_yd_max = 0;
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fsensor_oq_sh_sum = 0;
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pat9125_update();
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pat9125_y = 0;
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fsensor_watch_runout = false;
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fsensor_oq_meassure = true;
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}
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void fsensor_oq_meassure_stop(void)
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{
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if (!fsensor_enabled) return;
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printf_P(PSTR("fsensor_oq_meassure_stop, %hhu samples\n"), fsensor_oq_samples);
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printf_P(_N(" st_sum=%u yd_sum=%u er_sum=%u er_max=%hhu\n"), fsensor_oq_st_sum, fsensor_oq_yd_sum, fsensor_oq_er_sum, fsensor_oq_er_max);
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printf_P(_N(" yd_min=%u yd_max=%u yd_avg=%u sh_avg=%u\n"), fsensor_oq_yd_min, fsensor_oq_yd_max, (uint16_t)((uint32_t)fsensor_oq_yd_sum * FSENSOR_CHUNK_LEN / fsensor_oq_st_sum), (uint16_t)(fsensor_oq_sh_sum / fsensor_oq_samples));
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fsensor_oq_meassure = false;
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fsensor_watch_runout = true;
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fsensor_err_cnt = 0;
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}
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const char _OK[] PROGMEM = "OK";
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const char _NG[] PROGMEM = "NG!";
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bool fsensor_oq_result(void)
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{
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if (!fsensor_enabled) return true;
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printf_P(_N("fsensor_oq_result\n"));
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bool res_er_sum = (fsensor_oq_er_sum <= FSENSOR_OQ_MAX_ES);
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printf_P(_N(" er_sum = %u %S\n"), fsensor_oq_er_sum, (res_er_sum?_OK:_NG));
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bool res_er_max = (fsensor_oq_er_max <= FSENSOR_OQ_MAX_EM);
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printf_P(_N(" er_max = %hhu %S\n"), fsensor_oq_er_max, (res_er_max?_OK:_NG));
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uint8_t yd_avg = ((uint32_t)fsensor_oq_yd_sum * FSENSOR_CHUNK_LEN / fsensor_oq_st_sum);
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bool res_yd_avg = (yd_avg >= FSENSOR_OQ_MIN_YD) && (yd_avg <= FSENSOR_OQ_MAX_YD);
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printf_P(_N(" yd_avg = %hhu %S\n"), yd_avg, (res_yd_avg?_OK:_NG));
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bool res_yd_max = (fsensor_oq_yd_max <= (yd_avg * FSENSOR_OQ_MAX_PD));
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printf_P(_N(" yd_max = %u %S\n"), fsensor_oq_yd_max, (res_yd_max?_OK:_NG));
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bool res_yd_min = (fsensor_oq_yd_min >= (yd_avg / FSENSOR_OQ_MAX_ND));
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printf_P(_N(" yd_min = %u %S\n"), fsensor_oq_yd_min, (res_yd_min?_OK:_NG));
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uint16_t yd_dev = (fsensor_oq_yd_max - yd_avg) + (yd_avg - fsensor_oq_yd_min);
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uint16_t yd_qua = 10 * yd_avg / (yd_dev + 1);
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printf_P(_N(" yd_dev = %u\n"), yd_dev);
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printf_P(_N(" yd_qua = %u\n"), yd_qua);
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uint8_t sh_avg = (fsensor_oq_sh_sum / fsensor_oq_samples);
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bool res_sh_avg = (sh_avg <= FSENSOR_OQ_MAX_SH);
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if (yd_qua >= 8) res_sh_avg = true;
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printf_P(_N(" sh_avg = %hhu %S\n"), sh_avg, (res_sh_avg?_OK:_NG));
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bool res = res_er_sum && res_er_max && res_yd_avg && res_yd_max && res_yd_min && res_sh_avg;
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printf_P(_N("fsensor_oq_result %S\n"), (res?_OK:_NG));
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return res;
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}
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ISR(PCINT2_vect)
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{
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if (!((fsensor_int_pin_old ^ PINK) & FSENSOR_INT_PIN_MSK)) return;
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fsensor_int_pin_old = PINK;
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static bool _lock = false;
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if (_lock) return;
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_lock = true;
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int st_cnt = fsensor_st_cnt;
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fsensor_st_cnt = 0;
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sei();
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uint8_t old_err_cnt = fsensor_err_cnt;
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uint8_t pat9125_res = fsensor_oq_meassure?pat9125_update():pat9125_update_y();
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if (!pat9125_res)
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{
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fsensor_disable();
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fsensor_not_responding = true;
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printf_P(ERRMSG_PAT9125_NOT_RESP, 1);
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}
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if (st_cnt != 0)
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{ //movement
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if (st_cnt > 0) //positive movement
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{
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if (pat9125_y < 0)
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{
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if (fsensor_err_cnt)
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fsensor_err_cnt += 2;
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else
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fsensor_err_cnt++;
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}
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else if (pat9125_y > 0)
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{
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if (fsensor_err_cnt)
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fsensor_err_cnt--;
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}
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else //(pat9125_y == 0)
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if ((fsensor_dy_old <= 0) || (fsensor_err_cnt))
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fsensor_err_cnt++;
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if (fsensor_oq_meassure)
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{
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if (fsensor_oq_skipchunk)
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{
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fsensor_oq_skipchunk--;
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fsensor_err_cnt = 0;
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}
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else
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{
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if (st_cnt == FSENSOR_CHUNK_LEN)
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{
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if (pat9125_y > 0) if (fsensor_oq_yd_min > pat9125_y) fsensor_oq_yd_min = (fsensor_oq_yd_min + pat9125_y) / 2;
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if (pat9125_y >= 0) if (fsensor_oq_yd_max < pat9125_y) fsensor_oq_yd_max = (fsensor_oq_yd_max + pat9125_y) / 2;
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}
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fsensor_oq_samples++;
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fsensor_oq_st_sum += st_cnt;
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if (pat9125_y > 0) fsensor_oq_yd_sum += pat9125_y;
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if (fsensor_err_cnt > old_err_cnt)
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fsensor_oq_er_sum += (fsensor_err_cnt - old_err_cnt);
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if (fsensor_oq_er_max < fsensor_err_cnt)
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fsensor_oq_er_max = fsensor_err_cnt;
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fsensor_oq_sh_sum += pat9125_s;
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}
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}
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}
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else //negative movement
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{
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}
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}
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else
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{ //no movement
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}
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#ifdef DEBUG_FSENSOR_LOG
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if (fsensor_log)
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{
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printf_P(_N("FSENSOR cnt=%d dy=%d err=%hhu dy_old=%hhu %S\n"), st_cnt, pat9125_y, fsensor_err_cnt, fsensor_dy_old, (fsensor_err_cnt > old_err_cnt)?_N("NG!"):_N("OK"));
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if (fsensor_oq_meassure) printf_P(_N("FSENSOR st_sum=%u yd_sum=%u er_sum=%u er_max=%hhu yd_max=%u\n"), fsensor_oq_st_sum, fsensor_oq_yd_sum, fsensor_oq_er_sum, fsensor_oq_er_max, fsensor_oq_yd_max);
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}
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#endif //DEBUG_FSENSOR_LOG
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fsensor_dy_old = pat9125_y;
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pat9125_y = 0;
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_lock = false;
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return;
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}
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void fsensor_st_block_begin(block_t* bl)
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{
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if (!fsensor_enabled) return;
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if (((fsensor_st_cnt > 0) && (bl->direction_bits & 0x8)) ||
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((fsensor_st_cnt < 0) && !(bl->direction_bits & 0x8)))
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{
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if (_READ(63)) _WRITE(63, LOW);
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else _WRITE(63, HIGH);
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}
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}
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void fsensor_st_block_chunk(block_t* bl, int cnt)
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{
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if (!fsensor_enabled) return;
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fsensor_st_cnt += (bl->direction_bits & 0x8)?-cnt:cnt;
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if ((fsensor_st_cnt >= fsensor_chunk_len) || (fsensor_st_cnt <= -fsensor_chunk_len))
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{
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if (_READ(63)) _WRITE(63, LOW);
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else _WRITE(63, HIGH);
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}
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}
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void fsensor_update(void)
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{
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if (fsensor_enabled)
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{
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if (fsensor_printing_saved)
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{
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fsensor_restore_print_and_continue();
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fsensor_printing_saved = false;
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fsensor_watch_runout = true;
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fsensor_err_cnt = 0;
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}
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else if (fsensor_watch_runout && (fsensor_err_cnt > FSENSOR_ERR_MAX))
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{
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bool autoload_enabled_tmp = fsensor_autoload_enabled;
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fsensor_autoload_enabled = false;
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fsensor_stop_and_save_print();
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fsensor_printing_saved = true;
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fsensor_err_cnt = 0;
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fsensor_oq_meassure_start(0);
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// st_synchronize();
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// for (int axis = X_AXIS; axis <= E_AXIS; axis++)
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// current_position[axis] = st_get_position_mm(axis);
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/*
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current_position[E_AXIS] -= 3;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 200 / 60, active_extruder);
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st_synchronize();
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|
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current_position[E_AXIS] += 3;
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 200 / 60, active_extruder);
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st_synchronize();
|
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*/
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|
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enquecommand_front_P((PSTR("G1 E-3 F200")));
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process_commands();
|
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cmdqueue_pop_front();
|
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st_synchronize();
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|
|
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enquecommand_front_P((PSTR("G1 E3 F200")));
|
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process_commands();
|
|
cmdqueue_pop_front();
|
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st_synchronize();
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|
|
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fsensor_oq_meassure_stop();
|
|
|
|
bool err = false;
|
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err |= (fsensor_oq_er_sum > 1);
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err |= (fsensor_oq_yd_sum < (4 * FSENSOR_OQ_MIN_YD));
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if (!err)
|
|
{
|
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printf_P(PSTR("fsensor_err_cnt = 0\n"));
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fsensor_restore_print_and_continue();
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fsensor_printing_saved = false;
|
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}
|
|
else
|
|
{
|
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printf_P(PSTR("fsensor_update - M600\n"));
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eeprom_update_byte((uint8_t*)EEPROM_FERROR_COUNT, eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) + 1);
|
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eeprom_update_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) + 1);
|
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enquecommand_front_P((PSTR("M600")));
|
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fsensor_watch_runout = false;
|
|
}
|
|
fsensor_autoload_enabled = autoload_enabled_tmp;
|
|
}
|
|
}
|
|
}
|
|
|
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void fsensor_setup_interrupt(void)
|
|
{
|
|
|
|
pinMode(FSENSOR_INT_PIN, OUTPUT);
|
|
digitalWrite(FSENSOR_INT_PIN, LOW);
|
|
fsensor_int_pin_old = 0;
|
|
|
|
pciSetup(FSENSOR_INT_PIN);
|
|
}
|