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Prusa-Firmware/Firmware/fsensor.cpp
Yuri D'Elia b3af08d94a Fix stack smashing in temperature/fsensor ISR 
The temperature and fsensor ISR re-enable interrupts while executing.

However, we still need to protect the epilogue of the ISR so that
the saved return address is not altered while returning.

We hoist the body of the function out of the isr in both cases for
clarity (and to avoid a stray return bypassing the lock/cli), so that
the re-entrant portion is clearly indicated.

This should fix the "STATIC MEMORY OVERWRITTEN" error messages randomly
happening when stepping at high frequency (where either isr is
preempted more frequently).
2020-08-05 17:47:46 +02:00

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//! @file
#include "Marlin.h"
#include "fsensor.h"
#include <avr/pgmspace.h>
#include "pat9125.h"
#include "stepper.h"
#include "io_atmega2560.h"
#include "cmdqueue.h"
#include "ultralcd.h"
#include "mmu.h"
#include "cardreader.h"
#include "adc.h"
#include "temperature.h"
#include "config.h"
//! @name Basic parameters
//! @{
#define FSENSOR_CHUNK_LEN 1.25 //!< filament sensor chunk length (mm)
#define FSENSOR_ERR_MAX 4 //!< filament sensor maximum error/chunk count for runout detection
#define FSENSOR_SOFTERR_CMAX 3 //!< number of contiguous soft failures before a triggering a runout
#define FSENSOR_SOFTERR_DELTA 30000 //!< maximum interval (ms) to consider soft failures contiguous
//! @}
//! @name Optical quality measurement parameters
//! @{
#define FSENSOR_OQ_MAX_ES 2 //!< maximum sum of error blocks during filament recheck
#define FSENSOR_OQ_MIN_YD 2 //!< minimum yd sum during filament check (counts per inch)
#define FSENSOR_OQ_MIN_BR 80 //!< minimum brightness value
#define FSENSOR_OQ_MAX_SH 10 //!< maximum shutter value
//! @}
const char ERRMSG_PAT9125_NOT_RESP[] PROGMEM = "PAT9125 not responding (%d)!\n";
// PJ7 can not be used (does not have PinChangeInterrupt possibility)
#define FSENSOR_INT_PIN 75 //!< filament sensor interrupt pin PJ4
#define FSENSOR_INT_PIN_MASK 0x10 //!< filament sensor interrupt pin mask (bit4)
#define FSENSOR_INT_PIN_PIN_REG PINJ // PIN register @ PJ4
#define FSENSOR_INT_PIN_VECT PCINT1_vect // PinChange ISR @ PJ4
#define FSENSOR_INT_PIN_PCMSK_REG PCMSK1 // PinChangeMaskRegister @ PJ4
#define FSENSOR_INT_PIN_PCMSK_BIT PCINT13 // PinChange Interrupt / PinChange Enable Mask @ PJ4
#define FSENSOR_INT_PIN_PCICR_BIT PCIE1 // PinChange Interrupt Enable / Flag @ PJ4
//! enabled = initialized and sampled every chunk event
bool fsensor_enabled = true;
//! runout watching is done in fsensor_update (called from main loop)
bool fsensor_watch_runout = true;
//! not responding - is set if any communication error occurred during initialization or readout
bool fsensor_not_responding = false;
#ifdef PAT9125
uint8_t fsensor_int_pin_old = 0;
//! optical checking "chunk lenght" (already in steps)
int16_t fsensor_chunk_len = 0;
//! enable/disable quality meassurement
bool fsensor_oq_meassure_enabled = false;
//! number of errors, updated in ISR
uint8_t fsensor_err_cnt = 0;
//! variable for accumulating step count (updated callbacks from stepper and ISR)
int16_t fsensor_st_cnt = 0;
//! count of total sensor "soft" failures (filament status checks)
uint8_t fsensor_softfail = 0;
//! timestamp of last soft failure
unsigned long fsensor_softfail_last = 0;
//! count of soft failures within the configured time
uint8_t fsensor_softfail_ccnt = 0;
#endif
#ifdef DEBUG_FSENSOR_LOG
//! log flag: 0=log disabled, 1=log enabled
uint8_t fsensor_log = 1;
#endif //DEBUG_FSENSOR_LOG
//! @name filament autoload variables
//! @{
//! autoload feature enabled
bool fsensor_autoload_enabled = true;
//! autoload watching enable/disable flag
bool fsensor_watch_autoload = false;
#ifdef PAT9125
//
uint16_t fsensor_autoload_y;
//
uint8_t fsensor_autoload_c;
//
uint32_t fsensor_autoload_last_millis;
//
uint8_t fsensor_autoload_sum;
//! @}
#endif
//! @name filament optical quality measurement variables
//! @{
//! Measurement enable/disable flag
bool fsensor_oq_meassure = false;
//! skip-chunk counter, for accurate measurement is necessary to skip first chunk...
uint8_t fsensor_oq_skipchunk;
//! number of samples from start of measurement
uint8_t fsensor_oq_samples;
//! sum of steps in positive direction movements
uint16_t fsensor_oq_st_sum;
//! sum of deltas in positive direction movements
uint16_t fsensor_oq_yd_sum;
//! sum of errors during measurement
uint16_t fsensor_oq_er_sum;
//! max error counter value during measurement
uint8_t fsensor_oq_er_max;
//! minimum delta value
int16_t fsensor_oq_yd_min;
//! maximum delta value
int16_t fsensor_oq_yd_max;
//! sum of shutter value
uint16_t fsensor_oq_sh_sum;
//! @}
#ifdef IR_SENSOR_ANALOG
ClFsensorPCB oFsensorPCB;
ClFsensorActionNA oFsensorActionNA;
bool bIRsensorStateFlag=false;
unsigned long nIRsensorLastTime;
#endif //IR_SENSOR_ANALOG
void fsensor_stop_and_save_print(void)
{
printf_P(PSTR("fsensor_stop_and_save_print\n"));
stop_and_save_print_to_ram(0, 0);
fsensor_watch_runout = false;
}
#ifdef PAT9125
// Reset all internal counters to zero, including stepper callbacks
void fsensor_reset_err_cnt()
{
fsensor_err_cnt = 0;
pat9125_y = 0;
st_reset_fsensor();
}
void fsensor_set_axis_steps_per_unit(float u)
{
fsensor_chunk_len = (int16_t)(FSENSOR_CHUNK_LEN * u);
}
#endif
void fsensor_restore_print_and_continue(void)
{
printf_P(PSTR("fsensor_restore_print_and_continue\n"));
fsensor_watch_runout = true;
#ifdef PAT9125
fsensor_reset_err_cnt();
#endif
restore_print_from_ram_and_continue(0);
}
// fsensor_checkpoint_print cuts the current print job at the current position,
// allowing new instructions to be inserted in the middle
void fsensor_checkpoint_print(void)
{
printf_P(PSTR("fsensor_checkpoint_print\n"));
stop_and_save_print_to_ram(0, 0);
restore_print_from_ram_and_continue(0);
}
#ifdef IR_SENSOR_ANALOG
const char* FsensorIRVersionText()
{
switch(oFsensorPCB)
{
case ClFsensorPCB::_Old:
return _T(MSG_IR_03_OR_OLDER);
case ClFsensorPCB::_Rev04:
return _T(MSG_IR_04_OR_NEWER);
default:
return _T(MSG_IR_UNKNOWN);
}
}
#endif //IR_SENSOR_ANALOG
void fsensor_init(void)
{
#ifdef PAT9125
uint8_t pat9125 = pat9125_init();
printf_P(PSTR("PAT9125_init:%hhu\n"), pat9125);
#endif //PAT9125
uint8_t fsensor_enabled = eeprom_read_byte((uint8_t*)EEPROM_FSENSOR);
fsensor_autoload_enabled=eeprom_read_byte((uint8_t*)EEPROM_FSENS_AUTOLOAD_ENABLED);
fsensor_not_responding = false;
#ifdef PAT9125
uint8_t oq_meassure_enabled = eeprom_read_byte((uint8_t*)EEPROM_FSENS_OQ_MEASS_ENABLED);
fsensor_oq_meassure_enabled = (oq_meassure_enabled == 1)?true:false;
fsensor_set_axis_steps_per_unit(cs.axis_steps_per_unit[E_AXIS]);
if (!pat9125){
fsensor_enabled = 0; //disable sensor
fsensor_not_responding = true;
}
#endif //PAT9125
#ifdef IR_SENSOR_ANALOG
bIRsensorStateFlag=false;
oFsensorPCB = (ClFsensorPCB)eeprom_read_byte((uint8_t*)EEPROM_FSENSOR_PCB);
oFsensorActionNA = (ClFsensorActionNA)eeprom_read_byte((uint8_t*)EEPROM_FSENSOR_ACTION_NA);
// If the fsensor is not responding even at the start of the printer,
// set this flag accordingly to show N/A in Settings->Filament sensor.
// This is even valid for both fsensor board revisions (0.3 or older and 0.4).
// Must be done after reading what type of fsensor board we have
fsensor_not_responding = ! fsensor_IR_check();
#endif //IR_SENSOR_ANALOG
if (fsensor_enabled){
fsensor_enable(false); // (in this case) EEPROM update is not necessary
} else {
fsensor_disable(false); // (in this case) EEPROM update is not necessary
}
printf_P(PSTR("FSensor %S"), (fsensor_enabled?PSTR("ENABLED"):PSTR("DISABLED")));
#ifdef IR_SENSOR_ANALOG
printf_P(PSTR(" (sensor board revision:%S)\n"), FsensorIRVersionText());
#else //IR_SENSOR_ANALOG
MYSERIAL.println();
#endif //IR_SENSOR_ANALOG
if (check_for_ir_sensor()){
ir_sensor_detected = true;
}
}
bool fsensor_enable(bool bUpdateEEPROM)
{
#ifdef PAT9125
if (mmu_enabled == false) { //filament sensor is pat9125, enable only if it is working
uint8_t pat9125 = pat9125_init();
printf_P(PSTR("PAT9125_init:%hhu\n"), pat9125);
if (pat9125)
fsensor_not_responding = false;
else
fsensor_not_responding = true;
fsensor_enabled = pat9125 ? true : false;
fsensor_watch_runout = true;
fsensor_oq_meassure = false;
fsensor_reset_err_cnt();
eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, fsensor_enabled ? 0x01 : 0x00);
FSensorStateMenu = fsensor_enabled ? 1 : 0;
}
else //filament sensor is FINDA, always enable
{
fsensor_enabled = true;
eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, 0x01);
FSensorStateMenu = 1;
}
#else // PAT9125
#ifdef IR_SENSOR_ANALOG
if(!fsensor_IR_check())
{
bUpdateEEPROM=true;
fsensor_enabled=false;
fsensor_not_responding=true;
FSensorStateMenu=0;
}
else {
#endif //IR_SENSOR_ANALOG
fsensor_enabled=true;
fsensor_not_responding=false;
FSensorStateMenu=1;
#ifdef IR_SENSOR_ANALOG
}
#endif //IR_SENSOR_ANALOG
if(bUpdateEEPROM)
eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, FSensorStateMenu);
#endif //PAT9125
return fsensor_enabled;
}
void fsensor_disable(bool bUpdateEEPROM)
{
fsensor_enabled = false;
FSensorStateMenu = 0;
if(bUpdateEEPROM)
eeprom_update_byte((uint8_t*)EEPROM_FSENSOR, 0x00);
}
void fsensor_autoload_set(bool State)
{
#ifdef PAT9125
if (!State) fsensor_autoload_check_stop();
#endif //PAT9125
fsensor_autoload_enabled = State;
eeprom_update_byte((unsigned char *)EEPROM_FSENS_AUTOLOAD_ENABLED, fsensor_autoload_enabled);
}
void pciSetup(byte pin)
{
// !!! "digitalPinTo?????bit()" does not provide the correct results for some MCU pins
*digitalPinToPCMSK(pin) |= bit (digitalPinToPCMSKbit(pin)); // enable pin
PCIFR |= bit (digitalPinToPCICRbit(pin)); // clear any outstanding interrupt
PCICR |= bit (digitalPinToPCICRbit(pin)); // enable interrupt for the group
}
#ifdef PAT9125
void fsensor_autoload_check_start(void)
{
// puts_P(_N("fsensor_autoload_check_start\n"));
if (!fsensor_enabled) return;
if (!fsensor_autoload_enabled) return;
if (fsensor_watch_autoload) return;
if (!pat9125_update()) //update sensor
{
fsensor_disable();
fsensor_not_responding = true;
fsensor_watch_autoload = false;
printf_P(ERRMSG_PAT9125_NOT_RESP, 3);
return;
}
puts_P(_N("fsensor_autoload_check_start - autoload ENABLED\n"));
fsensor_autoload_y = pat9125_y; //save current y value
fsensor_autoload_c = 0; //reset number of changes counter
fsensor_autoload_sum = 0;
fsensor_autoload_last_millis = _millis();
fsensor_watch_runout = false;
fsensor_watch_autoload = true;
}
void fsensor_autoload_check_stop(void)
{
// puts_P(_N("fsensor_autoload_check_stop\n"));
if (!fsensor_enabled) return;
// puts_P(_N("fsensor_autoload_check_stop 1\n"));
if (!fsensor_autoload_enabled) return;
// puts_P(_N("fsensor_autoload_check_stop 2\n"));
if (!fsensor_watch_autoload) return;
puts_P(_N("fsensor_autoload_check_stop - autoload DISABLED\n"));
fsensor_autoload_sum = 0;
fsensor_watch_autoload = false;
fsensor_watch_runout = true;
fsensor_reset_err_cnt();
}
#endif //PAT9125
bool fsensor_check_autoload(void)
{
if (!fsensor_enabled) return false;
if (!fsensor_autoload_enabled) return false;
if (ir_sensor_detected) {
if (digitalRead(IR_SENSOR_PIN) == 1) {
fsensor_watch_autoload = true;
}
else if (fsensor_watch_autoload == true) {
fsensor_watch_autoload = false;
return true;
}
}
#ifdef PAT9125
if (!fsensor_watch_autoload)
{
fsensor_autoload_check_start();
return false;
}
#if 0
uint8_t fsensor_autoload_c_old = fsensor_autoload_c;
#endif
if ((_millis() - fsensor_autoload_last_millis) < 25) return false;
fsensor_autoload_last_millis = _millis();
if (!pat9125_update_y()) //update sensor
{
fsensor_disable();
fsensor_not_responding = true;
printf_P(ERRMSG_PAT9125_NOT_RESP, 2);
return false;
}
int16_t dy = pat9125_y - fsensor_autoload_y;
if (dy) //? dy value is nonzero
{
if (dy > 0) //? delta-y value is positive (inserting)
{
fsensor_autoload_sum += dy;
fsensor_autoload_c += 3; //increment change counter by 3
}
else if (fsensor_autoload_c > 1)
fsensor_autoload_c -= 2; //decrement change counter by 2
fsensor_autoload_y = pat9125_y; //save current value
}
else if (fsensor_autoload_c > 0)
fsensor_autoload_c--;
if (fsensor_autoload_c == 0) fsensor_autoload_sum = 0;
#if 0
puts_P(_N("fsensor_check_autoload\n"));
if (fsensor_autoload_c != fsensor_autoload_c_old)
printf_P(PSTR("fsensor_check_autoload dy=%d c=%d sum=%d\n"), dy, fsensor_autoload_c, fsensor_autoload_sum);
#endif
// if ((fsensor_autoload_c >= 15) && (fsensor_autoload_sum > 30))
if ((fsensor_autoload_c >= 12) && (fsensor_autoload_sum > 20))
{
// puts_P(_N("fsensor_check_autoload = true !!!\n"));
return true;
}
#endif //PAT9125
return false;
}
#ifdef PAT9125
void fsensor_oq_meassure_set(bool State)
{
fsensor_oq_meassure_enabled = State;
eeprom_update_byte((unsigned char *)EEPROM_FSENS_OQ_MEASS_ENABLED, fsensor_oq_meassure_enabled);
}
void fsensor_oq_meassure_start(uint8_t skip)
{
if (!fsensor_enabled) return;
if (!fsensor_oq_meassure_enabled) return;
printf_P(PSTR("fsensor_oq_meassure_start\n"));
fsensor_oq_skipchunk = skip;
fsensor_oq_samples = 0;
fsensor_oq_st_sum = 0;
fsensor_oq_yd_sum = 0;
fsensor_oq_er_sum = 0;
fsensor_oq_er_max = 0;
fsensor_oq_yd_min = INT16_MAX;
fsensor_oq_yd_max = 0;
fsensor_oq_sh_sum = 0;
pat9125_update();
pat9125_y = 0;
fsensor_oq_meassure = true;
}
void fsensor_oq_meassure_stop(void)
{
if (!fsensor_enabled) return;
if (!fsensor_oq_meassure_enabled) return;
printf_P(PSTR("fsensor_oq_meassure_stop, %hhu samples\n"), fsensor_oq_samples);
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);
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));
fsensor_oq_meassure = false;
}
#ifdef FSENSOR_QUALITY
const char _OK[] PROGMEM = "OK";
const char _NG[] PROGMEM = "NG!";
bool fsensor_oq_result(void)
{
if (!fsensor_enabled) return true;
if (!fsensor_oq_meassure_enabled) return true;
printf_P(_N("fsensor_oq_result\n"));
bool res_er_sum = (fsensor_oq_er_sum <= FSENSOR_OQ_MAX_ES);
printf_P(_N(" er_sum = %u %S\n"), fsensor_oq_er_sum, (res_er_sum?_OK:_NG));
bool res_er_max = (fsensor_oq_er_max <= FSENSOR_OQ_MAX_EM);
printf_P(_N(" er_max = %hhu %S\n"), fsensor_oq_er_max, (res_er_max?_OK:_NG));
uint8_t yd_avg = ((uint32_t)fsensor_oq_yd_sum * fsensor_chunk_len / fsensor_oq_st_sum);
bool res_yd_avg = (yd_avg >= FSENSOR_OQ_MIN_YD) && (yd_avg <= FSENSOR_OQ_MAX_YD);
printf_P(_N(" yd_avg = %hhu %S\n"), yd_avg, (res_yd_avg?_OK:_NG));
bool res_yd_max = (fsensor_oq_yd_max <= (yd_avg * FSENSOR_OQ_MAX_PD));
printf_P(_N(" yd_max = %u %S\n"), fsensor_oq_yd_max, (res_yd_max?_OK:_NG));
bool res_yd_min = (fsensor_oq_yd_min >= (yd_avg / FSENSOR_OQ_MAX_ND));
printf_P(_N(" yd_min = %u %S\n"), fsensor_oq_yd_min, (res_yd_min?_OK:_NG));
uint16_t yd_dev = (fsensor_oq_yd_max - yd_avg) + (yd_avg - fsensor_oq_yd_min);
printf_P(_N(" yd_dev = %u\n"), yd_dev);
uint16_t yd_qua = 10 * yd_avg / (yd_dev + 1);
printf_P(_N(" yd_qua = %u %S\n"), yd_qua, ((yd_qua >= 8)?_OK:_NG));
uint8_t sh_avg = (fsensor_oq_sh_sum / fsensor_oq_samples);
bool res_sh_avg = (sh_avg <= FSENSOR_OQ_MAX_SH);
if (yd_qua >= 8) res_sh_avg = true;
printf_P(_N(" sh_avg = %hhu %S\n"), sh_avg, (res_sh_avg?_OK:_NG));
bool res = res_er_sum && res_er_max && res_yd_avg && res_yd_max && res_yd_min && res_sh_avg;
printf_P(_N("fsensor_oq_result %S\n"), (res?_OK:_NG));
return res;
}
#endif //FSENSOR_QUALITY
FORCE_INLINE static void fsensor_isr(int st_cnt)
{
uint8_t old_err_cnt = fsensor_err_cnt;
uint8_t pat9125_res = fsensor_oq_meassure?pat9125_update():pat9125_update_y();
if (!pat9125_res)
{
fsensor_disable();
fsensor_not_responding = true;
printf_P(ERRMSG_PAT9125_NOT_RESP, 1);
}
if (st_cnt != 0)
{
// movement was planned, check for sensor movement
int8_t st_dir = st_cnt >= 0;
int8_t pat9125_dir = pat9125_y >= 0;
if (pat9125_y == 0)
{
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 < FSENSOR_OQ_MIN_BR) && (pat9125_s > FSENSOR_OQ_MAX_SH))
{
// 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)
{
// detected direction opposite of motor movement
if (st_dir) ++fsensor_err_cnt;
}
else if (pat9125_dir == st_dir)
{
// direction agreeing with planned movement
if (fsensor_err_cnt) --fsensor_err_cnt;
}
if (st_dir && fsensor_oq_meassure)
{
// extruding with quality assessment
if (fsensor_oq_skipchunk)
{
fsensor_oq_skipchunk--;
fsensor_err_cnt = 0;
}
else
{
if (st_cnt == fsensor_chunk_len)
{
if (pat9125_y > 0) if (fsensor_oq_yd_min > pat9125_y) fsensor_oq_yd_min = (fsensor_oq_yd_min + pat9125_y) / 2;
if (pat9125_y >= 0) if (fsensor_oq_yd_max < pat9125_y) fsensor_oq_yd_max = (fsensor_oq_yd_max + pat9125_y) / 2;
}
fsensor_oq_samples++;
fsensor_oq_st_sum += st_cnt;
if (pat9125_y > 0) fsensor_oq_yd_sum += pat9125_y;
if (fsensor_err_cnt > old_err_cnt)
fsensor_oq_er_sum += (fsensor_err_cnt - old_err_cnt);
if (fsensor_oq_er_max < fsensor_err_cnt)
fsensor_oq_er_max = fsensor_err_cnt;
fsensor_oq_sh_sum += pat9125_s;
}
}
}
#ifdef DEBUG_FSENSOR_LOG
if (fsensor_log)
{
printf_P(_N("FSENSOR cnt=%d dy=%d err=%hhu %S\n"), st_cnt, pat9125_y, fsensor_err_cnt, (fsensor_err_cnt > old_err_cnt)?_N("NG!"):_N("OK"));
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);
}
#endif //DEBUG_FSENSOR_LOG
pat9125_y = 0;
}
ISR(FSENSOR_INT_PIN_VECT)
{
if (mmu_enabled || ir_sensor_detected) return;
if (!((fsensor_int_pin_old ^ FSENSOR_INT_PIN_PIN_REG) & FSENSOR_INT_PIN_MASK)) return;
fsensor_int_pin_old = FSENSOR_INT_PIN_PIN_REG;
// prevent isr re-entry
static bool _lock = false;
if (!_lock)
{
// fetch fsensor_st_cnt atomically
int st_cnt = fsensor_st_cnt;
fsensor_st_cnt = 0;
_lock = true;
sei();
fsensor_isr(st_cnt);
cli();
_lock = false;
}
}
void fsensor_setup_interrupt(void)
{
pinMode(FSENSOR_INT_PIN, OUTPUT);
digitalWrite(FSENSOR_INT_PIN, LOW);
fsensor_int_pin_old = 0;
//pciSetup(FSENSOR_INT_PIN);
// !!! "pciSetup()" does not provide the correct results for some MCU pins
// so interrupt registers settings:
FSENSOR_INT_PIN_PCMSK_REG |= bit(FSENSOR_INT_PIN_PCMSK_BIT); // enable corresponding PinChangeInterrupt (individual pin)
PCIFR |= bit(FSENSOR_INT_PIN_PCICR_BIT); // clear previous occasional interrupt (set of pins)
PCICR |= bit(FSENSOR_INT_PIN_PCICR_BIT); // enable corresponding PinChangeInterrupt (set of pins)
}
void fsensor_st_block_chunk(int cnt)
{
if (!fsensor_enabled) return;
fsensor_st_cnt += cnt;
// !!! bit toggling (PINxn <- 1) (for PinChangeInterrupt) does not work for some MCU pins
if (PIN_GET(FSENSOR_INT_PIN)) {PIN_VAL(FSENSOR_INT_PIN, LOW);}
else {PIN_VAL(FSENSOR_INT_PIN, HIGH);}
}
#endif //PAT9125
//! Common code for enqueing M600 and supplemental codes into the command queue.
//! Used both for the IR sensor and the PAT9125
void fsensor_enque_M600(){
printf_P(PSTR("fsensor_update - M600\n"));
eeprom_update_byte((uint8_t*)EEPROM_FERROR_COUNT, eeprom_read_byte((uint8_t*)EEPROM_FERROR_COUNT) + 1);
eeprom_update_word((uint16_t*)EEPROM_FERROR_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_FERROR_COUNT_TOT) + 1);
enquecommand_front_P((PSTR("M600")));
}
//! @brief filament sensor update (perform M600 on filament runout)
//!
//! Works only if filament sensor is enabled.
//! When the filament sensor error count is larger then FSENSOR_ERR_MAX, pauses print, tries to move filament back and forth.
//! If there is still no plausible signal from filament sensor plans M600 (Filament change).
void fsensor_update(void)
{
#ifdef PAT9125
if (fsensor_watch_runout && (fsensor_err_cnt > FSENSOR_ERR_MAX))
{
fsensor_stop_and_save_print();
KEEPALIVE_STATE(IN_HANDLER);
bool autoload_enabled_tmp = fsensor_autoload_enabled;
fsensor_autoload_enabled = false;
bool oq_meassure_enabled_tmp = fsensor_oq_meassure_enabled;
fsensor_oq_meassure_enabled = true;
// move the nozzle away while checking the filament
current_position[Z_AXIS] += 0.8;
if(current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
st_synchronize();
// check the filament in isolation
fsensor_reset_err_cnt();
fsensor_oq_meassure_start(0);
float e_tmp = current_position[E_AXIS];
current_position[E_AXIS] -= 3;
plan_buffer_line_curposXYZE(250/60);
current_position[E_AXIS] = e_tmp;
plan_buffer_line_curposXYZE(200/60);
st_synchronize();
fsensor_oq_meassure_stop();
bool err = false;
err |= (fsensor_err_cnt > 0); // final error count is non-zero
err |= (fsensor_oq_er_sum > FSENSOR_OQ_MAX_ES); // total error count is above limit
err |= (fsensor_oq_yd_sum < FSENSOR_OQ_MIN_YD); // total measured distance is below limit
fsensor_restore_print_and_continue();
fsensor_autoload_enabled = autoload_enabled_tmp;
fsensor_oq_meassure_enabled = oq_meassure_enabled_tmp;
unsigned long now = _millis();
if (!err && (now - fsensor_softfail_last) > FSENSOR_SOFTERR_DELTA)
fsensor_softfail_ccnt = 0;
if (!err && fsensor_softfail_ccnt <= FSENSOR_SOFTERR_CMAX)
{
printf_P(PSTR("fsensor_err_cnt = 0\n"));
++fsensor_softfail;
++fsensor_softfail_ccnt;
fsensor_softfail_last = now;
}
else
{
fsensor_softfail_ccnt = 0;
fsensor_softfail_last = 0;
fsensor_enque_M600();
}
}
#else //PAT9125
if (CHECK_FSENSOR && ir_sensor_detected)
{
if(digitalRead(IR_SENSOR_PIN))
{ // IR_SENSOR_PIN ~ H
#ifdef IR_SENSOR_ANALOG
if(!bIRsensorStateFlag)
{
bIRsensorStateFlag=true;
nIRsensorLastTime=_millis();
}
else
{
if((_millis()-nIRsensorLastTime)>IR_SENSOR_STEADY)
{
uint8_t nMUX1,nMUX2;
uint16_t nADC;
bIRsensorStateFlag=false;
// sequence for direct data reading from AD converter
DISABLE_TEMPERATURE_INTERRUPT();
nMUX1=ADMUX; // ADMUX saving
nMUX2=ADCSRB;
adc_setmux(VOLT_IR_PIN);
ADCSRA|=(1<<ADSC); // first conversion after ADMUX change discarded (preventively)
while(ADCSRA&(1<<ADSC))
;
ADCSRA|=(1<<ADSC); // second conversion used
while(ADCSRA&(1<<ADSC))
;
nADC=ADC;
ADMUX=nMUX1; // ADMUX restoring
ADCSRB=nMUX2;
ENABLE_TEMPERATURE_INTERRUPT();
// end of sequence for ...
// Detection of correct function of fsensor v04 - it must NOT read >4.6V
// If it does, it means a disconnected cables or faulty board
if( (oFsensorPCB == ClFsensorPCB::_Rev04) && ( (nADC*OVERSAMPLENR) > IRsensor_Hopen_TRESHOLD ) )
{
fsensor_disable();
fsensor_not_responding = true;
printf_P(PSTR("IR sensor not responding (%d)!\n"),1);
if((ClFsensorActionNA)eeprom_read_byte((uint8_t*)EEPROM_FSENSOR_ACTION_NA)==ClFsensorActionNA::_Pause)
// if we are printing and FS action is set to "Pause", force pause the print
if(oFsensorActionNA==ClFsensorActionNA::_Pause)
lcd_pause_print();
}
else
{
#endif //IR_SENSOR_ANALOG
fsensor_checkpoint_print();
fsensor_enque_M600();
#ifdef IR_SENSOR_ANALOG
}
}
}
}
else
{ // IR_SENSOR_PIN ~ L
bIRsensorStateFlag=false;
#endif //IR_SENSOR_ANALOG
}
}
#endif //PAT9125
}
#ifdef IR_SENSOR_ANALOG
/// This is called only upon start of the printer or when switching the fsensor ON in the menu
/// We cannot do temporal window checks here (aka the voltage has been in some range for a period of time)
bool fsensor_IR_check(){
if( IRsensor_Lmax_TRESHOLD <= current_voltage_raw_IR && current_voltage_raw_IR <= IRsensor_Hmin_TRESHOLD ){
/// If the voltage is in forbidden range, the fsensor is ok, but the lever is mounted improperly.
/// Or the user is so creative so that he can hold a piece of fillament in the hole in such a genius way,
/// that the IR fsensor reading is within 1.5 and 3V ... this would have been highly unusual
/// and would have been considered more like a sabotage than normal printer operation
printf_P(PSTR("fsensor in forbidden range 1.5-3V - check sensor\n"));
return false;
}
if( oFsensorPCB == ClFsensorPCB::_Rev04 ){
/// newer IR sensor cannot normally produce 4.6-5V, this is considered a failure/bad mount
if( IRsensor_Hopen_TRESHOLD <= current_voltage_raw_IR && current_voltage_raw_IR <= IRsensor_VMax_TRESHOLD ){
printf_P(PSTR("fsensor v0.4 in fault range 4.6-5V - unconnected\n"));
return false;
}
/// newer IR sensor cannot normally produce 0-0.3V, this is considered a failure
#if 0 //Disabled as it has to be decided if we gonna use this or not.
if( IRsensor_Hopen_TRESHOLD <= current_voltage_raw_IR && current_voltage_raw_IR <= IRsensor_VMax_TRESHOLD ){
printf_P(PSTR("fsensor v0.4 in fault range 0.0-0.3V - wrong IR sensor\n"));
return false;
}
#endif
}
/// If IR sensor is "uknown state" and filament is not loaded > 1.5V return false
#if 0
if( (oFsensorPCB == ClFsensorPCB::_Undef) && ( current_voltage_raw_IR > IRsensor_Lmax_TRESHOLD ) ){
printf_P(PSTR("Unknown IR sensor version and no filament loaded detected.\n"));
return false;
}
#endif
// otherwise the IR fsensor is considered working correctly
return true;
}
#endif //IR_SENSOR_ANALOG
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